{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.573997, -24.007000, -2.995329 ], "estimate": [ -48.573997, -24.007000, -2.995329 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.520000, 8.690000, 8.830000, 8.820000, 8.810000, 8.800000, 8.790000, 8.790000, 8.790000, 8.790000, 8.790000, 8.800000, 7.020000, 6.040000, 6.050000, 6.060000, 6.080000, 6.100000, 6.110000, 6.010000, 5.500000, 5.170000, 5.190000, 5.210000, 5.250000, 6.590000, 9.170000, 9.210000, 9.230000, 8.650000, 8.690000, 8.730000, 8.860000, 8.860000, 8.940000, 9.740000, 2.150000, 2.160000, 2.170000, 2.190000, 2.220000, 2.240000, 2.270000, 2.240000, 2.190000, 2.140000, 2.100000, 2.040000, 2.000000, 1.960000, 1.920000, 1.880000, 1.850000, 1.800000, 1.390000, 1.390000, 1.410000, 1.440000, 1.470000, 1.510000, 1.540000, 1.580000, 1.590000, 1.580000, 1.560000, 1.540000, 1.520000, 1.520000, 1.500000, 1.480000, 1.460000, 1.450000, 1.440000, 1.430000, 1.410000, 1.400000, 1.400000, 1.390000, 1.370000, 1.360000, 1.360000, 1.340000, 1.330000, 1.320000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 1.290000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.270000, 0.990000, 0.990000, 0.990000, 1.280000, 1.280000, 1.280000, 1.290000, 1.280000, 1.290000, 1.280000, 1.290000, 1.290000, 1.290000, 1.300000, 1.310000, 1.310000, 1.320000, 1.330000, 1.340000, 1.340000, 1.360000, 1.360000, 1.380000, 1.390000, 1.400000, 1.400000, 1.410000, 1.430000, 1.440000, 1.450000, 1.470000, 1.490000, 1.500000, 1.510000, 1.480000, 1.430000, 1.400000, 1.370000, 1.340000, 1.300000, 1.280000, 1.290000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.830000, 0.820000, 0.810000, 0.840000, 0.890000, 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": [ 976055354, 507233 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.631001, -24.016001, -3.001475 ], "estimate": [ -48.631001, -24.016001, -3.001475 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.000000, 8.850000, 8.830000, 8.820000, 8.800000, 8.790000, 8.790000, 8.790000, 8.790000, 8.790000, 8.790000, 8.790000, 6.460000, 6.030000, 6.040000, 6.050000, 6.070000, 6.090000, 6.100000, 5.760000, 5.290000, 5.160000, 5.170000, 5.210000, 6.540000, 6.570000, 9.130000, 9.180000, null, 8.610000, 8.660000, 8.720000, 8.830000, 8.850000, 8.900000, 2.120000, 2.130000, 2.140000, 2.160000, 2.180000, 2.210000, 2.240000, 2.200000, 2.150000, 2.100000, 2.040000, 2.000000, 1.950000, 1.920000, 1.870000, 1.840000, 1.800000, 1.400000, 1.330000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.490000, 1.520000, 1.550000, 1.530000, 1.510000, 1.490000, 1.470000, 1.460000, 1.450000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.350000, 1.340000, 1.330000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.280000, 1.260000, 1.260000, 1.250000, 1.240000, 1.240000, 1.240000, 1.230000, 1.230000, 1.230000, 1.220000, 1.210000, 1.220000, 1.220000, 1.070000, 0.930000, 0.920000, 1.070000, 1.220000, 1.220000, 1.220000, 1.230000, 1.220000, 1.230000, 1.230000, 1.230000, 1.240000, 1.240000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.280000, 1.290000, 1.290000, 1.300000, 1.310000, 1.320000, 1.330000, 1.350000, 1.360000, 1.370000, 1.390000, 1.400000, 1.410000, 1.430000, 1.440000, 1.460000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.290000, 1.260000, 1.240000, 1.240000, 1.250000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.110000, 1.100000, 1.080000, 1.080000, 1.070000, 1.040000, 1.030000, 1.020000, 1.010000, 0.990000, 0.980000, 0.980000, 0.960000, 0.960000, 0.950000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.830000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 521752 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.686001, -24.023998, -3.001475 ], "estimate": [ -48.686001, -24.023998, -3.001475 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.950000, 8.830000, 8.830000, 8.810000, 8.800000, 8.790000, 8.790000, 8.790000, 8.780000, 8.780000, 8.790000, 8.790000, 6.430000, 6.020000, 6.020000, 6.040000, 6.050000, 6.070000, 6.090000, 5.730000, 5.230000, 5.140000, 5.160000, 5.180000, 6.520000, 6.550000, 9.100000, 9.140000, null, 8.590000, 8.630000, 8.680000, 8.820000, 8.830000, 2.080000, 2.090000, 2.100000, 2.120000, 2.140000, 2.160000, 2.190000, 2.210000, 2.140000, 2.090000, 2.030000, 1.980000, 1.940000, 1.900000, 1.860000, 1.820000, 1.790000, 1.400000, 1.300000, 1.290000, 1.320000, 1.350000, 1.370000, 1.400000, 1.430000, 1.460000, 1.490000, 1.500000, 1.480000, 1.450000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.370000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.180000, 1.180000, 1.170000, 1.170000, 1.170000, 1.170000, 1.160000, 0.890000, 0.880000, 0.880000, 1.130000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.170000, 1.180000, 1.190000, 1.190000, 1.200000, 1.200000, 1.210000, 1.220000, 1.230000, 1.230000, 1.240000, 1.250000, 1.260000, 1.270000, 1.280000, 1.290000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.370000, 1.390000, 1.400000, 1.410000, 1.420000, 1.410000, 1.380000, 1.340000, 1.310000, 1.290000, 1.260000, 1.230000, 1.210000, 1.210000, 1.230000, 1.210000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.110000, 1.090000, 1.070000, 1.060000, 1.040000, 1.040000, 1.020000, 1.010000, 1.000000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 522879 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.741001, -24.031000, -3.007620 ], "estimate": [ -48.741001, -24.031000, -3.007620 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.080000, 8.840000, 8.830000, 8.800000, 8.790000, 8.790000, 8.780000, 8.780000, 8.780000, 8.770000, 8.770000, 8.780000, 6.000000, 6.000000, 6.010000, 6.020000, 6.040000, 6.050000, 6.080000, 5.540000, 5.110000, 5.130000, 5.160000, 5.160000, 6.490000, 6.530000, 9.080000, 9.130000, null, 8.560000, 8.600000, 8.650000, 8.760000, 2.050000, 2.070000, 2.070000, 2.090000, 2.110000, 2.120000, 2.150000, 2.180000, 2.110000, 2.050000, 2.010000, 1.950000, 1.900000, 1.860000, 1.820000, 1.790000, 1.740000, 1.280000, 1.250000, 1.260000, 1.290000, 1.300000, 1.320000, 1.350000, 1.390000, 1.410000, 1.440000, 1.450000, 1.430000, 1.400000, 1.390000, 1.390000, 1.360000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.110000, 0.820000, 0.820000, 0.820000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.250000, 1.270000, 1.290000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.380000, 1.390000, 1.370000, 1.340000, 1.300000, 1.280000, 1.250000, 1.230000, 1.200000, 1.180000, 1.170000, 1.190000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.950000, 0.950000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 523785 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.787998, -24.038000, -3.007620 ], "estimate": [ -48.787998, -24.038000, -3.007620 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 8.000000, 8.830000, 8.820000, 8.800000, 8.790000, 8.790000, 8.780000, 8.770000, 8.770000, 8.760000, 8.760000, 8.770000, 5.990000, 6.000000, 6.000000, 6.010000, 6.020000, 6.040000, 6.060000, 5.510000, 5.100000, 5.110000, 5.130000, 5.140000, 6.480000, 6.510000, 9.040000, 9.090000, 9.120000, 8.550000, 8.560000, 8.640000, 2.040000, 2.030000, 2.040000, 2.050000, 2.070000, 2.090000, 2.110000, 2.140000, 2.100000, 2.040000, 1.980000, 1.940000, 1.880000, 1.840000, 1.800000, 1.760000, 1.720000, 1.250000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.360000, 1.390000, 1.400000, 1.400000, 1.380000, 1.360000, 1.330000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.090000, 1.090000, 1.080000, 1.070000, 1.060000, 1.070000, 1.060000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 0.780000, 0.780000, 0.780000, 1.010000, 1.060000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.340000, 1.350000, 1.340000, 1.300000, 1.290000, 1.250000, 1.220000, 1.200000, 1.180000, 1.150000, 1.140000, 1.150000, 1.170000, 1.140000, 1.130000, 1.110000, 1.100000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.020000, 1.010000, 1.000000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 524646 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.810001, -24.041000, -3.032202 ], "estimate": [ -48.810001, -24.041000, -3.032202 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.400000, 8.340000, 8.840000, 8.820000, 8.790000, 8.780000, 8.770000, 8.770000, 8.760000, 8.760000, 8.750000, 8.750000, 7.560000, 5.980000, 5.990000, 6.000000, 6.000000, 6.020000, 6.030000, 5.900000, 5.290000, 5.080000, 5.100000, 5.130000, 6.440000, 6.470000, 6.490000, 9.040000, 9.080000, null, 8.510000, 8.550000, 2.010000, 2.010000, 2.010000, 2.030000, 2.050000, 2.060000, 2.080000, 2.110000, 2.080000, 2.020000, 1.960000, 1.910000, 1.860000, 1.810000, 1.780000, 1.730000, 1.690000, 1.200000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.270000, 1.290000, 1.310000, 1.350000, 1.370000, 1.370000, 1.350000, 1.320000, 1.300000, 1.290000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.030000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 0.740000, 0.740000, 0.730000, 1.010000, 1.020000, 1.030000, 1.020000, 1.030000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.310000, 1.290000, 1.270000, 1.250000, 1.220000, 1.200000, 1.170000, 1.150000, 1.120000, 1.120000, 1.130000, 1.140000, 1.120000, 1.110000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 1.020000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 0.910000, 0.900000, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 525486 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.808998, -24.041000, -3.050639 ], "estimate": [ -48.808998, -24.041000, -3.050639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.140000, 6.650000, 7.230000, 8.130000, 8.840000, 8.820000, 8.790000, 8.780000, 8.770000, 8.770000, 8.750000, 8.750000, 8.750000, 8.750000, 8.750000, 5.980000, 5.990000, 5.990000, 5.990000, 6.000000, 6.020000, 5.980000, 5.340000, 5.070000, 5.100000, 5.110000, 6.440000, 6.460000, 6.480000, 9.020000, 9.070000, 9.080000, 8.530000, 8.540000, 2.000000, 1.990000, 2.000000, 2.020000, 2.030000, 2.050000, 2.070000, 2.090000, 2.090000, 2.020000, 1.960000, 1.900000, 1.860000, 1.810000, 1.770000, 1.720000, 1.690000, 1.190000, 1.160000, 1.170000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.300000, 1.330000, 1.350000, 1.360000, 1.330000, 1.320000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 1.020000, 1.010000, 1.010000, 1.010000, 1.010000, 1.010000, 0.730000, 0.730000, 0.720000, 0.730000, 1.010000, 1.020000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.300000, 1.290000, 1.260000, 1.230000, 1.210000, 1.180000, 1.160000, 1.140000, 1.120000, 1.120000, 1.130000, 1.140000, 1.110000, 1.100000, 1.100000, 1.080000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 526365 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.806000, -24.040001, -3.087512 ], "estimate": [ -48.806000, -24.040001, -3.087512 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.860000, 6.330000, 6.880000, 7.540000, 8.450000, 8.830000, 8.810000, 8.790000, 8.770000, 8.770000, 8.760000, 8.750000, 8.750000, 8.750000, 8.750000, 6.880000, 5.980000, 5.990000, 5.990000, 6.000000, 6.010000, 6.020000, 5.750000, 5.160000, 5.090000, 5.100000, 5.130000, 6.450000, 6.470000, 7.810000, 9.040000, 9.090000, null, 8.510000, 8.570000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.060000, 2.070000, 2.100000, 2.070000, 2.010000, 1.940000, 1.900000, 1.850000, 1.800000, 1.760000, 1.710000, 1.670000, 1.180000, 1.170000, 1.180000, 1.200000, 1.230000, 1.250000, 1.260000, 1.290000, 1.310000, 1.340000, 1.360000, 1.360000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.230000, 1.210000, 1.200000, 1.180000, 1.160000, 1.150000, 1.150000, 1.140000, 1.120000, 1.120000, 1.110000, 1.110000, 1.090000, 1.080000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.030000, 1.020000, 1.030000, 1.020000, 1.020000, 1.010000, 1.020000, 1.020000, 1.010000, 0.740000, 0.740000, 0.730000, 0.910000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.300000, 1.310000, 1.310000, 1.300000, 1.270000, 1.250000, 1.220000, 1.200000, 1.170000, 1.150000, 1.130000, 1.120000, 1.130000, 1.150000, 1.120000, 1.110000, 1.110000, 1.090000, 1.080000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 1.010000, 1.000000, 1.000000, 0.980000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 527204 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807003, -24.041000, -3.124385 ], "estimate": [ -48.807003, -24.041000, -3.124385 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.540000, 5.540000, 5.990000, 6.490000, 7.060000, 7.910000, 8.690000, 8.820000, 8.800000, 8.790000, 8.780000, 8.770000, 8.750000, 8.750000, 8.750000, 8.750000, 8.750000, 6.040000, 5.980000, 5.990000, 6.000000, 6.000000, 6.000000, 6.020000, 5.560000, 5.080000, 5.090000, 5.110000, 5.130000, 6.450000, 6.480000, 9.010000, 9.060000, 9.110000, 8.510000, 8.540000, 8.580000, 1.990000, 2.010000, 2.010000, 2.030000, 2.050000, 2.060000, 2.080000, 2.110000, 2.050000, 1.990000, 1.930000, 1.880000, 1.840000, 1.790000, 1.750000, 1.710000, 1.650000, 1.180000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.310000, 1.340000, 1.360000, 1.350000, 1.330000, 1.310000, 1.290000, 1.290000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.150000, 1.130000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.020000, 1.010000, 0.740000, 0.730000, 0.730000, 1.000000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.280000, 1.300000, 1.320000, 1.310000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.170000, 1.150000, 1.130000, 1.130000, 1.130000, 1.140000, 1.120000, 1.110000, 1.110000, 1.090000, 1.080000, 1.060000, 1.050000, 1.040000, 1.020000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.970000, 0.960000, 0.950000, 0.950000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000, 0.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 528043 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.041000, 3.128072 ], "estimate": [ -48.807999, -24.041000, 3.128072 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.860000, 3.040000, 5.520000, 5.720000, 6.160000, 6.680000, 7.270000, 8.190000, 8.830000, 8.810000, 8.790000, 8.770000, 8.770000, 8.760000, 8.750000, 8.750000, 8.740000, 8.740000, 8.740000, 5.970000, 5.980000, 5.990000, 5.990000, 5.990000, 6.010000, 5.940000, 5.350000, 5.070000, 5.100000, 5.120000, 6.430000, 6.460000, 6.490000, 9.020000, 9.070000, null, 8.510000, 8.560000, 2.030000, 2.000000, 2.000000, 2.020000, 2.030000, 2.050000, 2.070000, 2.090000, 2.100000, 2.030000, 1.970000, 1.920000, 1.870000, 1.820000, 1.780000, 1.740000, 1.690000, 1.260000, 1.180000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.280000, 1.290000, 1.320000, 1.350000, 1.360000, 1.350000, 1.320000, 1.300000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.020000, 1.030000, 1.030000, 1.020000, 0.800000, 0.740000, 0.740000, 0.740000, 1.020000, 1.030000, 1.020000, 1.030000, 1.030000, 1.020000, 1.020000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.270000, 1.280000, 1.290000, 1.310000, 1.320000, 1.310000, 1.290000, 1.270000, 1.240000, 1.210000, 1.190000, 1.170000, 1.140000, 1.120000, 1.130000, 1.150000, 1.130000, 1.120000, 1.100000, 1.100000, 1.090000, 1.070000, 1.060000, 1.040000, 1.030000, 1.020000, 1.010000, 1.020000, 1.000000, 1.000000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.940000, 0.930000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 528993 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.041000, 3.085054 ], "estimate": [ -48.807999, -24.041000, 3.085054 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.630000, 2.780000, 2.950000, 3.170000, 5.520000, 5.930000, 6.410000, 6.970000, 7.830000, 8.630000, 8.820000, 8.800000, 8.780000, 8.770000, 8.770000, 8.750000, 8.740000, 8.740000, 8.740000, 8.740000, 6.420000, 5.970000, 5.980000, 5.990000, 5.990000, 6.010000, 6.020000, 5.650000, 5.100000, 5.080000, 5.100000, 5.120000, 6.460000, 6.470000, 7.810000, 9.040000, 9.070000, 8.530000, 8.520000, 8.560000, 1.990000, 2.000000, 2.010000, 2.020000, 2.040000, 2.060000, 2.070000, 2.100000, 2.070000, 2.000000, 1.950000, 1.900000, 1.850000, 1.810000, 1.770000, 1.720000, 1.690000, 1.190000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.290000, 1.310000, 1.340000, 1.360000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.090000, 1.090000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.040000, 1.030000, 1.030000, 1.030000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 0.740000, 0.740000, 0.740000, 0.760000, 1.020000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.290000, 1.300000, 1.320000, 1.320000, 1.300000, 1.280000, 1.260000, 1.230000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.140000, 1.140000, 1.130000, 1.120000, 1.100000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.030000, 1.020000, 1.020000, 1.020000, 1.000000, 1.000000, 0.990000, 0.970000, 0.960000, 0.960000, 0.950000, 0.940000, 0.940000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 644341 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.041000, 3.017453 ], "estimate": [ -48.807999, -24.041000, 3.017453 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.260000, 2.360000, 2.460000, 2.600000, 2.740000, 2.910000, 3.110000, 5.510000, 5.850000, 6.330000, 6.870000, 7.520000, 8.490000, 8.820000, 8.800000, 8.780000, 8.770000, 8.760000, 8.740000, 8.740000, 8.730000, 8.730000, 8.730000, 7.100000, 5.970000, 5.970000, 5.990000, 5.990000, 5.990000, 6.010000, 5.830000, 5.230000, 5.060000, 5.100000, 5.120000, 6.440000, 6.470000, 7.790000, 9.030000, 9.090000, null, 8.500000, 8.550000, 1.990000, 1.990000, 2.000000, 2.010000, 2.020000, 2.050000, 2.070000, 2.090000, 2.090000, 2.020000, 1.960000, 1.920000, 1.860000, 1.810000, 1.790000, 1.740000, 1.690000, 1.500000, 1.170000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.320000, 1.350000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.020000, 1.030000, 1.020000, 1.030000, 1.020000, 1.010000, 0.740000, 0.740000, 0.740000, 1.020000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000, 1.280000, 1.280000, 1.300000, 1.320000, 1.330000, 1.320000, 1.290000, 1.280000, 1.240000, 1.220000, 1.200000, 1.170000, 1.150000, 1.130000, 1.150000, 1.160000, 1.140000, 1.130000, 1.110000, 1.110000, 1.100000, 1.080000, 1.070000, 1.050000, 1.040000, 1.030000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055354, 889878 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.041000, 2.955998 ], "estimate": [ -48.807999, -24.041000, 2.955998 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.930000, 2.010000, 2.100000, 2.190000, 2.280000, 2.400000, 2.520000, 2.660000, 2.810000, 3.010000, 5.530000, 5.630000, 6.070000, 6.590000, 7.160000, 8.100000, 8.810000, 8.800000, 8.780000, 8.770000, 8.760000, 8.750000, 8.730000, 8.730000, 8.730000, 8.730000, 8.730000, 5.950000, 5.970000, 5.970000, 5.990000, 5.990000, 6.000000, 6.020000, 5.520000, 5.060000, 5.080000, 5.100000, 6.410000, 6.450000, 6.470000, 9.010000, 9.050000, 9.090000, 8.500000, 8.530000, 8.590000, 1.980000, 1.990000, 2.000000, 2.010000, 2.030000, 2.050000, 2.070000, 2.100000, 2.050000, 2.000000, 1.940000, 1.890000, 1.840000, 1.800000, 1.760000, 1.710000, 1.680000, 1.200000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.320000, 1.350000, 1.360000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.260000, 1.240000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.030000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.020000, 1.030000, 1.030000, 1.030000, 1.020000, 1.010000, 0.740000, 0.740000, 0.740000, 1.020000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.290000, 1.310000, 1.330000, 1.330000, 1.310000, 1.290000, 1.270000, 1.240000, 1.220000, 1.190000, 1.170000, 1.150000, 1.140000, 1.160000, 1.160000, 1.140000, 1.120000, 1.110000, 1.110000, 1.090000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055355, 444260 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.041000, 2.912979 ], "estimate": [ -48.807999, -24.041000, 2.912979 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.700000, 1.760000, 1.820000, 1.880000, 1.960000, 2.030000, 2.120000, 2.210000, 2.310000, 2.430000, 2.560000, 2.710000, 2.880000, 3.070000, 5.510000, 5.780000, 6.240000, 6.780000, 7.410000, 8.370000, 8.810000, 8.780000, 8.770000, 8.760000, 8.750000, 8.740000, 8.730000, 8.730000, 8.720000, 8.730000, 7.640000, 5.950000, 5.960000, 5.970000, 5.980000, 5.990000, 6.000000, 5.880000, 5.280000, 5.060000, 5.090000, 5.100000, 6.420000, 6.460000, 6.490000, 9.020000, 9.070000, null, 8.500000, 8.550000, 8.580000, 1.970000, 1.980000, 2.000000, 2.020000, 2.030000, 2.050000, 2.070000, 2.090000, 2.040000, 1.980000, 1.930000, 1.870000, 1.830000, 1.790000, 1.750000, 1.700000, 1.670000, 1.180000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.330000, 1.350000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.230000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 0.970000, 0.740000, 0.750000, 0.740000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.280000, 1.300000, 1.320000, 1.340000, 1.340000, 1.300000, 1.290000, 1.260000, 1.230000, 1.210000, 1.190000, 1.170000, 1.150000, 1.150000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055355, 340123 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.041000, 2.863815 ], "estimate": [ -48.807999, -24.041000, 2.863815 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.600000, 1.650000, 1.700000, 1.760000, 1.820000, 1.890000, 1.960000, 2.030000, 2.120000, 2.210000, 2.320000, 2.420000, 2.560000, 2.710000, 2.880000, 3.080000, 5.500000, 5.790000, 6.270000, 6.800000, 7.440000, 8.440000, 8.800000, 8.780000, 8.770000, 8.750000, 8.740000, 8.730000, 8.730000, 8.720000, 8.720000, 8.720000, 7.430000, 5.950000, 5.960000, 5.970000, 5.980000, 5.990000, 6.000000, 5.850000, 5.270000, 5.050000, 5.090000, 5.100000, 6.420000, 6.450000, 6.480000, 9.010000, 9.070000, null, 8.500000, 8.550000, 8.610000, 1.970000, 1.980000, 1.990000, 2.010000, 2.030000, 2.050000, 2.070000, 2.090000, 2.040000, 1.980000, 1.930000, 1.870000, 1.830000, 1.790000, 1.750000, 1.700000, 1.670000, 1.180000, 1.160000, 1.160000, 1.180000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.330000, 1.350000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.030000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.030000, 1.040000, 1.030000, 1.030000, 1.040000, 1.030000, 1.010000, 0.750000, 0.750000, 0.740000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.290000, 1.310000, 1.330000, 1.350000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.210000, 1.190000, 1.170000, 1.150000, 1.160000, 1.180000, 1.160000, 1.140000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.070000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055355, 501641 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.041000, 2.790069 ], "estimate": [ -48.807999, -24.041000, 2.790069 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.440000, 1.480000, 1.520000, 1.570000, 1.600000, 1.650000, 1.720000, 1.760000, 1.830000, 1.900000, 1.980000, 2.060000, 2.150000, 2.250000, 2.350000, 2.480000, 2.610000, 2.780000, 2.960000, 3.130000, 5.520000, 5.970000, 6.470000, 7.060000, 7.940000, 8.750000, 8.780000, 8.770000, 8.760000, 8.750000, 8.740000, 8.730000, 8.720000, 8.720000, 8.720000, 8.720000, 6.500000, 5.950000, 5.960000, 5.960000, 5.970000, 5.990000, 6.000000, 5.680000, 5.140000, 5.070000, 5.080000, 5.100000, 6.430000, 6.460000, 7.770000, 9.030000, 9.070000, null, 8.500000, 8.560000, null, 1.970000, 1.980000, 1.990000, 2.010000, 2.030000, 2.050000, 2.070000, 2.090000, 2.030000, 1.970000, 1.920000, 1.860000, 1.820000, 1.790000, 1.740000, 1.690000, 1.660000, 1.180000, 1.160000, 1.160000, 1.190000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.330000, 1.350000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000, 1.040000, 1.040000, 1.030000, 1.030000, 1.030000, 1.040000, 1.030000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.020000, 0.760000, 0.750000, 0.750000, 1.030000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.180000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000, 1.300000, 1.320000, 1.340000, 1.350000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.220000, 1.200000, 1.170000, 1.150000, 1.170000, 1.180000, 1.160000, 1.140000, 1.140000, 1.120000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055355, 750226 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807003, -24.041000, 2.734759 ], "estimate": [ -48.807003, -24.041000, 2.734759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.300000, 1.340000, 1.380000, 1.410000, 1.450000, 1.490000, 1.530000, 1.570000, 1.610000, 1.660000, 1.730000, 1.790000, 1.850000, 1.920000, 1.990000, 2.080000, 2.160000, 2.260000, 2.380000, 2.500000, 2.650000, 2.810000, 3.010000, 5.500000, 5.660000, 6.120000, 6.620000, 7.230000, 8.170000, 8.790000, 8.780000, 8.770000, 8.750000, 8.740000, 8.730000, 8.720000, 8.710000, 8.710000, 8.710000, 8.710000, 5.950000, 5.950000, 5.950000, 5.960000, 5.980000, 5.990000, 6.010000, 5.500000, 5.040000, 5.070000, 5.090000, 5.120000, 6.430000, 6.470000, 9.010000, 9.040000, 9.050000, 8.490000, 8.520000, 8.570000, 1.990000, 1.970000, 1.980000, 2.000000, 2.010000, 2.030000, 2.050000, 2.070000, 2.080000, 2.020000, 1.950000, 1.900000, 1.860000, 1.810000, 1.770000, 1.730000, 1.690000, 1.650000, 1.170000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.270000, 1.300000, 1.320000, 1.350000, 1.360000, 1.340000, 1.320000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.040000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.020000, 0.760000, 0.750000, 0.760000, 1.030000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.320000, 1.330000, 1.350000, 1.350000, 1.340000, 1.300000, 1.290000, 1.260000, 1.240000, 1.210000, 1.190000, 1.170000, 1.160000, 1.180000, 1.190000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055355, 844542 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807003, -24.041000, 2.691740 ], "estimate": [ -48.807003, -24.041000, 2.691740 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.220000, 1.260000, 1.270000, 1.300000, 1.340000, 1.370000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.610000, 1.660000, 1.720000, 1.780000, 1.830000, 1.910000, 1.990000, 2.060000, 2.150000, 2.240000, 2.370000, 2.490000, 2.650000, 2.810000, 3.010000, 5.500000, 5.660000, 6.110000, 6.630000, 7.230000, 8.170000, 8.790000, 8.780000, 8.760000, 8.740000, 8.730000, 8.720000, 8.720000, 8.710000, 8.710000, 8.710000, 8.710000, 5.940000, 5.940000, 5.950000, 5.960000, 5.970000, 5.990000, 6.000000, 5.450000, 5.050000, 5.060000, 5.080000, 5.100000, 6.440000, 6.460000, 9.000000, 9.040000, 9.020000, 8.480000, 8.520000, 8.570000, 2.000000, 1.970000, 1.970000, 1.990000, 2.010000, 2.030000, 2.050000, 2.070000, 2.070000, 2.020000, 1.960000, 1.900000, 1.860000, 1.810000, 1.770000, 1.730000, 1.690000, 1.650000, 1.180000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.350000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.020000, 0.770000, 0.760000, 0.770000, 0.890000, 1.060000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.270000, 1.280000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.360000, 1.340000, 1.310000, 1.290000, 1.260000, 1.240000, 1.210000, 1.200000, 1.170000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055356, 195780 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807003, -24.041000, 2.636431 ], "estimate": [ -48.807003, -24.041000, 2.636431 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.210000, 1.240000, 1.260000, 1.280000, 1.320000, 1.360000, 1.390000, 1.420000, 1.460000, 1.500000, 1.540000, 1.590000, 1.630000, 1.680000, 1.740000, 1.800000, 1.870000, 1.940000, 2.010000, 2.100000, 2.200000, 2.300000, 2.420000, 2.550000, 2.730000, 2.900000, 3.090000, 5.490000, 5.870000, 6.360000, 6.910000, 7.780000, 8.560000, 8.780000, 8.770000, 8.750000, 8.730000, 8.720000, 8.710000, 8.710000, 8.710000, 8.700000, 8.700000, 6.930000, 5.940000, 5.940000, 5.950000, 5.960000, 5.980000, 5.990000, 5.810000, 5.220000, 5.050000, 5.070000, 5.100000, 6.410000, 6.450000, 7.780000, 9.020000, 9.060000, null, 8.500000, 8.550000, 8.640000, 1.970000, 1.970000, 1.980000, 2.000000, 2.010000, 2.030000, 2.050000, 2.080000, 2.050000, 1.990000, 1.930000, 1.890000, 1.840000, 1.790000, 1.760000, 1.710000, 1.680000, 1.640000, 1.170000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.330000, 1.350000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.250000, 1.240000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.050000, 1.050000, 1.050000, 1.050000, 1.050000, 1.040000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.060000, 1.020000, 0.770000, 0.770000, 0.770000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.140000, 1.150000, 1.160000, 1.170000, 1.170000, 1.190000, 1.190000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.280000, 1.300000, 1.310000, 1.330000, 1.350000, 1.380000, 1.360000, 1.330000, 1.300000, 1.280000, 1.250000, 1.240000, 1.210000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055356, 311674 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.040001, 2.574975 ], "estimate": [ -48.807999, -24.040001, 2.574975 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.110000, 1.110000, 1.140000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.300000, 1.330000, 1.370000, 1.400000, 1.430000, 1.470000, 1.520000, 1.560000, 1.600000, 1.650000, 1.700000, 1.760000, 1.820000, 1.890000, 1.970000, 2.050000, 2.140000, 2.240000, 2.360000, 2.480000, 2.640000, 2.790000, 2.980000, 5.500000, 5.630000, 6.100000, 6.620000, 7.210000, 8.170000, 8.780000, 8.770000, 8.750000, 8.740000, 8.720000, 8.710000, 8.700000, 8.700000, 8.700000, 8.700000, 8.700000, 5.930000, 5.940000, 5.940000, 5.950000, 5.960000, 5.980000, 6.000000, 5.530000, 5.030000, 5.050000, 5.070000, 5.100000, 6.410000, 6.450000, 8.990000, 9.030000, 9.060000, 8.480000, 8.520000, 8.550000, null, 1.970000, 1.970000, 1.980000, 2.000000, 2.010000, 2.030000, 2.060000, 2.070000, 2.030000, 1.980000, 1.930000, 1.870000, 1.830000, 1.790000, 1.740000, 1.700000, 1.670000, 1.630000, 1.160000, 1.140000, 1.160000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.310000, 1.340000, 1.350000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 1.050000, 1.040000, 1.050000, 1.050000, 1.050000, 1.060000, 1.060000, 1.050000, 0.960000, 0.770000, 0.780000, 0.780000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.160000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.300000, 1.310000, 1.320000, 1.340000, 1.360000, 1.370000, 1.350000, 1.330000, 1.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 578459 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.040001, 2.519666 ], "estimate": [ -48.807999, -24.040001, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.280000, 1.320000, 1.350000, 1.380000, 1.410000, 1.460000, 1.490000, 1.530000, 1.570000, 1.630000, 1.670000, 1.740000, 1.790000, 1.860000, 1.930000, 2.010000, 2.100000, 2.200000, 2.300000, 2.430000, 2.560000, 2.730000, 2.910000, 3.120000, 5.470000, 5.920000, 6.410000, 7.000000, 7.850000, 8.650000, 8.770000, 8.750000, 8.730000, 8.720000, 8.710000, 8.710000, 8.700000, 8.700000, 8.690000, 8.690000, 6.740000, 5.930000, 5.940000, 5.940000, 5.950000, 5.970000, 5.990000, 5.750000, 5.180000, 5.040000, 5.070000, 5.080000, 6.410000, 6.430000, 7.770000, 9.010000, 9.050000, null, 8.500000, 8.550000, null, 1.960000, 1.970000, 1.970000, 1.980000, 2.000000, 2.020000, 2.050000, 2.070000, 2.060000, 1.990000, 1.940000, 1.890000, 1.850000, 1.800000, 1.760000, 1.720000, 1.690000, 1.650000, 1.230000, 1.150000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.350000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.070000, 1.060000, 1.050000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.050000, 1.050000, 0.780000, 0.780000, 0.780000, 0.800000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.100000, 1.120000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.290000, 1.310000, 1.320000, 1.340000, 1.360000, 1.