{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.288000, 10.351999, -1.704769 ], "estimate": [ 1.288000, 10.351999, -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": [ 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.810000, 0.840000, 0.840000, 0.860000, 0.860000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.970000, 1.000000, 1.030000, 1.050000, 1.070000, 1.110000, 1.150000, 1.180000, 1.210000, 1.250000, 1.290000, 1.340000, 1.370000, 1.430000, 1.480000, 2.980000, 2.950000, 2.940000, 2.920000, 2.680000, 2.670000, 2.640000, 2.630000, 2.610000, 2.610000, 2.670000, 2.840000, 3.050000, 3.290000, 3.590000, 3.930000, 4.340000, 4.940000, 5.590000, 6.530000, 8.580000, 8.570000, 8.560000, 8.570000, 8.560000, 8.580000, 18.070000, 20.300000, 20.300000, 20.660000, 20.680000, 9.520000, 8.540000, 7.970000, 7.500000, 7.130000, 6.810000, 6.530000, 6.300000, 6.080000, 5.880000, 5.330000, 5.360000, 4.070000, 3.990000, 3.910000, 3.830000, 3.770000, 3.710000, 3.650000, 3.580000, 3.540000, 3.480000, 3.420000, 3.370000, 3.320000, 3.280000, 3.240000, 3.190000, 3.160000, 3.130000, 3.090000, 3.090000, 3.100000, 3.100000, 3.190000, 3.300000, 3.420000, 3.540000, 3.650000, 3.620000, 3.600000, 3.570000, 3.560000, 3.530000, 3.510000, 3.500000, 3.470000, 3.460000, 3.450000, 3.440000, 3.430000, 3.430000, 3.410000, 3.410000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.410000, 3.410000, 3.400000, 3.440000, 3.440000, 3.450000, 3.460000, 3.470000, 3.490000, 3.500000, 3.530000, 3.540000, 3.560000, 3.590000, 3.600000, 10.420000, 12.510000, 17.890000, null, null, null, 16.370000, null, null, null, null, 10.060000, 8.640000, 7.550000, 6.650000, 6.400000, 6.410000, 5.090000, 4.720000, 4.390000, 4.100000, 3.840000, 3.620000, 3.430000, 3.270000, 3.120000, 2.970000, 2.850000 ], "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, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054722, 499624 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.288000, 10.351999, -1.649459 ], "estimate": [ 1.288000, 10.351999, -1.649459 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.750000, 0.750000, 0.770000, 0.770000, 0.770000, 0.780000, 0.800000, 0.790000, 0.790000, 0.800000, 0.830000, 0.820000, 0.840000, 0.860000, 0.860000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.960000, 0.980000, 1.010000, 1.040000, 1.060000, 1.080000, 1.110000, 1.140000, 1.190000, 1.210000, 1.250000, 1.300000, 1.330000, 1.380000, 1.420000, 1.480000, 3.000000, 2.970000, 2.960000, 2.940000, 2.770000, 2.670000, 2.660000, 2.650000, 2.630000, 2.580000, 2.640000, 2.810000, 3.010000, 3.240000, 3.520000, 3.860000, 4.230000, 4.750000, 5.410000, 6.290000, 7.640000, 8.580000, 8.570000, 8.570000, 8.590000, 8.580000, 8.690000, 20.460000, 20.350000, 20.650000, 20.670000, 10.680000, 8.990000, 8.250000, 7.760000, 7.330000, 6.980000, 6.700000, 6.440000, 6.210000, 6.000000, 5.360000, 5.190000, 5.460000, 4.030000, 3.950000, 3.880000, 3.810000, 3.740000, 3.680000, 3.620000, 3.560000, 3.500000, 3.460000, 3.400000, 3.350000, 3.300000, 3.250000, 3.220000, 3.180000, 3.150000, 3.110000, 3.080000, 3.080000, 3.080000, 3.170000, 3.280000, 3.400000, 3.510000, 3.670000, 3.640000, 3.610000, 3.580000, 3.570000, 3.550000, 3.520000, 3.500000, 3.480000, 3.470000, 3.450000, 3.440000, 3.430000, 3.430000, 3.420000, 3.410000, 3.410000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000, 3.410000, 3.410000, 3.430000, 3.440000, 3.450000, 3.450000, 3.460000, 3.480000, 3.490000, 3.510000, 3.530000, 3.540000, 3.560000, 3.590000, 3.610000, 11.610000, 17.960000, null, null, null, 16.420000, null, null, null, null, null, 9.510000, 8.200000, 7.220000, 6.470000, 6.380000, 5.680000, 4.950000, 4.580000, 4.300000, 4.000000, 3.760000, 3.550000, 3.360000, 3.210000, 3.070000, 2.930000, 2.800000, 2.680000, 2.570000, 2.470000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054722, 563923 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.288000, 10.351999, -1.575713 ], "estimate": [ 1.288000, 10.351999, -1.575713 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.760000, 0.770000, 0.780000, 0.780000, 0.800000, 0.810000, 0.800000, 0.800000, 0.830000, 0.840000, 0.840000, 0.860000, 0.860000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.960000, 0.980000, 1.010000, 1.040000, 1.060000, 1.080000, 1.100000, 1.130000, 1.180000, 1.200000, 1.240000, 1.290000, 1.320000, 1.370000, 1.410000, 1.470000, 1.520000, 2.990000, 2.960000, 2.940000, 2.930000, 2.680000, 2.670000, 2.650000, 2.640000, 2.610000, 2.570000, 2.740000, 2.930000, 3.150000, 3.420000, 3.770000, 4.100000, 4.550000, 5.210000, 5.920000, 6.930000, 8.580000, 8.570000, 8.580000, 8.600000, 8.590000, 8.590000, 18.090000, 20.310000, 20.550000, 20.670000, 22.910000, 9.110000, 8.430000, 7.860000, 7.420000, 7.050000, 6.760000, 6.500000, 6.250000, 6.040000, 5.770000, 5.350000, 5.500000, 4.040000, 3.980000, 3.900000, 3.830000, 3.760000, 3.690000, 3.640000, 3.570000, 3.520000, 3.470000, 3.420000, 3.370000, 3.320000, 3.270000, 3.230000, 3.180000, 3.140000, 3.120000, 3.080000, 3.070000, 3.070000, 3.140000, 3.240000, 3.360000, 3.480000, 3.630000, 3.650000, 3.620000, 3.580000, 3.570000, 3.550000, 3.520000, 3.500000, 3.480000, 3.470000, 3.450000, 3.430000, 3.440000, 3.430000, 3.410000, 3.410000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.380000, 3.390000, 3.390000, 3.390000, 3.400000, 3.400000, 3.420000, 3.440000, 3.440000, 3.450000, 3.460000, 3.470000, 3.490000, 3.500000, 3.520000, 3.540000, 3.560000, 3.580000, 3.600000, 10.930000, 13.160000, 17.960000, null, null, 16.370000, 16.400000, null, null, null, null, 9.920000, 8.460000, 7.450000, 6.580000, 6.400000, 6.400000, 5.030000, 4.650000, 4.350000, 4.060000, 3.810000, 3.590000, 3.390000, 3.230000, 3.090000, 2.950000, 2.820000, 2.700000, 2.590000, 2.490000, 2.400000, 2.310000, 2.240000, 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, 0, 0, 1, 1, 0, 0, 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": [ 976054723, 614076 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.288000, 10.351000, -1.465093 ], "estimate": [ 1.288000, 10.351000, -1.465093 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.960000, 0.980000, 1.000000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.160000, 1.190000, 1.220000, 1.260000, 1.300000, 1.340000, 1.390000, 1.430000, 1.500000, 3.000000, 2.990000, 2.970000, 2.950000, 2.760000, 2.680000, 2.670000, 2.650000, 2.640000, 2.610000, 2.620000, 2.770000, 2.980000, 3.200000, 3.470000, 3.810000, 4.150000, 4.600000, 5.230000, 5.970000, 7.000000, 8.590000, 8.580000, 8.580000, 8.590000, 8.590000, 8.590000, 18.090000, 20.540000, 20.640000, 20.670000, 10.880000, 9.010000, 8.280000, 7.750000, 7.330000, 6.990000, 6.700000, 6.440000, 6.200000, 5.980000, 5.200000, 5.170000, 4.320000, 4.040000, 3.960000, 3.890000, 3.820000, 3.750000, 3.690000, 3.630000, 3.560000, 3.510000, 3.460000, 3.420000, 3.360000, 3.310000, 3.270000, 3.230000, 3.180000, 3.140000, 3.110000, 3.080000, 3.080000, 3.070000, 3.160000, 3.270000, 3.380000, 3.500000, 3.660000, 3.640000, 3.600000, 3.570000, 3.560000, 3.540000, 3.510000, 3.490000, 3.470000, 3.460000, 3.450000, 3.430000, 3.430000, 3.420000, 3.410000, 3.400000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.380000, 3.390000, 3.390000, 3.400000, 3.400000, 3.420000, 3.430000, 3.430000, 3.440000, 3.450000, 3.470000, 3.480000, 3.500000, 3.520000, 3.530000, 3.550000, 3.570000, 3.590000, 11.040000, 13.280000, 17.950000, null, null, 16.370000, 16.480000, null, null, null, null, 9.500000, 8.210000, 7.210000, 6.420000, 6.390000, 5.630000, 4.930000, 4.560000, 4.270000, 3.990000, 3.740000, 3.530000, 3.340000, 3.180000, 3.040000, 2.910000, 2.770000, 2.660000, 2.550000, 2.460000, 2.370000, 2.290000, 2.220000, 2.140000, 2.080000, 2.020000, 1.970000, 1.910000, 1.850000, 1.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 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": [ 976054723, 615249 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.288000, 10.351000, -1.360619 ], "estimate": [ 1.288000, 10.351000, -1.360619 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.130000, 1.170000, 1.210000, 1.240000, 1.280000, 1.310000, 1.360000, 1.400000, 1.450000, 1.490000, 3.010000, 2.990000, 2.970000, 2.960000, 2.740000, 2.700000, 2.680000, 2.670000, 2.640000, 2.620000, 2.640000, 2.800000, 3.000000, 3.230000, 3.490000, 3.820000, 4.170000, 4.640000, 5.280000, 6.010000, 7.050000, 8.600000, 8.580000, 8.580000, 8.600000, 8.580000, 8.590000, 18.100000, 20.390000, 20.620000, 20.690000, 10.920000, 9.040000, 8.300000, 7.770000, 7.340000, 6.980000, 6.700000, 6.440000, 6.210000, 5.990000, 5.180000, 5.190000, 4.220000, 4.050000, 3.970000, 3.890000, 3.820000, 3.750000, 3.690000, 3.630000, 3.560000, 3.510000, 3.460000, 3.420000, 3.360000, 3.310000, 3.270000, 3.230000, 3.180000, 3.140000, 3.110000, 3.100000, 3.080000, 3.090000, 3.180000, 3.280000, 3.400000, 3.520000, 3.660000, 3.630000, 3.600000, 3.570000, 3.560000, 3.530000, 3.510000, 3.490000, 3.470000, 3.460000, 3.450000, 3.430000, 3.420000, 3.420000, 3.410000, 3.400000, 3.390000, 3.380000, 3.380000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.400000, 3.410000, 3.420000, 3.430000, 3.440000, 3.440000, 3.460000, 3.480000, 3.490000, 3.510000, 3.520000, 3.540000, 3.580000, 3.590000, 11.030000, 13.270000, 17.950000, null, null, 16.390000, 16.410000, null, null, null, null, 9.570000, 8.230000, 7.240000, 6.460000, 6.390000, 5.650000, 4.930000, 4.580000, 4.270000, 3.980000, 3.740000, 3.520000, 3.340000, 3.170000, 3.020000, 2.900000, 2.760000, 2.640000, 2.540000, 2.450000, 2.370000, 2.280000, 2.210000, 2.130000, 2.070000, 2.000000, 1.970000, 1.910000, 1.830000, 1.810000, 1.770000, 1.720000, 1.680000, 1.650000, 1.610000, 1.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 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 ], "timestamp": [ 976054723, 616214 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.288000, 10.351999, -1.286873 ], "estimate": [ 1.288000, 10.351999, -1.286873 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.980000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.120000, 1.150000, 1.180000, 1.210000, 1.250000, 1.290000, 1.330000, 1.370000, 1.420000, 1.470000, 1.530000, 3.020000, 3.000000, 2.980000, 2.970000, 2.760000, 2.700000, 2.670000, 2.660000, 2.650000, 2.630000, 2.670000, 2.840000, 3.030000, 3.260000, 3.540000, 3.870000, 4.240000, 4.740000, 5.380000, 6.190000, 7.210000, 8.610000, 8.590000, 8.590000, 8.600000, 8.580000, 8.620000, null, 20.320000, 20.660000, 20.690000, 10.920000, 9.050000, 8.300000, 7.790000, 7.340000, 7.000000, 6.710000, 6.440000, 6.210000, 6.000000, 5.180000, 5.180000, 4.180000, 4.040000, 3.970000, 3.890000, 3.830000, 3.760000, 3.690000, 3.630000, 3.560000, 3.520000, 3.470000, 3.400000, 3.360000, 3.320000, 3.280000, 3.240000, 3.190000, 3.150000, 3.110000, 3.100000, 3.080000, 3.110000, 3.200000, 3.320000, 3.420000, 3.540000, 3.660000, 3.630000, 3.600000, 3.570000, 3.550000, 3.530000, 3.500000, 3.490000, 3.470000, 3.460000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.390000, 3.380000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.390000, 3.390000, 3.410000, 3.410000, 3.420000, 3.430000, 3.440000, 3.460000, 3.470000, 3.490000, 3.510000, 3.520000, 3.550000, 3.570000, 3.580000, 11.180000, 13.370000, 17.970000, null, null, 16.360000, 16.460000, null, null, null, null, 9.650000, 8.320000, 7.300000, 6.490000, 6.360000, 6.380000, 4.950000, 4.570000, 4.280000, 3.980000, 3.740000, 3.540000, 3.340000, 3.170000, 3.030000, 2.890000, 2.760000, 2.640000, 2.530000, 2.440000, 2.370000, 2.270000, 2.210000, 2.130000, 2.060000, 2.010000, 1.960000, 1.900000, 1.850000, 1.800000, 1.760000, 1.710000, 1.680000, 1.630000, 1.600000, 1.560000, 1.520000, 1.490000, 1.470000, 1.440000, 1.420000 ], "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, 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, 0, 0, 1, 1, 0, 0, 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 ], "timestamp": [ 976054723, 617198 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.287000, 10.354000, -1.213127 ], "estimate": [ 1.287000, 10.354000, -1.213127 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.050000, 1.080000, 1.100000, 1.140000, 1.180000, 1.200000, 1.240000, 1.280000, 1.310000, 1.350000, 1.400000, 1.460000, 1.500000, 1.520000, 3.010000, 2.990000, 2.970000, 2.960000, 2.710000, 2.700000, 2.680000, 2.660000, 2.640000, 2.630000, 2.780000, 2.960000, 3.180000, 3.420000, 3.750000, 4.090000, 4.530000, 5.130000, 5.810000, 6.750000, 8.610000, 8.600000, 8.590000, 8.590000, 8.580000, 8.600000, 18.100000, 20.330000, 20.330000, 20.670000, 20.710000, 22.950000, 8.560000, 7.960000, 7.500000, 7.110000, 6.810000, 6.540000, 6.290000, 6.070000, 5.490000, 5.330000, 5.500000, 4.070000, 4.000000, 3.930000, 3.850000, 3.780000, 3.710000, 3.650000, 3.590000, 3.530000, 3.490000, 3.430000, 3.380000, 3.340000, 3.290000, 3.250000, 3.210000, 3.160000, 3.130000, 3.090000, 3.080000, 3.080000, 3.180000, 3.280000, 3.390000, 3.520000, 3.660000, 3.640000, 3.610000, 3.580000, 3.560000, 3.540000, 3.510000, 3.490000, 3.470000, 3.460000, 3.450000, 3.430000, 3.420000, 3.420000, 3.410000, 3.400000, 3.390000, 3.380000, 3.380000, 3.380000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.400000, 3.410000, 3.420000, 3.430000, 3.430000, 3.450000, 3.460000, 3.480000, 3.500000, 3.520000, 3.530000, 3.550000, 3.580000, 10.460000, 12.500000, 17.860000, null, null, null, null, null, null, null, null, 10.190000, 8.800000, 7.630000, 6.710000, 6.360000, 6.370000, 5.090000, 4.690000, 4.340000, 4.070000, 3.800000, 3.590000, 3.400000, 3.220000, 3.070000, 2.930000, 2.800000, 2.670000, 2.570000, 2.460000, 2.390000, 2.300000, 2.210000, 2.140000, 2.070000, 2.010000, 1.960000, 1.910000, 1.840000, 1.820000, 1.770000, 1.720000, 1.690000, 1.640000, 1.610000, 1.570000, 1.530000, 1.500000, 1.480000, 1.450000, 1.420000, 1.390000, 1.370000, 1.340000, 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, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054723, 618149 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.287000, 10.354000, -1.114798 ], "estimate": [ 1.287000, 10.354000, -1.114798 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.260000, 1.290000, 1.330000, 1.380000, 1.430000, 1.480000, 1.540000, 3.030000, 3.020000, 2.990000, 2.980000, 2.740000, 2.720000, 2.700000, 2.680000, 2.660000, 2.650000, 2.700000, 2.860000, 3.060000, 3.280000, 3.580000, 3.890000, 4.280000, 4.770000, 5.430000, 6.230000, 7.280000, 8.620000, 8.610000, 8.600000, 8.590000, 8.590000, 8.730000, 20.970000, 20.670000, 20.680000, 20.700000, 10.520000, 8.860000, 8.190000, 7.690000, 7.280000, 6.930000, 6.660000, 6.400000, 6.170000, 5.950000, 5.210000, 5.280000, 4.090000, 4.020000, 3.940000, 3.860000, 3.790000, 3.720000, 3.670000, 3.600000, 3.540000, 3.500000, 3.440000, 3.390000, 3.340000, 3.290000, 3.250000, 3.210000, 3.170000, 3.140000, 3.090000, 3.090000, 3.090000, 3.130000, 3.240000, 3.350000, 3.460000, 3.590000, 3.640000, 3.620000, 3.590000, 3.560000, 3.550000, 3.520000, 3.500000, 3.480000, 3.460000, 3.450000, 3.440000, 3.420000, 3.410000, 3.400000, 3.400000, 3.390000, 3.390000, 3.380000, 3.370000, 3.370000, 3.370000, 3.380000, 3.370000, 3.370000, 3.380000, 3.380000, 3.380000, 3.390000, 3.410000, 3.410000, 3.420000, 3.430000, 3.440000, 3.460000, 3.470000, 3.490000, 3.500000, 3.520000, 3.540000, 3.570000, 3.590000, 11.400000, 17.930000, 17.950000, null, null, 16.440000, 16.450000, null, null, null, 10.940000, 9.270000, 7.970000, 7.030000, 6.360000, 6.370000, 5.220000, 4.810000, 4.460000, 4.160000, 3.880000, 3.640000, 3.430000, 3.260000, 3.100000, 2.950000, 2.840000, 2.700000, 2.600000, 2.490000, 2.390000, 2.310000, 2.230000, 2.150000, 2.090000, 2.020000, 1.970000, 1.920000, 1.860000, 1.820000, 1.770000, 1.730000, 1.690000, 1.650000, 1.610000, 1.570000, 1.530000, 1.500000, 1.480000, 1.450000, 1.420000, 1.400000, 1.370000, 1.340000, 1.320000, 1.290000, 1.290000, 1.270000, 1.250000, 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, 0, 0, 1, 1, 0, 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 ], "timestamp": [ 976054723, 764201 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.287000, 10.354000, -1.022615 ], "estimate": [ 1.287000, 10.354000, -1.022615 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.400000, 1.460000, 1.500000, 1.640000, 3.030000, 3.020000, 2.990000, 2.990000, 2.740000, 2.720000, 2.700000, 2.690000, 2.660000, 2.670000, 2.760000, 2.940000, 3.150000, 3.400000, 3.700000, 4.030000, 4.450000, 5.080000, 5.660000, 6.570000, 8.630000, 8.620000, 8.610000, 8.620000, 8.610000, 8.600000, 18.100000, 20.470000, 20.330000, 20.680000, 20.710000, 9.880000, 8.640000, 8.020000, 7.550000, 7.160000, 6.840000, 6.570000, 6.330000, 6.100000, 5.900000, 5.580000, 5.530000, 4.050000, 3.980000, 3.890000, 3.830000, 3.760000, 3.690000, 3.640000, 3.570000, 3.530000, 3.480000, 3.410000, 3.370000, 3.320000, 3.270000, 3.220000, 3.180000, 3.140000, 3.110000, 3.090000, 3.090000, 3.100000, 3.190000, 3.290000, 3.390000, 3.520000, 3.660000, 3.640000, 3.610000, 3.580000, 3.550000, 3.540000, 3.520000, 3.500000, 3.470000, 3.460000, 3.450000, 3.430000, 3.420000, 3.410000, 3.400000, 3.400000, 3.390000, 3.380000, 3.380000, 3.380000, 3.370000, 3.380000, 3.380000, 3.370000, 3.380000, 3.380000, 3.380000, 3.390000, 3.400000, 3.410000, 3.410000, 3.420000, 3.430000, 3.450000, 3.470000, 3.490000, 3.490000, 3.520000, 3.520000, 3.550000, 3.570000, 10.270000, 12.130000, 17.870000, null, null, null, null, null, null, null, null, 10.390000, 8.860000, 7.690000, 6.770000, 6.340000, 6.350000, 5.080000, 4.680000, 4.340000, 4.050000, 3.790000, 3.560000, 3.370000, 3.200000, 3.060000, 2.920000, 2.770000, 2.650000, 2.530000, 2.450000, 2.350000, 2.280000, 2.200000, 2.120000, 2.070000, 1.980000, 1.950000, 1.890000, 1.830000, 1.800000, 1.750000, 1.700000, 1.670000, 1.620000, 1.590000, 1.550000, 1.510000, 1.480000, 1.470000, 1.430000, 1.400000, 1.370000, 1.360000, 1.330000, 1.310000, 1.290000, 1.280000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 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, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054724, 108281 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.288000, 10.351999, -0.955015 ], "estimate": [ 1.288000, 10.351999, -0.955015 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.030000, 3.010000, 3.010000, 2.970000, 2.740000, 2.720000, 2.710000, 2.690000, 2.630000, 2.690000, 2.840000, 3.030000, 3.270000, 3.520000, 3.870000, 4.200000, 4.670000, 5.300000, 6.000000, 6.980000, 8.630000, 8.620000, 8.610000, 8.620000, 8.610000, 8.640000, 18.120000, 20.340000, 20.350000, 20.690000, 20.790000, 9.170000, 8.430000, 7.860000, 7.420000, 7.060000, 6.760000, 6.490000, 6.240000, 6.030000, 5.530000, 5.220000, 4.180000, 4.020000, 3.940000, 3.870000, 3.800000, 3.730000, 3.670000, 3.610000, 3.550000, 3.500000, 3.450000, 3.400000, 3.340000, 3.290000, 3.250000, 3.200000, 3.160000, 3.140000, 3.090000, 3.090000, 3.100000, 3.140000, 3.250000, 3.350000, 3.460000, 3.580000, 3.640000, 3.620000, 3.600000, 3.570000, 3.550000, 3.530000, 3.500000, 3.490000, 3.470000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.390000, 3.390000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.370000, 3.380000, 3.400000, 3.410000, 3.420000, 3.430000, 3.440000, 3.450000, 3.460000, 3.480000, 3.500000, 3.520000, 3.540000, 3.560000, 3.600000, 10.960000, 13.130000, 17.900000, null, 17.150000, null, 16.340000, null, null, null, null, 9.970000, 8.490000, 7.390000, 6.540000, 6.350000, 6.350000, 4.950000, 4.570000, 4.250000, 3.950000, 3.710000, 3.500000, 3.310000, 3.150000, 3.000000, 2.860000, 2.740000, 2.610000, 2.500000, 2.400000, 2.320000, 2.240000, 2.160000, 2.090000, 2.030000, 1.960000, 1.920000, 1.860000, 1.790000, 1.770000, 1.720000, 1.680000, 1.640000, 1.610000, 1.570000, 1.530000, 1.500000, 1.470000, 1.450000, 1.410000, 1.390000, 1.360000, 1.340000, 1.320000, 1.300000, 1.280000, 1.250000, 1.240000, 1.230000, 1.210000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.130000, 1.110000, 1.110000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 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 ], "timestamp": [ 976054724, 170421 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.290000, 10.351000, -0.875123 ], "estimate": [ 1.290000, 10.351000, -0.875123 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.740000, 2.730000, 2.720000, 2.700000, 2.680000, 2.630000, 2.800000, 2.990000, 3.190000, 3.450000, 3.760000, 4.080000, 4.520000, 5.130000, 5.760000, 6.680000, 8.640000, 8.640000, 8.620000, 8.620000, 8.620000, 8.610000, 18.130000, 20.370000, 20.340000, 20.680000, 20.720000, 9.650000, 8.590000, 7.990000, 7.530000, 7.120000, 6.820000, 6.550000, 6.300000, 6.080000, 5.880000, 5.690000, 4.350000, 4.040000, 3.960000, 3.890000, 3.800000, 3.730000, 3.670000, 3.610000, 3.560000, 3.500000, 3.450000, 3.390000, 3.340000, 3.300000, 3.250000, 3.210000, 3.170000, 3.140000, 3.100000, 3.100000, 3.100000, 3.130000, 3.220000, 3.330000, 3.440000, 3.550000, 3.650000, 3.630000, 3.600000, 3.570000, 3.560000, 3.530000, 3.510000, 3.490000, 3.470000, 3.450000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.390000, 3.390000, 3.380000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.380000, 3.370000, 3.400000, 3.400000, 3.420000, 3.430000, 3.430000, 3.450000, 3.460000, 3.480000, 3.490000, 3.510000, 3.530000, 3.550000, 3.560000, 10.490000, 12.430000, 17.850000, null, null, null, null, null, null, null, null, 10.210000, 8.780000, 7.580000, 6.640000, 6.340000, 6.350000, 5.030000, 4.630000, 4.300000, 4.000000, 3.750000, 3.520000, 3.330000, 3.160000, 3.020000, 2.880000, 2.740000, 2.620000, 2.500000, 2.420000, 2.340000, 2.250000, 2.170000, 2.100000, 2.030000, 1.970000, 1.920000, 1.870000, 1.820000, 1.770000, 1.730000, 1.680000, 1.640000, 1.610000, 1.570000, 1.530000, 1.500000, 1.470000, 1.440000, 1.410000, 1.380000, 1.360000, 1.340000, 1.310000, 1.300000, 1.280000, 1.250000, 1.230000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.100000, 1.090000, 1.100000, 1.100000, 1.110000, 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, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054724, 629824 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.291000, 10.349000, -0.776795 ], "estimate": [ 1.291000, 10.349000, -0.776795 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.720000, 2.890000, 3.090000, 3.320000, 3.590000, 3.920000, 4.270000, 4.750000, 5.390000, 6.130000, 7.110000, 8.650000, 8.640000, 8.640000, 8.630000, 8.630000, 8.660000, 18.140000, 20.370000, 20.530000, 20.710000, 10.960000, 9.030000, 8.290000, 7.740000, 7.310000, 6.970000, 6.690000, 6.420000, 6.200000, 5.990000, 5.320000, 5.610000, 4.080000, 4.000000, 3.920000, 3.840000, 3.770000, 3.710000, 3.640000, 3.570000, 3.520000, 3.470000, 3.400000, 3.370000, 3.310000, 3.280000, 3.240000, 3.180000, 3.140000, 3.110000, 3.100000, 3.090000, 3.090000, 3.180000, 3.280000, 3.390000, 3.510000, 3.670000, 3.640000, 3.610000, 3.590000, 3.560000, 3.550000, 3.520000, 3.500000, 3.480000, 3.460000, 3.440000, 3.440000, 3.420000, 3.420000, 3.410000, 3.400000, 3.390000, 3.390000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.390000, 3.400000, 3.410000, 3.420000, 3.430000, 3.430000, 3.450000, 3.470000, 3.480000, 3.500000, 3.520000, 3.540000, 3.560000, 9.670000, 11.340000, 17.910000, 17.930000, 17.110000, null, 16.330000, 16.430000, null, null, null, null, 9.330000, 8.020000, 7.010000, 6.330000, 6.320000, 5.210000, 4.770000, 4.420000, 4.140000, 3.840000, 3.600000, 3.400000, 3.230000, 3.060000, 2.920000, 2.790000, 2.660000, 2.550000, 2.450000, 2.350000, 2.270000, 2.200000, 2.110000, 2.050000, 1.990000, 1.930000, 1.880000, 1.820000, 1.770000, 1.740000, 1.690000, 1.650000, 1.610000, 1.570000, 1.530000, 1.500000, 1.480000, 1.440000, 1.420000, 1.380000, 1.360000, 1.330000, 1.300000, 1.300000, 1.270000, 1.260000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.130000, 1.130000, 1.120000, 1.100000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.090000, 1.160000, 1.210000, 1.270000, 1.420000, 1.470000, 1.530000 ], "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, 0, 1, 1, 0, 0, 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 ], "timestamp": [ 976054724, 631000 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.293000, 10.346999, -0.678466 ], "estimate": [ 1.293000, 10.346999, -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": [ 4.020000, 4.420000, 4.930000, 5.560000, 6.420000, 7.760000, 8.650000, 8.650000, 8.650000, 8.640000, 8.630000, 18.150000, 21.010000, 20.690000, 20.700000, 20.720000, 10.170000, 8.800000, 8.140000, 7.650000, 7.230000, 6.900000, 6.630000, 6.380000, 6.150000, 5.930000, 5.750000, 5.570000, 4.060000, 3.980000, 3.890000, 3.820000, 3.750000, 3.690000, 3.620000, 3.560000, 3.500000, 3.450000, 3.410000, 3.360000, 3.310000, 3.260000, 3.220000, 3.170000, 3.140000, 3.110000, 3.110000, 3.110000, 3.130000, 3.220000, 3.330000, 3.440000, 3.540000, 3.660000, 3.640000, 3.600000, 3.580000, 3.560000, 3.540000, 3.520000, 3.490000, 3.480000, 3.460000, 3.440000, 3.430000, 3.420000, 3.420000, 3.400000, 3.400000, 3.390000, 3.380000, 3.370000, 3.370000, 3.370000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.390000, 3.410000, 3.420000, 3.420000, 3.430000, 3.440000, 3.450000, 3.470000, 3.490000, 3.510000, 3.520000, 3.540000, 3.560000, 10.100000, 11.890000, 17.910000, null, null, null, 16.440000, null, null, null, null, 10.570000, 8.930000, 7.700000, 6.750000, 6.330000, 6.340000, 5.040000, 4.650000, 4.310000, 4.020000, 3.750000, 3.520000, 3.330000, 3.160000, 3.020000, 2.870000, 2.730000, 2.610000, 2.510000, 2.410000, 2.320000, 2.230000, 2.150000, 2.090000, 2.010000, 1.960000, 1.910000, 1.850000, 1.800000, 1.760000, 1.710000, 1.670000, 1.630000, 1.580000, 1.550000, 1.510000, 1.490000, 1.450000, 1.420000, 1.400000, 1.360000, 1.340000, 1.320000, 1.300000, 1.280000, 1.270000, 1.240000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.090000, 1.070000, 1.080000, 1.080000, 1.100000, 1.160000, 1.220000, 1.270000, 1.430000, 1.480000, 1.540000, 1.590000, 1.670000, 1.740000, 1.800000, 1.900000 ], "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, 0, 0, 0, 1, 0, 0, 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": [ 976054724, 871539 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.296000, 10.345000, -0.580137 ], "estimate": [ 1.296000, 10.345000, -0.580137 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.660000, 8.660000, 8.660000, 8.660000, 8.650000, 18.150000, 20.940000, 20.660000, 20.690000, 20.720000, 10.320000, 8.820000, 8.170000, 7.650000, 7.250000, 6.920000, 6.630000, 6.370000, 6.150000, 5.930000, 5.750000, 5.570000, 4.050000, 3.980000, 3.890000, 3.820000, 3.750000, 3.690000, 3.630000, 3.560000, 3.510000, 3.450000, 3.400000, 3.360000, 3.300000, 3.250000, 3.220000, 3.170000, 3.140000, 3.100000, 3.100000, 3.120000, 3.140000, 3.240000, 3.340000, 3.450000, 3.570000, 3.660000, 3.640000, 3.600000, 3.570000, 3.560000, 3.540000, 3.520000, 3.500000, 3.470000, 3.460000, 3.440000, 3.420000, 3.420000, 3.410000, 3.400000, 3.400000, 3.390000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.360000, 3.370000, 3.370000, 3.370000, 3.370000, 3.390000, 3.400000, 3.410000, 3.420000, 3.430000, 3.440000, 3.450000, 3.470000, 3.490000, 3.510000, 3.520000, 3.540000, 3.560000, 10.130000, 11.910000, 17.890000, null, null, null, 16.430000, null, null, null, null, 10.480000, 8.860000, 7.640000, 6.700000, 6.330000, 6.330000, 5.020000, 4.610000, 4.270000, 3.980000, 3.710000, 3.490000, 3.290000, 3.120000, 2.980000, 2.850000, 2.700000, 2.600000, 2.480000, 2.390000, 2.300000, 2.210000, 2.140000, 2.070000, 2.010000, 1.950000, 1.890000, 1.840000, 1.770000, 1.750000, 1.700000, 1.650000, 1.610000, 1.570000, 1.530000, 1.490000, 1.480000, 1.430000, 1.400000, 1.370000, 1.350000, 1.320000, 1.310000, 1.290000, 1.260000, 1.250000, 1.220000, 1.210000, 1.200000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.110000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.050000, 1.080000, 1.080000, 1.150000, 1.200000, 1.250000, 1.410000, 1.460000, 1.520000, 1.570000, 1.650000, 1.720000, 1.780000, 1.880000, 4.740000, 4.710000, 4.680000, 2.120000, 2.120000, 4.620000 ], "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, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054725, 293645 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.299000, 10.343000, -0.500246 ], "estimate": [ 1.299000, 10.343000, -0.500246 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 18.170000, 20.920000, 20.620000, 20.710000, 20.720000, 10.380000, 8.870000, 8.190000, 7.690000, 7.260000, 6.930000, 6.650000, 6.400000, 6.160000, 5.950000, 5.760000, 5.580000, 4.070000, 3.990000, 3.900000, 3.830000, 3.750000, 3.690000, 3.630000, 3.570000, 3.510000, 3.450000, 3.400000, 3.360000, 3.310000, 3.250000, 3.220000, 3.180000, 3.140000, 3.110000, 3.100000, 3.120000, 3.150000, 3.250000, 3.360000, 3.470000, 3.600000, 3.660000, 3.640000, 3.610000, 3.590000, 3.560000, 3.550000, 3.520000, 3.500000, 3.480000, 3.460000, 3.440000, 3.420000, 3.420000, 3.420000, 3.400000, 3.400000, 3.390000, 3.380000, 3.370000, 3.370000, 3.370000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.390000, 3.390000, 3.400000, 3.420000, 3.420000, 3.430000, 3.440000, 3.450000, 3.470000, 3.490000, 3.510000, 3.530000, 3.540000, 3.590000, 10.260000, 12.030000, 17.880000, null, null, null, 16.420000, null, null, null, null, 10.520000, 8.910000, 7.660000, 6.700000, 6.330000, 6.330000, 5.010000, 4.590000, 4.260000, 3.970000, 3.700000, 3.490000, 3.280000, 3.110000, 2.970000, 2.830000, 2.680000, 2.580000, 2.470000, 2.370000, 2.280000, 2.200000, 2.130000, 2.050000, 1.990000, 1.930000, 1.880000, 1.830000, 1.750000, 1.730000, 1.690000, 1.640000, 1.600000, 1.570000, 1.520000, 1.490000, 1.470000, 1.420000, 1.400000, 1.370000, 1.340000, 1.310000, 1.300000, 1.280000, 1.260000, 1.250000, 1.220000, 1.190000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.050000, 1.050000, 1.080000, 1.140000, 1.190000, 1.240000, 1.400000, 1.450000, 1.510000, 1.560000, 1.640000, 1.710000, 1.780000, 1.880000, 4.740000, 4.710000, 4.690000, 2.110000, 2.090000, 4.630000, 4.610000, 4.600000, 4.610000, 4.540000, 4.510000 ], "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, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054725, 349673 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.302000, 10.341999, -0.481809 ], "estimate": [ 1.302000, 10.341999, -0.481809 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 20.710000, 20.730000, 10.410000, 8.860000, 8.190000, 7.670000, 7.270000, 6.930000, 6.650000, 6.400000, 6.170000, 5.960000, 5.410000, 5.580000, 4.060000, 3.990000, 3.900000, 3.830000, 3.750000, 3.690000, 3.630000, 3.560000, 3.510000, 3.460000, 3.400000, 3.350000, 3.300000, 3.250000, 3.220000, 3.170000, 3.130000, 3.110000, 3.110000, 3.110000, 3.190000, 3.280000, 3.390000, 3.510000, 3.640000, 3.660000, 3.640000, 3.610000, 3.580000, 3.550000, 3.530000, 3.510000, 3.500000, 3.480000, 3.460000, 3.440000, 3.440000, 3.420000, 3.420000, 3.410000, 3.400000, 3.390000, 3.390000, 3.380000, 3.370000, 3.370000, 3.370000, 3.370000, 3.370000, 3.380000, 3.380000, 3.370000, 3.400000, 3.400000, 3.410000, 3.420000, 3.430000, 3.430000, 3.450000, 3.460000, 3.480000, 3.490000, 3.510000, 3.530000, 3.550000, 9.140000, 10.600000, 12.570000, 17.840000, null, null, null, 16.410000, null, null, null, null, 10.600000, 8.950000, 7.680000, 6.730000, 6.310000, 6.320000, 5.000000, 4.610000, 4.260000, 3.970000, 3.700000, 3.480000, 3.280000, 3.110000, 2.970000, 2.820000, 2.680000, 2.570000, 2.460000, 2.360000, 2.270000, 2.190000, 2.120000, 2.050000, 1.980000, 1.930000, 1.870000, 1.820000, 1.750000, 1.720000, 1.680000, 1.640000, 1.600000, 1.570000, 1.520000, 1.490000, 1.460000, 1.420000, 1.390000, 1.370000, 1.340000, 1.310000, 1.300000, 1.270000, 1.240000, 1.230000, 1.220000, 1.190000, 1.190000, 1.180000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.080000, 1.130000, 1.190000, 1.240000, 1.400000, 1.440000, 1.500000, 1.550000, 1.630000, 1.700000, 1.770000, 1.860000, 4.730000, 4.720000, 4.690000, 2.090000, 2.110000, 4.610000, 4.600000, 4.600000, 4.610000, 4.700000, 4.490000, 4.500000, 4.560000, 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, 0, 0, 0, 1, 0, 0, 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, 1 ], "timestamp": [ 976054725, 363237 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.315000, 10.335000, -0.500246 ], "estimate": [ 1.315000, 10.335000, -0.500246 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 20.720000, 20.730000, 10.230000, 8.800000, 8.150000, 7.660000, 7.230000, 6.920000, 6.630000, 6.370000, 6.150000, 5.940000, 5.250000, 4.320000, 4.050000, 3.980000, 3.890000, 3.810000, 3.750000, 3.680000, 3.620000, 3.560000, 3.500000, 3.450000, 3.390000, 3.340000, 3.290000, 3.240000, 3.210000, 3.160000, 3.130000, 3.110000, 3.120000, 3.100000, 3.190000, 3.300000, 3.390000, 3.520000, 3.680000, 3.660000, 3.640000, 3.600000, 3.570000, 3.550000, 3.530000, 3.510000, 3.490000, 3.480000, 3.460000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.400000, 3.390000, 3.390000, 3.380000, 3.370000, 3.360000, 3.360000, 3.360000, 3.360000, 3.370000, 3.380000, 3.360000, 3.400000, 3.400000, 3.410000, 3.420000, 3.430000, 3.430000, 3.450000, 3.460000, 3.470000, 3.490000, 3.510000, 3.530000, 3.540000, 9.240000, 10.710000, 12.680000, 17.810000, null, null, null, 16.410000, null, null, null, null, 10.520000, 8.920000, 7.660000, 6.720000, 6.310000, 6.330000, 5.010000, 4.590000, 4.260000, 3.950000, 3.690000, 3.480000, 3.280000, 3.110000, 2.970000, 2.830000, 2.690000, 2.570000, 2.450000, 2.360000, 2.280000, 2.190000, 2.110000, 2.040000, 1.980000, 1.930000, 1.860000, 1.810000, 1.760000, 1.720000, 1.680000, 1.630000, 1.600000, 1.560000, 1.520000, 1.490000, 1.460000, 1.420000, 1.400000, 1.360000, 1.330000, 1.310000, 1.300000, 1.280000, 1.250000, 1.230000, 1.210000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.060000, 1.050000, 1.130000, 1.180000, 1.240000, 1.390000, 1.430000, 1.490000, 1.560000, 1.620000, 1.690000, 1.780000, 1.860000, 4.730000, 4.720000, 4.690000, 2.100000, 2.100000, 4.610000, 4.590000, 4.600000, 4.600000, 4.710000, 4.490000, 4.500000, 4.560000, 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, 0, 0, 0, 1, 0, 0, 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, 1 ], "timestamp": [ 976054725, 890712 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.351000, 10.315000, -0.500246 ], "estimate": [ 1.351000, 10.315000, -0.500246 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 20.740000, 9.670000, 8.620000, 7.990000, 7.530000, 7.120000, 6.820000, 6.540000, 6.300000, 6.080000, 5.690000, 5.680000, 4.100000, 4.010000, 3.920000, 3.850000, 3.780000, 3.710000, 3.640000, 3.570000, 3.530000, 3.460000, 3.400000, 3.360000, 3.310000, 3.260000, 3.220000, 3.180000, 3.140000, 3.100000, 3.100000, 3.080000, 3.120000, 3.220000, 3.320000, 3.420000, 3.530000, 3.660000, 3.640000, 3.600000, 3.570000, 3.550000, 3.530000, 3.500000, 3.490000, 3.470000, 3.450000, 3.430000, 3.410000, 3.410000, 3.410000, 3.400000, 3.390000, 3.380000, 3.370000, 3.360000, 3.360000, 3.350000, 3.340000, 3.340000, 3.340000, 3.350000, 3.340000, 3.360000, 3.350000, 3.380000, 3.380000, 3.390000, 3.390000, 3.410000, 3.420000, 3.430000, 3.430000, 3.450000, 3.470000, 3.490000, 3.510000, 3.520000, 9.280000, 10.800000, 12.780000, 17.800000, null, null, null, 16.270000, null, null, null, null, 10.290000, 8.760000, 7.550000, 6.570000, 6.290000, 6.300000, 4.920000, 4.520000, 4.200000, 3.900000, 3.650000, 3.430000, 3.250000, 3.080000, 2.930000, 2.790000, 2.660000, 2.540000, 2.430000, 2.350000, 2.250000, 2.180000, 2.100000, 2.030000, 1.970000, 1.910000, 1.850000, 1.800000, 1.740000, 1.710000, 1.670000, 1.620000, 1.590000, 1.540000, 1.510000, 1.480000, 1.440000, 1.420000, 1.380000, 1.360000, 1.330000, 1.300000, 1.290000, 1.260000, 1.250000, 1.210000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.050000, 1.100000, 1.170000, 1.230000, 1.390000, 1.430000, 1.500000, 1.560000, 1.640000, 1.710000, 1.800000, 4.720000, 4.720000, 4.670000, 2.110000, 2.090000, 4.610000, 4.590000, 4.590000, 4.580000, 4.720000, 4.490000, 4.490000, 4.540000, 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, 0, 0, 0, 1, 0, 0, 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, 1, 1 ], "timestamp": [ 976054725, 949702 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.417000, 10.278001, -0.512537 ], "estimate": [ 1.417000, 10.278001, -0.512537 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.380000, 8.780000, 8.100000, 7.600000, 7.160000, 6.850000, 6.570000, 6.310000, 6.090000, 5.330000, 5.680000, 4.070000, 3.980000, 3.890000, 3.810000, 3.740000, 3.670000, 3.610000, 3.550000, 3.480000, 3.420000, 3.370000, 3.320000, 3.260000, 3.220000, 3.170000, 3.130000, 3.090000, 3.070000, 3.070000, 3.080000, 3.120000, 3.210000, 3.320000, 3.420000, 3.530000, 3.630000, 3.590000, 3.560000, 3.540000, 3.510000, 3.480000, 3.460000, 3.450000, 3.420000, 3.410000, 3.390000, 3.380000, 3.370000, 3.360000, 3.350000, 3.340000, 3.330000, 3.320000, 3.310000, 3.310000, 3.290000, 3.290000, 3.300000, 3.300000, 3.290000, 3.300000, 3.300000, 3.300000, 3.320000, 3.330000, 3.340000, 3.340000, 3.350000, 3.360000, 3.380000, 3.390000, 3.400000, 3.420000, 3.430000, 3.440000, 3.470000, 8.730000, 10.010000, 11.730000, 17.730000, 18.130000, null, null, 16.210000, 16.340000, null, null, null, null, 9.660000, 8.190000, 7.110000, 6.290000, 6.220000, 5.360000, 4.750000, 4.380000, 4.080000, 3.790000, 3.560000, 3.350000, 3.160000, 3.010000, 2.880000, 2.740000, 2.610000, 2.490000, 2.390000, 2.300000, 2.210000, 2.130000, 2.060000, 1.990000, 1.940000, 1.870000, 1.820000, 1.770000, 1.720000, 1.690000, 1.650000, 1.610000, 1.570000, 1.520000, 1.490000, 1.460000, 1.420000, 1.400000, 1.360000, 1.330000, 1.310000, 1.300000, 1.270000, 1.250000, 1.230000, 1.210000, 1.210000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.070000, 1.070000, 1.050000, 1.050000, 1.040000, 1.040000, 1.030000, 1.010000, 1.020000, 1.000000, 1.010000, 1.070000, 1.150000, 1.210000, 1.380000, 1.440000, 1.510000, 1.570000, 1.650000, 1.760000, 1.810000, 4.690000, 4.620000, 4.620000, 2.080000, 4.600000, 4.590000, 4.580000, 4.570000, 4.520000, 4.480000, 4.530000, 4.580000, 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, 0, 0, 1, 1, 0, 0, 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, 1, 1 ], "timestamp": [ 976054725, 963333 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.485000, 10.240000, -0.506391 ], "estimate": [ 1.485000, 10.240000, -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": [ 10.800000, 8.390000, 7.810000, 7.320000, 6.950000, 6.660000, 6.390000, 6.140000, 5.920000, 5.700000, 4.040000, 3.950000, 3.870000, 3.780000, 3.700000, 3.640000, 3.560000, 3.510000, 3.440000, 3.380000, 3.320000, 3.260000, 3.210000, 3.160000, 3.120000, 3.080000, 3.040000, 3.020000, 3.020000, 3.020000, 3.100000, 3.190000, 3.280000, 3.380000, 3.490000, 3.570000, 3.540000, 3.510000, 3.480000, 3.450000, 3.420000, 3.400000, 3.380000, 3.360000, 3.350000, 3.320000, 3.310000, 3.300000, 3.290000, 3.270000, 3.270000, 3.270000, 3.250000, 3.240000, 3.240000, 3.230000, 3.220000, 3.210000, 3.210000, 3.210000, 3.210000, 3.220000, 3.200000, 3.230000, 3.240000, 3.250000, 3.260000, 3.270000, 3.280000, 3.280000, 3.300000, 3.300000, 3.320000, 3.330000, 3.350000, 3.370000, 3.360000, 8.620000, 9.880000, 11.540000, 17.630000, 17.770000, null, null, null, 16.250000, null, null, null, null, 9.780000, 8.260000, 7.180000, 6.310000, 6.140000, 6.160000, 4.760000, 4.380000, 4.080000, 3.800000, 3.550000, 3.330000, 3.150000, 3.000000, 2.870000, 2.740000, 2.610000, 2.490000, 2.390000, 2.300000, 2.210000, 2.120000, 2.050000, 1.980000, 1.940000, 1.860000, 1.820000, 1.770000, 1.720000, 1.680000, 1.630000, 1.610000, 1.560000, 1.510000, 1.480000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.320000, 1.290000, 1.270000, 1.250000, 1.220000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.960000, 0.970000, 1.060000, 1.160000, 1.350000, 1.440000, 1.530000, 1.620000, 1.760000, 4.600000, 4.610000, 4.600000, 2.090000, 2.080000, 4.570000, 4.580000, 4.510000, 4.480000, 4.490000, 4.570000 ], "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, 0, 0, 0, 1, 0, 0, 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, 1, 1 ], "timestamp": [ 976054727, 750650 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.534000, 10.213000, -0.512537 ], "estimate": [ 1.534000, 10.213000, -0.512537 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.820000, 8.750000, 8.030000, 7.510000, 7.080000, 6.740000, 6.450000, 6.200000, 5.960000, 5.230000, 4.030000, 3.930000, 3.850000, 3.760000, 3.680000, 3.600000, 3.550000, 3.480000, 3.410000, 3.350000, 3.290000, 3.240000, 3.180000, 3.130000, 3.090000, 3.040000, 3.000000, 2.990000, 2.990000, 3.010000, 3.100000, 3.180000, 3.260000, 3.350000, 3.450000, 3.540000, 3.500000, 3.470000, 3.440000, 3.410000, 3.390000, 3.360000, 3.350000, 3.320000, 3.300000, 3.290000, 3.260000, 3.260000, 3.250000, 3.230000, 3.220000, 3.210000, 3.200000, 3.190000, 3.180000, 3.180000, 3.170000, 3.160000, 3.160000, 3.160000, 3.160000, 3.160000, 3.170000, 3.150000, 3.180000, 3.180000, 3.190000, 3.200000, 3.210000, 3.220000, 3.240000, 3.250000, 3.260000, 3.270000, 3.280000, 3.290000, 3.320000, 3.310000, 8.870000, 10.240000, 11.940000, 17.610000, null, null, null, 16.060000, 16.180000, null, null, null, null, 9.580000, 8.120000, 7.040000, 6.230000, 6.080000, 6.100000, 4.690000, 4.340000, 4.040000, 3.760000, 3.510000, 3.320000, 3.130000, 2.970000, 2.840000, 2.690000, 2.590000, 2.470000, 2.370000, 2.280000, 2.200000, 2.110000, 2.040000, 1.970000, 1.920000, 1.860000, 1.800000, 1.750000, 1.710000, 1.670000, 1.620000, 1.580000, 1.540000, 1.510000, 1.480000, 1.440000, 1.410000, 1.380000, 1.350000, 1.330000, 1.300000, 1.290000, 1.260000, 1.240000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.120000, 1.100000, 1.080000, 1.080000, 1.080000, 1.070000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.950000, 1.000000, 1.360000, 1.390000, 1.500000, 1.590000, 1.760000, 4.580000, 4.580000, 4.580000, 2.050000, 2.110000, 4.580000, 4.510000, 4.480000 ], "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, 0, 0, 0, 1, 1, 0, 0, 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, 1 ], "timestamp": [ 976054727, 762259 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.573000, 10.191000, -0.530973 ], "estimate": [ 1.573000, 10.191000, -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": [ 20.730000, 8.780000, 8.040000, 7.490000, 7.050000, 6.710000, 6.420000, 6.160000, 5.930000, 4.250000, 3.990000, 3.890000, 3.790000, 3.720000, 3.650000, 3.560000, 3.490000, 3.430000, 3.370000, 3.300000, 3.240000, 3.190000, 3.140000, 3.090000, 3.040000, 3.000000, 2.980000, 2.970000, 2.970000, 3.010000, 3.090000, 3.170000, 3.250000, 3.350000, 3.450000, 3.500000, 3.460000, 3.430000, 3.410000, 3.380000, 3.350000, 3.320000, 3.310000, 3.290000, 3.260000, 3.250000, 3.230000, 3.220000, 3.200000, 3.190000, 3.180000, 3.170000, 3.160000, 3.160000, 3.140000, 3.130000, 3.130000, 3.120000, 3.120000, 3.130000, 3.120000, 3.120000, 3.120000, 3.110000, 3.130000, 3.140000, 3.150000, 3.160000, 3.170000, 3.170000, 3.180000, 3.190000, 3.210000, 3.220000, 3.230000, 3.260000, 3.280000, 3.280000, 8.410000, 9.600000, 11.160000, 17.570000, 17.610000, null, null, null, 16.030000, null, null, null, null, 9.960000, 8.520000, 7.310000, 6.400000, 6.020000, 6.050000, 4.800000, 4.420000, 4.100000, 3.850000, 3.570000, 3.360000, 3.170000, 3.020000, 2.860000, 2.730000, 2.630000, 2.500000, 2.390000, 2.300000, 2.220000, 2.130000, 2.060000, 1.980000, 1.920000, 1.870000, 1.810000, 1.770000, 1.710000, 1.670000, 1.630000, 1.590000, 1.550000, 1.520000, 1.490000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.320000, 1.290000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.180000, 1.150000, 1.140000, 1.130000, 1.110000, 1.110000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.040000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.970000, 0.980000, 0.970000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.960000, 1.000000, 1.370000, 1.480000, 1.590000, 1.760000, 4.580000, 4.580000, 2.080000, 2.050000, 4.580000, 4.500000 ], "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, 0, 0, 0, 1, 0, 0, 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, 1 ], "timestamp": [ 976054727, 772779 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.615000, 10.165999, -0.524828 ], "estimate": [ 1.615000, 10.165999, -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": [ 8.530000, 7.820000, 7.320000, 6.930000, 6.600000, 6.310000, 6.060000, 5.460000, 4.020000, 3.920000, 3.830000, 3.750000, 3.660000, 3.590000, 3.520000, 3.450000, 3.390000, 3.320000, 3.260000, 3.200000, 3.140000, 3.090000, 3.040000, 3.000000, 2.960000, 2.950000, 2.950000, 2.970000, 3.030000, 3.120000, 3.200000, 3.280000, 3.380000, 3.500000, 3.460000, 3.420000, 3.400000, 3.370000, 3.340000, 3.310000, 3.280000, 3.270000, 3.250000, 3.240000, 3.210000, 3.190000, 3.190000, 3.170000, 3.150000, 3.160000, 3.140000, 3.130000, 3.120000, 3.110000, 3.110000, 3.100000, 3.090000, 3.090000, 3.090000, 3.090000, 3.090000, 3.080000, 3.100000, 3.100000, 3.110000, 3.120000, 3.120000, 3.130000, 3.140000, 3.150000, 3.170000, 3.170000, 3.180000, 3.200000, 3.220000, 3.230000, 3.250000, 8.490000, 9.680000, 11.270000, 17.510000, 17.600000, null, null, null, 16.000000, null, null, null, null, 9.840000, 8.400000, 7.250000, 6.330000, 5.990000, 6.010000, 4.760000, 4.370000, 4.080000, 3.810000, 3.540000, 3.330000, 3.150000, 2.980000, 2.840000, 2.710000, 2.590000, 2.490000, 2.390000, 2.280000, 2.210000, 2.110000, 2.050000, 1.970000, 1.920000, 1.860000, 1.800000, 1.750000, 1.700000, 1.660000, 1.620000, 1.580000, 1.540000, 1.500000, 1.490000, 1.450000, 1.410000, 1.380000, 1.350000, 1.330000, 1.310000, 1.280000, 1.260000, 1.230000, 1.200000, 1.190000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.970000, 1.430000, 1.550000, 1.750000, 4.580000, 4.570000, 2.080000, 2.060000, 4.520000, 4.470000 ], "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, 0, 0, 0, 1, 0, 0, 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, 1, 1 ], "timestamp": [ 976054727, 782230 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.672000, 10.134000, -0.512537 ], "estimate": [ 1.672000, 10.134000, -0.512537 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.570000, 7.110000, 6.740000, 6.420000, 6.160000, 5.420000, 4.030000, 3.930000, 3.830000, 3.730000, 3.650000, 3.580000, 3.510000, 3.440000, 3.370000, 3.300000, 3.240000, 3.180000, 3.120000, 3.070000, 3.010000, 2.980000, 2.940000, 2.940000, 2.910000, 2.950000, 3.010000, 3.080000, 3.160000, 3.250000, 3.350000, 3.470000, 3.430000, 3.400000, 3.360000, 3.340000, 3.300000, 3.270000, 3.250000, 3.230000, 3.210000, 3.190000, 3.170000, 3.150000, 3.150000, 3.130000, 3.110000, 3.110000, 3.100000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.050000, 3.040000, 3.030000, 3.040000, 3.040000, 3.040000, 3.040000, 3.050000, 3.040000, 3.050000, 3.060000, 3.070000, 3.080000, 3.090000, 3.100000, 3.120000, 3.120000, 3.130000, 3.150000, 3.170000, 3.180000, 3.210000, 8.540000, 9.740000, 11.300000, 17.450000, 17.540000, null, null, null, 15.960000, null, null, null, null, 9.750000, 8.340000, 7.190000, 6.300000, 5.930000, 5.940000, 4.740000, 4.350000, 4.030000, 3.770000, 3.520000, 3.300000, 3.130000, 2.970000, 2.820000, 2.690000, 2.570000, 2.470000, 2.380000, 2.270000, 2.190000, 2.100000, 2.030000, 1.970000, 1.900000, 1.850000, 1.790000, 1.740000, 1.700000, 1.650000, 1.610000, 1.570000, 1.530000, 1.500000, 1.470000, 1.440000, 1.400000, 1.370000, 1.350000, 1.320000, 1.300000, 1.270000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 1.500000, 1.740000, 4.550000, 4.560000, 2.050000, 2.050000, 4.480000 ], "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, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1 ], "timestamp": [ 976054727, 791730 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.733000, 10.100000, -0.500246 ], "estimate": [ 1.733000, 10.100000, -0.500246 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.950000, 6.580000, 6.300000, 6.040000, 4.060000, 3.930000, 3.840000, 3.740000, 3.650000, 3.570000, 3.500000, 3.430000, 3.360000, 3.280000, 3.230000, 3.160000, 3.100000, 3.050000, 2.990000, 2.960000, 2.920000, 2.910000, 2.890000, 2.930000, 2.990000, 3.070000, 3.130000, 3.230000, 3.300000, 3.440000, 3.410000, 3.370000, 3.340000, 3.300000, 3.270000, 3.240000, 3.220000, 3.190000, 3.170000, 3.150000, 3.140000, 3.110000, 3.100000, 3.090000, 3.070000, 3.060000, 3.050000, 3.040000, 3.030000, 3.010000, 3.010000, 3.000000, 3.010000, 3.000000, 2.990000, 2.980000, 2.980000, 2.980000, 2.960000, 2.980000, 2.990000, 2.990000, 3.000000, 3.010000, 3.020000, 3.020000, 3.030000, 3.040000, 3.050000, 3.060000, 3.070000, 3.090000, 3.100000, 3.110000, 7.540000, 8.450000, 9.610000, 11.150000, 17.420000, 17.450000, null, null, null, 15.880000, null, null, null, null, 9.960000, 8.420000, 7.250000, 6.340000, 5.850000, 5.880000, 4.760000, 4.360000, 4.030000, 3.760000, 3.520000, 3.300000, 3.120000, 2.960000, 2.810000, 2.690000, 2.560000, 2.470000, 2.350000, 2.260000, 2.180000, 2.100000, 2.030000, 1.960000, 1.890000, 1.840000, 1.770000, 1.740000, 1.690000, 1.630000, 1.600000, 1.560000, 1.510000, 1.480000, 1.450000, 1.420000, 1.390000, 1.390000, 1.330000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.190000, 1.180000, 1.170000, 1.150000, 1.130000, 1.110000, 1.110000, 1.090000, 1.080000, 1.070000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.940000, 0.940000, 4.550000, 2.050000, 2.050000 ], "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, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1, 1 ], "timestamp": [ 976054727, 209965 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.784000, 10.072001, -0.494100 ], "estimate": [ 1.784000, 10.072001, -0.494100 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.520000, 6.210000, 5.600000, 3.970000, 3.870000, 3.760000, 3.670000, 3.580000, 3.500000, 3.430000, 3.360000, 3.290000, 3.230000, 3.150000, 3.090000, 3.040000, 2.990000, 2.940000, 2.890000, 2.890000, 2.870000, 2.900000, 2.960000, 3.030000, 3.090000, 3.170000, 3.250000, 3.340000, 3.390000, 3.350000, 3.310000, 3.280000, 3.250000, 3.220000, 3.190000, 3.160000, 3.130000, 3.120000, 3.100000, 3.080000, 3.060000, 3.050000, 3.030000, 3.020000, 3.010000, 3.000000, 2.990000, 2.980000, 2.970000, 2.960000, 2.940000, 2.940000, 2.940000, 2.930000, 2.920000, 2.920000, 2.930000, 2.920000, 2.930000, 2.930000, 2.940000, 2.940000, 2.950000, 2.950000, 2.970000, 2.970000, 2.980000, 2.990000, 3.010000, 3.020000, 3.030000, 3.040000, 3.050000, 7.320000, 8.170000, 9.270000, 10.640000, 12.530000, 17.320000, null, null, null, 15.880000, null, null, null, null, null, 8.820000, 7.540000, 6.580000, 5.830000, 5.790000, 5.820000, 4.450000, 4.110000, 3.810000, 3.580000, 3.340000, 3.150000, 2.980000, 2.820000, 2.690000, 2.570000, 2.470000, 2.360000, 2.280000, 2.190000, 2.100000, 2.020000, 1.970000, 1.890000, 1.830000, 1.780000, 1.730000, 1.680000, 1.630000, 1.590000, 1.550000, 1.520000, 1.480000, 1.450000, 1.420000, 1.380000, 1.350000, 1.330000, 1.330000, 1.270000, 1.250000, 1.230000, 1.200000, 1.180000, 1.170000, 1.140000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 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, 0.900000 ], "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, 0, 0, 0, 1, 0, 0, 0, 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, 1, 1, 1, 1 ], "timestamp": [ 976054727, 496314 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.825000, 10.049000, -0.592429 ], "estimate": [ 1.825000, 10.049000, -0.592429 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.280000, 6.020000, 3.970000, 3.860000, 3.760000, 3.650000, 3.570000, 3.490000, 3.420000, 3.350000, 3.270000, 3.200000, 3.140000, 3.080000, 3.020000, 2.960000, 2.910000, 2.880000, 2.880000, 2.870000, 2.890000, 2.960000, 3.020000, 3.090000, 3.170000, 3.240000, 3.330000, 3.370000, 3.330000, 3.290000, 3.250000, 3.230000, 3.200000, 3.160000, 3.140000, 3.110000, 3.100000, 3.080000, 3.050000, 3.030000, 3.020000, 3.000000, 2.990000, 2.980000, 2.970000, 2.960000, 2.940000, 2.940000, 2.920000, 2.910000, 2.900000, 2.910000, 2.900000, 2.890000, 2.890000, 2.880000, 2.870000, 2.890000, 2.890000, 2.900000, 2.900000, 2.910000, 2.910000, 2.920000, 2.920000, 2.940000, 2.950000, 2.960000, 2.970000, 2.990000, 3.000000, 3.010000, 3.030000, 7.690000, 8.640000, 9.860000, 11.380000, 17.270000, 17.370000, null, null, null, 15.800000, null, null, null, null, 9.830000, 8.310000, 7.160000, 6.250000, 5.740000, 5.760000, 4.670000, 4.300000, 3.970000, 3.700000, 3.480000, 3.260000, 3.060000, 2.900000, 2.760000, 2.630000, 2.520000, 2.410000, 2.310000, 2.230000, 2.140000, 2.060000, 1.990000, 1.920000, 1.850000, 1.800000, 1.740000, 1.700000, 1.650000, 1.610000, 1.570000, 1.530000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.310000, 1.290000, 1.270000, 1.240000, 1.210000, 1.190000, 1.190000, 1.150000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 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, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.910000, 0.910000, 0.910000, 0.900000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054727, 564192 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.868000, 10.016000, -0.703048 ], "estimate": [ 1.868000, 10.016000, -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": [ 18.220000, 20.580000, 20.420000, 20.720000, 9.990000, 8.170000, 7.490000, 6.990000, 6.600000, 6.270000, 4.080000, 3.920000, 3.810000, 3.710000, 3.610000, 3.530000, 3.440000, 3.370000, 3.290000, 3.220000, 3.140000, 3.080000, 3.010000, 2.960000, 2.900000, 2.860000, 2.840000, 2.830000, 2.860000, 2.920000, 2.980000, 3.040000, 3.120000, 3.190000, 3.270000, 3.360000, 3.320000, 3.280000, 3.240000, 3.210000, 3.180000, 3.140000, 3.120000, 3.090000, 3.070000, 3.050000, 3.020000, 3.000000, 2.990000, 2.980000, 2.960000, 2.940000, 2.930000, 2.920000, 2.900000, 2.900000, 2.890000, 2.880000, 2.870000, 2.850000, 2.860000, 2.850000, 2.840000, 2.840000, 2.840000, 2.820000, 2.840000, 2.840000, 2.850000, 2.850000, 2.850000, 2.850000, 2.860000, 2.870000, 2.880000, 2.890000, 2.910000, 2.910000, 2.930000, 2.940000, 2.950000, 2.980000, 7.590000, 8.510000, 9.710000, 11.240000, 17.300000, 17.300000, null, null, null, 15.720000, null, null, null, null, null, 9.160000, 7.780000, 6.790000, 5.990000, 5.700000, 5.730000, 4.530000, 4.180000, 3.890000, 3.630000, 3.400000, 3.200000, 3.020000, 2.860000, 2.720000, 2.600000, 2.490000, 2.400000, 2.320000, 2.220000, 2.130000, 2.050000, 1.980000, 1.920000, 1.850000, 1.790000, 1.750000, 1.690000, 1.660000, 1.610000, 1.570000, 1.520000, 1.500000, 1.460000, 1.420000, 1.390000, 1.370000, 1.330000, 1.310000, 1.290000, 1.260000, 1.240000, 1.210000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.930000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054728, 255149 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.914000, 9.978000, -0.672321 ], "estimate": [ 1.914000, 9.978000, -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": [ 9.020000, 15.610000, 18.210000, 18.220000, 20.570000, 20.420000, 20.500000, 8.120000, 7.420000, 6.910000, 6.540000, 6.190000, 3.980000, 3.860000, 3.740000, 3.640000, 3.560000, 3.460000, 3.390000, 3.290000, 3.230000, 3.150000, 3.090000, 3.020000, 2.970000, 2.900000, 2.850000, 2.820000, 2.820000, 2.810000, 2.820000, 2.880000, 2.940000, 3.010000, 3.080000, 3.130000, 3.230000, 3.310000, 3.270000, 3.240000, 3.190000, 3.150000, 3.130000, 3.100000, 3.070000, 3.040000, 3.020000, 3.000000, 2.990000, 2.960000, 2.950000, 2.930000, 2.910000, 2.890000, 2.890000, 2.870000, 2.860000, 2.850000, 2.830000, 2.830000, 2.820000, 2.810000, 2.810000, 2.800000, 2.790000, 2.790000, 2.780000, 2.770000, 2.790000, 2.790000, 2.790000, 2.790000, 2.810000, 2.800000, 2.820000, 2.820000, 2.830000, 2.840000, 2.850000, 2.850000, 2.870000, 2.880000, 2.900000, 2.890000, 6.930000, 7.690000, 8.630000, 9.870000, 11.400000, 17.200000, 17.340000, null, null, 15.630000, 15.720000, null, null, null, null, 9.380000, 8.070000, 6.950000, 6.120000, 5.630000, 5.670000, 4.760000, 4.250000, 3.930000, 3.670000, 3.470000, 3.240000, 3.060000, 2.890000, 2.750000, 2.630000, 2.520000, 2.420000, 2.330000, 2.230000, 2.150000, 2.070000, 2.000000, 1.940000, 1.870000, 1.810000, 1.760000, 1.710000, 1.680000, 1.620000, 1.580000, 1.540000, 1.500000, 1.470000, 1.430000, 1.400000, 1.370000, 1.350000, 1.320000, 1.300000, 1.270000, 1.250000, 1.240000, 1.230000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 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, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.930000, 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, 0, 0, 1, 1, 0, 0, 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 ], "timestamp": [ 976054728, 266639 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.965000, 9.940000, -0.610865 ], "estimate": [ 1.965000, 9.940000, -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": [ 20.410000, 8.490000, 7.640000, 7.050000, 6.640000, 6.290000, 3.960000, 3.840000, 3.720000, 3.620000, 3.530000, 3.440000, 3.360000, 3.280000, 3.200000, 3.120000, 3.050000, 2.980000, 2.920000, 2.870000, 2.810000, 2.800000, 2.780000, 2.780000, 2.810000, 2.870000, 2.930000, 2.990000, 3.060000, 3.130000, 3.200000, 3.280000, 3.240000, 3.200000, 3.150000, 3.120000, 3.090000, 3.060000, 3.030000, 3.000000, 2.990000, 2.960000, 2.940000, 2.910000, 2.890000, 2.880000, 2.870000, 2.850000, 2.830000, 2.820000, 2.820000, 2.800000, 2.790000, 2.780000, 2.770000, 2.760000, 2.750000, 2.750000, 2.750000, 2.740000, 2.740000, 2.710000, 2.730000, 2.730000, 2.730000, 2.740000, 2.750000, 2.750000, 2.750000, 2.760000, 2.760000, 2.770000, 2.780000, 2.790000, 2.800000, 2.820000, 2.830000, 2.840000, 2.850000, 7.060000, 7.820000, 8.820000, 10.090000, 11.730000, 17.170000, null, null, null, 15.600000, 15.700000, null, null, null, null, 9.160000, 7.770000, 6.790000, 5.950000, 5.590000, 5.600000, 4.640000, 4.170000, 3.880000, 3.620000, 3.410000, 3.190000, 3.010000, 2.860000, 2.720000, 2.590000, 2.480000, 2.380000, 2.290000, 2.210000, 2.130000, 2.050000, 1.980000, 1.920000, 1.850000, 1.790000, 1.740000, 1.700000, 1.660000, 1.610000, 1.560000, 1.520000, 1.490000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.280000, 1.260000, 1.230000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.090000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.940000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 1, 0, 0, 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 ], "timestamp": [ 976054728, 179764 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.014000, 9.905000, -0.635447 ], "estimate": [ 2.014000, 9.905000, -0.635447 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.620000, 7.680000, 7.070000, 6.630000, 6.270000, 3.910000, 3.790000, 3.680000, 3.570000, 3.480000, 3.390000, 3.310000, 3.230000, 3.140000, 3.080000, 3.000000, 2.940000, 2.870000, 2.820000, 2.780000, 2.780000, 2.760000, 2.790000, 2.840000, 2.900000, 2.960000, 3.020000, 3.080000, 3.150000, 3.280000, 3.240000, 3.190000, 3.150000, 3.120000, 3.080000, 3.050000, 3.010000, 2.980000, 2.960000, 2.940000, 2.910000, 2.880000, 2.870000, 2.860000, 2.830000, 2.820000, 2.810000, 2.790000, 2.770000, 2.770000, 2.750000, 2.750000, 2.740000, 2.730000, 2.710000, 2.710000, 2.700000, 2.700000, 2.690000, 2.680000, 2.670000, 2.690000, 2.690000, 2.680000, 2.690000, 2.680000, 2.690000, 2.690000, 2.700000, 2.710000, 2.720000, 2.730000, 2.750000, 2.760000, 2.760000, 2.770000, 2.780000, 2.790000, 6.910000, 7.660000, 8.600000, 9.810000, 11.310000, 17.080000, 17.180000, null, null, null, 15.520000, null, null, null, null, 10.040000, 8.470000, 7.300000, 6.390000, 5.700000, 5.530000, 5.560000, 4.370000, 4.030000, 3.750000, 3.520000, 3.310000, 3.110000, 2.950000, 2.800000, 2.660000, 2.540000, 2.430000, 2.340000, 2.260000, 2.160000, 2.100000, 2.020000, 1.960000, 1.890000, 1.830000, 1.780000, 1.720000, 1.680000, 1.640000, 1.590000, 1.550000, 1.500000, 1.470000, 1.440000, 1.410000, 1.370000, 1.340000, 1.320000, 1.300000, 1.280000, 1.250000, 1.220000, 1.200000, 1.200000, 1.180000, 1.150000, 1.140000, 1.150000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000, 1.050000, 1.050000, 1.030000, 1.030000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.960000, 0.970000, 0.960000, 0.950000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054728, 623564 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.058000, 9.872000, -0.647738 ], "estimate": [ 2.058000, 9.872000, -0.647738 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 20.410000, 20.720000, 8.050000, 7.280000, 6.780000, 6.390000, 3.910000, 3.790000, 3.670000, 3.550000, 3.460000, 3.370000, 3.290000, 3.200000, 3.120000, 3.050000, 2.970000, 2.910000, 2.840000, 2.790000, 2.750000, 2.740000, 2.740000, 2.770000, 2.820000, 2.870000, 2.930000, 2.990000, 3.060000, 3.120000, 3.240000, 3.200000, 3.160000, 3.120000, 3.080000, 3.040000, 3.010000, 2.980000, 2.950000, 2.920000, 2.900000, 2.870000, 2.850000, 2.820000, 2.820000, 2.800000, 2.780000, 2.760000, 2.740000, 2.730000, 2.730000, 2.710000, 2.700000, 2.690000, 2.670000, 2.660000, 2.660000, 2.650000, 2.660000, 2.650000, 2.640000, 2.620000, 2.630000, 2.640000, 2.630000, 2.630000, 2.640000, 2.640000, 2.650000, 2.650000, 2.660000, 2.660000, 2.670000, 2.670000, 2.680000, 2.690000, 2.700000, 2.720000, 2.730000, 2.750000, 6.950000, 7.700000, 8.660000, 9.900000, 11.430000, 16.990000, 17.190000, null, null, null, 15.520000, null, null, null, null, 9.790000, 8.280000, 7.150000, 6.290000, 5.610000, 5.480000, 5.500000, 4.330000, 3.990000, 3.720000, 3.490000, 3.300000, 3.090000, 2.920000, 2.770000, 2.640000, 2.520000, 2.420000, 2.330000, 2.230000, 2.150000, 2.090000, 2.010000, 1.950000, 1.890000, 1.820000, 1.780000, 1.720000, 1.670000, 1.620000, 1.590000, 1.540000, 1.500000, 1.480000, 1.440000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054728, 624706 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.102000, 9.839001, -0.647738 ], "estimate": [ 2.102000, 9.839001, -0.647738 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 20.410000, 8.400000, 7.520000, 6.920000, 6.480000, 3.900000, 3.780000, 3.650000, 3.540000, 3.440000, 3.350000, 3.260000, 3.180000, 3.090000, 3.010000, 2.940000, 2.870000, 2.810000, 2.750000, 2.740000, 2.730000, 2.730000, 2.750000, 2.800000, 2.860000, 2.920000, 2.980000, 3.040000, 3.090000, 3.220000, 3.170000, 3.130000, 3.090000, 3.050000, 3.010000, 2.980000, 2.950000, 2.910000, 2.880000, 2.860000, 2.840000, 2.820000, 2.800000, 2.770000, 2.760000, 2.740000, 2.730000, 2.710000, 2.690000, 2.690000, 2.670000, 2.660000, 2.650000, 2.640000, 2.630000, 2.620000, 2.610000, 2.600000, 2.610000, 2.600000, 2.590000, 2.580000, 2.580000, 2.580000, 2.590000, 2.590000, 2.600000, 2.590000, 2.600000, 2.600000, 2.610000, 2.610000, 2.620000, 2.640000, 2.650000, 2.650000, 2.660000, 2.670000, 2.680000, 6.490000, 7.120000, 7.940000, 8.930000, 10.240000, 11.910000, 16.980000, 17.490000, null, null, 15.420000, 15.520000, null, null, null, null, 9.250000, 7.920000, 6.830000, 6.040000, 5.430000, 5.430000, 5.450000, 4.200000, 3.890000, 3.620000, 3.410000, 3.230000, 3.030000, 2.870000, 2.730000, 2.610000, 2.490000, 2.390000, 2.290000, 2.210000, 2.120000, 2.050000, 1.990000, 1.930000, 1.850000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.580000, 1.520000, 1.500000, 1.470000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.190000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.070000, 1.080000, 1.050000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 1, 1, 0, 0, 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 ], "timestamp": [ 976054728, 869374 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.147000, 9.805000, -0.653884 ], "estimate": [ 2.147000, 9.805000, -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": [ 20.400000, 8.100000, 7.280000, 6.740000, 3.930000, 3.790000, 3.670000, 3.560000, 3.450000, 3.360000, 3.260000, 3.180000, 3.090000, 3.010000, 2.940000, 2.860000, 2.800000, 2.740000, 2.730000, 2.700000, 2.700000, 2.740000, 2.790000, 2.840000, 2.890000, 2.950000, 3.000000, 3.060000, 3.120000, 3.140000, 3.110000, 3.070000, 3.030000, 2.990000, 2.960000, 2.920000, 2.890000, 2.860000, 2.830000, 2.810000, 2.790000, 2.760000, 2.740000, 2.730000, 2.710000, 2.690000, 2.670000, 2.660000, 2.640000, 2.640000, 2.630000, 2.610000, 2.600000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.550000, 2.540000, 2.530000, 2.540000, 2.540000, 2.540000, 2.540000, 2.540000, 2.550000, 2.550000, 2.550000, 2.550000, 2.550000, 2.560000, 2.570000, 2.580000, 2.590000, 2.600000, 2.610000, 2.620000, 2.630000, 6.450000, 7.070000, 7.860000, 8.840000, 10.120000, 11.750000, 16.930000, 17.380000, null, null, null, 15.480000, null, null, null, null, 9.440000, 8.040000, 6.940000, 6.130000, 5.490000, 5.360000, 5.400000, 4.250000, 3.920000, 3.660000, 3.440000, 3.250000, 3.060000, 2.900000, 2.750000, 2.610000, 2.500000, 2.400000, 2.310000, 2.220000, 2.140000, 2.070000, 2.010000, 1.940000, 1.870000, 1.820000, 1.770000, 1.710000, 1.670000, 1.610000, 1.580000, 1.520000, 1.500000, 1.460000, 1.430000, 1.390000, 1.370000, 1.330000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.170000, 1.150000, 1.120000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.030000, 1.040000, 1.030000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054729, 241922 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.194000, 9.768000, -0.666175 ], "estimate": [ 2.194000, 9.768000, -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": [ 20.410000, 8.160000, 7.290000, 6.720000, 3.880000, 3.740000, 3.620000, 3.510000, 3.400000, 3.300000, 3.210000, 3.110000, 3.030000, 2.950000, 2.870000, 2.800000, 2.740000, 2.710000, 2.700000, 2.680000, 2.710000, 2.750000, 2.800000, 2.840000, 2.890000, 2.950000, 3.010000, 3.070000, 3.150000, 3.110000, 3.060000, 3.020000, 2.980000, 2.950000, 2.910000, 2.870000, 2.840000, 2.810000, 2.780000, 2.760000, 2.740000, 2.720000, 2.690000, 2.680000, 2.660000, 2.650000, 2.630000, 2.620000, 2.600000, 2.580000, 2.580000, 2.570000, 2.550000, 2.540000, 2.530000, 2.530000, 2.520000, 2.520000, 2.510000, 2.500000, 2.490000, 2.490000, 2.490000, 2.490000, 2.490000, 2.490000, 2.500000, 2.500000, 2.500000, 2.500000, 2.510000, 2.520000, 2.530000, 2.540000, 2.540000, 2.550000, 2.550000, 2.560000, 2.570000, 6.210000, 6.790000, 7.520000, 8.430000, 9.570000, 11.010000, 16.860000, 16.900000, null, null, null, 15.330000, null, null, null, null, null, 8.610000, 7.390000, 6.530000, 5.750000, 5.290000, 5.340000, 5.360000, 4.070000, 3.780000, 3.520000, 3.330000, 3.140000, 2.970000, 2.820000, 2.670000, 2.550000, 2.450000, 2.350000, 2.250000, 2.170000, 2.110000, 2.030000, 1.960000, 1.900000, 1.850000, 1.790000, 1.730000, 1.690000, 1.640000, 1.600000, 1.560000, 1.510000, 1.480000, 1.450000, 1.410000, 1.380000, 1.350000, 1.320000, 1.300000, 1.270000, 1.250000, 1.220000, 1.200000, 1.190000, 1.160000, 1.150000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.940000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054729, 243067 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.243000, 9.730000, -0.672321 ], "estimate": [ 2.243000, 9.730000, -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": [ 20.400000, 7.670000, 6.960000, 3.870000, 3.730000, 3.610000, 3.490000, 3.380000, 3.280000, 3.170000, 3.090000, 3.000000, 2.910000, 2.840000, 2.760000, 2.710000, 2.680000, 2.660000, 2.660000, 2.700000, 2.740000, 2.780000, 2.830000, 2.870000, 2.930000, 2.980000, 3.030000, 3.120000, 3.070000, 3.030000, 2.990000, 2.950000, 2.900000, 2.870000, 2.840000, 2.800000, 2.770000, 2.740000, 2.730000, 2.700000, 2.670000, 2.650000, 2.640000, 2.620000, 2.600000, 2.580000, 2.560000, 2.540000, 2.540000, 2.530000, 2.530000, 2.510000, 2.500000, 2.490000, 2.470000, 2.470000, 2.460000, 2.450000, 2.450000, 2.420000, 2.430000, 2.430000, 2.430000, 2.430000, 2.430000, 2.420000, 2.430000, 2.430000, 2.440000, 2.450000, 2.450000, 2.450000, 2.460000, 2.470000, 2.480000, 2.490000, 2.500000, 2.500000, 2.520000, 6.190000, 6.760000, 7.480000, 8.360000, 9.510000, 10.920000, 16.790000, 16.830000, null, null, null, 15.240000, null, null, null, null, null, 8.630000, 7.420000, 6.530000, 5.760000, 5.250000, 5.250000, 5.280000, 4.080000, 3.790000, 3.540000, 3.330000, 3.150000, 2.970000, 2.820000, 2.690000, 2.550000, 2.450000, 2.350000, 2.250000, 2.180000, 2.100000, 2.030000, 1.970000, 1.900000, 1.840000, 1.780000, 1.740000, 1.700000, 1.640000, 1.600000, 1.570000, 1.510000, 1.490000, 1.450000, 1.420000, 1.380000, 1.350000, 1.330000, 1.300000, 1.280000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.110000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054729, 363715 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.288000, 9.693000, -0.684612 ], "estimate": [ 2.288000, 9.693000, -0.684612 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 20.400000, 7.500000, 3.940000, 3.790000, 3.640000, 3.510000, 3.410000, 3.300000, 3.200000, 3.090000, 3.000000, 2.920000, 2.840000, 2.760000, 2.700000, 2.670000, 2.650000, 2.650000, 2.680000, 2.730000, 2.750000, 2.800000, 2.840000, 2.890000, 2.950000, 3.000000, 3.120000, 3.050000, 3.000000, 2.980000, 2.930000, 2.890000, 2.850000, 2.810000, 2.780000, 2.740000, 2.720000, 2.690000, 2.670000, 2.640000, 2.620000, 2.600000, 2.580000, 2.560000, 2.540000, 2.520000, 2.520000, 2.500000, 2.490000, 2.480000, 2.470000, 2.460000, 2.440000, 2.440000, 2.420000, 2.410000, 2.400000, 2.390000, 2.390000, 2.370000, 2.380000, 2.380000, 2.380000, 2.380000, 2.380000, 2.390000, 2.380000, 2.380000, 2.390000, 2.390000, 2.390000, 2.400000, 2.410000, 2.420000, 2.420000, 2.430000, 2.440000, 2.450000, 2.460000, 6.070000, 6.620000, 7.310000, 8.140000, 9.240000, 10.590000, 12.290000, 16.710000, null, null, null, 15.230000, null, null, null, null, null, 8.940000, 7.690000, 6.690000, 5.920000, 5.330000, 5.190000, 5.220000, 4.270000, 3.860000, 3.600000, 3.370000, 3.190000, 3.030000, 2.860000, 2.710000, 2.590000, 2.480000, 2.380000, 2.280000, 2.200000, 2.110000, 2.040000, 1.970000, 1.920000, 1.860000, 1.810000, 1.760000, 1.700000, 1.650000, 1.610000, 1.580000, 1.530000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.310000, 1.300000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054730, 323536 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.330000, 9.659000, -0.690757 ], "estimate": [ 2.330000, 9.659000, -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": [ 20.820000, 7.440000, 3.860000, 3.700000, 3.560000, 3.440000, 3.330000, 3.240000, 3.120000, 3.010000, 2.920000, 2.850000, 2.760000, 2.700000, 2.660000, 2.640000, 2.640000, 2.660000, 2.690000, 2.730000, 2.770000, 2.800000, 2.850000, 2.900000, 2.960000, 3.010000, 3.050000, 3.000000, 2.960000, 2.920000, 2.870000, 2.830000, 2.800000, 2.760000, 2.720000, 2.700000, 2.660000, 2.630000, 2.620000, 2.590000, 2.570000, 2.540000, 2.530000, 2.520000, 2.500000, 2.480000, 2.470000, 2.450000, 2.430000, 2.430000, 2.420000, 2.400000, 2.390000, 2.380000, 2.370000, 2.360000, 2.360000, 2.350000, 2.330000, 2.350000, 2.340000, 2.340000, 2.330000, 2.330000, 2.330000, 2.330000, 2.330000, 2.340000, 2.340000, 2.350000, 2.350000, 2.350000, 2.360000, 2.360000, 2.370000, 2.380000, 2.380000, 2.390000, 2.400000, 5.880000, 6.380000, 7.020000, 7.780000, 8.740000, 10.000000, 11.620000, 16.690000, null, null, null, null, 15.230000, null, null, null, null, 9.550000, 8.100000, 7.030000, 6.210000, 5.540000, 5.140000, 5.160000, 5.180000, 3.960000, 3.690000, 3.450000, 3.260000, 3.090000, 2.920000, 2.770000, 2.630000, 2.530000, 2.410000, 2.310000, 2.230000, 2.150000, 2.070000, 2.010000, 1.940000, 1.890000, 1.800000, 1.770000, 1.710000, 1.690000, 1.610000, 1.590000, 1.540000, 1.500000, 1.480000, 1.440000, 1.400000, 1.380000, 1.340000, 1.320000, 1.300000, 1.280000, 1.240000, 1.220000, 1.200000, 1.190000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.980000, 0.970000, 0.950000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 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, 0, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054730, 349879 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.373000, 9.623000, -0.696903 ], "estimate": [ 2.373000, 9.623000, -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": [ 7.830000, 3.860000, 3.700000, 3.550000, 3.430000, 3.310000, 3.220000, 3.100000, 3.000000, 2.910000, 2.820000, 2.750000, 2.670000, 2.640000, 2.620000, 2.620000, 2.650000, 2.690000, 2.730000, 2.770000, 2.810000, 2.850000, 2.900000, 2.940000, 2.990000, 3.020000, 2.970000, 2.920000, 2.880000, 2.850000, 2.800000, 2.770000, 2.730000, 2.710000, 2.670000, 2.640000, 2.610000, 2.580000, 2.570000, 2.550000, 2.520000, 2.510000, 2.490000, 2.470000, 2.450000, 2.430000, 2.410000, 2.390000, 2.380000, 2.380000, 2.370000, 2.350000, 2.350000, 2.340000, 2.330000, 2.330000, 2.320000, 2.290000, 2.290000, 2.290000, 2.280000, 2.280000, 2.280000, 2.280000, 2.280000, 2.280000, 2.280000, 2.290000, 2.290000, 2.300000, 2.290000, 2.300000, 2.310000, 2.320000, 2.330000, 2.340000, 2.350000, 2.360000, 2.370000, 5.990000, 6.520000, 7.170000, 7.990000, 9.020000, 10.320000, 12.060000, 16.600000, null, null, null, 15.100000, null, null, null, null, null, 9.130000, 7.820000, 6.800000, 6.030000, 5.400000, 5.100000, 5.110000, 5.130000, 3.900000, 3.640000, 3.410000, 3.210000, 3.040000, 2.890000, 2.750000, 2.610000, 2.500000, 2.400000, 2.300000, 2.230000, 2.130000, 2.060000, 1.980000, 1.920000, 1.860000, 1.800000, 1.770000, 1.720000, 1.670000, 1.610000, 1.580000, 1.530000, 1.500000, 1.470000, 1.440000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.270000, 1.240000, 1.220000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.960000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054730, 350921 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.419000, 9.585000, -0.696903 ], "estimate": [ 2.419000, 9.585000, -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": [ 3.850000, 3.690000, 3.540000, 3.400000, 3.300000, 3.170000, 3.070000, 2.970000, 2.870000, 2.770000, 2.720000, 2.640000, 2.630000, 2.600000, 2.620000, 2.650000, 2.680000, 2.730000, 2.770000, 2.810000, 2.840000, 2.880000, 2.930000, 2.990000, 2.990000, 2.940000, 2.890000, 2.850000, 2.810000, 2.760000, 2.720000, 2.700000, 2.660000, 2.640000, 2.600000, 2.570000, 2.550000, 2.520000, 2.510000, 2.480000, 2.460000, 2.440000, 2.420000, 2.400000, 2.380000, 2.370000, 2.350000, 2.340000, 2.340000, 2.330000, 2.310000, 2.300000, 2.290000, 2.280000, 2.260000, 2.260000, 2.250000, 2.240000, 2.240000, 2.240000, 2.230000, 2.230000, 2.220000, 2.230000, 2.230000, 2.220000, 2.230000, 2.230000, 2.240000, 2.250000, 2.250000, 2.250000, 2.250000, 2.260000, 2.270000, 2.270000, 2.280000, 2.290000, 5.570000, 6.040000, 6.580000, 7.270000, 8.110000, 9.180000, 10.510000, 16.610000, 16.560000, null, null, null, 15.050000, null, null, null, null, null, 8.960000, 7.700000, 6.710000, 5.970000, 5.330000, 5.040000, 5.060000, 5.070000, 3.870000, 3.600000, 3.380000, 3.190000, 3.020000, 2.870000, 2.730000, 2.600000, 2.480000, 2.380000, 2.280000, 2.200000, 2.110000, 2.040000, 1.970000, 1.920000, 1.860000, 1.800000, 1.740000, 1.710000, 1.670000, 1.620000, 1.580000, 1.530000, 1.500000, 1.470000, 1.430000, 1.390000, 1.370000, 1.330000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.960000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.920000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054730, 351865 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.466000, 9.545000, -0.696903 ], "estimate": [ 2.466000, 9.545000, -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": [ 3.660000, 3.510000, 3.390000, 3.260000, 3.130000, 3.020000, 2.920000, 2.820000, 2.740000, 2.650000, 2.610000, 2.600000, 2.590000, 2.620000, 2.650000, 2.690000, 2.730000, 2.760000, 2.790000, 2.830000, 2.880000, 2.920000, 3.010000, 2.960000, 2.900000, 2.850000, 2.810000, 2.770000, 2.720000, 2.690000, 2.650000, 2.620000, 2.590000, 2.560000, 2.530000, 2.510000, 2.480000, 2.460000, 2.440000, 2.420000, 2.390000, 2.370000, 2.350000, 2.340000, 2.330000, 2.310000, 2.300000, 2.280000, 2.270000, 2.260000, 2.250000, 2.240000, 2.230000, 2.230000, 2.220000, 2.190000, 2.200000, 2.190000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 2.180000, 2.170000, 2.170000, 2.180000, 2.180000, 2.180000, 2.190000, 2.190000, 2.200000, 2.210000, 2.220000, 2.220000, 2.230000, 2.230000, 2.270000, 5.660000, 6.160000, 6.730000, 7.450000, 8.310000, 9.450000, 10.850000, 16.490000, 16.570000, null, null, null, 14.980000, null, null, null, null, null, 8.660000, 7.470000, 6.510000, 5.790000, 5.220000, 4.970000, 5.000000, 5.030000, 3.810000, 3.560000, 3.330000, 3.150000, 2.980000, 2.840000, 2.700000, 2.570000, 2.460000, 2.360000, 2.260000, 2.180000, 2.110000, 2.030000, 1.960000, 1.890000, 1.850000, 1.800000, 1.730000, 1.690000, 1.670000, 1.600000, 1.560000, 1.530000, 1.500000, 1.460000, 1.420000, 1.390000, 1.370000, 1.340000, 1.300000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.190000, 1.160000, 1.150000, 1.120000, 1.100000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.940000, 0.940000, 0.930000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054730, 363903 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.511000, 9.507999, -0.696903 ], "estimate": [ 2.511000, 9.507999, -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": [ 3.460000, 3.320000, 3.200000, 3.070000, 2.960000, 2.860000, 2.760000, 2.680000, 2.620000, 2.600000, 2.580000, 2.590000, 2.630000, 2.650000, 2.690000, 2.730000, 2.760000, 2.810000, 2.840000, 2.880000, 2.930000, 2.960000, 2.910000, 2.850000, 2.790000, 2.750000, 2.720000, 2.680000, 2.630000, 2.600000, 2.570000, 2.540000, 2.510000, 2.490000, 2.460000, 2.430000, 2.420000, 2.390000, 2.370000, 2.350000, 2.330000, 2.310000, 2.290000, 2.270000, 2.250000, 2.240000, 2.230000, 2.230000, 2.210000, 2.200000, 2.190000, 2.180000, 2.170000, 2.160000, 2.130000, 2.140000, 2.130000, 2.130000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.130000, 2.120000, 2.120000, 2.120000, 2.130000, 2.140000, 2.140000, 2.140000, 2.150000, 2.150000, 2.160000, 2.170000, 2.200000, 5.400000, 5.830000, 6.350000, 6.970000, 7.760000, 8.700000, 9.920000, 11.550000, 16.470000, null, null, null, null, 15.000000, null, null, null, null, 9.590000, 8.180000, 7.090000, 6.240000, 5.550000, 5.060000, 4.900000, 4.940000, 4.970000, 3.720000, 3.470000, 3.270000, 3.090000, 2.930000, 2.790000, 2.650000, 2.530000, 2.410000, 2.310000, 2.230000, 2.150000, 2.080000, 2.000000, 1.950000, 1.870000, 1.810000, 1.770000, 1.720000, 1.680000, 1.620000, 1.620000, 1.560000, 1.510000, 1.490000, 1.450000, 1.410000, 1.380000, 1.350000, 1.320000, 1.300000, 1.290000, 1.250000, 1.230000, 1.200000, 1.190000, 1.180000, 1.150000, 1.140000, 1.130000, 1.100000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.930000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054730, 762742 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.551000, 9.474000, -0.696903 ], "estimate": [ 2.551000, 9.474000, -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": [ 3.290000, 3.150000, 3.030000, 2.920000, 2.800000, 2.720000, 2.640000, 2.590000, 2.570000, 2.580000, 2.600000, 2.630000, 2.650000, 2.690000, 2.730000, 2.760000, 2.810000, 2.840000, 2.880000, 2.930000, 2.930000, 2.870000, 2.820000, 2.770000, 2.720000, 2.690000, 2.640000, 2.610000, 2.560000, 2.530000, 2.510000, 2.480000, 2.450000, 2.420000, 2.390000, 2.360000, 2.350000, 2.340000, 2.320000, 2.290000, 2.270000, 2.250000, 2.230000, 2.220000, 2.210000, 2.190000, 2.180000, 2.170000, 2.160000, 2.150000, 2.140000, 2.130000, 2.120000, 2.100000, 2.100000, 2.100000, 2.100000, 2.090000, 2.090000, 2.080000, 2.080000, 2.080000, 2.080000, 2.080000, 2.080000, 2.080000, 2.080000, 2.090000, 2.100000, 2.100000, 2.100000, 2.100000, 2.100000, 2.110000, 2.120000, 2.130000, 5.130000, 5.540000, 6.000000, 6.550000, 7.210000, 8.060000, 9.110000, 10.430000, 16.440000, 16.380000, null, null, null, 14.860000, null, null, null, null, null, 9.010000, 7.720000, 6.720000, 5.990000, 5.340000, 4.890000, 4.860000, 4.910000, 4.910000, 3.620000, 3.390000, 3.190000, 3.030000, 2.880000, 2.750000, 2.610000, 2.490000, 2.390000, 2.280000, 2.210000, 2.120000, 2.040000, 1.980000, 1.920000, 1.850000, 1.810000, 1.760000, 1.690000, 1.660000, 1.610000, 1.580000, 1.550000, 1.510000, 1.470000, 1.440000, 1.410000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.240000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.130000, 1.120000, 1.110000, 1.100000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.920000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054730, 764839 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.594000, 9.438000, -0.703048 ], "estimate": [ 2.594000, 9.438000, -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": [ 3.130000, 2.990000, 2.870000, 2.760000, 2.680000, 2.600000, 2.580000, 2.570000, 2.580000, 2.610000, 2.640000, 2.660000, 2.690000, 2.730000, 2.770000, 2.810000, 2.840000, 2.890000, 2.960000, 2.890000, 2.830000, 2.780000, 2.730000, 2.690000, 2.630000, 2.610000, 2.560000, 2.530000, 2.500000, 2.460000, 2.440000, 2.410000, 2.380000, 2.350000, 2.330000, 2.320000, 2.290000, 2.260000, 2.240000, 2.230000, 2.210000, 2.200000, 2.170000, 2.160000, 2.140000, 2.130000, 2.120000, 2.120000, 2.110000, 2.090000, 2.090000, 2.080000, 2.060000, 2.060000, 2.060000, 2.050000, 2.040000, 2.030000, 2.040000, 2.030000, 2.020000, 2.020000, 2.030000, 2.030000, 2.020000, 2.030000, 2.030000, 2.030000, 2.040000, 2.040000, 2.050000, 2.050000, 2.060000, 2.060000, 2.080000, 4.900000, 5.250000, 5.680000, 6.150000, 6.740000, 7.450000, 8.350000, 9.470000, 10.890000, 16.320000, 16.420000, null, null, null, 14.790000, null, null, null, null, null, 8.630000, 7.470000, 6.510000, 5.820000, 5.230000, 4.800000, 4.820000, 4.840000, 3.790000, 3.550000, 3.330000, 3.150000, 2.990000, 2.830000, 2.700000, 2.580000, 2.450000, 2.360000, 2.260000, 2.190000, 2.100000, 2.030000, 1.960000, 1.900000, 1.840000, 1.780000, 1.730000, 1.690000, 1.640000, 1.600000, 1.550000, 1.520000, 1.500000, 1.470000, 1.420000, 1.390000, 1.360000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.980000, 0.990000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054730, 969820 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.642000, 9.398000, -0.696903 ], "estimate": [ 2.642000, 9.398000, -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": [ 2.980000, 2.850000, 2.740000, 2.640000, 2.580000, 2.570000, 2.550000, 2.580000, 2.610000, 2.640000, 2.650000, 2.690000, 2.720000, 2.760000, 2.790000, 2.820000, 2.870000, 2.940000, 2.870000, 2.810000, 2.760000, 2.710000, 2.660000, 2.620000, 2.580000, 2.540000, 2.500000, 2.460000, 2.430000, 2.410000, 2.380000, 2.340000, 2.330000, 2.300000, 2.270000, 2.250000, 2.230000, 2.220000, 2.200000, 2.170000, 2.150000, 2.140000, 2.120000, 2.110000, 2.090000, 2.080000, 2.080000, 2.070000, 2.060000, 2.050000, 2.030000, 2.010000, 2.020000, 2.010000, 2.000000, 2.000000, 1.990000, 1.980000, 1.990000, 1.980000, 1.980000, 1.980000, 1.980000, 1.980000, 1.970000, 1.980000, 1.980000, 1.990000, 1.980000, 1.990000, 1.990000, 2.000000, 2.000000, 2.010000, 2.020000, 4.870000, 5.260000, 5.680000, 6.150000, 6.740000, 7.440000, 8.340000, 9.470000, 10.890000, 16.260000, 16.370000, null, null, null, 14.750000, null, null, null, null, null, 8.610000, 7.410000, 6.470000, 5.790000, 5.190000, 4.750000, 4.770000, 4.790000, 4.810000, 3.550000, 3.320000, 3.140000, 2.970000, 2.820000, 2.690000, 2.590000, 2.450000, 2.350000, 2.260000, 2.180000, 2.100000, 2.020000, 1.950000, 1.900000, 1.850000, 1.790000, 1.720000, 1.690000, 1.640000, 1.600000, 1.560000, 1.520000, 1.500000, 1.490000, 1.430000, 1.400000, 1.360000, 1.330000, 1.310000, 1.280000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.150000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.960000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054731, 315866 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.691000, 9.357000, -0.690757 ], "estimate": [ 2.691000, 9.357000, -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": [ 2.730000, 2.630000, 2.590000, 2.550000, 2.550000, 2.580000, 2.600000, 2.640000, 2.660000, 2.680000, 2.720000, 2.740000, 2.780000, 2.820000, 2.850000, 2.920000, 2.860000, 2.790000, 2.730000, 2.690000, 2.620000, 2.590000, 2.540000, 2.500000, 2.470000, 2.430000, 2.400000, 2.370000, 2.340000, 2.320000, 2.280000, 2.250000, 2.220000, 2.200000, 2.180000, 2.170000, 2.150000, 2.130000, 2.110000, 2.090000, 2.080000, 2.070000, 2.050000, 2.030000, 2.020000, 2.010000, 2.000000, 1.990000, 1.980000, 1.970000, 1.960000, 1.960000, 1.950000, 1.940000, 1.940000, 1.930000, 1.930000, 1.920000, 1.920000, 1.930000, 1.930000, 1.930000, 1.930000, 1.920000, 1.920000, 1.920000, 1.920000, 1.930000, 1.930000, 1.930000, 1.940000, 1.940000, 1.950000, 1.930000, 4.800000, 5.170000, 5.570000, 6.020000, 6.580000, 7.280000, 8.110000, 9.200000, 10.490000, 16.230000, 16.230000, null, null, null, 14.720000, null, null, null, null, null, 8.910000, 7.640000, 6.680000, 5.950000, 5.320000, 4.840000, 4.680000, 4.710000, 4.740000, 3.600000, 3.370000, 3.170000, 3.000000, 2.850000, 2.710000, 2.600000, 2.470000, 2.380000, 2.280000, 2.190000, 2.110000, 2.040000, 1.960000, 1.900000, 1.850000, 1.790000, 1.740000, 1.690000, 1.650000, 1.600000, 1.560000, 1.520000, 1.490000, 1.460000, 1.430000, 1.430000, 1.370000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.210000, 1.190000, 1.180000, 1.170000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054731, 389734 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.733000, 9.322001, -0.690757 ], "estimate": [ 2.733000, 9.322001, -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": [ 2.600000, 2.580000, 2.550000, 2.560000, 2.580000, 2.610000, 2.640000, 2.660000, 2.690000, 2.720000, 2.740000, 2.780000, 2.820000, 2.860000, 2.880000, 2.820000, 2.760000, 2.710000, 2.650000, 2.600000, 2.550000, 2.510000, 2.470000, 2.430000, 2.390000, 2.350000, 2.320000, 2.310000, 2.270000, 2.240000, 2.220000, 2.190000, 2.160000, 2.150000, 2.130000, 2.110000, 2.090000, 2.080000, 2.060000, 2.040000, 2.020000, 2.010000, 1.990000, 1.980000, 1.970000, 1.960000, 1.960000, 1.920000, 1.920000, 1.920000, 1.910000, 1.910000, 1.910000, 1.900000, 1.900000, 1.890000, 1.880000, 1.880000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.870000, 1.880000, 1.890000, 1.890000, 1.890000, 1.900000, 1.910000, 1.930000, 4.750000, 4.930000, 5.300000, 5.710000, 6.190000, 6.800000, 7.520000, 8.410000, 9.540000, 10.990000, 16.140000, 16.250000, null, null, null, 14.620000, null, null, null, null, null, 8.510000, 7.360000, 6.430000, 5.730000, 5.160000, 4.710000, 4.640000, 4.670000, 4.680000, 3.520000, 3.310000, 3.120000, 2.960000, 2.800000, 2.670000, 2.560000, 2.430000, 2.340000, 2.240000, 2.150000, 2.090000, 2.020000, 1.950000, 1.880000, 1.830000, 1.770000, 1.720000, 1.670000, 1.630000, 1.590000, 1.550000, 1.500000, 1.480000, 1.450000, 1.410000, 1.390000, 1.390000, 1.340000, 1.310000, 1.280000, 1.260000, 1.230000, 1.200000, 1.190000, 1.170000, 1.160000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054731, 884022 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.771000, 9.290999, -0.690757 ], "estimate": [ 2.771000, 9.290999, -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": [ 2.560000, 2.550000, 2.560000, 2.580000, 2.610000, 2.640000, 2.660000, 2.690000, 2.730000, 2.740000, 2.780000, 2.820000, 2.850000, 2.860000, 2.800000, 2.740000, 2.680000, 2.620000, 2.570000, 2.530000, 2.490000, 2.450000, 2.410000, 2.360000, 2.330000, 2.300000, 2.260000, 2.240000, 2.220000, 2.180000, 2.160000, 2.130000, 2.110000, 2.100000, 2.080000, 2.060000, 2.040000, 2.020000, 2.000000, 1.980000, 1.970000, 1.960000, 1.950000, 1.930000, 1.930000, 1.920000, 1.880000, 1.900000, 1.890000, 1.880000, 1.870000, 1.870000, 1.850000, 1.850000, 1.840000, 1.830000, 1.840000, 1.840000, 1.840000, 1.830000, 1.840000, 1.830000, 1.840000, 1.830000, 1.840000, 1.840000, 1.840000, 1.830000, 1.840000, 1.840000, 1.850000, 1.840000, 4.710000, 4.700000, 5.010000, 5.370000, 5.800000, 6.300000, 6.900000, 7.660000, 8.590000, 9.780000, 11.300000, 16.130000, 16.580000, null, null, null, 14.570000, null, null, null, null, null, 8.300000, 7.210000, 6.300000, 5.630000, 5.070000, 4.640000, 4.600000, 4.620000, 4.640000, 3.480000, 3.270000, 3.090000, 2.920000, 2.780000, 2.650000, 2.520000, 2.430000, 2.320000, 2.220000, 2.140000, 2.060000, 1.990000, 1.940000, 1.870000, 1.810000, 1.770000, 1.700000, 1.660000, 1.610000, 1.580000, 1.530000, 1.500000, 1.470000, 1.430000, 1.410000, 1.370000, 1.350000, 1.350000, 1.300000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.960000, 0.960000, 0.950000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 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 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054731, 885169 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.816000, 9.254001, -0.690757 ], "estimate": [ 2.816000, 9.254001, -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": [ 2.550000, 2.560000, 2.590000, 2.620000, 2.640000, 2.670000, 2.690000, 2.730000, 2.750000, 2.780000, 2.810000, 2.860000, 2.840000, 2.780000, 2.710000, 2.650000, 2.600000, 2.540000, 2.500000, 2.460000, 2.410000, 2.370000, 2.330000, 2.300000, 2.260000, 2.220000, 2.210000, 2.180000, 2.150000, 2.130000, 2.100000, 2.070000, 2.070000, 2.040000, 2.020000, 2.000000, 1.980000, 1.960000, 1.960000, 1.940000, 1.920000, 1.910000, 1.890000, 1.890000, 1.880000, 1.850000, 1.850000, 1.840000, 1.840000, 1.830000, 1.830000, 1.820000, 1.820000, 1.810000, 1.800000, 1.800000, 1.800000, 1.790000, 1.800000, 1.790000, 1.790000, 1.790000, 1.790000, 1.790000, 1.800000, 1.800000, 1.800000, 1.810000, 1.810000, 1.810000, 1.810000, 1.850000, 4.640000, 4.750000, 5.100000, 5.490000, 5.930000, 6.460000, 7.090000, 7.880000, 8.880000, 10.120000, 11.640000, 16.040000, 16.690000, null, null, 14.520000, 14.630000, null, null, null, null, null, 7.980000, 6.970000, 6.090000, 5.450000, 4.930000, 4.530000, 4.550000, 4.570000, 4.590000, 3.420000, 3.220000, 3.030000, 2.880000, 2.740000, 2.610000, 2.510000, 2.390000, 2.300000, 2.210000, 2.120000, 2.050000, 1.970000, 1.900000, 1.840000, 1.780000, 1.740000, 1.700000, 1.650000, 1.610000, 1.560000, 1.520000, 1.490000, 1.460000, 1.420000, 1.390000, 1.350000, 1.320000, 1.320000, 1.320000, 1.280000, 1.250000, 1.220000, 1.200000, 1.190000, 1.170000, 1.140000, 1.130000, 1.110000, 1.110000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.910000, 0.910000, 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, 0, 0, 1, 1, 0, 0, 0, 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 ], "timestamp": [ 976054732, 989599 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.866000, 9.212000, -0.696903 ], "estimate": [ 2.866000, 9.212000, -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": [ 2.570000, 2.590000, 2.620000, 2.640000, 2.660000, 2.690000, 2.720000, 2.750000, 2.770000, 2.800000, 2.850000, 2.830000, 2.750000, 2.700000, 2.630000, 2.570000, 2.520000, 2.470000, 2.430000, 2.390000, 2.340000, 2.310000, 2.260000, 2.220000, 2.200000, 2.160000, 2.130000, 2.110000, 2.090000, 2.070000, 2.040000, 2.020000, 1.990000, 1.980000, 1.960000, 1.940000, 1.920000, 1.900000, 1.890000, 1.880000, 1.860000, 1.850000, 1.830000, 1.830000, 1.810000, 1.810000, 1.800000, 1.790000, 1.780000, 1.770000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.750000, 1.740000, 1.740000, 1.730000, 1.730000, 1.730000, 1.740000, 1.730000, 1.730000, 1.730000, 1.740000, 1.740000, 1.740000, 1.740000, 1.740000, 4.610000, 4.580000, 4.670000, 5.010000, 5.380000, 5.790000, 6.310000, 6.910000, 7.680000, 8.600000, 9.760000, 11.290000, 16.020000, 16.470000, null, null, null, 14.460000, null, null, null, null, null, 8.340000, 7.220000, 6.330000, 5.660000, 5.070000, 4.650000, 4.480000, 4.500000, 4.520000, 3.490000, 3.280000, 3.090000, 2.910000, 2.770000, 2.640000, 2.520000, 2.420000, 2.320000, 2.230000, 2.140000, 2.060000, 1.990000, 1.930000, 1.860000, 1.790000, 1.760000, 1.700000, 1.660000, 1.610000, 1.570000, 1.530000, 1.500000, 1.460000, 1.430000, 1.400000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.270000, 1.250000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.110000, 1.090000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.920000, 0.930000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054732, 418256 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.913000, 9.173000, -0.703048 ], "estimate": [ 2.913000, 9.173000, -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": [ 2.590000, 2.610000, 2.630000, 2.660000, 2.680000, 2.710000, 2.740000, 2.750000, 2.790000, 2.820000, 2.840000, 2.750000, 2.700000, 2.620000, 2.570000, 2.510000, 2.460000, 2.410000, 2.370000, 2.330000, 2.290000, 2.240000, 2.210000, 2.170000, 2.140000, 2.110000, 2.070000, 2.070000, 2.040000, 2.010000, 1.990000, 1.960000, 1.940000, 1.930000, 1.910000, 1.890000, 1.870000, 1.860000, 1.840000, 1.820000, 1.810000, 1.800000, 1.800000, 1.770000, 1.770000, 1.750000, 1.740000, 1.740000, 1.740000, 1.730000, 1.720000, 1.710000, 1.710000, 1.700000, 1.700000, 1.690000, 1.690000, 1.680000, 1.680000, 1.670000, 1.670000, 1.680000, 1.680000, 1.680000, 1.670000, 1.680000, 1.680000, 1.690000, 1.690000, 1.680000, 1.750000, 4.560000, 4.530000, 4.540000, 4.870000, 5.220000, 5.620000, 6.080000, 6.640000, 7.330000, 8.160000, 9.260000, 10.580000, 15.960000, 15.990000, null, null, null, 14.410000, null, null, null, null, null, 8.940000, 7.640000, 6.700000, 5.890000, 5.310000, 4.790000, 4.400000, 4.430000, 4.450000, 4.470000, 3.350000, 3.150000, 2.980000, 2.830000, 2.690000, 2.560000, 2.460000, 2.360000, 2.260000, 2.180000, 2.100000, 2.020000, 1.950000, 1.870000, 1.820000, 1.780000, 1.710000, 1.670000, 1.620000, 1.590000, 1.550000, 1.500000, 1.480000, 1.440000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.270000, 1.240000, 1.230000, 1.210000, 1.240000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 1.010000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054732, 419430 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.953000, 9.139000, -0.715339 ], "estimate": [ 2.953000, 9.139000, -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": [ 2.600000, 2.630000, 2.650000, 2.670000, 2.690000, 2.730000, 2.750000, 2.780000, 2.810000, 2.860000, 2.770000, 2.700000, 2.630000, 2.570000, 2.500000, 2.460000, 2.400000, 2.350000, 2.320000, 2.270000, 2.230000, 2.190000, 2.150000, 2.120000, 2.090000, 2.060000, 2.040000, 2.010000, 1.980000, 1.960000, 1.940000, 1.910000, 1.890000, 1.890000, 1.860000, 1.840000, 1.820000, 1.810000, 1.800000, 1.790000, 1.770000, 1.760000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.700000, 1.690000, 1.680000, 1.670000, 1.660000, 1.660000, 1.650000, 1.650000, 1.640000, 1.640000, 1.640000, 1.640000, 1.640000, 1.640000, 1.630000, 1.640000, 1.640000, 1.630000, 1.630000, 1.640000, 1.640000, 1.640000, 1.640000, 1.680000, 4.500000, 4.480000, 4.460000, 4.780000, 5.120000, 5.490000, 5.950000, 6.460000, 7.140000, 7.910000, 8.930000, 10.130000, 15.950000, 15.870000, null, null, null, 14.330000, 14.450000, null, null, null, null, null, 8.020000, 6.950000, 6.090000, 5.490000, 4.940000, 4.500000, 4.350000, 4.390000, 4.420000, 4.440000, 3.210000, 3.020000, 2.860000, 2.730000, 2.600000, 2.480000, 2.390000, 2.300000, 2.210000, 2.110000, 2.040000, 1.970000, 1.910000, 1.850000, 1.790000, 1.720000, 1.680000, 1.630000, 1.600000, 1.550000, 1.500000, 1.480000, 1.450000, 1.410000, 1.380000, 1.350000, 1.320000, 1.310000, 1.280000, 1.250000, 1.220000, 1.220000, 1.190000, 1.190000, 1.200000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.040000, 1.040000, 1.030000, 1.010000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 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, 0, 0, 0, 1, 1, 0, 0, 0, 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 ], "timestamp": [ 976054732, 544023 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.973000, 9.120999, -0.715339 ], "estimate": [ 2.973000, 9.120999, -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": [ 2.620000, 2.640000, 2.650000, 2.670000, 2.700000, 2.730000, 2.750000, 2.780000, 2.820000, 2.790000, 2.720000, 2.650000, 2.590000, 2.520000, 2.470000, 2.410000, 2.360000, 2.310000, 2.280000, 2.230000, 2.190000, 2.150000, 2.120000, 2.080000, 2.050000, 2.020000, 1.990000, 1.970000, 1.950000, 1.920000, 1.890000, 1.880000, 1.860000, 1.840000, 1.820000, 1.810000, 1.790000, 1.780000, 1.760000, 1.740000, 1.720000, 1.700000, 1.710000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.650000, 1.640000, 1.630000, 1.630000, 1.620000, 1.620000, 1.610000, 1.610000, 1.610000, 1.610000, 1.600000, 1.600000, 1.600000, 1.600000, 1.590000, 1.600000, 1.590000, 1.590000, 1.600000, 1.600000, 1.610000, 1.610000, 4.490000, 4.460000, 4.450000, 4.440000, 4.640000, 4.970000, 5.320000, 5.750000, 6.210000, 6.830000, 7.550000, 8.450000, 9.560000, 11.020000, 15.830000, null, null, null, null, 14.300000, null, null, null, null, null, 8.500000, 7.340000, 6.440000, 5.730000, 5.160000, 4.670000, 4.310000, 4.330000, 4.350000, 4.380000, 3.390000, 3.120000, 2.940000, 2.780000, 2.640000, 2.530000, 2.410000, 2.330000, 2.230000, 2.140000, 2.070000, 2.000000, 1.940000, 1.870000, 1.810000, 1.750000, 1.690000, 1.650000, 1.610000, 1.570000, 1.520000, 1.490000, 1.470000, 1.420000, 1.400000, 1.370000, 1.340000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.200000, 1.170000, 1.180000, 1.160000, 1.170000, 1.130000, 1.090000, 1.090000, 1.070000, 1.070000, 1.060000, 1.040000, 1.040000, 1.030000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.910000, 0.900000, 0.900000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054733, 463675 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.015000, 9.085000, -0.727630 ], "estimate": [ 3.015000, 9.085000, -0.727630 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.630000, 2.650000, 2.670000, 2.690000, 2.730000, 2.740000, 2.770000, 2.800000, 2.810000, 2.730000, 2.650000, 2.590000, 2.520000, 2.470000, 2.410000, 2.350000, 2.310000, 2.260000, 2.210000, 2.180000, 2.130000, 2.100000, 2.060000, 2.030000, 1.990000, 1.970000, 1.940000, 1.920000, 1.900000, 1.880000, 1.850000, 1.820000, 1.800000, 1.800000, 1.780000, 1.760000, 1.740000, 1.720000, 1.720000, 1.700000, 1.660000, 1.670000, 1.660000, 1.650000, 1.640000, 1.630000, 1.630000, 1.620000, 1.610000, 1.600000, 1.590000, 1.590000, 1.580000, 1.580000, 1.570000, 1.560000, 1.560000, 1.560000, 1.550000, 1.550000, 1.550000, 1.540000, 1.550000, 1.540000, 1.550000, 1.550000, 1.540000, 1.550000, 1.560000, 1.560000, 4.460000, 4.430000, 4.400000, 4.370000, 4.530000, 4.860000, 5.180000, 5.590000, 6.040000, 6.620000, 7.310000, 8.130000, 9.150000, 10.480000, 15.800000, 15.840000, null, null, null, 14.240000, null, null, null, null, null, 8.960000, 7.710000, 6.750000, 5.930000, 5.330000, 4.820000, 4.420000, 4.260000, 4.300000, 4.320000, 4.330000, 3.160000, 2.990000, 2.840000, 2.690000, 2.570000, 2.450000, 2.360000, 2.260000, 2.190000, 2.110000, 2.030000, 1.960000, 1.880000, 1.840000, 1.780000, 1.710000, 1.670000, 1.630000, 1.580000, 1.550000, 1.510000, 1.470000, 1.430000, 1.400000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.250000, 1.220000, 1.190000, 1.190000, 1.170000, 1.150000, 1.140000, 1.130000, 1.130000, 1.160000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.910000, 0.900000, 0.900000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054733, 489896 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.062000, 9.043000, -0.733776 ], "estimate": [ 3.062000, 9.043000, -0.733776 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.640000, 2.660000, 2.680000, 2.710000, 2.740000, 2.750000, 2.780000, 2.840000, 2.740000, 2.660000, 2.590000, 2.520000, 2.470000, 2.400000, 2.340000, 2.300000, 2.240000, 2.210000, 2.160000, 2.120000, 2.070000, 2.040000, 2.010000, 1.970000, 1.940000, 1.910000, 1.890000, 1.870000, 1.850000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.730000, 1.710000, 1.700000, 1.680000, 1.660000, 1.630000, 1.630000, 1.630000, 1.620000, 1.600000, 1.590000, 1.580000, 1.570000, 1.570000, 1.550000, 1.550000, 1.540000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.500000, 1.500000, 1.500000, 1.500000, 1.490000, 1.500000, 1.500000, 1.560000, 4.410000, 4.380000, 4.350000, 4.320000, 4.410000, 4.730000, 5.050000, 5.410000, 5.860000, 6.370000, 6.990000, 7.750000, 8.710000, 9.880000, 11.310000, 15.730000, null, null, null, null, 14.280000, null, null, null, null, null, 8.190000, 7.090000, 6.250000, 5.590000, 5.040000, 4.590000, 4.230000, 4.220000, 4.250000, 4.280000, 4.510000, 3.070000, 2.900000, 2.760000, 2.610000, 2.500000, 2.400000, 2.300000, 2.220000, 2.130000, 2.060000, 1.990000, 1.930000, 1.870000, 1.800000, 1.740000, 1.690000, 1.660000, 1.610000, 1.560000, 1.520000, 1.490000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.310000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.170000, 1.150000, 1.120000, 1.120000, 1.110000, 1.090000, 1.110000, 1.100000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054733, 490934 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.107000, 9.002000, -0.746067 ], "estimate": [ 3.107000, 9.002000, -0.746067 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.650000, 2.670000, 2.690000, 2.720000, 2.750000, 2.760000, 2.800000, 2.780000, 2.690000, 2.610000, 2.530000, 2.470000, 2.410000, 2.350000, 2.300000, 2.240000, 2.200000, 2.140000, 2.100000, 2.060000, 2.030000, 1.990000, 1.950000, 1.930000, 1.890000, 1.870000, 1.840000, 1.820000, 1.800000, 1.770000, 1.750000, 1.730000, 1.720000, 1.700000, 1.680000, 1.660000, 1.640000, 1.620000, 1.600000, 1.610000, 1.590000, 1.580000, 1.560000, 1.550000, 1.540000, 1.530000, 1.530000, 1.510000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.480000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.450000, 1.460000, 1.450000, 1.460000, 1.460000, 1.450000, 1.460000, 1.450000, 1.460000, 1.490000, 4.360000, 4.330000, 4.300000, 4.290000, 4.270000, 4.560000, 4.860000, 5.200000, 5.590000, 6.050000, 6.620000, 7.310000, 8.120000, 9.190000, 10.480000, 15.680000, 15.740000, null, null, null, 14.140000, null, null, null, null, null, null, 7.790000, 6.750000, 5.940000, 5.370000, 4.830000, 4.430000, 4.160000, 4.180000, 4.190000, 4.220000, 3.150000, 3.010000, 2.830000, 2.690000, 2.570000, 2.450000, 2.360000, 2.270000, 2.190000, 2.110000, 2.030000, 1.960000, 1.890000, 1.830000, 1.780000, 1.710000, 1.670000, 1.620000, 1.590000, 1.540000, 1.500000, 1.480000, 1.440000, 1.400000, 1.370000, 1.340000, 1.320000, 1.300000, 1.270000, 1.240000, 1.210000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.130000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.080000, 1.090000, 1.030000, 1.030000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.960000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.950000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.910000, 0.900000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054733, 491875 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.146000, 8.965000, -0.758358 ], "estimate": [ 3.146000, 8.965000, -0.758358 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.660000, 2.680000, 2.700000, 2.730000, 2.750000, 2.770000, 2.830000, 2.730000, 2.640000, 2.560000, 2.480000, 2.420000, 2.360000, 2.310000, 2.240000, 2.190000, 2.140000, 2.090000, 2.050000, 2.020000, 1.980000, 1.940000, 1.910000, 1.870000, 1.850000, 1.810000, 1.790000, 1.780000, 1.750000, 1.720000, 1.710000, 1.680000, 1.660000, 1.650000, 1.630000, 1.620000, 1.600000, 1.560000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.450000, 1.450000, 1.440000, 1.430000, 1.430000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.410000, 1.410000, 1.400000, 1.400000, 1.400000, 1.410000, 1.410000, 1.400000, 1.410000, 1.440000, 4.320000, 4.300000, 4.270000, 4.250000, 4.220000, 4.380000, 4.660000, 4.980000, 5.340000, 5.760000, 6.260000, 6.890000, 7.610000, 8.550000, 9.630000, 11.110000, 15.650000, 16.120000, null, null, null, 14.110000, null, null, null, null, null, 8.360000, 7.270000, 6.410000, 5.670000, 5.110000, 4.650000, 4.280000, 4.110000, 4.140000, 4.160000, 4.170000, 3.210000, 2.920000, 2.780000, 2.640000, 2.520000, 2.410000, 2.320000, 2.230000, 2.150000, 2.080000, 1.990000, 1.940000, 1.870000, 1.820000, 1.770000, 1.690000, 1.660000, 1.610000, 1.570000, 1.530000, 1.500000, 1.470000, 1.420000, 1.390000, 1.360000, 1.330000, 1.320000, 1.280000, 1.270000, 1.240000, 1.210000, 1.190000, 1.170000, 1.170000, 1.140000, 1.130000, 1.120000, 1.100000, 1.100000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.070000, 1.050000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.930000, 0.940000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054733, 492902 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.186000, 8.926000, -0.764503 ], "estimate": [ 3.186000, 8.926000, -0.764503 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.680000, 2.710000, 2.730000, 2.750000, 2.770000, 2.790000, 2.700000, 2.610000, 2.520000, 2.450000, 2.380000, 2.320000, 2.270000, 2.200000, 2.160000, 2.110000, 2.050000, 2.020000, 1.990000, 1.940000, 1.910000, 1.870000, 1.840000, 1.810000, 1.790000, 1.760000, 1.730000, 1.710000, 1.690000, 1.670000, 1.650000, 1.620000, 1.610000, 1.600000, 1.580000, 1.540000, 1.530000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.400000, 1.390000, 1.390000, 1.380000, 1.380000, 1.370000, 1.370000, 1.370000, 1.360000, 1.360000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.360000, 1.350000, 1.380000, 4.300000, 4.270000, 4.230000, 4.210000, 4.190000, 4.180000, 4.430000, 4.720000, 5.060000, 5.430000, 5.870000, 6.390000, 7.030000, 7.790000, 8.750000, 9.930000, 15.640000, 15.560000, 16.220000, null, null, null, 14.110000, null, null, null, null, null, 8.070000, 7.030000, 6.220000, 5.540000, 5.020000, 4.570000, 4.200000, 4.060000, 4.090000, 4.110000, 4.130000, 3.230000, 2.900000, 2.750000, 2.610000, 2.500000, 2.390000, 2.300000, 2.220000, 2.120000, 2.050000, 2.000000, 1.930000, 1.860000, 1.800000, 1.750000, 1.690000, 1.640000, 1.610000, 1.560000, 1.520000, 1.490000, 1.450000, 1.420000, 1.390000, 1.360000, 1.320000, 1.310000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.040000, 1.040000, 1.040000, 1.020000, 1.050000, 1.070000, 1.000000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054733, 739652 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.229000, 8.885000, -0.776795 ], "estimate": [ 3.229000, 8.885000, -0.776795 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.690000, 2.720000, 2.740000, 2.760000, 2.830000, 2.710000, 2.620000, 2.540000, 2.460000, 2.380000, 2.310000, 2.250000, 2.200000, 2.140000, 2.090000, 2.050000, 2.000000, 1.950000, 1.920000, 1.880000, 1.850000, 1.810000, 1.790000, 1.760000, 1.730000, 1.700000, 1.690000, 1.660000, 1.630000, 1.610000, 1.600000, 1.580000, 1.570000, 1.550000, 1.500000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.340000, 1.340000, 1.330000, 1.320000, 1.320000, 1.320000, 1.320000, 1.330000, 1.320000, 1.310000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 4.280000, 4.250000, 4.220000, 4.190000, 4.170000, 4.150000, 4.140000, 4.320000, 4.600000, 4.910000, 5.270000, 5.680000, 6.170000, 6.750000, 7.460000, 8.330000, 9.400000, 10.830000, 15.500000, 15.770000, null, null, null, 13.970000, null, null, null, null, null, 8.660000, 7.500000, 6.560000, 5.810000, 5.250000, 4.750000, 4.340000, 4.040000, 4.030000, 4.050000, 4.070000, 4.160000, 2.970000, 2.820000, 2.680000, 2.550000, 2.430000, 2.350000, 2.250000, 2.170000, 2.100000, 2.030000, 1.970000, 1.900000, 1.840000, 1.780000, 1.720000, 1.680000, 1.620000, 1.590000, 1.540000, 1.500000, 1.470000, 1.440000, 1.400000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.110000, 1.100000, 1.080000, 1.070000, 1.070000, 1.060000, 1.040000, 1.040000, 1.020000, 1.010000, 1.010000, 1.000000, 1.020000, 1.060000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.920000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054733, 999196 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.274000, 8.841000, -0.776795 ], "estimate": [ 3.274000, 8.841000, -0.776795 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.730000, 2.750000, 2.760000, 2.770000, 2.670000, 2.580000, 2.480000, 2.410000, 2.330000, 2.260000, 2.190000, 2.150000, 2.100000, 2.050000, 1.990000, 1.950000, 1.910000, 1.870000, 1.840000, 1.800000, 1.770000, 1.730000, 1.700000, 1.680000, 1.660000, 1.620000, 1.600000, 1.590000, 1.570000, 1.550000, 1.530000, 1.520000, 1.460000, 1.470000, 1.460000, 1.450000, 1.440000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.300000, 1.300000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.260000, 1.250000, 1.270000, 4.240000, 4.210000, 4.180000, 4.140000, 4.130000, 4.100000, 4.080000, 4.100000, 4.370000, 4.640000, 4.970000, 5.320000, 5.760000, 6.240000, 6.870000, 7.570000, 8.510000, 9.610000, 11.000000, 15.480000, null, null, null, null, 13.950000, null, null, null, null, null, 8.400000, 7.280000, 6.440000, 5.690000, 5.170000, 4.670000, 4.290000, 3.980000, 3.950000, 3.990000, 4.010000, 4.060000, 3.040000, 2.800000, 2.650000, 2.530000, 2.420000, 2.330000, 2.240000, 2.150000, 2.080000, 2.010000, 1.960000, 1.890000, 1.830000, 1.780000, 1.710000, 1.680000, 1.610000, 1.580000, 1.540000, 1.500000, 1.470000, 1.440000, 1.400000, 1.370000, 1.330000, 1.320000, 1.300000, 1.260000, 1.240000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 1.020000, 1.040000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054734, 795979 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.315000, 8.801000, -0.782940 ], "estimate": [ 3.315000, 8.801000, -0.782940 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.750000, 2.760000, 2.770000, 2.660000, 2.570000, 2.480000, 2.390000, 2.310000, 2.240000, 2.180000, 2.120000, 2.060000, 2.020000, 1.960000, 1.920000, 1.870000, 1.830000, 1.800000, 1.770000, 1.730000, 1.700000, 1.670000, 1.640000, 1.610000, 1.600000, 1.580000, 1.550000, 1.530000, 1.500000, 1.490000, 1.440000, 1.440000, 1.440000, 1.420000, 1.410000, 1.390000, 1.380000, 1.360000, 1.350000, 1.340000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.210000, 4.220000, 4.180000, 4.150000, 4.120000, 4.100000, 4.070000, 4.050000, 4.030000, 4.030000, 4.280000, 4.550000, 4.870000, 5.230000, 5.630000, 6.130000, 6.710000, 7.410000, 8.290000, 9.340000, 10.760000, 15.410000, 15.510000, null, null, null, 13.870000, null, null, null, null, null, null, 7.550000, 6.570000, 5.870000, 5.260000, 4.770000, 4.370000, 4.050000, 3.900000, 3.920000, 3.940000, 3.960000, 4.200000, 2.840000, 2.690000, 2.550000, 2.450000, 2.350000, 2.240000, 2.170000, 2.090000, 2.020000, 1.950000, 1.890000, 1.830000, 1.790000, 1.710000, 1.670000, 1.620000, 1.590000, 1.540000, 1.490000, 1.460000, 1.430000, 1.400000, 1.370000, 1.340000, 1.310000, 1.290000, 1.270000, 1.240000, 1.210000, 1.200000, 1.180000, 1.180000, 1.160000, 1.120000, 1.120000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 1.010000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054734, 517986 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.335000, 8.781000, -0.782940 ], "estimate": [ 3.335000, 8.781000, -0.782940 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.760000, 2.760000, 2.640000, 2.530000, 2.450000, 2.360000, 2.290000, 2.210000, 2.140000, 2.090000, 2.030000, 1.980000, 1.930000, 1.880000, 1.840000, 1.790000, 1.760000, 1.730000, 1.700000, 1.660000, 1.630000, 1.600000, 1.580000, 1.550000, 1.530000, 1.510000, 1.490000, 1.460000, 1.440000, 1.420000, 1.420000, 1.400000, 1.390000, 1.360000, 1.350000, 1.330000, 1.320000, 1.320000, 1.300000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.180000, 1.170000, 1.180000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.160000, 4.200000, 4.170000, 4.130000, 4.090000, 4.070000, 4.040000, 4.020000, 4.000000, 3.970000, 4.030000, 4.290000, 4.550000, 4.870000, 5.220000, 5.640000, 6.130000, 6.720000, 7.410000, 8.290000, 9.350000, 10.770000, 15.370000, null, null, null, null, 13.810000, null, null, null, null, null, null, 7.520000, 6.560000, 5.840000, 5.250000, 4.780000, 4.360000, 4.050000, 3.860000, 3.880000, 3.890000, 3.910000, 4.160000, 2.830000, 2.690000, 2.570000, 2.440000, 2.340000, 2.250000, 2.180000, 2.090000, 2.020000, 1.940000, 1.880000, 1.820000, 1.770000, 1.740000, 1.680000, 1.630000, 1.590000, 1.540000, 1.500000, 1.470000, 1.440000, 1.390000, 1.370000, 1.340000, 1.310000, 1.300000, 1.270000, 1.240000, 1.220000, 1.190000, 1.180000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.060000, 