{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.887000, 6.542000, 1.883962 ], "estimate": [ 6.887000, 6.542000, 1.883962 ], "true_pose": [ -2.710000, 0.098000, 2.735754 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.020000, 1.010000, 1.010000, 1.020000, 1.020000, 1.010000, 1.000000, 0.990000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.070000, 1.080000, 1.100000, 1.100000, 1.110000, 1.130000, 1.120000, 1.140000, 1.150000, 1.160000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.490000, 1.530000, 1.560000, 1.570000, 1.620000, 1.680000, 1.710000, 1.740000, 1.780000, 1.830000, 1.890000, 1.940000, 2.010000, 2.070000, 2.130000, 2.210000, 2.290000, 2.370000, 2.470000, 2.560000, 2.670000, 2.790000, 2.930000, 3.080000, 3.220000, 3.410000, 3.610000, 5.060000, 5.020000, 5.010000, 4.890000, 4.870000, 4.850000, 4.840000, 4.810000, 4.810000, 4.800000, 4.790000, 4.780000, 4.780000, 4.770000, 4.770000, 4.770000, 4.770000, 4.770000, 4.780000, 4.790000, 4.790000, 4.800000, 4.810000, 4.810000, 4.820000, 4.840000, 4.860000, 4.870000, 4.890000, 4.920000, 4.950000, 4.970000, 7.500000, 7.740000, 7.510000, 7.590000, 7.540000, 7.750000, 8.030000, 8.100000, 8.160000, 8.220000, 5.620000, 5.480000, 5.510000, 5.550000, 5.610000, 5.670000, 5.730000, 5.800000, 5.870000, 5.940000, 6.020000, 0.670000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.790000, 1.110000, 1.240000, 1.320000, 1.380000, 1.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054818, 319978 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.304000, 7.448000, 2.235262 ], "estimate": [ 6.304000, 7.448000, 2.235262 ], "true_pose": [ -3.549000, 0.239000, 3.080804 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.780000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.840000, 0.890000, 0.850000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.910000, 0.930000, 0.930000, 0.950000, 0.970000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.250000, 1.290000, 1.320000, 1.350000, 1.390000, 1.420000, 1.470000, 1.520000, 1.560000, 1.630000, 1.680000, 1.740000, 1.800000, 1.880000, 1.960000, 2.030000, 2.120000, 2.230000, 2.340000, 2.460000, 2.600000, 2.760000, 4.050000, 4.030000, 4.000000, 3.900000, 3.880000, 3.870000, 3.850000, 3.840000, 3.820000, 3.820000, 3.810000, 3.810000, 3.800000, 3.800000, 3.800000, 3.790000, 3.790000, 3.800000, 3.800000, 3.810000, 3.810000, 3.820000, 3.830000, 3.830000, 3.840000, 3.850000, 3.860000, 3.880000, 3.890000, 3.900000, 3.910000, 3.930000, 3.950000, 3.970000, 4.000000, 4.030000, 4.050000, 4.090000, 4.110000, 6.800000, 6.770000, 6.780000, 7.220000, 7.250000, 7.330000, 7.390000, 7.470000, 7.550000, 5.450000, 5.350000, 4.880000, 4.780000, 4.800000, 4.870000, 4.940000, 5.010000, 5.070000, 5.150000, 5.230000, 5.330000, 5.410000, 5.520000, 5.610000, 5.710000, 5.820000, 5.930000, 6.060000, 6.180000, 6.340000, 6.490000, 6.650000, 6.800000, 6.980000, 7.170000, 7.380000, 7.600000, 7.820000, 8.060000, 8.340000, 3.020000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.950000, 2.960000, 2.960000, 2.960000, 2.970000, 2.980000, 3.040000, 2.730000, 2.510000, 2.330000, 2.170000, 2.030000, 1.930000, 1.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054822, 250723 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.643000, 7.941000, 2.646908 ], "estimate": [ 5.643000, 7.941000, 2.646908 ], "true_pose": [ -4.353000, 0.089000, -2.795423 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.070000, 1.080000, 1.110000, 1.110000, 1.140000, 1.150000, 1.160000, 1.180000, 1.230000, 1.240000, 1.240000, 1.260000, 1.300000, 1.320000, 1.340000, 1.370000, 1.410000, 1.440000, 1.470000, 1.500000, 1.540000, 1.570000, 1.620000, 1.660000, 1.710000, 1.760000, 1.800000, 1.870000, 1.930000, 2.010000, 2.070000, 3.640000, 3.610000, 3.580000, 3.570000, 3.350000, 3.330000, 3.300000, 3.280000, 3.160000, 3.160000, 3.120000, 3.120000, 3.100000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.030000, 3.040000, 3.030000, 3.030000, 3.030000, 3.060000, 3.050000, 3.050000, 3.060000, 3.060000, 3.070000, 3.090000, 3.100000, 3.110000, 3.120000, 3.130000, 3.140000, 3.150000, 3.180000, 3.200000, 3.210000, 3.230000, 3.250000, 3.270000, 3.300000, 3.320000, 3.360000, 6.010000, null, 6.460000, 6.520000, 6.580000, 6.670000, 6.740000, 6.810000, 6.900000, 6.980000, 4.700000, 4.540000, 4.190000, 4.090000, 4.090000, 4.140000, 4.190000, 4.260000, 4.330000, 4.420000, 4.510000, 4.590000, 4.690000, 4.790000, 4.890000, 4.980000, 5.100000, 5.220000, 5.340000, 5.480000, 5.610000, 5.780000, 5.970000, 6.120000, 6.310000, 6.520000, 6.740000, 6.980000, 7.230000, 7.490000, 7.810000, 8.130000, 9.290000, 9.230000, 9.180000, 9.110000, 9.080000, 9.040000, 3.620000, 3.210000, 2.830000, 2.630000, 2.600000, 2.590000, 2.600000, 2.610000, 2.620000, 2.630000, 2.640000, 2.660000, 2.680000, 2.700000, 2.720000, 2.730000, 2.750000, 2.770000, 2.770000, 2.660000, 2.570000, 2.490000, 2.410000, 2.350000, 2.280000, 2.220000, 2.170000, 2.120000, 2.060000, 2.020000, 1.990000, 1.940000, 1.900000, 1.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054825, 772709 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.618000, 7.937000, -3.077452 ], "estimate": [ 5.618000, 7.937000, -3.077452 ], "true_pose": [ -4.285000, 0.036000, -2.253785 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.450000, 1.480000, 1.520000, 1.560000, 1.600000, 1.650000, 1.690000, 1.740000, 1.790000, 1.840000, 1.890000, 1.960000, 2.030000, 2.090000, 2.170000, 3.650000, 3.630000, 3.620000, 3.380000, 3.370000, 3.340000, 3.320000, 3.200000, 3.180000, 3.160000, 3.150000, 3.130000, 3.120000, 3.110000, 3.100000, 3.090000, 3.080000, 3.070000, 3.060000, 3.060000, 3.060000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.050000, 3.070000, 3.070000, 3.080000, 3.080000, 3.090000, 3.100000, 3.110000, 3.110000, 3.120000, 3.130000, 3.150000, 3.170000, 3.190000, 3.210000, 3.220000, 3.240000, 3.260000, 3.270000, 3.300000, 3.320000, 3.360000, 6.020000, 6.010000, 6.490000, 6.490000, 6.560000, 6.630000, 6.700000, 6.780000, 6.850000, 6.930000, 4.680000, 4.300000, 4.170000, 4.070000, 4.070000, 4.110000, 4.170000, 4.240000, 4.310000, 4.380000, 4.460000, 4.540000, 4.630000, 4.730000, 4.840000, 4.950000, 5.040000, 5.150000, 5.270000, 5.400000, 5.530000, 5.700000, 5.840000, 6.010000, 6.200000, 6.380000, 6.580000, 6.820000, 7.060000, 7.310000, 7.590000, 7.880000, 9.280000, 9.220000, 9.150000, 9.110000, 9.060000, 9.010000, 3.620000, 3.160000, 2.770000, 2.600000, 2.550000, 2.550000, 2.560000, 2.560000, 2.580000, 2.590000, 2.610000, 2.620000, 2.630000, 2.640000, 2.660000, 2.680000, 2.700000, 2.720000, 2.730000, 2.620000, 2.540000, 2.450000, 2.390000, 2.310000, 2.240000, 2.180000, 2.130000, 2.070000, 2.020000, 1.980000, 1.940000, 1.900000, 1.860000, 1.830000, 1.780000, 1.750000, 1.730000, 1.700000, 1.670000, 1.650000, 1.630000, 1.600000, 1.580000, 1.560000, 1.530000, 1.520000, 1.510000, 1.490000, 1.480000, 1.450000, 1.440000, 1.420000, 1.410000, 1.390000, 1.390000, 1.380000, 1.370000, 1.360000, 1.350000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054826, 613386 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.764000, 7.633000, -2.889644 ], "estimate": [ 4.764000, 7.633000, -2.889644 ], "true_pose": [ -4.714000, -0.745000, -2.042539 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.940000, 2.910000, 2.890000, 2.860000, 2.840000, 2.820000, 2.800000, 2.770000, 2.760000, 2.740000, 2.730000, 2.710000, 2.690000, 2.690000, 2.690000, 2.660000, 2.660000, 2.650000, 2.640000, 2.630000, 2.630000, 2.610000, 2.610000, 2.610000, 2.610000, 2.600000, 2.600000, 2.600000, 2.600000, 2.610000, 2.610000, 2.610000, 2.620000, 2.620000, 2.620000, 2.620000, 2.630000, 2.640000, 2.650000, 2.650000, 2.670000, 2.710000, 5.430000, 5.450000, 5.180000, 5.520000, 5.540000, 5.320000, 5.270000, null, 5.700000, 5.730000, 5.770000, 5.810000, 5.870000, 5.920000, 5.980000, 3.930000, 3.820000, 3.350000, 3.260000, 3.200000, 3.220000, 3.260000, 3.290000, 3.340000, 3.390000, 3.430000, 3.490000, 