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 579648 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -24.040001, 2.470501 ], "estimate": [ -48.807999, -24.040001, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.100000, 1.130000, 1.150000, 1.160000, 1.190000, 1.220000, 1.250000, 1.270000, 1.310000, 1.340000, 1.360000, 1.400000, 1.440000, 1.470000, 1.520000, 1.550000, 1.610000, 1.650000, 1.710000, 1.780000, 1.840000, 1.910000, 1.980000, 2.080000, 2.160000, 2.280000, 2.400000, 2.520000, 2.670000, 2.850000, 3.050000, 5.470000, 5.800000, 6.280000, 6.830000, 7.520000, 8.430000, 8.770000, 8.750000, 8.730000, 8.720000, 8.710000, 8.700000, 8.690000, 8.690000, 8.690000, 8.690000, 7.410000, 5.930000, 5.940000, 5.940000, 5.960000, 5.970000, 5.990000, 5.890000, 5.300000, 5.010000, 5.060000, 5.070000, 6.400000, 6.420000, 6.450000, 9.000000, 9.040000, null, 8.480000, 8.520000, 8.580000, 2.000000, 1.960000, 1.970000, 1.970000, 2.000000, 2.010000, 2.030000, 2.060000, 2.070000, 2.020000, 1.960000, 1.910000, 1.870000, 1.820000, 1.780000, 1.730000, 1.690000, 1.660000, 1.620000, 1.160000, 1.140000, 1.160000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.310000, 1.340000, 1.350000, 1.350000, 1.330000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.080000, 1.080000, 1.070000, 1.070000, 1.060000, 1.070000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.060000, 1.070000, 1.060000, 1.060000, 0.950000, 0.780000, 0.780000, 0.780000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.220000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.290000, 1.310000, 1.330000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 580724 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.808998, -24.039000, 2.421337 ], "estimate": [ -48.808998, -24.039000, 2.421337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.090000, 1.100000, 1.110000, 1.130000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.280000, 1.310000, 1.350000, 1.380000, 1.420000, 1.450000, 1.490000, 1.520000, 1.580000, 1.630000, 1.680000, 1.750000, 1.800000, 1.870000, 1.950000, 2.020000, 2.120000, 2.210000, 2.320000, 2.450000, 2.590000, 2.750000, 2.940000, 5.490000, 5.590000, 6.050000, 6.540000, 7.150000, 8.040000, 8.770000, 8.750000, 8.740000, 8.720000, 8.710000, 8.700000, 8.690000, 8.690000, 8.680000, 8.690000, 8.690000, 6.010000, 5.930000, 5.930000, 5.950000, 5.950000, 5.970000, 5.990000, 5.580000, 5.050000, 5.040000, 5.060000, 5.080000, 6.400000, 6.440000, 8.960000, 9.010000, 9.060000, 8.470000, 8.490000, 8.560000, null, 1.950000, 1.960000, 1.970000, 1.980000, 2.000000, 2.020000, 2.050000, 2.070000, 2.050000, 2.000000, 1.940000, 1.890000, 1.840000, 1.790000, 1.760000, 1.710000, 1.680000, 1.650000, 1.390000, 1.160000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.350000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.280000, 1.260000, 1.240000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.090000, 1.090000, 1.090000, 1.080000, 1.070000, 1.070000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.060000, 0.780000, 0.790000, 0.780000, 0.790000, 1.070000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.250000, 1.270000, 1.280000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 581680 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.808998, -24.039000, 2.378319 ], "estimate": [ -48.808998, -24.039000, 2.378319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.350000, 1.370000, 1.420000, 1.450000, 1.500000, 1.530000, 1.580000, 1.640000, 1.680000, 1.760000, 1.820000, 1.890000, 1.960000, 2.050000, 2.140000, 2.240000, 2.360000, 2.480000, 2.620000, 2.780000, 2.980000, 5.470000, 5.690000, 6.140000, 6.670000, 7.310000, 8.260000, 8.770000, 8.750000, 8.730000, 8.720000, 8.700000, 8.690000, 8.680000, 8.680000, 8.680000, 8.680000, 8.680000, 5.930000, 5.920000, 5.940000, 5.950000, 5.950000, 5.970000, 5.980000, 5.420000, 5.020000, 5.040000, 5.060000, 5.080000, 6.400000, 6.440000, 8.990000, 9.030000, null, 8.460000, 8.520000, 8.560000, 8.690000, 1.960000, 1.960000, 1.970000, 1.980000, 2.000000, 2.020000, 2.050000, 2.080000, 2.050000, 1.990000, 1.930000, 1.880000, 1.840000, 1.790000, 1.750000, 1.710000, 1.680000, 1.650000, 1.270000, 1.150000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.260000, 1.290000, 1.310000, 1.350000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.170000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.070000, 1.080000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 1.070000, 0.780000, 0.790000, 0.790000, 0.810000, 1.080000, 1.080000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000, 1.250000, 1.260000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 582612 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.810001, -24.039000, 2.329154 ], "estimate": [ -48.810001, -24.039000, 2.329154 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.170000, 1.190000, 1.210000, 1.250000, 1.270000, 1.300000, 1.330000, 1.360000, 1.410000, 1.430000, 1.480000, 1.530000, 1.560000, 1.620000, 1.670000, 1.750000, 1.790000, 1.870000, 1.940000, 2.010000, 2.110000, 2.210000, 2.320000, 2.440000, 2.570000, 2.730000, 2.920000, 3.100000, 5.570000, 6.030000, 6.550000, 7.140000, 8.070000, 8.770000, 8.750000, 8.730000, 8.720000, 8.710000, 8.690000, 8.680000, 8.680000, 8.680000, 8.680000, 8.680000, 5.980000, 5.930000, 5.930000, 5.950000, 5.950000, 5.970000, 5.980000, 5.570000, 5.060000, 5.040000, 5.060000, 5.090000, 6.410000, 6.430000, 8.980000, 9.030000, 9.070000, 8.470000, 8.510000, 8.560000, null, 1.970000, 1.960000, 1.970000, 1.980000, 2.000000, 2.020000, 2.040000, 2.070000, 2.060000, 2.000000, 1.950000, 1.900000, 1.850000, 1.800000, 1.770000, 1.720000, 1.690000, 1.650000, 1.620000, 1.160000, 1.140000, 1.160000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.310000, 1.340000, 1.360000, 1.350000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.200000, 1.200000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.070000, 1.080000, 1.070000, 1.080000, 1.070000, 1.070000, 1.070000, 1.070000, 1.080000, 1.080000, 0.890000, 0.790000, 0.790000, 0.790000, 1.080000, 1.090000, 1.090000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000, 1.210000, 1.220000, 1.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 583554 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.810001, -24.039000, 2.267699 ], "estimate": [ -48.810001, -24.039000, 2.267699 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 0.990000, 0.960000, 0.930000, 0.910000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.100000, 1.100000, 1.120000, 1.150000, 1.180000, 1.210000, 1.230000, 1.260000, 1.280000, 1.310000, 1.350000, 1.390000, 1.420000, 1.460000, 1.500000, 1.550000, 1.600000, 1.660000, 1.700000, 1.760000, 1.830000, 1.900000, 1.990000, 2.070000, 2.170000, 2.260000, 2.390000, 2.520000, 2.670000, 2.850000, 3.050000, 5.450000, 5.880000, 6.380000, 6.960000, 7.800000, 8.610000, 8.750000, 8.730000, 8.720000, 8.700000, 8.690000, 8.680000, 8.680000, 8.670000, 8.680000, 8.680000, 6.890000, 5.920000, 5.920000, 5.930000, 5.940000, 5.960000, 5.980000, 5.820000, 5.250000, 5.030000, 5.050000, 5.060000, 6.390000, 6.430000, 7.750000, 9.010000, 9.050000, null, 8.480000, 8.520000, 8.630000, 8.680000, 1.950000, 1.960000, 1.970000, 1.980000, 2.010000, 2.030000, 2.050000, 2.070000, 2.040000, 1.980000, 1.930000, 1.870000, 1.830000, 1.790000, 1.750000, 1.700000, 1.680000, 1.640000, 1.280000, 1.150000, 1.150000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.350000, 1.360000, 1.330000, 1.320000, 1.310000, 1.290000, 1.290000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.120000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.090000, 1.090000, 1.080000, 1.090000, 1.080000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.070000, 1.080000, 1.050000, 0.780000, 0.800000, 0.790000, 0.890000, 1.090000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.160000, 1.170000, 1.180000, 1.190000, 1.200000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 584476 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.810001, -24.039000, 2.230826 ], "estimate": [ -48.810001, -24.039000, 2.230826 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.100000, 1.060000, 1.020000, 1.000000, 0.950000, 0.920000, 0.900000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.220000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.420000, 1.460000, 1.500000, 1.540000, 1.590000, 1.640000, 1.700000, 1.760000, 1.830000, 1.900000, 1.980000, 2.050000, 2.140000, 2.250000, 2.380000, 2.510000, 2.660000, 2.840000, 3.040000, 5.460000, 5.860000, 6.350000, 6.940000, 7.800000, 8.600000, 8.750000, 8.730000, 8.710000, 8.700000, 8.690000, 8.680000, 8.680000, 8.670000, 8.670000, 8.670000, 6.730000, 5.920000, 5.920000, 5.940000, 5.940000, 5.960000, 5.980000, 5.790000, 5.240000, 5.010000, 5.050000, 5.080000, 6.410000, 6.420000, 7.750000, 8.990000, 9.060000, null, 8.480000, 8.530000, 8.660000, 8.690000, 1.950000, 1.960000, 1.970000, 1.980000, 2.000000, 2.020000, 2.050000, 2.080000, 2.040000, 1.980000, 1.930000, 1.880000, 1.830000, 1.790000, 1.750000, 1.710000, 1.680000, 1.640000, 1.550000, 1.160000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.300000, 1.320000, 1.350000, 1.370000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.240000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.080000, 1.080000, 1.080000, 1.090000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.040000, 0.790000, 0.800000, 0.790000, 0.850000, 1.100000, 1.100000, 1.110000, 1.110000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.180000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 585386 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.810001, -24.039000, 2.193953 ], "estimate": [ -48.810001, -24.039000, 2.193953 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.510000, 1.310000, 1.130000, 1.090000, 1.050000, 1.020000, 0.980000, 0.950000, 0.920000, 0.890000, 0.890000, 0.900000, 0.920000, 0.920000, 0.950000, 0.950000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.110000, 1.140000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.310000, 1.350000, 1.370000, 1.410000, 1.450000, 1.500000, 1.530000, 1.590000, 1.640000, 1.680000, 1.750000, 1.830000, 1.900000, 1.970000, 2.060000, 2.140000, 2.260000, 2.380000, 2.520000, 2.660000, 2.840000, 3.050000, 5.450000, 5.900000, 6.410000, 6.990000, 7.860000, 8.670000, 8.740000, 8.720000, 8.710000, 8.700000, 8.690000, 8.680000, 8.670000, 8.670000, 8.670000, 8.670000, 6.530000, 5.920000, 5.920000, 5.930000, 5.950000, 5.960000, 5.970000, 5.730000, 5.190000, 5.030000, 5.050000, 5.070000, 6.390000, 6.430000, 7.770000, 9.000000, 9.050000, null, 8.480000, 8.540000, null, 8.670000, 1.950000, 1.960000, 1.970000, 1.980000, 2.000000, 2.020000, 2.050000, 2.080000, 2.040000, 1.980000, 1.930000, 1.880000, 1.830000, 1.790000, 1.750000, 1.710000, 1.680000, 1.640000, 1.580000, 1.160000, 1.150000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.290000, 1.330000, 1.360000, 1.370000, 1.340000, 1.330000, 1.320000, 1.300000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.220000, 1.220000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.090000, 1.100000, 1.090000, 1.080000, 1.090000, 1.080000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.040000, 0.790000, 0.800000, 0.790000, 0.860000, 1.100000, 1.100000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 586334 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.808998, -24.040001, 2.120206 ], "estimate": [ -48.808998, -24.040001, 2.120206 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.520000, 2.510000, 2.510000, 2.510000, 1.160000, 1.110000, 1.070000, 1.040000, 1.000000, 0.970000, 0.930000, 0.900000, 0.880000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.280000, 1.320000, 1.350000, 1.380000, 1.420000, 1.460000, 1.510000, 1.550000, 1.600000, 1.650000, 1.710000, 1.770000, 1.840000, 1.900000, 2.000000, 2.090000, 2.190000, 2.300000, 2.420000, 2.560000, 2.730000, 2.910000, 3.090000, 5.610000, 6.060000, 6.600000, 7.220000, 8.150000, 8.750000, 8.740000, 8.720000, 8.700000, 8.690000, 8.680000, 8.670000, 8.670000, 8.670000, 8.670000, 8.670000, 6.090000, 5.920000, 5.930000, 5.940000, 5.940000, 5.960000, 5.980000, 5.600000, 5.090000, 5.040000, 5.050000, 5.080000, 6.410000, 6.440000, 8.970000, 9.030000, 9.060000, 8.470000, 8.500000, 8.550000, null, 8.690000, 1.960000, 1.970000, 1.970000, 1.990000, 2.010000, 2.030000, 2.060000, 2.080000, 2.040000, 1.980000, 1.920000, 1.870000, 1.830000, 1.790000, 1.750000, 1.710000, 1.680000, 1.640000, 1.570000, 1.160000, 1.150000, 1.180000, 1.200000, 1.230000, 1.250000, 1.280000, 1.300000, 1.340000, 1.360000, 1.380000, 1.340000, 1.340000, 1.320000, 1.300000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.090000, 1.090000, 1.090000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.010000, 0.800000, 0.790000, 0.800000, 1.100000, 1.110000, 1.110000, 1.120000, 1.120000, 1.130000, 1.130000, 1.130000, 1.140000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 587262 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.808998, -24.040001, 2.046460 ], "estimate": [ -48.808998, -24.040001, 2.046460 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.530000, 2.530000, 2.530000, 2.520000, 2.510000, 2.510000, 2.510000, 2.500000, 2.500000, 1.140000, 1.100000, 1.060000, 1.020000, 0.990000, 0.960000, 0.910000, 0.900000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.110000, 1.140000, 1.170000, 1.190000, 1.220000, 1.260000, 1.280000, 1.310000, 1.360000, 1.380000, 1.420000, 1.460000, 1.500000, 1.550000, 1.600000, 1.650000, 1.710000, 1.770000, 1.840000, 1.920000, 2.000000, 2.090000, 2.190000, 2.310000, 2.430000, 2.570000, 2.730000, 2.930000, 5.440000, 5.710000, 6.160000, 6.710000, 7.360000, 8.330000, 8.750000, 8.730000, 8.710000, 8.700000, 8.680000, 8.680000, 8.670000, 8.660000, 8.660000, 8.670000, 8.670000, 5.910000, 5.920000, 5.930000, 5.940000, 5.940000, 5.970000, 5.970000, 5.550000, 5.040000, 5.040000, 5.050000, 5.100000, 6.410000, 6.440000, 8.980000, 9.030000, null, 8.470000, 8.520000, 8.560000, null, 8.700000, 1.950000, 1.970000, 1.980000, 1.990000, 2.010000, 2.030000, 2.060000, 2.080000, 2.030000, 1.980000, 1.930000, 1.870000, 1.830000, 1.790000, 1.760000, 1.710000, 1.690000, 1.650000, 1.600000, 1.170000, 1.160000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.310000, 1.340000, 1.370000, 1.380000, 1.350000, 1.340000, 1.330000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.220000, 1.220000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.120000, 1.110000, 1.100000, 1.100000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 0.970000, 0.810000, 0.820000, 0.820000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 588171 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.808998, -24.040001, 2.003441 ], "estimate": [ -48.808998, -24.040001, 2.003441 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.570000, 2.560000, 2.550000, 2.530000, 2.530000, 2.520000, 2.520000, 2.510000, 2.500000, 2.500000, 2.500000, 2.490000, 1.150000, 1.090000, 1.070000, 1.020000, 0.990000, 0.950000, 0.920000, 0.890000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.950000, 0.960000, 0.990000, 1.000000, 1.010000, 1.020000, 1.040000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.280000, 1.330000, 1.360000, 1.390000, 1.440000, 1.480000, 1.530000, 1.570000, 1.620000, 1.690000, 1.750000, 1.810000, 1.890000, 1.970000, 2.060000, 2.150000, 2.250000, 2.380000, 2.520000, 2.670000, 2.860000, 3.070000, 5.560000, 6.020000, 6.530000, 7.160000, 8.050000, 8.740000, 8.730000, 8.720000, 8.700000, 8.690000, 8.680000, 8.670000, 8.660000, 8.660000, 8.660000, 8.670000, 6.130000, 5.920000, 5.920000, 5.930000, 5.950000, 5.960000, 5.960000, 5.630000, 5.130000, 5.030000, 5.050000, 5.070000, 6.400000, 6.430000, 7.760000, 9.020000, 9.070000, 8.470000, 8.510000, 8.550000, null, 8.690000, 1.960000, 1.970000, 1.980000, 1.990000, 2.010000, 2.030000, 2.050000, 2.080000, 2.040000, 1.990000, 1.950000, 1.890000, 1.850000, 1.800000, 1.770000, 1.730000, 1.690000, 1.660000, 1.620000, 1.170000, 1.160000, 1.180000, 1.200000, 1.230000, 1.250000, 1.280000, 1.300000, 1.330000, 1.370000, 1.380000, 1.360000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.280000, 1.260000, 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, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.100000, 1.110000, 1.110000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.010000, 0.820000, 0.820000, 0.810000, 1.110000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 661705 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.808998, -24.041000, 1.960423 ], "estimate": [ -48.808998, -24.041000, 1.960423 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.620000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.520000, 2.510000, 2.500000, 2.500000, 2.490000, 2.490000, 1.330000, 1.110000, 1.080000, 1.030000, 0.980000, 0.960000, 0.920000, 0.900000, 0.870000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.010000, 1.030000, 1.050000, 1.080000, 1.100000, 1.120000, 1.130000, 1.160000, 1.190000, 1.210000, 1.250000, 1.270000, 1.310000, 1.350000, 1.380000, 1.420000, 1.460000, 1.500000, 1.550000, 1.610000, 1.660000, 1.710000, 1.780000, 1.850000, 1.930000, 2.010000, 2.100000, 2.210000, 2.330000, 2.450000, 2.600000, 2.770000, 2.980000, 5.430000, 5.840000, 6.330000, 6.930000, 7.780000, 8.580000, 8.740000, 8.720000, 8.700000, 8.690000, 8.680000, 8.670000, 8.660000, 8.660000, 8.660000, 8.670000, 6.940000, 5.910000, 5.920000, 5.930000, 5.940000, 5.960000, 5.970000, 5.860000, 5.300000, 5.020000, 5.050000, 5.070000, 6.400000, 6.420000, 6.450000, 9.000000, 9.050000, null, 8.480000, 8.530000, 8.600000, 8.690000, 1.980000, 1.960000, 1.970000, 1.980000, 2.000000, 2.020000, 2.040000, 2.070000, 2.070000, 2.010000, 1.960000, 1.910000, 1.870000, 1.830000, 1.790000, 1.750000, 1.700000, 1.680000, 1.640000, 1.360000, 1.170000, 1.160000, 1.190000, 1.220000, 1.240000, 1.260000, 1.290000, 1.320000, 1.360000, 1.380000, 1.380000, 1.350000, 1.340000, 1.330000, 1.310000, 1.300000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.090000, 0.830000, 0.820000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055358, 870514 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.811001, -24.033998, 1.905113 ], "estimate": [ -48.811001, -24.033998, 1.905113 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.320000, 4.540000, 3.960000, 2.600000, 2.580000, 2.570000, 2.560000, 2.540000, 2.530000, 2.530000, 2.520000, 2.510000, 2.500000, 2.500000, 2.490000, 2.480000, 2.480000, 1.280000, 1.100000, 1.070000, 1.020000, 0.980000, 0.950000, 0.910000, 0.890000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.950000, 0.960000, 0.990000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.190000, 1.210000, 1.240000, 1.270000, 1.310000, 1.350000, 1.370000, 1.410000, 1.460000, 1.500000, 1.550000, 1.600000, 1.660000, 1.710000, 1.780000, 1.840000, 1.930000, 2.010000, 2.100000, 2.220000, 2.330000, 2.460000, 2.600000, 2.780000, 2.980000, 5.440000, 5.870000, 6.370000, 6.970000, 7.830000, 8.680000, 8.730000, 8.710000, 8.700000, 8.690000, 8.680000, 8.660000, 8.660000, 8.660000, 8.660000, 8.660000, 6.880000, 5.910000, 5.920000, 5.930000, 5.930000, 5.950000, 5.970000, 5.850000, 5.300000, 5.010000, 5.050000, 5.050000, 6.390000, 6.420000, 7.770000, 9.000000, 9.040000, null, 8.470000, 8.520000, null, 8.660000, 1.970000, 1.950000, 1.970000, 1.980000, 2.000000, 2.020000, 2.040000, 2.070000, 2.070000, 2.020000, 1.960000, 1.910000, 1.870000, 1.830000, 1.790000, 1.760000, 1.710000, 1.690000, 1.650000, 1.600000, 1.170000, 1.170000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.320000, 1.360000, 1.380000, 1.390000, 1.360000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.240000, 1.220000, 1.210000, 1.200000, 1.200000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.110000, 1.110000, 1.120000, 1.110000, 1.110000, 1.110000, 1.110000, 1.110000, 1.120000, 1.120000, 1.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055359, 452610 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.820000, -24.007000, 1.843657 ], "estimate": [ -48.820000, -24.007000, 1.843657 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.760000, 7.880000, 6.350000, 5.240000, 4.480000, 3.890000, 2.590000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.520000, 2.510000, 2.500000, 2.500000, 2.490000, 2.480000, 2.470000, 2.470000, 1.100000, 1.070000, 1.030000, 0.980000, 0.960000, 0.910000, 0.900000, 0.870000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.970000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.120000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.370000, 1.400000, 1.450000, 1.490000, 1.530000, 1.590000, 1.650000, 1.710000, 1.760000, 1.830000, 1.910000, 2.000000, 2.090000, 2.190000, 2.310000, 2.430000, 2.580000, 2.750000, 2.950000, 5.420000, 5.810000, 6.320000, 6.920000, 7.750000, 8.590000, 8.720000, 8.700000, 8.690000, 8.670000, 8.660000, 8.650000, 8.650000, 8.650000, 8.650000, 8.650000, 7.030000, 5.900000, 5.900000, 5.910000, 5.930000, 5.940000, 5.950000, 5.890000, 5.340000, 5.010000, 5.020000, 5.060000, 6.380000, 6.410000, 6.450000, 8.990000, 9.040000, null, 8.460000, 8.520000, 8.570000, 8.670000, 8.700000, 1.940000, 1.960000, 1.970000, 1.990000, 2.010000, 2.020000, 2.050000, 2.080000, 2.030000, 1.980000, 1.940000, 1.880000, 1.840000, 1.800000, 1.770000, 1.720000, 1.690000, 1.660000, 1.630000, 1.200000, 1.160000, 1.170000, 1.200000, 1.220000, 1.250000, 1.280000, 1.300000, 1.340000, 1.370000, 1.380000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.120000, 1.110000, 1.120000, 1.120000, 1.110000, 1.120000, 1.120000, 1.120000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055359, 374091 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.834999, -23.948999, 1.800639 ], "estimate": [ -48.834999, -23.948999, 1.800639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.680000, 18.150000, 9.930000, 9.480000, 7.060000, 5.660000, 4.740000, 4.040000, 2.580000, 2.570000, 2.560000, 2.540000, 2.530000, 2.520000, 2.510000, 2.500000, 2.490000, 2.490000, 2.480000, 2.470000, 2.460000, 1.120000, 1.050000, 1.010000, 0.980000, 0.930000, 0.910000, 0.870000, 0.850000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.970000, 0.990000, 1.010000, 1.020000, 1.050000, 1.060000, 1.090000, 1.110000, 1.120000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.360000, 1.410000, 1.450000, 1.500000, 1.540000, 1.590000, 1.650000, 1.700000, 1.770000, 1.840000, 1.920000, 2.000000, 2.110000, 2.210000, 2.320000, 2.450000, 2.600000, 2.780000, 2.980000, 5.430000, 5.900000, 6.430000, 7.030000, 7.920000, 8.690000, 8.680000, 8.660000, 8.650000, 8.630000, 8.630000, 8.620000, 8.620000, 8.620000, 8.620000, 8.620000, 6.550000, 5.860000, 5.870000, 5.880000, 5.890000, 5.910000, 5.920000, 5.790000, 5.240000, 4.970000, 5.010000, 5.020000, 6.350000, 6.380000, 7.720000, 8.970000, 9.020000, null, 8.440000, 8.490000, null, 8.630000, 8.690000, 1.920000, 1.920000, 1.940000, 1.950000, 1.970000, 1.990000, 2.020000, 2.050000, 2.020000, 1.970000, 1.920000, 1.880000, 1.840000, 1.790000, 1.760000, 1.720000, 1.690000, 1.650000, 1.620000, 1.590000, 1.200000, 1.150000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000, 1.120000, 1.120000, 1.130000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055359, 445868 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.854000, -23.868999, 1.800639 ], "estimate": [ -48.854000, -23.868999, 1.800639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.700000, 21.630000, 18.170000, 18.150000, 9.750000, 7.420000, 5.720000, 4.610000, 2.570000, 2.560000, 2.540000, 2.520000, 2.520000, 2.500000, 2.490000, 2.480000, 2.470000, 2.460000, 2.450000, 1.180000, 1.020000, 0.970000, 0.920000, 0.880000, 0.840000, 0.810000, 0.780000, 0.780000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.940000, 0.960000, 0.980000, 0.990000, 1.010000, 1.010000, 1.040000, 1.070000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.220000, 1.260000, 1.290000, 1.330000, 1.360000, 1.400000, 1.440000, 1.490000, 1.530000, 1.590000, 1.650000, 1.700000, 1.770000, 1.830000, 1.910000, 1.990000, 2.100000, 2.200000, 2.320000, 2.450000, 2.600000, 2.770000, 2.970000, 5.490000, 5.910000, 6.430000, 7.040000, 7.930000, 8.610000, 8.600000, 8.580000, 8.570000, 8.560000, 8.550000, 8.540000, 8.540000, 8.540000, 8.540000, 8.550000, 6.210000, 5.790000, 5.800000, 5.810000, 5.820000, 5.840000, 5.840000, 5.670000, 5.160000, 4.900000, 4.920000, 4.950000, 4.960000, 6.310000, 6.350000, 8.890000, 8.940000, null, 8.370000, 8.420000, 8.480000, 8.590000, 8.620000, 8.660000, 1.850000, 1.860000, 1.870000, 1.890000, 1.900000, 1.930000, 1.950000, 1.980000, 1.970000, 1.920000, 1.880000, 1.830000, 1.790000, 1.760000, 1.720000, 1.690000, 1.650000, 1.620000, 1.590000, 1.560000, 1.540000, 1.520000, 1.110000, 1.100000, 1.120000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.320000, 1.330000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.250000, 1.240000, 1.220000, 1.210000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.120000, 1.120000, 1.130000, 1.130000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055359, 900560 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.871002, -23.803001, 1.812930 ], "estimate": [ -48.871002, -23.803001, 1.812930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 21.780000, 18.150000, 18.150000, 9.770000, 7.070000, 5.180000, 2.550000, 2.530000, 2.520000, 2.510000, 2.500000, 2.480000, 2.470000, 2.460000, 2.450000, 1.010000, 0.940000, 0.890000, 0.840000, 0.780000, 0.770000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.050000, 1.060000, 1.080000, 1.110000, 1.130000, 1.140000, 1.170000, 1.200000, 1.240000, 1.270000, 1.300000, 1.340000, 1.370000, 1.410000, 1.470000, 1.500000, 1.550000, 1.610000, 1.670000, 1.720000, 1.800000, 1.870000, 1.950000, 2.040000, 2.140000, 2.250000, 2.370000, 2.500000, 2.660000, 2.870000, 5.260000, 5.680000, 6.150000, 6.700000, 7.500000, 8.310000, 8.520000, 8.510000, 8.490000, 8.480000, 8.470000, 8.460000, 8.460000, 8.460000, 8.460000, 8.460000, 7.460000, 5.710000, 5.720000, 5.730000, 5.740000, 5.750000, 5.760000, 5.790000, 5.400000, 4.930000, 4.820000, 4.860000, 4.890000, 6.220000, 6.240000, 7.590000, 8.840000, 8.880000, 8.290000, 8.310000, 8.370000, null, 8.500000, 8.560000, 8.620000, 1.850000, 1.790000, 1.810000, 1.820000, 1.830000, 1.850000, 1.870000, 1.900000, 1.930000, 1.910000, 1.870000, 1.820000, 1.790000, 1.750000, 1.700000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.540000, 1.520000, 1.490000, 1.470000, 1.440000, 1.060000, 1.050000, 1.080000, 1.110000, 1.140000, 1.170000, 1.200000, 1.230000, 1.270000, 1.290000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.210000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.120000, 1.130000, 1.130000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055359, 901731 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.882004, -23.756001, 1.788348 ], "estimate": [ -48.882004, -23.756001, 1.788348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.510000, 22.660000, 22.660000, 18.130000, 9.760000, 6.440000, 2.540000, 2.520000, 2.520000, 2.500000, 2.480000, 2.460000, 2.450000, 1.020000, 0.920000, 0.830000, 0.770000, 0.750000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.040000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.360000, 1.390000, 1.430000, 1.490000, 1.520000, 1.580000, 1.640000, 1.690000, 1.760000, 1.830000, 1.920000, 1.990000, 2.110000, 2.210000, 2.320000, 2.460000, 2.610000, 2.810000, 5.190000, 5.550000, 6.020000, 6.560000, 7.230000, 8.100000, 8.470000, 8.450000, 8.430000, 8.420000, 8.410000, 8.410000, 8.400000, 8.400000, 8.390000, 8.400000, 8.400000, 5.990000, 5.660000, 5.660000, 5.670000, 5.680000, 5.690000, 5.720000, 5.600000, 5.120000, 4.760000, 4.790000, 4.810000, 4.840000, 6.170000, 6.200000, 8.760000, 8.810000, null, 8.240000, 8.280000, 8.340000, 8.450000, 8.490000, 8.530000, 9.330000, 9.420000, 1.740000, 1.740000, 1.750000, 1.770000, 1.800000, 1.820000, 1.840000, 1.860000, 1.890000, 1.840000, 1.800000, 1.770000, 1.730000, 1.690000, 1.660000, 1.630000, 1.590000, 1.560000, 1.540000, 1.540000, 1.510000, 1.490000, 1.470000, 1.440000, 1.430000, 1.410000, 1.030000, 1.020000, 1.050000, 1.080000, 1.100000, 1.130000, 1.160000, 1.210000, 1.250000, 1.260000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055360, 121570 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.892002, -23.711000, 1.788348 ], "estimate": [ -48.892002, -23.711000, 1.788348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.550000, 22.670000, 21.590000, 18.140000, 9.730000, 2.550000, 2.520000, 2.510000, 2.500000, 2.480000, 2.460000, 1.250000, 0.940000, 0.840000, 0.750000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.040000, 1.050000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.410000, 1.460000, 1.500000, 1.550000, 1.600000, 1.670000, 1.730000, 1.800000, 1.870000, 1.960000, 2.040000, 2.150000, 2.260000, 2.390000, 2.530000, 2.690000, 5.140000, 5.350000, 5.790000, 6.280000, 6.880000, 7.720000, 8.440000, 8.420000, 8.400000, 8.390000, 8.380000, 8.370000, 8.350000, 8.360000, 8.350000, 8.350000, 8.360000, 6.550000, 5.620000, 5.620000, 5.630000, 5.640000, 5.650000, 5.660000, 5.680000, 5.270000, 4.840000, 4.730000, 4.770000, 4.780000, 6.120000, 6.150000, 7.480000, 8.740000, 8.790000, 8.200000, 8.230000, 8.280000, null, 8.420000, 8.470000, 8.520000, 9.340000, 9.430000, 1.710000, 1.720000, 1.720000, 1.740000, 1.760000, 1.790000, 1.810000, 1.830000, 1.860000, 1.820000, 1.790000, 1.740000, 1.700000, 1.680000, 1.650000, 1.610000, 1.590000, 1.560000, 1.540000, 1.520000, 1.490000, 1.480000, 1.450000, 1.430000, 1.420000, 1.400000, 1.380000, 1.010000, 1.000000, 1.020000, 1.060000, 1.080000, 1.110000, 1.150000, 1.180000, 1.230000, 1.250000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055360, 532529 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.904999, -23.655001, 1.800639 ], "estimate": [ -48.904999, -23.655001, 1.800639 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.660000, 18.130000, 9.730000, 2.520000, 2.510000, 2.500000, 2.470000, 1.130000, 0.860000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.800000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.350000, 1.390000, 1.440000, 1.480000, 1.520000, 1.580000, 1.640000, 1.700000, 1.770000, 1.840000, 1.930000, 2.020000, 2.120000, 2.220000, 2.350000, 2.490000, 2.650000, 5.110000, 5.240000, 5.650000, 6.140000, 6.690000, 7.500000, 8.310000, 8.370000, 8.350000, 8.350000, 8.340000, 8.330000, 8.320000, 8.310000, 8.310000, 8.310000, 8.320000, 7.090000, 5.570000, 5.580000, 5.580000, 5.580000, 5.600000, 5.620000, 5.640000, 5.410000, 4.960000, 4.690000, 4.720000, 4.720000, 4.760000, 6.100000, 6.120000, 8.680000, 8.710000, null, 8.160000, 8.210000, 8.280000, 8.390000, 8.410000, 8.460000, 9.270000, 9.360000, 9.440000, 1.690000, 1.670000, 1.690000, 1.700000, 1.720000, 1.740000, 1.760000, 1.790000, 1.820000, 1.790000, 1.760000, 1.720000, 1.690000, 1.660000, 1.620000, 1.590000, 1.570000, 1.550000, 1.530000, 1.510000, 1.480000, 1.460000, 1.440000, 1.430000, 1.410000, 1.390000, 1.380000, 1.360000, 1.220000, 0.980000, 0.970000, 1.010000, 1.040000, 1.070000, 1.110000, 1.150000, 1.200000, 1.230000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055360, 533668 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.922001, -23.588001, 1.806784 ], "estimate": [ -48.922001, -23.588001, 1.806784 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 18.130000, 2.520000, 2.510000, 1.110000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.170000, 1.200000, 1.240000, 1.260000, 1.310000, 1.350000, 1.380000, 1.420000, 1.470000, 1.510000, 1.560000, 1.620000, 1.660000, 1.750000, 1.810000, 1.890000, 1.970000, 2.070000, 2.160000, 2.280000, 2.410000, 2.560000, 5.040000, 5.040000, 5.470000, 5.920000, 6.440000, 7.090000, 7.930000, 8.330000, 8.300000, 8.280000, 8.280000, 8.260000, 8.260000, 8.260000, 8.260000, 8.260000, 8.260000, 8.260000, 6.090000, 5.510000, 5.520000, 5.530000, 5.540000, 5.560000, 5.570000, 5.580000, 5.140000, 4.730000, 4.620000, 4.660000, 