1.070000, 1.060000, 1.050000, 1.040000, 1.020000, 1.030000, 1.020000, 1.000000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.940000, 0.930000, 0.990000, 0.920000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054734, 519022 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.374000, 8.742001, -0.789086 ], "estimate": [ 3.374000, 8.742001, -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": [ 2.730000, 2.600000, 2.500000, 2.410000, 2.330000, 2.250000, 2.170000, 2.100000, 2.040000, 1.990000, 1.930000, 1.890000, 1.850000, 1.790000, 1.760000, 1.710000, 1.700000, 1.650000, 1.620000, 1.590000, 1.560000, 1.530000, 1.510000, 1.490000, 1.470000, 1.440000, 1.420000, 1.400000, 1.400000, 1.370000, 1.360000, 1.330000, 1.320000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 4.170000, 4.140000, 4.100000, 4.060000, 4.040000, 4.020000, 3.990000, 3.960000, 3.940000, 3.930000, 4.060000, 4.310000, 4.590000, 4.910000, 5.270000, 5.700000, 6.190000, 6.790000, 7.520000, 8.420000, 9.500000, 10.850000, 15.330000, null, 14.580000, null, null, 13.760000, null, null, null, null, null, 8.480000, 7.430000, 6.480000, 5.760000, 5.190000, 4.730000, 4.330000, 4.010000, 3.790000, 3.810000, 3.850000, 3.860000, 4.080000, 2.810000, 2.670000, 2.550000, 2.440000, 2.330000, 2.240000, 2.170000, 2.080000, 2.000000, 1.950000, 1.880000, 1.820000, 1.760000, 1.720000, 1.680000, 1.610000, 1.580000, 1.540000, 1.490000, 1.470000, 1.430000, 1.400000, 1.360000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.190000, 1.190000, 1.170000, 1.160000, 1.140000, 1.120000, 1.120000, 1.100000, 1.080000, 1.070000, 1.070000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 1.000000, 0.980000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.950000, 0.970000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 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, 0, 1, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054734, 609591 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.415000, 8.700000, -0.789086 ], "estimate": [ 3.415000, 8.700000, -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": [ 2.560000, 2.460000, 2.370000, 2.280000, 2.190000, 2.120000, 2.050000, 1.990000, 1.940000, 1.890000, 1.850000, 1.790000, 1.760000, 1.710000, 1.670000, 1.630000, 1.610000, 1.580000, 1.550000, 1.510000, 1.480000, 1.470000, 1.450000, 1.420000, 1.390000, 1.370000, 1.370000, 1.340000, 1.320000, 1.310000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.080000, 1.090000, 1.080000, 1.070000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.070000, 1.250000, 4.140000, 4.110000, 4.070000, 4.040000, 4.020000, 3.980000, 3.950000, 3.920000, 3.890000, 3.880000, 3.880000, 4.110000, 4.360000, 4.640000, 4.980000, 5.340000, 5.790000, 6.300000, 6.930000, 7.680000, 8.620000, 9.760000, 15.320000, 15.230000, null, null, null, null, 13.750000, null, null, null, null, null, 8.190000, 7.170000, 6.310000, 5.610000, 5.080000, 4.650000, 4.250000, 3.940000, 3.750000, 3.770000, 3.790000, 3.810000, 3.990000, 4.080000, 2.640000, 2.530000, 2.410000, 2.330000, 2.220000, 2.140000, 2.070000, 1.990000, 1.930000, 1.860000, 1.800000, 1.760000, 1.700000, 1.650000, 1.620000, 1.570000, 1.520000, 1.480000, 1.460000, 1.410000, 1.380000, 1.360000, 1.330000, 1.310000, 1.290000, 1.260000, 1.240000, 1.210000, 1.200000, 1.190000, 1.160000, 1.150000, 1.130000, 1.130000, 1.110000, 1.090000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.000000, 1.000000, 1.000000, 1.000000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.950000, 0.950000, 0.930000, 0.930000, 0.920000, 0.920000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054735, 756240 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.458000, 8.657001, -0.789086 ], "estimate": [ 3.458000, 8.657001, -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": [ 2.390000, 2.300000, 2.210000, 2.130000, 2.050000, 1.990000, 1.930000, 1.880000, 1.830000, 1.780000, 1.740000, 1.690000, 1.660000, 1.610000, 1.590000, 1.560000, 1.520000, 1.490000, 1.460000, 1.430000, 1.410000, 1.400000, 1.340000, 1.340000, 1.330000, 1.310000, 1.300000, 1.270000, 1.260000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.110000, 4.150000, 4.110000, 4.070000, 4.030000, 4.000000, 3.970000, 3.940000, 3.910000, 3.890000, 3.850000, 3.830000, 3.820000, 3.960000, 4.190000, 4.450000, 4.750000, 5.100000, 5.480000, 5.960000, 6.510000, 7.170000, 7.980000, 8.990000, 10.260000, 15.200000, 15.280000, null, null, null, 13.640000, 13.790000, null, null, null, null, null, 7.820000, 6.850000, 6.150000, 5.440000, 4.960000, 4.510000, 4.150000, 3.870000, 3.700000, 3.720000, 3.750000, 3.750000, 4.000000, 4.030000, 2.620000, 2.490000, 2.390000, 2.290000, 2.210000, 2.120000, 2.040000, 1.970000, 1.910000, 1.840000, 1.800000, 1.740000, 1.680000, 1.650000, 1.620000, 1.560000, 1.510000, 1.480000, 1.450000, 1.410000, 1.380000, 1.360000, 1.330000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.190000, 1.190000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.040000, 1.040000, 1.030000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.980000, 0.960000, 0.970000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.940000, 0.930000, 0.960000, 0.980000, 0.950000, 0.930000, 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, 0, 0, 0, 1, 1, 0, 0, 0, 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 ], "timestamp": [ 976054735, 767609 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.498000, 8.617001, -0.789086 ], "estimate": [ 3.498000, 8.617001, -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": [ 2.250000, 2.150000, 2.070000, 2.000000, 1.940000, 1.880000, 1.820000, 1.780000, 1.730000, 1.690000, 1.640000, 1.600000, 1.570000, 1.530000, 1.500000, 1.470000, 1.440000, 1.410000, 1.390000, 1.370000, 1.320000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.980000, 0.980000, 0.970000, 0.970000, 1.220000, 4.120000, 4.080000, 4.040000, 4.000000, 3.960000, 3.940000, 3.900000, 3.880000, 3.850000, 3.810000, 3.790000, 3.760000, 3.790000, 4.020000, 4.240000, 4.520000, 4.840000, 5.190000, 5.600000, 6.090000, 6.650000, 7.350000, 8.210000, 9.270000, 10.620000, 15.160000, null, null, null, null, 13.690000, null, null, null, null, null, null, 7.530000, 6.620000, 5.920000, 5.300000, 4.850000, 4.420000, 4.070000, 3.780000, 3.650000, 3.660000, 3.680000, 3.710000, 3.950000, 3.980000, 2.580000, 2.460000, 2.360000, 2.260000, 2.190000, 2.100000, 2.020000, 1.960000, 1.900000, 1.830000, 1.770000, 1.730000, 1.680000, 1.630000, 1.590000, 1.570000, 1.510000, 1.480000, 1.440000, 1.400000, 1.370000, 1.350000, 1.330000, 1.300000, 1.270000, 1.260000, 1.220000, 1.200000, 1.200000, 1.170000, 1.170000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.060000, 1.060000, 1.040000, 1.040000, 1.030000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.970000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054735, 149966 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.537000, 8.578000, -0.789086 ], "estimate": [ 3.537000, 8.578000, -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": [ 2.110000, 2.040000, 1.960000, 1.890000, 1.830000, 1.780000, 1.730000, 1.690000, 1.640000, 1.590000, 1.560000, 1.520000, 1.490000, 1.460000, 1.430000, 1.400000, 1.370000, 1.330000, 1.310000, 1.300000, 1.270000, 1.250000, 1.240000, 1.220000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 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, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.940000, 1.070000, 2.400000, 4.090000, 4.050000, 4.010000, 3.970000, 3.930000, 3.900000, 3.880000, 3.850000, 3.810000, 3.790000, 3.750000, 3.730000, 3.720000, 3.830000, 4.060000, 4.290000, 4.570000, 4.880000, 5.250000, 5.670000, 6.190000, 6.780000, 7.520000, 8.380000, 9.460000, 15.180000, 15.100000, null, null, null, null, 13.540000, null, null, null, null, null, null, 7.330000, 6.460000, 5.780000, 5.200000, 4.770000, 4.340000, 4.010000, 3.750000, 3.600000, 3.620000, 3.640000, 3.650000, 3.850000, 3.930000, 2.550000, 2.440000, 2.340000, 2.250000, 2.170000, 2.090000, 2.010000, 1.950000, 1.880000, 1.820000, 1.760000, 1.710000, 1.670000, 1.630000, 1.590000, 1.550000, 1.540000, 1.470000, 1.430000, 1.410000, 1.390000, 1.350000, 1.310000, 1.290000, 1.270000, 1.240000, 1.220000, 1.200000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.110000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054735, 604056 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.556000, 8.558000, -0.789086 ], "estimate": [ 3.556000, 8.558000, -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": [ 1.970000, 1.900000, 1.840000, 1.770000, 1.730000, 1.680000, 1.630000, 1.580000, 1.550000, 1.510000, 1.480000, 1.440000, 1.410000, 1.380000, 1.350000, 1.300000, 1.300000, 1.280000, 1.250000, 1.220000, 1.210000, 1.190000, 1.180000, 1.150000, 1.150000, 1.120000, 1.100000, 1.090000, 1.080000, 1.050000, 1.050000, 1.040000, 1.020000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.890000, 0.900000, 0.890000, 0.890000, 0.890000, 0.970000, 1.150000, 2.350000, 4.070000, 4.020000, 3.980000, 3.940000, 3.900000, 3.880000, 3.840000, 3.810000, 3.780000, 3.750000, 3.720000, 3.690000, 3.670000, 3.680000, 3.890000, 4.100000, 4.360000, 4.650000, 4.970000, 5.360000, 5.790000, 6.310000, 6.930000, 7.700000, 8.630000, 9.800000, 15.100000, 15.050000, null, null, null, null, 13.550000, null, null, null, null, null, 8.230000, 7.190000, 6.300000, 5.630000, 5.080000, 4.660000, 4.260000, 3.930000, 3.670000, 3.550000, 3.570000, 3.580000, 3.610000, 3.770000, 3.880000, 2.510000, 2.420000, 2.320000, 2.230000, 2.150000, 2.080000, 2.000000, 1.940000, 1.870000, 1.800000, 1.760000, 1.700000, 1.660000, 1.620000, 1.580000, 1.540000, 1.500000, 1.500000, 1.430000, 1.400000, 1.370000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.230000, 1.190000, 1.190000, 1.180000, 1.160000, 1.150000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 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 ], "timestamp": [ 976054735, 604962 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.599000, 8.515000, -0.782940 ], "estimate": [ 3.599000, 8.515000, -0.782940 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.840000, 1.770000, 1.720000, 1.670000, 1.610000, 1.580000, 1.530000, 1.490000, 1.440000, 1.410000, 1.390000, 1.360000, 1.310000, 1.290000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.170000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.940000, 0.940000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.900000, 0.960000, 1.080000, null, 2.320000, 4.040000, 3.990000, 3.950000, 3.910000, 3.870000, 3.840000, 3.800000, 3.770000, 3.730000, 3.710000, 3.680000, 3.650000, 3.640000, 3.630000, 3.740000, 3.950000, 4.180000, 4.440000, 4.730000, 5.080000, 5.490000, 5.930000, 6.470000, 7.130000, 7.960000, 8.910000, 10.200000, 14.970000, 15.070000, null, null, null, 13.430000, 13.560000, null, null, null, null, null, 7.860000, 6.860000, 6.110000, 5.460000, 4.960000, 4.530000, 4.170000, 3.860000, 3.600000, 3.490000, 3.520000, 3.540000, 3.560000, 3.750000, 3.830000, 2.570000, 2.400000, 2.300000, 2.210000, 2.120000, 2.040000, 1.970000, 1.910000, 1.840000, 1.790000, 1.740000, 1.680000, 1.640000, 1.600000, 1.550000, 1.520000, 1.490000, 1.460000, 1.430000, 1.380000, 1.350000, 1.330000, 1.310000, 1.290000, 1.250000, 1.230000, 1.200000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.040000, 1.030000, 1.030000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 1, 1, 0, 0, 0, 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 ], "timestamp": [ 976054735, 779696 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.643000, 8.472000, -0.776795 ], "estimate": [ 3.643000, 8.472000, -0.776795 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.640000, 1.590000, 1.550000, 1.500000, 1.450000, 1.410000, 1.390000, 1.360000, 1.300000, 1.280000, 1.260000, 1.230000, 1.210000, 1.180000, 1.170000, 1.140000, 1.120000, 1.100000, 1.080000, 1.070000, 1.050000, 1.040000, 1.020000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.920000, 0.920000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.800000, 0.840000, 0.910000, 0.970000, null, null, 2.260000, 2.270000, 3.990000, 3.950000, 3.900000, 3.870000, 3.830000, 3.800000, 3.760000, 3.720000, 3.690000, 3.660000, 3.640000, 3.610000, 3.590000, 3.580000, 3.640000, 3.840000, 4.060000, 4.290000, 4.570000, 4.890000, 5.240000, 5.670000, 6.170000, 6.770000, 7.470000, 8.370000, 9.420000, 15.000000, 14.940000, null, null, null, null, 13.390000, null, null, null, null, null, null, 7.370000, 6.470000, 5.860000, 5.200000, 4.750000, 4.350000, 4.020000, 3.730000, 3.500000, 3.410000, 3.470000, 3.480000, 3.510000, 3.750000, 3.780000, 2.500000, 2.340000, 2.240000, 2.160000, 2.070000, 2.010000, 1.940000, 1.870000, 1.820000, 1.760000, 1.710000, 1.670000, 1.610000, 1.570000, 1.540000, 1.500000, 1.470000, 1.430000, 1.400000, 1.390000, 1.340000, 1.320000, 1.290000, 1.260000, 1.250000, 1.210000, 1.190000, 1.190000, 1.170000, 1.160000, 1.130000, 1.120000, 1.100000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.000000, 1.010000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054736, 870376 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.683000, 8.432000, -0.770649 ], "estimate": [ 3.683000, 8.432000, -0.770649 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.520000, 1.470000, 1.430000, 1.390000, 1.360000, 1.320000, 1.260000, 1.260000, 1.230000, 1.200000, 1.180000, 1.150000, 1.130000, 1.110000, 1.080000, 1.060000, 1.060000, 1.040000, 1.010000, 0.990000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.850000, 0.840000, 0.820000, 0.820000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.800000, 0.850000, 0.920000, 0.980000, null, null, null, 2.230000, 4.010000, 3.960000, 3.910000, 3.870000, 3.830000, 3.800000, 3.750000, 3.720000, 3.680000, 3.650000, 3.630000, 3.590000, 3.560000, 3.550000, 3.520000, 3.560000, 3.730000, 3.940000, 4.170000, 4.420000, 4.720000, 5.050000, 5.440000, 5.900000, 6.420000, 7.080000, 7.860000, 8.840000, 10.030000, 14.880000, 14.940000, null, null, null, 13.330000, 13.450000, null, null, null, null, null, 7.970000, 7.000000, 6.110000, 5.500000, 4.970000, 4.580000, 4.180000, 3.870000, 3.600000, 3.380000, 3.400000, 3.420000, 3.440000, 3.470000, 3.720000, 3.740000, 2.380000, 2.300000, 2.210000, 2.120000, 2.030000, 1.960000, 1.900000, 1.840000, 1.780000, 1.740000, 1.680000, 1.640000, 1.600000, 1.550000, 1.510000, 1.490000, 1.450000, 1.420000, 1.390000, 1.360000, 1.350000, 1.310000, 1.280000, 1.250000, 1.220000, 1.210000, 1.190000, 1.170000, 1.170000, 1.140000, 1.130000, 1.110000, 1.100000, 1.080000, 1.080000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.970000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.910000, 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, 0, 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, 0, 0, 0, 1, 1, 0, 0, 0, 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 ], "timestamp": [ 976054736, 871485 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.722000, 8.395000, -0.770649 ], "estimate": [ 3.722000, 8.395000, -0.770649 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.400000, 1.370000, 1.330000, 1.270000, 1.260000, 1.230000, 1.200000, 1.170000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.900000, 0.880000, 0.860000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.770000, 0.820000, 0.860000, 0.910000, 0.980000, null, null, null, null, 2.190000, 3.970000, 3.920000, 3.880000, 3.830000, 3.790000, 3.750000, 3.710000, 3.680000, 3.640000, 3.610000, 3.580000, 3.550000, 3.530000, 3.510000, 3.490000, 3.490000, 3.650000, 3.840000, 4.070000, 4.300000, 4.580000, 4.900000, 5.270000, 5.690000, 6.180000, 6.760000, 7.500000, 8.360000, 9.460000, 14.910000, 14.830000, null, null, null, null, 13.290000, null, null, null, null, null, null, 7.370000, 6.470000, 5.790000, 5.200000, 4.740000, 4.360000, 4.010000, 3.720000, 3.480000, 3.330000, 3.360000, 3.380000, 3.400000, 3.420000, 3.680000, 3.700000, 2.320000, 2.240000, 2.150000, 2.080000, 2.000000, 1.940000, 1.870000, 1.810000, 1.760000, 1.700000, 1.650000, 1.610000, 1.570000, 1.520000, 1.480000, 1.460000, 1.420000, 1.400000, 1.360000, 1.330000, 1.330000, 1.300000, 1.260000, 1.240000, 1.210000, 1.190000, 1.180000, 1.150000, 1.150000, 1.140000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054736, 872436 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.764000, 8.353000, -0.776795 ], "estimate": [ 3.764000, 8.353000, -0.776795 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.310000, 1.250000, 1.250000, 1.210000, 1.180000, 1.160000, 1.130000, 1.100000, 1.080000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.900000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.760000, 0.750000, 0.750000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.740000, 0.780000, 0.810000, 0.860000, 0.890000, 1.000000, 1.910000, null, null, null, null, 2.130000, 3.950000, 3.900000, 3.860000, 3.810000, 3.780000, 3.740000, 3.700000, 3.660000, 3.630000, 3.590000, 3.550000, 3.530000, 3.500000, 3.480000, 3.450000, 3.420000, 3.490000, 3.650000, 3.830000, 4.060000, 4.290000, 4.560000, 4.880000, 5.250000, 5.650000, 6.150000, 6.720000, 7.440000, 8.280000, 9.360000, 14.850000, 14.780000, null, null, null, null, 13.240000, null, null, null, null, null, null, 7.470000, 6.560000, 5.840000, 5.250000, 4.780000, 4.380000, 4.030000, 3.740000, 3.490000, 3.280000, 3.300000, 3.330000, 3.340000, 3.360000, 3.610000, 3.650000, 3.670000, 2.240000, 2.160000, 2.080000, 2.000000, 1.930000, 1.870000, 1.810000, 1.760000, 1.700000, 1.650000, 1.610000, 1.570000, 1.530000, 1.490000, 1.460000, 1.430000, 1.390000, 1.360000, 1.340000, 1.310000, 1.290000, 1.300000, 1.260000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.110000, 1.080000, 1.080000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054736, 873445 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.808000, 8.310000, -0.782940 ], "estimate": [ 3.808000, 8.310000, -0.782940 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.200000, 1.170000, 1.140000, 1.100000, 1.080000, 1.050000, 1.020000, 1.000000, 0.970000, 0.960000, 0.930000, 0.910000, 0.900000, 0.880000, 0.860000, 0.840000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.680000, 0.680000, 0.660000, 0.670000, 0.690000, 0.710000, 0.750000, 0.780000, 0.800000, 0.850000, 0.870000, 1.880000, null, null, null, null, null, null, 2.110000, 3.940000, 3.890000, 3.850000, 3.800000, 3.760000, 3.720000, 3.680000, 3.650000, 3.600000, 3.560000, 3.530000, 3.500000, 3.470000, 3.450000, 3.420000, 3.400000, 3.380000, 3.450000, 3.630000, 3.810000, 4.020000, 4.240000, 4.510000, 4.820000, 5.170000, 5.570000, 6.060000, 6.600000, 7.300000, 8.120000, 9.130000, 14.810000, 14.740000, null, null, 14.030000, null, 13.210000, null, null, null, null, null, null, 7.670000, 6.740000, 5.940000, 5.360000, 4.850000, 4.470000, 4.100000, 3.800000, 3.530000, 3.320000, 3.220000, 3.260000, 3.280000, 3.300000, 3.320000, 3.570000, 3.590000, 2.270000, 2.170000, 2.100000, 2.020000, 1.950000, 1.870000, 1.820000, 1.760000, 1.700000, 1.670000, 1.620000, 1.580000, 1.530000, 1.490000, 1.460000, 1.420000, 1.400000, 1.360000, 1.340000, 1.310000, 1.290000, 1.270000, 1.240000, 1.240000, 1.220000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.090000, 1.070000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.920000, 0.910000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 0, 0, 0, 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, 0, 0, 1, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054736, 874377 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.849000, 8.270000, -0.789086 ], "estimate": [ 3.849000, 8.270000, -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": [ 1.180000, 1.160000, 1.120000, 1.090000, 1.050000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.660000, 0.680000, 0.700000, 0.720000, 0.740000, 0.770000, 0.800000, 0.820000, 0.860000, 1.880000, 1.870000, 1.840000, null, 1.880000, null, null, null, 2.020000, 2.070000, 3.890000, 3.850000, 3.790000, 3.750000, 3.710000, 3.670000, 3.640000, 3.590000, 3.550000, 3.510000, 3.480000, 3.450000, 3.420000, 3.410000, 3.380000, 3.350000, 3.340000, 3.400000, 3.580000, 3.740000, 3.940000, 4.180000, 4.420000, 4.720000, 5.060000, 5.440000, 5.890000, 6.420000, 7.060000, 7.820000, 8.760000, 9.970000, 14.660000, 14.730000, null, null, null, null, 13.250000, null, null, null, null, null, null, 6.990000, 6.170000, 5.600000, 5.000000, 4.570000, 4.200000, 3.890000, 3.600000, 3.390000, 3.190000, 3.190000, 3.220000, 3.240000, 3.260000, 3.510000, 3.530000, 3.550000, 2.190000, 2.100000, 2.030000, 1.960000, 1.900000, 1.840000, 1.770000, 1.730000, 1.670000, 1.630000, 1.590000, 1.540000, 1.490000, 1.470000, 1.440000, 1.400000, 1.360000, 1.350000, 1.310000, 1.290000, 1.270000, 1.250000, 1.220000, 1.190000, 1.190000, 1.170000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.070000, 1.080000, 1.070000, 1.050000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.910000, 0.910000, 0.910000, 0.920000, 0.910000, 0.920000, 0.910000, 0.920000, 0.910000, 0.900000, 0.910000, 0.900000, 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, 0, 1, 0, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054736, 875285 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.886000, 8.231000, -0.801377 ], "estimate": [ 3.886000, 8.231000, -0.801377 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.070000, 1.050000, 1.020000, 0.980000, 0.950000, 0.920000, 0.900000, 0.890000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.640000, 0.650000, 0.670000, 0.690000, 0.710000, 0.740000, 0.760000, 0.780000, 0.810000, 0.830000, 1.800000, 1.850000, 1.850000, 1.830000, 1.800000, 1.830000, null, null, null, null, 2.020000, 3.910000, 3.860000, 3.800000, 3.760000, 3.710000, 3.680000, 3.640000, 3.590000, 3.550000, 3.510000, 3.470000, 3.440000, 3.410000, 3.390000, 3.360000, 3.330000, 3.300000, 3.280000, 3.350000, 3.490000, 3.660000, 3.850000, 4.070000, 4.300000, 4.580000, 4.900000, 5.260000, 5.680000, 6.180000, 6.760000, 7.460000, 8.320000, 9.390000, 14.700000, 14.610000, 15.470000, null, null, null, 13.060000, null, null, null, null, null, null, 7.450000, 6.530000, 5.820000, 5.230000, 4.760000, 4.360000, 4.030000, 3.730000, 3.480000, 3.290000, 3.110000, 3.150000, 3.170000, 3.190000, 3.220000, 3.470000, 3.490000, 3.510000, 2.230000, 2.070000, 2.000000, 1.930000, 1.860000, 1.810000, 1.750000, 1.690000, 1.650000, 1.600000, 1.560000, 1.520000, 1.490000, 1.450000, 1.420000, 1.390000, 1.360000, 1.320000, 1.310000, 1.280000, 1.250000, 1.230000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.040000, 1.040000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.970000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.940000, 0.920000, 0.920000, 0.920000, 0.910000, 0.910000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.920000, 0.910000, 0.910000, 0.900000, 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, 0, 0, 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, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054737, 247120 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.925000, 8.190000, -0.813668 ], "estimate": [ 3.925000, 8.190000, -0.813668 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.010000, 0.980000, 0.950000, 0.910000, 0.890000, 0.860000, 0.850000, 0.820000, 0.810000, 0.790000, 0.770000, 0.750000, 0.730000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.610000, 0.610000, 0.630000, 0.640000, 0.660000, 0.680000, 0.700000, 0.710000, 0.740000, 0.760000, 0.780000, 0.800000, 1.750000, 1.770000, 1.810000, 1.840000, 1.800000, 1.780000, 1.770000, 1.800000, null, null, null, null, 1.970000, 3.890000, 3.830000, 3.780000, 3.730000, 3.680000, 3.650000, 3.610000, 3.560000, 3.520000, 3.480000, 3.440000, 3.410000, 3.390000, 3.360000, 3.330000, 3.300000, 3.270000, 3.250000, 3.250000, 3.390000, 3.560000, 3.720000, 3.930000, 4.140000, 4.380000, 4.690000, 5.020000, 5.400000, 5.840000, 6.370000, 6.990000, 7.740000, 8.640000, 9.830000, 14.610000, 14.610000, null, null, null, null, 13.080000, null, null, null, null, null, null, 7.130000, 6.310000, 5.650000, 5.090000, 4.620000, 4.290000, 3.930000, 3.650000, 3.430000, 3.230000, 3.100000, 3.110000, 3.120000, 3.150000, 3.170000, 3.410000, 3.450000, 3.470000, 3.500000, 2.040000, 1.980000, 1.910000, 1.840000, 1.790000, 1.730000, 1.680000, 1.640000, 1.590000, 1.550000, 1.510000, 1.480000, 1.450000, 1.410000, 1.380000, 1.340000, 1.310000, 1.300000, 1.270000, 1.250000, 1.240000, 1.210000, 1.200000, 1.170000, 1.150000, 1.140000, 1.130000, 1.100000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 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, 0, 0, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054737, 308387 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.968000, 8.145000, -0.819813 ], "estimate": [ 3.968000, 8.145000, -0.819813 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.890000, 0.880000, 0.840000, 0.810000, 0.800000, 0.770000, 0.750000, 0.730000, 0.700000, 0.700000, 0.690000, 0.670000, 0.650000, 0.650000, 0.630000, 0.620000, 0.600000, 0.580000, 0.580000, 0.580000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.670000, 0.680000, 0.700000, 0.710000, 0.740000, 0.760000, 0.770000, 1.690000, 1.690000, 1.710000, 1.730000, 1.780000, 1.800000, 1.780000, 1.730000, 1.730000, 1.750000, null, null, null, null, 1.940000, 3.880000, 3.840000, 3.790000, 3.720000, 3.680000, 3.640000, 3.590000, 3.550000, 3.500000, 3.460000, 3.420000, 3.390000, 3.350000, 3.330000, 3.300000, 3.270000, 3.250000, 3.220000, 3.190000, 3.190000, 3.310000, 3.470000, 3.630000, 3.800000, 4.020000, 4.240000, 4.510000, 4.830000, 5.170000, 5.580000, 6.050000, 6.610000, 7.300000, 8.090000, 9.110000, 14.580000, 14.540000, null, null, null, null, 12.980000, null, null, null, null, null, null, 7.700000, 6.700000, 5.940000, 5.430000, 4.850000, 4.440000, 4.100000, 3.790000, 3.530000, 3.300000, 3.130000, 3.030000, 3.040000, 3.070000, 3.100000, 3.100000, 3.360000, 3.380000, 3.410000, 3.440000, 2.020000, 1.950000, 1.870000, 1.830000, 1.760000, 1.700000, 1.660000, 1.610000, 1.570000, 1.520000, 1.490000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.070000, 1.070000, 1.060000, 1.040000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 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, 0.910000 ], "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, 0, 0, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054737, 424628 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.009000, 8.100000, -0.825959 ], "estimate": [ 4.009000, 8.100000, -0.825959 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.800000, 0.770000, 0.750000, 0.720000, 0.700000, 0.680000, 0.660000, 0.650000, 0.630000, 0.610000, 0.600000, 0.590000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.600000, 0.610000, 0.610000, 0.630000, 0.640000, 0.660000, 0.660000, 0.680000, 0.690000, 0.700000, 0.720000, 0.740000, 1.500000, 1.620000, 1.660000, 1.670000, 1.670000, 1.680000, 1.720000, 1.750000, 1.770000, 1.730000, 1.690000, 1.700000, 1.730000, null, null, 1.810000, null, 1.910000, 1.920000, 3.830000, 3.780000, 3.710000, 3.670000, 3.630000, 3.580000, 3.540000, 3.490000, 3.440000, 3.410000, 3.370000, 3.340000, 3.300000, 3.270000, 3.250000, 3.210000, 3.180000, 3.150000, 3.130000, 3.150000, 3.280000, 3.430000, 3.590000, 3.760000, 3.970000, 4.200000, 4.450000, 4.740000, 5.100000, 5.490000, 5.960000, 6.470000, 7.140000, 7.920000, 8.870000, 10.020000, 14.440000, 14.560000, null, null, null, 12.900000, 13.000000, null, null, null, null, null, null, 6.900000, 6.100000, 5.490000, 4.970000, 4.520000, 4.190000, 3.870000, 3.600000, 3.360000, 3.160000, 2.990000, 2.980000, 3.000000, 3.020000, 3.040000, 3.100000, 3.330000, 3.350000, 3.380000, 3.400000, 1.960000, 1.900000, 1.830000, 1.780000, 1.720000, 1.680000, 1.610000, 1.590000, 1.540000, 1.500000, 1.460000, 1.440000, 1.400000, 1.360000, 1.340000, 1.300000, 1.300000, 1.270000, 1.240000, 1.230000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.040000, 1.050000, 1.040000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.920000, 0.920000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 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, 0, 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, 0, 0, 0, 1, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054737, 887583 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.047000, 8.059000, -0.838250 ], "estimate": [ 4.047000, 8.059000, -0.838250 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.660000, 0.640000, 0.620000, 0.600000, 0.590000, 0.570000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.650000, 0.650000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 1.470000, 1.550000, 1.440000, 1.430000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.690000, 1.710000, 1.730000, 1.710000, 1.660000, 1.660000, 1.680000, null, 1.750000, 1.760000, null, 1.840000, 1.840000, 3.830000, 3.780000, 3.710000, 3.660000, 3.610000, 3.570000, 3.520000, 3.470000, 3.430000, 3.390000, 3.350000, 3.310000, 3.270000, 3.250000, 3.220000, 3.180000, 3.150000, 3.130000, 3.100000, 3.070000, 3.090000, 3.230000, 3.360000, 3.510000, 3.680000, 3.870000, 4.090000, 4.330000, 4.610000, 4.940000, 5.310000, 5.760000, 6.240000, 6.850000, 7.570000, 8.440000, 9.540000, 14.440000, 14.400000, null, null, null, null, 12.840000, null, null, null, null, null, null, 7.320000, 6.500000, 5.730000, 5.210000, 4.710000, 4.310000, 4.010000, 3.700000, 3.460000, 3.250000, 3.060000, 2.880000, 2.920000, 2.950000, 2.970000, 2.990000, 3.130000, 3.270000, 3.290000, 3.320000, 3.350000, 1.920000, 1.860000, 1.800000, 1.740000, 1.690000, 1.650000, 1.600000, 1.560000, 1.510000, 1.490000, 1.440000, 1.420000, 1.390000, 1.350000, 1.320000, 1.310000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.170000, 1.150000, 1.130000, 1.110000, 1.110000, 1.090000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.040000, 1.020000, 1.010000, 1.010000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.920000, 0.910000, 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, 0, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054737, 888730 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.084000, 8.017000, -0.850541 ], "estimate": [ 4.084000, 8.017000, -0.850541 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.590000, 0.570000, 0.550000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 1.450000, 1.500000, 1.520000, 1.550000, 1.400000, 1.570000, 1.590000, 1.600000, 1.600000, 1.610000, 1.620000, 1.660000, 1.670000, 1.700000, 1.660000, 1.620000, 1.620000, 1.630000, null, 1.710000, 1.710000, null, null, 1.800000, 3.860000, 3.790000, 3.730000, 3.680000, 3.630000, 3.570000, 3.520000, 3.480000, 3.440000, 3.400000, 3.350000, 3.310000, 3.270000, 3.240000, 3.210000, 3.170000, 3.140000, 3.110000, 3.080000, 3.060000, 3.030000, 3.020000, 3.150000, 3.280000, 3.430000, 3.580000, 3.750000, 3.960000, 4.190000, 4.440000, 4.750000, 5.090000, 5.490000, 5.960000, 6.490000, 7.130000, 7.910000, 8.860000, 14.430000, 14.330000, 14.450000, null, 13.640000, null, 12.780000, 12.900000, null, null, null, null, null, null, 6.920000, 6.130000, 5.490000, 4.990000, 4.540000, 4.180000, 3.880000, 3.600000, 3.370000, 3.180000, 3.010000, 2.850000, 2.880000, 2.900000, 2.920000, 2.940000, 3.130000, 3.220000, 3.250000, 3.270000, 3.300000, 2.040000, 1.840000, 1.780000, 1.730000, 1.680000, 1.630000, 1.590000, 1.550000, 1.500000, 1.470000, 1.440000, 1.400000, 1.380000, 1.340000, 1.320000, 1.300000, 1.270000, 1.240000, 1.210000, 1.210000, 1.180000, 1.180000, 1.160000, 1.140000, 1.120000, 1.120000, 1.100000, 1.090000, 1.090000, 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.010000, 1.000000, 1.000000, 0.980000, 0.980000, 0.960000, 0.970000, 0.970000, 0.970000, 0.950000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.910000, 0.920000, 0.910000, 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, 0, 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, 0, 1, 0, 1, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054738, 298480 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.122000, 7.973000, -0.862832 ], "estimate": [ 4.122000, 7.973000, -0.862832 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.560000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.690000, 1.340000, 1.390000, 1.440000, 1.450000, 1.470000, 1.490000, 1.370000, 1.360000, 1.550000, 1.560000, 1.580000, 1.570000, 1.590000, 1.600000, 1.620000, 1.650000, 1.650000, 1.630000, 1.590000, 1.590000, 1.610000, 1.620000, 1.640000, 1.680000, 1.710000, 1.760000, 1.770000, 3.880000, 3.800000, 3.740000, 3.680000, 3.630000, 3.570000, 3.520000, 3.480000, 3.430000, 3.390000, 3.340000, 3.290000, 3.250000, 3.220000, 3.190000, 3.150000, 3.120000, 3.090000, 3.060000, 3.030000, 3.000000, 2.980000, 2.970000, 3.090000, 3.210000, 3.350000, 3.490000, 3.650000, 3.850000, 4.070000, 4.310000, 4.590000, 4.910000, 5.300000, 5.710000, 6.200000, 6.800000, 7.520000, 8.370000, 9.500000, 14.340000, 14.290000, null, null, null, null, 12.730000, null, null, null, null, null, null, 7.380000, 6.460000, 5.760000, 5.250000, 4.730000, 4.340000, 4.030000, 3.730000, 3.490000, 3.270000, 3.080000, 2.910000, 2.770000, 2.830000, 2.840000, 2.870000, 2.890000, 3.110000, 3.170000, 3.210000, 3.240000, 3.260000, 3.280000, 1.810000, 1.760000, 1.700000, 1.660000, 1.600000, 1.570000, 1.520000, 1.490000, 1.450000, 1.420000, 1.390000, 1.360000, 1.340000, 1.300000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.190000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 1.000000, 0.970000, 0.980000, 0.970000, 0.980000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054738, 489624 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.161000, 7.926000, -0.868977 ], "estimate": [ 4.161000, 7.926000, -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": [ 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 1.320000, 1.330000, 1.340000, 1.360000, 1.420000, 1.430000, 1.460000, 1.470000, 1.360000, 1.370000, 1.510000, 1.540000, 1.540000, 1.540000, 1.530000, 1.580000, 1.600000, 1.610000, 1.620000, 1.630000, 1.560000, 1.550000, 1.560000, 1.580000, 1.610000, 1.640000, 1.660000, 1.690000, 1.720000, 1.730000, 3.880000, 3.800000, 3.740000, 3.680000, 3.620000, 3.550000, 3.500000, 3.460000, 3.410000, 3.370000, 3.320000, 3.270000, 3.240000, 3.190000, 3.150000, 3.130000, 3.090000, 3.060000, 3.030000, 2.990000, 2.970000, 2.950000, 2.910000, 2.950000, 3.070000, 3.190000, 3.340000, 3.490000, 3.630000, 3.830000, 4.060000, 4.290000, 4.560000, 4.880000, 5.250000, 5.680000, 6.160000, 6.730000, 7.450000, 8.290000, 9.380000, 14.290000, 14.220000, 15.070000, null, null, null, 12.670000, null, null, null, null, null, null, 7.450000, 6.530000, 5.810000, 5.270000, 4.780000, 4.380000, 4.050000, 3.770000, 3.510000, 3.290000, 3.100000, 2.940000, 2.780000, 2.760000, 2.790000, 2.820000, 2.830000, 2.850000, 3.110000, 3.150000, 3.160000, 3.200000, 3.230000, 3.260000, 1.760000, 1.710000, 1.670000, 1.620000, 1.580000, 1.530000, 1.490000, 1.470000, 1.430000, 1.390000, 1.360000, 1.340000, 1.310000, 1.300000, 1.270000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.160000, 1.140000, 1.120000, 1.110000, 1.110000, 1.090000, 1.090000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.960000, 0.980000, 0.950000, 0.970000, 0.970000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054738, 490861 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.198000, 7.883000, -0.875123 ], "estimate": [ 4.198000, 7.883000, -0.875123 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 1.220000, 1.260000, 1.280000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.380000, 1.400000, 1.430000, 1.460000, 1.340000, 1.470000, 1.480000, 1.500000, 1.500000, 1.500000, 1.520000, 1.540000, 1.570000, 1.580000, 1.600000, 1.590000, 1.550000, 1.510000, 1.520000, 1.550000, 1.560000, 1.580000, 1.600000, 1.630000, 1.640000, 1.670000, 1.690000, 3.860000, 3.780000, 3.700000, 3.650000, 3.590000, 3.530000, 3.470000, 3.420000, 3.380000, 3.330000, 3.280000, 3.240000, 3.200000, 3.150000, 3.120000, 3.080000, 3.050000, 3.010000, 2.980000, 2.960000, 2.930000, 2.900000, 2.880000, 2.870000, 2.940000, 3.070000, 3.190000, 3.340000, 3.480000, 3.650000, 3.820000, 4.040000, 4.270000, 4.560000, 4.880000, 5.250000, 5.670000, 6.160000, 6.740000, 7.440000, 8.260000, 9.370000, 14.230000, 14.160000, null, null, null, null, 12.620000, null, null, null, null, null, null, 7.420000, 6.540000, 5.820000, 5.270000, 4.780000, 4.380000, 4.050000, 3.770000, 3.520000, 3.290000, 3.110000, 2.930000, 2.790000, 2.700000, 2.720000, 2.740000, 2.760000, 2.780000, 2.930000, 3.070000, 3.100000, 3.120000, 3.150000, 3.180000, 3.210000, 1.710000, 1.670000, 1.620000, 1.580000, 1.540000, 1.490000, 1.470000, 1.430000, 1.400000, 1.360000, 1.340000, 1.310000, 1.290000, 1.270000, 1.240000, 1.220000, 1.210000, 1.190000, 1.160000, 1.160000, 1.130000, 1.110000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.050000, 1.040000, 1.030000, 1.010000, 1.010000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.970000, 0.960000, 0.940000, 0.940000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054738, 624726 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.233000, 7.841000, -0.875123 ], "estimate": [ 4.233000, 7.841000, -0.875123 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.640000, 0.640000, 0.650000, 0.670000, 1.270000, 1.290000, 1.280000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.290000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.320000, 1.460000, 1.460000, 1.470000, 1.470000, 1.490000, 1.490000, 1.510000, 1.540000, 1.550000, 1.560000, 1.580000, 1.560000, 1.490000, 1.500000, 1.500000, 1.530000, 1.550000, 1.570000, 1.580000, 1.610000, 1.630000, 1.650000, 3.930000, 3.860000, 3.780000, 3.700000, 3.650000, 3.580000, 3.520000, 3.450000, 3.400000, 3.370000, 3.310000, 3.270000, 3.230000, 3.170000, 3.130000, 3.090000, 3.060000, 3.020000, 2.990000, 2.960000, 2.920000, 2.890000, 2.870000, 2.840000, 2.820000, 2.830000, 2.940000, 3.070000, 3.190000, 3.330000, 3.470000, 3.630000, 3.820000, 4.030000, 4.270000, 4.560000, 4.860000, 5.230000, 5.650000, 6.150000, 6.740000, 7.440000, 8.270000, 9.370000, 14.180000, 14.110000, null, null, null, null, 12.570000, null, null, null, null, null, null, 7.420000, 6.550000, 5.830000, 5.280000, 4.800000, 4.410000, 4.070000, 3.790000, 3.530000, 3.310000, 3.110000, 2.930000, 2.790000, 2.650000, 2.670000, 2.700000, 2.710000, 2.740000, 2.760000, 3.010000, 3.040000, 3.080000, 3.110000, 3.130000, 3.160000, 3.200000, 1.680000, 1.620000, 1.590000, 1.550000, 1.510000, 1.470000, 1.450000, 1.400000, 1.370000, 1.350000, 1.320000, 1.300000, 1.280000, 1.250000, 1.230000, 1.200000, 1.190000, 1.180000, 1.150000, 1.130000, 1.120000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 1.010000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.940000, 0.920000, 0.940000, 0.940000, 0.930000, 0.930000, 0.930000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054739, 351079 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.271000, 7.796000, -0.887414 ], "estimate": [ 4.271000, 7.796000, -0.887414 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.260000, 1.260000, 1.280000, 1.270000, 1.270000, 1.260000, 1.240000, 1.250000, 1.260000, 1.280000, 1.280000, 1.300000, 1.310000, 1.320000, 1.350000, 1.320000, 1.290000, 1.410000, 1.420000, 1.430000, 1.440000, 1.460000, 1.460000, 1.480000, 1.490000, 1.520000, 1.540000, 1.540000, 1.540000, 1.470000, 1.460000, 1.470000, 1.490000, 1.500000, 1.530000, 1.530000, 1.570000, 1.600000, 1.600000, 1.620000, 3.920000, 3.830000, 3.760000, 3.690000, 3.630000, 3.560000, 3.490000, 3.430000, 3.390000, 3.340000, 3.280000, 3.240000, 3.190000, 3.140000, 3.100000, 3.070000, 3.020000, 2.990000, 2.950000, 2.920000, 2.880000, 2.860000, 2.820000, 2.800000, 2.770000, 2.760000, 2.830000, 2.940000, 3.060000, 3.190000, 3.320000, 3.480000, 3.630000, 3.810000, 4.040000, 4.280000, 4.560000, 4.880000, 5.240000, 5.660000, 6.160000, 6.760000, 7.460000, 8.290000, 9.410000, 14.100000, 14.070000, null, null, null, null, 12.490000, null, null, null, null, null, null, null, 6.540000, 5.820000, 5.270000, 4.800000, 4.400000, 4.070000, 3.800000, 3.530000, 3.310000, 3.120000, 2.930000, 2.790000, 2.650000, 2.580000, 2.620000, 2.650000, 2.670000, 2.700000, 2.820000, 2.980000, 3.010000, 3.030000, 3.070000, 3.100000, 3.130000, 3.160000, 1.630000, 1.600000, 1.550000, 1.510000, 1.480000, 1.450000, 1.410000, 1.370000, 1.350000, 1.320000, 1.300000, 1.270000, 1.250000, 1.240000, 1.200000, 1.190000, 1.170000, 1.160000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 1.010000, 1.000000, 0.980000, 0.980000, 0.990000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.920000, 0.930000, 0.920000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054739, 363780 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.309000, 7.748000, -0.893560 ], "estimate": [ 4.309000, 7.748000, -0.893560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.270000, 1.260000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.290000, 1.360000, 1.370000, 1.390000, 1.400000, 1.400000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.510000, 1.510000, 1.480000, 1.460000, 1.440000, 1.450000, 1.460000, 1.490000, 1.490000, 1.510000, 1.550000, 1.560000, 1.570000, 6.570000, 6.080000, 3.860000, 3.780000, 3.700000, 3.640000, 3.560000, 3.500000, 3.430000, 3.390000, 3.330000, 3.280000, 3.230000, 3.180000, 3.130000, 3.080000, 3.040000, 3.000000, 2.970000, 2.930000, 2.890000, 2.860000, 2.830000, 2.800000, 2.770000, 2.740000, 2.720000, 2.720000, 2.800000, 2.910000, 3.020000, 3.150000, 3.270000, 3.410000, 3.580000, 3.760000, 3.970000, 4.200000, 4.480000, 4.770000, 5.120000, 5.520000, 6.010000, 6.570000, 7.240000, 8.020000, 9.050000, 14.080000, 13.990000, null, null, null, null, 12.480000, 12.580000, null, null, null, null, null, null, 6.810000, 6.080000, 5.420000, 4.970000, 4.510000, 4.170000, 3.870000, 3.600000, 3.380000, 3.170000, 2.990000, 2.830000, 2.690000, 2.560000, 2.520000, 2.590000, 2.610000, 2.620000, 2.650000, 2.910000, 2.940000, 2.970000, 2.990000, 3.020000, 3.050000, 3.090000, 3.120000, 1.610000, 1.570000, 1.520000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.910000, 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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054739, 224652 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.346000, 7.703000, -0.899705 ], "estimate": [ 4.346000, 7.703000, -0.899705 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.260000, 1.250000, 1.260000, 1.260000, 1.260000, 1.250000, 1.250000, 1.270000, 1.290000, 1.270000, 1.290000, 1.290000, 1.310000, 1.320000, 1.340000, 1.350000, 1.350000, 1.360000, 1.380000, 1.410000, 1.430000, 1.450000, 1.460000, 1.460000, 1.470000, 1.450000, 1.420000, 1.400000, 1.430000, 1.420000, 1.450000, 1.460000, 1.470000, 1.500000, 1.510000, 1.530000, 1.540000, 6.640000, 6.490000, 3.840000, 3.760000, 3.680000, 3.620000, 3.540000, 3.480000, 3.410000, 3.360000, 3.300000, 3.240000, 3.200000, 3.140000, 3.100000, 3.050000, 3.010000, 2.980000, 2.940000, 2.890000, 2.860000, 2.820000, 2.800000, 2.760000, 2.720000, 2.700000, 2.670000, 2.650000, 2.680000, 2.770000, 2.880000, 2.990000, 3.110000, 3.240000, 3.380000, 3.540000, 3.720000, 3.910000, 4.150000, 4.400000, 4.700000, 5.040000, 5.430000, 5.890000, 6.440000, 7.110000, 7.840000, 8.840000, 14.010000, 13.960000, null, null, null, null, 12.370000, 12.480000, null, null, null, null, null, null, 6.960000, 6.150000, 5.540000, 5.050000, 4.600000, 4.220000, 3.920000, 3.640000, 3.430000, 3.230000, 3.040000, 2.860000, 2.720000, 2.600000, 2.490000, 2.510000, 2.530000, 2.550000, 2.590000, 2.590000, 2.860000, 2.900000, 2.920000, 2.940000, 2.980000, 3.000000, 3.030000, 3.080000, 3.100000, 1.530000, 1.500000, 1.470000, 1.440000, 1.410000, 1.370000, 1.340000, 1.310000, 1.290000, 1.260000, 1.250000, 1.230000, 1.200000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.910000, 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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054740, 201465 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.381000, 7.659000, -0.899705 ], "estimate": [ 4.381000, 7.659000, -0.899705 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.260000, 1.250000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.430000, 1.390000, 1.390000, 1.410000, 1.400000, 1.420000, 1.430000, 1.440000, 1.460000, 1.490000, 1.500000, 1.490000, 6.930000, 6.740000, 6.570000, 6.140000, 3.780000, 3.690000, 3.620000, 3.540000, 3.480000, 3.400000, 3.350000, 3.280000, 3.240000, 3.180000, 3.130000, 3.080000, 3.030000, 2.980000, 2.960000, 2.910000, 2.870000, 2.830000, 2.800000, 2.760000, 2.730000, 2.700000, 2.670000, 2.640000, 2.620000, 2.610000, 2.660000, 2.760000, 2.850000, 2.960000, 3.090000, 3.220000, 3.350000, 3.500000, 3.680000, 3.860000, 4.100000, 4.360000, 4.650000, 4.980000, 5.360000, 5.810000, 6.340000, 6.990000, 7.710000, 8.650000, 13.980000, 13.870000, 14.010000, 14.720000, null, null, null, 12.450000, null, null, null, null, null, null, 7.120000, 6.260000, 5.630000, 5.100000, 4.690000, 4.310000, 3.980000, 3.710000, 3.490000, 3.270000, 3.060000, 2.900000, 2.760000, 2.620000, 2.510000, 2.410000, 2.460000, 2.490000, 2.510000, 2.540000, 2.560000, 2.830000, 2.860000, 2.880000, 2.910000, 2.940000, 2.980000, 3.010000, 3.040000, 3.080000, 1.520000, 1.480000, 1.450000, 1.410000, 1.380000, 1.350000, 1.320000, 1.300000, 1.280000, 1.250000, 1.230000, 1.210000, 1.200000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 1.000000, 0.980000, 0.980000, 0.990000, 0.970000, 0.960000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054740, 259956 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.415000, 7.615000, -0.905850 ], "estimate": [ 4.415000, 7.615000, -0.905850 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.260000, 1.240000, 1.250000, 1.270000, 1.280000, 1.280000, 1.240000, 1.280000, 1.280000, 1.270000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.340000, 1.350000, 1.370000, 1.380000, 1.390000, 1.430000, 1.430000, 1.380000, 1.360000, 1.370000, 1.390000, 1.400000, 1.400000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.470000, 7.030000, 6.840000, 6.670000, 6.490000, 3.770000, 3.690000, 3.620000, 3.540000, 3.470000, 3.400000, 3.330000, 3.270000, 3.230000, 3.160000, 3.110000, 3.060000, 3.010000, 2.970000, 2.920000, 2.880000, 2.840000, 2.800000, 2.760000, 2.720000, 2.700000, 2.670000, 2.640000, 2.610000, 2.580000, 2.550000, 2.550000, 2.640000, 2.730000, 2.840000, 2.950000, 3.070000, 3.190000, 3.330000, 3.480000, 3.640000, 3.830000, 4.060000, 4.320000, 4.600000, 4.930000, 5.300000, 5.750000, 6.260000, 6.890000, 7.600000, 8.520000, 13.920000, 13.810000, 13.930000, 14.690000, null, null, null, 12.330000, null, null, null, null, null, null, null, 6.370000, 5.700000, 5.160000, 4.780000, 4.350000, 4.020000, 3.750000, 3.520000, 3.300000, 3.110000, 2.930000, 2.770000, 2.640000, 2.520000, 2.410000, 2.370000, 2.420000, 2.450000, 2.480000, 2.490000, 2.510000, 2.780000, 2.810000, 2.840000, 2.870000, 2.910000, 2.940000, 2.970000, 3.000000, 3.110000, 1.540000, 1.450000, 1.420000, 1.390000, 1.360000, 1.320000, 1.310000, 1.280000, 1.260000, 1.250000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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": [ 976054740, 261041 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.453000, 7.567000, -0.899705 ], "estimate": [ 4.453000, 7.567000, -0.899705 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.260000, 1.250000, 1.260000, 1.250000, 1.250000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.340000, 1.340000, 1.360000, 1.380000, 1.380000, 1.360000, 1.350000, 1.350000, 1.360000, 1.380000, 1.390000, 1.400000, 1.400000, 1.420000, 1.430000, 1.450000, 1.440000, 7.240000, 7.070000, 6.880000, 6.690000, 6.510000, 3.750000, 3.670000, 3.580000, 3.500000, 3.440000, 3.370000, 3.300000, 3.230000, 3.190000, 3.130000, 3.080000, 3.020000, 2.970000, 2.930000, 2.880000, 2.840000, 2.800000, 2.760000, 2.720000, 2.690000, 2.650000, 2.620000, 2.600000, 2.560000, 2.540000, 2.510000, 2.510000, 2.570000, 2.670000, 2.770000, 2.860000, 2.980000, 3.090000, 3.220000, 3.350000, 3.520000, 3.690000, 3.880000, 4.120000, 4.390000, 4.680000, 5.010000, 5.400000, 5.850000, 6.400000, 7.050000, 7.790000, 8.780000, 13.860000, 13.790000, null, null, null, null, 12.210000, 12.320000, null, null, null, null, null, null, 7.010000, 6.170000, 5.560000, 5.050000, 4.690000, 4.260000, 3.940000, 3.680000, 3.450000, 3.260000, 3.060000, 2.890000, 2.740000, 2.600000, 2.500000, 2.400000, 2.340000, 2.370000, 2.390000, 2.410000, 2.440000, 2.470000, 2.740000, 2.760000, 2.790000, 2.810000, 2.840000, 2.880000, 2.920000, 2.950000, 2.990000, 4.520000, 4.950000, 1.410000, 1.380000, 1.350000, 1.320000, 1.310000, 1.280000, 1.270000, 1.240000, 1.220000, 1.200000, 1.170000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 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 ], "timestamp": [ 976054740, 261988 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.490000, 7.520000, -0.893560 ], "estimate": [ 4.490000, 7.520000, -0.893560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.270000, 1.260000, 1.260000, 1.260000, 1.270000, 1.290000, 1.290000, 1.310000, 1.310000, 1.320000, 1.340000, 1.340000, 1.340000, 1.330000, 1.340000, 1.350000, 1.360000, 1.350000, 1.360000, 1.380000, 1.390000, 1.420000, 1.410000, 1.410000, 7.690000, 7.440000, 7.200000, 7.040000, 6.840000, 6.650000, 6.480000, 3.670000, 3.600000, 3.520000, 3.440000, 3.370000, 3.300000, 3.230000, 3.180000, 3.120000, 3.060000, 3.000000, 2.960000, 2.910000, 2.860000, 2.810000, 2.780000, 2.730000, 2.700000, 2.660000, 2.630000, 2.590000, 2.560000, 2.530000, 2.510000, 2.480000, 2.460000, 2.460000, 2.530000, 2.620000, 2.710000, 2.820000, 2.930000, 3.030000, 3.170000, 3.300000, 3.450000, 3.600000, 3.790000, 4.010000, 4.250000, 4.530000, 4.840000, 5.220000, 5.640000, 6.180000, 6.740000, 7.450000, 8.300000, 9.300000, 13.690000, 13.760000, null, null, null, null, 12.170000, null, null, null, null, null, null, null, 6.500000, 5.870000, 5.250000, 4.830000, 4.430000, 4.080000, 3.780000, 3.550000, 3.340000, 3.150000, 2.970000, 2.810000, 2.670000, 2.540000, 2.430000, 2.350000, 2.250000, 2.310000, 2.340000, 2.370000, 2.380000, 2.400000, 2.670000, 2.700000, 2.730000, 2.750000, 2.790000, 2.830000, 2.860000, 2.900000, 2.920000, 4.490000, 4.910000, 4.970000, 1.360000, 1.340000, 1.310000, 1.290000, 1.270000, 1.250000, 1.220000, 1.200000, 1.200000, 1.170000, 1.160000, 1.130000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.080000, 1.070000, 1.050000, 1.050000, 1.030000, 1.020000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.950000, 0.940000, 0.930000, 0.940000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054740, 262981 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.526000, 7.476000, -0.893560 ], "estimate": [ 4.526000, 7.476000, -0.893560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.250000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.290000, 1.310000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.360000, 1.380000, 1.380000, 1.390000, 7.880000, 7.930000, 7.750000, 7.490000, 7.250000, 7.040000, 6.870000, 6.680000, 6.490000, 3.640000, 3.560000, 3.490000, 3.400000, 3.330000, 3.260000, 3.190000, 3.120000, 3.070000, 3.020000, 2.970000, 2.920000, 2.870000, 2.810000, 2.770000, 2.730000, 2.700000, 2.650000, 2.620000, 2.580000, 2.550000, 2.510000, 2.490000, 2.460000, 2.430000, 2.410000, 2.420000, 2.490000, 2.570000, 2.660000, 2.760000, 2.850000, 2.950000, 3.090000, 3.210000, 3.350000, 3.490000, 3.670000, 3.860000, 4.100000, 4.350000, 4.640000, 4.970000, 5.360000, 5.790000, 6.350000, 6.960000, 7.720000, 8.650000, 13.750000, 13.680000, null, null, null, null, 12.110000, 12.200000, null, null, null, null, null, null, null, 6.260000, 5.620000, 5.090000, 4.690000, 4.310000, 3.980000, 3.710000, 3.470000, 3.290000, 3.100000, 2.910000, 2.760000, 2.620000, 2.510000, 2.400000, 2.310000, 2.220000, 2.250000, 2.280000, 2.310000, 2.330000, 2.340000, 2.430000, 2.650000, 2.670000, 2.710000, 2.740000, 2.760000, 2.800000, 2.840000, 2.860000, 3.000000, 4.450000, 4.900000, 4.990000, 1.340000, 1.320000, 1.290000, 1.270000, 1.240000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.140000, 1.110000, 1.110000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.010000, 1.000000, 0.990000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054740, 425290 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.560000, 7.433000, -0.899705 ], "estimate": [ 4.560000, 7.433000, -0.899705 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.250000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.260000, 1.260000, 1.270000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.340000, 1.350000, 1.350000, 1.350000, 1.370000, 1.380000, 7.780000, 7.840000, 7.900000, 7.790000, 7.530000, 7.290000, 7.060000, 6.900000, 6.700000, 6.510000, 3.610000, 3.530000, 3.430000, 3.360000, 3.290000, 3.230000, 3.140000, 3.090000, 3.030000, 2.970000, 2.920000, 2.870000, 2.820000, 2.770000, 2.720000, 2.680000, 2.640000, 2.610000, 2.570000, 2.530000, 2.510000, 2.470000, 2.440000, 2.410000, 2.380000, 2.350000, 2.360000, 2.440000, 2.510000, 2.600000, 2.690000, 2.790000, 2.890000, 2.990000, 3.120000, 3.260000, 3.400000, 3.560000, 3.740000, 3.940000, 4.180000, 4.450000, 4.760000, 5.100000, 5.510000, 6.000000, 6.560000, 7.210000, 8.020000, 9.060000, 13.650000, 13.600000, 14.460000, null, null, null, 12.110000, null, null, null, null, null, null, null, 6.810000, 6.020000, 5.420000, 4.940000, 4.560000, 4.190000, 3.900000, 3.620000, 3.410000, 3.220000, 3.030000, 2.860000, 2.720000, 2.580000, 2.470000, 2.380000, 2.280000, 2.200000, 2.170000, 2.220000, 2.250000, 2.270000, 2.290000, 2.320000, 2.590000, 2.610000, 2.650000, 2.670000, 2.710000, 2.740000, 2.780000, 2.830000, 2.830000, 4.450000, 4.870000, 4.950000, 5.040000, 1.310000, 1.280000, 1.250000, 1.240000, 1.210000, 1.200000, 1.180000, 1.170000, 1.140000, 1.120000, 1.120000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054740, 812049 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.597000, 7.387000, -0.905850 ], "estimate": [ 4.597000, 7.387000, -0.905850 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.240000, 1.260000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.270000, 1.280000, 1.290000, 1.310000, 1.310000, 1.310000, 1.330000, 1.330000, 1.340000, 1.340000, 1.360000, 1.360000, 7.650000, 7.710000, 7.770000, 7.820000, 7.890000, 7.720000, 7.460000, 7.220000, 7.000000, 6.830000, 6.630000, 3.620000, 3.520000, 3.450000, 3.370000, 3.290000, 3.220000, 3.140000, 3.080000, 3.020000, 2.960000, 2.910000, 2.850000, 2.800000, 2.750000, 2.710000, 2.660000, 2.620000, 2.580000, 2.540000, 2.510000, 2.470000, 2.440000, 2.410000, 2.380000, 2.350000, 2.330000, 2.310000, 2.350000, 2.430000, 2.510000, 2.580000, 2.680000, 2.770000, 2.870000, 2.970000, 3.100000, 3.230000, 3.370000, 3.530000, 3.710000, 3.910000, 4.140000, 4.400000, 4.710000, 5.040000, 5.440000, 5.920000, 6.480000, 7.100000, 7.880000, 8.890000, 13.640000, 13.530000, null, null, null, null, 11.970000, 12.100000, null, null, null, null, null, null, null, 6.140000, 5.550000, 5.030000, 4.620000, 4.270000, 3.940000, 3.680000, 3.440000, 3.240000, 3.060000, 2.890000, 2.750000, 2.610000, 2.490000, 2.390000, 2.290000, 2.210000, 2.130000, 2.160000, 2.190000, 2.200000, 2.220000, 2.240000, 2.270000, 2.560000, 2.580000, 2.600000, 2.640000, 2.670000, 2.710000, 2.740000, 2.780000, 2.790000, 4.800000, 4.850000, 4.950000, 5.010000, 5.130000, 1.280000, 1.240000, 1.220000, 1.200000, 1.190000, 1.170000, 1.160000, 1.130000, 1.120000, 1.100000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 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, 0.930000 ], "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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054740, 841168 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.634000, 7.339000, -0.911996 ], "estimate": [ 4.634000, 7.339000, -0.911996 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.250000, 1.250000, 1.270000, 1.270000, 1.270000, 1.260000, 1.270000, 1.260000, 1.250000, 1.260000, 1.260000, 1.270000, 1.290000, 1.290000, 1.310000, 1.310000, 1.310000, 1.330000, 1.340000, 1.330000, 6.050000, 7.580000, 7.630000, 7.690000, 7.740000, 7.800000, 7.870000, 7.670000, 7.400000, 7.150000, 6.950000, 6.760000, 6.570000, 3.530000, 3.440000, 3.370000, 3.280000, 3.220000, 3.130000, 3.060000, 2.990000, 2.950000, 2.880000, 2.830000, 2.780000, 2.730000, 2.680000, 2.630000, 2.600000, 2.550000, 2.510000, 2.480000, 2.440000, 2.410000, 2.370000, 2.340000, 2.310000, 2.290000, 2.250000, 2.270000, 2.320000, 2.400000, 2.480000, 2.560000, 2.640000, 2.730000, 2.830000, 2.940000, 3.060000, 3.190000, 3.320000, 3.470000, 3.640000, 3.830000, 4.060000, 4.310000, 4.610000, 4.920000, 5.290000, 5.750000, 6.270000, 6.880000, 7.600000, 8.530000, 13.580000, 13.500000, 13.600000, null, null, null, null, 11.970000, null, null, null, null, null, null, null, 6.390000, 5.710000, 5.180000, 4.740000, 4.400000, 4.040000, 3.760000, 3.520000, 3.310000, 3.130000, 2.960000, 2.790000, 2.660000, 2.520000, 2.420000, 2.320000, 2.230000, 2.150000, 2.060000, 2.100000, 2.120000, 2.150000, 2.180000, 2.200000, 2.210000, 2.500000, 2.520000, 2.550000, 2.580000, 2.620000, 2.650000, 2.690000, 2.730000, 2.760000, 4.770000, 4.820000, 4.920000, 4.990000, 5.100000, 4.930000, 1.270000, 1.210000, 1.200000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054741, 403229 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.669000, 7.293000, -0.918142 ], "estimate": [ 4.669000, 7.293000, -0.918142 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.250000, 1.230000, 1.280000, 1.280000, 1.260000, 1.260000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.270000, 1.290000, 1.300000, 1.300000, 1.310000, 1.300000, 1.310000, 6.220000, 6.020000, 6.040000, 7.570000, 7.620000, 7.670000, 7.730000, 7.790000, 7.850000, 7.600000, 7.340000, 7.090000, 6.910000, 6.690000, 3.540000, 3.450000, 3.370000, 3.290000, 3.210000, 3.130000, 3.060000, 2.990000, 2.930000, 2.870000, 2.810000, 2.760000, 2.710000, 2.650000, 2.610000, 2.560000, 2.520000, 2.490000, 2.450000, 2.410000, 2.370000, 2.340000, 2.320000, 2.280000, 2.250000, 2.220000, 2.210000, 2.250000, 2.310000, 2.390000, 2.470000, 2.540000, 2.620000, 2.710000, 2.810000, 2.920000, 3.030000, 3.150000, 3.290000, 3.430000, 3.600000, 3.790000, 4.010000, 4.250000, 4.540000, 4.850000, 5.230000, 5.660000, 6.190000, 6.760000, 7.460000, 8.340000, 13.530000, 13.410000, 13.520000, 14.310000, null, null, null, 11.880000, null, null, null, null, null, null, null, 6.560000, 5.820000, 5.280000, 4.810000, 4.450000, 4.110000, 3.810000, 3.560000, 3.340000, 3.160000, 2.990000, 2.830000, 2.690000, 2.560000, 2.430000, 2.350000, 2.250000, 2.180000, 2.090000, 2.030000, 2.060000, 2.090000, 2.100000, 2.130000, 2.150000, 2.180000, 2.450000, 2.480000, 2.510000, 2.550000, 2.570000, 2.610000, 2.660000, 2.680000, 2.730000, 4.760000, 4.820000, 4.920000, 4.990000, 5.090000, 4.830000, 4.810000, 1.250000, 1.180000, 1.150000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.000000, 1.010000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054741, 393187 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.703000, 7.249000, -0.930433 ], "estimate": [ 4.703000, 7.249000, -0.930433 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.250000, 1.240000, 1.250000, 1.270000, 1.250000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.280000, 1.300000, 1.280000, 1.300000, 7.100000, 6.660000, 6.240000, 6.010000, 6.020000, 7.530000, 7.590000, 7.640000, 7.690000, 7.750000, 7.810000, 7.630000, 7.360000, 7.110000, 6.880000, 6.700000, 3.500000, 3.400000, 3.320000, 3.230000, 3.150000, 3.080000, 3.000000, 2.940000, 2.880000, 2.810000, 2.760000, 2.710000, 2.660000, 2.610000, 2.550000, 2.500000, 2.480000, 2.430000, 2.400000, 2.350000, 2.330000, 2.290000, 2.250000, 2.220000, 2.200000, 2.170000, 2.160000, 2.210000, 2.280000, 2.340000, 2.420000, 2.490000, 2.570000, 2.650000, 2.750000, 2.840000, 2.950000, 3.080000, 3.200000, 3.340000, 3.490000, 3.670000, 3.870000, 4.100000, 4.360000, 4.660000, 4.980000, 5.380000, 5.840000, 6.370000, 7.000000, 7.740000, 8.730000, 13.460000, 13.360000, null, null, null, null, 11.830000, 11.920000, null, null, null, null, null, null, null, 6.250000, 5.620000, 5.090000, 4.680000, 4.340000, 4.000000, 3.720000, 3.490000, 3.290000, 3.100000, 2.940000, 2.780000, 2.640000, 2.520000, 2.400000, 2.300000, 2.220000, 2.140000, 2.060000, 1.990000, 1.960000, 2.010000, 2.040000, 2.070000, 2.090000, 2.110000, 2.380000, 2.420000, 2.450000, 2.480000, 2.510000, 2.550000, 2.580000, 2.620000, 2.660000, 4.720000, 4.760000, 4.870000, 4.940000, 5.040000, 4.780000, 4.790000, 4.880000, 6.690000, 1.210000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.070000, 1.070000, 1.070000, 1.050000, 1.050000, 1.040000, 1.020000, 1.020000, 1.010000, 1.010000, 0.990000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 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": [ 976054741, 513214 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.737000, 7.203000, -0.936578 ], "estimate": [ 4.737000, 7.203000, -0.936578 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 1.250000, 1.260000, 1.250000, 1.230000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.260000, 1.280000, 1.290000, 7.410000, 7.440000, 7.010000, 6.560000, 6.150000, 5.980000, 6.100000, 7.520000, 7.570000, 7.620000, 7.680000, 7.730000, 7.790000, 7.580000, 7.310000, 7.050000, 6.840000, 3.520000, 3.410000, 3.340000, 3.240000, 3.160000, 3.070000, 3.000000, 2.940000, 2.860000, 2.810000, 2.750000, 2.690000, 2.640000, 2.590000, 2.540000, 2.500000, 2.450000, 2.410000, 2.370000, 2.330000, 2.300000, 2.270000, 2.220000, 2.200000, 2.170000, 2.140000, 2.110000, 2.140000, 2.200000, 2.260000, 2.320000, 2.390000, 2.470000, 2.550000, 2.620000, 2.720000, 2.820000, 2.930000, 3.040000, 3.170000, 3.300000, 3.450000, 3.620000, 3.810000, 4.030000, 4.290000, 4.580000, 4.900000, 5.270000, 5.720000, 6.230000, 6.830000, 7.550000, 8.480000, 13.410000, 13.330000, 13.440000, null, null, null, null, 11.830000, null, null, null, null, null, null, null, 6.440000, 5.740000, 5.220000, 4.780000, 4.420000, 4.080000, 3.780000, 3.540000, 3.330000, 3.150000, 2.980000, 2.830000, 2.680000, 2.550000, 2.440000, 2.330000, 2.240000, 2.160000, 2.090000, 2.010000, 1.950000, 1.920000, 1.960000, 2.000000, 2.020000, 2.040000, 2.080000, 2.240000, 2.370000, 2.410000, 2.450000, 2.480000, 2.510000, 2.550000, 2.580000, 2.630000, 4.690000, 4.780000, 4.840000, 4.950000, 5.060000, 4.740000, 4.750000, 6.570000, 6.710000, 6.660000, 1.190000, 1.120000, 1.110000, 1.090000, 1.090000, 1.080000, 1.060000, 1.070000, 1.050000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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": [ 976054741, 625426 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.771000, 7.155000, -0.942724 ], "estimate": [ 4.771000, 7.155000, -0.942724 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.270000, 1.250000, 1.240000, 1.240000, 1.250000, 1.260000, 1.250000, 1.230000, 1.230000, 1.240000, 1.240000, 1.260000, 1.270000, 7.360000, 7.380000, 7.400000, 7.390000, 6.880000, 6.430000, 5.990000, 5.970000, 7.460000, 7.510000, 7.550000, 7.620000, 7.660000, 7.720000, 7.780000, 7.510000, 7.250000, 6.980000, 6.800000, 3.430000, 3.330000, 3.240000, 3.150000, 3.070000, 2.990000, 2.930000, 2.860000, 2.790000, 2.730000, 2.680000, 2.620000, 2.560000, 2.510000, 2.470000, 2.420000, 2.380000, 2.340000, 2.300000, 2.260000, 2.220000, 2.200000, 2.160000, 2.130000, 2.100000, 2.070000, 2.060000, 2.120000, 2.170000, 2.230000, 2.300000, 2.370000, 2.440000, 2.520000, 2.600000, 2.690000, 2.780000, 2.890000, 3.000000, 3.120000, 3.270000, 3.400000, 3.570000, 3.760000, 3.970000, 4.220000, 4.500000, 4.810000, 5.150000, 5.590000, 6.080000, 6.660000, 7.330000, 8.200000, 13.370000, 13.240000, 13.330000, null, null, null, null, 11.700000, null, null, null, null, null, null, null, null, 5.930000, 5.410000, 4.890000, 4.510000, 4.200000, 3.870000, 3.610000, 3.380000, 3.200000, 3.020000, 2.870000, 2.730000, 2.600000, 2.480000, 2.380000, 2.270000, 2.190000, 2.100000, 2.030000, 1.960000, 1.920000, 1.870000, 1.920000, 1.940000, 1.970000, 1.990000, 2.010000, 2.050000, 2.350000, 2.370000, 2.390000, 2.440000, 2.460000, 2.500000, 2.540000, 2.580000, 2.570000, 4.750000, 4.830000, 4.940000, 4.770000, 4.700000, 4.760000, 6.570000, 6.690000, 6.620000, 4.840000, 6.450000, 1.150000, 1.090000, 1.070000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.990000, 0.980000, 0.970000, 0.980000, 0.970000, 0.960000, 0.960000, 0.970000, 0.950000, 0.960000, 0.950000, 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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054741, 990214 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.807000, 7.106000, -0.955015 ], "estimate": [ 4.807000, 7.106000, -0.955015 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.250000, 1.220000, 1.240000, 1.240000, 1.250000, 1.250000, 1.240000, 1.240000, 1.250000, 1.280000, 8.600000, 7.590000, 7.360000, 7.360000, 7.390000, 7.340000, 6.820000, 6.370000, 5.930000, 5.950000, 7.450000, 7.500000, 7.540000, 7.590000, 7.640000, 7.700000, 7.760000, 7.480000, 7.200000, 6.950000, 3.450000, 3.360000, 3.260000, 3.170000, 3.090000, 3.000000, 2.930000, 2.860000, 2.780000, 2.720000, 2.660000, 2.610000, 2.550000, 2.500000, 2.450000, 2.400000, 2.350000, 2.320000, 2.280000, 2.230000, 2.200000, 2.160000, 2.130000, 2.100000, 2.060000, 2.050000, 2.020000, 2.050000, 2.100000, 2.160000, 2.200000, 2.270000, 2.330000, 2.410000, 2.490000, 2.570000, 2.650000, 2.750000, 2.850000, 2.950000, 3.080000, 3.210000, 3.350000, 3.490000, 3.690000, 3.890000, 4.130000, 4.390000, 4.690000, 5.020000, 5.430000, 5.890000, 6.440000, 7.090000, 7.890000, 8.800000, 13.260000, 13.210000, 14.080000, null, null, null, 11.640000, 11.750000, null, null, null, null, null, null, null, 6.180000, 5.550000, 5.050000, 4.640000, 4.290000, 3.980000, 3.700000, 3.470000, 3.260000, 3.090000, 2.920000, 2.780000, 2.650000, 2.520000, 2.410000, 2.310000, 2.210000, 2.130000, 2.060000, 1.990000, 1.940000, 1.880000, 1.810000, 1.860000, 1.900000, 1.930000, 1.930000, 1.960000, 1.990000, 2.280000, 2.320000, 2.360000, 2.390000, 2.430000, 2.460000, 2.500000, 2.540000, 2.570000, 4.730000, 4.800000, 4.930000, 4.830000, 4.680000, 4.770000, 6.580000, 6.650000, 4.810000, 4.840000, 6.400000, 6.320000, 6.260000, 1.070000, 1.060000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 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, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054742, 120131 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.839000, 7.059000, -0.973451 ], "estimate": [ 4.839000, 7.059000, -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": [ 1.250000, 1.250000, 1.250000, 1.230000, 1.220000, 1.250000, 1.250000, 1.230000, 12.450000, 9.930000, 8.630000, 8.630000, 7.600000, 7.340000, 7.360000, 7.370000, 7.400000, 6.850000, 6.370000, 5.920000, 5.930000, 7.420000, 7.460000, 7.510000, 7.550000, 7.610000, 7.650000, 7.720000, 7.510000, 7.220000, 6.960000, 3.380000, 3.290000, 3.200000, 3.100000, 3.020000, 2.940000, 2.860000, 2.790000, 2.720000, 2.650000, 2.600000, 2.540000, 2.490000, 2.430000, 2.380000, 2.330000, 2.290000, 2.250000, 2.210000, 2.180000, 2.140000, 2.100000, 2.060000, 2.040000, 2.010000, 1.980000, 1.960000, 2.000000, 2.050000, 2.110000, 2.170000, 2.220000, 2.290000, 2.360000, 2.430000, 2.500000, 2.590000, 2.680000, 2.780000, 2.880000, 2.990000, 3.110000, 3.240000, 3.390000, 3.560000, 3.750000, 3.970000, 4.210000, 4.490000, 4.810000, 5.160000, 5.590000, 6.100000, 6.660000, 7.350000, 8.220000, 13.260000, 13.120000, 13.260000, 14.030000, null, null, null, 11.580000, null, null, null, null, null, null, null, null, 5.940000, 5.390000, 4.920000, 4.510000, 4.190000, 3.900000, 3.640000, 3.410000, 3.210000, 3.040000, 2.890000, 2.760000, 2.610000, 2.500000, 2.390000, 2.290000, 2.210000, 2.130000, 2.050000, 1.980000, 1.930000, 1.860000, 1.810000, 1.770000, 1.820000, 1.860000, 1.880000, 1.900000, 1.930000, 1.950000, 2.250000, 2.280000, 2.310000, 2.360000, 2.390000, 2.420000, 2.470000, 2.500000, 2.540000, 4.760000, 4.860000, 4.980000, 4.630000, 4.690000, 6.540000, 6.620000, 4.500000, 4.780000, 6.380000, 6.300000, 6.230000, 6.190000, 6.120000, 6.060000, 1.050000, 1.060000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.960000, 0.970000, 0.960000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054742, 309816 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.870000, 7.014000, -0.985742 ], "estimate": [ 4.870000, 7.014000, -0.985742 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 1.230000, 1.220000, 1.260000, 6.340000, 14.250000, 11.280000, 9.280000, 8.620000, 8.610000, 7.330000, 7.330000, 7.350000, 7.380000, 7.070000, 6.550000, 6.070000, 5.910000, 6.040000, 7.420000, 7.460000, 7.520000, 7.560000, 7.610000, 7.660000, 7.610000, 7.320000, 7.050000, 3.360000, 3.270000, 3.180000, 3.080000, 2.980000, 2.910000, 2.830000, 2.750000, 2.690000, 2.620000, 2.570000, 2.500000, 2.450000, 2.400000, 2.340000, 2.300000, 2.250000, 2.210000, 2.170000, 2.130000, 2.090000, 2.060000, 2.030000, 2.000000, 1.960000, 1.940000, 1.930000, 1.950000, 2.010000, 2.060000, 2.120000, 2.180000, 2.230000, 2.300000, 2.360000, 2.440000, 2.520000, 2.590000, 2.690000, 2.780000, 2.890000, 3.000000, 3.130000, 3.260000, 3.410000, 3.570000, 3.780000, 3.980000, 4.240000, 4.530000, 4.840000, 5.210000, 5.660000, 6.150000, 6.760000, 7.450000, 8.380000, 13.180000, 13.110000, null, null, null, null, null, 11.550000, null, null, null, null, null, null, null, null, 5.870000, 5.310000, 4.850000, 4.450000, 4.170000, 3.880000, 3.610000, 3.400000, 3.190000, 3.010000, 2.870000, 2.740000, 2.610000, 2.500000, 2.390000, 2.290000, 2.210000, 2.110000, 2.050000, 1.970000, 1.920000, 1.850000, 1.810000, 1.760000, 1.730000, 1.780000, 1.820000, 1.840000, 1.870000, 1.900000, 1.930000, 2.230000, 2.260000, 2.280000, 2.340000, 2.370000, 2.400000, 2.450000, 2.490000, 4.690000, 4.800000, 4.910000, 4.610000, 4.610000, 4.740000, 6.600000, 6.530000, 4.760000, 6.370000, 6.290000, 6.230000, 6.180000, 6.110000, 6.050000, 6.010000, 5.940000, 1.050000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.970000, 0.980000, 0.960000, 0.960000, 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, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054742, 592200 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.902000, 6.966000, -0.991888 ], "estimate": [ 4.902000, 6.966000, -0.991888 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 1.200000, 5.050000, 5.060000, 6.340000, 18.260000, 14.210000, 11.260000, 9.790000, 8.590000, 7.580000, 7.300000, 7.310000, 7.340000, 7.360000, 6.890000, 6.370000, 5.870000, 5.890000, 7.360000, 7.410000, 7.450000, 7.490000, 7.540000, 7.600000, 7.640000, 7.520000, 7.230000, 6.960000, 3.270000, 3.180000, 3.070000, 2.970000, 2.900000, 2.810000, 2.730000, 2.660000, 2.600000, 2.530000, 2.480000, 2.420000, 2.360000, 2.320000, 2.260000, 2.210000, 2.170000, 2.120000, 2.090000, 2.060000, 2.020000, 1.990000, 1.950000, 1.920000, 1.890000, 1.870000, 1.890000, 1.940000, 1.990000, 2.040000, 2.090000, 2.150000, 2.190000, 2.270000, 2.330000, 2.410000, 2.490000, 2.560000, 2.650000, 2.750000, 2.850000, 2.960000, 3.090000, 3.210000, 3.350000, 3.520000, 3.720000, 3.920000, 4.170000, 4.440000, 4.750000, 5.100000, 5.530000, 6.020000, 6.600000, 7.240000, 8.120000, 13.130000, 13.010000, 13.130000, 13.920000, null, null, null, 11.500000, null, null, null, null, null, null, null, null, 6.000000, 5.420000, 4.960000, 4.550000, 4.230000, 3.970000, 3.680000, 3.440000, 3.250000, 3.070000, 2.920000, 2.780000, 2.650000, 2.530000, 2.420000, 2.320000, 2.230000, 2.150000, 2.080000, 2.000000, 1.940000, 1.870000, 1.830000, 1.770000, 1.730000, 1.690000, 1.730000, 1.760000, 1.780000, 1.820000, 1.840000, 1.860000, 2.180000, 2.200000, 2.250000, 2.280000, 2.310000, 2.350000, 2.390000, 2.440000, 2.480000, 4.790000, 4.910000, 4.580000, 4.570000, 6.510000, 6.550000, 6.460000, 4.720000, 6.320000, 6.250000, 6.190000, 6.120000, 6.060000, 6.010000, 5.970000, 5.900000, 5.850000, 5.110000, 1.040000, 1.020000, 1.020000, 1.020000, 1.000000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054742, 649605 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.935000, 6.914000, -0.998034 ], "estimate": [ 4.935000, 6.914000, -0.998034 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.240000, 18.240000, 6.320000, 5.030000, 5.110000, 6.330000, 18.060000, 18.160000, 12.430000, 9.310000, 8.580000, 8.590000, 7.310000, 7.300000, 7.320000, 7.350000, 6.930000, 6.390000, 5.870000, 5.860000, 7.350000, 7.380000, 7.420000, 7.460000, 7.510000, 7.550000, 7.620000, 7.550000, 7.250000, 3.330000, 3.210000, 3.100000, 3.010000, 2.920000, 2.830000, 2.750000, 2.680000, 2.600000, 2.530000, 2.480000, 2.410000, 2.360000, 2.310000, 2.250000, 2.200000, 2.160000, 2.110000, 2.060000, 2.040000, 1.990000, 1.960000, 1.930000, 1.890000, 1.870000, 1.840000, 1.830000, 1.870000, 1.900000, 1.950000, 2.000000, 2.050000, 2.110000, 2.150000, 2.210000, 2.290000, 2.350000, 2.430000, 2.510000, 2.590000, 2.690000, 2.780000, 2.890000, 3.000000, 3.120000, 3.260000, 3.410000, 3.590000, 3.780000, 4.010000, 4.260000, 4.560000, 4.880000, 5.270000, 5.720000, 6.230000, 6.840000, 7.590000, 8.540000, 13.060000, 12.950000, null, null, null, null, null, 11.540000, null, null, null, null, null, null, null, null, 5.770000, 5.230000, 4.800000, 4.420000, 4.120000, 3.850000, 3.600000, 3.380000, 3.190000, 3.020000, 2.870000, 2.730000, 2.610000, 2.500000, 2.390000, 2.300000, 2.210000, 2.130000, 2.050000, 1.990000, 1.930000, 1.860000, 1.820000, 1.760000, 1.720000, 1.680000, 1.640000, 1.690000, 1.740000, 1.750000, 1.780000, 1.810000, 1.820000, 2.160000, 2.190000, 2.220000, 2.260000, 2.290000, 2.350000, 2.380000, 2.430000, 4.750000, 4.870000, 4.550000, 4.550000, 6.490000, 6.510000, 6.440000, 4.700000, 6.290000, 6.220000, 6.180000, 6.110000, 6.050000, 6.000000, 5.950000, 5.900000, 5.840000, 5.110000, 5.090000, 5.040000, 5.010000, 1.020000, 1.000000, 1.000000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 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, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054742, 827535 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.967000, 6.865000, -0.998034 ], "estimate": [ 4.967000, 6.865000, -0.998034 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 11.870000, 13.740000, 6.310000, 5.050000, 5.050000, 7.220000, 6.330000, 18.160000, 14.220000, 11.590000, 8.600000, 8.580000, 7.340000, 7.270000, 7.290000, 7.310000, 7.210000, 6.600000, 6.080000, 5.830000, 5.860000, 7.330000, 7.370000, 7.410000, 7.450000, 7.500000, 7.540000, 7.600000, 7.370000, 3.300000, 3.180000, 3.060000, 2.960000, 2.870000, 2.770000, 2.690000, 2.620000, 2.540000, 2.490000, 2.420000, 2.350000, 2.300000, 2.250000, 2.200000, 2.140000, 2.100000, 2.050000, 2.010000, 1.980000, 1.950000, 1.900000, 1.870000, 1.840000, 1.800000, 1.780000, 1.790000, 1.820000, 1.850000, 1.890000, 1.940000, 1.990000, 2.050000, 2.090000, 2.140000, 2.200000, 2.280000, 2.330000, 2.410000, 2.490000, 2.570000, 2.660000, 2.770000, 2.860000, 2.980000, 3.100000, 3.240000, 3.390000, 3.570000, 3.760000, 3.980000, 4.230000, 4.520000, 4.840000, 5.240000, 5.670000, 6.210000, 6.800000, 7.540000, 8.450000, 12.990000, 12.900000, null, null, null, null, null, 11.450000, null, null, null, null, null, null, null, null, 5.790000, 5.250000, 4.830000, 4.440000, 4.150000, 3.890000, 3.610000, 3.410000, 3.200000, 3.030000, 2.890000, 2.760000, 2.630000, 2.520000, 2.410000, 2.320000, 2.220000, 2.140000, 2.080000, 2.000000, 1.940000, 1.880000, 1.830000, 1.780000, 1.730000, 1.690000, 1.660000, 1.610000, 1.640000, 1.650000, 1.700000, 1.720000, 1.730000, 1.770000, 1.890000, 2.130000, 2.180000, 2.200000, 2.260000, 2.290000, 2.340000, 2.380000, 4.760000, 4.580000, 4.520000, 4.570000, 6.520000, 6.450000, 4.390000, 4.680000, 6.230000, 6.180000, 6.120000, 6.050000, 6.010000, 5.960000, 5.900000, 5.850000, 5.320000, 5.080000, 5.060000, 5.030000, 4.990000, 5.210000, 5.520000, 1.030000, 1.000000, 1.010000, 1.000000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 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, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054743, 889945 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.996000, 6.819000, -1.010324 ], "estimate": [ 4.996000, 6.819000, -1.010324 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.450000, 5.060000, 5.050000, 5.050000, 5.780000, 6.310000, 18.250000, 18.130000, 13.140000, 9.650000, 8.590000, 8.560000, 7.280000, 7.270000, 7.290000, 7.300000, 6.890000, 6.290000, 5.830000, 5.840000, 7.290000, 7.330000, 7.360000, 7.400000, 7.450000, 7.510000, 7.550000, 7.540000, 7.220000, 3.160000, 3.050000, 2.940000, 2.830000, 2.750000, 2.670000, 2.590000, 2.520000, 2.450000, 2.380000, 2.320000, 2.270000, 2.200000, 2.150000, 2.100000, 2.050000, 2.010000, 1.960000, 1.930000, 1.900000, 1.870000, 1.830000, 1.790000, 1.770000, 1.740000, 1.740000, 1.780000, 1.810000, 1.850000, 1.890000, 1.940000, 1.980000, 2.040000, 2.090000, 2.140000, 2.190000, 2.270000, 2.330000, 2.410000, 2.490000, 2.570000, 2.660000, 2.760000, 2.860000, 2.970000, 3.090000, 3.240000, 3.390000, 3.570000, 3.750000, 3.980000, 4.240000, 4.520000, 4.840000, 5.250000, 5.690000, 6.230000, 6.820000, 7.580000, 8.460000, 12.910000, 12.860000, 13.700000, null, null, null, 11.330000, 11.430000, null, null, null, null, null, null, null, null, 5.770000, 5.240000, 4.820000, 4.440000, 4.130000, 3.860000, 3.630000, 3.410000, 3.200000, 3.030000, 2.890000, 2.760000, 2.630000, 2.520000, 2.420000, 2.320000, 2.230000, 2.150000, 2.080000, 2.010000, 1.950000, 1.880000, 1.840000, 1.790000, 1.740000, 1.690000, 1.660000, 1.610000, 1.570000, 1.560000, 1.620000, 1.660000, 1.670000, 1.700000, 1.730000, 1.760000, 2.090000, 2.130000, 2.180000, 2.200000, 2.250000, 2.300000, 2.350000, 4.810000, 4.490000, 4.500000, 4.610000, 6.450000, 6.380000, 4.650000, 6.210000, 6.180000, 6.110000, 6.050000, 6.000000, 5.950000, 5.910000, 5.860000, 5.800000, 5.090000, 5.060000, 5.030000, 4.990000, 4.980000, 5.400000, 5.550000, 5.520000, 5.500000, 1.000000, 0.990000, 1.000000, 0.990000, 1.000000, 1.000000, 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, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054743, 920096 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.027000, 6.770000, -1.010324 ], "estimate": [ 5.027000, 6.770000, -1.010324 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.490000, 5.050000, 5.050000, 5.040000, 6.240000, 6.290000, 18.130000, 18.030000, 14.020000, 9.820000, 8.590000, 8.550000, 7.260000, 7.270000, 7.280000, 7.300000, 6.920000, 6.280000, 5.820000, 5.820000, 7.280000, 7.310000, 7.350000, 7.380000, 7.430000, 7.480000, 7.520000, 7.560000, 3.200000, 3.070000, 2.970000, 2.850000, 2.760000, 2.670000, 2.590000, 2.510000, 2.450000, 2.380000, 2.310000, 2.250000, 2.190000, 2.120000, 2.080000, 2.040000, 1.980000, 1.940000, 1.900000, 1.860000, 1.830000, 1.790000, 1.770000, 1.730000, 1.710000, 1.700000, 1.710000, 1.750000, 1.790000, 1.820000, 1.860000, 1.910000, 1.940000, 2.000000, 2.050000, 2.110000, 2.160000, 2.210000, 2.290000, 2.360000, 2.440000, 2.510000, 2.600000, 2.690000, 2.790000, 2.900000, 3.030000, 3.160000, 3.310000, 3.470000, 3.640000, 3.860000, 4.090000, 4.360000, 4.660000, 5.040000, 5.440000, 5.940000, 6.480000, 7.140000, 8.000000, 12.900000, 12.800000, 12.910000, 13.670000, null, null, null, 11.280000, null, null, null, null, null, null, null, null, 6.130000, 5.520000, 5.070000, 4.670000, 4.320000, 4.030000, 3.800000, 3.540000, 3.340000, 3.160000, 2.990000, 2.850000, 2.720000, 2.590000, 2.500000, 2.400000, 2.310000, 2.220000, 2.150000, 2.080000, 2.010000, 1.940000, 1.870000, 1.820000, 1.770000, 1.720000, 1.690000, 1.650000, 1.610000, 1.570000, 1.520000, 1.540000, 1.580000, 1.620000, 1.650000, 1.670000, 1.690000, 1.750000, 2.080000, 2.110000, 2.160000, 2.190000, 2.250000, 2.280000, 2.330000, 4.480000, 4.480000, 4.580000, 6.410000, 6.350000, 4.640000, 6.180000, 6.130000, 6.110000, 6.040000, 6.000000, 5.940000, 5.900000, 5.850000, 5.800000, 5.080000, 5.050000, 5.030000, 5.000000, 4.980000, 5.360000, 5.560000, 5.530000, 5.500000, 5.540000, 5.620000, 5.580000, 1.000000, 0.990000, 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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054743, 921195 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.059000, 6.719000, -1.016470 ], "estimate": [ 5.059000, 6.719000, -1.016470 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.040000, 5.040000, 5.040000, 5.370000, 6.320000, 14.390000, 18.240000, 18.080000, 12.360000, 8.570000, 8.550000, 7.310000, 7.250000, 7.260000, 7.280000, 7.150000, 6.480000, 5.870000, 5.800000, 5.980000, 7.280000, 7.310000, 7.350000, 7.380000, 7.430000, 7.470000, 7.520000, 3.170000, 3.040000, 2.920000, 2.820000, 2.720000, 2.630000, 2.540000, 2.470000, 2.400000, 2.320000, 2.270000, 2.190000, 2.130000, 2.070000, 2.030000, 1.980000, 1.940000, 1.890000, 1.860000, 1.810000, 1.790000, 1.750000, 1.710000, 1.690000, 1.650000, 1.640000, 1.680000, 1.710000, 1.750000, 1.780000, 1.810000, 1.860000, 1.900000, 1.940000, 1.990000, 2.050000, 2.100000, 2.160000, 2.220000, 2.290000, 2.360000, 2.440000, 2.510000, 2.600000, 2.690000, 2.790000, 2.900000, 3.030000, 3.170000, 3.310000, 3.470000, 3.650000, 3.870000, 4.110000, 4.390000, 4.710000, 5.070000, 5.490000, 5.990000, 6.560000, 7.220000, 8.130000, 12.840000, 12.780000, null, null, null, null, null, 11.200000, null, null, null, null, null, null, null, null, 6.070000, 5.470000, 5.020000, 4.630000, 4.280000, 4.010000, 3.750000, 3.540000, 3.330000, 3.150000, 2.990000, 2.850000, 2.710000, 2.620000, 2.510000, 2.400000, 2.310000, 2.230000, 2.150000, 2.080000, 2.010000, 1.960000, 1.890000, 1.830000, 1.770000, 1.730000, 1.690000, 1.650000, 1.610000, 1.570000, 1.540000, 1.510000, 1.480000, 1.540000, 1.580000, 1.600000, 1.630000, 1.660000, 1.700000, 2.040000, 2.080000, 2.130000, 2.170000, 2.200000, 2.260000, 2.320000, 4.440000, 4.460000, 6.410000, 6.330000, 4.330000, 4.600000, 6.160000, 6.100000, 6.040000, 6.000000, 5.920000, 5.900000, 5.840000, 5.800000, 5.310000, 5.040000, 5.020000, 5.000000, 4.970000, 5.230000, 5.520000, 5.540000, 5.510000, 5.520000, 5.620000, 5.600000, 5.580000, 5.570000, 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, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054743, 922140 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.090000, 6.669000, -1.016470 ], "estimate": [ 5.090000, 6.669000, -1.016470 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.040000, 5.030000, 5.230000, 6.840000, 6.310000, 14.370000, 18.200000, 18.190000, 9.840000, 8.570000, 7.750000, 7.240000, 7.240000, 7.260000, 7.270000, 6.740000, 6.100000, 5.780000, 5.800000, 7.250000, 7.280000, 7.310000, 7.340000, 7.380000, 7.420000, 7.460000, 3.140000, 3.000000, 2.880000, 2.770000, 2.670000, 2.570000, 2.480000, 2.410000, 2.330000, 2.270000, 2.200000, 2.130000, 2.070000, 2.010000, 1.960000, 1.920000, 1.870000, 1.830000, 1.790000, 1.750000, 1.710000, 1.700000, 1.660000, 1.620000, 1.600000, 1.610000, 1.640000, 1.670000, 1.700000, 1.740000, 1.780000, 1.810000, 1.850000, 1.890000, 1.940000, 1.990000, 2.040000, 2.090000, 2.140000, 2.200000, 2.280000, 2.350000, 2.430000, 2.490000, 2.590000, 2.690000, 2.780000, 2.890000, 3.010000, 3.150000, 3.300000, 3.460000, 3.650000, 3.860000, 4.100000, 4.380000, 4.690000, 5.080000, 5.490000, 5.980000, 6.540000, 7.240000, 8.140000, 12.790000, 12.710000, null, null, null, null, null, 11.140000, null, null, null, null, null, null, null, null, 6.030000, 5.470000, 5.020000, 4.640000, 4.290000, 4.010000, 3.760000, 3.540000, 3.340000, 3.170000, 3.000000, 2.850000, 2.730000, 2.610000, 2.490000, 2.410000, 2.330000, 2.240000, 2.150000, 2.090000, 2.020000, 1.960000, 1.900000, 1.840000, 1.790000, 1.740000, 1.700000, 1.650000, 1.610000, 1.580000, 1.540000, 1.510000, 1.480000, 1.460000, 1.440000, 1.510000, 1.540000, 1.570000, 1.600000, 1.630000, 1.710000, 2.030000, 2.070000, 2.110000, 2.170000, 2.210000, 2.260000, 4.410000, 4.500000, 6.350000, 6.280000, 4.280000, 6.140000, 6.080000, 6.050000, 6.000000, 5.940000, 5.910000, 5.860000, 5.810000, 5.770000, 5.060000, 5.020000, 5.000000, 4.970000, 4.970000, 5.370000, 5.540000, 5.520000, 5.490000, 5.520000, 5.610000, 5.580000, 5.570000, 5.570000 ], "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, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054743, 923069 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.119000, 6.622000, -1.028761 ], "estimate": [ 5.119000, 6.622000, -1.028761 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.040000, 5.040000, 6.220000, 6.340000, 14.380000, 14.440000, 18.100000, 18.120000, 9.670000, 8.550000, 7.450000, 7.220000, 7.230000, 7.250000, 7.270000, 6.550000, 5.890000, 5.780000, 5.920000, 7.240000, 7.270000, 7.300000, 7.330000, 7.370000, 7.400000, 3.170000, 3.010000, 2.890000, 2.760000, 2.660000, 2.560000, 2.480000, 2.390000, 2.310000, 2.240000, 2.170000, 2.100000, 2.050000, 1.980000, 1.930000, 1.870000, 1.840000, 1.790000, 1.750000, 1.710000, 1.670000, 1.630000, 1.610000, 1.580000, 1.560000, 1.570000, 1.600000, 1.620000, 1.660000, 1.690000, 1.720000, 1.770000, 1.800000, 1.830000, 1.870000, 1.920000, 1.960000, 2.020000, 2.070000, 2.120000, 2.190000, 2.250000, 2.320000, 2.400000, 2.490000, 2.560000, 2.660000, 2.750000, 2.850000, 2.980000, 3.110000, 3.250000, 3.410000, 3.590000, 3.810000, 4.040000, 4.310000, 4.610000, 4.980000, 5.380000, 5.870000, 6.410000, 7.070000, 7.940000, 12.740000, 12.640000, 12.770000, 13.500000, null, null, null, 11.190000, null, null, null, null, null, null, null, null, null, 5.600000, 5.110000, 4.750000, 4.390000, 4.080000, 3.830000, 3.630000, 3.400000, 3.220000, 3.050000, 2.900000, 2.770000, 2.640000, 2.530000, 2.440000, 2.350000, 2.270000, 2.200000, 2.120000, 2.040000, 1.980000, 1.920000, 1.860000, 1.810000, 1.760000, 1.700000, 1.670000, 1.630000, 1.600000, 1.560000, 1.510000, 1.490000, 1.460000, 1.440000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.570000, 1.610000, 1.940000, 2.030000, 2.070000, 2.120000, 2.170000, 2.230000, 2.270000, 4.500000, 6.300000, 6.230000, 4.560000, 6.080000, 6.060000, 6.020000, 5.970000, 5.920000, 5.870000, 5.820000, 5.780000, 5.750000, 5.040000, 5.020000, 5.000000, 4.960000, 4.950000, 5.450000, 5.520000, 5.510000, 5.500000, 5.620000, 5.600000, 5.580000, 5.570000 ], "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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054744, 258640 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.148000, 6.573000, -1.028761 ], "estimate": [ 5.148000, 6.573000, -1.028761 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 5.030000, 6.230000, 6.310000, 11.770000, 14.450000, 18.100000, 18.090000, 9.540000, 8.530000, 7.260000, 7.210000, 7.220000, 7.240000, 7.080000, 6.300000, 5.750000, 5.760000, 7.190000, 7.220000, 7.250000, 7.280000, 7.310000, 7.360000, 7.390000, 3.010000, 2.880000, 2.740000, 2.640000, 2.530000, 2.440000, 2.360000, 2.280000, 2.190000, 2.130000, 2.060000, 2.000000, 1.940000, 1.880000, 1.830000, 1.790000, 1.750000, 1.700000, 1.660000, 1.620000, 1.590000, 1.570000, 1.530000, 1.510000, 1.530000, 1.560000, 1.590000, 1.610000, 1.640000, 1.670000, 1.710000, 1.750000, 1.790000, 1.820000, 1.860000, 1.900000, 1.940000, 2.000000, 2.050000, 2.110000, 2.160000, 2.220000, 2.300000, 2.370000, 2.450000, 2.520000, 2.620000, 2.710000, 2.830000, 2.940000, 3.070000, 3.200000, 3.370000, 3.540000, 3.750000, 3.980000, 4.240000, 4.520000, 4.880000, 5.270000, 5.740000, 6.250000, 6.900000, 7.730000, 12.690000, 12.570000, 12.660000, null, null, null, null, 11.020000, 11.120000, null, null, null, null, null, null, null, null, 5.740000, 5.210000, 4.830000, 4.460000, 4.160000, 3.880000, 3.670000, 3.460000, 3.280000, 3.100000, 2.940000, 2.800000, 2.690000, 2.570000, 2.480000, 2.380000, 2.310000, 2.220000, 2.150000, 2.070000, 2.000000, 1.950000, 1.880000, 1.830000, 1.780000, 1.720000, 1.690000, 1.650000, 1.610000, 1.570000, 1.530000, 1.500000, 1.480000, 1.460000, 1.430000, 1.400000, 1.390000, 1.420000, 1.450000, 1.480000, 1.510000, 1.560000, 1.590000, 1.970000, 2.000000, 2.060000, 2.120000, 2.170000, 2.220000, 6.320000, 6.250000, 6.200000, 4.540000, 6.080000, 6.030000, 5.980000, 5.930000, 5.880000, 5.850000, 5.800000, 5.760000, 5.710000, 5.020000, 5.000000, 4.980000, 4.940000, 4.990000, 5.490000, 5.510000, 5.500000, 5.490000, 5.610000, 5.590000, 5.570000 ], "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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054744, 377486 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.178000, 6.523000, -1.028761 ], "estimate": [ 5.178000, 6.523000, -1.028761 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.230000, 6.310000, 6.610000, 14.340000, 18.130000, 18.040000, 12.350000, 8.540000, 7.520000, 7.200000, 7.210000, 7.220000, 7.240000, 6.540000, 5.740000, 5.750000, 5.760000, 7.200000, 7.230000, 7.250000, 7.290000, 7.330000, 7.360000, 2.960000, 2.830000, 2.700000, 2.580000, 2.480000, 2.390000, 2.290000, 2.220000, 2.140000, 2.070000, 2.010000, 1.930000, 1.880000, 1.820000, 1.780000, 1.720000, 1.690000, 1.650000, 1.600000, 1.570000, 1.540000, 1.510000, 1.470000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.650000, 1.680000, 1.710000, 1.750000, 1.780000, 1.830000, 1.860000, 1.900000, 1.950000, 2.000000, 2.060000, 2.110000, 2.170000, 2.230000, 2.310000, 2.380000, 2.460000, 2.540000, 2.630000, 2.730000, 2.830000, 2.960000, 3.090000, 3.240000, 3.390000, 3.570000, 3.790000, 4.020000, 4.280000, 4.590000, 4.950000, 5.350000, 5.850000, 6.380000, 7.070000, 7.930000, 12.630000, 12.550000, 12.800000, 13.400000, null, null, null, 11.090000, null, null, null, null, null, null, null, null, null, 5.630000, 5.130000, 4.740000, 4.390000, 4.100000, 3.840000, 3.620000, 3.420000, 3.240000, 3.070000, 2.910000, 2.780000, 2.660000, 2.550000, 2.460000, 2.360000, 2.290000, 2.210000, 2.130000, 2.060000, 2.000000, 1.940000, 1.880000, 1.830000, 1.780000, 1.730000, 1.680000, 1.640000, 1.610000, 1.570000, 1.530000, 1.500000, 1.480000, 1.450000, 1.410000, 1.400000, 1.380000, 1.350000, 1.340000, 1.400000, 1.440000, 1.470000, 1.500000, 1.540000, 1.650000, 1.980000, 2.040000, 2.080000, 2.140000, 2.200000, 6.240000, 6.200000, 4.510000, 6.080000, 6.020000, 5.980000, 5.920000, 5.870000, 5.830000, 5.790000, 5.760000, 5.710000, 5.020000, 4.990000, 4.980000, 4.940000, 4.930000, 5.410000, 5.510000, 5.490000, 5.490000, 5.610000, 5.590000, 5.570000 ], "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, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054744, 425403 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.210000, 6.472000, -1.022615 ], "estimate": [ 5.210000, 6.472000, -1.022615 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.230000, 6.310000, 6.530000, 12.840000, 18.100000, 18.080000, 13.930000, 8.530000, 7.530000, 7.190000, 7.200000, 7.200000, 7.220000, 6.510000, 5.710000, 5.730000, 7.160000, 7.180000, 7.200000, 7.240000, 7.270000, 7.300000, 3.020000, 2.860000, 2.720000, 2.580000, 2.470000, 2.380000, 2.280000, 2.190000, 2.110000, 2.040000, 1.960000, 1.900000, 1.840000, 1.790000, 1.740000, 1.690000, 1.640000, 1.600000, 1.560000, 1.520000, 1.480000, 1.460000, 1.420000, 1.440000, 1.460000, 1.480000, 1.510000, 1.540000, 1.570000, 1.600000, 1.620000, 1.650000, 1.690000, 1.720000, 1.760000, 1.800000, 1.830000, 1.870000, 1.920000, 1.960000, 2.020000, 2.070000, 2.130000, 2.190000, 2.260000, 2.330000, 2.410000, 2.490000, 2.570000, 2.660000, 2.770000, 2.880000, 3.000000, 3.150000, 3.290000, 3.460000, 3.650000, 3.870000, 4.120000, 4.390000, 4.730000, 5.110000, 5.540000, 6.040000, 6.630000, 7.380000, 12.580000, 12.500000, 12.490000, 13.340000, null, null, null, null, 10.990000, null, null, null, null, null, null, null, null, 9.280000, 5.410000, 4.950000, 4.620000, 4.270000, 3.980000, 3.740000, 3.550000, 3.350000, 3.170000, 3.020000, 2.880000, 2.740000, 2.620000, 2.520000, 2.430000, 2.340000, 2.270000, 2.190000, 2.120000, 2.030000, 1.970000, 1.920000, 1.860000, 1.810000, 1.770000, 1.720000, 1.670000, 1.630000, 1.600000, 1.560000, 1.520000, 1.500000, 1.480000, 1.450000, 1.420000, 1.390000, 1.360000, 1.350000, 1.330000, 1.330000, 1.300000, 1.380000, 1.420000, 1.460000, 1.480000, 1.520000, 1.950000, 1.990000, 2.050000, 2.120000, 2.170000, 6.170000, 6.110000, 4.490000, 6.010000, 5.950000, 5.910000, 5.860000, 5.810000, 5.780000, 5.740000, 5.710000, 5.010000, 4.980000, 4.970000, 4.940000, 4.930000, 5.390000, 5.510000, 5.500000, 5.470000, 5.550000, 5.590000, 5.570000 ], "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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054744, 931825 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.240000, 6.423000, -1.016470 ], "estimate": [ 5.240000, 6.423000, -1.016470 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.330000, 6.300000, 11.270000, 14.310000, 18.080000, 18.070000, 8.590000, 8.500000, 7.200000, 7.180000, 7.200000, 7.210000, 6.680000, 5.760000, 5.710000, 5.860000, 7.160000, 7.180000, 7.210000, 7.240000, 7.280000, 2.940000, 2.790000, 2.640000, 2.510000, 2.390000, 2.290000, 2.200000, 2.110000, 2.030000, 1.960000, 1.890000, 1.820000, 1.770000, 1.710000, 1.660000, 1.610000, 1.570000, 1.540000, 1.490000, 1.450000, 1.410000, 1.410000, 1.410000, 1.420000, 1.440000, 1.460000, 1.490000, 1.520000, 1.540000, 1.570000, 1.600000, 1.620000, 1.660000, 1.700000, 1.730000, 1.770000, 1.790000, 1.830000, 1.880000, 1.930000, 1.980000, 2.030000, 2.080000, 2.130000, 2.200000, 2.280000, 2.340000, 2.420000, 2.500000, 2.600000, 2.690000, 2.800000, 2.910000, 3.040000, 3.190000, 3.330000, 3.500000, 3.710000, 3.930000, 4.200000, 4.490000, 4.840000, 5.230000, 5.690000, 6.220000, 6.840000, 7.660000, 12.520000, 12.400000, 12.510000, null, null, 18.790000, null, 10.860000, 10.960000, null, null, null, null, null, null, null, null, 5.770000, 5.260000, 4.830000, 4.520000, 4.190000, 3.910000, 3.680000, 3.480000, 3.310000, 3.140000, 2.970000, 2.840000, 2.700000, 2.600000, 2.490000, 2.410000, 2.320000, 2.240000, 2.170000, 2.100000, 2.020000, 1.970000, 1.910000, 1.850000, 1.800000, 1.760000, 1.710000, 1.670000, 1.620000, 1.590000, 1.560000, 1.520000, 1.500000, 1.460000, 1.430000, 1.410000, 1.390000, 1.370000, 1.340000, 1.330000, 1.310000, 1.290000, 1.270000, 1.320000, 1.370000, 1.410000, 1.450000, 1.480000, 1.600000, 1.960000, 2.030000, 2.090000, 2.150000, 6.090000, 4.470000, 6.000000, 5.930000, 5.890000, 5.850000, 5.810000, 5.780000, 5.730000, 5.690000, 5.220000, 4.980000, 4.960000, 4.930000, 4.910000, 5.270000, 5.510000, 5.490000, 5.470000, 5.470000, 5.590000, 5.570000 ], "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, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054744, 933413 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.270000, 6.374000, -1.022615 ], "estimate": [ 5.270000, 6.374000, -1.022615 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.330000, 9.510000, 12.410000, 14.420000, 18.080000, 17.970000, 8.470000, 7.440000, 7.180000, 7.180000, 7.200000, 7.160000, 6.180000, 5.710000, 5.710000, 7.140000, 7.160000, 7.180000, 7.210000, 7.240000, 2.910000, 2.750000, 2.590000, 2.460000, 2.340000, 2.230000, 2.140000, 2.040000, 1.960000, 1.890000, 1.810000, 1.750000, 1.690000, 1.640000, 1.590000, 1.550000, 1.490000, 1.460000, 1.420000, 1.390000, 1.370000, 1.370000, 1.390000, 1.410000, 1.420000, 1.430000, 1.460000, 1.490000, 1.510000, 1.540000, 1.570000, 1.600000, 1.620000, 1.660000, 1.690000, 1.720000, 1.760000, 1.790000, 1.830000, 1.870000, 1.920000, 1.970000, 2.030000, 2.080000, 2.130000, 2.200000, 2.270000, 2.330000, 2.420000, 2.490000, 2.590000, 2.680000, 2.790000, 2.910000, 3.030000, 3.180000, 3.320000, 3.500000, 3.700000, 3.940000, 4.180000, 4.490000, 4.830000, 5.220000, 5.680000, 6.210000, 6.830000, 7.660000, 12.460000, 12.350000, 12.460000, null, null, null, null, 10.810000, 10.910000, null, null, null, null, null, null, null, null, 9.170000, 5.280000, 4.840000, 4.550000, 4.200000, 3.930000, 3.700000, 3.510000, 3.320000, 3.150000, 2.990000, 2.850000, 2.720000, 2.610000, 2.510000, 2.410000, 2.330000, 2.250000, 2.190000, 2.110000, 2.040000, 1.970000, 1.920000, 1.860000, 1.810000, 1.770000, 1.710000, 1.670000, 1.640000, 1.600000, 1.560000, 1.520000, 1.500000, 1.470000, 1.450000, 1.420000, 1.390000, 1.370000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.280000, 1.330000, 1.370000, 1.410000, 1.440000, 1.590000, 1.970000, 2.020000, 2.090000, 2.130000, 4.450000, 5.930000, 5.890000, 5.850000, 5.810000, 5.790000, 5.740000, 5.700000, 5.670000, 4.970000, 4.950000, 4.940000, 4.920000, 4.910000, 5.440000, 5.490000, 5.480000, 5.470000, 5.590000, 5.580000 ], "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, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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": [ 976054745, 602900 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.300000, 6.324000, -1.028761 ], "estimate": [ 5.300000, 6.324000, -1.028761 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.310000, 9.800000, 12.710000, 14.480000, 18.080000, 17.980000, 8.480000, 7.210000, 7.170000, 7.180000, 7.190000, 6.900000, 5.880000, 5.700000, 5.790000, 7.130000, 7.150000, 7.170000, 7.200000, 2.940000, 2.760000, 2.580000, 2.430000, 2.320000, 2.220000, 2.100000, 2.000000, 1.920000, 1.830000, 1.760000, 1.700000, 1.640000, 1.580000, 1.540000, 1.490000, 1.440000, 1.410000, 1.370000, 1.340000, 1.330000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.640000, 1.670000, 1.710000, 1.750000, 1.790000, 1.810000, 1.860000, 1.910000, 1.950000, 2.010000, 2.060000, 2.110000, 2.180000, 2.240000, 2.320000, 2.400000, 2.480000, 2.560000, 2.660000, 2.770000, 2.880000, 3.000000, 3.140000, 3.300000, 3.470000, 3.650000, 3.880000, 4.120000, 4.410000, 4.750000, 5.140000, 5.570000, 6.100000, 6.700000, 7.490000, 12.410000, 12.290000, 12.370000, null, null, 18.720000, null, 10.770000, 10.870000, null, null, null, null, null, null, null, null, null, 5.390000, 4.930000, 4.600000, 4.260000, 3.990000, 3.750000, 3.550000, 3.340000, 3.180000, 3.030000, 2.880000, 2.750000, 2.630000, 2.540000, 2.440000, 2.350000, 2.260000, 2.190000, 2.130000, 2.050000, 2.000000, 1.930000, 1.880000, 1.830000, 1.780000, 1.730000, 1.700000, 1.650000, 1.610000, 1.570000, 1.530000, 1.510000, 1.480000, 1.450000, 1.430000, 1.400000, 1.370000, 1.350000, 1.330000, 1.320000, 1.300000, 1.270000, 1.270000, 1.250000, 1.230000, 1.220000, 1.240000, 1.300000, 1.340000, 1.390000, 1.430000, 1.580000, 1.970000, 2.030000, 2.110000, 4.440000, 5.910000, 5.860000, 5.820000, 5.780000, 5.780000, 5.710000, 5.670000, 5.650000, 4.960000, 4.950000, 4.930000, 4.910000, 4.900000, 5.490000, 5.490000, 5.460000, 5.460000, 5.590000 ], "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, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054745, 554749 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.330000, 6.274000, -1.034907 ], "estimate": [ 5.330000, 6.274000, -1.034907 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.760000, 10.480000, 13.550000, 18.110000, 18.100000, 8.660000, 8.480000, 7.180000, 7.170000, 7.170000, 7.190000, 6.410000, 5.680000, 5.690000, 7.100000, 7.120000, 7.140000, 7.170000, 2.920000, 2.720000, 2.540000, 2.380000, 2.250000, 2.140000, 2.030000, 1.930000, 1.840000, 1.760000, 1.690000, 1.620000, 1.560000, 1.520000, 1.460000, 1.420000, 1.380000, 1.330000, 1.290000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.420000, 1.440000, 1.470000, 1.490000, 1.520000, 1.550000, 1.580000, 1.600000, 1.630000, 1.670000, 1.700000, 1.730000, 1.780000, 1.800000, 1.850000, 1.890000, 1.940000, 2.000000, 2.050000, 2.110000, 2.160000, 2.220000, 2.310000, 2.380000, 2.460000, 2.550000, 2.640000, 2.750000, 2.850000, 2.970000, 3.110000, 3.270000, 3.440000, 3.620000, 3.850000, 4.080000, 4.380000, 4.710000, 5.100000, 5.530000, 6.030000, 6.620000, 7.400000, 12.350000, 12.230000, 12.290000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 5.450000, 4.980000, 4.630000, 4.310000, 4.030000, 3.780000, 3.570000, 3.380000, 3.220000, 3.050000, 2.900000, 2.770000, 2.650000, 2.550000, 2.460000, 2.360000, 2.280000, 2.210000, 2.120000, 2.080000, 2.010000, 1.950000, 1.890000, 1.850000, 1.780000, 1.740000, 1.700000, 1.660000, 1.620000, 1.590000, 1.550000, 1.510000, 1.490000, 1.470000, 1.430000, 1.410000, 1.380000, 1.360000, 1.330000, 1.320000, 1.300000, 1.280000, 1.260000, 1.250000, 1.220000, 1.220000, 1.200000, 1.210000, 1.180000, 1.250000, 1.300000, 1.340000, 1.390000, 1.430000, 1.970000, 2.040000, 2.110000, 5.880000, 5.830000, 5.790000, 5.750000, 5.730000, 5.690000, 5.660000, 5.630000, 4.940000, 4.920000, 4.910000, 4.890000, 4.890000, 5.490000, 5.470000, 5.460000, 5.450000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054745, 560070 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.359000, 6.226000, -1.041052 ], "estimate": [ 5.359000, 6.226000, -1.041052 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.100000, 10.750000, 13.820000, 18.130000, 18.120000, 8.490000, 7.470000, 7.170000, 7.170000, 7.170000, 7.170000, 6.020000, 5.680000, 5.690000, 7.090000, 7.110000, 7.140000, 2.940000, 2.740000, 2.540000, 2.370000, 2.230000, 2.110000, 1.990000, 1.880000, 1.790000, 1.700000, 1.630000, 1.560000, 1.510000, 1.450000, 1.400000, 1.370000, 1.320000, 1.270000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.340000, 1.350000, 1.370000, 1.380000, 1.410000, 1.420000, 1.430000, 1.460000, 1.480000, 1.510000, 1.540000, 1.570000, 1.600000, 1.610000, 1.650000, 1.690000, 1.720000, 1.760000, 1.790000, 1.840000, 1.880000, 1.930000, 1.980000, 2.040000, 2.080000, 2.140000, 2.210000, 2.290000, 2.360000, 2.430000, 2.520000, 2.610000, 2.720000, 2.840000, 2.950000, 3.090000, 3.230000, 3.390000, 3.570000, 3.800000, 4.030000, 4.310000, 4.630000, 5.000000, 5.420000, 5.920000, 6.490000, 7.220000, 12.300000, 12.220000, 12.200000, 13.040000, null, 11.460000, null, null, 10.630000, null, null, null, null, null, null, null, null, null, 5.550000, 5.080000, 4.700000, 4.400000, 4.090000, 3.830000, 3.620000, 3.430000, 3.240000, 3.100000, 2.950000, 2.800000, 2.700000, 2.580000, 2.480000, 2.390000, 2.310000, 2.230000, 2.160000, 2.070000, 2.030000, 1.970000, 1.920000, 1.850000, 1.810000, 1.770000, 1.710000, 1.680000, 1.640000, 1.600000, 1.570000, 1.530000, 1.510000, 1.480000, 1.440000, 1.420000, 1.400000, 1.370000, 1.350000, 1.330000, 1.310000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.220000, 1.210000, 1.200000, 1.180000, 1.180000, 1.170000, 1.250000, 1.310000, 1.360000, 1.420000, 1.980000, 2.060000, 5.840000, 5.800000, 5.770000, 5.750000, 5.690000, 5.670000, 5.640000, 5.130000, 4.940000, 4.930000, 4.900000, 4.880000, 5.400000, 5.480000, 5.470000, 5.450000 ], "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, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054745, 630023 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.378000, 6.194000, -1.041052 ], "estimate": [ 5.378000, 6.194000, -1.041052 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.180000, 10.620000, 13.220000, 14.520000, 18.120000, 8.490000, 7.430000, 7.160000, 7.160000, 7.170000, 7.160000, 5.830000, 5.660000, 5.790000, 7.080000, 7.100000, 7.130000, 2.780000, 2.560000, 2.380000, 2.220000, 2.080000, 1.970000, 1.850000, 1.740000, 1.660000, 1.580000, 1.520000, 1.450000, 1.400000, 1.360000, 1.300000, 1.260000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.420000, 1.440000, 1.470000, 1.490000, 1.520000, 1.550000, 1.570000, 1.600000, 1.630000, 1.670000, 1.710000, 1.740000, 1.780000, 1.810000, 1.860000, 1.900000, 1.940000, 2.000000, 2.060000, 2.110000, 2.170000, 2.240000, 2.310000, 2.390000, 2.480000, 2.570000, 2.670000, 2.770000, 2.890000, 3.020000, 3.160000, 3.320000, 3.490000, 3.700000, 3.920000, 4.190000, 4.490000, 4.850000, 5.240000, 5.710000, 6.230000, 6.920000, 7.710000, 12.230000, 12.140000, null, 12.990000, 11.440000, null, null, 10.650000, 10.650000, null, null, null, null, null, null, null, null, 8.950000, 5.280000, 4.860000, 4.520000, 4.210000, 3.940000, 3.710000, 3.500000, 3.340000, 3.180000, 3.020000, 2.880000, 2.750000, 2.640000, 2.530000, 2.440000, 2.340000, 2.270000, 2.200000, 2.120000, 2.060000, 1.990000, 1.950000, 1.900000, 1.850000, 1.780000, 1.740000, 1.700000, 1.660000, 1.610000, 1.590000, 1.550000, 1.520000, 1.490000, 1.460000, 1.440000, 1.400000, 1.380000, 1.370000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.210000, 1.210000, 1.190000, 1.170000, 1.170000, 1.150000, 1.150000, 1.190000, 1.250000, 1.300000, 1.360000, 1.580000, 2.060000, 5.780000, 5.760000, 5.730000, 5.690000, 5.660000, 5.630000, 5.130000, 4.940000, 4.910000, 4.890000, 4.890000, 5.410000, 5.480000, 5.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054746, 134163 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.381000, 6.188000, -1.034907 ], "estimate": [ 5.381000, 6.188000, -1.034907 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.660000, 9.470000, 11.560000, 14.350000, 18.080000, 18.060000, 8.480000, 7.160000, 7.150000, 7.160000, 7.170000, 6.520000, 5.660000, 5.650000, 7.060000, 7.080000, 7.100000, 2.830000, 2.610000, 2.410000, 2.230000, 2.080000, 1.960000, 1.840000, 1.730000, 1.630000, 1.550000, 1.500000, 1.440000, 1.380000, 1.330000, 1.270000, 1.230000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.470000, 1.500000, 1.520000, 1.550000, 1.580000, 1.600000, 1.630000, 1.670000, 1.710000, 1.740000, 1.780000, 1.810000, 1.860000, 1.910000, 1.950000, 2.010000, 2.060000, 2.120000, 2.190000, 2.260000, 2.330000, 2.410000, 2.490000, 2.590000, 2.690000, 2.800000, 2.920000, 3.050000, 3.190000, 3.350000, 3.530000, 3.740000, 3.980000, 4.250000, 4.570000, 4.930000, 5.340000, 5.820000, 6.380000, 7.100000, 12.220000, 12.180000, 12.110000, null, null, 11.390000, null, null, 10.580000, null, null, null, null, null, null, null, null, null, 8.940000, 5.190000, 4.790000, 4.450000, 4.160000, 3.890000, 3.660000, 3.460000, 3.310000, 3.170000, 2.980000, 2.860000, 2.720000, 2.620000, 2.510000, 2.420000, 2.340000, 2.250000, 2.180000, 2.120000, 2.050000, 1.980000, 1.940000, 1.880000, 1.830000, 1.780000, 1.740000, 1.700000, 1.660000, 1.610000, 1.580000, 1.550000, 1.510000, 1.490000, 1.460000, 1.440000, 1.400000, 1.380000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.200000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.130000, 1.180000, 1.240000, 1.300000, 1.360000, 1.990000, 5.780000, 5.740000, 5.720000, 5.680000, 5.660000, 5.630000, 5.150000, 4.930000, 4.920000, 4.890000, 4.880000, 5.100000, 5.470000 ], "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, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054746, 135184 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.381000, 6.187000, -1.016470 ], "estimate": [ 5.381000, 6.187000, -1.016470 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.870000, 9.840000, 12.030000, 14.300000, 18.070000, 17.960000, 8.480000, 7.160000, 7.150000, 7.160000, 7.170000, 6.140000, 5.650000, 5.650000, 7.070000, 7.090000, 7.110000, 2.770000, 2.540000, 2.350000, 2.190000, 2.040000, 1.920000, 1.800000, 1.710000, 1.620000, 1.540000, 1.480000, 1.410000, 1.360000, 1.310000, 1.260000, 1.210000, 1.200000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.420000, 1.450000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.650000, 1.680000, 1.710000, 1.760000, 1.790000, 1.820000, 1.870000, 1.920000, 1.960000, 2.020000, 2.070000, 2.130000, 2.200000, 2.270000, 2.340000, 2.420000, 2.510000, 2.600000, 2.710000, 2.820000, 2.940000, 3.080000, 3.220000, 3.380000, 3.570000, 3.790000, 4.020000, 4.310000, 4.640000, 5.010000, 5.440000, 5.910000, 6.520000, 7.270000, 12.220000, 12.110000, 12.140000, 12.960000, null, null, null, null, 10.610000, null, null, null, null, null, null, null, null, null, 5.490000, 5.070000, 4.680000, 4.350000, 4.080000, 3.830000, 3.600000, 3.420000, 3.260000, 3.110000, 2.950000, 2.820000, 2.690000, 2.580000, 2.480000, 2.400000, 2.310000, 2.230000, 2.160000, 2.100000, 2.020000, 1.980000, 1.920000, 1.870000, 1.810000, 1.770000, 1.720000, 1.680000, 1.640000, 1.610000, 1.570000, 1.530000, 1.510000, 1.480000, 1.450000, 1.420000, 1.400000, 1.370000, 1.350000, 1.340000, 1.320000, 1.290000, 1.290000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.130000, 1.130000, 1.190000, 1.260000, 1.310000, 1.360000, 2.010000, 5.780000, 5.740000, 5.710000, 5.670000, 5.650000, 5.610000, 4.930000, 4.920000, 4.910000, 4.890000, 4.850000, 5.450000, 5.470000 ], "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, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054746, 239946 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.381000, 6.188000, -0.998034 ], "estimate": [ 5.381000, 6.188000, -0.998034 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.500000, 11.640000, 14.360000, 18.070000, 18.050000, 8.480000, 7.160000, 7.160000, 7.160000, 7.170000, 6.420000, 5.660000, 5.670000, 7.060000, 7.090000, 7.110000, 2.810000, 2.590000, 2.400000, 2.220000, 2.080000, 1.950000, 1.830000, 1.720000, 1.640000, 1.550000, 1.500000, 1.430000, 1.380000, 1.320000, 1.270000, 1.220000, 1.210000, 1.210000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.420000, 1.450000, 1.470000, 1.500000, 1.530000, 1.560000, 1.580000, 1.610000, 1.640000, 1.670000, 1.710000, 1.750000, 1.790000, 1.820000, 1.870000, 1.910000, 1.960000, 2.020000, 2.070000, 2.130000, 2.190000, 2.270000, 2.340000, 2.420000, 2.500000, 2.590000, 2.690000, 2.810000, 2.920000, 3.060000, 3.200000, 3.370000, 3.550000, 3.770000, 3.980000, 4.270000, 4.590000, 4.970000, 5.380000, 5.860000, 6.420000, 7.160000, 12.220000, 12.130000, 12.110000, 12.980000, null, null, null, null, 10.560000, null, null, null, null, null, null, null, null, null, 8.960000, 5.120000, 4.730000, 4.410000, 4.120000, 3.860000, 3.620000, 3.440000, 3.280000, 3.140000, 2.970000, 2.830000, 2.700000, 2.600000, 2.490000, 2.410000, 2.320000, 2.230000, 2.170000, 2.110000, 2.030000, 1.970000, 1.930000, 1.870000, 1.820000, 1.780000, 1.730000, 1.680000, 1.650000, 1.610000, 1.570000, 1.530000, 1.510000, 1.480000, 1.450000, 1.430000, 1.400000, 1.380000, 1.350000, 1.340000, 1.320000, 1.300000, 1.280000, 1.260000, 1.250000, 1.230000, 1.210000, 1.210000, 1.190000, 1.190000, 1.170000, 1.160000, 1.150000, 1.130000, 1.130000, 1.190000, 1.250000, 1.310000, 1.370000, 2.000000, 5.780000, 5.750000, 5.720000, 5.660000, 5.650000, 5.610000, 4.950000, 4.920000, 4.910000, 4.880000, 4.860000, 5.410000, 5.470000, 5.