{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -2.028000, -11.721000, -0.719783 ], "estimate": [ -2.028000, -11.721000, -0.719783 ], "true_pose": [ 5.509000, -18.464000, 0.155448 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.970000, 3.970000, 3.980000, 3.990000, 4.000000, 4.020000, 4.030000, 4.040000, 4.060000, 4.080000, 4.090000, 4.120000, 3.340000, 4.140000, 4.200000, 4.220000, 1.800000, 1.660000, 1.600000, 1.530000, 1.470000, 1.480000, 1.490000, 1.500000, 1.520000, 1.520000, 1.540000, 1.560000, 1.590000, 1.600000, 1.620000, 1.640000, 1.670000, 1.690000, 1.710000, 1.740000, 1.770000, 1.790000, 1.830000, 1.870000, 1.890000, 1.930000, 1.980000, 2.010000, 2.060000, 2.110000, 2.150000, 2.210000, 2.250000, 2.310000, 2.370000, 2.440000, 2.510000, 2.570000, 2.650000, 2.740000, 2.830000, 2.930000, 3.040000, 3.160000, 3.280000, 3.410000, 3.570000, 3.730000, 3.910000, 4.090000, 4.330000, 4.550000, 4.820000, 5.160000, 7.050000, 6.990000, 6.950000, 7.010000, 7.690000, 8.530000, 12.660000, 12.650000, 13.420000, 13.490000, 12.070000, 8.950000, 8.950000, 8.940000, 8.930000, 8.930000, 6.250000, 6.140000, 6.180000, 6.220000, 6.250000, 6.290000, 6.000000, 5.900000, 5.580000, 5.130000, 4.110000, 3.840000, 3.580000, 3.340000, 3.140000, 2.960000, 2.820000, 2.670000, 2.550000, 2.440000, 2.330000, 2.250000, 2.160000, 2.080000, 2.020000, 1.940000, 1.870000, 1.810000, 1.760000, 1.710000, 1.660000, 1.610000, 1.580000, 1.550000, 1.500000, 1.470000, 1.430000, 1.410000, 1.390000, 1.360000, 1.320000, 1.290000, 1.280000, 1.260000, 1.240000, 1.210000, 1.200000, 1.170000, 1.170000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.040000, 1.040000, 1.030000, 1.010000, 0.680000, 0.650000, 0.670000, 0.680000, 0.710000, 0.750000, 0.780000, 0.810000, 0.850000, 0.910000, 0.920000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054950, 857427 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -1.247000, -12.480000, -0.863210 ], "estimate": [ -1.247000, -12.480000, -0.863210 ], "true_pose": [ 6.482000, -18.387000, 0.010458 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.390000, 1.390000, 1.390000, 1.390000, 1.380000, 1.380000, 1.380000, 1.380000, 1.390000, 1.380000, 1.390000, 1.390000, 1.400000, 1.400000, 1.400000, 1.400000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.440000, 1.460000, 1.460000, 1.480000, 1.490000, 1.490000, 1.510000, 1.520000, 1.530000, 1.530000, 1.560000, 1.570000, 1.590000, 1.610000, 1.630000, 1.640000, 1.670000, 1.690000, 1.720000, 1.730000, 1.760000, 1.790000, 1.800000, 1.840000, 1.870000, 1.900000, 1.930000, 1.980000, 2.000000, 2.040000, 2.090000, 2.130000, 2.190000, 2.250000, 2.290000, 2.340000, 2.410000, 2.460000, 2.520000, 2.590000, 2.670000, 2.740000, 2.840000, 2.920000, 3.030000, 3.150000, 3.270000, 3.370000, 3.530000, 3.670000, 3.840000, 4.020000, 4.220000, 6.130000, 6.110000, 6.040000, 6.010000, 5.960000, 6.120000, 6.580000, 7.180000, 7.860000, 11.700000, 11.670000, 11.670000, 12.510000, 11.110000, 11.080000, 7.950000, 7.940000, 7.930000, 7.930000, 7.940000, 5.260000, 5.160000, 5.170000, 5.200000, 5.240000, 5.260000, 5.300000, 5.280000, 4.890000, 4.900000, 4.500000, 4.180000, 3.840000, 3.600000, 2.990000, 2.830000, 2.680000, 2.550000, 2.420000, 2.310000, 2.210000, 2.130000, 2.050000, 1.970000, 1.900000, 1.840000, 1.780000, 1.720000, 1.670000, 1.610000, 1.580000, 1.530000, 1.490000, 1.450000, 1.410000, 1.390000, 1.370000, 1.330000, 1.300000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.140000, 1.130000, 1.100000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.900000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054954, 885220 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.634000, -13.249000, -0.930079 ], "estimate": [ -0.634000, -13.249000, -0.930079 ], "true_pose": [ 7.549000, -18.393000, -0.053286 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.320000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.300000, 1.310000, 1.300000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.330000, 1.340000, 1.350000, 1.350000, 1.350000, 1.370000, 1.380000, 1.390000, 1.390000, 1.410000, 1.430000, 1.430000, 1.450000, 1.470000, 1.490000, 1.560000, 1.530000, 1.530000, 1.540000, 1.560000, 1.580000, 1.610000, 1.640000, 1.660000, 1.680000, 1.700000, 1.730000, 1.760000, 1.790000, 1.820000, 1.860000, 1.880000, 1.930000, 1.960000, 2.000000, 2.040000, 2.090000, 2.140000, 2.200000, 2.260000, 2.320000, 2.380000, 2.450000, 2.510000, 2.590000, 2.670000, 2.760000, 2.860000, 2.960000, 3.080000, 3.210000, 7.500000, 5.190000, 5.170000, 5.140000, 5.120000, 5.030000, 4.990000, 4.950000, 5.070000, 5.400000, 5.840000, 6.280000, 6.850000, 11.460000, 10.660000, 10.620000, 11.410000, 11.460000, 10.080000, 10.050000, 6.910000, 6.900000, 6.900000, 6.910000, 6.900000, 6.900000, 4.390000, 4.140000, 4.140000, 4.160000, 4.180000, 4.220000, 4.240000, 4.270000, 4.310000, 4.340000, 3.910000, 3.900000, 3.900000, 3.650000, 3.450000, 3.280000, 3.120000, 2.960000, 2.820000, 2.700000, 2.590000, 2.490000, 2.090000, 2.060000, 2.010000, 1.950000, 1.880000, 1.820000, 1.770000, 1.720000, 1.670000, 1.630000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.430000, 1.400000, 1.370000, 1.350000, 1.320000, 1.310000, 1.280000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.920000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054958, 722529 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -0.030000, -14.091000, -1.015281 ], "estimate": [ -0.030000, -14.091000, -1.015281 ], "true_pose": [ 8.510000, -18.496000, -0.138488 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.170000, 1.190000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.140000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.140000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.280000, 1.300000, 1.310000, 1.320000, 1.340000, 1.340000, 1.370000, 1.390000, 1.400000, 1.430000, 1.450000, 1.470000, 1.500000, 1.530000, 1.540000, 1.570000, 1.590000, 1.630000, 1.660000, 1.680000, 1.720000, 1.750000, 1.790000, 1.830000, 1.880000, 1.930000, 1.990000, 2.040000, 2.100000, 2.160000, 2.240000, 5.360000, 6.090000, 6.270000, 6.620000, 4.250000, 4.210000, 4.180000, 4.160000, 4.120000, 4.050000, 4.030000, 4.010000, 3.950000, 4.040000, 4.280000, 4.530000, 4.900000, 5.240000, 5.690000, 10.500000, 9.670000, 9.640000, 9.610000, 10.420000, 10.460000, 9.080000, 9.060000, 9.050000, 5.900000, 5.900000, 5.900000, 5.900000, 5.900000, 5.900000, 5.920000, 5.930000, 5.940000, 3.310000, 3.180000, 3.170000, 3.200000, 3.210000, 3.240000, 3.280000, 3.300000, 3.330000, 3.360000, 3.390000, 3.380000, 3.210000, 3.010000, 3.010000, 3.030000, 2.970000, 2.860000, 2.750000, 2.650000, 2.570000, 2.490000, 2.420000, 2.360000, 2.280000, 2.220000, 2.160000, 2.100000, 2.050000, 1.990000, 1.950000, 1.910000, 1.860000, 1.830000, 1.790000, 1.760000, 1.730000, 1.690000, 1.660000, 1.640000, 1.500000, 1.420000, 1.400000, 1.380000, 1.400000, 1.380000, 1.350000, 1.330000, 1.310000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054960, 979030 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.423000, -14.925000, -0.965281 ], "estimate": [ 0.423000, -14.925000, -0.965281 ], "true_pose": [ 9.514000, -18.668000, -0.110363 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.060000, 1.070000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.210000, 1.220000, 1.240000, 1.270000, 1.300000, 1.330000, 1.390000, 5.260000, 5.380000, 5.440000, 5.360000, 5.300000, 5.230000, 5.220000, 5.240000, 4.400000, 5.080000, 5.120000, 5.250000, 3.290000, 3.270000, 3.240000, 3.200000, 3.180000, 3.150000, 3.130000, 3.060000, 3.040000, 3.020000, 3.000000, 2.970000, 3.060000, 3.220000, 3.410000, 3.640000, 3.910000, 4.180000, 4.510000, 4.920000, 9.490000, 8.650000, 8.630000, 8.650000, 9.420000, 9.470000, 8.180000, 8.080000, 8.070000, 9.430000, 4.930000, 4.920000, 4.930000, 4.930000, 4.930000, 4.930000, 4.940000, 4.950000, 4.950000, 4.970000, 4.990000, 5.010000, 5.030000, 5.050000, 5.090000, 2.440000, 