3.540000, 3.610000, 3.670000, 3.730000, 3.790000, 3.870000, 3.940000, 4.030000, 4.100000, 4.180000, 4.270000, 4.370000, 4.470000, 4.580000, 4.700000, 4.820000, 4.960000, 5.100000, 5.240000, 5.410000, 5.580000, 5.760000, 5.960000, 6.180000, 6.410000, 6.650000, 6.920000, 7.470000, 8.330000, 8.280000, 8.220000, 8.190000, 8.140000, 8.110000, 8.060000, 8.100000, 3.060000, 2.770000, 2.560000, 2.370000, 2.170000, 2.010000, 1.880000, 1.780000, 1.720000, 1.700000, 1.670000, 1.670000, 1.680000, 1.690000, 1.700000, 1.710000, 1.730000, 1.750000, 1.760000, 1.790000, 1.790000, 1.820000, 1.840000, 1.860000, 1.870000, 1.900000, 1.930000, 1.940000, 2.030000, 1.990000, 1.930000, 1.900000, 1.860000, 1.830000, 1.790000, 1.760000, 1.740000, 1.710000, 1.680000, 1.660000, 1.630000, 1.610000, 1.600000, 1.570000, 1.560000, 1.540000, 1.520000, 1.510000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.350000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.320000, 1.300000, 1.290000, 1.290000, 1.300000, 1.290000, 1.280000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054830, 213904 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.811000, 7.371000, -2.979323 ], "estimate": [ 3.811000, 7.371000, -2.979323 ], "true_pose": [ -5.185000, -1.670000, -2.140031 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.530000, 2.510000, 2.480000, 2.460000, 2.430000, 2.400000, 2.380000, 2.360000, 2.350000, 2.330000, 2.310000, 2.290000, 2.280000, 2.260000, 2.250000, 2.230000, 2.220000, 2.210000, 2.200000, 2.190000, 2.170000, 2.170000, 2.160000, 2.150000, 2.150000, 2.140000, 2.140000, 2.140000, 2.160000, 4.790000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 4.800000, 4.470000, 4.820000, 4.720000, 4.840000, 4.830000, 4.570000, 4.870000, 4.640000, 4.610000, 4.570000, 4.610000, 4.680000, 4.970000, 5.020000, 5.040000, 5.060000, 5.100000, 2.630000, 2.500000, 2.380000, 2.380000, 2.390000, 2.410000, 2.440000, 2.460000, 2.470000, 2.500000, 2.520000, 2.550000, 2.580000, 2.610000, 2.650000, 2.680000, 2.710000, 2.760000, 2.780000, 2.840000, 2.880000, 2.920000, 2.970000, 3.030000, 3.090000, 3.130000, 3.190000, 3.240000, 3.310000, 3.390000, 3.460000, 3.530000, 3.620000, 3.700000, 3.800000, 3.900000, 4.010000, 4.130000, 4.240000, 4.370000, 4.500000, 4.650000, 4.800000, 4.990000, 5.180000, 5.370000, 5.580000, 5.820000, 6.080000, 7.450000, 7.400000, 7.360000, 7.320000, 7.300000, 7.260000, 7.230000, 7.200000, 7.160000, 7.420000, 8.370000, 9.090000, 10.220000, 11.670000, 13.980000, 2.250000, 2.130000, 2.000000, 1.910000, 1.830000, 1.750000, 1.680000, 1.620000, 1.570000, 1.500000, 1.460000, 1.410000, 1.360000, 1.330000, 1.280000, 1.250000, 1.220000, 1.190000, 1.150000, 1.120000, 1.100000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.100000, 1.130000, 1.170000, 1.200000, 1.240000, 1.260000, 1.300000, 1.350000, 1.380000, 1.440000, 1.540000, 1.530000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.440000, 1.430000, 1.430000, 1.420000, 1.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054834, 530977 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.891000, 7.320000, -3.019840 ], "estimate": [ 2.891000, 7.320000, -3.019840 ], "true_pose": [ -5.780000, -2.536000, -2.186798 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.920000, 1.890000, 1.870000, 1.880000, 1.940000, 2.010000, 2.070000, 2.550000, 4.730000, 4.690000, 4.650000, 4.610000, 4.580000, 4.560000, 4.530000, 4.500000, 4.470000, 4.430000, 4.110000, 4.390000, 4.370000, 4.350000, 4.330000, 4.310000, 4.300000, 4.280000, 4.260000, 4.260000, 3.950000, 4.240000, 4.090000, 4.130000, 4.230000, 3.920000, 4.230000, 4.230000, 4.030000, 3.990000, 3.910000, 3.870000, 1.640000, 1.630000, 1.610000, 1.630000, 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.660000, 1.660000, 1.680000, 1.690000, 1.700000, 1.690000, 1.700000, 1.710000, 1.730000, 1.740000, 1.760000, 1.760000, 1.780000, 1.800000, 1.820000, 1.830000, 1.840000, 1.870000, 1.880000, 1.910000, 1.920000, 1.940000, 1.970000, 2.010000, 2.030000, 2.060000, 2.100000, 2.110000, 2.150000, 2.180000, 2.220000, 2.260000, 2.300000, 2.350000, 2.380000, 2.430000, 2.480000, 2.530000, 2.590000, 2.650000, 2.720000, 2.790000, 2.870000, 2.950000, 3.030000, 3.120000, 3.230000, 3.300000, 3.410000, 3.530000, 3.650000, 3.780000, 3.930000, 4.110000, 4.280000, 4.460000, 4.660000, 4.890000, 5.140000, 6.480000, 6.460000, 6.420000, 6.390000, 6.370000, 6.340000, 6.320000, 6.300000, 6.280000, 6.270000, 6.810000, 7.770000, 9.330000, 13.120000, 15.710000, 15.720000, 18.070000, 17.890000, 17.880000, 6.300000, 5.530000, 5.030000, 4.630000, 4.360000, 4.110000, 3.910000, 3.710000, 3.560000, 3.430000, 2.620000, 3.180000, 1.520000, 1.480000, 1.450000, 1.420000, 1.390000, 1.370000, 1.330000, 1.310000, 1.280000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.950000, 0.950000, 0.940000, 0.930000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054838, 345631 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.934000, 7.150000, -3.036296 ], "estimate": [ 1.934000, 7.150000, -3.036296 ], "true_pose": [ -6.302000, -3.267000, -2.187629 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.510000, 4.450000, 4.420000, 4.370000, 4.310000, 1.250000, 1.210000, 1.200000, 1.180000, 1.180000, 1.170000, 1.170000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.200000, 1.200000, 1.210000, 1.230000, 1.240000, 1.260000, 1.290000, 1.290000, 1.300000, 1.310000, 1.340000, 1.360000, 1.380000, 1.390000, 1.420000, 1.440000, 1.460000, 1.490000, 1.530000, 1.550000, 1.580000, 1.620000, 1.650000, 1.680000, 1.730000, 1.770000, 1.820000, 1.870000, 1.920000, 1.980000, 2.040000, 2.110000, 2.170000, 2.250000, 2.320000, 2.400000, 2.490000, 2.590000, 2.680000, 2.800000, 2.930000, 3.070000, 3.230000, 3.390000, 3.580000, 3.770000, 4.000000, 4.290000, 5.550000, 5.540000, 5.510000, 5.490000, 5.480000, 5.480000, 5.470000, 5.460000, 5.440000, 5.430000, 5.430000, 7.680000, 12.370000, 14.910000, 17.300000, 17.120000, 17.230000, 17.450000, 17.470000, 8.050000, 6.300000, 5.580000, 5.180000, 4.870000, 4.580000, 4.350000, 4.130000, 3.950000, 3.800000, 3.670000, 3.550000, 3.450000, 3.340000, 3.250000, 3.170000, 3.080000, 3.010000, 2.930000, 2.860000, 2.810000, 2.750000, 2.690000, 2.640000, 2.590000, 2.540000, 2.110000, 2.460000, 2.420000, 2.380000, 2.350000, 2.310000, 2.280000, 2.260000, 2.220000, 2.210000, 1.690000, 2.120000, 2.130000, 2.110000, 2.100000, 2.080000, 2.060000, 2.040000, 2.040000, 1.290000, 1.200000, 1.190000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054841, 515442 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.936000, 7.114000, -2.581949 ], "estimate": [ 1.936000, 7.114000, -2.581949 ], "true_pose": [ -6.274000, -3.321000, -1.731719 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.080000, 1.090000, 1.080000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.200000, 1.200000, 1.200000, 1.220000, 1.230000, 1.230000, 1.260000, 1.270000, 1.270000, 1.290000, 1.300000, 1.310000, 1.340000, 1.360000, 1.370000, 1.390000, 1.420000, 1.430000, 1.460000, 1.490000, 1.510000, 1.550000, 1.570000, 1.610000, 1.650000, 1.670000, 1.720000, 1.750000, 1.790000, 1.850000, 1.900000, 1.950000, 2.010000, 2.090000, 2.120000, 2.200000, 2.270000, 2.340000, 2.430000, 2.510000, 2.610000, 2.720000, 2.830000, 2.970000, 3.110000, 3.270000, 3.430000, 3.620000, 3.820000, 4.060000, 4.330000, 5.510000, 5.480000, 5.480000, 5.470000, 5.450000, 5.430000, 5.420000, 5.410000, 5.400000, 5.390000, 5.400000, 7.640000, 11.700000, 14.870000, 17.240000, 17.100000, 17.100000, 17.430000, 17.460000, 7.160000, 5.800000, 5.380000, 5.010000, 4.690000, 4.420000, 4.200000, 4.000000, 3.840000, 3.710000, 3.570000, 3.470000, 3.360000, 3.270000, 3.180000, 3.090000, 3.010000, 2.930000, 2.870000, 2.810000, 2.750000, 2.690000, 2.630000, 2.590000, 2.540000, 2.360000, 2.040000, 2.420000, 2.370000, 2.330000, 2.300000, 2.270000, 2.240000, 2.210000, 2.180000, 2.160000, 1.660000, 1.670000, 2.090000, 2.070000, 2.050000, 2.020000, 2.020000, 2.000000, 1.990000, 1.960000, 