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054747, 308962 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.380000, 6.189000, -0.961160 ], "estimate": [ 5.380000, 6.189000, -0.961160 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 11.580000, 14.350000, 18.090000, 17.990000, 8.480000, 7.170000, 7.160000, 7.160000, 7.170000, 6.300000, 5.660000, 5.660000, 7.070000, 7.090000, 7.110000, 2.800000, 2.570000, 2.380000, 2.220000, 2.070000, 1.950000, 1.810000, 1.720000, 1.640000, 1.540000, 1.480000, 1.420000, 1.370000, 1.310000, 1.270000, 1.230000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.300000, 1.300000, 1.320000, 1.350000, 1.370000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.650000, 1.680000, 1.710000, 1.760000, 1.790000, 1.820000, 1.870000, 1.910000, 1.960000, 2.020000, 2.070000, 2.130000, 2.200000, 2.280000, 2.340000, 2.420000, 2.510000, 2.600000, 2.700000, 2.810000, 2.940000, 3.080000, 3.210000, 3.360000, 3.560000, 3.770000, 4.000000, 4.280000, 4.600000, 4.970000, 5.390000, 5.880000, 6.450000, 7.160000, 12.220000, 12.120000, 12.120000, 12.990000, null, 11.400000, null, null, 10.570000, null, null, null, null, null, null, null, null, null, 5.500000, 5.070000, 4.680000, 4.360000, 4.070000, 3.820000, 3.590000, 3.420000, 3.250000, 3.100000, 2.940000, 2.800000, 2.680000, 2.580000, 2.480000, 2.390000, 2.300000, 2.230000, 2.150000, 2.090000, 2.010000, 1.970000, 1.910000, 1.870000, 1.810000, 1.770000, 1.720000, 1.680000, 1.640000, 1.600000, 1.560000, 1.530000, 1.510000, 1.480000, 1.450000, 1.430000, 1.400000, 1.370000, 1.350000, 1.330000, 1.310000, 1.300000, 1.280000, 1.270000, 1.240000, 1.230000, 1.210000, 1.200000, 1.190000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.190000, 1.250000, 1.310000, 1.370000, 2.010000, 5.770000, 5.730000, 5.720000, 5.660000, 5.650000, 5.610000, 4.940000, 4.910000, 4.910000, 4.880000, 4.850000, 5.440000, 5.470000, 5.450000, 5.450000 ], "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, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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": [ 976054747, 330145 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.380000, 6.189000, -0.893560 ], "estimate": [ 5.380000, 6.189000, -0.893560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 18.070000, 8.490000, 7.170000, 7.160000, 7.160000, 7.170000, 6.640000, 5.670000, 5.670000, 7.060000, 7.090000, 7.100000, 2.860000, 2.630000, 2.430000, 2.240000, 2.110000, 1.980000, 1.860000, 1.750000, 1.660000, 1.570000, 1.500000, 1.440000, 1.380000, 1.330000, 1.280000, 1.230000, 1.220000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.300000, 1.320000, 1.350000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.520000, 1.550000, 1.580000, 1.610000, 1.640000, 1.670000, 1.710000, 1.740000, 1.780000, 1.820000, 1.870000, 1.910000, 1.950000, 2.010000, 2.050000, 2.120000, 2.190000, 2.250000, 2.320000, 2.400000, 2.490000, 2.580000, 2.680000, 2.780000, 2.900000, 3.030000, 3.180000, 3.340000, 3.500000, 3.720000, 3.940000, 4.200000, 4.510000, 4.870000, 5.260000, 5.750000, 6.280000, 6.960000, 7.710000, 12.150000, 12.110000, null, 12.960000, 18.510000, null, null, 10.670000, 10.700000, null, null, null, null, null, null, null, null, 8.950000, 5.110000, 4.720000, 4.390000, 4.110000, 3.850000, 3.620000, 3.430000, 3.270000, 3.120000, 2.960000, 2.810000, 2.700000, 2.580000, 2.490000, 2.400000, 2.310000, 2.230000, 2.150000, 2.090000, 2.020000, 1.980000, 1.910000, 1.860000, 1.810000, 1.770000, 1.720000, 1.680000, 1.630000, 1.590000, 1.570000, 1.530000, 1.510000, 1.480000, 1.450000, 1.420000, 1.400000, 1.370000, 1.340000, 1.340000, 1.310000, 1.290000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.180000, 1.170000, 1.150000, 1.150000, 1.130000, 1.130000, 1.190000, 1.240000, 1.290000, 1.360000, 1.980000, 5.770000, 5.740000, 5.720000, 5.670000, 5.650000, 5.610000, 4.940000, 4.920000, 4.910000, 4.890000, 4.860000, 4.870000, 5.470000, 5.450000, 5.450000, 5.480000, 5.570000, 5.570000 ], "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, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054747, 331169 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.381000, 6.189000, -0.795231 ], "estimate": [ 5.381000, 6.189000, -0.795231 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.170000, 7.170000, 5.880000, 5.650000, 5.680000, 7.080000, 7.100000, 3.000000, 2.740000, 2.520000, 2.330000, 2.180000, 2.040000, 1.910000, 1.800000, 1.700000, 1.620000, 1.540000, 1.480000, 1.400000, 1.360000, 1.310000, 1.260000, 1.230000, 1.220000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.310000, 1.350000, 1.350000, 1.370000, 1.390000, 1.410000, 1.420000, 1.450000, 1.470000, 1.490000, 1.520000, 1.550000, 1.580000, 1.600000, 1.630000, 1.670000, 1.710000, 1.730000, 1.770000, 1.800000, 1.860000, 1.890000, 1.940000, 2.000000, 2.050000, 2.100000, 2.170000, 2.230000, 2.310000, 2.380000, 2.460000, 2.540000, 2.640000, 2.750000, 2.860000, 2.980000, 3.110000, 3.260000, 3.430000, 3.620000, 3.850000, 4.080000, 4.370000, 4.710000, 5.080000, 5.510000, 6.020000, 6.620000, 7.400000, 12.210000, 12.120000, 12.160000, null, 11.410000, null, null, 10.570000, 10.610000, null, null, null, null, null, null, null, null, null, 5.300000, 4.860000, 4.510000, 4.210000, 3.930000, 3.690000, 3.500000, 3.320000, 3.170000, 3.000000, 2.860000, 2.730000, 2.610000, 2.500000, 2.410000, 2.330000, 2.240000, 2.170000, 2.100000, 2.030000, 1.970000, 1.920000, 1.860000, 1.820000, 1.770000, 1.720000, 1.690000, 1.640000, 1.610000, 1.570000, 1.530000, 1.500000, 1.480000, 1.460000, 1.420000, 1.390000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.270000, 1.260000, 1.230000, 1.220000, 1.220000, 1.190000, 1.180000, 1.170000, 1.170000, 1.150000, 1.140000, 1.140000, 1.130000, 1.120000, 1.210000, 1.270000, 1.320000, 1.380000, 2.020000, 5.740000, 5.710000, 5.670000, 5.650000, 5.610000, 5.590000, 4.910000, 4.900000, 4.890000, 4.880000, 4.860000, 5.460000, 5.450000, 5.440000, 5.440000, 5.570000, 5.570000, 5.570000, 5.560000, 5.560000, 5.560000, 4.380000 ], "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, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054747, 332185 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.384000, 6.186000, -0.653884 ], "estimate": [ 5.384000, 6.186000, -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": [ 7.100000, 2.980000, 2.730000, 2.520000, 2.330000, 2.180000, 2.040000, 1.910000, 1.810000, 1.700000, 1.620000, 1.540000, 1.470000, 1.410000, 1.360000, 1.300000, 1.260000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.450000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 1.610000, 1.640000, 1.670000, 1.710000, 1.740000, 1.780000, 1.810000, 1.860000, 1.900000, 1.940000, 1.990000, 2.050000, 2.100000, 2.170000, 2.230000, 2.310000, 2.370000, 2.460000, 2.550000, 2.640000, 2.740000, 2.850000, 2.970000, 3.100000, 3.250000, 3.420000, 3.600000, 3.820000, 4.060000, 4.340000, 4.660000, 5.040000, 5.450000, 5.930000, 6.500000, 7.240000, 12.210000, 12.130000, 12.110000, null, 11.380000, 11.370000, null, 10.590000, 10.570000, null, null, null, null, null, null, null, null, 8.920000, 5.240000, 4.810000, 4.460000, 4.160000, 3.900000, 3.650000, 3.460000, 3.280000, 3.160000, 2.960000, 2.820000, 2.710000, 2.590000, 2.480000, 2.400000, 2.300000, 2.230000, 2.140000, 2.080000, 2.010000, 1.970000, 1.900000, 1.850000, 1.790000, 1.740000, 1.700000, 1.660000, 1.610000, 1.590000, 1.550000, 1.510000, 1.490000, 1.450000, 1.420000, 1.410000, 1.380000, 1.350000, 1.340000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.220000, 1.210000, 1.210000, 1.180000, 1.170000, 1.160000, 1.150000, 1.130000, 1.140000, 1.130000, 1.120000, 1.120000, 1.190000, 1.250000, 1.300000, 1.360000, 2.000000, 5.720000, 5.690000, 5.660000, 5.640000, 5.600000, 5.580000, 4.900000, 4.900000, 4.880000, 4.860000, 4.860000, 5.430000, 5.440000, 5.430000, 5.440000, 5.560000, 5.560000, 5.550000, 5.550000, 5.550000, 5.550000, 4.380000, 4.380000, 5.560000, 5.570000, 5.430000, 4.840000, 4.830000 ], "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, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 1 ], "timestamp": [ 976054747, 333521 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.383000, 6.186000, -0.549410 ], "estimate": [ 5.383000, 6.186000, -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": [ 1.710000, 1.620000, 1.550000, 1.480000, 1.420000, 1.370000, 1.320000, 1.270000, 1.250000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.400000, 1.420000, 1.430000, 1.450000, 1.480000, 1.500000, 1.530000, 1.560000, 1.580000, 1.600000, 1.630000, 1.660000, 1.700000, 1.730000, 1.770000, 1.790000, 1.840000, 1.880000, 1.940000, 1.970000, 2.030000, 2.080000, 2.140000, 2.200000, 2.280000, 2.330000, 2.410000, 2.480000, 2.580000, 2.670000, 2.780000, 2.900000, 3.020000, 3.160000, 3.310000, 3.480000, 3.670000, 3.890000, 4.140000, 4.420000, 4.760000, 5.130000, 5.570000, 6.060000, 6.670000, 7.410000, 12.210000, 12.140000, 12.160000, null, 11.430000, null, null, 10.610000, 10.600000, null, null, null, null, null, null, null, null, 8.930000, 5.180000, 4.750000, 4.410000, 4.110000, 3.850000, 3.620000, 3.420000, 3.250000, 3.080000, 2.920000, 2.780000, 2.660000, 2.550000, 2.450000, 2.360000, 2.260000, 2.190000, 2.120000, 2.050000, 1.990000, 1.930000, 1.870000, 1.830000, 1.780000, 1.710000, 1.670000, 1.630000, 1.590000, 1.560000, 1.510000, 1.490000, 1.470000, 1.430000, 1.410000, 1.390000, 1.350000, 1.330000, 1.320000, 1.290000, 1.280000, 1.260000, 1.230000, 1.220000, 1.220000, 1.200000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.140000, 1.200000, 1.250000, 1.300000, 1.460000, 2.010000, 5.710000, 5.680000, 5.650000, 5.620000, 5.590000, 5.560000, 4.890000, 4.870000, 4.860000, 4.850000, 4.850000, 5.420000, 5.420000, 5.420000, 5.420000, 5.550000, 5.540000, 5.540000, 5.540000, 5.540000, 5.530000, 4.370000, 4.370000, 5.550000, 5.550000, 5.430000, 4.820000, 4.800000, 4.800000, 4.820000, 4.880000, 5.510000, 5.530000, 5.560000, 5.580000, 4.250000, 4.250000 ], "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, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054747, 426018 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.383000, 6.186000, -0.500246 ], "estimate": [ 5.383000, 6.186000, -0.500246 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.390000, 1.340000, 1.280000, 1.260000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.370000, 1.390000, 1.410000, 1.420000, 1.450000, 1.460000, 1.490000, 1.510000, 1.540000, 1.560000, 1.590000, 1.600000, 1.630000, 1.660000, 1.700000, 1.740000, 1.780000, 1.800000, 1.860000, 1.880000, 1.930000, 1.980000, 2.040000, 2.090000, 2.150000, 2.210000, 2.280000, 2.340000, 2.420000, 2.500000, 2.590000, 2.690000, 2.790000, 2.910000, 3.030000, 3.170000, 3.320000, 3.480000, 3.680000, 3.890000, 4.130000, 4.420000, 4.750000, 5.130000, 5.560000, 6.040000, 6.660000, 7.390000, 12.220000, 12.110000, 12.150000, null, 11.360000, 11.430000, null, 10.570000, 10.610000, null, null, null, null, null, null, null, null, null, 5.310000, 4.850000, 4.500000, 4.210000, 3.910000, 3.680000, 3.460000, 3.290000, 3.160000, 2.960000, 2.820000, 2.700000, 2.570000, 2.470000, 2.380000, 2.290000, 2.210000, 2.120000, 2.060000, 1.980000, 1.940000, 1.880000, 1.830000, 1.780000, 1.730000, 1.680000, 1.640000, 1.610000, 1.560000, 1.520000, 1.500000, 1.470000, 1.430000, 1.400000, 1.380000, 1.350000, 1.330000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.220000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.150000, 1.210000, 1.250000, 1.300000, 1.480000, 2.010000, 5.720000, 5.680000, 5.650000, 5.630000, 5.590000, 5.570000, 4.890000, 4.870000, 4.870000, 4.840000, 4.810000, 5.360000, 5.420000, 5.420000, 5.400000, 5.550000, 5.540000, 5.530000, 5.530000, 5.530000, 5.530000, 5.260000, 4.350000, 5.540000, 5.550000, 5.410000, 4.820000, 4.790000, 4.790000, 4.820000, 4.860000, 5.510000, 5.520000, 5.550000, 5.570000, 5.620000, 4.240000, 5.670000, 4.200000, 4.290000, 1.930000 ], "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, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054747, 761996 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.383000, 6.186000, -0.420354 ], "estimate": [ 5.383000, 6.186000, -0.420354 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.270000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.400000, 1.410000, 1.420000, 1.450000, 1.470000, 1.490000, 1.510000, 1.540000, 1.570000, 1.600000, 1.610000, 1.640000, 1.670000, 1.700000, 1.740000, 1.780000, 1.810000, 1.850000, 1.890000, 1.930000, 1.990000, 2.040000, 2.090000, 2.150000, 2.210000, 2.290000, 2.350000, 2.420000, 2.500000, 2.590000, 2.690000, 2.790000, 2.910000, 3.020000, 3.170000, 3.320000, 3.480000, 3.670000, 3.880000, 4.120000, 4.410000, 4.740000, 5.110000, 5.530000, 6.020000, 6.600000, 7.340000, 12.220000, 12.110000, 12.130000, null, 11.400000, 11.380000, null, 10.570000, 10.560000, null, null, null, null, null, null, null, null, null, 5.280000, 4.840000, 4.480000, 4.170000, 3.900000, 3.650000, 3.450000, 3.270000, 3.130000, 2.950000, 2.800000, 2.680000, 2.550000, 2.450000, 2.370000, 2.270000, 2.190000, 2.120000, 2.050000, 1.980000, 1.930000, 1.870000, 1.820000, 1.770000, 1.720000, 1.680000, 1.630000, 1.590000, 1.550000, 1.510000, 1.490000, 1.460000, 1.430000, 1.400000, 1.370000, 1.350000, 1.330000, 1.300000, 1.280000, 1.270000, 1.250000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.120000, 1.140000, 1.200000, 1.250000, 1.300000, 1.540000, 2.020000, 5.720000, 5.680000, 5.650000, 5.620000, 5.590000, 5.570000, 4.880000, 4.860000, 4.850000, 4.840000, 4.810000, 5.150000, 5.420000, 5.420000, 5.400000, 5.540000, 5.530000, 5.520000, 5.520000, 5.520000, 5.520000, 5.230000, 4.360000, 5.530000, 5.540000, 5.420000, 4.820000, 4.780000, 4.780000, 4.810000, 4.860000, 5.490000, 5.510000, 5.540000, 5.570000, 5.600000, 4.240000, 4.280000, 4.240000, 4.240000, 1.920000, 1.860000, 1.610000, 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, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054747, 825935 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.382000, 6.187000, -0.303589 ], "estimate": [ 5.382000, 6.187000, -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": [ 1.300000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.430000, 1.460000, 1.470000, 1.500000, 1.530000, 1.550000, 1.580000, 1.600000, 1.630000, 1.660000, 1.690000, 1.710000, 1.750000, 1.790000, 1.830000, 1.870000, 1.900000, 1.950000, 2.000000, 2.050000, 2.110000, 2.160000, 2.220000, 2.290000, 2.360000, 2.440000, 2.520000, 2.610000, 2.700000, 2.820000, 2.930000, 3.050000, 3.190000, 3.350000, 3.500000, 3.710000, 3.910000, 4.170000, 4.450000, 4.790000, 5.140000, 5.570000, 6.070000, 6.670000, 7.410000, 12.230000, 12.140000, 12.150000, null, 11.370000, 11.420000, null, 10.590000, 10.600000, null, null, null, null, null, null, null, null, 8.940000, 5.110000, 4.700000, 4.370000, 4.070000, 3.800000, 3.560000, 3.380000, 3.200000, 3.040000, 2.880000, 2.740000, 2.620000, 2.510000, 2.420000, 2.320000, 2.230000, 2.150000, 2.090000, 2.030000, 1.960000, 1.900000, 1.850000, 1.790000, 1.740000, 1.700000, 1.650000, 1.610000, 1.570000, 1.530000, 1.500000, 1.480000, 1.440000, 1.410000, 1.380000, 1.360000, 1.340000, 1.320000, 1.290000, 1.270000, 1.260000, 1.230000, 1.210000, 1.210000, 1.190000, 1.170000, 1.170000, 1.150000, 1.140000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.150000, 1.210000, 1.270000, 1.320000, 1.940000, 2.020000, 5.700000, 5.660000, 5.640000, 5.600000, 5.580000, 5.550000, 4.870000, 4.850000, 4.850000, 4.830000, 4.820000, 5.390000, 5.420000, 5.400000, 5.400000, 5.530000, 5.520000, 5.520000, 5.520000, 5.520000, 5.520000, 4.360000, 4.360000, 5.530000, 5.530000, 5.420000, 4.810000, 4.780000, 4.770000, 4.800000, 4.860000, 5.490000, 5.510000, 5.540000, 5.570000, 5.600000, 5.650000, 4.260000, 4.230000, 4.220000, 1.900000, 1.830000, 1.370000, 1.300000, 1.250000, 1.220000, 1.160000, 1.120000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054748, 344465 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.384000, 6.186000, -0.192970 ], "estimate": [ 5.384000, 6.186000, -0.192970 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.460000, 1.480000, 1.500000, 1.520000, 1.540000, 1.570000, 1.600000, 1.620000, 1.650000, 1.680000, 1.710000, 1.750000, 1.780000, 1.810000, 1.860000, 1.900000, 1.940000, 1.980000, 2.030000, 2.080000, 2.140000, 2.190000, 2.270000, 2.330000, 2.400000, 2.480000, 2.560000, 2.670000, 2.750000, 2.870000, 2.990000, 3.120000, 3.260000, 3.420000, 3.610000, 3.810000, 4.040000, 4.310000, 4.610000, 4.950000, 5.350000, 5.800000, 6.310000, 6.980000, 7.730000, 12.190000, 12.180000, 12.250000, 13.000000, null, null, null, 10.680000, 10.700000, null, null, null, null, null, null, null, null, 5.390000, 4.920000, 4.510000, 4.220000, 3.930000, 3.680000, 3.450000, 3.280000, 3.150000, 2.950000, 2.810000, 2.680000, 2.560000, 2.450000, 2.360000, 2.270000, 2.190000, 2.110000, 2.040000, 1.990000, 1.920000, 1.860000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.580000, 1.540000, 1.510000, 1.470000, 1.450000, 1.410000, 1.390000, 1.360000, 1.340000, 1.330000, 1.300000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.130000, 1.110000, 1.100000, 1.100000, 1.100000, 1.110000, 1.150000, 1.210000, 1.260000, 1.310000, 1.910000, 2.000000, 5.700000, 5.670000, 5.650000, 5.610000, 5.580000, 5.560000, 4.900000, 4.860000, 4.850000, 4.840000, 4.820000, 4.800000, 5.410000, 5.400000, 5.400000, 5.390000, 5.520000, 5.520000, 5.510000, 5.510000, 5.510000, 5.240000, 4.340000, 4.390000, 5.520000, 5.430000, 4.810000, 4.790000, 4.770000, 4.770000, 4.800000, 4.850000, 5.500000, 5.510000, 5.540000, 5.560000, null, 5.610000, 4.200000, 4.210000, 1.900000, 1.860000, 1.790000, 1.330000, 1.270000, 1.230000, 1.160000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 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, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 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": [ 976054748, 345692 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.384000, 6.186000, -0.125369 ], "estimate": [ 5.384000, 6.186000, -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": [ 1.560000, 1.580000, 1.600000, 1.620000, 1.660000, 1.690000, 1.720000, 1.760000, 1.800000, 1.830000, 1.860000, 1.910000, 1.950000, 2.000000, 2.050000, 2.100000, 2.160000, 2.220000, 2.280000, 2.340000, 2.420000, 2.490000, 2.580000, 2.680000, 2.770000, 2.890000, 3.000000, 3.140000, 3.280000, 3.450000, 3.630000, 3.830000, 4.060000, 4.340000, 4.640000, 4.990000, 5.380000, 5.830000, 6.360000, 7.020000, 7.740000, 12.220000, 12.170000, 12.260000, 13.010000, null, null, null, 10.710000, 10.680000, null, null, null, null, null, null, null, null, 5.450000, 4.950000, 4.560000, 4.240000, 3.940000, 3.690000, 3.480000, 3.300000, 3.160000, 2.960000, 2.810000, 2.680000, 2.550000, 2.460000, 2.360000, 2.270000, 2.190000, 2.110000, 2.040000, 1.990000, 1.920000, 1.850000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.580000, 1.540000, 1.510000, 1.480000, 1.440000, 1.410000, 1.380000, 1.360000, 1.340000, 1.320000, 1.300000, 1.270000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.150000, 1.140000, 1.120000, 1.100000, 1.100000, 1.100000, 1.070000, 1.120000, 1.170000, 1.230000, 1.270000, 1.310000, 1.920000, 2.000000, 5.720000, 5.680000, 5.660000, 5.600000, 5.580000, 5.560000, 5.000000, 4.850000, 4.850000, 4.830000, 4.820000, 4.790000, 5.410000, 5.400000, 5.380000, 5.370000, 5.520000, 5.510000, 5.510000, 5.500000, 5.500000, 5.240000, 4.340000, 4.580000, 5.520000, 5.510000, 4.800000, 4.790000, 4.770000, 4.770000, 4.780000, 4.840000, 5.490000, 5.510000, 5.530000, 5.560000, null, 5.620000, 4.230000, 4.210000, 1.900000, 1.850000, 1.800000, 1.310000, 1.270000, 1.220000, 1.150000, 1.090000, 1.100000, 1.100000, 1.100000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.250000, 1.270000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 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": [ 976054748, 460134 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.384000, 6.186000, -0.057768 ], "estimate": [ 5.384000, 6.186000, -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": [ 1.640000, 1.680000, 1.710000, 1.750000, 1.780000, 1.810000, 1.860000, 1.900000, 1.940000, 1.980000, 2.040000, 2.080000, 2.130000, 2.200000, 2.270000, 2.320000, 2.400000, 2.490000, 2.560000, 2.640000, 2.750000, 2.850000, 2.960000, 3.090000, 3.220000, 3.390000, 3.570000, 3.760000, 3.980000, 4.250000, 4.530000, 4.860000, 5.240000, 5.670000, 6.160000, 6.780000, 7.530000, 12.250000, 12.140000, 12.190000, null, 11.400000, null, null, 10.600000, null, null, null, null, null, null, null, null, null, 8.950000, 5.140000, 4.700000, 4.340000, 4.050000, 3.770000, 3.540000, 3.340000, 3.180000, 3.020000, 2.870000, 2.720000, 2.600000, 2.490000, 2.390000, 2.300000, 2.220000, 2.130000, 2.060000, 1.990000, 1.940000, 1.880000, 1.820000, 1.760000, 1.710000, 1.670000, 1.620000, 1.580000, 1.540000, 1.510000, 1.490000, 1.450000, 1.420000, 1.390000, 1.360000, 1.330000, 1.320000, 1.290000, 1.270000, 1.250000, 1.230000, 1.230000, 1.210000, 1.180000, 1.170000, 1.150000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.100000, 1.070000, 1.110000, 1.160000, 1.210000, 1.260000, 1.310000, 1.910000, 1.980000, 5.730000, 5.690000, 5.660000, 5.620000, 5.590000, 5.560000, 5.530000, 4.850000, 4.850000, 4.840000, 4.820000, 4.810000, 5.400000, 5.390000, 5.380000, 5.380000, 5.510000, 5.510000, 5.500000, 5.500000, 5.500000, 5.500000, 4.330000, 4.330000, 5.510000, 5.510000, 5.390000, 4.800000, 4.770000, 4.770000, 4.780000, 4.840000, 5.480000, 5.500000, 5.510000, 5.540000, 5.580000, 5.610000, 4.250000, 4.200000, 4.240000, 1.870000, 1.810000, 1.320000, 1.270000, 1.240000, 1.170000, 1.120000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.250000, 1.280000, 1.290000, 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, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054748, 924438 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.385000, 6.186000, 0.040560 ], "estimate": [ 5.385000, 6.186000, 0.040560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.790000, 1.820000, 1.860000, 1.900000, 1.950000, 1.990000, 2.040000, 2.090000, 2.150000, 2.200000, 2.270000, 2.330000, 2.410000, 2.490000, 2.570000, 2.670000, 2.760000, 2.860000, 2.980000, 3.100000, 3.230000, 3.400000, 3.570000, 3.770000, 3.990000, 4.250000, 4.540000, 4.870000, 5.250000, 5.670000, 6.170000, 6.780000, 7.550000, 12.250000, 12.180000, 12.200000, null, 11.460000, null, null, 10.620000, null, null, null, null, null, null, null, null, null, 5.510000, 5.050000, 4.640000, 4.320000, 4.010000, 3.740000, 3.510000, 3.310000, 3.180000, 2.970000, 2.830000, 2.700000, 2.570000, 2.460000, 2.360000, 2.270000, 2.200000, 2.110000, 2.050000, 1.980000, 1.910000, 1.850000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.570000, 1.530000, 1.500000, 1.480000, 1.440000, 1.400000, 1.370000, 1.350000, 1.330000, 1.320000, 1.290000, 1.270000, 1.250000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.120000, 1.180000, 1.230000, 1.270000, 1.320000, 1.910000, 2.000000, 5.710000, 5.680000, 5.660000, 5.610000, 5.580000, 5.540000, 5.430000, 4.850000, 4.840000, 4.830000, 4.810000, 4.810000, 5.380000, 5.390000, 5.370000, 5.370000, 5.510000, 5.500000, 5.490000, 5.490000, 5.490000, 5.490000, 4.320000, 4.330000, 5.500000, 5.510000, 5.380000, 4.790000, 4.750000, 4.770000, 4.770000, 4.830000, 5.470000, 5.490000, 5.510000, 5.540000, 5.570000, 5.590000, 4.270000, 4.230000, 1.910000, 1.840000, 1.790000, 1.310000, 1.260000, 1.210000, 1.140000, 1.070000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.350000, 1.380000, 1.410000, 1.430000 ], "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, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054748, 925649 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.388000, 6.186000, 0.145034 ], "estimate": [ 5.388000, 6.186000, 0.145034 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.050000, 2.100000, 2.160000, 2.220000, 2.280000, 2.340000, 2.410000, 2.500000, 2.580000, 2.660000, 2.770000, 2.860000, 2.980000, 3.110000, 3.240000, 3.400000, 3.570000, 3.780000, 3.980000, 4.250000, 4.540000, 4.870000, 5.230000, 5.650000, 6.140000, 6.750000, 7.470000, 12.250000, 12.160000, 12.190000, null, 11.450000, 11.460000, null, 10.610000, 10.650000, null, null, null, null, null, null, null, null, 5.520000, 5.060000, 4.650000, 4.330000, 3.990000, 3.730000, 3.500000, 3.310000, 3.170000, 2.970000, 2.820000, 2.680000, 2.560000, 2.440000, 2.360000, 2.260000, 2.180000, 2.110000, 2.030000, 1.970000, 1.920000, 1.850000, 1.790000, 1.740000, 1.690000, 1.650000, 1.610000, 1.560000, 1.520000, 1.500000, 1.470000, 1.430000, 1.400000, 1.370000, 1.330000, 1.320000, 1.300000, 1.280000, 1.250000, 1.230000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.090000, 1.100000, 1.090000, 1.150000, 1.200000, 1.250000, 1.280000, 1.480000, 1.920000, 2.000000, 5.710000, 5.670000, 5.650000, 5.600000, 5.580000, 5.540000, 5.290000, 4.850000, 4.830000, 4.820000, 4.800000, 4.800000, 5.370000, 5.380000, 5.360000, 5.360000, 5.500000, 5.500000, 5.500000, 5.490000, 5.490000, 5.480000, 4.320000, 4.310000, 5.500000, 5.500000, 5.370000, 4.790000, 4.750000, 4.750000, 4.780000, 4.820000, 5.460000, 5.480000, 5.500000, 5.530000, 5.560000, 5.580000, 4.280000, 4.270000, 1.890000, 1.830000, 1.780000, 1.290000, 1.250000, 1.200000, 1.140000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.210000, 1.210000, 1.230000, 1.250000, 1.270000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000, 1.410000, 1.450000, 1.480000, 1.500000, 1.530000, 1.580000, 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, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054749, 699620 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.392000, 6.187000, 0.249508 ], "estimate": [ 5.392000, 6.187000, 0.249508 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.400000, 2.490000, 2.560000, 2.660000, 2.750000, 2.860000, 2.970000, 3.090000, 3.220000, 3.360000, 3.530000, 3.720000, 3.930000, 4.170000, 4.450000, 4.760000, 5.120000, 5.530000, 5.980000, 6.540000, 7.230000, 12.270000, 12.170000, 12.150000, 13.000000, null, 11.440000, null, null, 10.600000, null, null, null, null, null, null, null, null, null, 5.170000, 4.720000, 4.350000, 4.050000, 3.780000, 3.530000, 3.340000, 3.180000, 3.000000, 2.840000, 2.700000, 2.570000, 2.450000, 2.360000, 2.270000, 2.190000, 2.120000, 2.040000, 1.970000, 1.910000, 1.850000, 1.790000, 1.750000, 1.690000, 1.650000, 1.610000, 1.560000, 1.510000, 1.500000, 1.450000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.160000, 1.130000, 1.130000, 1.120000, 1.100000, 1.090000, 1.100000, 1.070000, 1.060000, 1.140000, 1.190000, 1.240000, 1.280000, 1.520000, 1.910000, 1.990000, 5.710000, 5.670000, 5.640000, 5.600000, 5.570000, 5.540000, 5.510000, 4.850000, 4.830000, 4.820000, 4.790000, 4.800000, 5.310000, 5.370000, 5.360000, 5.360000, 5.500000, 5.490000, 5.490000, 5.490000, 5.480000, 5.480000, 4.320000, 4.310000, 5.480000, 5.490000, 5.360000, 4.770000, 4.740000, 4.740000, 4.770000, 4.800000, 5.040000, 5.460000, 5.480000, 5.510000, 5.530000, 5.570000, 5.590000, 4.270000, 5.650000, 1.840000, 1.780000, 1.300000, 1.250000, 1.200000, 1.140000, 1.080000, 1.050000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.130000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.250000, 1.280000, 1.300000, 1.330000, 1.340000, 1.370000, 1.400000, 1.420000, 1.460000, 1.490000, 1.510000, 1.550000, 1.590000, 1.630000, 1.680000, 1.710000, 1.780000, 1.830000, 1.880000 ], "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, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054749, 535228 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.392000, 6.187000, 0.335546 ], "estimate": [ 5.392000, 6.187000, 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": [ 3.030000, 3.160000, 3.300000, 3.440000, 3.610000, 3.810000, 4.030000, 4.270000, 4.570000, 4.900000, 5.260000, 5.690000, 6.180000, 6.780000, 7.510000, 12.270000, 12.170000, 12.200000, null, 11.460000, null, null, 10.600000, null, null, null, null, null, null, null, null, null, 5.520000, 5.020000, 4.600000, 4.270000, 3.960000, 3.680000, 3.460000, 3.290000, 3.120000, 2.930000, 2.790000, 2.650000, 2.530000, 2.430000, 2.330000, 2.230000, 2.170000, 2.080000, 2.000000, 1.960000, 1.890000, 1.830000, 1.780000, 1.720000, 1.680000, 1.620000, 1.590000, 1.540000, 1.500000, 1.470000, 1.430000, 1.410000, 1.370000, 1.350000, 1.330000, 1.310000, 1.280000, 1.260000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.130000, 1.130000, 1.110000, 1.100000, 1.100000, 1.090000, 1.070000, 1.080000, 1.130000, 1.190000, 1.220000, 1.270000, 1.320000, 1.890000, 1.950000, 5.740000, 5.700000, 5.660000, 5.640000, 5.590000, 5.560000, 5.520000, 5.030000, 4.850000, 4.820000, 4.810000, 4.790000, 4.780000, 5.380000, 5.360000, 5.350000, 5.350000, 5.480000, 5.480000, 5.480000, 5.480000, 5.480000, 5.470000, 4.290000, 4.300000, 5.480000, 5.480000, 5.340000, 4.770000, 4.730000, 4.730000, 4.770000, 4.800000, 5.440000, 5.460000, 5.480000, 5.510000, 5.530000, 5.560000, 4.250000, 4.260000, 1.880000, 1.810000, 1.660000, 1.270000, 1.220000, 1.180000, 1.110000, 1.080000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.090000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.200000, 1.220000, 1.240000, 1.270000, 1.300000, 1.320000, 1.330000, 1.370000, 1.390000, 1.420000, 1.450000, 1.490000, 1.510000, 1.550000, 1.600000, 1.640000, 1.680000, 1.720000, 1.780000, 1.840000, 1.890000, 1.970000, 2.010000, 2.080000, 2.150000, 2.230000, 2.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054749, 536370 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.392000, 6.187000, 0.403147 ], "estimate": [ 5.392000, 6.187000, 0.403147 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.530000, 3.720000, 3.920000, 4.160000, 4.420000, 4.740000, 5.080000, 5.480000, 5.930000, 6.470000, 7.120000, 12.300000, 12.270000, 12.200000, 12.300000, 13.020000, null, null, null, 10.700000, null, null, null, null, null, null, null, null, null, 5.310000, 4.840000, 4.450000, 4.140000, 3.840000, 3.600000, 3.390000, 3.190000, 3.040000, 2.870000, 2.730000, 2.600000, 2.490000, 2.380000, 2.280000, 2.200000, 2.120000, 2.050000, 1.970000, 1.930000, 1.860000, 1.800000, 1.750000, 1.700000, 1.650000, 1.610000, 1.570000, 1.520000, 1.500000, 1.460000, 1.430000, 1.400000, 1.360000, 1.330000, 1.310000, 1.300000, 1.270000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.120000, 1.180000, 1.220000, 1.260000, 1.310000, 1.860000, 1.930000, 5.760000, 5.720000, 5.680000, 5.650000, 5.610000, 5.580000, 5.540000, 5.510000, 4.850000, 4.820000, 4.810000, 4.790000, 4.760000, 5.250000, 5.370000, 5.350000, 5.350000, 5.480000, 5.490000, 5.490000, 5.480000, 5.480000, 5.470000, 5.190000, 4.310000, 5.470000, 5.490000, 5.380000, 4.760000, 4.740000, 4.730000, 4.750000, 4.770000, 4.900000, 5.440000, 5.460000, 5.490000, 5.510000, 5.540000, 5.580000, 4.260000, 5.640000, 1.840000, 1.790000, 1.280000, 1.230000, 1.190000, 1.140000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.120000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.330000, 1.360000, 1.360000, 1.400000, 1.430000, 1.460000, 1.500000, 1.530000, 1.570000, 1.610000, 1.660000, 1.700000, 1.750000, 1.800000, 1.860000, 1.920000, 1.970000, 2.040000, 2.110000, 2.190000, 2.270000, 2.350000, 2.460000, 2.560000, 2.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054749, 669801 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.392000, 6.187000, 0.489184 ], "estimate": [ 5.392000, 6.187000, 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": [ 4.560000, 4.900000, 5.250000, 5.680000, 6.180000, 6.760000, 7.480000, 12.300000, 12.170000, 12.200000, null, 11.470000, 11.470000, null, 10.630000, 10.670000, null, null, null, null, null, null, null, null, 5.530000, 5.030000, 4.610000, 4.270000, 3.960000, 3.680000, 3.460000, 3.280000, 3.110000, 2.930000, 2.780000, 2.640000, 2.530000, 2.410000, 2.330000, 2.230000, 2.160000, 2.080000, 2.010000, 1.950000, 1.890000, 1.830000, 1.770000, 1.720000, 1.670000, 1.630000, 1.580000, 1.540000, 1.500000, 1.470000, 1.440000, 1.400000, 1.370000, 1.350000, 1.320000, 1.300000, 1.270000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.170000, 1.140000, 1.130000, 1.120000, 1.120000, 1.100000, 1.100000, 1.090000, 1.090000, 1.130000, 1.160000, 1.210000, 1.260000, 1.290000, 1.840000, 1.910000, 1.980000, 5.730000, 5.690000, 5.660000, 5.640000, 5.580000, 5.560000, 5.520000, 4.880000, 4.830000, 4.810000, 4.800000, 4.780000, 4.770000, 5.370000, 5.360000, 5.340000, 5.350000, 5.490000, 5.480000, 5.480000, 5.480000, 5.480000, 5.370000, 4.290000, 4.370000, 5.490000, 5.490000, 4.780000, 4.760000, 4.720000, 4.740000, 4.760000, 4.800000, 5.430000, 5.450000, 5.480000, 5.510000, 5.530000, 5.560000, 4.230000, 4.240000, 1.840000, 1.780000, 1.290000, 1.240000, 1.180000, 1.130000, 1.080000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.090000, 1.090000, 1.100000, 1.120000, 1.120000, 1.140000, 1.150000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.440000, 1.480000, 1.510000, 1.540000, 1.580000, 1.620000, 1.670000, 1.710000, 1.770000, 1.830000, 1.880000, 1.960000, 2.000000, 2.070000, 2.140000, 2.230000, 2.320000, 2.410000, 2.500000, 2.620000, 2.750000, 2.890000, 3.050000, 3.230000, 3.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054750, 709782 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.392000, 6.187000, 0.581367 ], "estimate": [ 5.392000, 6.187000, 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": [ 6.710000, 7.440000, 12.300000, 12.190000, 12.190000, null, null, null, null, 10.660000, 10.630000, null, null, null, null, null, null, null, null, null, 5.080000, 4.650000, 4.320000, 3.980000, 3.720000, 3.480000, 3.300000, 3.130000, 2.940000, 2.800000, 2.660000, 2.530000, 2.430000, 2.320000, 2.240000, 2.160000, 2.090000, 1.990000, 1.960000, 1.890000, 1.830000, 1.770000, 1.720000, 1.670000, 1.630000, 1.590000, 1.540000, 1.500000, 1.470000, 1.430000, 1.400000, 1.370000, 1.340000, 1.330000, 1.300000, 1.270000, 1.260000, 1.230000, 1.210000, 1.200000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.100000, 1.130000, 1.190000, 1.230000, 1.270000, 1.300000, 1.860000, 1.920000, 1.990000, 5.730000, 5.690000, 5.660000, 5.630000, 5.580000, 5.550000, 5.520000, 4.880000, 4.830000, 4.820000, 4.800000, 4.780000, 4.760000, 5.370000, 5.360000, 5.340000, 5.340000, 5.490000, 5.490000, 5.480000, 5.480000, 5.480000, 5.420000, 4.280000, 4.360000, 5.480000, 5.490000, 4.860000, 4.760000, 4.740000, 4.740000, 4.770000, 4.790000, 5.420000, 5.450000, 5.470000, 5.490000, 5.520000, 5.550000, 4.240000, 4.240000, 1.830000, 1.790000, 1.270000, 1.220000, 1.170000, 1.110000, 1.050000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.210000, 1.240000, 1.260000, 1.280000, 1.310000, 1.330000, 1.360000, 1.380000, 1.400000, 1.440000, 1.470000, 1.500000, 1.540000, 1.580000, 1.610000, 1.660000, 1.710000, 1.770000, 1.820000, 1.870000, 1.940000, 1.990000, 2.060000, 2.130000, 2.210000, 2.300000, 2.390000, 2.490000, 2.600000, 2.720000, 2.880000, 3.040000, 3.210000, 3.370000, 3.590000, 3.840000, 4.130000, 4.460000, 4.840000 ], "valid": [ 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054750, 734274 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.398000, 6.192000, 0.636676 ], "estimate": [ 5.398000, 6.192000, 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": [ 13.040000, null, null, null, null, 10.670000, null, null, null, null, null, null, null, null, null, 5.220000, 4.740000, 4.390000, 4.060000, 3.770000, 3.530000, 3.330000, 3.180000, 2.970000, 2.830000, 2.690000, 2.560000, 2.450000, 2.350000, 2.260000, 2.180000, 2.100000, 2.000000, 1.970000, 1.900000, 1.850000, 1.780000, 1.730000, 1.690000, 1.630000, 1.590000, 1.550000, 1.520000, 1.470000, 1.450000, 1.410000, 1.380000, 1.360000, 1.330000, 1.310000, 1.280000, 1.260000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.100000, 1.100000, 1.090000, 1.140000, 1.200000, 1.250000, 1.270000, 1.320000, 1.870000, 1.930000, 1.990000, 5.750000, 5.700000, 5.660000, 5.650000, 5.590000, 5.560000, 5.520000, 5.040000, 4.830000, 4.820000, 4.810000, 4.790000, 4.780000, 5.370000, 5.360000, 5.340000, 5.340000, 5.490000, 5.490000, 5.480000, 5.480000, 5.480000, 5.470000, 4.290000, 4.290000, 5.480000, 5.490000, 5.330000, 4.750000, 4.720000, 4.730000, 4.760000, 4.790000, 5.420000, 5.450000, 5.470000, 5.500000, 5.510000, 5.550000, 4.230000, 4.230000, 1.830000, 1.780000, 1.270000, 1.220000, 1.170000, 1.100000, 1.040000, 1.030000, 1.030000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.320000, 1.350000, 1.370000, 1.400000, 1.430000, 1.460000, 1.500000, 1.530000, 1.570000, 1.610000, 1.650000, 1.700000, 1.750000, 1.800000, 1.860000, 1.900000, 1.970000, 2.030000, 2.110000, 2.190000, 2.280000, 2.370000, 2.470000, 2.580000, 2.700000, 2.840000, 3.000000, 3.170000, 3.350000, 3.550000, 3.780000, 4.060000, 4.400000, 4.770000, 5.220000, 6.490000, 6.430000, 6.430000, 6.420000 ], "valid": [ 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054750, 735298 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.419000, 6.208000, 0.691986 ], "estimate": [ 5.419000, 6.208000, 0.691986 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, 10.700000, 10.630000, null, null, null, null, null, null, null, null, null, 5.080000, 4.650000, 4.300000, 3.980000, 3.710000, 3.470000, 3.290000, 3.110000, 2.930000, 2.780000, 2.640000, 2.520000, 2.410000, 2.310000, 2.220000, 2.130000, 2.080000, 1.990000, 1.940000, 1.870000, 1.820000, 1.760000, 1.700000, 1.660000, 1.610000, 1.570000, 1.530000, 1.500000, 1.470000, 1.420000, 1.390000, 1.360000, 1.330000, 1.320000, 1.290000, 1.260000, 1.240000, 1.210000, 1.200000, 1.180000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.120000, 1.170000, 1.220000, 1.260000, 1.290000, 1.790000, 1.880000, 1.950000, 5.770000, 5.730000, 5.690000, 5.650000, 5.630000, 5.580000, 5.550000, 5.510000, 4.850000, 4.820000, 4.800000, 4.790000, 4.770000, 4.760000, 5.360000, 5.340000, 5.330000, 5.330000, 5.480000, 5.470000, 5.470000, 5.460000, 5.460000, 5.330000, 4.280000, 4.690000, 5.470000, 5.480000, 4.750000, 4.740000, 4.720000, 4.720000, 4.750000, 4.780000, 5.420000, 5.430000, 5.460000, 5.480000, 5.510000, 5.540000, 4.230000, 4.220000, 1.810000, 1.750000, 1.250000, 1.190000, 1.140000, 1.080000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.090000, 1.100000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.600000, 1.640000, 1.690000, 1.740000, 1.790000, 1.850000, 1.880000, 1.970000, 2.030000, 2.110000, 2.190000, 2.280000, 2.360000, 2.460000, 2.570000, 2.690000, 2.840000, 2.990000, 3.160000, 3.340000, 3.530000, 3.780000, 4.070000, 4.420000, 4.780000, 5.240000, 6.470000, 6.430000, 6.430000, 6.410000, 6.400000, 6.380000, 6.380000 ], "valid": [ 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054750, 736243 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.463000, 6.248000, 0.771878 ], "estimate": [ 5.463000, 6.248000, 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": [ null, null, null, null, null, null, 5.080000, 4.610000, 4.270000, 3.940000, 3.680000, 3.440000, 3.230000, 3.040000, 2.880000, 2.720000, 2.590000, 2.470000, 2.360000, 2.260000, 2.180000, 2.090000, 2.020000, 1.950000, 1.880000, 1.820000, 1.770000, 1.710000, 1.670000, 1.610000, 1.570000, 1.520000, 1.500000, 1.450000, 1.410000, 1.370000, 1.340000, 1.320000, 1.290000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.090000, 1.130000, 1.180000, 1.220000, 1.260000, 1.290000, 1.800000, 1.870000, 1.930000, 5.740000, 5.700000, 5.660000, 5.620000, 5.610000, 5.560000, 5.510000, 5.500000, 4.870000, 4.790000, 4.790000, 4.760000, 4.730000, 4.750000, 5.310000, 5.320000, 5.300000, 5.310000, 5.440000, 5.430000, 5.430000, 5.420000, 5.420000, 5.420000, 4.240000, 4.250000, 5.430000, 5.440000, 5.290000, 4.710000, 4.680000, 4.670000, 4.710000, 4.740000, 5.360000, 5.390000, 5.410000, 5.430000, 5.470000, 5.520000, 4.160000, 4.090000, 1.800000, 1.730000, 1.250000, 1.190000, 1.140000, 1.080000, 1.010000, 0.980000, 1.000000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.130000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.330000, 1.350000, 1.390000, 1.420000, 1.450000, 1.490000, 1.510000, 1.560000, 1.610000, 1.650000, 1.700000, 1.750000, 1.810000, 1.870000, 1.930000, 1.990000, 2.080000, 2.140000, 2.230000, 2.330000, 2.420000, 2.530000, 2.660000, 2.810000, 2.980000, 3.160000, 3.330000, 3.540000, 3.790000, 4.100000, 4.450000, 4.830000, 5.310000, 6.440000, 6.420000, 6.410000, 6.380000, 6.380000, 6.370000, 6.370000, 6.360000, 6.360000, 6.360000, 6.370000, 6.370000 ], "valid": [ 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054750, 737174 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.519000, 6.304000, 0.790315 ], "estimate": [ 5.519000, 6.304000, 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": [ null, 5.420000, 4.870000, 4.440000, 4.070000, 3.750000, 3.490000, 3.280000, 3.070000, 2.880000, 2.710000, 2.570000, 2.430000, 2.320000, 2.230000, 2.130000, 2.060000, 1.970000, 1.910000, 1.840000, 1.770000, 1.700000, 1.660000, 1.610000, 1.550000, 1.500000, 1.470000, 1.430000, 1.380000, 1.340000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.180000, 1.150000, 1.130000, 1.100000, 1.090000, 1.070000, 1.070000, 1.050000, 1.030000, 1.030000, 1.010000, 1.020000, 1.020000, 1.040000, 1.100000, 1.120000, 1.150000, 1.190000, 1.230000, 1.690000, 1.760000, 1.810000, 1.870000, 4.230000, 5.680000, 5.640000, 5.610000, 5.570000, 5.540000, 5.500000, 5.470000, 5.430000, 4.910000, 4.730000, 4.710000, 4.700000, 4.680000, 4.690000, 5.260000, 5.260000, 5.250000, 5.240000, 5.380000, 5.380000, 5.370000, 5.370000, 5.360000, 5.360000, 4.190000, 4.180000, 5.370000, 5.380000, 5.260000, 4.630000, 4.630000, 4.600000, 4.630000, 4.650000, 4.800000, 5.320000, 5.340000, 5.360000, 5.390000, 5.440000, 5.460000, 4.100000, 4.070000, 1.730000, 1.670000, 1.280000, 1.130000, 1.080000, 1.040000, 0.990000, 0.950000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.480000, 1.520000, 1.570000, 1.610000, 1.670000, 1.720000, 1.780000, 1.830000, 1.910000, 1.980000, 2.060000, 2.130000, 2.220000, 2.330000, 2.450000, 2.570000, 2.700000, 2.880000, 3.060000, 3.260000, 3.460000, 3.730000, 4.040000, 4.420000, 4.840000, 6.500000, 6.430000, 6.400000, 6.380000, 6.380000, 6.370000, 6.350000, 6.350000, 6.350000, 6.350000, 6.350000, 6.360000, 6.370000, 6.370000, 6.380000, 6.390000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054750, 880238 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.566000, 6.349000, 0.747296 ], "estimate": [ 5.566000, 6.349000, 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": [ null, null, 5.210000, 4.640000, 4.210000, 3.830000, 3.540000, 3.280000, 3.050000, 2.840000, 2.670000, 2.510000, 2.390000, 2.250000, 2.150000, 2.060000, 1.970000, 1.890000, 1.800000, 1.740000, 1.680000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.370000, 1.320000, 1.290000, 1.260000, 1.220000, 1.190000, 1.170000, 1.140000, 1.110000, 1.090000, 1.060000, 1.050000, 1.030000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.920000, 0.990000, 1.020000, 1.050000, 1.060000, 1.100000, 1.130000, 1.150000, 1.610000, 1.650000, 1.700000, 1.760000, 1.820000, 4.150000, 5.650000, 5.630000, 5.570000, 5.540000, 5.500000, 5.460000, 5.430000, 5.400000, 5.360000, 5.330000, 4.660000, 4.640000, 4.620000, 4.610000, 4.580000, 5.180000, 5.180000, 5.160000, 5.150000, 5.300000, 5.290000, 5.280000, 5.280000, 5.270000, 5.270000, 5.270000, 4.100000, 5.280000, 5.280000, 5.290000, 5.150000, 4.550000, 4.520000, 4.520000, 4.550000, 4.600000, 5.230000, 5.250000, 5.270000, 5.300000, 5.320000, 5.340000, 5.390000, 4.040000, 5.440000, 1.660000, 1.620000, 1.560000, 1.170000, 1.050000, 1.010000, 0.970000, 0.930000, 0.880000, 0.850000, 0.830000, 0.850000, 0.850000, 0.870000, 0.880000, 0.880000, 0.890000, 0.910000, 0.910000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.090000, 1.100000, 1.130000, 1.160000, 1.190000, 1.210000, 1.250000, 1.280000, 1.310000, 1.350000, 1.390000, 1.440000, 1.490000, 1.520000, 1.580000, 1.640000, 1.700000, 1.770000, 1.810000, 1.910000, 1.980000, 2.070000, 2.180000, 2.280000, 2.400000, 2.530000, 2.680000, 2.880000, 3.090000, 3.300000, 3.540000, 3.850000, 4.240000, 4.670000, 5.210000, 6.450000, 6.400000, 6.380000, 6.370000, 6.360000, 6.350000, 6.350000, 6.340000, 6.350000, 6.350000, 6.350000, 6.360000, 6.370000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054751, 233955 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.603000, 6.381000, 0.691986 ], "estimate": [ 5.603000, 6.381000, 0.691986 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, null, null, null, null, 5.550000, 4.900000, 4.360000, 3.950000, 3.600000, 3.330000, 3.090000, 2.850000, 2.650000, 2.490000, 2.340000, 2.220000, 2.110000, 2.010000, 1.910000, 1.840000, 1.760000, 1.690000, 1.610000, 1.560000, 1.500000, 1.460000, 1.400000, 1.360000, 1.310000, 1.270000, 1.220000, 1.200000, 1.160000, 1.130000, 1.100000, 1.080000, 1.060000, 1.030000, 1.010000, 0.990000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.910000, 0.890000, 0.930000, 0.950000, 0.990000, 1.020000, 1.040000, 1.070000, 1.080000, 1.120000, 1.550000, 1.600000, 1.640000, 1.680000, 1.740000, 1.760000, 4.090000, 5.590000, 5.570000, 5.530000, 5.490000, 5.450000, 5.420000, 5.380000, 5.340000, 5.310000, 5.290000, 4.600000, 4.600000, 4.570000, 4.550000, 4.540000, 5.100000, 5.130000, 5.120000, 5.100000, 5.250000, 5.240000, 5.240000, 5.220000, 5.230000, 5.230000, 5.220000, 4.050000, 5.220000, 5.220000, 5.230000, 5.100000, 4.500000, 4.470000, 4.470000, 4.500000, 4.540000, 5.170000, 5.190000, 5.210000, 5.240000, 5.270000, 5.300000, 5.320000, 4.010000, 3.940000, 5.420000, 1.610000, 1.560000, 1.510000, 1.470000, 1.020000, 0.990000, 0.950000, 0.910000, 0.890000, 0.840000, 0.800000, 0.790000, 0.810000, 0.820000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.890000, 0.900000, 0.930000, 0.940000, 0.940000, 0.960000, 0.980000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.150000, 1.190000, 1.210000, 1.250000, 1.280000, 1.320000, 1.370000, 1.410000, 1.470000, 1.500000, 1.570000, 1.620000, 1.700000, 1.760000, 1.840000, 1.910000, 1.990000, 2.100000, 2.210000, 2.340000, 2.460000, 2.620000, 2.820000, 3.040000, 3.260000, 3.530000, 3.860000, 4.290000, 4.750000, 6.490000, 6.400000, 6.370000, 6.370000, 6.360000, 6.350000, 6.350000, 6.350000, 6.350000 ], "valid": [ 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054751, 235131 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.640000, 6.411000, 0.673550 ], "estimate": [ 5.640000, 6.411000, 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": [ null, null, null, null, null, null, 5.250000, 4.590000, 4.110000, 3.680000, 3.380000, 3.140000, 2.870000, 2.660000, 2.480000, 2.320000, 2.200000, 2.080000, 1.980000, 1.880000, 1.790000, 1.710000, 1.640000, 1.570000, 1.500000, 1.470000, 1.400000, 1.350000, 1.310000, 1.270000, 1.210000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.950000, 0.940000, 0.930000, 0.910000, 0.890000, 0.880000, 0.880000, 0.860000, 0.850000, 0.910000, 0.940000, 0.960000, 0.990000, 1.010000, 1.030000, 1.060000, 1.070000, 1.510000, 1.540000, 1.590000, 1.640000, 1.680000, 1.720000, 5.650000, 4.050000, 5.550000, 5.510000, 5.470000, 5.440000, 5.400000, 5.370000, 5.330000, 5.300000, 5.260000, 4.830000, 4.560000, 4.550000, 4.530000, 4.510000, 4.510000, 5.040000, 5.080000, 5.060000, 5.060000, 5.220000, 5.210000, 5.200000, 5.200000, 5.190000, 5.190000, 5.190000, 4.000000, 4.270000, 5.190000, 5.190000, 5.060000, 4.460000, 4.440000, 4.430000, 4.450000, 4.490000, 4.660000, 5.140000, 5.160000, 5.180000, 5.210000, null, 5.280000, 3.910000, 3.870000, 3.900000, 5.410000, 1.560000, 1.500000, 1.460000, 1.430000, 0.990000, 0.960000, 0.920000, 0.890000, 0.860000, 0.820000, 0.790000, 0.750000, 0.770000, 0.770000, 0.770000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 1.000000, 1.030000, 1.050000, 1.070000, 1.100000, 1.130000, 1.160000, 1.190000, 1.230000, 1.280000, 1.310000, 1.350000, 1.400000, 1.460000, 1.500000, 1.570000, 1.640000, 1.700000, 1.790000, 1.860000, 1.960000, 2.050000, 2.170000, 2.290000, 2.430000, 2.600000, 2.800000, 3.040000, 3.260000, 3.560000, 3.930000, 4.400000, 4.960000, 6.420000, 6.380000, 6.370000, 6.360000, 6.350000, 6.350000, 6.350000 ], "valid": [ 0, 0, 0, 0, 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, 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": [ 976054751, 499935 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.685000, 6.446000, 0.667404 ], "estimate": [ 5.685000, 6.446000, 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": [ null, null, null, null, null, null, 4.910000, 4.340000, 3.840000, 3.450000, 3.180000, 2.900000, 2.680000, 2.480000, 2.310000, 2.180000, 2.050000, 1.960000, 1.850000, 1.760000, 1.680000, 1.590000, 1.520000, 1.460000, 1.410000, 1.350000, 1.310000, 1.260000, 1.200000, 1.170000, 1.130000, 1.090000, 1.060000, 1.040000, 1.020000, 0.980000, 0.960000, 0.930000, 0.920000, 0.890000, 0.880000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.870000, 0.900000, 0.910000, 0.940000, 0.960000, 0.980000, 1.010000, 1.030000, 1.090000, 1.460000, 1.500000, 1.540000, 1.580000, 1.630000, 1.670000, 5.660000, 5.620000, 4.010000, 5.510000, 5.470000, 5.440000, 5.400000, 5.350000, 5.330000, 5.290000, 5.250000, 5.220000, 4.640000, 4.520000, 4.510000, 4.480000, 4.460000, 4.460000, 5.010000, 5.040000, 5.010000, 5.010000, 5.170000, 5.160000, 5.160000, 5.150000, 5.150000, 5.150000, 5.150000, 3.960000, 4.150000, 5.160000, 5.150000, 5.030000, 4.410000, 4.410000, 4.390000, 4.410000, 4.430000, 4.510000, 5.100000, 5.120000, 5.150000, 5.160000, 3.770000, 5.250000, 5.260000, 3.820000, 3.820000, 3.890000, 1.540000, 1.490000, 1.450000, 1.420000, 1.380000, 0.950000, 0.920000, 0.900000, 0.870000, 0.830000, 0.820000, 0.770000, 0.750000, 0.720000, 0.730000, 0.730000, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.860000, 0.880000, 0.890000, 0.910000, 0.930000, 0.940000, 0.970000, 1.000000, 1.030000, 1.050000, 1.080000, 1.100000, 1.140000, 1.190000, 1.220000, 1.270000, 1.310000, 1.350000, 1.410000, 1.470000, 1.520000, 1.600000, 1.680000, 1.740000, 1.840000, 1.910000, 2.020000, 2.140000, 2.270000, 2.420000, 2.610000, 2.820000, 3.070000, 3.340000, 3.660000, 4.110000, 4.620000, 6.480000, 6.390000, 6.370000, 6.370000, 6.350000, 6.350000, 6.350000 ], "valid": [ 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054751, 943781 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.739000, 6.489000, 0.661259 ], "estimate": [ 5.739000, 6.489000, 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": [ null, null, null, null, null, 5.050000, 4.330000, 3.820000, 3.400000, 3.110000, 2.790000, 2.550000, 2.360000, 2.190000, 2.050000, 1.920000, 1.830000, 1.720000, 1.630000, 1.540000, 1.470000, 1.400000, 1.340000, 1.300000, 1.240000, 1.190000, 1.140000, 1.090000, 1.060000, 1.020000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.860000, 0.840000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.800000, 0.810000, 0.840000, 0.860000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 0.990000, 1.200000, 1.390000, 1.430000, 1.460000, 1.490000, 1.540000, 1.570000, 1.630000, 5.650000, 5.580000, 3.950000, 3.950000, 5.430000, 5.400000, 5.360000, 5.320000, 5.280000, 5.250000, 5.210000, 5.170000, 5.150000, 4.460000, 4.440000, 4.420000, 4.400000, 4.380000, 4.370000, 4.970000, 4.960000, 4.950000, 4.940000, 5.100000, 5.090000, 5.080000, 5.080000, 5.080000, 5.080000, 5.080000, 3.880000, 4.010000, 5.090000, 5.090000, 4.970000, 4.340000, 4.350000, 4.310000, 4.340000, 4.350000, 4.390000, 5.020000, 5.050000, 5.070000, 5.090000, 5.120000, 5.170000, 5.170000, 3.830000, 3.770000, 3.870000, 4.620000, 1.490000, 1.430000, 1.400000, 1.360000, 1.330000, 1.310000, 0.900000, 0.850000, 0.830000, 0.810000, 0.790000, 0.760000, 0.760000, 0.720000, 0.700000, 0.680000, 0.670000, 0.690000, 0.670000, 0.700000, 0.710000, 0.730000, 0.730000, 0.750000, 0.750000, 0.770000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.880000, 0.910000, 0.930000, 0.960000, 0.970000, 1.010000, 1.050000, 1.070000, 1.110000, 1.150000, 1.200000, 1.240000, 1.300000, 1.340000, 1.400000, 1.470000, 1.540000, 1.620000, 1.700000, 1.790000, 1.890000, 2.010000, 2.150000, 2.300000, 2.490000, 2.700000, 2.970000, 3.260000, 3.610000, 4.110000, 4.690000, 6.420000, 6.380000, 6.370000, 6.360000, 6.360000, 6.350000 ], "valid": [ 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054751, 944923 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.790000, 6.528000, 0.648968 ], "estimate": [ 5.790000, 6.528000, 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": [ null, null, null, null, 5.370000, 4.460000, 3.860000, 3.380000, 3.040000, 2.700000, 2.450000, 2.240000, 2.080000, 1.950000, 1.820000, 1.700000, 1.600000, 1.500000, 1.430000, 1.350000, 1.300000, 1.230000, 1.170000, 1.110000, 1.060000, 1.040000, 0.990000, 0.950000, 0.930000, 0.900000, 0.870000, 0.840000, 0.820000, 0.780000, 0.780000, 0.750000, 0.750000, 0.740000, 0.760000, 0.760000, 0.780000, 0.800000, 0.820000, 0.830000, 0.830000, 0.860000, 0.870000, 0.900000, 0.920000, 0.940000, 1.310000, 1.340000, 1.360000, 1.400000, 1.430000, 1.470000, 1.500000, 1.530000, 1.570000, 5.630000, 5.570000, 5.510000, 3.890000, 5.390000, 5.370000, 5.330000, 5.290000, 5.250000, 5.210000, 5.180000, 5.150000, 5.110000, 5.080000, 4.400000, 4.370000, 4.360000, 4.350000, 4.330000, 4.350000, 4.910000, 4.900000, 4.900000, 4.880000, 5.030000, 5.030000, 5.020000, 5.010000, 5.010000, 5.000000, 5.010000, 3.820000, 3.870000, 5.010000, 5.020000, 4.930000, 4.290000, 4.300000, 4.260000, 4.270000, 4.300000, 4.320000, 4.960000, 4.980000, 5.010000, 5.030000, 5.050000, 5.090000, 5.110000, 3.820000, 3.790000, 5.210000, 4.460000, 5.280000, 5.320000, 1.380000, 1.350000, 1.310000, 1.290000, 1.270000, 1.240000, 0.840000, 0.820000, 0.790000, 0.760000, 0.750000, 0.730000, 0.710000, 0.700000, 0.680000, 0.660000, 0.640000, 0.610000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.680000, 0.690000, 0.710000, 0.720000, 0.730000, 0.760000, 0.770000, 0.790000, 0.810000, 0.830000, 0.850000, 0.890000, 0.920000, 0.940000, 0.980000, 1.010000, 1.050000, 1.080000, 1.130000, 1.180000, 1.230000, 1.290000, 1.350000, 1.420000, 1.510000, 1.590000, 1.670000, 1.770000, 1.880000, 2.020000, 2.190000, 2.370000, 2.580000, 2.880000, 3.190000, 3.580000, 4.160000, 4.840000, 6.380000, 6.370000, 6.360000, 6.360000, 6.360000 ], "valid": [ 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054752, 303629 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.833000, 6.560000, 0.642822 ], "estimate": [ 5.833000, 6.560000, 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": [ null, null, null, null, 5.030000, 4.180000, 3.530000, 3.110000, 2.720000, 2.420000, 2.210000, 2.020000, 1.890000, 1.730000, 1.610000, 1.500000, 1.400000, 1.330000, 1.250000, 1.190000, 1.110000, 1.060000, 1.020000, 0.970000, 0.930000, 0.900000, 0.860000, 0.830000, 0.800000, 0.780000, 0.760000, 0.730000, 0.700000, 0.690000, 0.690000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.830000, 0.830000, 0.850000, 0.870000, 0.890000, 1.240000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.410000, 1.440000, 1.470000, 1.510000, 5.640000, 5.580000, 5.510000, 5.460000, 3.830000, 5.330000, 5.330000, 5.280000, 5.240000, 5.190000, 5.160000, 5.130000, 5.090000, 5.050000, 5.020000, 4.350000, 4.320000, 4.300000, 4.280000, 4.270000, 4.260000, 4.810000, 4.840000, 4.840000, 4.820000, 4.850000, 4.970000, 4.960000, 4.950000, 4.950000, 4.940000, 4.950000, 4.660000, 3.760000, 4.950000, 4.960000, 4.960000, 4.800000, 4.220000, 4.180000, 4.190000, 4.220000, 4.250000, 4.380000, 4.910000, 4.920000, 4.950000, 4.980000, 5.010000, 5.030000, 5.060000, 3.720000, 3.730000, 5.160000, 4.540000, 5.230000, 5.270000, 1.340000, 1.320000, 1.290000, 1.260000, 1.230000, 1.210000, 1.170000, 1.160000, 0.780000, 0.760000, 0.740000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.640000, 0.640000, 0.610000, 0.600000, 0.590000, 0.580000, 0.600000, 0.590000, 0.610000, 0.610000, 0.620000, 0.640000, 0.660000, 0.680000, 0.680000, 0.710000, 0.730000, 0.760000, 0.780000, 0.800000, 0.820000, 0.860000, 0.890000, 0.920000, 0.960000, 1.000000, 1.050000, 1.090000, 1.140000, 1.200000, 1.270000, 1.340000, 1.410000, 1.500000, 1.610000, 1.730000, 1.840000, 1.980000, 2.170000, 2.380000, 2.640000, 3.010000, 3.370000, 3.920000, 4.690000, 6.380000, 6.360000, 6.360000, 6.360000 ], "valid": [ 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054752, 610268 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.873000, 6.590000, 0.642822 ], "estimate": [ 5.873000, 6.590000, 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": [ null, null, null, 5.200000, 4.250000, 3.470000, 3.050000, 2.620000, 2.300000, 2.080000, 1.920000, 1.750000, 1.610000, 1.490000, 1.380000, 1.290000, 1.220000, 1.140000, 1.070000, 1.020000, 0.980000, 0.930000, 0.880000, 0.850000, 0.820000, 0.780000, 0.760000, 0.730000, 0.700000, 0.700000, 0.680000, 0.680000, 0.700000, 0.700000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.770000, 0.790000, 0.800000, 0.820000, 0.830000, 0.830000, 1.010000, 1.210000, 1.230000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.390000, 1.420000, 1.460000, 1.490000, 5.630000, 5.560000, 5.500000, 5.440000, 3.800000, 3.790000, 5.300000, 5.260000, 5.210000, 5.170000, 5.140000, 5.110000, 5.060000, 5.030000, 5.000000, 4.960000, 4.300000, 4.270000, 4.260000, 4.240000, 4.230000, 4.520000, 4.820000, 4.800000, 4.780000, 4.780000, 4.930000, 4.920000, 4.910000, 4.910000, 4.900000, 4.900000, 4.900000, 3.710000, 3.720000, 4.910000, 4.910000, 4.920000, 4.530000, 4.170000, 4.160000, 4.170000, 4.180000, 4.210000, 4.830000, 4.870000, 4.880000, 4.910000, 4.930000, 4.960000, 5.000000, 5.010000, 3.660000, 5.100000, 5.120000, 4.340000, 5.190000, 5.230000, 5.280000, 1.300000, 1.270000, 1.240000, 1.220000, 1.180000, 1.160000, 1.140000, 1.120000, 0.820000, 0.730000, 0.720000, 0.710000, 0.680000, 0.670000, 0.660000, 0.640000, 0.630000, 0.620000, 0.610000, 0.590000, 0.580000, 0.580000, 0.560000, 0.560000, 0.570000, 0.560000, 0.570000, 0.590000, 0.600000, 0.620000, 0.630000, 0.650000, 0.670000, 0.700000, 0.710000, 0.730000, 0.770000, 0.780000, 0.820000, 0.850000, 0.890000, 0.930000, 0.970000, 1.030000, 1.080000, 1.140000, 1.200000, 1.290000, 1.360000, 1.460000, 1.560000, 1.670000, 1.820000, 1.980000, 2.190000, 2.430000, 2.770000, 3.170000, 3.680000, 4.480000, 6.380000, 6.360000, 6.360000, 6.360000 ], "valid": [ 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054752, 611328 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.918000, 6.623000, 0.630531 ], "estimate": [ 5.918000, 6.623000, 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": [ null, null, null, 4.340000, 3.450000, 2.900000, 2.470000, 2.170000, 1.950000, 1.770000, 1.600000, 1.460000, 1.340000, 1.240000, 1.160000, 1.070000, 1.020000, 0.950000, 0.900000, 0.860000, 0.820000, 0.770000, 0.740000, 0.710000, 0.690000, 0.660000, 0.660000, 0.640000, 0.680000, 0.680000, 0.680000, 0.700000, 0.710000, 0.710000, 0.720000, 0.740000, 0.740000, 0.750000, 0.770000, 0.770000, 0.780000, 0.810000, 0.860000, 1.150000, 1.180000, 1.190000, 1.210000, 1.240000, 1.250000, 1.290000, 1.310000, 1.330000, 1.360000, 1.390000, 1.430000, 1.450000, 3.570000, 5.540000, 5.490000, 5.430000, 5.390000, 3.750000, 5.240000, 5.230000, 5.180000, 5.160000, 5.110000, 5.070000, 5.050000, 5.000000, 4.960000, 4.930000, 4.270000, 4.230000, 4.210000, 4.210000, 4.190000, 4.180000, 4.620000, 4.750000, 4.750000, 4.730000, 4.730000, 4.870000, 4.860000, 4.850000, 4.850000, 4.840000, 4.840000, 4.840000, 3.660000, 3.740000, 4.840000, 4.850000, 4.840000, 4.200000, 4.120000, 4.110000, 4.100000, 4.130000, 4.160000, 4.790000, 4.810000, 4.830000, 4.860000, 4.880000, 4.910000, 4.930000, 4.970000, 3.620000, 3.630000, 5.070000, 4.700000, 5.140000, 5.180000, 5.230000, 1.250000, 1.250000, 1.230000, 1.180000, 1.170000, 1.140000, 1.120000, 1.090000, 1.080000, 1.050000, 1.040000, 0.700000, 0.690000, 0.670000, 0.660000, 0.630000, 0.630000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.560000, 0.560000, 0.550000, 0.510000, 0.550000, 0.530000, 0.530000, 0.550000, 0.570000, 0.580000, 0.600000, 0.610000, 0.630000, 0.670000, 0.690000, 0.700000, 0.740000, 0.760000, 0.790000, 0.840000, 0.880000, 0.930000, 0.970000, 1.040000, 1.090000, 1.160000, 1.250000, 1.340000, 1.450000, 1.590000, 1.720000, 1.900000, 2.120000, 2.400000, 2.780000, 3.270000, 3.960000, 5.020000, 6.360000, 6.360000, 6.360000 ], "valid": [ 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054752, 626150 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.969000, 6.660000, 0.630531 ], "estimate": [ 5.969000, 6.660000, 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": [ null, null, 4.470000, 3.420000, 2.780000, 2.300000, 2.000000, 1.780000, 1.570000, 1.400000, 1.280000, 1.170000, 1.070000, 0.990000, 0.930000, 0.870000, 0.820000, 0.770000, 0.730000, 0.690000, 0.660000, 0.630000, 0.630000, 0.620000, 0.650000, 0.650000, 0.670000, 0.670000, 0.680000, 0.680000, 0.700000, 0.700000, 0.710000, 0.730000, 0.720000, 0.740000, 0.750000, 0.760000, 0.760000, 0.820000, 1.100000, 1.110000, 1.130000, 1.150000, 1.180000, 1.190000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.330000, 1.360000, 1.370000, 1.410000, 3.550000, 5.540000, 5.480000, 5.420000, 5.350000, 3.700000, 3.710000, 5.210000, 5.170000, 5.130000, 5.080000, 5.040000, 5.010000, 4.970000, 4.930000, 4.900000, 4.880000, 4.190000, 4.180000, 4.160000, 4.140000, 4.120000, 4.100000, 4.620000, 4.690000, 4.680000, 4.660000, 4.660000, 4.820000, 4.810000, 4.800000, 4.800000, 4.790000, 4.790000, 4.790000, 3.610000, 3.820000, 4.800000, 4.800000, 4.720000, 4.070000, 4.060000, 4.050000, 4.040000, 4.080000, 4.110000, 4.730000, 4.750000, 4.780000, 4.800000, 4.830000, 4.860000, 4.880000, 4.910000, 3.570000, 3.580000, 5.010000, 4.250000, 5.080000, 5.130000, 5.170000, 5.210000, 5.260000, 1.170000, 1.180000, 1.160000, 1.120000, 1.100000, 1.080000, 1.060000, 1.040000, 1.030000, 1.010000, 0.990000, 0.740000, 0.650000, 0.630000, 0.630000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.480000, 0.500000, 0.490000, 0.510000, 0.520000, 0.550000, 0.560000, 0.590000, 0.600000, 0.630000, 0.660000, 0.690000, 0.720000, 0.760000, 0.810000, 0.850000, 0.910000, 0.970000, 1.030000, 1.110000, 1.200000, 1.320000, 1.440000, 1.620000, 1.780000, 2.010000, 2.330000, 2.780000, 3.360000, 4.350000, 6.360000, 6.360000, 6.360000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054753, 101927 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.020000, 6.697000, 0.630531 ], "estimate": [ 6.020000, 6.697000, 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": [ null, 4.110000, 3.050000, 2.280000, 1.910000, 1.610000, 1.370000, 1.210000, 1.070000, 0.980000, 0.880000, 0.820000, 0.760000, 0.700000, 0.660000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.620000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.710000, 0.720000, 0.730000, 0.860000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.180000, 1.210000, 1.240000, 1.260000, 1.290000, 1.320000, 1.340000, 1.330000, 3.500000, 3.490000, 5.460000, 5.440000, 5.370000, 5.320000, 3.650000, 3.650000, 5.140000, 5.130000, 5.080000, 5.030000, 5.000000, 4.950000, 4.940000, 4.880000, 4.850000, 4.820000, 4.170000, 4.120000, 4.100000, 4.090000, 4.060000, 4.030000, 4.380000, 4.640000, 4.620000, 4.610000, 4.600000, 4.750000, 4.740000, 4.730000, 4.730000, 4.720000, 4.720000, 4.730000, 4.450000, 3.530000, 4.730000, 4.730000, 4.730000, 4.610000, 3.990000, 4.000000, 3.970000, 3.980000, 4.020000, 4.040000, 4.660000, 4.700000, 4.720000, 4.740000, 4.760000, 4.790000, 4.820000, 4.860000, 3.510000, 3.530000, 4.950000, 4.180000, 5.020000, 5.070000, 5.110000, 5.160000, 5.200000, 5.250000, 1.140000, 1.130000, 1.090000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.940000, 0.930000, 0.920000, 0.910000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.470000, 0.460000, 0.460000, 0.510000, 0.530000, 0.550000, 0.570000, 0.600000, 0.640000, 0.670000, 0.730000, 0.770000, 0.830000, 0.910000, 1.000000, 1.090000, 1.220000, 1.370000, 1.590000, 1.820000, 2.170000, 2.710000, 3.530000, 5.080000, 6.360000, 6.360000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054753, 103031 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.064000, 6.729000, 0.618240 ], "estimate": [ 6.064000, 6.729000, 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": [ 4.110000, 2.640000, 1.970000, 1.530000, 1.250000, 1.060000, 0.930000, 0.820000, 0.750000, 0.670000, 0.610000, 0.620000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.710000, 0.770000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.150000, 1.150000, 1.180000, 1.190000, 1.220000, 1.250000, 1.280000, 1.300000, 1.300000, 3.740000, 3.460000, 3.430000, 5.350000, 5.420000, 5.360000, 5.300000, 5.240000, 3.600000, 5.090000, 5.090000, 5.050000, 5.010000, 4.970000, 4.920000, 4.880000, 4.850000, 4.810000, 4.780000, 4.750000, 4.080000, 4.060000, 4.050000, 4.030000, 4.010000, 3.980000, 4.480000, 4.570000, 4.560000, 4.550000, 4.550000, 4.690000, 4.680000, 4.680000, 4.680000, 4.680000, 4.670000, 4.670000, 3.720000, 3.490000, 4.670000, 4.670000, 4.680000, 4.540000, 3.940000, 3.950000, 3.930000, 3.950000, 3.970000, 3.990000, 4.630000, 4.650000, 4.660000, 4.690000, 4.720000, 4.740000, 4.770000, 4.800000, 3.470000, 3.470000, 4.900000, 4.140000, 4.970000, 5.010000, 5.060000, 5.110000, 5.160000, 5.200000, 5.260000, 1.070000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.660000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 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, 0.470000, 0.460000, 0.420000, 0.420000, 0.440000, 0.460000, 0.510000, 0.550000, 0.580000, 0.610000, 0.660000, 0.720000, 0.800000, 0.900000, 1.030000, 1.170000, 1.380000, 1.710000, 2.080000, 2.890000, 4.370000, 6.360000, 6.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054753, 335294 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.107000, 6.759000, 0.618240 ], "estimate": [ 6.107000, 6.759000, 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": [ 2.150000, 1.410000, 1.030000, 0.820000, 0.690000, 0.620000, 0.610000, 0.590000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.690000, 0.720000, 0.930000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.080000, 1.080000, 1.100000, 1.120000, 1.150000, 1.160000, 1.190000, 1.200000, 1.230000, 1.250000, 1.240000, 3.580000, 3.660000, 3.440000, 3.400000, 3.390000, 5.360000, 5.350000, 5.300000, 5.230000, 3.550000, 3.560000, 5.050000, 5.030000, 4.990000, 4.940000, 4.900000, 4.870000, 4.850000, 4.790000, 4.750000, 4.730000, 4.210000, 4.020000, 4.000000, 3.980000, 3.960000, 3.950000, 4.000000, 4.490000, 4.520000, 4.510000, 4.490000, 4.490000, 4.650000, 4.640000, 4.630000, 4.620000, 4.620000, 4.620000, 4.620000, 3.450000, 3.440000, 4.630000, 4.630000, 4.630000, 4.490000, 3.900000, 3.890000, 3.860000, 3.890000, 3.910000, 3.950000, 4.570000, 4.580000, 4.610000, 4.630000, 4.650000, 4.690000, 4.730000, 4.750000, 4.790000, 3.400000, 4.850000, 4.870000, 4.440000, 4.960000, 5.010000, 5.050000, 5.100000, 5.150000, 5.200000, 5.250000, 1.050000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.890000, 0.870000, 0.850000, 0.850000, 0.830000, 0.840000, 0.820000, 0.820000, 0.660000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.470000, 0.440000, 0.510000, 0.560000, 0.620000, 0.710000, 0.820000, 1.010000, 1.300000, 1.770000, 2.790000, 6.360000, 6.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054754, 284520 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.155000, 6.793000, 0.618240 ], "estimate": [ 6.155000, 6.793000, 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": [ 0.630000, 0.590000, 0.590000, 0.600000, 0.600000, 0.580000, 0.590000, 0.600000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.650000, 0.660000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.210000, 3.500000, 3.590000, 3.680000, 3.370000, 3.370000, 3.460000, 5.340000, 5.290000, 5.240000, 5.170000, 3.520000, 5.050000, 5.010000, 4.970000, 4.920000, 4.890000, 4.840000, 4.800000, 4.770000, 4.730000, 4.700000, 4.660000, 3.990000, 3.960000, 3.940000, 3.940000, 3.900000, 3.870000, 4.180000, 4.480000, 4.470000, 4.450000, 4.440000, 4.480000, 4.590000, 4.590000, 4.590000, 4.580000, 4.580000, 4.570000, 4.580000, 3.380000, 3.390000, 4.580000, 4.590000, 4.590000, 4.440000, 3.850000, 3.850000, 3.820000, 3.850000, 3.880000, 3.890000, 4.520000, 4.540000, 4.560000, 4.580000, 4.620000, 4.640000, 4.690000, 4.710000, 4.740000, 3.370000, 3.310000, 4.850000, 4.040000, 4.910000, 4.950000, 5.000000, 5.050000, 5.090000, 5.150000, 5.200000, 5.260000, 5.170000, 1.010000, 0.990000, 0.980000, 0.950000, 0.940000, 0.920000, 0.910000, 0.910000, 0.890000, 0.870000, 0.850000, 0.850000, 0.840000, 0.830000, 0.830000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.740000, 0.530000, 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, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.440000, 0.450000, 0.420000, 0.420000, 0.410000, 0.420000, 0.430000, 0.400000, 0.440000, 0.580000, 0.750000, 1.190000, 3.230000, 6.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054754, 285711 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.206000, 6.829000, 0.605949 ], "estimate": [ 6.206000, 6.829000, 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": [ 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.600000, 0.590000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.770000, 0.880000, 0.880000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.180000, 3.340000, 3.400000, 3.480000, 3.550000, 3.830000, 3.320000, 3.320000, 3.400000, 5.310000, 5.250000, 5.170000, 5.140000, 3.460000, 4.980000, 4.930000, 4.920000, 4.880000, 4.840000, 4.790000, 4.750000, 4.730000, 4.680000, 4.650000, 4.610000, 4.050000, 3.910000, 3.890000, 3.860000, 3.860000, 3.840000, 3.850000, 4.330000, 4.410000, 4.400000, 4.380000, 4.380000, 4.540000, 4.530000, 4.510000, 4.500000, 4.500000, 4.500000, 4.500000, 4.250000, 3.320000, 4.500000, 4.510000, 4.520000, 4.510000, 4.350000, 3.780000, 3.770000, 3.760000, 3.800000, 3.810000, 3.840000, 4.470000, 4.490000, 4.500000, 4.520000, 4.560000, 4.580000, 4.610000, 4.640000, 4.680000, 3.300000, 4.750000, 4.780000, 4.180000, 4.860000, 4.910000, 4.950000, 5.000000, 5.040000, 5.100000, 5.160000, 5.220000, 5.130000, 4.990000, 0.960000, 0.940000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.630000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.460000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.430000, 0.440000, 0.430000, 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": [ 976054754, 286677 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.255000, 6.863000, 0.612094 ], "estimate": [ 6.255000, 6.863000, 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": [ 0.600000, 0.590000, 0.600000, 0.600000, 0.610000, 0.600000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.640000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.050000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.100000, 3.250000, 3.310000, 3.370000, 3.450000, 3.520000, 3.320000, 3.260000, 3.260000, 5.140000, 5.260000, 5.190000, 5.130000, 3.430000, 3.390000, 4.920000, 4.880000, 4.880000, 4.830000, 4.780000, 4.740000, 4.700000, 4.690000, 4.630000, 4.590000, 4.560000, 4.130000, 3.860000, 3.840000, 3.820000, 3.800000, 3.790000, 3.770000, 4.230000, 4.360000, 4.340000, 4.320000, 4.320000, 4.480000, 4.470000, 4.470000, 4.460000, 4.450000, 4.450000, 4.450000, 4.440000, 3.260000, 3.270000, 4.450000, 4.460000, 4.460000, 4.310000, 3.720000, 3.720000, 3.700000, 3.700000, 3.730000, 3.770000, 3.920000, 4.420000, 4.430000, 4.460000, 4.490000, 4.510000, 4.540000, 4.580000, 4.600000, 4.630000, 3.240000, 4.710000, 3.990000, 4.760000, 4.830000, 4.870000, 4.910000, 4.960000, 5.010000, 5.070000, 5.130000, 5.160000, 5.040000, 4.910000, 4.720000, 3.430000, 0.890000, 0.910000, 0.890000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.560000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.430000, 0.420000, 0.420000, 0.420000, 0.430000, 0.440000, 0.440000, 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": [ 976054754, 287714 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.301000, 6.895000, 0.612094 ], "estimate": [ 6.301000, 6.895000, 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": [ 0.600000, 0.600000, 0.590000, 0.600000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.730000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 3.000000, 3.130000, 3.190000, 3.250000, 3.310000, 3.360000, 3.450000, 3.520000, 3.230000, 3.190000, 5.000000, 5.130000, 5.180000, 5.130000, 5.080000, 3.350000, 3.360000, 4.790000, 4.860000, 4.800000, 4.760000, 4.730000, 4.680000, 4.640000, 4.620000, 4.570000, 4.530000, 4.500000, 3.860000, 3.790000, 3.770000, 3.760000, 3.740000, 3.730000, 3.700000, 4.160000, 4.290000, 4.270000, 4.270000, 4.260000, 4.420000, 4.400000, 4.400000, 4.390000, 4.390000, 4.380000, 4.380000, 4.380000, 3.210000, 3.210000, 4.390000, 4.390000, 4.400000, 4.280000, 3.670000, 3.670000, 3.640000, 3.660000, 3.680000, 3.710000, 3.730000, 4.360000, 4.380000, 4.400000, 4.410000, 4.440000, 4.470000, 4.500000, 4.520000, 4.580000, 3.180000, 3.210000, 4.660000, 3.880000, 4.750000, 4.800000, 4.840000, 4.890000, 4.940000, 4.990000, 5.050000, 5.110000, 5.060000, 4.930000, 4.810000, 3.600000, 3.370000, 3.270000, 0.910000, 0.840000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.660000, 0.660000, 0.660000, 0.640000, 0.640000, 0.650000, 0.640000, 0.450000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.440000, 0.440000, 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": [ 976054754, 288643 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.346000, 6.926000, 0.612094 ], "estimate": [ 6.346000, 6.926000, 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": [ 0.610000, 0.600000, 0.590000, 0.590000, 0.610000, 0.820000, 0.820000, 0.820000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.960000, 0.960000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.160000, 2.830000, 3.080000, 3.120000, 3.190000, 3.240000, 3.290000, 3.380000, 3.450000, 3.230000, 3.180000, 3.190000, 5.000000, 5.120000, 5.140000, 5.080000, 5.010000, 3.300000, 4.900000, 4.820000, 4.790000, 4.750000, 4.710000, 4.660000, 4.610000, 4.580000, 4.560000, 4.510000, 4.490000, 4.450000, 3.770000, 3.740000, 3.730000, 3.710000, 3.700000, 3.680000, 3.730000, 4.150000, 4.250000, 4.230000, 4.220000, 4.210000, 4.360000, 4.360000, 4.350000, 4.350000, 4.350000, 4.340000, 4.340000, 4.340000, 3.230000, 3.150000, 4.350000, 4.350000, 4.350000, 4.230000, 3.650000, 3.620000, 3.610000, 3.590000, 3.640000, 3.620000, 3.670000, 4.300000, 4.330000, 4.350000, 4.360000, 4.390000, 4.400000, 4.440000, 4.490000, 4.510000, 3.170000, 3.160000, 4.620000, 3.820000, 4.690000, 4.740000, 4.780000, 4.830000, 4.880000, 4.930000, 4.980000, 5.040000, 5.050000, 4.930000, 4.830000, 4.630000, 3.370000, 3.300000, 3.260000, 3.190000, 3.130000, 0.830000, 0.820000, 0.810000, 0.810000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.730000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 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, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.520000, 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": [ 976054754, 427006 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.392000, 6.958000, 0.605949 ], "estimate": [ 6.392000, 6.958000, 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": [ 0.660000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.120000, 2.520000, 2.520000, 3.030000, 3.060000, 3.110000, 3.160000, 3.220000, 3.270000, 3.350000, 3.430000, 3.180000, 3.130000, 3.150000, 4.960000, 5.080000, 5.090000, 5.020000, 3.310000, 3.260000, 4.860000, 4.760000, 4.750000, 4.700000, 4.660000, 4.610000, 4.570000, 4.530000, 4.520000, 4.470000, 4.430000, 4.400000, 3.720000, 3.690000, 3.690000, 3.660000, 3.640000, 3.630000, 3.590000, 4.040000, 4.200000, 4.180000, 4.160000, 4.160000, 4.290000, 4.310000, 4.300000, 4.290000, 4.300000, 4.290000, 4.280000, 4.280000, 4.020000, 3.100000, 3.180000, 4.290000, 4.300000, 4.300000, 4.150000, 3.570000, 3.560000, 3.540000, 3.540000, 3.580000, 3.600000, 3.680000, 4.260000, 4.270000, 4.300000, 4.320000, 4.340000, 4.380000, 4.400000, 4.430000, 4.470000, 3.100000, 3.110000, 4.580000, 3.870000, 4.650000, 4.700000, 4.750000, 4.790000, 4.850000, 4.900000, 4.950000, 5.000000, 4.990000, 4.860000, 4.750000, 4.640000, 3.320000, 3.260000, 3.220000, 3.140000, 3.090000, 3.030000, 2.980000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.660000, 0.650000, 0.640000, 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": [ 976054754, 742972 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.442000, 6.993000, 0.599803 ], "estimate": [ 6.442000, 6.993000, 0.599803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 0.980000, 1.050000, 2.530000, 2.520000, 2.490000, 2.930000, 3.010000, 3.050000, 3.100000, 3.140000, 3.200000, 3.270000, 3.330000, 3.390000, 3.100000, 3.090000, 4.820000, 4.910000, 5.030000, 5.040000, 4.970000, 3.220000, 3.220000, 4.810000, 4.710000, 4.690000, 4.650000, 4.610000, 4.560000, 4.520000, 4.490000, 4.470000, 4.410000, 4.390000, 4.350000, 3.700000, 3.640000, 3.610000, 3.610000, 3.590000, 3.570000, 3.570000, 3.940000, 4.150000, 4.130000, 4.110000, 4.110000, 4.110000, 4.250000, 4.240000, 4.250000, 4.240000, 4.240000, 4.230000, 4.240000, 4.230000, 3.040000, 3.050000, 4.230000, 4.240000, 4.240000, 4.120000, 3.510000, 3.510000, 3.490000, 3.490000, 3.520000, 3.520000, 3.560000, 4.200000, 4.220000, 4.250000, 4.260000, 4.280000, 4.310000, 4.340000, 4.390000, 4.410000, 4.420000, 3.040000, 2.990000, 3.050000, 3.730000, 4.620000, 4.660000, 4.720000, 4.750000, 4.820000, 4.880000, 4.920000, 4.990000, 4.910000, 4.800000, 4.670000, 4.550000, 3.290000, 3.220000, 3.180000, 3.110000, 3.070000, 3.000000, 2.960000, 2.900000, 2.830000, 0.740000, 0.760000, 0.760000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.650000, 0.650000, 0.660000, 0.650000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.650000, 0.650000, 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": [ 976054754, 934893 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.492000, 7.026000, 0.593658 ], "estimate": [ 6.492000, 7.026000, 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": [ 0.810000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.820000, 0.800000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.950000, 0.930000, 2.420000, 2.470000, 2.500000, 2.480000, 2.490000, 2.890000, 2.950000, 2.970000, 3.010000, 3.080000, 3.120000, 3.170000, 3.230000, 3.290000, 3.360000, 3.050000, 3.030000, 3.140000, 4.870000, 4.980000, 4.990000, 4.940000, 3.160000, 3.170000, 4.750000, 4.660000, 4.650000, 4.600000, 4.560000, 4.510000, 4.480000, 4.430000, 4.410000, 4.360000, 4.330000, 4.290000, 3.810000, 3.580000, 3.560000, 3.560000, 3.530000, 3.520000, 3.480000, 3.750000, 4.050000, 4.070000, 4.060000, 4.050000, 4.040000, 4.190000, 4.200000, 4.190000, 4.190000, 4.180000, 4.180000, 4.180000, 4.170000, 3.890000, 2.980000, 4.160000, 4.190000, 4.190000, 4.190000, 4.030000, 3.450000, 3.440000, 3.440000, 3.420000, 3.460000, 3.490000, 3.510000, 4.140000, 4.160000, 4.180000, 4.210000, 4.230000, 4.250000, 4.270000, 4.350000, 4.350000, 4.380000, 2.990000, 2.930000, 2.970000, 3.680000, 4.570000, 4.610000, 4.660000, 4.720000, 4.770000, 4.830000, 4.890000, 4.930000, 4.860000, 4.730000, 4.620000, 4.510000, 3.260000, 3.200000, 3.110000, 3.100000, 3.030000, 2.990000, 2.930000, 2.880000, 2.850000, 2.790000, 2.750000, 2.730000, 2.700000, 0.710000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.640000, 0.640000, 0.650000, 0.650000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.640000, 0.640000, 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": [ 976054755, 328356 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.538000, 7.057000, 0.587512 ], "estimate": [ 6.538000, 7.057000, 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": [ 0.800000, 0.810000, 0.810000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.810000, 0.810000, 0.790000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.940000, 2.380000, 2.360000, 2.450000, 2.460000, 2.470000, 2.410000, 2.450000, 2.860000, 2.940000, 2.960000, 3.000000, 3.050000, 3.110000, 3.150000, 3.220000, 3.280000, 3.040000, 3.000000, 3.070000, 4.740000, 4.840000, 4.940000, 4.930000, 4.880000, 3.100000, 4.760000, 4.710000, 4.600000, 4.600000, 4.550000, 4.510000, 4.460000, 4.420000, 4.380000, 4.350000, 4.310000, 4.280000, 4.250000, 3.700000, 3.540000, 3.520000, 3.490000, 3.470000, 3.460000, 3.420000, 3.680000, 3.960000, 4.010000, 4.000000, 3.990000, 3.980000, 4.150000, 4.140000, 4.130000, 4.130000, 4.120000, 4.120000, 4.120000, 4.110000, 4.030000, 2.920000, 2.920000, 4.120000, 4.130000, 4.140000, 4.000000, 3.520000, 3.400000, 3.380000, 3.370000, 3.400000, 3.420000, 3.450000, 3.860000, 4.100000, 4.120000, 4.150000, 4.170000, 4.190000, 4.220000, 4.250000, 4.310000, 4.310000, 4.340000, 2.940000, 2.890000, 2.970000, 4.430000, 4.540000, 4.590000, 4.640000, 4.700000, 4.750000, 4.810000, 4.870000, 4.880000, 4.760000, 4.660000, 4.530000, 4.460000, 3.220000, 3.150000, 3.100000, 3.050000, 3.000000, 2.950000, 2.900000, 2.850000, 2.810000, 2.760000, 2.720000, 2.700000, 2.670000, 2.630000, 2.600000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.630000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054755, 329568 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.585000, 7.089000, 0.587512 ], "estimate": [ 6.585000, 7.089000, 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": [ 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.800000, 0.810000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.860000, 0.850000, 0.860000, 0.880000, 0.880000, 0.890000, 0.870000, 2.160000, 2.250000, 2.590000, 2.330000, 2.430000, 2.410000, 2.430000, 2.430000, 2.380000, 2.820000, 2.870000, 2.890000, 2.940000, 2.980000, 3.020000, 3.080000, 3.120000, 3.190000, 3.250000, 2.980000, 2.950000, 2.980000, 3.050000, 4.770000, 4.890000, 4.910000, 4.850000, 3.050000, 4.720000, 4.660000, 4.580000, 4.550000, 4.510000, 4.460000, 4.420000, 4.380000, 4.340000, 4.310000, 4.260000, 4.240000, 4.210000, 4.170000, 3.480000, 3.470000, 3.450000, 3.430000, 3.410000, 3.410000, 3.440000, 3.790000, 3.960000, 3.960000, 3.950000, 3.930000, 3.950000, 4.080000, 4.080000, 4.070000, 4.070000, 4.060000, 4.060000, 4.060000, 4.060000, 3.770000, 2.860000, 4.050000, 4.070000, 4.080000, 4.080000, 3.940000, 3.340000, 3.330000, 3.330000, 3.320000, 3.360000, 3.360000, 3.390000, 4.020000, 4.050000, 4.080000, 4.090000, 4.120000, 4.150000, 4.170000, 4.200000, 4.270000, 4.260000, 4.300000, 2.900000, 2.850000, 2.910000, 4.410000, 4.500000, 4.540000, 4.590000, 4.650000, 4.710000, 4.760000, 4.820000, 4.830000, 4.730000, 4.620000, 4.480000, 4.420000, 3.190000, 3.120000, 3.070000, 3.030000, 2.980000, 2.920000, 2.870000, 2.850000, 2.780000, 2.710000, 2.720000, 2.670000, 2.660000, 2.630000, 2.590000, 2.560000, 2.530000, 2.580000, 2.660000, 0.650000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.610000, 0.600000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.640000, 0.640000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054755, 426799 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.632000, 7.119000, 0.581367 ], "estimate": [ 6.632000, 7.119000, 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": [ 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.800000, 0.800000, 0.810000, 0.800000, 0.800000, 0.800000, 0.780000, 0.780000, 0.780000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.970000, 2.120000, 2.120000, 2.180000, 2.670000, 2.300000, 2.340000, 2.360000, 2.390000, 2.400000, 2.340000, 2.470000, 2.840000, 2.860000, 2.870000, 2.910000, 2.970000, 3.020000, 3.040000, 3.090000, 3.170000, 3.230000, 2.920000, 2.910000, 4.540000, 4.640000, 4.740000, 4.840000, 4.860000, 4.790000, 3.020000, 4.670000, 4.620000, 4.560000, 4.500000, 4.460000, 4.410000, 4.370000, 4.330000, 4.290000, 4.260000, 4.230000, 4.190000, 4.150000, 4.130000, 3.440000, 3.420000, 3.390000, 3.380000, 3.360000, 3.350000, 3.320000, 3.700000, 3.920000, 3.900000, 3.890000, 3.880000, 3.880000, 4.040000, 4.030000, 4.030000, 4.010000, 4.010000, 4.010000, 4.010000, 4.010000, 3.890000, 2.810000, 2.810000, 4.010000, 4.020000, 4.030000, 3.900000, 3.860000, 3.280000, 3.270000, 3.260000, 3.290000, 3.310000, 3.340000, 3.360000, 3.990000, 4.000000, 4.030000, 4.050000, 4.090000, 4.100000, 4.130000, 4.170000, 4.230000, 4.230000, 4.260000, 2.840000, 2.810000, 3.540000, 4.430000, 4.470000, 4.510000, 4.580000, 4.620000, 4.680000, 4.750000, 4.800000, 4.760000, 4.660000, 4.550000, 4.400000, 4.370000, 3.150000, 3.080000, 3.040000, 2.990000, 2.940000, 2.900000, 2.850000, 2.810000, 2.780000, 2.730000, 2.700000, 2.660000, 2.640000, 2.600000, 2.570000, 2.530000, 2.500000, 2.540000, 2.620000, 2.700000, 2.770000, 2.130000, 2.140000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.610000, 0.620000, 0.630000, 0.620000, 0.610000, 0.620000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 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": [ 976054755, 871688 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.683000, 7.152000, 0.569076 ], "estimate": [ 6.683000, 7.152000, 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": [ 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.820000, 0.820000, 0.840000, 0.840000, 0.840000, 0.830000, 2.060000, 2.100000, 2.120000, 2.110000, 2.070000, 2.150000, 2.670000, 2.270000, 2.310000, 2.340000, 2.360000, 2.360000, 2.320000, 2.370000, 2.750000, 2.810000, 2.820000, 2.860000, 2.900000, 2.950000, 2.990000, 3.030000, 3.110000, 3.140000, 3.000000, 2.860000, 2.870000, 2.950000, 4.590000, 4.690000, 4.800000, 4.810000, 2.990000, 2.960000, 4.620000, 4.570000, 4.510000, 4.440000, 4.410000, 4.360000, 4.320000, 4.280000, 4.240000, 4.210000, 4.170000, 4.130000, 4.100000, 4.070000, 3.380000, 3.370000, 3.350000, 3.330000, 3.320000, 3.300000, 3.290000, 3.590000, 3.830000, 3.850000, 3.840000, 3.830000, 3.820000, 3.980000, 3.970000, 3.960000, 3.960000, 3.950000, 3.950000, 3.940000, 3.940000, 3.940000, 3.640000, 2.760000, 3.950000, 3.950000, 3.960000, 3.960000, 3.830000, 3.240000, 3.220000, 3.220000, 3.200000, 3.250000, 3.260000, 3.290000, 3.420000, 3.940000, 3.960000, 3.990000, 4.000000, 4.030000, 4.060000, 4.100000, 4.120000, 4.170000, 4.190000, 4.230000, 2.790000, 2.760000, 3.590000, 4.390000, 4.430000, 4.480000, 4.530000, 4.580000, 4.640000, 4.710000, 4.770000, 4.710000, 4.600000, 4.500000, 4.340000, 4.330000, 3.190000, 3.080000, 3.010000, 2.960000, 2.930000, 2.890000, 2.850000, 2.800000, 2.760000, 2.720000, 2.660000, 2.660000, 2.620000, 2.610000, 2.580000, 2.520000, 2.500000, 2.490000, 2.550000, 2.620000, 2.720000, 2.810000, 2.100000, 2.200000, 3.120000, 3.090000, 3.070000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.610000, 0.630000, 0.630000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 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": [ 976054755, 872853 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.735000, 7.185000, 0.562930 ], "estimate": [ 6.735000, 7.185000, 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": [ 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.800000, 0.800000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.800000, 0.800000, 0.810000, 0.810000, 0.790000, 0.800000, 3.150000, 2.200000, 2.070000, 2.100000, 2.120000, 2.090000, 2.070000, 2.190000, 2.630000, 2.240000, 2.280000, 2.300000, 2.330000, 2.330000, 2.250000, 2.260000, 2.730000, 2.770000, 2.780000, 2.820000, 2.850000, 2.890000, 2.920000, 2.970000, 3.030000, 3.090000, 3.130000, 2.830000, 2.820000, 4.400000, 4.490000, 4.580000, 4.680000, 4.790000, 4.740000, 2.910000, 2.940000, 4.550000, 4.380000, 4.440000, 4.380000, 4.350000, 4.300000, 4.260000, 4.220000, 4.180000, 4.160000, 4.100000, 4.080000, 4.040000, 3.980000, 3.320000, 3.300000, 3.290000, 3.270000, 3.260000, 3.240000, 3.190000, 3.560000, 3.800000, 3.790000, 3.780000, 3.770000, 3.770000, 3.920000, 3.910000, 3.900000, 3.900000, 3.890000, 3.890000, 3.890000, 3.890000, 3.890000, 3.610000, 2.690000, 2.730000, 3.900000, 3.910000, 3.910000, 3.760000, 3.520000, 3.160000, 3.150000, 3.160000, 3.180000, 3.210000, 3.230000, 3.240000, 3.870000, 3.890000, 3.920000, 3.940000, 3.970000, 3.990000, 4.020000, 4.060000, 4.100000, 4.110000, 4.150000, 2.760000, 2.760000, 4.260000, 3.780000, 4.360000, 4.400000, 4.460000, 4.510000, 4.570000, 4.630000, 4.690000, 4.720000, 4.610000, 4.510000, 4.390000, 4.290000, 4.250000, 3.070000, 3.010000, 2.970000, 2.920000, 2.880000, 2.840000, 2.790000, 2.760000, 2.730000, 2.680000, 2.640000, 2.630000, 2.600000, 2.570000, 2.540000, 2.500000, 2.480000, 2.430000, 2.500000, 2.580000, 2.670000, 2.780000, 2.100000, 2.090000, 3.090000, 3.060000, 3.050000, 3.030000, 3.010000, 2.990000, 2.980000, 0.600000, 0.600000, 0.620000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 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": [ 976054756, 265349 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.784000, 7.216000, 0.556785 ], "estimate": [ 6.784000, 7.216000, 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": [ 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.790000, 0.780000, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.800000, 3.070000, 3.080000, 1.980000, 2.160000, 2.000000, 2.060000, 2.070000, 2.110000, 2.060000, 2.040000, 2.040000, 2.630000, 2.310000, 2.190000, 2.270000, 2.240000, 2.220000, 2.280000, 2.190000, 2.350000, 2.710000, 2.730000, 2.750000, 2.780000, 2.830000, 2.860000, 2.890000, 2.940000, 2.990000, 3.050000, 3.110000, 2.810000, 2.830000, 4.350000, 4.420000, 4.510000, 4.620000, 4.720000, 4.700000, 2.870000, 2.890000, 4.510000, 4.300000, 4.320000, 4.320000, 4.300000, 4.260000, 4.220000, 4.170000, 4.130000, 4.090000, 4.060000, 4.020000, 3.990000, 3.960000, 3.270000, 3.250000, 3.240000, 3.220000, 3.200000, 3.190000, 3.170000, 3.360000, 3.610000, 3.740000, 3.720000, 3.710000, 3.700000, 3.710000, 3.850000, 3.840000, 3.840000, 3.830000, 3.820000, 3.820000, 3.820000, 3.820000, 3.820000, 2.810000, 2.630000, 3.820000, 3.830000, 3.840000, 3.850000, 3.710000, 3.110000, 3.090000, 3.090000, 3.110000, 3.130000, 3.130000, 3.160000, 3.180000, 3.820000, 3.830000, 3.860000, 3.880000, 3.910000, 3.930000, 3.960000, 4.000000, 4.030000, 4.060000, 4.090000, 4.130000, 2.680000, 4.210000, 3.420000, 4.300000, 4.350000, 4.400000, 4.450000, 4.500000, 4.570000, 4.630000, 4.680000, 4.570000, 4.480000, 4.390000, 4.280000, 4.220000, 4.150000, 3.000000, 2.960000, 2.880000, 2.870000, 2.830000, 2.780000, 2.740000, 2.710000, 2.670000, 2.640000, 2.580000, 2.590000, 2.560000, 2.520000, 2.510000, 2.470000, 2.450000, 2.410000, 2.480000, 2.550000, 2.660000, 2.760000, 2.420000, 2.070000, 3.060000, 3.050000, 3.030000, 3.000000, 3.000000, 2.980000, 2.970000, 2.960000, 2.940000, 2.930000, 2.920000, 2.910000, 0.600000, 0.610000, 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": [ 976054756, 397883 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.831000, 7.244000, 0.544493 ], "estimate": [ 6.831000, 7.244000, 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": [ 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.770000, 0.790000, 0.790000, 0.790000, 0.780000, 0.770000, 0.780000, 3.050000, 3.050000, 3.060000, 3.070000, 1.960000, 2.000000, 2.110000, 2.010000, 2.050000, 2.080000, 2.040000, 2.030000, 2.010000, 2.620000, 2.300000, 2.170000, 2.250000, 2.210000, 2.180000, 2.250000, 2.160000, 2.240000, 2.640000, 2.710000, 2.700000, 2.750000, 2.770000, 2.820000, 2.860000, 2.890000, 2.910000, 2.980000, 3.040000, 2.780000, 2.790000, 4.260000, 4.340000, 4.400000, 4.500000, 4.600000, 4.700000, 2.840000, 2.820000, 4.510000, 4.450000, 4.210000, 4.350000, 4.300000, 4.250000, 4.210000, 4.160000, 4.120000, 4.080000, 4.040000, 4.000000, 3.970000, 3.930000, 3.900000, 3.220000, 3.190000, 3.170000, 3.150000, 3.140000, 3.130000, 3.130000, 3.310000, 3.570000, 3.680000, 3.670000, 3.670000, 3.660000, 3.660000, 3.810000, 3.790000, 3.790000, 3.780000, 3.770000, 3.770000, 3.770000, 3.770000, 3.770000, 3.490000, 2.580000, 2.610000, 3.780000, 3.790000, 3.790000, 3.660000, 3.600000, 3.050000, 3.050000, 3.050000, 3.060000, 3.090000, 3.070000, 3.140000, 3.740000, 3.780000, 3.800000, 3.830000, 3.850000, 3.870000, 3.910000, 3.940000, 3.960000, 4.010000, 4.030000, 4.070000, 2.660000, 2.660000, 3.330000, 4.240000, 4.280000, 4.330000, 4.380000, 4.430000, 4.500000, 4.560000, 4.620000, 4.590000, 4.490000, 4.400000, 4.260000, 4.230000, 4.160000, 3.340000, 2.970000, 2.910000, 2.850000, 2.840000, 2.790000, 2.750000, 2.720000, 2.670000, 2.650000, 2.610000, 2.560000, 2.560000, 2.530000, 2.510000, 2.480000, 2.450000, 2.430000, 2.410000, 2.440000, 2.520000, 2.630000, 2.730000, 2.850000, 2.070000, 2.070000, 3.040000, 3.010000, 3.000000, 2.990000, 2.970000, 2.950000, 2.950000, 2.930000, 2.920000, 2.920000, 2.920000, 2.910000, 2.900000, 0.890000, 0.690000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054756, 479897 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.880000, 7.274000, 0.544493 ], "estimate": [ 6.880000, 7.274000, 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": [ 0.770000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 3.010000, 3.020000, 3.020000, 3.030000, 3.030000, 3.050000, 2.400000, 2.190000, 2.360000, 2.010000, 2.040000, 2.050000, 2.020000, 2.010000, 2.000000, 2.350000, 2.320000, 2.170000, 2.150000, 2.220000, 2.160000, 2.120000, 2.150000, 2.140000, 2.610000, 2.620000, 2.660000, 2.680000, 2.710000, 2.740000, 2.770000, 2.820000, 2.860000, 2.890000, 2.940000, 2.990000, 2.720000, 2.730000, 4.190000, 4.250000, 4.330000, 4.400000, 4.500000, 4.590000, 4.640000, 2.780000, 4.500000, 4.440000, 4.390000, 4.160000, 4.270000, 4.220000, 4.170000, 4.130000, 4.090000, 4.040000, 4.000000, 3.990000, 3.930000, 3.910000, 3.860000, 3.190000, 3.150000, 3.130000, 3.130000, 3.100000, 3.090000, 3.070000, 3.030000, 3.340000, 3.570000, 3.630000, 3.620000, 3.610000, 3.600000, 3.590000, 3.740000, 3.730000, 3.720000, 3.720000, 3.710000, 3.710000, 3.710000, 3.710000, 3.710000, 3.440000, 2.530000, 2.740000, 3.720000, 3.730000, 3.740000, 3.610000, 3.570000, 3.000000, 2.990000, 2.990000, 3.010000, 3.020000, 3.030000, 3.070000, 3.120000, 3.720000, 3.740000, 3.770000, 3.790000, 3.820000, 3.840000, 3.870000, 3.900000, 3.960000, 3.970000, 4.000000, 4.040000, 2.600000, 4.140000, 3.300000, 4.210000, 4.260000, 4.310000, 4.360000, 4.420000, 4.490000, 4.550000, 4.600000, 4.490000, 4.390000, 4.310000, 4.210000, 4.160000, 4.080000, 2.960000, 2.910000, 2.860000, 2.850000, 2.800000, 2.760000, 2.720000, 2.680000, 2.650000, 2.620000, 2.590000, 2.530000, 2.530000, 2.510000, 2.490000, 2.460000, 2.430000, 2.410000, 2.400000, 2.360000, 2.490000, 2.590000, 2.700000, 2.820000, 2.100000, 2.030000, 3.010000, 3.010000, 2.990000, 2.970000, 2.960000, 2.950000, 2.940000, 2.930000, 2.920000, 2.910000, 2.920000, 2.910000, 2.900000, 2.900000, 2.890000, 2.890000 ], "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": [ 976054757, 524373 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.906000, 7.290000, 0.544493 ], "estimate": [ 6.906000, 7.290000, 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": [ 0.760000, 0.780000, 0.760000, 3.000000, 3.000000, 3.000000, 3.000000, 3.010000, 3.010000, 3.010000, 3.020000, 3.030000, 3.020000, 1.940000, 3.040000, 1.970000, 2.040000, 2.020000, 2.000000, 1.980000, 1.980000, 2.280000, 2.600000, 2.120000, 2.140000, 2.210000, 2.140000, 2.170000, 2.190000, 2.100000, 2.270000, 2.610000, 2.580000, 2.640000, 2.660000, 2.690000, 2.720000, 2.750000, 2.790000, 2.820000, 2.850000, 2.910000, 2.970000, 2.710000, 2.700000, 4.140000, 4.210000, 4.280000, 4.350000, 4.440000, 4.540000, 2.760000, 2.740000, 4.470000, 4.400000, 4.350000, 4.200000, 4.190000, 4.190000, 4.140000, 4.090000, 4.040000, 4.000000, 3.970000, 3.950000, 3.890000, 3.860000, 3.820000, 3.310000, 3.110000, 3.100000, 3.070000, 3.050000, 3.030000, 3.010000, 3.020000, 3.190000, 3.430000, 3.590000, 3.570000, 3.550000, 3.540000, 3.540000, 3.690000, 3.680000, 3.680000, 3.670000, 3.670000, 3.670000, 3.660000, 3.660000, 3.660000, 3.630000, 2.500000, 2.470000, 3.670000, 3.670000, 3.670000, 3.680000, 3.550000, 3.450000, 2.930000, 2.930000, 2.950000, 2.950000, 2.970000, 2.980000, 3.030000, 3.210000, 3.670000, 3.690000, 3.720000, 3.750000, 3.770000, 3.810000, 3.820000, 3.850000, 3.900000, 3.930000, 3.960000, 3.990000, 2.540000, 2.570000, 3.240000, 4.180000, 4.230000, 4.270000, 4.330000, 4.390000, 4.440000, 4.500000, 4.550000, 4.460000, 4.360000, 4.280000, 4.160000, 4.140000, 4.070000, 3.970000, 2.880000, 2.850000, 2.790000, 2.800000, 2.750000, 2.710000, 2.670000, 2.640000, 2.600000, 2.560000, 2.530000, 2.520000, 2.500000, 2.470000, 2.450000, 2.420000, 2.400000, 2.390000, 2.360000, 2.390000, 2.510000, 2.610000, 2.730000, 2.870000, 2.050000, 2.010000, 3.000000, 2.980000, 2.970000, 2.960000, 2.940000, 2.930000, 2.930000, 2.920000, 2.920000, 2.910000, 2.900000, 2.900000, 2.900000, 2.890000, 2.890000 ], "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": [ 976054757, 580180 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.955000, 7.320000, 0.550639 ], "estimate": [ 6.955000, 7.320000, 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": [ 2.990000, 3.000000, 3.000000, 3.000000, 3.000000, 3.000000, 3.000000, 3.000000, 3.010000, 3.010000, 2.260000, 2.130000, 2.360000, 2.010000, 1.990000, 2.020000, 2.000000, 1.980000, 1.990000, 2.230000, 2.370000, 2.130000, 2.120000, 2.180000, 2.090000, 2.100000, 2.170000, 2.070000, 2.100000, 2.570000, 2.590000, 2.610000, 2.610000, 2.650000, 2.670000, 2.710000, 2.740000, 2.770000, 2.810000, 2.870000, 2.930000, 2.690000, 2.660000, 2.640000, 4.110000, 4.190000, 4.260000, 4.340000, 4.420000, 4.510000, 2.690000, 2.700000, 4.410000, 4.350000, 4.290000, 4.070000, 4.180000, 4.130000, 4.080000, 4.040000, 3.990000, 3.950000, 3.910000, 3.890000, 3.840000, 3.810000, 3.770000, 3.140000, 3.060000, 3.040000, 3.020000, 3.010000, 2.980000, 2.970000, 2.970000, 3.120000, 3.350000, 3.520000, 3.510000, 3.500000, 3.500000, 3.480000, 3.640000, 3.640000, 3.620000, 3.620000, 3.610000, 3.610000, 3.600000, 3.600000, 3.600000, 3.600000, 3.320000, 2.420000, 2.570000, 3.610000, 3.620000, 3.630000, 3.520000, 3.490000, 2.900000, 2.880000, 2.890000, 2.900000, 2.910000, 2.930000, 2.960000, 2.980000, 3.610000, 3.630000, 3.650000, 3.670000, 3.710000, 3.730000, 3.760000, 3.790000, 3.820000, 3.870000, 3.890000, 3.930000, 3.970000, 2.490000, 2.530000, 3.450000, 4.140000, 4.200000, 4.240000, 4.300000, 4.360000, 4.420000, 4.490000, 4.480000, 4.380000, 4.300000, 4.230000, 4.120000, 4.080000, 4.000000, 3.940000, 2.870000, 2.830000, 2.790000, 2.750000, 2.710000, 2.680000, 2.650000, 2.610000, 2.600000, 2.560000, 2.530000, 2.470000, 2.490000, 2.460000, 2.430000, 2.410000, 2.400000, 2.390000, 2.360000, 2.330000, 2.420000, 2.560000, 2.680000, 2.820000, 2.950000, 2.030000, 2.020000, 2.970000, 2.960000, 2.940000, 2.930000, 2.930000, 2.920000, 2.910000, 2.910000, 2.910000, 2.900000, 2.910000, 2.900000, 2.890000, 2.880000 ], "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": [ 976054757, 581238 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.005000, 7.350000, 0.556785 ], "estimate": [ 7.005000, 7.350000, 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": [ 2.990000, 3.000000, 2.990000, 2.990000, 3.000000, 3.000000, 3.000000, 3.020000, 2.010000, 2.000000, 1.950000, 1.950000, 2.010000, 2.000000, 1.950000, 1.950000, 1.940000, 2.790000, 2.160000, 2.100000, 2.060000, 2.110000, 2.050000, 2.030000, 2.070000, 2.020000, 2.420000, 2.540000, 2.560000, 2.580000, 2.600000, 2.610000, 2.640000, 2.660000, 2.710000, 2.740000, 2.770000, 2.830000, 2.850000, 2.900000, 2.630000, 2.710000, 4.050000, 4.110000, 4.180000, 4.260000, 4.330000, 4.420000, 2.660000, 2.650000, 4.410000, 4.350000, 4.290000, 4.020000, 4.080000, 4.090000, 4.080000, 4.020000, 3.980000, 3.930000, 3.890000, 3.850000, 3.840000, 3.780000, 3.750000, 3.720000, 3.020000, 3.000000, 2.980000, 2.960000, 2.940000, 2.940000, 2.910000, 2.900000, 3.120000, 3.340000, 3.480000, 3.460000, 3.440000, 3.440000, 3.430000, 3.580000, 3.580000, 3.570000, 3.560000, 3.560000, 3.560000, 3.550000, 3.550000, 3.550000, 3.550000, 3.280000, 2.370000, 2.360000, 3.560000, 3.570000, 3.580000, 3.460000, 3.440000, 2.850000, 2.820000, 2.820000, 2.840000, 2.860000, 2.870000, 2.860000, 2.920000, 3.120000, 3.570000, 3.590000, 3.620000, 3.650000, 3.660000, 3.700000, 3.720000, 3.760000, 3.810000, 3.820000, 3.860000, 3.900000, 3.940000, 2.470000, 3.170000, 4.080000, 4.120000, 4.180000, 4.230000, 4.290000, 4.350000, 4.410000, 4.490000, 4.390000, 4.310000, 4.240000, 4.090000, 4.090000, 4.010000, 3.940000, 3.120000, 2.840000, 2.790000, 2.740000, 2.730000, 2.680000, 2.660000, 2.620000, 2.600000, 2.570000, 2.530000, 2.500000, 2.450000, 2.460000, 2.440000, 2.410000, 2.400000, 2.380000, 2.360000, 2.340000, 2.300000, 2.400000, 2.510000, 2.660000, 2.790000, 2.930000, 2.980000, 1.980000, 2.320000, 2.950000, 2.940000, 2.930000, 2.920000, 2.920000, 2.910000, 2.910000, 2.900000, 2.890000, 2.890000, 2.890000, 2.890000, 2.880000 ], "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": [ 976054757, 582239 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.055000, 7.381000, 0.556785 ], "estimate": [ 7.055000, 7.381000, 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": [ 3.000000, 2.990000, 2.990000, 3.010000, 3.000000, 3.000000, 1.920000, 1.930000, 1.950000, 1.960000, 2.030000, 1.990000, 1.930000, 1.940000, 1.950000, 2.880000, 2.530000, 2.080000, 2.090000, 2.130000, 2.060000, 2.100000, 2.090000, 2.020000, 2.410000, 2.510000, 2.520000, 2.540000, 2.560000, 2.570000, 2.600000, 2.630000, 2.660000, 2.690000, 2.730000, 2.760000, 2.810000, 2.850000, 2.590000, 2.590000, 3.950000, 4.010000, 4.090000, 4.150000, 4.230000, 4.300000, 4.390000, 2.610000, 2.620000, 4.370000, 4.310000, 4.250000, 3.990000, 4.030000, 4.050000, 4.030000, 3.980000, 3.930000, 3.890000, 3.850000, 3.810000, 3.800000, 3.740000, 3.710000, 3.670000, 2.980000, 2.940000, 2.930000, 2.910000, 2.890000, 2.870000, 2.870000, 2.880000, 3.030000, 3.230000, 3.420000, 3.410000, 3.400000, 3.390000, 3.380000, 3.380000, 3.520000, 3.510000, 3.510000, 3.500000, 3.510000, 3.500000, 3.490000, 3.500000, 3.500000, 3.320000, 2.310000, 2.320000, 3.500000, 3.510000, 3.510000, 3.520000, 3.370000, 3.370000, 2.780000, 2.770000, 2.780000, 2.790000, 2.800000, 2.830000, 2.860000, 2.880000, 3.490000, 3.520000, 3.550000, 3.580000, 3.600000, 3.620000, 3.660000, 3.680000, 3.710000, 3.760000, 3.780000, 3.820000, 3.860000, 3.900000, 2.420000, 3.220000, 4.030000, 4.090000, 4.140000, 4.200000, 4.250000, 4.310000, 4.380000, 4.450000, 4.350000, 4.270000, 4.200000, 4.050000, 4.050000, 3.980000, 3.910000, 3.850000, 2.800000, 2.760000, 2.730000, 2.670000, 2.670000, 2.630000, 2.600000, 2.570000, 2.550000, 2.520000, 2.460000, 2.480000, 2.450000, 2.420000, 2.410000, 2.390000, 2.370000, 2.340000, 2.330000, 2.320000, 2.290000, 2.410000, 2.560000, 2.690000, 2.840000, 2.980000, 2.950000, 1.970000, 2.350000, 2.930000, 2.920000, 2.920000, 2.920000, 2.910000, 2.900000, 2.910000, 2.890000, 2.890000, 2.880000, 2.890000, 2.900000 ], "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": [ 976054757, 583170 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.105000, 7.412000, 0.556785 ], "estimate": [ 7.105000, 7.412000, 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": [ 3.000000, 3.000000, 2.990000, 3.000000, 2.990000, 3.000000, 1.930000, 1.970000, 2.020000, 1.970000, 1.930000, 1.930000, 1.990000, 2.960000, 2.730000, 2.060000, 2.070000, 2.120000, 2.090000, 2.120000, 2.100000, 2.000000, 2.230000, 2.480000, 2.500000, 2.510000, 2.520000, 2.530000, 2.560000, 2.590000, 2.620000, 2.650000, 2.670000, 2.710000, 2.750000, 2.790000, 2.830000, 2.540000, 2.540000, 3.930000, 3.990000, 4.050000, 4.110000, 4.190000, 4.260000, 4.340000, 2.560000, 2.590000, 4.330000, 4.270000, 4.210000, 3.960000, 3.990000, 4.020000, 3.980000, 3.940000, 3.900000, 3.850000, 3.810000, 3.760000, 3.740000, 3.690000, 3.650000, 3.630000, 2.930000, 2.900000, 2.880000, 2.870000, 2.860000, 2.840000, 2.810000, 2.790000, 2.920000, 3.130000, 3.340000, 3.360000, 3.350000, 3.340000, 3.330000, 3.330000, 3.470000, 3.460000, 3.460000, 3.450000, 3.460000, 3.450000, 3.450000, 3.440000, 3.440000, 3.440000, 3.170000, 2.270000, 2.250000, 3.450000, 3.460000, 3.460000, 3.470000, 3.320000, 3.190000, 2.720000, 2.710000, 2.720000, 2.740000, 2.760000, 2.760000, 2.800000, 2.830000, 3.460000, 3.480000, 3.500000, 3.520000, 3.560000, 3.570000, 3.600000, 3.630000, 3.660000, 3.720000, 3.740000, 3.780000, 3.810000, 3.850000, 2.350000, 2.390000, 3.980000, 4.040000, 4.090000, 4.150000, 4.210000, 4.270000, 4.340000, 4.400000, 4.300000, 4.240000, 4.160000, 4.020000, 3.990000, 3.940000, 3.880000, 3.820000, 2.790000, 2.740000, 2.700000, 2.640000, 2.650000, 2.620000, 2.590000, 2.560000, 2.520000, 2.510000, 2.490000, 2.460000, 2.420000, 2.410000, 2.400000, 2.390000, 2.360000, 2.340000, 2.320000, 2.310000, 2.290000, 2.240000, 2.460000, 2.600000, 2.770000, 2.920000, 2.960000, 2.930000, 1.970000, 2.340000, 2.920000, 2.920000, 2.910000, 2.900000, 2.890000, 2.890000, 2.900000, 2.890000, 2.890000, 2.890000, 2.890000 ], "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": [ 976054757, 584108 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.151000, 7.441000, 0.569076 ], "estimate": [ 7.151000, 7.441000, 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": [ 3.000000, 2.980000, 2.320000, 2.990000, 1.980000, 1.950000, 1.950000, 1.940000, 1.930000, 1.950000, 2.120000, 2.970000, 2.390000, 2.060000, 2.040000, 2.110000, 2.030000, 2.110000, 2.030000, 2.010000, 2.430000, 2.450000, 2.480000, 2.490000, 2.510000, 2.520000, 2.540000, 2.570000, 2.580000, 2.610000, 2.650000, 2.670000, 2.700000, 2.750000, 2.790000, 2.520000, 2.520000, 3.860000, 3.930000, 3.980000, 4.040000, 4.110000, 4.180000, 4.260000, 2.540000, 2.550000, 4.350000, 4.270000, 4.210000, 4.150000, 3.950000, 3.940000, 3.980000, 3.930000, 3.880000, 3.830000, 3.790000, 3.750000, 3.720000, 3.700000, 3.640000, 3.600000, 3.570000, 2.870000, 2.850000, 2.840000, 2.810000, 2.800000, 2.780000, 2.770000, 2.770000, 2.920000, 3.130000, 3.330000, 3.310000, 3.310000, 3.290000, 3.280000, 3.280000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.410000, 3.400000, 3.400000, 3.400000, 3.400000, 3.120000, 2.210000, 2.220000, 3.410000, 3.420000, 3.420000, 3.430000, 3.280000, 3.240000, 2.670000, 2.670000, 2.680000, 2.690000, 2.710000, 2.730000, 2.740000, 2.770000, 3.000000, 3.420000, 3.440000, 3.470000, 3.490000, 3.520000, 3.560000, 3.580000, 3.610000, 3.670000, 3.680000, 3.710000, 3.750000, 3.790000, 2.370000, 2.330000, 2.990000, 3.970000, 4.020000, 4.080000, 4.130000, 4.200000, 4.260000, 4.330000, 4.310000, 4.240000, 4.160000, 4.090000, 3.940000, 3.950000, 3.890000, 3.820000, 3.760000, 2.740000, 2.710000, 2.680000, 2.620000, 2.620000, 2.600000, 2.560000, 2.530000, 2.520000, 2.480000, 2.460000, 2.430000, 2.370000, 2.390000, 2.390000, 2.350000, 2.340000, 2.330000, 2.310000, 2.290000, 2.290000, 2.280000, 2.410000, 2.570000, 2.750000, 2.900000, 2.950000, 2.930000, 1.970000, 1.970000, 2.920000, 2.910000, 2.910000, 2.900000, 2.890000, 2.890000, 2.890000, 2.890000, 2.890000, 2.890000, 2.890000 ], "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": [ 976054757, 726847 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.198000, 7.472000, 0.581367 ], "estimate": [ 7.198000, 7.472000, 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": [ 2.330000, 1.930000, 1.930000, 1.960000, 1.990000, 1.920000, 1.900000, 1.910000, 3.040000, 2.980000, 2.210000, 2.020000, 2.080000, 2.080000, 2.030000, 2.110000, 2.000000, 1.990000, 2.420000, 2.430000, 2.460000, 2.480000, 2.480000, 2.490000, 2.510000, 2.540000, 2.570000, 2.600000, 2.610000, 2.650000, 2.650000, 2.720000, 2.760000, 2.500000, 2.490000, 3.810000, 3.860000, 3.930000, 3.980000, 4.050000, 4.110000, 4.190000, 2.500000, 2.490000, 4.340000, 4.280000, 4.210000, 4.150000, 4.090000, 3.880000, 3.980000, 3.920000, 3.870000, 3.810000, 3.780000, 3.730000, 3.690000, 3.660000, 3.620000, 3.580000, 3.560000, 2.910000, 2.820000, 2.800000, 2.780000, 2.760000, 2.740000, 2.720000, 2.710000, 2.720000, 2.920000, 3.140000, 3.280000, 3.260000, 3.250000, 3.240000, 3.230000, 3.230000, 3.370000, 3.380000, 3.370000, 3.370000, 3.360000, 3.360000, 3.350000, 3.350000, 3.350000, 3.350000, 3.070000, 2.160000, 2.160000, 3.360000, 3.370000, 3.370000, 3.380000, 3.230000, 3.210000, 2.630000, 2.620000, 2.630000, 2.630000, 2.660000, 2.660000, 2.680000, 2.710000, 2.740000, 3.360000, 3.390000, 3.420000, 3.440000, 3.480000, 3.490000, 3.520000, 3.560000, 3.580000, 3.620000, 3.650000, 3.690000, 3.730000, 3.770000, 2.300000, 2.300000, 3.910000, 3.960000, 4.010000, 4.080000, 4.130000, 4.200000, 4.260000, 4.310000, 4.240000, 4.160000, 4.080000, 4.010000, 3.900000, 3.890000, 3.810000, 3.760000, 3.700000, 2.710000, 2.670000, 2.640000, 2.610000, 2.590000, 2.560000, 2.530000, 2.510000, 2.480000, 2.450000, 2.430000, 2.420000, 2.350000, 2.370000, 2.360000, 2.340000, 2.320000, 2.310000, 2.270000, 2.270000, 2.270000, 2.230000, 2.390000, 2.560000, 2.730000, 2.910000, 2.930000, 2.920000, 2.470000, 1.960000, 2.450000, 2.900000, 2.890000, 2.890000, 2.880000, 2.880000, 2.880000, 2.880000, 2.890000, 2.890000, 2.890000 ], "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": [ 976054758, 479110 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.247000, 7.504000, 0.587512 ], "estimate": [ 7.247000, 7.504000, 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": [ 1.960000, 2.000000, 1.950000, 1.900000, 1.920000, 1.910000, 3.040000, 3.020000, 2.140000, 1.990000, 2.050000, 2.060000, 2.000000, 2.100000, 1.980000, 1.970000, 2.410000, 2.420000, 2.440000, 2.430000, 2.470000, 2.450000, 2.500000, 2.510000, 2.530000, 2.560000, 2.590000, 2.610000, 2.640000, 2.680000, 2.710000, 2.470000, 2.480000, 2.450000, 3.800000, 3.850000, 3.900000, 3.970000, 4.030000, 4.090000, 4.160000, 2.460000, 2.480000, 4.300000, 4.240000, 4.160000, 4.100000, 3.870000, 3.880000, 3.930000, 3.870000, 3.820000, 3.780000, 3.730000, 3.690000, 3.650000, 3.640000, 3.560000, 3.540000, 3.500000, 2.810000, 2.760000, 2.750000, 2.730000, 2.710000, 2.690000, 2.690000, 2.660000, 2.690000, 2.900000, 3.060000, 3.240000, 3.210000, 3.200000, 3.190000, 3.180000, 3.190000, 3.340000, 3.320000, 3.320000, 3.310000, 3.310000, 3.300000, 3.300000, 3.300000, 3.290000, 3.300000, 3.020000, 2.120000, 2.110000, 3.300000, 3.310000, 3.310000, 3.320000, 3.200000, 3.190000, 2.940000, 2.560000, 2.580000, 2.570000, 2.590000, 2.610000, 2.620000, 2.650000, 2.670000, 3.280000, 3.330000, 3.350000, 3.370000, 3.400000, 3.430000, 3.460000, 3.480000, 3.520000, 3.570000, 3.580000, 3.620000, 3.650000, 3.700000, 3.740000, 2.260000, 2.240000, 3.880000, 3.930000, 3.980000, 4.050000, 4.100000, 4.170000, 4.240000, 4.250000, 4.180000, 4.100000, 4.030000, 3.910000, 3.890000, 3.840000, 3.780000, 3.720000, 3.670000, 2.690000, 2.660000, 2.620000, 2.540000, 2.570000, 2.530000, 2.510000, 2.480000, 2.460000, 2.430000, 2.410000, 2.390000, 2.390000, 2.330000, 2.350000, 2.330000, 2.320000, 2.310000, 2.280000, 2.260000, 2.250000, 2.240000, 2.210000, 2.480000, 2.680000, 2.840000, 2.930000, 2.920000, 2.910000, 1.950000, 1.910000, 2.890000, 2.890000, 2.890000, 2.880000, 2.880000, 2.900000, 2.880000, 2.880000, 2.890000, 2.890000 ], "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": [ 976054758, 216642 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.272000, 7.521000, 0.587512 ], "estimate": [ 7.272000, 7.521000, 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": [ 2.050000, 1.920000, 1.890000, 1.920000, 3.020000, 3.030000, 2.130000, 2.030000, 2.040000, 2.080000, 2.070000, 2.090000, 2.000000, 1.980000, 2.380000, 2.400000, 2.410000, 2.430000, 2.410000, 2.430000, 2.460000, 2.480000, 2.500000, 2.520000, 2.540000, 2.570000, 2.590000, 2.620000, 2.670000, 2.700000, 2.420000, 2.400000, 3.710000, 3.760000, 3.810000, 3.870000, 3.920000, 3.980000, 4.050000, 4.110000, 2.430000, 2.470000, 4.280000, 4.220000, 4.150000, 4.080000, 4.020000, 3.800000, 3.850000, 3.850000, 3.800000, 3.750000, 3.700000, 3.650000, 3.620000, 3.570000, 3.560000, 3.500000, 3.480000, 2.950000, 2.730000, 2.700000, 2.690000, 2.670000, 2.650000, 2.630000, 2.620000, 2.620000, 2.780000, 2.940000, 3.110000, 3.180000, 3.180000, 3.150000, 3.140000, 3.130000, 3.260000, 3.280000, 3.270000, 3.270000, 3.270000, 3.260000, 3.260000, 3.250000, 3.250000, 3.250000, 3.250000, 2.970000, 2.060000, 2.060000, 3.260000, 3.270000, 3.270000, 3.270000, 3.140000, 3.140000, 2.860000, 2.510000, 2.530000, 2.520000, 2.520000, 2.550000, 2.570000, 2.600000, 2.620000, 2.810000, 3.280000, 3.300000, 3.320000, 3.350000, 3.370000, 3.400000, 3.440000, 3.470000, 3.490000, 3.530000, 3.560000, 3.610000, 3.640000, 3.680000, 3.730000, 2.200000, 2.700000, 3.880000, 3.930000, 3.990000, 4.050000, 4.110000, 4.180000, 4.240000, 4.160000, 4.090000, 4.020000, 3.940000, 3.850000, 3.820000, 3.770000, 3.710000, 3.650000, 3.600000, 2.640000, 2.610000, 2.580000, 2.550000, 2.520000, 2.510000, 2.480000, 2.460000, 2.430000, 2.400000, 2.390000, 2.370000, 2.350000, 2.290000, 2.320000, 2.300000, 2.290000, 2.280000, 2.260000, 2.230000, 2.230000, 2.220000, 2.180000, 2.510000, 2.700000, 2.870000, 2.920000, 2.910000, 2.900000, 2.880000, 1.910000, 2.200000, 2.880000, 2.880000, 2.870000, 2.880000, 2.880000, 2.880000, 2.880000, 2.880000 ], "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": [ 976054758, 602023 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.322000, 7.554000, 0.593658 ], "estimate": [ 7.322000, 7.554000, 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": [ 1.900000, 1.920000, 2.500000, 3.020000, 3.020000, 2.030000, 2.020000, 2.090000, 2.070000, 2.080000, 2.050000, 1.980000, 2.310000, 2.380000, 2.400000, 2.400000, 2.400000, 2.430000, 2.430000, 2.440000, 2.470000, 2.480000, 2.500000, 2.520000, 2.550000, 2.580000, 2.610000, 2.640000, 2.680000, 2.370000, 2.360000, 3.680000, 3.720000, 3.780000, 3.830000, 3.880000, 3.930000, 3.990000, 2.400000, 2.410000, 4.220000, 4.270000, 4.200000, 4.130000, 4.070000, 3.990000, 3.930000, 3.870000, 3.810000, 3.770000, 3.720000, 3.670000, 3.620000, 3.580000, 3.550000, 3.510000, 3.470000, 3.440000, 3.410000, 2.690000, 2.670000, 2.640000, 2.620000, 2.610000, 2.600000, 2.570000, 2.520000, 2.640000, 2.810000, 2.990000, 3.130000, 3.110000, 3.100000, 3.090000, 3.080000, 3.080000, 3.240000, 3.220000, 3.220000, 3.210000, 3.200000, 3.200000, 3.190000, 3.190000, 3.190000, 3.190000, 3.190000, 2.910000, 1.990000, 2.000000, 3.200000, 3.210000, 3.210000, 3.220000, 3.080000, 3.090000, 2.750000, 2.460000, 2.470000, 2.450000, 2.460000, 2.490000, 2.520000, 2.540000, 2.570000, 2.640000, 3.220000, 3.250000, 3.270000, 3.290000, 3.320000, 3.350000, 3.380000, 3.410000, 3.440000, 3.470000, 3.510000, 3.560000, 3.590000, 3.630000, 3.670000, 2.170000, 2.130000, 3.810000, 3.870000, 3.930000, 3.980000, 4.050000, 4.120000, 4.200000, 4.150000, 4.080000, 4.000000, 3.930000, 3.850000, 3.810000, 3.750000, 3.690000, 3.640000, 3.590000, 2.760000, 2.600000, 2.570000, 2.540000, 2.490000, 2.490000, 2.460000, 2.450000, 2.430000, 2.410000, 2.390000, 2.370000, 2.340000, 2.330000, 2.270000, 2.300000, 2.280000, 2.260000, 2.270000, 2.250000, 2.220000, 2.220000, 2.210000, 2.200000, 2.510000, 2.730000, 2.880000, 2.900000, 2.900000, 2.890000, 2.880000, 1.940000, 1.940000, 2.880000, 2.870000, 2.880000, 2.880000, 2.870000, 2.880000, 2.880000 ], "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": [ 976054758, 603235 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.369000, 7.585000, 0.593658 ], "estimate": [ 7.369000, 7.585000, 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": [ 1.980000, 3.020000, 3.030000, 2.020000, 2.020000, 2.110000, 2.060000, 2.060000, 2.070000, 1.970000, 2.010000, 2.360000, 2.370000, 2.390000, 2.400000, 2.410000, 2.420000, 2.410000, 2.430000, 2.450000, 2.480000, 2.490000, 2.510000, 2.530000, 2.570000, 2.570000, 2.620000, 2.430000, 2.330000, 2.330000, 3.640000, 3.680000, 3.730000, 3.790000, 3.840000, 3.890000, 3.950000, 2.390000, 2.360000, 4.150000, 4.220000, 4.190000, 4.120000, 4.050000, 3.980000, 3.850000, 3.810000, 3.810000, 3.750000, 3.700000, 3.650000, 3.610000, 3.560000, 3.510000, 3.480000, 3.440000, 3.400000, 3.370000, 2.650000, 2.610000, 2.610000, 2.590000, 2.570000, 2.550000, 2.530000, 2.530000, 2.480000, 2.690000, 2.840000, 3.030000, 3.070000, 3.070000, 3.050000, 3.040000, 3.030000, 3.030000, 3.170000, 3.160000, 3.160000, 3.160000, 3.150000, 3.150000, 3.150000, 3.140000, 3.140000, 3.140000, 3.140000, 2.850000, 1.950000, 1.950000, 3.150000, 3.160000, 3.160000, 3.160000, 3.020000, 3.030000, 2.700000, 2.420000, 2.420000, 2.420000, 2.420000, 2.450000, 2.470000, 2.460000, 2.510000, 2.530000, 3.170000, 3.190000, 3.210000, 3.250000, 3.270000, 3.300000, 3.330000, 3.360000, 3.400000, 3.440000, 3.460000, 3.490000, 3.530000, 3.580000, 3.610000, 3.660000, 2.080000, 2.140000, 3.810000, 3.870000, 3.930000, 3.990000, 4.060000, 4.130000, 4.130000, 4.060000, 3.980000, 3.920000, 3.860000, 3.770000, 3.740000, 3.690000, 3.630000, 3.580000, 3.540000, 2.590000, 2.550000, 2.520000, 2.500000, 2.480000, 2.460000, 2.440000, 2.420000, 2.400000, 2.390000, 2.360000, 2.340000, 2.310000, 2.310000, 2.280000, 2.280000, 2.260000, 2.240000, 2.250000, 2.240000, 2.190000, 2.200000, 2.200000, 2.150000, 2.510000, 2.750000, 2.900000, 2.900000, 2.890000, 2.880000, 2.870000, 2.210000, 1.890000, 2.850000, 2.870000, 2.870000, 2.870000, 2.880000, 2.890000 ], "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": [ 976054758, 740165 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.415000, 7.616000, 0.593658 ], "estimate": [ 7.415000, 7.616000, 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": [ 3.010000, 3.020000, 2.020000, 2.020000, 2.100000, 2.050000, 2.040000, 2.060000, 1.950000, 2.030000, 2.330000, 2.360000, 2.370000, 2.390000, 2.350000, 2.410000, 2.390000, 2.410000, 2.430000, 2.450000, 2.470000, 2.500000, 2.510000, 2.530000, 2.540000, 2.590000, 2.630000, 2.330000, 2.320000, 3.590000, 3.630000, 3.680000, 3.720000, 3.780000, 3.820000, 3.880000, 3.940000, 2.340000, 2.350000, 4.130000, 4.210000, 4.130000, 4.070000, 3.990000, 3.930000, 3.770000, 3.760000, 3.760000, 3.700000, 3.640000, 3.600000, 3.550000, 3.510000, 3.470000, 3.450000, 3.400000, 3.350000, 3.330000, 2.610000, 2.590000, 2.560000, 2.540000, 2.520000, 2.500000, 2.490000, 2.470000, 2.520000, 2.670000, 2.830000, 3.000000, 3.030000, 3.010000, 3.000000, 2.990000, 2.980000, 2.980000, 3.130000, 3.120000, 3.110000, 3.100000, 3.100000, 3.090000, 3.090000, 3.090000, 3.090000, 3.090000, 3.090000, 2.800000, 1.900000, 1.910000, 3.090000, 3.100000, 3.110000, 3.110000, 3.000000, 2.980000, 2.900000, 2.360000, 2.370000, 2.370000, 2.380000, 2.380000, 2.410000, 2.420000, 2.450000, 2.470000, 3.090000, 3.140000, 3.170000, 3.180000, 3.200000, 3.230000, 3.260000, 3.300000, 3.330000, 3.350000, 3.380000, 3.420000, 3.470000, 3.500000, 3.550000, 3.590000, 3.640000, 2.030000, 2.080000, 3.790000, 3.850000, 3.910000, 3.980000, 4.050000, 4.120000, 4.080000, 4.000000, 3.930000, 3.860000, 3.730000, 3.730000, 3.700000, 3.640000, 3.590000, 3.550000, 3.490000, 2.590000, 2.530000, 2.500000, 2.480000, 2.430000, 2.440000, 2.420000, 2.400000, 2.390000, 2.370000, 2.330000, 2.330000, 2.310000, 2.260000, 2.250000, 2.260000, 2.250000, 2.230000, 2.240000, 2.230000, 2.220000, 2.190000, 2.190000, 2.170000, 2.150000, 2.710000, 2.870000, 2.890000, 2.880000, 2.880000, 2.870000, 2.870000, 1.930000, 1.920000, 2.870000, 2.870000, 2.880000, 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": [ 976054759, 760779 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.463000, 7.648000, 0.581367 ], "estimate": [ 7.463000, 7.648000, 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": [ 3.010000, 2.010000, 2.010000, 2.080000, 2.040000, 2.050000, 2.000000, 1.930000, 2.180000, 2.330000, 2.340000, 2.350000, 2.370000, 2.340000, 2.390000, 2.370000, 2.400000, 2.410000, 2.430000, 2.450000, 2.470000, 2.480000, 2.510000, 2.530000, 2.580000, 2.580000, 2.300000, 2.310000, 3.550000, 3.580000, 3.630000, 3.660000, 3.720000, 3.760000, 3.810000, 3.870000, 2.290000, 2.310000, 4.050000, 4.120000, 4.140000, 4.080000, 4.000000, 3.930000, 3.870000, 3.660000, 3.690000, 3.690000, 3.640000, 3.590000, 3.550000, 3.500000, 3.460000, 3.420000, 3.390000, 3.350000, 3.320000, 2.660000, 2.540000, 2.510000, 2.510000, 2.490000, 2.470000, 2.450000, 2.440000, 2.380000, 2.500000, 2.640000, 2.780000, 2.960000, 2.970000, 2.960000, 2.940000, 2.940000, 2.940000, 2.930000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.030000, 2.760000, 1.850000, 1.840000, 3.040000, 3.040000, 3.050000, 3.060000, 3.070000, 2.940000, 2.920000, 2.340000, 2.310000, 2.330000, 2.320000, 2.310000, 2.340000, 2.370000, 2.390000, 2.410000, 2.430000, 3.070000, 3.090000, 3.120000, 3.150000, 3.170000, 3.200000, 3.220000, 3.260000, 3.290000, 3.340000, 3.360000, 3.390000, 3.430000, 3.470000, 3.510000, 3.560000, 3.610000, 2.020000, 2.040000, 3.770000, 3.820000, 3.890000, 3.950000, 4.020000, 4.090000, 4.000000, 3.950000, 3.880000, 3.810000, 3.710000, 3.710000, 3.650000, 3.600000, 3.560000, 3.500000, 3.470000, 2.770000, 2.520000, 2.470000, 2.460000, 2.410000, 2.410000, 2.400000, 2.390000, 2.370000, 2.350000, 2.330000, 2.310000, 2.300000, 2.250000, 2.260000, 2.260000, 2.240000, 2.230000, 2.210000, 2.220000, 2.210000, 2.160000, 2.170000, 2.150000, 2.140000, 2.590000, 2.850000, 2.880000, 2.880000, 2.870000, 2.870000, 2.870000, 2.860000, 1.920000, 1.930000, 2.870000, 2.880000 ], "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": [ 976054759, 120525 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.512000, 7.680000, 0.575221 ], "estimate": [ 7.512000, 7.680000, 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": [ 2.010000, 2.010000, 2.110000, 2.060000, 2.050000, 2.050000, 2.010000, 2.040000, 2.320000, 2.340000, 2.340000, 2.340000, 2.360000, 2.330000, 2.350000, 2.390000, 2.400000, 2.410000, 2.430000, 2.440000, 2.450000, 2.480000, 2.490000, 2.500000, 2.560000, 2.290000, 2.260000, 2.280000, 2.330000, 3.560000, 3.590000, 3.640000, 3.680000, 3.720000, 3.780000, 3.830000, 2.270000, 2.310000, 4.000000, 4.080000, 4.130000, 4.050000, 3.980000, 3.910000, 3.840000, 3.760000, 3.720000, 3.650000, 3.610000, 3.570000, 3.510000, 3.470000, 3.420000, 3.380000, 3.360000, 3.320000, 3.280000, 2.740000, 2.510000, 2.490000, 2.470000, 2.440000, 2.430000, 2.410000, 2.400000, 2.390000, 2.400000, 2.540000, 2.680000, 2.840000, 2.930000, 2.920000, 2.910000, 2.890000, 2.890000, 2.890000, 3.030000, 3.020000, 3.010000, 3.010000, 3.000000, 3.000000, 2.990000, 2.990000, 2.990000, 2.980000, 2.980000, 2.980000, 2.690000, 1.800000, 1.800000, 2.990000, 3.000000, 3.010000, 3.010000, 3.010000, 2.890000, 2.850000, 2.290000, 2.260000, 2.280000, 2.260000, 2.260000, 2.280000, 2.320000, 2.320000, 2.360000, 2.390000, 3.030000, 3.050000, 3.060000, 3.090000, 3.110000, 3.150000, 3.170000, 3.200000, 3.240000, 3.300000, 3.310000, 3.340000, 3.370000, 3.410000, 3.460000, 3.500000, 3.560000, 3.600000, 1.990000, 3.730000, 3.760000, 3.830000, 3.900000, 3.980000, 4.040000, 3.990000, 3.930000, 3.860000, 3.810000, 3.740000, 3.670000, 3.650000, 3.590000, 3.550000, 3.500000, 3.460000, 3.410000, 2.520000, 2.480000, 2.460000, 2.430000, 2.400000, 2.400000, 2.380000, 2.360000, 2.340000, 2.330000, 2.310000, 2.280000, 2.270000, 2.230000, 2.250000, 2.230000, 2.230000, 2.210000, 2.210000, 2.210000, 2.200000, 2.140000, 2.150000, 2.130000, 2.120000, 2.570000, 2.850000, 2.880000, 2.870000, 2.870000, 2.870000, 2.870000, 2.870000, 1.930000, 1.890000 ], "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": [ 976054759, 250084 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.537000, 7.696000, 0.581367 ], "estimate": [ 7.537000, 7.696000, 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": [ 2.030000, 2.050000, 2.050000, 2.050000, 1.920000, 1.920000, 2.220000, 2.300000, 2.310000, 2.330000, 2.330000, 2.350000, 2.350000, 2.370000, 2.370000, 2.390000, 2.400000, 2.400000, 2.410000, 2.430000, 2.450000, 2.480000, 2.480000, 2.530000, 2.250000, 2.230000, 2.320000, 3.480000, 3.510000, 3.560000, 3.590000, 3.640000, 3.680000, 3.720000, 3.780000, 2.230000, 2.240000, 3.940000, 4.000000, 4.070000, 4.050000, 3.970000, 3.910000, 3.830000, 3.670000, 3.680000, 3.650000, 3.600000, 3.550000, 3.490000, 3.450000, 3.400000, 3.350000, 3.320000, 3.300000, 3.250000, 3.210000, 2.470000, 2.440000, 2.420000, 2.410000, 2.390000, 2.370000, 2.350000, 2.330000, 2.330000, 2.420000, 2.540000, 2.680000, 2.840000, 2.870000, 2.860000, 2.850000, 2.840000, 2.830000, 2.820000, 2.980000, 2.970000, 2.960000, 2.950000, 2.940000, 2.940000, 2.930000, 2.930000, 2.930000, 2.920000, 2.920000, 2.920000, 2.640000, 1.750000, 1.730000, 2.930000, 2.940000, 2.950000, 2.950000, 2.960000, 2.830000, 2.810000, 2.560000, 2.210000, 2.230000, 2.210000, 2.220000, 2.230000, 2.250000, 2.270000, 2.300000, 2.320000, 2.420000, 2.980000, 3.010000, 3.030000, 3.060000, 3.090000, 3.120000, 3.150000, 3.170000, 3.220000, 3.250000, 3.280000, 3.310000, 3.350000, 3.400000, 3.450000, 3.490000, 3.530000, 1.980000, 1.940000, 3.730000, 3.760000, 3.820000, 3.890000, 3.960000, 3.990000, 3.930000, 3.860000, 3.810000, 3.740000, 3.640000, 3.640000, 3.580000, 3.540000, 3.490000, 3.450000, 3.410000, 3.370000, 2.480000, 2.450000, 2.420000, 2.410000, 2.360000, 2.380000, 2.350000, 2.340000, 2.320000, 2.310000, 2.300000, 2.270000, 2.260000, 2.240000, 2.230000, 2.180000, 2.220000, 2.200000, 2.160000, 2.200000, 2.190000, 2.170000, 2.130000, 2.120000, 2.120000, 2.140000, 2.870000, 2.880000, 2.870000, 2.870000, 2.860000, 2.860000, 2.870000, 2.