2.370000, 2.290000, 2.250000, 2.270000, 2.300000, 2.330000, 2.360000, 2.380000, 2.410000, 2.450000, 2.480000, 2.520000, 2.560000, 2.600000, 2.560000, 2.500000, 2.420000, 2.330000, 2.260000, 2.240000, 2.260000, 2.260000, 2.270000, 2.220000, 2.160000, 2.130000, 2.090000, 2.050000, 2.010000, 1.980000, 1.940000, 1.910000, 1.870000, 1.840000, 1.820000, 1.800000, 1.770000, 1.750000, 1.720000, 1.700000, 1.680000, 1.640000, 1.630000, 1.620000, 1.600000, 1.580000, 1.570000, 1.550000, 1.530000, 1.530000, 1.520000, 1.510000, 1.500000, 1.490000, 1.480000, 1.470000, 1.460000, 1.460000, 1.450000, 1.440000, 1.430000, 1.430000, 1.420000, 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": [ 976054964, 759148 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 0.945000, -15.731000, -0.896844 ], "estimate": [ 0.945000, -15.731000, -0.896844 ], "true_pose": [ 10.477000, -18.819000, -0.029426 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.790000, 3.380000, 3.380000, 3.400000, 3.400000, 3.400000, 3.410000, 3.420000, 3.430000, 3.450000, 3.460000, 3.460000, 3.480000, 3.490000, 3.500000, 3.530000, 3.550000, 3.570000, 3.590000, 3.610000, 3.640000, 3.670000, 3.690000, 3.730000, 3.750000, 3.400000, 3.510000, 3.520000, 3.530000, 3.570000, 3.610000, 3.990000, 4.100000, 4.140000, 4.200000, 4.250000, 4.310000, 4.370000, 4.420000, 4.500000, 4.570000, 4.630000, 4.550000, 4.480000, 4.410000, 4.350000, 4.380000, 3.510000, 3.550000, 4.210000, 2.360000, 2.340000, 2.310000, 2.270000, 2.250000, 2.230000, 2.210000, 2.190000, 2.120000, 2.090000, 2.080000, 2.050000, 2.030000, 2.010000, 1.980000, 2.020000, 2.110000, 2.200000, 2.300000, 2.430000, 2.550000, 2.720000, 2.900000, 3.080000, 3.320000, 3.570000, 3.880000, 8.520000, 7.680000, 7.650000, 7.650000, 7.660000, 8.440000, 8.460000, 8.450000, 7.120000, 7.090000, 7.110000, 8.440000, 7.710000, 3.940000, 3.940000, 3.950000, 3.960000, 3.960000, 3.970000, 3.980000, 3.990000, 4.000000, 4.010000, 4.030000, 4.040000, 4.060000, 4.080000, 4.110000, 4.130000, 4.140000, 4.180000, 4.210000, 4.230000, 4.270000, 4.300000, 4.320000, 4.370000, 4.410000, 4.440000, 1.660000, 1.630000, 1.590000, 1.560000, 1.530000, 1.500000, 1.480000, 1.470000, 1.480000, 1.500000, 1.540000, 1.570000, 1.610000, 1.650000, 1.690000, 1.730000, 1.780000, 1.830000, 1.880000, 1.930000, 1.940000, 1.910000, 1.890000, 1.860000, 1.830000, 1.810000, 1.800000, 1.780000, 1.730000, 1.710000, 1.700000, 1.710000, 1.740000, 1.760000, 1.760000, 1.750000, 1.740000, 1.720000, 1.700000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.650000, 1.640000, 1.630000, 1.620000, 1.620000, 1.620000, 1.610000, 1.600000, 1.600000, 1.590000, 1.580000, 1.580000, 1.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054968, 436200 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 1.619000, -16.546000, -0.789971 ], "estimate": [ 1.619000, -16.546000, -0.789971 ], "true_pose": [ 11.536000, -18.833000, 0.099322 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.320000, 3.320000, 3.320000, 3.320000, 3.320000, 3.330000, 3.350000, 3.360000, 3.000000, 3.360000, 3.090000, 3.080000, 3.080000, 3.110000, 3.130000, 3.140000, 3.140000, 3.500000, 3.520000, 3.550000, 3.570000, 3.590000, 3.620000, 3.660000, 3.680000, 3.720000, 3.750000, 3.790000, 3.830000, 1.640000, 1.600000, 1.560000, 1.510000, 1.470000, 1.460000, 1.420000, 1.380000, 1.360000, 1.280000, 1.240000, 1.210000, 1.190000, 1.180000, 1.150000, 1.120000, 1.100000, 1.060000, 1.070000, 1.080000, 1.100000, 1.130000, 1.170000, 1.190000, 1.210000, 1.250000, 1.300000, 1.330000, 1.370000, 1.410000, 1.460000, 1.520000, 1.560000, 1.630000, 1.710000, 1.770000, 1.850000, 1.920000, 2.010000, 2.120000, 2.230000, 2.350000, 2.470000, 2.640000, 2.810000, 3.030000, 7.520000, 7.490000, 6.950000, 6.640000, 6.650000, 6.650000, 6.850000, 7.450000, 7.450000, 7.440000, 6.090000, 6.080000, 6.080000, 6.070000, 7.370000, 6.700000, 6.680000, 2.960000, 2.960000, 2.970000, 2.970000, 2.980000, 2.980000, 2.980000, 2.990000, 3.000000, 3.010000, 3.020000, 3.040000, 3.050000, 3.070000, 3.080000, 3.100000, 3.110000, 3.120000, 3.160000, 3.180000, 3.210000, 3.230000, 3.270000, 3.290000, 3.320000, 3.360000, 3.390000, 3.420000, 3.460000, 3.500000, 3.540000, 3.600000, 3.640000, 3.680000, 3.750000, 3.800000, 3.860000, 3.920000, 3.990000, 4.050000, 4.130000, 4.190000, 4.260000, 4.350000, 4.430000, 4.530000, 4.620000, 4.720000, 4.830000, 4.940000, 5.060000, 5.180000, 5.320000, 5.450000, 5.620000, 5.780000, 5.960000, 7.190000, 7.070000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.930000, 0.940000, 1.400000, 1.540000, 1.540000, 1.540000, 1.550000, 1.550000, 1.540000, 1.540000, 1.540000, 1.540000, 1.540000, 1.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054971, 857285 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.329000, -17.379000, -0.856737 ], "estimate": [ 2.329000, -17.379000, -0.856737 ], "true_pose": [ 12.616000, -18.698000, 0.023181 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.700000, 0.710000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.790000, 0.790000, 0.800000, 0.800000, 0.820000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.960000, 0.980000, 1.010000, 1.010000, 1.030000, 1.050000, 1.080000, 1.090000, 1.110000, 1.140000, 1.170000, 1.210000, 1.230000, 1.270000, 1.310000, 1.350000, 1.380000, 1.430000, 1.480000, 1.520000, 1.580000, 1.640000, 1.710000, 1.780000, 1.870000, 1.940000, 2.030000, 2.320000, 2.760000, 6.640000, 6.600000, 6.560000, 6.550000, 6.500000, 6.480000, 5.680000, 5.630000, 5.630000, 5.630000, 6.370000, 6.450000, 6.460000, 6.450000, 5.170000, 5.070000, 5.070000, 5.060000, 5.080000, 6.420000, 6.320000, 5.670000, 5.660000, 5.690000, 1.990000, 1.950000, 1.950000, 1.950000, 1.960000, 1.960000, 1.970000, 1.970000, 1.980000, 1.990000, 2.000000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.100000, 2.120000, 2.140000, 2.160000, 2.180000, 2.210000, 2.230000, 2.260000, 2.280000, 2.310000, 2.340000, 2.370000, 2.410000, 2.440000, 2.470000, 2.500000, 2.540000, 2.580000, 2.630000, 2.660000, 2.720000, 2.770000, 2.820000, 2.890000, 2.940000, 3.010000, 3.080000, 3.160000, 3.240000, 3.310000, 3.390000, 3.480000, 3.570000, 3.660000, 3.770000, 3.890000, 4.010000, 4.150000, 4.290000, 4.440000, 4.610000, 4.780000, 4.980000, 5.190000, 5.460000, 6.640000, 6.550000, 6.510000, 6.680000, 7.080000, 7.550000, 8.060000, 8.700000, 9.420000, 10.300000, 11.260000, 14.500000, 14.560000, 14.620000, null, null, null, 16.220000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1 ], "timestamp": [ 976054975, 244264 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.838000, -17.841000, -0.544255 ], "estimate": [ 2.838000, -17.841000, -0.544255 ], "true_pose": [ 13.227000, -18.652000, 0.338788 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.060000, 1.070000, 1.100000, 1.130000, 1.160000, 1.200000, 1.210000, 1.250000, 1.290000, 1.330000, 1.350000, 1.400000, 1.590000, 1.630000, 1.700000, 1.960000, 2.040000, 2.120000, 6.190000, 6.100000, 6.050000, 6.000000, 5.980000, 5.930000, 5.880000, 5.850000, 5.820000, 5.790000, 5.020000, 4.970000, 4.950000, 4.940000, 4.940000, 4.960000, 5.680000, 5.770000, 5.760000, 5.750000, 4.380000, 4.360000, 4.350000, 4.330000, 4.340000, 5.710000, 5.620000, 4.980000, 4.970000, 4.960000, 4.970000, 4.990000, 1.460000, 1.270000, 1.260000, 1.230000, 1.260000, 1.270000, 1.280000, 1.280000, 1.280000, 1.280000, 1.280000, 1.300000, 1.310000, 1.310000, 1.330000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.390000, 1.410000, 1.420000, 1.430000, 1.450000, 1.470000, 1.490000, 1.510000, 1.520000, 1.530000, 1.560000, 1.590000, 1.610000, 1.640000, 1.670000, 1.710000, 1.720000, 1.770000, 1.790000, 1.830000, 1.880000, 1.910000, 1.970000, 2.000000, 2.050000, 2.110000, 2.160000, 2.230000, 2.280000, 2.340000, 2.410000, 2.490000, 2.570000, 2.660000, 2.760000, 2.890000, 2.990000, 3.110000, 3.240000, 3.380000, 3.550000, 3.730000, 3.920000, 4.140000, 4.380000, 4.640000, 4.980000, 5.330000, 6.330000, 6.320000, 6.870000, 7.600000, 8.470000, 9.660000, 14.400000, 14.400000, 14.540000, 14.520000, null, null, null, null, 18.040000, 17.800000, 17.790000, 5.710000, 5.170000, 4.760000, 4.400000, 4.140000, 3.910000, 3.700000, 3.520000, 3.390000, 3.250000, 3.130000, 3.