4.690000, 6.020000, 6.050000, 7.430000, 8.650000, 8.690000, 8.110000, 8.140000, 8.190000, null, 8.330000, 8.380000, 8.430000, 9.250000, 9.330000, 9.420000, 9.520000, 1.620000, 1.630000, 1.640000, 1.660000, 1.680000, 1.710000, 1.720000, 1.760000, 1.780000, 1.740000, 1.700000, 1.680000, 1.640000, 1.610000, 1.580000, 1.560000, 1.540000, 1.520000, 1.500000, 1.470000, 1.450000, 1.430000, 1.420000, 1.400000, 1.380000, 1.370000, 1.350000, 1.350000, 1.330000, 1.310000, 0.960000, 0.940000, 0.950000, 1.000000, 1.030000, 1.080000, 1.130000, 1.180000, 1.210000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055360, 691825 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.938000, -23.525000, 1.819075 ], "estimate": [ -48.938000, -23.525000, 1.819075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.690000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.810000, 0.820000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.070000, 1.100000, 1.110000, 1.130000, 1.160000, 1.200000, 1.230000, 1.260000, 1.290000, 1.340000, 1.360000, 1.410000, 1.450000, 1.500000, 1.550000, 1.600000, 1.660000, 1.730000, 1.800000, 1.870000, 1.950000, 2.050000, 2.150000, 2.260000, 2.390000, 2.550000, 4.970000, 4.980000, 5.390000, 5.830000, 6.360000, 6.960000, 7.820000, 8.260000, 8.240000, 8.220000, 8.200000, 8.200000, 8.190000, 8.180000, 8.180000, 8.180000, 8.180000, 8.180000, 6.350000, 5.440000, 5.450000, 5.460000, 5.470000, 5.480000, 5.490000, 5.500000, 5.240000, 4.810000, 4.560000, 4.590000, 4.610000, 4.630000, 5.970000, 6.010000, 8.560000, 8.620000, null, 8.050000, 8.090000, 8.150000, 8.260000, 8.300000, 8.340000, 9.150000, 9.240000, 9.320000, 9.420000, 9.520000, 1.580000, 1.570000, 1.580000, 1.590000, 1.610000, 1.630000, 1.660000, 1.680000, 1.710000, 1.720000, 1.690000, 1.650000, 1.620000, 1.590000, 1.570000, 1.550000, 1.530000, 1.500000, 1.480000, 1.450000, 1.440000, 1.430000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.290000, 1.270000, 0.940000, 0.920000, 0.920000, 0.970000, 1.020000, 1.070000, 1.120000, 1.190000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 979019 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.950001, -23.476002, 1.819075 ], "estimate": [ -48.950001, -23.476002, 1.819075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.080000, 1.110000, 1.120000, 1.140000, 1.180000, 1.210000, 1.240000, 1.270000, 1.300000, 1.340000, 1.380000, 1.430000, 1.470000, 1.520000, 1.570000, 1.620000, 1.680000, 1.760000, 1.830000, 1.900000, 2.000000, 2.090000, 2.200000, 2.330000, 2.460000, 4.940000, 4.920000, 5.170000, 5.570000, 6.040000, 6.600000, 7.390000, 8.160000, 8.190000, 8.180000, 8.160000, 8.150000, 8.140000, 8.130000, 8.130000, 8.130000, 8.130000, 8.130000, 8.130000, 5.680000, 5.390000, 5.400000, 5.410000, 5.420000, 5.440000, 5.450000, 5.470000, 5.040000, 4.650000, 4.500000, 4.540000, 4.560000, 4.590000, 5.930000, 5.950000, 8.550000, 8.580000, 7.990000, 8.000000, 8.070000, null, 8.220000, 8.270000, 8.330000, 9.130000, 9.220000, 9.300000, 9.410000, 9.500000, 7.900000, 1.530000, 1.530000, 1.550000, 1.560000, 1.580000, 1.600000, 1.620000, 1.650000, 1.690000, 1.670000, 1.640000, 1.600000, 1.580000, 1.560000, 1.540000, 1.520000, 1.490000, 1.470000, 1.460000, 1.440000, 1.420000, 1.400000, 1.390000, 1.370000, 1.350000, 1.350000, 1.330000, 1.310000, 1.300000, 1.290000, 1.290000, 1.270000, 1.260000, 1.250000, 0.990000, 0.910000, 0.910000, 0.930000, 0.980000, 1.030000, 1.100000, 1.170000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 980221 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.962997, -23.427000, 1.825221 ], "estimate": [ -48.962997, -23.427000, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.700000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.070000, 1.090000, 1.100000, 1.130000, 1.160000, 1.190000, 1.220000, 1.250000, 1.270000, 1.320000, 1.360000, 1.400000, 1.440000, 1.480000, 1.530000, 1.590000, 1.660000, 1.710000, 1.780000, 1.850000, 1.930000, 2.020000, 2.130000, 2.260000, 2.370000, 2.510000, 4.870000, 4.930000, 5.310000, 5.750000, 6.230000, 6.830000, 7.650000, 8.160000, 8.140000, 8.130000, 8.110000, 8.100000, 8.100000, 8.090000, 8.080000, 8.080000, 8.090000, 8.090000, 6.940000, 5.350000, 5.350000, 5.360000, 5.360000, 5.380000, 5.390000, 5.410000, 5.360000, 4.890000, 4.530000, 4.470000, 4.490000, 4.510000, 5.860000, 5.910000, 8.460000, 8.510000, null, 7.950000, 7.990000, 8.040000, null, 8.170000, 8.220000, 8.290000, 9.110000, 9.200000, 9.290000, 9.380000, 9.490000, 9.600000, 1.510000, 1.480000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.630000, 1.600000, 1.580000, 1.560000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.400000, 1.390000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 0.900000, 0.890000, 0.880000, 0.940000, 1.000000, 1.080000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976055362, 981276 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.977997, -23.370001, 1.831366 ], "estimate": [ -48.977997, -23.370001, 1.831366 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 1.000000, 1.020000, 1.040000, 1.050000, 1.080000, 1.090000, 1.110000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.330000, 1.370000, 1.410000, 1.470000, 1.510000, 1.560000, 1.620000, 1.670000, 1.750000, 1.810000, 1.900000, 1.980000, 2.070000, 2.170000, 2.290000, 2.420000, 4.830000, 4.830000, 5.100000, 5.490000, 5.950000, 6.460000, 7.240000, 7.970000, 8.100000, 8.080000, 8.070000, 8.050000, 8.050000, 8.040000, 8.030000, 8.030000, 8.040000, 8.040000, 8.040000, 5.940000, 5.290000, 5.300000, 5.310000, 5.320000, 5.340000, 5.360000, 5.360000, 5.140000, 4.720000, 4.400000, 4.430000, 4.460000, 4.490000, 5.830000, 5.860000, 8.430000, 8.430000, null, 7.910000, 7.950000, 8.010000, 8.120000, 8.150000, 8.220000, 9.010000, 9.100000, 9.190000, 9.280000, 9.380000, 9.480000, 7.830000, 9.700000, 1.460000, 1.440000, 1.460000, 1.480000, 1.500000, 1.520000, 1.550000, 1.580000, 1.600000, 1.610000, 1.590000, 1.570000, 1.550000, 1.530000, 1.500000, 1.480000, 1.450000, 1.440000, 1.420000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.290000, 1.270000, 1.260000, 1.260000, 1.250000, 1.240000, 1.230000, 1.210000, 1.210000, 1.210000, 0.940000, 0.880000, 0.870000, 0.890000, 0.980000, 1.080000, 1.150000, 1.160000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 982249 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.996002, -23.305000, 1.831366 ], "estimate": [ -48.996002, -23.305000, 1.831366 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.070000, 1.090000, 1.110000, 1.130000, 1.160000, 1.190000, 1.220000, 1.260000, 1.280000, 1.330000, 1.360000, 1.400000, 1.450000, 1.500000, 1.540000, 1.600000, 1.670000, 1.720000, 1.790000, 1.860000, 1.950000, 2.040000, 2.150000, 2.250000, 2.390000, 4.780000, 4.770000, 4.970000, 5.360000, 5.780000, 6.290000, 6.980000, 7.700000, 8.040000, 8.020000, 8.010000, 7.990000, 7.980000, 7.970000, 7.970000, 7.970000, 7.960000, 7.970000, 7.970000, 6.830000, 5.240000, 5.230000, 5.240000, 5.260000, 5.270000, 5.280000, 5.300000, 5.320000, 4.870000, 4.490000, 4.340000, 4.380000, 4.400000, 4.430000, 5.780000, 5.800000, 8.390000, 8.410000, 7.840000, 7.870000, 7.920000, null, 8.060000, 8.120000, 8.160000, 8.990000, 9.080000, 9.160000, 9.250000, 9.370000, 7.760000, 9.580000, 9.660000, 9.440000, 1.410000, 1.400000, 1.410000, 1.420000, 1.440000, 1.470000, 1.490000, 1.520000, 1.560000, 1.580000, 1.560000, 1.530000, 1.500000, 1.490000, 1.460000, 1.450000, 1.430000, 1.410000, 1.390000, 1.380000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.240000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 0.870000, 0.870000, 0.870000, 0.930000, 1.090000, 1.140000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.160000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 983180 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.007004, -23.263000, 1.831366 ], "estimate": [ -49.007004, -23.263000, 1.831366 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.100000, 1.110000, 1.140000, 1.170000, 1.200000, 1.230000, 1.260000, 1.300000, 1.340000, 1.370000, 1.410000, 1.460000, 1.500000, 1.550000, 1.610000, 1.660000, 1.740000, 1.790000, 1.880000, 1.960000, 2.060000, 2.150000, 2.260000, 4.760000, 4.730000, 4.720000, 4.980000, 5.370000, 5.800000, 6.280000, 7.000000, 7.710000, 7.990000, 7.980000, 7.960000, 7.950000, 7.950000, 7.940000, 7.940000, 7.930000, 7.930000, 7.930000, 7.940000, 6.160000, 5.180000, 5.180000, 5.180000, 5.190000, 5.200000, 5.220000, 5.240000, 5.260000, 4.830000, 4.480000, 4.320000, 4.330000, 4.360000, 4.380000, 5.730000, 5.930000, 6.900000, 8.380000, 7.810000, 7.810000, 7.870000, 7.940000, 8.030000, 8.080000, 8.120000, 8.940000, 8.930000, 8.890000, 9.210000, 7.830000, 7.640000, 7.690000, 9.640000, 9.420000, 5.460000, 1.380000, 1.350000, 1.360000, 1.390000, 1.410000, 1.430000, 1.460000, 1.490000, 1.520000, 1.540000, 1.530000, 1.500000, 1.480000, 1.450000, 1.440000, 1.430000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.170000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 0.860000, 0.860000, 0.860000, 1.000000, 1.150000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 984122 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.020000, -23.216999, 1.825221 ], "estimate": [ -49.020000, -23.216999, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.950000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.070000, 1.090000, 1.120000, 1.140000, 1.180000, 1.190000, 1.220000, 1.260000, 1.280000, 1.320000, 1.360000, 1.410000, 1.450000, 1.490000, 1.530000, 1.600000, 1.650000, 1.710000, 1.780000, 1.850000, 1.920000, 2.020000, 2.120000, 2.240000, 4.740000, 4.710000, 4.700000, 4.880000, 5.240000, 5.640000, 6.110000, 6.690000, 7.450000, 7.980000, 7.960000, 7.950000, 7.930000, 7.920000, 7.920000, 7.910000, 7.900000, 7.900000, 7.890000, 7.900000, 6.930000, 5.270000, 5.140000, 5.150000, 5.160000, 5.180000, 5.180000, 5.190000, 5.210000, 4.980000, 4.580000, 4.280000, 4.290000, 4.320000, 4.340000, 5.680000, 5.730000, 7.180000, 6.980000, 7.910000, 7.770000, 7.810000, 7.890000, 7.970000, 8.020000, 8.060000, 8.150000, 8.960000, 8.750000, 9.140000, 9.240000, 7.480000, 7.450000, 7.440000, 7.580000, 5.490000, 5.390000, 1.350000, 1.320000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.460000, 1.490000, 1.520000, 1.520000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.390000, 1.390000, 1.360000, 1.360000, 1.340000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.230000, 1.220000, 1.220000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.160000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 0.860000, 0.850000, 0.850000, 0.980000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 985044 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.037998, -23.151001, 1.825221 ], "estimate": [ -49.037998, -23.151001, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.370000, 1.410000, 1.450000, 1.500000, 1.550000, 1.610000, 1.660000, 1.730000, 1.800000, 1.870000, 1.950000, 2.040000, 2.140000, 2.260000, 4.710000, 4.660000, 4.650000, 4.920000, 5.290000, 5.700000, 6.190000, 6.880000, 7.540000, 7.950000, 7.930000, 7.920000, 8.000000, 7.990000, 7.970000, 7.970000, 7.960000, 7.970000, 7.970000, 7.960000, 7.970000, 5.090000, 5.090000, 5.100000, 5.110000, 5.120000, 5.130000, 5.150000, 5.170000, 4.910000, 4.530000, 4.260000, 4.270000, 4.280000, 4.310000, 5.650000, 5.680000, 7.150000, 7.170000, 7.620000, 7.700000, 7.810000, 7.970000, 7.980000, 7.990000, 7.990000, 8.150000, 8.240000, 8.350000, 8.440000, 8.640000, 7.480000, 7.920000, 7.390000, 8.940000, 9.110000, 5.370000, 5.280000, 1.310000, 1.290000, 1.310000, 1.330000, 1.350000, 1.390000, 1.400000, 1.420000, 1.460000, 1.490000, 1.490000, 1.460000, 1.450000, 1.430000, 1.400000, 1.390000, 1.380000, 1.360000, 1.340000, 1.330000, 1.320000, 1.310000, 1.290000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 0.860000, 0.850000, 0.860000, 1.140000, 1.140000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 985952 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.055000, -23.084999, 1.825221 ], "estimate": [ -49.055000, -23.084999, 1.825221 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.860000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.080000, 1.090000, 1.110000, 1.140000, 1.170000, 1.180000, 1.210000, 1.250000, 1.280000, 1.310000, 1.350000, 1.390000, 1.430000, 1.470000, 1.530000, 1.560000, 1.630000, 1.680000, 1.750000, 1.820000, 1.900000, 1.990000, 2.080000, 2.180000, 4.650000, 4.640000, 4.600000, 4.690000, 5.020000, 5.400000, 5.830000, 6.320000, 6.730000, 7.730000, 7.890000, 7.870000, 7.860000, 8.000000, 15.130000, 17.940000, 18.010000, 18.000000, 17.990000, 17.900000, 17.930000, 17.930000, null, 7.940000, 8.090000, null, 7.190000, 5.520000, 5.120000, 5.110000, 4.810000, 4.450000, 4.190000, 4.210000, 4.230000, 4.250000, 5.080000, 5.100000, 5.140000, 5.120000, 8.320000, 8.380000, 8.460000, 8.510000, 8.580000, 8.650000, 8.720000, 8.820000, 8.900000, 8.990000, 9.090000, 9.170000, 7.390000, 9.390000, 9.490000, 9.420000, 9.210000, 9.010000, 5.230000, 5.120000, 4.970000, 1.250000, 1.240000, 1.260000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.430000, 1.460000, 1.440000, 1.420000, 1.400000, 1.390000, 1.370000, 1.350000, 1.340000, 1.330000, 1.310000, 1.300000, 1.290000, 1.280000, 1.270000, 1.260000, 1.240000, 1.240000, 1.230000, 1.210000, 1.210000, 1.200000, 1.190000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 0.860000, 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, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 986858 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.066002, -23.045000, 1.819075 ], "estimate": [ -49.066002, -23.045000, 1.819075 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.180000, 1.200000, 1.220000, 1.260000, 1.290000, 1.330000, 1.360000, 1.400000, 1.450000, 1.480000, 1.530000, 1.590000, 1.650000, 1.690000, 1.760000, 1.830000, 1.910000, 1.990000, 2.090000, 2.220000, 4.600000, 4.570000, 4.560000, 4.720000, 5.070000, 5.460000, 5.900000, 6.390000, 7.120000, 7.690000, 7.830000, 7.810000, 7.800000, null, 15.060000, 17.890000, 17.960000, 17.950000, 17.970000, null, null, 8.020000, 8.010000, 7.860000, 8.000000, 5.030000, 5.030000, 5.020000, 5.060000, 5.070000, 4.760000, 4.400000, 4.150000, 4.150000, 4.180000, 4.200000, 5.560000, 5.580000, 7.070000, 7.230000, 8.270000, 8.330000, 8.400000, 8.450000, 8.520000, 8.590000, 8.670000, 8.750000, 8.830000, 8.930000, 9.020000, 9.110000, 7.340000, 9.330000, 7.270000, 9.040000, 9.180000, 5.280000, 5.190000, 5.130000, 5.060000, 4.710000, 1.220000, 1.210000, 1.220000, 1.240000, 1.270000, 1.290000, 1.310000, 1.350000, 1.390000, 1.410000, 1.410000, 1.390000, 1.380000, 1.360000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.150000, 1.140000, 1.140000, 1.130000, 1.140000, 1.140000, 1.140000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 987804 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.078999, -22.993999, 1.812930 ], "estimate": [ -49.078999, -22.993999, 1.812930 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.980000, 0.990000, 1.010000, 1.030000, 1.060000, 1.070000, 1.100000, 1.110000, 1.140000, 1.170000, 1.180000, 1.210000, 1.250000, 1.280000, 1.320000, 1.350000, 1.380000, 1.420000, 1.470000, 1.520000, 1.570000, 1.620000, 1.680000, 1.740000, 1.800000, 1.880000, 1.960000, 2.060000, 2.170000, 4.560000, 4.550000, 4.520000, 4.590000, 4.910000, 5.290000, 5.700000, 6.160000, 6.820000, 7.380000, 7.790000, 7.780000, 7.770000, 7.870000, 15.010000, null, 17.870000, 17.910000, 17.910000, 17.820000, null, 7.970000, 7.980000, 7.930000, 7.840000, 7.940000, 7.680000, 5.100000, 5.010000, 5.020000, 5.020000, 4.580000, 4.260000, 4.090000, 4.120000, 4.140000, 4.170000, 5.540000, 5.570000, 7.040000, 8.200000, 8.250000, 8.310000, 8.380000, 8.440000, 8.520000, 8.590000, 8.670000, 8.740000, 8.850000, 8.930000, 9.010000, 9.120000, 7.310000, 7.230000, 7.230000, 8.960000, 9.080000, 5.230000, 5.150000, 5.090000, 4.980000, 4.670000, 4.580000, 1.190000, 1.180000, 1.190000, 1.220000, 1.240000, 1.270000, 1.290000, 1.330000, 1.360000, 1.390000, 1.390000, 1.370000, 1.350000, 1.340000, 1.330000, 1.310000, 1.300000, 1.290000, 1.280000, 1.260000, 1.250000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.180000, 1.180000, 1.170000, 1.180000, 1.170000, 1.160000, 1.150000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.140000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055362, 988713 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.095001, -22.930000, 1.806784 ], "estimate": [ -49.095001, -22.930000, 1.806784 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.080000, 1.110000, 1.110000, 1.140000, 1.170000, 1.200000, 1.220000, 1.250000, 1.280000, 1.320000, 1.360000, 1.390000, 1.440000, 1.480000, 1.530000, 1.580000, 1.630000, 1.690000, 1.750000, 1.820000, 1.890000, 1.980000, 2.070000, 4.550000, 4.520000, 4.490000, 4.460000, 4.640000, 4.940000, 5.320000, 5.730000, 6.200000, 6.820000, 7.330000, 7.750000, 7.730000, 7.730000, 7.760000, 14.980000, 17.800000, 17.890000, 17.880000, 17.880000, 17.780000, 17.780000, null, 7.940000, 7.780000, 7.860000, 7.840000, 7.450000, 5.520000, 4.980000, 4.990000, 4.940000, 4.520000, 4.220000, 4.050000, 4.080000, 4.100000, 4.130000, 5.390000, 5.340000, 7.020000, 8.150000, 8.220000, 8.280000, 8.340000, 8.400000, 8.470000, 8.550000, 8.640000, 8.710000, 8.800000, 8.890000, 8.990000, 9.080000, 7.270000, 9.300000, 9.220000, 9.260000, 9.070000, 5.250000, 5.110000, 5.040000, 4.970000, 4.670000, 4.560000, 4.540000, 1.180000, 1.150000, 1.150000, 1.170000, 1.200000, 1.230000, 1.250000, 1.290000, 1.320000, 1.360000, 1.370000, 1.360000, 1.340000, 1.320000, 1.310000, 1.290000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.220000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.140000, 1.130000, 1.130000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055363, 481539 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.111000, -22.862000, 1.788348 ], "estimate": [ -49.111000, -22.862000, 1.788348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.820000, 0.820000, 0.830000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.960000, 0.960000, 0.980000, 1.010000, 1.020000, 1.040000, 1.060000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.260000, 1.290000, 1.320000, 1.360000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.630000, 1.700000, 1.750000, 1.830000, 1.900000, 1.990000, 6.260000, 4.460000, 4.440000, 4.410000, 4.400000, 4.630000, 4.930000, 5.310000, 5.720000, 6.170000, 6.850000, 7.490000, 7.670000, 7.650000, 7.650000, 7.860000, null, null, 17.740000, 17.790000, 17.780000, null, null, 7.850000, 7.850000, 4.810000, 4.820000, 4.830000, 4.840000, 4.860000, 4.870000, 4.890000, 4.910000, 4.550000, 4.230000, 3.980000, 3.980000, 4.010000, 4.030000, 5.410000, 5.440000, 6.890000, 7.170000, 8.110000, 8.180000, 8.240000, 8.310000, 8.370000, 8.440000, 8.490000, 8.590000, 8.670000, 8.760000, 8.860000, 8.960000, 7.220000, 8.290000, 7.160000, 8.110000, 8.090000, 8.190000, 5.150000, 5.080000, 4.990000, 4.870000, 4.580000, 4.490000, 4.490000, 4.570000, 4.660000, 1.120000, 1.090000, 1.100000, 1.130000, 1.160000, 1.180000, 1.220000, 1.250000, 1.280000, 1.320000, 1.320000, 1.310000, 1.290000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.160000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055363, 339802 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.124001, -22.806999, 1.788348 ], "estimate": [ -49.124001, -22.806999, 1.788348 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.850000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.130000, 1.150000, 1.190000, 1.220000, 1.240000, 1.270000, 1.310000, 1.340000, 1.370000, 1.420000, 1.450000, 1.500000, 1.550000, 1.600000, 1.660000, 1.720000, 1.780000, 1.850000, 1.930000, 6.210000, 4.430000, 4.390000, 4.360000, 4.340000, 4.450000, 4.730000, 5.080000, 5.460000, 5.890000, 6.500000, 7.080000, 7.620000, 7.600000, 7.570000, 7.640000, 7.750000, null, 17.650000, 17.730000, 17.720000, 17.730000, null, null, 7.790000, null, 4.750000, 4.760000, 4.780000, 4.790000, 4.810000, 4.820000, 4.830000, 4.790000, 4.390000, 4.090000, 3.920000, 3.930000, 3.970000, 3.980000, 5.340000, 5.380000, 6.840000, 8.030000, 8.070000, 8.140000, 8.210000, 8.270000, 8.340000, 8.410000, 8.490000, 8.560000, 8.660000, 8.750000, 8.830000, 8.930000, 7.170000, 8.080000, 7.120000, 8.040000, 8.000000, 5.210000, 5.110000, 5.030000, 4.960000, 4.790000, 4.540000, 4.450000, 4.450000, 4.520000, 4.600000, 4.560000, 4.500000, 1.070000, 1.050000, 1.070000, 1.100000, 1.130000, 1.160000, 1.180000, 1.230000, 1.260000, 1.300000, 1.290000, 1.280000, 1.270000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.210000, 1.200000, 1.190000, 1.190000, 1.170000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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, 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 ], "timestamp": [ 976055363, 445747 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.132999, -22.763000, 1.776057 ], "estimate": [ -49.132999, -22.763000, 1.776057 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.910000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.080000, 1.110000, 1.120000, 1.140000, 1.160000, 1.190000, 1.210000, 1.250000, 1.280000, 1.310000, 1.350000, 1.380000, 1.420000, 1.460000, 1.510000, 1.550000, 1.600000, 1.660000, 1.730000, 1.790000, 1.860000, 1.920000, 6.440000, 4.370000, 4.340000, 4.310000, 4.300000, 4.460000, 4.760000, 5.100000, 5.480000, 5.900000, 6.510000, 7.100000, 7.570000, 7.550000, 7.530000, 7.630000, 7.610000, 7.620000, 7.600000, 7.570000, 7.560000, 7.560000, 7.570000, 7.580000, 7.580000, 4.690000, 4.710000, 4.720000, 4.730000, 4.740000, 4.750000, 4.760000, 4.780000, 4.790000, 4.380000, 4.080000, 3.860000, 3.880000, 3.910000, 3.930000, 5.290000, 5.330000, 6.760000, 7.120000, 7.220000, 7.260000, 8.140000, 8.120000, 7.700000, 7.630000, 7.610000, 7.700000, 7.800000, 7.870000, 7.960000, 8.060000, 7.140000, 7.590000, 7.070000, 8.290000, 8.430000, 8.600000, 5.100000, 5.010000, 4.940000, 4.860000, 4.530000, 4.460000, 4.400000, 4.440000, 4.540000, 4.550000, 4.490000, 4.430000, 4.380000, 1.040000, 1.030000, 1.040000, 1.070000, 1.100000, 1.120000, 1.160000, 1.190000, 1.240000, 1.270000, 1.260000, 1.250000, 1.240000, 1.240000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000, 1.130000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055363, 762545 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.145000, -22.705000, 1.769911 ], "estimate": [ -49.145000, -22.705000, 1.769911 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.950000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.090000, 1.110000, 1.120000, 1.150000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.410000, 1.450000, 1.490000, 1.530000, 1.580000, 1.640000, 1.700000, 1.760000, 1.830000, 1.890000, null, 4.360000, 4.320000, 4.290000, 4.270000, 4.350000, 4.640000, 4.950000, 5.320000, 5.720000, 6.200000, 6.840000, 7.450000, 7.520000, 7.500000, 7.490000, 7.540000, 14.740000, 17.580000, 17.620000, 17.650000, 17.650000, 17.550000, null, 7.690000, 7.710000, 7.710000, 7.580000, 7.590000, 4.680000, 4.710000, 4.720000, 4.740000, 4.760000, 4.540000, 4.210000, 3.940000, 3.840000, 3.860000, 3.880000, 3.910000, 5.270000, 6.790000, 6.760000, 7.960000, 8.030000, 8.080000, 8.150000, 8.220000, 8.290000, 8.370000, 8.450000, 8.530000, 8.620000, 8.710000, 8.810000, 8.910000, 7.090000, 7.000000, 7.030000, 9.070000, 8.940000, 5.080000, 5.000000, 4.960000, 4.890000, 4.810000, 4.490000, 4.420000, 4.370000, 4.440000, 4.540000, 4.520000, 4.450000, 4.400000, 4.340000, 4.290000, 1.030000, 1.000000, 1.010000, 1.040000, 1.070000, 1.100000, 1.130000, 1.170000, 1.210000, 1.250000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.180000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055363, 845479 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.153000, -22.670000, 1.763766 ], "estimate": [ -49.153000, -22.670000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.020000, 1.050000, 1.070000, 1.090000, 1.110000, 1.120000, 1.150000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.320000, 1.360000, 1.410000, 1.450000, 1.490000, 1.530000, 1.590000, 1.650000, 1.690000, 1.770000, 1.830000, 8.080000, 11.900000, 4.280000, 4.250000, 4.220000, 4.200000, 4.320000, 4.600000, 4.920000, 5.280000, 5.680000, 6.160000, 6.650000, 7.350000, 7.460000, 7.440000, 7.440000, 7.490000, 14.700000, 17.540000, 17.550000, 17.600000, 17.600000, 17.560000, 17.480000, 17.490000, 7.640000, 7.640000, 7.520000, 7.550000, null, 6.650000, 4.860000, 4.700000, 4.700000, 4.570000, 4.220000, 3.940000, 3.780000, 3.800000, 3.820000, 3.830000, 5.090000, 5.100000, 5.020000, 7.900000, 7.950000, 8.010000, 8.080000, 8.150000, 8.210000, 8.290000, 8.370000, 8.450000, 8.540000, 8.640000, 8.740000, 8.830000, 7.010000, 9.050000, 6.990000, 8.970000, 8.880000, 8.700000, 5.000000, 4.930000, 4.860000, 4.780000, 4.510000, 4.420000, 4.340000, 4.340000, 4.440000, 4.490000, 4.460000, 4.400000, 4.330000, 4.280000, 4.230000, 4.180000, 4.140000, 0.990000, 0.970000, 0.970000, 1.000000, 1.040000, 1.080000, 1.120000, 1.150000, 1.200000, 1.230000, 1.220000, 1.210000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.170000, 1.170000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055364, 169574 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.165001, -22.608000, 1.763766 ], "estimate": [ -49.165001, -22.608000, 1.763766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.130000, 1.160000, 1.190000, 1.210000, 1.240000, 1.270000, 1.300000, 1.340000, 1.370000, 1.410000, 1.450000, 1.500000, 1.540000, 1.600000, 1.660000, 1.710000, 1.770000, 8.140000, 5.820000, 4.250000, 4.210000, 4.180000, 4.160000, 4.160000, 4.370000, 4.650000, 4.970000, 5.340000, 5.750000, 6.320000, 6.860000, 7.350000, 7.400000, 7.380000, 7.380000, 14.660000, 14.630000, 17.480000, 17.540000, 17.540000, 17.540000, 17.420000, null, 7.580000, 7.590000, 7.570000, 7.470000, null, 4.590000, 4.650000, 4.630000, 4.630000, 4.650000, 4.520000, 4.190000, 3.900000, 3.710000, 3.730000, 3.760000, 3.780000, 3.810000, 5.180000, 6.670000, 7.840000, 7.900000, 7.950000, 8.020000, 8.090000, 8.160000, 8.230000, 8.310000, 8.400000, 8.490000, 8.570000, 8.670000, 8.780000, 7.000000, 7.010000, 6.920000, 6.940000, 8.850000, 8.780000, 4.990000, 4.900000, 4.840000, 4.790000, 4.730000, 4.420000, 4.340000, 4.300000, 4.350000, 4.440000, 4.450000, 4.390000, 4.340000, 4.280000, 4.230000, 4.180000, 4.120000, 4.120000, 4.410000, 4.500000, 0.950000, 0.940000, 0.940000, 0.980000, 1.020000, 1.060000, 1.110000, 1.140000, 1.200000, 1.200000, 1.190000, 1.180000, 1.170000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.140000, 1.130000, 1.120000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055364, 231734 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.176003, -22.555000, 1.757620 ], "estimate": [ -49.176003, -22.555000, 1.757620 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.900000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.130000, 1.160000, 1.190000, 1.210000, 1.240000, 1.260000, 1.300000, 1.330000, 1.370000, 1.410000, 1.460000, 1.500000, 1.540000, 1.600000, 1.650000, 1.700000, 1.770000, 8.060000, 5.790000, 4.200000, 4.160000, 4.140000, 4.110000, 4.110000, 4.350000, 4.640000, 4.950000, 5.310000, 5.710000, 6.290000, 6.820000, 7.300000, 7.340000, 7.340000, 7.330000, null, 14.570000, 17.440000, 17.460000, 17.490000, 17.490000, null, null, 7.530000, 7.540000, 7.540000, 7.420000, 7.450000, null, 5.510000, 4.600000, 4.590000, 4.590000, 4.540000, 4.190000, 3.910000, 3.690000, 3.670000, 3.700000, 3.730000, 3.750000, 5.140000, 6.610000, 7.780000, 7.840000, 7.900000, 7.960000, 8.030000, 8.100000, 8.180000, 8.260000, 8.340000, 8.430000, 8.520000, 8.610000, 8.710000, null, 6.930000, 6.880000, 6.870000, 8.870000, 8.680000, 5.000000, 4.910000, 4.840000, 4.740000, 4.710000, 4.410000, 4.340000, 4.260000, 4.290000, 4.370000, 4.430000, 4.400000, 4.330000, 4.270000, 4.230000, 4.180000, 4.120000, 4.090000, 4.120000, 4.530000, 4.570000, 4.740000, 0.930000, 0.920000, 0.910000, 0.930000, 0.980000, 1.020000, 1.060000, 1.110000, 1.180000, 1.180000, 1.170000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055364, 443312 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.185001, -22.504000, 1.745329 ], "estimate": [ -49.185001, -22.504000, 1.745329 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.940000, 0.940000, 0.960000, 0.970000, 0.990000, 1.020000, 1.030000, 1.050000, 1.080000, 1.090000, 1.110000, 1.130000, 1.150000, 1.190000, 1.210000, 1.240000, 1.270000, 1.300000, 1.330000, 1.370000, 1.400000, 1.450000, 1.490000, 1.530000, 1.590000, 1.640000, 1.700000, 11.470000, 8.040000, 5.760000, 4.160000, 4.120000, 4.090000, 4.070000, 4.070000, 4.320000, 4.600000, 4.920000, 5.270000, 5.670000, 6.230000, 6.730000, 7.210000, 7.310000, 7.290000, 7.290000, 7.330000, 14.530000, 17.400000, 17.380000, 17.440000, 17.440000, null, null, 7.510000, 7.490000, 7.500000, 7.380000, 7.430000, 7.820000, 5.870000, 4.850000, 4.560000, 4.560000, 4.550000, 4.240000, 3.940000, 3.700000, 3.630000, 3.660000, 3.690000, 3.700000, 5.080000, 6.590000, 6.740000, 7.780000, 7.860000, 7.910000, 7.990000, 8.040000, 8.110000, 8.200000, 8.280000, 8.360000, 8.440000, 8.540000, 8.640000, 8.750000, 6.940000, 6.860000, 6.860000, 8.900000, 8.710000, 8.550000, 4.910000, 4.850000, 4.760000, 4.680000, 4.650000, 4.360000, 4.280000, 4.230000, 4.300000, 4.380000, 4.400000, 4.340000, 4.280000, 4.230000, 4.180000, 4.130000, 4.100000, 4.070000, 4.670000, 4.650000, 4.630000, 5.000000, 5.150000, 5.230000, 0.910000, 0.900000, 0.900000, 0.940000, 0.990000, 1.030000, 1.090000, 1.160000, 1.170000, 1.170000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055364, 822005 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.195999, -22.446001, 1.739184 ], "estimate": [ -49.195999, -22.446001, 1.739184 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.060000, 1.090000, 1.110000, 1.120000, 1.150000, 1.180000, 1.200000, 1.230000, 1.260000, 1.290000, 1.320000, 1.360000, 1.400000, 1.440000, 1.480000, 1.530000, 1.580000, 1.630000, 1.680000, 11.390000, 7.980000, 8.090000, 4.110000, 4.070000, 4.040000, 4.020000, 4.030000, 4.260000, 4.550000, 4.840000, 5.200000, 5.570000, 6.050000, 6.610000, 7.050000, 7.270000, 7.250000, 7.240000, 7.280000, 14.490000, 17.340000, 17.320000, 17.400000, 17.410000, 17.410000, null, 17.300000, 7.450000, 7.460000, 7.330000, null, null, 6.870000, 5.020000, 4.570000, 4.510000, 4.520000, 4.310000, 3.990000, 3.750000, 3.580000, 3.600000, 3.620000, 3.640000, 3.680000, 5.050000, 6.530000, 7.720000, 7.780000, 7.840000, 7.910000, 7.980000, 8.060000, 8.120000, 8.200000, 8.290000, 8.380000, 8.460000, 8.570000, 8.670000, 6.880000, 6.910000, 6.800000, 6.820000, 8.760000, 8.580000, 8.420000, 4.850000, 4.780000, 4.700000, 4.620000, 4.430000, 4.300000, 4.220000, 4.210000, 4.280000, 4.370000, 4.350000, 4.300000, 4.240000, 4.200000, 4.140000, 4.100000, 4.060000, 4.040000, 5.000000, 4.680000, 4.840000, 5.590000, 5.210000, 5.380000, 5.500000, 5.490000, 0.900000, 0.890000, 0.880000, 0.910000, 0.980000, 1.020000, 1.090000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055364, 823539 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.206001, -22.382000, 1.726893 ], "estimate": [ -49.206001, -22.382000, 1.726893 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.980000, 1.010000, 1.020000, 1.040000, 1.060000, 1.090000, 1.110000, 1.120000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.280000, 1.310000, 1.360000, 1.390000, 1.430000, 1.480000, 1.510000, 1.560000, 1.610000, 5.570000, 11.280000, 7.930000, 7.810000, 4.060000, 4.020000, 4.000000, 3.970000, 3.970000, 4.200000, 4.460000, 4.770000, 5.090000, 5.470000, 5.900000, 6.440000, 6.880000, 7.220000, 7.200000, 7.190000, 7.280000, 14.450000, 14.440000, 17.280000, 17.360000, 17.340000, 17.310000, 17.230000, 17.240000, 17.260000, 7.390000, 7.250000, 7.320000, 7.340000, 7.290000, 5.490000, 4.600000, 4.450000, 4.460000, 4.420000, 4.090000, 3.820000, 