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054759, 700814 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.586000, 7.728000, 0.575221 ], "estimate": [ 7.586000, 7.728000, 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": [ 2.040000, 2.040000, 2.070000, 1.940000, 2.030000, 2.270000, 2.290000, 2.310000, 2.310000, 2.330000, 2.320000, 2.340000, 2.310000, 2.360000, 2.370000, 2.370000, 2.390000, 2.410000, 2.410000, 2.430000, 2.460000, 2.460000, 2.510000, 2.230000, 2.210000, 2.330000, 3.440000, 3.480000, 3.510000, 3.560000, 3.590000, 3.640000, 3.670000, 3.720000, 2.210000, 2.230000, 3.890000, 3.950000, 4.000000, 4.070000, 3.980000, 3.910000, 3.830000, 3.770000, 3.680000, 3.650000, 3.590000, 3.540000, 3.480000, 3.440000, 3.380000, 3.340000, 3.300000, 3.280000, 3.220000, 3.180000, 2.510000, 2.410000, 2.400000, 2.380000, 2.360000, 2.330000, 2.320000, 2.290000, 2.280000, 2.270000, 2.410000, 2.530000, 2.680000, 2.840000, 2.830000, 2.810000, 2.800000, 2.780000, 2.780000, 2.780000, 2.920000, 2.910000, 2.900000, 2.900000, 2.890000, 2.890000, 2.880000, 2.880000, 2.880000, 2.870000, 2.870000, 2.870000, 2.590000, 1.690000, 1.690000, 2.860000, 2.890000, 2.900000, 2.900000, 2.900000, 2.770000, 2.760000, 2.600000, 2.160000, 2.160000, 2.190000, 2.160000, 2.160000, 2.190000, 2.210000, 2.240000, 2.260000, 2.280000, 2.920000, 2.950000, 2.970000, 2.990000, 3.020000, 3.060000, 3.080000, 3.110000, 3.160000, 3.190000, 3.200000, 3.250000, 3.290000, 3.330000, 3.360000, 3.410000, 3.470000, 3.500000, 1.960000, 1.890000, 1.920000, 3.740000, 3.810000, 3.870000, 3.950000, 3.930000, 3.860000, 3.810000, 3.750000, 3.700000, 3.600000, 3.590000, 3.550000, 3.490000, 3.460000, 3.410000, 3.370000, 3.340000, 2.610000, 2.430000, 2.410000, 2.390000, 2.330000, 2.360000, 2.330000, 2.320000, 2.310000, 2.290000, 2.270000, 2.250000, 2.250000, 2.230000, 2.200000, 2.180000, 2.200000, 2.190000, 2.180000, 2.150000, 2.170000, 2.150000, 2.110000, 2.110000, 2.110000, 2.130000, 2.780000, 2.870000, 2.870000, 2.870000, 2.860000, 2.860000, 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": [ 976054759, 702041 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.634000, 7.759000, 0.575221 ], "estimate": [ 7.634000, 7.759000, 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": [ 2.130000, 2.030000, 1.930000, 2.040000, 2.250000, 2.260000, 2.280000, 2.300000, 2.310000, 2.290000, 2.330000, 2.300000, 2.340000, 2.350000, 2.370000, 2.390000, 2.400000, 2.410000, 2.410000, 2.430000, 2.430000, 2.480000, 2.210000, 2.190000, 2.290000, 3.400000, 3.430000, 3.460000, 3.500000, 3.550000, 3.580000, 3.620000, 3.660000, 2.160000, 2.190000, 3.820000, 3.870000, 3.930000, 3.990000, 4.000000, 3.930000, 3.850000, 3.780000, 3.710000, 3.640000, 3.550000, 3.540000, 3.480000, 3.430000, 3.370000, 3.340000, 3.290000, 3.250000, 3.220000, 3.160000, 3.140000, 2.380000, 2.360000, 2.340000, 2.310000, 2.300000, 2.290000, 2.250000, 2.230000, 2.190000, 2.270000, 2.400000, 2.530000, 2.650000, 2.790000, 2.770000, 2.760000, 2.740000, 2.740000, 2.740000, 2.720000, 2.870000, 2.870000, 2.850000, 2.840000, 2.830000, 2.830000, 2.820000, 2.820000, 2.820000, 2.820000, 2.820000, 2.820000, 2.550000, 1.730000, 1.640000, 1.650000, 2.830000, 2.830000, 2.840000, 2.850000, 2.730000, 2.700000, 2.680000, 2.240000, 2.110000, 2.130000, 2.110000, 2.120000, 2.110000, 2.160000, 2.180000, 2.210000, 2.230000, 2.230000, 2.890000, 2.920000, 2.920000, 2.950000, 2.990000, 3.010000, 3.060000, 3.070000, 3.110000, 3.150000, 3.180000, 3.220000, 3.250000, 3.300000, 3.340000, 3.380000, 3.440000, 3.480000, 2.590000, 1.830000, 1.890000, 3.720000, 3.790000, 3.860000, 3.930000, 3.880000, 3.820000, 3.760000, 3.700000, 3.650000, 3.550000, 3.550000, 3.510000, 3.470000, 3.420000, 3.380000, 3.350000, 3.310000, 3.280000, 2.410000, 2.390000, 2.370000, 2.350000, 2.310000, 2.330000, 2.300000, 2.290000, 2.280000, 2.270000, 2.240000, 2.220000, 2.230000, 2.220000, 2.200000, 2.160000, 2.180000, 2.160000, 2.150000, 2.150000, 2.140000, 2.130000, 2.110000, 2.120000, 2.120000, 2.120000, 2.860000, 2.860000, 2.860000, 2.870000, 2.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054759, 806594 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.682000, 7.790000, 0.569076 ], "estimate": [ 7.682000, 7.790000, 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": [ 1.960000, 1.920000, 2.130000, 2.250000, 2.250000, 2.270000, 2.260000, 2.290000, 2.290000, 2.310000, 2.330000, 2.330000, 2.340000, 2.350000, 2.370000, 2.380000, 2.400000, 2.400000, 2.420000, 2.440000, 2.470000, 2.180000, 2.160000, 2.150000, 3.360000, 3.390000, 3.420000, 3.460000, 3.490000, 3.540000, 3.570000, 3.620000, 2.130000, 2.160000, 3.750000, 3.810000, 3.850000, 3.910000, 3.980000, 3.950000, 3.870000, 3.800000, 3.720000, 3.530000, 3.560000, 3.490000, 3.480000, 3.430000, 3.370000, 3.330000, 3.280000, 3.240000, 3.200000, 3.190000, 3.120000, 2.680000, 2.330000, 2.300000, 2.270000, 2.260000, 2.240000, 2.220000, 2.210000, 2.200000, 2.190000, 2.260000, 2.370000, 2.500000, 2.600000, 2.740000, 2.730000, 2.700000, 2.690000, 2.690000, 2.680000, 2.680000, 2.820000, 2.820000, 2.810000, 2.800000, 2.790000, 2.780000, 2.780000, 2.770000, 2.770000, 2.770000, 2.760000, 2.770000, 2.710000, 2.480000, 1.590000, 1.600000, 2.780000, 2.780000, 2.790000, 2.800000, 2.800000, 2.670000, 2.650000, 2.480000, 2.050000, 2.060000, 2.080000, 2.070000, 2.050000, 2.070000, 2.110000, 2.120000, 2.160000, 2.180000, 2.270000, 2.850000, 2.880000, 2.900000, 2.920000, 2.950000, 2.980000, 3.010000, 3.040000, 3.080000, 3.130000, 3.150000, 3.170000, 3.220000, 3.260000, 3.300000, 3.350000, 3.400000, 3.450000, 2.700000, 1.850000, 1.820000, 3.700000, 3.770000, 3.830000, 3.900000, 3.830000, 3.780000, 3.720000, 3.660000, 3.610000, 3.520000, 3.520000, 3.470000, 3.430000, 3.390000, 3.350000, 3.320000, 3.290000, 3.260000, 2.410000, 2.370000, 2.360000, 2.330000, 2.280000, 2.310000, 2.300000, 2.280000, 2.270000, 2.260000, 2.250000, 2.230000, 2.220000, 2.210000, 2.190000, 2.180000, 2.170000, 2.150000, 2.130000, 2.130000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.120000, 2.110000, 2.860000, 2.860000, 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": [ 976054761, 336140 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.731000, 7.821000, 0.550639 ], "estimate": [ 7.731000, 7.821000, 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": [ 2.010000, 2.260000, 2.290000, 2.290000, 2.250000, 2.250000, 2.270000, 2.290000, 2.290000, 2.260000, 2.310000, 2.330000, 2.320000, 2.360000, 2.370000, 2.370000, 2.400000, 2.410000, 2.410000, 2.430000, 2.190000, 2.140000, 2.170000, 2.470000, 3.350000, 3.380000, 3.420000, 3.450000, 3.480000, 3.520000, 3.560000, 2.110000, 2.120000, 3.690000, 3.740000, 3.790000, 3.850000, 3.900000, 3.960000, 3.890000, 3.810000, 3.730000, 3.670000, 3.600000, 3.540000, 3.450000, 3.430000, 3.370000, 3.330000, 3.270000, 3.230000, 3.180000, 3.150000, 3.100000, 3.060000, 2.310000, 2.280000, 2.260000, 2.230000, 2.220000, 2.200000, 2.180000, 2.150000, 2.150000, 2.100000, 2.240000, 2.350000, 2.460000, 2.590000, 2.690000, 2.670000, 2.660000, 2.640000, 2.640000, 2.620000, 2.630000, 2.770000, 2.760000, 2.750000, 2.750000, 2.740000, 2.730000, 2.730000, 2.720000, 2.720000, 2.720000, 2.720000, 2.710000, 2.710000, 2.440000, 1.530000, 1.530000, 1.600000, 2.730000, 2.730000, 2.750000, 2.750000, 2.630000, 2.600000, 2.580000, 2.330000, 2.000000, 2.020000, 2.040000, 2.030000, 2.010000, 2.040000, 2.060000, 2.080000, 2.120000, 2.120000, 2.740000, 2.810000, 2.830000, 2.860000, 2.880000, 2.910000, 2.940000, 2.960000, 3.000000, 3.040000, 3.060000, 3.100000, 3.150000, 3.190000, 3.230000, 3.270000, 3.320000, 3.370000, 3.440000, 3.480000, 1.820000, 1.770000, 1.810000, 3.730000, 3.810000, 3.850000, 3.790000, 3.730000, 3.680000, 3.630000, 3.570000, 3.490000, 3.480000, 3.440000, 3.400000, 3.360000, 3.330000, 3.290000, 3.260000, 3.230000, 2.580000, 2.370000, 2.340000, 2.330000, 2.300000, 2.310000, 2.280000, 2.270000, 2.240000, 2.240000, 2.230000, 2.230000, 2.210000, 2.190000, 2.190000, 2.170000, 2.150000, 2.130000, 2.130000, 2.110000, 2.110000, 2.120000, 2.130000, 2.120000, 2.120000, 2.120000, 2.120000, 2.860000, 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": [ 976054761, 348639 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.780000, 7.851000, 0.550639 ], "estimate": [ 7.780000, 7.851000, 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": [ 2.270000, 2.280000, 2.300000, 2.290000, 2.270000, 2.260000, 2.270000, 2.290000, 2.280000, 2.300000, 2.310000, 2.300000, 2.350000, 2.360000, 2.360000, 2.400000, 2.400000, 2.410000, 2.430000, 2.150000, 2.140000, 2.140000, 2.380000, 2.520000, 3.350000, 3.370000, 3.410000, 3.450000, 3.480000, 3.520000, 2.060000, 2.100000, 3.650000, 3.690000, 3.740000, 3.790000, 3.840000, 3.900000, 3.890000, 3.820000, 3.730000, 3.660000, 3.590000, 3.530000, 3.420000, 3.410000, 3.360000, 3.310000, 3.250000, 3.200000, 3.170000, 3.120000, 3.110000, 3.050000, 2.330000, 2.240000, 2.220000, 2.210000, 2.180000, 2.160000, 2.140000, 2.110000, 2.110000, 2.100000, 2.150000, 2.240000, 2.350000, 2.450000, 2.590000, 2.640000, 2.620000, 2.600000, 2.600000, 2.590000, 2.570000, 2.580000, 2.720000, 2.710000, 2.700000, 2.690000, 2.680000, 2.670000, 2.670000, 2.670000, 2.660000, 2.660000, 2.660000, 2.660000, 2.660000, 2.390000, 1.480000, 1.480000, 1.510000, 2.670000, 2.680000, 2.680000, 2.690000, 2.570000, 2.560000, 2.530000, 2.310000, 1.960000, 1.980000, 1.980000, 1.960000, 1.960000, 1.980000, 2.000000, 2.030000, 2.050000, 2.080000, 2.090000, 2.740000, 2.770000, 2.800000, 2.810000, 2.850000, 2.880000, 2.910000, 2.940000, 2.980000, 3.020000, 3.050000, 3.080000, 3.110000, 3.160000, 3.200000, 3.250000, 3.300000, 3.350000, 3.420000, 2.480000, 1.770000, 1.720000, 1.770000, 3.730000, 3.810000, 3.790000, 3.720000, 3.670000, 3.620000, 3.570000, 3.480000, 3.470000, 3.440000, 3.400000, 3.350000, 3.330000, 3.290000, 3.260000, 3.230000, 3.200000, 2.580000, 2.350000, 2.320000, 2.300000, 2.270000, 2.240000, 2.270000, 2.260000, 2.240000, 2.220000, 2.220000, 2.210000, 2.200000, 2.180000, 2.170000, 2.150000, 2.120000, 2.130000, 2.110000, 2.100000, 2.110000, 2.120000, 2.120000, 2.130000, 2.110000, 2.120000, 2.120000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054761, 358289 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.830000, 7.882000, 0.550639 ], "estimate": [ 7.830000, 7.882000, 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": [ 2.280000, 2.290000, 2.290000, 2.280000, 2.260000, 2.260000, 2.260000, 2.270000, 2.300000, 2.300000, 2.330000, 2.350000, 2.340000, 2.370000, 2.380000, 2.360000, 2.400000, 2.130000, 2.120000, 2.130000, 2.480000, 3.280000, 3.310000, 3.340000, 3.370000, 3.400000, 3.430000, 3.470000, 2.070000, 2.060000, 3.590000, 3.630000, 3.660000, 3.720000, 3.770000, 3.820000, 3.880000, 3.840000, 3.760000, 3.690000, 3.610000, 3.550000, 3.430000, 3.370000, 3.360000, 3.300000, 3.250000, 3.200000, 3.160000, 3.110000, 3.060000, 3.050000, 2.990000, 2.210000, 2.190000, 2.160000, 2.140000, 2.120000, 2.100000, 2.090000, 2.060000, 2.050000, 2.030000, 2.120000, 2.210000, 2.320000, 2.420000, 2.540000, 2.580000, 2.570000, 2.560000, 2.540000, 2.540000, 2.530000, 2.520000, 2.660000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.620000, 2.620000, 2.620000, 2.610000, 2.610000, 2.610000, 2.610000, 2.340000, 1.710000, 1.430000, 1.430000, 2.620000, 2.630000, 2.630000, 2.640000, 2.650000, 2.510000, 2.520000, 2.430000, 2.180000, 1.910000, 1.930000, 1.950000, 1.920000, 1.910000, 1.930000, 1.960000, 1.970000, 2.000000, 2.020000, 2.040000, 2.700000, 2.720000, 2.750000, 2.780000, 2.800000, 2.840000, 2.870000, 2.900000, 2.920000, 2.980000, 3.000000, 3.030000, 3.070000, 3.110000, 3.160000, 3.200000, 3.260000, 3.310000, 3.370000, 3.430000, 2.410000, 1.730000, 1.690000, 3.710000, 3.760000, 3.760000, 3.700000, 3.650000, 3.590000, 3.550000, 3.490000, 3.440000, 3.420000, 3.370000, 3.340000, 3.300000, 3.270000, 3.230000, 3.210000, 3.180000, 3.160000, 2.330000, 2.310000, 2.300000, 2.260000, 2.240000, 2.270000, 2.240000, 2.230000, 2.210000, 2.210000, 2.210000, 2.200000, 2.150000, 2.160000, 2.140000, 2.120000, 2.120000, 2.110000, 2.100000, 2.110000, 2.120000, 2.120000, 2.120000, 2.130000, 2.120000, 2.120000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054761, 367679 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.881000, 7.913000, 0.544493 ], "estimate": [ 7.881000, 7.913000, 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": [ 2.270000, 2.280000, 2.290000, 2.270000, 2.250000, 2.250000, 2.260000, 2.280000, 2.310000, 2.320000, 2.320000, 2.340000, 2.350000, 2.370000, 2.350000, 2.280000, 2.100000, 2.090000, 2.440000, 2.450000, 3.260000, 3.290000, 3.320000, 3.350000, 3.370000, 3.410000, 2.060000, 2.040000, 2.050000, 3.550000, 3.590000, 3.630000, 3.680000, 3.730000, 3.780000, 3.830000, 3.830000, 3.740000, 3.670000, 3.590000, 3.520000, 3.440000, 3.400000, 3.340000, 3.280000, 3.220000, 3.170000, 3.130000, 3.080000, 3.030000, 3.000000, 2.950000, 2.180000, 2.140000, 2.110000, 2.090000, 2.080000, 2.050000, 2.030000, 2.010000, 1.990000, 2.000000, 2.060000, 2.140000, 2.230000, 2.340000, 2.440000, 2.540000, 2.530000, 2.510000, 2.490000, 2.480000, 2.470000, 2.470000, 2.630000, 2.610000, 2.600000, 2.590000, 2.590000, 2.570000, 2.570000, 2.560000, 2.560000, 2.560000, 2.560000, 2.550000, 2.560000, 2.550000, 2.280000, 1.410000, 1.380000, 1.380000, 2.560000, 2.570000, 2.570000, 2.580000, 2.590000, 2.450000, 2.470000, 2.400000, 2.150000, 1.850000, 1.860000, 1.880000, 1.860000, 1.870000, 1.870000, 1.900000, 1.920000, 1.920000, 1.970000, 1.980000, 2.630000, 2.670000, 2.690000, 2.720000, 2.750000, 2.770000, 2.810000, 2.840000, 2.870000, 2.900000, 2.940000, 2.980000, 3.010000, 3.050000, 3.100000, 3.150000, 3.180000, 3.240000, 3.300000, 3.360000, 2.360000, 3.480000, 1.690000, 1.650000, 1.720000, 3.750000, 3.680000, 3.630000, 3.580000, 3.530000, 3.490000, 3.420000, 3.410000, 3.360000, 3.340000, 3.300000, 3.260000, 3.240000, 3.200000, 3.170000, 3.150000, 3.130000, 2.300000, 2.290000, 2.270000, 2.250000, 2.230000, 2.230000, 2.230000, 2.220000, 2.210000, 2.200000, 2.190000, 2.180000, 2.150000, 2.140000, 2.130000, 2.110000, 2.100000, 2.090000, 2.110000, 2.120000, 2.110000, 2.120000, 2.130000, 2.120000, 2.120000, 2.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054761, 377619 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.929000, 7.941000, 0.538348 ], "estimate": [ 7.929000, 7.941000, 0.538348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.290000, 2.260000, 2.250000, 2.250000, 2.250000, 2.260000, 2.300000, 2.310000, 2.320000, 2.320000, 2.340000, 2.350000, 2.340000, 2.110000, 2.080000, 2.100000, 2.390000, 3.240000, 3.240000, 3.270000, 3.300000, 3.320000, 3.350000, 3.380000, 2.020000, 1.980000, 3.480000, 3.510000, 3.560000, 3.600000, 3.640000, 3.690000, 3.740000, 3.790000, 3.820000, 3.740000, 3.650000, 3.580000, 3.500000, 3.440000, 3.320000, 3.320000, 3.260000, 3.200000, 3.150000, 3.100000, 3.050000, 3.010000, 2.990000, 2.930000, 2.120000, 2.100000, 2.070000, 2.060000, 2.030000, 2.010000, 1.990000, 1.970000, 1.960000, 1.910000, 1.990000, 2.070000, 2.150000, 2.250000, 2.350000, 2.470000, 2.480000, 2.470000, 2.460000, 2.450000, 2.440000, 2.440000, 2.430000, 2.570000, 2.550000, 2.550000, 2.540000, 2.540000, 2.530000, 2.530000, 2.520000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.510000, 2.230000, 1.350000, 1.330000, 1.330000, 2.520000, 2.530000, 2.530000, 2.530000, 2.540000, 2.400000, 2.410000, 2.350000, 2.140000, 1.800000, 1.810000, 1.830000, 1.810000, 1.810000, 1.800000, 1.840000, 1.870000, 1.860000, 1.910000, 1.930000, 1.950000, 2.620000, 2.630000, 2.660000, 2.680000, 2.720000, 2.740000, 2.780000, 2.810000, 2.840000, 2.870000, 2.910000, 2.950000, 2.990000, 3.040000, 3.080000, 3.130000, 3.170000, 3.230000, 3.290000, 3.350000, 2.320000, 3.470000, 1.680000, 1.610000, 1.650000, 3.680000, 3.630000, 3.570000, 3.530000, 3.480000, 3.440000, 3.370000, 3.360000, 3.330000, 3.290000, 3.260000, 3.220000, 3.190000, 3.160000, 3.150000, 3.110000, 3.090000, 2.320000, 2.270000, 2.250000, 2.230000, 2.210000, 2.180000, 2.220000, 2.210000, 2.190000, 2.180000, 2.180000, 2.160000, 2.130000, 2.130000, 2.110000, 2.100000, 2.100000, 2.100000, 2.110000, 2.110000, 2.110000, 2.130000, 2.120000, 2.120000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054761, 386739 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.954000, 7.956000, 0.538348 ], "estimate": [ 7.954000, 7.956000, 0.538348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.270000, 2.260000, 2.270000, 2.250000, 2.250000, 2.290000, 2.300000, 2.300000, 2.310000, 2.330000, 2.330000, 2.330000, 2.110000, 2.070000, 2.070000, 2.420000, 2.540000, 3.220000, 3.240000, 3.270000, 3.280000, 3.310000, 3.340000, 2.010000, 1.990000, 2.000000, 3.470000, 3.500000, 3.540000, 3.570000, 3.620000, 3.660000, 3.710000, 3.760000, 3.790000, 3.700000, 3.620000, 3.540000, 3.390000, 3.400000, 3.350000, 3.270000, 3.210000, 3.160000, 3.100000, 3.050000, 3.010000, 2.960000, 2.920000, 2.880000, 2.080000, 2.040000, 2.020000, 2.010000, 1.990000, 1.960000, 1.950000, 1.930000, 1.920000, 1.910000, 1.950000, 2.030000, 2.120000, 2.200000, 2.310000, 2.400000, 2.450000, 2.430000, 2.410000, 2.410000, 2.390000, 2.380000, 2.370000, 2.520000, 2.510000, 2.500000, 2.500000, 2.480000, 2.470000, 2.470000, 2.470000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.460000, 2.200000, 2.160000, 1.270000, 1.270000, 1.300000, 2.460000, 2.470000, 2.480000, 2.480000, 2.490000, 2.350000, 2.370000, 2.270000, 2.040000, 1.760000, 1.770000, 1.780000, 1.770000, 1.770000, 1.760000, 1.790000, 1.810000, 1.820000, 1.860000, 1.870000, 1.890000, 2.560000, 2.590000, 2.610000, 2.640000, 2.660000, 2.700000, 2.720000, 2.760000, 2.800000, 2.840000, 2.870000, 2.900000, 2.950000, 3.000000, 3.030000, 3.080000, 3.140000, 3.180000, 3.250000, 3.300000, 3.360000, 2.320000, 3.500000, 1.640000, 1.600000, 1.620000, 3.600000, 3.560000, 3.510000, 3.470000, 3.420000, 3.360000, 3.350000, 3.310000, 3.270000, 3.250000, 3.200000, 3.180000, 3.170000, 3.140000, 3.110000, 3.080000, 3.070000, 2.250000, 2.240000, 2.230000, 2.200000, 2.180000, 2.210000, 2.200000, 2.180000, 2.170000, 2.170000, 2.160000, 2.150000, 2.110000, 2.110000, 2.100000, 2.110000, 2.110000, 2.110000, 2.110000, 2.120000, 2.110000, 2.120000, 2.130000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054761, 883190 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.004001, 7.986000, 0.538348 ], "estimate": [ 8.004001, 7.986000, 0.538348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.260000, 2.250000, 2.270000, 2.270000, 2.290000, 2.310000, 2.330000, 2.320000, 2.120000, 2.070000, 2.060000, 2.390000, 2.310000, 3.200000, 3.210000, 3.230000, 3.260000, 3.270000, 3.300000, 1.990000, 1.970000, 1.980000, 3.420000, 3.460000, 3.480000, 3.520000, 3.570000, 3.590000, 3.650000, 3.690000, 3.740000, 3.740000, 3.650000, 3.570000, 3.500000, 3.430000, 3.330000, 3.290000, 3.220000, 3.170000, 3.110000, 3.050000, 3.010000, 2.960000, 2.920000, 2.880000, 2.090000, 2.020000, 2.000000, 1.980000, 1.960000, 1.930000, 1.930000, 1.900000, 1.890000, 1.870000, 1.820000, 1.930000, 2.000000, 2.090000, 2.160000, 2.270000, 2.360000, 2.380000, 2.380000, 2.360000, 2.340000, 2.340000, 2.330000, 2.310000, 2.470000, 2.460000, 2.450000, 2.440000, 2.440000, 2.420000, 2.420000, 2.420000, 2.420000, 2.420000, 2.410000, 2.410000, 2.410000, 2.410000, 2.410000, 2.130000, 1.230000, 1.210000, 1.220000, 2.400000, 2.410000, 2.420000, 2.420000, 2.430000, 2.380000, 2.310000, 2.250000, 2.150000, 1.980000, 1.700000, 1.720000, 1.730000, 1.710000, 1.720000, 1.710000, 1.740000, 1.770000, 1.780000, 1.810000, 1.830000, 1.850000, 2.530000, 2.540000, 2.560000, 2.590000, 2.630000, 2.650000, 2.680000, 2.720000, 2.760000, 2.790000, 2.820000, 2.860000, 2.900000, 2.940000, 2.990000, 3.040000, 3.090000, 3.150000, 3.200000, 3.250000, 3.320000, 2.220000, 3.460000, 3.530000, 1.590000, 1.530000, 1.590000, 3.540000, 3.480000, 3.430000, 3.390000, 3.310000, 3.320000, 3.290000, 3.260000, 3.220000, 3.190000, 3.170000, 3.140000, 3.110000, 3.090000, 3.060000, 3.050000, 3.040000, 2.230000, 2.220000, 2.200000, 2.170000, 2.140000, 2.200000, 2.170000, 2.160000, 2.140000, 2.140000, 2.130000, 2.130000, 2.090000, 2.090000, 2.100000, 2.110000, 2.110000, 2.090000, 2.110000, 2.110000, 2.110000, 2.120000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054761, 402114 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.054000, 8.016000, 0.544493 ], "estimate": [ 8.054000, 8.016000, 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": [ 2.270000, 2.250000, 2.250000, 2.270000, 2.260000, 2.280000, 2.310000, 2.310000, 2.310000, 2.060000, 2.060000, 2.280000, 2.310000, 3.170000, 3.180000, 3.200000, 3.220000, 3.240000, 3.270000, 1.970000, 1.940000, 1.950000, 3.370000, 3.400000, 3.430000, 3.470000, 3.500000, 3.550000, 3.580000, 3.630000, 3.670000, 3.720000, 3.690000, 3.610000, 3.530000, 3.460000, 3.350000, 3.310000, 3.220000, 3.180000, 3.120000, 3.060000, 3.010000, 2.960000, 2.910000, 2.880000, 2.860000, 2.000000, 1.970000, 1.960000, 1.930000, 1.900000, 1.900000, 1.860000, 1.850000, 1.840000, 1.770000, 1.830000, 1.900000, 1.970000, 2.050000, 2.140000, 2.220000, 2.340000, 2.340000, 2.330000, 2.310000, 2.290000, 2.290000, 2.290000, 2.290000, 2.420000, 2.410000, 2.400000, 2.400000, 2.380000, 2.370000, 2.370000, 2.360000, 2.370000, 2.360000, 2.360000, 2.360000, 2.360000, 2.360000, 2.360000, 2.090000, 1.990000, 1.170000, 1.170000, 1.200000, 2.360000, 2.360000, 2.360000, 2.370000, 2.380000, 2.260000, 2.250000, 2.190000, 2.050000, 1.870000, 1.660000, 1.680000, 1.690000, 1.670000, 1.670000, 1.660000, 1.690000, 1.710000, 1.730000, 1.760000, 1.770000, 1.790000, 2.450000, 2.490000, 2.520000, 2.550000, 2.570000, 2.610000, 2.640000, 2.670000, 2.710000, 2.760000, 2.780000, 2.810000, 2.850000, 2.900000, 2.940000, 2.980000, 3.040000, 3.090000, 3.160000, 3.210000, 3.270000, 3.340000, 2.260000, 3.500000, 3.560000, 1.550000, 1.510000, 1.580000, 1.590000, 1.540000, 3.370000, 3.340000, 3.290000, 3.260000, 3.230000, 3.200000, 3.170000, 3.150000, 3.120000, 3.100000, 3.070000, 3.060000, 3.030000, 3.020000, 2.390000, 2.220000, 2.190000, 2.170000, 2.130000, 2.140000, 2.170000, 2.150000, 2.130000, 2.130000, 2.130000, 2.110000, 2.100000, 2.090000, 2.100000, 2.100000, 2.110000, 2.100000, 2.100000, 2.110000, 2.100000, 2.110000, 2.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054761, 575526 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.100000, 8.044001, 0.550639 ], "estimate": [ 8.100000, 8.044001, 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": [ 2.260000, 2.250000, 2.250000, 2.260000, 2.290000, 2.310000, 2.090000, 2.050000, 2.050000, 2.360000, 2.300000, 3.150000, 3.170000, 3.180000, 3.200000, 3.230000, 3.250000, 1.970000, 1.930000, 1.940000, 3.350000, 3.380000, 3.400000, 3.430000, 3.470000, 3.500000, 3.540000, 3.590000, 3.630000, 3.670000, 3.710000, 3.610000, 3.540000, 3.460000, 3.370000, 3.310000, 3.240000, 3.180000, 3.120000, 3.050000, 3.000000, 2.950000, 2.900000, 2.850000, 2.840000, 1.970000, 1.940000, 1.920000, 1.890000, 1.870000, 1.840000, 1.840000, 1.810000, 1.790000, 1.770000, 1.760000, 1.840000, 1.910000, 1.980000, 2.050000, 2.140000, 2.220000, 2.300000, 2.280000, 2.270000, 2.270000, 2.260000, 2.240000, 2.230000, 2.240000, 2.370000, 2.360000, 2.350000, 2.350000, 2.340000, 2.330000, 2.320000, 2.320000, 2.320000, 2.320000, 2.310000, 2.310000, 2.310000, 2.310000, 2.310000, 2.020000, 1.920000, 1.120000, 1.110000, 1.070000, 2.310000, 2.320000, 2.320000, 2.330000, 2.340000, 2.230000, 2.210000, 2.140000, 2.080000, 1.880000, 1.610000, 1.620000, 1.630000, 1.650000, 1.610000, 1.610000, 1.620000, 1.660000, 1.670000, 1.660000, 1.710000, 1.730000, 1.750000, 2.430000, 2.450000, 2.480000, 2.510000, 2.540000, 2.570000, 2.600000, 2.650000, 2.660000, 2.700000, 2.730000, 2.780000, 2.820000, 2.870000, 2.910000, 2.960000, 3.010000, 3.060000, 3.130000, 3.180000, 3.250000, 3.320000, 2.190000, 3.470000, 3.560000, 3.580000, 1.480000, 1.520000, 3.420000, 1.570000, 3.340000, 3.270000, 3.260000, 3.230000, 3.200000, 3.170000, 3.150000, 3.130000, 3.090000, 3.070000, 3.060000, 3.030000, 3.010000, 3.000000, 2.980000, 2.190000, 2.180000, 2.150000, 2.120000, 2.110000, 2.150000, 2.130000, 2.130000, 2.110000, 2.100000, 2.100000, 2.090000, 2.080000, 2.090000, 2.100000, 2.100000, 2.100000, 2.090000, 2.100000, 2.100000, 2.100000, 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": [ 976054761, 926749 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.131000, 8.063000, 0.556785 ], "estimate": [ 8.131000, 8.063000, 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": [ 2.270000, 2.250000, 2.270000, 2.280000, 2.290000, 2.040000, 2.040000, 2.260000, 2.360000, 3.130000, 3.140000, 3.170000, 3.170000, 3.190000, 3.210000, 3.230000, 1.900000, 1.930000, 3.300000, 3.330000, 3.350000, 3.390000, 3.420000, 3.450000, 3.480000, 3.530000, 3.570000, 3.610000, 3.650000, 3.680000, 3.590000, 3.510000, 3.430000, 3.350000, 3.200000, 3.150000, 3.160000, 3.090000, 3.030000, 2.970000, 2.910000, 2.870000, 2.810000, 2.570000, 1.920000, 1.900000, 1.870000, 1.850000, 1.830000, 1.820000, 1.790000, 1.770000, 1.750000, 1.700000, 1.750000, 1.810000, 1.890000, 1.950000, 2.020000, 2.110000, 2.190000, 2.270000, 2.260000, 2.240000, 2.230000, 2.210000, 2.200000, 2.180000, 2.160000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.280000, 2.260000, 2.260000, 2.270000, 2.250000, 2.260000, 2.260000, 2.260000, 2.250000, 1.980000, 1.080000, 1.060000, 1.040000, 1.090000, 2.270000, 2.270000, 2.280000, 2.280000, 2.290000, 2.150000, 2.140000, 2.090000, 1.990000, 1.820000, 1.560000, 1.580000, 1.590000, 1.600000, 1.570000, 1.560000, 1.570000, 1.610000, 1.620000, 1.630000, 1.680000, 1.690000, 1.700000, 2.400000, 2.420000, 2.440000, 2.470000, 2.500000, 2.530000, 2.560000, 2.590000, 2.640000, 2.660000, 2.700000, 2.730000, 2.790000, 2.830000, 2.870000, 2.930000, 2.970000, 3.030000, 3.080000, 3.150000, 3.210000, 3.280000, 2.340000, 3.430000, 3.500000, 3.530000, 1.500000, 1.440000, 1.480000, 3.350000, 3.330000, 3.280000, 3.230000, 3.210000, 3.180000, 3.160000, 3.130000, 3.110000, 3.080000, 3.060000, 3.030000, 3.020000, 3.000000, 2.990000, 2.960000, 2.350000, 2.170000, 2.150000, 2.130000, 2.100000, 2.100000, 2.150000, 2.120000, 2.100000, 2.090000, 2.080000, 2.080000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 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": [ 976054761, 927907 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.136000, 8.066000, 0.556785 ], "estimate": [ 8.136000, 8.066000, 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": [ 2.280000, 2.260000, 2.260000, 2.270000, 2.300000, 2.040000, 2.040000, 2.330000, 2.260000, 3.120000, 3.130000, 3.160000, 3.170000, 3.180000, 3.200000, 3.230000, 1.890000, 1.920000, 3.290000, 3.320000, 3.350000, 3.380000, 3.400000, 3.440000, 3.470000, 3.510000, 3.550000, 3.580000, 3.630000, 3.670000, 3.610000, 3.520000, 3.450000, 3.280000, 3.180000, 3.130000, 3.160000, 3.090000, 3.040000, 2.970000, 2.920000, 2.870000, 2.820000, 2.770000, 1.910000, 1.890000, 1.860000, 1.830000, 1.820000, 1.800000, 1.770000, 1.750000, 1.740000, 1.700000, 1.730000, 1.800000, 1.850000, 1.910000, 1.990000, 2.060000, 2.140000, 2.240000, 2.240000, 2.230000, 2.210000, 2.200000, 2.180000, 2.170000, 2.170000, 2.200000, 2.310000, 2.310000, 2.290000, 2.280000, 2.270000, 2.260000, 2.250000, 2.250000, 2.240000, 2.250000, 2.250000, 2.250000, 2.240000, 2.240000, 2.240000, 1.970000, 1.890000, 1.050000, 1.050000, 1.040000, 2.240000, 2.240000, 2.250000, 2.250000, 2.260000, 2.270000, 2.140000, 2.160000, 2.080000, 1.910000, 1.760000, 1.530000, 1.560000, 1.560000, 1.590000, 1.560000, 1.550000, 1.560000, 1.590000, 1.610000, 1.620000, 1.660000, 1.670000, 1.690000, 2.370000, 2.410000, 2.430000, 2.450000, 2.480000, 2.520000, 2.550000, 2.580000, 2.620000, 2.660000, 2.690000, 2.730000, 2.770000, 2.820000, 2.860000, 2.910000, 2.970000, 3.020000, 3.080000, 3.150000, 3.200000, 3.280000, 2.280000, 3.430000, 3.500000, 3.510000, 3.480000, 1.460000, 1.480000, 3.340000, 3.300000, 3.270000, 3.230000, 3.200000, 3.170000, 3.150000, 3.120000, 3.080000, 3.060000, 3.050000, 3.020000, 3.000000, 2.990000, 2.980000, 2.960000, 2.480000, 2.160000, 2.150000, 2.130000, 2.100000, 2.100000, 2.160000, 2.110000, 2.090000, 2.080000, 2.080000, 2.080000, 2.080000, 2.090000, 2.100000, 2.090000, 2.090000, 2.090000, 2.100000, 2.090000, 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": [ 976054762, 701189 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.065000, 0.556785 ], "estimate": [ 8.135000, 8.065000, 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": [ 2.280000, 2.270000, 2.260000, 2.270000, 2.300000, 2.050000, 2.030000, 2.130000, 2.250000, 3.110000, 3.140000, 3.160000, 3.170000, 3.180000, 3.200000, 3.220000, 1.900000, 1.920000, 3.290000, 3.310000, 3.350000, 3.370000, 3.400000, 3.430000, 3.470000, 3.500000, 3.550000, 3.580000, 3.620000, 3.670000, 3.620000, 3.540000, 3.460000, 3.370000, 3.180000, 3.160000, 3.160000, 3.100000, 3.050000, 2.980000, 2.930000, 2.880000, 2.830000, 2.790000, 1.940000, 1.910000, 1.870000, 1.840000, 1.830000, 1.810000, 1.780000, 1.760000, 1.750000, 1.730000, 1.710000, 1.780000, 1.850000, 1.910000, 1.990000, 2.060000, 2.140000, 2.220000, 2.250000, 2.230000, 2.210000, 2.200000, 2.180000, 2.170000, 2.150000, 2.150000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.250000, 2.250000, 2.250000, 2.250000, 2.250000, 2.240000, 2.250000, 2.250000, 1.970000, 1.940000, 1.060000, 1.050000, 1.050000, 2.250000, 2.240000, 2.250000, 2.250000, 2.260000, 2.270000, 2.140000, 2.160000, 2.080000, 1.920000, 1.790000, 1.530000, 1.560000, 1.580000, 1.590000, 1.560000, 1.550000, 1.550000, 1.590000, 1.610000, 1.620000, 1.660000, 1.670000, 1.690000, 2.380000, 2.410000, 2.440000, 2.460000, 2.490000, 2.520000, 2.560000, 2.580000, 2.620000, 2.680000, 2.680000, 2.720000, 2.780000, 2.820000, 2.870000, 2.910000, 2.970000, 3.020000, 3.080000, 3.150000, 3.200000, 3.280000, 2.100000, 3.420000, 3.500000, 3.510000, 3.480000, 1.440000, 1.470000, 3.350000, 3.310000, 3.260000, 3.230000, 3.200000, 3.180000, 3.160000, 3.120000, 3.100000, 3.070000, 3.050000, 3.030000, 3.010000, 2.990000, 2.980000, 2.960000, 2.370000, 2.170000, 2.150000, 2.130000, 2.100000, 2.090000, 2.150000, 2.110000, 2.100000, 2.080000, 2.080000, 2.080000, 2.100000, 2.100000, 2.090000, 2.090000, 2.090000, 2.090000, 2.100000, 2.100000, 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": [ 976054762, 514809 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.137000, 8.067000, 0.556785 ], "estimate": [ 8.137000, 8.067000, 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": [ 2.280000, 2.270000, 2.260000, 2.270000, 2.290000, 2.050000, 2.030000, 2.060000, 2.210000, 2.610000, 3.140000, 3.160000, 3.170000, 3.190000, 3.200000, 3.220000, 1.920000, 1.940000, 3.290000, 3.320000, 3.350000, 3.370000, 3.400000, 3.430000, 3.470000, 3.500000, 3.550000, 3.580000, 3.630000, 3.670000, 3.630000, 3.540000, 3.470000, 3.370000, 3.160000, 3.160000, 3.180000, 3.100000, 3.050000, 2.990000, 2.930000, 2.880000, 2.840000, 2.790000, 1.920000, 1.910000, 1.870000, 1.850000, 1.830000, 1.810000, 1.780000, 1.760000, 1.750000, 1.730000, 1.690000, 1.790000, 1.840000, 1.910000, 1.970000, 2.050000, 2.140000, 2.220000, 2.250000, 2.230000, 2.230000, 2.200000, 2.190000, 2.180000, 2.160000, 2.190000, 2.320000, 2.310000, 2.300000, 2.290000, 2.290000, 2.270000, 2.260000, 2.250000, 2.250000, 2.250000, 2.250000, 2.240000, 2.250000, 2.250000, 2.250000, 1.990000, 1.930000, 1.060000, 1.050000, 1.050000, 2.250000, 2.250000, 2.250000, 2.260000, 2.270000, 2.280000, 2.150000, 2.170000, 2.090000, 1.920000, 1.780000, 1.530000, 1.570000, 1.580000, 1.580000, 1.560000, 1.570000, 1.570000, 1.600000, 1.610000, 1.630000, 1.660000, 1.680000, 1.700000, 2.380000, 2.410000, 2.440000, 2.460000, 2.490000, 2.520000, 2.550000, 2.600000, 2.630000, 2.680000, 2.690000, 2.730000, 2.780000, 2.820000, 2.870000, 2.920000, 2.970000, 3.030000, 3.080000, 3.160000, 3.210000, 3.290000, 2.140000, 3.440000, 3.510000, 3.510000, 1.480000, 1.430000, 1.470000, 3.350000, 3.320000, 3.230000, 3.230000, 3.210000, 3.180000, 3.150000, 3.120000, 3.090000, 3.060000, 3.060000, 3.030000, 3.000000, 2.990000, 2.980000, 2.960000, 2.320000, 2.170000, 2.150000, 2.130000, 2.100000, 2.100000, 2.140000, 2.110000, 2.100000, 2.080000, 2.080000, 2.080000, 2.090000, 2.100000, 2.100000, 2.090000, 2.090000, 2.100000, 2.090000, 2.100000, 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": [ 976054762, 515874 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.137000, 8.067000, 0.569076 ], "estimate": [ 8.137000, 8.067000, 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": [ 2.270000, 2.270000, 2.260000, 2.280000, 2.290000, 2.040000, 2.040000, 2.320000, 2.260000, 3.120000, 3.140000, 3.170000, 3.180000, 3.190000, 3.210000, 1.960000, 1.900000, 1.940000, 3.290000, 3.320000, 3.360000, 3.380000, 3.410000, 3.440000, 3.480000, 3.510000, 3.560000, 3.590000, 3.640000, 3.690000, 3.600000, 3.520000, 3.430000, 3.360000, 3.280000, 3.200000, 3.160000, 3.080000, 3.030000, 2.980000, 2.910000, 2.870000, 2.820000, 2.800000, 1.930000, 1.890000, 1.870000, 1.840000, 1.840000, 1.800000, 1.760000, 1.760000, 1.740000, 1.690000, 1.750000, 1.800000, 1.870000, 1.930000, 2.000000, 2.080000, 2.160000, 2.260000, 2.250000, 2.230000, 2.220000, 2.200000, 2.190000, 2.180000, 2.170000, 2.290000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.250000, 2.250000, 2.250000, 2.240000, 2.240000, 2.250000, 2.250000, 2.250000, 1.970000, 1.440000, 1.060000, 1.050000, 1.080000, 2.250000, 2.250000, 2.250000, 2.260000, 2.270000, 2.250000, 2.140000, 2.100000, 2.050000, 1.870000, 1.570000, 1.560000, 1.570000, 1.580000, 1.560000, 1.570000, 1.550000, 1.570000, 1.600000, 1.620000, 1.630000, 1.670000, 1.680000, 1.700000, 2.390000, 2.410000, 2.450000, 2.470000, 2.500000, 2.530000, 2.560000, 2.590000, 2.640000, 2.670000, 2.710000, 2.740000, 2.790000, 2.830000, 2.890000, 2.930000, 2.980000, 3.050000, 3.100000, 3.170000, 3.240000, 3.300000, 2.110000, 3.450000, 3.550000, 3.490000, 1.490000, 1.470000, 1.500000, 3.340000, 3.310000, 3.230000, 3.230000, 3.200000, 3.170000, 3.150000, 3.110000, 3.090000, 3.070000, 3.050000, 3.020000, 3.000000, 2.990000, 2.970000, 2.950000, 2.170000, 2.160000, 2.140000, 2.110000, 2.100000, 2.100000, 2.130000, 2.100000, 2.080000, 2.080000, 2.080000, 2.080000, 2.100000, 2.090000, 2.090000, 2.100000, 2.090000, 2.090000, 2.080000, 2.090000, 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": [ 976054762, 610172 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.137000, 8.067000, 0.581367 ], "estimate": [ 8.137000, 8.067000, 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": [ 2.280000, 2.270000, 2.260000, 2.290000, 2.090000, 2.040000, 2.040000, 2.340000, 2.250000, 3.130000, 3.140000, 3.170000, 3.180000, 3.190000, 3.210000, 1.930000, 1.910000, 1.960000, 3.310000, 3.330000, 3.360000, 3.380000, 3.410000, 3.450000, 3.490000, 3.530000, 3.570000, 3.610000, 3.650000, 3.660000, 3.570000, 3.500000, 3.410000, 3.350000, 3.190000, 3.160000, 3.130000, 3.060000, 3.000000, 2.950000, 2.910000, 2.850000, 2.800000, 1.990000, 1.910000, 1.880000, 1.860000, 1.840000, 1.820000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.760000, 1.820000, 1.880000, 1.950000, 2.020000, 2.100000, 2.190000, 2.260000, 2.240000, 2.230000, 2.220000, 2.200000, 2.180000, 2.170000, 2.170000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.250000, 2.250000, 2.240000, 2.250000, 2.250000, 2.250000, 2.250000, 2.240000, 1.970000, 1.070000, 1.050000, 1.050000, 1.070000, 2.250000, 2.250000, 2.260000, 2.260000, 2.270000, 2.150000, 2.150000, 2.070000, 1.990000, 1.810000, 1.550000, 1.560000, 1.580000, 1.580000, 1.540000, 1.570000, 1.560000, 1.580000, 1.610000, 1.620000, 1.660000, 1.670000, 1.690000, 1.900000, 2.400000, 2.430000, 2.450000, 2.470000, 2.510000, 2.540000, 2.560000, 2.610000, 2.660000, 2.680000, 2.720000, 2.760000, 2.800000, 2.850000, 2.910000, 2.950000, 3.000000, 3.060000, 3.120000, 3.180000, 3.250000, 2.120000, 2.140000, 3.480000, 3.540000, 3.480000, 1.480000, 1.430000, 1.460000, 3.330000, 3.290000, 3.230000, 3.210000, 3.190000, 3.160000, 3.130000, 3.100000, 3.080000, 3.060000, 3.040000, 3.010000, 2.990000, 2.970000, 2.980000, 2.950000, 2.170000, 2.150000, 2.130000, 2.110000, 2.090000, 2.090000, 2.120000, 2.100000, 2.080000, 2.090000, 2.080000, 2.090000, 2.090000, 2.100000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 2.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054763, 222919 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.137000, 8.066000, 0.605949 ], "estimate": [ 8.137000, 8.066000, 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": [ 2.270000, 2.270000, 2.300000, 2.060000, 2.050000, 2.050000, 2.200000, 2.400000, 3.130000, 3.170000, 3.180000, 3.190000, 3.200000, 3.220000, 1.930000, 1.910000, 3.290000, 3.310000, 3.350000, 3.370000, 3.390000, 3.430000, 3.460000, 3.500000, 3.540000, 3.580000, 3.620000, 3.660000, 3.640000, 3.550000, 3.460000, 3.390000, 3.170000, 3.150000, 3.180000, 3.110000, 3.050000, 2.990000, 2.930000, 2.890000, 2.840000, 2.800000, 1.930000, 1.900000, 1.880000, 1.840000, 1.830000, 1.820000, 1.790000, 1.770000, 1.760000, 1.730000, 1.690000, 1.790000, 1.840000, 1.900000, 1.980000, 2.050000, 2.130000, 2.210000, 2.260000, 2.230000, 2.220000, 2.200000, 2.190000, 2.180000, 2.160000, 2.180000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.250000, 2.250000, 2.240000, 2.240000, 2.250000, 2.250000, 2.250000, 1.980000, 1.560000, 1.060000, 1.060000, 1.050000, 2.250000, 2.250000, 2.250000, 2.260000, 2.260000, 2.280000, 2.150000, 2.150000, 2.090000, 1.910000, 1.740000, 1.540000, 1.560000, 1.580000, 1.530000, 1.550000, 1.560000, 1.570000, 1.600000, 1.610000, 1.630000, 1.660000, 1.680000, 1.700000, 2.380000, 2.410000, 2.430000, 2.450000, 2.480000, 2.510000, 2.550000, 2.590000, 2.620000, 2.660000, 2.700000, 2.720000, 2.770000, 2.810000, 2.860000, 2.910000, 2.960000, 3.020000, 3.070000, 3.150000, 3.200000, 3.270000, 2.140000, 3.430000, 3.500000, 3.510000, 1.490000, 1.420000, 1.470000, 3.350000, 3.310000, 3.230000, 3.230000, 3.200000, 3.180000, 3.150000, 3.110000, 3.090000, 3.070000, 3.050000, 3.030000, 3.000000, 2.990000, 2.980000, 2.950000, 2.310000, 2.170000, 2.150000, 2.120000, 2.100000, 2.100000, 2.120000, 2.110000, 2.090000, 2.080000, 2.080000, 2.080000, 2.090000, 2.090000, 2.090000, 2.080000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 2.090000, 2.070000 ], "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": [ 976054763, 234290 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.137000, 8.067000, 0.667404 ], "estimate": [ 8.137000, 8.067000, 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": [ 2.170000, 2.050000, 2.050000, 2.320000, 2.260000, 3.140000, 3.150000, 3.170000, 3.180000, 3.190000, 3.210000, 1.940000, 1.930000, 1.950000, 3.300000, 3.330000, 3.350000, 3.380000, 3.410000, 3.450000, 3.480000, 3.520000, 3.560000, 3.600000, 3.650000, 3.670000, 3.580000, 3.500000, 3.410000, 3.350000, 3.270000, 3.210000, 3.140000, 3.070000, 3.020000, 2.960000, 2.900000, 2.850000, 2.810000, 1.970000, 1.910000, 1.890000, 1.860000, 1.830000, 1.830000, 1.800000, 1.770000, 1.760000, 1.740000, 1.740000, 1.770000, 1.820000, 1.890000, 1.950000, 2.010000, 2.100000, 2.170000, 2.260000, 2.240000, 2.230000, 2.210000, 2.200000, 2.180000, 2.180000, 2.170000, 2.330000, 2.320000, 2.300000, 2.300000, 2.280000, 2.280000, 2.270000, 2.260000, 2.260000, 2.250000, 2.250000, 2.240000, 2.240000, 2.250000, 2.250000, 2.200000, 1.940000, 1.060000, 1.060000, 1.060000, 2.240000, 2.260000, 2.260000, 2.260000, 2.260000, 2.270000, 2.140000, 2.150000, 2.080000, 1.950000, 1.790000, 1.560000, 1.560000, 1.570000, 1.580000, 1.540000, 1.550000, 1.560000, 1.580000, 1.610000, 1.610000, 1.660000, 1.670000, 1.690000, 1.910000, 2.390000, 2.430000, 2.440000, 2.470000, 2.500000, 2.540000, 2.560000, 2.610000, 2.660000, 2.670000, 2.710000, 2.750000, 2.790000, 2.850000, 2.890000, 2.940000, 2.990000, 3.050000, 3.110000, 3.170000, 3.240000, 2.110000, 2.420000, 3.480000, 3.530000, 3.500000, 1.440000, 1.420000, 1.490000, 3.320000, 3.280000, 3.220000, 3.200000, 3.170000, 3.160000, 3.130000, 3.090000, 3.070000, 3.050000, 3.030000, 3.010000, 2.990000, 2.980000, 2.970000, 2.930000, 2.160000, 2.140000, 2.120000, 2.100000, 2.090000, 2.090000, 2.110000, 2.090000, 2.080000, 2.070000, 2.070000, 2.070000, 2.080000, 2.080000, 2.080000, 2.090000, 2.080000, 2.080000, 2.090000, 2.080000, 2.090000, 2.070000, 2.090000, 2.090000, 2.080000 ], "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": [ 976054763, 207577 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.138000, 8.067000, 0.747296 ], "estimate": [ 8.138000, 8.067000, 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": [ 2.590000, 3.150000, 3.190000, 3.190000, 3.190000, 3.210000, 1.950000, 1.910000, 1.940000, 3.310000, 3.330000, 3.350000, 3.380000, 3.410000, 3.440000, 3.480000, 3.510000, 3.570000, 3.590000, 3.640000, 3.690000, 3.600000, 3.530000, 3.440000, 3.360000, 3.290000, 3.220000, 3.160000, 3.090000, 3.040000, 2.980000, 2.920000, 2.880000, 2.830000, 2.060000, 1.920000, 1.900000, 1.870000, 1.850000, 1.830000, 1.810000, 1.780000, 1.770000, 1.750000, 1.740000, 1.760000, 1.810000, 1.880000, 1.940000, 2.010000, 2.090000, 2.170000, 2.260000, 2.250000, 2.240000, 2.220000, 2.200000, 2.190000, 2.180000, 2.180000, 2.300000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.280000, 2.270000, 2.260000, 2.250000, 2.250000, 2.250000, 2.240000, 2.240000, 2.240000, 2.210000, 1.550000, 1.070000, 1.060000, 1.060000, 2.250000, 2.260000, 2.260000, 2.260000, 2.270000, 2.280000, 2.140000, 2.140000, 2.090000, 1.960000, 1.780000, 1.560000, 1.560000, 1.570000, 1.580000, 1.540000, 1.550000, 1.560000, 1.580000, 1.600000, 1.610000, 1.650000, 1.680000, 1.690000, 1.870000, 2.390000, 2.420000, 2.440000, 2.470000, 2.500000, 2.530000, 2.560000, 2.600000, 2.640000, 2.660000, 2.710000, 2.740000, 2.780000, 2.830000, 2.880000, 2.920000, 2.980000, 3.040000, 3.090000, 3.160000, 3.220000, 2.090000, 2.180000, 3.450000, 3.530000, 3.500000, 1.430000, 1.420000, 1.480000, 3.320000, 3.270000, 3.220000, 3.200000, 3.180000, 3.160000, 3.120000, 3.100000, 3.060000, 3.060000, 3.020000, 3.000000, 2.980000, 2.960000, 2.970000, 2.930000, 2.160000, 2.140000, 2.120000, 2.100000, 2.080000, 2.090000, 2.110000, 2.090000, 2.070000, 2.070000, 2.060000, 2.070000, 2.080000, 2.080000, 2.080000, 2.070000, 2.080000, 2.070000, 2.050000, 2.080000, 2.070000, 2.070000, 2.080000, 2.090000, 2.080000, 2.090000, 2.110000, 2.130000, 2.140000, 2.900000 ], "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": [ 976054764, 321768 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.140000, 8.069000, 0.851770 ], "estimate": [ 8.140000, 8.069000, 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": [ 3.230000, 1.930000, 1.940000, 1.950000, 3.320000, 3.340000, 3.370000, 3.400000, 3.430000, 3.460000, 3.490000, 3.530000, 3.570000, 3.610000, 3.650000, 3.680000, 3.590000, 3.500000, 3.420000, 3.310000, 3.270000, 3.200000, 3.150000, 3.080000, 3.020000, 2.970000, 2.910000, 2.860000, 2.810000, 1.930000, 1.910000, 1.890000, 1.860000, 1.840000, 1.820000, 1.780000, 1.780000, 1.750000, 1.700000, 1.700000, 1.800000, 1.840000, 1.900000, 1.970000, 2.040000, 2.130000, 2.210000, 2.250000, 2.250000, 2.230000, 2.220000, 2.200000, 2.190000, 2.180000, 2.210000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.250000, 2.250000, 2.250000, 2.240000, 2.240000, 2.240000, 1.940000, 1.070000, 1.060000, 1.070000, 1.090000, 2.240000, 2.250000, 2.250000, 2.260000, 2.260000, 2.230000, 2.140000, 2.110000, 2.030000, 1.850000, 1.540000, 1.540000, 1.560000, 1.570000, 1.550000, 1.550000, 1.560000, 1.570000, 1.600000, 1.610000, 1.630000, 1.660000, 1.670000, 1.690000, 2.380000, 2.410000, 2.440000, 2.440000, 2.470000, 2.500000, 2.530000, 2.560000, 2.610000, 2.660000, 2.670000, 2.710000, 2.750000, 2.790000, 2.830000, 2.890000, 2.930000, 2.980000, 3.050000, 3.110000, 3.170000, 3.230000, 3.310000, 3.380000, 3.470000, 3.480000, 1.470000, 1.460000, 1.460000, 3.320000, 3.290000, 3.250000, 3.210000, 3.190000, 3.160000, 3.130000, 3.110000, 3.080000, 3.060000, 3.030000, 3.010000, 2.990000, 2.970000, 2.960000, 2.930000, 2.290000, 2.150000, 2.130000, 2.100000, 2.080000, 2.070000, 2.070000, 2.090000, 2.070000, 2.060000, 2.050000, 2.050000, 2.060000, 2.080000, 2.070000, 2.070000, 2.070000, 2.060000, 2.070000, 2.070000, 2.070000, 2.060000, 2.060000, 2.060000, 2.080000, 2.100000, 2.100000, 2.100000, 2.120000, 2.140000, 2.880000, 2.900000, 2.910000, 2.920000, 2.940000, 2.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054764, 322916 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.142000, 8.072001, 0.956244 ], "estimate": [ 8.142000, 8.072001, 0.956244 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.400000, 3.430000, 3.470000, 3.500000, 3.540000, 3.570000, 3.620000, 3.660000, 3.700000, 3.600000, 3.510000, 3.440000, 3.350000, 3.270000, 3.220000, 3.160000, 3.090000, 3.040000, 2.980000, 2.910000, 2.880000, 2.820000, 1.950000, 1.930000, 1.900000, 1.870000, 1.850000, 1.820000, 1.810000, 1.790000, 1.760000, 1.710000, 1.700000, 1.820000, 1.870000, 1.940000, 2.010000, 2.070000, 2.150000, 2.240000, 2.250000, 2.250000, 2.240000, 2.220000, 2.210000, 2.200000, 2.190000, 2.180000, 2.340000, 2.330000, 2.310000, 2.300000, 2.300000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.260000, 2.250000, 2.250000, 2.250000, 2.240000, 1.190000, 1.070000, 1.070000, 1.080000, 2.250000, 2.250000, 2.250000, 2.260000, 2.270000, 2.270000, 2.160000, 2.150000, 2.110000, 2.000000, 1.820000, 1.550000, 1.550000, 1.560000, 1.570000, 1.560000, 1.540000, 1.550000, 1.570000, 1.590000, 1.600000, 1.600000, 1.660000, 1.670000, 1.690000, 2.380000, 2.400000, 2.430000, 2.450000, 2.470000, 2.510000, 2.530000, 2.560000, 2.600000, 2.630000, 2.670000, 2.720000, 2.760000, 2.790000, 2.830000, 2.900000, 2.930000, 2.980000, 3.050000, 3.100000, 3.160000, 3.230000, 2.110000, 3.380000, 3.470000, 3.480000, 1.450000, 1.450000, 1.450000, 3.310000, 3.280000, 3.240000, 3.200000, 3.180000, 3.160000, 3.130000, 3.100000, 3.060000, 3.050000, 3.020000, 3.000000, 2.980000, 2.960000, 2.950000, 2.930000, 2.320000, 2.140000, 2.130000, 2.100000, 2.070000, 2.060000, 2.060000, 2.080000, 2.060000, 2.050000, 2.050000, 2.050000, 2.040000, 2.060000, 2.060000, 2.060000, 2.060000, 2.060000, 2.040000, 2.060000, 2.060000, 2.060000, 2.050000, 2.050000, 2.070000, 2.050000, 2.070000, 2.100000, 2.110000, 2.120000, 2.870000, 2.880000, 2.900000, 2.920000, 2.930000, 2.940000, 2.970000, 2.970000, 2.990000, 1.980000, 2.010000, 3.060000, 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": [ 976054764, 323972 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.142000, 8.072001, 1.023844 ], "estimate": [ 8.142000, 8.072001, 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": [ 3.540000, 3.570000, 3.610000, 3.660000, 3.710000, 3.620000, 3.540000, 3.460000, 3.380000, 3.310000, 3.230000, 3.160000, 3.110000, 3.050000, 2.990000, 2.930000, 2.890000, 2.840000, 1.960000, 1.930000, 1.910000, 1.880000, 1.850000, 1.820000, 1.810000, 1.790000, 1.770000, 1.710000, 1.720000, 1.820000, 1.870000, 1.940000, 2.010000, 2.080000, 2.160000, 2.240000, 2.270000, 2.250000, 2.230000, 2.230000, 2.210000, 2.200000, 2.190000, 2.190000, 2.340000, 2.330000, 2.320000, 2.310000, 2.310000, 2.290000, 2.280000, 2.280000, 2.270000, 2.260000, 2.260000, 2.250000, 2.250000, 2.240000, 2.250000, 1.090000, 1.070000, 1.070000, 1.070000, 2.250000, 2.250000, 2.260000, 2.260000, 2.270000, 2.270000, 2.160000, 2.140000, 2.110000, 2.020000, 1.840000, 1.550000, 1.560000, 1.570000, 1.570000, 1.540000, 1.540000, 1.550000, 1.570000, 1.600000, 1.610000, 1.630000, 1.660000, 1.670000, 1.750000, 2.380000, 2.400000, 2.430000, 2.460000, 2.470000, 2.500000, 2.540000, 2.560000, 2.610000, 2.650000, 2.670000, 2.710000, 2.750000, 2.800000, 2.830000, 2.880000, 2.930000, 2.980000, 3.040000, 3.100000, 3.160000, 3.220000, 2.230000, 3.360000, 3.460000, 3.480000, 1.450000, 1.440000, 1.460000, 3.310000, 3.280000, 3.240000, 3.200000, 3.190000, 3.150000, 3.120000, 3.090000, 3.070000, 3.040000, 3.020000, 2.990000, 2.980000, 2.960000, 2.950000, 2.930000, 2.870000, 2.120000, 2.120000, 2.100000, 2.070000, 2.050000, 2.060000, 2.090000, 2.060000, 2.050000, 2.040000, 2.030000, 2.040000, 2.050000, 2.060000, 2.050000, 2.050000, 2.040000, 2.050000, 2.050000, 2.060000, 2.050000, 2.040000, 2.040000, 2.060000, 2.070000, 2.060000, 2.090000, 2.100000, 2.110000, 2.860000, 2.880000, 2.890000, 2.900000, 2.920000, 2.930000, 2.960000, 2.960000, 2.980000, 2.010000, 1.980000, 3.050000, 3.070000, 3.100000, 3.130000, 3.160000, 3.190000 ], "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": [ 976054764, 324916 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.142000, 8.072001, 1.097591 ], "estimate": [ 8.142000, 8.072001, 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": [ 3.690000, 3.600000, 3.520000, 3.440000, 3.350000, 3.210000, 3.220000, 3.160000, 3.100000, 3.040000, 2.980000, 2.920000, 2.890000, 2.830000, 1.950000, 1.930000, 1.910000, 1.880000, 1.850000, 1.830000, 1.810000, 1.790000, 1.760000, 1.710000, 1.770000, 1.820000, 1.880000, 1.940000, 2.020000, 2.100000, 2.180000, 2.250000, 2.260000, 2.250000, 2.240000, 2.220000, 2.210000, 2.200000, 2.180000, 2.210000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.290000, 2.290000, 2.280000, 2.270000, 2.260000, 2.260000, 2.260000, 2.250000, 2.250000, 2.220000, 1.070000, 1.070000, 1.080000, 1.100000, 2.250000, 2.260000, 2.260000, 2.270000, 2.270000, 2.280000, 2.140000, 2.140000, 2.110000, 1.940000, 1.560000, 1.550000, 1.560000, 1.570000, 1.550000, 1.550000, 1.540000, 1.550000, 1.590000, 1.600000, 1.620000, 1.650000, 1.660000, 1.680000, 2.350000, 2.390000, 2.410000, 2.440000, 2.460000, 2.480000, 2.510000, 2.540000, 2.570000, 2.610000, 2.650000, 2.680000, 2.720000, 2.750000, 2.800000, 2.840000, 2.900000, 2.930000, 2.990000, 3.050000, 3.100000, 3.170000, 2.060000, 2.090000, 3.390000, 3.470000, 3.500000, 1.390000, 1.390000, 1.450000, 3.290000, 3.260000, 3.180000, 3.180000, 3.160000, 3.140000, 3.110000, 3.080000, 3.060000, 3.040000, 3.000000, 2.990000, 2.970000, 2.950000, 2.950000, 2.920000, 2.140000, 2.130000, 2.110000, 2.090000, 2.060000, 2.040000, 2.090000, 2.070000, 2.050000, 2.030000, 2.030000, 2.030000, 2.040000, 2.050000, 2.040000, 2.040000, 2.040000, 2.040000, 2.040000, 2.040000, 2.060000, 2.050000, 2.040000, 2.030000, 2.050000, 2.060000, 2.070000, 2.080000, 2.100000, 2.110000, 2.860000, 2.870000, 2.880000, 2.890000, 2.910000, 2.920000, 2.960000, 2.960000, 2.990000, 1.970000, 2.000000, 3.050000, 3.070000, 3.100000, 3.120000, 3.170000, 3.180000, 3.210000, 3.250000, 3.290000, 3.320000 ], "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": [ 976054764, 325845 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.142000, 8.073000, 1.214356 ], "estimate": [ 8.142000, 8.073000, 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": [ 3.220000, 3.160000, 3.090000, 3.040000, 2.980000, 2.930000, 2.890000, 2.830000, 1.960000, 1.950000, 1.920000, 1.880000, 1.870000, 1.840000, 1.820000, 1.800000, 1.780000, 1.770000, 1.770000, 1.840000, 1.900000, 1.960000, 2.030000, 2.110000, 2.170000, 2.270000, 2.270000, 2.260000, 2.250000, 2.220000, 2.210000, 2.200000, 2.200000, 2.250000, 2.350000, 2.340000, 2.320000, 2.320000, 2.310000, 2.300000, 2.290000, 2.280000, 2.270000, 2.270000, 2.270000, 2.260000, 2.260000, 2.260000, 1.090000, 1.080000, 1.080000, 1.090000, 1.100000, 2.260000, 2.260000, 2.270000, 2.280000, 2.280000, 2.280000, 2.150000, 2.150000, 2.110000, 1.890000, 1.540000, 1.550000, 1.570000, 1.580000, 1.570000, 1.570000, 1.560000, 1.560000, 1.610000, 1.620000, 1.620000, 1.660000, 1.670000, 1.690000, 2.360000, 2.380000, 2.420000, 2.430000, 2.460000, 2.490000, 2.520000, 2.540000, 2.570000, 2.630000, 2.640000, 2.680000, 2.720000, 2.750000, 2.800000, 2.840000, 2.900000, 2.940000, 2.990000, 3.050000, 3.110000, 3.180000, 2.120000, 2.450000, 3.380000, 3.470000, 1.440000, 1.420000, 1.430000, 3.330000, 3.280000, 3.250000, 3.180000, 3.180000, 3.160000, 3.130000, 3.090000, 3.070000, 3.050000, 3.010000, 2.990000, 2.970000, 2.960000, 2.940000, 2.920000, 2.920000, 2.120000, 2.120000, 2.100000, 2.080000, 2.040000, 2.050000, 2.080000, 2.060000, 2.040000, 2.030000, 2.030000, 2.030000, 2.050000, 2.040000, 2.030000, 2.030000, 2.030000, 2.030000, 2.040000, 2.040000, 2.050000, 2.040000, 2.040000, 2.030000, 2.050000, 2.060000, 2.060000, 2.070000, 2.090000, 2.110000, 2.860000, 2.860000, 2.870000, 2.880000, 2.910000, 2.920000, 2.950000, 2.950000, 2.970000, 1.980000, 1.980000, 3.050000, 3.070000, 3.090000, 3.120000, 3.150000, 3.180000, 3.200000, 3.240000, 3.280000, 3.320000, 2.360000, 2.360000, 3.450000, 3.490000, 3.500000, 3.420000 ], "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": [ 976054764, 408203 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.143000, 8.076000, 1.318830 ], "estimate": [ 8.143000, 8.076000, 1.318830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.850000, 1.970000, 1.960000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.800000, 1.780000, 1.780000, 1.860000, 1.910000, 1.970000, 2.040000, 2.120000, 2.200000, 2.280000, 2.280000, 2.270000, 2.250000, 2.240000, 2.220000, 2.210000, 2.210000, 2.310000, 2.360000, 2.350000, 2.340000, 2.320000, 2.320000, 2.310000, 2.300000, 2.290000, 2.290000, 2.280000, 2.280000, 2.270000, 2.270000, 2.260000, 1.090000, 1.080000, 1.070000, 1.050000, 2.260000, 2.270000, 2.270000, 2.270000, 2.280000, 2.290000, 2.300000, 2.150000, 2.150000, 2.110000, 1.880000, 1.550000, 1.560000, 1.570000, 1.580000, 1.570000, 1.540000, 1.550000, 1.580000, 1.600000, 1.610000, 1.610000, 1.660000, 1.680000, 1.700000, 2.370000, 2.400000, 2.420000, 2.440000, 2.470000, 2.490000, 2.520000, 2.550000, 2.580000, 2.640000, 2.650000, 2.680000, 2.730000, 2.760000, 2.810000, 2.840000, 2.890000, 2.940000, 2.990000, 3.060000, 3.100000, 3.180000, 3.240000, 3.310000, 3.380000, 3.470000, 1.440000, 1.440000, 1.440000, 3.310000, 3.290000, 3.240000, 3.170000, 3.180000, 3.160000, 3.120000, 3.080000, 3.060000, 3.030000, 3.010000, 3.000000, 2.970000, 2.950000, 2.930000, 2.920000, 2.910000, 2.120000, 2.100000, 2.090000, 2.070000, 2.040000, 2.040000, 2.070000, 2.050000, 2.030000, 2.030000, 2.020000, 2.020000, 2.040000, 2.030000, 2.030000, 2.020000, 2.020000, 2.020000, 2.020000, 2.020000, 2.030000, 2.040000, 2.010000, 2.010000, 2.030000, 2.050000, 2.040000, 2.050000, 2.080000, 2.090000, 2.840000, 2.850000, 2.860000, 2.870000, 2.890000, 2.910000, 2.920000, 2.940000, 2.960000, 1.960000, 1.960000, 3.030000, 3.060000, 3.070000, 3.100000, 3.130000, 3.160000, 3.180000, 3.220000, 3.270000, 3.300000, 2.360000, 2.370000, 3.460000, 3.480000, 3.510000, 3.440000, 3.360000, 3.300000, 3.230000, 3.170000, 3.100000, 3.020000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054764, 720311 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.144000, 8.079000, 1.417158 ], "estimate": [ 8.144000, 8.079000, 1.417158 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.870000, 1.840000, 1.830000, 1.810000, 1.780000, 1.780000, 1.810000, 1.890000, 1.930000, 2.010000, 2.080000, 2.150000, 2.230000, 2.300000, 2.280000, 2.270000, 2.260000, 2.240000, 2.230000, 2.220000, 2.220000, 2.360000, 2.360000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.300000, 2.300000, 2.290000, 2.280000, 2.280000, 2.280000, 2.270000, 1.430000, 1.090000, 1.090000, 1.090000, 1.130000, 2.270000, 2.270000, 2.280000, 2.280000, 2.290000, 2.290000, 2.180000, 2.170000, 2.150000, 2.010000, 1.560000, 1.550000, 1.570000, 1.580000, 1.570000, 1.570000, 1.550000, 1.570000, 1.600000, 1.610000, 1.630000, 1.660000, 1.670000, 1.690000, 2.350000, 2.370000, 2.410000, 2.430000, 2.450000, 2.470000, 2.500000, 2.530000, 2.560000, 2.600000, 2.630000, 2.660000, 2.700000, 2.730000, 2.780000, 2.810000, 2.870000, 2.910000, 2.950000, 3.010000, 3.060000, 3.140000, 2.110000, 2.050000, 3.330000, 3.410000, 1.450000, 1.390000, 1.390000, 3.340000, 3.300000, 3.270000, 3.230000, 3.190000, 3.180000, 3.140000, 3.100000, 3.080000, 3.050000, 3.030000, 2.990000, 2.980000, 2.960000, 2.960000, 2.940000, 2.940000, 2.890000, 2.090000, 2.090000, 2.070000, 2.040000, 2.030000, 2.030000, 2.060000, 2.030000, 2.020000, 2.010000, 2.000000, 2.020000, 2.030000, 2.020000, 2.010000, 2.020000, 2.010000, 2.020000, 2.020000, 2.020000, 2.030000, 2.030000, 2.010000, 2.010000, 2.030000, 2.030000, 2.040000, 2.050000, 2.060000, 2.250000, 2.830000, 2.840000, 2.860000, 2.870000, 2.890000, 2.900000, 2.930000, 2.930000, 2.950000, 1.960000, 1.980000, 3.030000, 3.060000, 3.070000, 3.090000, 3.130000, 3.160000, 3.190000, 3.230000, 3.260000, 3.300000, 2.360000, 2.330000, 3.440000, 3.480000, 3.490000, 3.420000, 3.360000, 3.280000, 3.220000, 3.160000, 3.090000, 3.030000, 2.990000, 2.940000, 2.890000, 2.850000, 2.800000, 2.770000 ], "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": [ 976054764, 915325 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.144000, 8.080999, 1.484759 ], "estimate": [ 8.144000, 8.080999, 1.484759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.750000, 1.840000, 1.900000, 1.970000, 2.030000, 2.100000, 2.180000, 2.270000, 2.300000, 2.280000, 2.280000, 2.260000, 2.250000, 2.240000, 2.230000, 2.210000, 2.370000, 2.370000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.310000, 2.310000, 2.300000, 2.290000, 2.290000, 2.280000, 2.270000, 1.080000, 1.100000, 1.080000, 1.110000, 2.270000, 2.280000, 2.280000, 2.280000, 2.290000, 2.290000, 2.300000, 2.190000, 2.150000, 2.170000, 1.980000, 1.550000, 1.560000, 1.580000, 1.590000, 1.580000, 1.580000, 1.560000, 1.580000, 1.600000, 1.610000, 1.610000, 1.670000, 1.680000, 1.700000, 2.370000, 2.380000, 2.410000, 2.440000, 2.450000, 2.480000, 2.520000, 2.550000, 2.570000, 2.620000, 2.640000, 2.680000, 2.710000, 2.760000, 2.800000, 2.840000, 2.880000, 2.930000, 2.980000, 3.040000, 3.090000, 3.160000, 2.220000, 3.290000, 3.360000, 3.440000, 1.430000, 1.430000, 1.430000, 3.330000, 3.290000, 3.260000, 3.220000, 3.180000, 3.170000, 3.120000, 3.090000, 3.070000, 3.040000, 3.010000, 3.000000, 2.980000, 2.950000, 2.930000, 2.930000, 2.910000, 2.190000, 2.100000, 2.080000, 2.060000, 2.030000, 2.030000, 2.010000, 2.040000, 2.030000, 2.010000, 2.000000, 2.010000, 2.010000, 2.020000, 2.020000, 2.010000, 2.010000, 2.010000, 2.020000, 2.000000, 2.010000, 2.020000, 2.020000, 2.000000, 2.010000, 2.010000, 2.030000, 2.030000, 2.050000, 2.070000, 2.830000, 2.830000, 2.840000, 2.860000, 2.870000, 2.890000, 2.900000, 2.920000, 2.940000, 2.270000, 1.970000, 1.970000, 3.020000, 3.050000, 3.070000, 3.110000, 3.130000, 3.160000, 3.190000, 3.230000, 3.260000, 3.300000, 2.340000, 2.340000, 3.430000, 3.480000, 3.480000, 3.400000, 3.340000, 3.270000, 3.210000, 3.150000, 3.070000, 3.010000, 2.980000, 2.930000, 2.890000, 2.840000, 2.800000, 2.750000, 2.730000, 2.690000, 2.650000, 2.620000 ], "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": [ 976054765, 188871 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.144000, 8.083000, 1.564651 ], "estimate": [ 8.144000, 8.083000, 1.564651 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.030000, 2.080000, 2.170000, 2.250000, 2.310000, 2.300000, 2.280000, 2.270000, 2.250000, 2.240000, 2.230000, 2.260000, 2.370000, 2.370000, 2.360000, 2.350000, 2.340000, 2.330000, 2.320000, 2.310000, 2.310000, 2.300000, 2.300000, 2.290000, 2.290000, 2.280000, 1.090000, 1.100000, 1.090000, 1.110000, 2.280000, 2.280000, 2.290000, 2.290000, 2.290000, 2.300000, 2.310000, 2.190000, 2.140000, 2.180000, 1.960000, 1.560000, 1.560000, 1.580000, 1.590000, 1.570000, 1.570000, 1.560000, 1.580000, 1.600000, 1.620000, 1.610000, 1.680000, 1.690000, 1.700000, 2.370000, 2.390000, 2.410000, 2.440000, 2.460000, 2.480000, 2.520000, 2.550000, 2.570000, 2.610000, 2.650000, 2.680000, 2.710000, 2.750000, 2.790000, 2.830000, 2.880000, 2.920000, 2.980000, 3.030000, 3.090000, 3.150000, 2.390000, 3.290000, 3.360000, 3.430000, 1.430000, 1.420000, 1.430000, 3.340000, 3.300000, 3.260000, 3.210000, 3.190000, 3.160000, 3.120000, 3.090000, 3.060000, 3.040000, 3.020000, 3.000000, 2.970000, 2.960000, 2.930000, 2.920000, 2.910000, 2.150000, 2.090000, 2.070000, 2.050000, 2.030000, 2.030000, 2.020000, 2.040000, 2.030000, 2.010000, 2.000000, 2.010000, 2.010000, 2.020000, 2.010000, 2.000000, 2.010000, 2.010000, 2.010000, 2.000000, 2.010000, 2.020000, 2.010000, 2.000000, 2.000000, 1.990000, 2.010000, 2.030000, 2.040000, 2.060000, 2.810000, 2.820000, 2.830000, 2.850000, 2.870000, 2.880000, 2.880000, 2.920000, 2.920000, 2.340000, 1.960000, 1.980000, 3.010000, 3.040000, 3.060000, 3.090000, 3.120000, 3.150000, 3.180000, 3.210000, 3.250000, 3.290000, 2.350000, 2.310000, 3.420000, 3.470000, 3.480000, 3.400000, 3.340000, 3.270000, 3.200000, 3.150000, 3.070000, 3.000000, 2.980000, 2.930000, 2.890000, 2.840000, 2.800000, 2.750000, 2.720000, 2.680000, 2.660000, 2.620000, 2.580000, 2.560000, 1.640000, 1.630000 ], "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": [ 976054765, 207963 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.144000, 8.084001, 1.659292 ], "estimate": [ 8.144000, 8.084001, 1.659292 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.300000, 2.290000, 2.280000, 2.270000, 2.250000, 2.250000, 2.240000, 2.370000, 2.360000, 2.350000, 2.350000, 2.350000, 2.340000, 2.330000, 2.320000, 2.320000, 2.310000, 2.300000, 2.300000, 2.300000, 1.150000, 1.110000, 1.100000, 1.100000, 1.120000, 2.290000, 2.290000, 2.300000, 2.300000, 2.310000, 2.310000, 2.310000, 2.160000, 2.160000, 2.130000, 1.600000, 1.570000, 1.570000, 1.600000, 1.570000, 1.580000, 1.570000, 1.570000, 1.600000, 1.620000, 1.630000, 1.680000, 1.670000, 1.680000, 2.010000, 2.380000, 2.400000, 2.430000, 2.450000, 2.470000, 2.500000, 2.530000, 2.560000, 2.590000, 2.650000, 2.650000, 2.690000, 2.720000, 2.770000, 2.810000, 2.850000, 2.900000, 2.940000, 2.990000, 3.050000, 3.110000, 2.060000, 2.060000, 3.310000, 3.370000, 1.440000, 1.380000, 1.400000, 3.350000, 3.310000, 3.280000, 3.240000, 3.160000, 3.170000, 3.150000, 3.110000, 3.070000, 3.060000, 3.020000, 3.000000, 2.980000, 2.960000, 2.940000, 2.920000, 2.920000, 2.900000, 2.100000, 2.080000, 2.050000, 2.030000, 2.020000, 2.020000, 2.050000, 2.030000, 2.010000, 1.990000, 2.000000, 2.000000, 2.010000, 2.010000, 2.010000, 2.000000, 2.010000, 2.010000, 2.010000, 2.000000, 2.000000, 2.000000, 2.010000, 2.000000, 2.000000, 2.000000, 2.000000, 2.020000, 2.040000, 2.060000, 2.820000, 2.820000, 2.830000, 2.840000, 2.860000, 2.870000, 2.890000, 2.920000, 2.920000, 1.950000, 1.960000, 2.370000, 3.010000, 3.040000, 3.060000, 3.080000, 3.120000, 3.160000, 3.170000, 3.210000, 3.250000, 3.300000, 2.320000, 2.350000, 3.420000, 3.470000, 3.450000, 3.380000, 3.310000, 3.240000, 3.180000, 3.120000, 2.950000, 2.950000, 2.950000, 2.900000, 2.860000, 2.810000, 2.780000, 2.740000, 2.700000, 2.660000, 2.630000, 2.590000, 2.560000, 1.860000, 1.620000, 1.610000, 1.610000, 1.590000, 1.580000, 1.570000, 1.560000, 1.550000 ], "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": [ 976054765, 691321 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.144000, 8.087000, 1.763766 ], "estimate": [ 8.144000, 8.087000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.390000, 2.380000, 2.370000, 2.350000, 2.350000, 2.340000, 2.330000, 2.330000, 2.320000, 2.310000, 2.310000, 2.310000, 2.310000, 1.140000, 1.110000, 1.110000, 1.110000, 2.300000, 2.300000, 2.300000, 2.310000, 2.310000, 2.310000, 2.320000, 2.250000, 2.170000, 2.180000, 2.120000, 1.570000, 1.560000, 1.580000, 1.600000, 1.570000, 1.570000, 1.580000, 1.580000, 1.620000, 1.630000, 1.640000, 1.690000, 1.680000, 1.710000, 2.370000, 2.390000, 2.410000, 2.440000, 2.460000, 2.480000, 2.520000, 2.550000, 2.570000, 2.610000, 2.640000, 2.670000, 2.700000, 2.740000, 2.780000, 2.820000, 2.870000, 2.910000, 2.960000, 3.010000, 3.060000, 3.130000, 2.120000, 2.240000, 3.330000, 3.390000, 1.440000, 1.440000, 1.430000, 3.350000, 3.310000, 3.260000, 3.220000, 3.180000, 3.160000, 3.130000, 3.100000, 3.070000, 3.040000, 3.020000, 3.000000, 2.980000, 2.950000, 2.940000, 2.930000, 2.900000, 2.340000, 2.100000, 2.070000, 2.040000, 2.030000, 2.010000, 2.010000, 2.030000, 2.020000, 2.010000, 1.990000, 1.990000, 2.000000, 2.000000, 2.000000, 2.000000, 2.000000, 1.990000, 2.000000, 2.000000, 2.000000, 2.000000, 2.000000, 2.010000, 2.000000, 1.990000, 1.990000, 1.990000, 2.020000, 2.030000, 2.050000, 2.810000, 2.820000, 2.830000, 2.830000, 2.860000, 2.870000, 2.890000, 2.910000, 2.920000, 1.920000, 1.910000, 2.980000, 3.000000, 3.030000, 3.050000, 3.080000, 3.110000, 3.140000, 3.170000, 3.210000, 3.250000, 3.290000, 2.330000, 2.330000, 3.420000, 3.470000, 3.440000, 3.360000, 3.300000, 3.230000, 3.160000, 3.100000, 2.950000, 2.950000, 2.940000, 2.900000, 2.850000, 2.800000, 2.770000, 2.720000, 2.690000, 2.660000, 2.620000, 2.580000, 2.560000, 1.840000, 1.610000, 1.600000, 1.600000, 1.590000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.520000, 1.510000, 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": [ 976054765, 692528 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.143000, 8.088000, 1.849803 ], "estimate": [ 8.143000, 8.088000, 1.849803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.350000, 2.350000, 2.340000, 2.340000, 2.330000, 2.330000, 2.330000, 2.310000, 2.310000, 1.130000, 1.120000, 1.130000, 2.300000, 2.310000, 2.310000, 2.310000, 2.320000, 2.320000, 2.320000, 2.330000, 2.180000, 2.180000, 2.190000, 1.980000, 1.580000, 1.590000, 1.610000, 1.570000, 1.560000, 1.580000, 1.580000, 1.610000, 1.630000, 1.650000, 1.680000, 1.680000, 1.690000, 2.360000, 2.390000, 2.410000, 2.440000, 2.450000, 2.480000, 2.510000, 2.540000, 2.570000, 2.600000, 2.650000, 2.650000, 2.700000, 2.730000, 2.780000, 2.810000, 2.860000, 2.900000, 2.950000, 3.000000, 3.050000, 3.110000, 2.080000, 2.080000, 3.310000, 3.370000, 1.440000, 1.440000, 1.430000, 3.360000, 3.330000, 3.290000, 3.240000, 3.180000, 3.160000, 3.160000, 3.120000, 3.080000, 3.060000, 3.030000, 3.000000, 2.980000, 2.960000, 2.940000, 2.930000, 2.910000, 2.900000, 2.100000, 2.080000, 2.040000, 2.040000, 2.010000, 2.020000, 2.040000, 2.030000, 2.010000, 1.990000, 1.990000, 1.990000, 2.000000, 2.010000, 2.000000, 1.990000, 2.000000, 2.000000, 2.000000, 2.000000, 1.990000, 2.000000, 2.000000, 2.000000, 2.000000, 1.990000, 1.990000, 2.000000, 2.020000, 2.030000, 2.800000, 2.820000, 2.820000, 2.830000, 2.840000, 2.850000, 2.870000, 2.900000, 2.910000, 1.950000, 1.930000, 2.250000, 2.990000, 3.010000, 3.040000, 3.060000, 3.090000, 3.120000, 3.170000, 3.190000, 3.220000, 3.260000, 2.330000, 2.290000, 3.390000, 3.440000, 3.470000, 3.390000, 3.330000, 3.260000, 3.190000, 3.140000, 2.930000, 2.930000, 2.960000, 2.910000, 2.870000, 2.820000, 2.780000, 2.740000, 2.700000, 2.660000, 2.640000, 2.590000, 2.550000, 2.540000, 1.610000, 1.600000, 1.600000, 1.570000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.510000, 1.500000, 1.500000, 1.500000, 1.480000, 1.490000, 1.950000, 2.160000, 2.220000, 2.210000, 2.210000 ], "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": [ 976054765, 880355 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.143000, 8.089001, 1.929695 ], "estimate": [ 8.143000, 8.089001, 1.929695 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.330000, 2.330000, 2.330000, 2.330000, 2.320000, 1.140000, 1.120000, 1.130000, 2.300000, 2.310000, 2.310000, 2.320000, 2.320000, 2.320000, 2.330000, 2.340000, 2.190000, 2.190000, 2.220000, 2.000000, 1.590000, 1.600000, 1.610000, 1.600000, 1.570000, 1.590000, 1.600000, 1.620000, 1.640000, 1.650000, 1.680000, 1.690000, 1.710000, 2.370000, 2.400000, 2.420000, 2.440000, 2.460000, 2.490000, 2.510000, 2.550000, 2.570000, 2.610000, 2.660000, 2.670000, 2.700000, 2.730000, 2.780000, 2.810000, 2.860000, 2.900000, 2.960000, 3.010000, 3.050000, 3.120000, 2.070000, 2.090000, 3.310000, 3.370000, 1.430000, 1.430000, 1.440000, 3.370000, 3.330000, 3.290000, 3.250000, 3.190000, 3.170000, 3.150000, 3.110000, 3.080000, 3.060000, 3.030000, 3.000000, 2.990000, 2.960000, 2.940000, 2.920000, 2.920000, 2.890000, 2.090000, 2.080000, 2.040000, 2.030000, 2.020000, 2.010000, 2.040000, 2.020000, 2.010000, 1.990000, 1.980000, 1.990000, 1.990000, 1.990000, 2.000000, 2.000000, 2.000000, 1.990000, 2.000000, 1.990000, 1.990000, 1.990000, 2.000000, 2.000000, 2.000000, 1.990000, 1.990000, 1.990000, 2.010000, 2.030000, 2.800000, 2.810000, 2.820000, 2.830000, 2.840000, 2.850000, 2.870000, 2.900000, 2.910000, 1.930000, 1.930000, 2.280000, 2.990000, 3.000000, 3.030000, 3.060000, 3.090000, 3.120000, 3.150000, 3.180000, 3.210000, 3.250000, 2.320000, 2.290000, 3.380000, 3.430000, 3.470000, 3.400000, 3.330000, 3.260000, 3.190000, 3.130000, 2.920000, 2.930000, 2.960000, 2.910000, 2.870000, 2.810000, 2.780000, 2.740000, 2.700000, 2.650000, 2.630000, 2.590000, 2.550000, 2.530000, 1.590000, 1.580000, 1.570000, 1.560000, 1.550000, 1.540000, 1.540000, 1.520000, 1.530000, 1.510000, 1.500000, 1.500000, 1.500000, 1.490000, 1.490000, 1.930000, 2.170000, 2.210000, 2.190000, 2.200000, 2.180000, 2.180000, 1.980000, 1.960000 ], "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": [ 976054766, 321547 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.143000, 8.090000, 2.021878 ], "estimate": [ 8.143000, 8.090000, 2.021878 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.140000, 1.150000, 2.320000, 2.330000, 2.330000, 2.330000, 2.330000, 2.330000, 2.340000, 2.330000, 2.210000, 2.210000, 2.140000, 1.610000, 1.590000, 1.620000, 1.620000, 1.600000, 1.610000, 1.600000, 1.610000, 1.640000, 1.650000, 1.640000, 1.680000, 1.700000, 1.720000, 2.400000, 2.420000, 2.440000, 2.460000, 2.480000, 2.520000, 2.540000, 2.560000, 2.600000, 2.640000, 2.670000, 2.690000, 2.730000, 2.770000, 2.800000, 2.850000, 2.890000, 2.930000, 2.980000, 3.040000, 3.090000, 3.150000, 3.200000, 3.270000, 3.350000, 1.450000, 1.420000, 1.430000, 3.390000, 3.360000, 3.320000, 3.280000, 3.240000, 3.200000, 3.170000, 3.140000, 3.110000, 3.070000, 3.050000, 3.010000, 3.000000, 2.980000, 2.950000, 2.930000, 2.930000, 2.910000, 2.100000, 2.090000, 2.050000, 2.050000, 2.020000, 2.020000, 2.040000, 2.030000, 2.010000, 2.000000, 2.000000, 1.990000, 1.990000, 1.990000, 2.000000, 1.990000, 1.990000, 2.000000, 1.990000, 2.000000, 1.990000, 1.990000, 1.990000, 2.000000, 2.010000, 1.990000, 2.000000, 2.000000, 2.010000, 2.020000, 2.760000, 2.810000, 2.820000, 2.830000, 2.840000, 2.850000, 2.860000, 2.870000, 2.890000, 1.940000, 1.910000, 1.930000, 2.970000, 2.990000, 3.010000, 3.040000, 3.070000, 3.090000, 3.120000, 3.160000, 3.190000, 3.230000, 3.270000, 2.310000, 2.310000, 3.390000, 3.440000, 3.420000, 3.350000, 3.290000, 3.210000, 3.160000, 3.060000, 2.940000, 2.950000, 2.920000, 2.880000, 2.830000, 2.790000, 2.740000, 2.710000, 2.670000, 2.640000, 2.610000, 2.570000, 2.540000, 2.000000, 1.590000, 1.580000, 1.550000, 1.550000, 1.540000, 1.530000, 1.520000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.790000, 2.070000, 2.180000, 2.190000, 2.190000, 2.170000, 2.180000, 2.080000, 2.020000, 2.090000, 8.290000, 8.250000, 8.250000, 8.530000, 10.460000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054766, 322654 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.141000, 8.092999, 2.114061 ], "estimate": [ 8.141000, 8.092999, 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": [ 2.330000, 2.330000, 2.340000, 2.350000, 2.350000, 2.230000, 2.220000, 2.210000, 2.050000, 1.600000, 1.600000, 1.620000, 1.620000, 1.600000, 1.620000, 1.620000, 1.640000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.910000, 2.410000, 2.430000, 2.450000, 2.470000, 2.490000, 2.530000, 2.560000, 2.580000, 2.610000, 2.640000, 2.670000, 2.720000, 2.740000, 2.790000, 2.820000, 2.870000, 2.910000, 2.960000, 3.000000, 3.050000, 3.110000, 2.170000, 2.080000, 3.300000, 3.370000, 1.440000, 1.410000, 1.450000, 3.380000, 3.340000, 3.310000, 3.260000, 3.230000, 3.170000, 3.170000, 3.130000, 3.090000, 3.070000, 3.040000, 3.010000, 2.990000, 2.970000, 2.950000, 2.930000, 2.920000, 2.890000, 2.090000, 2.080000, 2.030000, 2.040000, 2.020000, 2.020000, 2.050000, 2.030000, 2.010000, 2.000000, 1.990000, 1.990000, 1.980000, 2.000000, 2.000000, 1.990000, 1.990000, 2.000000, 1.990000, 2.000000, 1.990000, 1.990000, 1.990000, 2.000000, 2.000000, 1.990000, 1.990000, 1.990000, 2.000000, 2.020000, 2.800000, 2.810000, 2.830000, 2.840000, 2.840000, 2.850000, 2.860000, 2.900000, 2.900000, 1.930000, 1.920000, 2.250000, 2.970000, 2.990000, 3.010000, 3.040000, 3.060000, 3.100000, 3.140000, 3.170000, 3.200000, 3.240000, 2.300000, 2.300000, 3.360000, 3.400000, 3.450000, 3.390000, 3.320000, 3.250000, 3.180000, 3.130000, 2.910000, 2.910000, 2.950000, 2.900000, 2.860000, 2.820000, 2.770000, 2.720000, 2.700000, 2.650000, 2.640000, 2.580000, 2.560000, 2.520000, 1.630000, 1.580000, 1.550000, 1.550000, 1.540000, 1.520000, 1.520000, 1.510000, 1.490000, 1.500000, 1.490000, 1.490000, 1.480000, 1.480000, 1.470000, 1.870000, 2.110000, 2.190000, 2.180000, 2.170000, 2.170000, 2.170000, 1.980000, 1.970000, 2.160000, 8.260000, 8.240000, 8.230000, 9.460000, 9.560000, 21.360000, 21.350000, 21.330000, 10.780000, 10.440000 ], "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": [ 976054766, 407819 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.140000, 8.094000, 2.200098 ], "estimate": [ 8.140000, 8.094000, 2.200098 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.240000, 2.210000, 2.190000, 1.980000, 1.610000, 1.620000, 1.620000, 1.620000, 1.630000, 1.620000, 1.620000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.730000, 2.400000, 2.420000, 2.440000, 2.460000, 2.480000, 2.520000, 2.540000, 2.560000, 2.590000, 2.630000, 2.690000, 2.700000, 2.720000, 2.770000, 2.800000, 2.850000, 2.890000, 2.930000, 2.980000, 3.040000, 3.080000, 3.140000, 2.110000, 2.310000, 3.330000, 1.450000, 1.410000, 1.440000, 3.420000, 3.370000, 3.350000, 3.290000, 3.260000, 3.190000, 3.190000, 3.160000, 3.130000, 3.090000, 3.060000, 3.040000, 3.010000, 2.990000, 2.960000, 2.940000, 2.920000, 2.920000, 2.140000, 2.090000, 2.070000, 2.050000, 2.030000, 2.030000, 2.020000, 2.040000, 2.030000, 2.010000, 2.000000, 1.990000, 1.980000, 1.990000, 2.000000, 2.000000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 2.000000, 1.990000, 1.990000, 1.990000, 2.000000, 2.240000, 2.800000, 2.810000, 2.820000, 2.830000, 2.840000, 2.850000, 2.870000, 2.900000, 2.910000, 1.880000, 1.890000, 2.950000, 2.970000, 3.000000, 3.030000, 3.050000, 3.060000, 3.090000, 3.140000, 3.170000, 3.200000, 3.240000, 2.250000, 2.290000, 3.350000, 3.400000, 3.440000, 3.370000, 3.300000, 3.230000, 3.160000, 3.100000, 2.910000, 2.910000, 2.940000, 2.890000, 2.840000, 2.790000, 2.750000, 2.710000, 2.670000, 2.650000, 2.610000, 2.570000, 2.550000, 2.510000, 1.580000, 1.560000, 1.550000, 1.530000, 1.530000, 1.520000, 1.500000, 1.490000, 1.500000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.890000, 2.110000, 2.180000, 2.170000, 2.170000, 2.160000, 2.160000, 1.970000, 1.950000, 2.150000, 8.230000, 8.220000, 8.230000, 9.450000, 9.510000, 17.520000, 21.340000, 11.870000, 10.630000, 10.420000, 10.430000, 9.960000, 8.900000, 9.000000, 5.900000 ], "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": [ 976054767, 563673 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.139000, 8.096000, 2.279990 ], "estimate": [ 8.139000, 8.096000, 2.279990 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.620000, 1.620000, 1.630000, 1.620000, 1.630000, 1.640000, 1.640000, 1.670000, 1.680000, 1.690000, 1.710000, 1.730000, 1.740000, 2.410000, 2.430000, 2.450000, 2.480000, 2.500000, 2.530000, 2.560000, 2.580000, 2.620000, 2.650000, 2.680000, 2.710000, 2.750000, 2.790000, 2.820000, 2.870000, 2.910000, 2.960000, 3.000000, 3.050000, 3.110000, 3.170000, 3.220000, 3.280000, 3.360000, 1.460000, 1.450000, 1.460000, 3.410000, 3.370000, 3.330000, 3.300000, 3.260000, 3.200000, 3.180000, 3.160000, 3.120000, 3.080000, 3.060000, 3.040000, 3.000000, 2.980000, 2.960000, 2.940000, 2.940000, 2.920000, 2.110000, 2.100000, 2.080000, 2.050000, 2.030000, 2.030000, 2.050000, 2.040000, 2.030000, 2.010000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 2.000000, 1.990000, 1.990000, 1.990000, 1.990000, 1.990000, 2.000000, 2.000000, 2.000000, 1.990000, 1.990000, 2.000000, 2.010000, 2.790000, 2.800000, 2.820000, 2.840000, 2.840000, 2.840000, 2.860000, 2.880000, 2.900000, 1.950000, 1.920000, 1.930000, 2.960000, 2.980000, 3.000000, 3.020000, 3.050000, 3.080000, 3.110000, 3.150000, 3.190000, 3.210000, 2.770000, 2.290000, 2.290000, 3.370000, 3.410000, 3.420000, 3.340000, 3.270000, 3.200000, 3.150000, 3.070000, 2.920000, 2.930000, 2.910000, 2.870000, 2.820000, 2.780000, 2.740000, 2.700000, 2.650000, 2.630000, 2.620000, 2.560000, 2.530000, 2.480000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.500000, 1.490000, 1.480000, 1.470000, 1.470000, 1.450000, 1.430000, 1.930000, 2.140000, 2.170000, 2.170000, 2.170000, 2.160000, 2.150000, 1.940000, 1.930000, 2.160000, 8.230000, 8.230000, 8.220000, 9.490000, 17.540000, 17.550000, 21.260000, 11.700000, 10.410000, 10.410000, 10.430000, 9.320000, 8.930000, 10.330000, 5.700000, 5.080000, 4.530000, 4.390000, 4.390000 ], "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": [ 976054767, 570520 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.138000, 8.097000, 2.372173 ], "estimate": [ 8.138000, 8.097000, 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": [ 1.640000, 1.660000, 1.670000, 1.690000, 1.680000, 1.720000, 1.740000, 1.830000, 2.430000, 2.450000, 2.460000, 2.480000, 2.510000, 2.540000, 2.560000, 2.600000, 2.620000, 2.660000, 2.700000, 2.720000, 2.760000, 2.800000, 2.840000, 2.880000, 2.920000, 2.970000, 3.020000, 3.070000, 3.130000, 3.180000, 2.130000, 3.320000, 1.490000, 1.420000, 1.430000, 3.460000, 3.410000, 3.360000, 3.330000, 3.290000, 3.250000, 3.200000, 3.190000, 3.150000, 3.110000, 3.080000, 3.060000, 3.030000, 3.010000, 2.980000, 2.960000, 2.940000, 2.930000, 2.330000, 2.110000, 2.100000, 2.070000, 2.050000, 2.030000, 2.030000, 2.040000, 2.040000, 2.020000, 2.010000, 2.000000, 1.990000, 1.990000, 1.990000, 2.000000, 1.990000, 1.990000, 1.990000, 1.990000, 2.000000, 1.990000, 2.000000, 1.990000, 2.000000, 2.000000, 2.000000, 1.990000, 1.990000, 2.000000, 2.080000, 2.790000, 2.800000, 2.820000, 2.830000, 2.840000, 2.860000, 2.870000, 2.870000, 2.900000, 1.880000, 1.870000, 2.930000, 2.960000, 2.980000, 3.000000, 3.030000, 3.060000, 3.090000, 3.110000, 3.160000, 3.190000, 3.220000, 2.280000, 2.260000, 3.350000, 3.370000, 3.420000, 3.380000, 3.310000, 3.240000, 3.180000, 3.110000, 2.890000, 2.900000, 2.920000, 2.890000, 2.840000, 2.800000, 2.750000, 2.710000, 2.670000, 2.650000, 2.620000, 2.570000, 2.530000, 2.510000, 1.580000, 1.540000, 1.530000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.460000, 1.460000, 1.450000, 1.450000, 1.770000, 2.020000, 2.150000, 2.160000, 2.170000, 2.150000, 2.150000, 2.080000, 2.010000, 2.030000, 13.110000, 8.230000, 8.210000, 8.260000, 10.410000, 17.520000, 17.560000, 21.290000, 11.690000, 10.380000, 10.420000, 10.420000, 8.900000, 8.890000, 6.200000, 5.530000, 4.910000, 4.360000, 4.380000, 4.390000, 4.400000, 4.430000, 4.450000, 4.460000, 4.490000 ], "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": [ 976054767, 571567 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.137000, 8.098000, 2.470501 ], "estimate": [ 8.137000, 8.098000, 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": [ 1.730000, 1.750000, 2.160000, 2.450000, 2.460000, 2.470000, 2.500000, 2.530000, 2.550000, 2.570000, 2.610000, 2.650000, 2.680000, 2.710000, 2.750000, 2.790000, 2.820000, 2.860000, 2.900000, 2.940000, 3.000000, 3.040000, 3.090000, 3.160000, 2.140000, 2.140000, 3.350000, 1.460000, 1.470000, 1.480000, 3.460000, 3.410000, 3.360000, 3.320000, 3.290000, 3.210000, 3.210000, 3.180000, 3.150000, 3.110000, 3.080000, 3.060000, 3.030000, 3.000000, 2.980000, 2.960000, 2.940000, 2.920000, 2.130000, 2.110000, 2.100000, 2.070000, 2.050000, 2.050000, 2.070000, 2.050000, 2.040000, 2.030000, 2.010000, 2.010000, 1.990000, 2.000000, 2.000000, 2.010000, 2.000000, 2.000000, 2.000000, 2.000000, 2.000000, 1.990000, 1.990000, 2.000000, 2.000000, 2.010000, 2.000000, 1.990000, 2.000000, 2.010000, 2.790000, 2.800000, 2.820000, 2.830000, 2.840000, 2.850000, 2.860000, 2.870000, 2.890000, 1.950000, 1.930000, 1.920000, 2.960000, 2.980000, 3.000000, 3.020000, 3.050000, 3.070000, 3.090000, 3.130000, 3.170000, 3.190000, 3.240000, 2.280000, 2.300000, 3.360000, 3.400000, 3.430000, 3.360000, 3.280000, 3.210000, 3.140000, 3.080000, 2.900000, 2.900000, 2.910000, 2.860000, 2.820000, 2.780000, 2.730000, 2.700000, 2.650000, 2.620000, 2.590000, 2.560000, 2.520000, 2.490000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.460000, 1.450000, 1.430000, 1.440000, 1.840000, 2.080000, 2.170000, 2.160000, 2.150000, 2.140000, 2.140000, 1.950000, 1.950000, 2.140000, 8.250000, 8.220000, 8.220000, 8.520000, 9.740000, 17.630000, 21.370000, 21.360000, 11.690000, 10.410000, 10.420000, 10.390000, 8.870000, 8.880000, 6.050000, 5.370000, 4.750000, 4.370000, 4.370000, 4.390000, 4.400000, 4.420000, 4.450000, 4.470000, 4.490000, 2.280000, 2.190000, 2.090000, 2.060000, 2.280000 ], "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": [ 976054767, 572482 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.137000, 8.098000, 2.550393 ], "estimate": [ 8.137000, 8.098000, 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": [ 2.500000, 2.520000, 2.540000, 2.580000, 2.590000, 2.620000, 2.650000, 2.700000, 2.720000, 2.760000, 2.800000, 2.840000, 2.870000, 2.910000, 2.950000, 3.010000, 3.050000, 3.110000, 3.160000, 2.170000, 2.210000, 3.360000, 1.460000, 1.470000, 1.460000, 3.470000, 3.420000, 3.360000, 3.330000, 3.290000, 3.240000, 3.210000, 3.180000, 3.150000, 3.110000, 3.080000, 3.060000, 3.040000, 3.010000, 2.980000, 2.970000, 2.940000, 2.940000, 2.130000, 2.110000, 2.100000, 2.080000, 2.060000, 2.050000, 2.070000, 2.050000, 2.050000, 2.030000, 2.020000, 2.000000, 2.000000, 1.990000, 2.010000, 2.010000, 2.000000, 2.000000, 2.000000, 2.010000, 2.000000, 2.000000, 2.000000, 2.010000, 2.010000, 2.000000, 2.000000, 2.000000, 2.000000, 2.020000, 2.790000, 2.810000, 2.820000, 2.830000, 2.830000, 2.850000, 2.870000, 2.890000, 2.900000, 1.920000, 1.880000, 2.930000, 2.960000, 2.990000, 3.000000, 3.030000, 3.060000, 3.080000, 3.100000, 3.140000, 3.170000, 3.200000, 2.350000, 2.290000, 3.340000, 3.370000, 3.400000, 3.410000, 3.340000, 3.260000, 3.190000, 3.140000, 3.060000, 2.900000, 2.930000, 2.900000, 2.850000, 2.800000, 2.760000, 2.720000, 2.680000, 2.650000, 2.620000, 2.600000, 2.540000, 2.510000, 1.680000, 1.540000, 1.530000, 1.520000, 1.510000, 1.490000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.460000, 1.450000, 1.450000, 1.410000, 1.670000, 1.910000, 2.090000, 2.170000, 2.150000, 2.140000, 2.140000, 2.140000, 1.930000, 1.910000, 2.130000, 8.220000, 8.210000, 8.200000, 9.400000, 9.510000, 17.630000, 21.400000, 21.390000, 11.040000, 10.400000, 10.410000, 10.380000, 8.870000, 8.870000, 6.020000, 5.310000, 4.730000, 4.360000, 4.370000, 4.380000, 4.390000, 4.420000, 4.440000, 4.460000, 4.480000, 2.250000, 2.180000, 2.060000, 2.030000, 2.260000, 2.270000, 2.280000, 2.290000, 2.280000, 2.050000 ], "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": [ 976054767, 573393 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.137000, 8.098000, 2.630285 ], "estimate": [ 8.137000, 8.098000, 2.630285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.620000, 2.650000, 2.670000, 2.730000, 2.740000, 2.780000, 2.820000, 2.860000, 2.900000, 2.940000, 2.990000, 3.040000, 3.090000, 3.160000, 3.210000, 2.130000, 3.350000, 1.480000, 1.460000, 1.470000, 3.480000, 3.440000, 3.390000, 3.350000, 3.300000, 3.260000, 3.210000, 3.190000, 3.180000, 3.140000, 3.090000, 3.060000, 3.050000, 3.020000, 2.990000, 2.970000, 2.950000, 2.940000, 2.130000, 2.110000, 2.110000, 2.080000, 2.070000, 2.040000, 2.070000, 2.070000, 2.050000, 2.050000, 2.030000, 2.010000, 2.000000, 2.000000, 2.000000, 2.010000, 2.010000, 2.000000, 2.020000, 1.990000, 2.010000, 2.000000, 1.990000, 2.010000, 2.010000, 2.010000, 2.000000, 2.000000, 2.000000, 2.010000, 2.800000, 2.810000, 2.810000, 2.830000, 2.840000, 2.850000, 2.860000, 2.880000, 2.900000, 1.920000, 1.910000, 2.150000, 2.960000, 2.970000, 2.990000, 3.020000, 3.040000, 3.070000, 3.090000, 3.130000, 3.170000, 3.190000, 3.230000, 2.280000, 2.300000, 3.350000, 3.390000, 3.430000, 3.360000, 3.280000, 3.210000, 3.150000, 3.080000, 2.910000, 2.900000, 2.910000, 2.860000, 2.810000, 2.780000, 2.730000, 2.690000, 2.650000, 2.620000, 2.590000, 2.540000, 2.510000, 1.940000, 1.540000, 1.520000, 1.500000, 1.510000, 1.500000, 1.500000, 1.480000, 1.470000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.830000, 2.050000, 2.160000, 2.150000, 2.140000, 2.140000, 2.130000, 1.940000, 1.940000, 2.130000, 13.080000, 8.200000, 8.190000, 8.280000, 10.400000, 17.530000, 17.520000, 21.210000, 11.670000, 10.370000, 10.390000, 10.410000, 8.900000, 8.860000, 10.300000, 5.540000, 4.910000, 4.360000, 4.350000, 4.370000, 4.390000, 4.400000, 4.420000, 4.450000, 4.470000, 4.490000, 2.210000, 2.110000, 2.070000, 2.150000, 2.250000, 2.270000, 2.280000, 2.300000, 2.070000, 2.000000, 1.920000, 1.880000, 1.810000 ], "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": [ 976054767, 650089 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.136000, 8.098000, 2.734759 ], "estimate": [ 8.136000, 8.098000, 2.734759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.780000, 2.820000, 2.860000, 2.910000, 2.940000, 2.990000, 3.030000, 3.080000, 3.140000, 3.200000, 2.110000, 3.340000, 1.490000, 1.470000, 1.480000, 3.490000, 3.450000, 3.390000, 3.360000, 3.310000, 3.240000, 3.220000, 3.200000, 3.180000, 3.140000, 3.110000, 3.070000, 3.050000, 3.030000, 3.010000, 2.980000, 2.960000, 2.930000, 2.130000, 2.110000, 2.110000, 2.090000, 2.080000, 2.080000, 2.080000, 2.070000, 2.060000, 2.050000, 2.030000, 2.020000, 2.000000, 2.000000, 2.000000, 2.010000, 2.010000, 2.010000, 2.010000, 2.000000, 2.010000, 2.000000, 2.000000, 2.020000, 2.010000, 2.010000, 2.010000, 2.010000, 2.010000, 2.020000, 2.800000, 2.810000, 2.820000, 2.830000, 2.840000, 2.840000, 2.860000, 2.880000, 2.900000, 1.920000, 1.910000, 2.310000, 2.960000, 2.980000, 3.000000, 3.020000, 3.050000, 3.070000, 3.090000, 3.130000, 3.170000, 3.190000, 2.300000, 2.290000, 2.300000, 3.360000, 3.390000, 3.420000, 3.350000, 3.260000, 3.190000, 3.140000, 3.060000, 2.900000, 2.900000, 2.910000, 2.850000, 2.810000, 2.760000, 2.730000, 2.680000, 2.640000, 2.610000, 2.600000, 2.530000, 2.500000, 1.570000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.460000, 1.830000, 2.030000, 2.150000, 2.140000, 2.140000, 2.130000, 2.120000, 1.930000, 1.930000, 2.130000, 13.110000, 8.200000, 8.190000, 8.190000, 9.990000, 17.520000, 17.510000, 21.220000, 11.660000, 10.360000, 10.350000, 10.390000, 8.890000, 8.870000, 6.160000, 5.510000, 4.890000, 4.330000, 4.340000, 4.360000, 4.380000, 4.390000, 4.410000, 4.430000, 4.460000, 2.260000, 2.180000, 2.090000, 2.070000, 2.110000, 2.250000, 2.260000, 2.270000, 2.290000, 2.060000, 1.990000, 1.920000, 1.860000, 1.790000, 1.750000, 1.710000, 1.650000, 1.620000, 1.540000, 1.570000 ], "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": [ 976054768, 109696 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, 2.845378 ], "estimate": [ 8.134000, 8.099000, 2.845378 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.110000, 3.160000, 2.180000, 2.140000, 3.350000, 1.500000, 1.490000, 1.500000, 3.490000, 3.450000, 3.390000, 3.350000, 3.310000, 3.240000, 3.230000, 3.210000, 3.180000, 3.150000, 3.110000, 3.080000, 3.060000, 3.030000, 3.000000, 2.990000, 2.960000, 2.950000, 2.140000, 2.120000, 2.110000, 2.100000, 2.080000, 2.080000, 2.080000, 2.070000, 2.050000, 2.050000, 2.030000, 2.030000, 2.010000, 2.010000, 2.000000, 2.020000, 2.000000, 2.020000, 2.010000, 2.010000, 2.020000, 2.010000, 2.010000, 2.020000, 2.020000, 2.020000, 2.000000, 2.000000, 2.010000, 2.130000, 2.810000, 2.820000, 2.830000, 2.830000, 2.840000, 2.860000, 2.870000, 2.900000, 2.900000, 1.890000, 1.910000, 2.940000, 2.960000, 2.980000, 3.010000, 3.030000, 3.060000, 3.080000, 3.110000, 3.150000, 3.170000, 3.210000, 2.270000, 2.250000, 3.320000, 3.360000, 3.400000, 3.390000, 3.320000, 3.250000, 3.180000, 3.110000, 2.920000, 2.890000, 2.920000, 2.890000, 2.840000, 2.800000, 2.750000, 2.710000, 2.660000, 2.630000, 2.590000, 2.560000, 2.520000, 2.490000, 1.540000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.470000, 1.460000, 1.460000, 1.440000, 1.440000, 1.430000, 1.430000, 1.420000, 1.420000, 1.680000, 1.910000, 2.070000, 2.140000, 2.140000, 2.130000, 2.120000, 2.110000, 1.890000, 1.900000, 2.120000, 8.220000, 8.200000, 8.190000, 8.330000, 10.400000, 17.490000, 17.510000, 21.280000, 11.650000, 10.340000, 10.380000, 10.390000, 8.850000, 8.840000, 6.130000, 5.420000, 4.800000, 4.340000, 4.340000, 4.350000, 4.370000, 4.390000, 4.410000, 4.430000, 4.450000, 2.250000, 2.170000, 2.070000, 2.050000, 2.190000, 2.240000, 2.250000, 2.260000, 2.270000, 2.040000, 1.970000, 1.900000, 1.850000, 1.780000, 1.730000, 1.690000, 1.630000, 1.590000, 1.550000, 1.560000, 1.590000, 1.600000, 1.620000, 1.660000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054768, 110874 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.132999, 8.099000, 2.937561 ], "estimate": [ 8.132999, 8.099000, 2.937561 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.500000, 1.510000, 3.490000, 3.460000, 3.410000, 3.370000, 3.340000, 3.280000, 3.250000, 3.210000, 3.180000, 3.170000, 3.130000, 3.100000, 3.070000, 3.050000, 3.020000, 2.990000, 2.970000, 2.960000, 2.150000, 2.130000, 2.110000, 2.110000, 2.090000, 2.080000, 2.090000, 2.080000, 2.070000, 2.060000, 2.050000, 2.040000, 2.020000, 2.000000, 2.010000, 2.030000, 2.010000, 2.030000, 2.010000, 2.010000, 2.020000, 2.020000, 2.020000, 2.020000, 2.030000, 2.030000, 2.020000, 2.010000, 2.020000, 2.210000, 2.810000, 2.820000, 2.830000, 2.830000, 2.850000, 2.870000, 2.870000, 2.900000, 2.470000, 1.920000, 1.920000, 2.950000, 2.970000, 2.990000, 3.010000, 3.040000, 3.070000, 3.080000, 3.120000, 3.150000, 3.190000, 3.210000, 2.260000, 2.260000, 3.320000, 3.360000, 3.410000, 3.390000, 3.330000, 3.250000, 3.180000, 3.110000, 2.890000, 2.870000, 2.910000, 2.890000, 2.840000, 2.800000, 2.750000, 2.710000, 2.660000, 2.630000, 2.580000, 2.560000, 2.520000, 2.480000, 1.540000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.420000, 1.410000, 1.400000, 1.410000, 1.720000, 1.930000, 2.060000, 2.150000, 2.130000, 2.120000, 2.110000, 2.100000, 1.880000, 1.920000, 2.100000, 13.050000, 8.180000, 8.170000, 8.250000, 9.660000, 17.510000, 17.480000, 21.210000, 11.640000, 10.350000, 10.350000, 10.380000, 8.880000, 8.840000, 6.160000, 5.490000, 4.870000, 4.310000, 4.340000, 4.350000, 4.360000, 4.380000, 4.400000, 4.420000, 4.440000, 2.240000, 2.170000, 2.070000, 2.050000, 2.190000, 2.230000, 2.250000, 2.250000, 2.270000, 2.040000, 1.980000, 1.910000, 1.830000, 1.780000, 1.730000, 1.680000, 1.640000, 1.600000, 1.520000, 1.520000, 1.580000, 1.590000, 1.610000, 1.650000, 1.670000, 1.680000, 1.710000, 1.740000, 1.770000, 1.800000, 3.020000, 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": [ 976054768, 209797 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.132000, 8.099000, 3.017453 ], "estimate": [ 8.132000, 8.099000, 3.017453 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.450000, 3.400000, 3.370000, 3.330000, 3.240000, 3.260000, 3.220000, 3.190000, 3.160000, 3.130000, 3.090000, 3.070000, 3.050000, 3.030000, 3.000000, 2.980000, 2.970000, 2.160000, 2.140000, 2.130000, 2.110000, 2.080000, 2.070000, 2.090000, 2.090000, 2.080000, 2.070000, 2.050000, 2.040000, 2.020000, 2.010000, 2.010000, 2.030000, 2.030000, 2.020000, 2.020000, 2.020000, 2.020000, 2.020000, 2.030000, 2.030000, 2.040000, 2.040000, 2.020000, 2.020000, 2.040000, 2.810000, 2.830000, 2.830000, 2.830000, 2.850000, 2.850000, 2.870000, 2.880000, 2.900000, 1.950000, 1.930000, 2.250000, 2.960000, 2.980000, 3.000000, 3.020000, 3.040000, 3.070000, 3.100000, 3.130000, 3.170000, 3.190000, 3.230000, 2.300000, 2.300000, 3.340000, 3.370000, 3.420000, 3.370000, 3.310000, 3.230000, 3.170000, 3.100000, 2.900000, 2.900000, 2.920000, 2.870000, 2.820000, 2.780000, 2.720000, 2.690000, 2.650000, 2.620000, 2.600000, 2.550000, 2.510000, 1.560000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.460000, 1.460000, 1.450000, 1.440000, 1.440000, 1.420000, 1.420000, 1.420000, 1.570000, 1.790000, 1.950000, 2.080000, 2.140000, 2.130000, 2.110000, 2.100000, 1.970000, 1.910000, 2.020000, null, 8.210000, 8.180000, 8.180000, 8.440000, 10.390000, 17.480000, 17.560000, 21.240000, 11.630000, 10.340000, 10.370000, 10.390000, 8.840000, 8.840000, 6.080000, 5.380000, 4.740000, 4.330000, 4.330000, 4.350000, 4.360000, 4.380000, 4.390000, 4.420000, 4.440000, 2.210000, 2.130000, 2.020000, 2.010000, 2.210000, 2.230000, 2.240000, 2.260000, 2.270000, 2.030000, 1.950000, 1.890000, 1.820000, 1.780000, 1.700000, 1.660000, 1.630000, 1.590000, 1.520000, 1.550000, 1.570000, 1.600000, 1.610000, 1.640000, 1.670000, 1.680000, 1.720000, 1.740000, 1.770000, 2.970000, 3.030000, 3.090000, 3.160000, 3.210000, 3.260000, 3.360000 ], "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, 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 ], "timestamp": [ 976054768, 716704 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.132000, 8.099000, 3.103490 ], "estimate": [ 8.132000, 8.099000, 3.103490 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.260000, 3.230000, 3.190000, 3.160000, 3.140000, 3.100000, 3.070000, 3.060000, 3.030000, 3.010000, 2.990000, 2.980000, 2.170000, 2.150000, 2.140000, 2.120000, 2.100000, 2.080000, 2.100000, 2.100000, 2.090000, 2.080000, 2.060000, 2.050000, 2.030000, 2.020000, 2.010000, 2.040000, 2.040000, 2.030000, 2.030000, 2.030000, 2.030000, 2.030000, 2.030000, 2.040000, 2.050000, 2.050000, 2.020000, 2.030000, 2.030000, 2.820000, 2.840000, 2.840000, 2.840000, 2.850000, 2.860000, 2.880000, 2.880000, 2.920000, 1.940000, 1.940000, 1.960000, 2.970000, 2.990000, 3.000000, 3.020000, 3.050000, 3.070000, 3.100000, 3.140000, 3.180000, 3.200000, 2.730000, 2.300000, 2.350000, 3.350000, 3.390000, 3.440000, 3.370000, 3.310000, 3.220000, 3.160000, 3.090000, 2.920000, 2.910000, 2.920000, 2.860000, 2.810000, 2.780000, 2.730000, 2.680000, 2.650000, 2.610000, 2.600000, 2.540000, 2.500000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.480000, 1.460000, 1.450000, 1.430000, 1.430000, 1.430000, 1.420000, 1.410000, 1.410000, 1.620000, 1.820000, 1.980000, 2.130000, 2.130000, 2.120000, 2.120000, 2.110000, 1.910000, 1.910000, 2.060000, null, 8.210000, 8.170000, 8.180000, 8.450000, 10.370000, 17.490000, 17.530000, 21.220000, 11.630000, 10.330000, 10.360000, 10.370000, 8.840000, 8.840000, 6.080000, 5.350000, 4.730000, 4.330000, 4.330000, 4.340000, 4.350000, 4.370000, 4.390000, 4.410000, 4.440000, 2.170000, 2.120000, 2.010000, 2.000000, 2.210000, 2.230000, 2.240000, 2.250000, 2.260000, 2.010000, 1.930000, 1.870000, 1.800000, 1.750000, 1.700000, 1.650000, 1.610000, 1.570000, 1.540000, 1.550000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 1.670000, 1.710000, 1.730000, 1.750000, 2.970000, 3.020000, 3.080000, 3.150000, 3.200000, 3.270000, 3.360000, 3.430000, 3.510000, 3.600000, 3.690000, 3.670000 ], "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, 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 ], "timestamp": [ 976054768, 717748 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.132999, 8.099000, -3.093657 ], "estimate": [ 8.132999, 8.099000, -3.093657 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.130000, 3.100000, 3.080000, 3.050000, 3.030000, 3.000000, 2.990000, 2.300000, 2.170000, 2.150000, 2.130000, 2.120000, 2.100000, 2.110000, 2.110000, 2.100000, 2.090000, 2.080000, 2.060000, 2.050000, 2.040000, 2.040000, 2.030000, 2.050000, 2.030000, 2.040000, 2.040000, 2.040000, 2.040000, 2.040000, 2.040000, 2.050000, 2.050000, 2.040000, 2.030000, 2.040000, 2.160000, 2.830000, 2.840000, 2.840000, 2.850000, 2.860000, 2.880000, 2.890000, 2.920000, 2.920000, 1.940000, 1.940000, 2.960000, 2.980000, 3.000000, 3.020000, 3.050000, 3.070000, 3.100000, 3.130000, 3.160000, 3.190000, 3.220000, 2.270000, 2.280000, 3.330000, 3.360000, 3.410000, 3.420000, 3.350000, 3.270000, 3.190000, 3.130000, 2.910000, 2.880000, 2.920000, 2.900000, 2.850000, 2.800000, 2.740000, 2.710000, 2.660000, 2.630000, 2.600000, 2.550000, 2.520000, 1.560000, 1.530000, 1.510000, 1.510000, 1.500000, 1.490000, 1.470000, 1.460000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.420000, 1.410000, 1.540000, 1.750000, 1.930000, 2.050000, 2.140000, 2.130000, 2.110000, 2.110000, 2.050000, 1.940000, 1.990000, 2.090000, null, 8.170000, 8.160000, 8.150000, 9.390000, 9.430000, 21.410000, 21.380000, 11.910000, 10.570000, 10.360000, 10.360000, 9.780000, 8.830000, 8.920000, 5.680000, 5.010000, 4.450000, 4.330000, 4.330000, 4.340000, 4.360000, 4.380000, 4.400000, 4.420000, 2.240000, 2.150000, 2.060000, 2.030000, 2.140000, 2.210000, 2.230000, 2.240000, 2.260000, 2.030000, 1.950000, 1.890000, 1.820000, 1.780000, 1.710000, 1.660000, 1.620000, 1.580000, 1.500000, 1.510000, 1.550000, 1.570000, 1.590000, 1.620000, 1.640000, 1.660000, 1.680000, 1.700000, 1.740000, 1.880000, 2.980000, 3.040000, 3.110000, 3.180000, 3.240000, 3.310000, 3.370000, 3.470000, 3.550000, 3.640000, 3.680000, 3.640000, 3.600000, 3.560000, 3.520000, 3.490000 ], "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, 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 ], "timestamp": [ 976054768, 809118 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -3.007620 ], "estimate": [ 8.134000, 8.099000, -3.007620 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.010000, 3.010000, 2.190000, 2.170000, 2.140000, 2.130000, 2.110000, 2.110000, 2.110000, 2.110000, 2.110000, 2.100000, 2.090000, 2.080000, 2.060000, 2.040000, 2.040000, 2.050000, 2.050000, 2.050000, 2.040000, 2.040000, 2.040000, 2.040000, 2.040000, 2.050000, 2.060000, 2.050000, 2.040000, 2.040000, 2.050000, 2.820000, 2.830000, 2.840000, 2.850000, 2.860000, 2.870000, 2.890000, 2.910000, 2.920000, 1.950000, 1.930000, 2.950000, 2.980000, 2.990000, 3.010000, 3.040000, 3.060000, 3.090000, 3.120000, 3.160000, 3.190000, 3.200000, 2.600000, 2.300000, 2.620000, 3.360000, 3.400000, 3.450000, 3.390000, 3.310000, 3.240000, 3.170000, 3.100000, 2.920000, 2.910000, 2.930000, 2.870000, 2.820000, 2.770000, 2.720000, 2.690000, 2.650000, 2.610000, 2.600000, 2.530000, 1.830000, 1.530000, 1.530000, 1.510000, 1.510000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.430000, 1.420000, 1.400000, 1.410000, 1.660000, 1.850000, 2.000000, 2.150000, 2.130000, 2.120000, 2.110000, 2.090000, 1.890000, 1.880000, 2.080000, null, 8.190000, 8.170000, 8.170000, 8.390000, 10.360000, 17.510000, 17.470000, 21.200000, 11.620000, 10.330000, 10.340000, 10.360000, 8.840000, 8.820000, 6.110000, 5.370000, 4.750000, 4.310000, 4.320000, 4.330000, 4.350000, 4.360000, 4.380000, 4.400000, 4.420000, 2.160000, 2.090000, 1.990000, 2.000000, 2.190000, 2.210000, 2.230000, 2.240000, 2.190000, 1.980000, 1.910000, 1.850000, 1.790000, 1.730000, 1.680000, 1.630000, 1.580000, 1.560000, 1.530000, 1.530000, 1.550000, 1.580000, 1.600000, 1.610000, 1.640000, 1.670000, 1.690000, 1.720000, 1.730000, 2.950000, 3.000000, 3.060000, 3.130000, 3.180000, 3.210000, 3.330000, 3.400000, 3.480000, 3.580000, 3.660000, 3.650000, 3.620000, 3.570000, 3.540000, 3.500000, 3.470000, 3.440000, 3.410000, 3.380000, 3.360000, 3.320000 ], "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, 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": [ 976054769, 260990 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.909292 ], "estimate": [ 8.134000, 8.099000, -2.909292 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.130000, 2.110000, 2.110000, 2.120000, 2.120000, 2.110000, 2.110000, 2.100000, 2.080000, 2.060000, 2.050000, 2.040000, 2.060000, 2.070000, 2.060000, 2.050000, 2.060000, 2.060000, 2.050000, 2.050000, 2.060000, 2.060000, 2.060000, 2.050000, 2.050000, 2.050000, 2.820000, 2.830000, 2.850000, 2.850000, 2.860000, 2.880000, 2.890000, 2.900000, 2.930000, 1.940000, 1.930000, 2.970000, 2.980000, 3.000000, 3.020000, 3.050000, 3.070000, 3.090000, 3.120000, 3.160000, 3.180000, 3.220000, 2.310000, 2.320000, 2.770000, 3.360000, 3.400000, 3.460000, 3.380000, 3.310000, 3.230000, 3.170000, 3.100000, 2.920000, 2.910000, 2.910000, 2.870000, 2.820000, 2.770000, 2.720000, 2.690000, 2.650000, 2.610000, 2.580000, 2.530000, 1.570000, 1.530000, 1.520000, 1.500000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.420000, 1.420000, 1.420000, 1.520000, 1.720000, 1.870000, 2.020000, 2.140000, 2.130000, 2.120000, 2.110000, 2.100000, 1.910000, 1.940000, 2.090000, null, 8.150000, 8.170000, 8.150000, 8.380000, 10.350000, 17.500000, 17.470000, 21.180000, 11.620000, 10.310000, 10.340000, 10.360000, 8.830000, 8.820000, 6.040000, 5.300000, 4.650000, 4.310000, 4.320000, 4.330000, 4.340000, 4.360000, 4.380000, 4.390000, 4.420000, 2.180000, 2.060000, 1.990000, 2.000000, 2.190000, 2.210000, 2.230000, 2.250000, 2.050000, 1.950000, 1.890000, 1.820000, 1.780000, 1.710000, 1.660000, 1.620000, 1.580000, 1.520000, 1.520000, 1.530000, 1.550000, 1.580000, 1.590000, 1.620000, 1.650000, 1.660000, 1.670000, 1.710000, 1.730000, 2.940000, 3.000000, 3.060000, 3.120000, 3.180000, 3.210000, 3.320000, 3.400000, 3.480000, 3.560000, 3.660000, 3.650000, 3.610000, 3.570000, 3.530000, 3.490000, 3.460000, 3.420000, 3.400000, 3.370000, 3.350000, 3.320000, 2.200000, 2.180000, 2.140000, 2.120000, 2.130000 ], "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, 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": [ 976054769, 290545 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.810963 ], "estimate": [ 8.134000, 8.099000, -2.810963 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.100000, 2.090000, 2.090000, 2.060000, 2.050000, 2.060000, 2.080000, 2.080000, 2.040000, 2.070000, 2.070000, 2.070000, 2.070000, 2.080000, 2.070000, 2.070000, 2.070000, 2.060000, 2.060000, 2.070000, 2.840000, 2.850000, 2.860000, 2.860000, 2.870000, 2.890000, 2.900000, 2.920000, 2.940000, 1.960000, 1.970000, 2.980000, 3.000000, 3.020000, 3.040000, 3.070000, 3.090000, 3.120000, 3.150000, 3.180000, 3.200000, 3.240000, 2.290000, 2.300000, 3.350000, 3.380000, 3.430000, 3.450000, 3.370000, 3.300000, 3.220000, 3.160000, 2.970000, 2.910000, 2.940000, 2.910000, 2.860000, 2.810000, 2.760000, 2.720000, 2.680000, 2.640000, 2.620000, 2.560000, 2.530000, 1.540000, 1.520000, 1.510000, 1.500000, 1.500000, 1.500000, 1.480000, 1.470000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.420000, 1.410000, 1.630000, 1.810000, 1.960000, 2.130000, 2.130000, 2.120000, 2.120000, 2.110000, 1.910000, 1.900000, 2.040000, null, null, 8.180000, 8.160000, 8.160000, 8.810000, 9.520000, 17.470000, 17.550000, 21.300000, 11.640000, 10.350000, 10.340000, 10.360000, 8.820000, 8.820000, 5.840000, 5.140000, 4.510000, 4.310000, 4.310000, 4.320000, 4.340000, 4.360000, 4.370000, 4.400000, 2.220000, 2.130000, 2.010000, 2.000000, 2.180000, 2.200000, 2.210000, 2.230000, 2.230000, 2.010000, 1.920000, 1.870000, 1.800000, 1.740000, 1.680000, 1.650000, 1.600000, 1.550000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.640000, 1.660000, 1.680000, 1.720000, 1.740000, 2.940000, 3.000000, 3.060000, 3.130000, 3.180000, 3.260000, 3.340000, 3.400000, 3.490000, 3.580000, 3.670000, 3.630000, 3.590000, 3.560000, 3.510000, 3.480000, 3.450000, 3.420000, 3.380000, 3.370000, 3.340000, 3.310000, 2.120000, 2.110000, 2.130000, 2.110000, 2.050000, 2.070000, 2.080000, 3.150000, 2.410000, 2.100000, 2.100000 ], "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, 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 ], "timestamp": [ 976054769, 407843 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.737217 ], "estimate": [ 8.134000, 8.099000, -2.737217 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.080000, 2.080000, 2.060000, 2.080000, 2.070000, 2.080000, 2.070000, 2.090000, 2.070000, 2.080000, 2.080000, 2.070000, 2.070000, 2.090000, 2.850000, 2.860000, 2.860000, 2.870000, 2.880000, 2.900000, 2.910000, 2.920000, 2.930000, 1.970000, 1.980000, 2.990000, 3.010000, 3.030000, 3.060000, 3.080000, 3.100000, 3.130000, 3.160000, 3.190000, 3.210000, 3.250000, 2.300000, 2.330000, 3.360000, 3.390000, 3.440000, 3.450000, 3.360000, 3.300000, 3.220000, 3.160000, 2.930000, 2.920000, 2.930000, 2.910000, 2.860000, 2.800000, 2.760000, 2.720000, 2.670000, 2.650000, 2.630000, 2.560000, 1.790000, 1.550000, 1.530000, 1.510000, 1.510000, 1.500000, 1.500000, 1.480000, 1.470000, 1.460000, 1.460000, 1.440000, 1.440000, 1.430000, 1.420000, 1.520000, 1.690000, 1.860000, 2.000000, 2.150000, 2.130000, 2.120000, 2.110000, 2.100000, 1.900000, 1.870000, 2.110000, null, 11.790000, 8.190000, 8.160000, 8.160000, 9.370000, 9.460000, 17.470000, 17.600000, 21.330000, 11.610000, 10.350000, 10.340000, 10.350000, 8.820000, 8.820000, 5.780000, 5.090000, 4.470000, 4.310000, 4.320000, 4.330000, 4.350000, 4.350000, 4.380000, 4.390000, 2.190000, 2.120000, 1.990000, 1.980000, 2.170000, 2.200000, 2.210000, 2.230000, 2.240000, 1.980000, 1.910000, 1.850000, 1.790000, 1.720000, 1.680000, 1.620000, 1.580000, 1.530000, 1.510000, 1.500000, 1.530000, 1.550000, 1.570000, 1.590000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.930000, 2.950000, 3.000000, 3.060000, 3.130000, 3.190000, 3.260000, 3.350000, 3.410000, 3.500000, 3.580000, 3.670000, 3.630000, 3.580000, 3.550000, 3.500000, 3.490000, 3.440000, 3.410000, 3.380000, 3.360000, 3.330000, 3.310000, 2.110000, 2.110000, 2.130000, 2.090000, 2.040000, 2.070000, 2.080000, 3.150000, 2.460000, 2.090000, 2.090000, 2.160000, 2.110000, 2.090000, 2.030000 ], "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, 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 ], "timestamp": [ 976054769, 922351 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.657325 ], "estimate": [ 8.134000, 8.099000, -2.657325 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.080000, 2.090000, 2.080000, 2.080000, 2.090000, 2.090000, 2.090000, 2.100000, 2.090000, 2.080000, 2.080000, 2.860000, 2.870000, 2.870000, 2.880000, 2.890000, 2.910000, 2.920000, 2.930000, 2.950000, 1.970000, 1.970000, 2.990000, 3.010000, 3.020000, 3.050000, 3.070000, 3.100000, 3.130000, 3.150000, 3.180000, 3.210000, 3.240000, 2.320000, 2.310000, 3.360000, 3.390000, 3.440000, 3.480000, 3.390000, 3.320000, 3.250000, 3.180000, 3.110000, 2.930000, 2.950000, 2.930000, 2.880000, 2.830000, 2.780000, 2.730000, 2.690000, 2.650000, 2.620000, 2.580000, 2.520000, 1.540000, 1.540000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.470000, 1.460000, 1.460000, 1.450000, 1.440000, 1.430000, 1.430000, 1.490000, 1.670000, 1.820000, 1.960000, 2.140000, 2.130000, 2.120000, 2.110000, 2.110000, 1.910000, 1.890000, 2.080000, 10.520000, null, 8.140000, 8.170000, 8.170000, 8.430000, 10.360000, 13.560000, 17.480000, 21.220000, 11.620000, 10.300000, 10.340000, 10.350000, 8.820000, 8.820000, 5.980000, 5.220000, 4.570000, 4.300000, 4.310000, 4.320000, 4.340000, 4.350000, 4.370000, 4.390000, 2.200000, 2.100000, 2.010000, 1.980000, 2.180000, 2.190000, 2.200000, 2.230000, 2.230000, 1.980000, 1.920000, 1.840000, 1.790000, 1.720000, 1.660000, 1.630000, 1.580000, 1.540000, 1.500000, 1.500000, 1.520000, 1.540000, 1.560000, 1.590000, 1.600000, 1.630000, 1.650000, 1.670000, 1.700000, 1.730000, 2.920000, 2.980000, 3.050000, 3.110000, 3.180000, 3.240000, 3.310000, 3.390000, 3.460000, 3.550000, 3.630000, 3.620000, 3.590000, 3.550000, 3.510000, 3.470000, 3.440000, 3.400000, 3.370000, 3.360000, 3.330000, 3.300000, 2.190000, 2.140000, 2.120000, 2.090000, 2.090000, 2.070000, 2.070000, 2.460000, 3.130000, 2.080000, 2.090000, 2.150000, 2.120000, 2.080000, 2.090000, 2.040000, 2.060000, 2.110000, 2.310000, 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, 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": [ 976054769, 940543 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.540560 ], "estimate": [ 8.134000, 8.099000, -2.540560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.100000, 2.100000, 2.100000, 2.080000, 2.090000, 2.870000, 2.880000, 2.890000, 2.890000, 2.900000, 2.920000, 2.920000, 2.930000, 2.960000, 1.980000, 1.970000, 2.990000, 3.010000, 3.040000, 3.060000, 3.080000, 3.100000, 3.120000, 3.160000, 3.180000, 3.210000, 3.240000, 2.320000, 2.330000, 3.360000, 3.400000, 3.440000, 3.480000, 3.400000, 3.340000, 3.260000, 3.180000, 3.120000, 2.940000, 2.940000, 2.940000, 2.890000, 2.830000, 2.780000, 2.730000, 2.700000, 2.650000, 2.630000, 2.570000, 1.720000, 1.560000, 1.530000, 1.530000, 1.510000, 1.500000, 1.490000, 1.480000, 1.480000, 1.460000, 1.460000, 1.450000, 1.450000, 1.430000, 1.430000, 1.530000, 1.700000, 1.860000, 1.980000, 2.150000, 2.140000, 2.120000, 2.120000, 2.110000, 1.880000, 1.880000, 2.090000, 10.510000, null, 8.120000, 8.170000, 8.160000, 8.380000, 10.260000, 17.500000, 17.510000, 21.280000, 11.620000, 10.310000, 10.310000, 10.350000, 8.820000, 8.810000, 5.960000, 5.180000, 4.540000, 4.300000, 4.310000, 4.320000, 4.340000, 4.350000, 4.370000, 4.390000, 2.180000, 2.090000, 1.960000, 1.960000, 2.180000, 2.200000, 2.200000, 2.220000, 2.230000, 1.950000, 1.880000, 1.820000, 1.770000, 1.710000, 1.640000, 1.610000, 1.570000, 1.520000, 1.490000, 1.490000, 1.520000, 1.530000, 1.560000, 1.580000, 1.600000, 1.630000, 1.660000, 1.670000, 1.690000, 1.830000, 2.910000, 2.970000, 3.040000, 3.100000, 3.160000, 3.210000, 3.310000, 3.370000, 3.460000, 3.540000, 3.630000, 3.620000, 3.570000, 3.540000, 3.500000, 3.470000, 3.430000, 3.400000, 3.370000, 3.350000, 3.320000, 3.290000, 2.160000, 2.140000, 2.110000, 2.090000, 2.080000, 2.060000, 2.060000, 2.360000, 3.110000, 2.080000, 2.080000, 2.120000, 2.120000, 2.070000, 2.050000, 2.040000, 2.060000, 2.090000, 2.300000, 2.300000, 2.290000, 2.280000, 2.280000, 2.280000, 2.280000, 2.280000 ], "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, 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 ], "timestamp": [ 976054770, 799499 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.442232 ], "estimate": [ 8.134000, 8.099000, -2.442232 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.900000, 2.910000, 2.920000, 2.930000, 2.940000, 2.950000, 2.950000, 2.360000, 2.010000, 2.010000, 3.020000, 3.030000, 3.060000, 3.070000, 3.110000, 3.130000, 3.160000, 3.190000, 3.210000, 3.250000, 3.270000, 2.350000, 2.350000, 3.390000, 3.440000, 3.480000, 3.460000, 3.380000, 3.300000, 3.230000, 3.170000, 2.940000, 2.940000, 2.970000, 2.910000, 2.870000, 2.810000, 2.760000, 2.720000, 2.670000, 2.650000, 2.640000, 2.560000, 1.570000, 1.550000, 1.530000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.480000, 1.460000, 1.460000, 1.440000, 1.450000, 1.540000, 1.680000, 1.840000, 1.950000, 2.160000, 2.140000, 2.130000, 2.130000, 2.120000, 1.920000, 1.910000, 2.050000, null, null, 11.800000, 7.830000, 8.160000, 8.170000, 9.390000, 9.450000, 17.580000, 21.380000, 21.370000, 10.630000, 10.340000, 10.350000, 9.890000, 8.830000, 8.910000, 5.520000, 4.820000, 4.310000, 4.310000, 4.320000, 4.330000, 4.350000, 4.360000, 4.380000, 2.220000, 2.120000, 2.010000, 1.990000, 2.180000, 2.190000, 2.200000, 2.220000, 2.240000, 1.980000, 1.910000, 1.850000, 1.780000, 1.720000, 1.650000, 1.610000, 1.570000, 1.520000, 1.500000, 1.500000, 1.510000, 1.540000, 1.550000, 1.570000, 1.590000, 1.610000, 1.640000, 1.670000, 1.690000, 1.710000, 2.900000, 2.950000, 3.010000, 3.060000, 3.130000, 3.190000, 3.260000, 3.350000, 3.420000, 3.500000, 3.590000, 3.630000, 3.590000, 3.550000, 3.510000, 3.480000, 3.440000, 3.400000, 3.370000, 3.360000, 2.390000, 2.500000, 3.270000, 2.100000, 2.120000, 2.170000, 2.020000, 2.010000, 2.050000, 2.230000, 3.120000, 2.440000, 2.070000, 2.070000, 2.120000, 2.070000, 2.070000, 1.980000, 2.010000, 2.040000, 2.300000, 2.290000, 2.290000, 2.260000, 2.280000, 2.280000, 2.280000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.270000, 2.270000 ], "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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054771, 219020 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.100000, -2.362340 ], "estimate": [ 8.134000, 8.100000, -2.362340 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.960000, 2.960000, 2.980000, 2.000000, 1.980000, 3.020000, 3.040000, 3.060000, 3.080000, 3.090000, 3.120000, 3.150000, 3.180000, 3.200000, 3.240000, 3.260000, 2.360000, 2.340000, 3.370000, 3.410000, 3.470000, 3.500000, 3.430000, 3.350000, 3.280000, 3.210000, 3.140000, 2.940000, 2.950000, 2.950000, 2.910000, 2.850000, 2.800000, 2.750000, 2.720000, 2.660000, 2.650000, 2.590000, 1.600000, 1.570000, 1.550000, 1.540000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.460000, 1.440000, 1.430000, 1.640000, 1.800000, 1.920000, 2.040000, 2.150000, 2.140000, 2.130000, 2.120000, 2.010000, 1.940000, 2.000000, 2.080000, 10.510000, null, 8.050000, 8.180000, 8.180000, 8.450000, 10.390000, 13.450000, 17.490000, 21.370000, 11.630000, 10.330000, 10.340000, 10.360000, 8.830000, 8.820000, 5.920000, 5.170000, 4.510000, 4.310000, 4.310000, 4.320000, 4.340000, 4.350000, 4.370000, 4.390000, 2.170000, 2.040000, 1.990000, 2.020000, 2.180000, 2.200000, 2.210000, 2.230000, 2.030000, 1.930000, 1.860000, 1.790000, 1.730000, 1.670000, 1.640000, 1.570000, 1.530000, 1.460000, 1.460000, 1.490000, 1.520000, 1.540000, 1.560000, 1.590000, 1.600000, 1.630000, 1.660000, 1.680000, 1.690000, 2.870000, 2.920000, 2.970000, 3.040000, 3.100000, 3.170000, 3.230000, 3.300000, 3.380000, 3.460000, 3.540000, 3.630000, 3.600000, 3.570000, 3.530000, 3.490000, 3.450000, 3.420000, 3.390000, 3.370000, 3.340000, 2.090000, 3.280000, 2.130000, 2.080000, 2.090000, 2.060000, 2.020000, 2.050000, 2.050000, 2.590000, 3.100000, 2.080000, 2.070000, 2.080000, 2.110000, 2.070000, 2.010000, 1.960000, 2.040000, 2.140000, 2.280000, 2.290000, 2.270000, 2.270000, 2.270000, 2.270000, 2.260000, 2.260000, 2.250000, 2.260000, 2.250000, 2.250000, 2.260000, 2.280000, 2.290000, 2.300000, 2.300000, 2.320000, 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, 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 ], "timestamp": [ 976054771, 241189 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.288594 ], "estimate": [ 8.134000, 8.099000, -2.288594 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.030000, 3.050000, 3.070000, 3.080000, 3.100000, 3.130000, 3.160000, 3.190000, 3.220000, 3.250000, 3.280000, 2.340000, 2.360000, 3.390000, 3.440000, 3.480000, 3.490000, 3.420000, 3.350000, 3.260000, 3.190000, 3.060000, 2.950000, 2.980000, 2.940000, 2.900000, 2.840000, 2.800000, 2.740000, 2.710000, 2.660000, 2.620000, 2.580000, 1.590000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.500000, 1.500000, 1.500000, 1.480000, 1.480000, 1.460000, 1.460000, 1.450000, 1.560000, 1.730000, 1.860000, 1.980000, 2.160000, 2.150000, 2.130000, 2.130000, 2.120000, 1.950000, 1.910000, 2.090000, 4.420000, null, null, 8.190000, 8.180000, 8.180000, 9.380000, 9.470000, 17.470000, 17.550000, 21.190000, 10.630000, 10.350000, 10.350000, 10.350000, 8.820000, 8.830000, 5.610000, 4.890000, 4.320000, 4.310000, 4.320000, 4.330000, 4.350000, 4.360000, 4.380000, 2.200000, 2.110000, 1.990000, 1.960000, 2.180000, 2.190000, 2.200000, 2.220000, 2.230000, 1.960000, 1.900000, 1.830000, 1.760000, 1.700000, 1.650000, 1.600000, 1.550000, 1.510000, 1.490000, 1.500000, 1.520000, 1.530000, 1.540000, 1.570000, 1.590000, 1.610000, 1.630000, 1.670000, 1.680000, 1.820000, 2.890000, 2.940000, 3.000000, 3.060000, 3.110000, 3.180000, 3.260000, 3.320000, 3.400000, 3.480000, 3.570000, 3.630000, 3.590000, 3.550000, 3.500000, 3.470000, 3.440000, 3.400000, 3.370000, 3.350000, 2.360000, 2.300000, 3.260000, 2.080000, 2.100000, 2.210000, 2.010000, 2.010000, 2.030000, 2.140000, 3.110000, 3.080000, 2.060000, 2.060000, 2.100000, 2.070000, 2.050000, 1.940000, 1.950000, 2.020000, 2.270000, 2.280000, 2.280000, 2.260000, 2.260000, 2.260000, 2.260000, 2.260000, 2.250000, 2.240000, 2.240000, 2.230000, 2.250000, 2.260000, 2.280000, 2.260000, 2.290000, 2.300000, 2.300000, 2.150000, 2.060000, 2.050000, 2.050000, 2.270000 ], "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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054771, 242275 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.202556 ], "estimate": [ 8.134000, 8.099000, -2.202556 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.130000, 3.160000, 3.190000, 3.200000, 3.240000, 3.270000, 2.370000, 2.360000, 3.380000, 3.420000, 3.470000, 3.510000, 3.460000, 3.370000, 3.300000, 3.230000, 3.160000, 2.960000, 2.960000, 2.970000, 2.910000, 2.870000, 2.810000, 2.770000, 2.720000, 2.680000, 2.670000, 2.600000, 1.580000, 1.570000, 1.570000, 1.550000, 1.520000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.460000, 1.430000, 1.510000, 1.690000, 1.840000, 1.960000, 2.070000, 2.150000, 2.140000, 2.130000, 2.120000, 1.940000, 1.950000, 2.030000, 2.140000, 10.530000, 11.820000, 7.950000, 8.190000, 8.180000, 8.420000, 10.320000, 13.140000, 17.500000, 21.380000, 11.640000, 10.340000, 10.330000, 10.360000, 8.830000, 8.830000, 5.920000, 5.140000, 4.450000, 4.330000, 4.320000, 4.340000, 4.360000, 4.370000, 4.380000, 2.240000, 2.140000, 2.010000, 1.980000, 2.180000, 2.180000, 2.200000, 2.210000, 2.230000, 1.980000, 1.910000, 1.840000, 1.770000, 1.710000, 1.650000, 1.610000, 1.550000, 1.500000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.570000, 1.600000, 1.600000, 1.630000, 1.660000, 1.680000, 1.700000, 2.860000, 2.910000, 2.980000, 3.040000, 3.090000, 3.160000, 3.220000, 3.300000, 3.370000, 3.450000, 3.550000, 3.620000, 3.590000, 3.560000, 3.510000, 3.470000, 3.430000, 3.400000, 3.370000, 3.350000, 2.100000, 2.220000, 2.270000, 2.100000, 2.080000, 2.100000, 2.020000, 2.010000, 2.010000, 2.060000, 2.610000, 3.080000, 2.080000, 2.060000, 2.060000, 2.070000, 2.070000, 1.930000, 1.920000, 2.040000, 2.180000, 2.260000, 2.270000, 2.270000, 2.260000, 2.260000, 2.260000, 2.250000, 2.260000, 2.220000, 2.230000, 2.220000, 2.230000, 2.260000, 2.260000, 2.280000, 2.280000, 2.290000, 2.300000, 2.300000, 2.050000, 2.040000, 2.050000, 2.230000, 2.300000, 3.190000, 3.200000, 3.200000, 3.