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054979, 721052 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.870000, -17.756000, -0.004907 ], "estimate": [ 2.870000, -17.756000, -0.004907 ], "true_pose": [ 13.189000, -18.563000, 0.876574 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.140000, 1.170000, 1.190000, 1.210000, 1.250000, 1.280000, 1.320000, 1.350000, 1.390000, 1.440000, 1.460000, 1.650000, 1.700000, 1.920000, 2.030000, 2.110000, 2.180000, 6.240000, null, 6.130000, 6.080000, 6.040000, 6.000000, 5.960000, 5.930000, 5.890000, 5.860000, 5.200000, 5.040000, 5.030000, 4.990000, 4.960000, 5.000000, 5.730000, 5.790000, 5.780000, 5.770000, 4.410000, 4.400000, 4.400000, 4.390000, 4.380000, 5.750000, 5.640000, 5.070000, 5.000000, 4.980000, 4.980000, 1.480000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.280000, 1.280000, 1.290000, 1.310000, 1.310000, 1.320000, 1.320000, 1.330000, 1.340000, 1.350000, 1.350000, 1.360000, 1.380000, 1.380000, 1.380000, 1.400000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.510000, 1.530000, 1.540000, 1.560000, 1.590000, 1.610000, 1.640000, 1.660000, 1.690000, 1.720000, 1.740000, 1.780000, 1.810000, 1.830000, 1.890000, 1.930000, 1.970000, 2.010000, 2.060000, 2.120000, 2.170000, 2.230000, 2.290000, 2.360000, 2.440000, 2.510000, 2.590000, 2.680000, 2.780000, 2.880000, 2.990000, 3.100000, 3.230000, 3.370000, 3.530000, 3.680000, 3.890000, 4.110000, 4.320000, 4.590000, 4.880000, 5.280000, 6.310000, 6.290000, 6.650000, 7.310000, 8.100000, 9.150000, 10.450000, 14.350000, 14.460000, 14.510000, null, null, null, null, 16.890000, 16.930000, 17.810000, 6.250000, 5.470000, 4.980000, 4.600000, 4.290000, 4.020000, 3.800000, 3.610000, 3.420000, 3.270000, 3.150000, 3.040000, 2.930000, 2.830000, 2.740000, 2.660000, 2.590000, 2.520000, 2.450000, 2.390000, 2.340000, 2.290000, 2.230000, 2.180000, 2.130000, 2.100000, 2.070000, 2.020000, 1.980000, 1.950000, 1.910000, 1.880000, 1.850000, 1.830000, 1.800000, 1.770000, 1.760000, 1.720000, 1.710000, 1.680000, 1.670000, 1.650000, 1.640000, 1.620000 ], "valid": [ 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, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054982, 965229 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 2.804000, -17.751000, 0.546419 ], "estimate": [ 2.804000, -17.751000, 0.546419 ], "true_pose": [ 13.196000, -18.583000, 1.429462 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.010000, 5.200000, 5.770000, 5.840000, 5.820000, 5.810000, 4.450000, 4.440000, 4.430000, 4.420000, 4.440000, 5.800000, 5.700000, 5.030000, 5.040000, 5.040000, 1.470000, 1.320000, 1.310000, 1.300000, 1.300000, 1.300000, 1.310000, 1.310000, 1.310000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.370000, 1.390000, 1.400000, 1.400000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.490000, 1.500000, 1.520000, 1.530000, 1.540000, 1.570000, 1.590000, 1.620000, 1.650000, 1.670000, 1.690000, 1.720000, 1.740000, 1.770000, 1.810000, 1.860000, 1.880000, 1.900000, 1.950000, 2.000000, 2.030000, 2.090000, 2.140000, 2.190000, 2.250000, 2.300000, 2.370000, 2.440000, 2.520000, 2.600000, 2.680000, 2.780000, 2.870000, 2.970000, 3.080000, 3.200000, 3.340000, 3.480000, 3.640000, 3.810000, 4.020000, 4.240000, 4.460000, 4.740000, 5.040000, 6.320000, 6.270000, 6.310000, 6.840000, 7.550000, 8.360000, 9.420000, 10.770000, 14.340000, 14.490000, 14.480000, null, null, null, null, 24.510000, 17.810000, 17.790000, 5.830000, 5.190000, 4.740000, 4.380000, 4.090000, 3.850000, 3.640000, 3.460000, 3.300000, 3.160000, 3.040000, 2.920000, 2.820000, 2.730000, 2.660000, 2.570000, 2.510000, 2.440000, 2.370000, 2.320000, 2.260000, 2.210000, 2.150000, 2.110000, 2.080000, 2.030000, 1.980000, 1.950000, 1.910000, 1.880000, 1.850000, 1.820000, 1.800000, 1.770000, 1.750000, 1.710000, 1.690000, 1.670000, 1.660000, 1.640000, 1.620000, 1.600000, 1.590000, 1.560000, 1.550000, 1.530000, 1.520000, 1.500000, 1.490000, 1.480000, 1.480000, 1.460000, 1.460000, 1.450000, 1.450000, 1.530000, 1.620000, 3.190000, 3.300000, 3.410000, 3.520000, 3.660000, 3.800000, 3.940000, 3.920000, 3.930000, 4.190000, 4.410000, 4.660000, 4.940000, 5.250000, 5.590000, 6.000000, 6.450000, 7.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054982, 102357 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 3.397000, -17.007000, 0.913179 ], "estimate": [ 3.397000, -17.007000, 0.913179 ], "true_pose": [ 12.890000, -17.822000, 1.783722 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.460000, 1.460000, 1.460000, 1.470000, 1.480000, 1.480000, 1.490000, 1.490000, 1.510000, 1.500000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.550000, 1.570000, 1.580000, 1.600000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.720000, 1.750000, 1.770000, 1.790000, 1.810000, 1.840000, 1.880000, 1.900000, 1.940000, 1.980000, 2.010000, 2.040000, 2.080000, 2.120000, 2.170000, 2.230000, 2.270000, 2.310000, 2.370000, 2.430000, 2.470000, 2.540000, 2.610000, 2.670000, 2.760000, 2.850000, 2.950000, 3.030000, 3.140000, 3.250000, 3.380000, 3.490000, 3.620000, 3.780000, 3.960000, 4.130000, 4.340000, 5.580000, 5.480000, 5.460000, 5.450000, 5.770000, 6.200000, 6.700000, 7.250000, 7.950000, 8.760000, 9.740000, 13.470000, 13.450000, 13.600000, 13.600000, null, null, null, 15.150000, null, 17.070000, 16.870000, 5.020000, 4.380000, 3.960000, 3.620000, 3.340000, 3.120000, 2.950000, 2.790000, 2.660000, 2.540000, 2.430000, 2.340000, 2.250000, 2.160000, 2.100000, 2.020000, 1.960000, 1.900000, 1.850000, 1.810000, 1.750000, 1.710000, 1.670000, 1.630000, 1.590000, 1.560000, 1.520000, 1.500000, 1.470000, 1.450000, 1.420000, 1.400000, 1.380000, 1.350000, 1.330000, 1.320000, 1.300000, 1.280000, 1.260000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.090000, 1.080000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.020000, 1.030000, 1.030000, 1.020000, 1.020000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 8.300000, 8.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054991, 270521 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.152000, -16.415000, 0.624444 ], "estimate": [ 4.152000, -16.415000, 0.624444 ], "true_pose": [ 12.994000, -16.789000, 1.502800 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.350000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.340000, 1.350000, 1.340000, 1.350000, 1.350000, 1.350000, 1.350000, 1.360000, 1.350000, 1.370000, 1.370000, 1.370000, 1.380000, 1.390000, 1.390000, 1.390000, 1.410000, 1.410000, 1.420000, 1.430000, 1.450000, 1.460000, 1.470000, 1.480000, 1.500000, 1.540000, 1.530000, 1.550000, 1.550000, 1.570000, 1.590000, 1.620000, 1.630000, 1.660000, 1.680000, 1.700000, 1.730000, 1.750000, 1.790000, 1.810000, 1.840000, 1.870000, 1.900000, 1.950000, 1.990000, 2.020000, 2.060000, 2.110000, 2.160000, 2.220000, 2.280000, 2.330000, 2.420000, 2.460000, 2.520000, 2.590000, 2.670000, 2.760000, 2.850000, 2.950000, 3.050000, 3.180000, 3.300000, 3.450000, 4.710000, 4.550000, 4.530000, 4.490000, 4.480000, 4.610000, 4.870000, 5.200000, 5.550000, 5.950000, 6.400000, 7.020000, 7.650000, 8.500000, 12.500000, 12.470000, 12.610000, 12.610000, null, null, null, null, null, null, 15.050000, 15.890000, 15.880000, 4.600000, 4.020000, 3.610000, 3.310000, 3.060000, 2.850000, 2.680000, 2.530000, 2.410000, 2.320000, 2.230000, 2.130000, 2.060000, 1.980000, 1.910000, 1.850000, 1.800000, 1.740000, 1.690000, 1.640000, 1.610000, 1.560000, 1.520000, 1.480000, 1.450000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.280000, 1.270000, 1.230000, 1.220000, 1.200000, 1.200000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.980000, 0.970000, 0.960000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.920000, 0.910000, 0.920000, 0.920000, 