3.600000, 3.530000, 3.560000, 3.590000, 3.600000, 4.980000, 6.480000, 7.650000, 7.710000, 7.780000, 7.850000, 7.900000, 7.970000, 8.040000, 8.120000, 8.190000, 8.280000, 8.380000, 8.490000, 8.570000, 8.680000, 6.850000, 8.900000, 6.760000, 8.800000, 8.620000, 8.450000, 4.870000, 4.780000, 4.710000, 4.650000, 4.580000, 4.320000, 4.240000, 4.180000, 4.180000, 4.270000, 4.360000, 4.320000, 4.260000, 4.210000, 4.160000, 4.120000, 4.060000, 4.030000, 4.020000, 5.030000, 5.190000, 5.380000, 5.580000, 5.530000, 5.510000, 5.490000, 5.460000, 6.070000, 6.050000, 6.000000, 0.880000, 0.870000, 0.870000, 0.920000, 1.000000, 1.070000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055365, 220100 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.216000, -22.325001, 1.720747 ], "estimate": [ -49.216000, -22.325001, 1.720747 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.950000, 0.960000, 0.990000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.110000, 1.140000, 1.170000, 1.200000, 1.210000, 1.250000, 1.280000, 1.300000, 1.350000, 1.380000, 1.420000, 1.470000, 1.520000, 1.560000, 5.570000, 5.520000, 11.240000, 7.870000, 7.760000, 4.010000, 3.980000, 3.950000, 3.910000, 3.940000, 4.160000, 4.420000, 4.720000, 5.050000, 5.400000, 5.830000, 6.360000, 6.790000, 7.180000, 7.160000, 7.140000, 7.240000, 7.190000, 14.390000, 17.210000, 17.300000, 17.290000, 17.290000, 17.170000, null, 17.200000, 7.350000, 7.330000, 7.220000, null, null, 6.420000, 4.740000, 4.410000, 4.410000, 4.410000, 4.130000, 3.850000, 3.640000, 3.460000, 3.490000, 3.530000, 3.540000, 3.570000, 4.940000, 6.490000, 7.640000, 7.700000, 7.760000, 7.840000, 7.890000, 7.980000, 8.050000, 8.120000, 8.220000, 8.310000, 8.400000, 8.500000, 8.600000, 6.790000, 8.810000, 6.710000, 6.790000, 8.660000, 8.470000, 8.310000, 4.790000, 4.720000, 4.660000, 4.600000, 4.520000, 4.240000, 4.190000, 4.120000, 4.170000, 4.260000, 4.320000, 4.270000, 4.230000, 4.170000, 4.120000, 4.080000, 4.030000, 4.000000, 4.000000, 5.060000, 5.230000, 5.420000, 5.550000, 5.510000, 5.490000, 5.460000, 5.440000, 6.060000, 6.010000, 5.970000, 5.940000, 5.920000, 0.870000, 0.860000, 0.850000, 0.870000, 0.970000, 1.080000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 781900 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.223999, -22.271999, 1.714602 ], "estimate": [ -49.223999, -22.271999, 1.714602 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 1.000000, 1.020000, 1.030000, 1.050000, 1.080000, 1.090000, 1.110000, 1.130000, 1.160000, 1.180000, 1.210000, 1.240000, 1.270000, 1.300000, 1.350000, 1.370000, 1.410000, 1.460000, 1.510000, 1.530000, 5.530000, 5.470000, 11.140000, 7.830000, 7.730000, 3.960000, 3.930000, 3.900000, 3.870000, 3.890000, 4.120000, 4.370000, 4.660000, 4.970000, 5.330000, 5.750000, 6.270000, 6.670000, 7.130000, 7.110000, 7.100000, 7.200000, 7.160000, 14.340000, 17.190000, 17.250000, 17.260000, 17.250000, 17.140000, null, 17.120000, 7.300000, null, 7.180000, 7.210000, 7.640000, 6.600000, 4.910000, 4.410000, 4.360000, 4.370000, 4.200000, 3.910000, 3.660000, 3.480000, 3.450000, 3.470000, 3.500000, 3.520000, 4.860000, 6.400000, 7.590000, 7.650000, 7.700000, 7.770000, 7.840000, 7.900000, 7.990000, 8.060000, 8.140000, 8.240000, 8.320000, 8.430000, 8.530000, null, 6.740000, 8.830000, 8.840000, 8.680000, 8.520000, 8.350000, 8.190000, 4.730000, 4.670000, 4.610000, 4.540000, 4.460000, 4.210000, 4.150000, 4.100000, 4.170000, 4.260000, 4.280000, 4.230000, 4.180000, 4.120000, 4.090000, 4.050000, 4.010000, 3.980000, 4.030000, 5.120000, 5.290000, 5.570000, 5.520000, 5.490000, 5.470000, 5.440000, 5.600000, 6.020000, 5.980000, 5.960000, 5.920000, 5.900000, 5.870000, 5.840000, 0.860000, 0.850000, 0.850000, 0.860000, 0.990000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 132091 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.232002, -22.216999, 1.702311 ], "estimate": [ -49.232002, -22.216999, 1.702311 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.020000, 1.050000, 1.070000, 1.090000, 1.110000, 1.120000, 1.150000, 1.180000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.390000, 1.430000, 1.490000, 5.510000, 5.470000, 5.440000, 11.040000, 7.800000, 7.780000, 3.930000, 3.890000, 3.860000, 3.840000, 3.840000, 4.040000, 4.300000, 4.570000, 4.870000, 5.220000, 5.620000, 6.080000, 6.500000, 7.100000, 7.070000, 7.050000, 7.050000, 14.340000, 14.280000, 17.150000, 17.140000, 17.230000, 17.220000, 17.110000, 17.100000, 17.110000, 7.270000, null, 7.130000, null, null, 6.840000, 6.100000, 4.560000, 4.330000, 4.330000, 4.310000, 3.990000, 3.730000, 3.520000, 3.400000, 3.420000, 3.440000, 3.460000, 3.600000, 4.640000, 4.610000, 7.580000, 7.630000, 7.710000, 7.770000, 7.840000, 7.910000, 7.990000, 8.070000, 8.150000, 8.260000, 8.340000, 8.450000, 8.540000, 6.690000, 8.790000, 8.910000, 8.740000, 8.560000, 8.400000, 8.240000, 8.080000, 4.710000, 4.610000, 4.550000, 4.500000, 4.230000, 4.170000, 4.100000, 4.100000, 4.170000, 4.270000, 4.240000, 4.190000, 4.140000, 4.090000, 4.060000, 4.020000, 3.980000, 3.960000, 4.960000, 5.140000, 5.330000, 5.550000, 5.500000, 5.480000, 5.440000, 5.420000, 6.030000, 5.990000, 5.960000, 5.930000, 5.900000, 5.880000, 5.860000, 5.830000, 5.810000, 5.800000, 0.850000, 0.850000, 0.840000, 0.840000, 1.050000, 1.130000, 1.130000, 1.130000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 133129 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.236000, -22.186001, 1.702311 ], "estimate": [ -49.236000, -22.186001, 1.702311 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.160000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.330000, 1.360000, 1.410000, 1.440000, 5.510000, 5.450000, 5.410000, 5.420000, 11.070000, 7.740000, 3.890000, 3.860000, 3.830000, 3.800000, 3.790000, 3.870000, 4.060000, 4.320000, 4.590000, 4.910000, 5.260000, 5.670000, 6.140000, 6.560000, 7.030000, 7.020000, 7.000000, 7.080000, 14.300000, 14.250000, 17.070000, 17.130000, 17.150000, 17.160000, 17.030000, 17.040000, 17.040000, 7.210000, 7.200000, 7.090000, null, null, 6.720000, 6.000000, 4.460000, 4.270000, 4.270000, 4.280000, 3.960000, 3.700000, 3.480000, 3.340000, 3.350000, 3.390000, 3.410000, 3.440000, 4.640000, 4.580000, 7.530000, 7.590000, 7.650000, 7.720000, 7.780000, 7.860000, 7.940000, 8.030000, 8.110000, 8.200000, 8.290000, 8.400000, 8.490000, 6.680000, 6.710000, 8.840000, 8.710000, 8.540000, 8.370000, 8.220000, 8.060000, 4.700000, 4.600000, 4.530000, 4.480000, 4.430000, 4.160000, 4.100000, 4.050000, 4.100000, 4.190000, 4.230000, 4.190000, 4.130000, 4.090000, 4.040000, 4.010000, 3.980000, 3.940000, 3.940000, 5.040000, 5.240000, 5.500000, 5.500000, 5.470000, 5.430000, 5.410000, 5.470000, 5.990000, 5.960000, 5.930000, 5.900000, 5.870000, 5.860000, 5.830000, 5.810000, 5.800000, 5.780000, 5.770000, 5.750000, 5.740000, 0.840000, 0.840000, 0.840000, 1.120000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 134471 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.244999, -22.121000, 1.702311 ], "estimate": [ -49.244999, -22.121000, 1.702311 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.210000, 1.230000, 1.260000, 1.300000, 1.320000, 1.360000, 1.400000, 5.550000, 5.460000, 5.400000, 5.340000, null, null, 5.400000, 3.820000, 3.790000, 3.760000, 3.730000, 3.720000, 3.860000, 4.060000, 4.320000, 4.590000, 4.900000, 5.240000, 5.650000, 6.170000, 6.700000, 6.970000, 6.950000, 6.930000, 7.030000, 14.240000, 14.180000, 17.010000, 17.040000, 17.070000, 17.100000, null, null, 16.980000, 7.130000, 7.150000, 7.000000, 7.170000, 7.050000, 4.120000, 4.160000, 4.170000, 4.180000, 4.200000, 4.220000, 3.960000, 3.700000, 3.480000, 3.310000, 3.300000, 3.320000, 3.350000, 3.360000, 4.770000, 6.240000, 7.450000, 7.520000, 7.580000, 7.640000, 7.710000, 7.780000, 7.860000, 7.950000, 8.030000, 8.120000, 8.200000, 8.310000, 8.420000, 8.520000, 6.640000, 6.570000, 6.580000, 8.530000, 8.370000, null, 6.990000, 4.660000, 4.590000, 4.520000, 4.490000, 4.450000, 4.160000, 4.100000, 4.050000, 4.000000, 4.080000, 4.180000, 4.190000, 4.130000, 4.100000, 4.060000, 4.010000, 3.970000, 3.940000, 3.900000, 3.910000, 4.450000, 4.450000, 4.900000, 5.060000, 5.180000, 5.380000, 5.380000, 5.990000, 5.960000, 5.930000, 5.900000, 5.870000, 5.850000, 5.830000, 5.810000, 5.790000, 5.780000, 5.760000, 5.750000, 5.740000, 5.730000, 5.730000, 5.720000, 5.710000, 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, 0, 0, 1, 1, 1, 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 135478 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.252998, -22.068998, 1.708456 ], "estimate": [ -49.252998, -22.068998, 1.708456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.090000, 1.110000, 1.110000, 1.140000, 1.170000, 1.200000, 1.220000, 1.260000, 1.270000, 1.310000, 1.360000, 1.380000, 5.490000, 5.400000, 5.360000, 5.300000, 10.520000, 10.860000, 7.660000, 3.810000, 3.760000, 3.730000, 3.700000, 3.690000, 3.770000, 3.980000, 4.200000, 4.460000, 4.760000, 5.090000, 5.460000, 5.740000, 6.360000, 6.940000, 6.920000, 6.900000, 6.890000, 7.010000, 14.150000, 14.150000, 16.990000, 17.030000, 17.010000, 17.000000, 16.960000, 16.960000, 16.970000, null, 7.080000, 6.990000, null, null, 6.280000, 5.710000, 4.390000, 4.170000, 4.190000, 4.090000, 3.810000, 3.560000, 3.380000, 3.250000, 3.260000, 3.290000, 3.310000, 3.330000, 4.210000, 4.240000, 4.230000, 4.170000, 7.580000, 7.640000, 7.720000, 7.790000, 7.880000, 7.950000, 8.040000, 8.120000, 8.220000, 8.330000, 8.440000, 6.580000, 8.650000, 8.780000, 8.610000, 8.440000, 8.270000, 8.120000, 7.980000, 7.850000, 6.700000, 6.760000, 4.470000, 4.370000, 4.120000, 4.060000, 4.000000, 3.990000, 4.070000, 4.170000, 4.150000, 4.110000, 4.060000, 4.030000, 3.990000, 3.950000, 3.920000, 3.880000, 3.880000, 5.110000, 5.310000, 5.480000, 5.450000, 5.410000, 5.380000, 5.380000, 5.970000, 5.940000, 5.900000, 5.880000, 5.860000, 5.830000, 5.820000, 5.800000, 5.790000, 5.770000, 5.750000, 5.740000, 5.730000, 5.720000, 5.720000, 5.720000, 5.720000, 5.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 136391 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.259998, -22.014999, 1.696165 ], "estimate": [ -49.259998, -22.014999, 1.696165 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.960000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.210000, 1.230000, 1.260000, 1.290000, 1.330000, 5.660000, 5.580000, 5.420000, 5.350000, 5.320000, 5.310000, null, null, 5.340000, 3.730000, 3.700000, 3.670000, 3.640000, 3.650000, 3.830000, 4.040000, 4.290000, 4.560000, 4.840000, 5.200000, 5.600000, 6.100000, 6.490000, 6.880000, 6.860000, 6.840000, 6.920000, null, 14.090000, 16.920000, 16.930000, 17.000000, 16.990000, null, 16.870000, 16.890000, 7.050000, 7.070000, 6.930000, 7.010000, null, 7.220000, 5.180000, 4.300000, 4.140000, 4.110000, 4.130000, 4.000000, 3.730000, 3.510000, 3.340000, 3.200000, 3.210000, 3.250000, 3.270000, 3.280000, 4.640000, 7.350000, 7.410000, 7.480000, 7.530000, 7.620000, 7.670000, 7.750000, 7.840000, 7.920000, 8.010000, 8.090000, 8.200000, 8.290000, 8.400000, 6.560000, 6.590000, 6.510000, 8.560000, 8.400000, 8.240000, 8.090000, 7.950000, 4.580000, 4.520000, 4.480000, 4.420000, 4.360000, 4.220000, 4.060000, 4.000000, 3.960000, 4.020000, 4.120000, 4.140000, 4.100000, 4.060000, 4.010000, 3.980000, 3.950000, 3.900000, 3.870000, 3.870000, 5.040000, 5.250000, 5.470000, 5.430000, 5.400000, 5.370000, 5.360000, 5.960000, 5.930000, 5.900000, 5.870000, 5.850000, 5.830000, 5.810000, 5.800000, 5.780000, 5.770000, 5.750000, 5.740000, 5.730000, 5.720000, 5.720000, 5.720000, 5.720000, 5.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 137356 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.271000, -21.933001, 1.696165 ], "estimate": [ -49.271000, -21.933001, 1.696165 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.120000, 1.130000, 1.150000, 1.180000, 1.210000, 1.230000, 1.260000, 4.350000, 5.590000, 5.580000, 5.450000, 5.360000, 5.270000, 5.240000, 5.260000, null, null, 3.670000, 3.630000, 3.610000, 3.580000, 3.570000, 3.660000, 3.840000, 4.050000, 4.280000, 4.550000, 4.850000, 5.190000, 5.650000, 6.100000, 6.610000, 6.790000, 6.770000, 6.750000, 6.740000, 6.740000, 6.720000, 6.710000, 6.710000, 6.700000, 6.700000, 6.700000, 6.700000, 6.710000, 5.550000, 5.540000, 3.940000, 3.940000, 3.950000, 3.960000, 3.970000, 3.980000, 4.000000, 4.010000, 4.030000, 4.020000, 3.750000, 3.530000, 3.340000, 3.150000, 3.130000, 3.160000, 3.180000, 3.190000, 3.230000, 6.310000, 5.870000, 6.700000, 6.710000, 6.820000, 7.170000, 6.940000, 7.010000, 7.090000, 7.900000, 7.880000, 7.790000, 8.180000, 8.280000, 6.730000, 8.520000, 6.610000, 6.470000, 8.410000, 8.260000, 8.090000, 6.910000, 6.790000, 4.550000, 4.490000, 4.450000, 4.380000, 4.340000, 4.130000, 4.010000, 3.950000, 3.910000, 3.970000, 4.080000, 4.120000, 4.060000, 4.020000, 3.990000, 3.960000, 3.920000, 3.880000, 3.850000, 3.840000, 3.880000, 4.020000, 4.200000, 4.380000, 4.600000, 4.850000, 5.110000, 5.930000, 5.900000, 5.870000, 5.850000, 5.820000, 5.810000, 5.800000, 5.780000, 5.760000, 5.750000, 5.740000, 5.740000, 5.720000, 5.720000, 5.710000, 5.710000, 5.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 138265 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.278999, -21.868000, 1.683874 ], "estimate": [ -49.278999, -21.868000, 1.683874 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.050000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.190000, 1.190000, 4.120000, 4.320000, 5.620000, 5.600000, 5.600000, 5.440000, 5.360000, 5.280000, 5.230000, 5.220000, 5.660000, 3.610000, 3.560000, 3.530000, 3.510000, 3.480000, 3.530000, 3.700000, 3.880000, 4.090000, 4.330000, 4.620000, 4.930000, 5.280000, 5.750000, 6.220000, 6.710000, 6.700000, 6.680000, 6.660000, 6.650000, 6.640000, 6.630000, 6.620000, 6.620000, 6.610000, 6.610000, 6.610000, 6.610000, 6.620000, 4.740000, 3.930000, 3.870000, 3.870000, 3.870000, 3.890000, 3.900000, 3.910000, 3.930000, 3.940000, 3.960000, 3.970000, 3.700000, 3.470000, 3.290000, 3.120000, 3.010000, 3.060000, 3.090000, 3.120000, 3.140000, 5.640000, 5.810000, 6.590000, 6.640000, 6.700000, 6.900000, 6.860000, 6.900000, 6.980000, 7.730000, 7.850000, 7.740000, 8.080000, 8.190000, 6.710000, 6.590000, 6.570000, 6.610000, 8.360000, 8.210000, 8.060000, 7.620000, 6.750000, 4.520000, 4.470000, 4.420000, 4.360000, 4.320000, 4.270000, 3.990000, 3.950000, 3.900000, 3.850000, 3.940000, 4.040000, 4.060000, 4.030000, 3.990000, 3.960000, 3.920000, 3.880000, 3.850000, 3.820000, 3.810000, 3.850000, 3.990000, 4.190000, 4.390000, 4.600000, 4.870000, 5.170000, 5.900000, 5.870000, 5.850000, 5.820000, 5.810000, 5.800000, 5.780000, 5.770000, 5.750000, 5.740000, 5.730000, 5.710000, 5.720000, 5.720000, 5.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 139173 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.282001, -21.841002, 1.677729 ], "estimate": [ -49.282001, -21.841002, 1.677729 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.800000, 0.800000, 0.800000, 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.130000, 1.140000, 4.100000, 4.050000, 4.090000, 4.180000, 5.590000, 5.650000, 7.790000, 7.700000, 5.290000, 5.260000, 5.350000, 7.400000, 6.590000, 3.550000, 3.510000, 3.480000, 3.450000, 3.440000, 3.450000, 3.620000, 3.800000, 4.000000, 4.220000, 4.480000, 4.780000, 5.120000, 5.550000, 6.000000, 6.500000, 6.640000, 6.630000, 6.610000, 6.600000, 6.580000, 6.570000, 6.570000, 6.560000, 6.560000, 6.550000, 6.560000, 6.550000, 6.560000, 6.560000, 4.590000, 3.820000, 3.820000, 3.830000, 3.840000, 3.850000, 3.860000, 3.870000, 3.890000, 3.910000, 3.910000, 3.810000, 3.570000, 3.360000, 3.190000, 3.030000, 2.960000, 3.020000, 3.030000, 3.050000, 3.080000, 6.850000, 6.590000, 6.550000, 6.600000, 6.670000, 6.870000, 6.830000, 6.880000, 6.950000, 7.790000, 7.880000, 7.980000, 8.080000, 8.190000, 8.300000, 8.420000, 6.630000, 8.430000, 8.230000, 8.130000, 7.980000, 7.040000, 6.690000, 4.500000, 4.450000, 4.380000, 4.320000, 4.280000, 4.230000, 3.960000, 3.920000, 3.870000, 3.830000, 3.890000, 4.000000, 4.050000, 4.010000, 3.980000, 3.950000, 3.910000, 3.870000, 3.840000, 3.820000, 3.800000, 3.840000, 3.980000, 4.160000, 4.360000, 4.600000, 4.870000, 5.170000, 5.880000, 5.860000, 5.830000, 5.820000, 5.810000, 5.790000, 5.780000, 5.760000, 5.750000, 5.740000, 5.730000, 5.720000, 5.730000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 139999 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.288998, -21.783001, 1.671583 ], "estimate": [ -49.288998, -21.783001, 1.671583 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.110000, 1.120000, 4.110000, 4.040000, 4.010000, 4.060000, 8.050000, null, 7.820000, 7.740000, 7.660000, 7.570000, 5.260000, 7.410000, 7.340000, 7.280000, 3.490000, 3.450000, 3.420000, 3.400000, 3.400000, 3.430000, 3.610000, 3.780000, 3.980000, 4.200000, 4.460000, 4.760000, 5.090000, 5.530000, 5.960000, 6.470000, 6.600000, 6.570000, 6.560000, 6.560000, 6.530000, 6.530000, 6.520000, 6.510000, 6.510000, 6.510000, 6.510000, 6.510000, 6.510000, 6.500000, 4.250000, 3.810000, 3.770000, 3.780000, 3.790000, 3.790000, 3.800000, 3.810000, 3.830000, 3.850000, 3.870000, 3.840000, 3.600000, 3.380000, 3.210000, 3.050000, 2.910000, 2.960000, 2.980000, 3.000000, 3.020000, 5.630000, 6.630000, 6.490000, 6.550000, 6.600000, 6.910000, 6.760000, 6.820000, 6.880000, 7.700000, 7.830000, 7.920000, 8.010000, 8.120000, 8.230000, 8.350000, 6.550000, 8.450000, 8.280000, 8.140000, 8.000000, 7.870000, 6.700000, 6.590000, 4.450000, 4.380000, 4.340000, 4.270000, 4.230000, 4.200000, 3.920000, 3.870000, 3.820000, 3.790000, 3.910000, 4.010000, 4.020000, 3.980000, 3.950000, 3.900000, 3.870000, 3.840000, 3.810000, 3.800000, 3.770000, 3.820000, 3.980000, 4.190000, 4.390000, 4.650000, 4.940000, 5.890000, 5.860000, 5.840000, 5.820000, 5.810000, 5.790000, 5.770000, 5.760000, 5.740000, 5.740000, 5.730000, 5.720000, 5.730000, 5.720000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 140926 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.293999, -21.732000, 1.659292 ], "estimate": [ -49.293999, -21.732000, 1.659292 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.050000, 1.070000, 1.100000, 4.140000, 4.080000, 4.020000, 3.980000, 4.010000, 8.000000, 5.580000, 7.820000, 7.720000, 7.640000, 7.560000, 6.470000, 7.400000, 7.320000, 7.250000, 3.470000, 3.410000, 3.380000, 3.370000, 3.340000, 3.370000, 3.530000, 3.700000, 3.880000, 4.100000, 4.330000, 4.610000, 4.910000, 5.280000, 5.750000, 6.210000, 6.560000, 6.540000, 6.520000, 6.510000, 6.500000, 6.480000, 6.490000, 6.480000, 6.470000, 6.470000, 6.470000, 6.470000, 6.470000, 6.470000, 4.840000, 3.810000, 3.720000, 3.720000, 3.730000, 3.740000, 3.750000, 3.770000, 3.780000, 3.800000, 3.800000, 3.830000, 3.720000, 3.490000, 3.300000, 3.130000, 2.980000, 2.870000, 2.910000, 2.940000, 2.980000, 2.990000, 6.740000, 6.480000, 6.470000, 6.530000, 6.590000, 6.790000, 6.730000, 6.800000, 6.860000, 7.720000, 7.820000, 7.910000, 8.010000, 8.120000, 8.240000, 8.350000, 6.570000, 8.360000, 8.200000, 8.050000, 7.930000, 7.780000, 6.650000, 6.540000, 4.410000, 4.340000, 4.300000, 4.260000, 4.220000, 4.170000, 3.890000, 3.850000, 3.800000, 3.750000, 3.870000, 3.990000, 4.000000, 3.970000, 3.930000, 3.900000, 3.870000, 3.840000, 3.800000, 3.780000, 3.760000, 3.800000, 3.960000, 4.170000, 4.380000, 4.650000, 4.950000, 5.880000, 5.850000, 5.830000, 5.820000, 5.800000, 5.790000, 5.770000, 5.760000, 5.740000, 5.740000, 5.730000, 5.730000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 270462 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.299000, -21.678001, 1.653147 ], "estimate": [ -49.299000, -21.678001, 1.653147 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.990000, 0.990000, 1.010000, 1.030000, 1.060000, 4.170000, 4.120000, 4.040000, 3.980000, 3.940000, 3.980000, 4.100000, 7.980000, 7.820000, 7.710000, 7.620000, 7.540000, 5.200000, 6.490000, 7.300000, 7.230000, 3.400000, 3.380000, 3.350000, 3.320000, 3.300000, 3.310000, 3.430000, 3.590000, 3.770000, 3.970000, 4.180000, 4.440000, 4.730000, 5.080000, 5.500000, 5.940000, 6.430000, 6.500000, 6.480000, 6.470000, 6.460000, 6.450000, 6.430000, 6.420000, 6.420000, 6.420000, 6.410000, 6.410000, 6.410000, 6.420000, 6.420000, 4.290000, 3.730000, 3.680000, 3.680000, 3.700000, 3.710000, 3.710000, 3.720000, 3.730000, 3.750000, 3.760000, 3.790000, 3.610000, 3.400000, 3.220000, 3.050000, 2.930000, 2.820000, 2.880000, 2.900000, 2.920000, 2.950000, 5.650000, 6.400000, 6.440000, 6.500000, 6.570000, 6.690000, 6.710000, 6.780000, 6.840000, 7.700000, 7.800000, 7.890000, 7.990000, 8.110000, 8.220000, 8.340000, 6.530000, 8.290000, 8.090000, 7.990000, 7.870000, 6.900000, 6.600000, 6.500000, 4.370000, 4.330000, 4.270000, 4.230000, 4.190000, 4.150000, 3.870000, 3.830000, 3.790000, 3.750000, 3.840000, 3.940000, 3.990000, 3.950000, 3.910000, 3.880000, 3.850000, 3.830000, 3.800000, 3.770000, 3.750000, 3.790000, 3.890000, 4.100000, 4.330000, 4.590000, 4.900000, 5.870000, 5.840000, 5.830000, 5.810000, 5.800000, 5.780000, 5.770000, 5.760000, 5.740000, 5.740000, 5.740000, 5.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 608106 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.304001, -21.615000, 1.647001 ], "estimate": [ -49.304001, -21.615000, 1.647001 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 4.250000, 4.180000, 4.110000, 4.030000, 3.970000, 3.900000, 3.900000, 3.950000, 7.870000, 5.500000, 7.750000, 7.660000, 7.560000, 7.480000, 5.160000, 6.810000, 7.240000, 7.180000, 3.360000, 3.320000, 3.290000, 3.260000, 3.250000, 3.260000, 3.410000, 3.560000, 3.740000, 3.940000, 4.160000, 4.400000, 4.690000, 5.020000, 5.450000, 5.880000, 6.370000, 6.450000, 6.430000, 6.420000, 6.400000, 6.390000, 6.380000, 6.380000, 6.370000, 6.360000, 6.360000, 6.370000, 6.360000, 6.370000, 6.370000, 4.480000, 3.680000, 3.620000, 3.630000, 3.630000, 3.640000, 3.660000, 3.660000, 3.680000, 3.700000, 3.720000, 3.720000, 3.650000, 3.430000, 3.250000, 3.080000, 2.930000, 2.790000, 2.810000, 2.850000, 2.870000, 2.890000, 2.920000, 6.420000, 6.380000, 6.440000, 6.500000, 6.740000, 6.650000, 6.720000, 6.780000, 7.620000, 7.730000, 7.820000, 7.920000, 8.040000, 8.150000, 8.270000, 6.490000, 8.310000, 8.160000, 8.020000, 7.880000, 7.750000, 6.610000, 6.510000, 4.380000, 4.340000, 4.270000, 4.240000, 4.190000, 4.160000, 4.110000, 3.830000, 3.800000, 3.750000, 3.720000, 3.830000, 3.950000, 3.960000, 3.920000, 3.890000, 3.860000, 3.830000, 3.800000, 3.780000, 3.750000, 3.730000, 3.780000, 3.920000, 4.140000, 4.370000, 4.660000, 5.000000, 5.850000, 5.840000, 5.820000, 5.800000, 5.790000, 5.770000, 5.760000, 5.750000, 5.740000, 5.730000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 609380 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.308998, -21.552000, 1.640856 ], "estimate": [ -49.308998, -21.552000, 1.640856 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.990000, 4.320000, 4.250000, 4.170000, 4.100000, 4.020000, 3.960000, 3.890000, 3.850000, 3.880000, 3.940000, 7.870000, 5.470000, 7.670000, 7.580000, 7.490000, 7.400000, 5.090000, 7.250000, 7.180000, 7.110000, 3.300000, 3.250000, 3.220000, 3.210000, 3.200000, 3.250000, 3.410000, 3.560000, 3.740000, 3.930000, 4.150000, 4.400000, 4.680000, 5.020000, 5.440000, 5.880000, 6.360000, 6.390000, 6.380000, 6.360000, 6.350000, 6.330000, 6.320000, 6.310000, 6.310000, 6.300000, 6.300000, 6.300000, 6.300000, 6.300000, 6.310000, 4.510000, 3.620000, 3.560000, 3.570000, 3.580000, 3.590000, 3.600000, 3.610000, 3.620000, 3.630000, 3.650000, 3.660000, 3.660000, 3.440000, 3.250000, 3.090000, 2.940000, 2.810000, 2.730000, 2.770000, 2.790000, 2.830000, 2.860000, 6.430000, 6.320000, 6.350000, 6.430000, 6.620000, 6.600000, 6.640000, 6.700000, 7.000000, 7.670000, 7.760000, 7.860000, 7.960000, 8.070000, 8.200000, 8.310000, 6.460000, 8.170000, 8.020000, 7.880000, 7.750000, 6.620000, 6.510000, 6.410000, 4.320000, 4.270000, 4.220000, 4.190000, 4.150000, 4.100000, 4.040000, 3.790000, 3.760000, 3.700000, 3.710000, 3.830000, 3.960000, 3.920000, 3.890000, 3.870000, 3.840000, 3.800000, 3.780000, 3.750000, 3.730000, 3.720000, 3.760000, 3.930000, 4.180000, 4.450000, 4.760000, 5.170000, 5.830000, 5.820000, 5.810000, 5.790000, 5.770000, 5.760000, 5.750000, 5.740000, 5.740000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055367, 786641 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.313999, -21.493999, 1.640856 ], "estimate": [ -49.313999, -21.493999, 1.640856 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.710000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.920000, 0.930000, 4.470000, 4.390000, 4.310000, 4.230000, 4.150000, 4.070000, 4.010000, 3.940000, 3.870000, 3.800000, 3.810000, 3.870000, 7.720000, 5.420000, 7.700000, 7.590000, 7.490000, 7.410000, 5.050000, 6.410000, 7.180000, 7.110000, 3.250000, 3.210000, 3.200000, 3.160000, 3.140000, 3.150000, 3.280000, 3.420000, 3.580000, 3.750000, 3.950000, 4.160000, 4.430000, 4.710000, 5.060000, 5.480000, 5.910000, 6.350000, 6.340000, 6.320000, 6.300000, 6.290000, 6.270000, 6.270000, 6.270000, 6.260000, 6.250000, 6.250000, 6.250000, 6.250000, 6.260000, 6.260000, 4.400000, 3.560000, 3.510000, 3.520000, 3.520000, 3.530000, 3.540000, 3.550000, 3.570000, 3.590000, 3.590000, 3.610000, 3.620000, 3.430000, 3.240000, 3.060000, 2.920000, 2.790000, 2.670000, 2.710000, 2.750000, 2.770000, 2.780000, 2.820000, 6.270000, 6.310000, 6.360000, 6.450000, 6.560000, 6.590000, 6.650000, 6.730000, 7.610000, 7.700000, 7.800000, 7.900000, 8.020000, 8.130000, 8.260000, 6.400000, 8.140000, 7.980000, 7.870000, 7.740000, 6.810000, 6.500000, 6.410000, 4.310000, 4.270000, 4.210000, 4.180000, 4.140000, 4.090000, 4.070000, 3.790000, 3.750000, 3.710000, 3.660000, 3.740000, 3.850000, 3.920000, 3.890000, 3.860000, 3.840000, 3.800000, 3.780000, 3.750000, 3.720000, 3.710000, 3.710000, 3.780000, 4.000000, 4.280000, 4.580000, 4.940000, 5.840000, 5.820000, 5.810000, 5.790000, 5.780000, 5.760000, 5.750000, 5.740000, 5.750000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055368, 126947 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.317997, -21.440001, 1.647001 ], "estimate": [ -49.317997, -21.440001, 1.647001 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.710000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.880000, 0.890000, 0.910000, 4.560000, 4.470000, 4.370000, 4.290000, 4.220000, 4.140000, 4.050000, 3.970000, 3.910000, 3.850000, 3.770000, 3.760000, 3.810000, 7.600000, 7.780000, 5.370000, 7.590000, 7.490000, 7.400000, 7.320000, 4.980000, 7.170000, 7.090000, 3.200000, 3.190000, 3.150000, 3.130000, 3.100000, 3.110000, 3.180000, 3.330000, 3.470000, 3.640000, 3.830000, 4.040000, 4.260000, 4.530000, 4.830000, 5.230000, 5.630000, 6.090000, 6.300000, 6.270000, 6.270000, 6.250000, 6.230000, 6.230000, 6.220000, 6.210000, 6.210000, 6.200000, 6.200000, 6.200000, 6.210000, 6.210000, 5.210000, 4.000000, 3.510000, 3.470000, 3.470000, 3.480000, 3.490000, 3.500000, 3.500000, 3.520000, 3.530000, 3.550000, 3.560000, 3.560000, 3.360000, 3.180000, 3.010000, 2.880000, 2.750000, 2.620000, 2.660000, 2.700000, 2.720000, 2.750000, 2.760000, 6.230000, 6.290000, 6.340000, 6.560000, 6.520000, 6.570000, 6.620000, 6.900000, 7.590000, 7.670000, 7.770000, 7.880000, 8.000000, 8.110000, 8.250000, 6.370000, 8.090000, 7.950000, 7.820000, 7.690000, 6.550000, 6.470000, 6.360000, 6.280000, 4.240000, 4.190000, 4.160000, 4.120000, 4.070000, 4.040000, 3.800000, 3.740000, 3.710000, 3.670000, 3.680000, 3.800000, 3.890000, 3.880000, 3.850000, 3.820000, 3.800000, 3.770000, 3.740000, 3.720000, 3.710000, 3.690000, 3.730000, 3.920000, 4.210000, 4.490000, 4.860000, 5.830000, 5.820000, 5.810000, 5.780000, 5.770000, 5.760000, 5.750000, 5.750000, 5.750000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055368, 181993 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.322998, -21.383001, 1.647001 ], "estimate": [ -49.322998, -21.383001, 1.647001 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.860000, 0.880000, 4.780000, 4.670000, 4.540000, 4.450000, 4.360000, 4.280000, 4.190000, 4.110000, 4.020000, 3.960000, 3.890000, 3.830000, 3.750000, 3.720000, 3.760000, 3.860000, 7.660000, null, 7.590000, 7.500000, 7.400000, 7.320000, 4.960000, 6.220000, 7.090000, 7.010000, 3.160000, 3.120000, 3.090000, 3.070000, 3.060000, 3.090000, 3.240000, 3.370000, 3.520000, 3.690000, 3.880000, 4.110000, 4.330000, 4.600000, 4.930000, 5.350000, 5.760000, 6.230000, 6.240000, 6.220000, 6.210000, 6.200000, 6.180000, 6.170000, 6.170000, 6.160000, 6.160000, 6.150000, 6.150000, 6.160000, 6.160000, 6.160000, 4.570000, 3.700000, 3.460000, 3.420000, 3.420000, 3.440000, 3.440000, 3.450000, 3.470000, 3.490000, 3.490000, 3.510000, 3.520000, 3.480000, 3.310000, 3.140000, 2.970000, 2.840000, 2.720000, 2.570000, 2.630000, 2.650000, 2.680000, 2.690000, 2.710000, 6.180000, 6.250000, 6.310000, 6.590000, 6.480000, 6.530000, 6.590000, 7.020000, 7.560000, 7.650000, 7.750000, 7.860000, 7.970000, 8.100000, 8.230000, 6.350000, 8.050000, 7.900000, 7.770000, 7.650000, 6.530000, 6.440000, 6.350000, 6.260000, 4.230000, 4.180000, 4.140000, 4.090000, 4.070000, 4.030000, 3.990000, 3.730000, 3.700000, 3.660000, 3.620000, 3.750000, 3.870000, 3.870000, 3.840000, 3.810000, 3.800000, 3.760000, 3.740000, 3.720000, 3.700000, 3.670000, 3.720000, 3.820000, 4.080000, 4.390000, 4.760000, 5.540000, 5.820000, 5.790000, 5.780000, 5.770000, 5.760000, 5.750000, 5.740000, 5.740000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055368, 346796 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.326000, -21.353001, 1.653147 ], "estimate": [ -49.326000, -21.353001, 1.653147 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.860000, 5.000000, 4.880000, 4.750000, 4.630000, 4.530000, 4.430000, 4.330000, 4.240000, 4.150000, 4.080000, 4.000000, 3.920000, 3.860000, 3.780000, 3.720000, 3.690000, 3.730000, 3.780000, 7.550000, 5.280000, null, 7.480000, 7.400000, 7.310000, 4.920000, 6.450000, 7.070000, 6.990000, 3.110000, 3.090000, 3.050000, 3.030000, 3.010000, 3.020000, 3.130000, 3.270000, 3.430000, 3.580000, 3.770000, 3.960000, 4.170000, 4.440000, 4.740000, 5.120000, 5.510000, 5.930000, 6.200000, 6.180000, 6.160000, 6.140000, 6.140000, 6.120000, 6.120000, 6.110000, 6.100000, 6.110000, 6.110000, 6.110000, 6.100000, 6.110000, 6.100000, 4.190000, 3.440000, 3.360000, 3.370000, 3.370000, 3.380000, 3.400000, 3.400000, 3.420000, 3.430000, 3.450000, 3.460000, 3.480000, 3.410000, 3.230000, 3.060000, 2.920000, 2.790000, 2.660000, 2.550000, 2.570000, 2.600000, 2.630000, 2.650000, 2.680000, 6.160000, 6.210000, 6.260000, 6.520000, 6.430000, 6.490000, 6.560000, 7.420000, 7.530000, 7.620000, 7.720000, 7.840000, 7.960000, 8.070000, 8.210000, 6.320000, 7.990000, 7.870000, 7.710000, 7.600000, 6.490000, 6.400000, 6.310000, 6.220000, 4.200000, 4.170000, 4.120000, 4.080000, 4.050000, 3.990000, 3.960000, 3.720000, 3.690000, 3.650000, 3.590000, 3.670000, 3.810000, 3.860000, 3.840000, 3.800000, 3.780000, 3.750000, 3.730000, 3.710000, 3.690000, 3.670000, 3.670000, 3.720000, 3.970000, 4.280000, 4.660000, 5.130000, 5.810000, 5.790000, 5.780000, 5.770000, 5.760000, 5.750000, 5.740000, 5.750000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055368, 619845 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.331001, -21.291000, 1.659292 ], "estimate": [ -49.331001, -21.291000, 1.659292 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.820000, 5.420000, 5.260000, 5.110000, 4.970000, 4.840000, 4.720000, 4.600000, 4.500000, 4.390000, 4.300000, 4.220000, 4.140000, 4.040000, 3.960000, 3.880000, 3.810000, 3.740000, 3.680000, 3.640000, 3.680000, 3.750000, 7.460000, 7.630000, 5.260000, 7.470000, 7.380000, 7.290000, 7.200000, 4.880000, 7.040000, 6.990000, 3.060000, 3.030000, 3.000000, 2.970000, 2.950000, 2.960000, 3.070000, 3.210000, 3.340000, 3.500000, 3.660000, 3.860000, 4.050000, 4.290000, 4.550000, 4.900000, 5.280000, 5.690000, 6.140000, 6.130000, 6.110000, 6.100000, 6.090000, 6.090000, 6.080000, 6.070000, 6.060000, 6.060000, 6.050000, 6.050000, 6.050000, 6.060000, 6.060000, 5.010000, 3.900000, 3.360000, 3.310000, 3.310000, 3.320000, 3.330000, 3.340000, 3.350000, 3.360000, 3.380000, 3.400000, 3.410000, 3.410000, 3.340000, 3.160000, 3.000000, 2.870000, 2.730000, 2.640000, 2.490000, 2.520000, 2.540000, 2.570000, 2.600000, 2.630000, 6.120000, 6.180000, 6.230000, 6.430000, 6.390000, 6.460000, 6.530000, 7.410000, 7.500000, 7.600000, 7.700000, 7.810000, 7.940000, 8.070000, 8.190000, 6.270000, 7.930000, 7.790000, 7.680000, 7.560000, 6.460000, 6.360000, 6.280000, 6.180000, 4.190000, 4.140000, 4.090000, 4.060000, 4.020000, 3.980000, 3.960000, 3.700000, 3.680000, 3.640000, 3.600000, 3.600000, 3.740000, 3.850000, 3.830000, 3.800000, 3.770000, 3.740000, 3.720000, 3.710000, 3.680000, 3.660000, 3.650000, 3.700000, 3.870000, 4.190000, 4.550000, 4.990000, 5.800000, 5.790000, 5.770000, 5.770000, 5.760000, 5.740000, 5.750000, 5.750000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055368, 706817 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.337002, -21.233999, 1.665438 ], "estimate": [ -49.337002, -21.233999, 1.665438 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.820000, 5.780000, 5.580000, 5.420000, 5.240000, 5.100000, 4.950000, 4.820000, 4.690000, 4.580000, 4.470000, 4.360000, 4.270000, 4.180000, 4.090000, 4.010000, 3.920000, 3.850000, 3.780000, 3.710000, 3.640000, 3.620000, 3.630000, 3.700000, 6.450000, 7.520000, 5.210000, 7.470000, 7.370000, 7.280000, 7.190000, 4.820000, 6.090000, 6.960000, 3.030000, 2.980000, 2.950000, 2.940000, 2.910000, 2.920000, 2.990000, 3.120000, 3.250000, 3.390000, 3.540000, 3.720000, 3.910000, 4.140000, 4.370000, 4.670000, 5.030000, 5.420000, 5.830000, 6.090000, 6.080000, 6.060000, 6.050000, 6.040000, 6.030000, 6.010000, 6.000000, 6.000000, 5.990000, 6.000000, 5.990000, 5.990000, 6.000000, 6.000000, 4.330000, 3.570000, 3.310000, 3.250000, 3.260000, 3.270000, 3.280000, 3.300000, 3.310000, 3.310000, 3.330000, 3.350000, 3.360000, 3.380000, 3.270000, 3.100000, 2.960000, 2.820000, 2.700000, 2.580000, 2.470000, 2.430000, 2.500000, 2.520000, 2.550000, 2.580000, 6.080000, 6.130000, 6.200000, 6.340000, 6.350000, 6.420000, 6.480000, 7.360000, 7.460000, 7.570000, 7.670000, 7.780000, 7.900000, 8.030000, 8.150000, 6.250000, 7.880000, 7.750000, 7.620000, 7.500000, 6.420000, 6.330000, 6.240000, 6.150000, 4.160000, 4.110000, 4.070000, 4.040000, 4.000000, 3.960000, 3.930000, 3.900000, 3.660000, 3.620000, 3.580000, 3.560000, 3.670000, 3.820000, 3.810000, 3.790000, 3.760000, 3.730000, 3.720000, 3.700000, 3.680000, 3.650000, 3.630000, 3.660000, 3.730000, 4.050000, 4.410000, 4.860000, 5.800000, 5.780000, 5.770000, 5.760000, 5.750000, 5.750000, 5.740000, 5.750000, 5.