1.160000, 1.150000, 1.130000, 1.110000, 1.110000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000 ], "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": [ 976054843, 975731 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.386000, 6.413000, -2.233104 ], "estimate": [ 1.386000, 6.413000, -2.233104 ], "true_pose": [ -6.092000, -4.270000, -1.379750 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.250000, 1.250000, 1.260000, 1.260000, 1.270000, 1.280000, 1.290000, 1.280000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.400000, 1.420000, 1.420000, 1.450000, 1.540000, 1.530000, 1.510000, 1.520000, 1.540000, 1.560000, 1.590000, 1.610000, 1.640000, 1.660000, 1.690000, 1.720000, 1.750000, 1.780000, 1.820000, 1.860000, 1.900000, 1.940000, 1.980000, 2.040000, 2.080000, 2.140000, 2.190000, 2.260000, 2.330000, 2.390000, 2.450000, 2.550000, 2.620000, 2.720000, 2.820000, 2.920000, 3.020000, 3.140000, 3.270000, 3.420000, 4.740000, 4.710000, 4.680000, 4.650000, 4.640000, 4.620000, 4.600000, 4.570000, 4.560000, 4.540000, 4.530000, 4.520000, 4.510000, 4.490000, 4.520000, 5.700000, 6.880000, 9.210000, 13.960000, 13.950000, 16.320000, 16.170000, 16.180000, 16.490000, 16.510000, 18.770000, 5.360000, 4.700000, 4.340000, 4.030000, 3.770000, 3.570000, 3.390000, 3.250000, 3.100000, 2.980000, 2.890000, 2.790000, 2.700000, 2.620000, 2.550000, 2.480000, 2.410000, 2.350000, 2.290000, 2.250000, 2.190000, 2.140000, 2.100000, 2.050000, 2.010000, 1.980000, 1.940000, 1.910000, 1.880000, 1.840000, 1.820000, 1.810000, 1.780000, 1.760000, 1.730000, 1.710000, 1.680000, 1.670000, 1.660000, 1.640000, 1.620000, 1.530000, 1.260000, 1.590000, 1.570000, 1.560000, 1.530000, 1.540000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.470000, 1.460000, 1.450000, 1.440000, 1.440000, 1.440000, 1.440000, 1.430000, 1.420000, 1.420000, 1.370000, 1.010000, 1.420000, 1.430000, 1.420000, 1.420000, 1.420000, 1.420000, 1.420000, 1.430000, 1.430000, 1.440000, 1.440000, 1.440000, 1.450000, 1.450000, 1.470000, 1.470000, 1.300000, 1.240000, 1.190000, 1.140000, 1.090000, 1.070000, 1.030000, 0.990000, 0.960000, 0.930000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054847, 969746 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.802000, 5.600000, -2.227580 ], "estimate": [ 0.802000, 5.600000, -2.227580 ], "true_pose": [ -5.845000, -5.193000, -1.371100 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.440000, 1.450000, 1.460000, 1.450000, 1.460000, 1.460000, 1.470000, 1.470000, 1.480000, 1.480000, 1.490000, 1.500000, 1.510000, 1.520000, 1.530000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.700000, 1.720000, 1.750000, 1.770000, 1.810000, 1.830000, 1.850000, 1.880000, 1.920000, 1.950000, 1.970000, 2.010000, 2.050000, 2.090000, 2.130000, 2.180000, 2.230000, 2.270000, 2.330000, 2.380000, 2.440000, 2.510000, 2.580000, 2.650000, 2.740000, 4.010000, 3.970000, 3.930000, 3.890000, 3.860000, 3.830000, 3.810000, 3.780000, 3.750000, 3.730000, 3.700000, 3.680000, 3.660000, 3.640000, 3.620000, 3.610000, 3.580000, 3.570000, 3.560000, 3.560000, 3.790000, 4.750000, 4.740000, 5.320000, 6.160000, 7.360000, 9.110000, 12.990000, 12.970000, 12.980000, 15.350000, 15.140000, 15.330000, 15.490000, 15.510000, 4.740000, 3.830000, 3.480000, 3.210000, 2.970000, 2.780000, 2.630000, 2.510000, 2.400000, 2.300000, 2.210000, 2.120000, 2.040000, 1.960000, 1.910000, 1.860000, 1.810000, 1.760000, 1.700000, 1.670000, 1.620000, 1.580000, 1.540000, 1.510000, 1.480000, 1.450000, 1.420000, 1.400000, 1.380000, 1.370000, 1.340000, 1.310000, 1.280000, 1.270000, 1.260000, 1.230000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.040000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054851, 516082 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.180000, 4.784000, -2.216847 ], "estimate": [ 0.180000, 4.784000, -2.216847 ], "true_pose": [ -5.667000, -6.191000, -1.368180 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.630000, 1.640000, 1.650000, 1.650000, 1.650000, 1.660000, 1.670000, 1.690000, 1.690000, 1.690000, 1.700000, 1.710000, 1.720000, 1.740000, 1.750000, 1.770000, 1.780000, 1.800000, 1.810000, 1.820000, 1.850000, 1.870000, 1.900000, 1.920000, 1.940000, 1.960000, 1.990000, 2.020000, 2.050000, 2.100000, 3.770000, 3.700000, 3.630000, 3.560000, 3.510000, 3.450000, 3.390000, 3.340000, 3.290000, 3.240000, 3.190000, 3.150000, 3.120000, 3.080000, 3.040000, 3.000000, 2.960000, 2.940000, 2.910000, 2.880000, 2.860000, 2.830000, 2.810000, 2.780000, 2.750000, 2.730000, 2.720000, 2.710000, 2.680000, 2.650000, 2.630000, 2.830000, 2.920000, 3.850000, 3.820000, 3.830000, 3.830000, 4.200000, 4.570000, 5.020000, 5.600000, 6.280000, 7.160000, 8.440000, 9.590000, 12.010000, 12.000000, 14.350000, 14.370000, 14.170000, 14.230000, 14.510000, 3.890000, 2.820000, 2.500000, 2.260000, 2.060000, 1.920000, 1.790000, 1.700000, 1.620000, 1.540000, 1.480000, 1.400000, 1.350000, 1.290000, 1.240000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 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": [ 976054855, 224426 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.646000, 4.212000, -2.510997 ], "estimate": [ -0.646000, 4.212000, -2.510997 ], "true_pose": [ -5.784000, -7.138000, -1.663892 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.470000, 1.470000, 1.460000, 1.460000, 1.460000, 1.460000, 1.450000, 1.460000, 1.450000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.460000, 1.470000, 1.470000, 1.470000, 1.470000, 1.470000, 1.480000, 1.480000, 1.480000, 1.500000, 4.150000, 4.310000, 4.330000, 4.350000, 3.410000, 3.980000, 3.820000, 3.690000, 3.570000, 3.450000, 3.340000, 3.230000, 3.130000, 3.050000, 2.950000, 2.880000, 2.800000, 2.730000, 2.660000, 2.610000, 2.550000, 2.480000, 2.440000, 2.390000, 2.340000, 2.300000, 2.260000, 2.210000, 2.180000, 2.150000, 2.120000, 2.090000, 2.050000, 2.020000, 2.000000, 1.980000, 1.960000, 1.930000, 1.900000, 1.880000, 1.860000, 1.840000, 1.820000, 1.800000, 1.790000, 1.770000, 1.750000, 1.720000, 1.710000, 1.790000, 1.870000, 1.950000, 2.010000, 5.410000, 4.130000, 2.900000, 2.870000, 2.870000, 2.880000, 3.070000, 3.310000, 3.590000, 3.910000, 4.320000, 4.810000, 5.460000, 6.260000, 7.460000, 8.620000, 11.080000, 11.060000, 11.070000, 13.440000, 13.230000, 13.230000, 13.570000, 13.590000, 13.590000, 15.870000, 3.340000, 2.780000, 2.390000, 2.150000, 1.920000, 1.790000, 1.700000, 1.610000, 1.530000, 1.460000, 1.400000, 1.340000, 1.290000, 1.250000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.020000, 0.990000, 0.970000, 0.930000, 0.930000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054860, 216866 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.393000, 3.605000, -2.502139 ], "estimate": [ -1.393000, 3.605000, -2.502139 ], "true_pose": [ -5.823000, -8.091000, -1.659722 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 4.000000, 4.000000, 4.000000, 3.990000, 3.990000, 3.990000, 3.990000, 4.000000, 4.000000, 3.960000, 3.780000, 3.090000, 4.010000, 4.010000, 3.680000, 3.360000, 3.080000, 2.830000, 2.510000, 2.340000, 2.200000, 2.050000, 1.940000, 1.840000, 1.750000, 1.670000, 1.610000, 1.530000, 1.480000, 1.420000, 1.380000, 1.340000, 1.290000, 1.250000, 1.200000, 1.160000, 1.120000, 1.100000, 1.080000, 1.050000, 1.020000, 1.000000, 0.970000, 0.940000, 0.920000, 0.900000, 0.870000, 0.860000, 0.830000, 0.850000, 0.830000, 0.850000, 0.870000, 0.900000, 0.910000, 0.930000, 0.960000, 0.980000, 1.010000, 1.020000, 1.040000, 4.930000, 4.770000, 4.860000, 4.810000, 4.760000, 4.710000, 4.670000, 4.640000, 4.600000, 4.560000, 4.520000, 1.930000, 1.920000, 1.890000, 1.900000, 1.890000, 1.920000, 2.110000, 2.240000, 2.380000, 2.530000, 2.730000, 2.960000, 3.220000, 3.520000, 3.900000, 4.380000, 4.990000, 5.780000, 6.800000, 10.100000, 10.080000, 10.080000, 10.110000, 12.450000, 12.280000, 12.260000, 12.610000, 12.620000, 12.640000, 14.900000, 14.920000, 14.950000, 3.800000, 3.060000, 2.630000, 2.350000, 2.120000, 1.950000, 1.770000, 1.660000, 1.560000, 