0.910000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054994, 792529 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 4.960000, -15.737000, 0.686944 ], "estimate": [ 4.960000, -15.737000, 0.686944 ], "true_pose": [ 13.048000, -15.757000, 1.554362 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.260000, 1.260000, 1.250000, 1.260000, 1.250000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.260000, 1.270000, 1.270000, 1.280000, 1.290000, 1.290000, 1.290000, 1.310000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.420000, 1.440000, 1.460000, 1.480000, 1.500000, 1.520000, 1.530000, 1.560000, 1.580000, 1.590000, 1.620000, 1.650000, 1.670000, 1.700000, 1.730000, 1.760000, 1.780000, 1.820000, 1.860000, 1.890000, 1.940000, 1.980000, 2.030000, 2.080000, 2.140000, 2.190000, 2.250000, 2.310000, 2.390000, 2.460000, 2.710000, 3.820000, 3.780000, 3.740000, 3.710000, 3.580000, 3.550000, 3.510000, 3.500000, 3.580000, 3.750000, 3.940000, 4.140000, 4.390000, 4.680000, 4.950000, 5.300000, 5.720000, 6.200000, 6.760000, 7.460000, 8.230000, 11.470000, 11.460000, 11.610000, 11.610000, null, null, null, null, null, null, 14.010000, 14.940000, 14.840000, 14.990000, 4.510000, 3.860000, 3.430000, 3.120000, 2.870000, 2.670000, 2.490000, 2.360000, 2.250000, 2.140000, 2.050000, 1.970000, 1.880000, 1.810000, 1.750000, 1.690000, 1.640000, 1.590000, 1.550000, 1.500000, 1.460000, 1.430000, 1.390000, 1.360000, 1.320000, 1.300000, 1.270000, 1.240000, 1.230000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976054998, 251942 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 5.715000, -15.128000, 0.647781 ], "estimate": [ 5.715000, -15.128000, 0.647781 ], "true_pose": [ 13.055000, -14.726000, 1.546449 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.190000, 1.190000, 1.180000, 1.160000, 1.170000, 1.180000, 1.180000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.170000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.200000, 1.210000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.240000, 1.250000, 1.270000, 1.280000, 1.280000, 1.310000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.390000, 1.410000, 1.430000, 1.460000, 1.480000, 1.490000, 1.520000, 1.550000, 1.570000, 1.600000, 1.640000, 1.670000, 5.340000, 4.000000, 3.980000, 3.960000, 3.030000, 2.990000, 2.940000, 2.910000, 2.870000, 2.830000, 2.780000, 2.650000, 2.620000, 2.600000, 2.560000, 2.520000, 2.570000, 2.660000, 2.760000, 2.860000, 2.980000, 3.100000, 3.250000, 3.400000, 3.600000, 3.760000, 3.980000, 4.200000, 4.470000, 4.800000, 5.140000, 5.530000, 6.060000, 6.580000, 7.250000, 10.480000, 10.390000, 10.580000, 10.590000, 10.580000, null, null, null, null, 12.170000, null, null, null, 13.870000, 13.980000, 21.270000, 21.290000, 3.980000, 3.480000, 3.110000, 2.830000, 2.610000, 2.440000, 2.290000, 2.170000, 2.060000, 1.960000, 1.880000, 1.800000, 1.750000, 1.680000, 1.620000, 1.570000, 1.520000, 1.470000, 1.440000, 1.400000, 1.350000, 1.320000, 1.270000, 1.240000, 1.220000, 1.190000, 1.180000, 1.160000, 1.140000, 1.110000, 1.080000, 1.070000, 1.060000, 1.040000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.790000, 0.760000, 0.760000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055001, 885213 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 6.523000, -14.474000, 0.673408 ], "estimate": [ 6.523000, -14.474000, 0.673408 ], "true_pose": [ 13.053000, -13.713000, 1.573639 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.120000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.160000, 5.700000, 5.720000, 5.650000, 5.670000, 5.510000, 5.020000, 5.030000, 5.060000, 5.080000, 5.110000, 5.890000, 5.930000, 5.990000, 6.020000, 6.070000, 6.120000, 6.170000, 6.230000, 4.880000, 6.330000, 6.400000, 6.480000, 6.550000, 6.500000, 5.360000, 2.260000, 2.210000, 2.150000, 2.100000, 2.060000, 2.020000, 1.840000, 1.780000, 1.760000, 1.730000, 1.680000, 1.630000, 1.640000, 1.670000, 1.710000, 1.740000, 1.780000, 1.820000, 1.870000, 1.910000, 1.970000, 2.020000, 2.070000, 2.140000, 2.200000, 2.280000, 2.340000, 2.430000, 2.510000, 2.620000, 2.690000, 2.820000, 2.930000, 3.060000, 3.210000, 3.360000, 3.530000, 3.740000, 3.960000, 4.210000, 4.480000, 4.810000, 5.200000, 5.630000, 6.150000, 9.460000, 9.440000, 9.410000, 9.540000, 9.570000, 9.570000, null, null, null, null, null, 11.090000, null, 11.990000, 12.910000, 12.830000, 12.960000, 20.270000, 20.310000, null, 4.180000, 3.520000, 3.130000, 2.830000, 2.590000, 2.390000, 2.240000, 2.110000, 2.010000, 1.910000, 1.820000, 1.750000, 1.680000, 1.620000, 1.560000, 1.510000, 1.460000, 1.420000, 1.380000, 1.330000, 1.300000, 1.260000, 1.220000, 1.190000, 1.170000, 1.150000, 1.130000, 1.100000, 1.080000, 1.070000, 1.040000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.940000, 0.920000, 0.920000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.840000, 0.840000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055006, 665485 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 7.321000, -13.792000, 0.720596 ], "estimate": [ 7.321000, -13.792000, 0.720596 ], "true_pose": [ 13.024000, -12.726000, 1.616139 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.580000, 5.580000, 5.470000, 5.480000, 4.810000, 4.800000, 4.800000, 4.820000, 4.820000, 1.190000, 1.100000, 1.090000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.150000, 1.170000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.250000, 1.260000, 1.270000, 1.300000, 1.310000, 1.330000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.640000, 1.680000, 1.720000, 1.740000, 1.780000, 1.830000, 1.890000, 1.920000, 1.980000, 2.010000, 2.080000, 2.140000, 2.230000, 2.280000, 2.370000, 2.460000, 2.550000, 2.650000, 2.790000, 2.900000, 3.040000, 3.190000, 3.350000, 3.520000, 3.720000, 3.970000, 4.220000, 4.500000, 4.840000, 5.220000, 8.490000, 8.450000, 8.420000, 8.430000, 8.560000, 8.560000, 8.550000, null, null, null, null, null, 10.120000, null, null, null, 11.940000, 11.820000, 11.950000, 12.370000, 19.310000, 19.360000, null, 13.960000, 4.100000, 3.460000, 3.050000, 2.730000, 2.510000, 2.320000, 2.170000, 2.040000, 1.940000, 1.840000, 1.780000, 1.700000, 1.630000, 1.580000, 1.510000, 1.460000, 1.420000, 1.370000, 1.310000, 1.300000, 1.250000, 1.220000, 1.190000, 1.170000, 1.140000, 1.110000, 1.090000, 1.070000, 1.050000, 1.030000, 1.010000, 1.000000, 0.980000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.790000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 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, 0.700000, 0.710000, 0.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055010, 762590 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.108000, -13.063000, 0.764451 ], "estimate": [ 8.108000, -13.063000, 0.764451 ], "true_pose": [ 12.985000, -11.697000, 1.659994 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.120000, 1.130000, 1.130000, 1.130000, 1.170000, 1.160000, 1.160000, 1.160000, 1.160000, 1.170000, 1.190000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.240000, 1.260000, 1.280000, 1.280000, 1.300000, 1.320000, 1.350000, 1.370000, 1.390000, 1.400000, 1.420000, 1.440000, 1.480000, 1.500000, 1.520000, 1.550000, 1.570000, 1.610000, 1.650000, 1.680000, 1.720000, 1.760000, 1.810000, 1.850000, 1.900000, 1.970000, 2.010000, 2.070000, 2.120000, 2.190000, 2.260000, 2.320000, 2.420000, 2.490000, 2.590000, 2.690000, 2.810000, 2.940000, 3.060000, 3.220000, 3.380000, 3.570000, 3.760000, 4.000000, 4.260000, 7.510000, 7.480000, 7.450000, 7.430000, 7.390000, 7.270000, 7.550000, 7.540000, 7.510000, null, null, null, null, null, null, 9.150000, 9.100000, null, null, 17.710000, 10.790000, 10.790000, 10.930000, 14.220000, 14.080000, null, null, 12.960000, 12.860000, 5.780000, 3.670000, 3.190000, 2.880000, 2.610000, 2.390000, 2.230000, 2.090000, 1.980000, 1.870000, 1.790000, 1.720000, 1.640000, 1.580000, 1.520000, 1.460000, 1.420000, 1.370000, 1.320000, 1.280000, 1.250000, 1.210000, 1.200000, 