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054771, 243239 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.104228 ], "estimate": [ 8.134000, 8.099000, -2.104228 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.270000, 2.380000, 2.380000, 3.380000, 3.420000, 3.460000, 3.500000, 3.470000, 3.380000, 3.310000, 3.230000, 3.170000, 2.970000, 2.970000, 2.980000, 2.930000, 2.890000, 2.830000, 2.790000, 2.740000, 2.700000, 2.670000, 2.610000, 1.600000, 1.580000, 1.560000, 1.550000, 1.530000, 1.530000, 1.520000, 1.500000, 1.500000, 1.490000, 1.490000, 1.470000, 1.470000, 1.460000, 1.570000, 1.720000, 1.850000, 1.980000, 2.090000, 2.150000, 2.150000, 2.140000, 2.120000, 1.960000, 1.940000, 2.050000, 2.140000, 10.540000, 11.810000, 7.870000, 8.140000, 8.180000, 8.310000, 9.550000, null, 17.370000, 21.390000, 11.640000, 10.340000, 10.330000, 10.370000, 8.880000, 8.830000, 5.960000, 5.160000, 4.470000, 4.330000, 4.330000, 4.340000, 4.360000, 4.370000, 4.390000, 2.220000, 2.120000, 1.970000, 1.960000, 2.180000, 2.180000, 2.190000, 2.210000, 2.220000, 1.980000, 1.900000, 1.830000, 1.750000, 1.700000, 1.640000, 1.580000, 1.540000, 1.500000, 1.470000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.600000, 1.630000, 1.660000, 1.680000, 1.730000, 2.870000, 2.920000, 2.970000, 3.030000, 3.080000, 3.160000, 3.210000, 3.290000, 3.360000, 3.450000, 3.530000, 3.610000, 3.580000, 3.550000, 3.510000, 3.470000, 3.430000, 3.400000, 3.360000, 3.340000, 2.090000, 2.090000, 2.150000, 2.100000, 2.080000, 2.090000, 2.010000, 1.990000, 1.990000, 2.050000, 2.410000, 3.070000, 2.090000, 2.050000, 2.040000, 2.070000, 2.060000, 1.920000, 1.910000, 2.020000, 2.130000, 2.240000, 2.260000, 2.260000, 2.250000, 2.240000, 2.250000, 2.250000, 2.240000, 2.240000, 2.230000, 2.220000, 2.220000, 2.250000, 2.260000, 2.270000, 2.270000, 2.290000, 2.290000, 2.290000, 2.060000, 2.020000, 2.040000, 2.230000, 2.270000, 3.170000, 3.180000, 3.200000, 3.210000, 3.240000, 3.270000, 1.940000, 1.940000, 1.960000, 3.370000 ], "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, 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 ], "timestamp": [ 976054771, 244174 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -2.018190 ], "estimate": [ 8.134000, 8.099000, -2.018190 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.450000, 3.500000, 3.500000, 3.420000, 3.360000, 3.270000, 3.200000, 3.140000, 2.980000, 3.000000, 2.960000, 2.910000, 2.860000, 2.800000, 2.760000, 2.720000, 2.680000, 2.670000, 1.800000, 1.590000, 1.580000, 1.560000, 1.560000, 1.540000, 1.530000, 1.520000, 1.500000, 1.490000, 1.490000, 1.490000, 1.470000, 1.440000, 1.440000, 1.690000, 1.820000, 1.940000, 2.070000, 2.160000, 2.160000, 2.140000, 2.130000, 2.070000, 1.960000, 2.000000, 2.120000, 10.560000, null, null, 8.210000, 8.190000, 8.180000, 9.400000, 9.470000, 17.490000, 17.530000, 21.180000, 11.020000, 10.360000, 10.360000, 10.300000, 8.830000, 8.830000, 5.490000, 4.740000, 4.320000, 4.330000, 4.340000, 4.350000, 4.370000, 4.380000, 4.400000, 2.180000, 2.020000, 2.010000, 2.120000, 2.180000, 2.190000, 2.210000, 2.220000, 2.000000, 1.920000, 1.850000, 1.780000, 1.720000, 1.650000, 1.600000, 1.560000, 1.500000, 1.490000, 1.500000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.610000, 1.610000, 1.660000, 1.670000, 1.690000, 2.840000, 2.900000, 2.950000, 3.000000, 3.070000, 3.140000, 3.180000, 3.250000, 3.330000, 3.410000, 3.490000, 3.580000, 3.590000, 3.560000, 3.510000, 3.480000, 3.440000, 3.400000, 3.380000, 3.350000, 3.320000, 2.200000, 2.110000, 2.140000, 2.120000, 2.090000, 2.040000, 2.030000, 2.030000, 2.060000, 2.360000, 3.090000, 3.070000, 2.040000, 2.030000, 2.080000, 2.050000, 1.930000, 1.910000, 1.980000, 2.040000, 2.150000, 2.240000, 2.250000, 2.250000, 2.250000, 2.240000, 2.240000, 2.250000, 2.230000, 2.230000, 2.220000, 2.210000, 2.230000, 2.250000, 2.260000, 2.260000, 2.260000, 2.280000, 2.270000, 2.210000, 2.010000, 2.010000, 2.080000, 2.370000, 2.080000, 3.160000, 3.190000, 3.200000, 3.220000, 3.250000, 3.280000, 1.910000, 1.900000, 3.370000, 3.380000, 3.410000, 3.460000, 3.490000, 3.530000 ], "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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054771, 245118 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -1.919862 ], "estimate": [ 8.134000, 8.099000, -1.919862 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.230000, 3.160000, 3.000000, 2.990000, 2.980000, 2.930000, 2.880000, 2.830000, 2.780000, 2.730000, 2.700000, 2.670000, 2.620000, 1.610000, 1.600000, 1.580000, 1.570000, 1.560000, 1.540000, 1.530000, 1.520000, 1.500000, 1.490000, 1.490000, 1.490000, 1.480000, 1.450000, 1.640000, 1.800000, 1.930000, 2.050000, 2.170000, 2.160000, 2.160000, 2.140000, 2.130000, 1.950000, 1.950000, 2.130000, 4.470000, 10.530000, null, 8.210000, 8.200000, 8.200000, 8.470000, 10.370000, 13.060000, 17.510000, 21.410000, 11.660000, 10.340000, 10.360000, 10.380000, 8.840000, 8.840000, 5.710000, 4.910000, 4.330000, 4.330000, 4.340000, 4.350000, 4.370000, 4.380000, 4.400000, 2.150000, 2.040000, 2.000000, 2.020000, 2.180000, 2.190000, 2.200000, 2.230000, 2.020000, 1.920000, 1.850000, 1.780000, 1.710000, 1.650000, 1.600000, 1.550000, 1.510000, 1.500000, 1.490000, 1.510000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.670000, 1.690000, 2.830000, 2.890000, 2.930000, 2.990000, 3.050000, 3.100000, 3.140000, 3.240000, 3.310000, 3.380000, 3.470000, 3.560000, 3.600000, 3.560000, 3.510000, 3.480000, 3.440000, 3.410000, 3.370000, 3.350000, 3.320000, 2.270000, 2.140000, 2.140000, 2.090000, 2.100000, 2.060000, 2.030000, 1.990000, 2.030000, 2.060000, 3.080000, 3.060000, 2.010000, 2.000000, 1.990000, 1.990000, 1.920000, 1.900000, 1.960000, 2.010000, 2.150000, 2.160000, 2.230000, 2.240000, 2.230000, 2.230000, 2.240000, 2.240000, 2.220000, 2.210000, 2.210000, 2.200000, 2.210000, 2.230000, 2.240000, 2.260000, 2.260000, 2.260000, 2.260000, 2.270000, 2.020000, 2.020000, 2.020000, 2.350000, 3.120000, 3.160000, 3.170000, 3.190000, 3.210000, 3.230000, 3.260000, 1.920000, 1.930000, 1.940000, 3.370000, 3.400000, 3.430000, 3.470000, 3.510000, 3.550000, 3.590000, 3.640000, 3.690000, 3.660000, 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, 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 ], "timestamp": [ 976054771, 500367 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.099000, -1.815388 ], "estimate": [ 8.134000, 8.099000, -1.815388 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.900000, 2.860000, 2.810000, 2.760000, 2.720000, 2.680000, 2.650000, 1.630000, 1.600000, 1.600000, 1.580000, 1.570000, 1.560000, 1.550000, 1.530000, 1.530000, 1.510000, 1.500000, 1.490000, 1.490000, 1.490000, 1.650000, 1.790000, 1.940000, 2.050000, 2.180000, 2.170000, 2.160000, 2.150000, 2.140000, 1.940000, 1.960000, 2.110000, 4.460000, 10.580000, 11.840000, 7.880000, 7.950000, 8.200000, 8.240000, 9.510000, null, 19.270000, 21.420000, 11.640000, 10.360000, 10.360000, 10.390000, 8.930000, 8.860000, 5.940000, 5.090000, 4.400000, 4.300000, 4.340000, 4.350000, 4.370000, 4.380000, 4.400000, 2.140000, 2.060000, 1.990000, 2.020000, 2.180000, 2.190000, 2.210000, 2.230000, 2.010000, 1.930000, 1.850000, 1.780000, 1.720000, 1.650000, 1.610000, 1.550000, 1.500000, 1.490000, 1.490000, 1.510000, 1.520000, 1.540000, 1.570000, 1.580000, 1.610000, 1.630000, 1.650000, 1.670000, 1.700000, 2.820000, 2.880000, 2.920000, 2.980000, 3.040000, 3.100000, 3.160000, 3.220000, 3.300000, 3.370000, 3.460000, 3.540000, 3.600000, 3.570000, 3.520000, 3.480000, 3.440000, 3.400000, 3.380000, 3.350000, 3.320000, 3.290000, 2.110000, 2.090000, 2.060000, 2.060000, 2.050000, 2.000000, 1.950000, 1.980000, 2.030000, 2.060000, 2.350000, 2.010000, 1.980000, 1.970000, 1.940000, 1.890000, 1.880000, 1.960000, 2.000000, 2.140000, 2.140000, 2.230000, 2.240000, 2.220000, 2.220000, 2.220000, 2.220000, 2.220000, 2.220000, 2.220000, 2.190000, 2.200000, 2.210000, 2.230000, 2.240000, 2.250000, 2.250000, 2.270000, 2.270000, 2.040000, 2.010000, 2.010000, 2.340000, 3.100000, 3.150000, 3.150000, 3.180000, 3.200000, 3.220000, 3.250000, 1.930000, 1.920000, 1.910000, 3.350000, 3.380000, 3.410000, 3.450000, 3.490000, 3.530000, 3.580000, 3.610000, 3.660000, 3.670000, 3.590000, 3.520000, 3.440000, 3.370000, 3.300000, 3.210000, 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, 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 ], "timestamp": [ 976054771, 835072 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.100000, -1.729351 ], "estimate": [ 8.134000, 8.100000, -1.729351 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.690000, 1.800000, 1.630000, 1.600000, 1.600000, 1.590000, 1.580000, 1.560000, 1.550000, 1.530000, 1.540000, 1.520000, 1.500000, 1.490000, 1.480000, 1.510000, 1.760000, 1.880000, 2.020000, 2.110000, 2.170000, 2.160000, 2.160000, 2.150000, 2.000000, 1.980000, 2.070000, 2.150000, 10.570000, 10.670000, null, 8.230000, 8.210000, 8.210000, 9.410000, 9.520000, 17.540000, 17.510000, 21.280000, 11.670000, 10.390000, 10.390000, 10.400000, 8.850000, 8.850000, 5.470000, 4.730000, 4.340000, 4.340000, 4.350000, 4.370000, 4.390000, 4.400000, 2.210000, 2.110000, 1.990000, 2.000000, 2.180000, 2.200000, 2.210000, 2.230000, 2.210000, 1.960000, 1.880000, 1.810000, 1.730000, 1.680000, 1.620000, 1.570000, 1.520000, 1.500000, 1.500000, 1.500000, 1.530000, 1.550000, 1.560000, 1.580000, 1.610000, 1.630000, 1.640000, 1.670000, 1.690000, 2.810000, 2.860000, 2.920000, 2.970000, 3.020000, 3.080000, 3.140000, 3.200000, 3.270000, 3.360000, 3.430000, 3.510000, 3.590000, 3.580000, 3.540000, 3.490000, 3.460000, 3.420000, 3.390000, 3.360000, 3.320000, 3.300000, 2.050000, 2.040000, 2.040000, 2.020000, 2.010000, 1.970000, 1.940000, 1.940000, 2.010000, 2.160000, 3.060000, 2.020000, 1.970000, 1.950000, 2.010000, 2.020000, 1.860000, 1.840000, 1.990000, 2.060000, 2.150000, 2.160000, 2.230000, 2.220000, 2.210000, 2.220000, 2.220000, 2.210000, 2.200000, 2.210000, 2.190000, 2.200000, 2.200000, 2.210000, 2.220000, 2.240000, 2.250000, 2.250000, 2.260000, 2.070000, 2.020000, 2.020000, 2.320000, 2.340000, 3.110000, 3.140000, 3.160000, 3.180000, 3.200000, 3.220000, 3.240000, 1.880000, 1.880000, 3.330000, 3.360000, 3.390000, 3.430000, 3.470000, 3.500000, 3.550000, 3.590000, 3.640000, 3.680000, 3.640000, 3.550000, 3.470000, 3.400000, 3.240000, 3.270000, 3.200000, 3.150000, 3.080000, 3.040000, 2.980000, 2.930000, 2.910000 ], "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, 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 ], "timestamp": [ 976054771, 836298 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.098000, -1.649459 ], "estimate": [ 8.134000, 8.098000, -1.649459 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.590000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.500000, 1.640000, 1.800000, 1.910000, 2.030000, 2.140000, 2.190000, 2.170000, 2.160000, 2.160000, 1.980000, 1.950000, 2.080000, 2.190000, 10.600000, null, null, 8.200000, 8.210000, 8.210000, 9.410000, 9.490000, 17.530000, 17.550000, 21.220000, 10.830000, 10.400000, 10.390000, 10.270000, 8.850000, 6.210000, 5.380000, 4.610000, 4.350000, 4.350000, 4.360000, 4.370000, 4.390000, 4.400000, 2.160000, 2.090000, 2.000000, 2.030000, 2.190000, 2.210000, 2.220000, 2.230000, 2.050000, 1.940000, 1.860000, 1.790000, 1.710000, 1.660000, 1.600000, 1.560000, 1.500000, 1.470000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.600000, 1.610000, 1.620000, 1.650000, 1.680000, 1.690000, 2.820000, 2.870000, 2.920000, 2.980000, 3.040000, 3.090000, 3.160000, 3.220000, 3.290000, 3.370000, 3.440000, 3.530000, 3.610000, 3.570000, 3.530000, 3.490000, 3.450000, 3.410000, 3.380000, 3.360000, 3.320000, 3.280000, 2.190000, 2.030000, 2.040000, 2.010000, 1.980000, 1.960000, 1.940000, 1.960000, 2.000000, 2.080000, 2.210000, 1.980000, 1.940000, 1.970000, 1.920000, 1.870000, 1.860000, 1.950000, 1.990000, 2.050000, 2.140000, 2.180000, 2.230000, 2.220000, 2.220000, 2.220000, 2.210000, 2.210000, 2.190000, 2.200000, 2.190000, 2.190000, 2.190000, 2.200000, 2.220000, 2.240000, 2.250000, 2.250000, 2.260000, 2.020000, 2.010000, 2.000000, 2.310000, 2.470000, 3.120000, 3.130000, 3.160000, 3.180000, 3.200000, 3.220000, 3.250000, 1.870000, 1.900000, 3.320000, 3.360000, 3.390000, 3.430000, 3.460000, 3.500000, 3.550000, 3.590000, 3.630000, 3.680000, 3.620000, 3.540000, 3.460000, 3.390000, 3.220000, 3.260000, 3.150000, 3.140000, 3.080000, 3.040000, 2.990000, 2.920000, 2.890000, 2.840000, 2.840000, 2.140000, 1.970000 ], "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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054772, 106750 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.097000, -1.563422 ], "estimate": [ 8.134000, 8.097000, -1.563422 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.540000, 1.530000, 1.520000, 1.520000, 1.500000, 1.500000, 1.630000, 1.760000, 1.900000, 2.030000, 2.130000, 2.200000, 2.180000, 2.170000, 2.170000, 1.980000, 1.950000, 2.110000, 2.200000, 10.620000, 10.700000, null, 8.240000, 8.220000, 8.220000, 9.410000, 9.520000, 17.540000, 17.510000, 21.230000, 11.660000, 10.410000, 10.400000, 10.290000, 8.860000, 6.170000, 5.350000, 4.580000, 4.360000, 4.350000, 4.370000, 4.370000, 4.390000, 4.410000, 2.150000, 2.070000, 2.030000, 2.090000, 2.190000, 2.200000, 2.230000, 2.230000, 2.010000, 1.930000, 1.860000, 1.780000, 1.710000, 1.630000, 1.600000, 1.540000, 1.460000, 1.470000, 1.510000, 1.520000, 1.540000, 1.550000, 1.580000, 1.590000, 1.620000, 1.630000, 1.660000, 1.670000, 1.850000, 2.830000, 2.880000, 2.930000, 2.980000, 3.040000, 3.100000, 3.160000, 3.220000, 3.300000, 3.370000, 3.450000, 3.530000, 3.600000, 3.570000, 3.520000, 3.480000, 3.450000, 3.410000, 3.380000, 3.350000, 3.310000, 3.280000, 2.090000, 2.040000, 2.020000, 1.970000, 2.000000, 1.990000, 1.960000, 1.980000, 2.020000, 2.170000, 2.210000, 2.040000, 1.980000, 1.920000, 1.880000, 1.870000, 1.860000, 1.970000, 1.980000, 2.030000, 2.140000, 2.200000, 2.220000, 2.210000, 2.200000, 2.210000, 2.200000, 2.200000, 2.180000, 2.190000, 2.190000, 2.180000, 2.180000, 2.190000, 2.210000, 2.230000, 2.240000, 2.250000, 2.250000, 2.030000, 2.000000, 1.980000, 2.320000, 2.460000, 3.120000, 3.120000, 3.150000, 3.170000, 3.190000, 3.200000, 1.940000, 1.870000, 1.880000, 3.320000, 3.350000, 3.380000, 3.410000, 3.450000, 3.490000, 3.540000, 3.580000, 3.620000, 3.670000, 3.610000, 3.540000, 3.460000, 3.380000, 3.190000, 3.240000, 3.170000, 3.140000, 3.070000, 3.020000, 2.970000, 2.920000, 2.880000, 2.840000, 2.830000, 2.160000, 1.960000, 1.930000, 1.920000, 1.890000, 1.870000, 1.850000 ], "valid": [ 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, 1, 1, 1 ], "timestamp": [ 976054772, 461766 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.092000, -1.458948 ], "estimate": [ 8.134000, 8.092000, -1.458948 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.680000, 1.810000, 1.940000, 2.060000, 2.220000, 2.200000, 2.190000, 2.180000, 2.080000, 2.030000, 2.030000, 2.150000, 4.490000, 10.600000, 11.860000, 7.940000, 7.960000, 8.240000, 8.270000, 9.530000, null, 19.290000, 21.440000, 11.660000, 10.380000, 10.380000, 10.400000, 8.880000, 8.870000, 5.770000, 4.910000, 4.350000, 4.360000, 4.360000, 4.380000, 4.400000, 4.410000, 2.210000, 2.110000, 2.010000, 2.010000, 2.190000, 2.200000, 2.220000, 2.240000, 2.180000, 1.960000, 1.880000, 1.790000, 1.730000, 1.660000, 1.600000, 1.560000, 1.510000, 1.500000, 1.490000, 1.510000, 1.530000, 1.560000, 1.580000, 1.590000, 1.600000, 1.630000, 1.650000, 1.680000, 1.700000, 2.810000, 2.860000, 2.920000, 2.950000, 3.010000, 3.070000, 3.130000, 3.190000, 3.260000, 3.340000, 3.410000, 3.490000, 3.580000, 3.580000, 3.530000, 3.490000, 3.460000, 3.420000, 3.380000, 3.360000, 3.320000, 3.290000, 2.110000, 2.080000, 2.050000, 2.040000, 2.020000, 1.970000, 1.940000, 1.950000, 2.000000, 2.270000, 3.040000, 2.010000, 1.960000, 1.960000, 1.980000, 1.940000, 1.830000, 1.830000, 1.970000, 2.030000, 2.120000, 2.120000, 2.210000, 2.200000, 2.200000, 2.200000, 2.200000, 2.190000, 2.180000, 2.180000, 2.190000, 2.170000, 2.170000, 2.180000, 2.180000, 2.200000, 2.220000, 2.230000, 2.230000, 2.230000, 2.000000, 2.000000, 2.260000, 2.310000, 3.090000, 3.110000, 3.120000, 3.150000, 3.170000, 3.190000, 3.210000, 1.890000, 1.880000, 1.900000, 3.320000, 3.360000, 3.380000, 3.420000, 3.460000, 3.500000, 3.550000, 3.590000, 3.640000, 3.640000, 3.570000, 3.490000, 3.400000, 3.340000, 3.280000, 3.210000, 3.160000, 3.100000, 3.040000, 2.990000, 2.940000, 2.900000, 2.850000, 2.810000, 2.770000, 1.960000, 1.930000, 1.910000, 1.890000, 1.870000, 1.850000, 1.830000, 1.820000, 1.790000, 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, 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 ], "timestamp": [ 976054772, 462991 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.089001, -1.360619 ], "estimate": [ 8.135000, 8.089001, -1.360619 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.190000, 2.190000, 1.970000, 1.970000, 2.190000, 4.500000, 10.630000, null, null, 8.250000, 8.240000, 8.240000, 9.440000, 9.510000, 17.560000, 17.540000, 21.240000, 11.140000, 10.420000, 10.420000, 10.170000, 8.870000, 6.140000, 5.270000, 4.490000, 4.350000, 4.360000, 4.370000, 4.390000, 4.400000, 2.260000, 2.150000, 2.010000, 2.010000, 2.200000, 2.210000, 2.230000, 2.230000, 2.250000, 1.980000, 1.910000, 1.810000, 1.750000, 1.670000, 1.620000, 1.570000, 1.510000, 1.490000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.590000, 1.610000, 1.630000, 1.650000, 1.680000, 1.700000, 2.800000, 2.860000, 2.910000, 2.950000, 3.010000, 3.070000, 3.130000, 3.180000, 3.250000, 3.330000, 3.390000, 3.470000, 3.560000, 3.580000, 3.550000, 3.500000, 3.470000, 3.420000, 3.390000, 3.360000, 3.320000, 3.300000, 2.030000, 2.020000, 2.020000, 1.990000, 1.990000, 1.960000, 1.930000, 1.930000, 1.980000, 2.100000, 3.050000, 1.970000, 1.950000, 1.950000, 1.990000, 1.950000, 1.830000, 1.820000, 1.960000, 1.970000, 2.110000, 2.120000, 2.200000, 2.200000, 2.190000, 2.190000, 2.190000, 2.190000, 2.170000, 2.170000, 2.170000, 2.170000, 2.160000, 2.160000, 2.170000, 2.190000, 2.200000, 2.230000, 2.230000, 2.230000, 2.010000, 1.950000, 2.020000, 2.290000, 3.050000, 3.100000, 3.100000, 3.130000, 3.150000, 3.170000, 3.200000, 1.900000, 1.870000, 1.880000, 3.300000, 3.340000, 3.370000, 3.390000, 3.430000, 3.480000, 3.510000, 3.560000, 3.600000, 3.660000, 3.590000, 3.510000, 3.440000, 3.370000, 3.180000, 3.220000, 3.140000, 3.120000, 3.060000, 3.000000, 2.950000, 2.910000, 2.860000, 2.820000, 2.800000, 2.330000, 1.940000, 1.920000, 1.880000, 1.880000, 1.840000, 1.830000, 1.820000, 1.790000, 1.780000, 1.770000, 1.740000, 1.840000, 1.910000, 2.010000, 2.090000, 2.190000, 2.290000, 2.310000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054772, 680521 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.089001, -1.280728 ], "estimate": [ 8.135000, 8.089001, -1.280728 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.200000, 4.510000, 10.640000, null, null, 8.220000, 8.240000, 8.240000, 9.450000, 9.530000, 17.570000, 17.540000, 21.290000, 11.690000, 10.430000, 10.420000, 10.320000, 8.880000, 6.150000, 5.290000, 4.500000, 4.340000, 4.360000, 4.380000, 4.390000, 4.410000, 2.250000, 2.150000, 2.000000, 2.010000, 2.200000, 2.210000, 2.220000, 2.240000, 2.220000, 1.990000, 1.910000, 1.820000, 1.740000, 1.680000, 1.620000, 1.560000, 1.500000, 1.480000, 1.510000, 1.530000, 1.540000, 1.570000, 1.590000, 1.600000, 1.620000, 1.650000, 1.660000, 1.680000, 1.750000, 2.810000, 2.860000, 2.920000, 2.960000, 3.020000, 3.070000, 3.130000, 3.190000, 3.260000, 3.340000, 3.400000, 3.490000, 3.570000, 3.590000, 3.550000, 3.500000, 3.470000, 3.420000, 3.380000, 3.360000, 3.330000, 3.290000, 2.010000, 2.010000, 2.020000, 2.000000, 1.990000, 1.950000, 1.920000, 1.940000, 1.990000, 2.030000, 2.190000, 1.950000, 1.930000, 1.950000, 1.960000, 1.880000, 1.850000, 1.960000, 1.960000, 2.020000, 2.100000, 2.120000, 2.200000, 2.200000, 2.190000, 2.180000, 2.190000, 2.190000, 2.180000, 2.170000, 2.170000, 2.180000, 2.160000, 2.160000, 2.170000, 2.170000, 2.190000, 2.220000, 2.220000, 2.220000, 2.020000, 2.010000, 2.260000, 2.290000, 3.070000, 3.100000, 3.100000, 3.120000, 3.150000, 3.170000, 3.190000, 1.870000, 1.860000, 1.870000, 3.300000, 3.340000, 3.370000, 3.390000, 3.430000, 3.470000, 3.510000, 3.560000, 3.600000, 3.660000, 3.580000, 3.500000, 3.430000, 3.360000, 3.170000, 3.210000, 3.120000, 3.110000, 3.050000, 3.000000, 2.950000, 2.910000, 2.860000, 2.810000, 2.780000, 2.260000, 1.930000, 1.910000, 1.880000, 1.860000, 1.840000, 1.840000, 1.810000, 1.790000, 1.770000, 1.760000, 1.730000, 1.840000, 1.900000, 1.990000, 2.090000, 2.180000, 2.280000, 2.300000, 2.290000, 2.280000, 2.280000, 2.270000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054773, 121569 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.089001, -1.194690 ], "estimate": [ 8.135000, 8.089001, -1.194690 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, 8.290000, 8.250000, 8.240000, 9.450000, 9.770000, 13.600000, 17.590000, 21.440000, 11.710000, 10.430000, 10.430000, 10.440000, 8.890000, 8.890000, 5.400000, 4.620000, 4.380000, 4.380000, 4.380000, 4.400000, 4.410000, 4.430000, 2.160000, 2.020000, 2.020000, 2.210000, 2.220000, 2.230000, 2.240000, 2.250000, 2.000000, 1.910000, 1.810000, 1.750000, 1.680000, 1.630000, 1.570000, 1.490000, 1.480000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, 1.600000, 1.620000, 1.650000, 1.680000, 1.690000, 1.740000, 2.820000, 2.860000, 2.920000, 2.970000, 3.020000, 3.080000, 3.140000, 3.190000, 3.260000, 3.340000, 3.400000, 3.490000, 3.570000, 3.590000, 3.560000, 3.510000, 3.470000, 3.430000, 3.390000, 3.370000, 3.330000, 3.300000, 2.250000, 2.030000, 2.020000, 2.000000, 1.990000, 1.960000, 1.930000, 1.930000, 1.990000, 2.060000, 2.200000, 2.020000, 1.950000, 1.960000, 1.950000, 1.850000, 1.850000, 1.960000, 1.960000, 2.020000, 2.110000, 2.100000, 2.200000, 2.200000, 2.190000, 2.190000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.170000, 2.170000, 2.160000, 2.160000, 2.170000, 2.200000, 2.210000, 2.220000, 2.220000, 2.000000, 2.000000, 2.270000, 2.290000, 3.070000, 3.090000, 3.090000, 3.110000, 3.140000, 3.170000, 3.190000, 1.870000, 1.870000, 1.870000, 3.300000, 3.320000, 3.360000, 3.380000, 3.420000, 3.470000, 3.500000, 3.550000, 3.590000, 3.650000, 3.580000, 3.500000, 3.420000, 3.360000, 3.180000, 3.160000, 3.110000, 3.100000, 3.050000, 2.990000, 2.940000, 2.900000, 2.850000, 2.810000, 2.780000, 2.210000, 1.920000, 1.910000, 1.870000, 1.850000, 1.840000, 1.820000, 1.810000, 1.780000, 1.770000, 1.760000, 1.720000, 1.810000, 1.910000, 1.980000, 2.080000, 2.170000, 2.280000, 2.290000, 2.280000, 2.280000, 2.270000, 2.260000, 2.250000, 2.250000, 2.240000, 2.380000, 2.380000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054773, 308269 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -1.102507 ], "estimate": [ 8.134000, 8.089001, -1.102507 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.540000, 17.570000, 17.570000, 21.270000, 10.800000, 10.440000, 10.440000, 10.150000, 8.890000, 6.130000, 5.260000, 4.480000, 4.360000, 4.390000, 4.400000, 4.420000, 4.440000, 2.250000, 2.130000, 2.040000, 2.030000, 2.220000, 2.230000, 2.240000, 2.250000, 2.080000, 1.990000, 1.900000, 1.810000, 1.740000, 1.660000, 1.620000, 1.550000, 1.520000, 1.510000, 1.520000, 1.540000, 1.560000, 1.590000, 1.610000, 1.620000, 1.640000, 1.670000, 1.680000, 1.710000, 2.800000, 2.840000, 2.900000, 2.940000, 2.990000, 3.050000, 3.100000, 3.160000, 3.220000, 3.290000, 3.370000, 3.440000, 3.510000, 3.600000, 3.590000, 3.540000, 3.490000, 3.460000, 3.410000, 3.390000, 3.360000, 3.320000, 3.310000, 2.090000, 2.080000, 2.000000, 2.010000, 1.980000, 1.970000, 1.950000, 2.050000, 2.410000, 3.070000, 2.120000, 2.040000, 1.990000, 1.990000, 2.010000, 1.840000, 1.840000, 1.970000, 1.980000, 2.120000, 2.100000, 2.210000, 2.210000, 2.190000, 2.190000, 2.190000, 2.190000, 2.190000, 2.180000, 2.170000, 2.170000, 2.180000, 2.160000, 2.160000, 2.170000, 2.180000, 2.200000, 2.220000, 2.220000, 2.010000, 1.980000, 1.960000, 2.270000, 2.300000, 3.070000, 3.100000, 3.090000, 3.120000, 3.150000, 3.170000, 3.190000, 1.830000, 1.840000, 3.270000, 3.300000, 3.340000, 3.370000, 3.390000, 3.420000, 3.470000, 3.510000, 3.560000, 3.600000, 3.630000, 3.560000, 3.470000, 3.390000, 3.180000, 3.260000, 3.190000, 3.140000, 3.070000, 3.030000, 2.970000, 2.920000, 2.880000, 2.830000, 2.800000, 2.760000, 1.940000, 1.910000, 1.880000, 1.850000, 1.830000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.720000, 1.740000, 1.850000, 1.920000, 2.010000, 2.100000, 2.190000, 2.290000, 2.280000, 2.280000, 2.260000, 2.250000, 2.240000, 2.230000, 2.240000, 2.380000, 2.370000, 2.370000, 2.360000, 2.360000, 2.360000, 2.350000, 2.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054773, 208837 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -1.010324 ], "estimate": [ 8.134000, 8.089001, -1.010324 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.410000, 10.450000, 8.910000, 8.900000, 5.720000, 4.860000, 4.390000, 4.390000, 4.400000, 4.420000, 4.440000, 4.450000, 2.200000, 2.080000, 2.040000, 2.220000, 2.240000, 2.250000, 2.250000, 2.270000, 2.040000, 1.950000, 1.870000, 1.770000, 1.700000, 1.640000, 1.580000, 1.520000, 1.490000, 1.530000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.700000, 1.780000, 2.830000, 2.880000, 2.920000, 2.970000, 3.030000, 3.080000, 3.140000, 3.180000, 3.270000, 3.340000, 3.410000, 3.490000, 3.580000, 3.610000, 3.580000, 3.530000, 3.490000, 3.450000, 3.410000, 3.380000, 3.350000, 2.070000, 2.110000, 2.100000, 2.060000, 2.080000, 2.050000, 2.010000, 1.990000, 2.010000, 2.040000, 2.450000, 2.230000, 2.020000, 1.970000, 1.870000, 1.920000, 1.860000, 1.870000, 1.970000, 1.970000, 2.100000, 2.110000, 2.160000, 2.200000, 2.200000, 2.190000, 2.200000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.180000, 2.180000, 2.160000, 2.160000, 2.170000, 2.190000, 2.210000, 2.220000, 2.120000, 1.990000, 1.980000, 2.280000, 2.290000, 3.070000, 3.090000, 3.090000, 3.110000, 3.130000, 3.160000, 3.180000, 1.850000, 1.850000, 1.860000, 3.290000, 3.310000, 3.350000, 3.370000, 3.410000, 3.450000, 3.490000, 3.540000, 3.580000, 3.630000, 3.580000, 3.500000, 3.420000, 3.360000, 3.230000, 3.200000, 3.110000, 3.100000, 3.040000, 2.980000, 2.930000, 2.900000, 2.840000, 2.800000, 2.770000, 2.190000, 1.910000, 1.870000, 1.850000, 1.840000, 1.830000, 1.810000, 1.780000, 1.760000, 1.760000, 1.740000, 1.710000, 1.800000, 1.890000, 1.950000, 2.050000, 2.150000, 2.240000, 2.280000, 2.270000, 2.260000, 2.250000, 2.240000, 2.220000, 2.230000, 2.210000, 2.370000, 2.370000, 2.360000, 2.350000, 2.340000, 2.340000, 2.340000, 2.340000, 2.330000, 2.330000, 2.330000, 2.330000, 2.330000 ], "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": [ 976054773, 718564 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -0.924287 ], "estimate": [ 8.134000, 8.089001, -0.924287 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.360000, 4.560000, 4.400000, 4.400000, 4.410000, 4.430000, 4.450000, 2.300000, 2.170000, 2.040000, 2.060000, 2.240000, 2.260000, 2.260000, 2.280000, 2.170000, 2.000000, 1.930000, 1.840000, 1.760000, 1.690000, 1.620000, 1.570000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.620000, 1.630000, 1.660000, 1.670000, 1.700000, 1.720000, 2.810000, 2.860000, 2.910000, 2.950000, 3.010000, 3.060000, 3.120000, 3.180000, 3.240000, 3.310000, 3.380000, 3.460000, 3.540000, 3.610000, 3.590000, 3.560000, 3.510000, 3.470000, 3.430000, 3.390000, 3.360000, 3.340000, 2.140000, 2.120000, 2.090000, 2.060000, 2.040000, 1.980000, 1.940000, 1.940000, 2.000000, 2.320000, 3.070000, 2.040000, 1.960000, 1.960000, 1.950000, 1.900000, 1.850000, 1.910000, 1.970000, 2.010000, 2.090000, 2.080000, 2.190000, 2.200000, 2.200000, 2.190000, 2.190000, 2.190000, 2.180000, 2.180000, 2.180000, 2.170000, 2.180000, 2.170000, 2.160000, 2.160000, 2.180000, 2.200000, 2.220000, 2.210000, 2.010000, 1.950000, 2.120000, 2.280000, 2.540000, 3.070000, 3.090000, 3.100000, 3.120000, 3.150000, 3.170000, 1.870000, 1.850000, 1.860000, 3.270000, 3.300000, 3.330000, 3.360000, 3.380000, 3.420000, 3.460000, 3.500000, 3.550000, 3.590000, 3.610000, 3.530000, 3.460000, 3.370000, 3.110000, 3.240000, 3.180000, 3.120000, 3.060000, 3.000000, 2.950000, 2.910000, 2.850000, 2.810000, 2.780000, 2.740000, 1.920000, 1.900000, 1.870000, 1.850000, 1.840000, 1.810000, 1.790000, 1.770000, 1.760000, 1.740000, 1.720000, 1.760000, 1.830000, 1.910000, 2.000000, 2.080000, 2.170000, 2.280000, 2.270000, 2.260000, 2.240000, 2.230000, 2.220000, 2.220000, 2.210000, 2.360000, 2.360000, 2.350000, 2.350000, 2.340000, 2.330000, 2.330000, 2.320000, 2.320000, 2.320000, 2.330000, 2.320000, 2.320000, 2.320000, 2.320000, 2.280000, 2.040000, 2.040000 ], "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": [ 976054773, 719692 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -0.893560 ], "estimate": [ 8.134000, 8.089001, -0.893560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.420000, 4.430000, 4.450000, 4.460000, 2.230000, 2.110000, 2.040000, 2.250000, 2.260000, 2.270000, 2.280000, 2.280000, 2.080000, 1.980000, 1.890000, 1.800000, 1.740000, 1.670000, 1.620000, 1.530000, 1.510000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.640000, 1.660000, 1.660000, 1.700000, 1.720000, 2.000000, 2.850000, 2.910000, 2.940000, 2.990000, 3.050000, 3.100000, 3.160000, 3.220000, 3.290000, 3.360000, 3.430000, 3.510000, 3.590000, 3.630000, 3.580000, 3.550000, 3.490000, 3.460000, 3.410000, 3.370000, 3.350000, 3.310000, 2.130000, 2.090000, 2.070000, 2.050000, 1.980000, 1.980000, 1.940000, 2.010000, 2.120000, 3.080000, 2.190000, 2.040000, 1.970000, 1.860000, 2.020000, 1.850000, 1.830000, 1.960000, 1.970000, 2.130000, 2.090000, 2.190000, 2.210000, 2.200000, 2.200000, 2.200000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.180000, 2.170000, 2.170000, 2.160000, 2.180000, 2.200000, 2.220000, 2.220000, 2.070000, 2.000000, 1.950000, 2.270000, 2.300000, 3.070000, 3.080000, 3.090000, 3.120000, 3.130000, 3.170000, 3.180000, 1.860000, 1.830000, 3.260000, 3.280000, 3.320000, 3.350000, 3.370000, 3.400000, 3.450000, 3.490000, 3.530000, 3.580000, 3.620000, 3.580000, 3.500000, 3.430000, 3.360000, 3.100000, 3.220000, 3.150000, 3.100000, 3.050000, 2.980000, 2.930000, 2.900000, 2.840000, 2.800000, 2.790000, 2.720000, 1.900000, 1.880000, 1.850000, 1.840000, 1.830000, 1.800000, 1.790000, 1.760000, 1.740000, 1.730000, 1.700000, 1.800000, 1.880000, 1.940000, 2.040000, 2.120000, 2.230000, 2.270000, 2.260000, 2.250000, 2.240000, 2.230000, 2.220000, 2.200000, 2.200000, 2.360000, 2.360000, 2.350000, 2.340000, 2.330000, 2.330000, 2.320000, 2.320000, 2.320000, 2.320000, 2.310000, 2.310000, 2.310000, 2.320000, 2.320000, 2.040000, 2.020000, 2.320000, 2.310000, 1.140000, 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": [ 976054773, 840298 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -0.893560 ], "estimate": [ 8.134000, 8.089001, -0.893560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.400000, 4.430000, 4.440000, 4.460000, 2.230000, 2.140000, 2.040000, 2.240000, 2.260000, 2.270000, 2.280000, 2.290000, 2.090000, 1.970000, 1.910000, 1.800000, 1.740000, 1.670000, 1.600000, 1.560000, 1.520000, 1.550000, 1.560000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.660000, 1.690000, 1.720000, 1.990000, 2.850000, 2.900000, 2.940000, 2.990000, 3.050000, 3.100000, 3.160000, 3.220000, 3.290000, 3.360000, 3.430000, 3.510000, 3.580000, 3.640000, 3.590000, 3.550000, 3.500000, 3.470000, 3.420000, 3.380000, 3.350000, 3.330000, 2.150000, 2.090000, 2.060000, 2.050000, 1.980000, 1.980000, 1.950000, 2.010000, 2.110000, 3.080000, 2.180000, 2.010000, 1.980000, 1.870000, 2.020000, 1.860000, 1.830000, 1.960000, 1.980000, 2.130000, 2.090000, 2.190000, 2.200000, 2.200000, 2.190000, 2.200000, 2.190000, 2.190000, 2.180000, 2.170000, 2.170000, 2.180000, 2.180000, 2.170000, 2.160000, 2.180000, 2.190000, 2.210000, 2.220000, 2.210000, 2.000000, 1.970000, 2.270000, 2.300000, 3.060000, 3.080000, 3.090000, 3.120000, 3.140000, 3.160000, 3.180000, 1.870000, 1.820000, 3.260000, 3.280000, 3.310000, 3.350000, 3.380000, 3.410000, 3.440000, 3.480000, 3.520000, 3.570000, 3.620000, 3.590000, 3.510000, 3.440000, 3.370000, 3.120000, 3.230000, 3.130000, 3.100000, 3.050000, 2.990000, 2.940000, 2.900000, 2.840000, 2.810000, 2.770000, 2.730000, 1.900000, 1.880000, 1.850000, 1.840000, 1.830000, 1.800000, 1.780000, 1.760000, 1.760000, 1.730000, 1.700000, 1.790000, 1.870000, 1.940000, 2.040000, 2.130000, 2.220000, 2.270000, 2.270000, 2.250000, 2.240000, 2.230000, 2.220000, 2.210000, 2.200000, 2.370000, 2.360000, 2.350000, 2.340000, 2.330000, 2.330000, 2.320000, 2.320000, 2.320000, 2.320000, 2.310000, 2.310000, 2.310000, 2.310000, 2.320000, 2.000000, 2.030000, 2.310000, 2.320000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054775, 338060 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -0.905850 ], "estimate": [ 8.134000, 8.089001, -0.905850 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.410000, 4.430000, 4.440000, 4.450000, 2.260000, 2.160000, 2.060000, 2.190000, 2.250000, 2.260000, 2.280000, 2.280000, 2.110000, 2.000000, 1.920000, 1.830000, 1.750000, 1.680000, 1.610000, 1.570000, 1.510000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.650000, 1.660000, 1.680000, 1.710000, 1.830000, 2.840000, 2.890000, 2.930000, 2.980000, 3.040000, 3.090000, 3.160000, 3.180000, 3.270000, 3.350000, 3.410000, 3.490000, 3.570000, 3.650000, 3.590000, 3.560000, 3.510000, 3.470000, 3.430000, 3.390000, 3.370000, 3.330000, 2.230000, 2.080000, 2.090000, 2.000000, 2.030000, 1.970000, 1.950000, 2.000000, 2.040000, 2.540000, 3.060000, 1.960000, 1.940000, 1.990000, 1.970000, 1.870000, 1.840000, 1.960000, 1.980000, 2.050000, 2.090000, 2.120000, 2.210000, 2.200000, 2.200000, 2.190000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.180000, 2.180000, 2.180000, 2.150000, 2.170000, 2.190000, 2.210000, 2.230000, 2.220000, 2.000000, 1.990000, 2.260000, 2.290000, 3.070000, 3.080000, 3.090000, 3.110000, 3.130000, 3.150000, 3.170000, 1.870000, 1.840000, 1.870000, 3.270000, 3.300000, 3.340000, 3.370000, 3.390000, 3.430000, 3.470000, 3.520000, 3.570000, 3.600000, 3.610000, 3.530000, 3.460000, 3.370000, 3.110000, 3.200000, 3.100000, 3.110000, 3.070000, 3.000000, 2.950000, 2.910000, 2.850000, 2.810000, 2.780000, 2.740000, 1.900000, 1.890000, 1.870000, 1.840000, 1.830000, 1.800000, 1.780000, 1.760000, 1.750000, 1.740000, 1.710000, 1.790000, 1.850000, 1.930000, 2.020000, 2.110000, 2.210000, 2.270000, 2.270000, 2.260000, 2.240000, 2.230000, 2.210000, 2.210000, 2.210000, 2.370000, 2.360000, 2.350000, 2.350000, 2.340000, 2.330000, 2.330000, 2.320000, 2.320000, 2.310000, 2.310000, 2.310000, 2.320000, 2.310000, 2.320000, 2.310000, 2.030000, 2.060000, 2.320000, 1.150000, 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": [ 976054775, 349979 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -0.930433 ], "estimate": [ 8.134000, 8.089001, -0.930433 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.400000, 4.410000, 4.430000, 4.440000, 4.460000, 2.240000, 2.130000, 2.050000, 2.240000, 2.260000, 2.260000, 2.270000, 2.280000, 2.090000, 1.990000, 1.890000, 1.810000, 1.740000, 1.670000, 1.610000, 1.560000, 1.510000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.700000, 1.710000, 1.960000, 2.850000, 2.900000, 2.940000, 2.990000, 3.040000, 3.100000, 3.160000, 3.210000, 3.290000, 3.360000, 3.430000, 3.500000, 3.590000, 3.640000, 3.590000, 3.550000, 3.500000, 3.470000, 3.420000, 3.380000, 3.360000, 3.320000, 2.050000, 2.090000, 2.070000, 2.050000, 1.990000, 1.980000, 1.940000, 1.990000, 2.140000, 3.080000, 2.280000, 1.980000, 1.960000, 1.970000, 2.010000, 1.870000, 1.830000, 1.970000, 1.990000, 2.120000, 2.090000, 2.190000, 2.210000, 2.200000, 2.190000, 2.190000, 2.190000, 2.190000, 2.180000, 2.170000, 2.180000, 2.170000, 2.180000, 2.170000, 2.160000, 2.170000, 2.190000, 2.210000, 2.220000, 2.210000, 2.000000, 1.970000, 2.270000, 2.290000, 3.070000, 3.090000, 3.090000, 3.110000, 3.140000, 3.160000, 3.170000, 1.850000, 1.820000, 3.260000, 3.280000, 3.310000, 3.340000, 3.380000, 3.400000, 3.440000, 3.490000, 3.520000, 3.570000, 3.620000, 3.610000, 3.520000, 3.450000, 3.370000, 3.110000, 3.240000, 3.120000, 3.110000, 3.060000, 3.000000, 2.950000, 2.910000, 2.860000, 2.810000, 2.770000, 2.730000, 1.910000, 1.880000, 1.860000, 1.840000, 1.830000, 1.810000, 1.780000, 1.760000, 1.750000, 1.740000, 1.700000, 1.780000, 1.870000, 1.940000, 2.050000, 2.140000, 2.220000, 2.280000, 2.270000, 2.260000, 2.250000, 2.230000, 2.220000, 2.220000, 2.210000, 2.370000, 2.360000, 2.350000, 2.340000, 2.340000, 2.330000, 2.320000, 2.320000, 2.320000, 2.320000, 2.310000, 2.310000, 2.320000, 2.320000, 2.320000, 2.270000, 2.030000, 2.320000, 2.320000, 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": [ 976054775, 360610 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -0.985742 ], "estimate": [ 8.134000, 8.089001, -0.985742 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.670000, 4.840000, 4.380000, 4.400000, 4.410000, 4.430000, 4.450000, 4.460000, 2.230000, 2.080000, 2.060000, 2.240000, 2.250000, 2.270000, 2.280000, 2.280000, 2.050000, 1.960000, 1.870000, 1.780000, 1.710000, 1.640000, 1.580000, 1.500000, 1.540000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.640000, 1.650000, 1.670000, 1.690000, 1.720000, 2.810000, 2.860000, 2.910000, 2.950000, 3.000000, 3.070000, 3.120000, 3.170000, 3.240000, 3.310000, 3.380000, 3.460000, 3.530000, 3.610000, 3.610000, 3.580000, 3.530000, 3.490000, 3.450000, 3.410000, 3.370000, 3.350000, 3.310000, 2.110000, 2.110000, 2.070000, 2.050000, 2.030000, 1.970000, 1.950000, 2.000000, 2.150000, 3.080000, 2.190000, 2.000000, 1.950000, 1.870000, 2.000000, 1.850000, 1.910000, 1.970000, 2.000000, 2.160000, 2.090000, 2.200000, 2.200000, 2.200000, 2.190000, 2.190000, 2.190000, 2.180000, 2.180000, 2.170000, 2.170000, 2.180000, 2.170000, 2.160000, 2.160000, 2.180000, 2.200000, 2.210000, 2.220000, 2.050000, 2.000000, 2.050000, 2.280000, 2.460000, 3.070000, 3.090000, 3.100000, 3.120000, 3.150000, 3.170000, 3.190000, 1.860000, 1.840000, 3.260000, 3.290000, 3.320000, 3.360000, 3.380000, 3.420000, 3.460000, 3.500000, 3.550000, 3.590000, 3.660000, 3.580000, 3.500000, 3.420000, 3.360000, 3.120000, 3.210000, 3.160000, 3.100000, 3.050000, 2.980000, 2.930000, 2.900000, 2.840000, 2.800000, 2.770000, 2.720000, 1.910000, 1.890000, 1.860000, 1.840000, 1.820000, 1.810000, 1.780000, 1.770000, 1.750000, 1.740000, 1.720000, 1.810000, 1.900000, 1.990000, 2.080000, 2.180000, 2.270000, 2.280000, 2.270000, 2.250000, 2.240000, 2.240000, 2.230000, 2.220000, 2.320000, 2.370000, 2.360000, 2.360000, 2.350000, 2.340000, 2.340000, 2.330000, 2.320000, 2.320000, 2.330000, 2.330000, 2.330000, 2.320000, 2.330000, 2.330000, 2.040000, 2.030000 ], "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": [ 976054775, 370040 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -1.028761 ], "estimate": [ 8.134000, 8.089001, -1.028761 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.910000, 8.910000, 5.740000, 4.880000, 4.390000, 4.400000, 4.410000, 4.430000, 4.440000, 4.460000, 2.200000, 2.080000, 2.050000, 2.240000, 2.250000, 2.260000, 2.270000, 2.270000, 2.050000, 1.950000, 1.870000, 1.770000, 1.710000, 1.650000, 1.590000, 1.530000, 1.530000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.630000, 1.660000, 1.670000, 1.700000, 1.720000, 2.810000, 2.850000, 2.900000, 2.940000, 3.000000, 3.060000, 3.110000, 3.170000, 3.230000, 3.290000, 3.370000, 3.450000, 3.530000, 3.600000, 3.610000, 3.580000, 3.530000, 3.490000, 3.460000, 3.400000, 3.380000, 3.350000, 3.320000, 2.150000, 2.070000, 2.060000, 2.050000, 2.000000, 1.970000, 1.950000, 2.000000, 2.080000, 3.110000, 2.180000, 2.000000, 1.960000, 1.880000, 2.010000, 1.850000, 1.850000, 1.960000, 1.980000, 2.140000, 2.100000, 2.200000, 2.210000, 2.200000, 2.190000, 2.200000, 2.190000, 2.190000, 2.170000, 2.170000, 2.180000, 2.180000, 2.170000, 2.160000, 2.160000, 2.180000, 2.200000, 2.220000, 2.220000, 2.210000, 2.000000, 1.950000, 2.280000, 2.310000, 3.070000, 3.080000, 3.100000, 3.120000, 3.150000, 3.160000, 3.180000, 1.860000, 1.840000, 3.260000, 3.290000, 3.320000, 3.360000, 3.390000, 3.420000, 3.460000, 3.490000, 3.540000, 3.580000, 3.640000, 3.590000, 3.510000, 3.430000, 3.370000, 3.110000, 3.220000, 3.170000, 3.110000, 3.050000, 2.990000, 2.940000, 2.900000, 2.850000, 2.800000, 2.780000, 2.740000, 1.910000, 1.890000, 1.870000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.760000, 1.750000, 1.710000, 1.810000, 1.900000, 1.990000, 2.070000, 2.160000, 2.260000, 2.270000, 2.270000, 2.260000, 2.240000, 2.240000, 2.230000, 2.210000, 2.220000, 2.370000, 2.360000, 2.360000, 2.350000, 2.340000, 2.340000, 2.330000, 2.340000, 2.330000, 2.330000, 2.330000, 2.330000, 2.330000, 2.330000, 2.330000 ], "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": [ 976054775, 379310 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.090000, -1.077925 ], "estimate": [ 8.134000, 8.090000, -1.077925 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 10.440000, 10.440000, 9.770000, 8.900000, 6.060000, 5.180000, 4.370000, 4.390000, 4.400000, 4.420000, 4.430000, 4.450000, 2.250000, 2.130000, 2.030000, 2.220000, 2.240000, 2.250000, 2.250000, 2.270000, 2.090000, 1.980000, 1.890000, 1.810000, 1.730000, 1.670000, 1.610000, 1.560000, 1.510000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.620000, 1.650000, 1.660000, 1.680000, 1.710000, 1.890000, 2.840000, 2.890000, 2.930000, 2.980000, 3.030000, 3.090000, 3.150000, 3.200000, 3.270000, 3.350000, 3.420000, 3.500000, 3.580000, 3.650000, 3.590000, 3.540000, 3.500000, 3.460000, 3.420000, 3.380000, 3.360000, 3.310000, 2.070000, 2.060000, 2.100000, 1.970000, 1.980000, 1.970000, 1.940000, 2.000000, 2.020000, 2.430000, 3.070000, 2.000000, 1.960000, 1.990000, 1.940000, 1.920000, 1.830000, 1.950000, 1.970000, 2.030000, 2.120000, 2.120000, 2.210000, 2.200000, 2.190000, 2.180000, 2.200000, 2.190000, 2.190000, 2.170000, 2.170000, 2.180000, 2.170000, 2.170000, 2.160000, 2.180000, 2.190000, 2.210000, 2.220000, 2.220000, 2.000000, 1.960000, 2.270000, 2.290000, 3.070000, 3.090000, 3.090000, 3.110000, 3.140000, 3.150000, 3.180000, 1.880000, 1.830000, 1.860000, 3.290000, 3.310000, 3.350000, 3.370000, 3.410000, 3.450000, 3.490000, 3.530000, 3.580000, 3.630000, 3.630000, 3.550000, 3.470000, 3.390000, 3.130000, 3.220000, 3.110000, 3.140000, 3.070000, 3.020000, 2.960000, 2.920000, 2.870000, 2.830000, 2.780000, 2.760000, 1.920000, 1.900000, 1.880000, 1.860000, 1.840000, 1.820000, 1.800000, 1.780000, 1.760000, 1.750000, 1.710000, 1.800000, 1.880000, 1.960000, 2.040000, 2.150000, 2.230000, 2.290000, 2.280000, 2.270000, 2.250000, 2.240000, 2.240000, 2.230000, 2.220000, 2.370000, 2.370000, 2.360000, 2.360000, 2.350000, 2.340000, 2.350000, 2.340000, 2.330000, 2.330000, 2.330000, 2.330000, 2.330000 ], "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": [ 976054775, 388800 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.090000, -1.139380 ], "estimate": [ 8.134000, 8.090000, -1.139380 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 21.470000, 21.250000, 10.970000, 10.430000, 10.430000, 10.180000, 8.890000, 6.170000, 5.310000, 4.500000, 4.390000, 4.400000, 4.410000, 4.430000, 4.440000, 2.240000, 2.160000, 2.020000, 2.220000, 2.220000, 2.240000, 2.250000, 2.260000, 2.190000, 1.990000, 1.910000, 1.830000, 1.740000, 1.680000, 1.610000, 1.570000, 1.500000, 1.540000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.680000, 1.700000, 1.740000, 2.820000, 2.870000, 2.920000, 2.960000, 3.020000, 3.070000, 3.140000, 3.170000, 3.260000, 3.330000, 3.400000, 3.460000, 3.550000, 3.650000, 3.590000, 3.550000, 3.500000, 3.470000, 3.430000, 3.390000, 3.360000, 3.320000, 3.290000, 2.080000, 2.050000, 1.960000, 2.020000, 2.010000, 1.970000, 1.930000, 2.000000, 2.050000, 3.070000, 2.210000, 2.040000, 1.960000, 1.950000, 2.010000, 1.840000, 1.960000, 1.970000, 2.020000, 2.170000, 2.110000, 2.220000, 2.200000, 2.200000, 2.190000, 2.200000, 2.200000, 2.190000, 2.180000, 2.170000, 2.170000, 2.180000, 2.170000, 2.160000, 2.170000, 2.190000, 2.210000, 2.220000, 2.210000, 2.010000, 2.000000, 2.260000, 2.290000, 3.050000, 3.070000, 3.090000, 3.110000, 3.130000, 3.160000, 3.180000, 3.190000, 1.850000, 1.870000, 3.280000, 3.310000, 3.340000, 3.370000, 3.410000, 3.440000, 3.490000, 3.530000, 3.580000, 3.620000, 3.640000, 3.570000, 3.490000, 3.410000, 3.200000, 3.260000, 3.120000, 3.150000, 3.090000, 3.040000, 2.980000, 2.930000, 2.890000, 2.840000, 2.800000, 2.770000, 2.030000, 1.920000, 1.890000, 1.870000, 1.850000, 1.830000, 1.820000, 1.800000, 1.780000, 1.770000, 1.710000, 1.780000, 1.870000, 1.950000, 2.040000, 2.130000, 2.220000, 2.290000, 2.280000, 2.280000, 2.260000, 2.260000, 2.240000, 2.240000, 2.240000, 2.380000, 2.370000, 2.370000, 2.370000, 2.360000, 2.360000, 2.350000, 2.350000, 2.340000, 2.340000 ], "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": [ 976054775, 240466 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.132999, 8.091000, -1.194690 ], "estimate": [ 8.132999, 8.091000, -1.194690 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.520000, 9.790000, 17.450000, 19.310000, 21.440000, 11.700000, 10.410000, 10.430000, 10.430000, 8.890000, 10.320000, 5.520000, 4.730000, 4.370000, 4.380000, 4.390000, 4.410000, 4.420000, 4.440000, 2.180000, 2.040000, 2.100000, 2.220000, 2.220000, 2.240000, 2.250000, 2.270000, 2.020000, 1.930000, 1.850000, 1.760000, 1.690000, 1.620000, 1.580000, 1.510000, 1.530000, 1.540000, 1.560000, 1.580000, 1.600000, 1.600000, 1.630000, 1.660000, 1.670000, 1.680000, 1.710000, 2.800000, 2.850000, 2.900000, 2.940000, 2.990000, 3.050000, 3.110000, 3.160000, 3.230000, 3.300000, 3.370000, 3.430000, 3.510000, 3.600000, 3.600000, 3.560000, 3.520000, 3.480000, 3.450000, 3.400000, 3.370000, 3.330000, 3.310000, 2.010000, 2.010000, 2.020000, 1.980000, 2.010000, 1.960000, 1.930000, 1.990000, 2.040000, 3.090000, 2.180000, 1.970000, 1.940000, 2.010000, 2.010000, 1.850000, 1.830000, 1.940000, 1.970000, 2.070000, 2.110000, 2.170000, 2.210000, 2.210000, 2.190000, 2.190000, 2.180000, 2.190000, 2.180000, 2.170000, 2.190000, 2.180000, 2.180000, 2.160000, 2.160000, 2.190000, 2.210000, 2.210000, 2.210000, 2.220000, 2.020000, 1.970000, 2.280000, 2.300000, 3.070000, 3.100000, 3.110000, 3.130000, 3.150000, 3.170000, 3.190000, 1.870000, 1.840000, 3.280000, 3.300000, 3.330000, 3.370000, 3.390000, 3.430000, 3.470000, 3.510000, 3.570000, 3.600000, 3.660000, 3.590000, 3.510000, 3.440000, 3.370000, 3.210000, 3.230000, 3.180000, 3.110000, 3.060000, 3.000000, 2.950000, 2.910000, 2.860000, 2.810000, 2.770000, 2.740000, 1.930000, 1.910000, 1.880000, 1.860000, 1.850000, 1.840000, 1.810000, 1.790000, 1.770000, 1.770000, 1.750000, 1.850000, 1.930000, 2.020000, 2.100000, 2.200000, 2.300000, 2.290000, 2.280000, 2.280000, 2.260000, 2.250000, 2.250000, 2.240000, 2.390000, 2.380000, 2.380000, 2.380000, 2.370000, 2.360000, 2.360000 ], "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": [ 976054775, 514230 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.090000, -1.243854 ], "estimate": [ 8.134000, 8.090000, -1.243854 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.260000, 8.240000, 8.490000, 9.610000, 13.800000, 17.570000, 21.470000, 21.250000, 11.060000, 10.380000, 10.430000, 10.220000, 8.890000, 6.160000, 5.300000, 4.500000, 4.360000, 4.380000, 4.390000, 4.410000, 4.420000, 2.250000, 2.150000, 2.010000, 2.150000, 2.220000, 2.230000, 2.240000, 2.250000, 2.240000, 2.000000, 1.900000, 1.820000, 1.750000, 1.690000, 1.620000, 1.570000, 1.470000, 1.520000, 1.540000, 1.550000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.660000, 1.680000, 1.720000, 2.800000, 2.860000, 2.900000, 2.940000, 3.000000, 3.060000, 3.110000, 3.160000, 3.240000, 3.310000, 3.380000, 3.450000, 3.530000, 3.610000, 3.590000, 3.560000, 3.510000, 3.470000, 3.420000, 3.390000, 3.360000, 3.320000, 3.290000, 2.160000, 2.010000, 2.020000, 1.990000, 1.990000, 1.950000, 1.930000, 1.990000, 2.030000, 3.090000, 2.200000, 1.970000, 1.950000, 1.960000, 2.010000, 1.850000, 1.830000, 1.950000, 1.970000, 2.140000, 2.110000, 2.210000, 2.210000, 2.200000, 2.180000, 2.190000, 2.190000, 2.190000, 2.170000, 2.170000, 2.180000, 2.180000, 2.170000, 2.160000, 2.170000, 2.190000, 2.200000, 2.220000, 2.230000, 2.220000, 2.020000, 1.960000, 2.280000, 2.400000, 3.080000, 3.100000, 3.100000, 3.130000, 3.160000, 3.180000, 3.200000, 1.870000, 1.860000, 3.280000, 3.310000, 3.340000, 3.370000, 3.400000, 3.450000, 3.490000, 3.530000, 3.580000, 3.620000, 3.650000, 3.580000, 3.490000, 3.410000, 3.350000, 3.230000, 3.130000, 3.160000, 3.100000, 3.050000, 2.990000, 2.940000, 2.890000, 2.850000, 2.810000, 2.800000, 2.140000, 1.940000, 1.910000, 1.880000, 1.860000, 1.840000, 1.830000, 1.810000, 1.790000, 1.780000, 1.730000, 1.790000, 1.880000, 1.950000, 2.040000, 2.130000, 2.210000, 2.300000, 2.300000, 2.280000, 2.280000, 2.270000, 2.260000, 2.250000, 2.240000, 2.390000, 2.390000, 2.380000, 2.370000 ], "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": [ 976054775, 608937 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.089001, -1.274582 ], "estimate": [ 8.134000, 8.089001, -1.274582 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 11.880000, 7.930000, 8.250000, 8.240000, 9.440000, 9.510000, 13.610000, 17.580000, 21.450000, 11.720000, 10.430000, 10.420000, 10.430000, 8.990000, 8.890000, 5.850000, 5.000000, 4.360000, 4.370000, 4.380000, 4.390000, 4.410000, 4.420000, 2.180000, 2.080000, 2.010000, 2.210000, 2.220000, 2.230000, 2.230000, 2.250000, 2.040000, 1.960000, 1.880000, 1.790000, 1.720000, 1.650000, 1.600000, 1.550000, 1.490000, 1.520000, 1.540000, 1.550000, 1.580000, 1.590000, 1.610000, 1.630000, 1.650000, 1.680000, 1.690000, 1.720000, 2.810000, 2.860000, 2.910000, 2.960000, 3.000000, 3.070000, 3.130000, 3.180000, 3.250000, 3.320000, 3.390000, 3.470000, 3.550000, 3.640000, 3.580000, 3.540000, 3.490000, 3.460000, 3.410000, 3.370000, 3.350000, 3.320000, 3.280000, 2.030000, 2.020000, 1.950000, 1.990000, 2.000000, 1.950000, 1.910000, 1.990000, 2.020000, 3.070000, 2.130000, 2.010000, 1.940000, 1.910000, 2.020000, 1.840000, 1.920000, 1.940000, 1.980000, 2.150000, 2.110000, 2.210000, 2.210000, 2.190000, 2.180000, 2.190000, 2.190000, 2.190000, 2.180000, 2.160000, 2.180000, 2.180000, 2.160000, 2.160000, 2.170000, 2.190000, 2.200000, 2.220000, 2.220000, 2.000000, 2.010000, 2.100000, 2.290000, 2.990000, 3.080000, 3.090000, 3.120000, 3.140000, 3.170000, 3.190000, 3.200000, 1.860000, 1.870000, 3.290000, 3.310000, 3.350000, 3.380000, 3.420000, 3.460000, 3.500000, 3.550000, 3.580000, 3.640000, 3.630000, 3.560000, 3.480000, 3.400000, 3.250000, 3.190000, 3.190000, 3.150000, 3.080000, 3.040000, 2.980000, 2.930000, 2.890000, 2.840000, 2.800000, 2.770000, 1.960000, 1.930000, 1.900000, 1.870000, 1.860000, 1.850000, 1.820000, 1.800000, 1.790000, 1.770000, 1.720000, 1.810000, 1.890000, 1.980000, 2.060000, 2.160000, 2.240000, 2.300000, 2.290000, 2.280000, 2.280000, 2.270000, 2.260000, 2.250000, 2.250000, 2.400000, 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": [ 976054776, 127110 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.088000, -1.329892 ], "estimate": [ 8.134000, 8.088000, -1.329892 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.500000, 10.590000, null, 11.870000, 7.950000, 8.240000, 8.240000, 9.460000, 9.570000, 17.460000, 17.780000, 21.440000, 11.690000, 10.390000, 10.420000, 10.430000, 8.880000, 10.300000, 5.510000, 4.680000, 4.360000, 4.370000, 4.380000, 4.400000, 4.410000, 4.420000, 2.160000, 2.040000, 2.020000, 2.200000, 2.220000, 2.230000, 2.240000, 2.260000, 2.020000, 1.920000, 1.830000, 1.770000, 1.700000, 1.630000, 1.590000, 1.520000, 1.500000, 1.520000, 1.540000, 1.560000, 1.570000, 1.600000, 1.620000, 1.640000, 1.660000, 1.680000, 1.690000, 1.930000, 2.830000, 2.880000, 2.920000, 2.980000, 3.030000, 3.080000, 3.150000, 3.210000, 3.280000, 3.340000, 3.410000, 3.490000, 3.570000, 3.600000, 3.570000, 3.520000, 3.480000, 3.440000, 3.390000, 3.370000, 3.330000, 3.310000, 3.270000, 1.990000, 2.020000, 1.950000, 1.980000, 1.970000, 1.940000, 1.960000, 1.980000, 2.200000, 3.060000, 2.010000, 1.970000, 1.980000, 1.910000, 2.020000, 1.830000, 1.930000, 1.980000, 2.030000, 2.170000, 2.120000, 2.200000, 2.210000, 2.180000, 2.190000, 2.190000, 2.190000, 2.190000, 2.170000, 2.180000, 2.190000, 2.170000, 2.160000, 2.160000, 2.190000, 2.200000, 2.210000, 2.230000, 2.220000, 2.010000, 1.980000, 2.280000, 2.300000, 3.070000, 3.100000, 3.110000, 3.130000, 3.160000, 3.170000, 3.200000, 3.220000, 1.840000, 1.870000, 3.300000, 3.330000, 3.370000, 3.390000, 3.430000, 3.480000, 3.520000, 3.570000, 3.600000, 3.660000, 3.610000, 3.530000, 3.460000, 3.380000, 3.320000, 3.250000, 3.150000, 3.130000, 3.070000, 3.020000, 2.970000, 2.920000, 2.890000, 2.840000, 2.800000, 2.750000, 1.950000, 1.930000, 1.900000, 1.880000, 1.860000, 1.840000, 1.830000, 1.810000, 1.790000, 1.770000, 1.740000, 1.840000, 1.920000, 2.010000, 2.100000, 2.200000, 2.300000, 2.310000, 2.300000, 2.290000, 2.280000, 2.280000, 2.270000, 2.250000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054776, 138339 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.085999, -1.397492 ], "estimate": [ 8.135000, 8.085999, -1.397492 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.990000, 2.070000, 2.190000, 4.480000, 10.590000, null, 11.850000, 7.920000, 8.240000, 8.230000, 9.430000, 9.510000, null, 17.710000, 21.440000, 11.690000, 10.360000, 10.410000, 10.420000, 8.870000, 10.290000, 5.550000, 4.740000, 4.350000, 4.360000, 4.370000, 4.390000, 4.400000, 4.420000, 2.170000, 2.050000, 2.020000, 2.200000, 2.210000, 2.220000, 2.240000, 2.250000, 2.020000, 1.930000, 1.860000, 1.770000, 1.700000, 1.630000, 1.590000, 1.530000, 1.480000, 1.510000, 1.530000, 1.550000, 1.570000, 1.580000, 1.610000, 1.620000, 1.650000, 1.660000, 1.680000, 1.740000, 2.810000, 2.860000, 2.920000, 2.960000, 3.010000, 3.070000, 3.130000, 3.190000, 3.260000, 3.340000, 3.400000, 3.480000, 3.560000, 3.610000, 3.570000, 3.520000, 3.480000, 3.440000, 3.400000, 3.370000, 3.330000, 3.300000, 3.280000, 2.030000, 2.010000, 1.950000, 1.970000, 2.010000, 1.940000, 1.910000, 1.980000, 2.010000, 3.060000, 2.190000, 2.000000, 1.940000, 1.910000, 2.020000, 1.850000, 1.920000, 1.950000, 1.970000, 2.150000, 2.120000, 2.210000, 2.210000, 2.180000, 2.180000, 2.190000, 2.190000, 2.180000, 2.170000, 2.170000, 2.180000, 2.170000, 2.150000, 2.160000, 2.180000, 2.200000, 2.210000, 2.230000, 2.220000, 2.070000, 2.010000, 2.100000, 2.300000, 3.060000, 3.090000, 3.100000, 3.120000, 3.150000, 3.170000, 3.190000, 3.200000, 1.870000, 1.880000, 3.300000, 3.330000, 3.370000, 3.390000, 3.430000, 3.480000, 3.510000, 3.560000, 3.600000, 3.660000, 3.630000, 3.550000, 3.480000, 3.410000, 3.340000, 3.270000, 3.140000, 3.150000, 3.090000, 3.040000, 2.980000, 2.940000, 2.890000, 2.850000, 2.800000, 2.770000, 1.970000, 1.940000, 1.920000, 1.890000, 1.870000, 1.860000, 1.830000, 1.820000, 1.800000, 1.780000, 1.720000, 1.820000, 1.910000, 1.990000, 2.080000, 2.170000, 2.290000, 2.320000, 2.310000, 2.310000 ], "valid": [ 1, 1, 1, 1, 1, 1, 0, 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, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054776, 208521 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.083000, -1.458948 ], "estimate": [ 8.135000, 8.083000, -1.458948 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.230000, 2.210000, 2.190000, 2.190000, 1.990000, 2.040000, 2.140000, 4.490000, 10.620000, null, 11.860000, 7.950000, 8.240000, 8.230000, 9.440000, 9.510000, null, 17.560000, 21.430000, 11.680000, 10.380000, 10.400000, 10.410000, 8.870000, 8.990000, 5.680000, 4.860000, 4.320000, 4.360000, 4.360000, 4.380000, 4.390000, 4.410000, 2.160000, 2.080000, 2.000000, 2.190000, 2.210000, 2.220000, 2.230000, 2.240000, 2.030000, 1.940000, 1.860000, 1.770000, 1.710000, 1.640000, 1.590000, 1.540000, 1.470000, 1.500000, 1.520000, 1.540000, 1.550000, 1.580000, 1.600000, 1.610000, 1.640000, 1.650000, 1.670000, 1.690000, 2.800000, 2.840000, 2.900000, 2.940000, 3.000000, 3.050000, 3.110000, 3.170000, 3.230000, 3.310000, 3.370000, 3.470000, 3.540000, 3.640000, 3.570000, 3.530000, 3.480000, 3.440000, 3.400000, 3.370000, 3.340000, 3.310000, 3.280000, 2.100000, 1.990000, 2.010000, 1.960000, 1.980000, 1.950000, 1.910000, 1.990000, 2.030000, 3.060000, 2.180000, 1.960000, 1.930000, 1.990000, 1.990000, 1.860000, 1.830000, 1.950000, 1.970000, 2.110000, 2.120000, 2.200000, 2.210000, 2.190000, 2.180000, 2.190000, 2.190000, 2.180000, 2.170000, 2.160000, 2.180000, 2.170000, 2.150000, 2.160000, 2.180000, 2.200000, 2.210000, 2.230000, 2.230000, 2.240000, 2.020000, 1.980000, 2.300000, 2.370000, 3.080000, 3.100000, 3.120000, 3.140000, 3.170000, 3.190000, 3.200000, 1.880000, 1.860000, 3.300000, 3.320000, 3.360000, 3.390000, 3.420000, 3.470000, 3.500000, 3.550000, 3.600000, 3.650000, 3.650000, 3.570000, 3.490000, 3.420000, 3.360000, 3.270000, 3.150000, 3.170000, 3.100000, 3.050000, 3.000000, 2.950000, 2.910000, 2.860000, 2.820000, 2.790000, 2.170000, 1.950000, 1.930000, 1.900000, 1.870000, 1.860000, 1.850000, 1.830000, 1.810000, 1.790000, 1.740000, 1.810000, 1.900000, 1.980000, 2.060000, 2.160000, 2.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 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, 1, 1, 1 ], "timestamp": [ 976054776, 611418 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.136000, 8.080000, -1.514257 ], "estimate": [ 8.136000, 8.080000, -1.514257 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.860000, 1.980000, 2.120000, 2.230000, 2.210000, 2.200000, 2.180000, 2.180000, 1.980000, 2.090000, 2.190000, 4.470000, 10.580000, null, 11.850000, 8.240000, 8.230000, 8.450000, 9.780000, null, 17.550000, 21.430000, 21.280000, 11.670000, 10.350000, 10.400000, 10.330000, 8.850000, 6.150000, 5.290000, 4.510000, 4.340000, 4.350000, 4.360000, 4.380000, 4.390000, 4.410000, 2.140000, 1.990000, 2.060000, 2.190000, 2.200000, 2.220000, 2.230000, 2.240000, 1.990000, 1.910000, 1.810000, 1.740000, 1.680000, 1.630000, 1.560000, 1.520000, 1.460000, 1.500000, 1.520000, 1.530000, 1.550000, 1.580000, 1.600000, 1.600000, 1.630000, 1.660000, 1.680000, 1.700000, 2.800000, 2.850000, 2.910000, 2.950000, 3.000000, 3.070000, 3.130000, 3.190000, 3.260000, 3.330000, 3.410000, 3.470000, 3.560000, 3.590000, 3.550000, 3.500000, 3.470000, 3.420000, 3.380000, 3.360000, 3.330000, 3.300000, 3.260000, 2.030000, 2.010000, 1.960000, 1.960000, 1.980000, 1.950000, 1.910000, 1.970000, 2.050000, 3.050000, 2.210000, 1.940000, 1.930000, 1.930000, 2.010000, 1.840000, 1.810000, 1.950000, 1.970000, 2.160000, 2.110000, 2.200000, 2.200000, 2.180000, 2.180000, 2.190000, 2.170000, 2.180000, 2.160000, 2.180000, 2.180000, 2.160000, 2.160000, 2.170000, 2.190000, 2.200000, 2.210000, 2.240000, 2.220000, 2.180000, 2.010000, 1.950000, 2.300000, 2.760000, 3.100000, 3.110000, 3.130000, 3.150000, 3.180000, 3.190000, 3.210000, 1.880000, 1.870000, 3.300000, 3.340000, 3.370000, 3.400000, 3.440000, 3.480000, 3.520000, 3.570000, 3.610000, 3.660000, 3.630000, 3.550000, 3.470000, 3.400000, 3.340000, 3.260000, 3.140000, 3.150000, 3.090000, 3.040000, 2.980000, 2.930000, 2.900000, 2.850000, 2.810000, 2.770000, 1.970000, 1.940000, 1.920000, 1.900000, 1.880000, 1.860000, 1.850000, 1.830000, 1.800000, 1.790000, 1.750000, 1.830000, 1.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 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": [ 976054776, 615721 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.136000, 8.076000, -1.563422 ], "estimate": [ 8.136000, 8.076000, -1.563422 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.590000, 1.710000, 1.850000, 1.970000, 2.090000, 2.220000, 2.200000, 2.190000, 2.180000, 2.170000, 1.970000, 2.070000, 2.150000, 4.480000, 10.570000, null, 11.840000, 7.920000, 8.230000, 8.210000, 9.420000, 9.500000, null, 17.620000, 21.410000, 11.670000, 10.350000, 10.390000, 10.390000, 8.850000, 8.880000, 5.480000, 4.690000, 4.340000, 4.350000, 4.360000, 4.370000, 4.390000, 4.400000, 2.160000, 2.040000, 1.990000, 2.180000, 2.190000, 2.200000, 2.220000, 2.230000, 2.000000, 1.920000, 1.830000, 1.750000, 1.690000, 1.630000, 1.580000, 1.520000, 1.460000, 1.500000, 1.500000, 1.520000, 1.540000, 1.550000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.690000, 2.790000, 2.830000, 2.880000, 2.930000, 2.980000, 3.040000, 3.090000, 3.150000, 3.220000, 3.290000, 3.360000, 3.440000, 3.520000, 3.630000, 3.560000, 3.510000, 3.480000, 3.440000, 3.390000, 3.370000, 3.340000, 3.300000, 3.270000, 2.270000, 2.000000, 2.000000, 1.950000, 1.970000, 1.950000, 1.910000, 1.980000, 2.040000, 3.060000, 2.550000, 1.950000, 1.940000, 1.970000, 1.870000, 1.970000, 1.820000, 1.950000, 1.960000, 2.030000, 2.110000, 2.180000, 2.200000, 2.180000, 2.170000, 2.190000, 2.190000, 2.180000, 2.160000, 2.160000, 2.170000, 2.170000, 2.150000, 2.160000, 2.180000, 2.190000, 2.210000, 2.230000, 2.250000, 2.230000, 1.990000, 1.960000, 2.290000, 2.320000, 3.080000, 3.110000, 3.120000, 3.150000, 3.160000, 3.190000, 3.200000, 1.900000, 1.860000, 1.900000, 3.320000, 3.360000, 3.390000, 3.430000, 3.470000, 3.500000, 3.560000, 3.590000, 3.650000, 3.650000, 3.580000, 3.500000, 3.430000, 3.360000, 3.280000, 3.170000, 3.170000, 3.110000, 3.060000, 3.010000, 2.960000, 2.920000, 2.870000, 2.820000, 2.800000, 2.310000, 1.960000, 1.930000, 1.910000, 1.890000, 1.870000, 1.850000, 1.840000, 1.820000, 1.800000, 1.780000 ], "valid": [ 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054777, 124097 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.136000, 8.073000, -1.600295 ], "estimate": [ 8.136000, 8.073000, -1.600295 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.510000, 1.500000, 1.670000, 1.820000, 1.940000, 2.040000, 2.210000, 2.210000, 2.180000, 2.180000, 2.170000, 1.990000, 1.990000, 2.140000, 4.480000, 10.600000, 10.610000, 11.850000, 7.910000, 8.230000, 8.210000, 8.740000, 9.470000, null, 17.540000, 21.420000, 21.410000, 10.480000, 10.380000, 10.390000, 9.310000, 8.850000, 5.920000, 5.030000, 4.320000, 4.340000, 4.350000, 4.360000, 4.370000, 4.380000, 2.210000, 2.090000, 1.990000, 2.170000, 2.180000, 2.190000, 2.210000, 2.220000, 2.180000, 1.940000, 1.870000, 1.790000, 1.710000, 1.650000, 1.600000, 1.560000, 1.490000, 1.480000, 1.500000, 1.500000, 1.530000, 1.540000, 1.560000, 1.590000, 1.610000, 1.620000, 1.650000, 1.680000, 1.800000, 2.800000, 2.850000, 2.910000, 2.950000, 3.000000, 3.070000, 3.120000, 3.180000, 3.250000, 3.330000, 3.410000, 3.480000, 3.570000, 3.580000, 3.530000, 3.490000, 3.450000, 3.410000, 3.370000, 3.350000, 3.320000, 3.280000, 3.260000, 2.030000, 2.000000, 1.960000, 1.960000, 1.970000, 1.950000, 1.900000, 1.980000, 2.060000, 3.050000, 2.180000, 1.960000, 1.930000, 1.930000, 1.990000, 1.840000, 1.820000, 1.950000, 1.960000, 2.160000, 2.110000, 2.200000, 2.190000, 2.170000, 2.180000, 2.180000, 2.180000, 2.170000, 2.160000, 2.170000, 2.180000, 2.150000, 2.160000, 2.180000, 2.190000, 2.210000, 2.220000, 2.240000, 2.220000, 2.180000, 2.010000, 1.960000, 2.300000, 2.720000, 3.120000, 3.110000, 3.140000, 3.160000, 3.190000, 3.190000, 3.220000, 1.890000, 1.870000, 3.300000, 3.350000, 3.370000, 3.410000, 3.450000, 3.490000, 3.530000, 3.580000, 3.610000, 3.670000, 3.620000, 3.540000, 3.470000, 3.390000, 3.330000, 3.260000, 3.130000, 3.150000, 3.090000, 3.040000, 2.980000, 2.930000, 2.900000, 2.850000, 2.820000, 2.770000, 1.970000, 1.950000, 1.930000, 1.910000, 1.890000, 1.870000, 1.850000, 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, 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": [ 976054777, 125228 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.136000, 8.071000, -1.649459 ], "estimate": [ 8.136000, 8.071000, -1.649459 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.540000, 1.520000, 1.520000, 1.510000, 1.500000, 1.670000, 1.830000, 1.930000, 2.040000, 2.220000, 2.190000, 2.180000, 2.160000, 2.170000, 2.000000, 1.980000, 2.150000, 4.480000, 10.610000, 10.570000, null, 8.080000, 8.230000, 8.200000, 8.570000, 9.490000, 13.070000, 17.490000, 21.420000, 21.220000, 10.690000, 10.380000, 10.380000, 9.780000, 8.850000, 6.030000, 5.150000, 4.340000, 4.330000, 4.340000, 4.360000, 4.370000, 4.380000, 2.210000, 2.110000, 1.970000, 2.100000, 2.170000, 2.190000, 2.190000, 2.210000, 2.220000, 1.950000, 1.870000, 1.790000, 1.710000, 1.660000, 1.600000, 1.560000, 1.500000, 1.450000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 2.800000, 2.840000, 2.890000, 2.940000, 2.980000, 3.050000, 3.100000, 3.180000, 3.240000, 3.310000, 3.380000, 3.460000, 3.540000, 3.580000, 3.540000, 3.490000, 3.460000, 3.420000, 3.370000, 3.350000, 3.320000, 3.290000, 3.260000, 2.040000, 2.000000, 2.010000, 1.970000, 1.980000, 1.940000, 1.900000, 1.970000, 2.070000, 3.050000, 2.210000, 1.940000, 1.920000, 1.980000, 1.980000, 1.900000, 1.810000, 1.960000, 1.960000, 2.140000, 2.110000, 2.200000, 2.200000, 2.180000, 2.180000, 2.190000, 2.180000, 2.170000, 2.160000, 2.180000, 2.180000, 2.150000, 2.160000, 2.180000, 2.200000, 2.210000, 2.220000, 2.230000, 2.230000, 2.240000, 2.010000, 1.970000, 2.300000, 2.430000, 3.100000, 3.110000, 3.130000, 3.160000, 3.170000, 3.190000, 3.220000, 1.890000, 1.860000, 3.320000, 3.350000, 3.370000, 3.410000, 3.440000, 3.490000, 3.530000, 3.570000, 3.610000, 3.660000, 3.640000, 3.570000, 3.490000, 3.400000, 3.350000, 3.280000, 3.180000, 3.160000, 3.100000, 3.050000, 2.990000, 2.940000, 2.910000, 2.860000, 2.820000, 2.790000, 2.080000, 1.960000, 1.930000, 1.920000, 1.900000, 1.870000 ], "valid": [ 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, 1, 1, 1, 1 ], "timestamp": [ 976054777, 240820 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.069000, -1.717060 ], "estimate": [ 8.135000, 8.069000, -1.717060 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.590000, 1.720000, 1.840000, 1.980000, 2.070000, 2.210000, 2.190000, 2.170000, 2.160000, 2.150000, 1.990000, 2.010000, 2.120000, 4.460000, 10.590000, null, 11.830000, 7.890000, 8.210000, 8.190000, 9.400000, 9.470000, null, 17.510000, 21.410000, 11.700000, 10.380000, 10.370000, 10.380000, 8.960000, 8.850000, 5.880000, 5.010000, 4.320000, 4.330000, 4.350000, 4.360000, 4.360000, 4.380000, 2.200000, 2.100000, 1.970000, 2.160000, 2.180000, 2.180000, 2.200000, 2.210000, 2.210000, 1.940000, 1.870000, 1.790000, 1.710000, 1.650000, 1.600000, 1.550000, 1.490000, 1.460000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.610000, 1.640000, 1.670000, 1.690000, 2.800000, 2.840000, 2.900000, 2.940000, 2.990000, 3.060000, 3.110000, 3.180000, 3.240000, 3.320000, 3.390000, 3.460000, 3.550000, 3.580000, 3.540000, 3.490000, 3.450000, 3.420000, 3.370000, 3.350000, 3.310000, 3.290000, 3.260000, 2.120000, 2.010000, 2.020000, 1.980000, 1.970000, 1.950000, 1.910000, 1.980000, 2.150000, 3.050000, 2.400000, 1.960000, 1.940000, 1.980000, 1.990000, 1.960000, 1.820000, 1.950000, 1.960000, 2.150000, 2.120000, 2.200000, 2.200000, 2.180000, 2.190000, 2.190000, 2.180000, 2.180000, 2.170000, 2.180000, 2.180000, 2.150000, 2.160000, 2.180000, 2.200000, 2.210000, 2.230000, 2.240000, 2.230000, 2.250000, 2.010000, 1.960000, 2.310000, 2.520000, 3.110000, 3.120000, 3.130000, 3.160000, 3.180000, 3.200000, 3.220000, 1.910000, 1.870000, 3.320000, 3.350000, 3.380000, 3.410000, 3.460000, 3.490000, 3.540000, 3.580000, 3.630000, 3.680000, 3.630000, 3.570000, 3.480000, 3.410000, 3.350000, 3.280000, 3.140000, 3.160000, 3.100000, 3.050000, 2.990000, 2.940000, 2.910000, 2.860000, 2.820000, 2.790000, 1.980000, 1.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 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 ], "timestamp": [ 976054778, 384618 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.069000, -1.778515 ], "estimate": [ 8.135000, 8.069000, -1.778515 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.620000, 1.610000, 1.600000, 1.590000, 1.560000, 1.560000, 1.540000, 1.540000, 1.520000, 1.520000, 1.500000, 1.480000, 1.650000, 1.770000, 1.910000, 2.020000, 2.120000, 2.190000, 2.170000, 2.160000, 2.150000, 2.140000, 1.950000, 2.070000, 2.170000, 4.450000, 10.540000, null, 11.820000, 8.080000, 8.200000, 8.260000, 9.530000, null, 17.450000, 19.280000, 21.400000, 11.660000, 10.350000, 10.370000, 10.380000, 8.830000, 10.250000, 5.470000, 4.680000, 4.320000, 4.330000, 4.330000, 4.350000, 4.360000, 4.380000, 2.130000, 2.040000, 1.970000, 2.160000, 2.180000, 2.180000, 2.190000, 2.210000, 2.010000, 1.910000, 1.840000, 1.760000, 1.690000, 1.640000, 1.580000, 1.530000, 1.480000, 1.480000, 1.480000, 1.500000, 1.510000, 1.540000, 1.550000, 1.580000, 1.600000, 1.610000, 1.640000, 1.670000, 1.870000, 2.800000, 2.850000, 2.910000, 2.960000, 3.010000, 3.070000, 3.120000, 3.190000, 3.260000, 3.350000, 3.410000, 3.500000, 3.580000, 3.560000, 3.520000, 3.480000, 3.440000, 3.400000, 3.370000, 3.340000, 3.310000, 3.270000, 2.030000, 2.100000, 2.070000, 2.040000, 2.020000, 2.000000, 1.970000, 1.910000, 1.980000, 2.290000, 3.040000, 2.220000, 1.970000, 1.950000, 1.950000, 1.990000, 1.870000, 1.830000, 1.950000, 2.000000, 2.110000, 2.110000, 2.210000, 2.190000, 2.180000, 2.190000, 2.180000, 2.180000, 2.190000, 2.170000, 2.180000, 2.170000, 2.160000, 2.180000, 2.200000, 2.200000, 2.220000, 2.230000, 2.250000, 2.230000, 2.110000, 1.990000, 1.980000, 2.320000, 3.080000, 3.110000, 3.130000, 3.150000, 3.180000, 3.180000, 3.210000, 3.240000, 1.900000, 1.900000, 3.340000, 3.370000, 3.390000, 3.430000, 3.480000, 3.510000, 3.560000, 3.600000, 3.660000, 3.690000, 3.610000, 3.520000, 3.460000, 3.380000, 3.280000, 3.250000, 3.190000, 3.140000, 3.070000, 3.030000, 2.980000, 2.930000, 2.890000, 2.840000 ], "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, 0, 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 ], "timestamp": [ 976054778, 401016 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.069000, -1.827679 ], "estimate": [ 8.135000, 8.069000, -1.827679 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.680000, 2.640000, 1.630000, 1.610000, 1.600000, 1.590000, 1.580000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.500000, 1.500000, 1.470000, 1.640000, 1.760000, 1.900000, 1.980000, 2.100000, 2.170000, 2.160000, 2.150000, 2.150000, 2.130000, 1.960000, 2.050000, 2.120000, 4.450000, 10.550000, null, 11.810000, 7.900000, 8.200000, 8.200000, 9.410000, 9.490000, 17.420000, 17.640000, 21.400000, 11.650000, 10.340000, 10.360000, 10.370000, 8.830000, 8.870000, 5.530000, 4.730000, 4.310000, 4.320000, 4.330000, 4.340000, 4.360000, 4.370000, 2.140000, 2.050000, 1.970000, 2.160000, 2.180000, 2.180000, 2.190000, 2.200000, 2.120000, 1.910000, 1.840000, 1.770000, 1.700000, 1.640000, 1.580000, 1.540000, 1.490000, 1.430000, 1.490000, 1.500000, 1.500000, 1.530000, 1.550000, 1.560000, 1.590000, 1.610000, 1.630000, 1.650000, 1.680000, 2.800000, 2.840000, 2.900000, 2.940000, 3.000000, 3.060000, 3.100000, 3.180000, 3.260000, 3.330000, 3.410000, 3.480000, 3.570000, 3.570000, 3.520000, 3.480000, 3.440000, 3.400000, 3.370000, 3.350000, 3.310000, 3.280000, 2.220000, 2.100000, 2.090000, 2.040000, 2.030000, 1.960000, 1.960000, 1.930000, 1.970000, 2.270000, 3.050000, 3.020000, 2.010000, 1.970000, 1.960000, 1.990000, 1.990000, 1.830000, 1.940000, 1.980000, 2.130000, 2.110000, 2.210000, 2.200000, 2.190000, 2.190000, 2.190000, 2.190000, 2.180000, 2.170000, 2.190000, 2.170000, 2.160000, 2.190000, 2.200000, 2.200000, 2.220000, 2.240000, 2.250000, 2.240000, 2.240000, 1.980000, 1.980000, 2.320000, 3.080000, 3.110000, 3.130000, 3.150000, 3.170000, 3.200000, 3.210000, 3.240000, 1.900000, 1.900000, 3.340000, 3.370000, 3.400000, 3.430000, 3.480000, 3.510000, 3.560000, 3.600000, 3.660000, 3.700000, 3.610000, 3.540000, 3.470000, 3.390000, 3.300000, 3.260000, 3.190000, 3.140000, 3.080000, 3.040000, 2.980000 ], "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, 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 ], "timestamp": [ 976054778, 402024 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.068000, -1.876844 ], "estimate": [ 8.135000, 8.068000, -1.876844 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.790000, 2.740000, 2.710000, 2.690000, 1.640000, 1.620000, 1.610000, 1.600000, 1.580000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.500000, 1.700000, 1.840000, 1.940000, 2.060000, 2.180000, 2.160000, 2.150000, 2.150000, 2.140000, 1.960000, 1.980000, 2.120000, 4.450000, 10.580000, 10.620000, 11.800000, 7.890000, 8.200000, 8.180000, 9.380000, 9.440000, 13.760000, 17.500000, 21.400000, 11.660000, 10.380000, 10.350000, 10.360000, 9.270000, 8.830000, 5.930000, 5.050000, 4.290000, 4.320000, 4.320000, 4.340000, 4.350000, 4.360000, 4.380000, 2.120000, 1.980000, 1.990000, 2.170000, 2.180000, 2.180000, 2.200000, 2.210000, 1.960000, 1.890000, 1.800000, 1.730000, 1.680000, 1.620000, 1.560000, 1.510000, 1.430000, 1.470000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.570000, 1.600000, 1.620000, 1.630000, 1.660000, 2.780000, 2.810000, 2.870000, 2.920000, 2.970000, 3.040000, 3.080000, 3.160000, 3.220000, 3.290000, 3.370000, 3.450000, 3.530000, 3.590000, 3.540000, 3.490000, 3.460000, 3.420000, 3.380000, 3.360000, 3.320000, 3.300000, 3.260000, 2.130000, 2.060000, 2.070000, 2.030000, 1.970000, 1.970000, 1.950000, 1.990000, 2.030000, 3.070000, 3.040000, 2.320000, 1.970000, 1.970000, 1.980000, 1.990000, 1.860000, 1.840000, 1.970000, 2.090000, 2.120000, 2.220000, 2.210000, 2.190000, 2.190000, 2.190000, 2.190000, 2.180000, 2.180000, 2.200000, 2.190000, 2.160000, 2.190000, 2.200000, 2.210000, 2.210000, 2.230000, 2.250000, 2.260000, 2.250000, 2.000000, 1.970000, 2.250000, 2.330000, 3.110000, 3.120000, 3.150000, 3.170000, 3.180000, 3.200000, 3.230000, 1.900000, 1.870000, 3.340000, 3.360000, 3.380000, 3.420000, 3.460000, 3.490000, 3.550000, 3.590000, 3.630000, 3.690000, 3.650000, 3.570000, 3.490000, 3.420000, 3.350000, 3.280000, 3.190000, 3.170000, 3.110000 ], "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": [ 976054778, 403017 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.135000, 8.067000, -1.932153 ], "estimate": [ 8.135000, 8.067000, -1.932153 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.930000, 2.880000, 2.830000, 2.790000, 2.740000, 2.710000, 2.660000, 1.640000, 1.620000, 1.610000, 1.600000, 1.580000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.500000, 1.500000, 1.490000, 1.470000, 1.700000, 1.820000, 1.920000, 2.040000, 2.180000, 2.160000, 2.150000, 2.140000, 2.130000, 2.000000, 1.950000, 2.110000, 4.440000, 10.580000, 10.570000, 11.820000, 7.930000, 8.200000, 8.170000, 8.660000, 9.460000, 13.260000, 17.490000, 21.390000, 21.280000, 10.650000, 10.350000, 10.360000, 9.690000, 8.830000, 6.050000, 5.190000, 4.420000, 4.310000, 4.320000, 4.340000, 4.350000, 4.360000, 4.370000, 2.120000, 2.020000, 1.970000, 2.170000, 2.180000, 2.180000, 2.200000, 2.210000, 1.990000, 1.890000, 1.820000, 1.740000, 1.690000, 1.630000, 1.570000, 1.530000, 1.480000, 1.470000, 1.490000, 1.500000, 1.510000, 1.520000, 1.550000, 1.570000, 1.600000, 1.610000, 1.630000, 1.660000, 1.780000, 2.810000, 2.860000, 2.920000, 2.960000, 3.020000, 3.080000, 3.100000, 3.200000, 3.280000, 3.360000, 3.430000, 3.500000, 3.620000, 3.550000, 3.510000, 3.470000, 3.430000, 3.390000, 3.360000, 3.330000, 3.300000, 2.040000, 2.150000, 2.070000, 2.290000, 2.050000, 2.000000, 1.980000, 1.960000, 1.930000, 1.990000, 2.510000, 3.050000, 3.020000, 1.990000, 1.990000, 2.050000, 1.990000, 1.970000, 1.850000, 1.960000, 2.020000, 2.110000, 2.210000, 2.220000, 2.190000, 2.190000, 2.200000, 2.190000, 2.190000, 2.210000, 2.180000, 2.190000, 2.160000, 2.190000, 2.200000, 2.210000, 2.220000, 2.230000, 2.250000, 2.260000, 2.250000, 2.010000, 1.980000, 2.010000, 2.330000, 3.100000, 3.130000, 3.140000, 3.170000, 3.180000, 3.210000, 3.230000, 3.260000, 1.870000, 1.910000, 3.360000, 3.380000, 3.420000, 3.460000, 3.500000, 3.540000, 3.580000, 3.640000, 3.680000, 3.650000, 3.580000, 3.510000, 3.430000, 3.370000, 3.280000 ], "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": [ 976054778, 403965 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.066000, -1.987463 ], "estimate": [ 8.134000, 8.066000, -1.987463 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.030000, 2.970000, 2.920000, 2.870000, 2.810000, 2.770000, 2.730000, 2.690000, 2.660000, 1.640000, 1.600000, 1.600000, 1.590000, 1.580000, 1.560000, 1.550000, 1.530000, 1.510000, 1.500000, 1.500000, 1.500000, 1.480000, 1.560000, 1.700000, 1.830000, 1.940000, 2.050000, 2.160000, 2.150000, 2.160000, 2.140000, 2.130000, 1.960000, 1.980000, 2.100000, 4.440000, 10.570000, null, 11.810000, 7.910000, 8.190000, 8.180000, 9.390000, 9.470000, null, 17.460000, 21.390000, 11.630000, 10.340000, 10.340000, 10.350000, 8.920000, 8.820000, 5.860000, 5.000000, 4.280000, 4.310000, 4.320000, 4.330000, 4.350000, 4.360000, 4.370000, 2.110000, 2.000000, 1.980000, 2.150000, 2.180000, 2.180000, 2.190000, 2.200000, 1.960000, 1.890000, 1.810000, 1.740000, 1.670000, 1.620000, 1.580000, 1.520000, 1.470000, 1.460000, 1.490000, 1.500000, 1.510000, 1.520000, 1.550000, 1.560000, 1.590000, 1.610000, 1.630000, 1.650000, 1.880000, 2.810000, 2.860000, 2.920000, 2.960000, 3.030000, 3.080000, 3.140000, 3.210000, 3.290000, 3.370000, 3.440000, 3.520000, 3.600000, 3.550000, 3.500000, 3.460000, 3.420000, 3.380000, 3.360000, 3.320000, 3.290000, 2.030000, 2.110000, 2.120000, 2.110000, 2.050000, 2.010000, 1.970000, 1.960000, 1.940000, 2.030000, 3.060000, 3.050000, 3.030000, 1.980000, 2.000000, 2.070000, 2.000000, 1.940000, 1.850000, 1.960000, 2.050000, 2.120000, 2.210000, 2.220000, 2.200000, 2.200000, 2.190000, 2.200000, 2.190000, 2.190000, 2.190000, 2.190000, 2.160000, 2.200000, 2.210000, 2.220000, 2.230000, 2.240000, 2.250000, 2.260000, 2.250000, 2.010000, 1.980000, 2.100000, 2.340000, 3.110000, 3.130000, 3.160000, 3.180000, 3.180000, 3.210000, 3.240000, 1.920000, 1.880000, 1.930000, 3.370000, 3.390000, 3.430000, 3.470000, 3.510000, 3.550000, 3.600000, 3.650000, 3.700000, 3.660000, 3.580000, 3.490000 ], "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, 0, 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 ], "timestamp": [ 976054778, 408969 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.134000, 8.066000, -2.042773 ], "estimate": [ 8.134000, 8.066000, -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": [ 3.300000, 3.230000, 3.160000, 3.010000, 3.030000, 2.970000, 2.920000, 2.870000, 2.820000, 2.770000, 2.720000, 2.680000, 2.670000, 1.620000, 1.600000, 1.600000, 1.570000, 1.570000, 1.550000, 1.540000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.490000, 1.680000, 1.820000, 1.940000, 2.030000, 2.160000, 2.150000, 2.140000, 2.140000, 2.130000, 1.960000, 1.950000, 2.120000, 4.440000, 10.560000, null, 11.810000, 7.850000, 8.180000, 8.170000, 9.380000, 9.430000, null, 17.480000, 21.380000, 11.660000, 10.360000, 10.340000, 10.340000, 9.090000, 8.810000, 5.920000, 5.070000, 4.320000, 4.310000, 4.320000, 4.330000, 4.340000, 4.360000, 4.370000, 2.120000, 2.010000, 1.960000, 2.150000, 2.170000, 2.180000, 2.190000, 2.210000, 1.980000, 1.890000, 1.810000, 1.760000, 1.690000, 1.640000, 1.580000, 1.520000, 1.480000, 1.420000, 1.470000, 1.490000, 1.510000, 1.520000, 1.540000, 1.560000, 1.590000, 1.610000, 1.630000, 1.650000, 1.680000, 2.800000, 2.850000, 2.910000, 2.950000, 3.010000, 3.070000, 3.110000, 3.200000, 3.280000, 3.360000, 3.420000, 3.510000, 3.630000, 3.550000, 3.510000, 3.470000, 3.430000, 3.390000, 3.370000, 3.330000, 3.300000, 3.260000, 2.150000, 2.090000, 2.010000, 2.050000, 2.070000, 2.000000, 1.960000, 1.930000, 2.000000, 2.440000, 3.050000, 3.030000, 2.000000, 2.000000, 2.080000, 1.990000, 2.040000, 1.840000, 1.970000, 2.030000, 2.140000, 2.220000, 2.220000, 2.200000, 2.200000, 2.200000, 2.200000, 2.190000, 2.220000, 2.200000, 2.200000, 2.170000, 2.200000, 2.210000, 2.220000, 2.230000, 2.240000, 2.250000, 2.270000, 2.260000, 2.020000, 1.990000, 2.030000, 2.340000, 3.120000, 3.130000, 3.160000, 3.180000, 3.190000, 3.210000, 3.240000, 3.270000, 1.870000, 1.900000, 3.370000, 3.390000, 3.430000, 3.480000, 3.510000, 3.550000, 3.600000, 3.650000, 3.690000 ], "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, 0, 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 ], "timestamp": [ 976054778, 849169 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.132999, 8.064000, -2.085792 ], "estimate": [ 8.132999, 8.064000, -2.085792 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.480000, 3.390000, 3.320000, 3.250000, 3.180000, 3.070000, 3.020000, 2.980000, 2.930000, 2.880000, 2.830000, 2.780000, 2.740000, 2.700000, 2.650000, 1.630000, 1.600000, 1.590000, 1.580000, 1.560000, 1.540000, 1.540000, 1.520000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.440000, 1.640000, 1.770000, 1.900000, 2.000000, 2.170000, 2.160000, 2.140000, 2.140000, 2.120000, 2.040000, 1.900000, 2.060000, 2.150000, 4.420000, 10.530000, null, 8.120000, 8.180000, 8.170000, 8.440000, 9.470000, 14.010000, 17.420000, 21.390000, 21.180000, 10.740000, 10.310000, 10.330000, 10.030000, 8.810000, 6.100000, 5.290000, 4.530000, 4.300000, 4.310000, 4.330000, 4.340000, 4.350000, 4.360000, 2.140000, 2.040000, 1.960000, 2.140000, 2.160000, 2.170000, 2.180000, 2.190000, 2.170000, 1.920000, 1.840000, 1.790000, 1.710000, 1.650000, 1.590000, 1.540000, 1.490000, 1.420000, 1.470000, 1.480000, 1.500000, 1.500000, 1.520000, 1.540000, 1.560000, 1.600000, 1.620000, 1.640000, 1.660000, 2.790000, 2.830000, 2.890000, 2.930000, 3.000000, 3.060000, 3.090000, 3.180000, 3.250000, 3.330000, 3.390000, 3.480000, 3.570000, 3.570000, 3.530000, 3.480000, 3.440000, 3.400000, 3.370000, 3.350000, 3.300000, 3.270000, 2.240000, 2.090000, 3.200000, 2.030000, 2.040000, 2.000000, 1.970000, 1.920000, 1.980000, 2.290000, 3.050000, 3.040000, 2.100000, 1.990000, 2.020000, 2.030000, 2.020000, 1.860000, 1.920000, 1.980000, 2.140000, 2.170000, 2.220000, 2.200000, 2.200000, 2.200000, 2.200000, 2.210000, 2.210000, 2.190000, 2.200000, 2.180000, 2.180000, 2.200000, 2.220000, 2.230000, 2.240000, 2.250000, 2.260000, 2.250000, 2.250000, 1.990000, 2.000000, 2.340000, 3.090000, 3.130000, 3.150000, 3.170000, 3.180000, 3.210000, 3.240000, 3.260000, 1.910000, 1.920000, 3.360000, 3.390000, 3.420000, 3.460000, 3.490000, 3.540000, 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, 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 ], "timestamp": [ 976054778, 850484 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.132000, 8.061000, -2.147247 ], "estimate": [ 8.132000, 8.061000, -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": [ 3.450000, 3.490000, 3.550000, 3.480000, 3.400000, 3.320000, 3.250000, 3.180000, 3.100000, 3.010000, 2.990000, 2.940000, 2.890000, 2.830000, 2.790000, 2.740000, 2.700000, 2.660000, 1.730000, 1.600000, 1.580000, 1.570000, 1.550000, 1.540000, 1.530000, 1.520000, 1.490000, 1.500000, 1.490000, 1.490000, 1.470000, 1.430000, 1.610000, 1.730000, 1.870000, 1.970000, 2.080000, 2.160000, 2.140000, 2.130000, 2.120000, 2.110000, 1.910000, 2.020000, 2.110000, 4.420000, 10.530000, null, 11.790000, 8.090000, 8.160000, 8.300000, 9.780000, 13.140000, 17.480000, 21.380000, 21.360000, 11.630000, 10.320000, 10.330000, 10.340000, 8.800000, 10.210000, 5.500000, 4.730000, 4.280000, 4.300000, 4.320000, 4.320000, 4.340000, 4.350000, 2.170000, 2.090000, 1.960000, 1.990000, 2.160000, 2.170000, 2.180000, 2.180000, 2.200000, 1.950000, 1.870000, 1.800000, 1.730000, 1.660000, 1.610000, 1.560000, 1.510000, 1.470000, 1.450000, 1.470000, 1.480000, 1.510000, 1.510000, 1.530000, 1.550000, 1.580000, 1.610000, 1.620000, 1.640000, 1.790000, 2.810000, 2.860000, 2.920000, 2.970000, 3.030000, 3.080000, 3.160000, 3.220000, 3.300000, 3.370000, 3.450000, 3.530000, 3.580000, 3.540000, 3.490000, 3.450000, 3.420000, 3.380000, 3.360000, 3.320000, 3.290000, 3.260000, 2.120000, 2.070000, 2.280000, 2.050000, 1.980000, 1.980000, 1.970000, 1.940000, 2.000000, 3.070000, 3.050000, 2.540000, 1.960000, 1.980000, 1.960000, 2.010000, 1.880000, 1.840000, 1.970000, 2.080000, 2.130000, 2.230000, 2.210000, 2.200000, 2.200000, 2.200000, 2.200000, 2.200000, 2.200000, 2.200000, 2.180000, 2.180000, 2.210000, 2.210000, 2.220000, 2.240000, 2.250000, 2.260000, 2.260000, 2.260000, 2.010000, 1.990000, 2.310000, 2.460000, 3.130000, 3.150000, 3.170000, 3.190000, 3.210000, 3.230000, 3.260000, 1.920000, 1.880000, 3.360000, 3.370000, 3.410000, 3.450000 ], "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, 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 ], "timestamp": [ 976054779, 108999 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.130000, 8.059000, -2.202556 ], "estimate": [ 8.130000, 8.059000, -2.202556 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.370000, 2.410000, 3.410000, 3.460000, 3.500000, 3.560000, 3.470000, 3.400000, 3.310000, 3.240000, 3.180000, 3.050000, 3.010000, 2.980000, 2.930000, 2.870000, 2.830000, 2.780000, 2.730000, 2.690000, 2.640000, 1.610000, 1.590000, 1.580000, 1.560000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.430000, 1.620000, 1.730000, 1.860000, 1.960000, 2.070000, 2.150000, 2.130000, 2.130000, 2.120000, 2.100000, 1.910000, 2.030000, 2.100000, 4.410000, 10.510000, null, null, 8.160000, 8.150000, 8.340000, 9.960000, 13.430000, 17.490000, 21.370000, 21.230000, 11.620000, 10.320000, 10.330000, 10.330000, 8.790000, 10.210000, 5.450000, 4.660000, 4.280000, 4.300000, 4.310000, 4.330000, 4.330000, 4.350000, 2.190000, 2.090000, 1.960000, 1.960000, 2.150000, 2.160000, 2.170000, 2.190000, 2.190000, 1.940000, 1.870000, 1.810000, 1.720000, 1.660000, 1.610000, 1.560000, 1.520000, 1.460000, 1.420000, 1.470000, 1.490000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.690000, 2.810000, 2.870000, 2.910000, 2.970000, 3.030000, 3.080000, 3.150000, 3.220000, 3.300000, 3.360000, 3.450000, 3.540000, 3.580000, 3.540000, 3.490000, 3.460000, 3.420000, 3.380000, 3.360000, 3.320000, 3.290000, 3.260000, 2.140000, 2.090000, 3.180000, 2.040000, 2.030000, 2.000000, 1.970000, 1.940000, 1.980000, 3.060000, 3.050000, 2.370000, 1.960000, 1.970000, 1.940000, 2.010000, 1.880000, 1.850000, 1.970000, 2.040000, 2.140000, 2.220000, 2.210000, 2.210000, 2.200000, 2.200000, 2.210000, 2.200000, 2.200000, 2.210000, 2.180000, 2.180000, 2.210000, 2.220000, 2.230000, 2.240000, 2.250000, 2.260000, 2.260000, 2.270000, 2.010000, 2.000000, 2.310000, 2.460000, 3.170000, 3.150000, 3.180000, 3.190000, 3.210000, 3.240000, 3.270000, 1.940000, 1.880000, 3.360000 ], "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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054779, 520141 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.129001, 8.057000, -2.257866 ], "estimate": [ 8.129001, 8.057000, -2.257866 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.230000, 3.270000, 3.300000, 2.390000, 2.400000, 3.400000, 3.450000, 3.490000, 3.550000, 3.480000, 3.400000, 3.330000, 3.250000, 3.180000, 3.090000, 2.990000, 2.990000, 2.940000, 2.890000, 2.830000, 2.790000, 2.730000, 2.690000, 2.650000, 1.740000, 1.600000, 1.580000, 1.550000, 1.540000, 1.540000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.430000, 1.570000, 1.700000, 1.820000, 1.930000, 2.030000, 2.150000, 2.130000, 2.130000, 2.110000, 2.100000, 1.920000, 1.980000, 2.090000, 4.410000, 10.510000, null, 11.790000, 7.850000, 8.150000, 8.150000, 9.370000, 9.490000, null, 19.230000, 21.360000, 11.610000, 10.300000, 10.320000, 10.330000, 8.790000, 9.000000, 5.670000, 4.870000, 4.280000, 4.290000, 4.300000, 4.320000, 4.330000, 4.350000, 4.360000, 2.110000, 2.010000, 1.940000, 2.140000, 2.150000, 2.170000, 2.180000, 2.180000, 2.010000, 1.890000, 1.820000, 1.750000, 1.690000, 1.630000, 1.580000, 1.520000, 1.480000, 1.410000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.560000, 1.580000, 1.610000, 1.630000, 1.660000, 2.800000, 2.850000, 2.900000, 2.950000, 3.010000, 3.070000, 3.100000, 3.200000, 3.270000, 3.360000, 3.430000, 3.510000, 3.630000, 3.550000, 3.510000, 3.470000, 3.430000, 3.390000, 3.370000, 3.330000, 3.300000, 3.270000, 2.320000, 2.100000, 2.100000, 2.050000, 2.040000, 1.970000, 1.970000, 1.930000, 1.980000, 2.290000, 3.060000, 3.040000, 2.090000, 2.000000, 2.010000, 2.010000, 2.080000, 1.860000, 1.960000, 2.000000, 2.170000, 2.170000, 2.210000, 2.210000, 2.210000, 2.210000, 2.210000, 2.200000, 2.200000, 2.220000, 2.180000, 2.180000, 2.210000, 2.210000, 2.230000, 2.240000, 2.250000, 2.260000, 2.260000, 2.260000, 2.030000, 2.000000, 2.060000, 2.350000, 3.130000, 3.160000, 3.170000, 3.190000, 3.210000, 3.240000, 3.260000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 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 ], "timestamp": [ 976054779, 521353 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.127000, 8.056000, -2.325467 ], "estimate": [ 8.127000, 8.056000, -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": [ 3.150000, 3.180000, 3.190000, 3.210000, 3.250000, 3.270000, 3.310000, 2.350000, 3.380000, 3.420000, 3.460000, 3.510000, 3.540000, 3.450000, 3.360000, 3.290000, 3.210000, 3.150000, 2.980000, 3.000000, 2.960000, 2.910000, 2.850000, 2.810000, 2.750000, 2.710000, 2.670000, 2.630000, 1.600000, 1.580000, 1.570000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.430000, 1.610000, 1.730000, 1.850000, 1.950000, 2.090000, 2.130000, 2.130000, 2.120000, 2.100000, 2.100000, 1.880000, 2.030000, 2.120000, 4.390000, 10.520000, null, null, 8.150000, 8.140000, 8.460000, 9.490000, 13.060000, 17.450000, 21.370000, 21.150000, 10.800000, 10.310000, 10.320000, 10.230000, 8.780000, 10.210000, 5.400000, 4.640000, 4.280000, 4.290000, 4.300000, 4.320000, 4.330000, 4.350000, 4.360000, 2.100000, 1.980000, 1.940000, 2.140000, 2.150000, 2.170000, 2.180000, 2.190000, 1.950000, 1.880000, 1.800000, 1.730000, 1.680000, 1.620000, 1.570000, 1.520000, 1.480000, 1.400000, 1.460000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 2.810000, 2.870000, 2.920000, 2.960000, 3.030000, 3.080000, 3.160000, 3.220000, 3.310000, 3.370000, 3.450000, 3.550000, 3.590000, 3.550000, 3.500000, 3.460000, 3.420000, 3.390000, 3.360000, 3.330000, 3.290000, 3.260000, 2.140000, 2.090000, 3.190000, 2.050000, 2.090000, 2.020000, 1.970000, 1.920000, 1.980000, 3.070000, 3.050000, 3.030000, 2.010000, 2.010000, 2.060000, 2.000000, 2.020000, 1.840000, 1.970000, 2.050000, 2.150000, 2.230000, 2.210000, 2.210000, 2.210000, 2.210000, 2.220000, 2.210000, 2.220000, 2.210000, 2.190000, 2.190000, 2.220000, 2.230000, 2.240000, 2.250000, 2.260000, 2.270000, 2.280000, 2.270000, 2.030000, 2.010000, 2.310000, 2.060000, 3.150000, 3.170000, 3.190000 ], "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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054779, 610560 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.125999, 8.055000, -2.380777 ], "estimate": [ 8.125999, 8.055000, -2.380777 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.070000, 3.090000, 3.110000, 3.130000, 3.160000, 3.180000, 3.200000, 3.220000, 3.270000, 3.290000, 2.390000, 2.380000, 3.400000, 3.440000, 3.490000, 3.560000, 3.480000, 3.390000, 3.320000, 3.240000, 3.180000, 3.070000, 2.980000, 2.980000, 2.920000, 2.870000, 2.820000, 2.770000, 2.720000, 2.680000, 2.650000, 1.730000, 1.580000, 1.560000, 1.540000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.470000, 1.470000, 1.450000, 1.460000, 1.420000, 1.520000, 1.640000, 1.760000, 1.880000, 2.000000, 2.140000, 2.120000, 2.120000, 2.100000, 2.100000, 1.910000, 1.940000, 2.050000, 4.400000, 10.500000, null, 11.780000, 7.820000, 8.140000, 8.140000, 9.350000, 9.400000, 17.310000, 17.570000, 21.340000, 11.610000, 10.280000, 10.320000, 10.340000, 8.780000, 8.900000, 5.730000, 4.920000, 4.270000, 4.270000, 4.290000, 4.300000, 4.310000, 4.330000, 4.350000, 2.110000, 2.030000, 1.950000, 2.120000, 2.150000, 2.150000, 2.180000, 2.180000, 2.180000, 1.920000, 1.850000, 1.780000, 1.710000, 1.650000, 1.600000, 1.560000, 1.500000, 1.460000, 1.450000, 1.460000, 1.480000, 1.500000, 1.510000, 1.530000, 1.550000, 1.570000, 1.600000, 1.610000, 1.640000, 1.850000, 2.830000, 2.890000, 2.940000, 3.000000, 3.060000, 3.110000, 3.190000, 3.260000, 3.350000, 3.420000, 3.500000, 3.600000, 3.570000, 3.510000, 3.480000, 3.450000, 3.410000, 3.370000, 3.340000, 3.310000, 3.290000, 2.060000, 2.090000, 2.160000, 2.040000, 2.050000, 2.010000, 1.960000, 1.950000, 2.030000, 2.290000, 3.070000, 3.050000, 2.260000, 2.000000, 2.030000, 2.040000, 2.030000, 1.880000, 1.910000, 1.990000, 2.150000, 2.220000, 2.220000, 2.220000, 2.220000, 2.220000, 2.220000, 2.230000, 2.230000, 2.210000, 2.200000, 2.200000, 2.220000, 2.240000, 2.250000, 2.260000, 2.250000, 2.270000, 2.280000, 2.270000, 2.090000, 2.010000, 2.020000, 2.360000 ], "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, 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 ], "timestamp": [ 976054780, 170425 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.125000, 8.052999, -2.429941 ], "estimate": [ 8.125000, 8.052999, -2.429941 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.050000, 3.060000, 3.090000, 3.090000, 3.120000, 3.140000, 3.170000, 3.190000, 3.220000, 3.250000, 3.280000, 3.320000, 2.350000, 3.380000, 3.420000, 3.470000, 3.510000, 3.520000, 3.420000, 3.350000, 3.270000, 3.200000, 3.130000, 2.960000, 3.000000, 2.940000, 2.890000, 2.830000, 2.790000, 2.740000, 2.700000, 2.650000, 2.620000, 1.580000, 1.550000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.470000, 1.470000, 1.460000, 1.450000, 1.440000, 1.410000, 1.570000, 1.690000, 1.820000, 1.930000, 2.070000, 2.130000, 2.120000, 2.100000, 2.090000, 2.090000, 1.900000, 2.000000, 2.130000, 10.530000, 10.530000, null, 7.960000, 8.150000, 8.130000, 8.590000, 9.420000, 13.390000, 17.480000, 21.350000, 21.250000, 10.600000, 10.310000, 10.330000, 9.890000, 8.780000, 6.080000, 5.310000, 4.590000, 4.260000, 4.270000, 4.290000, 4.300000, 4.320000, 4.340000, 4.360000, 2.110000, 1.990000, 1.940000, 2.130000, 2.150000, 2.150000, 2.170000, 2.180000, 1.970000, 1.890000, 1.820000, 1.750000, 1.690000, 1.630000, 1.580000, 1.520000, 1.490000, 1.400000, 1.450000, 1.460000, 1.480000, 1.490000, 1.510000, 1.540000, 1.560000, 1.580000, 1.600000, 1.640000, 1.660000, 2.810000, 2.870000, 2.920000, 2.970000, 3.040000, 3.090000, 3.160000, 3.230000, 3.300000, 3.380000, 3.470000, 3.560000, 3.580000, 3.550000, 3.500000, 3.470000, 3.430000, 3.390000, 3.370000, 3.330000, 3.310000, 3.280000, 2.140000, 2.090000, 3.190000, 2.040000, 2.090000, 2.040000, 1.960000, 1.940000, 2.000000, 3.080000, 3.050000, 3.040000, 2.020000, 2.020000, 2.080000, 2.010000, 2.050000, 1.860000, 1.980000, 2.050000, 2.180000, 2.240000, 2.220000, 2.230000, 2.220000, 2.220000, 2.240000, 2.220000, 2.220000, 2.210000, 2.200000, 2.210000, 2.240000, 2.250000, 2.250000, 2.260000, 2.260000, 2.280000, 2.270000, 2.280000, 2.030000 ], "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, 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": [ 976054780, 171653 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.124001, 8.052000, -2.479105 ], "estimate": [ 8.124001, 8.052000, -2.479105 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.970000, 3.000000, 2.050000, 2.000000, 3.040000, 3.050000, 3.080000, 3.080000, 3.100000, 3.130000, 3.160000, 3.190000, 3.200000, 3.240000, 3.270000, 3.320000, 2.350000, 3.380000, 3.410000, 3.460000, 3.500000, 3.500000, 3.420000, 3.350000, 3.270000, 3.190000, 3.130000, 2.960000, 2.990000, 2.940000, 2.880000, 2.830000, 2.790000, 2.730000, 2.690000, 2.640000, 2.630000, 1.580000, 1.560000, 1.540000, 1.530000, 1.510000, 1.500000, 1.500000, 1.490000, 1.480000, 1.460000, 1.460000, 1.450000, 1.440000, 1.400000, 1.550000, 1.680000, 1.800000, 1.930000, 2.030000, 2.120000, 2.120000, 2.100000, 2.090000, 2.080000, 1.870000, 1.990000, 2.060000, 4.380000, 10.510000, null, 7.920000, 8.140000, 8.130000, 8.460000, 9.420000, 13.190000, 17.460000, 21.340000, 21.280000, 10.620000, 10.310000, 10.320000, 9.870000, 8.770000, 6.090000, 5.340000, 4.610000, 4.260000, 4.270000, 4.280000, 4.300000, 4.320000, 4.340000, 4.360000, 2.110000, 1.990000, 1.930000, 2.140000, 2.150000, 2.160000, 2.180000, 2.180000, 2.010000, 1.900000, 1.830000, 1.760000, 1.700000, 1.640000, 1.590000, 1.540000, 1.500000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.580000, 1.600000, 1.620000, 1.640000, 2.810000, 2.860000, 2.920000, 2.960000, 3.030000, 3.080000, 3.120000, 3.230000, 3.300000, 3.370000, 3.460000, 3.560000, 3.590000, 3.560000, 3.510000, 3.470000, 3.430000, 3.400000, 3.370000, 3.340000, 3.300000, 3.290000, 2.160000, 2.090000, 3.190000, 2.040000, 2.080000, 2.030000, 1.970000, 1.950000, 2.030000, 2.320000, 3.060000, 3.040000, 2.040000, 2.000000, 2.080000, 2.020000, 2.080000, 1.870000, 1.970000, 2.030000, 2.180000, 2.240000, 2.220000, 2.230000, 2.230000, 2.230000, 2.240000, 2.230000, 2.220000, 2.220000, 2.200000, 2.210000, 2.240000, 2.250000, 2.260000, 2.260000, 2.260000, 2.280000 ], "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, 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 ], "timestamp": [ 976054780, 240381 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.123000, 8.052000, -2.528269 ], "estimate": [ 8.123000, 8.052000, -2.528269 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.960000, 2.960000, 2.970000, 2.970000, 3.000000, 2.000000, 2.480000, 3.040000, 3.060000, 3.080000, 3.100000, 3.120000, 3.160000, 3.180000, 3.200000, 3.220000, 3.260000, 3.300000, 2.340000, 2.710000, 3.400000, 3.440000, 3.490000, 3.540000, 3.440000, 3.370000, 3.280000, 3.210000, 3.150000, 2.990000, 2.970000, 2.960000, 2.910000, 2.840000, 2.800000, 2.750000, 2.710000, 2.650000, 2.630000, 1.700000, 1.570000, 1.540000, 1.530000, 1.520000, 1.490000, 1.500000, 1.490000, 1.470000, 1.460000, 1.450000, 1.450000, 1.440000, 1.430000, 1.490000, 1.620000, 1.740000, 1.870000, 1.980000, 2.130000, 2.120000, 2.100000, 2.100000, 2.080000, 1.900000, 1.900000, 2.080000, 4.380000, 10.490000, null, 11.770000, 7.850000, 8.130000, 8.140000, 9.370000, 9.470000, 17.410000, 21.350000, 21.320000, 11.590000, 10.270000, 10.320000, 10.330000, 8.770000, 8.940000, 5.710000, 4.930000, 4.270000, 4.270000, 4.280000, 4.290000, 4.310000, 4.330000, 4.340000, 2.140000, 2.060000, 1.910000, 2.000000, 2.140000, 2.150000, 2.160000, 2.180000, 2.190000, 1.930000, 1.860000, 1.800000, 1.730000, 1.660000, 1.620000, 1.570000, 1.530000, 1.470000, 1.410000, 1.450000, 1.470000, 1.490000, 1.500000, 1.520000, 1.540000, 1.570000, 1.580000, 1.610000, 1.630000, 1.670000, 2.830000, 2.890000, 2.940000, 2.990000, 3.060000, 3.110000, 3.190000, 3.260000, 3.350000, 3.420000, 3.510000, 3.590000, 3.580000, 3.530000, 3.490000, 3.460000, 3.410000, 3.380000, 3.350000, 3.330000, 3.290000, 2.390000, 2.110000, 2.050000, 2.080000, 2.060000, 2.020000, 1.980000, 1.990000, 1.990000, 2.080000, 3.070000, 3.050000, 2.460000, 2.000000, 2.040000, 2.050000, 2.020000, 1.900000, 1.880000, 1.980000, 2.150000, 2.230000, 2.230000, 2.230000, 2.230000, 2.230000, 2.230000, 2.250000, 2.240000, 2.220000, 2.210000, 2.210000, 2.230000, 2.250000, 2.260000, 2.260000 ], "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, 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": [ 976054780, 817515 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.124001, 8.052000, -2.583579 ], "estimate": [ 8.124001, 8.052000, -2.583579 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.940000, 2.950000, 2.960000, 2.950000, 2.970000, 2.960000, 2.990000, 2.000000, 2.040000, 3.030000, 3.050000, 3.070000, 3.090000, 3.110000, 3.150000, 3.170000, 3.190000, 3.210000, 3.250000, 3.280000, 2.360000, 2.350000, 3.380000, 3.420000, 3.470000, 3.530000, 3.460000, 3.380000, 3.300000, 3.230000, 3.170000, 3.070000, 2.950000, 2.970000, 2.920000, 2.850000, 2.800000, 2.760000, 2.710000, 2.660000, 2.630000, 2.590000, 1.560000, 1.550000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.460000, 1.450000, 1.440000, 1.440000, 1.430000, 1.420000, 1.560000, 1.700000, 1.820000, 1.930000, 2.140000, 2.120000, 2.100000, 2.090000, 2.090000, 2.070000, 1.880000, 2.010000, 2.120000, null, null, null, 7.870000, 8.130000, 8.130000, 9.340000, 9.420000, null, 17.490000, 21.330000, 11.580000, 10.290000, 10.310000, 10.320000, 8.890000, 8.780000, 5.990000, 5.180000, 4.480000, 4.260000, 4.270000, 4.290000, 4.300000, 4.320000, 4.340000, 4.360000, 2.100000, 1.980000, 1.930000, 2.130000, 2.140000, 2.160000, 2.170000, 2.170000, 1.990000, 1.900000, 1.810000, 1.750000, 1.700000, 1.630000, 1.590000, 1.540000, 1.490000, 1.450000, 1.440000, 1.460000, 1.480000, 1.500000, 1.510000, 1.540000, 1.560000, 1.590000, 1.600000, 1.630000, 1.650000, 2.820000, 2.880000, 2.920000, 2.980000, 3.050000, 3.110000, 3.180000, 3.250000, 3.320000, 3.410000, 3.490000, 3.580000, 3.580000, 3.550000, 3.500000, 3.470000, 3.430000, 3.390000, 3.370000, 3.330000, 3.310000, 3.280000, 2.140000, 2.100000, 3.190000, 2.050000, 2.000000, 2.040000, 1.970000, 1.950000, 2.030000, 3.080000, 3.060000, 3.040000, 2.010000, 2.020000, 2.090000, 2.030000, 2.020000, 1.880000, 1.990000, 2.100000, 2.190000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.240000, 2.250000, 2.230000, 2.220000, 2.210000, 2.210000 ], "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, 0, 0, 0, 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 ], "timestamp": [ 976054780, 818739 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.124001, 8.052000, -2.632743 ], "estimate": [ 8.124001, 8.052000, -2.632743 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.140000, 2.910000, 2.920000, 2.920000, 2.930000, 2.950000, 2.950000, 2.950000, 2.960000, 2.990000, 2.040000, 2.000000, 3.020000, 3.040000, 3.060000, 3.080000, 3.100000, 3.130000, 3.150000, 3.180000, 3.190000, 3.220000, 3.260000, 3.290000, 2.340000, 3.370000, 3.410000, 3.450000, 3.490000, 3.480000, 3.410000, 3.340000, 3.260000, 3.180000, 3.110000, 2.950000, 2.980000, 2.920000, 2.870000, 2.820000, 2.770000, 2.720000, 2.670000, 2.640000, 2.610000, 1.570000, 1.550000, 1.540000, 1.520000, 1.500000, 1.500000, 1.490000, 1.480000, 1.460000, 1.460000, 1.460000, 1.440000, 1.430000, 1.420000, 1.510000, 1.610000, 1.760000, 1.870000, 1.980000, 2.120000, 2.100000, 2.100000, 2.090000, 2.080000, 1.890000, 1.940000, 2.050000, 4.400000, 10.500000, null, null, 8.140000, 8.130000, 8.410000, 9.440000, 12.990000, 17.430000, 21.350000, 21.220000, 10.730000, 10.280000, 10.310000, 10.230000, 8.770000, 10.200000, 5.470000, 4.740000, 4.250000, 4.260000, 4.280000, 4.290000, 4.310000, 4.330000, 4.350000, 2.120000, 2.030000, 1.910000, 2.060000, 2.130000, 2.160000, 2.160000, 2.170000, 2.180000, 1.930000, 1.840000, 1.790000, 1.720000, 1.660000, 1.610000, 1.570000, 1.520000, 1.480000, 1.410000, 1.460000, 1.480000, 1.490000, 1.500000, 1.530000, 1.550000, 1.570000, 1.600000, 1.620000, 1.640000, 1.640000, 2.850000, 2.910000, 2.960000, 3.030000, 3.080000, 3.120000, 3.220000, 3.290000, 3.370000, 3.460000, 3.540000, 3.640000, 3.570000, 3.520000, 3.490000, 3.450000, 3.410000, 3.380000, 3.350000, 3.330000, 3.300000, 2.080000, 2.090000, 2.320000, 2.050000, 2.060000, 2.040000, 1.970000, 1.940000, 2.020000, 2.280000, 3.080000, 3.060000, 2.090000, 2.020000, 2.080000, 2.040000, 2.070000, 1.890000, 1.950000, 2.030000, 2.180000, 2.250000, 2.240000, 2.240000, 2.240000, 2.240000, 2.250000, 2.250000, 2.240000, 2.