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055368, 978199 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.342999, -21.178999, 1.671583 ], "estimate": [ -49.342999, -21.178999, 1.671583 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.800000, 6.370000, 6.140000, 5.930000, 5.710000, 5.530000, 5.350000, 5.200000, 5.040000, 4.900000, 4.780000, 4.650000, 4.530000, 4.420000, 4.310000, 4.220000, 4.130000, 4.030000, 3.950000, 3.870000, 3.790000, 3.720000, 3.650000, 3.590000, 3.570000, 3.610000, 6.320000, 7.320000, 6.210000, 5.160000, 7.420000, 7.340000, 7.240000, 7.160000, 4.780000, 6.050000, 6.910000, 2.970000, 2.940000, 2.910000, 2.890000, 2.860000, 2.880000, 2.980000, 3.100000, 3.230000, 3.370000, 3.520000, 3.690000, 3.890000, 4.110000, 4.320000, 4.610000, 4.970000, 5.350000, 5.740000, 6.050000, 6.030000, 6.020000, 6.000000, 5.990000, 5.980000, 5.970000, 5.970000, 5.960000, 5.950000, 5.950000, 5.950000, 5.950000, 5.950000, 5.950000, 4.650000, 3.700000, 3.260000, 3.200000, 3.200000, 3.210000, 3.220000, 3.240000, 3.250000, 3.260000, 3.280000, 3.300000, 3.310000, 3.320000, 3.310000, 3.130000, 2.970000, 2.840000, 2.720000, 2.600000, 2.500000, 2.400000, 2.430000, 2.460000, 2.490000, 2.500000, 2.540000, 6.080000, 6.130000, 6.400000, 6.300000, 6.350000, 6.410000, 6.710000, 7.380000, 7.480000, 7.590000, 7.700000, 7.810000, 7.940000, 8.060000, 6.180000, 7.900000, 7.760000, 7.650000, 7.530000, 7.420000, 6.330000, 6.260000, 6.160000, 6.090000, 4.120000, 4.080000, 4.040000, 3.990000, 3.960000, 3.930000, 3.900000, 3.780000, 3.630000, 3.590000, 3.550000, 3.520000, 3.660000, 3.810000, 3.800000, 3.770000, 3.740000, 3.720000, 3.700000, 3.680000, 3.660000, 3.640000, 3.620000, 3.670000, 3.740000, 4.090000, 4.490000, 4.990000, 5.780000, 5.770000, 5.760000, 5.750000, 5.740000, 5.740000, 5.740000, 5.730000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055369, 121716 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.348999, -21.120001, 1.690020 ], "estimate": [ -49.348999, -21.120001, 1.690020 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.780000, 0.790000, 7.160000, 6.820000, 6.540000, 6.280000, 6.050000, 5.840000, 5.620000, 5.430000, 5.270000, 5.100000, 4.950000, 4.820000, 4.680000, 4.560000, 4.440000, 4.330000, 4.240000, 4.140000, 4.050000, 3.970000, 3.880000, 3.800000, 3.730000, 3.660000, 3.600000, 3.530000, 3.560000, 3.610000, 6.180000, 7.300000, 5.140000, null, 7.380000, 7.280000, 7.190000, 7.130000, 4.750000, 6.120000, 2.960000, 2.920000, 2.880000, 2.860000, 2.830000, 2.820000, 2.860000, 2.970000, 3.090000, 3.220000, 3.360000, 3.510000, 3.670000, 3.860000, 4.080000, 4.300000, 4.580000, 4.940000, 5.300000, 5.690000, 6.000000, 5.980000, 5.970000, 5.950000, 5.940000, 5.920000, 5.920000, 5.910000, 5.910000, 5.900000, 5.900000, 5.900000, 5.900000, 5.890000, 5.900000, 4.730000, 3.710000, 3.210000, 3.150000, 3.160000, 3.160000, 3.180000, 3.190000, 3.200000, 3.210000, 3.220000, 3.230000, 3.250000, 3.270000, 3.300000, 3.140000, 2.970000, 2.840000, 2.720000, 2.590000, 2.500000, 2.410000, 2.340000, 2.390000, 2.420000, 2.450000, 2.480000, 2.500000, 6.070000, 6.130000, 6.260000, 6.280000, 6.340000, 6.410000, 7.310000, 7.400000, 7.500000, 7.600000, 7.740000, 7.850000, 7.980000, 6.160000, 6.170000, 7.730000, 7.650000, 7.540000, 7.420000, 6.350000, 6.260000, 6.180000, 6.090000, 6.020000, 4.060000, 4.030000, 3.980000, 3.950000, 3.920000, 3.900000, 3.850000, 3.620000, 3.600000, 3.560000, 3.530000, 3.490000, 3.660000, 3.790000, 3.760000, 3.740000, 3.720000, 3.700000, 3.670000, 3.650000, 3.630000, 3.620000, 3.610000, 3.660000, 3.770000, 4.150000, 4.580000, 5.730000, 5.770000, 5.760000, 5.750000, 5.740000, 5.730000, 5.740000, 5.730000, 5.740000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 192248 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.357002, -21.061001, 1.702311 ], "estimate": [ -49.357002, -21.061001, 1.702311 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.770000, 0.870000, 1.330000, 8.570000, 7.960000, 7.380000, 7.040000, 6.720000, 6.430000, 6.170000, 5.950000, 5.730000, 5.530000, 5.350000, 5.180000, 5.030000, 4.860000, 4.730000, 4.600000, 4.490000, 4.360000, 4.260000, 4.160000, 4.070000, 3.980000, 3.890000, 3.810000, 3.730000, 3.660000, 3.600000, 3.510000, 3.500000, 3.540000, 3.650000, 7.160000, 6.430000, 5.100000, null, 7.320000, 7.220000, 7.140000, 4.690000, 5.980000, 6.880000, 2.890000, 2.850000, 2.820000, 2.800000, 2.770000, 2.780000, 2.870000, 2.970000, 3.090000, 3.220000, 3.350000, 3.500000, 3.680000, 3.860000, 4.080000, 4.290000, 4.570000, 4.920000, 5.280000, 5.670000, 5.950000, 5.930000, 5.920000, 5.900000, 5.890000, 5.870000, 5.860000, 5.850000, 5.850000, 5.840000, 5.840000, 5.840000, 5.840000, 5.840000, 5.840000, 4.620000, 3.750000, 3.160000, 3.090000, 3.100000, 3.110000, 3.120000, 3.130000, 3.140000, 3.160000, 3.170000, 3.180000, 3.200000, 3.210000, 3.230000, 3.150000, 2.980000, 2.840000, 2.720000, 2.610000, 2.500000, 2.410000, 2.310000, 2.330000, 2.360000, 2.390000, 2.400000, 2.430000, 6.000000, 6.070000, 6.260000, 6.210000, 6.270000, 6.340000, 7.230000, 7.340000, 7.420000, 7.540000, 7.650000, 7.760000, 7.890000, 8.030000, 6.120000, 7.800000, 7.670000, 7.540000, 7.430000, 7.330000, 6.250000, 6.170000, 6.100000, 6.030000, 4.060000, 4.020000, 3.980000, 3.950000, 3.930000, 3.890000, 3.870000, 3.830000, 3.590000, 3.570000, 3.540000, 3.500000, 3.510000, 3.660000, 3.760000, 3.740000, 3.720000, 3.700000, 3.670000, 3.650000, 3.630000, 3.620000, 3.600000, 3.600000, 3.660000, 3.800000, 4.200000, 4.740000, 5.760000, 5.750000, 5.740000, 5.730000, 5.730000, 5.730000, 5.730000, 5.730000, 5.740000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 193364 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.361000, -21.032000, 1.708456 ], "estimate": [ -49.361000, -21.032000, 1.708456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.760000, 0.760000, 0.920000, 1.080000, 1.340000, 2.170000, 8.540000, 8.550000, 7.660000, 7.300000, 6.970000, 6.650000, 6.370000, 6.110000, 5.870000, 5.650000, 5.450000, 5.270000, 5.110000, 4.940000, 4.790000, 4.660000, 4.530000, 4.420000, 4.300000, 4.190000, 4.100000, 4.010000, 3.910000, 3.830000, 3.750000, 3.670000, 3.600000, 3.520000, 3.470000, 3.480000, 3.540000, 7.010000, 6.040000, 7.290000, 7.440000, 7.400000, 7.280000, 7.190000, 7.090000, 4.690000, 5.910000, 2.840000, 2.850000, 2.800000, 2.760000, 2.750000, 2.740000, 2.740000, 2.850000, 2.960000, 3.070000, 3.200000, 3.340000, 3.490000, 3.650000, 3.840000, 4.040000, 4.250000, 4.520000, 4.860000, 5.210000, 5.580000, 5.910000, 5.880000, 5.870000, 5.850000, 5.830000, 5.820000, 5.820000, 5.810000, 5.800000, 5.800000, 5.800000, 5.800000, 5.800000, 5.790000, 5.790000, 5.800000, 3.950000, 3.240000, 3.070000, 3.050000, 3.060000, 3.060000, 3.070000, 3.080000, 3.100000, 3.110000, 3.120000, 3.140000, 3.150000, 3.170000, 3.170000, 3.000000, 2.870000, 2.730000, 2.630000, 2.520000, 2.410000, 2.330000, 2.240000, 2.290000, 2.320000, 2.350000, 2.370000, 2.390000, 5.980000, 6.080000, 6.160000, 6.200000, 6.260000, 6.320000, 7.240000, 7.340000, 7.440000, 7.550000, 7.660000, 7.780000, 7.920000, 6.070000, 7.820000, 7.640000, 7.570000, 7.450000, 7.340000, 6.280000, 6.200000, 6.120000, 6.020000, 5.960000, 4.020000, 3.970000, 3.950000, 3.910000, 3.870000, 3.860000, 3.820000, 3.800000, 3.560000, 3.540000, 3.510000, 3.470000, 3.500000, 3.630000, 3.730000, 3.720000, 3.700000, 3.680000, 3.650000, 3.630000, 3.620000, 3.610000, 3.590000, 3.580000, 3.630000, 3.790000, 4.220000, 4.810000, 5.750000, 5.740000, 5.730000, 5.730000, 5.720000, 5.720000, 5.720000, 5.720000, 5.730000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 194165 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.369999, -20.973999, 1.708456 ], "estimate": [ -49.369999, -20.973999, 1.708456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.740000, 0.760000, 0.750000, 0.840000, 0.970000, 1.070000, 1.230000, 1.470000, 1.860000, 12.400000, 8.800000, 8.530000, 8.520000, 7.440000, 7.070000, 6.740000, 6.430000, 6.180000, 5.940000, 5.690000, 5.490000, 5.300000, 5.130000, 4.960000, 4.810000, 4.680000, 4.540000, 4.420000, 4.300000, 4.190000, 4.090000, 4.000000, 3.890000, 3.810000, 3.730000, 3.650000, 3.580000, 3.500000, 3.430000, 3.460000, 3.500000, 6.920000, 6.020000, 7.200000, 5.010000, null, 7.290000, 7.190000, 7.090000, 4.630000, 6.920000, 2.830000, 2.820000, 2.760000, 2.740000, 2.710000, 2.700000, 2.700000, 2.790000, 2.890000, 3.010000, 3.130000, 3.250000, 3.390000, 3.540000, 3.710000, 3.900000, 4.110000, 4.350000, 4.650000, 4.980000, 5.330000, 5.740000, 5.850000, 5.830000, 5.820000, 5.800000, 5.790000, 5.780000, 5.770000, 5.760000, 5.750000, 5.750000, 5.750000, 5.740000, 5.750000, 5.750000, 5.750000, 5.740000, 3.720000, 3.070000, 3.000000, 3.000000, 3.010000, 3.020000, 3.030000, 3.040000, 3.050000, 3.060000, 3.070000, 3.090000, 3.110000, 3.130000, 3.120000, 2.960000, 2.830000, 2.700000, 2.580000, 2.470000, 2.380000, 2.300000, 2.200000, 2.240000, 2.270000, 2.280000, 2.320000, 2.350000, 5.950000, 6.130000, 6.110000, 6.150000, 6.220000, 6.290000, 7.210000, 7.310000, 7.410000, 7.510000, 7.620000, 7.760000, 7.890000, 7.920000, 6.030000, 7.610000, 7.540000, 7.420000, 7.310000, 6.250000, 6.170000, 6.090000, 6.010000, 5.940000, 5.870000, 3.950000, 3.940000, 3.900000, 3.870000, 3.840000, 3.810000, 3.790000, 3.720000, 3.530000, 3.500000, 3.470000, 3.450000, 3.550000, 3.710000, 3.710000, 3.690000, 3.660000, 3.640000, 3.620000, 3.610000, 3.600000, 3.590000, 3.570000, 3.570000, 3.620000, 4.030000, 4.590000, 5.740000, 5.730000, 5.720000, 5.720000, 5.730000, 5.720000, 5.730000, 5.720000, 5.730000, 5.730000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 195032 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.377998, -20.916000, 1.708456 ], "estimate": [ -49.377998, -20.916000, 1.708456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.860000, 0.930000, 1.030000, 1.160000, 1.290000, 1.470000, 1.720000, 2.220000, 12.880000, 12.010000, 8.530000, 8.530000, 7.580000, 7.230000, 6.870000, 6.560000, 6.260000, 6.000000, 5.770000, 5.550000, 5.340000, 5.160000, 4.990000, 4.830000, 4.680000, 4.540000, 4.410000, 4.290000, 4.180000, 4.080000, 3.980000, 3.890000, 3.790000, 3.720000, 3.630000, 3.560000, 3.490000, 3.410000, 3.410000, 3.450000, 6.060000, 6.950000, 5.980000, 6.050000, 4.970000, 7.330000, 7.210000, 7.120000, 7.020000, 4.590000, 5.860000, 2.780000, 2.730000, 2.700000, 2.670000, 2.650000, 2.650000, 2.720000, 2.810000, 2.920000, 3.030000, 3.150000, 3.280000, 3.420000, 3.570000, 3.750000, 3.940000, 4.160000, 4.390000, 4.720000, 5.050000, 5.390000, 5.790000, 5.800000, 5.770000, 5.750000, 5.740000, 5.740000, 5.720000, 5.710000, 5.710000, 5.700000, 5.700000, 5.690000, 5.690000, 5.700000, 5.700000, 5.700000, 4.390000, 3.500000, 3.010000, 2.940000, 2.940000, 2.950000, 2.960000, 2.970000, 2.980000, 3.000000, 3.010000, 3.030000, 3.040000, 3.050000, 3.070000, 3.080000, 2.920000, 2.790000, 2.660000, 2.550000, 2.440000, 2.360000, 2.270000, 2.170000, 2.130000, 2.210000, 2.230000, 2.260000, 2.280000, 2.320000, 5.970000, 6.070000, 6.100000, 6.170000, 6.240000, 7.160000, 7.250000, 7.350000, 7.460000, 7.580000, 7.710000, 7.850000, 7.890000, 5.980000, 7.560000, 7.500000, 7.390000, 7.280000, 6.570000, 6.150000, 6.060000, 5.990000, 5.910000, 5.850000, 3.950000, 3.910000, 3.880000, 3.850000, 3.830000, 3.800000, 3.780000, 3.740000, 3.510000, 3.480000, 3.460000, 3.440000, 3.410000, 3.580000, 3.710000, 3.680000, 3.650000, 3.630000, 3.620000, 3.600000, 3.590000, 3.580000, 3.570000, 3.560000, 3.590000, 3.710000, 4.250000, 5.030000, 5.730000, 5.720000, 5.710000, 5.710000, 5.720000, 5.720000, 5.720000, 5.720000, 5.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 195953 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.386002, -20.858999, 1.708456 ], "estimate": [ -49.386002, -20.858999, 1.708456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.030000, 1.110000, 1.220000, 1.360000, 1.520000, 1.720000, 2.020000, 2.630000, 13.370000, 12.510000, 8.770000, 8.510000, 8.500000, 7.340000, 6.980000, 6.640000, 6.340000, 6.060000, 5.810000, 5.580000, 5.370000, 5.180000, 5.020000, 4.850000, 4.690000, 4.550000, 4.410000, 4.300000, 4.180000, 4.060000, 3.960000, 3.860000, 3.780000, 3.690000, 3.610000, 3.540000, 3.460000, 3.380000, 3.370000, 3.420000, 3.480000, 6.860000, 7.000000, 7.130000, 7.260000, null, 7.220000, 7.120000, 7.020000, 4.560000, 6.850000, 2.720000, 2.700000, 2.670000, 2.630000, 2.600000, 2.620000, 2.660000, 2.760000, 2.850000, 2.970000, 3.080000, 3.200000, 3.340000, 3.470000, 3.640000, 3.810000, 4.010000, 4.230000, 4.490000, 4.820000, 5.150000, 5.510000, 5.760000, 5.730000, 5.720000, 5.700000, 5.700000, 5.680000, 5.670000, 5.660000, 5.650000, 5.650000, 5.640000, 5.640000, 5.640000, 5.640000, 5.640000, 5.650000, 4.010000, 3.300000, 2.940000, 2.890000, 2.900000, 2.900000, 2.910000, 2.920000, 2.930000, 2.950000, 2.950000, 2.970000, 2.990000, 3.010000, 3.030000, 3.020000, 2.880000, 2.740000, 2.610000, 2.510000, 2.410000, 2.330000, 2.230000, 2.160000, 2.120000, 2.150000, 2.190000, 2.210000, 2.230000, 2.260000, 5.950000, 6.030000, 6.060000, 6.130000, 6.200000, 7.120000, 7.210000, 7.310000, 7.420000, 7.550000, 7.670000, 7.800000, 7.860000, 5.950000, 7.540000, 7.470000, 7.360000, 7.250000, 7.140000, 6.120000, 6.050000, 5.960000, 5.900000, 5.830000, 3.930000, 3.890000, 3.850000, 3.830000, 3.800000, 3.780000, 3.750000, 3.730000, 3.680000, 3.480000, 3.450000, 3.440000, 3.360000, 3.480000, 3.670000, 3.660000, 3.640000, 3.620000, 3.610000, 3.600000, 3.580000, 3.560000, 3.550000, 3.540000, 3.540000, 3.600000, 3.990000, 4.700000, 5.720000, 5.720000, 5.710000, 5.710000, 5.710000, 5.720000, 5.720000, 5.720000, 5.730000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 196791 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.393997, -20.801001, 1.708456 ], "estimate": [ -49.393997, -20.801001, 1.708456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.280000, 1.400000, 1.550000, 1.730000, 1.960000, 2.330000, 2.940000, null, 12.820000, 11.950000, 8.510000, 8.490000, 7.450000, 7.060000, 6.700000, 6.380000, 6.110000, 5.850000, 5.610000, 5.380000, 5.190000, 5.010000, 4.840000, 4.680000, 4.530000, 4.390000, 4.270000, 4.160000, 4.040000, 3.940000, 3.840000, 3.750000, 3.670000, 3.590000, 3.510000, 3.430000, 3.340000, 3.340000, 3.380000, 3.470000, 5.980000, 5.820000, 7.040000, 4.890000, null, 7.220000, 7.130000, 7.020000, 4.510000, 6.840000, 2.690000, 2.660000, 2.620000, 2.580000, 2.570000, 2.570000, 2.620000, 2.710000, 2.800000, 2.900000, 3.010000, 3.130000, 3.250000, 3.390000, 3.530000, 3.700000, 3.890000, 4.090000, 4.320000, 4.620000, 4.940000, 5.270000, 5.670000, 5.700000, 5.670000, 5.650000, 5.640000, 5.640000, 5.620000, 5.620000, 5.610000, 5.600000, 5.590000, 5.590000, 5.590000, 5.590000, 5.590000, 5.590000, 5.600000, 3.660000, 3.020000, 2.870000, 2.840000, 2.850000, 2.850000, 2.860000, 2.870000, 2.880000, 2.900000, 2.910000, 2.920000, 2.930000, 2.950000, 2.970000, 2.950000, 2.810000, 2.680000, 2.560000, 2.460000, 2.370000, 2.270000, 2.200000, 2.120000, 2.060000, 2.090000, 2.130000, 2.160000, 2.190000, 2.200000, 2.230000, 5.990000, 6.020000, 6.090000, 6.150000, 7.070000, 7.170000, 7.280000, 7.400000, 7.510000, 7.640000, 7.760000, 7.800000, 5.920000, 7.490000, 7.420000, 7.320000, 7.220000, 7.110000, 6.090000, 6.010000, 5.940000, 5.870000, 5.810000, 5.730000, 3.880000, 3.840000, 3.810000, 3.790000, 3.760000, 3.730000, 3.710000, 3.680000, 3.450000, 3.430000, 3.410000, 3.380000, 3.390000, 3.570000, 3.650000, 3.630000, 3.620000, 3.600000, 3.580000, 3.560000, 3.560000, 3.540000, 3.530000, 3.530000, 3.560000, 3.710000, 4.380000, 5.710000, 5.710000, 5.700000, 5.710000, 5.700000, 5.710000, 5.710000, 5.710000, 5.710000 ], "valid": [ 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 197626 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.403000, -20.743000, 1.708456 ], "estimate": [ -49.403000, -20.743000, 1.708456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.550000, 1.710000, 1.890000, 2.160000, 2.530000, 3.200000, null, null, 12.490000, 8.520000, 8.500000, 7.560000, 7.190000, 6.830000, 6.480000, 6.170000, 5.920000, 5.670000, 5.440000, 5.220000, 5.030000, 4.860000, 4.700000, 4.530000, 4.410000, 4.280000, 4.150000, 4.040000, 3.930000, 3.840000, 3.750000, 3.660000, 3.570000, 3.500000, 3.410000, 3.330000, 3.320000, 3.340000, 3.390000, 6.670000, 6.830000, 5.790000, 7.080000, 4.890000, 7.260000, 7.140000, 7.040000, 6.940000, 4.460000, 2.650000, 2.620000, 2.580000, 2.560000, 2.520000, 2.510000, 2.560000, 2.640000, 2.740000, 2.830000, 2.940000, 3.040000, 3.160000, 3.290000, 3.430000, 3.580000, 3.750000, 3.950000, 4.150000, 4.420000, 4.720000, 5.030000, 5.380000, 5.660000, 5.640000, 5.630000, 5.610000, 5.590000, 5.580000, 5.560000, 5.560000, 5.560000, 5.550000, 5.550000, 5.550000, 5.550000, 5.540000, 5.540000, 5.550000, 4.640000, 3.470000, 2.880000, 2.790000, 2.790000, 2.790000, 2.800000, 2.810000, 2.820000, 2.830000, 2.850000, 2.860000, 2.870000, 2.890000, 2.900000, 2.920000, 2.910000, 2.780000, 2.650000, 2.530000, 2.440000, 2.340000, 2.260000, 2.170000, 2.100000, 2.020000, 2.040000, 2.080000, 2.090000, 2.120000, 2.150000, 2.180000, 5.950000, 5.970000, 6.040000, 6.120000, 7.040000, 7.150000, 7.250000, 7.350000, 7.470000, 7.590000, 7.730000, 7.760000, 5.880000, 7.470000, 7.410000, 7.280000, 7.190000, 7.100000, 6.070000, 6.000000, 5.920000, 5.840000, 5.790000, 5.710000, 3.850000, 3.830000, 3.800000, 3.770000, 3.740000, 3.720000, 3.700000, 3.680000, 3.610000, 3.430000, 3.400000, 3.380000, 3.340000, 3.440000, 3.620000, 3.620000, 3.610000, 3.590000, 3.570000, 3.560000, 3.560000, 3.540000, 3.530000, 3.520000, 3.520000, 3.570000, 4.010000, 5.080000, 5.710000, 5.700000, 5.710000, 5.700000, 5.710000, 5.710000, 5.720000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 198508 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.410999, -20.684999, 1.702311 ], "estimate": [ -49.410999, -20.684999, 1.702311 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.790000, 2.000000, 2.230000, 2.580000, 3.090000, null, null, 13.240000, 12.300000, 8.500000, 8.480000, 7.490000, 7.060000, 6.670000, 6.350000, 6.060000, 5.790000, 5.550000, 5.330000, 5.120000, 4.920000, 4.750000, 4.600000, 4.440000, 4.310000, 4.180000, 4.060000, 3.950000, 3.830000, 3.750000, 3.660000, 3.580000, 3.490000, 3.410000, 3.320000, 3.290000, 3.310000, 3.360000, 6.600000, 5.840000, 5.960000, 6.940000, 4.820000, null, 7.190000, 7.080000, 6.990000, 4.450000, 2.630000, 2.580000, 2.560000, 2.520000, 2.490000, 2.480000, 2.500000, 2.570000, 2.650000, 2.740000, 2.840000, 2.940000, 3.050000, 3.170000, 3.300000, 3.440000, 3.590000, 3.760000, 3.950000, 4.160000, 4.420000, 4.710000, 5.030000, 5.390000, 5.610000, 5.580000, 5.580000, 5.560000, 5.550000, 5.540000, 5.530000, 5.510000, 5.500000, 5.490000, 5.490000, 5.490000, 5.480000, 5.490000, 5.490000, 5.490000, 4.260000, 3.450000, 2.830000, 2.750000, 2.730000, 2.750000, 2.750000, 2.760000, 2.780000, 2.780000, 2.790000, 2.800000, 2.820000, 2.830000, 2.850000, 2.860000, 2.880000, 2.760000, 2.640000, 2.520000, 2.410000, 2.330000, 2.250000, 2.170000, 2.090000, 2.020000, 1.940000, 2.000000, 2.030000, 2.060000, 2.090000, 2.100000, 2.130000, 5.920000, 5.970000, 6.050000, 6.970000, 7.070000, 7.170000, 7.280000, 7.390000, 7.510000, 7.650000, 7.760000, 5.840000, 7.510000, 7.400000, 7.290000, 7.190000, 7.090000, 6.070000, 6.000000, 5.910000, 5.830000, 5.790000, 5.730000, 5.660000, 3.810000, 3.800000, 3.760000, 3.730000, 3.710000, 3.690000, 3.670000, 3.650000, 3.450000, 3.410000, 3.380000, 3.360000, 3.340000, 3.450000, 3.620000, 3.610000, 3.590000, 3.570000, 3.550000, 3.540000, 3.530000, 3.530000, 3.520000, 3.510000, 3.510000, 3.560000, 4.210000, 5.700000, 5.700000, 5.700000, 5.700000, 5.700000, 5.700000, 5.710000, 5.720000 ], "valid": [ 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 199345 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.418999, -20.628000, 1.696165 ], "estimate": [ -49.418999, -20.628000, 1.696165 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.020000, 2.240000, 2.520000, 2.900000, 3.530000, null, null, 13.240000, 12.320000, 8.490000, 8.460000, 7.410000, 6.980000, 6.620000, 6.280000, 5.980000, 5.710000, 5.470000, 5.250000, 5.050000, 4.850000, 4.680000, 4.530000, 4.380000, 4.240000, 4.110000, 3.990000, 3.880000, 3.780000, 3.670000, 3.580000, 3.500000, 3.420000, 3.350000, 3.250000, 3.270000, 3.290000, 3.370000, 6.570000, 5.800000, 5.760000, 5.800000, 6.110000, null, 7.150000, 7.040000, 6.940000, 4.390000, 2.570000, 2.540000, 2.510000, 2.470000, 2.440000, 2.450000, 2.490000, 2.560000, 2.640000, 2.730000, 2.820000, 2.920000, 3.040000, 3.150000, 3.280000, 3.420000, 3.560000, 3.730000, 3.920000, 4.150000, 4.370000, 4.650000, 4.970000, 5.300000, 5.560000, 5.550000, 5.530000, 5.510000, 5.500000, 5.480000, 5.470000, 5.460000, 5.460000, 5.460000, 5.450000, 5.450000, 5.450000, 5.450000, 5.450000, 5.450000, 5.450000, 3.510000, 2.890000, 2.750000, 2.690000, 2.680000, 2.700000, 2.700000, 2.710000, 2.720000, 2.740000, 2.750000, 2.760000, 2.770000, 2.790000, 2.810000, 2.820000, 2.790000, 2.650000, 2.540000, 2.440000, 2.340000, 2.250000, 2.170000, 2.100000, 2.020000, 1.950000, 1.940000, 1.960000, 1.990000, 2.020000, 2.040000, 2.070000, 2.090000, 5.900000, 5.960000, 6.080000, 6.970000, 7.070000, 7.170000, 7.290000, 7.410000, 7.540000, 7.680000, 7.660000, 5.800000, 7.380000, 7.310000, 7.210000, 7.110000, 7.020000, 6.000000, 5.920000, 5.850000, 5.790000, 5.720000, 5.660000, 5.590000, 3.770000, 3.750000, 3.720000, 3.690000, 3.680000, 3.660000, 3.630000, 3.620000, 3.450000, 3.370000, 3.350000, 3.330000, 3.280000, 3.420000, 3.600000, 3.590000, 3.570000, 3.550000, 3.540000, 3.530000, 3.530000, 3.520000, 3.510000, 3.500000, 3.500000, 3.550000, 4.300000, 5.690000, 5.700000, 5.690000, 5.690000, 5.700000, 5.700000, 5.710000 ], "valid": [ 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 200191 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.426003, -20.571001, 1.683874 ], "estimate": [ -49.426003, -20.571001, 1.683874 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.250000, 2.510000, 2.830000, 3.330000, null, null, null, 13.230000, 12.260000, 8.480000, 8.460000, 7.300000, 6.880000, 6.510000, 6.200000, 5.890000, 5.620000, 5.370000, 5.170000, 4.960000, 4.770000, 4.610000, 4.440000, 4.300000, 4.170000, 4.030000, 3.920000, 3.810000, 3.700000, 3.610000, 3.520000, 3.440000, 3.360000, 3.250000, 3.230000, 3.250000, 3.300000, 6.470000, 5.830000, 5.860000, 6.070000, 6.150000, 4.760000, null, 7.100000, 6.990000, 6.890000, 2.550000, 2.510000, 2.480000, 2.450000, 2.410000, 2.400000, 2.410000, 2.480000, 2.550000, 2.640000, 2.730000, 2.820000, 2.920000, 3.030000, 3.140000, 3.260000, 3.410000, 3.550000, 3.720000, 3.890000, 4.100000, 4.340000, 4.620000, 4.920000, 5.260000, 5.520000, 5.500000, 5.480000, 5.460000, 5.450000, 5.440000, 5.420000, 5.410000, 5.400000, 5.400000, 5.390000, 5.400000, 5.390000, 5.390000, 5.400000, 5.400000, 5.400000, 3.610000, 2.940000, 2.680000, 2.640000, 2.640000, 2.640000, 2.650000, 2.660000, 2.670000, 2.680000, 2.690000, 2.700000, 2.720000, 2.740000, 2.750000, 2.770000, 2.770000, 2.670000, 2.550000, 2.450000, 2.360000, 2.260000, 2.180000, 2.110000, 2.040000, 1.970000, 1.910000, 1.880000, 1.920000, 1.950000, 1.970000, 2.000000, 2.020000, 2.050000, 5.900000, 5.960000, 6.890000, 6.990000, 7.100000, 7.210000, 7.320000, 7.450000, 7.580000, 7.690000, 5.710000, 7.440000, 7.340000, 7.230000, 7.130000, 7.030000, 6.140000, 5.950000, 5.870000, 5.780000, 5.720000, 5.680000, 5.610000, 3.780000, 3.750000, 3.720000, 3.700000, 3.680000, 3.660000, 3.630000, 3.610000, 3.590000, 3.410000, 3.350000, 3.330000, 3.330000, 3.260000, 3.410000, 3.570000, 3.570000, 3.550000, 3.540000, 3.530000, 3.530000, 3.510000, 3.510000, 3.500000, 3.490000, 3.490000, 3.540000, 4.520000, 5.680000, 5.690000, 5.690000, 5.690000, 5.700000, 5.700000 ], "valid": [ 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 201171 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.430000, -20.541000, 1.677729 ], "estimate": [ -49.430000, -20.541000, 1.677729 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.400000, 2.650000, 3.020000, 3.530000, 22.150000, null, null, 13.660000, 12.530000, 8.460000, 8.450000, 7.360000, 6.930000, 6.540000, 6.220000, 5.890000, 5.610000, 5.370000, 5.150000, 4.940000, 4.750000, 4.570000, 4.410000, 4.260000, 4.120000, 4.000000, 3.880000, 3.760000, 3.660000, 3.560000, 3.480000, 3.380000, 3.310000, 3.200000, 3.190000, 3.210000, 3.290000, 6.400000, 5.790000, 5.960000, 5.650000, 6.830000, 4.740000, null, 7.090000, 6.980000, 6.870000, 2.510000, 2.450000, 2.420000, 2.400000, 2.370000, 2.350000, 2.380000, 2.450000, 2.510000, 2.590000, 2.680000, 2.770000, 2.860000, 2.970000, 3.090000, 3.200000, 3.330000, 3.460000, 3.620000, 3.780000, 3.980000, 4.200000, 4.470000, 4.740000, 5.050000, 5.400000, 5.460000, 5.440000, 5.420000, 5.400000, 5.380000, 5.370000, 5.370000, 5.360000, 5.340000, 5.350000, 5.340000, 5.340000, 5.340000, 5.340000, 5.340000, 5.340000, 4.080000, 3.350000, 2.750000, 2.630000, 2.570000, 2.580000, 2.590000, 2.600000, 2.610000, 2.620000, 2.630000, 2.640000, 2.660000, 2.670000, 2.680000, 2.700000, 2.720000, 2.740000, 2.620000, 2.500000, 2.390000, 2.310000, 2.220000, 2.130000, 2.060000, 2.000000, 1.940000, 1.880000, 1.810000, 1.860000, 1.900000, 1.920000, 1.940000, 1.970000, 1.990000, 5.860000, 5.930000, 6.860000, 6.950000, 7.070000, 7.180000, 7.290000, 7.410000, 7.550000, 7.620000, 5.720000, 7.380000, 7.280000, 7.180000, 7.090000, 6.990000, 5.980000, 5.900000, 5.840000, 5.760000, 5.710000, 5.640000, 5.570000, 5.560000, 3.730000, 3.700000, 3.680000, 3.660000, 3.630000, 3.620000, 3.590000, 3.580000, 3.560000, 3.340000, 3.330000, 3.310000, 3.290000, 3.310000, 3.510000, 3.560000, 3.550000, 3.540000, 3.520000, 3.520000, 3.510000, 3.500000, 3.500000, 3.490000, 3.490000, 3.520000, 3.950000, 5.680000, 5.680000, 5.690000, 5.700000, 5.700000 ], "valid": [ 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 306784 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.437000, -20.480000, 1.671583 ], "estimate": [ -49.437000, -20.480000, 1.671583 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.610000, 2.920000, 3.300000, 4.000000, 22.120000, null, null, 13.770000, 12.610000, 8.450000, 8.440000, 7.320000, 6.870000, 6.480000, 6.130000, 5.820000, 5.540000, 5.300000, 5.080000, 4.850000, 4.670000, 4.490000, 4.340000, 4.180000, 4.060000, 3.920000, 3.810000, 3.700000, 3.590000, 3.490000, 3.400000, 3.320000, 3.240000, 3.150000, 3.170000, 3.200000, 6.280000, 6.380000, 6.480000, 6.570000, 5.620000, 6.800000, 4.680000, null, 7.050000, 6.940000, 2.470000, 2.460000, 2.390000, 2.360000, 2.340000, 2.310000, 2.320000, 2.360000, 2.430000, 2.500000, 2.570000, 2.650000, 2.730000, 2.820000, 2.940000, 3.050000, 3.150000, 3.280000, 3.410000, 3.570000, 3.730000, 3.910000, 4.140000, 4.370000, 4.650000, 4.940000, 5.300000, 5.410000, 5.390000, 5.370000, 5.350000, 5.330000, 5.330000, 5.320000, 5.310000, 5.300000, 5.300000, 5.290000, 5.290000, 5.290000, 5.290000, 5.290000, 5.290000, 5.290000, 3.540000, 2.910000, 2.580000, 2.530000, 2.530000, 2.530000, 2.540000, 2.550000, 2.560000, 2.570000, 2.580000, 2.590000, 2.610000, 2.620000, 2.640000, 2.660000, 2.670000, 2.660000, 2.530000, 2.430000, 2.330000, 2.240000, 2.160000, 2.080000, 2.020000, 1.960000, 1.890000, 1.850000, 1.800000, 1.810000, 1.830000, 1.860000, 1.880000, 1.910000, 1.940000, 5.830000, 5.910000, 6.840000, 6.960000, 7.070000, 7.180000, 7.310000, 7.420000, 7.570000, 7.540000, 5.700000, 7.270000, 7.210000, 7.110000, 7.020000, 6.940000, 5.920000, 5.870000, 5.790000, 5.710000, 5.660000, 5.600000, 5.550000, 5.480000, 3.690000, 3.680000, 3.660000, 3.630000, 3.620000, 3.590000, 3.580000, 3.550000, 3.550000, 3.330000, 3.310000, 3.290000, 3.270000, 3.230000, 3.460000, 3.540000, 3.540000, 3.530000, 3.520000, 3.510000, 3.500000, 3.500000, 3.490000, 3.490000, 3.490000, 3.490000, 3.620000, 5.690000, 5.690000, 5.690000, 5.700000 ], "valid": [ 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 695567 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.442001, -20.421999, 1.659292 ], "estimate": [ -49.442001, -20.421999, 1.659292 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.830000, 3.160000, 3.520000, 22.160000, 22.110000, null, 15.970000, null, 12.680000, 8.440000, 8.430000, 7.250000, 6.810000, 6.410000, 6.070000, 5.750000, 5.480000, 5.220000, 5.010000, 4.790000, 4.610000, 4.420000, 4.280000, 4.120000, 3.980000, 3.840000, 3.740000, 3.630000, 3.520000, 3.430000, 3.350000, 3.260000, 3.130000, 3.130000, 3.150000, 3.210000, 6.250000, 6.360000, 6.450000, 6.540000, 5.680000, 6.760000, 4.640000, null, 7.020000, 6.900000, 2.420000, 2.370000, 2.340000, 2.300000, 2.270000, 2.270000, 2.280000, 2.340000, 2.410000, 2.480000, 2.550000, 2.630000, 2.720000, 2.810000, 2.900000, 3.010000, 3.120000, 3.250000, 3.390000, 3.530000, 3.680000, 3.860000, 4.070000, 4.300000, 4.570000, 4.860000, 5.190000, 5.360000, 5.340000, 5.320000, 5.310000, 5.300000, 5.290000, 5.270000, 5.260000, 5.260000, 5.250000, 5.240000, 5.240000, 5.230000, 5.230000, 5.230000, 5.230000, 5.240000, 3.860000, 3.070000, 2.580000, 2.510000, 2.470000, 2.480000, 2.490000, 2.500000, 2.500000, 2.520000, 2.520000, 2.530000, 2.550000, 2.560000, 2.570000, 2.590000, 2.610000, 2.630000, 2.570000, 2.460000, 2.370000, 2.280000, 2.190000, 2.110000, 2.040000, 1.970000, 1.920000, 1.850000, 