1.160000, 1.130000, 1.100000, 1.080000, 1.060000, 1.040000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055013, 855224 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 8.818000, -12.402000, 0.808514 ], "estimate": [ 8.818000, -12.402000, 0.808514 ], "true_pose": [ 12.922000, -10.709000, 1.708745 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.130000, 1.140000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.150000, 1.160000, 1.150000, 1.150000, 1.170000, 1.180000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.220000, 1.240000, 1.240000, 1.260000, 1.290000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.370000, 1.370000, 1.400000, 1.420000, 1.430000, 1.470000, 1.480000, 1.500000, 1.530000, 1.550000, 1.580000, 1.620000, 1.650000, 1.680000, 1.720000, 1.760000, 1.800000, 1.840000, 1.880000, 1.930000, 1.990000, 2.040000, 2.110000, 2.170000, 2.220000, 2.300000, 2.370000, 2.450000, 2.530000, 2.630000, 2.730000, 2.850000, 2.950000, 3.090000, 3.230000, 6.670000, 6.620000, 6.590000, 6.560000, 6.520000, 6.490000, 6.450000, 6.440000, 6.420000, 6.280000, 6.570000, 6.550000, 6.530000, 6.520000, null, null, null, null, null, null, 8.160000, 8.100000, null, null, null, 17.150000, 9.790000, 9.780000, 9.940000, 16.080000, 17.340000, 17.390000, null, null, 11.870000, null, null, 4.860000, 3.850000, 3.290000, 2.930000, 2.660000, 2.430000, 2.260000, 2.110000, 2.000000, 1.900000, 1.810000, 1.730000, 1.660000, 1.610000, 1.540000, 1.480000, 1.440000, 1.390000, 1.340000, 1.290000, 1.270000, 1.220000, 1.200000, 1.180000, 1.140000, 1.120000, 1.090000, 1.070000, 1.040000, 1.020000, 0.990000, 0.980000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055017, 757452 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 9.481000, -11.653000, 0.862166 ], "estimate": [ 9.481000, -11.653000, 0.862166 ], "true_pose": [ 12.813000, -9.745000, 1.770827 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.230000, 1.240000, 1.240000, 1.250000, 1.250000, 1.250000, 1.250000, 1.260000, 1.260000, 1.270000, 1.260000, 1.270000, 1.280000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.340000, 1.350000, 1.360000, 1.380000, 1.390000, 1.400000, 1.420000, 1.430000, 1.450000, 1.480000, 1.500000, 1.530000, 1.530000, 1.560000, 1.570000, 1.600000, 1.630000, 1.650000, 1.680000, 1.710000, 1.740000, 1.770000, 1.810000, 1.850000, 1.890000, 1.930000, 1.980000, 2.030000, 2.070000, 2.130000, 2.180000, 2.250000, 2.320000, 2.380000, 2.460000, 6.060000, 6.010000, 5.960000, 5.900000, 5.850000, 5.810000, 5.770000, 5.730000, 5.690000, 5.660000, 5.620000, 5.580000, 5.560000, 5.510000, 5.500000, 5.390000, 5.530000, 5.630000, 5.620000, 5.600000, 5.590000, null, null, null, null, null, null, null, null, null, 7.080000, null, null, null, 9.050000, 8.870000, 8.800000, 8.910000, 8.970000, 16.340000, 12.140000, null, null, null, 10.960000, null, null, 7.210000, null, 4.540000, 3.750000, 3.200000, 2.840000, 2.570000, 2.360000, 2.200000, 2.060000, 1.940000, 1.850000, 1.760000, 1.690000, 1.620000, 1.570000, 1.500000, 1.460000, 1.400000, 1.360000, 1.320000, 1.270000, 1.230000, 1.200000, 1.180000, 1.150000, 1.110000, 1.080000, 1.070000, 1.050000, 1.030000, 1.000000, 1.000000, 0.970000, 0.950000, 0.940000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.680000, 0.670000, 0.670000, 0.680000, 0.670000, 0.680000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055019, 941717 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 10.106000, -10.919000, 0.857065 ], "estimate": [ 10.106000, -10.919000, 0.857065 ], "true_pose": [ 12.658000, -8.701000, 1.764163 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.370000, 1.370000, 1.380000, 1.380000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.410000, 1.410000, 1.420000, 1.430000, 1.430000, 1.440000, 1.450000, 1.460000, 1.480000, 1.490000, 1.500000, 1.510000, 1.530000, 1.540000, 1.560000, 1.570000, 1.590000, 1.610000, 1.640000, 1.660000, 1.680000, 1.700000, 1.740000, 1.760000, 5.420000, 5.320000, 5.250000, 5.140000, 5.040000, 4.980000, 5.000000, 5.030000, 4.960000, 4.890000, 4.880000, 4.940000, 5.060000, 5.180000, 5.300000, 5.220000, 5.160000, 5.120000, 5.060000, 5.000000, 4.950000, 4.890000, 4.850000, 4.820000, 4.770000, 4.720000, 4.680000, 4.650000, 4.630000, 4.590000, 4.550000, 4.390000, 4.630000, 4.710000, 4.700000, 4.660000, 4.650000, 4.600000, null, null, null, null, null, null, null, null, null, 6.260000, 6.200000, 6.110000, null, null, null, 7.030000, 12.370000, 8.070000, 7.810000, 7.820000, 7.950000, 8.110000, 11.250000, 15.410000, null, null, null, 10.070000, 9.950000, null, null, null, 6.250000, null, 12.670000, 3.620000, 3.200000, 2.860000, 2.600000, 2.400000, 2.220000, 2.080000, 1.960000, 1.860000, 1.770000, 1.680000, 1.610000, 1.550000, 1.480000, 1.440000, 1.390000, 1.340000, 1.300000, 1.260000, 1.220000, 1.190000, 1.160000, 1.130000, 1.110000, 1.080000, 1.060000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.850000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055023, 354789 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 10.781000, -10.158000, 0.882901 ], "estimate": [ 10.781000, -10.158000, 0.882901 ], "true_pose": [ 12.467000, -7.708000, 1.802499 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.030000, 6.050000, 6.070000, 6.100000, 6.120000, 6.160000, 6.170000, 5.700000, 5.600000, 5.640000, 6.330000, 6.350000, 6.400000, 5.370000, 5.350000, 6.550000, 5.300000, 6.660000, 6.710000, 6.790000, 6.630000, 4.950000, 4.820000, 4.720000, 4.600000, 4.480000, 4.400000, 4.440000, 4.420000, 4.330000, 4.250000, 4.240000, 4.280000, 4.350000, 4.420000, 4.490000, 4.620000, 4.550000, 4.480000, 4.400000, 4.340000, 4.270000, 4.210000, 4.150000, 4.100000, 4.050000, 4.010000, 3.950000, 3.910000, 3.870000, 3.820000, 3.790000, 3.750000, 3.710000, 3.490000, 3.520000, 3.670000, 3.820000, 3.790000, 3.770000, 3.750000, 3.730000, 3.700000, 3.710000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 5.190000, 5.120000, null, null, null, 5.960000, 10.950000, 7.020000, 6.880000, 6.810000, 6.800000, 6.930000, 6.940000, 14.340000, 10.100000, 8.450000, null, null, null, null, 8.980000, null, null, null, null, 5.280000, null, 11.790000, 5.590000, 5.600000, 5.610000, 5.620000, 5.210000, 2.520000, 2.360000, 2.220000, 2.110000, 1.990000, 1.880000, 1.790000, 1.730000, 1.670000, 1.600000, 1.550000, 1.490000, 1.440000, 1.400000, 1.360000, 1.320000, 1.280000, 1.250000, 1.220000, 1.200000, 1.170000, 1.140000, 1.110000, 1.090000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.990000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055027, 284247 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 11.443000, -9.403000, 0.860927 ], "estimate": [ 11.443000, -9.403000, 0.860927 ], "true_pose": [ 12.230000, -6.728000, 1.778962 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.550000, 5.790000, 6.180000, 6.190000, null, 5.120000, 5.080000, 6.290000, 6.350000, 6.290000, 6.410000, 4.570000, 4.420000, 4.250000, 4.070000, 4.020000, 4.060000, 4.010000, 3.880000, 3.780000, 3.790000, 3.840000, 3.860000, 3.910000, 3.950000, 3.990000, 4.100000, 3.980000, 3.900000, 3.800000, 3.710000, 3.630000, 3.560000, 3.490000, 3.420000, 3.350000, 3.300000, 3.240000, 3.180000, 3.120000, 3.070000, 3.020000, 2.980000, 2.940000, 2.720000, 2.770000, 2.830000, 2.880000, 3.000000, 2.970000, 2.960000, 2.940000, 2.900000, 2.870000, 2.830000, 2.810000, 2.880000, 2.890000, 2.960000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 4.280000, 4.260000, 4.310000, 4.170000, 4.250000, 4.120000, null, null, null, null, 12.430000, 4.990000, 10.020000, 9.610000, 5.890000, 5.810000, 5.800000, 5.930000, 5.950000, 6.320000, 13.370000, 13.430000, 11.950000, null, null, null, 8.010000, 7.970000, null, null, null, null, null, null, 10.760000, 4.330000, 11.560000, 11.480000, 5.360000, 4.680000, 4.680000, 4.690000, 5.140000, 4.320000, 4.740000, 5.380000, 5.380000, 5.380000, 5.380000, 5.380000, 5.390000, 1.790000, 1.740000, 1.680000, 1.630000, 1.590000, 