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054780, 819674 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.125000, 8.052999, -2.688053 ], "estimate": [ 8.125000, 8.052999, -2.688053 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.140000, 2.140000, 2.130000, 2.140000, 2.280000, 2.910000, 2.910000, 2.930000, 2.930000, 2.950000, 2.940000, 2.960000, 2.970000, 2.050000, 2.000000, 3.010000, 3.040000, 3.060000, 3.070000, 3.090000, 3.110000, 3.140000, 3.160000, 3.190000, 3.210000, 3.250000, 3.290000, 2.330000, 3.370000, 3.390000, 3.430000, 3.490000, 3.510000, 3.420000, 3.350000, 3.270000, 3.190000, 3.130000, 2.950000, 2.970000, 2.940000, 2.890000, 2.820000, 2.780000, 2.730000, 2.690000, 2.640000, 2.630000, 1.760000, 1.550000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.460000, 1.460000, 1.460000, 1.440000, 1.430000, 1.420000, 1.400000, 1.580000, 1.710000, 1.830000, 1.950000, 2.120000, 2.110000, 2.100000, 2.090000, 2.090000, 1.950000, 1.870000, 2.040000, 4.390000, 10.500000, null, null, 7.990000, 8.120000, 8.200000, 9.630000, 9.760000, 17.470000, 21.350000, 21.230000, 11.590000, 10.280000, 10.320000, 10.320000, 8.770000, 8.810000, 5.680000, 4.930000, 4.260000, 4.260000, 4.280000, 4.290000, 4.310000, 4.320000, 4.340000, 2.180000, 2.080000, 1.970000, 1.940000, 2.140000, 2.150000, 2.160000, 2.170000, 2.180000, 1.950000, 1.880000, 1.810000, 1.750000, 1.690000, 1.630000, 1.580000, 1.540000, 1.490000, 1.420000, 1.450000, 1.470000, 1.490000, 1.490000, 1.520000, 1.540000, 1.570000, 1.580000, 1.610000, 1.640000, 1.670000, 2.840000, 2.910000, 2.950000, 3.000000, 3.070000, 3.120000, 3.200000, 3.280000, 3.360000, 3.440000, 3.520000, 3.610000, 3.580000, 3.540000, 3.500000, 3.460000, 3.430000, 3.380000, 3.370000, 3.340000, 3.310000, 2.360000, 2.120000, 2.250000, 2.080000, 2.060000, 2.060000, 1.990000, 2.010000, 2.010000, 2.130000, 3.080000, 3.070000, 2.250000, 2.020000, 2.040000, 2.080000, 2.040000, 1.920000, 1.900000, 2.000000, 2.170000, 2.260000, 2.240000, 2.250000, 2.250000, 2.250000, 2.240000 ], "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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054781, 206619 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.117001, 8.049000, -2.731071 ], "estimate": [ 8.117001, 8.049000, -2.731071 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.150000, 2.150000, 2.130000, 2.150000, 2.130000, 2.130000, 2.130000, 2.900000, 2.900000, 2.920000, 2.920000, 2.930000, 2.940000, 2.940000, 2.960000, 2.980000, 1.990000, 2.040000, 3.020000, 3.040000, 3.060000, 3.070000, 3.100000, 3.120000, 3.150000, 3.180000, 3.190000, 3.230000, 3.270000, 2.350000, 2.350000, 3.370000, 3.410000, 3.450000, 3.490000, 3.460000, 3.370000, 3.290000, 3.210000, 3.160000, 3.070000, 2.940000, 2.960000, 2.910000, 2.840000, 2.800000, 2.740000, 2.700000, 2.650000, 2.610000, 2.590000, 1.550000, 1.540000, 1.520000, 1.510000, 1.490000, 1.490000, 1.480000, 1.470000, 1.460000, 1.440000, 1.440000, 1.430000, 1.420000, 1.400000, 1.510000, 1.630000, 1.750000, 1.890000, 2.020000, 2.120000, 2.100000, 2.090000, 2.080000, 2.080000, 1.870000, 1.950000, 2.070000, null, null, null, 7.830000, 8.130000, 8.120000, 9.330000, 9.440000, null, 17.440000, 21.330000, 11.590000, 10.310000, 10.310000, 10.320000, 9.070000, 8.770000, 6.050000, 5.250000, 4.540000, 4.260000, 4.270000, 4.280000, 4.300000, 4.310000, 4.340000, 4.360000, 2.110000, 2.020000, 1.940000, 2.120000, 2.140000, 2.150000, 2.160000, 2.170000, 2.180000, 1.930000, 1.850000, 1.790000, 1.710000, 1.650000, 1.610000, 1.560000, 1.520000, 1.470000, 1.410000, 1.460000, 1.480000, 1.490000, 1.500000, 1.530000, 1.550000, 1.580000, 1.600000, 1.620000, 1.650000, 1.810000, 2.870000, 2.920000, 2.980000, 3.040000, 3.100000, 3.140000, 3.240000, 3.320000, 3.390000, 3.480000, 3.580000, 3.600000, 3.560000, 3.520000, 3.480000, 3.450000, 3.400000, 3.370000, 3.350000, 3.330000, 3.290000, 2.220000, 2.180000, 3.210000, 2.050000, 2.080000, 2.080000, 1.980000, 1.970000, 2.030000, 3.090000, 3.070000, 3.060000, 2.030000, 2.040000, 2.130000, 2.040000, 2.090000, 1.900000, 2.000000, 2.090000, 2.240000, 2.260000, 2.250000, 2.250000 ], "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, 0, 0, 0, 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": [ 976054782, 203896 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.091000, 8.039001, -2.798672 ], "estimate": [ 8.091000, 8.039001, -2.798672 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.120000, 2.120000, 2.140000, 2.140000, 2.130000, 2.140000, 2.120000, 2.130000, 2.420000, 2.890000, 2.900000, 2.910000, 2.910000, 2.920000, 2.940000, 2.940000, 2.950000, 2.370000, 1.980000, 2.990000, 3.010000, 3.030000, 3.060000, 3.060000, 3.090000, 3.110000, 3.140000, 3.170000, 3.190000, 3.220000, 3.260000, 2.310000, 2.720000, 3.370000, 3.400000, 3.440000, 3.510000, 3.430000, 3.350000, 3.260000, 3.190000, 3.120000, 3.050000, 2.940000, 2.930000, 2.880000, 2.820000, 2.770000, 2.720000, 2.680000, 2.630000, 2.600000, 2.560000, 1.530000, 1.510000, 1.500000, 1.490000, 1.480000, 1.460000, 1.450000, 1.440000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.480000, 1.600000, 1.740000, 1.860000, 1.990000, 2.090000, 2.080000, 2.080000, 2.070000, 2.050000, 1.860000, 1.920000, 2.040000, null, null, null, 7.780000, 8.120000, 8.100000, 8.800000, 9.380000, null, 17.420000, 21.220000, 21.100000, 10.520000, 10.280000, 10.290000, 9.790000, 8.740000, 10.190000, 5.400000, 4.710000, 4.230000, 4.240000, 4.260000, 4.280000, 4.290000, 4.310000, 4.330000, 2.130000, 2.070000, 1.950000, 1.920000, 2.110000, 2.130000, 2.140000, 2.140000, 2.160000, 1.950000, 1.880000, 1.810000, 1.750000, 1.690000, 1.640000, 1.590000, 1.540000, 1.490000, 1.450000, 1.420000, 1.450000, 1.470000, 1.490000, 1.500000, 1.520000, 1.550000, 1.570000, 1.590000, 1.620000, 1.650000, 2.850000, 2.900000, 2.940000, 3.000000, 3.070000, 3.110000, 3.200000, 3.280000, 3.360000, 3.440000, 3.530000, 3.590000, 3.580000, 3.530000, 3.490000, 3.460000, 3.420000, 3.390000, 3.360000, 3.320000, 3.310000, 3.270000, 3.260000, 3.220000, 2.130000, 2.120000, 2.080000, 2.030000, 1.970000, 2.000000, 2.100000, 3.090000, 3.070000, 2.190000, 2.030000, 2.070000, 2.130000, 2.030000, 2.090000, 1.910000, 2.000000, 2.250000 ], "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, 0, 0, 0, 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": [ 976054782, 205078 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.034000, 8.020000, -2.841691 ], "estimate": [ 8.034000, 8.020000, -2.841691 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.120000, 2.130000, 2.120000, 2.140000, 2.140000, 2.140000, 2.120000, 2.130000, 2.130000, 2.120000, 2.870000, 2.880000, 2.880000, 2.890000, 2.900000, 2.910000, 2.920000, 2.930000, 2.940000, 1.960000, 2.000000, 2.980000, 2.990000, 3.010000, 3.030000, 3.050000, 3.070000, 3.090000, 3.120000, 3.140000, 3.170000, 3.190000, 3.230000, 2.300000, 3.300000, 3.330000, 3.370000, 3.390000, 3.440000, 3.400000, 3.320000, 3.230000, 3.170000, 3.090000, 3.020000, 2.910000, 2.900000, 2.840000, 2.790000, 2.740000, 2.690000, 2.640000, 2.600000, 2.560000, 1.590000, 1.490000, 1.480000, 1.460000, 1.440000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.380000, 1.360000, 1.350000, 1.350000, 1.330000, 1.420000, 1.520000, 1.630000, 1.770000, 1.880000, 2.050000, 2.040000, 2.040000, 2.030000, 2.030000, 1.910000, 1.820000, 1.930000, 2.030000, 10.420000, null, null, 7.760000, 8.060000, 8.050000, 9.270000, 9.340000, null, 17.450000, 21.160000, 11.510000, 10.210000, 10.240000, 10.250000, 8.780000, 8.700000, 5.960000, 5.200000, 4.520000, 4.190000, 4.200000, 4.210000, 4.230000, 4.250000, 4.260000, 4.290000, 4.310000, 2.050000, 1.920000, 1.850000, 2.050000, 2.060000, 2.090000, 2.090000, 2.110000, 2.120000, 1.870000, 1.800000, 1.730000, 1.680000, 1.630000, 1.580000, 1.540000, 1.490000, 1.450000, 1.420000, 1.360000, 1.420000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.540000, 1.570000, 1.590000, 1.620000, 1.630000, 2.900000, 2.940000, 3.010000, 3.070000, 3.130000, 3.210000, 3.300000, 3.370000, 3.460000, 3.560000, 3.570000, 3.520000, 3.490000, 3.450000, 3.410000, 3.380000, 3.360000, 3.330000, 3.290000, 3.280000, 3.250000, 3.220000, 3.200000, 2.100000, 2.080000, 2.060000, 2.010000, 1.950000, 2.010000, 2.030000, 3.070000, 3.060000, 2.120000, 2.020000, 2.070000, 2.130000, 2.040000 ], "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, 0, 0, 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 ], "timestamp": [ 976054782, 206048 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.958000, 7.996000, -2.847837 ], "estimate": [ 7.958000, 7.996000, -2.847837 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.110000, 2.130000, 2.120000, 2.130000, 2.110000, 2.120000, 2.110000, 2.110000, 2.850000, 2.870000, 2.870000, 2.870000, 2.880000, 2.880000, 2.890000, 2.900000, 2.910000, 1.930000, 1.960000, 2.930000, 2.940000, 2.960000, 2.980000, 2.990000, 3.010000, 3.030000, 3.060000, 3.080000, 3.090000, 3.120000, 3.150000, 2.250000, 2.260000, 3.230000, 3.270000, 3.310000, 3.350000, 3.380000, 3.360000, 3.260000, 3.180000, 3.100000, 3.040000, 2.820000, 2.830000, 2.840000, 2.780000, 2.720000, 2.670000, 2.620000, 2.570000, 2.520000, 1.710000, 1.420000, 1.400000, 1.380000, 1.370000, 1.360000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.280000, 1.260000, 1.320000, 1.420000, 1.520000, 1.610000, 1.720000, 1.850000, 1.970000, 1.960000, 1.950000, 1.940000, 1.920000, 1.730000, 1.700000, 1.860000, 1.940000, 10.330000, null, null, 7.710000, 7.980000, 7.980000, 8.390000, 9.340000, 13.390000, 17.300000, 21.190000, 11.440000, 10.160000, 10.150000, 10.160000, 9.360000, 8.620000, 10.060000, 5.320000, 4.660000, 4.100000, 4.110000, 4.120000, 4.140000, 4.160000, 4.180000, 4.190000, 4.210000, 4.230000, 1.960000, 1.860000, 1.790000, 1.860000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 1.830000, 1.770000, 1.710000, 1.640000, 1.600000, 1.560000, 1.510000, 1.470000, 1.440000, 1.400000, 1.360000, 1.300000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.450000, 1.470000, 1.480000, 1.520000, 1.560000, 1.590000, 2.870000, 2.920000, 2.980000, 3.050000, 3.140000, 3.210000, 3.290000, 3.370000, 3.460000, 3.550000, 3.490000, 3.460000, 3.430000, 3.390000, 3.370000, 3.340000, 3.310000, 3.280000, 3.260000, 3.230000, 3.200000, 2.240000, 2.060000, 3.160000, 2.030000, 2.040000, 2.040000, 1.960000, 1.980000, 1.990000, 3.060000, 3.050000, 3.040000, 2.030000, 2.030000 ], "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, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054782, 207141 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.894000, 7.976000, -2.835545 ], "estimate": [ 7.894000, 7.976000, -2.835545 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.120000, 2.120000, 2.100000, 2.110000, 2.110000, 2.110000, 2.860000, 2.850000, 2.850000, 2.860000, 2.860000, 2.870000, 2.870000, 2.880000, 1.950000, 1.930000, 2.900000, 2.920000, 2.930000, 2.930000, 2.950000, 2.970000, 2.980000, 3.000000, 3.020000, 3.050000, 3.060000, 3.080000, 3.100000, 2.230000, 2.220000, 3.180000, 3.210000, 3.250000, 3.290000, 3.330000, 3.370000, 3.280000, 3.190000, 3.110000, 3.030000, 2.750000, 2.780000, 2.820000, 2.760000, 2.720000, 2.650000, 2.610000, 2.550000, 2.510000, 1.520000, 1.370000, 1.340000, 1.340000, 1.330000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.190000, 1.240000, 1.330000, 1.410000, 1.480000, 1.590000, 1.690000, 1.800000, 1.900000, 1.900000, 1.880000, 1.870000, 1.860000, 1.680000, 1.640000, 1.770000, 1.820000, 4.170000, 10.270000, null, null, 7.700000, 7.910000, 7.920000, 9.150000, 9.230000, 17.240000, 21.120000, 20.940000, 11.360000, 10.050000, 10.090000, 10.090000, 8.560000, 8.550000, 5.810000, 5.090000, 4.450000, 4.040000, 4.060000, 4.070000, 4.080000, 4.080000, 4.110000, 4.120000, 4.150000, 4.180000, 1.890000, 1.850000, 1.770000, 1.740000, 1.930000, 1.940000, 1.950000, 1.970000, 1.990000, 2.000000, 1.760000, 1.690000, 1.650000, 1.600000, 1.570000, 1.510000, 1.470000, 1.430000, 1.400000, 1.360000, 1.320000, 1.310000, 1.250000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.480000, 1.520000, 1.720000, 2.920000, 2.980000, 3.000000, 3.130000, 3.210000, 3.300000, 3.390000, 3.490000, 3.490000, 3.460000, 3.420000, 3.390000, 3.370000, 3.340000, 3.310000, 3.280000, 3.260000, 3.230000, 3.210000, 3.190000, 3.170000, 3.150000, 3.140000, 2.050000, 2.040000, 2.020000, 2.000000, 1.950000, 1.990000, 2.000000, 3.040000, 3.050000, 2.060000 ], "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, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054782, 208091 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.847000, 7.962000, -2.853982 ], "estimate": [ 7.847000, 7.962000, -2.853982 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.110000, 2.120000, 2.100000, 2.100000, 2.100000, 2.550000, 2.850000, 2.850000, 2.850000, 2.850000, 2.850000, 2.860000, 2.860000, 2.860000, 1.900000, 1.930000, 2.900000, 2.900000, 2.910000, 2.920000, 2.930000, 2.940000, 2.950000, 2.970000, 2.990000, 3.010000, 3.030000, 3.060000, 3.070000, 2.170000, 2.190000, 3.160000, 3.180000, 3.210000, 3.240000, 3.280000, 3.320000, 3.260000, 3.180000, 3.100000, 3.020000, 2.940000, 2.740000, 2.760000, 2.740000, 2.680000, 2.630000, 2.570000, 2.520000, 2.480000, 1.330000, 1.320000, 1.300000, 1.290000, 1.280000, 1.270000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.200000, 1.260000, 1.330000, 1.410000, 1.490000, 1.580000, 1.680000, 1.850000, 1.840000, 1.840000, 1.830000, 1.820000, 1.810000, 1.630000, 1.650000, 1.760000, 1.830000, 4.110000, 10.210000, null, null, 7.660000, 7.850000, 7.850000, 9.100000, 9.160000, 17.170000, 21.070000, 20.870000, 11.310000, 10.000000, 10.030000, 10.040000, 8.510000, 8.500000, 5.790000, 5.080000, 4.470000, 4.000000, 4.000000, 4.020000, 4.030000, 4.030000, 4.050000, 4.070000, 4.080000, 4.110000, 1.900000, 1.830000, 1.770000, 1.660000, 1.690000, 1.890000, 1.890000, 1.910000, 1.920000, 1.940000, 1.950000, 1.700000, 1.650000, 1.600000, 1.570000, 1.530000, 1.470000, 1.430000, 1.410000, 1.370000, 1.330000, 1.310000, 1.280000, 1.220000, 1.250000, 1.280000, 1.290000, 1.320000, 1.330000, 1.360000, 1.380000, 1.410000, 1.440000, 1.480000, 1.510000, 2.910000, 2.970000, 3.020000, 3.120000, 3.200000, 3.300000, 3.390000, 3.480000, 3.460000, 3.420000, 3.390000, 3.370000, 3.330000, 3.310000, 3.280000, 3.260000, 3.230000, 3.210000, 3.190000, 3.170000, 3.160000, 3.140000, 3.130000, 3.100000, 1.990000, 2.020000, 2.040000, 1.960000, 1.970000, 1.980000, 3.020000 ], "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, 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, 1, 1, 1, 1 ], "timestamp": [ 976054782, 209002 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.804000, 7.949000, -2.860128 ], "estimate": [ 7.804000, 7.949000, -2.860128 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.100000, 2.100000, 2.110000, 2.100000, 2.100000, 2.850000, 2.850000, 2.840000, 2.840000, 2.850000, 2.850000, 2.850000, 2.860000, 1.930000, 1.880000, 2.890000, 2.890000, 2.890000, 2.900000, 2.910000, 2.920000, 2.930000, 2.950000, 2.960000, 2.990000, 3.010000, 3.020000, 3.050000, 2.180000, 2.150000, 3.120000, 3.140000, 3.180000, 3.200000, 3.230000, 3.260000, 3.310000, 3.220000, 3.140000, 3.060000, 2.970000, 2.730000, 2.720000, 2.750000, 2.700000, 2.640000, 2.580000, 2.540000, 2.480000, 1.330000, 1.300000, 1.280000, 1.260000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.150000, 1.130000, 1.130000, 1.120000, 1.180000, 1.250000, 1.310000, 1.390000, 1.470000, 1.570000, 1.660000, 1.820000, 1.810000, 1.800000, 1.790000, 1.780000, 1.770000, 1.580000, 1.590000, 1.720000, 1.790000, 4.090000, null, null, null, 7.540000, 7.820000, 7.820000, 9.040000, 9.120000, 17.110000, 17.150000, 21.020000, 11.280000, 9.980000, 10.000000, 10.000000, 8.800000, 8.470000, 9.900000, 5.220000, 4.590000, 4.080000, 3.960000, 3.970000, 3.990000, 4.000000, 4.010000, 4.030000, 4.050000, 4.070000, 4.090000, 1.840000, 1.790000, 1.710000, 1.650000, 1.720000, 1.860000, 1.880000, 1.890000, 1.890000, 1.910000, 1.800000, 1.660000, 1.610000, 1.580000, 1.530000, 1.490000, 1.450000, 1.410000, 1.380000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.190000, 1.240000, 1.260000, 1.280000, 1.310000, 1.320000, 1.340000, 1.370000, 1.410000, 1.440000, 1.470000, 1.510000, 2.950000, 3.040000, 3.120000, 3.200000, 3.290000, 3.390000, 3.470000, 3.430000, 3.400000, 3.370000, 3.350000, 3.320000, 3.280000, 3.260000, 3.240000, 3.220000, 3.190000, 3.180000, 3.170000, 3.150000, 3.130000, 3.100000, 3.090000, 2.020000, 2.030000, 2.010000, 1.990000, 1.940000, 1.980000, 2.120000 ], "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, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054782, 389510 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.750000, 7.933000, -2.866273 ], "estimate": [ 7.750000, 7.933000, -2.866273 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.110000, 2.100000, 2.840000, 2.850000, 2.850000, 2.850000, 2.840000, 2.840000, 2.840000, 2.850000, 1.910000, 1.880000, 2.850000, 2.880000, 2.880000, 2.890000, 2.900000, 2.910000, 2.920000, 2.930000, 2.940000, 2.960000, 2.970000, 2.990000, 3.000000, 3.030000, 2.150000, 2.180000, 3.100000, 3.120000, 3.160000, 3.180000, 3.220000, 3.250000, 3.260000, 3.180000, 3.090000, 3.010000, 2.920000, 2.680000, 2.690000, 2.720000, 2.640000, 2.600000, 2.540000, 2.480000, 1.380000, 1.260000, 1.240000, 1.230000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.070000, 1.130000, 1.170000, 1.240000, 1.300000, 1.380000, 1.450000, 1.530000, 1.620000, 1.770000, 1.770000, 1.760000, 1.750000, 1.740000, 1.730000, 1.530000, 1.530000, 1.670000, 1.690000, 4.040000, 10.120000, null, null, 7.430000, 7.790000, 7.760000, 8.040000, 9.060000, null, 17.080000, 20.980000, 20.970000, 10.370000, 9.930000, 9.950000, 9.960000, 8.410000, 8.510000, 5.590000, 4.920000, 4.320000, 3.920000, 3.930000, 3.930000, 3.950000, 3.970000, 3.970000, 3.990000, 4.010000, 4.030000, 4.060000, 1.800000, 1.770000, 1.680000, 1.580000, 1.640000, 1.820000, 1.830000, 1.840000, 1.860000, 1.880000, 1.890000, 1.650000, 1.600000, 1.550000, 1.520000, 1.480000, 1.450000, 1.410000, 1.370000, 1.340000, 1.310000, 1.280000, 1.260000, 1.230000, 1.210000, 1.160000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.320000, 1.350000, 1.390000, 1.410000, 1.450000, 1.480000, 2.950000, 3.080000, 3.180000, 3.270000, 3.370000, 3.450000, 3.410000, 3.390000, 3.360000, 3.330000, 3.310000, 3.270000, 3.260000, 3.230000, 3.210000, 3.190000, 3.170000, 3.160000, 3.150000, 3.120000, 3.110000, 3.090000, 3.080000, 1.980000, 2.010000, 2.060000, 1.960000, 1.950000, 1.970000 ], "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, 0, 0, 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": [ 976054782, 717453 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.684000, 7.915000, -2.884710 ], "estimate": [ 7.684000, 7.915000, -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": [ 2.100000, 2.100000, 2.860000, 2.850000, 2.850000, 2.850000, 2.850000, 2.850000, 2.840000, 2.830000, 1.870000, 1.910000, 2.850000, 2.860000, 2.870000, 2.870000, 2.880000, 2.890000, 2.900000, 2.920000, 2.920000, 2.930000, 2.940000, 2.960000, 2.980000, 3.000000, 2.130000, 2.450000, 3.070000, 3.080000, 3.120000, 3.150000, 3.180000, 3.200000, 3.240000, 3.180000, 3.100000, 3.000000, 2.930000, 2.750000, 2.660000, 2.680000, 2.640000, 2.580000, 2.520000, 2.480000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.100000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.030000, 1.020000, 1.070000, 1.120000, 1.180000, 1.240000, 1.290000, 1.360000, 1.450000, 1.520000, 1.620000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.680000, 1.480000, 1.510000, 1.600000, 1.640000, 3.990000, null, 10.080000, null, null, 7.650000, 7.710000, 7.720000, 8.940000, 9.000000, 17.050000, 20.930000, 20.860000, 11.170000, 9.870000, 9.900000, 9.900000, 8.690000, 8.350000, 9.800000, 5.190000, 4.580000, 4.070000, 3.860000, 3.870000, 3.890000, 3.900000, 3.920000, 3.930000, 3.940000, 3.960000, 3.990000, 4.010000, 1.780000, 1.710000, 1.640000, 1.580000, 1.570000, 1.750000, 1.780000, 1.800000, 1.810000, 1.810000, 1.840000, 1.650000, 1.580000, 1.530000, 1.500000, 1.470000, 1.430000, 1.390000, 1.350000, 1.320000, 1.310000, 1.270000, 1.260000, 1.220000, 1.200000, 1.180000, 1.120000, 1.160000, 1.180000, 1.210000, 1.230000, 1.250000, 1.280000, 1.310000, 1.340000, 1.370000, 1.420000, 1.440000, 3.030000, 3.120000, 3.200000, 3.310000, 3.420000, 3.400000, 3.370000, 3.350000, 3.330000, 3.300000, 3.270000, 3.250000, 3.220000, 3.200000, 3.190000, 3.170000, 3.160000, 3.130000, 3.110000, 3.100000, 3.080000, 3.080000, 3.080000, 1.970000, 2.010000, 2.020000, 1.970000 ], "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, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054782, 769894 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.623000, 7.899000, -2.884710 ], "estimate": [ 7.623000, 7.899000, -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": [ 2.490000, 2.850000, 2.850000, 2.850000, 2.840000, 2.840000, 2.840000, 2.840000, 1.900000, 1.880000, 2.270000, 2.840000, 2.840000, 2.850000, 2.860000, 2.870000, 2.870000, 2.880000, 2.890000, 2.900000, 2.920000, 2.930000, 2.930000, 2.950000, 2.490000, 2.110000, 2.660000, 3.020000, 3.060000, 3.080000, 3.100000, 3.130000, 3.160000, 3.180000, 3.190000, 3.090000, 3.000000, 2.920000, 2.830000, 2.610000, 2.620000, 2.620000, 2.560000, 2.500000, 1.190000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.960000, 1.030000, 1.060000, 1.120000, 1.150000, 1.230000, 1.280000, 1.360000, 1.430000, 1.490000, 1.660000, 1.660000, 1.650000, 1.640000, 1.630000, 1.620000, 1.550000, 1.390000, 1.460000, 1.560000, 1.580000, 3.920000, 3.900000, 10.040000, null, null, 7.360000, 7.660000, 7.650000, 8.880000, 8.980000, 13.550000, 16.950000, 20.850000, 11.210000, 9.910000, 9.820000, 9.840000, 9.500000, 8.310000, 8.360000, 5.420000, 4.780000, 4.230000, 3.790000, 3.800000, 3.820000, 3.830000, 3.840000, 3.860000, 3.890000, 3.900000, 3.920000, 3.940000, 3.960000, 1.730000, 1.660000, 1.610000, 1.560000, 1.510000, 1.630000, 1.720000, 1.730000, 1.740000, 1.760000, 1.780000, 1.800000, 1.560000, 1.520000, 1.470000, 1.450000, 1.420000, 1.370000, 1.340000, 1.310000, 1.290000, 1.270000, 1.230000, 1.210000, 1.180000, 1.180000, 1.160000, 1.130000, 1.090000, 1.130000, 1.150000, 1.170000, 1.190000, 1.220000, 1.260000, 1.300000, 1.330000, 1.360000, 1.390000, 1.370000, 3.160000, 3.260000, 3.360000, 3.380000, 3.360000, 3.340000, 3.300000, 3.280000, 3.260000, 3.240000, 3.210000, 3.190000, 3.180000, 3.170000, 3.150000, 3.130000, 3.110000, 3.100000, 3.090000, 3.080000, 3.080000, 3.070000, 1.970000, 2.000000 ], "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, 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": [ 976054783, 184313 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.570000, 7.885000, -2.890855 ], "estimate": [ 7.570000, 7.885000, -2.890855 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.850000, 2.850000, 2.850000, 2.840000, 2.840000, 2.840000, 2.830000, 1.840000, 1.890000, 2.840000, 2.840000, 2.840000, 2.850000, 2.840000, 2.850000, 2.860000, 2.860000, 2.870000, 2.890000, 2.900000, 2.920000, 2.920000, 2.930000, 2.080000, 2.080000, 2.990000, 3.010000, 3.030000, 3.050000, 3.080000, 3.100000, 3.130000, 3.160000, 3.190000, 3.090000, 2.980000, 2.900000, 2.810000, 2.580000, 2.590000, 2.590000, 2.530000, 1.140000, 1.130000, 1.120000, 1.090000, 1.080000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.920000, 0.960000, 1.010000, 1.030000, 1.080000, 1.140000, 1.180000, 1.250000, 1.300000, 1.360000, 1.430000, 1.620000, 1.610000, 1.600000, 1.590000, 1.570000, 1.580000, 1.560000, 1.370000, 1.350000, 1.460000, 1.550000, 1.590000, 3.870000, null, 9.950000, null, null, 7.280000, 7.600000, 7.600000, 8.820000, 8.910000, null, 16.910000, 20.790000, 11.170000, 9.870000, 9.780000, 9.780000, 9.470000, 8.250000, 8.300000, 5.440000, 4.790000, 4.260000, 3.820000, 3.750000, 3.760000, 3.780000, 3.800000, 3.810000, 3.830000, 3.850000, 3.870000, 3.890000, 3.910000, 3.930000, 1.660000, 1.610000, 1.560000, 1.510000, 1.440000, 1.580000, 1.680000, 1.690000, 1.710000, 1.720000, 1.740000, 1.760000, 1.530000, 1.490000, 1.460000, 1.420000, 1.390000, 1.350000, 1.320000, 1.310000, 1.270000, 1.250000, 1.220000, 1.200000, 1.190000, 1.170000, 1.140000, 1.130000, 1.110000, 1.060000, 1.080000, 1.120000, 1.140000, 1.170000, 1.200000, 1.240000, 1.270000, 1.300000, 1.330000, 1.380000, 3.160000, 3.260000, 3.370000, 3.370000, 3.350000, 3.320000, 3.290000, 3.270000, 3.240000, 3.220000, 3.200000, 3.190000, 3.170000, 3.160000, 3.130000, 3.120000, 3.100000, 3.100000, 3.100000, 3.080000, 3.070000, 3.070000, 2.000000 ], "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, 0, 1, 0, 0, 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 ], "timestamp": [ 976054783, 185472 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.546000, 7.878000, -2.890855 ], "estimate": [ 7.546000, 7.878000, -2.890855 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.850000, 2.840000, 2.840000, 2.840000, 2.830000, 2.830000, 1.840000, 1.890000, 2.830000, 2.830000, 2.820000, 2.840000, 2.830000, 2.830000, 2.840000, 2.850000, 2.860000, 2.860000, 2.870000, 2.890000, 2.900000, 2.910000, 2.370000, 2.060000, 2.940000, 2.980000, 2.990000, 3.010000, 3.040000, 3.060000, 3.090000, 3.110000, 3.140000, 3.130000, 3.040000, 2.940000, 2.850000, 2.590000, 2.550000, 2.580000, 2.550000, 1.120000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.010000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.940000, 0.920000, 0.920000, 0.910000, 0.900000, 0.880000, 0.920000, 0.960000, 0.990000, 1.040000, 1.060000, 1.120000, 1.170000, 1.230000, 1.280000, 1.330000, 1.410000, 1.570000, 1.570000, 1.560000, 1.550000, 1.540000, 1.520000, 1.520000, 1.320000, 1.300000, 1.400000, 1.490000, 1.550000, 3.830000, 3.830000, 9.920000, null, null, 7.230000, 7.560000, 7.550000, 7.820000, 8.840000, 13.940000, 16.770000, 20.760000, 20.710000, 11.030000, 9.720000, 9.740000, 9.750000, 8.240000, 8.210000, 9.640000, 5.070000, 4.510000, 4.010000, 3.700000, 3.710000, 3.720000, 3.740000, 3.750000, 3.770000, 3.790000, 3.810000, 3.830000, 3.840000, 3.880000, 3.910000, 1.630000, 1.580000, 1.540000, 1.480000, 1.400000, 1.440000, 1.630000, 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.680000, 1.470000, 1.440000, 1.410000, 1.370000, 1.340000, 1.310000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.190000, 1.160000, 1.140000, 1.110000, 1.100000, 1.100000, 1.080000, 1.030000, 1.080000, 1.100000, 1.130000, 1.170000, 1.200000, 1.240000, 1.280000, 1.300000, 1.340000, 1.380000, 3.330000, 3.360000, 3.330000, 3.300000, 3.280000, 3.250000, 3.230000, 3.210000, 3.190000, 3.180000, 3.170000, 3.150000, 3.130000, 3.110000, 3.110000, 3.100000, 3.090000, 3.080000, 3.080000, 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, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054783, 309295 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.496000, 7.866000, -2.903147 ], "estimate": [ 7.496000, 7.866000, -2.903147 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.840000, 2.840000, 2.830000, 2.820000, 2.830000, 1.850000, 1.860000, 2.820000, 2.820000, 2.820000, 2.840000, 2.830000, 2.830000, 2.830000, 2.830000, 2.840000, 2.840000, 2.850000, 2.860000, 2.880000, 2.880000, 2.890000, 2.020000, 2.040000, 2.940000, 2.960000, 2.970000, 3.000000, 3.010000, 3.050000, 3.070000, 3.080000, 3.120000, 3.090000, 2.980000, 2.890000, 2.800000, 2.520000, 2.520000, 1.110000, 1.080000, 1.060000, 1.040000, 1.030000, 1.000000, 0.990000, 0.970000, 0.950000, 0.930000, 0.930000, 0.910000, 0.910000, 0.900000, 0.880000, 0.860000, 0.850000, 0.850000, 0.830000, 0.880000, 0.910000, 0.950000, 0.970000, 1.010000, 1.060000, 1.100000, 1.140000, 1.200000, 1.250000, 1.300000, 1.370000, 1.540000, 1.530000, 1.520000, 1.520000, 1.500000, 1.480000, 1.480000, 1.290000, 1.280000, 1.350000, 1.420000, 1.450000, 3.800000, 3.770000, null, 9.860000, null, null, 7.210000, 7.510000, 7.500000, 8.730000, 8.790000, 16.640000, 16.850000, 20.700000, 11.080000, 9.800000, 9.680000, 9.690000, 9.500000, 8.160000, 8.340000, 5.430000, 4.830000, 4.320000, 3.850000, 3.660000, 3.670000, 3.680000, 3.700000, 3.720000, 3.740000, 3.750000, 3.780000, 3.800000, 3.810000, 3.840000, 3.870000, 3.890000, 1.540000, 1.520000, 1.470000, 1.430000, 1.350000, 1.540000, 1.600000, 1.610000, 1.640000, 1.650000, 1.680000, 1.690000, 1.480000, 1.440000, 1.400000, 1.360000, 1.340000, 1.320000, 1.300000, 1.270000, 1.240000, 1.220000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.070000, 1.090000, 1.130000, 1.160000, 1.200000, 1.240000, 1.280000, 1.310000, 1.360000, 3.350000, 3.320000, 3.300000, 3.280000, 3.260000, 3.230000, 3.210000, 3.190000, 3.170000, 3.160000, 3.140000, 3.140000, 3.110000, 3.100000, 3.100000, 3.090000, 3.090000, 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, 0, 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, 1, 1, 1, 1 ], "timestamp": [ 976054783, 807304 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.436000, 7.851000, -2.915437 ], "estimate": [ 7.436000, 7.851000, -2.915437 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.840000, 2.840000, 2.830000, 2.820000, 1.860000, 1.820000, 2.810000, 2.810000, 2.810000, 2.810000, 2.810000, 2.820000, 2.820000, 2.820000, 2.830000, 2.830000, 2.830000, 2.830000, 2.840000, 2.860000, 2.860000, 2.030000, 2.010000, 2.910000, 2.920000, 2.930000, 2.950000, 2.970000, 2.990000, 3.010000, 3.030000, 3.070000, 3.090000, 3.060000, 2.960000, 2.860000, 2.770000, 2.490000, 1.060000, 1.030000, 1.010000, 1.000000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.780000, 0.800000, 0.830000, 0.870000, 0.890000, 0.910000, 0.950000, 0.980000, 1.030000, 1.060000, 1.110000, 1.150000, 1.210000, 1.260000, 1.310000, 1.480000, 1.470000, 1.460000, 1.460000, 1.440000, 1.440000, 1.420000, 1.320000, 1.190000, 1.260000, 1.330000, 1.410000, 1.450000, 3.730000, 3.700000, null, 9.820000, null, null, 7.430000, 7.450000, 7.460000, 8.670000, 8.740000, 16.730000, 16.880000, 20.650000, 10.920000, 9.680000, 9.630000, 9.640000, 9.310000, 8.100000, 8.160000, 5.410000, 4.800000, 4.300000, 3.840000, 3.610000, 3.610000, 3.630000, 3.650000, 3.670000, 3.680000, 3.700000, 3.720000, 3.750000, 3.770000, 3.780000, 3.810000, 3.840000, 1.570000, 1.490000, 1.470000, 1.430000, 1.390000, 1.320000, 1.400000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.650000, 1.660000, 1.410000, 1.380000, 1.340000, 1.320000, 1.300000, 1.270000, 1.250000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 0.980000, 1.030000, 1.060000, 1.090000, 1.130000, 1.160000, 1.200000, 1.260000, 1.280000, 1.330000, 3.310000, 3.280000, 3.260000, 3.230000, 3.210000, 3.190000, 3.180000, 3.170000, 3.160000, 3.140000, 3.130000, 3.110000, 3.100000, 3.110000, 3.090000 ], "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, 0, 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, 1, 1, 1 ], "timestamp": [ 976054783, 808521 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.373000, 7.837000, -2.927729 ], "estimate": [ 7.373000, 7.837000, -2.927729 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.840000, 2.820000, 2.820000, 1.850000, 1.820000, 2.810000, 2.810000, 2.800000, 2.800000, 2.820000, 2.800000, 2.800000, 2.810000, 2.810000, 2.820000, 2.820000, 2.830000, 2.820000, 2.830000, 2.840000, 2.250000, 2.000000, 2.840000, 2.890000, 2.910000, 2.920000, 2.930000, 2.950000, 2.970000, 2.990000, 3.020000, 3.050000, 3.080000, 3.000000, 2.910000, 2.800000, 1.040000, 1.010000, 0.980000, 0.960000, 0.940000, 0.930000, 0.910000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.730000, 0.770000, 0.800000, 0.830000, 0.840000, 0.880000, 0.900000, 0.930000, 0.960000, 1.010000, 1.040000, 1.080000, 1.120000, 1.170000, 1.230000, 1.280000, 1.430000, 1.420000, 1.410000, 1.390000, 1.400000, 1.400000, 1.380000, 1.290000, 1.160000, 1.190000, 1.260000, 1.330000, 1.370000, 3.690000, 3.660000, 3.650000, 9.750000, null, null, 7.080000, 7.400000, 7.390000, 7.660000, 8.700000, 9.160000, 16.390000, 20.610000, 20.400000, 10.860000, 9.570000, 9.580000, 9.590000, 8.620000, 8.050000, 9.490000, 5.230000, 4.660000, 4.160000, 3.750000, 3.550000, 3.570000, 3.580000, 3.590000, 3.610000, 3.630000, 3.650000, 3.670000, 3.690000, 3.710000, 3.740000, 3.760000, 3.790000, 3.820000, 1.500000, 1.440000, 1.430000, 1.390000, 1.340000, 1.260000, 1.320000, 1.520000, 1.530000, 1.540000, 1.560000, 1.580000, 1.610000, 1.640000, 1.380000, 1.350000, 1.320000, 1.310000, 1.280000, 1.250000, 1.230000, 1.210000, 1.190000, 1.180000, 1.150000, 1.140000, 1.110000, 1.100000, 1.090000, 1.060000, 1.070000, 1.060000, 1.040000, 1.020000, 1.010000, 1.000000, 0.970000, 1.020000, 1.060000, 1.090000, 1.140000, 1.180000, 1.220000, 1.250000, 1.320000, 3.250000, 3.230000, 3.210000, 3.190000, 3.190000, 3.180000, 3.160000, 3.150000, 3.130000, 3.120000, 3.120000, 3.110000 ], "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, 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, 1, 1, 1 ], "timestamp": [ 976054783, 869182 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.316000, 7.824000, -2.933874 ], "estimate": [ 7.316000, 7.824000, -2.933874 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.840000, 2.810000, 1.810000, 1.860000, 2.800000, 2.800000, 2.800000, 2.790000, 2.780000, 2.790000, 2.790000, 2.790000, 2.800000, 2.790000, 2.800000, 2.800000, 2.810000, 2.820000, 2.820000, 1.990000, 1.980000, 2.840000, 2.850000, 2.870000, 2.880000, 2.900000, 2.920000, 2.930000, 2.950000, 2.980000, 2.990000, 3.020000, 3.030000, 2.910000, 0.980000, 0.960000, 0.930000, 0.910000, 0.900000, 0.880000, 0.850000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.730000, 0.750000, 0.760000, 0.800000, 0.810000, 0.830000, 0.860000, 0.890000, 0.920000, 0.940000, 0.980000, 1.030000, 1.050000, 1.110000, 1.150000, 1.190000, 1.270000, 1.380000, 1.370000, 1.360000, 1.360000, 1.340000, 1.340000, 1.320000, 1.130000, 1.090000, 1.140000, 1.210000, 1.280000, 1.310000, 3.640000, 3.610000, 3.620000, null, 9.720000, null, 7.380000, 7.280000, 7.340000, 7.330000, 8.560000, 8.620000, 14.000000, 16.730000, 20.530000, 10.910000, 9.650000, 9.510000, 9.530000, 9.480000, 8.000000, 8.010000, 9.440000, 4.900000, 4.400000, 3.930000, 3.570000, 3.510000, 3.510000, 3.530000, 3.550000, 3.570000, 3.580000, 3.600000, 3.630000, 3.650000, 3.670000, 3.700000, 3.720000, 3.740000, 3.770000, 3.810000, 1.440000, 1.390000, 1.370000, 1.320000, 1.310000, 1.220000, 1.270000, 1.480000, 1.500000, 1.520000, 1.530000, 1.550000, 1.580000, 1.600000, 1.340000, 1.320000, 1.290000, 1.270000, 1.250000, 1.230000, 1.210000, 1.180000, 1.180000, 1.150000, 1.140000, 1.110000, 1.100000, 1.100000, 1.070000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.960000, 1.000000, 1.030000, 1.070000, 1.110000, 1.160000, 1.210000, 1.260000, 1.310000, 3.210000, 3.190000, 3.180000, 3.170000, 3.160000, 3.140000, 3.130000, 3.120000, 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, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054784, 357233 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.265000, 7.814000, -2.946165 ], "estimate": [ 7.265000, 7.814000, -2.946165 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.080000, 1.840000, 1.890000, 2.810000, 2.810000, 2.800000, 2.790000, 2.790000, 2.790000, 2.790000, 2.780000, 2.790000, 2.780000, 2.800000, 2.800000, 2.800000, 2.800000, 2.810000, 1.990000, 1.960000, 2.820000, 2.830000, 2.850000, 2.860000, 2.870000, 2.900000, 2.920000, 2.930000, 2.940000, 2.960000, 2.980000, 3.010000, 0.960000, 0.930000, 0.910000, 0.890000, 0.860000, 0.840000, 0.830000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.640000, 0.680000, 0.690000, 0.710000, 0.730000, 0.750000, 0.770000, 0.780000, 0.810000, 0.830000, 0.860000, 0.890000, 0.910000, 0.950000, 0.980000, 1.030000, 1.070000, 1.090000, 1.140000, 1.200000, 1.340000, 1.330000, 1.330000, 1.320000, 1.300000, 1.300000, 1.280000, 1.270000, 1.070000, 1.050000, 1.120000, 1.180000, 1.260000, 1.290000, 3.600000, 3.580000, 3.560000, null, 9.670000, null, null, 6.980000, 7.300000, 7.290000, 8.510000, 8.670000, 13.130000, 16.590000, 20.500000, 20.300000, 9.870000, 9.470000, 9.480000, 9.490000, 7.950000, 7.950000, 9.390000, 5.040000, 4.490000, 4.050000, 3.660000, 3.470000, 3.470000, 3.490000, 3.500000, 3.520000, 3.530000, 3.550000, 3.570000, 3.590000, 3.620000, 3.650000, 3.670000, 3.690000, 3.720000, 3.740000, 3.780000, 1.420000, 1.370000, 1.360000, 1.300000, 1.280000, 1.240000, 1.190000, 1.400000, 1.460000, 1.480000, 1.500000, 1.520000, 1.540000, 1.550000, 1.570000, 1.320000, 1.290000, 1.260000, 1.240000, 1.230000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 0.970000, 0.960000, 0.940000, 1.000000, 1.030000, 1.060000, 1.120000, 1.180000, 1.240000, 1.310000, 3.190000, 3.190000, 3.170000, 3.160000, 3.140000, 3.130000, 3.130000 ], "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, 0, 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, 1, 1 ], "timestamp": [ 976054784, 358409 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.210000, 7.803000, -2.958456 ], "estimate": [ 7.210000, 7.803000, -2.958456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.840000, 2.170000, 2.810000, 2.800000, 2.790000, 2.790000, 2.780000, 2.790000, 2.770000, 2.780000, 2.770000, 2.770000, 2.780000, 2.770000, 2.780000, 2.780000, 2.790000, 2.000000, 1.940000, 2.790000, 2.820000, 2.820000, 2.820000, 2.840000, 2.860000, 2.880000, 2.900000, 2.920000, 2.930000, 2.940000, 0.930000, 0.900000, 0.890000, 0.860000, 0.830000, 0.820000, 0.790000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.660000, 0.650000, 0.640000, 0.620000, 0.610000, 0.660000, 0.680000, 0.690000, 0.710000, 0.710000, 0.740000, 0.760000, 0.780000, 0.800000, 0.830000, 0.850000, 0.880000, 0.900000, 0.930000, 0.960000, 1.000000, 1.040000, 1.070000, 1.120000, 1.170000, 1.290000, 1.290000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.230000, 1.010000, 1.010000, 1.070000, 1.130000, 1.190000, 1.200000, 3.560000, 3.540000, 3.520000, null, 9.620000, null, null, 6.940000, 7.250000, 7.230000, 7.510000, 8.610000, 8.910000, 16.180000, 20.450000, 20.240000, 10.710000, 9.430000, 9.430000, 9.440000, 8.880000, 7.900000, 7.940000, 9.350000, 4.760000, 4.300000, 3.870000, 3.530000, 3.420000, 3.430000, 3.460000, 3.470000, 3.480000, 3.500000, 3.520000, 3.550000, 3.570000, 3.590000, 3.610000, 3.640000, 3.670000, 3.690000, 3.730000, 3.760000, 3.800000, 1.360000, 1.340000, 1.310000, 1.280000, 1.240000, 1.210000, 1.150000, 1.390000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.530000, 1.560000, 1.300000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.960000, 0.950000, 0.930000, 0.970000, 1.020000, 1.070000, 1.130000, 1.190000, 1.260000, 3.180000, 3.170000, 3.160000, 3.150000, 3.140000 ], "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, 0, 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, 1, 1 ], "timestamp": [ 976054784, 440721 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.152000, 7.792000, -2.964602 ], "estimate": [ 7.152000, 7.792000, -2.964602 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.810000, 2.790000, 2.790000, 2.780000, 2.780000, 2.780000, 2.760000, 2.780000, 2.770000, 2.770000, 2.770000, 2.760000, 2.770000, 2.770000, 2.780000, 2.240000, 1.940000, 2.330000, 2.790000, 2.810000, 2.810000, 2.810000, 2.830000, 2.840000, 2.860000, 2.880000, 2.900000, 0.900000, 0.870000, 0.840000, 0.820000, 0.790000, 0.760000, 0.740000, 0.740000, 0.710000, 0.680000, 0.680000, 0.660000, 0.650000, 0.640000, 0.620000, 0.600000, 0.590000, 0.570000, 0.610000, 0.620000, 0.630000, 0.650000, 0.660000, 0.680000, 0.690000, 0.710000, 0.720000, 0.740000, 0.750000, 0.780000, 0.800000, 0.830000, 0.860000, 0.890000, 0.920000, 0.950000, 0.970000, 1.020000, 1.050000, 1.090000, 1.260000, 1.250000, 1.230000, 1.230000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 0.960000, 0.960000, 1.020000, 1.070000, 1.130000, 1.170000, 3.530000, 3.500000, 3.480000, 3.480000, null, 9.570000, null, null, 6.910000, 7.200000, 7.190000, 8.410000, 8.560000, 13.140000, 16.510000, 20.390000, 11.900000, 9.850000, 9.370000, 9.380000, 9.400000, 7.930000, 7.860000, 9.290000, 5.080000, 4.560000, 4.140000, 3.730000, 3.410000, 3.390000, 3.390000, 3.410000, 3.430000, 3.450000, 3.470000, 3.480000, 3.500000, 3.530000, 3.540000, 3.570000, 3.590000, 3.630000, 3.660000, 3.680000, 3.720000, 3.750000, 1.360000, 1.320000, 1.310000, 1.270000, 1.240000, 1.200000, 1.180000, 1.110000, 1.200000, 1.390000, 1.410000, 1.440000, 1.460000, 1.480000, 1.510000, 1.530000, 1.260000, 1.250000, 1.230000, 1.200000, 1.190000, 1.180000, 1.150000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.020000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.980000, 1.040000, 1.120000, 1.190000, 1.270000, 3.160000, 3.160000 ], "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, 0, 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, 1 ], "timestamp": [ 976054785, 621881 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.092000, 7.781000, -2.970747 ], "estimate": [ 7.092000, 7.781000, -2.970747 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.800000, 2.800000, 2.790000, 2.780000, 2.780000, 2.780000, 2.770000, 2.770000, 2.770000, 2.760000, 2.760000, 2.760000, 2.760000, 2.760000, 2.760000, 1.930000, 1.910000, 2.770000, 2.770000, 2.780000, 2.790000, 2.790000, 2.810000, 2.810000, 2.830000, 0.880000, 0.850000, 0.810000, 0.780000, 0.760000, 0.730000, 0.710000, 0.690000, 0.670000, 0.650000, 0.640000, 0.610000, 0.610000, 0.590000, 0.580000, 0.570000, 0.540000, 0.540000, 0.580000, 0.590000, 0.590000, 0.600000, 0.620000, 0.630000, 0.650000, 0.650000, 0.690000, 0.690000, 0.710000, 0.720000, 0.730000, 0.760000, 0.780000, 0.810000, 0.820000, 0.860000, 0.880000, 0.910000, 0.930000, 0.970000, 1.010000, 1.040000, 1.200000, 1.200000, 1.190000, 1.180000, 1.160000, 1.160000, 1.150000, 1.140000, 1.130000, 0.920000, 0.910000, 0.940000, 1.000000, 1.040000, 1.080000, 1.100000, 3.480000, 3.460000, 3.440000, 3.430000, null, 9.520000, null, null, 6.830000, 7.140000, 7.140000, 7.800000, 8.420000, 12.430000, 16.480000, 20.340000, 20.260000, 10.620000, 9.300000, 9.330000, 9.340000, 8.440000, 7.800000, 9.240000, 5.140000, 4.700000, 4.260000, 3.850000, 3.500000, 3.330000, 3.340000, 3.350000, 3.370000, 3.380000, 3.410000, 3.430000, 3.450000, 3.470000, 3.490000, 3.510000, 3.530000, 3.560000, 3.590000, 3.620000, 3.660000, 3.680000, 3.730000, 3.750000, 1.310000, 1.240000, 1.250000, 1.230000, 1.200000, 1.170000, 1.150000, 1.080000, 1.130000, 1.370000, 1.380000, 1.400000, 1.430000, 1.460000, 1.480000, 1.510000, 1.280000, 1.220000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.910000, 0.960000, 1.020000, 1.110000, 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, 0, 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, 1 ], "timestamp": [ 976054785, 623152 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.063000, 7.776000, -2.976893 ], "estimate": [ 7.063000, 7.776000, -2.976893 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.800000, 2.790000, 2.790000, 2.770000, 2.770000, 2.750000, 2.770000, 2.770000, 2.750000, 2.760000, 2.760000, 2.750000, 2.750000, 2.760000, 1.900000, 1.920000, 2.760000, 2.760000, 2.760000, 2.770000, 2.780000, 2.780000, 0.860000, 0.830000, 0.790000, 0.760000, 0.720000, 0.700000, 0.680000, 0.660000, 0.640000, 0.610000, 0.590000, 0.570000, 0.560000, 0.550000, 0.530000, 0.520000, 0.510000, 0.550000, 0.550000, 0.560000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.630000, 0.640000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.760000, 0.790000, 0.820000, 0.840000, 0.860000, 0.890000, 0.920000, 0.950000, 0.990000, 1.050000, 1.150000, 1.140000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 0.860000, 0.850000, 0.900000, 0.940000, 0.990000, 1.020000, 1.050000, 3.440000, 3.390000, 3.380000, 3.360000, null, 9.450000, null, null, 6.780000, 7.100000, 7.090000, 7.240000, 8.510000, 8.400000, 16.390000, 20.300000, 20.120000, 10.560000, 9.330000, 9.270000, 9.280000, 9.240000, 7.740000, 7.750000, 9.190000, 4.960000, 4.450000, 4.070000, 3.660000, 3.380000, 3.280000, 3.300000, 3.300000, 3.320000, 3.340000, 3.360000, 3.380000, 3.400000, 3.430000, 3.460000, 3.480000, 3.490000, 3.530000, 3.550000, 3.590000, 3.610000, 3.660000, 3.680000, 3.720000, 3.760000, 1.280000, 1.210000, 1.220000, 1.190000, 1.170000, 1.140000, 1.120000, 1.100000, 1.050000, 1.290000, 1.360000, 1.360000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.100000, 1.090000, 1.100000, 1.080000, 1.060000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 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, 0, 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, 1 ], "timestamp": [ 976054785, 624017 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.007000, 7.767000, -2.976893 ], "estimate": [ 7.007000, 7.767000, -2.976893 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.800000, 2.790000, 2.780000, 2.770000, 2.750000, 2.760000, 2.750000, 2.760000, 2.750000, 2.750000, 2.740000, 2.740000, 2.720000, 1.870000, 1.920000, 2.750000, 2.750000, 2.760000, 2.760000, 0.840000, 0.790000, 0.760000, 0.720000, 0.700000, 0.660000, 0.630000, 0.620000, 0.600000, 0.560000, 0.550000, 0.540000, 0.520000, 0.470000, 0.480000, 0.480000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.570000, 0.590000, 0.590000, 0.590000, 0.600000, 0.620000, 0.630000, 0.650000, 0.670000, 0.680000, 0.680000, 0.700000, 0.730000, 0.730000, 0.770000, 0.770000, 0.810000, 0.830000, 0.850000, 0.880000, 0.910000, 0.930000, 0.990000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 0.800000, 0.800000, 0.820000, 0.860000, 0.900000, 0.950000, 1.000000, 1.020000, 3.400000, 3.340000, 3.330000, 3.310000, 3.320000, 9.410000, 9.470000, null, 6.870000, 7.010000, 7.040000, 7.040000, 8.260000, 8.360000, 13.410000, 16.370000, 20.220000, 11.690000, 9.620000, 9.220000, 9.230000, 9.240000, 7.940000, 7.700000, 9.140000, 9.160000, 4.630000, 4.200000, 3.810000, 3.480000, 3.210000, 3.240000, 3.260000, 3.270000, 3.290000, 3.300000, 3.320000, 3.340000, 3.360000, 3.390000, 3.410000, 3.440000, 3.460000, 3.480000, 3.510000, 3.550000, 3.590000, 3.620000, 3.660000, 3.680000, 3.730000, 3.770000, 1.230000, 1.180000, 1.180000, 1.160000, 1.130000, 1.110000, 1.090000, 1.060000, 1.010000, 1.070000, 1.320000, 1.340000, 1.360000, 1.400000, 1.430000, 1.450000, 1.490000, 1.190000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 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, 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": [ 976054785, 624959 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.952000, 7.758000, -2.976893 ], "estimate": [ 6.952000, 7.758000, -2.976893 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.780000, 2.770000, 2.770000, 2.770000, 2.760000, 2.740000, 2.740000, 2.740000, 2.730000, 2.740000, 2.730000, 1.890000, 1.870000, 2.740000, 2.740000, 2.740000, 0.810000, 0.750000, 0.710000, 0.670000, 0.640000, 0.620000, 0.590000, 0.560000, 0.540000, 0.510000, 0.500000, 0.460000, 0.450000, 0.470000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.610000, 0.610000, 0.620000, 0.640000, 0.660000, 0.670000, 0.680000, 0.690000, 0.710000, 0.720000, 0.750000, 0.770000, 0.780000, 0.800000, 0.840000, 0.850000, 0.890000, 0.920000, 1.070000, 1.070000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.760000, 0.760000, 0.770000, 0.820000, 0.850000, 0.890000, 0.930000, 0.950000, 0.990000, 3.330000, 3.310000, 3.280000, 3.270000, null, 9.350000, null, null, 6.670000, 7.010000, 6.990000, 6.990000, 8.210000, 8.280000, 16.330000, 16.450000, 20.130000, 10.600000, 9.430000, 9.160000, 9.180000, 9.190000, 7.740000, 7.660000, 9.090000, 5.030000, 4.580000, 4.160000, 3.790000, 3.470000, 3.210000, 3.190000, 3.210000, 3.220000, 3.240000, 3.250000, 3.280000, 3.290000, 3.310000, 3.340000, 3.360000, 3.390000, 3.420000, 3.450000, 3.470000, 3.490000, 3.530000, 3.570000, 3.600000, 3.650000, 3.670000, 3.730000, 3.760000, 3.820000, 1.180000, 1.150000, 1.150000, 1.120000, 1.090000, 1.070000, 1.060000, 1.050000, 0.990000, 1.030000, 1.300000, 1.330000, 1.360000, 1.380000, 1.410000, 1.440000, 1.480000, 1.200000, 1.150000, 1.140000, 1.130000, 1.110000, 1.100000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.010000, 1.010000, 1.000000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 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, 0, 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, 1 ], "timestamp": [ 976054785, 625947 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.896000, 7.748000, -2.976893 ], "estimate": [ 6.896000, 7.748000, -2.976893 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.780000, 2.770000, 2.750000, 2.750000, 2.750000, 2.740000, 2.740000, 2.730000, 2.730000, 1.890000, 1.860000, 2.720000, 0.810000, 0.730000, 0.680000, 0.640000, 0.600000, 0.560000, 0.520000, 0.500000, 0.480000, 0.460000, 0.450000, 0.450000, 0.470000, 0.470000, 0.470000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.540000, 0.550000, 0.550000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.620000, 0.630000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.720000, 0.740000, 0.750000, 0.760000, 0.790000, 0.820000, 0.840000, 0.870000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.970000, 0.970000, 0.960000, 0.940000, 0.940000, 0.710000, 0.700000, 0.710000, 0.740000, 0.780000, 0.820000, 0.840000, 0.870000, 0.900000, 0.950000, 3.320000, 3.260000, 3.240000, 3.210000, 3.200000, null, 9.310000, null, null, 6.620000, 6.950000, 6.930000, 7.260000, 8.230000, null, 16.270000, 20.030000, 20.030000, 10.410000, 9.120000, 9.120000, 9.140000, 8.860000, 7.600000, 7.610000, 9.050000, 4.890000, 4.410000, 4.030000, 3.660000, 3.380000, 3.140000, 3.140000, 3.160000, 3.180000, 3.180000, 3.210000, 3.230000, 3.260000, 3.280000, 3.290000, 3.310000, 3.340000, 3.370000, 3.400000, 3.430000, 3.460000, 3.490000, 3.530000, 3.570000, 3.600000, 3.640000, 3.680000, 3.730000, 3.780000, 3.820000, 1.160000, 1.110000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.030000, 1.010000, 0.950000, 1.010000, 1.300000, 1.320000, 1.350000, 1.380000, 1.410000, 1.460000, 1.490000, 1.140000, 1.130000, 1.110000, 1.100000, 1.100000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 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, 0, 1, 0, 0, 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 ], "timestamp": [ 976054785, 626860 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.849000, 7.740000, -2.964602 ], "estimate": [ 6.849000, 7.740000, -2.964602 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.780000, 2.760000, 2.740000, 2.730000, 2.730000, 2.730000, 2.720000, 1.880000, 0.770000, 0.680000, 0.630000, 0.570000, 0.530000, 0.500000, 0.440000, 0.420000, 0.430000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.540000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.640000, 0.640000, 0.660000, 0.680000, 0.690000, 0.700000, 0.720000, 0.740000, 0.760000, 0.780000, 0.810000, 0.840000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.930000, 0.920000, 0.900000, 0.910000, 0.900000, 0.670000, 0.650000, 0.650000, 0.690000, 0.720000, 0.740000, 0.770000, 0.810000, 0.840000, 0.830000, 0.870000, 3.280000, 3.230000, 3.200000, 3.160000, 3.160000, null, 9.250000, null, null, 6.560000, 6.910000, 6.890000, 6.890000, 8.120000, 8.190000, 13.740000, 16.330000, 20.080000, 10.740000, 9.480000, 9.070000, 9.070000, 9.090000, 8.020000, 7.560000, 8.990000, 9.020000, 4.670000, 4.240000, 3.880000, 3.540000, 3.280000, 3.090000, 3.100000, 3.110000, 3.140000, 3.150000, 3.170000, 3.180000, 3.200000, 3.230000, 3.260000, 3.280000, 3.300000, 3.330000, 3.360000, 3.390000, 3.420000, 3.460000, 3.490000, 3.530000, 3.560000, 3.600000, 3.650000, 3.690000, 3.740000, 3.790000, 3.840000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.930000, 1.000000, 1.280000, 1.310000, 1.360000, 1.380000, 1.430000, 1.460000, 1.510000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.040000, 1.040000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.950000, 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, 0, 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, 1, 1 ], "timestamp": [ 976054785, 810479 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.827000, 7.736000, -2.946165 ], "estimate": [ 6.827000, 7.736000, -2.946165 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.760000, 2.740000, 2.740000, 2.740000, 2.720000, 0.800000, 0.690000, 0.610000, 0.530000, 0.490000, 0.440000, 0.430000, 0.420000, 0.440000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.630000, 0.640000, 0.660000, 0.660000, 0.680000, 0.690000, 0.710000, 0.730000, 0.750000, 0.770000, 0.780000, 0.920000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.870000, 0.870000, 0.860000, 0.620000, 0.610000, 0.620000, 0.660000, 0.680000, 0.720000, 0.740000, 0.770000, 0.800000, 0.820000, 0.860000, 3.260000, 3.240000, 3.180000, 3.160000, 3.130000, 3.130000, null, 9.230000, null, null, 6.530000, 6.870000, 6.850000, 6.900000, 8.080000, 8.150000, 16.200000, 20.070000, 19.960000, 10.470000, 9.340000, 9.040000, 9.050000, 9.050000, 7.870000, 7.520000, 8.960000, 8.980000, 4.640000, 4.210000, 3.860000, 3.520000, 3.260000, 3.050000, 3.070000, 3.080000, 3.100000, 3.110000, 3.130000, 3.150000, 3.170000, 3.190000, 3.220000, 3.250000, 3.280000, 3.300000, 3.330000, 3.350000, 3.380000, 3.420000, 3.460000, 3.490000, 3.530000, 3.570000, 3.610000, 3.660000, 3.700000, 3.750000, 3.810000, 3.860000, 1.120000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.920000, 1.220000, 1.300000, 1.340000, 1.360000, 1.400000, 1.440000, 1.490000, 1.100000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 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, 0, 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, 1, 1 ], "timestamp": [ 976054786, 534010 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.828000, 7.736000, -2.940020 ], "estimate": [ 6.828000, 7.736000, -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": [ 2.750000, 2.740000, 2.740000, 2.730000, 2.710000, 0.730000, 0.600000, 0.530000, 0.480000, 0.440000, 0.430000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.550000, 0.570000, 0.560000, 0.580000, 0.580000, 0.590000, 0.600000, 0.610000, 0.610000, 0.630000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.720000, 0.740000, 0.760000, 0.770000, 0.800000, 0.960000, 0.940000, 0.940000, 0.920000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.710000, 0.620000, 0.610000, 0.640000, 0.670000, 0.700000, 0.720000, 0.750000, 0.770000, 0.810000, 0.820000, 3.270000, 3.250000, 3.220000, 3.170000, 3.150000, 3.120000, 3.110000, null, 9.220000, null, null, 6.550000, 6.860000, 6.840000, 7.140000, 8.160000, 8.390000, 16.090000, 20.040000, 20.010000, 10.330000, 9.050000, 9.030000, 9.040000, 8.970000, 7.510000, 7.520000, 8.960000, 8.980000, 4.490000, 4.100000, 3.760000, 3.430000, 3.190000, 3.050000, 3.060000, 3.080000, 3.090000, 3.120000, 3.130000, 3.150000, 3.170000, 3.190000, 3.220000, 3.250000, 3.280000, 3.300000, 3.330000, 3.360000, 3.380000, 3.420000, 3.460000, 3.490000, 3.530000, 3.570000, 3.610000, 3.660000, 3.710000, 3.750000, 3.810000, 3.860000, 1.100000, 1.090000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.910000, 1.110000, 1.290000, 1.330000, 1.360000, 1.400000, 1.450000, 1.490000, 1.100000, 1.100000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 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, 0, 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, 1, 1 ], "timestamp": [ 976054786, 109454 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.832000, 7.737000, -2.915437 ], "estimate": [ 6.832000, 7.737000, -2.915437 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.750000, 2.740000, 2.730000, 2.720000, 0.750000, 0.660000, 0.570000, 0.480000, 0.440000, 0.440000, 0.420000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.530000, 0.530000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.630000, 0.640000, 0.650000, 0.660000, 0.680000, 0.680000, 0.710000, 0.710000, 0.740000, 0.760000, 0.770000, 0.810000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.910000, 0.890000, 0.890000, 0.870000, 0.870000, 0.650000, 0.610000, 0.600000, 0.650000, 0.670000, 0.700000, 0.720000, 0.740000, 0.790000, 0.780000, 0.840000, 3.270000, 3.250000, 3.210000, 3.150000, 3.150000, 3.120000, 3.120000, 9.240000, 9.220000, null, null, 6.520000, 6.860000, 6.850000, 7.190000, 8.140000, null, 16.180000, 19.990000, 19.960000, 10.310000, 9.030000, 9.040000, 9.050000, 8.710000, 7.520000, 7.520000, 8.960000, 4.850000, 4.390000, 4.020000, 3.680000, 3.370000, 3.150000, 3.060000, 3.070000, 3.080000, 3.100000, 3.120000, 3.140000, 3.160000, 3.180000, 3.200000, 3.230000, 3.250000, 3.280000, 3.300000, 3.340000, 3.360000, 3.390000, 3.430000, 3.460000, 3.500000, 3.550000, 3.570000, 3.630000, 3.670000, 3.720000, 3.770000, 3.820000, 3.870000, 1.080000, 1.060000, 1.050000, 1.050000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.950000, 0.920000, 0.960000, 1.270000, 1.300000, 1.350000, 1.370000, 1.410000, 1.460000, 1.370000, 1.090000, 1.100000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.960000, 0.960000, 0.960000, 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, 0, 0, 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 ], "timestamp": [ 976054786, 610180 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.831000, 7.736000, -2.878564 ], "estimate": [ 6.831000, 7.736000, -2.878564 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.740000, 2.730000, 0.800000, 0.690000, 0.610000, 0.530000, 0.490000, 0.420000, 0.430000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.480000, 0.470000, 0.490000, 0.470000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.510000, 0.500000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.580000, 0.580000, 0.580000, 0.600000, 0.610000, 0.610000, 0.620000, 0.640000, 0.650000, 0.660000, 0.680000, 0.690000, 0.710000, 0.720000, 0.740000, 0.750000, 0.780000, 0.800000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.770000, 0.620000, 0.620000, 0.640000, 0.670000, 0.700000, 0.730000, 0.750000, 0.770000, 0.810000, 0.820000, 0.850000, 3.270000, 3.240000, 3.180000, 3.160000, 3.140000, 3.120000, null, 9.250000, null, null, 6.600000, 6.860000, 6.850000, 6.880000, 8.070000, 8.140000, 16.160000, 16.330000, 19.860000, 10.390000, 9.260000, 9.040000, 9.050000, 9.050000, 7.640000, 7.520000, 8.960000, 8.980000, 4.580000, 4.150000, 3.810000, 3.490000, 3.230000, 3.050000, 3.060000, 3.080000, 3.090000, 3.110000, 3.130000, 3.150000, 3.170000, 3.190000, 3.210000, 3.240000, 3.270000, 3.290000, 3.320000, 3.360000, 3.380000, 3.410000, 3.450000, 3.480000, 3.520000, 3.570000, 3.600000, 3.650000, 3.700000, 3.750000, 3.810000, 3.850000, 1.090000, 1.080000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.970000, 0.950000, 0.920000, 0.900000, 1.260000, 1.290000, 1.330000, 1.360000, 1.400000, 1.440000, 1.480000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 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, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054786, 611475 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.831000, 7.736000, -2.835545 ], "estimate": [ 6.831000, 7.736000, -2.835545 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.700000, 0.620000, 0.540000, 0.480000, 0.430000, 0.430000, 0.460000, 0.450000, 0.470000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.550000, 0.550000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.690000, 0.690000, 0.720000, 0.720000, 0.740000, 0.760000, 0.780000, 0.800000, 0.970000, 0.950000, 0.930000, 0.930000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.650000, 0.640000, 0.630000, 0.650000, 0.670000, 0.700000, 0.730000, 0.750000, 0.790000, 0.790000, 0.820000, 3.280000, 3.260000, 3.230000, 3.180000, 3.160000, 3.130000, 3.130000, null, 9.250000, null, null, 6.700000, 6.860000, 6.850000, 6.840000, 8.080000, 8.150000, 16.160000, 16.260000, 19.850000, 10.370000, 9.230000, 9.040000, 9.050000, 9.050000, 7.600000, 7.520000, 8.950000, 8.980000, 4.550000, 4.130000, 3.790000, 3.470000, 3.210000, 3.050000, 3.060000, 3.080000, 3.090000, 3.110000, 3.130000, 3.160000, 3.170000, 3.180000, 3.210000, 3.240000, 3.270000, 3.290000, 3.320000, 3.350000, 3.370000, 3.410000, 3.450000, 3.480000, 3.520000, 3.560000, 3.600000, 3.650000, 3.690000, 3.740000, 3.800000, 3.840000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.910000, 0.900000, 1.240000, 1.290000, 1.320000, 1.360000, 1.390000, 1.430000, 1.470000, 1.090000, 1.090000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.930000, 0.920000, 0.920000, 0.930000, 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, 0, 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, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054786, 740831 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.828000, 7.735000, -2.737217 ], "estimate": [ 6.828000, 7.735000, -2.737217 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.520000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.580000, 0.600000, 0.610000, 0.620000, 0.640000, 0.650000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.770000, 0.780000, 0.800000, 0.920000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.650000, 0.630000, 0.630000, 0.650000, 0.670000, 0.690000, 0.730000, 0.750000, 0.780000, 0.800000, 0.790000, 0.870000, 3.280000, 3.250000, 3.200000, 3.170000, 3.150000, 3.110000, 3.130000, 9.230000, 9.230000, null, 6.590000, 6.580000, 6.860000, 6.860000, 7.100000, 8.130000, 8.170000, 19.970000, 19.960000, 19.960000, 10.320000, 9.040000, 9.030000, 9.050000, 8.550000, 7.510000, 7.520000, 8.960000, 4.770000, 4.330000, 3.950000, 3.610000, 3.320000, 3.080000, 3.060000, 3.060000, 3.080000, 3.090000, 3.110000, 3.130000, 3.160000, 3.180000, 3.180000, 3.210000, 3.240000, 3.270000, 3.290000, 3.320000, 3.350000, 3.370000, 3.410000, 3.450000, 3.480000, 3.520000, 3.570000, 3.610000, 3.650000, 3.700000, 3.740000, 3.800000, 1.080000, 1.060000, 1.060000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.930000, 0.930000, 0.940000, 1.260000, 1.290000, 1.330000, 1.360000, 1.400000, 1.430000, 1.180000, 1.090000, 1.070000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 0.990000, 0.990000, 0.990000, 0.970000, 0.960000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.920000, 0.920000, 0.920000, 0.910000, 0.930000, 0.940000, 0.930000, 0.920000, 0.930000, 0.940000, 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, 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 ], "timestamp": [ 976054787, 158890 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.820000, 7.731000, -2.651180 ], "estimate": [ 6.820000, 7.731000, -2.651180 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.480000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.590000, 0.610000, 0.630000, 0.640000, 0.640000, 0.660000, 0.680000, 0.680000, 0.700000, 0.710000, 0.720000, 0.750000, 0.760000, 0.790000, 0.810000, 0.940000, 0.960000, 0.960000, 0.940000, 0.930000, 0.900000, 0.900000, 0.890000, 0.890000, 0.870000, 0.630000, 0.630000, 0.620000, 0.660000, 0.670000, 0.700000, 0.720000, 0.740000, 0.790000, 0.810000, 0.780000, 0.860000, 3.280000, 3.270000, 3.240000, 3.180000, 3.150000, 3.130000, 3.130000, null, 9.220000, 9.270000, 10.490000, 6.530000, 6.630000, 6.850000, 6.840000, 8.060000, 9.010000, 12.150000, 16.190000, 19.950000, 11.540000, 9.570000, 9.030000, 9.040000, 9.050000, 8.070000, 7.510000, 7.520000, 8.960000, 4.610000, 4.170000, 3.830000, 3.490000, 3.220000, 3.050000, 3.060000, 3.070000, 3.080000, 3.090000, 3.110000, 3.140000, 3.160000, 3.180000, 3.200000, 3.210000, 3.250000, 3.270000, 3.290000, 3.320000, 3.360000, 3.390000, 3.420000, 3.460000, 3.490000, 3.540000, 3.580000, 3.620000, 3.670000, 3.710000, 3.760000, 3.820000, 1.070000, 1.040000, 1.030000, 1.030000, 1.000000, 0.990000, 0.970000, 0.950000, 0.940000, 0.920000, 0.890000, 0.890000, 1.070000, 1.250000, 1.290000, 1.320000, 1.360000, 1.390000, 1.440000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.950000, 0.940000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.920000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 3.150000 ], "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, 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 ], "timestamp": [ 976054787, 190814 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.795000, 7.717000, -2.589725 ], "estimate": [ 6.795000, 7.717000, -2.589725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.530000, 0.520000, 0.540000, 0.550000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.600000, 0.600000, 0.600000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.670000, 0.680000, 0.680000, 0.700000, 0.720000, 0.730000, 0.750000, 0.770000, 0.790000, 0.800000, 0.960000, 0.960000, 0.930000, 0.930000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.680000, 0.620000, 0.590000, 0.600000, 0.660000, 0.670000, 0.700000, 0.720000, 0.760000, 0.770000, 0.800000, 0.810000, 0.840000, 3.310000, 3.270000, 3.250000, 3.200000, 3.160000, 3.130000, 3.110000, 3.120000, 9.270000, 9.230000, 9.270000, 10.470000, 6.540000, 6.720000, 6.830000, 6.820000, 8.040000, 9.010000, 12.100000, 16.190000, 20.010000, 10.440000, 9.420000, 9.010000, 9.020000, 9.030000, 7.940000, 7.490000, 7.560000, 8.940000, 4.560000, 4.120000, 3.760000, 3.440000, 3.180000, 3.040000, 3.040000, 3.040000, 3.060000, 3.070000, 3.090000, 3.110000, 3.140000, 3.160000, 3.180000, 3.200000, 3.220000, 3.250000, 3.280000, 3.300000, 3.330000, 3.360000, 3.400000, 3.430000, 3.470000, 3.500000, 3.550000, 3.590000, 3.630000, 3.670000, 3.740000, 3.790000, 1.050000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.940000, 0.930000, 0.900000, 0.890000, 0.890000, 0.920000, 1.220000, 1.260000, 1.300000, 1.320000, 1.360000, 1.400000, 1.450000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 1.000000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.900000, 0.900000, 0.910000, 0.900000, 0.910000, 0.910000, 0.900000, 0.910000, 0.910000, 3.130000, 3.150000, 3.160000, 3.170000, 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": [ 976054787, 350602 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.750000, 7.687000, -2.515978 ], "estimate": [ 6.750000, 7.687000, -2.515978 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.740000, 0.760000, 0.760000, 0.790000, 0.900000, 0.950000, 0.920000, 0.920000, 0.890000, 0.890000, 0.880000, 0.860000, 0.850000, 0.610000, 0.600000, 0.600000, 0.600000, 0.640000, 0.660000, 0.670000, 0.690000, 0.710000, 0.730000, 0.750000, 0.750000, 0.780000, 0.820000, 3.330000, 3.290000, 3.270000, 3.230000, 3.210000, 3.150000, 3.120000, 3.110000, 3.090000, null, 9.210000, 9.210000, null, null, 6.780000, 6.810000, 6.780000, 6.790000, 8.020000, 8.110000, 12.490000, 16.110000, 19.990000, 10.390000, 9.270000, 8.980000, 8.980000, 8.990000, 7.730000, 7.460000, 7.610000, 8.900000, 4.450000, 4.020000, 3.680000, 3.350000, 3.100000, 3.000000, 3.000000, 3.020000, 3.040000, 3.040000, 3.050000, 3.080000, 3.100000, 3.120000, 3.140000, 3.170000, 3.190000, 3.210000, 3.240000, 3.270000, 3.290000, 3.330000, 3.360000, 3.400000, 3.430000, 3.460000, 3.500000, 3.550000, 3.590000, 3.630000, 3.680000, 3.740000, 3.800000, 1.000000, 0.980000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.870000, 0.860000, 0.850000, 0.810000, 0.860000, 1.190000, 1.220000, 1.260000, 1.290000, 1.340000, 1.370000, 1.420000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.890000, 0.890000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.880000, 0.890000, 0.890000, 0.890000, 0.880000, 0.870000, 3.140000, 3.150000, 3.160000, 3.170000, 3.170000, 3.190000, 3.200000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054787, 896162 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.688000, 7.641000, -2.503687 ], "estimate": [ 6.688000, 7.641000, -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": [ 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.710000, 0.720000, 0.740000, 0.740000, 0.750000, 0.760000, 0.830000, 0.950000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.660000, 0.580000, 0.550000, 0.540000, 0.580000, 0.600000, 0.610000, 0.630000, 0.640000, 0.650000, 0.680000, 0.690000, 0.720000, 0.710000, 0.740000, 0.760000, 3.410000, 3.270000, 3.330000, 3.290000, 3.280000, 3.240000, 3.210000, 3.170000, 3.160000, 3.100000, 3.080000, 3.040000, 3.020000, null, null, 9.120000, 9.110000, null, 6.130000, 6.480000, 6.730000, 6.730000, 7.290000, 8.030000, 8.600000, 16.070000, 17.810000, 19.900000, 10.260000, 9.070000, 8.880000, 8.900000, 8.910000, 7.400000, 7.380000, 8.820000, 4.730000, 4.290000, 3.880000, 3.540000, 3.220000, 2.980000, 2.910000, 2.930000, 2.940000, 2.960000, 2.980000, 2.990000, 3.010000, 3.030000, 3.040000, 3.070000, 3.090000, 3.110000, 3.140000, 3.170000, 3.180000, 3.220000, 3.260000, 3.290000, 3.320000, 3.360000, 3.400000, 3.430000, 3.470000, 3.520000, 3.560000, 3.610000, 3.660000, 3.710000, 3.770000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.800000, 1.160000, 1.200000, 1.240000, 1.280000, 1.330000, 1.360000, 1.410000, 1.060000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.850000, 0.860000, 0.870000, 0.860000, 0.850000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.850000, 3.170000, 3.170000, 3.190000, 3.210000, 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, 0, 0, 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 ], "timestamp": [ 976054787, 897307 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.633000, 7.600000, -2.522124 ], "estimate": [ 6.633000, 7.600000, -2.522124 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.770000, 0.920000, 0.950000, 0.920000, 0.890000, 0.870000, 0.850000, 0.780000, 0.550000, 0.510000, 0.520000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.620000, 0.640000, 0.650000, 0.660000, 0.670000, 0.670000, 0.710000, 0.720000, 3.400000, 3.400000, 3.390000, 3.280000, 3.320000, 3.280000, 3.240000, 3.220000, 3.180000, 3.140000, 3.120000, 3.110000, 3.030000, 3.000000, 2.970000, 2.960000, null, null, 9.080000, 9.060000, null, 6.210000, 6.360000, 6.670000, 6.660000, 6.920000, 7.970000, 7.950000, 12.780000, 15.960000, 19.860000, 19.770000, 10.120000, 8.820000, 8.840000, 8.850000, 8.110000, 7.300000, 7.350000, 8.750000, 4.390000, 3.960000, 3.600000, 3.270000, 3.010000, 2.840000, 2.850000, 2.860000, 2.880000, 2.900000, 2.920000, 2.920000, 2.940000, 2.960000, 2.990000, 3.010000, 3.030000, 3.050000, 3.080000, 3.100000, 3.130000, 3.160000, 3.180000, 3.230000, 3.270000, 3.290000, 3.330000, 3.360000, 3.410000, 3.460000, 3.500000, 3.550000, 3.590000, 3.650000, 3.710000, 3.770000, 3.830000, 0.860000, 0.850000, 0.830000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.710000, 0.770000, 1.150000, 1.200000, 1.240000, 1.300000, 1.350000, 1.380000, 1.450000, 0.920000, 0.910000, 0.910000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.830000, 0.840000, 0.850000, 0.850000, 0.840000, 0.820000, 0.820000, 0.830000, 0.840000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 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 ], "timestamp": [ 976054787, 898288 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.592000, 7.571000, -2.534415 ], "estimate": [ 6.592000, 7.571000, -2.534415 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.980000, 0.960000, 0.930000, 0.910000, 0.870000, 0.680000, 0.550000, 0.510000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.610000, 0.620000, 0.640000, 0.640000, 0.640000, 0.680000, 0.690000, 3.470000, 3.420000, 3.390000, 3.370000, 3.370000, 3.380000, 3.170000, 3.280000, 3.230000, 3.190000, 3.180000, 3.130000, 3.110000, 3.090000, 3.060000, 2.990000, 2.980000, 2.940000, 2.930000, null, null, null, 9.030000, 8.990000, null, 6.030000, 6.640000, 6.630000, 6.620000, 7.840000, 7.890000, 11.270000, 15.900000, 19.720000, 19.670000, 10.070000, 8.790000, 8.780000, 8.790000, 8.760000, 7.250000, 7.260000, 8.700000, 4.510000, 4.080000, 3.680000, 3.350000, 3.070000, 2.830000, 2.800000, 2.810000, 2.820000, 2.840000, 2.860000, 2.870000, 2.890000, 2.910000, 2.920000, 2.940000, 2.960000, 2.990000, 3.020000, 3.040000, 3.060000, 3.090000, 3.120000, 3.150000, 3.180000, 3.220000, 3.260000, 3.280000, 3.330000, 3.370000, 3.420000, 3.470000, 3.510000, 3.560000, 3.620000, 3.670000, 3.740000, 3.800000, 3.860000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.770000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.670000, 0.720000, 1.160000, 1.200000, 1.250000, 1.300000, 1.350000, 1.410000, 1.490000, 0.880000, 0.880000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.830000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 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, 0, 0, 0, 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 ], "timestamp": [ 976054788, 693269 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.553000, 7.545000, -2.540560 ], "estimate": [ 6.553000, 7.545000, -2.540560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 1.010000, 0.980000, 0.950000, 0.910000, 0.640000, 0.500000, 0.490000, 0.530000, 0.520000, 0.530000, 0.540000, 0.550000, 0.550000, 0.550000, 0.570000, 0.580000, 0.580000, 0.580000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.650000, 0.650000, 3.510000, 3.490000, 3.450000, 3.430000, 3.380000, 3.330000, 3.340000, 3.340000, 3.290000, 3.140000, 3.220000, 3.180000, 3.160000, 3.120000, 3.090000, 3.060000, 3.050000, 2.980000, 2.960000, 2.920000, 2.880000, null, null, null, 9.000000, 8.970000, null, 6.070000, 6.310000, 6.600000, 6.580000, 6.760000, 7.810000, 7.880000, 11.790000, 15.840000, 19.780000, 19.560000, 10.040000, 8.740000, 8.750000, 8.750000, 8.400000, 7.230000, 7.230000, 8.660000, 4.380000, 3.940000, 3.580000, 3.240000, 2.960000, 2.750000, 2.760000, 2.770000, 2.780000, 2.800000, 2.820000, 2.840000, 2.850000, 2.860000, 2.890000, 2.910000, 2.920000, 2.950000, 2.970000, 3.010000, 3.030000, 3.060000, 3.080000, 3.110000, 3.150000, 3.180000, 3.220000, 3.260000, 3.290000, 3.330000, 3.370000, 3.420000, 3.470000, 3.510000, 3.580000, 3.640000, 3.690000, 3.760000, 3.820000, 3.890000, 0.800000, 0.770000, 0.750000, 0.750000, 0.750000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 1.160000, 1.210000, 1.260000, 1.330000, 1.380000, 1.460000, 1.530000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.820000, 0.820000, 0.800000, 0.790000, 0.800000, 0.800000, 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.830000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.820000, 0.820000, 0.830000, 0.840000, 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, 0, 0, 0, 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 ], "timestamp": [ 976054789, 170778 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.506000, 7.513000, -2.558997 ], "estimate": [ 6.506000, 7.513000, -2.558997 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.710000, 0.710000, 0.730000, 1.050000, 1.000000, 0.970000, 0.540000, 0.490000, 0.490000, 0.510000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.590000, 0.580000, 0.590000, 0.600000, 0.590000, 0.600000, 0.620000, 0.630000, 2.960000, 3.180000, 3.380000, 3.490000, 3.460000, 3.420000, 3.370000, 3.340000, 3.320000, 3.310000, 3.330000, 3.230000, 3.190000, 3.180000, 3.150000, 3.120000, 3.090000, 3.060000, 3.030000, 3.010000, 2.950000, 2.920000, 2.880000, 2.840000, null, null, null, null, 8.960000, 8.940000, 6.080000, 5.970000, 6.570000, 6.550000, 6.550000, 7.760000, 7.820000, 8.640000, 13.950000, 15.980000, 19.730000, 10.070000, 8.880000, 8.690000, 8.700000, 8.710000, 7.230000, 7.180000, 8.610000, 4.530000, 4.060000, 3.660000, 3.330000, 3.030000, 2.810000, 2.710000, 2.720000, 2.730000, 2.750000, 2.770000, 2.770000, 2.790000, 2.820000, 2.840000, 2.850000, 2.860000, 2.890000, 2.910000, 2.940000, 2.970000, 3.000000, 3.030000, 3.040000, 3.080000, 3.110000, 3.150000, 3.180000, 3.230000, 3.260000, 3.300000, 3.340000, 3.390000, 3.450000, 3.480000, 3.550000, 3.610000, 3.670000, 3.730000, 3.800000, 3.870000, 3.930000, 0.770000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.610000, 0.800000, 1.240000, 1.300000, 1.360000, 1.430000, 1.520000, 1.620000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.800000, 0.810000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.790000, 0.790000, 0.780000, 0.790000, 0.800000, 0.810000, 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, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054789, 171831 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.451000, 7.477000, -2.565142 ], "estimate": [ 6.451000, 7.477000, -2.565142 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.720000, 0.870000, 0.560000, 0.470000, 0.480000, 0.490000, 0.500000, 0.510000, 0.510000, 0.510000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.580000, 0.570000, 0.560000, 0.540000, 0.590000, 0.600000, 0.600000, 2.780000, 2.760000, 2.770000, 2.890000, 3.070000, 3.280000, 3.430000, 3.450000, 3.400000, 3.350000, 3.310000, 3.290000, 3.280000, 3.280000, 3.270000, 3.130000, 3.150000, 3.120000, 3.100000, 3.050000, 3.030000, 3.000000, 2.970000, 2.940000, 2.870000, 2.840000, 2.830000, 2.790000, null, null, null, null, 8.940000, 8.880000, 6.000000, 5.910000, 6.500000, 6.490000, 6.490000, 7.700000, 7.770000, 8.390000, 13.150000, 15.780000, 19.680000, 10.030000, 8.920000, 8.630000, 8.640000, 8.650000, 7.410000, 7.120000, 8.540000, 4.460000, 4.040000, 3.630000, 3.300000, 2.990000, 2.770000, 2.640000, 2.650000, 2.670000, 2.690000, 2.690000, 2.710000, 2.730000, 2.740000, 2.770000, 2.780000, 2.800000, 2.830000, 2.840000, 2.860000, 2.890000, 2.910000, 2.940000, 2.970000, 3.000000, 3.030000, 3.060000, 3.100000, 3.140000, 3.170000, 3.210000, 3.260000, 3.300000, 3.350000, 3.400000, 3.450000, 3.500000, 3.570000, 3.630000, 3.680000, 3.760000, 3.830000, 3.920000, 3.980000, 4.070000, 0.750000, 0.690000, 0.680000, 0.670000, 0.640000, 0.660000, 0.660000, 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, 0.860000, 1.360000, 1.460000, 1.560000, 1.680000, 1.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 0.800000, 0.790000, 0.790000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 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, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054789, 172855 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.398000, 7.442000, -2.565142 ], "estimate": [ 6.398000, 7.442000, -2.565142 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.560000, 0.550000, 0.550000, 0.580000, 0.580000, 0.580000, 0.570000, 8.290000, 2.800000, 2.780000, 2.770000, 2.750000, 2.730000, 2.730000, 2.880000, 3.040000, 3.240000, 3.400000, 3.410000, 3.370000, 3.330000, 3.300000, 3.250000, 3.240000, 3.240000, 3.240000, 3.130000, 3.130000, 3.080000, 3.060000, 3.030000, 3.000000, 2.960000, 2.940000, 2.910000, 2.830000, 2.830000, 2.800000, 2.770000, null, null, null, null, null, 8.820000, null, 4.520000, 6.150000, 6.450000, 6.430000, 6.540000, 7.650000, 7.730000, 10.700000, 13.640000, 15.810000, 19.520000, 9.900000, 8.700000, 8.570000, 8.590000, 8.600000, 7.080000, 7.060000, 8.490000, 4.390000, 3.910000, 3.520000, 3.190000, 2.910000, 2.670000, 2.580000, 2.590000, 2.600000, 2.620000, 2.630000, 2.650000, 2.670000, 2.690000, 2.700000, 2.730000, 2.740000, 2.770000, 2.780000, 2.800000, 2.830000, 2.850000, 2.880000, 2.910000, 2.940000, 2.970000, 3.000000, 3.030000, 3.070000, 3.110000, 3.150000, 3.180000, 3.230000, 3.280000, 3.330000, 3.370000, 3.430000, 3.490000, 3.550000, 3.620000, 3.680000, 3.740000, 3.820000, 3.910000, 3.990000, 4.070000, 4.170000, 4.270000, 0.690000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.610000, 0.620000, 0.620000, 0.600000, 0.610000, 0.600000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.550000, 1.560000, 1.700000, 1.860000, 2.060000, 2.310000, 0.760000, 0.750000, 0.770000, 0.780000, 0.780000, 0.760000, 0.770000, 0.780000, 0.780000, 0.760000, 0.760000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 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, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054789, 173792 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.351000, 7.412000, -2.571288 ], "estimate": [ 6.351000, 7.412000, -2.571288 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.520000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.550000, 0.560000, 0.570000, 0.580000, 0.570000, 7.710000, 7.800000, 7.880000, 7.970000, 8.080000, 8.190000, 2.780000, 2.760000, 2.740000, 2.720000, 2.700000, 2.700000, 2.850000, 3.000000, 3.180000, 3.330000, 3.390000, 3.360000, 3.300000, 3.270000, 3.220000, 3.200000, 3.200000, 3.210000, 3.000000, 3.100000, 3.060000, 3.020000, 3.000000, 2.970000, 2.920000, 2.900000, 2.870000, 2.820000, 2.780000, 2.760000, 2.690000, null, null, null, null, null, null, 8.790000, null, 5.790000, 6.070000, 6.400000, 6.380000, 6.560000, 7.590000, 7.660000, 10.580000, 13.390000, 15.680000, 19.540000, 9.810000, 8.750000, 8.520000, 8.520000, 8.530000, 7.160000, 7.000000, 8.420000, 4.340000, 3.890000, 3.500000, 3.160000, 2.860000, 2.640000, 2.530000, 2.540000, 2.550000, 2.550000, 2.570000, 2.570000, 2.590000, 2.610000, 2.630000, 2.650000, 2.670000, 2.680000, 2.710000, 2.730000, 2.750000, 2.770000, 2.800000, 2.830000, 2.850000, 2.890000, 2.920000, 2.950000, 2.980000, 3.020000, 3.060000, 3.100000, 3.150000, 3.180000, 3.240000, 3.280000, 3.340000, 3.390000, 3.460000, 3.520000, 3.580000, 3.650000, 3.720000, 3.810000, 3.880000, 3.960000, 4.060000, 4.160000, 4.250000, 4.360000, 4.460000, 4.580000, 0.620000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.560000, 2.440000, 2.510000, 2.960000, 0.760000, 0.760000, 0.740000, 0.760000, 0.760000, 0.760000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 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, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054789, 174713 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.307000, 7.383000, -2.583579 ], "estimate": [ 6.307000, 7.383000, -2.583579 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.530000, 0.540000, 0.540000, 0.540000, 0.510000, 0.530000, 0.550000, 0.560000, 0.560000, 0.550000, 10.300000, 8.180000, 7.540000, 7.570000, 7.640000, 7.730000, 7.820000, 7.920000, 8.020000, 8.130000, 2.760000, 2.740000, 2.720000, 2.700000, 2.690000, 2.680000, 2.820000, 2.970000, 3.140000, 3.280000, 3.370000, 3.320000, 3.290000, 3.240000, 3.200000, 3.170000, 3.170000, 3.160000, 3.080000, 3.090000, 3.020000, 2.980000, 2.970000, 2.930000, 2.900000, 2.870000, 2.860000, 2.820000, 2.750000, 2.740000, 2.690000, 2.660000, null, null, null, null, null, null, 8.740000, 6.400000, 5.740000, 6.360000, 6.350000, 6.320000, 6.670000, 7.580000, 7.610000, 11.050000, 14.160000, 15.790000, 19.470000, 9.780000, 8.490000, 8.480000, 8.480000, 8.490000, 6.950000, 6.960000, 8.380000, 4.200000, 3.730000, 3.370000, 3.030000, 2.760000, 2.550000, 2.470000, 2.490000, 2.490000, 2.500000, 2.520000, 2.530000, 2.550000, 2.570000, 2.570000, 2.600000, 2.620000, 2.640000, 2.660000, 2.680000, 2.710000, 2.730000, 2.750000, 2.770000, 2.810000, 2.840000, 2.870000, 2.900000, 2.930000, 2.970000, 3.010000, 3.050000, 3.090000, 3.140000, 3.180000, 3.230000, 3.280000, 3.340000, 3.400000, 3.460000, 3.530000, 3.590000, 3.660000, 3.740000, 3.820000, 3.910000, 3.990000, 4.090000, 4.190000, 4.300000, 4.410000, 4.530000, 4.650000, 4.800000, 4.950000, 0.590000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.500000, 0.500000, 0.510000, 0.520000, 0.530000, 0.540000, 0.530000, 2.940000, 2.950000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 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, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054789, 230924 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.257000, 7.353000, -2.602015 ], "estimate": [ 6.257000, 7.353000, -2.602015 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.530000, 0.540000, 0.540000, 0.550000, 0.570000, 9.260000, 9.960000, 10.040000, 10.120000, 10.220000, 10.320000, 7.650000, 7.520000, 7.590000, 7.660000, 7.750000, 7.850000, 7.930000, 8.050000, 2.740000, 2.720000, 2.700000, 2.680000, 2.650000, 2.680000, 2.800000, 2.950000, 3.110000, 3.240000, 3.330000, 3.300000, 3.270000, 3.220000, 3.170000, 3.140000, 3.140000, 3.150000, 3.150000, 2.990000, 3.000000, 2.960000, 2.940000, 2.890000, 2.870000, 2.850000, 2.830000, 2.790000, 2.720000, 2.700000, 2.690000, 2.610000, null, null, null, null, null, null, null, 8.680000, 5.900000, 6.000000, 6.310000, 6.300000, 6.300000, 7.490000, 7.630000, 7.740000, 11.690000, 15.560000, 19.480000, 19.450000, 9.740000, 8.430000, 8.420000, 8.430000, 8.260000, 6.910000, 6.920000, 8.330000, 4.030000, 3.590000, 3.250000, 2.940000, 2.670000, 2.470000, 2.420000, 2.430000, 2.450000, 2.450000, 2.470000, 2.480000, 2.500000, 2.520000, 2.530000, 2.550000, 2.570000, 2.580000, 2.610000, 2.630000, 2.650000, 2.670000, 2.700000, 2.720000, 2.750000, 2.780000, 2.820000, 2.850000, 2.880000, 2.910000, 2.960000, 3.000000, 3.030000, 3.080000, 3.120000, 3.170000, 3.230000, 3.280000, 3.340000, 3.400000, 3.460000, 3.540000, 3.600000, 3.670000, 3.760000, 3.840000, 3.930000, 4.020000, 4.130000, 4.230000, 4.330000, 4.450000, 4.580000, 4.720000, 4.880000, 5.040000, 5.210000, 5.410000, 5.620000, 0.560000, 0.540000, 0.540000, 0.540000, 0.520000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.500000, 0.500000, 0.500000, 0.480000, 0.500000, 0.510000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.510000, 0.790000, 0.700000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 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, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054789, 568292 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.204000, 7.321000, -2.608161 ], "estimate": [ 6.204000, 7.321000, -2.608161 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.530000, 0.540000, 0.540000, 6.770000, 6.810000, 6.850000, 6.900000, 6.950000, 9.160000, 9.530000, 9.970000, 10.060000, 10.140000, 10.240000, 8.160000, 7.520000, 7.540000, 7.620000, 7.670000, 7.770000, 7.870000, 7.960000, 2.720000, 2.700000, 2.670000, 2.650000, 2.630000, 2.650000, 2.780000, 2.910000, 3.060000, 3.190000, 3.310000, 3.290000, 3.250000, 3.200000, 3.140000, 3.110000, 3.100000, 3.100000, 3.100000, 2.900000, 2.970000, 2.920000, 2.910000, 2.870000, 2.840000, 2.800000, 2.790000, 2.750000, 2.690000, 2.660000, 2.650000, 2.580000, null, null, null, null, null, null, null, null, 4.330000, 5.650000, 5.930000, 6.260000, 6.250000, 6.270000, 7.430000, 7.490000, 7.970000, 11.820000, 15.330000, 19.430000, 19.380000, 9.680000, 8.360000, 8.360000, 8.370000, 7.960000, 6.850000, 6.900000, 8.270000, 3.920000, 3.480000, 3.160000, 2.840000, 2.590000, 2.390000, 2.370000, 2.390000, 2.400000, 2.410000, 2.410000, 2.430000, 2.440000, 2.450000, 2.470000, 2.490000, 2.520000, 2.530000, 2.560000, 2.570000, 2.590000, 2.620000, 2.640000, 2.670000, 2.690000, 2.720000, 2.750000, 2.780000, 2.820000, 2.840000, 2.890000, 2.920000, 2.970000, 3.010000, 3.040000, 3.100000, 3.150000, 3.210000, 3.270000, 3.320000, 3.390000, 3.460000, 3.530000, 3.590000, 3.670000, 3.750000, 3.840000, 3.920000, 4.030000, 4.140000, 4.240000, 4.350000, 4.470000, 4.610000, 4.770000, 4.930000, 5.090000, 5.290000, 5.490000, 5.710000, 5.960000, 6.210000, 6.500000, 6.810000, 0.530000, 0.510000, 0.510000, 0.510000, 0.480000, 0.500000, 0.510000, 0.510000, 0.500000, 0.490000, 0.470000, 0.470000, 0.490000, 0.500000, 0.510000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.520000, 0.500000, 0.500000, 0.470000, 0.470000, 0.480000, 0.610000, 0.700000, 0.700000, 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, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054789, 651034 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.151000, 7.289000, -2.608161 ], "estimate": [ 6.151000, 7.289000, -2.608161 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.650000, 6.680000, 6.720000, 6.740000, 6.780000, 6.810000, 6.860000, 6.900000, 6.960000, 9.390000, 9.600000, 9.970000, 10.070000, 10.150000, 10.240000, 7.670000, 7.500000, 7.530000, 7.620000, 7.700000, 7.770000, 7.880000, 2.700000, 2.670000, 2.640000, 2.620000, 2.610000, 2.640000, 2.750000, 2.870000, 3.010000, 3.150000, 3.250000, 3.260000, 3.210000, 3.170000, 3.120000, 3.080000, 3.070000, 3.070000, 3.080000, 2.910000, 2.940000, 2.880000, 2.870000, 2.840000, 2.810000, 2.770000, 2.750000, 2.720000, 2.670000, 2.640000, 2.610000, 2.490000, null, null, null, null, null, null, null, null, 8.590000, 6.270000, 5.790000, 5.930000, 6.210000, 6.180000, 6.350000, 7.400000, 7.460000, 8.030000, 11.810000, 15.220000, 19.380000, 19.320000, 9.630000, 8.310000, 8.310000, 8.320000, 7.870000, 6.790000, 6.830000, 8.210000, 3.850000, 3.410000, 3.090000, 2.790000, 2.530000, 2.330000, 2.320000, 2.330000, 2.330000, 2.350000, 2.360000, 2.370000, 2.390000, 2.390000, 2.410000, 2.420000, 2.450000, 2.460000, 2.490000, 2.510000, 2.530000, 2.560000, 2.570000, 2.590000, 2.620000, 2.650000, 2.680000, 2.710000, 2.750000, 2.770000, 2.810000, 2.850000, 2.890000, 2.930000, 2.990000, 3.020000, 3.070000, 3.120000, 3.180000, 3.240000, 3.300000, 3.370000, 3.440000, 3.510000, 3.570000, 3.660000, 3.730000, 3.830000, 3.920000, 4.020000, 4.140000, 4.240000, 4.350000, 4.490000, 4.640000, 4.790000, 4.950000, 5.140000, 5.340000, 5.560000, 5.790000, 6.050000, 6.320000, 6.620000, 6.980000, 7.350000, 7.770000, 9.840000, 19.920000, 0.510000, 0.480000, 0.460000, 0.460000, 0.460000, 0.480000, 0.460000, 0.470000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.500000, 0.490000, 0.480000, 0.460000, 0.460000, 0.480000, 0.480000, 0.490000, 0.490000, 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, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054790, 159458 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.103000, 7.261000, -2.620452 ], "estimate": [ 6.103000, 7.261000, -2.620452 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.650000, 6.680000, 6.710000, 6.750000, 6.780000, 6.820000, 6.850000, 6.900000, 6.950000, 9.350000, 9.730000, 9.920000, 10.030000, 10.120000, 10.210000, 10.320000, 7.490000, 7.520000, 7.600000, 7.660000, 7.750000, 2.680000, 2.650000, 2.630000, 2.600000, 2.590000, 2.580000, 2.680000, 2.790000, 2.920000, 3.050000, 3.160000, 3.240000, 3.210000, 3.160000, 3.120000, 3.080000, 3.040000, 3.030000, 3.030000, 2.960000, 2.920000, 2.880000, 2.830000, 2.830000, 2.800000, 2.750000, 2.700000, 2.710000, 2.660000, 2.620000, 2.600000, 2.580000, 2.450000, null, null, null, null, null, null, null, null, null, 4.210000, 5.580000, 5.910000, 6.160000, 6.140000, 6.140000, 7.330000, 7.710000, 7.400000, 10.640000, 13.300000, 15.400000, 19.300000, 9.570000, 8.320000, 8.240000, 8.250000, 8.250000, 6.760000, 6.740000, 8.140000, 4.010000, 3.560000, 3.190000, 2.880000, 2.600000, 2.390000, 2.250000, 2.260000, 2.260000, 2.280000, 2.290000, 2.310000, 2.320000, 2.340000, 2.350000, 2.360000, 2.380000, 2.390000, 2.410000, 2.430000, 2.450000, 2.470000, 2.500000, 2.520000, 2.550000, 2.560000, 2.590000, 2.620000, 2.660000, 2.690000, 2.730000, 2.740000, 2.790000, 2.830000, 2.880000, 2.920000, 2.960000, 3.010000, 3.060000, 3.120000, 3.180000, 3.250000, 3.300000, 3.370000, 3.450000, 3.520000, 3.600000, 3.680000, 3.770000, 3.860000, 3.960000, 4.070000, 4.180000, 4.300000, 4.440000, 4.570000, 4.740000, 4.900000, 5.090000, 5.290000, 5.510000, 5.750000, 5.990000, 6.270000, 6.600000, 6.950000, 7.320000, 7.760000, null, 19.880000, 12.720000, 12.370000, 12.230000, 12.350000, 13.100000, null, null, 0.450000, 0.470000, 0.470000, 0.450000, 0.460000, 0.450000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.470000, 0.460000, 0.450000, 0.450000, 0.460000, 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, 0, 0, 0, 0, 0, 0, 0, 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, 1, 0, 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 ], "timestamp": [ 976054790, 160717 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.055000, 7.233000, -2.626597 ], "estimate": [ 6.055000, 7.233000, -2.626597 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.630000, 6.660000, 6.690000, 6.730000, 6.760000, 6.800000, 6.830000, 6.870000, 6.920000, 9.160000, 9.280000, 9.860000, 9.990000, 10.060000, 10.150000, 10.240000, 7.530000, 7.470000, 7.530000, 7.620000, 7.680000, 2.660000, 2.630000, 2.600000, 2.580000, 2.560000, 2.560000, 2.660000, 2.770000, 2.890000, 3.020000, 3.120000, 3.210000, 3.190000, 3.140000, 3.090000, 3.060000, 3.010000, 3.000000, 3.020000, 3.010000, 2.850000, 2.860000, 2.820000, 2.800000, 2.760000, 2.720000, 2.690000, 2.660000, 2.640000, 2.590000, 2.570000, 2.540000, 2.380000, null, null, null, null, null, null, null, null, null, 8.480000, 4.170000, 5.620000, 6.000000, 6.110000, 6.090000, 6.260000, 7.290000, 7.350000, 7.730000, 11.170000, 13.980000, 15.540000, 19.250000, 9.530000, 8.220000, 8.200000, 8.210000, 8.210000, 6.680000, 6.690000, 8.110000, 3.850000, 3.420000, 3.070000, 2.760000, 2.500000, 2.310000, 2.200000, 2.210000, 2.220000, 2.230000, 2.250000, 2.260000, 2.270000, 2.280000, 2.290000, 2.310000, 2.320000, 2.350000, 2.370000, 2.390000, 2.400000, 2.420000, 2.450000, 2.460000, 2.490000, 2.520000, 2.550000, 2.570000, 2.600000, 2.640000, 2.660000, 2.700000, 2.740000, 2.780000, 2.820000, 2.860000, 2.900000, 2.950000, 3.010000, 3.060000, 3.120000, 3.180000, 3.250000, 3.310000, 3.390000, 3.450000, 3.540000, 3.620000, 3.710000, 3.790000, 3.900000, 4.000000, 4.110000, 4.240000, 4.360000, 4.510000, 4.660000, 4.830000, 5.020000, 5.210000, 5.430000, 5.660000, 5.910000, 6.200000, 6.500000, 6.860000, 7.240000, 7.680000, 9.820000, 19.860000, 12.690000, 12.340000, 12.220000, 12.310000, 13.050000, null, null, null, 10.700000, null, null, null, 0.500000, 0.450000, 0.440000, 0.460000, 0.450000, 0.460000, 0.440000, 0.440000, 0.450000, 0.450000, 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, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054790, 229464 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.003000, 7.205000, -2.638889 ], "estimate": [ 6.003000, 7.205000, -2.638889 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.630000, 6.650000, 6.690000, 6.720000, 6.750000, 6.780000, 6.810000, 6.850000, 6.890000, 6.910000, 9.230000, 9.800000, 9.920000, 10.000000, 10.090000, 10.180000, 7.630000, 7.450000, 7.500000, 7.560000, 2.650000, 2.630000, 2.590000, 2.580000, 2.550000, 2.540000, 2.560000, 2.670000, 2.770000, 2.880000, 3.010000, 3.100000, 3.190000, 3.160000, 3.110000, 3.070000, 3.010000, 2.980000, 2.960000, 2.970000, 2.860000, 2.910000, 2.810000, 2.760000, 2.750000, 2.700000, 2.670000, 2.640000, 2.630000, 2.610000, 2.540000, 2.510000, 2.510000, 2.320000, null, null, null, null, null, null, 3.260000, null, null, null, 4.100000, 6.070000, 5.750000, 6.070000, 6.050000, 6.040000, 6.320000, 7.240000, 7.300000, 8.100000, 11.770000, 15.010000, 19.220000, 19.180000, 9.470000, 8.140000, 8.140000, 8.140000, 7.830000, 6.630000, 6.650000, 8.050000, 3.710000, 3.270000, 2.950000, 2.660000, 2.420000, 2.220000, 2.140000, 2.150000, 2.160000, 2.170000, 2.180000, 2.200000, 2.210000, 2.230000, 2.250000, 2.250000, 2.260000, 2.280000, 2.310000, 2.320000, 2.350000, 2.370000, 2.390000, 2.400000, 2.430000, 2.450000, 2.480000, 2.510000, 2.550000, 2.570000, 2.610000, 2.630000, 2.670000, 2.710000, 2.750000, 2.800000, 2.840000, 2.880000, 2.930000, 2.990000, 3.040000, 3.110000, 3.170000, 3.240000, 3.310000, 3.380000, 3.450000, 3.530000, 3.630000, 3.710000, 3.810000, 3.910000, 4.020000, 4.150000, 4.270000, 4.410000, 4.560000, 4.740000, 4.910000, 5.110000, 5.330000, 5.550000, 5.810000, 6.100000, 6.400000, 6.740000, 7.130000, 7.580000, 9.760000, 19.840000, 12.680000, 12.320000, 12.190000, 12.290000, 13.030000, null, null, null, 10.580000, null, null, null, null, null, 1.960000, 1.100000, 0.760000, 0.610000, 0.530000, 0.470000, 0.440000, 0.430000, 0.440000, 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, 0, 0, 0, 0, 0, 0, 1, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054790, 660385 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.951000, 7.176000, -2.651180 ], "estimate": [ 5.951000, 7.176000, -2.651180 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.640000, 6.670000, 6.700000, 6.730000, 6.760000, 6.780000, 6.830000, 6.870000, 6.920000, 9.120000, 9.210000, 9.860000, 9.960000, 10.030000, 10.110000, 8.110000, 7.450000, 7.450000, 7.510000, 2.630000, 2.600000, 2.580000, 2.550000, 2.530000, 2.520000, 2.570000, 2.660000, 2.750000, 2.870000, 2.990000, 3.060000, 3.150000, 3.120000, 3.080000, 3.040000, 2.980000, 2.950000, 2.930000, 2.940000, 2.800000, 2.880000, 2.770000, 2.730000, 2.730000, 2.670000, 2.630000, 2.600000, 2.580000, 2.560000, 2.520000, 2.490000, 2.460000, 2.330000, 2.420000, null, null, null, null, null, null, null, null, null, null, 4.070000, 5.410000, 5.680000, 6.010000, 6.000000, 5.990000, 7.180000, 7.330000, 7.250000, 9.970000, 12.250000, 15.290000, 19.170000, 19.060000, 8.440000, 8.090000, 8.090000, 8.100000, 7.360000, 6.570000, 6.720000, 7.990000, 3.570000, 3.160000, 2.840000, 2.560000, 2.330000, 2.160000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.160000, 2.170000, 2.180000, 2.200000, 2.210000, 2.230000, 2.250000, 2.260000, 2.280000, 2.310000, 2.330000, 2.350000, 2.370000, 2.390000, 2.420000, 2.450000, 2.480000, 2.520000, 2.550000, 2.570000, 2.610000, 2.650000, 2.690000, 2.730000, 2.770000, 2.810000, 2.870000, 2.920000, 2.970000, 3.030000, 3.100000, 3.160000, 3.240000, 3.300000, 3.380000, 3.450000, 3.540000, 3.630000, 3.720000, 3.830000, 3.940000, 4.060000, 4.170000, 4.310000, 4.460000, 4.620000, 4.810000, 5.000000, 5.210000, 5.450000, 5.700000, 5.970000, 6.270000, 6.610000, 7.000000, 7.420000, 7.860000, 19.790000, 12.660000, 12.300000, 12.180000, 12.230000, null, null, null, 11.490000, 10.540000, 10.780000, 10.820000, null, null, null, 3.790000, 2.300000, 1.720000, 1.280000, 1.040000, 0.870000, 0.750000, 0.670000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054790, 720909 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.904000, 7.151000, -2.657325 ], "estimate": [ 5.904000, 7.151000, -2.657325 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.630000, 6.650000, 6.670000, 6.700000, 6.730000, 6.750000, 6.780000, 6.820000, 6.870000, 6.900000, 9.150000, 9.290000, 9.700000, 9.940000, 10.010000, 10.090000, 8.120000, 7.420000, 7.420000, 2.600000, 2.590000, 2.560000, 2.530000, 2.500000, 2.490000, 2.530000, 2.610000, 2.710000, 2.810000, 2.910000, 3.030000, 3.120000, 3.110000, 3.080000, 3.010000, 2.960000, 2.930000, 2.890000, 2.900000, 2.920000, 2.690000, 2.820000, 2.700000, 2.680000, 2.660000, 2.610000, 2.560000, 2.540000, 2.530000, 2.480000, 2.440000, 2.440000, 2.380000, 2.260000, null, null, null, null, null, null, null, null, null, null, null, 4.020000, 5.350000, 5.660000, 5.960000, 5.940000, 5.930000, 6.530000, 7.130000, 7.210000, 7.980000, 11.480000, 14.270000, 16.970000, 19.080000, 9.350000, 8.040000, 8.040000, 8.030000, 7.880000, 6.520000, 6.530000, 7.940000, 3.630000, 3.200000, 2.880000, 2.580000, 2.340000, 2.160000, 2.020000, 2.030000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.130000, 2.140000, 2.150000, 2.170000, 2.190000, 2.210000, 2.230000, 2.250000, 2.270000, 2.290000, 2.330000, 2.340000, 2.370000, 2.390000, 2.430000, 2.460000, 2.490000, 2.530000, 2.550000, 2.590000, 2.640000, 2.680000, 2.720000, 2.760000, 2.810000, 2.870000, 2.920000, 2.990000, 3.050000, 3.110000, 3.180000, 3.260000, 3.330000, 3.410000, 3.490000, 3.580000, 3.680000, 3.790000, 3.900000, 4.020000, 4.140000, 4.280000, 4.430000, 4.600000, 4.780000, 4.980000, 5.210000, 5.450000, 5.690000, 5.980000, 6.300000, 6.660000, 7.060000, 7.510000, 19.810000, 19.740000, 12.400000, 12.270000, 12.170000, 19.510000, null, null, null, null, null, null, null, null, null, null, 4.170000, 2.960000, 2.190000, 1.790000, 1.510000, 1.270000, 1.110000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054790, 920768 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.874000, 7.135000, -2.669616 ], "estimate": [ 5.874000, 7.135000, -2.669616 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.640000, 6.670000, 6.700000, 6.720000, 6.750000, 6.780000, 6.810000, 6.850000, 6.890000, 9.100000, 9.160000, 9.820000, 9.920000, 9.970000, 10.050000, 10.130000, 7.510000, 7.410000, 2.600000, 2.570000, 2.540000, 2.500000, 2.480000, 2.470000, 2.540000, 2.610000, 2.710000, 2.810000, 2.910000, 3.000000, 3.090000, 3.090000, 3.050000, 2.990000, 2.940000, 2.900000, 2.870000, 2.880000, 2.890000, 2.670000, 2.780000, 2.670000, 2.650000, 2.620000, 2.590000, 2.540000, 2.530000, 2.490000, 2.470000, 2.420000, 2.410000, 2.360000, 2.230000, null, null, null, null, null, null, null, null, null, null, null, 4.000000, 5.980000, 5.330000, 5.930000, 5.910000, 5.890000, 6.070000, 7.090000, 7.270000, 7.230000, 10.180000, 12.440000, 15.190000, 19.060000, 9.320000, 8.250000, 7.990000, 7.990000, 8.000000, 7.110000, 6.480000, 6.740000, 7.900000, 3.430000, 3.030000, 2.730000, 2.460000, 2.250000, 2.070000, 1.990000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.130000, 2.150000, 2.160000, 2.190000, 2.220000, 2.240000, 2.250000, 2.270000, 2.300000, 2.330000, 2.360000, 2.390000, 2.420000, 2.440000, 2.480000, 2.520000, 2.550000, 2.590000, 2.640000, 2.680000, 2.730000, 2.770000, 2.820000, 2.880000, 2.940000, 3.010000, 3.070000, 3.150000, 3.210000, 3.290000, 3.370000, 3.450000, 3.540000, 3.640000, 3.740000, 3.860000, 3.970000, 4.110000, 4.240000, 4.400000, 4.560000, 4.750000, 4.950000, 5.180000, 5.420000, 5.680000, 5.970000, 6.290000, 6.650000, 7.060000, 7.520000, 9.960000, 19.710000, 12.290000, 12.250000, 12.130000, 19.490000, 12.980000, null, null, 10.540000, 10.610000, 10.770000, null, null, null, null, 4.460000, 3.260000, 2.570000, 2.090000, 1.780000, 1.570000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054791, 234455 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.862000, 7.129000, -2.663471 ], "estimate": [ 5.862000, 7.129000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.630000, 6.650000, 6.680000, 6.710000, 6.730000, 6.760000, 6.780000, 6.820000, 6.860000, 6.900000, 9.090000, 9.180000, 9.860000, 9.930000, 10.000000, 10.080000, 10.170000, 7.390000, 2.580000, 2.560000, 2.530000, 2.500000, 2.470000, 2.460000, 2.510000, 2.580000, 2.670000, 2.770000, 2.880000, 2.980000, 3.060000, 3.090000, 3.040000, 2.990000, 2.940000, 2.880000, 2.860000, 2.860000, 2.860000, 2.730000, 2.780000, 2.660000, 2.630000, 2.610000, 2.570000, 2.530000, 2.500000, 2.480000, 2.440000, 2.410000, 2.400000, 2.370000, 2.240000, null, null, null, null, null, null, null, null, null, null, null, null, 5.950000, 5.290000, 5.670000, 5.900000, 5.880000, 5.880000, 6.140000, 7.070000, 7.130000, 7.680000, 10.830000, 13.330000, 15.150000, 19.030000, 9.300000, 7.980000, 7.960000, 7.960000, 7.970000, 6.440000, 6.450000, 7.860000, 3.670000, 3.240000, 2.910000, 2.620000, 2.350000, 2.160000, 2.000000, 1.960000, 1.970000, 1.970000, 1.990000, 1.990000, 2.010000, 2.020000, 2.030000, 2.050000, 2.070000, 2.070000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.220000, 2.240000, 2.270000, 2.310000, 2.340000, 2.370000, 2.390000, 2.420000, 2.450000, 2.490000, 2.530000, 2.570000, 2.610000, 2.660000, 2.700000, 2.740000, 2.800000, 2.860000, 2.920000, 2.990000, 3.050000, 3.120000, 3.180000, 3.260000, 3.350000, 3.440000, 3.530000, 3.620000, 3.720000, 3.840000, 3.960000, 4.080000, 4.220000, 4.380000, 4.540000, 4.740000, 4.940000, 5.170000, 5.410000, 5.670000, 5.970000, 6.290000, 6.670000, 7.090000, 7.580000, 9.960000, 19.680000, 12.270000, 12.190000, 12.140000, null, null, null, null, 10.510000, 10.600000, null, null, null, null, null, 4.430000, 3.350000, 2.720000, 2.240000, 1.920000, 1.700000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054791, 290995 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.861000, 7.128000, -2.663471 ], "estimate": [ 5.861000, 7.128000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.630000, 6.630000, 6.660000, 6.680000, 6.710000, 6.730000, 6.760000, 6.780000, 6.820000, 6.870000, 6.900000, 9.090000, 9.200000, 9.860000, 9.930000, 10.000000, 10.090000, 10.170000, 7.400000, 2.590000, 2.550000, 2.530000, 2.490000, 2.470000, 2.460000, 2.520000, 2.590000, 2.680000, 2.780000, 2.890000, 2.980000, 3.080000, 3.080000, 3.030000, 2.990000, 2.940000, 2.890000, 2.850000, 2.860000, 2.870000, 2.650000, 2.770000, 2.650000, 2.640000, 2.600000, 2.570000, 2.520000, 2.500000, 2.480000, 2.440000, 2.420000, 2.400000, 2.380000, 2.190000, null, null, null, null, null, null, null, null, null, null, null, null, 5.950000, 5.290000, 5.600000, 5.900000, 5.880000, 5.860000, 6.200000, 7.060000, 7.100000, 7.730000, 10.900000, 13.440000, 15.160000, 19.020000, 9.300000, 7.970000, 7.960000, 7.950000, 7.970000, 6.450000, 6.450000, 7.850000, 3.660000, 3.220000, 2.890000, 2.590000, 2.350000, 2.150000, 1.990000, 1.950000, 1.960000, 1.980000, 1.990000, 1.990000, 2.000000, 2.010000, 2.030000, 2.050000, 2.060000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.200000, 2.230000, 2.240000, 2.270000, 2.300000, 2.330000, 2.360000, 2.390000, 2.410000, 2.440000, 2.490000, 2.530000, 2.560000, 2.610000, 2.660000, 2.690000, 2.730000, 2.800000, 2.850000, 2.910000, 2.980000, 3.040000, 3.110000, 3.180000, 3.260000, 3.330000, 3.430000, 3.520000, 3.620000, 3.720000, 3.830000, 3.950000, 4.080000, 4.210000, 4.370000, 4.540000, 4.740000, 4.930000, 5.170000, 5.410000, 5.670000, 5.970000, 6.290000, 6.680000, 7.090000, 7.580000, 9.940000, 