1.500000, 1.400000, 1.340000, 1.280000, 1.220000, 1.170000, 1.130000, 1.080000, 1.040000, 1.000000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054864, 694514 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.219000, 3.051000, -2.562758 ], "estimate": [ -2.219000, 3.051000, -2.562758 ], "true_pose": [ -5.900000, -9.020000, -1.720341 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.520000, 0.550000, 0.570000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.670000, 0.710000, 0.780000, 0.870000, 0.990000, 1.140000, 1.380000, 3.890000, 3.890000, 3.900000, 3.920000, 3.930000, 3.950000, 3.960000, 3.970000, 3.990000, 4.000000, 4.030000, 4.050000, 4.070000, 3.520000, 4.080000, 2.290000, 2.310000, 4.210000, 4.200000, 4.270000, 3.490000, 4.350000, 4.400000, 4.440000, 3.980000, 4.530000, 3.870000, 3.790000, 3.580000, 3.710000, 3.840000, 3.890000, 3.950000, 4.210000, 3.950000, 3.890000, 3.160000, null, 3.030000, 4.400000, 4.340000, 4.280000, 4.210000, 4.160000, 4.090000, 4.030000, 1.040000, 1.020000, 1.000000, 0.980000, 0.980000, 0.980000, 0.960000, 0.970000, 0.960000, 1.000000, 1.050000, 1.080000, 1.140000, 1.170000, 1.240000, 1.290000, 1.340000, 1.410000, 1.480000, 1.560000, 1.650000, 1.730000, 1.830000, 1.980000, 2.120000, 2.310000, 2.500000, 2.740000, 3.030000, 3.400000, 3.850000, 4.450000, 5.230000, 6.600000, 9.130000, 9.130000, 9.120000, 11.490000, 11.510000, 11.350000, 11.300000, 11.620000, 11.630000, 11.650000, 11.780000, 13.990000, 14.020000, 14.050000, 14.100000, 14.150000, 4.020000, 3.350000, 2.890000, 2.590000, 2.360000, 2.160000, 1.990000, 1.870000, 1.770000, 1.680000, 1.610000, 1.540000, 1.480000, 1.420000, 1.370000, 1.320000, 1.270000, 1.230000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 1.000000, 0.980000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054867, 863551 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.243000, 2.994000, -2.052679 ], "estimate": [ -2.243000, 2.994000, -2.052679 ], "true_pose": [ -5.869000, -9.167000, -1.210262 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 4.150000, 4.180000, 4.080000, 4.250000, 3.430000, 4.290000, 4.340000, 4.390000, 4.060000, 3.960000, 4.020000, 3.760000, 3.580000, 3.510000, 3.760000, 3.820000, 3.870000, 3.920000, 3.840000, 3.850000, 4.210000, null, 2.950000, 4.390000, 4.290000, 0.960000, 0.940000, 0.890000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.870000, 0.900000, 0.910000, 0.940000, 0.970000, 1.000000, 1.030000, 1.070000, 1.120000, 1.150000, 1.200000, 1.250000, 1.300000, 1.360000, 1.410000, 1.470000, 1.550000, 1.640000, 1.720000, 1.820000, 1.940000, 2.070000, 2.230000, 2.400000, 2.600000, 2.840000, 3.130000, 3.480000, 3.910000, 4.470000, 5.240000, 6.450000, 8.980000, 8.980000, 8.980000, 8.960000, 11.350000, 11.280000, 11.150000, 11.470000, 11.470000, 11.500000, 11.520000, 13.830000, 13.860000, 13.890000, 13.930000, 13.990000, 4.390000, 3.300000, 2.740000, 2.510000, 2.270000, 2.090000, 1.920000, 1.830000, 1.700000, 1.620000, 1.540000, 1.470000, 1.410000, 1.350000, 1.300000, 1.250000, 1.200000, 1.170000, 1.120000, 1.090000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.880000, 0.860000, 0.850000, 0.830000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.590000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054869, 927687 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.791000, 2.170000, -2.367143 ], "estimate": [ -2.791000, 2.170000, -2.367143 ], "true_pose": [ -5.692000, -10.109000, -1.504412 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.910000, 0.940000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.140000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.360000, 1.410000, 1.440000, 1.490000, 1.550000, 1.590000, 1.650000, 1.710000, 1.770000, 1.840000, 1.930000, 2.000000, 2.090000, 2.210000, 2.310000, 2.450000, 2.580000, 2.740000, 2.900000, 3.110000, 3.340000, 3.610000, 3.940000, 4.340000, 5.050000, 5.550000, 8.090000, 8.080000, 8.060000, 8.060000, 8.030000, 10.400000, 10.420000, 10.430000, 10.240000, 10.240000, 10.540000, 10.550000, 10.560000, 12.860000, 12.870000, 12.900000, 12.950000, 12.970000, 13.020000, 13.060000, 2.610000, 2.200000, 1.890000, 1.690000, 1.540000, 1.410000, 1.340000, 1.210000, 1.140000, 1.080000, 1.040000, 0.990000, 0.930000, 0.900000, 0.860000, 0.830000, 0.790000, 0.750000, 0.730000, 0.730000, 0.690000, 0.680000, 0.660000, 0.640000, 0.640000, 0.620000, 0.600000, 0.590000, 0.580000, 0.560000, 0.560000, 0.540000, 0.540000, 0.530000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.390000, 0.390000, 0.390000, 0.390000, 0.380000, 0.380000, 0.370000, 0.380000, 0.380000, 0.380000, 0.370000, 0.370000, 0.370000, 0.360000, 0.360000, 0.350000, 0.350000, 0.340000, 0.340000, 0.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054873, 458250 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.505000, 1.540000, -2.404115 ], "estimate": [ -3.505000, 1.540000, -2.404115 ], "true_pose": [ -5.637000, -11.085000, -1.547635 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.780000, 0.780000, 0.790000, 0.780000, 0.800000, 0.790000, 0.800000, 0.800000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.030000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.170000, 1.170000, 1.200000, 1.240000, 1.270000, 1.300000, 1.340000, 1.380000, 1.420000, 1.460000, 1.500000, 1.540000, 1.590000, 1.640000, 1.690000, 1.750000, 1.820000, 1.890000, 1.970000, 2.050000, 2.150000, 2.240000, 2.360000, 2.490000, 2.630000, 2.800000, 2.990000, 3.180000, 3.420000, 3.640000, 4.600000, 4.600000, 4.840000, 7.130000, 7.110000, 7.090000, 7.070000, 7.070000, 7.070000, 9.410000, 9.430000, 9.460000, 9.250000, 9.270000, 9.550000, 9.560000, 9.570000, 9.590000, 11.880000, 11.900000, 11.930000, 11.960000, 12.000000, 12.040000, 12.090000, 11.500000, 10.730000, 2.700000, 2.360000, 2.060000, 1.780000, 1.640000, 1.510000, 1.400000, 1.300000, 1.230000, 1.170000, 1.110000, 1.050000, 1.010000, 0.950000, 0.910000, 0.870000, 0.840000, 0.820000, 0.780000, 0.750000, 0.740000, 0.720000, 0.700000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.430000, 0.430000, 0.430000, 0.420000, 0.430000, 0.420000, 0.420000, 0.420000, 0.420000, 0.410000, 0.410000, 0.400000, 0.400000, 0.400000, 0.400000, 0.410000, 0.400000, 0.400000, 0.390000, 0.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054878, 248950 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.298000, 0.890000, -2.451817 ], "estimate": [ -4.298000, 0.890000, -2.451817 ], "true_pose": [ -5.609000, -12.063000, -1.590649 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.040000, 1.040000, 1.070000, 1.090000, 1.110000, 1.140000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.300000, 1.340000, 1.390000, 1.420000, 1.460000, 1.510000, 1.560000, 1.600000, 1.680000, 1.740000, 1.810000, 1.870000, 1.960000, 2.030000, 2.140000, 2.230000, 2.340000, 2.480000, 2.600000, 2.800000, 3.570000, 3.600000, 3.590000, 3.600000, 6.160000, 6.140000, 6.120000, 6.100000, 6.090000, 6.070000, 6.060000, 6.050000, 8.390000, 8.410000, 8.430000, 8.450000, 8.250000, 8.230000, 8.560000, 8.570000, 8.590000, 8.600000, 8.640000, 10.890000, 10.920000, 10.950000, 10.990000, 11.020000, 11.070000, 11.120000, 10.670000, 10.030000, 9.450000, 8.950000, 8.510000, 3.410000, 2.870000, 2.490000, 2.210000, 2.030000, 1.850000, 1.710000, 1.610000, 1.530000, 1.460000, 1.380000, 1.340000, 1.260000, 1.220000, 1.180000, 1.130000, 1.100000, 1.050000, 1.010000, 0.980000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054881, 397194 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.082000, 0.225000, -2.517438 ], "estimate": [ -5.082000, 0.225000, -2.517438 ], "true_pose": [ -5.669000, -13.082000, -1.657832 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.090000, 1.110000, 1.150000, 1.170000, 1.200000, 1.250000, 1.280000, 1.310000, 1.360000, 1.410000, 1.460000, 1.500000, 1.570000, 1.620000, 1.680000, 1.790000, 2.650000, 2.630000, 2.600000, 2.640000, 2.640000, 2.600000, 2.600000, 2.620000, 2.850000, 5.150000, 5.130000, 5.120000, 