1.530000, 1.500000, 1.460000, 1.420000, 1.380000, 1.350000, 1.310000, 1.280000, 1.240000, 1.230000, 1.210000, 1.190000, 1.170000, 1.140000, 1.120000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.010000, 1.000000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000 ], "valid": [ 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055030, 700647 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.096000, -8.599000, 0.860200 ], "estimate": [ 12.096000, -8.599000, 0.860200 ], "true_pose": [ 12.033000, -5.821000, 1.779798 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.880000, 3.870000, 3.890000, 3.680000, 3.570000, 3.590000, 3.590000, 3.610000, 3.630000, 3.640000, 3.670000, 3.730000, 3.750000, 3.590000, 3.440000, 3.290000, 3.170000, 3.050000, 2.950000, 2.830000, 2.750000, 2.660000, 2.590000, 2.510000, 2.130000, 2.140000, 2.170000, 2.200000, 2.240000, 2.250000, null, null, null, null, null, null, null, null, 2.070000, 2.020000, 2.090000, 2.120000, 2.140000, 2.150000, 2.180000, 2.190000, 2.220000, 2.240000, 2.260000, 2.300000, 2.330000, 2.360000, null, null, null, null, null, 2.590000, null, null, null, null, null, null, null, null, null, null, null, null, 3.230000, null, 3.230000, 3.270000, 3.160000, null, null, null, null, 10.890000, 10.960000, 11.260000, 4.000000, 11.530000, 9.020000, 5.020000, 5.480000, 4.860000, 4.810000, 4.810000, 4.940000, 4.940000, 4.950000, 8.210000, 12.410000, 8.110000, 6.440000, null, null, null, null, 7.050000, 6.980000, null, null, null, null, null, null, 9.820000, 10.260000, 10.660000, 10.520000, 3.370000, 5.560000, 5.180000, 4.280000, 3.750000, 3.760000, 3.770000, 3.790000, 3.810000, 4.520000, 4.510000, 3.450000, 4.530000, 4.540000, 4.550000, 4.560000, 4.570000, 4.580000, 4.600000, 4.620000, 4.640000, 4.650000, 4.670000, 4.700000, 4.730000, 4.750000, 4.790000, 4.810000, 4.840000, 4.870000, 4.910000, 4.940000, 4.960000, 5.010000, 5.050000, 5.010000, 4.970000, 4.940000, 2.590000, 2.570000, 2.560000, 2.550000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.950000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055034, 169056 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 12.743000, -7.818000, 0.867599 ], "estimate": [ 12.743000, -7.818000, 0.867599 ], "true_pose": [ 11.821000, -4.785000, 1.812201 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.920000, 2.780000, 2.570000, 2.390000, 2.210000, 2.070000, 1.960000, 1.610000, 1.590000, 1.600000, 1.590000, 1.610000, 1.590000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.640000, 1.640000, 1.650000, 1.670000, 1.670000, 1.680000, 1.680000, 1.700000, 1.700000, 1.710000, 1.730000, 1.740000, 1.760000, 1.760000, 1.780000, 1.790000, 1.800000, 1.790000, 1.760000, 1.850000, 1.870000, 1.880000, 1.880000, 1.910000, 1.910000, 1.920000, 1.950000, 1.980000, null, 2.000000, null, null, null, null, null, null, null, 2.280000, null, 2.290000, 2.390000, null, null, 2.280000, null, 2.180000, null, null, null, null, null, 3.050000, null, null, 9.580000, null, 9.870000, 4.120000, 2.980000, 4.540000, 10.440000, 7.980000, 3.970000, 7.530000, 3.870000, 3.820000, 3.760000, 3.810000, 3.900000, 3.910000, 3.930000, 4.060000, 11.350000, 9.220000, 7.350000, 11.500000, null, null, null, null, null, 6.060000, 5.990000, null, null, null, null, null, null, null, 9.090000, 9.350000, 9.460000, null, 13.300000, 13.410000, 12.660000, 12.730000, 4.640000, 4.270000, 2.470000, 2.470000, 3.350000, 3.140000, 2.970000, 2.880000, 2.900000, 2.930000, 2.950000, 2.970000, 3.710000, 3.720000, 3.740000, 3.750000, 2.670000, 2.680000, 3.810000, 3.840000, 3.870000, 3.890000, 3.910000, 3.940000, 3.970000, 4.000000, 4.030000, 4.070000, 4.110000, 4.150000, 4.200000, 4.240000, 4.290000, 4.330000, 4.370000, 4.420000, 4.470000, 4.520000, 4.590000, 4.570000, 4.560000, 4.540000, 4.530000, 4.510000, 4.500000, 4.490000, 4.490000, 4.480000, 4.480000, 4.470000, 4.470000, 3.960000, 4.470000, 4.470000, 2.270000, 2.270000, 2.280000, 2.280000, 2.280000, 2.290000, 2.300000 ], "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, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976055037, 932451 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.378000, -7.048000, 0.918017 ], "estimate": [ 13.378000, -7.048000, 0.918017 ], "true_pose": [ 11.609000, -3.811000, 1.862619 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.410000, 1.400000, 1.410000, 1.410000, 1.400000, 1.400000, 1.380000, 1.380000, 1.370000, 1.370000, 1.370000, 1.360000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.370000, 1.360000, 1.360000, 1.360000, 1.360000, 1.370000, 1.380000, 1.390000, 1.400000, 1.400000, 1.420000, 1.440000, 1.440000, 1.440000, 1.460000, 1.460000, 1.460000, 1.480000, 1.480000, 1.490000, 1.500000, 1.490000, 1.530000, 1.520000, null, null, 1.440000, 1.440000, 1.300000, 1.320000, 1.410000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 2.030000, 8.030000, 8.110000, 8.240000, 5.380000, 8.400000, 2.000000, 2.310000, 8.710000, 8.840000, 3.580000, 6.880000, 9.280000, 9.430000, 9.650000, 7.000000, 2.890000, 2.840000, 2.810000, 2.760000, 2.790000, 2.860000, 2.920000, 2.930000, 2.940000, 2.950000, 6.210000, 10.370000, 6.100000, 6.340000, 8.060000, 4.450000, null, null, null, null, null, 5.110000, 5.010000, null, null, null, null, null, null, null, 8.120000, 8.450000, 8.830000, 8.690000, 12.420000, 12.520000, 11.810000, 11.870000, 13.190000, 12.550000, 12.010000, 13.840000, 4.170000, 3.810000, null, 3.480000, 3.300000, 3.150000, 3.020000, 2.900000, 2.800000, 2.700000, 2.610000, 2.520000, 2.450000, 2.380000, 1.700000, 1.720000, 2.190000, 2.180000, 2.180000, 2.210000, 2.250000, 2.290000, 2.370000, 3.150000, 3.190000, 3.220000, 3.260000, 3.300000, 3.340000, 3.370000, 2.090000, 2.110000, 3.500000, 3.540000, 3.600000, 3.650000, 3.710000, 3.780000, 3.840000, 3.900000, 3.970000, 4.040000, 4.120000, 4.200000, 4.280000, 4.310000, 4.310000, 4.310000, 4.310000, 4.320000, 4.330000, 4.340000, 4.340000, 4.350000, 4.360000, 4.380000, 4.390000, 4.410000 ], "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, 0, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055042, 339359 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.057000, -6.282000, 0.885000 ], "estimate": [ 14.057000, -6.282000, 0.885000 ], "true_pose": [ 11.303000, -2.842000, 1.790539 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.870000, 0.860000, 1.020000, 0.990000, 1.050000, 1.150000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.100000, 1.090000, 1.100000, 1.090000, 1.090000, 1.080000, 1.090000, 1.080000, 1.060000, 1.030000, 0.880000, 0.880000, 0.920000, 1.060000, 1.070000, 1.080000, 1.080000, 1.080000, 1.090000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.130000, 1.130000, 1.130000, 1.130000, null, null, 1.290000, 1.270000, 1.150000, 1.170000, 6.540000, 6.560000, 6.600000, 6.610000, 6.640000, 6.670000, 6.690000, 4.730000, 5.030000, 6.830000, 1.100000, 1.120000, 6.740000, 5.210000, 4.200000, 5.240000, 6.970000, 5.780000, 5.020000, 2.200000, 4.570000, 7.340000, 4.130000, 7.560000, 2.610000, 7.710000, 7.800000, 7.910000, 8.030000, 2.030000, 8.280000, 5.310000, 1.880000, 1.860000, 1.820000, 1.800000, 1.770000, 1.790000, 1.820000, 1.870000, 1.910000, 1.940000, 1.940000, 1.940000, 1.940000, 1.950000, 2.030000, 9.380000, 7.270000, 5.110000, 5.350000, 9.580000, 9.640000, 3.430000, null, null, null, null, null, null, 4.120000, 4.090000, 4.130000, null, null, null, null, null, null, 7.410000, 7.470000, 7.590000, 7.630000, 7.700000, 10.900000, 10.960000, 11.090000, 12.390000, 11.170000, 12.640000, 13.010000, 12.900000, 11.490000, 12.380000, null, null, 8.870000, 3.400000, 8.750000, 3.040000, 3.620000, 8.620000, 8.870000, 2.800000, 2.710000, 2.640000, 2.580000, 2.510000, 2.440000, 2.390000, 2.350000, 2.290000, 2.240000, 2.200000, 2.170000, 2.130000, 2.090000, 2.050000, 2.020000, 1.990000, 1.960000, 1.940000, 1.910000, 1.870000, 1.860000, 1.830000, 1.810000, 1.800000, 1.780000, 1.760000, 1.740000, 1.730000, 1.750000, 