1.800000, 1.750000, 1.730000, 1.780000, 1.810000, 1.840000, 1.870000, 1.900000, 1.900000, 6.750000, 6.860000, 6.960000, 7.060000, 7.190000, 7.330000, 7.450000, 7.580000, 7.460000, 5.650000, 7.240000, 7.140000, 7.050000, 6.960000, 6.870000, 5.880000, 5.820000, 5.740000, 5.690000, 5.620000, 5.570000, 5.510000, 5.430000, 3.680000, 3.660000, 3.630000, 3.620000, 3.590000, 3.580000, 3.560000, 3.550000, 3.530000, 3.320000, 3.300000, 3.280000, 3.270000, 3.250000, 3.390000, 3.540000, 3.530000, 3.520000, 3.510000, 3.500000, 3.500000, 3.490000, 3.490000, 3.490000, 3.480000, 3.480000, 3.530000, 5.690000, 5.690000, 5.690000 ], "valid": [ 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055371, 706364 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.447002, -20.365999, 1.653147 ], "estimate": [ -49.447002, -20.365999, 1.653147 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.980000, 3.300000, 3.770000, 22.830000, 22.100000, null, null, null, 12.860000, 8.430000, 8.420000, 7.260000, 6.800000, 6.400000, 6.040000, 5.710000, 5.430000, 5.190000, 4.960000, 4.760000, 4.550000, 4.380000, 4.210000, 4.070000, 3.930000, 3.800000, 3.680000, 3.570000, 3.470000, 3.380000, 3.290000, 3.200000, 3.100000, 3.100000, 3.120000, 3.190000, 6.220000, 6.310000, 5.660000, 6.500000, 5.620000, 6.720000, 4.610000, null, 6.990000, 6.890000, 2.370000, 2.320000, 2.290000, 2.250000, 2.230000, 2.220000, 2.250000, 2.320000, 2.380000, 2.450000, 2.520000, 2.590000, 2.670000, 2.770000, 2.860000, 2.970000, 3.080000, 3.190000, 3.320000, 3.460000, 3.610000, 3.780000, 3.970000, 4.190000, 4.440000, 4.730000, 5.020000, 5.320000, 5.300000, 5.280000, 5.270000, 5.250000, 5.240000, 5.220000, 5.210000, 5.200000, 5.200000, 5.190000, 5.180000, 5.180000, 5.180000, 5.180000, 5.180000, 5.190000, 5.190000, 3.280000, 2.720000, 2.480000, 2.410000, 2.420000, 2.430000, 2.440000, 2.450000, 2.460000, 2.470000, 2.480000, 2.490000, 2.510000, 2.520000, 2.530000, 2.550000, 2.560000, 2.590000, 2.500000, 2.400000, 2.310000, 2.220000, 2.130000, 2.070000, 2.000000, 1.930000, 1.860000, 1.820000, 1.770000, 1.720000, 1.710000, 1.740000, 1.760000, 1.800000, 1.820000, 1.850000, 1.870000, 6.730000, 6.850000, 6.940000, 7.060000, 7.180000, 7.320000, 7.470000, 7.500000, 5.550000, 5.620000, 7.170000, 7.090000, 6.990000, 6.910000, 6.820000, 5.820000, 5.790000, 5.700000, 5.630000, 5.580000, 5.520000, 5.470000, 5.390000, 3.670000, 3.630000, 3.620000, 3.590000, 3.570000, 3.550000, 3.550000, 3.530000, 3.510000, 3.310000, 3.290000, 3.280000, 3.260000, 3.200000, 3.320000, 3.530000, 3.510000, 3.520000, 3.500000, 3.500000, 3.490000, 3.490000, 3.480000, 3.480000, 3.480000, 3.480000, 3.530000, 5.690000, 5.690000 ], "valid": [ 1, 1, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055372, 280300 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.452999, -20.308001, 1.659292 ], "estimate": [ -49.452999, -20.308001, 1.659292 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.460000, 3.990000, 22.830000, 22.110000, 22.110000, 15.970000, null, 13.210000, 8.410000, 8.420000, 7.290000, 6.810000, 6.400000, 6.030000, 5.700000, 5.420000, 5.160000, 4.910000, 4.700000, 4.500000, 4.340000, 4.170000, 4.010000, 3.870000, 3.750000, 3.630000, 3.510000, 3.410000, 3.320000, 3.230000, 3.150000, 3.060000, 3.080000, 3.100000, 3.150000, 6.170000, 6.250000, 5.800000, 6.450000, 5.510000, 6.650000, 4.580000, null, 6.980000, 2.350000, 2.310000, 2.260000, 2.230000, 2.220000, 2.160000, 2.180000, 2.220000, 2.290000, 2.350000, 2.420000, 2.490000, 2.550000, 2.630000, 2.720000, 2.810000, 2.900000, 3.010000, 3.130000, 3.250000, 3.390000, 3.530000, 3.680000, 3.870000, 4.060000, 4.310000, 4.570000, 4.850000, 5.190000, 5.250000, 5.240000, 5.210000, 5.200000, 5.180000, 5.170000, 5.160000, 5.150000, 5.150000, 5.140000, 5.140000, 5.130000, 5.130000, 5.140000, 5.130000, 5.130000, 5.140000, 3.720000, 2.990000, 2.500000, 2.420000, 2.360000, 2.370000, 2.370000, 2.380000, 2.390000, 2.400000, 2.410000, 2.420000, 2.440000, 2.450000, 2.460000, 2.480000, 2.490000, 2.510000, 2.530000, 2.460000, 2.360000, 2.260000, 2.180000, 2.100000, 2.030000, 1.960000, 1.910000, 1.850000, 1.790000, 1.740000, 1.690000, 1.650000, 1.670000, 1.700000, 1.730000, 1.750000, 1.770000, 1.810000, 1.830000, 6.820000, 6.920000, 7.040000, 7.160000, 7.290000, 7.430000, 7.440000, 5.540000, 5.590000, 7.140000, 7.040000, 6.940000, 6.860000, 6.780000, 5.790000, 5.730000, 5.670000, 5.620000, 5.560000, 5.500000, 5.450000, 5.380000, 3.650000, 3.620000, 3.600000, 3.580000, 3.560000, 3.550000, 3.530000, 3.520000, 3.500000, 3.490000, 3.280000, 3.270000, 3.260000, 3.230000, 3.190000, 3.440000, 3.520000, 3.510000, 3.500000, 3.500000, 3.490000, 3.490000, 3.490000, 3.480000, 3.470000, 3.470000, 3.480000, 5.680000, 5.690000 ], "valid": [ 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055372, 171712 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.459000, -20.249001, 1.665438 ], "estimate": [ -49.459000, -20.249001, 1.665438 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.140000, 22.810000, 22.350000, 22.100000, null, 15.950000, null, 8.620000, 8.410000, 7.360000, 6.850000, 6.410000, 6.030000, 5.690000, 5.410000, 5.130000, 4.890000, 4.670000, 4.480000, 4.300000, 4.120000, 3.970000, 3.820000, 3.690000, 3.580000, 3.460000, 3.360000, 3.270000, 3.170000, 3.040000, 3.030000, 3.060000, 3.100000, 6.050000, 6.120000, 6.210000, 6.300000, 6.400000, 5.490000, 6.590000, 4.540000, 5.150000, 6.970000, 2.290000, 2.240000, 2.210000, 2.180000, 2.140000, 2.130000, 2.160000, 2.210000, 2.260000, 2.320000, 2.380000, 2.460000, 2.520000, 2.590000, 2.680000, 2.770000, 2.860000, 2.970000, 3.080000, 3.190000, 3.320000, 3.450000, 3.600000, 3.780000, 3.970000, 4.180000, 4.440000, 4.710000, 5.020000, 5.200000, 5.180000, 5.170000, 5.150000, 5.140000, 5.130000, 5.110000, 5.100000, 5.090000, 5.080000, 5.070000, 5.070000, 5.060000, 5.070000, 5.060000, 5.070000, 5.070000, 5.080000, 3.310000, 2.750000, 2.380000, 2.330000, 2.310000, 2.320000, 2.320000, 2.340000, 2.350000, 2.350000, 2.360000, 2.370000, 2.380000, 2.400000, 2.410000, 2.430000, 2.450000, 2.470000, 2.480000, 2.400000, 2.310000, 2.220000, 2.140000, 2.060000, 1.990000, 1.930000, 1.870000, 1.820000, 1.760000, 1.710000, 1.680000, 1.620000, 1.590000, 1.640000, 1.670000, 1.700000, 1.720000, 1.740000, 1.770000, 6.800000, 6.910000, 7.010000, 7.140000, 7.280000, 7.420000, 7.390000, 5.490000, 5.530000, 7.090000, 6.990000, 6.900000, 6.820000, 6.730000, 5.780000, 5.710000, 5.630000, 5.590000, 5.540000, 5.470000, 5.430000, 5.350000, 5.270000, 3.600000, 3.580000, 3.560000, 3.550000, 3.530000, 3.520000, 3.500000, 3.490000, 3.480000, 3.270000, 3.260000, 3.250000, 3.230000, 3.200000, 3.310000, 3.510000, 3.510000, 3.500000, 3.490000, 3.490000, 3.480000, 3.480000, 3.470000, 3.470000, 3.470000, 3.470000, 3.530000, 5.690000 ], "valid": [ 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055372, 392943 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.464001, -20.191000, 1.665438 ], "estimate": [ -49.464001, -20.191000, 1.665438 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.760000, 22.810000, 22.100000, 22.100000, 15.920000, null, 12.870000, 8.390000, 7.440000, 6.920000, 6.470000, 6.070000, 5.730000, 5.410000, 5.130000, 4.880000, 4.650000, 4.450000, 4.270000, 4.090000, 3.930000, 3.790000, 3.650000, 3.540000, 3.420000, 3.300000, 3.210000, 3.130000, 3.010000, 3.010000, 3.030000, 3.080000, 6.000000, 6.070000, 6.160000, 5.740000, 5.480000, 6.420000, 5.590000, 4.490000, null, 2.260000, 2.260000, 2.190000, 2.160000, 2.120000, 2.080000, 2.090000, 2.130000, 2.180000, 2.220000, 2.290000, 2.340000, 2.410000, 2.490000, 2.540000, 2.630000, 2.720000, 2.810000, 2.900000, 3.000000, 3.120000, 3.240000, 3.370000, 3.500000, 3.660000, 3.850000, 4.040000, 4.270000, 4.530000, 4.810000, 5.120000, 5.150000, 5.130000, 5.110000, 5.090000, 5.070000, 5.060000, 5.040000, 5.040000, 5.030000, 5.030000, 5.030000, 5.030000, 5.020000, 5.020000, 5.020000, 5.020000, 5.020000, 4.030000, 3.060000, 2.520000, 2.310000, 2.240000, 2.250000, 2.250000, 2.260000, 2.270000, 2.280000, 2.290000, 2.300000, 2.320000, 2.330000, 2.350000, 2.350000, 2.370000, 2.380000, 2.400000, 2.420000, 2.370000, 2.280000, 2.190000, 2.110000, 2.030000, 1.960000, 1.900000, 1.850000, 1.790000, 1.740000, 1.690000, 1.660000, 1.610000, 1.570000, 1.570000, 1.600000, 1.620000, 1.650000, 1.670000, 1.700000, 1.730000, 6.860000, 6.970000, 7.100000, 7.220000, 7.380000, 7.350000, 5.440000, 5.500000, 7.060000, 6.960000, 6.870000, 6.780000, 6.710000, 5.740000, 5.680000, 5.630000, 5.550000, 5.510000, 5.460000, 5.410000, 5.350000, 5.240000, 3.580000, 3.570000, 3.550000, 3.540000, 3.520000, 3.500000, 3.490000, 3.470000, 3.460000, 3.450000, 3.260000, 3.240000, 3.230000, 3.200000, 3.180000, 3.380000, 3.500000, 3.490000, 3.490000, 3.480000, 3.480000, 3.470000, 3.470000, 3.470000, 3.470000, 3.470000, 3.480000, 5.680000 ], "valid": [ 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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055372, 551924 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.470001, -20.135000, 1.671583 ], "estimate": [ -49.470001, -20.135000, 1.671583 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.710000, 22.190000, 22.100000, null, 15.960000, 13.250000, 8.400000, 7.530000, 7.020000, 6.500000, 6.100000, 5.730000, 5.410000, 5.120000, 4.860000, 4.630000, 4.420000, 4.230000, 4.060000, 3.900000, 3.740000, 3.600000, 3.480000, 3.370000, 3.270000, 3.160000, 3.070000, 2.980000, 3.000000, 3.010000, 3.080000, 5.960000, 6.040000, 6.110000, 6.200000, 5.460000, 6.390000, 5.450000, 4.460000, null, 2.230000, 2.180000, 2.140000, 2.110000, 2.070000, 2.030000, 2.040000, 2.100000, 2.160000, 2.210000, 2.250000, 2.320000, 2.370000, 2.450000, 2.510000, 2.580000, 2.660000, 2.750000, 2.850000, 2.950000, 3.060000, 3.170000, 3.290000, 3.430000, 3.570000, 3.750000, 3.940000, 4.150000, 4.380000, 4.640000, 4.950000, 5.100000, 5.080000, 5.060000, 5.040000, 5.030000, 5.020000, 5.000000, 4.990000, 4.990000, 4.980000, 4.980000, 4.970000, 4.970000, 4.970000, 4.970000, 4.970000, 4.970000, 4.970000, 3.340000, 2.780000, 2.330000, 2.250000, 2.190000, 2.200000, 2.210000, 2.210000, 2.230000, 2.240000, 2.240000, 2.250000, 2.260000, 2.280000, 2.290000, 2.310000, 2.320000, 2.340000, 2.350000, 2.370000, 2.320000, 2.220000, 2.140000, 2.070000, 2.000000, 1.930000, 1.870000, 1.810000, 1.770000, 1.720000, 1.680000, 1.620000, 1.590000, 1.550000, 1.510000, 1.490000, 1.550000, 1.590000, 1.630000, 1.660000, 1.680000, 1.700000, 6.950000, 7.090000, 7.230000, 7.360000, 7.300000, 5.410000, 5.460000, 7.010000, 6.930000, 6.820000, 6.740000, 6.680000, 5.710000, 5.650000, 5.600000, 5.530000, 5.480000, 5.440000, 5.390000, 5.350000, 5.230000, 3.580000, 3.550000, 3.530000, 3.520000, 3.500000, 3.490000, 3.480000, 3.460000, 3.460000, 3.440000, 3.300000, 3.230000, 3.210000, 3.200000, 3.170000, 3.240000, 3.490000, 3.490000, 3.490000, 3.480000, 3.480000, 3.470000, 3.470000, 3.470000, 3.470000, 3.470000, 3.470000, 3.540000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055372, 832234 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.476002, -20.078001, 1.671583 ], "estimate": [ -49.476002, -20.078001, 1.671583 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.810000, 22.090000, 22.120000, null, null, 8.380000, 8.390000, 7.130000, 6.600000, 6.150000, 5.770000, 5.430000, 5.140000, 4.860000, 4.640000, 4.410000, 4.220000, 4.020000, 3.860000, 3.720000, 3.570000, 3.460000, 3.340000, 3.230000, 3.130000, 3.040000, 2.950000, 2.970000, 3.000000, 3.030000, 5.910000, 5.980000, 6.070000, 6.150000, 5.510000, 6.320000, 6.390000, 6.510000, 5.470000, 2.180000, 2.130000, 2.100000, 2.060000, 2.020000, 2.000000, 2.040000, 2.080000, 2.130000, 2.180000, 2.220000, 2.280000, 2.340000, 2.410000, 2.480000, 2.540000, 2.620000, 2.710000, 2.800000, 2.880000, 2.990000, 3.100000, 3.240000, 3.350000, 3.490000, 3.640000, 3.820000, 4.020000, 4.250000, 4.490000, 4.760000, 5.070000, 5.050000, 5.030000, 5.010000, 4.990000, 4.970000, 4.970000, 4.960000, 4.950000, 4.940000, 4.930000, 4.920000, 4.920000, 4.920000, 4.910000, 4.910000, 4.910000, 4.920000, 4.920000, 3.100000, 2.580000, 2.210000, 2.190000, 2.150000, 2.150000, 2.160000, 2.170000, 2.170000, 2.190000, 2.190000, 2.200000, 2.210000, 2.230000, 2.250000, 2.250000, 2.270000, 2.290000, 2.300000, 2.340000, 2.290000, 2.200000, 2.120000, 2.040000, 1.970000, 1.900000, 1.850000, 1.790000, 1.740000, 1.700000, 1.650000, 1.610000, 1.560000, 1.530000, 1.490000, 1.470000, 1.510000, 1.530000, 1.560000, 1.580000, 1.610000, 1.640000, 1.670000, 7.060000, 7.190000, 7.330000, 7.260000, 5.360000, 5.420000, 7.030000, 6.880000, 6.810000, 6.710000, 6.650000, 5.690000, 5.630000, 5.570000, 5.510000, 5.460000, 5.410000, 5.370000, 5.370000, 5.220000, 5.220000, 3.550000, 3.530000, 3.510000, 3.480000, 3.480000, 3.470000, 3.460000, 3.440000, 3.420000, 3.410000, 3.220000, 3.210000, 3.200000, 3.180000, 3.140000, 3.410000, 3.480000, 3.480000, 3.480000, 3.470000, 3.470000, 3.460000, 3.460000, 3.470000, 3.470000, 3.470000, 3.480000 ], "valid": [ 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055372, 911743 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.482998, -20.020000, 1.677729 ], "estimate": [ -49.482998, -20.020000, 1.677729 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.610000, 22.100000, null, 15.930000, null, 8.370000, 7.310000, 6.730000, 6.250000, 5.830000, 5.470000, 5.150000, 4.890000, 4.630000, 4.400000, 4.210000, 4.010000, 3.850000, 3.700000, 3.560000, 3.420000, 3.300000, 3.190000, 3.080000, 2.940000, 2.930000, 2.950000, 2.970000, 5.800000, 5.860000, 5.940000, 6.020000, 6.080000, 5.410000, 5.530000, 5.440000, 4.420000, 2.170000, 2.160000, 2.080000, 2.050000, 2.010000, 1.970000, 1.980000, 2.010000, 2.060000, 2.100000, 2.150000, 2.200000, 2.260000, 2.310000, 2.370000, 2.440000, 2.510000, 2.570000, 2.650000, 2.740000, 2.830000, 2.920000, 3.040000, 3.140000, 3.270000, 3.400000, 3.550000, 3.710000, 3.890000, 4.090000, 4.330000, 4.570000, 4.860000, 5.010000, 4.980000, 4.960000, 4.950000, 4.930000, 4.920000, 4.910000, 4.900000, 4.890000, 4.890000, 4.880000, 4.870000, 4.870000, 4.870000, 4.870000, 4.870000, 4.870000, 4.870000, 3.680000, 2.890000, 2.400000, 2.160000, 2.100000, 2.090000, 2.100000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.150000, 2.170000, 2.180000, 2.190000, 2.210000, 2.220000, 2.240000, 2.250000, 2.270000, 2.240000, 2.160000, 2.080000, 2.010000, 1.950000, 1.870000, 1.830000, 1.780000, 1.720000, 1.680000, 1.630000, 1.600000, 1.550000, 1.500000, 1.470000, 1.440000, 1.440000, 1.460000, 1.490000, 1.530000, 1.550000, 1.570000, 1.610000, 1.620000, 7.150000, 7.290000, 7.230000, 5.320000, 5.390000, 6.940000, 6.840000, 6.770000, 6.690000, 6.630000, 5.650000, 5.600000, 5.540000, 5.490000, 5.440000, 5.390000, 5.360000, 5.320000, 5.220000, 5.190000, 3.530000, 3.510000, 3.480000, 3.470000, 3.470000, 3.440000, 3.430000, 3.430000, 3.420000, 3.380000, 3.400000, 3.200000, 3.190000, 3.180000, 3.140000, 3.150000, 3.480000, 3.480000, 3.470000, 3.460000, 3.470000, 3.460000, 3.460000, 3.460000, 3.460000, 3.460000, 3.470000 ], "valid": [ 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 149948 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.488998, -19.971001, 1.690020 ], "estimate": [ -49.488998, -19.971001, 1.690020 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.090000, null, 15.940000, null, 8.380000, 7.280000, 6.700000, 6.210000, 5.790000, 5.420000, 5.110000, 4.820000, 4.570000, 4.330000, 4.140000, 3.950000, 3.790000, 3.620000, 3.490000, 3.350000, 3.240000, 3.130000, 3.020000, 2.900000, 2.910000, 2.930000, 2.980000, 5.780000, 5.840000, 5.910000, 5.980000, 6.080000, 5.440000, 6.230000, 5.390000, 6.410000, 2.110000, 2.070000, 2.030000, 1.990000, 1.950000, 1.930000, 1.960000, 2.000000, 2.050000, 2.090000, 2.140000, 2.190000, 2.240000, 2.290000, 2.350000, 2.420000, 2.490000, 2.550000, 2.630000, 2.720000, 2.800000, 2.890000, 3.000000, 3.110000, 3.230000, 3.360000, 3.490000, 3.650000, 3.820000, 4.010000, 4.240000, 4.480000, 4.750000, 4.960000, 4.940000, 4.920000, 4.900000, 4.880000, 4.880000, 4.860000, 4.850000, 4.840000, 4.830000, 4.820000, 4.820000, 4.810000, 4.810000, 4.810000, 4.810000, 4.810000, 4.810000, 4.820000, 3.070000, 2.560000, 2.160000, 2.090000, 2.040000, 2.050000, 2.050000, 2.060000, 2.070000, 2.070000, 2.090000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.190000, 2.200000, 2.230000, 2.190000, 2.100000, 2.020000, 1.960000, 1.900000, 1.840000, 1.780000, 1.730000, 1.690000, 1.640000, 1.600000, 1.560000, 1.520000, 1.480000, 1.460000, 1.420000, 1.400000, 1.420000, 1.430000, 1.460000, 1.490000, 1.530000, 1.550000, 1.580000, 7.160000, 7.260000, 7.160000, 5.310000, 5.360000, 6.890000, 6.790000, 6.720000, 6.650000, 6.570000, 5.630000, 5.560000, 5.510000, 5.450000, 5.410000, 5.370000, 5.320000, 5.300000, 5.190000, 5.160000, 3.510000, 3.490000, 3.470000, 3.460000, 3.440000, 3.430000, 3.430000, 3.420000, 3.390000, 3.360000, 3.370000, 3.180000, 3.180000, 3.160000, 3.130000, 3.140000, 3.460000, 3.470000, 3.460000, 3.460000, 3.460000, 3.460000, 3.460000, 3.460000, 3.460000, 3.460000, 3.470000 ], "valid": [ 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 151134 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.953001, 1.702311 ], "estimate": [ -49.491001, -19.953001, 1.702311 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.100000, 15.930000, null, 8.380000, 7.440000, 6.870000, 6.340000, 5.900000, 5.500000, 5.170000, 4.870000, 4.600000, 4.380000, 4.150000, 3.960000, 3.790000, 3.630000, 3.480000, 3.350000, 3.220000, 3.120000, 3.000000, 2.880000, 2.900000, 2.920000, 2.970000, 5.750000, 5.810000, 5.880000, 5.950000, 6.020000, 5.370000, 5.570000, 5.660000, 2.100000, 2.100000, 2.040000, 2.010000, 1.960000, 1.930000, 1.920000, 1.960000, 2.000000, 2.030000, 2.070000, 2.120000, 2.170000, 2.220000, 2.260000, 2.330000, 2.390000, 2.460000, 2.520000, 2.590000, 2.670000, 2.760000, 2.850000, 2.950000, 3.060000, 3.160000, 3.290000, 3.420000, 3.570000, 3.730000, 3.910000, 4.120000, 4.350000, 4.600000, 4.880000, 4.910000, 4.890000, 4.880000, 4.860000, 4.850000, 4.840000, 4.820000, 4.810000, 4.800000, 4.790000, 4.790000, 4.780000, 4.780000, 4.780000, 4.770000, 4.770000, 4.780000, 4.780000, 3.630000, 2.830000, 2.340000, 2.070000, 2.040000, 2.000000, 2.010000, 2.020000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.080000, 2.090000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.170000, 2.200000, 2.140000, 2.060000, 1.980000, 1.930000, 1.860000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.580000, 1.530000, 1.500000, 1.460000, 1.430000, 1.410000, 1.370000, 1.370000, 1.400000, 1.410000, 1.440000, 1.470000, 1.500000, 1.530000, 1.560000, 7.220000, 7.120000, 5.270000, 5.360000, 6.840000, 6.770000, 6.690000, 6.610000, 6.540000, 5.590000, 5.530000, 5.480000, 5.440000, 5.380000, 5.350000, 5.310000, 5.290000, 5.160000, 5.150000, 3.490000, 3.470000, 3.460000, 3.450000, 3.430000, 3.420000, 3.410000, 3.390000, 3.370000, 3.360000, 3.360000, 3.180000, 3.170000, 3.140000, 3.130000, 3.140000, 3.340000, 3.460000, 3.460000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.450000, 3.460000, 3.470000 ], "valid": [ 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 152199 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.955000, 1.708456 ], "estimate": [ -49.491001, -19.955000, 1.708456 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.090000, 15.950000, null, 8.380000, 7.420000, 6.820000, 6.300000, 5.870000, 5.470000, 5.140000, 4.840000, 4.570000, 4.350000, 4.120000, 3.950000, 3.760000, 3.610000, 3.460000, 3.340000, 3.210000, 3.100000, 3.000000, 2.890000, 2.910000, 2.920000, 3.010000, 5.750000, 5.820000, 5.880000, 5.960000, 6.020000, 5.340000, 5.590000, 5.360000, 2.130000, 2.090000, 2.030000, 1.990000, 1.960000, 1.920000, 1.910000, 1.960000, 2.000000, 2.030000, 2.070000, 2.120000, 2.170000, 2.230000, 2.270000, 2.330000, 2.380000, 2.460000, 2.530000, 2.600000, 2.680000, 2.770000, 2.850000, 2.950000, 3.060000, 3.170000, 3.300000, 3.430000, 3.580000, 3.740000, 3.920000, 4.130000, 4.360000, 4.610000, 4.910000, 4.900000, 4.890000, 4.870000, 4.850000, 4.850000, 4.830000, 4.820000, 4.810000, 4.800000, 4.790000, 4.790000, 4.780000, 4.780000, 4.770000, 4.770000, 4.770000, 4.770000, 4.770000, 3.500000, 2.790000, 2.300000, 2.070000, 2.020000, 2.000000, 2.010000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.190000, 2.130000, 2.060000, 1.980000, 1.920000, 1.860000, 1.800000, 1.750000, 1.700000, 1.660000, 1.610000, 1.580000, 1.530000, 1.500000, 1.460000, 1.430000, 1.390000, 1.370000, 1.370000, 1.380000, 1.410000, 1.440000, 1.470000, 1.490000, 1.530000, 1.560000, 7.220000, 7.130000, 5.280000, 5.360000, 6.840000, 6.760000, 6.670000, 6.610000, 6.530000, 5.590000, 5.530000, 5.480000, 5.420000, 5.370000, 5.340000, 5.300000, 5.290000, 5.170000, 5.130000, 3.490000, 3.470000, 3.460000, 3.450000, 3.430000, 3.410000, 3.410000, 3.390000, 3.370000, 3.360000, 3.370000, 3.180000, 3.160000, 3.140000, 3.130000, 3.140000, 3.330000, 3.460000, 3.460000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.460000, 3.460000 ], "valid": [ 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 153166 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.953001, 1.720747 ], "estimate": [ -49.491001, -19.953001, 1.720747 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 22.090000, null, null, 8.380000, 7.300000, 6.680000, 6.190000, 5.760000, 5.390000, 5.070000, 4.780000, 4.530000, 4.290000, 4.090000, 3.900000, 3.740000, 3.570000, 3.430000, 3.310000, 3.180000, 3.070000, 2.970000, 2.900000, 2.910000, 2.920000, 2.970000, 5.770000, 5.830000, 5.900000, 5.980000, 6.050000, 5.380000, 6.200000, 5.440000, 2.110000, 2.070000, 2.030000, 1.990000, 1.950000, 1.920000, 1.910000, 1.970000, 2.000000, 2.050000, 2.090000, 2.140000, 2.180000, 2.230000, 2.280000, 2.350000, 2.410000, 2.480000, 2.550000, 2.620000, 2.700000, 2.780000, 2.880000, 2.990000, 3.090000, 3.200000, 3.330000, 3.460000, 3.630000, 3.800000, 3.980000, 4.190000, 4.420000, 4.690000, 4.930000, 4.910000, 4.880000, 4.870000, 4.850000, 4.850000, 4.830000, 4.820000, 4.800000, 4.790000, 4.790000, 4.790000, 4.780000, 4.780000, 4.780000, 4.770000, 4.770000, 4.780000, 4.780000, 3.190000, 2.630000, 2.200000, 2.060000, 2.000000, 2.000000, 2.010000, 2.020000, 2.020000, 2.030000, 2.040000, 2.060000, 2.060000, 2.080000, 2.090000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.180000, 2.190000, 2.120000, 2.040000, 1.970000, 1.900000, 1.840000, 1.780000, 1.740000, 1.690000, 1.640000, 1.600000, 1.560000, 1.510000, 1.470000, 1.460000, 1.430000, 1.390000, 1.360000, 1.350000, 1.390000, 1.420000, 1.450000, 1.480000, 1.510000, 1.540000, 7.220000, 7.180000, 5.300000, 5.280000, 6.900000, 6.830000, 6.730000, 6.660000, 6.580000, 5.650000, 5.580000, 5.510000, 5.460000, 5.420000, 5.370000, 5.320000, 5.290000, 5.220000, 5.150000, 5.160000, 3.480000, 3.470000, 3.460000, 3.440000, 3.430000, 3.410000, 3.400000, 3.390000, 3.370000, 3.350000, 3.370000, 3.180000, 3.160000, 3.130000, 3.120000, 3.150000, 3.460000, 3.460000, 3.460000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.460000, 3.470000 ], "valid": [ 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 154096 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.952000, 1.739184 ], "estimate": [ -49.491001, -19.952000, 1.739184 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, 15.950000, 8.360000, 8.380000, 7.040000, 6.480000, 6.020000, 5.610000, 5.260000, 4.950000, 4.680000, 4.430000, 4.220000, 4.010000, 3.840000, 3.660000, 3.530000, 3.380000, 3.260000, 3.150000, 3.040000, 2.900000, 2.890000, 2.900000, 2.950000, 5.720000, 5.800000, 5.850000, 5.930000, 6.000000, 6.080000, 5.350000, 6.240000, 5.330000, 2.090000, 2.060000, 2.010000, 1.970000, 1.940000, 1.910000, 1.940000, 1.980000, 2.030000, 2.060000, 2.110000, 2.160000, 2.200000, 2.260000, 2.310000, 2.370000, 2.440000, 2.510000, 2.570000, 2.640000, 2.740000, 2.820000, 2.920000, 3.020000, 3.130000, 3.250000, 3.380000, 3.520000, 3.670000, 3.860000, 4.040000, 4.280000, 4.530000, 4.800000, 4.920000, 4.900000, 4.880000, 4.860000, 4.850000, 4.840000, 4.820000, 4.820000, 4.800000, 4.790000, 4.790000, 4.790000, 4.780000, 4.780000, 4.780000, 4.770000, 4.780000, 4.780000, 4.780000, 2.950000, 2.450000, 2.090000, 2.070000, 2.000000, 2.010000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.050000, 2.070000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.160000, 2.190000, 2.160000, 2.090000, 2.010000, 1.940000, 1.870000, 1.820000, 1.770000, 1.720000, 1.670000, 1.620000, 1.590000, 1.540000, 1.500000, 1.480000, 1.450000, 1.410000, 1.380000, 1.360000, 1.370000, 1.400000, 1.440000, 1.460000, 1.480000, 1.510000, 1.560000, 7.250000, 7.150000, 5.280000, 5.310000, 6.870000, 6.780000, 6.700000, 6.630000, 6.560000, 5.620000, 5.560000, 5.500000, 5.450000, 5.410000, 5.360000, 5.310000, 5.270000, 5.190000, 5.140000, 5.160000, 3.480000, 3.460000, 3.450000, 3.420000, 3.420000, 3.410000, 3.400000, 3.380000, 3.360000, 3.360000, 3.240000, 3.170000, 3.150000, 3.120000, 3.120000, 3.120000, 3.460000, 3.460000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.460000, 3.470000 ], "valid": [ 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 155001 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.952000, 1.782202 ], "estimate": [ -49.491001, -19.952000, 1.782202 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ null, 8.360000, 7.290000, 6.660000, 6.180000, 5.760000, 5.400000, 5.070000, 4.780000, 4.520000, 4.290000, 4.090000, 3.900000, 3.730000, 3.580000, 3.440000, 3.310000, 3.190000, 3.080000, 2.950000, 2.900000, 2.910000, 2.920000, 2.980000, 5.770000, 5.820000, 5.890000, 5.970000, 6.040000, 5.460000, 6.210000, 5.580000, 2.110000, 2.060000, 2.030000, 1.990000, 1.950000, 1.910000, 1.900000, 1.970000, 2.010000, 2.040000, 2.090000, 2.140000, 2.180000, 2.230000, 2.280000, 2.340000, 2.410000, 2.480000, 2.540000, 2.620000, 2.700000, 2.780000, 2.880000, 2.980000, 3.090000, 3.200000, 3.330000, 3.450000, 3.620000, 3.790000, 3.970000, 4.180000, 4.410000, 4.670000, 4.930000, 4.910000, 4.880000, 4.870000, 4.850000, 4.840000, 4.830000, 4.820000, 4.810000, 4.790000, 4.790000, 4.790000, 4.780000, 4.780000, 4.770000, 4.780000, 4.780000, 4.770000, 4.780000, 3.110000, 2.590000, 2.170000, 2.060000, 2.000000, 2.000000, 2.010000, 2.020000, 2.020000, 2.030000, 2.050000, 2.050000, 2.060000, 2.070000, 2.090000, 2.090000, 2.110000, 2.120000, 2.140000, 2.160000, 2.170000, 2.190000, 2.110000, 2.030000, 1.960000, 1.900000, 1.830000, 1.780000, 1.720000, 1.680000, 1.630000, 1.590000, 1.550000, 1.520000, 1.480000, 1.450000, 1.420000, 1.380000, 1.370000, 1.380000, 1.390000, 1.430000, 1.440000, 1.470000, 1.500000, 1.540000, 1.520000, 7.180000, 5.280000, 5.270000, 6.900000, 6.810000, 6.730000, 6.650000, 6.580000, 5.640000, 5.570000, 5.510000, 5.460000, 5.410000, 5.370000, 5.330000, 5.290000, 5.220000, 5.150000, 5.150000, 3.480000, 3.460000, 3.450000, 3.430000, 3.420000, 3.420000, 3.400000, 3.380000, 3.360000, 3.350000, 3.370000, 3.170000, 3.160000, 3.130000, 3.120000, 3.140000, 3.450000, 3.460000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.460000, 3.460000, 3.500000, 5.700000 ], "valid": [ 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 155958 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492001, -19.950001, 1.849803 ], "estimate": [ -49.492001, -19.950001, 1.849803 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.860000, 6.320000, 5.890000, 5.500000, 5.160000, 4.870000, 4.610000, 4.370000, 4.150000, 3.970000, 3.780000, 3.640000, 3.480000, 3.350000, 3.240000, 3.120000, 3.010000, 2.900000, 2.910000, 2.920000, 2.970000, 5.740000, 5.810000, 5.870000, 5.950000, 6.020000, 5.380000, 5.480000, 5.420000, 2.140000, 2.100000, 2.040000, 2.010000, 1.960000, 1.930000, 1.920000, 1.960000, 1.990000, 2.030000, 2.070000, 2.120000, 2.170000, 2.230000, 2.280000, 2.330000, 2.390000, 2.450000, 2.520000, 2.590000, 2.670000, 2.750000, 2.850000, 2.940000, 3.050000, 3.150000, 3.280000, 3.420000, 3.550000, 3.720000, 3.900000, 4.090000, 4.340000, 4.560000, 4.860000, 4.910000, 4.890000, 4.880000, 4.860000, 4.850000, 4.840000, 4.820000, 4.810000, 4.800000, 4.790000, 4.790000, 4.780000, 4.780000, 4.780000, 4.770000, 4.770000, 4.780000, 4.780000, 3.260000, 2.680000, 2.230000, 2.060000, 2.010000, 2.000000, 2.010000, 2.010000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.180000, 2.120000, 2.030000, 1.970000, 1.900000, 1.840000, 1.780000, 1.730000, 1.690000, 1.630000, 1.600000, 1.550000, 1.510000, 1.470000, 1.450000, 1.420000, 1.380000, 1.350000, 1.340000, 1.380000, 1.400000, 1.440000, 1.460000, 1.490000, 1.520000, 1.560000, 7.210000, 7.120000, 5.300000, 5.330000, 6.830000, 6.750000, 6.680000, 6.600000, 6.030000, 5.590000, 5.530000, 5.460000, 5.420000, 5.390000, 5.330000, 5.300000, 5.290000, 5.130000, 5.140000, 3.480000, 3.460000, 3.450000, 3.430000, 3.430000, 3.410000, 3.400000, 3.380000, 3.360000, 3.350000, 3.360000, 3.170000, 3.150000, 3.130000, 3.110000, 3.120000, 3.230000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.460000, 3.540000, 5.710000, 5.710000, 5.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 156865 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492996, -19.946999, 1.941986 ], "estimate": [ -49.492996, -19.946999, 1.941986 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.920000, 4.650000, 4.420000, 4.200000, 4.000000, 3.830000, 3.670000, 3.510000, 3.380000, 3.250000, 3.150000, 3.040000, 2.910000, 2.900000, 2.930000, 2.970000, 5.730000, 5.790000, 5.850000, 5.920000, 6.000000, 6.080000, 6.090000, 6.240000, 2.120000, 2.110000, 2.050000, 2.020000, 1.970000, 1.940000, 1.930000, 1.950000, 1.990000, 2.030000, 2.070000, 2.120000, 2.170000, 2.220000, 2.260000, 2.330000, 2.380000, 2.450000, 2.510000, 2.580000, 2.650000, 2.740000, 2.830000, 2.920000, 3.030000, 3.140000, 3.250000, 3.390000, 3.530000, 3.680000, 3.850000, 4.050000, 4.260000, 4.510000, 4.780000, 4.910000, 4.890000, 4.880000, 4.860000, 4.840000, 4.840000, 4.820000, 4.810000, 4.800000, 4.790000, 4.790000, 4.780000, 4.780000, 4.770000, 4.780000, 4.770000, 4.770000, 4.780000, 3.490000, 2.750000, 2.240000, 2.050000, 2.000000, 2.000000, 2.010000, 2.010000, 2.010000, 2.030000, 2.030000, 2.040000, 2.050000, 2.070000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.140000, 2.160000, 2.190000, 2.120000, 2.040000, 1.960000, 1.890000, 1.840000, 1.780000, 1.730000, 1.680000, 1.620000, 1.600000, 1.540000, 1.510000, 1.470000, 1.430000, 1.400000, 1.380000, 1.360000, 1.330000, 1.360000, 1.400000, 1.430000, 1.450000, 1.480000, 1.510000, 1.540000, 7.220000, 7.130000, 5.290000, 5.310000, 6.840000, 6.750000, 6.680000, 6.600000, 6.540000, 5.580000, 5.530000, 5.470000, 5.420000, 5.380000, 5.330000, 5.280000, 5.270000, 5.160000, 5.120000, 5.140000, 3.460000, 3.440000, 3.430000, 3.420000, 3.410000, 3.390000, 3.380000, 3.360000, 3.340000, 3.340000, 3.160000, 3.150000, 3.130000, 3.120000, 3.110000, 3.130000, 3.450000, 3.440000, 3.440000, 3.440000, 3.430000, 3.440000, 3.440000, 3.440000, 3.450000, 3.450000, 3.450000, 3.510000, 5.690000, 5.710000, 5.720000, 5.740000, 5.760000, 5.780000, 5.810000, 5.