5.110000, 5.090000, 5.080000, 5.060000, 5.060000, 5.050000, 5.050000, 7.400000, 7.390000, 7.410000, 7.440000, 7.280000, 7.260000, 7.240000, 7.590000, 7.590000, 7.600000, 7.620000, 7.630000, 9.910000, 9.930000, 9.970000, 10.010000, 10.050000, 10.090000, 10.130000, 10.160000, 9.590000, 9.090000, 8.640000, 8.220000, 7.870000, 7.510000, 7.220000, 7.050000, 7.090000, 3.460000, 3.090000, 2.810000, 2.570000, 2.390000, 2.240000, 2.110000, 2.010000, 1.920000, 1.860000, 1.750000, 1.700000, 1.640000, 1.570000, 1.520000, 1.470000, 1.420000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.200000, 1.180000, 1.160000, 1.130000, 1.110000, 1.080000, 1.070000, 1.050000, 1.020000, 1.010000, 1.000000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.760000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054884, 587826 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.741000, -0.327000, -2.143187 ], "estimate": [ -5.741000, -0.327000, -2.143187 ], "true_pose": [ -5.672000, -13.965000, -1.289831 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.840000, 0.850000, 0.880000, 0.910000, 0.920000, 0.950000, 2.050000, 2.020000, 1.990000, 1.960000, 1.940000, 1.910000, 1.890000, 1.870000, 1.840000, 1.820000, 1.800000, 1.780000, 1.780000, 1.830000, 1.810000, 1.800000, 1.790000, 1.790000, 1.800000, 1.950000, 2.030000, 4.300000, 4.330000, 4.310000, 4.290000, 4.270000, 4.260000, 4.240000, 4.240000, 4.240000, 4.230000, 4.220000, 4.210000, 4.220000, 4.240000, 6.550000, 6.590000, 6.600000, 6.620000, 6.410000, 6.410000, 6.440000, 6.770000, 6.790000, 6.800000, 6.810000, 6.830000, 6.880000, 9.120000, 9.160000, 9.190000, 9.240000, 9.270000, 9.320000, 9.360000, 9.120000, 8.690000, 8.300000, 7.910000, 7.610000, 7.300000, 7.010000, 6.750000, 6.520000, 6.300000, 6.300000, 6.390000, 6.440000, 10.460000, 10.580000, 5.160000, 2.880000, 2.710000, 2.580000, 2.450000, 2.360000, 2.270000, 2.160000, 2.090000, 2.030000, 1.960000, 1.890000, 1.840000, 1.790000, 1.740000, 1.690000, 1.650000, 1.620000, 1.570000, 1.550000, 1.500000, 1.480000, 1.440000, 1.410000, 1.390000, 1.370000, 1.350000, 1.310000, 1.290000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.140000, 1.130000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 1.000000, 1.000000, 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054889, 232679 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.102000, -1.121000, -2.024542 ], "estimate": [ -6.102000, -1.121000, -2.024542 ], "true_pose": [ -5.271000, -14.861000, -1.171186 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.580000, 2.120000, 2.010000, 1.920000, 1.820000, 1.750000, 1.670000, 1.600000, 1.550000, 1.490000, 1.440000, 1.400000, 1.360000, 1.360000, 1.380000, 1.360000, 1.310000, 1.300000, 1.290000, 1.270000, 1.250000, 1.290000, 1.290000, 1.310000, 1.340000, 1.370000, 1.390000, 1.420000, 1.480000, 3.430000, 3.390000, 3.350000, 3.310000, 3.260000, 3.220000, 3.180000, 3.150000, 3.130000, 3.120000, 3.150000, 3.260000, 3.360000, 3.480000, 3.610000, 3.640000, 3.620000, 3.600000, 3.560000, 3.550000, 3.520000, 3.500000, 3.480000, 3.470000, 3.450000, 3.430000, 3.420000, 3.410000, 3.410000, 3.390000, 3.410000, 8.100000, 5.750000, 5.740000, 5.740000, 5.750000, 5.760000, 5.730000, 5.580000, 5.570000, 5.570000, 5.680000, 5.890000, 5.890000, 5.900000, 5.910000, 5.920000, 5.930000, 8.170000, 8.200000, 8.220000, 8.250000, 8.280000, 8.320000, 8.360000, 8.400000, 8.440000, 8.370000, 7.940000, 7.560000, 7.210000, 6.900000, 6.610000, 6.350000, 6.110000, 5.900000, 5.680000, 5.520000, 5.390000, 5.450000, 5.500000, 5.540000, 9.640000, 9.750000, 8.150000, 4.310000, 4.210000, 4.120000, 4.130000, 2.050000, 1.970000, 1.890000, 1.830000, 1.760000, 1.690000, 1.640000, 1.590000, 1.550000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.300000, 1.270000, 1.240000, 1.210000, 1.190000, 1.170000, 1.140000, 1.130000, 1.120000, 1.090000, 1.080000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 1.000000, 0.990000, 0.970000, 0.960000, 0.950000, 0.950000, 0.930000, 0.930000, 0.920000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054893, 162933 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.559000, -1.966000, -2.043810 ], "estimate": [ -6.559000, -1.966000, -2.043810 ], "true_pose": [ -4.895000, -15.720000, -1.182642 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.980000, 5.000000, 5.040000, 5.080000, 5.120000, 5.150000, 5.200000, 3.780000, 3.650000, 3.530000, 3.430000, 3.340000, 3.250000, 3.160000, 3.090000, 3.010000, 2.940000, 2.870000, 2.800000, 2.730000, 2.670000, 2.640000, 2.630000, 2.600000, 2.610000, 2.660000, 2.710000, 2.750000, 2.810000, 2.870000, 2.940000, 2.990000, 3.040000, 2.990000, 2.950000, 2.920000, 2.870000, 2.850000, 2.810000, 2.780000, 2.750000, 2.720000, 2.700000, 2.680000, 2.650000, 2.640000, 2.620000, 2.600000, 2.580000, 2.570000, 2.650000, 2.810000, 6.640000, 6.570000, 6.530000, 7.330000, 7.290000, 4.900000, 4.860000, 4.840000, 4.860000, 4.860000, 4.840000, 4.840000, 4.850000, 4.650000, 4.640000, 4.630000, 4.690000, 4.950000, 4.950000, 4.950000, 4.950000, 4.950000, 4.950000, 4.960000, 5.030000, 7.190000, 7.200000, 7.220000, 7.240000, 7.270000, 7.290000, 7.320000, 7.350000, 7.380000, 7.410000, 7.450000, 7.180000, 6.810000, 6.490000, 6.190000, 5.920000, 5.670000, 5.460000, 5.270000, 5.080000, 4.920000, 4.770000, 4.620000, 4.480000, 4.400000, 4.430000, 4.490000, 4.530000, 8.700000, 7.190000, 7.020000, 6.870000, 6.600000, 3.400000, 3.320000, 3.260000, 3.200000, 3.170000, 3.610000, 3.670000, 3.740000, 3.810000, 3.890000, 3.970000, 4.020000, 3.960000, 3.930000, 3.900000, 1.220000, 1.170000, 1.140000, 1.130000, 1.110000, 1.080000, 1.070000, 1.050000, 1.030000, 1.020000, 0.990000, 0.980000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.860000, 0.850000, 0.850000, 0.830000, 0.820000, 0.820000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054896, 957463 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.972000, -2.872000, -2.110574 ], "estimate": [ -6.972000, -2.872000, -2.110574 ], "true_pose": [ -4.517000, -16.611000, -1.249406 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.570000, 2.460000, 2.430000, 2.390000, 2.400000, 2.420000, 2.440000, 2.460000, 2.480000, 2.500000, 2.520000, 2.550000, 2.580000, 2.600000, 2.630000, 2.650000, 2.660000, 2.590000, 2.530000, 2.460000, 2.410000, 2.360000, 2.300000, 2.250000, 2.210000, 2.160000, 2.120000, 2.080000, 2.040000, 2.010000, 1.970000, 1.950000, 1.920000, 1.980000, 2.040000, 2.070000, 2.130000, 5.940000, 7.420000, 7.340000, 7.260000, 7.190000, 6.240000, 6.190000, 6.120000, 6.050000, 6.000000, 5.970000, 5.900000, 5.870000, 5.760000, 5.780000, 4.090000, 4.070000, 4.060000, 4.040000, 4.030000, 4.010000, 3.990000, 3.980000, 3.970000, 3.770000, 3.760000, 3.750000, 3.710000, 3.950000, 4.030000, 4.020000, 4.020000, 4.010000, 4.010000, 4.010000, 4.000000, 4.000000, 4.010000, 4.060000, 6.230000, 6.230000, 6.240000, 6.250000, 6.260000, 6.280000, 6.300000, 6.310000, 6.330000, 6.360000, 6.380000, 6.400000, 6.430000, 6.470000, 6.250000, 5.910000, 5.620000, 5.360000, 5.130000, 4.910000, 4.720000, 4.550000, 4.390000, 4.250000, 4.110000, 3.980000, 3.860000, 3.750000, 3.650000, 3.550000, 3.450000, 3.420000, 3.470000, 3.500000, 3.570000, 6.820000, 6.060000, 8.150000, null, null, 6.120000, 5.940000, 4.430000, 4.280000, 4.230000, 2.460000, 2.430000, 2.390000, 2.350000, 2.320000, 2.300000, 2.300000, 2.860000, 2.930000, 3.010000, 3.090000, 3.190000, 3.210000, 3.170000, 3.150000, 3.120000, 3.120000, 3.860000, 4.040000, 4.050000, 4.020000, 3.990000, 3.970000, 4.810000, 4.770000, 4.770000, 4.780000, 4.760000, 4.740000, 4.720000, 4.700000, 4.680000, 4.660000, 4.660000, 4.640000, 4.630000, 4.710000, 4.710000, 4.700000, 4.690000, 4.680000, 4.690000, 4.690000, 4.690000, 4.690000, 4.700000, 2.810000, 2.340000, 2.030000, 1.780000, 1.590000, 1.430000, 1.300000, 1.170000, 1.090000, 1.020000, 0.960000, 0.