19.670000, 12.270000, 12.170000, 12.140000, null, null, null, null, 10.500000, 10.610000, null, null, null, null, null, 4.440000, 3.350000, 2.740000, 2.250000, 1.930000, 1.700000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054791, 441022 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.861000, 7.128000, -2.663471 ], "estimate": [ 5.861000, 7.128000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.620000, 6.660000, 6.680000, 6.700000, 6.740000, 6.760000, 6.790000, 6.820000, 6.860000, 6.900000, 9.090000, 9.200000, 9.850000, 9.940000, 10.010000, 10.090000, 10.180000, 7.400000, 2.590000, 2.560000, 2.530000, 2.490000, 2.470000, 2.460000, 2.520000, 2.590000, 2.680000, 2.780000, 2.890000, 2.990000, 3.080000, 3.080000, 3.040000, 2.980000, 2.930000, 2.890000, 2.860000, 2.840000, 2.870000, 2.660000, 2.770000, 2.660000, 2.640000, 2.610000, 2.550000, 2.520000, 2.500000, 2.480000, 2.440000, 2.420000, 2.400000, 2.370000, 2.200000, null, null, null, null, null, null, null, null, null, null, null, null, 5.950000, 5.290000, 5.590000, 5.900000, 5.880000, 5.870000, 6.210000, 7.070000, 7.090000, 7.760000, 10.950000, 13.500000, 15.190000, 19.020000, 9.300000, 7.980000, 7.960000, 7.960000, 7.970000, 6.450000, 6.450000, 7.850000, 3.660000, 3.220000, 2.880000, 2.590000, 2.340000, 2.150000, 2.000000, 1.960000, 1.970000, 1.980000, 1.990000, 1.990000, 2.000000, 2.020000, 2.030000, 2.050000, 2.070000, 2.070000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.220000, 2.240000, 2.270000, 2.300000, 2.330000, 2.370000, 2.390000, 2.420000, 2.450000, 2.490000, 2.530000, 2.560000, 2.610000, 2.660000, 2.700000, 2.740000, 2.800000, 2.860000, 2.910000, 2.980000, 3.050000, 3.120000, 3.190000, 3.260000, 3.340000, 3.430000, 3.530000, 3.620000, 3.730000, 3.840000, 3.960000, 4.090000, 4.220000, 4.380000, 4.540000, 4.740000, 4.940000, 5.170000, 5.420000, 5.690000, 5.990000, 6.300000, 6.680000, 7.110000, 7.590000, 9.940000, 19.680000, 12.270000, 12.170000, 12.150000, null, null, null, null, 10.550000, 10.590000, null, null, null, null, null, 4.380000, 3.320000, 2.720000, 2.240000, 1.910000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054792, 573256 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.862000, 7.129000, -2.663471 ], "estimate": [ 5.862000, 7.129000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.620000, 6.650000, 6.680000, 6.700000, 6.740000, 6.770000, 6.800000, 6.830000, 6.870000, 6.910000, 9.090000, 9.200000, 9.860000, 9.930000, 10.010000, 10.090000, 10.180000, 7.400000, 2.590000, 2.550000, 2.530000, 2.490000, 2.470000, 2.460000, 2.520000, 2.590000, 2.680000, 2.780000, 2.890000, 2.990000, 3.060000, 3.080000, 3.040000, 2.980000, 2.930000, 2.890000, 2.860000, 2.860000, 2.870000, 2.650000, 2.760000, 2.660000, 2.630000, 2.600000, 2.560000, 2.520000, 2.510000, 2.470000, 2.450000, 2.410000, 2.390000, 2.380000, 2.190000, null, null, null, null, null, null, null, null, null, null, null, null, 5.950000, 5.300000, 5.580000, 5.900000, 5.880000, 5.870000, 6.260000, 7.060000, 7.110000, 7.790000, 10.980000, 13.570000, 15.210000, 19.020000, 9.300000, 7.960000, 7.960000, 7.970000, 7.970000, 6.450000, 6.450000, 7.860000, 3.650000, 3.210000, 2.880000, 2.590000, 2.340000, 2.150000, 2.000000, 1.960000, 1.960000, 1.980000, 1.990000, 1.990000, 2.000000, 2.020000, 2.030000, 2.050000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.220000, 2.240000, 2.270000, 2.310000, 2.330000, 2.360000, 2.390000, 2.420000, 2.450000, 2.490000, 2.530000, 2.570000, 2.610000, 2.660000, 2.700000, 2.740000, 2.800000, 2.860000, 2.920000, 2.990000, 3.050000, 3.120000, 3.190000, 3.260000, 3.350000, 3.430000, 3.530000, 3.620000, 3.720000, 3.840000, 3.960000, 4.090000, 4.230000, 4.390000, 4.560000, 4.750000, 4.950000, 5.180000, 5.430000, 5.690000, 5.990000, 6.320000, 6.700000, 7.120000, 7.610000, 19.690000, 19.670000, 12.270000, 12.160000, 12.160000, null, null, null, null, 10.560000, 10.640000, null, null, null, null, null, 4.370000, 3.310000, 2.710000, 2.220000, 1.910000, 1.700000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054792, 591065 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.863000, 7.129000, -2.663471 ], "estimate": [ 5.863000, 7.129000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.630000, 6.660000, 6.680000, 6.710000, 6.740000, 6.760000, 6.790000, 6.830000, 6.860000, 6.890000, 9.090000, 9.200000, 9.860000, 9.930000, 10.000000, 10.080000, 10.170000, 7.390000, 2.580000, 2.560000, 2.530000, 2.490000, 2.470000, 2.460000, 2.520000, 2.590000, 2.680000, 2.780000, 2.890000, 2.990000, 3.070000, 3.070000, 3.030000, 2.980000, 2.930000, 2.900000, 2.860000, 2.850000, 2.860000, 2.650000, 2.770000, 2.670000, 2.630000, 2.600000, 2.570000, 2.530000, 2.500000, 2.480000, 2.430000, 2.410000, 2.390000, 2.380000, 2.180000, null, null, null, null, null, null, null, null, null, null, null, null, 5.950000, 5.300000, 5.580000, 5.900000, 5.870000, 5.870000, 6.260000, 7.070000, 7.100000, 7.780000, 10.980000, 13.570000, 15.210000, 19.010000, 9.290000, 7.970000, 7.960000, 7.950000, 7.970000, 6.450000, 6.450000, 7.860000, 3.640000, 3.200000, 2.880000, 2.590000, 2.330000, 2.150000, 2.000000, 1.960000, 1.970000, 1.980000, 1.990000, 1.990000, 2.000000, 2.020000, 2.030000, 2.050000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.230000, 2.240000, 2.270000, 2.300000, 2.340000, 2.360000, 2.390000, 2.420000, 2.450000, 2.490000, 2.540000, 2.560000, 2.610000, 2.650000, 2.700000, 2.740000, 2.800000, 2.860000, 2.920000, 2.990000, 3.050000, 3.120000, 3.190000, 3.260000, 3.340000, 3.430000, 3.530000, 3.630000, 3.720000, 3.840000, 3.960000, 4.090000, 4.220000, 4.380000, 4.550000, 4.750000, 4.940000, 5.180000, 5.420000, 5.680000, 5.990000, 6.310000, 6.700000, 7.110000, 7.600000, 19.690000, 19.670000, 12.260000, 12.160000, 12.150000, null, null, null, null, 10.560000, 10.640000, null, null, null, null, null, 4.370000, 3.310000, 2.710000, 2.220000, 1.900000, 1.700000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054792, 592105 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.868000, 7.132000, -2.651180 ], "estimate": [ 5.868000, 7.132000, -2.651180 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.630000, 6.660000, 6.680000, 6.710000, 6.740000, 6.760000, 6.790000, 6.840000, 6.870000, 6.920000, 9.090000, 9.210000, 9.870000, 9.940000, 10.000000, 10.080000, 10.180000, 7.410000, 2.580000, 2.560000, 2.530000, 2.490000, 2.470000, 2.460000, 2.520000, 2.600000, 2.680000, 2.780000, 2.890000, 2.990000, 3.070000, 3.080000, 3.040000, 2.990000, 2.930000, 2.900000, 2.850000, 2.850000, 2.860000, 2.660000, 2.780000, 2.660000, 2.630000, 2.600000, 2.560000, 2.520000, 2.500000, 2.480000, 2.450000, 2.400000, 2.400000, 2.380000, 2.200000, null, null, null, null, null, null, null, null, null, null, null, null, 5.960000, 5.300000, 5.590000, 5.900000, 5.870000, 5.870000, 6.260000, 7.070000, 7.090000, 7.770000, 10.970000, 13.570000, 15.220000, 19.010000, 9.290000, 7.980000, 7.960000, 7.970000, 7.970000, 6.450000, 6.450000, 7.860000, 3.650000, 3.220000, 2.880000, 2.590000, 2.340000, 2.150000, 2.000000, 1.960000, 1.970000, 1.980000, 1.990000, 1.990000, 2.000000, 2.020000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.230000, 2.240000, 2.270000, 2.300000, 2.340000, 2.360000, 2.390000, 2.430000, 2.460000, 2.500000, 2.530000, 2.570000, 2.610000, 2.650000, 2.700000, 2.740000, 2.800000, 2.860000, 2.920000, 2.990000, 3.050000, 3.130000, 3.190000, 3.260000, 3.340000, 3.430000, 3.530000, 3.630000, 3.720000, 3.830000, 3.960000, 4.090000, 4.220000, 4.380000, 4.540000, 4.750000, 4.950000, 5.180000, 5.430000, 5.680000, 5.990000, 6.320000, 6.690000, 7.120000, 7.610000, 19.660000, 19.670000, 12.260000, 12.170000, 12.160000, null, 11.400000, null, null, 10.550000, 10.630000, null, null, null, null, null, 4.370000, 3.310000, 2.710000, 2.230000, 1.910000, 1.700000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054792, 593052 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.886000, 7.141000, -2.657325 ], "estimate": [ 5.886000, 7.141000, -2.657325 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.630000, 6.650000, 6.680000, 6.700000, 6.730000, 6.760000, 6.780000, 6.820000, 6.860000, 6.910000, 9.080000, 9.170000, 9.850000, 9.930000, 10.000000, 10.080000, 8.050000, 7.390000, 2.570000, 2.570000, 2.540000, 2.510000, 2.480000, 2.460000, 2.500000, 2.580000, 2.660000, 2.750000, 2.860000, 2.960000, 3.040000, 3.090000, 3.050000, 3.000000, 2.940000, 2.890000, 2.860000, 2.850000, 2.860000, 2.690000, 2.780000, 2.660000, 2.640000, 2.620000, 2.590000, 2.540000, 2.510000, 2.490000, 2.460000, 2.410000, 2.400000, 2.380000, 2.230000, null, null, null, null, null, null, null, null, null, null, null, null, 3.970000, 5.310000, 5.830000, 5.900000, 5.890000, 5.870000, 6.130000, 7.080000, 7.130000, 7.620000, 10.770000, 13.260000, 15.140000, 19.030000, 9.300000, 7.980000, 7.970000, 7.970000, 7.970000, 6.450000, 6.460000, 7.870000, 3.690000, 3.250000, 2.910000, 2.610000, 2.360000, 2.160000, 2.010000, 1.970000, 1.980000, 1.990000, 1.990000, 2.000000, 2.010000, 2.030000, 2.040000, 2.060000, 2.080000, 2.090000, 2.100000, 2.110000, 2.130000, 2.150000, 2.170000, 2.190000, 2.220000, 2.230000, 2.250000, 2.290000, 2.310000, 2.340000, 2.370000, 2.400000, 2.420000, 2.460000, 2.500000, 2.540000, 2.570000, 2.620000, 2.660000, 2.700000, 2.750000, 2.800000, 2.870000, 2.920000, 2.990000, 3.060000, 3.130000, 3.200000, 3.270000, 3.360000, 3.430000, 3.540000, 3.630000, 3.740000, 3.840000, 3.970000, 4.100000, 4.230000, 4.390000, 4.560000, 4.750000, 4.950000, 5.190000, 5.430000, 5.680000, 5.990000, 6.310000, 6.690000, 7.100000, 7.590000, 9.950000, 19.680000, 12.270000, 12.160000, 12.140000, null, 11.400000, null, null, 10.560000, 10.600000, null, null, null, null, null, 4.300000, 3.230000, 2.590000, 2.130000, 1.850000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054792, 594041 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.916000, 7.157000, -2.663471 ], "estimate": [ 5.916000, 7.157000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.610000, 6.620000, 6.640000, 6.660000, 6.700000, 6.730000, 6.740000, 6.770000, 6.800000, 6.850000, 6.880000, 9.110000, 9.160000, 9.810000, 9.910000, 9.970000, 10.050000, 10.130000, 7.510000, 7.400000, 2.600000, 2.570000, 2.540000, 2.510000, 2.480000, 2.470000, 2.530000, 2.620000, 2.710000, 2.810000, 2.900000, 3.000000, 3.100000, 3.100000, 3.050000, 2.990000, 2.950000, 2.910000, 2.870000, 2.870000, 2.880000, 2.660000, 2.790000, 2.670000, 2.650000, 2.630000, 2.580000, 2.540000, 2.520000, 2.510000, 2.460000, 2.420000, 2.400000, 2.400000, 2.240000, null, null, null, null, null, null, null, 3.120000, null, null, null, 3.980000, 5.980000, 5.320000, 5.940000, 5.910000, 5.900000, 6.040000, 7.090000, 7.300000, 7.210000, 10.140000, 12.420000, 15.190000, 19.070000, 9.310000, 8.250000, 8.000000, 7.990000, 8.000000, 7.110000, 6.490000, 6.670000, 7.900000, 3.450000, 3.040000, 2.740000, 2.460000, 2.250000, 2.080000, 1.990000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.050000, 2.070000, 2.080000, 2.100000, 2.110000, 2.110000, 2.130000, 2.140000, 2.160000, 2.190000, 2.210000, 2.240000, 2.250000, 2.280000, 2.300000, 2.330000, 2.360000, 2.390000, 2.420000, 2.440000, 2.490000, 2.520000, 2.550000, 2.600000, 2.640000, 2.680000, 2.720000, 2.770000, 2.820000, 2.880000, 2.940000, 3.010000, 3.070000, 3.150000, 3.220000, 3.290000, 3.360000, 3.450000, 3.550000, 3.640000, 3.750000, 3.860000, 3.980000, 4.100000, 4.240000, 4.390000, 4.560000, 4.750000, 4.950000, 5.180000, 5.410000, 5.680000, 5.970000, 6.290000, 6.650000, 7.060000, 7.520000, 9.960000, 19.720000, 12.280000, 12.250000, 12.130000, 15.910000, 12.980000, null, null, 10.510000, 10.600000, 10.740000, null, null, null, null, 4.350000, 3.170000, 2.490000, 2.020000, 1.750000, 1.520000 ], "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, 0, 0, 0, 0, 0, 0, 0, 1, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054792, 632560 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.935000, 7.167000, -2.669616 ], "estimate": [ 5.935000, 7.167000, -2.669616 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.620000, 6.650000, 6.670000, 6.700000, 6.730000, 6.750000, 6.790000, 6.830000, 6.860000, 6.910000, 9.130000, 9.230000, 9.660000, 9.940000, 10.010000, 10.090000, 8.110000, 7.410000, 7.430000, 2.610000, 2.580000, 2.560000, 2.540000, 2.510000, 2.490000, 2.530000, 2.610000, 2.710000, 2.810000, 2.910000, 3.020000, 3.110000, 3.110000, 3.070000, 3.010000, 2.970000, 2.920000, 2.890000, 2.900000, 2.900000, 2.700000, 2.820000, 2.700000, 2.680000, 2.660000, 2.610000, 2.560000, 2.540000, 2.530000, 2.500000, 2.460000, 2.440000, 2.400000, 2.270000, null, null, null, null, null, null, null, null, null, null, null, 4.010000, 5.360000, 5.720000, 5.970000, 5.940000, 5.930000, 6.280000, 7.130000, 7.270000, 7.890000, 11.300000, 14.010000, 15.370000, 19.080000, 9.350000, 8.040000, 8.030000, 8.030000, 7.940000, 6.520000, 6.520000, 7.930000, 3.640000, 3.200000, 2.880000, 2.590000, 2.350000, 2.170000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.090000, 2.110000, 2.120000, 2.120000, 2.140000, 2.150000, 2.160000, 2.190000, 2.200000, 2.230000, 2.250000, 2.270000, 2.290000, 2.310000, 2.340000, 2.360000, 2.390000, 2.420000, 2.460000, 2.490000, 2.520000, 2.550000, 2.580000, 2.630000, 2.670000, 2.720000, 2.760000, 2.800000, 2.870000, 2.920000, 2.980000, 3.040000, 3.110000, 3.170000, 3.250000, 3.320000, 3.410000, 3.480000, 3.580000, 3.670000, 3.780000, 3.870000, 4.000000, 4.130000, 4.260000, 4.420000, 4.580000, 4.760000, 4.970000, 5.190000, 5.410000, 5.690000, 5.960000, 6.260000, 6.620000, 7.020000, 7.480000, 9.740000, 19.750000, 12.390000, 12.270000, 12.180000, 12.290000, null, null, null, null, null, null, null, null, null, null, 4.090000, 2.880000, 2.130000, 1.760000, 1.470000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054792, 982782 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.931000, 7.166000, -2.663471 ], "estimate": [ 5.931000, 7.166000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.630000, 6.650000, 6.680000, 6.710000, 6.740000, 6.770000, 6.790000, 6.830000, 6.870000, 6.920000, 9.100000, 9.200000, 9.870000, 9.950000, 10.020000, 10.100000, 8.080000, 7.420000, 7.450000, 2.590000, 2.590000, 2.570000, 2.540000, 2.510000, 2.500000, 2.540000, 2.620000, 2.710000, 2.810000, 2.920000, 3.030000, 3.120000, 3.120000, 3.070000, 3.020000, 2.980000, 2.940000, 2.900000, 2.910000, 2.920000, 2.700000, 2.830000, 2.720000, 2.700000, 2.660000, 2.620000, 2.580000, 2.540000, 2.550000, 2.500000, 2.470000, 2.460000, 2.390000, 2.250000, null, null, null, null, null, null, 3.160000, null, null, null, null, 6.040000, 5.450000, 5.640000, 5.980000, 5.950000, 5.940000, 7.130000, 7.130000, 7.200000, 9.770000, 11.770000, 14.900000, 19.120000, 19.080000, 8.590000, 8.050000, 8.040000, 8.050000, 7.560000, 6.530000, 6.540000, 7.940000, 3.550000, 3.130000, 2.820000, 2.530000, 2.310000, 2.130000, 2.040000, 2.040000, 2.060000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.130000, 2.130000, 2.150000, 2.170000, 2.190000, 2.210000, 2.230000, 2.250000, 2.260000, 2.290000, 2.310000, 2.330000, 2.360000, 2.380000, 2.410000, 2.450000, 2.480000, 2.510000, 2.540000, 2.570000, 2.610000, 2.650000, 2.700000, 2.740000, 2.790000, 2.830000, 2.890000, 2.950000, 3.010000, 3.070000, 3.140000, 3.210000, 3.280000, 3.360000, 3.430000, 3.530000, 3.620000, 3.720000, 3.820000, 3.930000, 4.050000, 4.190000, 4.320000, 4.490000, 4.650000, 4.840000, 5.040000, 5.270000, 5.510000, 5.770000, 6.060000, 6.380000, 6.750000, 7.160000, 7.620000, 9.980000, 19.740000, 12.300000, 12.250000, 12.140000, 19.500000, 13.000000, null, null, 10.530000, 10.610000, 10.770000, null, null, null, null, 3.470000, 2.500000, 1.910000, 1.600000, 1.320000, 1.130000, 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, 0, 0, 0, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054793, 100844 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.930000, 7.165000, -2.663471 ], "estimate": [ 5.930000, 7.165000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.620000, 6.650000, 6.680000, 6.700000, 6.740000, 6.760000, 6.790000, 6.820000, 6.860000, 6.920000, 9.130000, 9.220000, 9.780000, 9.950000, 10.020000, 10.090000, 8.110000, 7.420000, 7.430000, 2.610000, 2.580000, 2.570000, 2.540000, 2.510000, 2.500000, 2.530000, 2.610000, 2.710000, 2.810000, 2.910000, 3.040000, 3.120000, 3.110000, 3.070000, 3.040000, 2.970000, 2.920000, 2.900000, 2.900000, 2.900000, 2.700000, 2.820000, 2.710000, 2.680000, 2.660000, 2.620000, 2.580000, 2.550000, 2.530000, 2.500000, 2.470000, 2.450000, 2.410000, 2.270000, null, null, null, null, null, null, null, null, null, null, null, 4.020000, 5.360000, 5.660000, 5.970000, 5.950000, 5.940000, 6.490000, 7.130000, 7.220000, 7.970000, 11.450000, 14.330000, 16.970000, 19.090000, 9.350000, 8.030000, 8.030000, 8.040000, 7.900000, 6.530000, 6.530000, 7.940000, 3.620000, 3.180000, 2.870000, 2.570000, 2.330000, 2.150000, 2.040000, 2.040000, 2.040000, 2.060000, 2.070000, 2.080000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.160000, 2.170000, 2.200000, 2.210000, 2.240000, 2.250000, 2.280000, 2.300000, 2.320000, 2.350000, 2.370000, 2.400000, 2.430000, 2.460000, 2.490000, 2.520000, 2.550000, 2.600000, 2.640000, 2.680000, 2.730000, 2.760000, 2.810000, 2.880000, 2.930000, 2.990000, 3.050000, 3.120000, 3.190000, 3.250000, 3.330000, 3.420000, 3.500000, 3.590000, 3.700000, 3.780000, 3.890000, 4.020000, 4.140000, 4.280000, 4.440000, 4.600000, 4.780000, 5.000000, 5.210000, 5.450000, 5.690000, 5.990000, 6.310000, 6.660000, 7.060000, 7.510000, 19.810000, 19.740000, 12.370000, 12.280000, 12.160000, 19.500000, null, 11.410000, null, null, null, 10.760000, null, null, null, null, 3.930000, 2.810000, 2.080000, 1.730000, 1.440000, 1.210000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054793, 409484 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.929000, 7.164000, -2.663471 ], "estimate": [ 5.929000, 7.164000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.630000, 6.640000, 6.680000, 6.700000, 6.730000, 6.760000, 6.780000, 6.820000, 6.860000, 6.900000, 9.130000, 9.210000, 9.720000, 9.930000, 10.010000, 10.090000, 8.120000, 7.450000, 7.430000, 7.500000, 2.590000, 2.570000, 2.540000, 2.510000, 2.500000, 2.530000, 2.610000, 2.700000, 2.810000, 2.910000, 3.020000, 3.120000, 3.130000, 3.080000, 3.030000, 2.980000, 2.940000, 2.910000, 2.900000, 2.910000, 2.740000, 2.830000, 2.720000, 2.680000, 2.660000, 2.620000, 2.580000, 2.550000, 2.540000, 2.500000, 2.460000, 2.460000, 2.430000, 2.280000, null, null, null, null, null, null, null, null, null, null, null, 4.010000, 5.360000, 5.740000, 5.960000, 5.950000, 5.940000, 6.320000, 7.130000, 7.240000, 7.920000, 11.310000, 14.040000, 15.360000, 19.100000, 9.350000, 8.050000, 8.040000, 8.040000, 7.990000, 6.530000, 6.530000, 7.940000, 3.650000, 3.200000, 2.880000, 2.580000, 2.340000, 2.170000, 2.030000, 2.040000, 2.040000, 2.050000, 2.070000, 2.080000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.150000, 2.170000, 2.190000, 2.210000, 2.240000, 2.250000, 2.270000, 2.310000, 2.320000, 2.350000, 2.370000, 2.400000, 2.430000, 2.460000, 2.490000, 2.520000, 2.550000, 2.600000, 2.640000, 2.680000, 2.730000, 2.760000, 2.810000, 2.870000, 2.920000, 2.990000, 3.050000, 3.120000, 3.190000, 3.250000, 3.330000, 3.410000, 3.500000, 3.580000, 3.690000, 3.780000, 3.890000, 4.020000, 4.140000, 4.280000, 4.430000, 4.600000, 4.780000, 4.980000, 5.200000, 5.440000, 5.700000, 5.990000, 6.300000, 6.640000, 7.040000, 7.500000, 9.790000, 19.750000, 12.400000, 12.270000, 12.180000, 12.280000, null, null, null, null, null, null, null, null, null, null, 3.990000, 2.860000, 2.090000, 1.740000, 1.450000, 1.220000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054793, 430587 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.925000, 7.162000, -2.669616 ], "estimate": [ 5.925000, 7.162000, -2.669616 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.610000, 6.630000, 6.650000, 6.680000, 6.700000, 6.730000, 6.750000, 6.770000, 6.820000, 6.850000, 6.900000, 9.130000, 9.200000, 9.710000, 9.940000, 10.020000, 10.080000, 8.110000, 7.430000, 7.430000, 2.630000, 2.580000, 2.560000, 2.530000, 2.500000, 2.490000, 2.530000, 2.600000, 2.710000, 2.810000, 2.910000, 3.020000, 3.120000, 3.120000, 3.070000, 3.030000, 2.980000, 2.930000, 2.900000, 2.900000, 2.920000, 2.720000, 2.820000, 2.710000, 2.680000, 2.660000, 2.620000, 2.570000, 2.540000, 2.540000, 2.500000, 2.450000, 2.450000, 2.430000, 2.280000, null, null, null, null, null, null, null, null, null, null, null, 4.020000, 5.350000, 5.740000, 5.960000, 5.940000, 5.930000, 6.320000, 7.130000, 7.230000, 7.940000, 11.310000, 14.080000, 15.390000, 19.090000, 9.360000, 8.050000, 8.040000, 8.050000, 7.980000, 6.520000, 6.530000, 7.940000, 3.640000, 3.200000, 2.890000, 2.580000, 2.350000, 2.160000, 2.030000, 2.030000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.110000, 2.120000, 2.130000, 2.150000, 2.160000, 2.170000, 2.190000, 2.220000, 2.240000, 2.250000, 2.270000, 2.300000, 2.330000, 2.350000, 2.360000, 2.400000, 2.430000, 2.460000, 2.500000, 2.530000, 2.560000, 2.590000, 2.640000, 2.680000, 2.730000, 2.770000, 2.810000, 2.870000, 2.930000, 2.990000, 3.050000, 3.120000, 3.180000, 3.250000, 3.330000, 3.410000, 3.490000, 3.580000, 3.690000, 3.780000, 3.890000, 4.020000, 4.140000, 4.270000, 4.430000, 4.590000, 4.770000, 4.980000, 5.200000, 5.440000, 5.690000, 5.980000, 6.290000, 6.640000, 7.030000, 7.500000, 9.730000, 19.750000, 12.400000, 12.270000, 12.180000, 12.270000, null, null, null, null, null, null, null, null, null, null, 4.000000, 2.860000, 2.080000, 1.730000, 1.430000, 1.220000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054793, 912500 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.899000, 7.149000, -2.681907 ], "estimate": [ 5.899000, 7.149000, -2.681907 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.610000, 6.620000, 6.640000, 6.670000, 6.700000, 6.720000, 6.740000, 6.780000, 6.820000, 6.860000, 6.900000, 9.130000, 9.210000, 9.680000, 9.930000, 10.010000, 10.090000, 10.170000, 7.450000, 7.420000, 2.580000, 2.570000, 2.560000, 2.520000, 2.490000, 2.480000, 2.530000, 2.610000, 2.700000, 2.800000, 2.910000, 3.020000, 3.110000, 3.110000, 3.080000, 3.020000, 2.970000, 2.930000, 2.900000, 2.900000, 2.910000, 2.720000, 2.820000, 2.700000, 2.680000, 2.650000, 2.610000, 2.570000, 2.530000, 2.540000, 2.500000, 2.440000, 2.440000, 2.400000, 2.250000, null, null, null, null, null, null, null, null, null, null, null, 4.000000, 5.370000, 5.740000, 5.950000, 5.940000, 5.930000, 6.200000, 7.130000, 7.180000, 7.820000, 11.110000, 13.780000, 15.320000, 19.090000, 9.350000, 8.040000, 8.040000, 8.040000, 8.040000, 6.510000, 6.520000, 7.940000, 3.680000, 3.240000, 2.910000, 2.610000, 2.360000, 2.170000, 2.030000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.100000, 2.120000, 2.120000, 2.140000, 2.150000, 2.160000, 2.180000, 2.200000, 2.220000, 2.250000, 2.260000, 2.290000, 2.320000, 2.340000, 2.360000, 2.390000, 2.410000, 2.450000, 2.490000, 2.520000, 2.550000, 2.580000, 2.620000, 2.660000, 2.710000, 2.750000, 2.810000, 2.850000, 2.910000, 2.970000, 3.030000, 3.100000, 3.160000, 3.240000, 3.310000, 3.380000, 3.470000, 3.550000, 3.660000, 3.760000, 3.880000, 3.980000, 4.120000, 4.240000, 4.400000, 4.560000, 4.740000, 4.940000, 5.160000, 5.390000, 5.650000, 5.940000, 6.240000, 6.590000, 6.980000, 7.420000, 9.720000, 19.780000, 12.590000, 12.270000, 12.150000, 12.260000, null, null, null, null, 10.550000, null, null, null, null, null, 4.400000, 3.100000, 2.290000, 1.850000, 1.580000, 1.340000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054793, 913663 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.838000, 7.119000, -2.688053 ], "estimate": [ 5.838000, 7.119000, -2.688053 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.610000, 6.620000, 6.630000, 6.650000, 6.680000, 6.710000, 6.730000, 6.760000, 6.790000, 6.820000, 6.860000, 6.900000, 9.100000, 9.300000, 9.870000, 9.950000, 10.020000, 10.100000, 10.180000, 7.410000, 2.570000, 2.570000, 2.540000, 2.510000, 2.480000, 2.460000, 2.500000, 2.580000, 2.670000, 2.760000, 2.870000, 2.990000, 3.050000, 3.090000, 3.050000, 3.000000, 2.960000, 2.910000, 2.860000, 2.880000, 2.870000, 2.720000, 2.790000, 2.670000, 2.640000, 2.620000, 2.590000, 2.540000, 2.520000, 2.510000, 2.470000, 2.430000, 2.410000, 2.390000, 2.260000, null, null, null, null, null, null, null, null, null, null, null, null, 5.970000, 5.350000, 5.590000, 5.910000, 5.900000, 5.890000, 7.030000, 7.090000, 7.150000, 7.940000, 11.410000, 14.180000, 16.920000, 19.040000, 9.310000, 8.000000, 7.990000, 8.000000, 7.940000, 6.470000, 6.480000, 7.890000, 3.590000, 3.170000, 2.840000, 2.560000, 2.320000, 2.140000, 1.970000, 1.990000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.050000, 2.070000, 2.080000, 2.100000, 2.120000, 2.110000, 2.140000, 2.150000, 2.170000, 2.200000, 2.220000, 2.240000, 2.260000, 2.280000, 2.310000, 2.340000, 2.360000, 2.400000, 2.430000, 2.470000, 2.510000, 2.540000, 2.570000, 2.610000, 2.650000, 2.710000, 2.750000, 2.800000, 2.850000, 2.910000, 2.970000, 3.030000, 3.110000, 3.170000, 3.250000, 3.330000, 3.410000, 3.500000, 3.590000, 3.690000, 3.800000, 3.910000, 4.030000, 4.170000, 4.310000, 4.480000, 4.660000, 4.860000, 5.060000, 5.290000, 5.540000, 5.840000, 6.120000, 6.450000, 6.860000, 7.300000, 7.780000, 19.770000, 12.600000, 12.270000, 12.140000, 12.220000, 12.970000, null, null, 11.470000, 10.520000, 10.730000, null, null, null, null, null, 3.780000, 2.970000, 2.350000, 1.950000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1 ], "timestamp": [ 976054794, 100757 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.762000, 7.082000, -2.694198 ], "estimate": [ 5.762000, 7.082000, -2.694198 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.610000, 6.620000, 6.650000, 6.670000, 6.690000, 6.720000, 6.730000, 6.760000, 6.800000, 6.840000, 6.880000, 9.120000, 9.220000, 9.670000, 9.890000, 9.960000, 10.030000, 10.110000, 7.390000, 2.550000, 2.520000, 2.480000, 2.450000, 2.430000, 2.440000, 2.510000, 2.590000, 2.680000, 2.760000, 2.870000, 2.970000, 3.040000, 3.050000, 3.000000, 2.960000, 2.900000, 2.850000, 2.830000, 2.820000, 2.840000, 2.600000, 2.730000, 2.620000, 2.590000, 2.560000, 2.520000, 2.490000, 2.450000, 2.440000, 2.400000, 2.370000, 2.370000, 2.340000, 2.170000, null, null, null, null, null, null, null, 3.010000, null, null, null, null, 5.930000, 5.890000, 5.250000, 5.860000, 5.840000, 5.810000, 5.850000, 7.010000, 7.300000, 7.090000, 9.640000, 11.640000, 14.630000, 16.890000, 18.970000, 8.610000, 7.910000, 7.920000, 7.930000, 7.600000, 6.400000, 6.410000, 7.820000, 3.490000, 3.070000, 2.760000, 2.470000, 2.260000, 2.080000, 1.920000, 1.910000, 1.910000, 1.920000, 1.930000, 1.950000, 1.960000, 1.980000, 1.990000, 2.000000, 2.010000, 2.030000, 2.050000, 2.060000, 2.080000, 2.090000, 2.110000, 2.130000, 2.150000, 2.180000, 2.210000, 2.230000, 2.250000, 2.280000, 2.310000, 2.350000, 2.370000, 2.410000, 2.450000, 2.480000, 2.520000, 2.550000, 2.600000, 2.650000, 2.700000, 2.740000, 2.800000, 2.860000, 2.920000, 2.990000, 3.050000, 3.130000, 3.200000, 3.290000, 3.370000, 3.460000, 3.550000, 3.650000, 3.770000, 3.890000, 4.020000, 4.150000, 4.310000, 4.480000, 4.670000, 4.880000, 5.100000, 5.350000, 5.630000, 5.920000, 6.250000, 6.620000, 7.040000, 7.530000, 16.470000, 15.600000, 12.250000, 12.150000, 12.140000, 12.620000, null, null, null, 10.520000, 10.630000, null, null, null, null, null, 4.970000, 3.870000, 3.160000, 2.650000, 2.270000 ], "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, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1 ], "timestamp": [ 976054794, 406265 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.707000, 7.056000, -2.737217 ], "estimate": [ 5.707000, 7.056000, -2.737217 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.630000, 6.650000, 6.690000, 6.700000, 6.730000, 6.740000, 6.770000, 6.810000, 6.850000, 9.100000, 9.100000, 9.560000, 9.800000, 9.910000, 9.970000, 10.050000, 2.550000, 2.500000, 2.460000, 2.430000, 2.400000, 2.410000, 2.460000, 2.540000, 2.610000, 2.690000, 2.780000, 2.880000, 2.920000, 3.000000, 2.990000, 2.950000, 2.900000, 2.840000, 2.810000, 2.770000, 2.780000, 2.580000, 2.760000, 2.660000, 2.560000, 2.530000, 2.490000, 2.460000, 2.420000, 2.390000, 2.350000, 2.330000, 2.300000, 2.300000, 2.170000, 2.120000, null, null, null, null, null, null, null, null, null, null, null, null, null, 5.860000, 5.810000, 5.430000, 5.780000, 5.750000, 5.730000, 5.920000, 6.930000, 7.390000, 6.980000, 9.680000, 11.660000, 14.670000, 16.790000, 18.890000, 9.160000, 7.840000, 7.830000, 7.830000, 7.820000, 6.310000, 6.310000, 7.730000, 3.490000, 3.070000, 2.750000, 2.490000, 2.260000, 2.050000, 1.900000, 1.820000, 1.830000, 1.830000, 1.840000, 1.850000, 1.870000, 1.880000, 1.900000, 1.910000, 1.920000, 1.930000, 1.960000, 1.970000, 1.980000, 1.990000, 2.010000, 2.030000, 2.060000, 2.080000, 2.110000, 2.110000, 2.140000, 2.170000, 2.200000, 2.240000, 2.260000, 2.300000, 2.340000, 2.360000, 2.390000, 2.440000, 2.490000, 2.530000, 2.570000, 2.610000, 2.670000, 2.720000, 2.780000, 2.850000, 2.910000, 2.990000, 3.050000, 3.130000, 3.210000, 3.290000, 3.390000, 3.500000, 3.600000, 3.690000, 3.830000, 3.950000, 4.100000, 4.260000, 4.440000, 4.630000, 4.850000, 5.090000, 5.350000, 5.630000, 5.950000, 6.280000, 6.680000, 7.150000, 7.670000, 19.650000, 12.520000, 12.200000, 12.100000, 19.420000, null, null, null, null, 10.510000, 10.710000, null, null, null, null, null, 5.260000, 4.260000, 3.540000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1 ], "timestamp": [ 976054794, 451114 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.666000, 7.040000, -2.798672 ], "estimate": [ 5.666000, 7.040000, -2.798672 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.570000, 6.590000, 6.600000, 6.590000, 6.620000, 6.630000, 6.650000, 6.680000, 6.700000, 6.720000, 6.740000, 6.770000, 6.810000, 6.850000, 9.080000, 9.120000, 9.600000, 9.760000, 9.890000, 9.960000, 10.020000, 2.490000, 2.460000, 2.420000, 2.390000, 2.380000, 2.430000, 2.500000, 2.560000, 2.630000, 2.720000, 2.810000, 2.880000, 2.950000, 2.980000, 2.950000, 2.880000, 2.830000, 2.810000, 2.750000, 2.740000, 2.740000, 2.520000, 2.670000, 2.590000, 2.500000, 2.480000, 2.460000, 2.380000, 2.360000, 2.340000, 2.320000, 2.290000, 2.270000, 2.260000, 2.060000, 2.170000, null, null, null, null, null, null, null, null, null, null, null, null, null, 5.820000, 5.780000, 5.230000, 5.740000, 5.720000, 5.690000, 5.750000, 6.880000, 7.020000, 6.950000, 7.770000, 11.140000, 13.650000, 15.110000, 18.840000, 9.080000, 7.790000, 7.780000, 7.790000, 7.790000, 6.300000, 6.270000, 7.680000, 3.590000, 3.190000, 2.830000, 2.560000, 2.300000, 2.110000, 1.950000, 1.810000, 1.780000, 1.790000, 1.800000, 1.810000, 1.820000, 1.830000, 1.840000, 1.850000, 1.870000, 1.880000, 1.890000, 1.900000, 1.920000, 1.940000, 1.960000, 1.980000, 2.000000, 2.020000, 2.050000, 2.060000, 2.090000, 2.110000, 2.130000, 2.160000, 2.190000, 2.230000, 2.260000, 2.300000, 2.340000, 2.360000, 2.400000, 2.450000, 2.500000, 2.540000, 2.580000, 2.640000, 2.700000, 2.750000, 2.810000, 2.880000, 2.950000, 3.030000, 3.110000, 3.190000, 3.280000, 3.360000, 3.460000, 3.580000, 3.690000, 3.820000, 3.960000, 4.120000, 4.280000, 4.460000, 4.670000, 4.890000, 5.150000, 5.410000, 5.700000, 6.030000, 6.400000, 6.840000, 7.340000, 9.920000, 19.590000, 12.210000, 12.140000, 12.140000, null, null, null, 11.430000, 10.460000, 10.590000, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0 ], "timestamp": [ 976054794, 630548 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.626000, 7.026000, -2.829400 ], "estimate": [ 5.626000, 7.026000, -2.829400 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.560000, 6.560000, 6.560000, 6.580000, 6.600000, 6.610000, 6.620000, 6.630000, 6.660000, 6.670000, 6.690000, 6.730000, 6.750000, 6.770000, 6.820000, 6.860000, 9.080000, 9.160000, 9.610000, 9.810000, 9.900000, 2.510000, 2.470000, 2.440000, 2.400000, 2.380000, 2.370000, 2.400000, 2.460000, 2.530000, 2.590000, 2.670000, 2.750000, 2.850000, 2.900000, 2.960000, 2.930000, 2.890000, 2.810000, 2.780000, 2.740000, 2.720000, 2.720000, 2.540000, 2.660000, 2.580000, 2.500000, 2.460000, 2.410000, 2.370000, 2.340000, 2.320000, 2.310000, 2.250000, 2.220000, 2.220000, 2.020000, 2.060000, null, null, null, null, null, null, null, null, null, null, null, null, null, 3.730000, 5.760000, 5.110000, 5.400000, 5.690000, 5.660000, 5.650000, 5.840000, 6.850000, 7.290000, 6.910000, 9.500000, 11.380000, 14.100000, 16.680000, 18.790000, 9.070000, 7.740000, 7.740000, 7.740000, 7.740000, 6.230000, 6.240000, 7.650000, 3.470000, 3.070000, 2.740000, 2.480000, 2.250000, 2.060000, 1.900000, 1.770000, 1.750000, 1.750000, 1.750000, 1.770000, 1.780000, 1.790000, 1.810000, 1.820000, 1.830000, 1.840000, 1.850000, 1.870000, 1.880000, 1.900000, 1.910000, 1.940000, 1.960000, 1.980000, 2.000000, 2.020000, 2.040000, 2.070000, 2.100000, 2.120000, 2.150000, 2.190000, 2.220000, 2.250000, 2.290000, 2.330000, 2.360000, 2.400000, 2.450000, 2.500000, 2.530000, 2.590000, 2.640000, 2.710000, 2.770000, 2.830000, 2.900000, 2.980000, 3.050000, 3.130000, 3.230000, 3.310000, 3.410000, 3.520000, 3.630000, 3.750000, 3.900000, 4.040000, 4.220000, 4.390000, 4.600000, 4.820000, 5.070000, 5.350000, 5.640000, 5.970000, 6.360000, 6.770000, 7.260000, 9.890000, 12.560000, 12.200000, 12.100000, 12.130000, null, null, null, null, 10.480000, 10.570000, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0 ], "timestamp": [ 976054795, 788272 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.566000, 7.008000, -2.860128 ], "estimate": [ 5.566000, 7.008000, -2.860128 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.550000, 6.560000, 6.570000, 6.580000, 6.580000, 6.580000, 6.610000, 6.620000, 6.630000, 6.660000, 6.670000, 6.700000, 6.720000, 6.750000, 6.780000, 6.810000, 9.010000, 9.020000, 9.090000, 9.760000, 9.830000, 9.900000, 2.460000, 2.420000, 2.390000, 2.360000, 2.350000, 2.370000, 2.440000, 2.510000, 2.570000, 2.640000, 2.720000, 2.810000, 2.850000, 2.930000, 2.910000, 2.860000, 2.810000, 2.750000, 2.720000, 2.690000, 2.690000, 2.450000, 2.680000, 2.570000, 2.520000, 2.450000, 2.390000, 2.360000, 2.320000, 2.290000, 2.270000, 2.240000, 2.220000, 2.210000, 2.160000, 2.000000, null, null, null, null, null, null, null, null, null, 2.840000, null, null, null, null, 5.740000, 5.710000, 5.040000, 5.320000, 5.650000, 5.630000, 5.610000, 5.860000, 6.810000, 6.950000, 6.980000, 9.630000, 11.600000, 14.580000, 16.670000, 18.630000, 9.030000, 7.700000, 7.700000, 7.710000, 7.690000, 6.180000, 6.190000, 7.600000, 3.450000, 3.050000, 2.730000, 2.480000, 2.250000, 2.040000, 1.900000, 1.770000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.760000, 1.770000, 1.790000, 1.800000, 1.820000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.910000, 1.940000, 1.960000, 1.970000, 1.990000, 2.020000, 2.050000, 2.080000, 2.100000, 2.130000, 2.170000, 2.200000, 2.230000, 2.270000, 2.310000, 2.350000, 2.390000, 2.440000, 2.480000, 2.530000, 2.590000, 2.640000, 2.710000, 2.770000, 2.840000, 2.910000, 2.990000, 3.060000, 3.150000, 3.240000, 3.340000, 3.440000, 3.560000, 3.690000, 3.820000, 3.960000, 4.120000, 4.300000, 4.510000, 4.730000, 4.970000, 5.240000, 5.530000, 5.860000, 6.220000, 6.650000, 7.140000, 7.680000, 15.580000, 12.190000, 12.140000, 12.110000, null, null, null, null, null, 10.590000, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0 ], "timestamp": [ 976054795, 821033 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.496000, 6.987000, -2.853982 ], "estimate": [ 5.496000, 6.987000, -2.853982 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.560000, 6.560000, 6.560000, 6.570000, 6.580000, 6.570000, 6.600000, 6.610000, 6.620000, 6.630000, 6.660000, 6.690000, 6.710000, 6.730000, 6.760000, 6.800000, 9.030000, 9.000000, 9.040000, 9.720000, 9.780000, 2.440000, 2.400000, 2.370000, 2.330000, 2.320000, 2.340000, 2.390000, 2.440000, 2.510000, 2.570000, 2.650000, 2.720000, 2.800000, 2.850000, 2.890000, 2.850000, 2.810000, 2.730000, 2.700000, 2.650000, 2.630000, 2.650000, 2.410000, 2.570000, 2.500000, 2.420000, 2.370000, 2.310000, 2.270000, 2.250000, 2.230000, 2.210000, 2.150000, 2.150000, 2.130000, 1.920000, 2.020000, null, null, null, null, null, null, null, null, null, 2.770000, null, null, null, null, null, 5.660000, 5.270000, 4.990000, 5.580000, 5.570000, 5.550000, 5.540000, 6.370000, 6.740000, 6.800000, 7.270000, 10.060000, 12.180000, 14.840000, 18.570000, 8.950000, 7.870000, 7.630000, 7.640000, 7.640000, 7.000000, 6.110000, 6.140000, 7.530000, 3.290000, 2.920000, 2.630000, 2.400000, 2.170000, 1.990000, 1.840000, 1.730000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.690000, 1.700000, 1.710000, 1.730000, 1.750000, 1.740000, 1.770000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.910000, 1.940000, 1.970000, 1.990000, 2.020000, 2.050000, 2.090000, 2.110000, 2.130000, 2.180000, 2.220000, 2.250000, 2.300000, 2.350000, 2.380000, 2.430000, 2.490000, 2.530000, 2.600000, 2.660000, 2.730000, 2.790000, 2.870000, 2.960000, 3.030000, 3.130000, 3.220000, 3.320000, 3.420000, 3.550000, 3.680000, 3.820000, 3.990000, 4.160000, 4.350000, 4.570000, 4.810000, 5.080000, 5.360000, 5.690000, 6.070000, 6.470000, 6.970000, 7.520000, 15.560000, 12.190000, 12.110000, 12.090000, null, null, null, 11.420000, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0 ], "timestamp": [ 976054795, 822123 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.437000, 6.970000, -2.860128 ], "estimate": [ 5.437000, 6.970000, -2.860128 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.560000, 6.570000, 6.570000, 6.570000, 6.580000, 6.600000, 6.610000, 6.620000, 6.640000, 6.660000, 6.670000, 6.690000, 6.730000, 6.750000, 6.790000, 9.040000, 9.030000, 9.200000, 2.440000, 2.400000, 2.370000, 2.330000, 2.290000, 2.280000, 2.330000, 2.370000, 2.430000, 2.490000, 2.560000, 2.620000, 2.700000, 2.760000, 2.810000, 2.850000, 2.800000, 2.770000, 2.700000, 2.650000, 2.610000, 2.610000, 2.610000, 2.380000, 2.540000, 2.460000, 2.430000, 2.310000, 2.280000, 2.230000, 2.200000, 2.180000, 2.140000, 2.110000, 2.100000, 2.090000, 1.870000, 1.950000, 2.060000, null, null, null, null, null, null, null, null, 2.710000, null, null, null, null, null, 3.580000, 5.590000, 5.060000, 5.010000, 5.530000, 5.500000, 5.490000, 5.480000, 6.680000, 6.690000, 6.730000, 7.180000, 9.920000, 11.970000, 14.780000, 18.640000, 8.880000, 7.860000, 7.560000, 7.560000, 7.570000, 7.150000, 6.060000, 6.070000, 7.470000, 3.300000, 2.930000, 2.640000, 2.400000, 2.180000, 2.000000, 1.850000, 1.730000, 1.620000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.690000, 1.710000, 1.730000, 1.740000, 1.760000, 1.780000, 1.800000, 1.820000, 1.840000, 1.860000, 1.880000, 1.900000, 1.940000, 1.970000, 1.990000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.200000, 2.240000, 2.290000, 2.330000, 2.380000, 2.430000, 2.490000, 2.540000, 2.610000, 2.680000, 2.740000, 2.830000, 2.900000, 2.990000, 3.070000, 3.180000, 3.280000, 3.400000, 3.520000, 3.660000, 3.810000, 3.970000, 4.140000, 4.350000, 4.590000, 4.850000, 5.120000, 5.440000, 5.770000, 6.170000, 6.630000, 7.170000, 15.530000, 12.200000, 12.150000, 12.080000, 12.480000, null, null, null, null, 10.480000, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0 ], "timestamp": [ 976054795, 823127 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.389000, 6.957000, -2.909292 ], "estimate": [ 5.389000, 6.957000, -2.909292 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.550000, 6.560000, 6.570000, 6.580000, 6.550000, 6.600000, 6.610000, 6.610000, 6.630000, 6.640000, 6.670000, 6.690000, 6.710000, 6.730000, 6.770000, 9.260000, 9.300000, 9.290000, 2.410000, 2.380000, 2.330000, 2.290000, 2.260000, 2.290000, 2.330000, 2.380000, 2.440000, 2.500000, 2.560000, 2.620000, 2.690000, 2.750000, 2.820000, 2.820000, 2.780000, 2.730000, 2.680000, 2.630000, 2.580000, 2.580000, 2.440000, 2.560000, 2.490000, 2.430000, 2.380000, 2.280000, 2.230000, 2.180000, 2.150000, 2.130000, 2.100000, 2.080000, 2.060000, 2.040000, 1.810000, 1.960000, null, null, null, null, null, null, null, null, null, null, 2.680000, null, null, null, null, null, 3.530000, 5.530000, 4.860000, 5.170000, 5.480000, 5.450000, 5.420000, 5.600000, 6.620000, 6.870000, 6.690000, 7.500000, 10.460000, 12.760000, 14.670000, 18.580000, 8.840000, 7.730000, 7.500000, 7.510000, 7.510000, 6.960000, 6.000000, 6.040000, 7.410000, 3.260000, 2.920000, 2.620000, 2.390000, 2.180000, 1.990000, 1.840000, 1.730000, 1.620000, 1.530000, 1.520000, 1.520000, 1.530000, 1.540000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.660000, 1.680000, 1.700000, 1.720000, 1.740000, 1.760000, 1.780000, 1.810000, 1.810000, 1.840000, 1.870000, 1.890000, 1.920000, 1.960000, 1.990000, 2.010000, 2.050000, 2.090000, 2.120000, 2.170000, 2.220000, 2.250000, 2.300000, 2.350000, 2.410000, 2.470000, 2.530000, 2.600000, 2.660000, 2.730000, 2.820000, 2.900000, 2.990000, 3.090000, 3.200000, 3.310000, 3.430000, 3.560000, 3.700000, 3.860000, 4.040000, 4.240000, 4.480000, 4.730000, 5.010000, 5.320000, 5.660000, 6.050000, 6.490000, 7.040000, 7.660000, 12.450000, 12.150000, 12.050000, 12.310000, null, null, null, null, 10.530000, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0 ], "timestamp": [ 976054795, 824062 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.340000, 6.947000, -2.970747 ], "estimate": [ 5.340000, 6.947000, -2.970747 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.560000, 6.550000, 6.550000, 6.560000, 6.550000, 6.560000, 6.570000, 6.580000, 6.590000, 6.600000, 6.600000, 6.620000, 6.630000, 6.670000, 6.690000, 6.710000, 6.740000, 6.780000, 8.980000, 8.970000, 2.390000, 2.350000, 2.320000, 2.270000, 2.240000, 2.270000, 2.320000, 2.370000, 2.420000, 2.480000, 2.530000, 2.590000, 2.660000, 2.720000, 2.770000, 2.790000, 2.770000, 2.730000, 2.660000, 2.610000, 2.560000, 2.550000, 2.540000, 2.470000, 2.470000, 2.390000, 2.360000, 2.240000, 2.190000, 2.160000, 2.120000, 2.110000, 2.080000, 2.020000, 2.020000, 2.000000, 1.800000, 1.900000, null, null, null, null, null, null, null, null, null, null, 2.610000, null, null, null, null, null, null, 5.520000, 5.480000, 4.830000, 5.120000, 5.420000, 5.410000, 5.390000, 5.640000, 6.570000, 7.020000, 6.640000, 9.060000, 10.740000, 13.130000, 14.700000, 18.400000, 8.790000, 7.560000, 7.470000, 7.470000, 7.480000, 6.830000, 5.960000, 6.060000, 7.370000, 3.260000, 2.910000, 2.610000, 2.380000, 2.180000, 2.000000, 1.850000, 1.730000, 1.620000, 1.530000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000, 1.680000, 1.690000, 1.720000, 1.740000, 1.750000, 1.770000, 1.800000, 1.820000, 1.850000, 1.890000, 1.910000, 1.940000, 1.960000, 2.000000, 2.040000, 2.080000, 2.120000, 2.150000, 2.200000, 2.250000, 2.300000, 2.350000, 2.410000, 2.480000, 2.530000, 2.600000, 2.680000, 2.750000, 2.840000, 2.920000, 3.020000, 3.110000, 3.230000, 3.360000, 3.480000, 3.620000, 3.790000, 3.970000, 4.160000, 4.390000, 4.640000, 4.920000, 5.230000, 5.570000, 5.970000, 6.410000, 6.960000, 7.590000, 12.450000, 12.160000, 12.040000, 12.260000, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0 ], "timestamp": [ 976054795, 830644 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.285000, 6.938000, -3.019911 ], "estimate": [ 5.285000, 6.938000, -3.019911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.570000, 6.570000, 6.550000, 6.540000, 6.540000, 6.540000, 6.540000, 6.540000, 6.560000, 6.540000, 6.570000, 6.580000, 6.590000, 6.600000, 6.620000, 6.640000, 6.660000, 6.680000, 6.710000, 6.730000, 9.210000, 2.390000, 2.350000, 2.310000, 2.260000, 2.230000, 2.220000, 2.260000, 2.310000, 2.360000, 2.400000, 2.460000, 2.520000, 2.580000, 2.640000, 2.700000, 2.760000, 2.750000, 2.710000, 2.680000, 2.620000, 2.540000, 2.520000, 2.510000, 2.320000, 2.510000, 2.410000, 2.350000, 2.330000, 2.180000, 2.150000, 2.110000, 2.090000, 2.050000, 2.010000, 1.980000, 1.980000, 1.960000, 1.760000, 1.850000, 1.960000, null, 2.050000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 3.420000, 5.470000, 4.870000, 5.050000, 5.380000, 5.360000, 5.340000, 5.350000, 5.980000, 6.520000, 6.590000, 6.830000, 9.430000, 11.330000, 14.130000, 16.360000, 18.340000, 8.750000, 7.430000, 7.410000, 7.420000, 7.420000, 6.270000, 5.910000, 7.310000, 7.320000, 3.160000, 2.840000, 2.560000, 2.340000, 2.150000, 1.980000, 1.830000, 1.720000, 1.610000, 1.520000, 1.430000, 1.440000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.500000, 1.510000, 1.520000, 1.540000, 1.550000, 1.570000, 1.590000, 1.610000, 1.620000, 1.630000, 1.660000, 1.680000, 1.700000, 1.720000, 1.740000, 1.770000, 1.800000, 1.820000, 1.860000, 1.880000, 1.900000, 1.940000, 1.970000, 2.010000, 2.060000, 2.100000, 2.130000, 2.180000, 2.230000, 2.290000, 2.340000, 2.400000, 2.470000, 2.520000, 2.600000, 2.680000, 2.760000, 2.860000, 2.950000, 3.030000, 3.150000, 3.270000, 3.390000, 3.540000, 3.700000, 3.880000, 4.080000, 4.300000, 4.540000, 4.830000, 5.150000, 5.490000, 5.880000, 6.340000, 6.890000, 7.550000, 12.330000, 12.150000, 12.060000, 12.580000 ], "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, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054796, 262838 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.219000, 6.932000, -3.075221 ], "estimate": [ 5.219000, 6.932000, -3.075221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.610000, 6.580000, 6.570000, 6.560000, 6.540000, 6.530000, 6.530000, 6.530000, 6.530000, 6.530000, 6.540000, 6.520000, 6.560000, 6.570000, 6.580000, 6.590000, 6.610000, 6.620000, 6.630000, 6.670000, 6.690000, 6.710000, 9.120000, 2.340000, 2.290000, 2.260000, 2.210000, 2.190000, 2.220000, 2.260000, 2.310000, 2.360000, 2.400000, 2.460000, 2.520000, 2.580000, 2.640000, 2.660000, 2.720000, 2.700000, 2.670000, 2.610000, 2.550000, 2.490000, 2.470000, 2.460000, 2.260000, 2.450000, 2.330000, 2.300000, 2.230000, 2.140000, 2.080000, 2.040000, 2.010000, 1.990000, 1.960000, 1.920000, 1.920000, 1.890000, 1.690000, 1.880000, 1.930000, 1.980000, null, null, null, null, null, null, null, null, null, 2.520000, null, null, null, null, null, 3.370000, 5.420000, 5.380000, 4.720000, 4.990000, 5.330000, 5.310000, 5.280000, 5.480000, 6.470000, 6.720000, 6.520000, 7.340000, 10.270000, 12.530000, 14.520000, 18.300000, 8.700000, 7.700000, 7.360000, 7.370000, 7.370000, 7.350000, 5.860000, 5.870000, 7.260000, 7.270000, 3.060000, 2.740000, 2.500000, 2.290000, 2.120000, 1.960000, 1.820000, 1.700000, 1.600000, 1.520000, 1.440000, 1.390000, 1.390000, 1.410000, 1.410000, 1.430000, 1.440000, 1.450000, 1.470000, 1.460000, 1.480000, 1.500000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.610000, 1.620000, 1.640000, 1.660000, 1.680000, 1.710000, 1.730000, 1.760000, 1.790000, 1.810000, 1.850000, 1.880000, 1.910000, 1.960000, 1.990000, 2.040000, 2.080000, 2.110000, 2.170000, 2.220000, 2.290000, 2.340000, 2.400000, 2.460000, 2.530000, 2.610000, 2.690000, 2.780000, 2.870000, 2.970000, 3.090000, 3.210000, 3.330000, 3.480000, 3.630000, 3.820000, 4.000000, 4.240000, 4.500000, 4.780000, 5.110000, 5.460000, 5.880000, 6.340000, 6.940000, 7.610000, 12.180000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054796, 263983 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.154000, 6.928000, -3.099803 ], "estimate": [ 5.154000, 6.928000, -3.099803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.760000, 5.240000, 6.660000, 6.590000, 6.570000, 6.550000, 6.540000, 6.530000, 6.530000, 6.520000, 6.520000, 6.520000, 6.520000, 6.520000, 6.530000, 6.540000, 6.540000, 6.550000, 6.570000, 6.590000, 6.600000, 6.620000, 6.640000, 6.680000, 2.310000, 2.290000, 2.250000, 2.190000, 2.150000, 2.150000, 2.190000, 2.240000, 2.270000, 2.330000, 2.380000, 2.420000, 2.480000, 2.540000, 2.590000, 2.610000, 2.680000, 2.670000, 2.630000, 2.560000, 2.510000, 2.450000, 2.420000, 2.410000, 2.210000, 2.390000, 2.270000, 2.220000, 2.190000, 2.060000, 2.020000, 1.990000, 1.970000, 1.920000, 1.890000, 1.860000, 1.860000, 1.850000, 1.620000, 1.770000, 1.840000, 1.890000, null, null, null, null, null, null, null, null, null, null, 2.470000, null, null, null, null, null, null, 5.350000, 5.320000, 4.660000, 4.960000, 5.260000, 5.240000, 5.220000, 5.300000, 6.390000, 6.400000, 6.460000, 6.970000, 9.740000, 11.760000, 14.440000, 18.360000, 18.340000, 8.620000, 7.300000, 7.300000, 7.300000, 7.310000, 6.160000, 5.790000, 5.820000, 7.210000, 7.220000, 2.890000, 2.620000, 2.390000, 2.210000, 2.050000, 1.900000, 1.770000, 1.680000, 1.580000, 1.500000, 1.420000, 1.360000, 1.330000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.490000, 1.510000, 1.530000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 1.690000, 1.720000, 1.740000, 1.770000, 1.800000, 1.840000, 1.880000, 1.920000, 1.950000, 1.990000, 2.040000, 2.090000, 2.140000, 2.200000, 2.260000, 2.330000, 2.380000, 2.460000, 2.520000, 2.620000, 2.690000, 2.800000, 2.890000, 3.010000, 3.130000, 3.260000, 3.410000, 3.580000, 3.760000, 3.960000, 4.190000, 4.460000, 4.760000, 5.100000, 5.470000, 5.910000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054796, 461428 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.097000, 6.926000, -3.099803 ], "estimate": [ 5.097000, 6.926000, -3.099803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.670000, 5.090000, 6.670000, 6.600000, 6.570000, 6.560000, 6.540000, 6.520000, 6.520000, 6.510000, 6.510000, 6.510000, 6.510000, 6.520000, 6.500000, 6.520000, 6.520000, 6.530000, 6.550000, 6.560000, 6.570000, 6.600000, 6.600000, 6.630000, 2.290000, 2.240000, 2.190000, 2.150000, 2.120000, 2.140000, 2.170000, 2.220000, 2.260000, 2.310000, 2.350000, 2.400000, 2.450000, 2.510000, 2.570000, 2.580000, 2.630000, 2.620000, 2.580000, 2.510000, 2.450000, 2.400000, 2.380000, 2.350000, 2.190000, 2.310000, 2.240000, 2.190000, 2.160000, 2.020000, 1.950000, 1.930000, 1.910000, 1.870000, 1.850000, 1.810000, 1.810000, 1.730000, 1.600000, 1.730000, 1.810000, 1.850000, 1.880000, null, 1.940000, null, null, null, null, null, null, null, 2.400000, null, null, null, null, null, null, 5.310000, 5.280000, 5.260000, 4.610000, 4.860000, 5.200000, 5.170000, 5.150000, 5.300000, 6.340000, 6.330000, 6.400000, 6.970000, 9.760000, 11.900000, 14.440000, 18.310000, 18.240000, 7.790000, 7.230000, 7.230000, 7.240000, 7.250000, 5.880000, 5.750000, 5.890000, 7.150000, 7.170000, 2.870000, 2.620000, 2.380000, 2.220000, 2.060000, 1.920000, 1.790000, 1.690000, 1.600000, 1.510000, 1.440000, 1.380000, 1.320000, 1.280000, 1.280000, 1.290000, 1.310000, 1.320000, 1.330000, 1.340000, 1.360000, 1.370000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.460000, 1.480000, 1.490000, 1.520000, 1.540000, 1.570000, 1.600000, 1.620000, 1.640000, 1.670000, 1.700000, 1.730000, 1.760000, 1.800000, 1.830000, 1.880000, 1.910000, 1.950000, 2.000000, 2.060000, 2.110000, 2.170000, 2.220000, 2.290000, 2.350000, 2.420000, 2.510000, 2.590000, 2.680000, 2.780000, 2.880000, 3.000000, 3.130000, 3.280000, 3.420000, 3.610000, 3.810000, 4.020000, 4.280000, 4.580000, 4.910000, 5.280000 ], "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, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054796, 719133 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.048000, 6.924000, -3.099803 ], "estimate": [ 5.048000, 6.924000, -3.099803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.170000, 6.670000, 6.600000, 6.570000, 6.550000, 6.530000, 6.530000, 6.510000, 6.510000, 6.510000, 6.500000, 6.500000, 6.510000, 6.480000, 6.510000, 6.520000, 6.520000, 6.530000, 6.540000, 6.560000, 6.580000, 6.590000, 2.280000, 2.230000, 2.180000, 2.130000, 2.100000, 2.120000, 2.140000, 2.180000, 2.220000, 2.260000, 2.310000, 2.360000, 2.400000, 2.460000, 2.510000, 2.550000, 2.600000, 2.600000, 2.570000, 2.520000, 2.470000, 2.410000, 2.370000, 2.360000, 2.230000, 2.340000, 2.220000, 2.180000, 2.150000, 2.060000, 1.920000, 1.880000, 1.870000, 1.850000, 1.810000, 1.780000, 1.780000, 1.750000, 1.540000, 1.550000, 1.760000, 1.770000, 1.810000, 1.840000, 1.840000, null, null, null, null, null, null, null, null, 2.340000, null, null, null, null, null, null, 3.180000, 5.250000, 5.220000, 4.520000, 4.840000, 5.150000, 5.130000, 5.110000, 5.100000, 5.600000, 6.290000, 6.350000, 6.430000, 8.990000, 10.800000, 13.440000, 14.530000, 18.240000, 8.510000, 7.210000, 7.190000, 7.200000, 7.200000, 6.720000, 5.690000, 5.700000, 7.100000, 7.100000, 7.120000, 2.780000, 2.530000, 2.310000, 2.160000, 2.020000, 1.900000, 1.760000, 1.670000, 1.580000, 1.510000, 1.430000, 1.380000, 1.320000, 1.270000, 1.230000, 1.230000, 1.250000, 1.260000, 1.270000, 1.290000, 1.310000, 1.320000, 1.320000, 1.340000, 1.360000, 1.370000, 1.400000, 1.410000, 1.440000, 1.460000, 1.460000, 1.480000, 1.510000, 1.530000, 1.560000, 1.590000, 1.620000, 1.630000, 1.670000, 1.710000, 1.740000, 1.780000, 1.800000, 1.850000, 1.890000, 1.950000, 1.990000, 2.050000, 2.100000, 2.160000, 2.210000, 2.300000, 2.360000, 2.440000, 2.510000, 2.610000, 2.710000, 2.820000, 2.940000, 3.060000, 3.210000, 3.370000, 3.560000, 3.750000, 3.980000, 4.240000, 4.540000, 4.890000, 5.280000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054796, 830597 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.993000, 6.921000, -3.105948 ], "estimate": [ 4.993000, 6.921000, -3.105948 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.340000, 6.670000, 6.590000, 6.560000, 6.540000, 6.520000, 6.510000, 6.500000, 6.490000, 6.490000, 6.490000, 6.490000, 6.470000, 6.500000, 6.500000, 6.510000, 6.520000, 6.520000, 6.530000, 6.540000, 6.560000, 2.260000, 2.220000, 2.160000, 2.120000, 2.080000, 2.100000, 2.120000, 2.150000, 2.190000, 2.240000, 2.270000, 2.320000, 2.370000, 2.410000, 2.460000, 2.500000, 2.520000, 2.560000, 2.550000, 2.530000, 2.460000, 2.420000, 2.340000, 2.330000, 2.100000, 2.320000, 2.240000, 2.170000, 2.130000, 2.060000, 1.960000, 1.850000, 1.850000, 1.820000, 1.790000, 1.740000, 1.730000, 1.720000, 1.530000, 1.520000, 1.670000, 1.730000, 1.770000, 1.790000, 1.810000, 1.840000, null, null, null, null, null, null, null, null, 2.320000, null, null, null, null, null, null, 3.130000, 5.210000, 5.160000, 4.490000, 4.760000, 5.110000, 5.090000, 5.070000, 5.060000, 5.330000, 6.240000, 6.470000, 6.310000, 8.770000, 10.490000, 12.920000, 14.400000, 18.200000, 8.470000, 7.340000, 7.150000, 7.150000, 7.160000, 7.070000, 5.630000, 5.650000, 7.050000, 7.060000, 7.070000, 2.840000, 2.610000, 2.390000, 2.220000, 2.060000, 1.930000, 1.820000, 1.710000, 1.610000, 1.540000, 1.470000, 1.410000, 1.340000, 1.290000, 1.240000, 1.190000, 1.200000, 1.220000, 1.230000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.310000, 1.320000, 1.330000, 1.360000, 1.380000, 1.400000, 1.410000, 1.430000, 1.450000, 1.470000, 1.490000, 1.520000, 1.550000, 1.580000, 1.600000, 1.630000, 1.660000, 1.710000, 1.740000, 1.780000, 1.820000, 1.870000, 1.910000, 1.960000, 2.020000, 2.080000, 2.130000, 2.200000, 2.260000, 2.330000, 2.420000, 2.500000, 2.600000, 2.690000, 2.810000, 2.940000, 3.080000, 3.230000, 3.390000, 3.590000, 3.800000, 4.040000, 4.320000, 4.660000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054797, 304934 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.928000, 6.919000, -3.118239 ], "estimate": [ 4.928000, 6.919000, -3.118239 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.210000, 6.670000, 6.590000, 6.560000, 6.540000, 6.530000, 6.510000, 6.500000, 6.490000, 6.490000, 6.470000, 6.470000, 6.470000, 6.460000, 6.480000, 6.480000, 6.490000, 6.490000, 6.510000, 6.510000, 6.520000, 2.220000, 2.170000, 2.120000, 2.070000, 2.050000, 2.080000, 2.120000, 2.140000, 2.170000, 2.220000, 2.260000, 2.300000, 2.350000, 2.390000, 2.440000, 2.460000, 2.510000, 2.520000, 2.520000, 2.490000, 2.420000, 2.380000, 2.320000, 2.300000, 2.150000, 2.280000, 2.160000, 2.110000, 2.100000, 2.020000, 1.910000, 1.800000, 1.790000, 1.750000, 1.710000, 1.700000, 1.680000, 1.670000, 1.440000, 1.440000, 1.650000, 1.680000, 1.720000, 1.750000, 1.750000, 1.790000, null, null, null, null, null, null, null, null, null, 2.240000, null, null, null, null, null, null, 3.090000, 5.150000, 5.100000, 4.420000, 4.700000, 5.050000, 5.020000, 5.000000, 5.000000, 5.270000, 6.200000, 6.690000, 6.240000, 8.710000, 10.420000, 12.790000, 14.320000, 18.140000, 8.420000, 7.370000, 7.090000, 7.090000, 7.090000, 7.100000, 5.750000, 5.590000, 5.750000, 7.000000, 7.020000, 2.930000, 2.670000, 2.460000, 2.270000, 2.130000, 2.000000, 1.870000, 1.750000, 1.670000, 1.570000, 1.510000, 1.440000, 1.380000, 1.330000, 1.270000, 1.220000, 1.180000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.420000, 1.450000, 1.460000, 1.490000, 1.510000, 1.550000, 1.580000, 1.610000, 1.650000, 1.680000, 1.720000, 1.760000, 1.800000, 1.860000, 1.910000, 1.960000, 2.020000, 2.070000, 2.140000, 2.200000, 2.290000, 2.360000, 2.460000, 2.550000, 2.660000, 2.770000, 2.900000, 3.040000, 3.200000, 3.380000, 3.590000, 3.820000, 4.090000, 4.400000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054797, 306200 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.865000, 6.918000, -3.130531 ], "estimate": [ 4.865000, 6.918000, -3.130531 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.240000, 6.670000, 6.590000, 6.560000, 6.540000, 6.520000, 6.510000, 6.490000, 6.480000, 6.470000, 6.460000, 6.460000, 6.460000, 6.440000, 6.460000, 6.460000, 6.470000, 6.480000, 6.490000, 6.500000, 2.210000, 2.140000, 2.100000, 2.050000, 2.030000, 2.050000, 2.080000, 2.120000, 2.140000, 2.170000, 2.210000, 2.260000, 2.290000, 2.340000, 2.380000, 2.430000, 2.440000, 2.480000, 2.460000, 2.470000, 2.420000, 2.380000, 2.300000, 2.280000, 2.040000, 2.240000, 2.170000, 2.110000, 2.090000, 2.000000, 1.940000, 1.770000, 1.720000, 1.710000, 1.690000, 1.640000, 1.630000, 1.610000, 1.540000, 1.390000, 1.580000, 1.610000, 1.650000, 1.680000, 1.710000, 1.740000, 1.760000, null, null, null, null, null, null, null, null, null, 2.180000, null, null, null, null, null, null, null, 3.040000, 5.080000, 5.040000, 4.370000, 4.640000, 4.980000, 4.960000, 4.950000, 5.010000, 6.120000, 6.130000, 6.180000, 6.490000, 9.180000, 11.130000, 14.140000, 18.090000, 18.080000, 8.340000, 7.060000, 7.020000, 7.040000, 7.040000, 6.740000, 5.520000, 5.530000, 6.940000, 6.960000, 6.970000, 2.860000, 2.640000, 2.440000, 2.250000, 2.110000, 1.980000, 1.870000, 1.770000, 1.680000, 1.580000, 1.520000, 1.450000, 1.390000, 1.340000, 1.290000, 1.230000, 1.190000, 1.160000, 1.110000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.190000, 1.210000, 1.220000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.470000, 1.500000, 1.540000, 1.570000, 1.600000, 1.640000, 1.680000, 1.720000, 1.770000, 1.820000, 1.870000, 1.930000, 1.980000, 2.050000, 2.110000, 2.190000, 2.260000, 2.350000, 2.450000, 2.550000, 2.660000, 2.790000, 2.940000, 3.080000, 3.270000, 3.480000, 3.710000, 3.960000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054797, 430328 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.810000, 6.917000, 3.140363 ], "estimate": [ 4.810000, 6.917000, 3.140363 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.150000, 6.670000, 6.650000, 6.560000, 6.540000, 6.530000, 6.500000, 6.500000, 6.480000, 6.460000, 6.450000, 6.450000, 6.450000, 6.420000, 6.450000, 6.450000, 6.450000, 6.450000, 6.460000, 2.200000, 2.150000, 2.090000, 2.040000, 1.990000, 2.010000, 2.040000, 2.070000, 2.100000, 2.130000, 2.160000, 2.190000, 2.240000, 2.270000, 2.320000, 2.370000, 2.390000, 2.410000, 2.450000, 2.430000, 2.420000, 2.410000, 2.350000, 2.270000, 2.260000, 2.080000, 2.220000, 2.080000, 2.060000, 2.030000, 1.970000, 1.830000, 1.730000, 1.660000, 1.660000, 1.610000, 1.580000, 1.570000, 1.560000, 1.350000, 1.320000, 1.560000, 1.570000, 1.610000, 1.640000, 1.650000, 1.660000, 1.710000, 1.700000, null, null, null, null, null, null, null, null, 2.120000, null, null, null, null, null, null, null, null, 5.040000, 5.000000, 4.980000, 4.330000, 4.650000, 4.910000, 4.900000, 4.880000, 4.990000, 6.060000, 6.070000, 6.140000, 6.500000, 9.210000, 11.250000, 14.120000, 18.030000, 18.010000, 8.280000, 7.010000, 6.970000, 6.980000, 6.980000, 6.790000, 5.460000, 5.480000, 5.520000, 6.900000, 6.910000, 6.940000, 2.670000, 2.470000, 2.300000, 2.160000, 2.020000, 1.900000, 1.810000, 1.710000, 1.630000, 1.560000, 1.480000, 1.430000, 1.380000, 1.320000, 1.270000, 1.220000, 1.180000, 1.140000, 1.110000, 1.070000, 1.070000, 1.070000, 1.080000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.370000, 1.390000, 1.410000, 1.450000, 1.480000, 1.510000, 1.540000, 1.580000, 1.620000, 1.670000, 1.720000, 1.760000, 1.820000, 1.870000, 1.940000, 1.990000, 2.070000, 2.140000, 2.210000, 2.310000, 2.400000, 2.520000, 2.640000, 2.770000, 2.920000, 3.090000, 3.270000, 3.500000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054797, 960456 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.760000, 6.917000, 3.128072 ], "estimate": [ 4.760000, 6.917000, 3.128072 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.150000, 6.690000, 6.660000, 6.570000, 6.530000, 6.520000, 6.500000, 6.480000, 6.470000, 6.450000, 6.450000, 6.440000, 6.440000, 6.410000, 6.440000, 6.440000, 6.440000, 6.450000, 6.450000, 2.160000, 2.100000, 2.050000, 1.980000, 1.980000, 2.000000, 2.030000, 2.070000, 2.090000, 2.120000, 2.150000, 2.180000, 2.230000, 2.260000, 2.310000, 2.360000, 2.380000, 2.420000, 2.430000, 2.400000, 2.380000, 2.370000, 2.310000, 2.260000, 2.090000, 2.060000, 2.140000, 2.060000, 2.050000, 1.970000, 1.910000, 1.810000, 1.640000, 1.620000, 1.580000, 1.550000, 1.530000, 1.530000, 1.460000, 1.300000, 1.480000, 1.520000, 1.550000, 1.580000, 1.600000, 1.620000, 1.650000, 1.660000, 1.670000, null, null, null, null, null, null, null, null, null, 2.080000, null, null, null, null, null, null, null, 5.000000, 4.980000, 4.950000, 4.250000, 4.540000, 4.890000, 4.870000, 4.850000, 4.840000, 5.070000, 6.030000, 6.400000, 6.090000, 6.890000, 9.970000, 12.290000, 14.080000, 17.980000, 17.760000, 8.240000, 6.930000, 6.920000, 6.930000, 6.950000, 6.300000, 5.430000, 5.430000, 6.840000, 6.860000, 6.880000, 6.910000, 2.620000, 2.440000, 2.280000, 2.120000, 2.020000, 1.900000, 1.800000, 1.720000, 1.630000, 1.560000, 1.490000, 1.430000, 1.380000, 1.320000, 1.270000, 1.220000, 1.190000, 1.150000, 1.110000, 1.080000, 1.050000, 1.040000, 1.040000, 1.060000, 1.070000, 1.080000, 1.100000, 1.120000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.260000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.430000, 1.450000, 1.490000, 1.520000, 1.570000, 1.610000, 1.650000, 1.710000, 1.760000, 1.810000, 1.870000, 1.930000, 2.000000, 2.070000, 2.150000, 2.250000, 2.340000, 2.450000, 2.570000, 2.700000, 2.850000, 3.020000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054797, 961681 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.703000, 6.918000, 3.121927 ], "estimate": [ 4.703000, 6.918000, 3.121927 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.100000, 5.460000, 6.660000, 6.580000, 6.540000, 6.530000, 6.510000, 6.490000, 6.480000, 6.460000, 6.450000, 6.440000, 6.440000, 6.440000, 6.400000, 6.440000, 6.430000, 6.430000, 2.170000, 2.100000, 2.040000, 1.980000, 1.970000, 1.980000, 2.000000, 2.020000, 2.050000, 2.080000, 2.120000, 2.140000, 2.170000, 2.210000, 2.260000, 2.290000, 2.340000, 2.350000, 2.390000, 2.410000, 2.370000, 2.340000, 2.320000, 2.280000, 2.240000, 2.070000, 2.220000, 2.070000, 2.030000, 2.000000, 1.940000, 1.820000, 1.780000, 1.590000, 1.550000, 1.510000, 1.490000, 1.480000, 1.470000, 1.260000, 1.250000, 1.460000, 1.490000, 1.510000, 1.530000, 1.560000, 1.580000, 1.620000, 1.620000, 1.650000, null, null, null, null, null, null, null, null, null, 2.010000, null, null, null, null, null, null, null, null, 2.840000, 4.920000, 4.890000, 4.220000, 4.490000, 4.840000, 4.810000, 4.790000, 4.790000, 5.270000, 5.970000, 6.170000, 6.030000, 8.580000, 10.340000, 12.960000, 14.200000, 17.920000, 8.180000, 7.260000, 6.880000, 6.890000, 6.880000, 6.910000, 6.110000, 5.390000, 5.390000, 6.810000, 6.810000, 6.840000, 6.860000, 2.630000, 2.460000, 2.290000, 2.140000, 2.020000, 1.920000, 1.820000, 1.730000, 1.650000, 1.580000, 1.500000, 1.440000, 1.390000, 1.340000, 1.290000, 1.240000, 1.200000, 1.170000, 1.130000, 1.110000, 1.070000, 1.050000, 1.020000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.070000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.240000, 1.270000, 1.300000, 1.310000, 1.350000, 1.390000, 1.420000, 1.450000, 1.490000, 1.530000, 1.580000, 1.620000, 1.670000, 1.720000, 1.790000, 1.840000, 1.910000, 1.980000, 2.060000, 2.140000, 2.240000, 2.340000, 2.460000, 2.590000, 2.740000, 2.900000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054798, 807160 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.638000, 6.919000, 3.109636 ], "estimate": [ 4.638000, 6.919000, 3.109636 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.120000, 5.440000, 6.660000, 6.570000, 6.540000, 6.520000, 6.510000, 6.490000, 6.460000, 6.450000, 6.440000, 6.430000, 6.430000, 6.420000, 6.390000, 6.420000, 6.420000, 2.130000, 2.100000, 2.020000, 1.970000, 1.950000, 1.960000, 1.990000, 2.010000, 2.030000, 2.060000, 2.100000, 2.130000, 2.150000, 2.180000, 2.220000, 2.260000, 2.290000, 2.310000, 2.330000, 2.360000, 2.360000, 2.330000, 2.300000, 2.270000, 2.230000, 1.910000, 2.180000, 2.050000, 2.010000, 1.970000, 1.900000, 1.830000, 1.770000, 1.730000, 1.510000, 1.470000, 1.440000, 1.440000, 1.430000, 1.220000, 1.220000, 1.400000, 1.430000, 1.470000, 1.480000, 1.520000, 1.520000, 1.540000, 1.560000, 1.580000, 1.590000, null, null, null, null, null, null, null, null, null, 1.980000, null, null, null, null, null, null, null, null, 2.800000, 4.870000, 4.840000, 4.190000, 4.460000, 4.790000, 4.770000, 4.750000, 4.730000, 4.870000, 5.920000, 5.930000, 5.980000, 6.350000, 9.140000, 11.270000, 14.020000, 17.890000, 17.850000, 8.130000, 6.950000, 6.820000, 6.830000, 6.830000, 6.840000, 5.730000, 5.340000, 5.350000, 6.770000, 6.780000, 6.790000, 6.810000, 2.600000, 2.430000, 2.280000, 2.130000, 2.020000, 1.920000, 1.820000, 1.740000, 1.660000, 1.590000, 1.530000, 1.450000, 1.400000, 1.350000, 1.300000, 1.260000, 1.220000, 1.180000, 1.150000, 1.120000, 1.090000, 1.050000, 1.040000, 1.010000, 0.970000, 0.960000, 0.980000, 0.980000, 1.000000, 1.010000, 1.030000, 1.060000, 1.070000, 1.080000, 1.100000, 1.120000, 1.150000, 1.180000, 1.200000, 1.220000, 1.250000, 1.280000, 1.310000, 1.340000, 1.380000, 1.410000, 1.450000, 1.490000, 1.540000, 1.580000, 1.630000, 1.700000, 1.760000, 1.810000, 1.880000, 1.950000, 2.050000, 2.140000, 2.230000, 2.350000, 2.490000, 2.620000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054799, 194823 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.577000, 6.921000, 3.103490 ], "estimate": [ 4.577000, 6.921000, 3.103490 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.160000, 6.680000, 6.640000, 6.570000, 6.540000, 6.520000, 6.480000, 6.460000, 6.460000, 6.450000, 6.430000, 6.420000, 6.410000, 6.400000, 6.370000, 6.400000, 2.120000, 2.060000, 1.990000, 1.930000, 1.920000, 1.930000, 1.960000, 1.990000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.140000, 2.170000, 2.210000, 2.250000, 2.270000, 2.290000, 2.320000, 2.320000, 2.300000, 2.270000, 2.230000, 2.190000, 1.890000, 2.140000, 2.030000, 1.960000, 1.930000, 1.880000, 1.790000, 1.730000, 1.710000, 1.640000, 1.410000, 1.380000, 1.360000, 1.350000, 1.160000, 1.160000, 1.340000, 1.380000, 1.400000, 1.430000, 1.440000, 1.440000, 1.480000, 1.510000, 1.520000, 1.530000, 1.550000, null, null, null, null, null, null, null, null, null, 1.910000, 1.900000, null, null, null, null, null, null, null, null, 2.760000, 4.800000, 4.780000, 4.180000, 4.500000, 4.710000, 4.690000, 4.670000, 4.660000, 4.900000, 5.850000, 6.120000, 5.930000, 6.590000, 9.710000, 12.030000, 13.910000, 17.810000, 17.630000, 8.090000, 6.780000, 6.770000, 6.780000, 6.790000, 6.630000, 5.530000, 5.280000, 5.290000, 6.700000, 6.720000, 6.740000, 6.770000, 2.630000, 2.450000, 2.300000, 2.150000, 2.040000, 1.920000, 1.840000, 1.760000, 1.690000, 1.610000, 1.550000, 1.490000, 1.430000, 1.380000, 1.330000, 1.300000, 1.250000, 1.210000, 1.170000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.960000, 0.950000, 0.930000, 0.940000, 0.960000, 0.970000, 0.980000, 1.010000, 1.010000, 1.040000, 1.050000, 1.080000, 1.110000, 1.130000, 1.160000, 1.190000, 1.210000, 1.250000, 1.280000, 1.310000, 1.340000, 1.390000, 1.440000, 1.460000, 1.520000, 1.580000, 1.630000, 1.690000, 1.760000, 1.830000, 1.910000, 2.000000, 2.090000, 2.190000, 2.320000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054799, 211205 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.522000, 6.924000, 3.091199 ], "estimate": [ 4.522000, 6.924000, 3.091199 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.280000, 6.680000, 6.650000, 6.550000, 6.540000, 6.510000, 6.480000, 6.460000, 6.450000, 6.430000, 6.420000, 6.400000, 6.400000, 6.390000, 6.380000, 2.110000, 2.040000, 1.970000, 1.910000, 1.910000, 1.920000, 1.940000, 1.960000, 1.990000, 2.000000, 2.030000, 2.060000, 2.090000, 2.130000, 2.140000, 2.180000, 2.220000, 2.260000, 2.260000, 2.300000, 2.300000, 2.270000, 2.250000, 2.200000, 2.150000, 1.910000, 2.130000, 2.020000, 1.960000, 1.910000, 1.850000, 1.740000, 1.710000, 1.690000, 1.620000, 1.340000, 1.330000, 1.310000, 1.260000, 1.110000, 1.110000, 1.330000, 1.350000, 1.360000, 1.370000, 1.390000, 1.420000, 1.440000, 1.440000, 1.470000, 1.490000, 1.500000, 1.510000, null, null, null, null, null, null, null, null, null, 1.860000, 1.870000, null, null, null, null, null, null, null, null, 2.700000, 4.760000, 4.710000, 4.040000, 4.310000, 4.660000, 4.640000, 4.620000, 4.610000, 4.760000, 5.790000, 5.800000, 5.860000, 6.190000, 9.090000, 11.230000, 13.910000, 17.770000, 17.730000, 8.040000, 6.960000, 6.720000, 6.730000, 6.730000, 6.740000, 5.930000, 5.230000, 5.240000, 6.650000, 6.660000, 6.680000, 6.720000, 6.730000, 2.530000, 2.380000, 2.240000, 2.110000, 2.000000, 1.910000, 1.820000, 1.740000, 1.670000, 1.600000, 1.540000, 1.480000, 1.440000, 1.380000, 1.330000, 1.290000, 1.250000, 1.210000, 1.170000, 1.150000, 1.120000, 1.090000, 1.060000, 1.040000, 1.010000, 0.980000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.900000, 0.920000, 0.940000, 0.970000, 0.970000, 0.990000, 1.020000, 1.050000, 1.070000, 1.100000, 1.130000, 1.150000, 1.170000, 1.210000, 1.250000, 1.280000, 1.320000, 1.360000, 1.410000, 1.440000, 1.500000, 1.560000, 1.610000, 1.690000, 1.760000, 1.840000, 1.920000, 2.020000, 2.130000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054799, 212252 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.471000, 6.926000, 3.078908 ], "estimate": [ 4.471000, 6.926000, 3.078908 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.390000, 6.680000, 6.630000, 6.540000, 6.530000, 6.490000, 6.470000, 6.460000, 6.430000, 6.420000, 6.400000, 6.390000, 6.380000, 6.350000, 2.090000, 2.000000, 1.940000, 1.890000, 1.900000, 1.920000, 1.930000, 1.950000, 1.980000, 2.000000, 2.010000, 2.040000, 2.070000, 2.100000, 2.130000, 2.160000, 2.180000, 2.220000, 2.220000, 2.270000, 2.270000, 2.250000, 2.230000, 2.190000, 2.150000, 2.060000, 2.100000, 1.960000, 1.950000, 1.870000, 1.790000, 1.720000, 1.670000, 1.640000, 1.580000, 1.350000, 1.280000, 1.260000, 1.190000, 1.080000, 1.240000, 1.270000, 1.300000, 1.320000, 1.340000, 1.360000, 1.380000, 1.380000, 1.410000, 1.430000, 1.440000, 1.460000, 1.460000, null, null, null, null, null, null, null, null, null, null, 1.810000, null, null, null, null, null, null, null, null, null, 4.740000, 4.710000, 4.680000, 4.090000, 4.220000, 4.470000, 4.600000, 4.580000, 4.560000, 4.550000, 5.750000, 5.760000, 5.830000, 5.790000, 8.560000, 10.520000, 13.600000, 15.700000, 17.700000, 7.970000, 7.500000, 6.660000, 6.670000, 6.670000, 6.680000, 6.280000, 5.270000, 5.190000, 5.250000, 6.610000, 6.640000, 6.650000, 6.670000, 6.700000, 2.450000, 2.310000, 2.180000, 2.070000, 1.970000, 1.870000, 1.790000, 1.710000, 1.650000, 1.590000, 1.530000, 1.470000, 1.430000, 1.370000, 1.320000, 1.290000, 1.250000, 1.200000, 1.170000, 1.160000, 1.120000, 1.090000, 1.060000, 1.050000, 1.020000, 0.990000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.880000, 0.900000, 0.910000, 0.930000, 0.960000, 0.970000, 1.000000, 1.040000, 1.060000, 1.080000, 1.110000, 1.150000, 1.180000, 1.200000, 1.240000, 1.290000, 1.340000, 1.380000, 1.430000, 1.480000, 1.540000, 1.610000, 1.680000, 1.760000, 1.840000, 1.930000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054799, 213199 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.412000, 6.930000, 3.078908 ], "estimate": [ 4.412000, 6.930000, 3.078908 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.700000, 6.650000, 6.580000, 6.550000, 6.510000, 6.480000, 6.460000, 6.440000, 6.420000, 6.400000, 6.390000, 6.380000, 6.380000, 2.050000, 1.970000, 1.890000, 1.880000, 1.890000, 1.910000, 1.930000, 1.950000, 1.970000, 1.990000, 2.010000, 2.020000, 2.050000, 2.090000, 2.110000, 2.140000, 2.160000, 2.200000, 2.200000, 2.240000, 2.240000, 2.220000, 2.190000, 2.150000, 2.100000, 1.860000, 2.020000, 1.900000, 1.890000, 1.800000, 1.710000, 1.680000, 1.640000, 1.590000, 1.530000, 1.480000, 1.220000, 1.180000, 1.050000, 1.040000, 1.210000, 1.240000, 1.260000, 1.290000, 1.300000, 1.320000, 1.330000, 1.340000, 1.370000, 1.390000, 1.390000, 1.440000, 1.430000, 1.430000, null, null, null, null, null, null, null, null, null, null, 1.770000, null, null, null, null, null, null, null, null, null, 2.600000, 4.670000, 4.620000, 4.030000, 4.110000, 4.330000, 4.550000, 4.520000, 4.510000, 4.500000, 5.120000, 5.690000, 5.860000, 5.760000, 8.400000, 10.300000, 13.310000, 15.550000, 17.660000, 7.940000, 7.930000, 6.620000, 6.630000, 6.630000, 6.640000, 6.410000, 5.430000, 5.140000, 5.150000, 6.570000, 6.580000, 6.610000, 6.640000, 6.660000, 2.510000, 2.350000, 2.240000, 2.110000, 2.010000, 1.910000, 1.830000, 1.750000, 1.690000, 1.620000, 1.560000, 1.510000, 1.450000, 1.410000, 1.350000, 1.320000, 1.280000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.090000, 1.050000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.870000, 0.880000, 0.890000, 0.920000, 0.950000, 0.970000, 1.010000, 1.040000, 1.050000, 1.080000, 1.120000, 1.150000, 1.190000, 1.230000, 1.290000, 1.320000, 1.380000, 1.430000, 1.480000, 1.550000, 1.620000, 1.710000, 1.790000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054799, 214161 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.346000, 6.934000, 3.072763 ], "estimate": [ 4.346000, 6.934000, 3.072763 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.670000, 6.620000, 6.540000, 6.520000, 6.470000, 6.460000, 6.440000, 6.420000, 6.400000, 6.380000, 6.380000, 2.050000, 1.960000, 1.890000, 1.860000, 1.870000, 1.900000, 1.910000, 1.930000, 1.940000, 1.960000, 1.980000, 2.000000, 2.020000, 2.040000, 2.070000, 2.100000, 2.130000, 2.150000, 2.160000, 2.160000, 2.200000, 2.180000, 2.160000, 2.140000, 2.080000, 1.890000, 1.990000, 1.900000, 1.870000, 1.800000, 1.630000, 1.640000, 1.590000, 1.540000, 1.490000, 1.460000, 1.150000, 1.010000, 0.990000, 1.140000, 1.180000, 1.200000, 1.220000, 1.230000, 1.240000, 1.240000, 1.280000, 1.290000, 1.310000, 1.330000, 1.350000, 1.360000, 1.370000, 1.390000, 1.390000, null, null, null, null, null, null, null, null, null, null, 1.690000, null, null, null, null, null, null, null, null, null, null, 2.540000, 4.600000, 4.540000, 3.880000, 4.160000, 4.490000, 4.480000, 4.460000, 4.440000, 4.440000, 5.600000, 5.640000, 5.740000, 5.700000, 8.430000, 10.430000, 13.580000, 17.620000, 17.590000, 8.060000, 7.870000, 6.560000, 6.570000, 6.570000, 6.580000, 6.420000, 5.470000, 5.080000, 5.100000, 6.500000, 6.530000, 6.550000, 6.580000, 6.600000, 6.620000, 2.390000, 2.270000, 2.150000, 2.040000, 1.940000, 1.860000, 1.780000, 1.720000, 1.650000, 1.590000, 1.540000, 1.480000, 1.440000, 1.380000, 1.350000, 1.310000, 1.270000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.090000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.840000, 0.860000, 0.890000, 0.910000, 0.940000, 0.960000, 1.000000, 1.040000, 1.060000, 1.100000, 1.150000, 1.190000, 1.230000, 1.280000, 1.340000, 1.400000, 1.450000, 1.530000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054799, 291017 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.290000, 6.938000, 3.066617 ], "estimate": [ 4.290000, 6.938000, 3.066617 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.560000, 6.520000, 6.500000, 6.450000, 6.440000, 6.420000, 6.400000, 6.380000, 2.090000, 1.990000, 1.890000, 1.850000, 1.860000, 1.870000, 1.890000, 1.900000, 1.930000, 1.930000, 1.950000, 1.970000, 2.000000, 2.000000, 2.030000, 2.050000, 2.080000, 2.110000, 2.140000, 2.130000, 2.170000, 2.160000, 2.140000, 2.120000, 2.090000, 1.950000, 2.040000, 1.940000, 1.830000, 1.800000, 1.640000, 1.600000, 1.570000, 1.510000, 1.450000, 1.420000, 1.380000, 1.020000, 0.940000, 1.100000, 1.120000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.210000, 1.230000, 1.230000, 1.250000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.350000, null, null, null, null, null, null, null, null, null, null, null, 1.640000, null, null, null, null, null, null, null, null, null, null, 2.480000, 4.530000, 4.500000, 4.030000, 3.910000, 4.150000, 4.420000, 4.400000, 4.400000, 4.390000, 4.640000, 5.580000, 6.000000, 5.650000, 6.410000, 9.850000, 12.620000, 13.830000, 17.540000, 17.380000, 7.810000, 6.600000, 6.510000, 6.510000, 6.520000, 6.530000, 5.780000, 5.010000, 5.020000, 5.270000, 6.470000, 6.490000, 6.510000, 6.540000, 6.570000, 6.600000, 2.340000, 2.230000, 2.120000, 2.010000, 1.920000, 1.840000, 1.760000, 1.710000, 1.630000, 1.590000, 1.530000, 1.480000, 1.440000, 1.390000, 1.350000, 1.310000, 1.280000, 1.230000, 1.200000, 1.180000, 1.150000, 1.120000, 1.090000, 1.070000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.850000, 0.870000, 0.890000, 0.930000, 0.970000, 1.000000, 1.040000, 1.090000, 1.130000, 1.180000, 1.230000, 1.280000, 1.350000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1 ], "timestamp": [ 976054799, 592419 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.260000, 6.940000, 3.060472 ], "estimate": [ 4.260000, 6.940000, 3.060472 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.540000, 6.520000, 6.470000, 6.460000, 6.440000, 6.400000, 6.390000, 2.040000, 1.950000, 1.860000, 1.840000, 1.860000, 1.860000, 1.880000, 1.890000, 1.910000, 1.930000, 1.940000, 1.960000, 1.980000, 2.000000, 2.010000, 2.040000, 2.070000, 2.090000, 2.120000, 2.110000, 2.150000, 2.120000, 2.110000, 2.080000, 2.050000, 1.930000, 2.000000, 1.950000, 1.820000, 1.670000, 1.590000, 1.580000, 1.520000, 1.440000, 1.430000, 1.370000, 1.010000, 0.900000, 1.040000, 1.080000, 1.090000, 1.110000, 1.120000, 1.150000, 1.150000, 1.180000, 1.180000, 1.210000, 1.220000, 1.220000, 1.240000, 1.250000, 1.280000, 1.300000, 1.340000, 1.290000, null, null, null, null, null, null, null, null, null, null, null, null, 1.580000, null, null, null, null, null, null, null, null, null, null, 2.430000, 4.490000, 4.460000, 4.430000, 3.800000, 4.050000, 4.390000, 4.370000, 4.350000, 4.320000, 4.570000, 5.530000, 5.830000, 5.590000, 6.200000, 9.580000, 12.130000, 13.690000, 17.490000, 17.460000, 7.770000, 6.710000, 6.460000, 6.470000, 6.480000, 6.480000, 6.050000, 5.230000, 4.990000, 4.990000, 6.420000, 6.430000, 6.460000, 6.490000, 6.510000, 6.550000, 6.580000, 2.280000, 2.180000, 2.070000, 1.980000, 1.890000, 1.810000, 1.740000, 1.680000, 1.620000, 1.570000, 1.510000, 1.460000, 1.430000, 1.390000, 1.350000, 1.310000, 1.270000, 1.230000, 1.220000, 1.190000, 1.150000, 1.130000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.820000, 0.850000, 0.880000, 0.920000, 0.950000, 1.000000, 1.040000, 1.090000, 1.140000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1 ], "timestamp": [ 976054799, 641059 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.256000, 6.940000, 3.054326 ], "estimate": [ 4.256000, 6.940000, 3.054326 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.900000, 6.660000, 6.620000, 6.530000, 6.490000, 6.470000, 6.450000, 6.420000, 6.400000, 6.380000, 1.980000, 1.890000, 1.830000, 1.840000, 1.860000, 1.870000, 1.880000, 1.900000, 1.910000, 1.940000, 1.940000, 1.960000, 1.980000, 2.010000, 2.010000, 2.040000, 2.070000, 2.100000, 2.100000, 2.100000, 2.140000, 2.110000, 2.100000, 2.070000, 1.870000, 2.020000, 1.920000, 1.940000, 1.730000, 1.580000, 1.560000, 1.490000, 1.430000, 1.400000, 1.390000, 1.070000, 0.910000, 1.010000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.170000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.300000, 1.290000, 1.260000, null, null, null, null, null, null, null, null, null, null, null, 1.580000, null, null, null, null, null, null, null, null, null, null, null, 2.380000, 4.470000, 4.430000, 3.810000, 4.000000, 4.100000, 4.370000, 4.350000, 4.340000, 4.330000, 4.560000, 5.510000, 5.920000, 5.590000, 6.310000, 9.770000, 12.510000, 13.760000, 17.490000, 17.280000, 7.740000, 6.600000, 6.440000, 6.450000, 6.460000, 6.480000, 5.870000, 5.090000, 4.960000, 4.980000, 6.400000, 6.420000, 6.450000, 6.470000, 6.500000, 6.530000, 6.560000, 2.270000, 2.160000, 2.060000, 1.960000, 1.880000, 1.800000, 1.740000, 1.670000, 1.620000, 1.570000, 1.510000, 1.460000, 1.420000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.220000, 1.190000, 1.160000, 1.130000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.830000, 0.850000, 0.880000, 0.920000, 0.960000, 1.010000, 1.050000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1 ], "timestamp": [ 976054799, 841140 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.940000, 3.054326 ], "estimate": [ 4.255000, 6.940000, 3.054326 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.900000, 6.660000, 6.610000, 6.530000, 6.500000, 6.460000, 6.450000, 6.420000, 6.390000, 6.380000, 1.980000, 1.890000, 1.840000, 1.850000, 1.860000, 1.870000, 1.880000, 1.900000, 1.920000, 1.940000, 1.940000, 1.960000, 1.990000, 2.010000, 2.020000, 2.040000, 2.070000, 2.100000, 2.100000, 2.100000, 2.150000, 2.110000, 2.100000, 2.070000, 1.980000, 2.010000, 1.950000, 1.890000, 1.720000, 1.600000, 1.560000, 1.500000, 1.450000, 1.430000, 1.400000, 1.270000, 0.920000, 1.010000, 1.040000, 1.070000, 1.090000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.180000, 1.210000, 1.230000, 1.240000, 1.250000, 1.260000, 1.290000, 1.290000, 1.250000, null, null, null, null, null, null, null, null, null, null, null, 1.590000, null, null, null, null, null, null, null, null, null, null, null, 4.500000, 4.470000, 4.420000, 3.770000, 4.060000, 4.210000, 4.380000, 4.360000, 4.340000, 4.330000, 4.600000, 5.520000, 5.970000, 5.590000, 6.380000, 9.910000, 12.890000, 15.360000, 17.480000, 17.250000, 7.750000, 6.550000, 6.440000, 6.450000, 6.470000, 6.480000, 5.810000, 4.980000, 4.970000, 5.010000, 6.410000, 6.430000, 6.450000, 6.480000, 6.500000, 6.540000, 6.580000, 2.260000, 2.150000, 2.060000, 1.950000, 1.870000, 1.790000, 1.730000, 1.660000, 1.620000, 1.560000, 1.510000, 1.450000, 1.430000, 1.380000, 1.340000, 1.310000, 1.260000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.970000, 0.960000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.850000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.800000, 0.810000, 0.830000, 0.860000, 0.900000, 0.930000, 0.980000, 1.030000, 1.060000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1 ], "timestamp": [ 976054800, 320809 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.940000, 3.054326 ], "estimate": [ 4.255000, 6.940000, 3.054326 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.900000, 6.660000, 6.600000, 6.530000, 6.500000, 6.470000, 6.440000, 6.430000, 6.400000, 6.380000, 1.980000, 1.890000, 1.840000, 1.850000, 1.860000, 1.870000, 1.880000, 1.900000, 1.910000, 1.940000, 1.950000, 1.970000, 1.980000, 2.010000, 2.020000, 2.040000, 2.070000, 2.100000, 2.110000, 2.100000, 2.140000, 2.100000, 2.090000, 2.070000, 1.970000, 2.020000, 1.930000, 1.820000, 1.710000, 1.620000, 1.580000, 1.500000, 1.430000, 1.430000, 1.380000, 1.240000, 0.910000, 1.020000, 1.050000, 1.070000, 1.100000, 1.110000, 1.130000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.250000, 1.290000, 1.300000, 1.300000, 1.270000, null, null, null, null, null, null, null, null, null, null, null, 1.570000, null, null, null, null, null, null, null, null, null, null, null, 4.500000, 4.470000, 4.430000, 3.760000, 4.050000, 4.330000, 4.380000, 4.360000, 4.340000, 4.330000, 4.640000, 5.520000, 5.980000, 5.590000, 6.410000, 9.990000, 13.040000, 15.380000, 17.480000, 17.250000, 7.750000, 6.520000, 6.450000, 6.460000, 6.470000, 6.480000, 5.770000, 4.960000, 4.980000, 5.040000, 6.410000, 6.420000, 6.450000, 6.480000, 6.510000, 6.540000, 6.580000, 2.250000, 2.140000, 2.050000, 1.950000, 1.870000, 1.790000, 1.730000, 1.670000, 1.620000, 1.560000, 1.500000, 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, 1.030000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.800000, 0.810000, 0.830000, 0.870000, 0.900000, 0.940000, 0.980000, 1.020000, 1.070000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1 ], "timestamp": [ 976054800, 321949 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.940000, 3.054326 ], "estimate": [ 4.255000, 6.940000, 3.054326 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.900000, 6.660000, 6.590000, 6.530000, 6.500000, 6.460000, 6.440000, 6.420000, 6.400000, 6.380000, 1.980000, 1.890000, 1.840000, 1.850000, 1.860000, 1.870000, 1.880000, 1.900000, 1.910000, 1.940000, 1.940000, 1.970000, 1.980000, 2.000000, 2.020000, 2.050000, 2.070000, 2.100000, 2.100000, 2.100000, 2.130000, 2.110000, 2.100000, 2.070000, 1.900000, 2.020000, 1.920000, 1.920000, 1.750000, 1.610000, 1.560000, 1.510000, 1.430000, 1.400000, 1.380000, 1.250000, 0.910000, 1.010000, 1.060000, 1.070000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.180000, 1.170000, 1.180000, 1.200000, 1.220000, 1.250000, 1.250000, 1.290000, 1.290000, 1.300000, 1.280000, null, null, null, null, null, null, null, null, null, null, null, 1.570000, null, null, null, null, null, null, null, null, null, null, null, 4.500000, 4.470000, 4.430000, 3.760000, 4.050000, 4.340000, 4.380000, 4.360000, 4.340000, 4.330000, 4.640000, 5.520000, 5.990000, 5.590000, 6.410000, 10.010000, 13.090000, 15.370000, 17.480000, 17.250000, 7.760000, 6.510000, 6.450000, 6.450000, 6.460000, 6.480000, 5.790000, 4.960000, 4.970000, 5.040000, 6.410000, 6.420000, 6.450000, 6.480000, 6.510000, 6.540000, 6.580000, 2.250000, 2.150000, 2.050000, 1.950000, 1.870000, 1.780000, 1.730000, 1.660000, 1.620000, 1.560000, 1.510000, 1.450000, 1.420000, 1.380000, 1.340000, 1.310000, 1.270000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.960000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.830000, 0.860000, 0.900000, 0.940000, 0.980000, 1.020000, 1.060000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1 ], "timestamp": [ 976054800, 471415 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.940000, 3.054326 ], "estimate": [ 4.255000, 6.940000, 3.054326 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.890000, 6.670000, 6.590000, 6.530000, 6.490000, 6.470000, 6.450000, 6.420000, 6.390000, 6.380000, 1.980000, 1.890000, 1.840000, 1.850000, 1.860000, 1.870000, 1.880000, 1.900000, 1.910000, 1.940000, 1.940000, 1.970000, 1.980000, 2.010000, 2.030000, 2.050000, 2.070000, 2.100000, 2.110000, 2.100000, 2.130000, 2.100000, 2.090000, 2.060000, 1.920000, 2.020000, 1.990000, 1.850000, 1.720000, 1.580000, 1.550000, 1.480000, 1.430000, 1.420000, 1.380000, 1.230000, 0.920000, 1.010000, 1.050000, 1.060000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.270000, 1.300000, 1.290000, 1.280000, null, null, null, null, null, null, null, null, null, null, null, 1.590000, null, null, null, null, null, null, null, null, null, null, null, 4.500000, 4.470000, 4.430000, 3.760000, 4.050000, 4.340000, 4.370000, 4.360000, 4.340000, 4.330000, 4.650000, 5.520000, 5.990000, 5.590000, 6.410000, 10.010000, 13.110000, 15.370000, 17.490000, 17.250000, 7.750000, 6.510000, 6.450000, 6.460000, 6.470000, 6.480000, 5.780000, 4.960000, 4.970000, 5.040000, 6.420000, 6.420000, 6.450000, 6.480000, 6.500000, 6.540000, 6.580000, 2.250000, 2.140000, 2.050000, 1.950000, 1.870000, 1.790000, 1.730000, 1.670000, 1.620000, 1.560000, 1.500000, 1.450000, 1.430000, 1.380000, 1.340000, 1.300000, 1.260000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.970000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.810000, 0.810000, 0.810000, 0.830000, 0.860000, 0.900000, 0.940000, 0.980000, 1.030000, 1.070000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1 ], "timestamp": [ 976054800, 974555 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.940000, 3.060472 ], "estimate": [ 4.255000, 6.940000, 3.060472 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.890000, 6.660000, 6.600000, 6.530000, 6.500000, 6.470000, 6.440000, 6.420000, 6.400000, 6.370000, 1.980000, 1.880000, 1.840000, 1.850000, 1.860000, 1.870000, 1.880000, 1.900000, 1.910000, 1.940000, 1.940000, 1.970000, 1.980000, 2.010000, 2.020000, 2.040000, 2.070000, 2.100000, 2.100000, 2.100000, 2.140000, 2.110000, 2.090000, 2.070000, 1.900000, 2.010000, 1.920000, 1.890000, 1.750000, 1.590000, 1.550000, 1.490000, 1.430000, 1.390000, 1.390000, 1.210000, 0.920000, 1.010000, 1.050000, 1.070000, 1.080000, 1.110000, 1.130000, 1.150000, 1.150000, 1.160000, 1.170000, 1.190000, 1.190000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.300000, 1.300000, null, null, null, null, null, null, null, null, null, null, null, 1.580000, null, null, null, null, null, null, null, null, null, null, null, 4.500000, 4.470000, 4.430000, 3.760000, 4.050000, 4.350000, 4.370000, 4.350000, 4.340000, 4.330000, 4.670000, 5.520000, 5.990000, 5.590000, 6.410000, 10.010000, 13.050000, 15.360000, 17.480000, 10.540000, 7.750000, 6.510000, 6.450000, 6.460000, 6.470000, 6.470000, 5.780000, 4.950000, 4.970000, 5.040000, 6.410000, 6.430000, 6.450000, 6.480000, 6.500000, 6.540000, 6.580000, 2.250000, 2.140000, 2.050000, 1.950000, 1.860000, 1.780000, 1.720000, 1.660000, 1.620000, 1.560000, 1.500000, 1.450000, 1.420000, 1.380000, 1.340000, 1.300000, 1.260000, 1.220000, 1.210000, 1.180000, 1.150000, 1.120000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.820000, 0.810000, 0.810000, 0.810000, 0.830000, 0.860000, 0.900000, 0.940000, 0.980000, 1.020000, 1.060000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1 ], "timestamp": [ 976054800, 981358 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.940000, 3.072763 ], "estimate": [ 4.255000, 6.940000, 3.072763 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.770000, 6.650000, 6.580000, 6.530000, 6.490000, 6.470000, 6.440000, 6.410000, 6.400000, 2.070000, 1.960000, 1.880000, 1.840000, 1.850000, 1.860000, 1.870000, 1.890000, 1.900000, 1.920000, 1.940000, 1.950000, 1.970000, 1.990000, 2.010000, 2.020000, 2.050000, 2.080000, 2.100000, 2.100000, 2.110000, 2.120000, 2.100000, 2.100000, 2.070000, 1.900000, 1.970000, 1.950000, 1.840000, 1.730000, 1.590000, 1.580000, 1.510000, 1.420000, 1.390000, 1.370000, 1.050000, 0.920000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.210000, 1.210000, 1.230000, 1.240000, 1.250000, 1.280000, 1.310000, 1.290000, 1.260000, null, null, null, null, null, null, null, null, null, null, null, 1.580000, null, null, null, null, null, null, null, null, null, null, 2.420000, 4.490000, 4.470000, 4.440000, 3.760000, 4.030000, 4.390000, 4.370000, 4.350000, 4.340000, 4.320000, 5.470000, 5.520000, 5.640000, 5.570000, 8.340000, 10.350000, 13.580000, 17.490000, 17.490000, 7.820000, 7.750000, 6.460000, 6.450000, 6.460000, 6.470000, 6.470000, 5.630000, 4.970000, 4.970000, 5.020000, 6.410000, 6.420000, 6.450000, 6.480000, 6.510000, 6.540000, 2.350000, 2.240000, 2.120000, 2.030000, 1.930000, 1.860000, 1.780000, 1.710000, 1.650000, 1.600000, 1.550000, 1.490000, 1.450000, 1.410000, 1.380000, 1.340000, 1.300000, 1.260000, 1.230000, 1.200000, 1.170000, 1.150000, 1.120000, 1.090000, 1.060000, 1.050000, 1.020000, 1.020000, 0.990000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.810000, 0.830000, 0.870000, 0.910000, 0.940000, 0.990000, 1.030000, 1.070000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1 ], "timestamp": [ 976054801, 417479 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.940000, 3.091199 ], "estimate": [ 4.255000, 6.940000, 3.091199 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.660000, 6.620000, 6.540000, 6.500000, 6.470000, 6.450000, 6.420000, 6.410000, 6.380000, 1.990000, 1.890000, 1.840000, 1.850000, 1.860000, 1.870000, 1.880000, 1.900000, 1.910000, 1.940000, 1.940000, 1.970000, 1.990000, 2.010000, 2.020000, 2.040000, 2.070000, 2.100000, 2.100000, 2.110000, 2.140000, 2.120000, 2.100000, 2.070000, 2.020000, 2.040000, 1.960000, 1.860000, 1.730000, 1.620000, 1.550000, 1.470000, 1.440000, 1.430000, 1.390000, 1.280000, 0.920000, 1.010000, 1.050000, 1.080000, 1.100000, 1.100000, 1.120000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.230000, 1.250000, 1.280000, 1.300000, 1.300000, 1.280000, null, null, null, null, null, null, null, null, null, null, null, 1.580000, null, null, null, null, null, null, null, null, null, null, null, 2.390000, 4.470000, 4.420000, 3.760000, 3.970000, 4.130000, 4.380000, 4.360000, 4.340000, 4.330000, 4.570000, 5.520000, 5.930000, 5.590000, 6.310000, 9.800000, 12.500000, 13.770000, 17.490000, 17.290000, 7.750000, 6.550000, 6.450000, 6.450000, 6.460000, 6.470000, 5.810000, 4.980000, 4.970000, 5.000000, 6.410000, 6.420000, 6.450000, 6.480000, 6.500000, 6.530000, 6.570000, 2.250000, 2.150000, 2.050000, 1.950000, 1.870000, 1.790000, 1.730000, 1.660000, 1.620000, 1.560000, 1.500000, 1.450000, 1.420000, 1.380000, 1.340000, 1.300000, 1.260000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.970000, 0.960000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.870000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.820000, 0.860000, 0.890000, 0.930000, 0.970000, 1.030000, 1.050000, 1.110000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1 ], "timestamp": [ 976054801, 231086 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.940000, 3.134218 ], "estimate": [ 4.255000, 6.940000, 3.134218 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.580000, 6.540000, 6.500000, 6.470000, 6.440000, 6.420000, 6.400000, 6.390000, 1.970000, 1.880000, 1.850000, 1.850000, 1.860000, 1.870000, 1.890000, 1.900000, 1.920000, 1.940000, 1.950000, 1.970000, 1.990000, 2.020000, 2.020000, 2.050000, 2.080000, 2.100000, 2.110000, 2.110000, 2.120000, 2.110000, 2.100000, 2.070000, 1.900000, 2.020000, 1.960000, 1.840000, 1.700000, 1.600000, 1.590000, 1.510000, 1.440000, 1.430000, 1.360000, 0.980000, 0.910000, 1.040000, 1.050000, 1.070000, 1.100000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.220000, 1.230000, 1.240000, 1.270000, 1.300000, 1.310000, 1.290000, 1.280000, null, null, null, null, null, null, null, null, null, null, null, 1.570000, null, null, null, null, null, null, null, null, null, null, 2.420000, 4.500000, 4.470000, 4.440000, 3.750000, 4.030000, 4.380000, 4.370000, 4.350000, 4.340000, 4.320000, 4.780000, 5.520000, 5.650000, 5.590000, 6.410000, 10.080000, 13.180000, 15.380000, 17.480000, 8.970000, 7.760000, 6.460000, 6.450000, 6.460000, 6.460000, 6.470000, 5.620000, 4.960000, 4.970000, 5.050000, 6.410000, 6.420000, 6.450000, 6.490000, 6.510000, 6.540000, 2.350000, 2.230000, 2.120000, 2.020000, 1.930000, 1.850000, 1.770000, 1.710000, 1.640000, 1.600000, 1.540000, 1.490000, 1.450000, 1.410000, 1.370000, 1.330000, 1.290000, 1.250000, 1.210000, 1.200000, 1.170000, 1.140000, 1.110000, 1.080000, 1.060000, 1.040000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.930000, 0.910000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.810000, 0.830000, 0.870000, 0.900000, 0.930000, 0.980000, 1.020000, 1.060000, 1.120000, 1.180000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054801, 471498 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.940000, -3.081366 ], "estimate": [ 4.258000, 6.940000, -3.081366 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.470000, 6.450000, 6.420000, 6.400000, 2.060000, 1.970000, 1.880000, 1.850000, 1.860000, 1.860000, 1.880000, 1.890000, 1.910000, 1.920000, 1.940000, 1.960000, 1.980000, 2.000000, 2.020000, 2.040000, 2.060000, 2.080000, 2.110000, 2.110000, 2.120000, 2.120000, 2.110000, 2.100000, 2.050000, 1.910000, 2.040000, 1.970000, 1.890000, 1.630000, 1.580000, 1.540000, 1.480000, 1.440000, 1.420000, 1.360000, 0.920000, 0.930000, 1.050000, 1.060000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.200000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.310000, null, null, null, null, null, null, null, null, null, null, null, 1.590000, 1.590000, null, null, null, null, null, null, null, null, null, null, 4.500000, 4.490000, 4.460000, 4.430000, 4.160000, 4.210000, 4.390000, 4.370000, 4.350000, 4.330000, 4.320000, 5.510000, 5.520000, 5.590000, 5.580000, 8.330000, 10.370000, 13.520000, 17.490000, 17.330000, 7.760000, 7.690000, 6.450000, 6.450000, 6.460000, 6.470000, 6.300000, 5.420000, 4.980000, 4.970000, 5.020000, 6.410000, 6.430000, 6.450000, 6.480000, 6.510000, 6.540000, 2.300000, 2.190000, 2.080000, 1.990000, 1.900000, 1.820000, 1.740000, 1.690000, 1.630000, 1.570000, 1.520000, 1.470000, 1.430000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.210000, 1.180000, 1.150000, 1.120000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 0.990000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.800000, 0.830000, 0.870000, 0.900000, 0.940000, 0.990000, 1.020000, 1.080000, 1.130000, 1.180000, 1.240000, 1.310000, 1.400000, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054801, 630709 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.940000, -3.007620 ], "estimate": [ 4.258000, 6.940000, -3.007620 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.390000, 2.030000, 1.940000, 1.850000, 1.850000, 1.860000, 1.870000, 1.890000, 1.910000, 1.920000, 1.940000, 1.950000, 1.970000, 2.000000, 2.020000, 2.040000, 2.050000, 2.080000, 2.100000, 2.110000, 2.120000, 2.160000, 2.120000, 2.110000, 2.080000, 2.010000, 2.050000, 1.960000, 2.020000, 1.770000, 1.600000, 1.620000, 1.530000, 1.470000, 1.440000, 1.380000, 1.080000, 0.950000, 1.010000, 1.050000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.280000, 1.300000, 1.320000, 1.320000, 1.320000, null, null, null, null, null, null, null, null, null, null, null, 1.600000, null, null, null, null, null, null, null, null, null, null, 2.420000, 2.390000, 4.480000, 4.450000, 3.750000, 3.810000, 4.040000, 4.380000, 4.360000, 4.340000, 4.340000, 4.570000, 5.520000, 5.720000, 5.600000, 6.120000, 9.300000, 11.770000, 13.600000, 17.490000, 17.480000, 7.760000, 6.520000, 6.450000, 6.450000, 6.460000, 6.480000, 5.780000, 4.960000, 4.980000, 4.980000, 6.410000, 6.420000, 6.440000, 6.470000, 6.490000, 6.520000, 2.350000, 2.220000, 2.110000, 2.010000, 1.930000, 1.840000, 1.770000, 1.700000, 1.630000, 1.590000, 1.530000, 1.470000, 1.440000, 1.400000, 1.350000, 1.310000, 1.280000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 0.990000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.820000, 0.800000, 0.790000, 0.790000, 0.810000, 0.820000, 0.850000, 0.880000, 0.920000, 0.960000, 1.010000, 1.050000, 1.100000, 1.160000, 1.210000, 1.270000, 1.350000, 1.440000, 1.530000, 1.660000, 1.780000, 1.930000 ], "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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054801, 919561 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.256000, 6.940000, -2.884710 ], "estimate": [ 4.256000, 6.940000, -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": [ 1.860000, 1.880000, 1.900000, 1.910000, 1.930000, 1.940000, 1.970000, 1.990000, 2.010000, 2.020000, 2.050000, 2.070000, 2.100000, 2.130000, 2.130000, 2.140000, 2.130000, 2.110000, 2.110000, 2.040000, 2.020000, 2.020000, 2.010000, 1.820000, 1.640000, 1.620000, 1.580000, 1.520000, 1.460000, 1.440000, 1.300000, 0.950000, 0.940000, 1.060000, 1.080000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.180000, 1.190000, 1.190000, 1.220000, 1.230000, 1.240000, 1.270000, 1.280000, 1.300000, 1.320000, 1.300000, null, null, null, null, null, null, null, null, null, null, null, 1.590000, 1.590000, null, null, null, null, null, null, null, null, null, null, 4.510000, 4.490000, 4.460000, 4.430000, 4.420000, 4.390000, 4.390000, 4.370000, 4.350000, 4.330000, 4.320000, 4.930000, 5.520000, 5.590000, 5.590000, 6.400000, 9.890000, 12.690000, 13.780000, 17.300000, 7.770000, 6.940000, 6.450000, 6.450000, 6.460000, 6.460000, 6.200000, 5.330000, 4.970000, 4.980000, 5.100000, 6.410000, 6.420000, 6.440000, 6.470000, 6.500000, 6.530000, 2.260000, 2.140000, 2.050000, 1.940000, 1.860000, 1.780000, 1.710000, 1.640000, 1.600000, 1.540000, 1.480000, 1.450000, 1.400000, 1.360000, 1.310000, 1.280000, 1.250000, 1.210000, 1.190000, 1.150000, 1.120000, 1.090000, 1.060000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.810000, 0.820000, 0.860000, 0.880000, 0.930000, 0.970000, 1.010000, 1.050000, 1.100000, 1.160000, 1.220000, 1.290000, 1.370000, 1.450000, 1.560000, 1.670000, 1.810000, 1.980000, 2.190000, 2.450000, 2.770000, 3.200000, 3.760000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054802, 810359 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.252000, 6.938000, -2.737217 ], "estimate": [ 4.252000, 6.938000, -2.737217 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.030000, 2.050000, 2.080000, 2.110000, 2.140000, 2.140000, 2.140000, 2.150000, 2.120000, 2.110000, 1.960000, 1.940000, 2.030000, 1.900000, 1.840000, 1.680000, 1.610000, 1.560000, 1.500000, 1.460000, 1.410000, 0.960000, 1.040000, 1.000000, 1.070000, 1.090000, 1.110000, 1.120000, 1.150000, 1.150000, 1.180000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.250000, 1.290000, 1.320000, 1.320000, 1.300000, 1.330000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 2.430000, 2.420000, 4.490000, 4.440000, 3.790000, 4.070000, 4.390000, 4.370000, 4.360000, 4.340000, 4.350000, 4.330000, 5.510000, 5.520000, 5.570000, 5.570000, 8.160000, 9.940000, 12.760000, 13.770000, 17.250000, 7.760000, 6.700000, 6.440000, 6.450000, 6.450000, 6.460000, 5.960000, 5.130000, 4.970000, 4.970000, 4.990000, 6.410000, 6.430000, 6.450000, 6.470000, 6.500000, 2.330000, 2.200000, 2.100000, 2.000000, 1.900000, 1.820000, 1.750000, 1.680000, 1.620000, 1.550000, 1.500000, 1.460000, 1.420000, 1.370000, 1.320000, 1.290000, 1.240000, 1.220000, 1.190000, 1.150000, 1.120000, 1.090000, 1.060000, 1.040000, 1.030000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.890000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.800000, 0.810000, 0.850000, 0.880000, 0.910000, 0.960000, 1.000000, 1.050000, 1.090000, 1.140000, 1.210000, 1.270000, 1.350000, 1.430000, 1.540000, 1.650000, 1.800000, 1.970000, 2.180000, 2.430000, 2.740000, 3.160000, 3.730000, 4.540000, 5.770000, 7.660000, 12.700000, 15.250000, 11.400000, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 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 ], "timestamp": [ 976054803, 218426 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.251000, 6.938000, -2.657325 ], "estimate": [ 4.251000, 6.938000, -2.657325 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.160000, 2.160000, 2.130000, 1.920000, 1.920000, 1.990000, 1.980000, 1.800000, 1.660000, 1.650000, 1.560000, 1.500000, 1.470000, 1.430000, 0.960000, 0.970000, 1.080000, 1.090000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.190000, 1.220000, 1.230000, 1.230000, 1.240000, 1.270000, 1.290000, 1.330000, 1.330000, 1.320000, null, null, null, null, null, null, null, null, null, null, null, 1.610000, 1.600000, null, null, null, null, null, null, null, null, null, null, 2.430000, 2.420000, 4.490000, 4.460000, 3.830000, 3.770000, 4.080000, 4.380000, 4.360000, 4.340000, 4.330000, 4.480000, 5.520000, 5.530000, 5.580000, 5.660000, 8.370000, 10.290000, 13.230000, 15.400000, 17.370000, 7.760000, 6.730000, 6.450000, 6.450000, 6.450000, 6.460000, 6.080000, 5.200000, 4.970000, 4.970000, 6.390000, 6.410000, 6.420000, 6.440000, 6.470000, 6.500000, 2.310000, 2.200000, 2.090000, 1.980000, 1.890000, 1.800000, 1.730000, 1.660000, 1.600000, 1.540000, 1.480000, 1.450000, 1.390000, 1.350000, 1.310000, 1.270000, 1.230000, 1.200000, 1.170000, 1.130000, 1.100000, 1.070000, 1.050000, 1.020000, 1.010000, 0.980000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.750000, 0.750000, 0.770000, 0.800000, 0.820000, 0.850000, 0.880000, 0.920000, 0.960000, 1.010000, 1.040000, 1.090000, 1.150000, 1.200000, 1.270000, 1.350000, 1.430000, 1.530000, 1.650000, 1.800000, 1.970000, 2.170000, 2.430000, 2.740000, 3.160000, 3.730000, 4.540000, 5.750000, 7.660000, 13.060000, null, null, null, null, 10.710000, null, null, null, null, null, 9.980000, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 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, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0 ], "timestamp": [ 976054803, 271163 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.250000, 6.937000, -2.602015 ], "estimate": [ 4.250000, 6.937000, -2.602015 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.060000, 2.030000, 1.990000, 1.830000, 1.690000, 1.620000, 1.580000, 1.520000, 1.500000, 1.460000, 1.180000, 0.980000, 1.050000, 1.090000, 1.110000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.190000, 1.210000, 1.230000, 1.240000, 1.240000, 1.270000, 1.280000, 1.310000, 1.330000, 1.340000, 1.300000, null, null, null, null, null, null, null, null, null, null, null, 1.620000, null, null, null, null, null, null, null, null, null, null, null, 2.420000, 4.510000, 4.480000, 4.450000, 4.010000, 4.100000, 4.390000, 4.370000, 4.350000, 4.330000, 4.320000, 5.040000, 5.530000, 5.670000, 5.590000, 6.390000, 9.620000, 12.030000, 13.620000, 17.490000, 17.480000, 7.770000, 6.460000, 6.450000, 6.460000, 6.470000, 6.470000, 5.590000, 4.970000, 4.970000, 5.120000, 6.400000, 6.420000, 6.440000, 6.460000, 6.490000, 6.520000, 2.250000, 2.130000, 2.030000, 1.930000, 1.840000, 1.760000, 1.700000, 1.620000, 1.560000, 1.500000, 1.460000, 1.410000, 1.370000, 1.320000, 1.280000, 1.250000, 1.220000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.040000, 1.010000, 0.980000, 0.970000, 0.950000, 0.940000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.750000, 0.740000, 0.750000, 0.790000, 0.810000, 0.840000, 0.880000, 0.900000, 0.940000, 1.000000, 1.040000, 1.080000, 1.140000, 1.190000, 1.270000, 1.320000, 1.400000, 1.500000, 1.610000, 1.740000, 1.900000, 2.090000, 2.330000, 2.620000, 2.990000, 3.490000, 4.170000, 5.230000, 6.820000, 12.230000, 15.550000, 18.600000, 11.350000, null, null, 10.820000, null, null, null, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0 ], "timestamp": [ 976054803, 272246 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.250000, 6.937000, -2.509833 ], "estimate": [ 4.250000, 6.937000, -2.509833 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.800000, 1.670000, 1.620000, 1.590000, 1.520000, 1.490000, 1.440000, 1.200000, 1.000000, 1.010000, 1.090000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.180000, 1.220000, 1.220000, 1.230000, 1.250000, 1.270000, 1.270000, 1.290000, 1.320000, 1.340000, 1.340000, 1.340000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 2.430000, 4.510000, 4.490000, 4.460000, 4.420000, 4.240000, 4.390000, 4.370000, 4.350000, 4.340000, 4.330000, 4.720000, 5.540000, 5.600000, 5.600000, 6.290000, 9.360000, 11.610000, 13.590000, 17.490000, 17.480000, 7.770000, 6.440000, 6.440000, 6.450000, 6.460000, 6.420000, 5.490000, 4.970000, 4.980000, 5.040000, 6.400000, 6.420000, 6.430000, 6.460000, 6.490000, 6.520000, 2.210000, 2.090000, 1.990000, 1.890000, 1.810000, 1.730000, 1.670000, 1.600000, 1.540000, 1.490000, 1.450000, 1.400000, 1.350000, 1.310000, 1.260000, 1.230000, 1.200000, 1.160000, 1.130000, 1.090000, 1.060000, 1.040000, 1.020000, 1.000000, 0.970000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.840000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.760000, 0.740000, 0.740000, 0.740000, 0.750000, 0.780000, 0.810000, 0.830000, 0.870000, 0.910000, 0.940000, 0.990000, 1.040000, 1.080000, 1.140000, 1.190000, 1.260000, 1.330000, 1.410000, 1.500000, 1.610000, 1.730000, 1.890000, 2.070000, 2.310000, 2.600000, 2.960000, 3.440000, 4.110000, 5.110000, 6.590000, 12.200000, null, 18.580000, null, null, null, 10.820000, null, null, null, null, null, null, null, null, null, 9.200000, 9.180000, 9.240000, 5.810000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1 ], "timestamp": [ 976054803, 273272 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.250000, 6.937000, -2.393068 ], "estimate": [ 4.250000, 6.937000, -2.393068 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.170000, 1.010000, 1.020000, 1.110000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.230000, 1.240000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.320000, 1.350000, 1.350000, 1.350000, null, null, null, null, null, null, null, null, null, null, 1.610000, 1.610000, null, null, null, null, null, null, null, null, null, null, 2.440000, 2.440000, 4.510000, 4.490000, 4.460000, 4.430000, 4.400000, 4.390000, 4.380000, 4.360000, 4.350000, 4.340000, 4.710000, 5.540000, 5.590000, 5.600000, 6.260000, 9.280000, 11.500000, 13.590000, 17.490000, 7.770000, 7.760000, 6.440000, 6.450000, 6.460000, 6.460000, 6.340000, 5.390000, 4.980000, 4.980000, 5.050000, 6.400000, 6.420000, 6.430000, 6.460000, 6.490000, 2.290000, 2.180000, 2.060000, 1.960000, 1.860000, 1.790000, 1.710000, 1.640000, 1.580000, 1.520000, 1.460000, 1.430000, 1.370000, 1.330000, 1.290000, 1.250000, 1.220000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.960000, 0.950000, 0.920000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.840000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.760000, 0.790000, 0.810000, 0.840000, 0.870000, 0.910000, 0.940000, 1.000000, 1.030000, 1.090000, 1.150000, 1.200000, 1.270000, 1.340000, 1.410000, 1.510000, 1.620000, 1.740000, 1.900000, 2.080000, 2.310000, 2.600000, 2.970000, 3.440000, 4.080000, 5.070000, 6.510000, 12.170000, null, null, null, null, null, 10.760000, 10.730000, null, null, null, null, null, null, null, null, 9.180000, 9.180000, 9.250000, 5.780000, 5.470000, 5.190000, 4.960000, 4.740000, 4.550000, 4.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 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, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054803, 274206 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.250000, 6.936000, -2.300885 ], "estimate": [ 4.250000, 6.936000, -2.300885 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.190000, 1.200000, 1.210000, 1.240000, 1.250000, 1.250000, 1.260000, 1.270000, 1.310000, 1.310000, 1.320000, 1.360000, 1.370000, 1.340000, null, null, null, null, null, null, null, null, null, null, null, 1.610000, null, null, null, null, null, null, null, null, null, null, null, 2.450000, 4.530000, 4.500000, 4.480000, 3.960000, 4.090000, 4.270000, 4.390000, 4.380000, 4.350000, 4.350000, 4.590000, 5.540000, 5.740000, 5.620000, 6.100000, 8.880000, 10.930000, 13.640000, 17.490000, 17.310000, 7.780000, 6.500000, 6.460000, 6.460000, 6.460000, 6.470000, 5.640000, 4.970000, 4.980000, 4.990000, 6.390000, 6.420000, 6.440000, 6.460000, 6.490000, 2.320000, 2.190000, 2.080000, 1.960000, 1.870000, 1.780000, 1.710000, 1.640000, 1.580000, 1.520000, 1.460000, 1.420000, 1.370000, 1.320000, 1.280000, 1.230000, 1.210000, 1.170000, 1.130000, 1.100000, 1.070000, 1.050000, 1.030000, 1.000000, 0.970000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.870000, 0.870000, 0.840000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.750000, 0.780000, 0.810000, 0.840000, 0.870000, 0.910000, 0.950000, 1.000000, 1.030000, 1.090000, 1.140000, 1.190000, 1.260000, 1.320000, 1.410000, 1.490000, 1.600000, 1.730000, 1.870000, 2.050000, 2.270000, 2.540000, 2.890000, 3.330000, 3.920000, 4.810000, 6.080000, 12.140000, null, 16.520000, 11.380000, 11.360000, null, null, 10.780000, null, null, null, null, null, null, null, null, null, 9.200000, 9.220000, 9.260000, 5.580000, 5.290000, 5.030000, 4.830000, 4.640000, 4.430000, 4.260000, 4.100000, 3.950000, 3.820000, 3.700000, 3.590000, 3.490000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054803, 275117 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.250000, 6.937000, -2.220993 ], "estimate": [ 4.250000, 6.937000, -2.220993 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.250000, 1.250000, 1.270000, 1.300000, 1.320000, 1.320000, 1.350000, 1.360000, 1.370000, 1.350000, null, null, null, null, null, null, null, null, null, null, 1.620000, 1.630000, null, null, null, null, null, null, null, null, null, null, 2.450000, 2.460000, 4.520000, 4.490000, 4.470000, 3.900000, 4.420000, 4.400000, 4.390000, 4.380000, 4.360000, 4.360000, 5.540000, 5.550000, 5.600000, 5.600000, 6.370000, 9.360000, 11.650000, 13.610000, 17.490000, 17.490000, 7.750000, 6.450000, 6.450000, 6.460000, 6.470000, 6.400000, 5.410000, 4.970000, 4.980000, 5.030000, 6.400000, 6.420000, 6.440000, 6.470000, 6.500000, 2.270000, 2.150000, 2.040000, 1.930000, 1.840000, 1.750000, 1.680000, 1.620000, 1.550000, 1.490000, 1.440000, 1.400000, 1.350000, 1.300000, 1.250000, 1.220000, 1.190000, 1.160000, 1.110000, 1.080000, 1.050000, 1.020000, 1.010000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.790000, 0.770000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.730000, 0.760000, 0.800000, 0.820000, 0.860000, 0.880000, 0.920000, 0.960000, 1.000000, 1.040000, 1.100000, 1.160000, 1.210000, 1.280000, 1.350000, 1.430000, 1.530000, 1.640000, 1.770000, 1.910000, 2.110000, 2.340000, 2.630000, 2.990000, 3.470000, 4.100000, 5.070000, 6.460000, 12.160000, null, 16.450000, 11.360000, null, null, 10.770000, 10.780000, null, null, null, null, null, null, null, null, null, 9.160000, 9.220000, 9.260000, 5.520000, 5.240000, 4.990000, 4.780000, 4.590000, 4.400000, 4.230000, 4.080000, 3.910000, 3.800000, 3.670000, 3.560000, 3.460000, 3.350000, 3.260000, 3.170000, 3.