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 157773 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492996, -19.945999, 2.071042 ], "estimate": [ -49.492996, -19.945999, 2.071042 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.630000, 3.480000, 3.350000, 3.230000, 3.130000, 3.010000, 2.910000, 2.910000, 2.930000, 2.970000, 5.750000, 5.810000, 5.870000, 5.950000, 6.010000, 5.640000, 5.610000, 5.320000, 2.130000, 2.080000, 2.040000, 2.000000, 1.960000, 1.930000, 1.930000, 1.970000, 2.000000, 2.050000, 2.090000, 2.140000, 2.180000, 2.220000, 2.280000, 2.340000, 2.400000, 2.460000, 2.540000, 2.600000, 2.680000, 2.770000, 2.860000, 2.950000, 3.060000, 3.160000, 3.290000, 3.420000, 3.560000, 3.720000, 3.890000, 4.090000, 4.320000, 4.550000, 4.840000, 4.910000, 4.890000, 4.880000, 4.860000, 4.850000, 4.830000, 4.820000, 4.810000, 4.800000, 4.790000, 4.790000, 4.780000, 4.780000, 4.770000, 4.770000, 4.770000, 4.770000, 4.780000, 3.060000, 2.500000, 2.090000, 2.060000, 2.000000, 2.000000, 2.010000, 2.010000, 2.020000, 2.030000, 2.030000, 2.050000, 2.050000, 2.070000, 2.080000, 2.090000, 2.100000, 2.110000, 2.130000, 2.150000, 2.160000, 2.150000, 2.070000, 1.990000, 1.930000, 1.850000, 1.800000, 1.740000, 1.700000, 1.640000, 1.600000, 1.560000, 1.520000, 1.480000, 1.450000, 1.410000, 1.380000, 1.340000, 1.340000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.480000, 1.510000, 1.530000, 7.170000, 7.070000, 5.310000, 5.320000, 6.810000, 6.720000, 6.640000, 6.570000, 5.810000, 5.560000, 5.510000, 5.450000, 5.400000, 5.350000, 5.310000, 5.270000, 5.240000, 5.140000, 5.130000, 3.460000, 3.450000, 3.430000, 3.420000, 3.410000, 3.380000, 3.380000, 3.360000, 3.350000, 3.340000, 3.340000, 3.150000, 3.130000, 3.110000, 3.090000, 3.100000, 3.110000, 3.440000, 3.430000, 3.430000, 3.430000, 3.430000, 3.420000, 3.420000, 3.430000, 3.430000, 3.440000, 3.450000, 3.510000, 5.680000, 5.700000, 5.710000, 5.730000, 5.750000, 5.780000, 5.790000, 5.810000, 5.850000, 5.880000, 5.910000, 5.950000, 5.980000, 5.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 158720 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492996, -19.945999, 2.175516 ], "estimate": [ -49.492996, -19.945999, 2.175516 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.930000, 2.980000, 5.760000, 5.830000, 5.890000, 5.950000, 6.030000, 5.700000, 5.570000, 5.660000, 2.140000, 2.090000, 2.060000, 2.020000, 1.970000, 1.940000, 1.940000, 1.980000, 2.030000, 2.070000, 2.100000, 2.140000, 2.190000, 2.240000, 2.300000, 2.360000, 2.410000, 2.480000, 2.540000, 2.630000, 2.700000, 2.780000, 2.880000, 2.970000, 3.080000, 3.190000, 3.310000, 3.440000, 3.580000, 3.750000, 3.920000, 4.140000, 4.350000, 4.590000, 4.870000, 4.920000, 4.900000, 4.880000, 4.870000, 4.850000, 4.840000, 4.820000, 4.820000, 4.800000, 4.800000, 4.790000, 4.790000, 4.790000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 3.000000, 2.430000, 2.070000, 2.030000, 2.000000, 2.000000, 2.010000, 2.020000, 2.020000, 2.030000, 2.050000, 2.060000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.170000, 2.130000, 2.050000, 1.980000, 1.910000, 1.840000, 1.780000, 1.730000, 1.680000, 1.620000, 1.590000, 1.540000, 1.500000, 1.460000, 1.430000, 1.400000, 1.360000, 1.350000, 1.330000, 1.310000, 1.370000, 1.410000, 1.440000, 1.460000, 1.490000, 1.520000, 7.100000, 7.180000, 7.070000, 5.310000, 5.310000, 6.790000, 6.720000, 6.650000, 6.570000, 5.840000, 5.550000, 5.510000, 5.440000, 5.380000, 5.350000, 5.310000, 5.280000, 5.260000, 5.120000, 5.130000, 3.460000, 3.440000, 3.420000, 3.410000, 3.380000, 3.380000, 3.380000, 3.360000, 3.350000, 3.330000, 3.330000, 3.130000, 3.120000, 3.100000, 3.080000, 3.080000, 3.110000, 3.420000, 3.420000, 3.420000, 3.420000, 3.420000, 3.420000, 3.420000, 3.420000, 3.420000, 3.430000, 3.430000, 3.500000, 5.670000, 5.690000, 5.710000, 5.720000, 5.740000, 5.760000, 5.780000, 5.810000, 5.830000, 5.860000, 5.900000, 5.930000, 5.960000, 5.790000, 5.540000, 5.330000, 5.130000, 4.930000, 4.770000, 4.610000, 4.480000, 4.350000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 159628 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492996, -19.945999, 2.230826 ], "estimate": [ -49.492996, -19.945999, 2.230826 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.920000, 5.980000, 6.060000, 5.770000, 6.200000, 6.300000, 2.150000, 2.100000, 2.060000, 2.020000, 1.970000, 1.950000, 1.970000, 2.000000, 2.040000, 2.080000, 2.120000, 2.170000, 2.220000, 2.260000, 2.330000, 2.380000, 2.430000, 2.500000, 2.570000, 2.640000, 2.730000, 2.810000, 2.900000, 3.000000, 3.100000, 3.220000, 3.350000, 3.480000, 3.630000, 3.790000, 3.980000, 4.190000, 4.410000, 4.650000, 4.950000, 4.930000, 4.910000, 4.890000, 4.870000, 4.860000, 4.840000, 4.830000, 4.820000, 4.810000, 4.800000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 3.010000, 2.400000, 2.080000, 2.030000, 2.010000, 2.020000, 2.020000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.110000, 2.130000, 2.140000, 2.160000, 2.190000, 2.120000, 2.040000, 1.970000, 1.900000, 1.840000, 1.770000, 1.720000, 1.680000, 1.620000, 1.590000, 1.540000, 1.490000, 1.460000, 1.420000, 1.390000, 1.370000, 1.340000, 1.330000, 1.360000, 1.400000, 1.430000, 1.440000, 1.470000, 1.500000, 1.530000, 7.120000, 7.190000, 7.090000, 5.310000, 5.320000, 6.810000, 6.720000, 6.640000, 6.570000, 5.930000, 5.550000, 5.500000, 5.440000, 5.390000, 5.360000, 5.300000, 5.260000, 5.250000, 5.110000, 5.120000, 3.460000, 3.440000, 3.410000, 3.400000, 3.380000, 3.380000, 3.370000, 3.360000, 3.340000, 3.310000, 3.320000, 3.130000, 3.120000, 3.100000, 3.080000, 3.090000, 3.210000, 3.420000, 3.420000, 3.410000, 3.410000, 3.410000, 3.410000, 3.420000, 3.410000, 3.420000, 3.420000, 3.430000, 3.460000, 5.670000, 5.680000, 5.700000, 5.710000, 5.730000, 5.750000, 5.780000, 5.810000, 5.830000, 5.860000, 5.900000, 5.930000, 5.960000, 5.830000, 5.570000, 5.360000, 5.150000, 4.960000, 4.790000, 4.630000, 4.480000, 4.350000, 4.220000, 4.100000, 4.000000, 3.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 267230 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492001, -19.946999, 2.304572 ], "estimate": [ -49.492001, -19.946999, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.570000, 5.560000, 5.780000, 2.150000, 2.120000, 2.060000, 2.020000, 1.980000, 1.960000, 1.950000, 2.010000, 2.050000, 2.080000, 2.130000, 2.170000, 2.230000, 2.260000, 2.330000, 2.380000, 2.450000, 2.500000, 2.570000, 2.640000, 2.730000, 2.810000, 2.900000, 3.000000, 3.100000, 3.230000, 3.340000, 3.470000, 3.630000, 3.790000, 3.980000, 4.190000, 4.410000, 4.640000, 4.940000, 4.930000, 4.910000, 4.890000, 4.880000, 4.860000, 4.840000, 4.830000, 4.830000, 4.820000, 4.800000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 2.930000, 2.330000, 2.080000, 2.020000, 2.010000, 2.020000, 2.020000, 2.030000, 2.040000, 2.050000, 2.060000, 2.060000, 2.070000, 2.080000, 2.090000, 2.100000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.120000, 2.030000, 1.960000, 1.890000, 1.830000, 1.770000, 1.700000, 1.670000, 1.600000, 1.570000, 1.520000, 1.490000, 1.460000, 1.420000, 1.380000, 1.360000, 1.330000, 1.360000, 1.370000, 1.400000, 1.430000, 1.450000, 1.480000, 1.500000, 1.540000, 7.120000, 7.170000, 7.070000, 5.300000, 5.320000, 6.790000, 6.700000, 6.630000, 6.560000, 5.730000, 5.550000, 5.490000, 5.430000, 5.390000, 5.340000, 5.300000, 5.260000, 5.230000, 5.120000, 5.110000, 3.450000, 3.430000, 3.410000, 3.400000, 3.390000, 3.370000, 3.370000, 3.360000, 3.330000, 3.310000, 3.320000, 3.130000, 3.120000, 3.090000, 3.070000, 3.090000, 3.220000, 3.420000, 3.410000, 3.410000, 3.410000, 3.410000, 3.410000, 3.410000, 3.410000, 3.420000, 3.420000, 3.420000, 3.450000, 5.660000, 5.670000, 5.690000, 5.700000, 5.730000, 5.750000, 5.770000, 5.800000, 5.820000, 5.860000, 5.890000, 5.920000, 5.970000, 5.800000, 5.540000, 5.320000, 5.120000, 4.930000, 4.760000, 4.610000, 4.460000, 4.340000, 4.200000, 4.090000, 3.980000, 3.870000, 3.780000, 3.690000, 3.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 603989 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.948000, 2.421337 ], "estimate": [ -49.491001, -19.948000, 2.421337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.060000, 2.020000, 1.990000, 1.980000, 1.980000, 2.010000, 2.060000, 2.100000, 2.150000, 2.190000, 2.230000, 2.290000, 2.350000, 2.400000, 2.470000, 2.530000, 2.590000, 2.670000, 2.750000, 2.840000, 2.940000, 3.030000, 3.130000, 3.260000, 3.370000, 3.520000, 3.660000, 3.850000, 4.030000, 4.250000, 4.480000, 4.730000, 4.950000, 4.930000, 4.900000, 4.890000, 4.880000, 4.860000, 4.850000, 4.840000, 4.820000, 4.820000, 4.810000, 4.800000, 4.800000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 3.460000, 2.610000, 2.110000, 2.090000, 2.020000, 2.020000, 2.030000, 2.030000, 2.040000, 2.050000, 2.050000, 2.060000, 2.070000, 2.090000, 2.090000, 2.100000, 2.120000, 2.130000, 2.140000, 2.160000, 2.180000, 2.140000, 2.060000, 1.980000, 1.920000, 1.850000, 1.780000, 1.730000, 1.690000, 1.630000, 1.590000, 1.540000, 1.490000, 1.460000, 1.430000, 1.390000, 1.370000, 1.350000, 1.350000, 1.360000, 1.400000, 1.420000, 1.430000, 1.460000, 1.490000, 1.520000, 7.040000, 7.170000, 7.130000, 7.020000, 6.900000, 6.840000, 6.750000, 6.670000, 6.600000, 6.520000, 5.570000, 5.520000, 5.470000, 5.400000, 5.360000, 5.320000, 5.270000, 5.230000, 5.170000, 5.130000, 5.120000, 3.440000, 3.420000, 3.400000, 3.390000, 3.380000, 3.370000, 3.350000, 3.340000, 3.320000, 3.320000, 3.130000, 3.120000, 3.110000, 3.080000, 3.080000, 3.090000, 3.420000, 3.410000, 3.410000, 3.410000, 3.410000, 3.400000, 3.410000, 3.410000, 3.410000, 3.410000, 3.420000, 3.430000, 5.640000, 5.650000, 5.670000, 5.700000, 5.710000, 5.740000, 5.760000, 5.770000, 5.800000, 5.820000, 5.860000, 5.890000, 5.930000, 5.930000, 5.670000, 5.430000, 5.220000, 5.020000, 4.840000, 4.670000, 4.520000, 4.380000, 4.260000, 4.140000, 4.030000, 3.920000, 3.820000, 3.730000, 3.640000, 3.560000, 3.480000, 3.400000, 3.330000, 3.280000, 3.200000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 666952 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.948000, 2.513520 ], "estimate": [ -49.491001, -19.948000, 2.513520 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.110000, 2.150000, 2.190000, 2.240000, 2.290000, 2.350000, 2.400000, 2.470000, 2.520000, 2.590000, 2.670000, 2.740000, 2.830000, 2.920000, 3.030000, 3.140000, 3.240000, 3.370000, 3.500000, 3.650000, 3.810000, 4.020000, 4.220000, 4.450000, 4.690000, 4.960000, 4.940000, 4.920000, 4.900000, 4.880000, 4.870000, 4.860000, 4.860000, 4.840000, 4.830000, 4.820000, 4.810000, 4.800000, 4.800000, 4.800000, 4.800000, 4.800000, 4.800000, 4.790000, 2.780000, 2.180000, 2.090000, 2.040000, 2.030000, 2.040000, 2.040000, 2.050000, 2.060000, 2.070000, 2.070000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.170000, 2.180000, 2.170000, 2.080000, 1.990000, 1.920000, 1.860000, 1.790000, 1.740000, 1.700000, 1.640000, 1.600000, 1.540000, 1.500000, 1.460000, 1.430000, 1.390000, 1.360000, 1.340000, 1.350000, 1.370000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.530000, 7.020000, 7.150000, 7.140000, 7.040000, 6.890000, 6.850000, 6.770000, 6.690000, 6.620000, 6.550000, 5.580000, 5.530000, 5.460000, 5.420000, 5.370000, 5.330000, 5.280000, 5.240000, 5.160000, 5.080000, 5.130000, 3.430000, 3.420000, 3.400000, 3.390000, 3.370000, 3.360000, 3.360000, 3.340000, 3.320000, 3.310000, 3.230000, 3.110000, 3.100000, 3.070000, 3.080000, 3.080000, 3.370000, 3.410000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.410000, 3.410000, 3.410000, 5.630000, 5.650000, 5.670000, 5.680000, 5.700000, 5.720000, 5.730000, 5.770000, 5.780000, 5.810000, 5.850000, 5.880000, 5.910000, 5.950000, 5.740000, 5.480000, 5.270000, 5.070000, 4.880000, 4.720000, 4.560000, 4.410000, 4.290000, 4.170000, 4.050000, 3.930000, 3.840000, 3.740000, 3.650000, 3.570000, 3.480000, 3.420000, 3.340000, 3.280000, 3.210000, 3.160000, 3.090000, 3.070000, 3.130000, 3.190000, 3.260000, 5.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055375, 995448 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.948000, 2.593412 ], "estimate": [ -49.491001, -19.948000, 2.593412 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.310000, 2.370000, 2.430000, 2.490000, 2.560000, 2.620000, 2.700000, 2.770000, 2.870000, 2.960000, 3.060000, 3.170000, 3.290000, 3.420000, 3.550000, 3.710000, 3.880000, 4.080000, 4.290000, 4.520000, 4.780000, 4.970000, 4.940000, 4.920000, 4.900000, 4.880000, 4.870000, 4.870000, 4.850000, 4.840000, 4.830000, 4.820000, 4.810000, 4.810000, 4.800000, 4.800000, 4.800000, 4.810000, 4.810000, 3.400000, 2.570000, 2.100000, 2.060000, 2.040000, 2.030000, 2.040000, 2.050000, 2.060000, 2.060000, 2.080000, 2.080000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.190000, 2.130000, 2.050000, 1.970000, 1.890000, 1.840000, 1.780000, 1.720000, 1.680000, 1.620000, 1.570000, 1.520000, 1.490000, 1.460000, 1.410000, 1.390000, 1.340000, 1.340000, 1.310000, 1.380000, 1.430000, 1.440000, 1.460000, 1.490000, 1.520000, 6.920000, 7.070000, 7.200000, 7.120000, 7.020000, 5.300000, 6.840000, 6.750000, 6.670000, 6.590000, 6.520000, 5.570000, 5.500000, 5.450000, 5.400000, 5.350000, 5.310000, 5.270000, 5.230000, 5.100000, 5.120000, 3.450000, 3.420000, 3.410000, 3.400000, 3.380000, 3.370000, 3.360000, 3.340000, 3.330000, 3.310000, 3.300000, 3.110000, 3.100000, 3.090000, 3.070000, 3.070000, 3.090000, 3.400000, 3.400000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000, 3.400000, 3.410000, 3.470000, 5.630000, 5.640000, 5.660000, 5.680000, 5.710000, 5.720000, 5.750000, 5.760000, 5.790000, 5.820000, 5.850000, 5.880000, 5.910000, 5.930000, 5.660000, 5.430000, 5.220000, 5.020000, 4.830000, 4.660000, 4.510000, 4.380000, 4.250000, 4.120000, 4.020000, 3.900000, 3.810000, 3.710000, 3.630000, 3.540000, 3.460000, 3.390000, 3.320000, 3.260000, 3.180000, 3.120000, 3.060000, 3.080000, 3.140000, 3.200000, 3.250000, 5.380000, 5.380000, 5.470000, 5.460000, 4.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055376, 719609 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.948000, 2.679449 ], "estimate": [ -49.491001, -19.948000, 2.679449 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.650000, 2.740000, 2.800000, 2.900000, 3.000000, 3.090000, 3.200000, 3.330000, 3.450000, 3.600000, 3.750000, 3.930000, 4.120000, 4.350000, 4.570000, 4.840000, 4.980000, 4.950000, 4.930000, 4.910000, 4.890000, 4.880000, 4.870000, 4.860000, 4.850000, 4.840000, 4.830000, 4.820000, 4.810000, 4.810000, 4.810000, 4.810000, 4.810000, 4.810000, 3.050000, 2.350000, 2.090000, 2.040000, 2.040000, 2.050000, 2.050000, 2.060000, 2.070000, 2.080000, 2.090000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.190000, 2.200000, 2.120000, 2.020000, 1.960000, 1.880000, 1.820000, 1.760000, 1.700000, 1.650000, 1.600000, 1.570000, 1.510000, 1.470000, 1.440000, 1.410000, 1.370000, 1.340000, 1.380000, 1.380000, 1.410000, 1.430000, 1.450000, 1.470000, 1.500000, 1.540000, 6.960000, 7.100000, 7.190000, 7.080000, 5.320000, 5.310000, 6.810000, 6.720000, 6.650000, 6.580000, 5.870000, 5.550000, 5.480000, 5.440000, 5.390000, 5.340000, 5.310000, 5.250000, 5.250000, 5.100000, 5.090000, 3.440000, 3.420000, 3.400000, 3.390000, 3.370000, 3.360000, 3.350000, 3.340000, 3.320000, 3.300000, 3.300000, 3.110000, 3.090000, 3.080000, 3.070000, 3.070000, 3.190000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000, 3.400000, 3.500000, 5.630000, 5.640000, 5.670000, 5.680000, 5.700000, 5.720000, 5.740000, 5.760000, 5.790000, 5.820000, 5.850000, 5.880000, 5.920000, 5.860000, 5.580000, 5.360000, 5.150000, 4.970000, 4.790000, 4.630000, 4.480000, 4.350000, 4.210000, 4.080000, 3.970000, 3.880000, 3.770000, 3.680000, 3.590000, 3.510000, 3.440000, 3.370000, 3.290000, 3.230000, 3.170000, 3.100000, 3.080000, 3.090000, 3.150000, 3.200000, 3.260000, 5.400000, 5.470000, 5.450000, 5.440000, 4.230000, 4.170000, 4.050000, 4.020000, 4.010000, 4.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055376, 348868 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.948000, 2.771632 ], "estimate": [ -49.491001, -19.948000, 2.771632 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.080000, 3.190000, 3.300000, 3.420000, 3.560000, 3.720000, 3.880000, 4.060000, 4.290000, 4.520000, 4.770000, 4.990000, 4.970000, 4.940000, 4.920000, 4.900000, 4.890000, 4.880000, 4.870000, 4.860000, 4.850000, 4.840000, 4.830000, 4.830000, 4.820000, 4.820000, 4.820000, 4.810000, 4.820000, 3.210000, 2.480000, 2.110000, 2.050000, 2.050000, 2.060000, 2.060000, 2.060000, 2.070000, 2.080000, 2.090000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.160000, 2.180000, 2.190000, 2.190000, 2.120000, 2.040000, 1.960000, 1.890000, 1.820000, 1.770000, 1.710000, 1.660000, 1.610000, 1.560000, 1.520000, 1.470000, 1.440000, 1.410000, 1.370000, 1.360000, 1.370000, 1.380000, 1.410000, 1.430000, 1.450000, 1.480000, 1.510000, 1.540000, 6.940000, 7.080000, 7.200000, 7.110000, 5.310000, 5.320000, 6.830000, 6.740000, 6.660000, 6.580000, 6.500000, 5.560000, 5.500000, 5.440000, 5.390000, 5.350000, 5.300000, 5.250000, 5.250000, 5.100000, 5.090000, 3.440000, 3.420000, 3.400000, 3.390000, 3.370000, 3.360000, 3.360000, 3.340000, 3.330000, 3.300000, 3.290000, 3.110000, 3.090000, 3.070000, 3.070000, 3.050000, 3.140000, 3.390000, 3.380000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.390000, 3.400000, 3.460000, 5.630000, 5.650000, 5.650000, 5.670000, 5.700000, 5.710000, 5.740000, 5.760000, 5.780000, 5.810000, 5.830000, 5.870000, 5.910000, 5.910000, 5.630000, 5.390000, 5.190000, 5.000000, 4.820000, 4.640000, 4.490000, 4.350000, 4.230000, 4.090000, 3.990000, 3.890000, 3.780000, 3.690000, 3.600000, 3.520000, 3.440000, 3.370000, 3.300000, 3.230000, 3.170000, 3.110000, 3.050000, 3.070000, 3.130000, 3.190000, 3.250000, 5.430000, 5.480000, 7.290000, 5.520000, 4.240000, 4.170000, 4.070000, 4.020000, 4.010000, 4.110000, 4.210000, 4.330000, 4.470000, 4.610000, 4.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055376, 481935 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.490002, -19.948000, 2.857669 ], "estimate": [ -49.490002, -19.948000, 2.857669 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.800000, 3.980000, 4.170000, 4.380000, 4.640000, 4.900000, 4.990000, 4.970000, 4.940000, 4.920000, 4.910000, 4.890000, 4.880000, 4.880000, 4.870000, 4.860000, 4.840000, 4.840000, 4.830000, 4.830000, 4.830000, 4.830000, 4.830000, 4.830000, 2.830000, 2.180000, 2.110000, 2.060000, 2.060000, 2.070000, 2.070000, 2.080000, 2.090000, 2.090000, 2.090000, 2.100000, 2.110000, 2.120000, 2.140000, 2.150000, 2.170000, 2.180000, 2.190000, 2.210000, 2.170000, 2.080000, 2.010000, 1.930000, 1.850000, 1.790000, 1.740000, 1.690000, 1.630000, 1.590000, 1.540000, 1.500000, 1.460000, 1.420000, 1.390000, 1.370000, 1.350000, 1.380000, 1.420000, 1.440000, 1.470000, 1.480000, 1.510000, 1.530000, 6.890000, 7.020000, 7.150000, 7.150000, 7.070000, 6.930000, 6.870000, 6.780000, 6.700000, 6.630000, 6.560000, 5.590000, 5.540000, 5.470000, 5.430000, 5.380000, 5.320000, 5.280000, 5.230000, 5.170000, 5.090000, 5.120000, 3.430000, 3.410000, 3.400000, 3.380000, 3.380000, 3.360000, 3.340000, 3.330000, 3.310000, 3.300000, 3.110000, 3.100000, 3.080000, 3.070000, 3.070000, 3.080000, 3.400000, 3.390000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.390000, 3.400000, 5.630000, 5.630000, 5.640000, 5.660000, 5.670000, 5.700000, 5.720000, 5.740000, 5.770000, 5.800000, 5.810000, 5.840000, 5.880000, 5.910000, 5.770000, 5.500000, 5.300000, 5.100000, 4.900000, 4.730000, 4.570000, 4.420000, 4.290000, 4.170000, 4.050000, 3.930000, 3.840000, 3.740000, 3.640000, 3.560000, 3.470000, 3.400000, 3.320000, 3.270000, 3.190000, 3.130000, 3.070000, 3.070000, 3.090000, 3.160000, 3.200000, 5.470000, 5.450000, 5.820000, 5.430000, 4.290000, 4.200000, 4.110000, 4.020000, 4.000000, 3.990000, 4.140000, 4.260000, 4.390000, 4.520000, 4.670000, 2.280000, 2.260000, 2.240000, 2.240000, 2.220000, 2.200000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055376, 872678 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.490002, -19.948999, 2.949852 ], "estimate": [ -49.490002, -19.948999, 2.949852 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.770000, 5.000000, 4.980000, 4.960000, 4.940000, 4.930000, 4.910000, 4.900000, 4.880000, 4.880000, 4.870000, 4.850000, 4.860000, 4.850000, 4.850000, 4.840000, 4.830000, 4.840000, 4.830000, 3.170000, 2.420000, 2.120000, 2.070000, 2.070000, 2.070000, 2.080000, 2.080000, 2.090000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000, 2.150000, 2.170000, 2.180000, 2.190000, 2.210000, 2.200000, 2.120000, 2.040000, 1.960000, 1.870000, 1.810000, 1.770000, 1.710000, 1.660000, 1.600000, 1.560000, 1.520000, 1.480000, 1.440000, 1.410000, 1.370000, 1.360000, 1.380000, 1.410000, 1.430000, 1.460000, 1.470000, 1.500000, 1.540000, 6.830000, 6.960000, 7.090000, 7.210000, 7.110000, 5.310000, 5.320000, 6.830000, 6.730000, 6.660000, 6.580000, 5.930000, 5.540000, 5.490000, 5.440000, 5.380000, 5.340000, 5.300000, 5.260000, 5.240000, 5.090000, 5.090000, 3.430000, 3.400000, 3.400000, 3.380000, 3.380000, 3.360000, 3.350000, 3.340000, 3.320000, 3.290000, 3.300000, 3.100000, 3.090000, 3.080000, 3.060000, 3.060000, 3.260000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.370000, 3.380000, 3.380000, 3.380000, 3.390000, 3.460000, 5.620000, 5.630000, 5.640000, 5.660000, 5.680000, 5.710000, 5.730000, 5.750000, 5.780000, 5.810000, 5.830000, 5.860000, 5.900000, 5.860000, 5.600000, 5.360000, 5.170000, 4.970000, 4.790000, 4.620000, 4.470000, 4.340000, 4.210000, 4.080000, 3.960000, 3.860000, 3.760000, 3.670000, 3.590000, 3.500000, 3.420000, 3.340000, 3.270000, 3.210000, 3.150000, 3.080000, 3.060000, 3.070000, 3.120000, 3.180000, 3.230000, 5.840000, 5.850000, 8.880000, 8.900000, 4.220000, 4.150000, 4.040000, 4.000000, 3.990000, 4.090000, 4.200000, 4.320000, 4.450000, 4.590000, 2.270000, 2.260000, 2.240000, 2.230000, 2.210000, 2.200000, 2.190000, 2.170000, 2.150000, 2.200000, 3.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055376, 892222 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.487999, -19.948999, 3.054326 ], "estimate": [ -49.487999, -19.948999, 3.054326 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.920000, 4.910000, 4.900000, 4.890000, 4.880000, 4.870000, 4.870000, 4.860000, 4.860000, 4.850000, 4.850000, 4.850000, 4.860000, 3.050000, 2.320000, 2.130000, 2.080000, 2.080000, 2.080000, 2.090000, 2.090000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.150000, 2.160000, 2.160000, 2.180000, 2.190000, 2.210000, 2.220000, 2.190000, 2.100000, 2.030000, 1.950000, 1.860000, 1.810000, 1.760000, 1.700000, 1.640000, 1.600000, 1.550000, 1.510000, 1.470000, 1.440000, 1.400000, 1.360000, 1.370000, 1.400000, 1.420000, 1.450000, 1.460000, 1.500000, 1.520000, 1.560000, 6.860000, 6.980000, 7.120000, 7.190000, 7.090000, 5.330000, 6.890000, 6.800000, 6.720000, 6.640000, 6.570000, 5.600000, 5.550000, 5.480000, 5.420000, 5.390000, 5.340000, 5.300000, 5.240000, 5.190000, 5.100000, 5.090000, 3.430000, 3.420000, 3.400000, 3.380000, 3.370000, 3.360000, 3.340000, 3.340000, 3.320000, 3.300000, 3.120000, 3.110000, 3.090000, 3.070000, 3.060000, 3.080000, 3.400000, 3.390000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.400000, 5.620000, 5.640000, 5.640000, 5.640000, 5.660000, 5.690000, 5.710000, 5.730000, 5.750000, 5.780000, 5.820000, 5.830000, 5.860000, 5.900000, 5.790000, 5.530000, 5.300000, 5.110000, 4.920000, 4.740000, 4.580000, 4.430000, 4.300000, 4.170000, 4.050000, 3.930000, 3.820000, 3.730000, 3.640000, 3.560000, 3.470000, 3.390000, 3.310000, 3.260000, 3.180000, 3.120000, 3.060000, 3.060000, 3.070000, 3.120000, 3.180000, 3.230000, 5.830000, 5.820000, 7.270000, 5.800000, 4.200000, 4.150000, 4.010000, 3.990000, 3.990000, 4.110000, 4.220000, 4.330000, 4.470000, 4.610000, 2.270000, 2.250000, 2.240000, 2.220000, 2.200000, 2.180000, 2.180000, 2.160000, 2.160000, 3.050000, 3.110000, 3.090000, 3.070000, 3.060000, 3.060000, 3.990000, 3.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055377, 720540 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.487003, -19.948999, 3.140363 ], "estimate": [ -49.487003, -19.948999, 3.140363 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.880000, 4.870000, 4.870000, 4.860000, 4.860000, 4.860000, 4.860000, 4.860000, 2.920000, 2.260000, 2.150000, 2.090000, 2.090000, 2.090000, 2.090000, 2.100000, 2.110000, 2.120000, 2.120000, 2.130000, 2.140000, 2.150000, 2.160000, 2.180000, 2.190000, 2.200000, 2.220000, 2.240000, 2.180000, 2.090000, 2.010000, 1.930000, 1.870000, 1.810000, 1.730000, 1.690000, 1.640000, 1.590000, 1.550000, 1.510000, 1.470000, 1.440000, 1.390000, 1.380000, 1.370000, 1.410000, 1.440000, 1.460000, 1.480000, 1.510000, 1.540000, 1.550000, 6.900000, 7.030000, 7.160000, 7.180000, 7.080000, 6.950000, 6.890000, 6.800000, 6.710000, 6.640000, 6.570000, 5.600000, 5.530000, 5.470000, 5.430000, 5.390000, 5.330000, 5.280000, 5.240000, 5.160000, 5.100000, 3.450000, 3.430000, 3.410000, 3.400000, 3.380000, 3.370000, 3.360000, 3.350000, 3.340000, 3.310000, 3.310000, 3.110000, 3.100000, 3.090000, 3.070000, 3.060000, 3.120000, 3.390000, 3.390000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.460000, 5.620000, 5.640000, 5.640000, 5.650000, 5.670000, 5.690000, 5.710000, 5.730000, 5.750000, 5.790000, 5.820000, 5.850000, 5.870000, 5.910000, 5.730000, 5.470000, 5.260000, 5.050000, 4.870000, 4.690000, 4.530000, 4.380000, 4.250000, 4.130000, 4.010000, 3.910000, 3.800000, 3.700000, 3.600000, 3.530000, 3.450000, 3.370000, 3.300000, 3.230000, 3.170000, 3.100000, 3.040000, 3.030000, 3.080000, 3.150000, 3.200000, 5.880000, 5.820000, 5.810000, 5.410000, 8.970000, 4.170000, 4.030000, 3.990000, 3.980000, 3.970000, 4.120000, 4.240000, 4.370000, 4.500000, 4.650000, 2.250000, 2.240000, 2.230000, 2.200000, 2.190000, 2.170000, 2.150000, 2.140000, 2.150000, 3.100000, 3.080000, 3.080000, 3.070000, 3.050000, 3.050000, 3.990000, 3.980000, 3.980000, 4.780000, 4.790000, 4.800000, 4.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 406800 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.487003, -19.948999, -3.056784 ], "estimate": [ -49.487003, -19.948999, -3.056784 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.870000, 4.870000, 4.870000, 2.780000, 2.180000, 2.140000, 2.100000, 2.100000, 2.100000, 2.110000, 2.110000, 2.120000, 2.120000, 2.130000, 2.140000, 2.160000, 2.160000, 2.180000, 2.190000, 2.200000, 2.210000, 2.230000, 2.240000, 2.160000, 2.070000, 1.990000, 1.930000, 1.850000, 1.790000, 1.730000, 1.680000, 1.630000, 1.590000, 1.540000, 1.500000, 1.460000, 1.430000, 1.390000, 1.390000, 1.410000, 1.420000, 1.450000, 1.480000, 1.510000, 1.540000, 1.560000, 6.820000, 6.930000, 7.050000, 7.200000, 7.160000, 7.070000, 5.340000, 6.860000, 6.770000, 6.700000, 6.630000, 6.560000, 5.590000, 5.520000, 5.460000, 5.400000, 5.380000, 5.310000, 5.280000, 5.250000, 5.130000, 5.110000, 3.450000, 3.430000, 3.400000, 3.390000, 3.380000, 3.370000, 3.360000, 3.350000, 3.340000, 3.310000, 3.300000, 3.110000, 3.090000, 3.080000, 3.060000, 3.060000, 3.280000, 3.400000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.390000, 3.460000, 5.620000, 5.640000, 5.640000, 5.660000, 5.680000, 5.690000, 5.710000, 5.740000, 5.770000, 5.800000, 5.820000, 5.850000, 5.880000, 5.910000, 5.660000, 5.400000, 5.200000, 5.000000, 4.810000, 4.640000, 4.490000, 4.350000, 4.210000, 4.090000, 3.970000, 3.870000, 3.760000, 3.680000, 3.590000, 3.490000, 3.420000, 3.330000, 3.280000, 3.200000, 3.140000, 3.070000, 3.030000, 3.030000, 3.090000, 3.150000, 3.200000, 5.840000, 5.800000, 5.370000, 5.430000, 4.230000, 4.150000, 4.040000, 3.990000, 3.970000, 3.970000, 4.140000, 4.260000, 4.390000, 4.520000, 4.670000, 2.250000, 2.230000, 2.210000, 2.190000, 2.180000, 2.160000, 2.140000, 2.130000, 2.140000, 3.100000, 3.080000, 3.060000, 3.050000, 3.040000, 3.060000, 3.980000, 3.970000, 3.970000, 4.770000, 4.790000, 4.790000, 4.780000, 4.780000, 4.770000, 4.760000, 4.760000, 4.760000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 407989 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.487999, -19.948999, -2.976893 ], "estimate": [ -49.487999, -19.948999, -2.976893 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.150000, 2.100000, 2.100000, 2.100000, 2.110000, 2.120000, 2.120000, 2.130000, 2.130000, 2.140000, 2.150000, 2.160000, 2.180000, 2.190000, 2.200000, 2.210000, 2.230000, 2.250000, 2.230000, 2.120000, 2.060000, 1.970000, 1.910000, 1.830000, 1.780000, 1.720000, 1.670000, 1.620000, 1.580000, 1.530000, 1.490000, 1.450000, 1.410000, 1.390000, 1.370000, 1.420000, 1.460000, 1.470000, 1.500000, 1.530000, 1.560000, 1.570000, 6.870000, 6.990000, 7.130000, 7.230000, 7.130000, 5.330000, 6.940000, 6.830000, 6.750000, 6.670000, 6.590000, 5.670000, 5.560000, 5.510000, 5.460000, 5.390000, 5.360000, 5.310000, 5.260000, 5.200000, 5.110000, 3.460000, 3.450000, 3.420000, 3.400000, 3.390000, 3.380000, 3.370000, 3.350000, 3.350000, 3.340000, 3.320000, 3.110000, 3.100000, 3.090000, 3.080000, 3.070000, 3.080000, 3.400000, 3.390000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.390000, 3.480000, 5.610000, 5.630000, 5.640000, 5.650000, 5.670000, 5.680000, 5.700000, 5.720000, 5.750000, 5.780000, 5.810000, 5.830000, 5.860000, 5.900000, 5.810000, 5.530000, 5.300000, 5.110000, 4.910000, 4.730000, 4.570000, 4.420000, 4.290000, 4.160000, 4.030000, 3.920000, 3.820000, 3.710000, 3.630000, 3.540000, 3.450000, 3.390000, 3.310000, 3.240000, 3.170000, 3.110000, 3.050000, 3.040000, 3.070000, 3.110000, 3.170000, 3.210000, 5.830000, 5.810000, 8.850000, 8.890000, 4.190000, 4.130000, 4.000000, 3.970000, 3.970000, 4.070000, 4.180000, 4.310000, 4.430000, 4.580000, 2.250000, 2.240000, 2.220000, 2.200000, 2.180000, 2.170000, 2.140000, 2.130000, 2.120000, 2.560000, 3.080000, 3.070000, 3.040000, 3.050000, 3.030000, 3.980000, 3.970000, 3.970000, 4.770000, 4.770000, 4.790000, 4.790000, 4.770000, 4.770000, 4.760000, 4.750000, 4.750000, 4.750000, 4.750000, 4.730000, 4.850000, 4.850000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 408965 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.490002, -19.948999, -2.884710 ], "estimate": [ -49.490002, -19.948999, -2.884710 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.110000, 2.130000, 2.140000, 2.140000, 2.150000, 2.160000, 2.170000, 2.180000, 2.190000, 2.200000, 2.220000, 2.230000, 2.250000, 2.260000, 2.160000, 2.080000, 1.980000, 1.930000, 1.850000, 1.790000, 1.730000, 1.670000, 1.640000, 1.580000, 1.540000, 1.500000, 1.460000, 1.420000, 1.420000, 1.390000, 1.430000, 1.460000, 1.480000, 1.500000, 1.530000, 1.560000, 1.590000, 6.850000, 6.960000, 7.100000, 7.230000, 7.150000, 5.340000, 5.340000, 6.860000, 6.770000, 6.690000, 6.620000, 6.520000, 5.580000, 5.520000, 5.460000, 5.420000, 5.380000, 5.320000, 5.280000, 5.270000, 5.120000, 5.110000, 3.450000, 3.430000, 3.410000, 3.400000, 3.380000, 3.370000, 3.360000, 3.350000, 3.340000, 3.300000, 3.120000, 3.120000, 3.090000, 3.090000, 3.070000, 3.080000, 3.400000, 3.390000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.410000, 5.610000, 5.620000, 5.640000, 5.650000, 5.660000, 5.680000, 5.700000, 5.710000, 5.740000, 5.770000, 5.800000, 5.820000, 5.850000, 5.890000, 5.860000, 5.580000, 5.340000, 5.140000, 4.950000, 4.760000, 4.590000, 4.440000, 4.310000, 4.180000, 4.050000, 3.940000, 3.830000, 3.720000, 3.640000, 3.550000, 3.460000, 3.390000, 3.310000, 3.240000, 3.170000, 3.110000, 3.060000, 3.030000, 3.040000, 3.080000, 3.160000, 3.210000, 5.840000, 5.780000, 5.380000, 5.380000, 4.200000, 4.120000, 4.010000, 3.970000, 3.950000, 4.030000, 4.150000, 4.270000, 4.390000, 4.520000, 2.220000, 2.230000, 2.210000, 2.190000, 2.170000, 2.160000, 2.140000, 2.130000, 2.120000, 2.130000, 3.070000, 3.050000, 3.040000, 3.030000, 3.030000, 3.160000, 3.970000, 3.950000, 3.960000, 4.760000, 4.790000, 4.780000, 4.770000, 4.760000, 4.750000, 4.750000, 4.740000, 4.740000, 4.740000, 4.740000, 4.840000, 4.840000, 4.850000, 4.860000, 4.860000, 4.870000, 4.