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054900, 348593 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.567000, -3.789000, -2.220567 ], "estimate": [ -7.567000, -3.789000, -2.220567 ], "true_pose": [ -4.288000, -17.557000, -1.359399 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 2.340000, 2.170000, 2.020000, 1.890000, 1.790000, 1.690000, 1.610000, 1.580000, 1.580000, 1.590000, 1.610000, 1.610000, 1.640000, 1.650000, 1.660000, 1.670000, 5.130000, 5.170000, 5.200000, 5.270000, 5.510000, 5.410000, 5.450000, 5.510000, 5.550000, 6.460000, 6.480000, 6.550000, 6.730000, 6.840000, 6.940000, 7.060000, 7.170000, 5.250000, 5.280000, 7.070000, 6.890000, 6.790000, 6.690000, 6.560000, 5.560000, 5.480000, 5.400000, 5.350000, 5.290000, 5.220000, 5.160000, 3.300000, 3.290000, 3.250000, 3.230000, 3.220000, 3.190000, 3.170000, 3.150000, 3.130000, 3.120000, 3.060000, 2.890000, 2.870000, 2.850000, 2.830000, 2.830000, 2.910000, 3.110000, 3.110000, 3.090000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.040000, 3.040000, 3.030000, 3.030000, 3.030000, 3.090000, 5.240000, 5.240000, 5.250000, 5.250000, 5.260000, 5.270000, 5.270000, 5.290000, 5.300000, 5.320000, 5.340000, 5.350000, 5.360000, 5.390000, 5.400000, 5.430000, 5.460000, 5.490000, 5.290000, 5.010000, 4.780000, 4.570000, 4.390000, 4.210000, 4.050000, 3.920000, 3.790000, 3.650000, 3.540000, 3.430000, 3.330000, 3.240000, 3.140000, 3.070000, 2.990000, 2.920000, 2.850000, 2.780000, 2.720000, 2.650000, 2.610000, 2.550000, 2.500000, 2.530000, 2.580000, 2.630000, 2.690000, 5.380000, 5.320000, 5.280000, 4.880000, 8.360000, 5.260000, 3.700000, 3.610000, 3.510000, 3.480000, 3.450000, 3.550000, 3.650000, 3.760000, 3.880000, 4.000000, 4.150000, 4.290000, 4.460000, 4.620000, 1.750000, 1.760000, 1.750000, 1.730000, 1.720000, 1.720000, 1.700000, 1.700000, 1.680000, 1.670000, 1.670000, 2.610000, 2.600000, 2.590000, 2.590000, 2.670000, 3.530000, 3.540000, 4.360000, 4.390000, 4.390000, 4.390000, 4.390000, 4.380000, 4.390000, 4.390000, 4.390000, 4.400000, 4.380000, 4.440000, 4.510000, 4.530000, 4.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054904, 170776 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.231000, -4.554000, -2.330978 ], "estimate": [ -8.231000, -4.554000, -2.330978 ], "true_pose": [ -4.076000, -18.582000, -1.457310 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.870000, 2.870000, 2.860000, 4.420000, 4.190000, 4.150000, 4.100000, 4.100000, 4.060000, 4.130000, 5.440000, 5.340000, 5.010000, 4.870000, 4.880000, 4.930000, 4.950000, 5.350000, 5.060000, 5.070000, 5.090000, 5.140000, 5.160000, 5.930000, 6.000000, 6.050000, 6.110000, 6.180000, 6.240000, 6.320000, 6.390000, 4.730000, 4.730000, 6.640000, 6.660000, 6.510000, 6.300000, 6.250000, 6.130000, 6.010000, 4.840000, 2.580000, 2.560000, 2.530000, 2.480000, 2.470000, 2.430000, 2.410000, 2.380000, 2.350000, 2.330000, 2.310000, 2.080000, 2.040000, 2.020000, 1.990000, 1.980000, 1.960000, 1.920000, 1.930000, 2.000000, 2.090000, 2.170000, 2.210000, 2.190000, 2.170000, 2.160000, 2.140000, 2.130000, 2.120000, 2.100000, 2.100000, 2.080000, 2.080000, 2.080000, 2.070000, 2.060000, 2.050000, 2.050000, 2.050000, 2.090000, 2.120000, 2.600000, 3.550000, 4.260000, 4.260000, 4.270000, 4.260000, 4.270000, 4.270000, 4.280000, 4.290000, 4.300000, 4.310000, 4.310000, 4.330000, 4.340000, 4.350000, 4.360000, 4.380000, 4.400000, 4.420000, 4.440000, 4.470000, 4.490000, 4.520000, 4.360000, 4.170000, 4.010000, 3.850000, 3.710000, 3.570000, 3.460000, 3.350000, 3.240000, 3.130000, 3.050000, 2.960000, 2.880000, 2.810000, 2.740000, 2.670000, 2.610000, 2.550000, 2.500000, 2.450000, 2.400000, 2.350000, 2.320000, 2.270000, 2.220000, 2.190000, 2.160000, 2.130000, 2.090000, 2.070000, 2.030000, 2.000000, 1.970000, 1.950000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.770000, 1.840000, 1.890000, 1.960000, 2.010000, 3.130000, 3.090000, 3.020000, 3.010000, 2.950000, 2.920000, 2.920000, 2.910000, 3.120000, 3.300000, 3.520000, 3.790000, 4.090000, 4.430000, 4.830000, 5.350000, 5.980000, 6.780000, 7.660000, 22.250000, 22.240000, 23.070000, 18.560000, 18.550000, 15.760000, 15.770000, 9.890000, 7.050000, 4.460000 ], "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": [ 976054907, 505421 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.412000, -4.848000, -1.823919 ], "estimate": [ -8.412000, -4.848000, -1.823919 ], "true_pose": [ -3.995000, -19.021000, -0.945564 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.420000, 6.490000, 6.440000, 6.290000, 2.370000, 2.340000, 2.310000, 2.270000, 2.230000, 2.200000, 2.170000, 2.140000, 2.110000, 2.080000, 1.800000, 1.780000, 1.750000, 1.720000, 1.710000, 1.670000, 1.620000, 1.630000, 1.670000, 1.720000, 1.760000, 1.810000, 1.860000, 1.880000, 1.880000, 1.860000, 1.840000, 1.820000, 1.810000, 1.800000, 1.790000, 1.770000, 1.750000, 1.740000, 1.730000, 1.730000, 1.720000, 1.710000, 1.700000, 1.690000, 1.680000, 1.670000, 1.680000, 1.730000, 1.740000, 1.930000, 2.220000, 2.570000, 3.220000, 3.880000, 3.880000, 3.880000, 3.880000, 3.880000, 3.880000, 3.880000, 3.880000, 3.890000, 3.890000, 3.900000, 3.910000, 3.910000, 3.920000, 3.930000, 3.950000, 3.960000, 3.980000, 4.000000, 4.020000, 4.030000, 4.060000, 4.080000, 4.100000, 4.090000, 3.910000, 3.750000, 3.610000, 3.460000, 3.350000, 3.240000, 3.140000, 3.030000, 2.940000, 2.860000, 2.780000, 2.710000, 2.630000, 2.570000, 2.520000, 2.460000, 2.400000, 2.340000, 2.310000, 2.250000, 2.220000, 2.170000, 2.130000, 2.090000, 2.060000, 2.020000, 1.990000, 1.960000, 1.930000, 1.910000, 1.890000, 1.860000, 1.830000, 1.820000, 1.800000, 1.770000, 1.750000, 1.740000, 1.720000, 1.700000, 1.690000, 1.670000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.600000, 1.590000, 1.570000, 1.570000, 1.630000, 1.720000, 1.790000, 2.840000, 2.760000, 2.740000, 2.740000, 2.730000, 2.950000, 3.320000, 3.750000, 4.310000, 5.120000, 6.240000, 7.680000, 21.930000, 18.450000, 18.450000, 15.850000, 15.670000, 15.730000, 9.810000, 8.170000, 6.990000, 5.860000, 5.830000, 4.350000, 3.930000, 3.580000, 3.300000, 3.040000, 2.820000, 2.630000, 2.470000, 2.320000, 2.200000, 2.080000, 1.970000, 1.880000, 1.820000, 1.750000, 1.690000, 1.630000, 1.590000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054911, 273964 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.358000, -4.805000, -1.323112 ], "estimate": [ -8.358000, -4.805000, -1.323112 ], "true_pose": [ -3.924000, -18.990000, -0.441632 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.880000, 1.870000, 1.850000, 1.830000, 1.820000, 1.820000, 1.810000, 1.790000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.730000, 1.730000, 1.720000, 1.730000, 1.780000, 1.780000, 1.990000, 2.260000, 2.560000, 3.060000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.910000, 3.920000, 3.930000, 3.930000, 3.950000, 3.960000, 3.970000, 3.980000, 3.990000, 4.010000, 4.030000, 4.050000, 4.070000, 4.090000, 4.100000, 4.130000, 4.080000, 3.890000, 3.740000, 3.590000, 3.450000, 3.330000, 3.230000, 3.120000, 3.020000, 2.920000, 2.830000, 2.750000, 2.680000, 2.610000, 2.540000, 2.480000, 2.420000, 2.360000, 2.320000, 2.270000, 2.220000, 2.170000, 2.130000, 2.100000, 2.070000, 2.030000, 1.990000, 1.970000, 1.930000, 1.910000, 1.890000, 1.850000, 1.830000, 1.810000, 1.790000, 1.760000, 1.740000, 1.730000, 1.710000, 1.690000, 1.670000, 1.650000, 1.630000, 1.620000, 1.610000, 1.600000, 1.590000, 1.570000, 1.560000, 1.550000, 1.550000, 1.610000, 1.690000, 1.770000, 2.810000, 2.750000, 2.720000, 2.710000, 2.700000, 2.710000, 3.030000, 3.360000, 3.760000, 4.260000, 5.000000, 5.980000, 7.440000, 22.940000, 22.940000, 18.420000, 18.410000, 15.680000, 15.680000, 9.770000, 9.770000, 6.960000, 6.960000, 5.830000, 4.350000, 3.910000, 3.550000, 3.250000, 2.980000, 2.760000, 2.560000, 2.400000, 2.250000, 2.120000, 2.010000, 1.920000, 1.830000, 1.750000, 1.680000, 1.630000, 1.560000, 1.530000, 1.530000, 1.560000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 5.100000, 5.170000, 8.440000, 8.590000, 8.620000, 8.450000, 3.730000, 3.680000, 3.610000, 3.560000, 3.500000, 3.440000, 