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 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, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054803, 481518 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.249000, 6.936000, -2.122664 ], "estimate": [ 4.249000, 6.936000, -2.122664 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.370000, 1.370000, 1.380000, 1.340000, null, 1.340000, null, null, null, 1.460000, 1.460000, null, null, null, null, 1.650000, null, null, null, null, null, null, null, null, null, null, null, 4.570000, 4.540000, 4.510000, 4.480000, 3.800000, 3.830000, 4.070000, 4.400000, 4.390000, 4.370000, 4.370000, 4.600000, 5.540000, 5.550000, 5.710000, 5.830000, 8.350000, 10.170000, 12.770000, 13.820000, 17.500000, 7.790000, 6.710000, 6.460000, 6.460000, 6.470000, 6.480000, 5.850000, 4.970000, 4.970000, 4.980000, 6.410000, 6.420000, 6.430000, 6.460000, 6.490000, 2.330000, 2.190000, 2.060000, 1.950000, 1.850000, 1.780000, 1.710000, 1.620000, 1.570000, 1.510000, 1.450000, 1.400000, 1.350000, 1.310000, 1.270000, 1.230000, 1.190000, 1.160000, 1.120000, 1.090000, 1.050000, 1.040000, 1.010000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.740000, 0.760000, 0.790000, 0.810000, 0.840000, 0.880000, 0.900000, 0.950000, 1.000000, 1.030000, 1.080000, 1.130000, 1.190000, 1.260000, 1.320000, 1.400000, 1.490000, 1.590000, 1.710000, 1.840000, 2.020000, 2.220000, 2.470000, 2.780000, 3.210000, 3.730000, 4.500000, 5.610000, 7.390000, 12.250000, 13.010000, 18.230000, 18.200000, null, 10.660000, 10.660000, null, null, null, null, null, null, null, null, null, 9.180000, 9.180000, 9.230000, 5.650000, 5.360000, 5.110000, 4.880000, 4.670000, 4.470000, 4.290000, 4.130000, 3.980000, 3.850000, 3.720000, 3.610000, 3.540000, 3.390000, 3.300000, 3.200000, 3.120000, 3.040000, 2.970000, 2.900000, 2.820000, 2.750000, 2.690000 ], "valid": [ 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054803, 924332 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.935000, -2.024336 ], "estimate": [ 4.248000, 6.935000, -2.024336 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, null, null, null, null, null, null, null, null, null, 1.660000, 1.650000, null, null, null, null, null, null, null, null, null, null, 2.470000, 2.470000, 4.540000, 4.510000, 4.490000, 4.450000, 4.330000, 4.410000, 4.400000, 4.390000, 4.380000, 4.360000, 4.690000, 5.550000, 5.630000, 5.610000, 6.200000, 8.970000, 11.010000, 13.650000, 17.510000, 17.340000, 7.780000, 6.470000, 6.470000, 6.460000, 6.480000, 6.480000, 5.500000, 4.980000, 4.980000, 5.150000, 6.410000, 6.430000, 6.450000, 6.480000, 6.500000, 2.240000, 2.120000, 2.010000, 1.910000, 1.810000, 1.730000, 1.650000, 1.590000, 1.530000, 1.470000, 1.420000, 1.370000, 1.330000, 1.280000, 1.240000, 1.200000, 1.170000, 1.130000, 1.100000, 1.060000, 1.040000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.760000, 0.780000, 0.810000, 0.840000, 0.870000, 0.900000, 0.940000, 0.970000, 1.020000, 1.060000, 1.120000, 1.170000, 1.220000, 1.300000, 1.370000, 1.450000, 1.540000, 1.650000, 1.770000, 1.920000, 2.100000, 2.320000, 2.600000, 2.950000, 3.400000, 3.980000, 4.860000, 6.110000, 12.120000, null, 16.500000, 11.350000, 11.320000, null, null, 10.780000, null, null, null, null, null, null, null, null, null, 9.180000, 9.200000, 9.210000, 5.550000, 5.270000, 5.010000, 4.800000, 4.600000, 4.410000, 4.250000, 4.090000, 3.920000, 3.800000, 3.670000, 3.570000, 3.440000, 3.360000, 3.250000, 3.180000, 3.080000, 3.000000, 2.930000, 2.860000, 2.800000, 2.740000, 2.670000, 2.620000, 2.570000, 2.510000, 2.480000, 2.430000 ], "valid": [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054803, 925479 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.934000, -1.944444 ], "estimate": [ 4.248000, 6.934000, -1.944444 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, 1.490000, null, null, null, 1.670000, 1.650000, null, null, null, null, null, null, null, null, null, null, 4.590000, 4.570000, 4.540000, 4.510000, 3.850000, 3.810000, 4.090000, 4.410000, 4.390000, 4.390000, 4.390000, 4.530000, 5.570000, 5.560000, 5.620000, 5.600000, 8.100000, 9.700000, 12.060000, 13.630000, 17.510000, 7.780000, 7.180000, 6.480000, 6.470000, 6.480000, 6.480000, 6.160000, 5.170000, 4.960000, 4.990000, 6.410000, 6.420000, 6.440000, 6.470000, 6.490000, 2.330000, 2.180000, 2.060000, 1.950000, 1.850000, 1.770000, 1.690000, 1.620000, 1.550000, 1.490000, 1.450000, 1.390000, 1.340000, 1.310000, 1.260000, 1.210000, 1.170000, 1.140000, 1.110000, 1.070000, 1.050000, 1.020000, 1.000000, 0.970000, 0.950000, 0.920000, 0.910000, 0.900000, 0.880000, 0.860000, 0.840000, 0.840000, 0.830000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.730000, 0.760000, 0.780000, 0.810000, 0.830000, 0.870000, 0.890000, 0.940000, 0.960000, 1.010000, 1.040000, 1.100000, 1.160000, 1.200000, 1.270000, 1.340000, 1.420000, 1.500000, 1.590000, 1.710000, 1.850000, 2.010000, 2.210000, 2.450000, 2.750000, 3.140000, 3.630000, 4.320000, 5.330000, 6.840000, 12.150000, null, 11.450000, 11.380000, null, null, 10.770000, null, null, null, null, null, null, null, null, null, 9.140000, 9.140000, 9.200000, 5.750000, 5.450000, 5.190000, 4.940000, 4.730000, 4.530000, 4.350000, 4.170000, 4.010000, 3.890000, 3.740000, 3.620000, 3.520000, 3.410000, 3.310000, 3.220000, 3.130000, 3.050000, 2.970000, 2.910000, 2.830000, 2.760000, 2.710000, 2.650000, 2.600000, 2.550000, 2.500000, 2.470000, 2.410000, 2.370000, 2.320000, 2.290000, 2.250000, 2.220000 ], "valid": [ 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054804, 312870 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.933000, -1.858407 ], "estimate": [ 4.248000, 6.933000, -1.858407 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, 1.670000, null, null, null, null, null, null, null, null, null, null, null, 4.590000, 4.580000, 4.540000, 4.510000, 3.840000, 3.820000, 4.090000, 4.430000, 4.410000, 4.390000, 4.390000, 4.550000, 5.570000, 5.570000, 5.610000, 5.670000, 8.140000, 9.770000, 12.170000, 13.660000, 17.520000, 7.790000, 6.850000, 6.480000, 6.480000, 6.480000, 6.490000, 6.070000, 5.030000, 4.980000, 5.000000, 6.410000, 6.430000, 6.440000, 6.470000, 6.500000, 2.310000, 2.170000, 2.040000, 1.930000, 1.840000, 1.750000, 1.680000, 1.600000, 1.540000, 1.470000, 1.440000, 1.380000, 1.330000, 1.290000, 1.240000, 1.200000, 1.160000, 1.130000, 1.090000, 1.060000, 1.040000, 1.010000, 0.990000, 0.970000, 0.940000, 0.920000, 0.910000, 0.890000, 0.870000, 0.850000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.740000, 0.770000, 0.790000, 0.810000, 0.850000, 0.880000, 0.910000, 0.940000, 0.980000, 1.030000, 1.060000, 1.120000, 1.170000, 1.220000, 1.290000, 1.360000, 1.430000, 1.520000, 1.620000, 1.740000, 1.870000, 2.030000, 2.240000, 2.480000, 2.790000, 3.190000, 3.710000, 4.400000, 5.420000, 6.960000, 12.160000, null, 11.420000, 11.410000, null, null, 10.750000, null, null, null, null, null, null, null, null, null, 9.130000, 9.130000, 9.180000, 5.740000, 5.430000, 5.150000, 4.910000, 4.710000, 4.520000, 4.330000, 4.160000, 4.010000, 3.870000, 3.740000, 3.620000, 3.510000, 3.400000, 3.300000, 3.210000, 3.120000, 3.040000, 2.960000, 2.890000, 2.820000, 2.760000, 2.700000, 2.650000, 2.590000, 2.550000, 2.490000, 2.460000, 2.410000, 2.360000, 2.320000, 2.290000, 2.250000, 2.210000, 2.170000, 2.140000, 2.110000, 2.080000 ], "valid": [ 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054804, 507758 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.247000, 6.931000, -1.753933 ], "estimate": [ 4.247000, 6.931000, -1.753933 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, null, null, null, null, null, null, 4.610000, 4.600000, 4.570000, 4.540000, 4.040000, 3.970000, 4.190000, 4.440000, 4.420000, 4.400000, 4.370000, 4.370000, 5.570000, 5.570000, 5.640000, 5.630000, 6.340000, 9.140000, 11.210000, 13.670000, 17.530000, 17.520000, 7.790000, 6.490000, 6.480000, 6.480000, 6.490000, 6.310000, 5.250000, 5.010000, 5.010000, 6.420000, 6.430000, 6.450000, 6.470000, 6.500000, 2.310000, 2.180000, 2.050000, 1.940000, 1.840000, 1.750000, 1.670000, 1.600000, 1.540000, 1.480000, 1.430000, 1.380000, 1.330000, 1.280000, 1.240000, 1.200000, 1.160000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.970000, 0.970000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.810000, 0.810000, 0.850000, 0.880000, 0.920000, 0.950000, 0.980000, 1.030000, 1.080000, 1.120000, 1.180000, 1.220000, 1.290000, 1.360000, 1.430000, 1.530000, 1.610000, 1.730000, 1.860000, 2.020000, 2.210000, 2.440000, 2.720000, 3.090000, 3.570000, 4.190000, 5.120000, 6.420000, 12.100000, null, 16.290000, 16.260000, null, null, 10.750000, 10.770000, null, null, null, null, null, null, null, null, null, 9.180000, 9.190000, null, 5.470000, 5.190000, 4.940000, 4.730000, 4.540000, 4.350000, 4.180000, 4.010000, 3.880000, 3.750000, 3.630000, 3.510000, 3.410000, 3.310000, 3.220000, 3.130000, 3.040000, 2.970000, 2.900000, 2.820000, 2.750000, 2.700000, 2.650000, 2.580000, 2.540000, 2.490000, 2.450000, 2.410000, 2.360000, 2.320000, 2.280000, 2.250000, 2.210000, 2.170000, 2.150000, 2.110000, 2.080000, 2.050000, 2.020000, 2.010000, 1.990000, 1.970000, 1.940000 ], "valid": [ 0, 0, 0, 0, 0, 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, 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, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054804, 508906 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.247000, 6.929000, -1.661750 ], "estimate": [ 4.247000, 6.929000, -1.661750 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, 2.500000, 2.490000, 4.590000, 4.550000, 4.510000, 4.450000, 4.170000, 4.450000, 4.430000, 4.410000, 4.400000, 4.390000, 4.620000, 5.580000, 5.800000, 5.640000, 6.120000, 8.670000, 10.620000, 13.500000, 17.530000, 17.360000, 7.810000, 6.520000, 6.490000, 6.490000, 6.490000, 6.500000, 5.530000, 5.000000, 5.000000, 5.160000, 6.420000, 6.440000, 6.460000, 6.490000, 2.360000, 2.200000, 2.070000, 1.960000, 1.860000, 1.760000, 1.680000, 1.610000, 1.550000, 1.490000, 1.440000, 1.380000, 1.340000, 1.290000, 1.240000, 1.210000, 1.170000, 1.130000, 1.100000, 1.060000, 1.030000, 1.000000, 0.970000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.840000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.730000, 0.740000, 0.760000, 0.790000, 0.810000, 0.830000, 0.860000, 0.890000, 0.920000, 0.960000, 0.990000, 1.040000, 1.080000, 1.130000, 1.180000, 1.240000, 1.290000, 1.370000, 1.440000, 1.530000, 1.630000, 1.730000, 1.860000, 2.010000, 2.200000, 2.420000, 2.690000, 3.050000, 3.500000, 4.080000, 4.930000, 6.110000, 12.100000, null, 18.450000, 18.170000, null, null, 10.630000, null, null, null, null, null, 9.910000, null, null, null, null, 9.160000, 9.160000, 9.190000, 5.570000, 5.270000, 5.010000, 4.790000, 4.590000, 4.390000, 4.220000, 4.060000, 3.900000, 3.780000, 3.650000, 3.540000, 3.480000, 3.340000, 3.240000, 3.150000, 3.070000, 2.970000, 2.910000, 2.840000, 2.780000, 2.720000, 2.660000, 2.600000, 2.550000, 2.490000, 2.460000, 2.420000, 2.370000, 2.330000, 2.290000, 2.250000, 2.220000, 2.170000, 2.150000, 2.120000, 2.090000, 2.050000, 2.030000, 2.020000, 1.990000, 1.970000, 1.940000, 1.920000, 1.910000, 1.890000, 1.870000, 1.860000, 1.840000 ], "valid": [ 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, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054804, 671064 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.247000, 6.927000, -1.581858 ], "estimate": [ 4.247000, 6.927000, -1.581858 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.840000, 4.030000, 4.140000, 4.440000, 4.420000, 4.410000, 4.420000, 4.640000, 5.590000, 5.600000, 5.670000, 5.890000, 8.350000, 10.080000, 12.530000, 13.770000, 17.500000, 7.820000, 6.760000, 6.500000, 6.490000, 6.490000, 6.500000, 5.850000, 5.000000, 5.000000, 5.030000, 6.420000, 6.440000, 6.470000, 6.490000, 6.510000, 2.230000, 2.100000, 1.980000, 1.870000, 1.780000, 1.700000, 1.610000, 1.560000, 1.490000, 1.440000, 1.390000, 1.340000, 1.290000, 1.250000, 1.210000, 1.170000, 1.130000, 1.100000, 1.060000, 1.040000, 1.010000, 0.980000, 0.950000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.840000, 0.830000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.800000, 0.810000, 0.840000, 0.870000, 0.900000, 0.930000, 0.960000, 1.010000, 1.040000, 1.090000, 1.130000, 1.180000, 1.240000, 1.300000, 1.370000, 1.440000, 1.530000, 1.620000, 1.730000, 1.840000, 2.000000, 2.170000, 2.390000, 2.660000, 2.990000, 3.420000, 3.980000, 4.750000, 5.830000, 7.540000, 12.200000, 12.990000, 11.400000, 18.190000, null, null, 10.630000, null, null, null, null, null, null, null, null, null, 9.120000, 9.140000, 9.180000, 5.640000, 5.340000, 5.090000, 4.850000, 4.650000, 4.460000, 4.270000, 4.090000, 3.950000, 3.810000, 3.680000, 3.570000, 3.490000, 3.360000, 3.250000, 3.180000, 3.070000, 3.000000, 2.930000, 2.850000, 2.790000, 2.730000, 2.670000, 2.610000, 2.560000, 2.510000, 2.470000, 2.430000, 2.380000, 2.330000, 2.300000, 2.250000, 2.220000, 2.180000, 2.160000, 2.130000, 2.090000, 2.060000, 2.030000, 2.010000, 1.990000, 1.970000, 1.940000, 1.920000, 1.900000, 1.890000, 1.870000, 1.850000, 1.840000, 1.830000, 1.820000, 1.800000, 1.800000, 1.780000 ], "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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054805, 149394 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.247000, 6.924000, -1.489675 ], "estimate": [ 4.247000, 6.924000, -1.489675 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.450000, 4.430000, 4.410000, 4.410000, 4.640000, 5.590000, 5.830000, 5.670000, 6.110000, 8.670000, 10.520000, 13.330000, 15.430000, 17.420000, 7.830000, 6.550000, 6.500000, 6.500000, 6.510000, 6.520000, 5.550000, 5.000000, 5.010000, 5.030000, 6.430000, 6.460000, 6.480000, 6.500000, 2.330000, 2.180000, 2.060000, 1.930000, 1.830000, 1.750000, 1.660000, 1.590000, 1.530000, 1.460000, 1.420000, 1.360000, 1.310000, 1.270000, 1.220000, 1.190000, 1.150000, 1.110000, 1.070000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.730000, 0.740000, 0.770000, 0.800000, 0.810000, 0.830000, 0.860000, 0.890000, 0.920000, 0.960000, 0.990000, 1.030000, 1.070000, 1.120000, 1.170000, 1.210000, 1.270000, 1.330000, 1.400000, 1.480000, 1.570000, 1.670000, 1.780000, 1.910000, 2.060000, 2.250000, 2.470000, 2.760000, 3.120000, 3.580000, 4.180000, 5.030000, 6.240000, 12.100000, null, 18.440000, 18.170000, null, null, 10.610000, null, null, null, null, null, 9.900000, null, null, null, null, 9.130000, 9.150000, 9.180000, 5.540000, 5.260000, 5.000000, 4.760000, 4.580000, 4.380000, 4.200000, 4.040000, 3.900000, 3.760000, 3.650000, 3.530000, 3.460000, 3.320000, 3.210000, 3.130000, 3.040000, 2.970000, 2.910000, 2.820000, 2.760000, 2.700000, 2.640000, 2.580000, 2.530000, 2.480000, 2.460000, 2.390000, 2.350000, 2.320000, 2.270000, 2.240000, 2.200000, 2.160000, 2.140000, 2.100000, 2.070000, 2.040000, 2.020000, 2.000000, 1.970000, 1.960000, 1.930000, 1.910000, 1.900000, 1.880000, 1.860000, 1.840000, 1.820000, 1.820000, 1.810000, 1.790000, 1.780000, 1.770000, 1.770000, 1.750000, 1.820000, 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, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054805, 150637 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.920000, -1.391347 ], "estimate": [ 4.248000, 6.920000, -1.391347 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.630000, 5.860000, 6.050000, 8.530000, 10.310000, 12.870000, 13.890000, 17.410000, 7.830000, 6.630000, 6.510000, 6.510000, 6.520000, 6.530000, 5.630000, 5.020000, 5.020000, 5.150000, 6.450000, 6.460000, 6.480000, 6.500000, 2.320000, 2.170000, 2.040000, 1.920000, 1.820000, 1.730000, 1.650000, 1.590000, 1.520000, 1.460000, 1.400000, 1.360000, 1.300000, 1.260000, 1.210000, 1.170000, 1.140000, 1.100000, 1.060000, 1.050000, 1.020000, 0.980000, 0.960000, 0.930000, 0.910000, 0.900000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.720000, 0.740000, 0.760000, 0.780000, 0.810000, 0.820000, 0.850000, 0.880000, 0.910000, 0.940000, 0.970000, 1.010000, 1.040000, 1.090000, 1.130000, 1.180000, 1.230000, 1.290000, 1.360000, 1.430000, 1.500000, 1.590000, 1.680000, 1.800000, 1.920000, 2.070000, 2.260000, 2.500000, 2.770000, 3.140000, 3.590000, 4.180000, 5.010000, 6.160000, 12.110000, 12.230000, 18.460000, 18.170000, null, null, 10.610000, 10.670000, null, null, null, null, 9.880000, null, null, null, null, 9.130000, 9.120000, 9.180000, 5.530000, 5.240000, 4.980000, 4.750000, 4.560000, 4.380000, 4.200000, 4.040000, 3.880000, 3.750000, 3.630000, 3.510000, 3.450000, 3.310000, 3.200000, 3.120000, 3.040000, 2.960000, 2.880000, 2.810000, 2.750000, 2.690000, 2.630000, 2.580000, 2.520000, 2.470000, 2.450000, 2.390000, 2.350000, 2.300000, 2.270000, 2.230000, 2.190000, 2.160000, 2.120000, 2.100000, 2.060000, 2.030000, 2.020000, 1.990000, 1.960000, 1.940000, 1.920000, 1.900000, 1.890000, 1.870000, 1.850000, 1.830000, 1.820000, 1.810000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.750000, 1.920000, 6.270000, 6.250000, 5.780000, 5.550000, 5.540000, 5.510000 ], "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, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 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 ], "timestamp": [ 976054805, 231166 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -1.286873 ], "estimate": [ 4.248000, 6.917000, -1.286873 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 13.660000, 17.420000, 7.820000, 7.170000, 6.520000, 6.520000, 6.520000, 6.530000, 6.110000, 5.020000, 5.030000, 5.040000, 6.450000, 6.460000, 6.490000, 6.500000, 6.530000, 2.240000, 2.100000, 1.970000, 1.850000, 1.760000, 1.670000, 1.600000, 1.540000, 1.470000, 1.420000, 1.370000, 1.310000, 1.270000, 1.220000, 1.180000, 1.140000, 1.110000, 1.070000, 1.050000, 1.020000, 0.990000, 0.960000, 0.930000, 0.910000, 0.900000, 0.880000, 0.850000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.730000, 0.750000, 0.770000, 0.790000, 0.820000, 0.820000, 0.850000, 0.890000, 0.910000, 0.950000, 0.970000, 1.010000, 1.040000, 1.090000, 1.130000, 1.180000, 1.230000, 1.290000, 1.350000, 1.420000, 1.490000, 1.580000, 1.670000, 1.770000, 1.900000, 2.040000, 2.220000, 2.440000, 2.690000, 3.020000, 3.420000, 3.930000, 4.670000, 5.670000, 7.180000, 12.140000, null, 11.410000, 11.400000, null, null, 10.660000, null, null, null, null, null, null, null, null, null, 9.080000, 9.080000, 9.150000, 5.650000, 5.350000, 5.080000, 4.840000, 4.630000, 4.440000, 4.250000, 4.090000, 3.930000, 3.790000, 3.660000, 3.550000, 3.450000, 3.350000, 3.240000, 3.150000, 3.070000, 2.980000, 2.900000, 2.840000, 2.770000, 2.710000, 2.640000, 2.580000, 2.540000, 2.480000, 2.440000, 2.420000, 2.350000, 2.310000, 2.280000, 2.240000, 2.200000, 2.160000, 2.120000, 2.100000, 2.060000, 2.040000, 2.020000, 1.990000, 1.960000, 1.940000, 1.920000, 1.900000, 1.890000, 1.870000, 1.850000, 1.830000, 1.820000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.750000, 1.730000, 1.770000, 1.840000, 1.970000, 6.260000, 6.230000, 5.550000, 5.540000, 5.520000, 5.490000, 5.490000, 6.120000, 6.120000, 6.100000, 6.210000 ], "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, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054805, 771167 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -1.213127 ], "estimate": [ 4.248000, 6.917000, -1.213127 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.530000, 6.530000, 6.540000, 5.760000, 5.040000, 5.050000, 5.140000, 6.460000, 6.490000, 6.500000, 6.530000, 2.340000, 2.190000, 2.060000, 1.930000, 1.830000, 1.740000, 1.660000, 1.590000, 1.520000, 1.450000, 1.410000, 1.350000, 1.290000, 1.250000, 1.200000, 1.170000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.730000, 0.750000, 0.770000, 0.790000, 0.810000, 0.830000, 0.850000, 0.890000, 0.910000, 0.950000, 0.980000, 1.010000, 1.040000, 1.090000, 1.120000, 1.170000, 1.220000, 1.280000, 1.330000, 1.400000, 1.470000, 1.550000, 1.630000, 1.740000, 1.850000, 1.980000, 2.150000, 2.340000, 2.570000, 2.860000, 3.220000, 3.680000, 4.270000, 5.130000, 6.240000, 12.110000, 12.200000, 18.490000, 18.200000, 18.160000, null, 10.600000, 10.650000, null, null, null, null, null, null, null, null, null, 9.120000, 9.110000, 9.160000, 5.540000, 5.250000, 4.990000, 4.760000, 4.560000, 4.370000, 4.180000, 4.030000, 3.870000, 3.740000, 3.620000, 3.500000, 3.440000, 3.300000, 3.200000, 3.110000, 3.030000, 2.940000, 2.880000, 2.810000, 2.740000, 2.680000, 2.610000, 2.570000, 2.510000, 2.470000, 2.410000, 2.370000, 2.330000, 2.300000, 2.250000, 2.210000, 2.170000, 2.140000, 2.110000, 2.080000, 2.050000, 2.020000, 2.000000, 1.980000, 1.950000, 1.920000, 1.900000, 1.890000, 1.870000, 1.860000, 1.830000, 1.820000, 1.810000, 1.790000, 1.780000, 1.770000, 1.750000, 1.750000, 1.750000, 1.740000, 1.730000, 1.870000, 1.990000, 6.240000, 6.220000, 5.540000, 5.530000, 5.500000, 5.480000, 5.500000, 6.110000, 6.090000, 6.100000, 6.200000, 6.190000, 6.190000, 6.190000, 6.180000, 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, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054805, 791221 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.918000, -1.120944 ], "estimate": [ 4.248000, 6.918000, -1.120944 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 5.050000, 5.110000, 6.470000, 6.490000, 6.500000, 6.530000, 2.350000, 2.210000, 2.070000, 1.950000, 1.840000, 1.750000, 1.670000, 1.590000, 1.530000, 1.460000, 1.420000, 1.360000, 1.310000, 1.260000, 1.210000, 1.180000, 1.130000, 1.100000, 1.070000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.860000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.760000, 0.780000, 0.800000, 0.820000, 0.840000, 0.860000, 0.890000, 0.920000, 0.960000, 0.980000, 1.020000, 1.050000, 1.100000, 1.140000, 1.190000, 1.230000, 1.290000, 1.350000, 1.420000, 1.470000, 1.570000, 1.650000, 1.760000, 1.870000, 2.000000, 2.170000, 2.360000, 2.590000, 2.890000, 3.250000, 3.700000, 4.290000, 5.130000, 6.240000, 12.110000, 12.190000, 18.500000, 18.180000, 18.170000, null, 10.610000, 10.630000, null, null, null, null, null, null, null, null, null, 9.100000, 9.110000, 9.150000, 5.530000, 5.250000, 4.980000, 4.760000, 4.550000, 4.360000, 4.170000, 4.020000, 3.870000, 3.730000, 3.610000, 3.500000, 3.420000, 3.280000, 3.190000, 3.100000, 3.010000, 2.940000, 2.860000, 2.800000, 2.730000, 2.670000, 2.610000, 2.550000, 2.500000, 2.460000, 2.430000, 2.370000, 2.320000, 2.280000, 2.250000, 2.200000, 2.160000, 2.130000, 2.100000, 2.070000, 2.040000, 2.010000, 1.990000, 1.960000, 1.930000, 1.920000, 1.900000, 1.880000, 1.870000, 1.840000, 1.830000, 1.810000, 1.800000, 1.790000, 1.770000, 1.760000, 1.750000, 1.750000, 1.730000, 1.720000, 1.730000, 1.870000, 1.970000, 6.240000, 6.210000, 5.530000, 5.510000, 5.500000, 5.480000, 5.500000, 6.100000, 6.090000, 6.090000, 6.190000, 6.180000, 6.180000, 6.170000, 6.180000, 5.030000, 5.020000, 6.190000, 6.190000, 5.480000 ], "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, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976054805, 851263 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -1.010324 ], "estimate": [ 4.248000, 6.917000, -1.010324 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.540000, 2.330000, 2.190000, 2.060000, 1.930000, 1.830000, 1.740000, 1.660000, 1.590000, 1.530000, 1.460000, 1.410000, 1.350000, 1.310000, 1.260000, 1.210000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.760000, 0.780000, 0.810000, 0.820000, 0.840000, 0.860000, 0.890000, 0.910000, 0.950000, 0.980000, 1.010000, 1.050000, 1.090000, 1.120000, 1.170000, 1.220000, 1.260000, 1.320000, 1.380000, 1.450000, 1.520000, 1.610000, 1.700000, 1.810000, 1.920000, 2.070000, 2.240000, 2.460000, 2.700000, 3.000000, 3.390000, 3.870000, 4.510000, 5.370000, 6.630000, 12.080000, null, 18.390000, 18.390000, null, null, 10.730000, 10.730000, null, null, null, null, null, null, null, null, null, 9.130000, 9.130000, 5.690000, 5.400000, 5.120000, 4.880000, 4.650000, 4.470000, 4.280000, 4.090000, 3.940000, 3.800000, 3.670000, 3.550000, 3.440000, 3.340000, 3.230000, 3.140000, 3.060000, 2.970000, 2.890000, 2.830000, 2.750000, 2.680000, 2.630000, 2.570000, 2.510000, 2.470000, 2.420000, 2.400000, 2.330000, 2.300000, 2.250000, 2.220000, 2.180000, 2.140000, 2.100000, 2.070000, 2.050000, 2.020000, 2.000000, 1.980000, 1.950000, 1.920000, 1.910000, 1.890000, 1.870000, 1.850000, 1.820000, 1.820000, 1.800000, 1.780000, 1.760000, 1.750000, 1.750000, 1.740000, 1.740000, 1.720000, 1.720000, 1.770000, 1.920000, 6.250000, 6.220000, 5.660000, 5.510000, 5.490000, 5.480000, 5.480000, 6.070000, 6.080000, 6.080000, 6.070000, 6.190000, 6.180000, 6.180000, 6.180000, 6.170000, 5.030000, 5.030000, 6.180000, 6.080000, 5.470000, 5.440000, 5.440000, 5.460000, 5.500000, 6.150000, 6.180000 ], "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, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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": [ 976054807, 223158 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -0.924287 ], "estimate": [ 4.248000, 6.917000, -0.924287 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.700000, 1.620000, 1.550000, 1.490000, 1.430000, 1.380000, 1.330000, 1.290000, 1.230000, 1.190000, 1.150000, 1.120000, 1.090000, 1.050000, 1.030000, 1.010000, 0.970000, 0.960000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.790000, 0.770000, 0.750000, 0.750000, 0.730000, 0.730000, 0.740000, 0.760000, 0.780000, 0.810000, 0.820000, 0.840000, 0.880000, 0.900000, 0.930000, 0.960000, 0.990000, 1.020000, 1.050000, 1.100000, 1.130000, 1.180000, 1.230000, 1.270000, 1.330000, 1.390000, 1.450000, 1.530000, 1.610000, 1.710000, 1.810000, 1.920000, 2.070000, 2.240000, 2.440000, 2.670000, 2.980000, 3.350000, 3.800000, 4.410000, 5.240000, 6.360000, 12.120000, 12.210000, 18.490000, 18.210000, 18.170000, null, 10.610000, 10.670000, null, null, null, null, 9.880000, null, null, null, null, 9.110000, 9.120000, 9.170000, 5.480000, 5.190000, 4.930000, 4.710000, 4.490000, 4.310000, 4.130000, 3.980000, 3.840000, 3.700000, 3.580000, 3.460000, 3.360000, 3.260000, 3.170000, 3.070000, 2.980000, 2.920000, 2.830000, 2.750000, 2.700000, 2.640000, 2.580000, 2.520000, 2.470000, 2.430000, 2.380000, 2.330000, 2.300000, 2.260000, 2.220000, 2.180000, 2.140000, 2.110000, 2.080000, 2.050000, 2.020000, 2.000000, 1.970000, 1.940000, 1.920000, 1.910000, 1.890000, 1.850000, 1.840000, 1.820000, 1.820000, 1.790000, 1.770000, 1.760000, 1.750000, 1.750000, 1.740000, 1.730000, 1.710000, 1.700000, 1.750000, 1.890000, 6.250000, 6.220000, 6.190000, 5.510000, 5.490000, 5.480000, 5.460000, 5.470000, 6.090000, 6.070000, 6.070000, 6.180000, 6.170000, 6.170000, 6.170000, 6.170000, 5.000000, 5.000000, 6.180000, 6.180000, 5.470000, 5.430000, 5.420000, 5.440000, 5.480000, 6.140000, 6.150000, 6.170000, 4.870000, 4.870000, 1.900000, 1.750000, 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, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 241289 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -0.856686 ], "estimate": [ 4.248000, 6.917000, -0.856686 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.490000, 1.440000, 1.380000, 1.330000, 1.290000, 1.240000, 1.190000, 1.160000, 1.130000, 1.080000, 1.050000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.900000, 0.890000, 0.870000, 0.850000, 0.830000, 0.820000, 0.810000, 0.790000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.800000, 0.810000, 0.840000, 0.860000, 0.890000, 0.910000, 0.950000, 0.960000, 1.000000, 1.040000, 1.070000, 1.100000, 1.160000, 1.200000, 1.240000, 1.300000, 1.350000, 1.420000, 1.480000, 1.550000, 1.650000, 1.730000, 1.830000, 1.970000, 2.110000, 2.290000, 2.500000, 2.740000, 3.060000, 3.430000, 3.900000, 4.540000, 5.420000, 6.610000, 12.090000, 12.960000, 18.490000, 18.190000, null, null, 10.620000, 10.720000, null, null, null, null, 9.890000, null, null, null, null, 9.110000, 9.120000, 9.160000, 5.460000, 5.170000, 4.910000, 4.700000, 4.490000, 4.300000, 4.110000, 3.970000, 3.830000, 3.680000, 3.560000, 3.440000, 3.350000, 3.240000, 3.160000, 3.060000, 2.970000, 2.900000, 2.830000, 2.750000, 2.690000, 2.630000, 2.570000, 2.510000, 2.470000, 2.420000, 2.390000, 2.320000, 2.290000, 2.250000, 2.210000, 2.170000, 2.140000, 2.100000, 2.060000, 2.030000, 2.010000, 1.980000, 1.970000, 1.940000, 1.910000, 1.890000, 1.880000, 1.860000, 1.830000, 1.820000, 1.800000, 1.780000, 1.780000, 1.750000, 1.750000, 1.750000, 1.730000, 1.720000, 1.710000, 1.700000, 1.770000, 1.890000, 6.240000, 6.220000, 6.190000, 5.500000, 5.480000, 5.470000, 5.450000, 5.510000, 6.070000, 6.060000, 6.060000, 6.180000, 6.170000, 6.170000, 6.160000, 6.160000, 5.000000, 4.990000, 6.170000, 6.180000, 5.470000, 5.440000, 5.410000, 5.430000, 5.470000, 6.140000, 6.150000, 6.180000, 6.200000, 6.240000, 1.880000, 1.750000, 1.700000, 1.720000, 1.720000, 1.730000, 1.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 242313 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -0.758358 ], "estimate": [ 4.248000, 6.917000, -0.758358 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.250000, 1.200000, 1.170000, 1.130000, 1.100000, 1.070000, 1.050000, 1.010000, 0.980000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.830000, 0.820000, 0.800000, 0.780000, 0.770000, 0.750000, 0.750000, 0.750000, 0.770000, 0.790000, 0.810000, 0.820000, 0.850000, 0.870000, 0.900000, 0.920000, 0.960000, 0.980000, 1.020000, 1.050000, 1.080000, 1.120000, 1.170000, 1.210000, 1.250000, 1.310000, 1.360000, 1.430000, 1.490000, 1.560000, 1.650000, 1.740000, 1.840000, 1.980000, 2.120000, 2.300000, 2.500000, 2.750000, 3.050000, 3.420000, 3.880000, 4.530000, 5.370000, 6.520000, 12.110000, 12.970000, 18.490000, 18.190000, null, null, 10.620000, null, null, null, null, null, null, null, null, null, null, 9.120000, 9.130000, 9.160000, 5.420000, 5.140000, 4.880000, 4.660000, 4.470000, 4.280000, 4.100000, 3.940000, 3.800000, 3.660000, 3.550000, 3.440000, 3.330000, 3.210000, 3.120000, 3.040000, 2.960000, 2.880000, 2.810000, 2.740000, 2.670000, 2.610000, 2.560000, 2.500000, 2.450000, 2.400000, 2.370000, 2.320000, 2.280000, 2.230000, 2.200000, 2.160000, 2.120000, 2.080000, 2.060000, 2.030000, 2.010000, 1.980000, 1.960000, 1.930000, 1.910000, 1.890000, 1.860000, 1.840000, 1.820000, 1.820000, 1.800000, 1.780000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.720000, 1.700000, 1.710000, 1.770000, 1.900000, 6.240000, 6.210000, 6.180000, 5.490000, 5.490000, 5.470000, 5.460000, 5.480000, 6.080000, 6.050000, 6.060000, 6.170000, 6.160000, 6.160000, 6.160000, 6.160000, 5.000000, 4.980000, 6.170000, 6.170000, 5.470000, 5.410000, 5.410000, 5.430000, 5.460000, 6.130000, 6.150000, 6.170000, 6.190000, 6.250000, 1.870000, 1.710000, 1.700000, 1.710000, 1.710000, 1.730000, 1.740000, 1.750000, 1.750000, 1.770000, 1.790000 ], "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, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 243329 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -0.641593 ], "estimate": [ 4.248000, 6.917000, -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": [ 1.050000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.780000, 0.780000, 0.800000, 0.820000, 0.840000, 0.870000, 0.890000, 0.910000, 0.940000, 0.960000, 0.990000, 1.030000, 1.050000, 1.090000, 1.130000, 1.180000, 1.210000, 1.270000, 1.310000, 1.380000, 1.440000, 1.510000, 1.580000, 1.670000, 1.760000, 1.860000, 1.990000, 2.120000, 2.310000, 2.500000, 2.750000, 3.040000, 3.410000, 3.860000, 4.480000, 5.270000, 6.380000, 12.150000, 12.220000, 12.990000, 18.230000, 18.200000, null, 10.620000, 10.630000, null, null, null, null, null, null, null, null, null, 9.120000, 9.110000, 9.180000, 5.410000, 5.140000, 4.890000, 4.660000, 4.460000, 4.260000, 4.100000, 3.930000, 3.780000, 3.650000, 3.540000, 3.440000, 3.310000, 3.210000, 3.120000, 3.030000, 2.950000, 2.860000, 2.800000, 2.730000, 2.670000, 2.600000, 2.540000, 2.490000, 2.440000, 2.390000, 2.350000, 2.310000, 2.270000, 2.220000, 2.180000, 2.150000, 2.120000, 2.070000, 2.050000, 2.020000, 2.000000, 1.970000, 1.940000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.820000, 1.800000, 1.790000, 1.770000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.700000, 1.710000, 1.720000, 1.790000, 1.920000, 6.230000, 6.200000, 6.160000, 5.490000, 5.470000, 5.460000, 5.440000, 5.460000, 6.070000, 6.050000, 6.050000, 6.160000, 6.160000, 6.150000, 6.150000, 6.150000, 4.990000, 4.980000, 6.160000, 6.160000, 5.450000, 5.420000, 5.410000, 5.420000, 5.470000, 6.120000, 6.140000, 6.150000, 6.180000, 6.230000, 1.850000, 1.680000, 1.690000, 1.700000, 1.700000, 1.710000, 1.730000, 1.730000, 1.750000, 1.750000, 1.760000, 1.780000, 1.790000, 1.810000, 1.830000, 1.840000, 1.870000, 1.890000 ], "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, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 244264 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -0.561701 ], "estimate": [ 4.248000, 6.917000, -0.561701 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.910000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.780000, 0.790000, 0.820000, 0.820000, 0.840000, 0.860000, 0.890000, 0.910000, 0.940000, 0.960000, 0.990000, 1.030000, 1.060000, 1.080000, 1.120000, 1.170000, 1.200000, 1.250000, 1.290000, 1.350000, 1.420000, 1.480000, 1.550000, 1.620000, 1.720000, 1.820000, 1.920000, 2.070000, 2.210000, 2.400000, 2.620000, 2.880000, 3.210000, 3.600000, 4.130000, 4.800000, 5.720000, 7.050000, 12.090000, null, 18.440000, 11.320000, null, null, 10.750000, 10.740000, null, null, null, null, null, null, null, null, null, 9.110000, 9.160000, 5.650000, 5.310000, 5.050000, 4.810000, 4.590000, 4.400000, 4.210000, 4.030000, 3.880000, 3.740000, 3.610000, 3.500000, 3.400000, 3.270000, 3.180000, 3.080000, 2.980000, 2.900000, 2.820000, 2.750000, 2.680000, 2.630000, 2.570000, 2.510000, 2.460000, 2.420000, 2.370000, 2.310000, 2.270000, 2.230000, 2.200000, 2.150000, 2.110000, 2.090000, 2.050000, 2.040000, 2.010000, 1.980000, 1.950000, 1.920000, 1.910000, 1.880000, 1.860000, 1.840000, 1.830000, 1.800000, 1.780000, 1.770000, 1.760000, 1.750000, 1.750000, 1.730000, 1.710000, 1.710000, 1.700000, 1.670000, 1.720000, 1.870000, 6.250000, 6.210000, 6.190000, 5.560000, 5.490000, 5.470000, 5.460000, 5.450000, 6.050000, 6.050000, 6.030000, 6.010000, 6.160000, 6.150000, 6.140000, 6.140000, 6.140000, 4.980000, 5.050000, 6.150000, 6.050000, 5.440000, 5.390000, 5.410000, 5.420000, 5.470000, 6.120000, 6.140000, 6.150000, 6.190000, 1.950000, 1.810000, 1.680000, 1.680000, 1.690000, 1.690000, 1.700000, 1.720000, 1.730000, 1.740000, 1.750000, 1.750000, 1.770000, 1.790000, 1.810000, 1.830000, 1.840000, 1.870000, 1.890000, 1.890000, 1.930000, 1.950000, 1.980000, 2.000000 ], "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, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 245179 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -0.487955 ], "estimate": [ 4.248000, 6.917000, -0.487955 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.850000, 0.840000, 0.830000, 0.810000, 0.790000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.860000, 0.880000, 0.900000, 0.930000, 0.960000, 0.980000, 1.010000, 1.050000, 1.070000, 1.100000, 1.150000, 1.180000, 1.230000, 1.270000, 1.320000, 1.380000, 1.440000, 1.510000, 1.580000, 1.660000, 1.750000, 1.860000, 1.980000, 2.110000, 2.290000, 2.480000, 2.720000, 2.990000, 3.350000, 3.780000, 4.340000, 5.080000, 6.100000, 7.590000, 12.160000, null, 11.410000, 11.440000, null, null, 10.630000, null, null, null, null, null, null, null, null, null, 9.100000, 9.120000, 9.180000, 5.550000, 5.250000, 4.980000, 4.750000, 4.540000, 4.330000, 4.160000, 3.990000, 3.840000, 3.710000, 3.590000, 3.440000, 3.360000, 3.240000, 3.150000, 3.050000, 2.950000, 2.880000, 2.800000, 2.730000, 2.650000, 2.600000, 2.540000, 2.490000, 2.450000, 2.390000, 2.350000, 2.310000, 2.260000, 2.210000, 2.170000, 2.150000, 2.100000, 2.070000, 2.040000, 2.010000, 2.000000, 1.960000, 1.930000, 1.910000, 1.890000, 1.880000, 1.850000, 1.840000, 1.810000, 1.790000, 1.780000, 1.760000, 1.760000, 1.740000, 1.740000, 1.730000, 1.720000, 1.700000, 1.680000, 1.700000, 1.780000, 1.890000, 6.230000, 6.200000, 6.170000, 5.490000, 5.470000, 5.450000, 5.450000, 5.450000, 6.050000, 6.030000, 6.010000, 6.130000, 6.140000, 6.140000, 6.140000, 6.140000, 5.870000, 5.300000, 6.140000, 6.150000, 6.030000, 5.440000, 5.400000, 5.400000, 5.410000, 5.510000, 6.120000, 6.140000, 6.150000, 6.190000, 1.890000, 1.760000, 1.670000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.750000, 1.770000, 1.790000, 1.810000, 1.820000, 1.830000, 1.870000, 1.890000, 1.890000, 1.920000, 1.930000, 1.970000, 2.000000, 2.020000, 2.060000, 2.080000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 246165 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.248000, 6.917000, -0.438791 ], "estimate": [ 4.248000, 6.917000, -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": [ 0.820000, 0.800000, 0.800000, 0.810000, 0.830000, 0.850000, 0.860000, 0.880000, 0.900000, 0.920000, 0.950000, 0.970000, 1.000000, 1.030000, 1.060000, 1.090000, 1.130000, 1.180000, 1.210000, 1.260000, 1.300000, 1.360000, 1.420000, 1.470000, 1.540000, 1.620000, 1.700000, 1.800000, 1.910000, 2.030000, 2.180000, 2.360000, 2.580000, 2.820000, 3.110000, 3.500000, 3.950000, 4.590000, 5.410000, 6.500000, 12.150000, 12.240000, 13.010000, 18.510000, 18.230000, null, 10.640000, 10.650000, null, null, null, null, null, null, null, null, null, 9.140000, 9.150000, 5.700000, 5.390000, 5.100000, 4.860000, 4.630000, 4.440000, 4.250000, 4.060000, 3.900000, 3.760000, 3.630000, 3.510000, 3.430000, 3.290000, 3.190000, 3.080000, 2.990000, 2.920000, 2.830000, 2.750000, 2.690000, 2.620000, 2.570000, 2.500000, 2.460000, 2.420000, 2.360000, 2.310000, 2.280000, 2.230000, 2.190000, 2.150000, 2.110000, 2.080000, 2.050000, 2.030000, 1.990000, 1.970000, 1.940000, 1.910000, 1.900000, 1.880000, 1.860000, 1.840000, 1.820000, 1.800000, 1.790000, 1.760000, 1.750000, 1.740000, 1.740000, 1.730000, 1.710000, 1.700000, 1.700000, 1.660000, 1.710000, 1.840000, 1.940000, 6.200000, 6.170000, 6.130000, 5.480000, 5.460000, 5.440000, 5.410000, 5.460000, 6.040000, 6.020000, 6.020000, 6.150000, 6.140000, 6.130000, 6.140000, 6.130000, 4.980000, 4.970000, 6.140000, 6.140000, 5.420000, 5.380000, 5.380000, 5.400000, 5.440000, 6.100000, 6.120000, 6.140000, 6.160000, 1.950000, 1.820000, 1.670000, 1.670000, 1.670000, 1.680000, 1.680000, 1.700000, 1.720000, 1.720000, 1.730000, 1.750000, 1.760000, 1.770000, 1.790000, 1.810000, 1.810000, 1.840000, 1.860000, 1.890000, 1.900000, 1.920000, 1.950000, 1.970000, 2.000000, 2.030000, 2.060000, 2.080000, 2.120000, 2.160000, 2.200000, 2.240000, 2.280000 ], "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, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 421470 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.251000, 6.916000, -0.322026 ], "estimate": [ 4.251000, 6.916000, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.900000, 0.920000, 0.950000, 0.970000, 1.000000, 1.030000, 1.060000, 1.080000, 1.120000, 1.160000, 1.200000, 1.230000, 1.290000, 1.330000, 1.400000, 1.440000, 1.510000, 1.580000, 1.660000, 1.740000, 1.830000, 1.950000, 2.090000, 2.250000, 2.430000, 2.640000, 2.910000, 3.220000, 3.630000, 4.120000, 4.780000, 5.630000, 6.870000, 12.120000, null, 18.460000, 11.360000, 11.370000, null, 10.740000, 10.760000, null, null, null, null, null, null, null, null, null, 9.150000, 9.140000, 5.600000, 5.290000, 5.010000, 4.770000, 4.550000, 4.360000, 4.170000, 4.000000, 3.860000, 3.710000, 3.590000, 3.440000, 3.360000, 3.240000, 3.150000, 3.050000, 2.960000, 2.880000, 2.790000, 2.730000, 2.650000, 2.600000, 2.540000, 2.480000, 2.440000, 2.380000, 2.340000, 2.300000, 2.250000, 2.210000, 2.160000, 2.130000, 2.100000, 2.070000, 2.040000, 2.020000, 1.980000, 1.950000, 1.930000, 1.910000, 1.890000, 1.870000, 1.850000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.740000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.780000, 1.890000, 6.230000, 6.190000, 6.160000, 5.480000, 5.460000, 5.450000, 5.440000, 5.440000, 6.010000, 6.020000, 6.010000, 6.010000, 6.140000, 6.140000, 6.130000, 6.130000, 6.110000, 4.970000, 4.970000, 6.140000, 6.030000, 5.420000, 5.370000, 5.370000, 5.400000, 5.450000, 6.100000, 6.110000, 6.140000, 6.150000, 1.880000, 1.730000, 1.650000, 1.650000, 1.680000, 1.690000, 1.690000, 1.690000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.770000, 1.780000, 1.810000, 1.810000, 1.830000, 1.850000, 1.880000, 1.890000, 1.920000, 1.940000, 1.960000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.200000, 2.240000, 2.290000, 2.320000, 2.360000, 2.410000, 2.460000, 2.500000, 2.570000 ], "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, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 751152 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.251000, 6.916000, -0.223697 ], "estimate": [ 4.251000, 6.916000, -0.223697 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.070000, 1.090000, 1.120000, 1.170000, 1.200000, 1.240000, 1.290000, 1.340000, 1.390000, 1.450000, 1.510000, 1.590000, 1.660000, 1.740000, 1.840000, 1.950000, 2.080000, 2.230000, 2.420000, 2.630000, 2.880000, 3.190000, 3.570000, 4.050000, 4.670000, 5.500000, 6.620000, 12.160000, 12.260000, 13.010000, 18.530000, 18.250000, null, 10.650000, 10.690000, null, null, null, null, null, null, null, null, null, 9.140000, 9.160000, 5.700000, 5.380000, 5.080000, 4.820000, 4.610000, 4.410000, 4.210000, 4.040000, 3.870000, 3.740000, 3.610000, 3.500000, 3.380000, 3.260000, 3.170000, 3.070000, 2.980000, 2.900000, 2.810000, 2.730000, 2.660000, 2.600000, 2.550000, 2.490000, 2.450000, 2.390000, 2.340000, 2.310000, 2.260000, 2.220000, 2.170000, 2.140000, 2.090000, 2.070000, 2.030000, 2.010000, 1.980000, 1.950000, 1.930000, 1.910000, 1.890000, 1.860000, 1.840000, 1.830000, 1.800000, 1.780000, 1.760000, 1.760000, 1.750000, 1.740000, 1.720000, 1.720000, 1.700000, 1.700000, 1.690000, 1.670000, 1.780000, 1.890000, 6.230000, 6.200000, 6.170000, 5.670000, 5.450000, 5.440000, 5.430000, 5.430000, 5.850000, 6.020000, 6.000000, 6.010000, 6.130000, 6.140000, 6.130000, 6.120000, 6.130000, 4.950000, 4.950000, 6.130000, 6.140000, 5.410000, 5.370000, 5.370000, 5.400000, 5.420000, 6.080000, 6.100000, 6.130000, 6.150000, 1.900000, 1.770000, 1.660000, 1.660000, 1.670000, 1.670000, 1.690000, 1.690000, 1.690000, 1.700000, 1.730000, 1.730000, 1.750000, 1.750000, 1.770000, 1.790000, 1.820000, 1.820000, 1.840000, 1.860000, 1.890000, 1.900000, 1.930000, 1.960000, 1.990000, 2.020000, 2.050000, 2.070000, 2.110000, 2.140000, 2.190000, 2.230000, 2.270000, 2.310000, 2.350000, 2.390000, 2.450000, 2.480000, 2.550000, 2.600000, 2.660000, 2.730000, 2.810000, 2.880000, 2.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054807, 851178 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.250000, 6.916000, -0.143805 ], "estimate": [ 4.250000, 6.916000, -0.143805 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.220000, 1.260000, 1.310000, 1.360000, 1.430000, 1.480000, 1.560000, 1.620000, 1.700000, 1.780000, 1.890000, 2.000000, 2.130000, 2.300000, 2.490000, 2.700000, 2.970000, 3.300000, 3.720000, 4.230000, 4.920000, 5.800000, 7.100000, 12.120000, null, 18.530000, 16.540000, null, null, null, 10.740000, null, null, null, null, null, null, null, null, null, 9.120000, 9.170000, 5.610000, 5.300000, 5.010000, 4.790000, 4.570000, 4.360000, 4.170000, 3.990000, 3.850000, 3.700000, 3.580000, 3.440000, 3.350000, 3.240000, 3.140000, 3.040000, 2.950000, 2.870000, 2.800000, 2.720000, 2.650000, 2.590000, 2.530000, 2.480000, 2.430000, 2.380000, 2.330000, 2.290000, 2.240000, 2.200000, 2.160000, 2.130000, 2.090000, 2.060000, 2.030000, 2.000000, 1.960000, 1.940000, 1.910000, 1.900000, 1.880000, 1.860000, 1.840000, 1.820000, 1.790000, 1.770000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.700000, 1.700000, 1.690000, 1.660000, 1.710000, 1.850000, 1.930000, 6.220000, 6.190000, 6.160000, 5.470000, 5.460000, 5.440000, 5.430000, 5.430000, 6.020000, 6.010000, 6.000000, 6.000000, 6.130000, 6.130000, 6.120000, 6.120000, 6.100000, 4.960000, 5.020000, 6.130000, 6.030000, 5.410000, 5.360000, 5.380000, 5.410000, 5.450000, 6.080000, 6.100000, 6.120000, 6.150000, 1.860000, 1.700000, 1.650000, 1.650000, 1.660000, 1.680000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.760000, 1.770000, 1.800000, 1.810000, 1.820000, 1.840000, 1.870000, 1.890000, 1.910000, 1.930000, 1.960000, 1.990000, 2.020000, 2.050000, 2.080000, 2.110000, 2.150000, 2.190000, 2.230000, 2.270000, 2.310000, 2.350000, 2.400000, 2.450000, 2.490000, 2.560000, 2.610000, 2.670000, 2.740000, 2.810000, 2.890000, 2.970000, 3.060000, 3.170000, 3.260000, 3.360000 ], "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, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054808, 310544 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.250000, 6.916000, -0.070059 ], "estimate": [ 4.250000, 6.916000, -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": [ 1.390000, 1.450000, 1.510000, 1.580000, 1.650000, 1.740000, 1.830000, 1.930000, 2.050000, 2.190000, 2.350000, 2.550000, 2.780000, 3.070000, 3.400000, 3.850000, 4.390000, 5.120000, 6.070000, 7.510000, 12.160000, null, 16.540000, 11.470000, null, null, 10.750000, null, null, null, null, null, null, null, null, null, 9.130000, 9.150000, 9.190000, 5.520000, 5.200000, 4.930000, 4.710000, 4.490000, 4.290000, 4.120000, 3.950000, 3.800000, 3.660000, 3.550000, 3.460000, 3.310000, 3.210000, 3.100000, 3.010000, 2.930000, 2.840000, 2.760000, 2.690000, 2.630000, 2.570000, 2.500000, 2.470000, 2.410000, 2.380000, 2.310000, 2.270000, 2.220000, 2.190000, 2.150000, 2.110000, 2.070000, 2.040000, 2.010000, 1.990000, 1.960000, 1.920000, 1.900000, 1.890000, 1.860000, 1.840000, 1.830000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.740000, 1.710000, 1.710000, 1.700000, 1.690000, 1.690000, 1.670000, 1.790000, 1.880000, 6.240000, 6.200000, 6.170000, 6.150000, 5.470000, 5.450000, 5.430000, 5.420000, 5.400000, 6.020000, 6.010000, 6.000000, 6.130000, 6.130000, 6.120000, 6.120000, 6.120000, 5.580000, 4.960000, 6.120000, 6.130000, 5.940000, 5.400000, 5.390000, 5.400000, 5.390000, 5.540000, 6.080000, 6.110000, 6.130000, 1.920000, 1.790000, 1.650000, 1.650000, 1.660000, 1.670000, 1.670000, 1.680000, 1.680000, 1.700000, 1.700000, 1.720000, 1.740000, 1.740000, 1.760000, 1.780000, 1.800000, 1.810000, 1.820000, 1.840000, 1.860000, 1.900000, 1.910000, 1.930000, 1.960000, 1.990000, 2.020000, 2.060000, 2.080000, 2.120000, 2.160000, 2.200000, 2.240000, 2.290000, 2.310000, 2.360000, 2.400000, 2.460000, 2.510000, 2.560000, 2.620000, 2.690000, 2.760000, 2.820000, 2.910000, 2.990000, 3.080000, 3.180000, 3.270000, 3.400000, 3.510000, 3.630000, 3.760000, 3.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054808, 311768 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.251000, 6.916000, 0.040560 ], "estimate": [ 4.251000, 6.916000, 0.040560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.800000, 1.910000, 2.020000, 2.150000, 2.300000, 2.470000, 2.680000, 2.950000, 3.260000, 3.660000, 4.140000, 4.820000, 5.650000, 6.850000, 12.160000, null, 18.540000, 18.250000, null, null, null, 10.770000, null, null, null, null, null, null, null, null, null, 9.170000, 9.170000, 5.580000, 5.280000, 4.990000, 4.750000, 4.540000, 4.330000, 4.140000, 3.990000, 3.830000, 3.690000, 3.560000, 3.460000, 3.340000, 3.220000, 3.130000, 3.030000, 2.940000, 2.860000, 2.780000, 2.710000, 2.640000, 2.570000, 2.520000, 2.470000, 2.420000, 2.380000, 2.320000, 2.280000, 2.240000, 2.200000, 2.160000, 2.110000, 2.070000, 2.040000, 2.020000, 1.980000, 1.960000, 1.920000, 1.900000, 1.890000, 1.860000, 1.840000, 1.820000, 1.810000, 1.780000, 1.770000, 1.760000, 1.740000, 1.740000, 1.720000, 1.710000, 1.700000, 1.700000, 1.690000, 1.690000, 1.780000, 1.870000, 6.250000, 6.210000, 6.180000, 6.150000, 5.470000, 5.450000, 5.430000, 5.420000, 5.420000, 6.020000, 6.000000, 5.990000, 6.000000, 6.120000, 6.120000, 6.110000, 6.110000, 5.840000, 4.970000, 6.100000, 6.120000, 5.980000, 5.400000, 5.380000, 5.390000, 5.400000, 5.440000, 6.070000, 6.090000, 6.110000, 1.910000, 1.780000, 1.640000, 1.640000, 1.640000, 1.660000, 1.670000, 1.670000, 1.690000, 1.690000, 1.700000, 1.700000, 1.720000, 1.740000, 1.750000, 1.760000, 1.780000, 1.800000, 1.820000, 1.830000, 1.850000, 1.880000, 1.890000, 1.920000, 1.940000, 1.980000, 2.010000, 2.030000, 2.060000, 2.100000, 2.140000, 2.180000, 2.210000, 2.260000, 2.300000, 2.330000, 2.380000, 2.440000, 2.470000, 2.530000, 2.590000, 2.650000, 2.730000, 2.800000, 2.880000, 2.950000, 3.050000, 3.140000, 3.240000, 3.340000, 3.460000, 3.590000, 3.700000, 3.850000, 3.990000, 4.160000, 4.360000, 4.570000, 4.780000, 5.020000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054808, 431081 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.252000, 6.917000, 0.145034 ], "estimate": [ 4.252000, 6.917000, 0.145034 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.730000, 3.000000, 3.330000, 3.740000, 4.250000, 4.930000, 5.800000, 7.050000, 12.150000, null, 18.530000, 18.490000, 11.570000, null, 10.800000, 10.760000, null, null, null, null, null, null, null, null, null, 9.130000, 9.190000, 5.550000, 5.250000, 4.980000, 4.730000, 4.510000, 4.310000, 4.130000, 3.960000, 3.810000, 3.670000, 3.550000, 3.480000, 3.320000, 3.210000, 3.110000, 3.020000, 2.930000, 2.850000, 2.780000, 2.700000, 2.630000, 2.570000, 2.510000, 2.460000, 2.410000, 2.360000, 2.300000, 2.280000, 2.240000, 2.190000, 2.150000, 2.100000, 2.070000, 2.040000, 2.010000, 1.980000, 1.950000, 1.920000, 1.900000, 1.890000, 1.860000, 1.830000, 1.830000, 1.800000, 1.780000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.700000, 1.700000, 1.700000, 1.680000, 1.700000, 1.820000, 1.920000, 6.240000, 6.200000, 6.180000, 6.150000, 5.470000, 5.440000, 5.420000, 5.420000, 5.410000, 6.010000, 6.000000, 6.000000, 6.130000, 6.120000, 6.110000, 6.110000, 6.110000, 5.170000, 4.960000, 6.110000, 6.120000, 5.730000, 5.400000, 5.380000, 5.380000, 5.380000, 5.470000, 6.070000, 6.090000, 6.110000, 1.870000, 1.710000, 1.640000, 1.630000, 1.640000, 1.650000, 1.670000, 1.670000, 1.680000, 1.680000, 1.700000, 1.710000, 1.730000, 1.740000, 1.750000, 1.770000, 1.780000, 1.800000, 1.820000, 1.830000, 1.850000, 1.880000, 1.890000, 1.920000, 1.950000, 1.980000, 2.000000, 2.030000, 2.060000, 2.100000, 2.140000, 2.180000, 2.220000, 2.270000, 2.300000, 2.340000, 2.380000, 2.430000, 2.480000, 2.540000, 2.590000, 2.650000, 2.730000, 2.810000, 2.880000, 2.960000, 3.050000, 3.150000, 3.250000, 3.360000, 3.480000, 3.590000, 3.720000, 3.860000, 4.010000, 4.180000, 4.390000, 4.600000, 4.800000, 5.050000, 5.340000, 6.680000, 6.630000, 6.550000, 6.520000, 6.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054808, 835129 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.252000, 6.917000, 0.224926 ], "estimate": [ 4.252000, 6.917000, 0.224926 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.680000, 5.480000, 6.520000, 12.220000, 12.270000, 13.040000, null, null, null, null, 10.680000, null, null, null, null, null, null, null, null, null, 9.170000, 9.200000, 5.740000, 5.390000, 5.110000, 4.850000, 4.630000, 4.420000, 4.220000, 4.040000, 3.890000, 3.740000, 3.620000, 3.480000, 3.380000, 3.270000, 3.170000, 3.070000, 2.980000, 2.890000, 2.810000, 2.730000, 2.660000, 2.600000, 2.540000, 2.480000, 2.450000, 2.390000, 2.330000, 2.310000, 2.260000, 2.210000, 2.170000, 2.140000, 2.090000, 2.060000, 2.030000, 2.000000, 1.960000, 1.940000, 1.910000, 1.900000, 1.870000, 1.840000, 1.820000, 1.810000, 1.790000, 1.770000, 1.760000, 1.750000, 1.740000, 1.720000, 1.710000, 1.700000, 1.690000, 1.690000, 1.670000, 1.810000, 1.890000, 6.260000, 6.220000, 6.190000, 6.150000, 5.480000, 5.460000, 5.430000, 5.420000, 5.430000, 6.000000, 6.010000, 5.990000, 5.980000, 6.130000, 6.120000, 6.110000, 6.110000, 6.110000, 4.950000, 5.190000, 6.120000, 6.040000, 5.400000, 5.350000, 5.370000, 5.390000, 5.410000, 6.060000, 6.080000, 6.100000, 1.890000, 1.760000, 1.600000, 1.630000, 1.650000, 1.660000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.770000, 1.780000, 1.810000, 1.830000, 1.840000, 1.870000, 1.890000, 1.900000, 1.930000, 1.960000, 2.000000, 2.030000, 2.050000, 2.080000, 2.120000, 2.160000, 2.200000, 2.240000, 2.290000, 2.310000, 2.370000, 2.410000, 2.460000, 2.510000, 2.570000, 2.630000, 2.700000, 2.770000, 2.840000, 2.930000, 3.000000, 3.100000, 3.210000, 3.300000, 3.420000, 3.530000, 3.660000, 3.790000, 3.940000, 4.110000, 4.290000, 4.500000, 4.700000, 4.940000, 5.200000, 6.680000, 6.650000, 6.550000, 6.520000, 6.500000, 6.470000, 6.440000, 6.430000, 6.400000, 6.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054808, 836287 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.253000, 6.917000, 0.317109 ], "estimate": [ 4.253000, 6.917000, 0.317109 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 12.300000, 13.040000, null, null, null, 10.710000, 10.680000, null, null, null, null, 9.970000, null, null, null, null, 9.170000, 9.200000, 5.710000, 5.370000, 5.080000, 4.820000, 4.600000, 4.390000, 4.190000, 4.020000, 3.880000, 3.720000, 3.600000, 3.480000, 3.360000, 3.250000, 3.160000, 3.050000, 2.970000, 2.880000, 2.810000, 2.720000, 2.650000, 2.600000, 2.530000, 2.480000, 2.430000, 2.400000, 2.330000, 2.300000, 2.250000, 2.210000, 2.160000, 2.130000, 2.090000, 2.060000, 2.020000, 1.990000, 1.970000, 1.930000, 1.900000, 1.890000, 1.870000, 1.840000, 1.830000, 1.800000, 1.800000, 1.770000, 1.750000, 1.740000, 1.730000, 1.710000, 1.690000, 1.690000, 1.690000, 1.680000, 1.730000, 1.830000, 1.980000, 6.260000, 6.220000, 6.180000, 6.150000, 5.480000, 5.460000, 5.430000, 5.430000, 5.430000, 6.020000, 6.000000, 5.980000, 5.990000, 6.130000, 6.120000, 6.110000, 6.110000, 5.950000, 5.270000, 6.100000, 6.110000, 5.980000, 5.390000, 5.360000, 5.370000, 5.400000, 5.430000, 6.060000, 6.080000, 6.100000, 1.860000, 1.680000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.690000, 1.700000, 1.720000, 1.730000, 1.740000, 1.750000, 1.780000, 1.780000, 1.810000, 1.820000, 1.850000, 1.870000, 1.890000, 1.910000, 1.940000, 1.960000, 1.990000, 2.030000, 2.050000, 2.080000, 2.120000, 2.160000, 2.200000, 2.240000, 2.270000, 2.320000, 2.370000, 2.410000, 2.460000, 2.510000, 2.570000, 2.640000, 2.700000, 2.770000, 2.850000, 2.930000, 3.010000, 3.110000, 3.210000, 3.290000, 3.420000, 3.550000, 3.670000, 3.800000, 3.950000, 4.100000, 4.290000, 4.510000, 4.720000, 4.950000, 5.220000, 6.680000, 6.640000, 6.540000, 6.520000, 6.480000, 6.460000, 6.440000, 6.410000, 6.400000, 6.390000, 6.370000, 6.360000, 2.090000, 2.020000 ], "valid": [ 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054809, 163400 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.254000, 6.917000, 0.433874 ], "estimate": [ 4.254000, 6.917000, 0.433874 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, null, null, null, null, null, null, null, null, 9.190000, 9.180000, 9.230000, 5.470000, 5.180000, 4.900000, 4.670000, 4.470000, 4.270000, 4.090000, 3.910000, 3.770000, 3.640000, 3.510000, 3.390000, 3.280000, 3.180000, 3.080000, 2.980000, 2.910000, 2.830000, 2.750000, 2.670000, 2.610000, 2.560000, 2.490000, 2.440000, 2.410000, 2.340000, 2.300000, 2.260000, 2.210000, 2.170000, 2.140000, 2.100000, 2.060000, 2.030000, 2.000000, 1.970000, 1.950000, 1.910000, 1.900000, 1.870000, 1.850000, 1.820000, 1.810000, 1.790000, 1.770000, 1.750000, 1.740000, 1.730000, 1.720000, 1.710000, 1.700000, 1.700000, 1.710000, 1.720000, 1.820000, 1.920000, 6.270000, 6.230000, 6.190000, 6.150000, 5.470000, 5.450000, 5.440000, 5.420000, 5.430000, 5.980000, 6.010000, 5.990000, 6.000000, 6.130000, 6.120000, 6.110000, 6.110000, 6.110000, 4.940000, 4.950000, 6.110000, 6.020000, 5.390000, 5.350000, 5.340000, 5.380000, 5.390000, 6.050000, 6.070000, 6.090000, 1.840000, 1.660000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 1.670000, 1.690000, 1.690000, 1.700000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.770000, 1.780000, 1.800000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.970000, 2.010000, 2.030000, 2.070000, 2.100000, 2.140000, 2.190000, 2.220000, 2.270000, 2.310000, 2.350000, 2.400000, 2.440000, 2.490000, 2.560000, 2.610000, 2.680000, 2.750000, 2.810000, 2.900000, 2.980000, 3.080000, 3.180000, 3.280000, 3.390000, 3.500000, 3.620000, 3.740000, 3.890000, 4.050000, 4.220000, 4.430000, 4.630000, 4.860000, 5.110000, 5.410000, 6.640000, 6.540000, 6.510000, 6.470000, 6.460000, 6.430000, 6.410000, 6.390000, 6.380000, 6.360000, 6.360000, 6.340000, 2.030000, 1.950000, 1.880000, 1.870000, 1.870000, 1.890000, 1.910000, 1.930000 ], "valid": [ 0, 0, 0, 0, 0, 0, 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054809, 520575 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.918000, 0.526057 ], "estimate": [ 4.255000, 6.918000, 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": [ null, null, null, 9.220000, 9.220000, 5.780000, 5.430000, 5.140000, 4.880000, 4.630000, 4.440000, 4.250000, 4.080000, 3.910000, 3.770000, 3.630000, 3.480000, 3.400000, 3.280000, 3.180000, 3.080000, 2.980000, 2.900000, 2.820000, 2.740000, 2.670000, 2.610000, 2.550000, 2.490000, 2.440000, 2.400000, 2.340000, 2.310000, 2.250000, 2.210000, 2.170000, 2.130000, 2.090000, 2.060000, 2.030000, 2.010000, 1.970000, 1.950000, 1.910000, 1.900000, 1.870000, 1.840000, 1.820000, 1.810000, 1.790000, 1.770000, 1.750000, 1.740000, 1.720000, 1.720000, 1.710000, 1.690000, 1.690000, 1.690000, 1.780000, 1.880000, 2.600000, 6.260000, 6.230000, 6.190000, 6.160000, 5.480000, 5.460000, 5.440000, 5.420000, 5.420000, 6.030000, 6.010000, 5.980000, 6.020000, 6.120000, 6.110000, 6.110000, 6.110000, 5.820000, 5.120000, 6.110000, 6.110000, 5.990000, 5.390000, 5.370000, 5.370000, 5.390000, 5.430000, 6.060000, 6.070000, 6.100000, 1.780000, 1.610000, 1.620000, 1.630000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.700000, 1.720000, 1.720000, 1.740000, 1.750000, 1.760000, 1.770000, 1.800000, 1.810000, 1.830000, 1.840000, 1.870000, 1.890000, 1.900000, 1.930000, 1.950000, 1.990000, 2.020000, 2.040000, 2.070000, 2.110000, 2.160000, 2.190000, 2.250000, 2.260000, 2.310000, 2.360000, 2.400000, 2.460000, 2.510000, 2.570000, 2.630000, 2.690000, 2.760000, 2.830000, 2.920000, 3.000000, 3.090000, 3.200000, 3.280000, 3.400000, 3.520000, 3.650000, 3.780000, 3.920000, 4.100000, 4.280000, 4.480000, 4.680000, 4.900000, 5.180000, 6.670000, 6.630000, 6.540000, 6.500000, 6.470000, 6.450000, 6.430000, 6.400000, 6.380000, 6.370000, 6.350000, 6.340000, 6.340000, 2.010000, 1.930000, 1.860000, 1.850000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.960000, 1.990000, 2.010000, 2.030000, 2.050000 ], "valid": [ 0, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054809, 581725 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.254000, 6.917000, 0.587512 ], "estimate": [ 4.254000, 6.917000, 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": [ 9.170000, 9.240000, 5.600000, 5.270000, 5.000000, 4.750000, 4.550000, 4.330000, 4.160000, 3.990000, 3.840000, 3.690000, 3.570000, 3.440000, 3.330000, 3.220000, 3.130000, 3.030000, 2.940000, 2.860000, 2.780000, 2.700000, 2.650000, 2.580000, 2.510000, 2.470000, 2.430000, 2.370000, 2.320000, 2.270000, 2.240000, 2.190000, 2.160000, 2.120000, 2.080000, 2.050000, 2.010000, 1.990000, 1.960000, 1.920000, 1.890000, 1.880000, 1.860000, 1.840000, 1.820000, 1.800000, 1.780000, 1.760000, 1.740000, 1.740000, 1.720000, 1.710000, 1.700000, 1.690000, 1.720000, 1.770000, 1.870000, 2.400000, 6.280000, 6.240000, 6.210000, 6.170000, 5.620000, 5.470000, 5.450000, 5.420000, 5.430000, 6.010000, 6.010000, 6.000000, 6.000000, 6.130000, 6.120000, 6.110000, 6.110000, 6.110000, 4.940000, 5.150000, 6.110000, 6.120000, 5.390000, 5.350000, 5.340000, 5.380000, 5.390000, 6.050000, 6.080000, 6.090000, 1.830000, 1.660000, 1.630000, 1.630000, 1.650000, 1.650000, 1.650000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.710000, 1.740000, 1.750000, 1.760000, 1.770000, 1.780000, 1.800000, 1.820000, 1.830000, 1.850000, 1.880000, 1.900000, 1.920000, 1.950000, 1.980000, 2.000000, 2.030000, 2.060000, 2.100000, 2.140000, 2.180000, 2.210000, 2.250000, 2.300000, 2.340000, 2.390000, 2.440000, 2.480000, 2.540000, 2.600000, 2.660000, 2.730000, 2.810000, 2.890000, 2.970000, 3.060000, 3.170000, 3.270000, 3.380000, 3.490000, 3.590000, 3.730000, 3.860000, 4.030000, 4.190000, 4.390000, 4.600000, 4.810000, 5.060000, 5.360000, 6.640000, 6.600000, 6.520000, 6.480000, 6.460000, 6.430000, 6.410000, 6.390000, 6.380000, 6.350000, 6.340000, 6.330000, 2.040000, 1.970000, 1.900000, 1.860000, 1.860000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.970000, 2.000000, 2.020000, 2.040000, 2.060000, 2.100000, 2.120000, 2.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054809, 582697 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.255000, 6.918000, 0.630531 ], "estimate": [ 4.255000, 6.918000, 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": [ 5.020000, 4.780000, 4.570000, 4.360000, 4.180000, 4.000000, 3.860000, 3.710000, 3.590000, 3.460000, 3.350000, 3.240000, 3.150000, 3.040000, 2.950000, 2.870000, 2.800000, 2.720000, 2.650000, 2.580000, 2.530000, 2.470000, 2.430000, 2.370000, 2.330000, 2.290000, 2.240000, 2.200000, 2.160000, 2.130000, 2.090000, 2.060000, 2.020000, 1.990000, 1.960000, 1.930000, 1.900000, 1.880000, 1.860000, 1.840000, 1.820000, 1.810000, 1.790000, 1.770000, 1.750000, 1.740000, 1.720000, 1.710000, 1.700000, 1.680000, 1.690000, 1.750000, 1.850000, 2.130000, 6.290000, 6.250000, 6.210000, 6.180000, 5.700000, 5.480000, 5.450000, 5.430000, 5.430000, 5.870000, 6.020000, 6.010000, 6.000000, 6.130000, 6.120000, 6.120000, 6.110000, 6.110000, 4.950000, 4.940000, 6.110000, 6.120000, 5.390000, 5.360000, 5.340000, 5.370000, 5.380000, 6.050000, 6.070000, 6.090000, 1.810000, 1.630000, 1.630000, 1.630000, 1.640000, 1.660000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.760000, 1.770000, 1.790000, 1.800000, 1.820000, 1.840000, 1.850000, 1.870000, 1.900000, 1.920000, 1.950000, 1.970000, 1.990000, 2.030000, 2.060000, 2.080000, 2.130000, 2.170000, 2.210000, 2.250000, 2.300000, 2.320000, 2.380000, 2.420000, 2.470000, 2.520000, 2.590000, 2.650000, 2.730000, 2.790000, 2.870000, 2.950000, 3.040000, 3.140000, 3.220000, 3.350000, 3.460000, 3.570000, 3.700000, 3.840000, 3.980000, 4.150000, 4.340000, 4.550000, 4.760000, 5.010000, 5.290000, 6.630000, 6.600000, 6.500000, 6.470000, 6.450000, 6.420000, 6.400000, 6.390000, 6.360000, 6.350000, 6.330000, 6.320000, 2.040000, 1.960000, 1.900000, 1.850000, 1.850000, 1.870000, 1.880000, 1.900000, 1.920000, 1.940000, 1.950000, 1.980000, 2.010000, 2.030000, 2.050000, 2.080000, 2.100000, 2.130000, 2.150000, 2.150000, 2.210000, 2.200000 ], "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": [ 976054809, 811241 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.256000, 6.919000, 0.753441 ], "estimate": [ 4.256000, 6.919000, 0.753441 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 3.660000, 3.520000, 3.400000, 3.300000, 3.200000, 3.090000, 3.000000, 2.920000, 2.840000, 2.760000, 2.690000, 2.630000, 2.580000, 2.520000, 2.460000, 2.430000, 2.360000, 2.310000, 2.270000, 2.230000, 2.190000, 2.150000, 2.110000, 2.070000, 2.050000, 2.020000, 1.990000, 1.960000, 1.930000, 1.890000, 1.880000, 1.860000, 1.830000, 1.810000, 1.800000, 1.780000, 1.760000, 1.740000, 1.740000, 1.720000, 1.710000, 1.700000, 1.680000, 1.690000, 1.820000, 1.920000, 2.630000, 6.270000, 6.240000, 6.210000, 6.170000, 5.470000, 5.460000, 5.450000, 5.440000, 5.430000, 6.030000, 6.020000, 6.000000, 5.990000, 6.130000, 6.120000, 6.120000, 6.120000, 5.350000, 5.440000, 6.110000, 6.120000, 5.980000, 5.400000, 5.380000, 5.370000, 5.390000, 5.410000, 6.060000, 6.080000, 1.840000, 1.650000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.700000, 1.720000, 1.720000, 1.740000, 1.760000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.850000, 1.870000, 1.890000, 1.910000, 1.930000, 1.960000, 1.990000, 2.020000, 2.040000, 2.070000, 2.100000, 2.140000, 2.180000, 2.240000, 2.260000, 2.310000, 2.340000, 2.390000, 2.440000, 2.490000, 2.550000, 2.620000, 2.670000, 2.740000, 2.810000, 2.900000, 2.980000, 3.080000, 3.180000, 3.250000, 3.390000, 3.510000, 3.610000, 3.740000, 3.880000, 4.050000, 4.220000, 4.420000, 4.640000, 4.830000, 5.110000, 5.410000, 6.610000, 6.510000, 6.480000, 6.450000, 6.430000, 6.400000, 6.390000, 6.370000, 6.350000, 6.330000, 6.320000, 2.060000, 1.980000, 1.900000, 1.830000, 1.840000, 1.840000, 1.870000, 1.880000, 1.900000, 1.920000, 1.940000, 1.960000, 1.980000, 2.010000, 2.020000, 2.050000, 2.080000, 2.110000, 2.140000, 2.150000, 2.150000, 2.180000, 2.170000, 2.140000, 2.090000, 2.070000, 1.890000, 1.890000, 1.870000 ], "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": [ 976054810, 880568 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.257000, 6.920000, 0.857915 ], "estimate": [ 4.257000, 6.920000, 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": [ 3.080000, 2.980000, 2.910000, 2.820000, 2.750000, 2.680000, 2.620000, 2.570000, 2.510000, 2.460000, 2.410000, 2.360000, 2.310000, 2.280000, 2.230000, 2.180000, 2.160000, 2.120000, 2.070000, 2.050000, 2.020000, 1.990000, 1.960000, 1.930000, 1.890000, 1.880000, 1.860000, 1.840000, 1.810000, 1.800000, 1.770000, 1.760000, 1.740000, 1.740000, 1.730000, 1.710000, 1.700000, 1.720000, 1.780000, 1.880000, 2.190000, 6.300000, 6.280000, 6.240000, 6.200000, 6.170000, 5.480000, 5.470000, 5.440000, 5.440000, 5.450000, 6.030000, 6.020000, 6.020000, 6.130000, 6.140000, 6.130000, 6.120000, 6.120000, 4.950000, 4.950000, 6.120000, 6.130000, 5.420000, 5.390000, 5.360000, 5.370000, 5.380000, 6.010000, 6.070000, 6.090000, 1.780000, 1.610000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.760000, 1.770000, 1.800000, 1.800000, 1.830000, 1.840000, 1.860000, 1.880000, 1.910000, 1.920000, 1.950000, 1.970000, 2.000000, 2.030000, 2.060000, 2.080000, 2.120000, 2.160000, 2.210000, 2.250000, 2.280000, 2.320000, 2.360000, 2.410000, 2.460000, 2.510000, 2.570000, 2.630000, 2.700000, 2.770000, 2.840000, 2.930000, 3.010000, 3.110000, 3.210000, 3.310000, 3.420000, 3.540000, 3.660000, 3.790000, 3.940000, 4.100000, 4.290000, 4.490000, 4.700000, 4.940000, 5.200000, 6.630000, 6.600000, 6.510000, 6.470000, 6.440000, 6.410000, 6.390000, 6.370000, 6.350000, 6.330000, 6.320000, 6.310000, 2.040000, 1.960000, 1.890000, 1.830000, 1.830000, 1.840000, 1.860000, 1.870000, 1.900000, 1.910000, 1.940000, 1.950000, 1.990000, 2.010000, 2.020000, 2.050000, 2.080000, 2.110000, 2.150000, 2.130000, 2.180000, 2.170000, 2.150000, 2.130000, 2.090000, 2.060000, 1.990000, 1.960000, 1.900000, 1.850000, 1.790000, 1.710000, 1.650000, 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": [ 976054810, 951761 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.921000, 0.907080 ], "estimate": [ 4.258000, 6.921000, 0.907080 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.770000, 2.710000, 2.650000, 2.580000, 2.520000, 2.480000, 2.430000, 2.370000, 2.320000, 2.280000, 2.250000, 2.200000, 2.160000, 2.120000, 2.090000, 2.060000, 2.030000, 2.000000, 1.970000, 1.940000, 1.900000, 1.890000, 1.870000, 1.840000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.730000, 1.730000, 1.710000, 1.700000, 1.730000, 1.780000, 1.890000, 2.240000, 6.310000, 6.280000, 6.240000, 6.220000, 6.190000, 5.490000, 5.470000, 5.450000, 5.430000, 5.440000, 6.040000, 6.020000, 6.000000, 6.150000, 6.130000, 6.130000, 6.120000, 6.130000, 5.090000, 4.950000, 6.120000, 6.120000, 5.970000, 5.390000, 5.370000, 5.380000, 5.380000, 5.880000, 6.070000, 6.090000, 1.800000, 1.630000, 1.630000, 1.640000, 1.650000, 1.660000, 1.660000, 1.670000, 1.690000, 1.690000, 1.690000, 1.720000, 1.720000, 1.740000, 1.740000, 1.760000, 1.770000, 1.790000, 1.800000, 1.820000, 1.840000, 1.860000, 1.880000, 1.900000, 1.920000, 1.940000, 1.980000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.210000, 2.250000, 2.280000, 2.310000, 2.360000, 2.410000, 2.470000, 2.520000, 2.580000, 2.630000, 2.700000, 2.760000, 2.840000, 2.920000, 3.000000, 3.100000, 3.200000, 3.300000, 3.410000, 3.530000, 3.650000, 3.780000, 3.930000, 4.090000, 4.280000, 4.480000, 4.680000, 4.910000, 5.180000, 6.650000, 6.600000, 6.500000, 6.480000, 6.440000, 6.410000, 6.400000, 6.380000, 6.350000, 6.330000, 6.320000, 6.300000, 2.050000, 1.980000, 1.910000, 1.830000, 1.820000, 1.840000, 1.860000, 1.870000, 1.890000, 1.910000, 1.940000, 1.950000, 1.980000, 2.000000, 2.030000, 2.040000, 2.080000, 2.100000, 2.130000, 2.140000, 2.150000, 2.160000, 2.150000, 2.150000, 2.100000, 2.060000, 1.820000, 2.000000, 1.910000, 1.850000, 1.800000, 1.720000, 1.630000, 1.600000, 1.580000, 1.530000, 1.480000, 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": [ 976054810, 952764 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.921000, 0.993117 ], "estimate": [ 4.258000, 6.921000, 0.993117 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.630000, 2.570000, 2.520000, 2.470000, 2.420000, 2.360000, 2.320000, 2.280000, 2.240000, 2.200000, 2.160000, 2.120000, 2.090000, 2.060000, 2.030000, 2.000000, 1.960000, 1.940000, 1.910000, 1.890000, 1.870000, 1.850000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.740000, 1.720000, 1.720000, 1.710000, 1.740000, 1.790000, 1.890000, 2.430000, 6.310000, 6.280000, 6.250000, 6.220000, 6.190000, 5.490000, 5.480000, 5.450000, 5.450000, 5.440000, 6.050000, 6.030000, 6.030000, 6.140000, 6.140000, 6.130000, 6.130000, 6.130000, 4.950000, 4.950000, 6.130000, 6.130000, 5.410000, 5.400000, 5.370000, 5.390000, 5.390000, 6.040000, 6.080000, 1.900000, 1.720000, 1.630000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.680000, 1.700000, 1.710000, 1.710000, 1.730000, 1.740000, 1.750000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.840000, 1.860000, 1.890000, 1.910000, 1.930000, 1.950000, 1.980000, 2.010000, 2.040000, 2.060000, 2.090000, 2.130000, 2.160000, 2.230000, 2.250000, 2.290000, 2.320000, 2.370000, 2.420000, 2.480000, 2.520000, 2.580000, 2.650000, 2.700000, 2.770000, 2.850000, 2.940000, 3.020000, 3.120000, 3.210000, 3.310000, 3.420000, 3.550000, 3.670000, 3.800000, 3.940000, 4.100000, 4.290000, 4.500000, 4.700000, 4.930000, 5.190000, 6.630000, 6.590000, 6.500000, 6.460000, 6.430000, 6.400000, 6.390000, 6.370000, 6.340000, 6.330000, 6.300000, 6.300000, 2.030000, 1.940000, 1.870000, 1.820000, 1.820000, 1.840000, 1.860000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.970000, 2.000000, 2.020000, 2.040000, 2.070000, 2.100000, 2.130000, 2.110000, 2.150000, 2.160000, 2.140000, 2.130000, 2.070000, 2.060000, 1.990000, 1.980000, 1.880000, 1.850000, 1.810000, 1.710000, 1.620000, 1.590000, 1.570000, 1.510000, 1.450000, 1.160000, 1.170000, 1.170000, 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": [ 976054810, 953703 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.922000, 1.128319 ], "estimate": [ 4.258000, 6.922000, 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": [ 2.290000, 2.250000, 2.210000, 2.170000, 2.140000, 2.090000, 2.060000, 2.030000, 2.010000, 1.980000, 1.960000, 1.930000, 1.910000, 1.880000, 1.870000, 1.840000, 1.810000, 1.800000, 1.780000, 1.760000, 1.760000, 1.740000, 1.730000, 1.720000, 1.710000, 1.760000, 1.880000, 1.950000, 6.340000, 6.310000, 6.260000, 6.220000, 6.200000, 5.500000, 5.490000, 5.470000, 5.450000, 5.460000, 6.040000, 6.040000, 6.010000, 6.010000, 6.140000, 6.140000, 6.130000, 6.130000, 4.940000, 5.200000, 6.130000, 6.130000, 5.780000, 5.410000, 5.380000, 5.390000, 5.410000, 5.430000, 6.070000, 1.900000, 1.710000, 1.630000, 1.630000, 1.650000, 1.650000, 1.670000, 1.670000, 1.680000, 1.690000, 1.690000, 1.710000, 1.710000, 1.720000, 1.740000, 1.750000, 1.760000, 1.770000, 1.790000, 1.810000, 1.830000, 1.840000, 1.860000, 1.880000, 1.910000, 1.920000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.160000, 2.200000, 2.240000, 2.270000, 2.310000, 2.350000, 2.410000, 2.460000, 2.510000, 2.570000, 2.630000, 2.690000, 2.750000, 2.830000, 2.910000, 2.990000, 3.080000, 3.190000, 3.270000, 3.390000, 3.510000, 3.620000, 3.750000, 3.890000, 4.060000, 4.220000, 4.420000, 4.630000, 4.840000, 5.100000, 5.380000, 6.580000, 6.490000, 6.460000, 6.430000, 6.390000, 6.380000, 6.360000, 6.330000, 6.310000, 6.300000, 6.300000, 2.020000, 1.930000, 1.860000, 1.810000, 1.810000, 1.830000, 1.850000, 1.860000, 1.870000, 1.890000, 1.910000, 1.940000, 1.960000, 1.990000, 2.000000, 2.020000, 2.050000, 2.080000, 2.110000, 2.120000, 2.120000, 2.160000, 2.140000, 2.110000, 2.060000, 2.040000, 1.940000, 1.900000, 1.870000, 1.870000, 1.780000, 1.720000, 1.640000, 1.590000, 1.540000, 1.500000, 1.480000, 1.170000, 1.150000, 1.140000, 0.970000, 0.990000, 1.020000, 1.150000, 1.160000, 1.190000, 1.200000, 1.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054810, 954632 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.922000, 1.183628 ], "estimate": [ 4.258000, 6.922000, 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": [ 2.050000, 2.030000, 2.000000, 1.970000, 1.940000, 1.920000, 1.910000, 1.880000, 1.850000, 1.830000, 1.820000, 1.800000, 1.780000, 1.770000, 1.750000, 1.740000, 1.730000, 1.730000, 1.770000, 1.890000, 1.970000, 6.360000, 6.320000, 6.280000, 6.240000, 6.210000, 5.520000, 5.500000, 5.470000, 5.460000, 5.460000, 6.050000, 6.060000, 6.050000, 6.020000, 6.150000, 6.140000, 6.140000, 6.140000, 6.120000, 5.100000, 6.130000, 6.140000, 6.030000, 5.410000, 5.400000, 5.390000, 5.410000, 5.440000, 6.090000, 1.910000, 1.710000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.690000, 1.690000, 1.710000, 1.710000, 1.730000, 1.740000, 1.750000, 1.760000, 1.780000, 1.800000, 1.820000, 1.820000, 1.850000, 1.870000, 1.890000, 1.910000, 1.920000, 1.960000, 1.980000, 2.010000, 2.040000, 2.070000, 2.090000, 2.140000, 2.160000, 2.220000, 2.240000, 2.280000, 2.310000, 2.360000, 2.410000, 2.470000, 2.520000, 2.570000, 2.630000, 2.700000, 2.760000, 2.830000, 2.910000, 2.990000, 3.090000, 3.190000, 3.270000, 3.400000, 3.510000, 3.630000, 3.750000, 3.910000, 4.070000, 4.230000, 4.410000, 4.630000, 4.840000, 5.090000, 5.360000, 6.580000, 6.500000, 6.460000, 6.430000, 6.400000, 6.380000, 6.350000, 6.330000, 6.310000, 6.300000, 6.300000, 2.020000, 1.940000, 1.860000, 1.800000, 1.810000, 1.820000, 1.840000, 1.860000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.980000, 2.010000, 2.030000, 2.050000, 2.070000, 2.100000, 2.110000, 2.110000, 2.150000, 2.140000, 2.110000, 2.070000, 2.050000, 1.790000, 1.900000, 1.890000, 1.850000, 1.770000, 1.710000, 1.610000, 1.580000, 1.560000, 1.500000, 1.440000, 1.410000, 1.140000, 1.130000, 1.060000, 0.970000, 1.010000, 1.130000, 1.130000, 1.160000, 1.180000, 1.200000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 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": [ 976054810, 955471 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.921000, 1.238938 ], "estimate": [ 4.258000, 6.921000, 1.238938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.980000, 1.950000, 1.930000, 1.910000, 1.880000, 1.870000, 1.840000, 1.820000, 1.820000, 1.790000, 1.770000, 1.760000, 1.740000, 1.740000, 1.730000, 1.810000, 1.900000, 2.180000, 6.370000, 6.310000, 6.290000, 6.250000, 6.220000, 5.530000, 5.500000, 5.480000, 5.470000, 5.460000, 6.070000, 6.060000, 6.050000, 6.060000, 6.150000, 6.140000, 6.140000, 6.130000, 6.130000, 4.980000, 6.140000, 6.140000, 6.040000, 5.420000, 5.380000, 5.410000, 5.410000, 5.480000, 6.090000, 1.920000, 1.710000, 1.640000, 1.640000, 1.650000, 1.670000, 1.670000, 1.680000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.720000, 1.750000, 1.750000, 1.760000, 1.790000, 1.790000, 1.820000, 1.830000, 1.850000, 1.870000, 1.900000, 1.910000, 1.940000, 1.960000, 1.990000, 2.020000, 2.040000, 2.060000, 2.100000, 2.140000, 2.170000, 2.230000, 2.250000, 2.290000, 2.320000, 2.370000, 2.430000, 2.480000, 2.530000, 2.590000, 2.640000, 2.710000, 2.770000, 2.840000, 2.930000, 3.010000, 3.090000, 3.190000, 3.300000, 3.400000, 3.530000, 3.650000, 3.770000, 3.920000, 4.080000, 4.260000, 4.450000, 4.660000, 4.870000, 5.120000, 5.380000, 6.590000, 6.510000, 6.460000, 6.430000, 6.400000, 6.390000, 6.360000, 6.340000, 6.310000, 6.300000, 6.290000, 2.000000, 1.930000, 1.860000, 1.800000, 1.800000, 1.820000, 1.840000, 1.860000, 1.870000, 1.890000, 1.910000, 1.940000, 1.950000, 1.980000, 2.000000, 2.030000, 2.040000, 2.080000, 2.110000, 2.110000, 2.110000, 2.150000, 2.140000, 2.110000, 2.080000, 2.050000, 1.780000, 1.950000, 1.880000, 1.850000, 1.780000, 1.710000, 1.640000, 1.580000, 1.540000, 1.480000, 1.450000, 1.430000, 1.150000, 1.140000, 1.090000, 0.960000, 1.020000, 1.120000, 1.140000, 1.150000, 1.180000, 1.200000, 1.210000, 1.220000, 1.220000, 1.260000, 1.260000, 1.300000, 1.310000, 1.320000, 1.330000, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976054811, 119639 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.921000, 1.306539 ], "estimate": [ 4.258000, 6.921000, 1.306539 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.930000, 1.900000, 1.870000, 1.850000, 1.830000, 1.820000, 1.790000, 1.790000, 1.760000, 1.750000, 1.740000, 1.730000, 1.740000, 1.880000, 1.960000, 2.670000, 6.330000, 6.300000, 6.260000, 6.240000, 5.780000, 5.510000, 5.490000, 5.480000, 5.470000, 6.040000, 6.080000, 6.060000, 6.060000, 6.160000, 6.150000, 6.140000, 6.140000, 6.140000, 4.980000, 4.990000, 6.150000, 6.140000, 5.420000, 5.380000, 5.380000, 5.400000, 5.430000, 6.090000, 6.110000, 1.760000, 1.650000, 1.640000, 1.650000, 1.660000, 1.680000, 1.690000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.720000, 1.750000, 1.760000, 1.770000, 1.780000, 1.810000, 1.820000, 1.830000, 1.850000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.990000, 2.000000, 2.040000, 2.060000, 2.090000, 2.130000, 2.170000, 2.200000, 2.240000, 2.280000, 2.320000, 2.360000, 2.410000, 2.460000, 2.510000, 2.570000, 2.630000, 2.690000, 2.750000, 2.820000, 2.900000, 2.980000, 3.080000, 3.180000, 3.260000, 3.390000, 3.500000, 3.600000, 3.740000, 3.870000, 4.020000, 4.200000, 4.400000, 4.580000, 4.790000, 5.040000, 5.310000, 6.600000, 6.550000, 6.470000, 6.430000, 6.400000, 6.390000, 6.350000, 6.330000, 6.310000, 6.310000, 6.290000, 2.030000, 1.940000, 1.860000, 1.800000, 1.800000, 1.810000, 1.830000, 1.850000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.960000, 1.980000, 2.010000, 2.030000, 2.060000, 2.090000, 2.100000, 2.100000, 2.150000, 2.140000, 2.110000, 2.080000, 2.050000, 1.820000, 1.790000, 1.840000, 1.810000, 1.820000, 1.730000, 1.640000, 1.580000, 1.540000, 1.480000, 1.450000, 1.420000, 1.150000, 1.130000, 1.100000, 0.950000, 0.960000, 1.120000, 1.130000, 1.150000, 1.170000, 1.180000, 1.200000, 1.200000, 1.230000, 1.240000, 1.240000, 1.280000, 1.300000, 1.300000, 1.310000, 1.310000, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0 ], "timestamp": [ 976054811, 383898 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.922000, 1.423304 ], "estimate": [ 4.258000, 6.922000, 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": [ 1.820000, 1.800000, 1.790000, 1.780000, 1.760000, 1.740000, 1.740000, 1.870000, 1.950000, 2.660000, 6.340000, 6.300000, 6.280000, 6.240000, 5.910000, 5.530000, 5.500000, 5.480000, 5.480000, 5.530000, 6.080000, 6.070000, 6.060000, 6.170000, 6.160000, 6.160000, 6.140000, 6.140000, 4.990000, 4.990000, 6.140000, 6.140000, 5.430000, 5.380000, 5.390000, 5.420000, 5.410000, 6.100000, 1.910000, 1.710000, 1.650000, 1.650000, 1.670000, 1.670000, 1.690000, 1.690000, 1.690000, 1.690000, 1.700000, 1.720000, 1.730000, 1.740000, 1.740000, 1.760000, 1.770000, 1.780000, 1.800000, 1.820000, 1.830000, 1.850000, 1.870000, 1.900000, 1.910000, 1.940000, 1.960000, 1.980000, 2.010000, 2.050000, 2.060000, 2.100000, 2.130000, 2.170000, 2.220000, 2.250000, 2.280000, 2.320000, 2.360000, 2.420000, 2.470000, 2.510000, 2.570000, 2.630000, 2.680000, 2.750000, 2.820000, 2.900000, 2.980000, 3.080000, 3.170000, 3.250000, 3.380000, 3.490000, 3.590000, 3.730000, 3.860000, 4.010000, 4.180000, 4.380000, 4.560000, 4.770000, 5.010000, 5.280000, 6.580000, 6.540000, 6.460000, 6.420000, 6.400000, 6.380000, 6.350000, 6.320000, 6.310000, 6.300000, 6.280000, 2.000000, 1.920000, 1.840000, 1.790000, 1.790000, 1.810000, 1.820000, 1.840000, 1.860000, 1.880000, 1.890000, 1.910000, 1.940000, 1.950000, 1.980000, 2.010000, 2.030000, 2.050000, 2.090000, 2.090000, 2.090000, 2.140000, 2.120000, 2.090000, 2.040000, 2.020000, 1.790000, 1.760000, 1.870000, 1.820000, 1.770000, 1.680000, 1.600000, 1.550000, 1.520000, 1.450000, 1.440000, 1.400000, 1.140000, 1.100000, 0.990000, 0.960000, 0.960000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, null, null, null, null, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0 ], "timestamp": [ 976054811, 385164 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.924000, 1.527778 ], "estimate": [ 4.258000, 6.924000, 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": [ 1.860000, 1.950000, 2.600000, 6.380000, 6.340000, 6.310000, 6.270000, 6.240000, 5.550000, 5.540000, 5.510000, 5.490000, 5.500000, 6.100000, 6.090000, 6.090000, 6.130000, 6.170000, 6.170000, 6.160000, 6.150000, 5.000000, 4.990000, 6.150000, 6.150000, 5.450000, 5.440000, 5.420000, 5.410000, 5.420000, 6.030000, 6.120000, 1.770000, 1.650000, 1.660000, 1.660000, 1.680000, 1.680000, 1.680000, 1.700000, 1.710000, 1.710000, 1.730000, 1.730000, 1.730000, 1.750000, 1.760000, 1.770000, 1.790000, 1.820000, 1.830000, 1.840000, 1.860000, 1.880000, 1.900000, 1.920000, 1.940000, 1.970000, 1.990000, 2.020000, 2.050000, 2.070000, 2.100000, 2.140000, 2.170000, 2.220000, 2.240000, 2.290000, 2.320000, 2.360000, 2.420000, 2.470000, 2.520000, 2.580000, 2.630000, 2.690000, 2.750000, 2.830000, 2.910000, 2.990000, 3.070000, 3.160000, 3.240000, 3.360000, 3.470000, 3.590000, 3.710000, 3.850000, 3.990000, 4.160000, 4.330000, 4.530000, 4.740000, 4.980000, 5.220000, 6.600000, 6.570000, 6.470000, 6.430000, 6.400000, 6.390000, 6.350000, 6.340000, 6.310000, 6.300000, 6.280000, 1.990000, 1.920000, 1.840000, 1.790000, 1.790000, 1.800000, 1.810000, 1.830000, 1.850000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.970000, 1.990000, 2.030000, 2.040000, 2.070000, 2.080000, 2.080000, 2.150000, 2.120000, 2.080000, 2.050000, 2.010000, 1.770000, 1.760000, 1.830000, 1.790000, 1.790000, 1.690000, 1.600000, 1.570000, 1.530000, 1.450000, 1.410000, 1.380000, 1.120000, 1.110000, 1.080000, 0.940000, 0.950000, 1.110000, 1.130000, 1.130000, 1.150000, 1.170000, 1.200000, 1.220000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.280000, 1.300000, 1.270000, null, null, null, null, null, null, null, null, null, null, 1.690000, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0 ], "timestamp": [ 976054811, 581696 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.258000, 6.925000, 1.527778 ], "estimate": [ 4.258000, 6.925000, 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": [ 2.660000, 6.400000, 6.350000, 6.320000, 6.280000, 6.250000, 5.560000, 5.540000, 5.520000, 5.500000, 5.490000, 6.110000, 6.090000, 6.080000, 6.190000, 6.180000, 6.170000, 6.160000, 6.160000, 6.150000, 4.990000, 6.150000, 6.160000, 6.040000, 5.430000, 5.390000, 5.420000, 5.410000, 6.100000, 6.130000, 1.850000, 1.680000, 1.660000, 1.660000, 1.670000, 1.690000, 1.680000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.760000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.840000, 1.870000, 1.880000, 1.910000, 1.920000, 1.940000, 1.970000, 1.990000, 2.030000, 2.060000, 2.070000, 2.110000, 2.140000, 2.170000, 2.240000, 2.250000, 2.290000, 2.340000, 2.380000, 2.420000, 2.470000, 2.510000, 2.580000, 2.630000, 2.700000, 2.760000, 2.840000, 2.910000, 2.990000, 3.080000, 3.170000, 3.240000, 3.370000, 3.480000, 3.600000, 3.720000, 3.860000, 4.000000, 4.160000, 4.340000, 4.530000, 4.750000, 4.980000, 5.230000, 6.650000, 6.580000, 6.490000, 6.450000, 6.410000, 6.400000, 6.370000, 6.340000, 6.310000, 6.310000, 6.290000, 6.280000, 1.960000, 1.870000, 1.800000, 1.780000, 1.790000, 1.800000, 1.820000, 1.840000, 1.860000, 1.870000, 1.890000, 1.920000, 1.940000, 1.960000, 1.990000, 2.020000, 2.040000, 2.070000, 2.100000, 2.080000, 2.140000, 2.130000, 2.110000, 2.070000, 2.020000, 1.990000, 1.740000, 1.910000, 1.780000, 1.810000, 1.700000, 1.670000, 1.540000, 1.510000, 1.510000, 1.450000, 1.400000, 1.380000, 1.120000, 1.090000, 0.960000, 0.960000, 1.100000, 1.120000, 1.120000, 1.150000, 1.170000, 1.190000, 1.200000, 1.200000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.300000, 1.280000, null, null, null, null, null, null, null, null, null, null, null, 1.690000, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0 ], "timestamp": [ 976054811, 922260 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.259000, 6.933000, 1.509341 ], "estimate": [ 4.259000, 6.933000, 1.509341 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.210000, 6.400000, 6.360000, 6.320000, 6.300000, 6.250000, 5.770000, 5.540000, 5.520000, 5.500000, 5.500000, 6.100000, 6.090000, 6.080000, 6.070000, 6.180000, 6.170000, 6.160000, 6.150000, 6.150000, 5.000000, 6.150000, 6.150000, 6.100000, 5.430000, 5.400000, 5.410000, 5.410000, 5.540000, 6.120000, 1.900000, 1.670000, 1.660000, 1.670000, 1.680000, 1.680000, 1.690000, 1.690000, 1.700000, 1.700000, 1.720000, 1.720000, 1.740000, 1.750000, 1.760000, 1.760000, 1.780000, 1.800000, 1.820000, 1.840000, 1.860000, 1.870000, 1.900000, 1.910000, 1.940000, 1.970000, 1.990000, 2.020000, 2.050000, 2.070000, 2.100000, 2.140000, 2.170000, 2.210000, 2.250000, 2.280000, 2.310000, 2.360000, 2.410000, 2.460000, 2.500000, 2.560000, 2.610000, 2.680000, 2.740000, 2.820000, 2.890000, 2.960000, 3.050000, 3.150000, 3.240000, 3.340000, 3.450000, 3.560000, 3.680000, 3.830000, 3.960000, 4.110000, 4.300000, 4.490000, 4.680000, 4.910000, 5.170000, 6.800000, 6.600000, 6.530000, 6.450000, 6.410000, 6.400000, 6.370000, 6.340000, 6.310000, 6.310000, 6.290000, 6.280000, 1.990000, 1.900000, 1.810000, 1.780000, 1.780000, 1.800000, 1.810000, 1.830000, 1.850000, 1.870000, 1.890000, 1.910000, 1.930000, 1.950000, 1.980000, 2.010000, 2.030000, 2.060000, 2.100000, 2.070000, 2.130000, 2.130000, 2.110000, 2.070000, 2.020000, 1.990000, 1.820000, 1.930000, 1.810000, 1.800000, 1.710000, 1.680000, 1.580000, 1.520000, 1.500000, 1.440000, 1.420000, 1.390000, 1.120000, 1.110000, 0.950000, 0.930000, 1.090000, 1.110000, 1.120000, 1.130000, 1.170000, 1.170000, 1.180000, 1.200000, 1.220000, 1.220000, 1.250000, 1.260000, 1.270000, 1.280000, 1.300000, 1.280000, null, null, null, null, null, null, null, null, null, null, 1.670000, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0 ], "timestamp": [ 976054811, 941614 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.260000, 6.958000, 1.503196 ], "estimate": [ 4.260000, 6.958000, 1.503196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.690000, 6.390000, 6.370000, 6.310000, 6.280000, 6.240000, 5.560000, 5.540000, 5.510000, 5.500000, 5.520000, 6.110000, 6.090000, 6.050000, 6.180000, 6.170000, 6.170000, 6.160000, 6.150000, 5.000000, 5.000000, 6.150000, 6.150000, 5.720000, 5.430000, 5.390000, 5.400000, 5.420000, 6.100000, 6.120000, 1.730000, 1.650000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.690000, 1.690000, 1.700000, 1.720000, 1.730000, 1.750000, 1.750000, 1.760000, 1.770000, 1.800000, 1.810000, 1.820000, 1.830000, 1.860000, 1.880000, 1.900000, 1.920000, 1.950000, 1.970000, 1.990000, 2.020000, 2.050000, 2.070000, 2.100000, 2.140000, 2.170000, 2.240000, 2.250000, 2.290000, 2.340000, 2.370000, 2.420000, 2.470000, 2.510000, 2.580000, 2.630000, 2.700000, 2.750000, 2.840000, 2.910000, 2.980000, 3.070000, 3.160000, 3.250000, 3.360000, 3.470000, 3.600000, 3.720000, 3.870000, 4.000000, 4.160000, 4.350000, 4.530000, 4.740000, 4.980000, 5.230000, 6.600000, 6.570000, 6.470000, 6.430000, 6.410000, 6.370000, 6.340000, 6.320000, 6.310000, 6.290000, 6.270000, 6.260000, 1.950000, 1.860000, 1.780000, 1.770000, 1.790000, 1.790000, 1.810000, 1.830000, 1.840000, 1.860000, 1.880000, 1.910000, 1.930000, 1.950000, 1.970000, 2.000000, 2.040000, 2.050000, 2.090000, 2.070000, 2.130000, 2.120000, 2.100000, 2.060000, 2.010000, 1.980000, 1.790000, 1.930000, 1.790000, 1.800000, 1.720000, 1.660000, 1.550000, 1.510000, 1.500000, 1.450000, 1.410000, 1.380000, 1.090000, 1.090000, 1.060000, 0.930000, 1.030000, 1.110000, 1.110000, 1.140000, 1.140000, 1.170000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.270000, null, null, null, null, null, null, null, null, null, null, null, 1.670000, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0 ], "timestamp": [ 976054812, 131988 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.265000, 7.020000, 1.509341 ], "estimate": [ 4.265000, 7.020000, 1.509341 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.400000, 6.360000, 6.310000, 6.290000, 6.250000, 5.550000, 5.530000, 5.520000, 5.500000, 5.480000, 6.090000, 6.090000, 6.070000, 6.080000, 6.170000, 6.160000, 6.160000, 6.140000, 6.120000, 4.980000, 6.140000, 6.140000, 6.030000, 5.410000, 5.390000, 5.390000, 5.410000, 5.580000, 1.890000, 1.660000, 1.630000, 1.630000, 1.640000, 1.660000, 1.670000, 1.670000, 1.670000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.730000, 1.750000, 1.750000, 1.770000, 1.790000, 1.810000, 1.820000, 1.830000, 1.850000, 1.870000, 1.900000, 1.920000, 1.940000, 1.970000, 1.990000, 2.030000, 2.050000, 2.070000, 2.110000, 2.140000, 2.200000, 2.220000, 2.250000, 2.290000, 2.330000, 2.370000, 2.430000, 2.470000, 2.520000, 2.590000, 2.650000, 2.700000, 2.770000, 2.840000, 2.920000, 3.000000, 3.090000, 3.200000, 3.280000, 3.390000, 3.500000, 3.610000, 3.750000, 3.880000, 4.040000, 4.210000, 4.400000, 4.590000, 4.810000, 5.050000, 5.320000, 6.550000, 6.510000, 6.410000, 6.390000, 6.350000, 6.330000, 6.310000, 6.290000, 6.260000, 6.240000, 6.230000, 1.970000, 1.890000, 1.810000, 1.740000, 1.740000, 1.750000, 1.770000, 1.790000, 1.800000, 1.810000, 1.830000, 1.850000, 1.870000, 1.900000, 1.930000, 1.940000, 1.970000, 2.000000, 2.040000, 2.060000, 2.050000, 2.110000, 2.110000, 2.060000, 2.030000, 1.990000, 1.970000, 1.710000, 1.920000, 1.770000, 1.760000, 1.750000, 1.680000, 1.580000, 1.500000, 1.480000, 1.450000, 1.410000, 1.360000, 1.090000, 1.090000, 1.100000, 1.070000, 0.900000, 0.950000, 1.080000, 1.090000, 1.120000, 1.120000, 1.150000, 1.160000, 1.180000, 1.180000, 1.190000, 1.220000, 1.220000, 1.250000, 1.260000, 1.260000, null, null, null, null, null, null, null, null, null, null, 1.670000, 1.690000, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0 ], "timestamp": [ 976054812, 553472 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.267000, 7.061000, 1.515487 ], "estimate": [ 4.267000, 7.061000, 1.515487 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.320000, 6.290000, 6.250000, 5.700000, 5.530000, 5.510000, 5.500000, 5.490000, 6.050000, 6.070000, 6.060000, 6.070000, 6.150000, 6.150000, 6.140000, 6.140000, 6.130000, 4.970000, 6.120000, 6.120000, 6.120000, 5.390000, 5.350000, 5.360000, 5.370000, 1.850000, 1.620000, 1.590000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.650000, 1.670000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.730000, 1.760000, 1.760000, 1.780000, 1.800000, 1.810000, 1.830000, 1.850000, 1.870000, 1.900000, 1.920000, 1.940000, 1.970000, 2.000000, 2.020000, 2.050000, 2.080000, 2.140000, 2.160000, 2.180000, 2.230000, 2.260000, 2.310000, 2.350000, 2.400000, 2.450000, 2.500000, 2.560000, 2.610000, 2.670000, 2.750000, 2.820000, 2.900000, 2.970000, 3.070000, 3.140000, 3.250000, 3.360000, 3.470000, 3.600000, 3.730000, 3.850000, 4.010000, 4.180000, 4.370000, 4.560000, 4.780000, 5.020000, 6.700000, 6.480000, 6.440000, 6.340000, 6.310000, 6.290000, 6.250000, 6.230000, 6.210000, 6.190000, 6.200000, 6.170000, 6.160000, 1.860000, 1.780000, 1.720000, 1.670000, 1.690000, 1.690000, 1.710000, 1.730000, 1.750000, 1.760000, 1.790000, 1.800000, 1.820000, 1.850000, 1.870000, 1.900000, 1.930000, 1.950000, 1.980000, 2.010000, 1.990000, 2.040000, 2.040000, 2.020000, 1.990000, 1.960000, 1.920000, 1.890000, 1.670000, 1.820000, 1.730000, 1.690000, 1.680000, 1.580000, 1.530000, 1.440000, 1.430000, 1.400000, 1.400000, 1.120000, 1.110000, 1.080000, 1.070000, 1.060000, 1.060000, 0.890000, 0.870000, 1.030000, 1.060000, 1.060000, 1.070000, 1.100000, 1.100000, 1.120000, 1.130000, 1.160000, 1.170000, 1.190000, 1.210000, 1.210000, 1.200000, null, null, null, null, null, null, null, null, null, null, 1.660000, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0 ], "timestamp": [ 976054812, 571179 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.272000, 7.136000, 1.515487 ], "estimate": [ 4.272000, 7.136000, 1.515487 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.310000, 6.270000, 6.230000, 5.550000, 5.520000, 5.500000, 5.480000, 6.040000, 6.080000, 6.060000, 6.050000, 6.150000, 6.150000, 6.130000, 6.120000, 6.110000, 4.950000, 6.100000, 6.100000, 6.100000, 5.920000, 5.370000, 5.320000, 5.340000, 1.600000, 1.570000, 1.580000, 1.590000, 1.600000, 1.600000, 1.590000, 1.590000, 1.600000, 1.610000, 1.610000, 1.630000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.690000, 1.690000, 1.710000, 1.730000, 1.730000, 1.760000, 1.760000, 1.780000, 1.810000, 1.820000, 1.840000, 1.870000, 1.890000, 1.920000, 1.940000, 1.970000, 2.000000, 2.030000, 2.060000, 2.090000, 2.120000, 2.140000, 2.180000, 2.230000, 2.260000, 2.310000, 2.350000, 2.400000, 2.460000, 2.500000, 2.560000, 2.630000, 2.690000, 2.760000, 2.840000, 2.910000, 3.000000, 3.090000, 3.190000, 3.280000, 3.400000, 3.520000, 3.640000, 3.770000, 3.930000, 4.090000, 4.270000, 4.460000, 4.670000, 4.910000, 5.180000, 6.420000, 6.380000, 6.290000, 6.250000, 6.220000, 6.190000, 6.180000, 6.150000, 6.130000, 6.110000, 6.110000, 6.100000, 6.090000, 1.780000, 1.710000, 1.650000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.750000, 1.780000, 1.800000, 1.820000, 1.850000, 1.880000, 1.900000, 1.940000, 1.920000, 1.960000, 2.000000, 1.980000, 1.960000, 1.920000, 1.890000, 1.850000, 1.820000, 1.570000, 1.770000, 1.730000, 1.650000, 1.590000, 1.570000, 1.540000, 1.460000, 1.420000, 1.370000, 1.350000, 1.140000, 1.110000, 1.090000, 1.070000, 1.040000, 1.050000, 1.040000, 1.020000, 1.010000, 0.840000, 0.810000, 0.980000, 0.990000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.090000, 1.100000, 1.150000, 1.160000, 1.180000, null, null, null, null, null, null, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ], "timestamp": [ 976054812, 800515 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.276000, 7.191000, 1.503196 ], "estimate": [ 4.276000, 7.191000, 1.503196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.360000, 6.310000, 6.260000, 6.230000, 5.520000, 5.510000, 5.480000, 5.460000, 5.960000, 6.060000, 6.040000, 6.020000, 6.140000, 6.130000, 6.110000, 6.110000, 6.090000, 4.920000, 6.070000, 6.070000, 6.070000, 5.360000, 5.360000, 1.650000, 1.550000, 1.540000, 1.550000, 1.560000, 1.560000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.590000, 1.590000, 1.610000, 1.620000, 1.620000, 1.640000, 1.650000, 1.650000, 1.680000, 1.680000, 1.680000, 1.710000, 1.720000, 1.740000, 1.750000, 1.770000, 1.790000, 1.810000, 1.830000, 1.860000, 1.880000, 1.910000, 1.920000, 1.950000, 1.980000, 2.030000, 2.040000, 2.070000, 2.100000, 2.140000, 2.170000, 2.220000, 2.270000, 2.310000, 2.350000, 2.410000, 2.460000, 2.510000, 2.570000, 2.630000, 2.700000, 2.780000, 2.850000, 2.940000, 3.010000, 3.100000, 3.210000, 3.310000, 3.420000, 3.550000, 3.680000, 3.820000, 3.980000, 4.160000, 4.340000, 4.530000, 4.770000, 5.020000, 6.440000, 6.350000, 6.270000, 6.210000, 6.190000, 6.160000, 6.130000, 6.110000, 6.090000, 6.070000, 6.050000, 6.050000, 6.040000, 6.030000, 1.720000, 1.660000, 1.600000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.660000, 1.680000, 1.690000, 1.720000, 1.750000, 1.780000, 1.800000, 1.830000, 1.860000, 1.880000, 1.890000, 1.900000, 1.940000, 1.950000, 1.930000, 1.890000, 1.890000, 1.840000, 1.810000, 1.770000, 1.510000, 1.700000, 1.680000, 1.610000, 1.560000, 1.550000, 1.510000, 1.460000, 1.400000, 1.350000, 1.330000, 1.130000, 1.100000, 1.090000, 1.080000, 1.050000, 1.030000, 1.020000, 1.000000, 1.010000, 1.000000, 0.960000, 0.830000, 0.810000, 0.950000, 0.970000, 1.000000, 1.020000, 1.030000, 1.040000, 1.050000, 1.090000, 1.130000, 1.130000, 1.170000, null, null, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0, 0 ], "timestamp": [ 976054813, 221665 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.279000, 7.237000, 1.484759 ], "estimate": [ 4.279000, 7.237000, 1.484759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 6.300000, 6.250000, 5.760000, 5.520000, 5.500000, 5.480000, 5.470000, 5.970000, 6.050000, 6.030000, 6.020000, 6.130000, 6.110000, 6.100000, 6.090000, 6.080000, 4.910000, 6.060000, 6.060000, 6.060000, 5.340000, 1.570000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.560000, 1.560000, 1.570000, 1.570000, 1.590000, 1.580000, 1.590000, 1.600000, 1.600000, 1.620000, 1.640000, 1.640000, 1.660000, 1.670000, 1.680000, 1.690000, 1.700000, 1.720000, 1.730000, 1.750000, 1.770000, 1.790000, 1.810000, 1.830000, 1.860000, 1.880000, 1.920000, 1.930000, 1.960000, 2.000000, 2.020000, 2.050000, 2.070000, 2.110000, 2.160000, 2.190000, 2.240000, 2.280000, 2.330000, 2.370000, 2.420000, 2.480000, 2.530000, 2.590000, 2.660000, 2.730000, 2.810000, 2.890000, 2.980000, 3.060000, 3.160000, 3.250000, 3.370000, 3.490000, 3.610000, 3.760000, 3.900000, 4.080000, 4.250000, 4.430000, 4.660000, 4.900000, 6.510000, 6.310000, 6.260000, 6.180000, 6.150000, 6.120000, 6.100000, 6.070000, 6.050000, 6.040000, 6.030000, 6.010000, 6.010000, 6.010000, 1.720000, 1.660000, 1.590000, 1.540000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.650000, 1.680000, 1.690000, 1.720000, 1.750000, 1.770000, 1.800000, 1.830000, 1.860000, 1.860000, 1.870000, 1.920000, 1.920000, 1.900000, 1.880000, 1.860000, 1.810000, 1.780000, 1.730000, 1.650000, 1.480000, 1.660000, 1.610000, 1.550000, 1.520000, 1.500000, 1.430000, 1.410000, 1.380000, 1.310000, 1.120000, 1.100000, 1.090000, 1.080000, 1.050000, 1.040000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.860000, 0.820000, 0.920000, 0.950000, 0.970000, 0.980000, 1.000000, 1.040000, 1.020000, 1.080000, 1.100000, 1.120000, 1.150000, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0 ], "timestamp": [ 976054813, 241422 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.284000, 7.288000, 1.490904 ], "estimate": [ 4.284000, 7.288000, 1.490904 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.280000, 6.240000, 5.520000, 5.520000, 5.490000, 5.460000, 5.470000, 6.050000, 6.040000, 6.020000, 6.050000, 6.110000, 6.100000, 6.080000, 6.070000, 4.900000, 5.790000, 6.050000, 6.050000, 6.040000, 1.550000, 1.520000, 1.520000, 1.520000, 1.530000, 1.530000, 1.520000, 1.530000, 1.530000, 1.540000, 1.540000, 1.540000, 1.550000, 1.560000, 1.560000, 1.580000, 1.590000, 1.590000, 1.590000, 1.590000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.670000, 1.690000, 1.700000, 1.720000, 1.740000, 1.750000, 1.770000, 1.800000, 1.820000, 1.840000, 1.860000, 1.890000, 1.910000, 1.970000, 1.970000, 2.010000, 2.030000, 2.060000, 2.100000, 2.130000, 2.170000, 2.210000, 2.250000, 2.310000, 2.340000, 2.400000, 2.460000, 2.500000, 2.570000, 2.640000, 2.720000, 2.780000, 2.860000, 2.940000, 3.040000, 3.130000, 3.230000, 3.340000, 3.450000, 3.590000, 3.730000, 3.880000, 4.050000, 4.210000, 4.410000, 4.620000, 4.880000, 6.480000, 6.280000, 6.230000, 6.130000, 6.100000, 6.070000, 6.050000, 6.030000, 6.010000, 5.990000, 5.990000, 5.980000, 5.970000, 5.960000, 1.700000, 1.640000, 1.590000, 1.540000, 1.480000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.550000, 1.570000, 1.600000, 1.620000, 1.640000, 1.660000, 1.690000, 1.710000, 1.740000, 1.780000, 1.800000, 1.830000, 1.820000, 1.830000, 1.890000, 1.880000, 1.870000, 1.850000, 1.820000, 1.800000, 1.730000, 1.680000, 1.670000, 1.410000, 1.630000, 1.600000, 1.510000, 1.480000, 1.450000, 1.440000, 1.410000, 1.370000, 1.340000, 1.130000, 1.100000, 1.090000, 1.090000, 1.080000, 1.060000, 1.030000, 1.020000, 1.010000, 0.980000, 0.970000, 0.970000, 0.970000, 0.950000, 0.880000, 0.790000, 0.890000, 0.910000, 0.910000, 0.970000, 0.990000, 1.000000, 1.030000, 1.060000, null, null, null, null, null, null, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 0, 0, 0, 0 ], "timestamp": [ 976054813, 301188 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.289000, 7.353000, 1.490904 ], "estimate": [ 4.289000, 7.353000, 1.490904 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.250000, 5.530000, 5.500000, 5.490000, 5.460000, 5.460000, 5.970000, 6.030000, 6.010000, 6.010000, 6.110000, 6.090000, 6.080000, 6.070000, 5.010000, 4.890000, 6.050000, 6.040000, 1.540000, 1.500000, 1.500000, 1.510000, 1.500000, 1.500000, 1.510000, 1.500000, 1.510000, 1.510000, 1.510000, 1.520000, 1.530000, 1.530000, 1.530000, 1.540000, 1.540000, 1.560000, 1.570000, 1.580000, 1.580000, 1.590000, 1.590000, 1.610000, 1.610000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.710000, 1.720000, 1.730000, 1.760000, 1.780000, 1.800000, 1.820000, 1.850000, 1.880000, 1.910000, 1.930000, 1.950000, 1.980000, 2.010000, 2.040000, 2.070000, 2.110000, 2.150000, 2.190000, 2.230000, 2.290000, 2.330000, 2.370000, 2.440000, 2.490000, 2.550000, 2.620000, 2.690000, 2.770000, 2.840000, 2.940000, 3.020000, 3.110000, 3.210000, 3.320000, 3.440000, 3.560000, 3.700000, 3.850000, 4.020000, 4.200000, 4.380000, 4.600000, 4.850000, 6.320000, 6.210000, 6.140000, 6.080000, 6.040000, 6.020000, 6.000000, 5.990000, 5.960000, 5.940000, 5.930000, 5.910000, 5.900000, 5.900000, 5.890000, 1.610000, 1.560000, 1.510000, 1.460000, 1.420000, 1.430000, 1.450000, 1.470000, 1.480000, 1.500000, 1.520000, 1.540000, 1.550000, 1.580000, 1.600000, 1.620000, 1.650000, 1.680000, 1.700000, 1.730000, 1.760000, 1.790000, 1.780000, 1.810000, 1.850000, 1.850000, 1.830000, 1.800000, 1.790000, 1.750000, 1.700000, 1.650000, 1.620000, 1.600000, 1.380000, 1.570000, 1.550000, 1.490000, 1.440000, 1.430000, 1.410000, 1.360000, 1.350000, 1.240000, 1.120000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.030000, 1.030000, 1.000000, 0.990000, 0.960000, 0.960000, 0.950000, 0.950000, 0.930000, 0.920000, 0.770000, 0.780000, 0.880000, 0.890000, 0.930000, 0.960000, 0.990000, 1.040000, null, null, null, 1.160000, null ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 0, 1, 0 ], "timestamp": [ 976054814, 516296 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.294000, 7.417000, 1.490904 ], "estimate": [ 4.294000, 7.417000, 1.490904 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.540000, 5.510000, 5.490000, 5.450000, 5.450000, 5.930000, 6.030000, 6.010000, 6.000000, 6.100000, 6.080000, 6.070000, 6.050000, 5.010000, 4.880000, 1.520000, 1.470000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.480000, 1.490000, 1.480000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.510000, 1.510000, 1.520000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.560000, 1.580000, 1.580000, 1.590000, 1.600000, 1.610000, 1.630000, 1.640000, 1.660000, 1.670000, 1.690000, 1.700000, 1.720000, 1.750000, 1.760000, 1.790000, 1.810000, 1.830000, 1.870000, 1.880000, 1.910000, 1.920000, 1.960000, 1.990000, 2.030000, 2.060000, 2.100000, 2.130000, 2.170000, 2.220000, 2.270000, 2.320000, 2.360000, 2.420000, 2.480000, 2.540000, 2.600000, 2.670000, 2.750000, 2.830000, 2.910000, 2.990000, 3.090000, 3.210000, 3.310000, 3.430000, 3.560000, 3.700000, 3.860000, 4.030000, 4.200000, 4.400000, 4.630000, 4.890000, 6.160000, 6.130000, 6.060000, 6.000000, 5.990000, 5.950000, 5.930000, 5.900000, 5.900000, 5.890000, 5.870000, 5.850000, 5.850000, 5.840000, 5.830000, 1.570000, 1.530000, 1.470000, 1.420000, 1.380000, 1.370000, 1.380000, 1.400000, 1.420000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.540000, 1.550000, 1.580000, 1.600000, 1.630000, 1.660000, 1.690000, 1.720000, 1.750000, 1.730000, 1.790000, 1.810000, 1.800000, 1.790000, 1.780000, 1.730000, 1.680000, 1.640000, 1.590000, 1.560000, 1.550000, 1.530000, 1.290000, 1.520000, 1.490000, 1.440000, 1.410000, 1.390000, 1.360000, 1.350000, 1.320000, 1.140000, 1.120000, 1.090000, 1.070000, 1.050000, 1.030000, 1.030000, 1.030000, 1.030000, 1.010000, 1.000000, 0.970000, 0.950000, 0.950000, 0.920000, 0.920000, 0.920000, 0.890000, 0.890000, 0.750000, 0.740000, 0.850000, 0.910000, null, null, null, 1.070000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1 ], "timestamp": [ 976054814, 521401 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.299000, 7.475000, 1.484759 ], "estimate": [ 4.299000, 7.475000, 1.484759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.520000, 5.510000, 5.480000, 5.440000, 5.460000, 5.980000, 6.010000, 6.000000, 6.010000, 6.080000, 6.070000, 6.050000, 6.050000, 4.850000, 1.490000, 1.470000, 1.470000, 1.470000, 1.470000, 1.460000, 1.470000, 1.460000, 1.460000, 1.460000, 1.470000, 1.460000, 1.460000, 1.470000, 1.470000, 1.490000, 1.480000, 1.490000, 1.500000, 1.500000, 1.500000, 1.520000, 1.530000, 1.530000, 1.550000, 1.550000, 1.560000, 1.570000, 1.590000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.740000, 1.750000, 1.780000, 1.810000, 1.830000, 1.850000, 1.880000, 1.910000, 1.930000, 1.960000, 1.990000, 2.030000, 2.060000, 2.090000, 2.150000, 2.180000, 2.230000, 2.280000, 2.330000, 2.380000, 2.440000, 2.490000, 2.560000, 2.630000, 2.700000, 2.770000, 2.860000, 2.950000, 3.030000, 3.140000, 3.240000, 3.360000, 3.480000, 3.620000, 3.770000, 3.930000, 4.120000, 4.310000, 4.510000, 4.760000, 6.230000, 6.100000, 6.060000, 5.970000, 5.930000, 5.910000, 5.890000, 5.870000, 5.850000, 5.830000, 5.820000, 5.810000, 5.790000, 5.790000, 5.780000, 5.780000, 1.520000, 1.480000, 1.430000, 1.390000, 1.340000, 1.310000, 1.330000, 1.340000, 1.370000, 1.380000, 1.390000, 1.410000, 1.430000, 1.460000, 1.480000, 1.500000, 1.520000, 1.550000, 1.570000, 1.600000, 1.630000, 1.660000, 1.690000, 1.700000, 1.710000, 1.770000, 1.760000, 1.760000, 1.740000, 1.710000, 1.640000, 1.620000, 1.590000, 1.540000, 1.500000, 1.500000, 1.510000, 1.260000, 1.470000, 1.480000, 1.430000, 1.390000, 1.360000, 1.350000, 1.300000, 1.270000, 1.150000, 1.120000, 1.110000, 1.090000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 0.990000, 1.000000, 0.970000, 0.940000, 0.930000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.840000, 0.750000, 0.840000, null, 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, 0, 1 ], "timestamp": [ 976054814, 522462 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.305000, 7.530000, 1.472468 ], "estimate": [ 4.305000, 7.530000, 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": [ 5.530000, 5.500000, 5.470000, 5.450000, 5.440000, 5.950000, 6.010000, 5.990000, 6.000000, 6.070000, 6.050000, 6.050000, 1.490000, 1.440000, 1.460000, 1.460000, 1.460000, 1.460000, 1.450000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.480000, 1.480000, 1.490000, 1.480000, 1.500000, 1.510000, 1.510000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.580000, 1.600000, 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.730000, 1.750000, 1.770000, 1.780000, 1.810000, 1.830000, 1.860000, 1.890000, 1.910000, 1.950000, 1.980000, 2.020000, 2.050000, 2.080000, 2.130000, 2.170000, 2.220000, 2.260000, 2.320000, 2.360000, 2.420000, 2.490000, 2.550000, 2.620000, 2.720000, 2.780000, 2.860000, 2.950000, 3.040000, 3.140000, 3.250000, 3.370000, 3.490000, 3.640000, 3.790000, 3.960000, 4.140000, 4.320000, 4.550000, 4.810000, 6.070000, 6.050000, 5.950000, 5.900000, 5.880000, 5.840000, 5.830000, 5.810000, 5.790000, 5.780000, 5.760000, 5.750000, 5.750000, 5.740000, 5.750000, 5.740000, 1.500000, 1.450000, 1.400000, 1.360000, 1.320000, 1.270000, 1.270000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.490000, 1.520000, 1.550000, 1.570000, 1.600000, 1.630000, 1.670000, 1.660000, 1.670000, 1.730000, 1.720000, 1.720000, 1.690000, 1.650000, 1.620000, 1.580000, 1.550000, 1.490000, 1.500000, 1.480000, 1.480000, 1.470000, 1.260000, 1.450000, 1.410000, 1.390000, 1.350000, 1.310000, 1.290000, 1.260000, 1.160000, 1.130000, 1.120000, 1.100000, 1.080000, 1.040000, 1.040000, 1.030000, 1.010000, 1.020000, 1.010000, 0.990000, 0.970000, 0.970000, 0.940000, 0.920000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 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": [ 976054814, 523406 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.311000, 7.585000, 1.460177 ], "estimate": [ 4.311000, 7.585000, 1.460177 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.520000, 5.500000, 5.470000, 5.430000, 5.480000, 5.960000, 6.000000, 5.990000, 5.990000, 6.070000, 6.030000, 1.460000, 1.440000, 1.440000, 1.440000, 1.440000, 1.440000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.430000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.430000, 1.440000, 1.450000, 1.450000, 1.450000, 1.450000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.500000, 1.500000, 1.520000, 1.520000, 1.540000, 1.550000, 1.570000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.730000, 1.730000, 1.750000, 1.770000, 1.800000, 1.810000, 1.840000, 1.870000, 1.910000, 1.930000, 1.960000, 2.000000, 2.040000, 2.070000, 2.110000, 2.160000, 2.200000, 2.260000, 2.310000, 2.360000, 2.420000, 2.490000, 2.550000, 2.610000, 2.680000, 2.770000, 2.850000, 2.950000, 3.040000, 3.150000, 3.250000, 3.380000, 3.520000, 3.650000, 3.810000, 3.970000, 4.160000, 4.370000, 4.590000, 6.230000, 6.000000, 5.970000, 5.860000, 5.830000, 5.810000, 5.790000, 5.760000, 5.750000, 5.740000, 5.720000, 5.710000, 5.700000, 5.690000, 5.680000, 5.680000, 5.680000, 5.680000, 1.410000, 1.370000, 1.330000, 1.290000, 1.260000, 1.220000, 1.230000, 1.240000, 1.270000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.500000, 1.540000, 1.560000, 1.600000, 1.630000, 1.620000, 1.640000, 1.690000, 1.700000, 1.690000, 1.650000, 1.630000, 1.570000, 1.530000, 1.520000, 1.490000, 1.450000, 1.450000, 1.430000, 1.440000, 1.440000, 1.210000, 1.410000, 1.410000, 1.360000, 1.330000, 1.290000, 1.270000, 1.150000, 1.150000, 1.130000, 1.120000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 1.000000, 0.980000, 0.970000, 0.960000, 0.940000, 0.910000, 0.900000, 0.890000, 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": [ 976054814, 524333 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.317000, 7.642000, 1.454031 ], "estimate": [ 4.317000, 7.642000, 1.454031 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.520000, 5.480000, 5.470000, 5.440000, 5.420000, 5.830000, 6.000000, 5.980000, 5.970000, 6.050000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.420000, 1.420000, 1.410000, 1.420000, 1.400000, 1.410000, 1.410000, 1.410000, 1.400000, 1.410000, 1.410000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.430000, 1.440000, 1.450000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.570000, 1.570000, 1.590000, 1.620000, 1.640000, 1.650000, 1.680000, 1.