1.820000, 1.890000, 3.150000, 1.300000, 1.290000, 1.300000, 3.490000, 3.590000, 3.700000, 3.800000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 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 ], "timestamp": [ 976055046, 187968 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.404000, -5.925000, 1.407370 ], "estimate": [ 14.404000, -5.925000, 1.407370 ], "true_pose": [ 11.178000, -2.410000, 2.287909 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.690000, 5.990000, 5.980000, 5.960000, 5.970000, 3.110000, 3.150000, 3.130000, 0.770000, 0.770000, 6.000000, 6.150000, 6.150000, 6.160000, 6.170000, 6.180000, 6.190000, 4.230000, 6.260000, 6.270000, 3.790000, 6.310000, 4.390000, 4.570000, 6.420000, 6.450000, 6.390000, 6.340000, 3.810000, 4.840000, 5.100000, 1.810000, 6.580000, 6.610000, 4.380000, 4.050000, 4.180000, 6.870000, 2.220000, 7.040000, 7.100000, 4.330000, 1.600000, 1.620000, 7.440000, 7.550000, 1.470000, 1.440000, 1.410000, 1.390000, 1.360000, 1.340000, 1.350000, 1.370000, 1.400000, 1.430000, 1.470000, 1.480000, 1.490000, 1.490000, 1.500000, 1.500000, 1.500000, 1.510000, 1.550000, 8.920000, 6.820000, 4.650000, 4.930000, 4.900000, 9.130000, 7.320000, 3.010000, null, null, null, null, null, null, null, 3.710000, 3.680000, 3.640000, null, null, null, null, null, null, 7.040000, 7.050000, 7.130000, 7.180000, 7.290000, 10.490000, 10.550000, 11.560000, 11.020000, 10.920000, 10.810000, 12.550000, 12.490000, 11.590000, 12.010000, 10.890000, null, null, 8.500000, 8.450000, 8.320000, 8.190000, 3.090000, 8.350000, 3.300000, 2.740000, 9.220000, 9.540000, 3.790000, 3.740000, 2.490000, 2.450000, 2.390000, 2.350000, 2.300000, 2.260000, 2.210000, 2.180000, 2.140000, 2.110000, 2.080000, 2.040000, 2.010000, 1.990000, 1.970000, 1.930000, 1.920000, 1.890000, 1.870000, 1.860000, 1.840000, 1.820000, 1.800000, 1.790000, 1.780000, 1.760000, 1.750000, 1.740000, 1.720000, 1.710000, 1.700000, 1.700000, 1.690000, 1.670000, 1.670000, 1.650000, 1.660000, 1.780000, 3.710000, 3.860000, 4.020000, 4.220000, 4.250000, 4.280000, 4.300000, 1.310000, 1.280000, 1.270000, 1.920000, 1.920000, 4.520000, 4.560000, 4.600000, 4.630000, 4.580000, 4.750000, 4.280000, 4.260000, 4.920000, 4.970000, 5.040000 ], "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, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055048, 965716 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.142000, -4.951000, 1.714028 ], "estimate": [ 14.142000, -4.951000, 1.714028 ], "true_pose": [ 10.263000, -2.031000, 2.622692 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.200000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.150000, 1.200000, 1.250000, 1.310000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.460000, 5.230000, 7.200000, 7.260000, 7.350000, 5.140000, 7.540000, 4.790000, 4.770000, 7.870000, 4.440000, 6.440000, 4.420000, 8.200000, 8.190000, 6.290000, 8.180000, 6.940000, 4.220000, 4.170000, 8.210000, 8.220000, 2.350000, 2.120000, null, null, null, null, null, null, null, 3.050000, null, null, null, 2.960000, 8.330000, 2.860000, null, null, null, null, null, null, null, null, null, null, null, null, 5.890000, 6.180000, 6.660000, 6.540000, 10.280000, 10.210000, 10.000000, 9.620000, 9.710000, 11.040000, 11.100000, 10.020000, 9.930000, 11.630000, 11.590000, 10.100000, 10.770000, 11.060000, 9.980000, 9.530000, 9.430000, 7.560000, 7.530000, 7.480000, 7.310000, 2.150000, 2.160000, 7.550000, 7.790000, 2.350000, 1.760000, 8.660000, 8.980000, 9.390000, 2.790000, 4.250000, 4.220000, 4.200000, 1.580000, 1.540000, 1.530000, 1.500000, 1.480000, 1.450000, 1.430000, 1.410000, 1.390000, 1.370000, 1.360000, 1.340000, 1.330000, 1.300000, 1.280000, 1.280000, 1.270000, 1.250000, 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, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.080000, 1.090000, 1.090000, 1.090000, 1.080000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.090000, 1.080000, 1.090000, 1.100000, 1.090000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 4.740000, 4.850000, 4.790000, 4.730000, 4.650000, 4.600000, 4.600000, 1.630000, 1.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055052, 935650 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.233000, -3.996000, 1.564351 ], "estimate": [ 14.233000, -3.996000, 1.564351 ], "true_pose": [ 9.590000, -1.290000, 2.469890 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.190000, 6.200000, 6.220000, 6.220000, 3.810000, 4.290000, 6.270000, 6.290000, 6.310000, 6.320000, 6.360000, 6.390000, 6.410000, 6.450000, 6.480000, 4.130000, 4.810000, 5.450000, 6.660000, 4.660000, 4.690000, 4.180000, 3.820000, 5.000000, 1.690000, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, 2.090000, null, 2.070000, 1.990000, null, null, null, null, null, null, null, null, null, null, null, null, 3.220000, null, null, null, null, null, null, null, null, 4.760000, 5.050000, 5.190000, 5.640000, 5.600000, 5.480000, 9.230000, 9.280000, 9.040000, 8.610000, 8.650000, 8.720000, 8.360000, 8.300000, 8.450000, 8.490000, 10.470000, 10.620000, 9.310000, 9.090000, 9.800000, 9.050000, 8.930000, 8.570000, 8.440000, 6.600000, 6.550000, 6.520000, 6.480000, 6.320000, 6.230000, 6.250000, 6.470000, 6.680000, 6.930000, 7.200000, 7.490000, 7.810000, 8.140000, 8.540000, 1.190000, 1.160000, 9.910000, 10.500000, 1.420000, 1.450000, 3.310000, 3.290000, 3.290000, 1.930000, 3.930000, 4.080000, 4.070000, 0.900000, 0.870000, 0.890000, 4.040000, 4.030000, 4.040000, 4.040000, 4.030000, 4.040000, 4.040000, 4.050000, 1.790000, 1.760000, 4.070000, 4.080000, 4.090000, 4.090000, 4.110000, 4.120000, 4.140000, 1.860000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.790000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055056, 656787 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.381000, -2.981000, 1.443112 ], "estimate": [ 14.381000, -2.981000, 1.443112 ], "true_pose": [ 8.904000, -0.589000, 2.339276 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.370000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.210000, 1.270000, 1.230000, 1.260000, 1.310000, 1.360000, 1.380000, 1.390000, 1.380000, 1.410000, 1.410000, 1.410000, 1.400000, 1.420000, 1.420000, 1.410000, 1.440000, 1.430000, 1.430000, 1.450000, 1.450000, 1.520000, null, null, 1.340000, 1.340000, 1.270000, 1.220000, 1.260000, 1.390000, 1.390000, 1.580000, 1.590000, 1.630000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 1.710000, 1.730000, 1.780000, 1.790000, 1.790000, null, null, null, null, null, null, null, null, null, null, null, null, null, 2.280000, null, null, null, null, null, null, null, null, null, null, null, null, null, 3.750000, 3.790000, 4.170000, 4.200000, 4.640000, 4.700000, 4.580000, 4.500000, 8.210000, 8.300000, 8.140000, 7.980000, 7.620000, 7.660000, 7.310000, 7.270000, 7.500000, 7.490000, 9.260000, 9.470000, 9.700000, 9.560000, 8.100000, 8.160000, 8.850000, 8.080000, 8.000000, 7.600000, 7.500000, 7.490000, 7.680000, 5.620000, 5.590000, 5.570000, 5.540000, 5.410000, 5.360000, 5.320000, 5.420000, 5.640000, 5.890000, 6.150000, 6.470000, 6.780000, 7.130000, 7.610000, 8.010000, 8.520000, 9.130000, 9.790000, 11.060000, 11.620000, 12.750000, null, 16.880000, 16.830000, 16.800000, 16.790000, 12.470000, 12.280000, 2.610000, 2.600000, 2.590000, 2.590000, 2.590000, 2.710000, 3.410000, 3.420000, 3.430000, 3.430000, 3.440000, 3.450000, 3.460000, 3.470000, 3.490000, 3.490000, 3.510000, 3.530000, 3.540000, 1.360000, 1.310000, 1.370000, 3.620000, 3.650000, 3.670000, 3.700000, 3.730000, 3.760000, 0.850000, 0.830000, 0.860000, 3.890000, 3.930000, 3.970000, 4.040000, 4.090000, 4.140000, 3.900000, 0.650000, 0.630000, 0.590000, 0.690000, 3.500000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055060, 145364 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.493000, -1.980000, 1.558424 ], "estimate": [ 14.493000, -1.980000, 1.558424 ], "true_pose": [ 8.174000, 0.085000, 2.457713 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.250000, 1.250000, 