3.390000, 3.340000, 3.290000, 3.260000, 3.210000, 3.160000, 3.120000, 3.080000, 3.050000, 3.010000, 2.990000, 2.950000, 2.920000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054912, 163156 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -8.344000, -4.772000, -0.820014 ], "estimate": [ -8.344000, -4.772000, -0.820014 ], "true_pose": [ -3.944000, -18.947000, 0.061466 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.950000, 3.960000, 3.960000, 3.960000, 3.970000, 3.980000, 3.990000, 4.000000, 4.010000, 4.020000, 4.020000, 4.030000, 4.060000, 4.080000, 4.090000, 4.110000, 4.120000, 4.140000, 4.170000, 4.100000, 3.900000, 3.740000, 3.590000, 3.450000, 3.340000, 3.220000, 3.120000, 3.020000, 2.920000, 2.830000, 2.750000, 2.670000, 2.610000, 2.540000, 2.490000, 2.420000, 2.360000, 2.320000, 2.260000, 2.210000, 2.180000, 2.130000, 2.090000, 2.070000, 2.020000, 1.980000, 1.960000, 1.930000, 1.900000, 1.880000, 1.840000, 1.820000, 1.800000, 1.780000, 1.760000, 1.740000, 1.720000, 1.700000, 1.680000, 1.660000, 1.650000, 1.630000, 1.620000, 1.610000, 1.600000, 1.580000, 1.570000, 1.540000, 1.570000, 1.660000, 1.730000, 1.790000, 2.840000, 2.760000, 2.740000, 2.710000, 2.710000, 2.710000, 2.950000, 3.240000, 3.590000, 4.010000, 4.550000, 5.320000, 6.320000, 7.530000, 22.940000, 22.940000, 18.420000, 18.420000, 15.660000, 15.660000, 9.770000, 8.240000, 8.220000, 5.820000, 4.630000, 4.100000, 3.690000, 3.340000, 3.040000, 2.790000, 2.590000, 2.410000, 2.240000, 2.120000, 1.990000, 1.890000, 1.810000, 1.730000, 1.660000, 1.580000, 1.530000, 1.500000, 1.510000, 1.530000, 1.550000, 1.560000, 1.580000, 1.590000, 1.610000, 1.620000, 1.640000, 1.660000, 5.010000, 5.070000, 5.140000, 8.420000, 8.540000, 8.590000, 8.420000, 3.690000, 3.640000, 3.550000, 3.500000, 3.440000, 3.400000, 3.350000, 3.290000, 3.250000, 3.200000, 3.150000, 3.120000, 3.080000, 3.040000, 3.000000, 2.970000, 2.940000, 2.900000, 2.880000, 2.840000, 2.820000, 2.800000, 2.780000, 2.750000, 2.740000, 2.730000, 2.700000, 2.680000, 2.660000, 2.650000, 2.640000, 2.620000, 2.620000, 2.590000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.540000, 2.530000, 2.530000, 2.520000, 2.540000, 2.580000, 2.700000, 2.830000, 2.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054914, 184730 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -7.579000, -5.464000, -0.843234 ], "estimate": [ -7.579000, -5.464000, -0.843234 ], "true_pose": [ -2.971000, -18.668000, 0.027309 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.090000, 4.090000, 4.090000, 4.090000, 4.090000, 4.090000, 4.100000, 4.100000, 3.860000, 3.420000, 3.080000, 2.770000, 2.430000, 2.240000, 2.060000, 1.920000, 1.790000, 1.680000, 1.590000, 1.510000, 1.440000, 1.360000, 1.310000, 1.260000, 1.200000, 1.150000, 1.120000, 1.070000, 1.040000, 1.000000, 0.960000, 0.940000, 0.910000, 0.870000, 0.860000, 0.840000, 0.830000, 0.840000, 0.860000, 0.880000, 0.890000, 0.890000, 0.920000, 0.920000, 0.940000, 0.960000, 0.970000, 0.990000, 0.980000, 1.030000, 3.660000, 3.630000, 3.580000, 3.610000, 6.740000, 6.910000, 3.600000, 3.590000, 4.960000, 2.070000, 2.030000, 2.000000, 1.970000, 1.960000, 1.880000, 1.870000, 1.830000, 1.830000, 1.830000, 1.820000, 1.930000, 2.020000, 2.130000, 2.240000, 2.380000, 2.520000, 2.680000, 2.870000, 3.080000, 3.310000, 3.610000, 3.960000, 4.390000, 4.920000, 5.580000, 6.490000, 7.480000, 21.140000, 20.590000, 17.470000, 17.440000, 17.430000, 14.660000, 14.730000, 8.800000, 7.130000, 5.980000, 4.830000, 3.770000, 3.390000, 3.040000, 2.730000, 2.490000, 2.300000, 2.120000, 1.970000, 1.830000, 1.730000, 1.620000, 1.540000, 1.460000, 1.390000, 1.340000, 1.270000, 1.230000, 1.170000, 1.130000, 1.100000, 1.050000, 1.020000, 0.990000, 0.950000, 0.930000, 0.890000, 0.870000, 0.860000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.660000, 0.650000, 0.630000, 0.640000, 0.670000, 0.680000, 0.680000, 0.700000, 0.720000, 0.740000, 0.770000, 0.770000, 0.800000, 0.830000, 0.860000, 0.890000, 2.650000, 2.620000, 2.600000, 2.580000, 2.560000, 2.550000, 2.540000, 2.520000, 2.510000, 2.490000, 2.480000, 2.470000, 2.460000, 2.450000, 2.440000, 2.430000, 2.420000, 2.400000, 2.390000, 2.390000, 2.380000, 2.380000, 2.380000, 2.390000, 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": [ 976054917, 749622 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.920000, -6.097000, -0.860626 ], "estimate": [ -6.920000, -6.097000, -0.860626 ], "true_pose": [ -1.946000, -18.704000, 0.022417 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.530000, 1.640000, 3.920000, 4.060000, 4.050000, 4.090000, 4.080000, 3.570000, 3.580000, 4.120000, 4.130000, 4.150000, 4.160000, 4.180000, 4.180000, 4.200000, 4.220000, 4.240000, 4.260000, 4.290000, 4.300000, 4.330000, 4.350000, 4.380000, 4.420000, 4.450000, 4.480000, 4.510000, 4.560000, 4.600000, 2.920000, 3.580000, 4.730000, 4.780000, 3.390000, null, 1.260000, 1.210000, 1.170000, 1.090000, 1.050000, 1.010000, 1.000000, 0.980000, 0.960000, 0.960000, 0.960000, 0.970000, 1.000000, 1.020000, 1.040000, 1.060000, 1.090000, 1.100000, 1.130000, 1.170000, 1.180000, 1.230000, 1.270000, 1.300000, 1.340000, 1.380000, 1.420000, 1.480000, 1.520000, 1.590000, 1.650000, 1.700000, 1.770000, 1.850000, 1.940000, 2.030000, 2.120000, 2.240000, 2.360000, 2.500000, 2.660000, 2.840000, 3.040000, 3.290000, 3.560000, 3.910000, 4.310000, 4.810000, 5.460000, 6.460000, 20.120000, 20.100000, 20.980000, 19.570000, 16.440000, 16.420000, 13.640000, 13.670000, 13.730000, 7.780000, 6.130000, 7.500000, 6.370000, 3.810000, 4.950000, 2.780000, 2.540000, 2.320000, 2.130000, 1.980000, 1.840000, 1.720000, 1.640000, 1.540000, 1.470000, 1.400000, 1.350000, 1.280000, 1.230000, 1.180000, 1.130000, 1.090000, 1.060000, 1.020000, 0.990000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.760000, 0.750000, 0.730000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054921, 565601 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -6.324000, -6.958000, -0.933536 ], "estimate": [ -6.324000, -6.958000, -0.933536 ], "true_pose": [ -1.004000, -18.735000, -0.067680 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.660000, 0.660000, 0.670000, 0.670000, 0.690000, 0.690000, 0.690000, 0.700000, 0.720000, 0.720000, 0.730000, 0.730000, 0.760000, 0.760000, 0.770000, 0.780000, 0.800000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.900000, 0.920000, 0.930000, 0.960000, 0.990000, 1.010000, 1.040000, 1.060000, 1.090000, 1.110000, 1.160000, 1.190000, 1.240000, 1.290000, 1.340000, 1.380000, 1.430000, 1.500000, 1.570000, 1.630000, 1.700000, 1.790000, 1.890000, 2.000000, 2.110000, 2.240000, 2.390000, 2.560000, 2.760000, 2.980000, 3.250000, 3.580000, 3.980000, 4.480000, 5.470000, 13.420000, 19.090000, 19.960000, 18.540000, 15.430000, 15.420000, 15.420000, 12.630000, 12.660000, 12.720000, 6.760000, 6.560000, 6.800000, 5.140000, 5.800000, 4.110000, 4.710000, 4.290000, 3.950000, 3.400000, 3.400000, 3.200000, 3.020000, 2.850000, 1.870000, 1.720000, 1.650000, 1.570000, 1.510000, 1.450000, 1.390000, 1.350000, 1.290000, 1.250000, 1.220000, 1.180000, 1.140000, 1.120000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.950000, 0.950000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.830000, 0.800000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054925, 126780 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.777000, -7.763000, -0.920410 ], "estimate": [ -5.777000, -7.763000, -0.920410 ], "true_pose": [ 0.005000, -18.795000, -0.054554 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.640000, 0.650000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.730000, 0.750000, 0.770000, 0.780000, 0.810000, 0.830000, 0.850000, 0.890000, 0.910000, 0.940000, 0.970000, 1.000000, 1.040000, 1.080000, 1.130000, 1.170000, 1.230000, 1.290000, 1.340000, 1.410000, 1.470000, 1.540000, 1.630000, 1.730000, 1.840000, 1.980000, 2.130000, 2.310000, 2.510000, 2.760000, 3.040000, 3.420000, 4.460000, 4.470000, 18.100000, 18.100000, 18.960000, 17.540000, 14.440000, 14.430000, 14.430000, 11.640000, 11.650000, 11.710000, 11.350000, 9.110000, 5.810000, 5.820000, 5.840000, 4.350000, 5.050000, 4.630000, 4.300000, 3.320000, 3.730000, 3.490000, 3.300000, 3.120000, 2.980000, 2.830000, 2.710000, 2.590000, 2.420000, 2.390000, 2.310000, 2.240000, 2.160000, 2.090000, 2.030000, 1.960000, 1.900000, 1.850000, 1.800000, 1.760000, 1.710000, 1.670000, 1.630000, 1.600000, 1.580000, 1.540000, 1.510000, 1.470000, 1.060000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054928, 298534 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -5.122000, -8.568000, -0.919470 ], "estimate": [ -5.122000, -8.568000, -0.919470 ], "true_pose": [ 0.971000, -18.817000, -0.044239 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.510000, 0.510000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.600000, 0.600000, 0.610000, 0.620000, 0.640000, 0.650000, 0.660000, 0.680000, 0.700000, 0.710000, 0.730000, 0.750000, 0.770000, 0.780000, 0.810000, 0.840000, 0.860000, 0.900000, 0.930000, 0.970000, 1.010000, 1.050000, 1.090000, 1.150000, 1.190000, 1.260000, 1.320000, 1.380000, 1.470000, 1.550000, 1.650000, 1.750000, 1.880000, 2.010000, 2.190000, 2.380000, 2.550000, 3.430000, 3.430000, 3.600000, 11.690000, 17.080000, 17.950000, 16.560000, 16.550000, 13.410000, 13.420000, 13.420000, 10.610000, 10.650000, 10.700000, 10.380000, 10.070000, 7.810000, 4.840000, 4.830000, 4.760000, 4.860000, 4.730000, 4.380000, 3.430000, 3.820000, 3.590000, 3.380000, 3.200000, 3.060000, 2.920000, 2.790000, 2.130000, 2.570000, 2.480000, 2.390000, 2.310000, 2.230000, 2.160000, 2.090000, 2.030000, 1.960000, 1.910000, 1.860000, 1.800000, 1.770000, 1.730000, 1.700000, 1.650000, 1.610000, 1.590000, 1.560000, 1.530000, 1.500000, 1.470000, 1.450000, 1.170000, 1.400000, 1.390000, 1.370000, 1.340000, 1.320000, 1.300000, 1.290000, 1.280000, 1.260000, 1.250000, 1.230000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054931, 913589 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -4.776000, -8.900000, -0.570219 ], "estimate": [ -4.776000, -8.900000, -0.570219 ], "true_pose": [ 1.485000, -18.819000, 0.305012 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.500000, 0.500000, 0.500000, 0.520000, 0.520000, 0.510000, 0.510000, 0.540000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.590000, 0.590000, 0.600000, 0.610000, 0.630000, 0.640000, 0.660000, 0.670000, 0.690000, 0.720000, 0.730000, 0.750000, 0.760000, 0.800000, 0.830000, 0.850000, 0.890000, 0.920000, 0.960000, 1.010000, 1.040000, 1.090000, 1.140000, 1.200000, 1.270000, 1.330000, 1.410000, 1.480000, 1.590000, 1.680000, 1.800000, 1.930000, 2.160000, 2.910000, 2.910000, 2.910000, 3.160000, 10.840000, 11.960000, 16.570000, 17.430000, 16.030000, 12.910000, 12.890000, 12.890000, 10.340000, 10.100000, 10.120000, 10.160000, 9.810000, 9.520000, 7.460000, 6.650000, 4.300000, 4.310000, 3.990000, 4.280000, 4.290000, 4.010000, 3.760000, 3.530000, 3.350000, 3.200000, 3.030000, 2.900000, 2.770000, 2.670000, 2.570000, 2.480000, 2.390000, 2.320000, 2.220000, 2.150000, 2.080000, 1.960000, 1.970000, 1.920000, 1.860000, 1.810000, 1.780000, 1.730000, 1.700000, 1.660000, 1.630000, 1.600000, 1.570000, 1.530000, 1.500000, 1.480000, 1.450000, 1.440000, 1.410000, 1.400000, 1.370000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 0.930000, 0.880000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054936, 730399 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.911000, -9.533000, -0.576255 ], "estimate": [ -3.911000, -9.533000, -0.576255 ], "true_pose": [ 2.502000, -18.496000, 0.295850 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.920000, 0.930000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.060000, 1.080000, 1.110000, 1.150000, 1.160000, 2.210000, 2.200000, 2.170000, 2.150000, 2.110000, 2.100000, 2.080000, 2.060000, 2.030000, 2.020000, 2.060000, 2.040000, 2.040000, 2.020000, 2.030000, 2.140000, 2.290000, 5.140000, 5.470000, 5.850000, 6.290000, 6.770000, 7.360000, 8.050000, 9.890000, 10.130000, 11.550000, 15.600000, 16.450000, 16.450000, 15.050000, 11.930000, 11.910000, 11.920000, 9.090000, 9.130000, 9.170000, 9.230000, 8.840000, 6.910000, 6.280000, 5.540000, 3.310000, 3.310000, 3.080000, 3.330000, 3.340000, 3.230000, 3.020000, 2.830000, 2.680000, 2.540000, 2.420000, 1.750000, 2.210000, 2.110000, 2.040000, 1.950000, 1.870000, 1.810000, 1.750000, 1.690000, 1.650000, 1.590000, 1.550000, 1.500000, 1.460000, 1.430000, 1.400000, 1.360000, 1.320000, 1.290000, 1.270000, 1.250000, 1.220000, 1.190000, 1.170000, 1.160000, 1.140000, 1.110000, 1.090000, 1.070000, 1.050000, 1.030000, 1.040000, 1.020000, 1.010000, 0.990000, 0.720000, 0.960000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054939, 726127 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -3.229000, -10.231000, -0.795823 ], "estimate": [ -3.229000, -10.231000, -0.795823 ], "true_pose": [ 3.506000, -18.404000, 0.076282 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.830000, 4.160000, 4.150000, 4.160000, 4.170000, 4.190000, 4.200000, 4.200000, 4.210000, 4.230000, 4.240000, 4.260000, 4.220000, 3.960000, 3.730000, 3.520000, 3.350000, 3.180000, 3.030000, 2.900000, 2.780000, 2.670000, 2.570000, 2.480000, 2.380000, 1.990000, 1.920000, 1.860000, 1.790000, 1.740000, 1.680000, 1.630000, 1.590000, 1.540000, 1.490000, 1.450000, 1.420000, 1.400000, 1.360000, 1.320000, 1.300000, 1.280000, 1.300000, 1.310000, 1.290000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.230000, 1.290000, 1.320000, 1.340000, 1.380000, 1.420000, 3.130000, 3.080000, 3.120000, 3.210000, 3.320000, 3.430000, 3.550000, 3.700000, 3.850000, 4.020000, 4.190000, 4.380000, 4.590000, 4.830000, 5.110000, 5.400000, 5.730000, 6.120000, 6.540000, 7.080000, 8.990000, 8.960000, 9.320000, 10.410000, 14.680000, 14.660000, 15.510000, 14.100000, 14.090000, 10.950000, 10.940000, 10.940000, 8.150000, 8.180000, 8.220000, 8.260000, 8.290000, 7.850000, 5.930000, 5.180000, 4.590000, 2.320000, 2.330000, 2.340000, 2.350000, 2.360000, 2.310000, 2.380000, 2.380000, 2.290000, 2.180000, 2.080000, 1.990000, 1.900000, 1.810000, 1.750000, 1.680000, 1.620000, 1.560000, 1.500000, 1.450000, 1.410000, 1.380000, 1.340000, 1.290000, 1.270000, 1.240000, 1.200000, 1.170000, 0.910000, 1.130000, 1.100000, 1.080000, 1.050000, 1.030000, 1.020000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.900000, 0.890000, 0.880000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054943, 466249 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.722000, -10.999000, -1.032477 ], "estimate": [ -2.722000, -10.999000, -1.032477 ], "true_pose": [ 4.427000, -18.516000, -0.169747 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.060000, 4.050000, 4.030000, 0.760000, 0.770000, 0.770000, 0.620000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.620000, 0.630000, 0.640000, 0.650000, 4.300000, 4.330000, 4.360000, 4.400000, 4.440000, 4.480000, 4.520000, 4.580000, 4.620000, 4.670000, 3.820000, 4.770000, 4.830000, 4.460000, 4.950000, 4.930000, 4.810000, 3.480000, 4.650000, 2.720000, 2.670000, 2.610000, 2.570000, 2.310000, 2.280000, 2.240000, 2.210000, 2.170000, 2.120000, 2.180000, 2.230000, 2.270000, 2.340000, 2.390000, 2.450000, 2.520000, 2.600000, 2.670000, 2.770000, 2.870000, 2.960000, 3.060000, 3.170000, 3.310000, 3.440000, 3.580000, 3.750000, 3.930000, 4.120000, 4.340000, 4.570000, 4.840000, 5.160000, 5.480000, 5.890000, 8.010000, 7.960000, 7.930000, 8.440000, 9.470000, 13.630000, 13.670000, 14.500000, 13.080000, 13.080000, 9.970000, 9.950000, 9.950000, 9.950000, 7.150000, 7.170000, 7.200000, 7.250000, 7.290000, 6.880000, 6.870000, 6.250000, 4.910000, 4.490000, 4.110000, 3.810000, 3.530000, 3.290000, 3.110000, 2.930000, 2.780000, 2.650000, 2.520000, 2.420000, 2.310000, 2.120000, 1.400000, 1.410000, 1.430000, 1.440000, 1.450000, 1.450000, 1.470000, 1.490000, 1.510000, 1.530000, 1.540000, 1.520000, 1.480000, 1.440000, 1.100000, 1.400000, 1.370000, 1.330000, 1.300000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054947, 764269 ] }