1.250000, 1.270000, 1.260000, 1.270000, 1.270000, 1.260000, 1.260000, 1.250000, 1.250000, 1.260000, 1.260000, 1.260000, 1.280000, 1.280000, 1.300000, 1.300000, 1.310000, 1.320000, 1.320000, 1.320000, 1.330000, 1.330000, 1.340000, 1.340000, 1.360000, 1.380000, 1.380000, 1.380000, 1.380000, 1.390000, 1.410000, 1.420000, 1.430000, 1.450000, 1.480000, 1.480000, 1.500000, 1.520000, 1.540000, 1.540000, 1.550000, 1.570000, 1.610000, 1.610000, 1.650000, 1.660000, 1.670000, 1.710000, 1.730000, 1.740000, 1.780000, null, null, null, null, null, null, null, null, null, null, null, 2.700000, 2.830000, 2.850000, 2.870000, 3.210000, 3.230000, 3.270000, 3.680000, 3.720000, 3.720000, 3.640000, 3.550000, 3.570000, 5.780000, 7.290000, 7.370000, 7.150000, 6.430000, 6.240000, 6.240000, 6.320000, 6.280000, 6.240000, 6.240000, 6.290000, 8.270000, 8.440000, 7.310000, 8.600000, 7.720000, 7.190000, 7.850000, 7.980000, 7.130000, 7.030000, 6.640000, 6.570000, 6.540000, 6.630000, 6.780000, 4.720000, 4.690000, 4.690000, 4.660000, 4.640000, 4.610000, 4.500000, 4.460000, 4.410000, 4.510000, 4.750000, 4.990000, 5.290000, 5.660000, 6.020000, 6.470000, 6.990000, 7.580000, 8.300000, 9.120000, 10.300000, 11.690000, null, 16.100000, 16.100000, 16.080000, 16.080000, 16.060000, 11.650000, 11.600000, 11.710000, 11.830000, 8.760000, 7.070000, 5.940000, 5.120000, 4.510000, 4.020000, 3.610000, 3.280000, 3.000000, 2.780000, 2.580000, 2.420000, 2.270000, 2.130000, 2.030000, 2.040000, 2.050000, 2.060000, 2.080000, 2.090000, 2.980000, 3.010000, 3.030000, 3.060000, 3.090000, 3.120000, 3.150000, 3.180000, 3.220000, 3.250000, 3.300000, 3.340000, 3.380000, 3.420000, 3.460000, 3.510000, 3.550000, 3.610000, 3.670000, 3.720000, 3.790000, 3.850000, 3.950000, 4.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055063, 557361 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.421000, -0.990000, 1.695297 ], "estimate": [ 14.421000, -0.990000, 1.695297 ], "true_pose": [ 7.386000, 0.629000, 2.597711 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.180000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.250000, 1.250000, 1.260000, 1.270000, 1.270000, 1.290000, 1.290000, 1.290000, 1.290000, 1.310000, 1.310000, 1.340000, 1.340000, 1.350000, 1.350000, 1.360000, 1.400000, 1.400000, 1.410000, 1.420000, 1.450000, 1.450000, 1.460000, 2.420000, 2.020000, 1.960000, 1.970000, 1.980000, 2.000000, 2.010000, 2.020000, 2.030000, 2.340000, 2.350000, 2.360000, 2.380000, 2.400000, 2.400000, 2.420000, 2.770000, 2.800000, 2.820000, 2.840000, 2.830000, 2.730000, 2.650000, 2.620000, 4.590000, 4.560000, 4.670000, 4.790000, 6.350000, 6.320000, 6.390000, 6.280000, 6.170000, 5.410000, 5.300000, 5.330000, 5.410000, 5.320000, 5.270000, 5.280000, 5.300000, 5.350000, 7.310000, 7.490000, 6.300000, 6.280000, 7.590000, 6.220000, 6.130000, 6.840000, 6.980000, 6.190000, 6.120000, 6.030000, 5.670000, 5.610000, 5.580000, 5.620000, 5.770000, 5.920000, null, 3.750000, 3.740000, 3.710000, 3.700000, 3.680000, 3.650000, 3.650000, 3.580000, 3.560000, 3.530000, 3.470000, 3.590000, 3.840000, 4.140000, 4.510000, 4.960000, 5.490000, 6.160000, 7.000000, 8.060000, 9.760000, 12.080000, 15.320000, 15.300000, 15.290000, 15.290000, 15.310000, 15.310000, 10.910000, 10.830000, 10.960000, 11.070000, 11.140000, 9.940000, 7.740000, 6.990000, 6.380000, 5.890000, 5.450000, 5.070000, 4.730000, 4.450000, 4.200000, 3.970000, 3.770000, 3.580000, 3.430000, 3.280000, 3.160000, 3.030000, 2.910000, 2.820000, 2.720000, 2.630000, 2.560000, 2.480000, 2.410000, 2.340000, 2.280000, 2.220000, 2.170000, 2.120000, 2.060000, 2.010000, 1.990000, 1.940000, 1.900000, 1.860000, 1.830000, 1.790000, 1.770000, 1.740000, 1.690000, 1.740000, 1.780000, 1.820000, 1.850000, 3.180000, 3.250000, 3.330000, 3.410000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055067, 320930 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 14.338000, -0.836000, 2.155271 ], "estimate": [ 14.338000, -0.836000, 2.155271 ], "true_pose": [ 7.218000, 0.683000, 3.059248 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.370000, 1.370000, 1.390000, 1.400000, 1.410000, 3.670000, 5.180000, 5.340000, 1.910000, 1.910000, 1.900000, 1.920000, 1.910000, 1.900000, 1.900000, 1.900000, 1.920000, 2.240000, 2.250000, 2.250000, 2.260000, 2.270000, 2.280000, 2.290000, 2.630000, 2.650000, 2.670000, 2.680000, 2.720000, 2.700000, 2.590000, 2.510000, 2.500000, 4.540000, 4.470000, 4.460000, 4.470000, 4.580000, 4.700000, 6.180000, 6.180000, 6.230000, 6.110000, 5.990000, 5.160000, 5.130000, 5.140000, 5.260000, 5.190000, 5.170000, 5.170000, 5.210000, 5.280000, 5.700000, 5.790000, 7.300000, 6.100000, 7.430000, 6.580000, 6.570000, 6.600000, 6.740000, 6.940000, 5.950000, 5.880000, 5.510000, 5.440000, 5.400000, 5.400000, 5.520000, 5.600000, 5.800000, 3.570000, 3.560000, 3.550000, 3.520000, 3.500000, 3.480000, 3.470000, 3.450000, 3.400000, 3.380000, 3.350000, 3.300000, 3.340000, 3.580000, 3.860000, 4.190000, 4.650000, 5.120000, 5.810000, 6.550000, 7.600000, 9.250000, 15.210000, 15.150000, 15.130000, 15.120000, 15.120000, 15.120000, 15.140000, 10.750000, 10.690000, 10.740000, 10.860000, 10.990000, 9.820000, 7.830000, 7.120000, 6.500000, 6.010000, 5.580000, 5.200000, 4.860000, 4.570000, 4.330000, 4.100000, 3.880000, 3.720000, 3.550000, 3.410000, 3.270000, 3.150000, 3.040000, 2.920000, 2.830000, 2.740000, 2.650000, 2.580000, 2.510000, 2.440000, 2.380000, 2.320000, 2.260000, 2.200000, 2.160000, 2.110000, 2.060000, 2.020000, 1.980000, 1.940000, 1.910000, 1.880000, 1.850000, 1.810000, 1.780000, 1.760000, 1.730000, 1.700000, 1.680000, 1.640000, 1.660000, 1.710000, 1.740000, 1.790000, 3.280000, 3.370000, 3.480000, 3.570000, 3.680000, 3.810000, 3.960000, 4.090000, 4.250000, 3.990000, 3.970000, 3.930000, 3.910000, 3.880000, 3.870000, 3.850000, 3.810000, 3.790000, 3.780000, 3.770000, 3.750000, 3.740000, 4.040000, 4.040000, 4.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055070, 368702 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ 13.604000, -0.125000, 2.372036 ], "estimate": [ 13.604000, -0.125000, 2.372036 ], "true_pose": [ 6.229000, 0.541000, -3.005610 ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.320000, 5.330000, 5.370000, null, 5.380000, 4.540000, 4.430000, 4.310000, 4.240000, 4.140000, 4.120000, 4.170000, 4.250000, 4.310000, 5.670000, 5.710000, 5.740000, 5.790000, 5.760000, 5.780000, 5.810000, 4.800000, 4.660000, 5.270000, 4.840000, 4.830000, 4.880000, 4.510000, 4.520000, 4.660000, 4.650000, 6.320000, 6.340000, 6.600000, 6.780000, 6.880000, 5.440000, 6.940000, 6.270000, 5.220000, 5.830000, 5.940000, 6.020000, 5.240000, 5.180000, 4.800000, 4.700000, 4.630000, 4.620000, 4.620000, 2.750000, 2.740000, 2.720000, 2.700000, 2.690000, 2.690000, 2.660000, 2.640000, 2.630000, 2.520000, 2.500000, 2.480000, 2.460000, 2.430000, 2.390000, 2.500000, 2.620000, 2.760000, 2.930000, 3.110000, 3.320000, 3.560000, 3.840000, 4.170000, 4.540000, 5.020000, 5.560000, 6.280000, 7.160000, 8.580000, 10.410000, 14.190000, 14.180000, 14.160000, 14.150000, 14.160000, 14.170000, 14.160000, 9.810000, 9.700000, 9.800000, 9.900000, 10.040000, 8.800000, 8.840000, 6.870000, 6.290000, 5.810000, 5.380000, 5.020000, 4.720000, 4.430000, 4.190000, 3.970000, 3.780000, 3.610000, 3.460000, 3.320000, 3.190000, 3.070000, 2.960000, 2.850000, 2.770000, 2.680000, 2.590000, 2.520000, 2.440000, 2.390000, 2.320000, 2.270000, 2.210000, 2.160000, 2.110000, 2.060000, 2.010000, 1.980000, 1.940000, 1.900000, 1.860000, 1.830000, 1.800000, 1.770000, 1.760000, 1.720000, 1.690000, 1.670000, 1.640000, 1.630000, 1.600000, 1.590000, 1.560000, 1.540000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.470000, 1.450000, 1.440000, 1.420000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.320000, 1.320000, 1.320000, 1.310000, 1.310000, 1.310000, 1.310000, 1.300000, 1.300000, 1.300000, 1.840000, 3.640000, 3.640000, 3.630000, 3.630000, 3.650000, 3.990000 ], "valid": [ 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055074, 102228 ] }