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 410025 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492996, -19.950001, -2.761799 ], "estimate": [ -49.492996, -19.950001, -2.761799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.180000, 2.190000, 2.200000, 2.210000, 2.220000, 2.240000, 2.250000, 2.240000, 2.160000, 2.080000, 1.990000, 1.930000, 1.850000, 1.800000, 1.740000, 1.690000, 1.630000, 1.590000, 1.540000, 1.490000, 1.460000, 1.420000, 1.390000, 1.390000, 1.440000, 1.470000, 1.480000, 1.520000, 1.540000, 1.560000, 1.600000, 6.830000, 6.950000, 7.100000, 7.230000, 7.140000, 5.350000, 5.350000, 6.860000, 6.770000, 6.690000, 6.610000, 5.850000, 5.580000, 5.530000, 5.460000, 5.410000, 5.360000, 5.310000, 5.270000, 5.220000, 5.110000, 3.460000, 3.450000, 3.430000, 3.410000, 3.400000, 3.380000, 3.380000, 3.360000, 3.350000, 3.340000, 3.340000, 3.130000, 3.110000, 3.110000, 3.080000, 3.060000, 3.080000, 3.400000, 3.390000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.470000, 5.610000, 5.620000, 5.640000, 5.650000, 5.660000, 5.680000, 5.690000, 5.710000, 5.740000, 5.770000, 5.800000, 5.820000, 5.840000, 5.880000, 5.810000, 5.530000, 5.300000, 5.090000, 4.900000, 4.730000, 4.570000, 4.410000, 4.270000, 4.140000, 4.020000, 3.910000, 3.800000, 3.690000, 3.600000, 3.520000, 3.430000, 3.360000, 3.280000, 3.210000, 3.150000, 3.080000, 3.030000, 3.030000, 3.040000, 3.080000, 3.150000, 3.190000, 5.820000, 5.780000, 5.370000, 5.380000, 4.180000, 4.120000, 3.990000, 3.950000, 3.960000, 4.010000, 4.130000, 4.260000, 4.390000, 4.510000, 2.240000, 2.220000, 2.200000, 2.180000, 2.160000, 2.140000, 2.130000, 2.120000, 2.120000, 2.120000, 3.060000, 3.040000, 3.040000, 3.020000, 3.020000, 3.120000, 3.950000, 3.940000, 3.940000, 4.750000, 4.780000, 4.760000, 4.750000, 4.750000, 4.740000, 4.730000, 4.730000, 4.730000, 4.730000, 4.730000, 4.820000, 4.830000, 4.840000, 4.850000, 4.840000, 4.870000, 4.880000, 4.890000, 4.900000, 4.920000, 4.840000, 4.840000, 3.370000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 410964 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.493999, -19.951000, -2.663471 ], "estimate": [ -49.493999, -19.951000, -2.663471 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.160000, 2.070000, 2.010000, 1.940000, 1.850000, 1.810000, 1.750000, 1.700000, 1.650000, 1.600000, 1.560000, 1.510000, 1.480000, 1.440000, 1.410000, 1.410000, 1.460000, 1.490000, 1.510000, 1.540000, 1.550000, 1.580000, 6.730000, 6.830000, 6.970000, 7.110000, 7.240000, 7.160000, 5.350000, 5.350000, 6.870000, 6.790000, 6.700000, 6.630000, 5.970000, 5.590000, 5.540000, 5.460000, 5.420000, 5.380000, 5.320000, 5.290000, 5.270000, 5.110000, 3.460000, 3.460000, 3.430000, 3.420000, 3.400000, 3.390000, 3.370000, 3.360000, 3.350000, 3.340000, 3.340000, 3.140000, 3.120000, 3.110000, 3.090000, 3.070000, 3.140000, 3.400000, 3.400000, 3.390000, 3.390000, 3.380000, 3.380000, 3.380000, 3.380000, 3.390000, 3.380000, 3.390000, 3.450000, 5.620000, 5.630000, 5.640000, 5.650000, 5.660000, 5.680000, 5.700000, 5.720000, 5.740000, 5.770000, 5.800000, 5.820000, 5.860000, 5.890000, 5.820000, 5.540000, 5.290000, 5.100000, 4.900000, 4.730000, 4.560000, 4.410000, 4.260000, 4.140000, 4.020000, 3.900000, 3.780000, 3.690000, 3.590000, 3.510000, 3.440000, 3.360000, 3.280000, 3.210000, 3.150000, 3.090000, 3.020000, 3.020000, 3.030000, 3.080000, 3.140000, 3.160000, 5.800000, 5.750000, 5.360000, 5.380000, 4.180000, 4.110000, 3.980000, 3.950000, 3.940000, 4.020000, 4.140000, 4.260000, 4.380000, 4.520000, 2.220000, 2.210000, 2.190000, 2.170000, 2.150000, 2.140000, 2.120000, 2.100000, 2.110000, 2.190000, 3.050000, 3.040000, 3.030000, 3.020000, 3.010000, 3.200000, 3.940000, 3.930000, 3.930000, 4.750000, 4.770000, 4.750000, 4.740000, 4.730000, 4.720000, 4.720000, 4.720000, 4.720000, 4.720000, 4.710000, 4.800000, 4.810000, 4.830000, 4.840000, 4.840000, 4.850000, 4.860000, 4.870000, 4.890000, 4.900000, 4.830000, 4.830000, 3.540000, 3.190000, 3.000000, 2.820000, 2.680000, 2.560000, 2.450000, 2.340000, 2.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 411883 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.494999, -19.951000, -2.614306 ], "estimate": [ -49.494999, -19.951000, -2.614306 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 1.850000, 1.790000, 1.740000, 1.700000, 1.630000, 1.600000, 1.550000, 1.510000, 1.470000, 1.440000, 1.410000, 1.440000, 1.470000, 1.500000, 1.530000, 1.560000, 1.570000, 1.610000, 6.790000, 6.900000, 7.030000, 7.170000, 7.260000, 7.150000, 5.370000, 6.950000, 6.860000, 6.780000, 6.690000, 6.620000, 5.660000, 5.590000, 5.540000, 5.470000, 5.410000, 5.370000, 5.310000, 5.270000, 5.220000, 5.140000, 3.470000, 3.450000, 3.440000, 3.420000, 3.390000, 3.380000, 3.380000, 3.370000, 3.360000, 3.340000, 3.330000, 3.140000, 3.120000, 3.110000, 3.070000, 3.060000, 3.330000, 3.410000, 3.400000, 3.390000, 3.390000, 3.380000, 3.390000, 3.380000, 3.390000, 3.390000, 3.390000, 3.400000, 3.470000, 5.620000, 5.640000, 5.640000, 5.650000, 5.670000, 5.690000, 5.710000, 5.730000, 5.750000, 5.780000, 5.810000, 5.840000, 5.860000, 5.900000, 5.770000, 5.490000, 5.280000, 5.060000, 4.870000, 4.690000, 4.530000, 4.380000, 4.230000, 4.110000, 3.990000, 3.880000, 3.780000, 3.690000, 3.590000, 3.490000, 3.420000, 3.340000, 3.270000, 3.200000, 3.140000, 3.070000, 3.010000, 3.000000, 3.060000, 3.100000, 3.170000, 5.850000, 5.790000, 5.780000, 5.360000, 8.870000, 4.170000, 4.120000, 3.980000, 3.940000, 3.930000, 4.060000, 4.180000, 4.300000, 4.430000, 4.560000, 2.220000, 2.200000, 2.180000, 2.160000, 2.150000, 2.130000, 2.110000, 2.100000, 2.100000, 3.050000, 3.040000, 3.030000, 3.020000, 3.010000, 3.000000, 3.950000, 3.940000, 3.920000, 4.750000, 4.740000, 4.760000, 4.750000, 4.740000, 4.730000, 4.720000, 4.720000, 4.710000, 4.710000, 4.710000, 4.700000, 4.810000, 4.810000, 4.820000, 4.830000, 4.840000, 4.840000, 4.850000, 4.870000, 4.890000, 4.910000, 4.830000, 4.830000, 3.500000, 3.180000, 2.990000, 2.810000, 2.670000, 2.550000, 2.430000, 2.330000, 2.240000, 2.150000, 2.070000, 2.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 422243 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.496002, -19.952000, -2.540560 ], "estimate": [ -49.496002, -19.952000, -2.540560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.720000, 1.680000, 1.630000, 1.590000, 1.550000, 1.500000, 1.470000, 1.440000, 1.430000, 1.450000, 1.470000, 1.510000, 1.530000, 1.550000, 1.580000, 1.610000, 6.800000, 6.910000, 7.040000, 7.170000, 7.240000, 5.340000, 5.320000, 6.950000, 6.850000, 6.770000, 6.680000, 6.610000, 5.630000, 5.580000, 5.520000, 5.460000, 5.400000, 5.370000, 5.320000, 5.270000, 5.210000, 5.160000, 3.460000, 3.450000, 3.430000, 3.420000, 3.410000, 3.390000, 3.380000, 3.380000, 3.350000, 3.340000, 3.200000, 3.140000, 3.120000, 3.110000, 3.070000, 3.080000, 3.350000, 3.410000, 3.400000, 3.390000, 3.390000, 3.390000, 3.380000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000, 5.600000, 5.620000, 5.630000, 5.640000, 5.650000, 5.670000, 5.690000, 5.710000, 5.730000, 5.750000, 5.790000, 5.810000, 5.840000, 5.860000, 5.900000, 5.680000, 5.420000, 5.200000, 5.000000, 4.810000, 4.640000, 4.480000, 4.340000, 4.210000, 4.080000, 3.960000, 3.840000, 3.730000, 3.650000, 3.550000, 3.460000, 3.390000, 3.310000, 3.240000, 3.180000, 3.110000, 3.050000, 3.000000, 3.010000, 3.060000, 3.110000, 3.180000, 5.840000, 5.780000, 5.370000, 5.370000, 4.220000, 4.130000, 4.000000, 3.960000, 3.930000, 3.930000, 4.080000, 4.200000, 4.300000, 4.440000, 4.570000, 2.210000, 2.190000, 2.170000, 2.150000, 2.130000, 2.110000, 2.110000, 2.090000, 2.090000, 3.060000, 3.040000, 3.030000, 3.010000, 3.000000, 2.990000, 3.940000, 3.920000, 3.930000, 4.740000, 4.740000, 4.750000, 4.740000, 4.730000, 4.720000, 4.710000, 4.710000, 4.710000, 4.710000, 4.710000, 4.690000, 4.800000, 4.810000, 4.810000, 4.820000, 4.830000, 4.840000, 4.850000, 4.860000, 4.880000, 4.900000, 4.820000, 4.820000, 3.330000, 3.120000, 2.930000, 2.770000, 2.630000, 2.510000, 2.390000, 2.290000, 2.200000, 2.120000, 2.030000, 1.960000, 1.910000, 1.850000, 1.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 423207 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.497002, -19.953001, -2.417650 ], "estimate": [ -49.497002, -19.953001, -2.417650 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.480000, 1.440000, 1.440000, 1.450000, 1.480000, 1.510000, 1.530000, 1.560000, 1.570000, 1.610000, 6.740000, 6.870000, 6.990000, 7.130000, 7.260000, 7.280000, 5.370000, 5.380000, 6.890000, 6.810000, 6.710000, 6.640000, 5.860000, 5.600000, 5.540000, 5.480000, 5.430000, 5.390000, 5.350000, 5.280000, 5.220000, 5.160000, 3.480000, 3.460000, 3.450000, 3.430000, 3.410000, 3.390000, 3.390000, 3.380000, 3.370000, 3.350000, 3.350000, 3.150000, 3.130000, 3.130000, 3.070000, 3.070000, 3.240000, 3.420000, 3.410000, 3.400000, 3.400000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.390000, 3.400000, 3.490000, 5.620000, 5.630000, 5.630000, 5.650000, 5.670000, 5.690000, 5.710000, 5.730000, 5.750000, 5.780000, 5.810000, 5.830000, 5.860000, 5.890000, 5.730000, 5.460000, 5.240000, 5.030000, 4.840000, 4.660000, 4.500000, 4.350000, 4.210000, 4.090000, 3.970000, 3.860000, 3.760000, 3.650000, 3.560000, 3.470000, 3.400000, 3.320000, 3.240000, 3.180000, 3.110000, 3.050000, 2.990000, 2.990000, 3.040000, 3.090000, 3.180000, 5.850000, 5.780000, 5.790000, 5.470000, 8.810000, 4.130000, 4.080000, 3.950000, 3.930000, 3.930000, 4.030000, 4.140000, 4.270000, 4.390000, 4.520000, 2.200000, 2.180000, 2.160000, 2.140000, 2.120000, 2.120000, 2.100000, 2.090000, 2.090000, 3.000000, 3.040000, 3.020000, 3.000000, 2.990000, 2.990000, 3.940000, 3.920000, 3.920000, 3.980000, 4.720000, 4.740000, 4.730000, 4.720000, 4.710000, 4.710000, 4.700000, 4.700000, 4.710000, 4.710000, 4.700000, 4.790000, 4.790000, 4.800000, 4.810000, 4.810000, 4.830000, 4.830000, 4.850000, 4.860000, 4.880000, 4.810000, 4.800000, 3.370000, 3.150000, 2.960000, 2.790000, 2.650000, 2.510000, 2.400000, 2.300000, 2.210000, 2.120000, 2.040000, 1.970000, 1.910000, 1.850000, 1.790000, 1.730000, 1.680000, 1.640000, 1.590000, 1.550000, 1.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 424116 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.499001, -19.955000, -2.313176 ], "estimate": [ -49.499001, -19.955000, -2.313176 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.570000, 1.610000, 1.630000, 6.820000, 6.940000, 7.070000, 7.200000, 7.260000, 5.320000, 5.330000, 7.050000, 6.860000, 6.780000, 6.690000, 6.630000, 5.650000, 5.600000, 5.530000, 5.450000, 5.420000, 5.380000, 5.320000, 5.290000, 5.190000, 5.170000, 3.480000, 3.450000, 3.450000, 3.430000, 3.420000, 3.400000, 3.390000, 3.380000, 3.370000, 3.370000, 3.150000, 3.160000, 3.140000, 3.120000, 3.090000, 3.110000, 3.420000, 3.420000, 3.410000, 3.410000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.400000, 3.410000, 3.450000, 5.620000, 5.630000, 5.640000, 5.660000, 5.670000, 5.680000, 5.700000, 5.720000, 5.740000, 5.770000, 5.800000, 5.830000, 5.850000, 5.880000, 5.860000, 5.580000, 5.320000, 5.120000, 4.910000, 4.740000, 4.570000, 4.400000, 4.270000, 4.140000, 4.010000, 3.900000, 3.780000, 3.690000, 3.590000, 3.500000, 3.430000, 3.340000, 3.270000, 3.200000, 3.140000, 3.070000, 3.010000, 3.000000, 3.030000, 3.080000, 3.130000, 3.190000, 5.790000, 5.750000, 5.390000, 5.410000, 4.150000, 4.090000, 3.980000, 3.940000, 3.930000, 4.010000, 4.120000, 4.220000, 4.340000, 4.480000, 2.200000, 2.180000, 2.160000, 2.140000, 2.120000, 2.110000, 2.100000, 2.090000, 2.090000, 2.490000, 3.030000, 3.020000, 3.000000, 2.990000, 2.980000, 3.020000, 3.920000, 3.910000, 3.900000, 4.710000, 4.710000, 4.720000, 4.710000, 4.710000, 4.710000, 4.700000, 4.700000, 4.700000, 4.690000, 4.680000, 4.680000, 4.780000, 4.780000, 4.800000, 4.800000, 4.820000, 4.830000, 4.830000, 4.850000, 4.870000, 4.860000, 4.810000, 4.810000, 3.250000, 3.040000, 2.860000, 2.690000, 2.570000, 2.440000, 2.340000, 2.240000, 2.160000, 2.070000, 2.000000, 1.930000, 1.860000, 1.810000, 1.760000, 1.700000, 1.650000, 1.600000, 1.560000, 1.530000, 1.490000, 1.460000, 1.420000, 1.380000, 1.370000, 1.340000, 1.310000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 425138 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500000, -19.955999, -2.251720 ], "estimate": [ -49.500000, -19.955999, -2.251720 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.000000, 7.140000, 7.270000, 7.250000, 5.340000, 5.380000, 6.940000, 6.850000, 6.760000, 6.660000, 6.610000, 5.630000, 5.580000, 5.530000, 5.460000, 5.420000, 5.370000, 5.310000, 5.290000, 5.150000, 3.500000, 3.470000, 3.450000, 3.450000, 3.430000, 3.420000, 3.400000, 3.390000, 3.370000, 3.370000, 3.360000, 3.160000, 3.150000, 3.150000, 3.100000, 3.090000, 3.320000, 3.420000, 3.420000, 3.410000, 3.410000, 3.400000, 3.410000, 3.410000, 3.400000, 3.410000, 3.410000, 3.410000, 3.440000, 5.630000, 5.640000, 5.650000, 5.660000, 5.680000, 5.700000, 5.720000, 5.740000, 5.760000, 5.790000, 5.820000, 5.840000, 5.860000, 5.900000, 5.790000, 5.510000, 5.290000, 5.070000, 4.860000, 4.680000, 4.510000, 4.370000, 4.230000, 4.090000, 3.970000, 3.870000, 3.760000, 3.660000, 3.570000, 3.480000, 3.400000, 3.320000, 3.240000, 3.180000, 3.120000, 3.040000, 2.990000, 3.010000, 3.050000, 3.100000, 3.170000, 5.840000, 5.800000, 5.780000, 8.670000, 8.810000, 4.140000, 4.100000, 3.950000, 3.920000, 3.920000, 4.040000, 4.160000, 4.280000, 4.410000, 4.540000, 2.190000, 2.170000, 2.150000, 2.140000, 2.120000, 2.100000, 2.090000, 2.080000, 2.070000, 3.030000, 3.020000, 3.010000, 3.000000, 2.980000, 2.970000, 3.930000, 3.910000, 3.900000, 4.050000, 4.710000, 4.720000, 4.710000, 4.710000, 4.710000, 4.700000, 4.700000, 4.690000, 4.680000, 4.690000, 4.680000, 4.770000, 4.770000, 4.780000, 4.790000, 4.800000, 4.820000, 4.820000, 4.830000, 4.850000, 4.870000, 4.840000, 4.790000, 4.810000, 3.190000, 3.000000, 2.820000, 2.670000, 2.540000, 2.420000, 2.320000, 2.210000, 2.130000, 2.040000, 1.980000, 1.910000, 1.850000, 1.790000, 1.740000, 1.680000, 1.630000, 1.580000, 1.550000, 1.510000, 1.480000, 1.450000, 1.410000, 1.380000, 1.360000, 1.320000, 1.300000, 1.280000, 1.250000, 1.240000, 1.210000, 1.190000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 426062 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500000, -19.955999, -2.177974 ], "estimate": [ -49.500000, -19.955999, -2.177974 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.340000, 5.340000, 6.990000, 6.910000, 6.830000, 6.740000, 6.660000, 5.730000, 5.640000, 5.570000, 5.510000, 5.450000, 5.410000, 5.350000, 5.310000, 5.250000, 5.150000, 3.500000, 3.480000, 3.460000, 3.450000, 3.440000, 3.420000, 3.410000, 3.390000, 3.380000, 3.360000, 3.160000, 3.160000, 3.150000, 3.150000, 3.090000, 3.100000, 3.430000, 3.420000, 3.420000, 3.420000, 3.420000, 3.410000, 3.410000, 3.410000, 3.410000, 3.410000, 3.410000, 3.430000, 5.630000, 5.630000, 5.640000, 5.650000, 5.680000, 5.690000, 5.710000, 5.720000, 5.750000, 5.770000, 5.810000, 5.820000, 5.850000, 5.880000, 5.910000, 5.680000, 5.410000, 5.200000, 4.990000, 4.800000, 4.610000, 4.460000, 4.310000, 4.180000, 4.050000, 3.930000, 3.820000, 3.710000, 3.620000, 3.530000, 3.440000, 3.370000, 3.280000, 3.210000, 3.150000, 3.080000, 3.020000, 3.010000, 3.030000, 3.070000, 3.130000, 3.170000, 5.840000, 5.760000, 5.360000, 5.310000, 4.180000, 4.110000, 3.990000, 3.950000, 3.930000, 3.910000, 4.090000, 4.200000, 4.310000, 4.440000, 2.200000, 2.180000, 2.150000, 2.150000, 2.120000, 2.110000, 2.100000, 2.080000, 2.080000, 2.420000, 3.030000, 3.020000, 2.990000, 2.980000, 2.960000, 2.960000, 3.910000, 3.900000, 3.900000, 4.700000, 4.710000, 4.720000, 4.710000, 4.710000, 4.700000, 4.690000, 4.680000, 4.680000, 4.680000, 4.680000, 4.680000, 4.770000, 4.770000, 4.780000, 4.790000, 4.800000, 4.810000, 4.830000, 4.830000, 4.850000, 4.870000, 4.780000, 4.780000, 3.330000, 3.100000, 2.920000, 2.750000, 2.600000, 2.480000, 2.370000, 2.270000, 2.170000, 2.090000, 2.020000, 1.940000, 1.880000, 1.810000, 1.760000, 1.710000, 1.660000, 1.610000, 1.570000, 1.530000, 1.490000, 1.460000, 1.430000, 1.390000, 1.370000, 1.340000, 1.310000, 1.280000, 1.260000, 1.240000, 1.230000, 1.200000, 1.180000, 1.160000, 1.140000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 481850 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500999, -19.956999, -2.067355 ], "estimate": [ -49.500999, -19.956999, -2.067355 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.730000, 6.670000, 5.690000, 5.640000, 5.570000, 5.510000, 5.460000, 5.410000, 5.350000, 5.320000, 5.240000, 5.190000, 3.500000, 3.490000, 3.470000, 3.460000, 3.440000, 3.430000, 3.410000, 3.410000, 3.390000, 3.370000, 3.170000, 3.160000, 3.160000, 3.160000, 3.120000, 3.110000, 3.440000, 3.430000, 3.420000, 3.410000, 3.410000, 3.410000, 3.410000, 3.420000, 3.420000, 3.420000, 3.420000, 3.440000, 5.630000, 5.640000, 5.640000, 5.660000, 5.670000, 5.690000, 5.710000, 5.730000, 5.750000, 5.780000, 5.800000, 5.820000, 5.850000, 5.880000, 5.920000, 5.640000, 5.380000, 5.160000, 4.950000, 4.770000, 4.590000, 4.430000, 4.290000, 4.150000, 4.030000, 3.900000, 3.800000, 3.690000, 3.600000, 3.510000, 3.420000, 3.350000, 3.280000, 3.190000, 3.120000, 3.070000, 3.010000, 2.990000, 3.030000, 3.080000, 3.140000, 3.220000, 5.840000, 5.750000, 5.330000, 5.340000, 4.180000, 4.090000, 3.980000, 3.930000, 3.920000, 3.980000, 4.100000, 4.210000, 4.320000, 4.460000, 2.200000, 2.180000, 2.160000, 2.130000, 2.120000, 2.100000, 2.090000, 2.070000, 2.070000, 2.920000, 3.030000, 3.010000, 2.990000, 2.980000, 2.970000, 2.980000, 3.900000, 3.890000, 3.890000, 4.700000, 4.700000, 4.710000, 4.710000, 4.700000, 4.690000, 4.680000, 4.680000, 4.670000, 4.670000, 4.670000, 4.670000, 4.770000, 4.770000, 4.770000, 4.790000, 4.790000, 4.810000, 4.810000, 4.830000, 4.840000, 4.850000, 4.770000, 4.780000, 3.270000, 3.070000, 2.880000, 2.710000, 2.580000, 2.440000, 2.340000, 2.250000, 2.160000, 2.070000, 1.990000, 1.920000, 1.850000, 1.800000, 1.750000, 1.690000, 1.640000, 1.590000, 1.550000, 1.520000, 1.480000, 1.440000, 1.410000, 1.380000, 1.350000, 1.330000, 1.290000, 1.280000, 1.250000, 1.220000, 1.210000, 1.190000, 1.160000, 1.150000, 1.140000, 1.130000, 1.140000, 1.140000, 1.150000, 1.160000, 1.180000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 755653 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500999, -19.956999, -1.962881 ], "estimate": [ -49.500999, -19.956999, -1.962881 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.420000, 5.370000, 5.330000, 5.250000, 5.210000, 3.520000, 3.500000, 3.470000, 3.470000, 3.460000, 3.430000, 3.420000, 3.410000, 3.400000, 3.380000, 3.190000, 3.170000, 3.160000, 3.150000, 3.110000, 3.110000, 3.440000, 3.440000, 3.430000, 3.420000, 3.420000, 3.420000, 3.420000, 3.410000, 3.420000, 3.410000, 3.420000, 3.470000, 5.640000, 5.650000, 5.660000, 5.670000, 5.690000, 5.710000, 5.720000, 5.740000, 5.760000, 5.780000, 5.810000, 5.830000, 5.860000, 5.890000, 5.920000, 5.640000, 5.380000, 5.150000, 4.940000, 4.750000, 4.580000, 4.420000, 4.280000, 4.140000, 4.020000, 3.900000, 3.790000, 3.680000, 3.590000, 3.500000, 3.410000, 3.330000, 3.270000, 3.180000, 3.120000, 3.060000, 3.000000, 2.990000, 3.040000, 3.100000, 3.180000, 5.870000, 5.800000, 5.750000, 5.370000, 5.390000, 4.150000, 4.100000, 3.960000, 3.920000, 3.920000, 4.020000, 4.120000, 4.230000, 4.340000, 2.200000, 2.170000, 2.160000, 2.140000, 2.130000, 2.110000, 2.090000, 2.090000, 2.070000, 2.070000, 2.960000, 3.020000, 3.010000, 2.990000, 2.970000, 2.970000, 3.270000, 3.900000, 3.890000, 3.890000, 4.690000, 4.690000, 4.710000, 4.700000, 4.690000, 4.680000, 4.670000, 4.670000, 4.670000, 4.660000, 4.650000, 4.650000, 4.760000, 4.760000, 4.770000, 4.780000, 4.780000, 4.800000, 4.810000, 4.830000, 4.830000, 4.860000, 4.760000, 4.770000, 3.240000, 3.030000, 2.850000, 2.680000, 2.560000, 2.440000, 2.320000, 2.220000, 2.130000, 2.050000, 1.980000, 1.900000, 1.840000, 1.780000, 1.730000, 1.680000, 1.620000, 1.570000, 1.550000, 1.500000, 1.470000, 1.430000, 1.390000, 1.370000, 1.330000, 1.320000, 1.280000, 1.260000, 1.240000, 1.220000, 1.200000, 1.180000, 1.150000, 1.140000, 1.130000, 1.120000, 1.130000, 1.130000, 1.140000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055379, 868826 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500999, -19.956999, -1.882989 ], "estimate": [ -49.500999, -19.956999, -1.882989 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.520000, 3.510000, 3.490000, 3.470000, 3.460000, 3.450000, 3.440000, 3.410000, 3.400000, 3.370000, 3.310000, 3.180000, 3.170000, 3.160000, 3.130000, 3.100000, 3.390000, 3.450000, 3.440000, 3.440000, 3.430000, 3.430000, 3.420000, 3.420000, 3.420000, 3.420000, 3.420000, 3.440000, 5.640000, 5.640000, 5.660000, 5.670000, 5.690000, 5.700000, 5.710000, 5.730000, 5.760000, 5.780000, 5.810000, 5.830000, 5.860000, 5.890000, 5.930000, 5.720000, 5.460000, 5.230000, 5.000000, 4.820000, 4.640000, 4.480000, 4.320000, 4.190000, 4.050000, 3.930000, 3.830000, 3.720000, 3.610000, 3.530000, 3.440000, 3.350000, 3.280000, 3.200000, 3.140000, 3.070000, 3.020000, 3.010000, 3.040000, 3.090000, 3.160000, null, 5.850000, 5.780000, 5.360000, 5.330000, 4.200000, 4.110000, 3.990000, 3.950000, 3.930000, 3.970000, 4.090000, 4.210000, 4.330000, 4.460000, 2.190000, 2.170000, 2.150000, 2.130000, 2.110000, 2.100000, 2.090000, 2.070000, 2.060000, 2.950000, 3.030000, 3.010000, 2.990000, 2.970000, 2.960000, 3.080000, 3.900000, 3.890000, 3.890000, 4.690000, 4.690000, 4.710000, 4.700000, 4.690000, 4.680000, 4.670000, 4.670000, 4.660000, 4.660000, 4.660000, 4.660000, 4.760000, 4.760000, 4.770000, 4.770000, 4.770000, 4.790000, 4.800000, 4.810000, 4.830000, 4.850000, 4.760000, 4.760000, 3.290000, 3.070000, 2.900000, 2.720000, 2.570000, 2.450000, 2.350000, 2.240000, 2.150000, 2.070000, 1.990000, 1.910000, 1.850000, 1.780000, 1.740000, 1.680000, 1.630000, 1.580000, 1.550000, 1.510000, 1.470000, 1.430000, 1.400000, 1.380000, 1.340000, 1.310000, 1.280000, 1.260000, 1.240000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.120000, 1.110000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.360000, 1.390000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055380, 138517 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500000, -19.955999, -1.796952 ], "estimate": [ -49.500000, -19.955999, -1.796952 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.450000, 3.440000, 3.420000, 3.410000, 3.400000, 3.390000, 3.190000, 3.180000, 3.170000, 3.150000, 3.120000, 3.280000, 3.450000, 3.460000, 3.450000, 3.450000, 3.450000, 3.440000, 3.430000, 3.430000, 3.430000, 3.430000, 3.440000, 3.490000, 5.660000, 5.670000, 5.680000, 5.700000, 5.710000, 5.720000, 5.740000, 5.760000, 5.790000, 5.820000, 5.840000, 5.860000, 5.900000, 5.930000, 5.810000, 5.540000, 5.300000, 5.080000, 4.870000, 4.690000, 4.520000, 4.380000, 4.240000, 4.090000, 3.970000, 3.850000, 3.750000, 3.650000, 3.560000, 3.480000, 3.390000, 3.310000, 3.230000, 3.160000, 3.090000, 3.020000, 3.020000, 3.030000, 3.080000, 3.140000, 3.180000, 5.820000, 5.800000, 5.800000, 8.660000, 4.200000, 4.120000, 4.000000, 3.950000, 3.920000, 3.930000, 4.070000, 4.190000, 4.310000, 4.430000, 2.200000, 2.170000, 2.160000, 2.140000, 2.120000, 2.100000, 2.090000, 2.070000, 2.070000, 2.930000, 3.030000, 3.010000, 3.000000, 2.980000, 2.960000, 2.950000, 3.910000, 3.890000, 3.890000, 4.700000, 4.690000, 4.720000, 4.710000, 4.700000, 4.690000, 4.680000, 4.670000, 4.670000, 4.670000, 4.670000, 4.660000, 4.760000, 4.750000, 4.760000, 4.770000, 4.780000, 4.790000, 4.800000, 4.810000, 4.820000, 4.830000, 4.790000, 4.760000, 3.450000, 3.100000, 2.910000, 2.730000, 2.580000, 2.460000, 2.370000, 2.270000, 2.170000, 2.080000, 2.000000, 1.930000, 1.850000, 1.780000, 1.740000, 1.690000, 1.630000, 1.590000, 1.560000, 1.510000, 1.470000, 1.430000, 1.390000, 1.370000, 1.330000, 1.300000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.110000, 1.110000, 1.110000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.260000, 1.270000, 1.280000, 1.310000, 1.330000, 1.370000, 1.390000, 1.410000, 1.450000, 1.480000, 1.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055380, 267269 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500999, -19.956999, -1.710914 ], "estimate": [ -49.500999, -19.956999, -1.710914 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.390000, 3.200000, 3.180000, 3.170000, 3.160000, 3.130000, 3.150000, 3.460000, 3.470000, 3.460000, 3.450000, 3.450000, 3.440000, 3.450000, 3.450000, 3.450000, 3.450000, 3.450000, 3.480000, 5.660000, 5.670000, 5.680000, 5.700000, 5.710000, 5.710000, 5.740000, 5.760000, 5.780000, 5.810000, 5.830000, 5.840000, 5.880000, 5.910000, 5.950000, 5.680000, 5.420000, 5.190000, 4.970000, 4.780000, 4.590000, 4.440000, 4.310000, 4.170000, 4.040000, 3.920000, 3.810000, 3.700000, 3.610000, 3.510000, 3.440000, 3.350000, 3.280000, 3.190000, 3.130000, 3.060000, 3.010000, 3.000000, 3.060000, 3.110000, 3.190000, 5.880000, 5.850000, 5.750000, 5.360000, 8.710000, 4.170000, 4.100000, 3.970000, 3.930000, 3.920000, 4.020000, 4.130000, 4.250000, 4.370000, 2.200000, 2.180000, 2.160000, 2.150000, 2.130000, 2.110000, 2.090000, 2.080000, 2.080000, 2.430000, 3.040000, 3.020000, 3.010000, 2.980000, 2.970000, 2.970000, 3.910000, 3.900000, 3.890000, 3.880000, 4.690000, 4.690000, 4.710000, 4.710000, 4.690000, 4.690000, 4.680000, 4.670000, 4.670000, 4.670000, 4.650000, 4.650000, 4.750000, 4.750000, 4.770000, 4.770000, 4.770000, 4.790000, 4.810000, 4.810000, 4.820000, 4.830000, 4.750000, 4.780000, 3.190000, 2.980000, 2.810000, 2.650000, 2.510000, 2.400000, 2.290000, 2.190000, 2.100000, 2.020000, 1.940000, 1.870000, 1.800000, 1.760000, 1.690000, 1.650000, 1.600000, 1.570000, 1.520000, 1.480000, 1.430000, 1.400000, 1.380000, 1.340000, 1.300000, 1.270000, 1.250000, 1.220000, 1.190000, 1.180000, 1.160000, 1.140000, 1.130000, 1.110000, 1.100000, 1.110000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.380000, 1.390000, 1.420000, 1.460000, 1.490000, 1.530000, 1.570000, 1.600000, 1.650000, 1.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055380, 707190 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500999, -19.958000, -1.612586 ], "estimate": [ -49.500999, -19.958000, -1.612586 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.140000, 3.290000, 3.470000, 3.470000, 3.460000, 3.460000, 3.450000, 3.450000, 3.450000, 3.450000, 3.460000, 3.460000, 3.460000, 3.500000, 5.690000, 5.700000, 5.710000, 5.710000, 5.730000, 5.740000, 5.760000, 5.770000, 5.800000, 5.820000, 5.840000, 5.870000, 5.900000, 5.940000, 5.790000, 5.520000, 5.290000, 5.070000, 4.850000, 4.650000, 4.500000, 4.350000, 4.210000, 4.090000, 3.960000, 3.840000, 3.740000, 3.630000, 3.550000, 3.460000, 3.380000, 3.300000, 3.220000, 3.150000, 3.080000, 3.020000, 3.000000, 3.050000, 3.110000, 3.180000, null, 5.860000, 5.780000, 5.390000, 5.370000, 4.190000, 4.110000, 3.990000, 3.950000, 3.930000, 3.990000, 4.110000, 4.220000, 4.330000, 2.210000, 2.190000, 2.170000, 2.150000, 2.140000, 2.110000, 2.100000, 2.090000, 2.080000, 2.100000, 2.980000, 3.030000, 3.010000, 2.990000, 2.970000, 2.970000, 3.520000, 3.900000, 3.890000, 3.890000, 4.690000, 4.690000, 4.710000, 4.700000, 4.700000, 4.690000, 4.680000, 4.680000, 4.670000, 4.670000, 4.660000, 4.650000, 4.750000, 4.760000, 4.760000, 4.770000, 4.780000, 4.780000, 4.800000, 4.810000, 4.820000, 4.820000, 4.760000, 4.750000, 3.240000, 3.020000, 2.840000, 2.660000, 2.530000, 2.410000, 2.300000, 2.200000, 2.110000, 2.020000, 1.950000, 1.880000, 1.800000, 1.760000, 1.690000, 1.650000, 1.600000, 1.560000, 1.520000, 1.480000, 1.430000, 1.390000, 1.370000, 1.330000, 1.300000, 1.270000, 1.240000, 1.220000, 1.190000, 1.180000, 1.150000, 1.130000, 1.130000, 1.110000, 1.090000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.270000, 1.300000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.470000, 1.510000, 1.550000, 1.580000, 1.620000, 1.670000, 1.700000, 1.750000, 1.790000, 1.860000, 1.920000, 1.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055380, 708353 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500999, -19.959000, -1.508112 ], "estimate": [ -49.500999, -19.959000, -1.508112 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.460000, 3.460000, 3.460000, 3.460000, 3.460000, 3.460000, 3.460000, 3.500000, 5.690000, 5.700000, 5.710000, 5.720000, 5.730000, 5.750000, 5.770000, 5.780000, 5.810000, 5.830000, 5.840000, 5.870000, 5.890000, 5.930000, 5.960000, 5.670000, 5.410000, 5.180000, 4.980000, 4.760000, 4.580000, 4.420000, 4.290000, 4.150000, 4.020000, 3.910000, 3.790000, 3.680000, 3.590000, 3.510000, 3.430000, 3.350000, 3.270000, 3.180000, 3.120000, 3.050000, 3.030000, 3.030000, 3.080000, 3.140000, 3.190000, 5.890000, 5.820000, 5.780000, 5.810000, 8.730000, 4.170000, 4.010000, 3.960000, 3.930000, 3.930000, 4.060000, 4.160000, 4.280000, 4.420000, 2.190000, 2.180000, 2.160000, 2.140000, 2.110000, 2.100000, 2.090000, 2.070000, 2.070000, 2.930000, 3.030000, 3.020000, 2.990000, 2.980000, 2.960000, 2.960000, 3.910000, 3.890000, 3.890000, 4.200000, 4.700000, 4.730000, 4.720000, 4.700000, 4.690000, 4.680000, 4.670000, 4.670000, 4.670000, 4.670000, 4.670000, 4.690000, 4.750000, 4.750000, 4.760000, 4.770000, 4.770000, 4.790000, 4.810000, 4.810000, 4.820000, 4.820000, 4.770000, 3.480000, 3.090000, 2.910000, 2.740000, 2.580000, 2.450000, 2.340000, 2.240000, 2.140000, 2.050000, 1.970000, 1.890000, 1.830000, 1.770000, 1.710000, 1.660000, 1.610000, 1.560000, 1.520000, 1.480000, 1.440000, 1.400000, 1.370000, 1.330000, 1.300000, 1.270000, 1.240000, 1.210000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.240000, 1.270000, 1.280000, 1.300000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.620000, 1.670000, 1.710000, 1.760000, 1.810000, 1.870000, 1.940000, 2.010000, 2.090000, 2.170000, 2.260000, 2.370000, 2.470000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055380, 942330 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500000, -19.962000, -1.415929 ], "estimate": [ -49.500000, -19.962000, -1.415929 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.470000, 3.530000, 5.700000, 5.700000, 5.720000, 5.730000, 5.740000, 5.760000, 5.780000, 5.790000, 5.820000, 5.830000, 5.860000, 5.880000, 5.900000, 5.950000, 5.970000, 5.670000, 5.430000, 5.190000, 4.970000, 4.760000, 4.580000, 4.420000, 4.280000, 4.150000, 4.020000, 3.900000, 3.790000, 3.680000, 3.590000, 3.500000, 3.420000, 3.340000, 3.270000, 3.180000, 3.120000, 3.050000, 3.040000, 3.050000, 3.090000, 3.160000, 3.210000, null, 5.840000, 5.780000, 8.730000, 8.750000, 4.160000, 4.030000, 3.970000, 3.920000, 3.940000, 4.080000, 4.190000, 4.300000, 2.190000, 2.190000, 2.170000, 2.160000, 2.140000, 2.110000, 2.100000, 2.080000, 2.080000, 2.100000, 2.950000, 3.030000, 3.020000, 2.990000, 2.980000, 2.970000, 3.050000, 3.910000, 3.890000, 3.890000, 4.700000, 4.700000, 4.710000, 4.710000, 4.700000, 4.690000, 4.670000, 4.670000, 4.670000, 4.660000, 4.660000, 4.660000, 4.740000, 4.750000, 4.750000, 4.760000, 4.770000, 4.770000, 4.780000, 4.800000, 4.810000, 4.820000, 4.800000, 4.750000, 3.410000, 3.070000, 2.880000, 2.700000, 2.560000, 2.430000, 2.320000, 2.210000, 2.130000, 2.030000, 1.940000, 1.870000, 1.810000, 1.750000, 1.700000, 1.640000, 1.580000, 1.550000, 1.510000, 1.460000, 1.420000, 1.390000, 1.350000, 1.320000, 1.280000, 1.260000, 1.230000, 1.210000, 1.180000, 1.160000, 1.140000, 1.120000, 1.110000, 1.090000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.270000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.440000, 1.470000, 1.510000, 1.550000, 1.580000, 1.620000, 1.660000, 1.700000, 1.750000, 1.800000, 1.860000, 1.920000, 2.000000, 2.070000, 2.150000, 2.250000, 2.340000, 2.450000, 2.620000, 2.730000, 2.910000, 3.130000, 3.370000, 3.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055381, 394587 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.500000, -19.965000, -1.329892 ], "estimate": [ -49.500000, -19.965000, -1.329892 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.720000, 5.740000, 5.750000, 5.780000, 5.800000, 5.820000, 5.840000, 5.860000, 5.880000, 5.910000, 5.930000, 5.970000, 5.870000, 5.590000, 5.340000, 5.120000, 4.910000, 4.700000, 4.520000, 4.380000, 4.230000, 4.100000, 3.980000, 3.860000, 3.750000, 3.650000, 3.560000, 3.470000, 3.390000, 3.300000, 3.240000, 3.170000, 3.100000, 3.020000, 3.030000, 3.070000, 3.130000, 3.200000, null, 5.870000, 5.830000, 5.800000, 5.360000, 4.210000, 4.110000, 3.990000, 3.950000, 3.940000, 4.010000, 4.130000, 4.240000, 4.370000, 2.210000, 2.180000, 2.160000, 2.150000, 2.130000, 2.110000, 2.090000, 2.090000, 2.090000, 2.900000, 3.040000, 3.020000, 3.010000, 2.990000, 2.970000, 2.960000, 3.920000, 3.900000, 3.890000, 3.890000, 4.690000, 4.680000, 4.710000, 4.700000, 4.690000, 4.680000, 4.670000, 4.670000, 4.670000, 4.660000, 4.650000, 4.640000, 4.750000, 4.750000, 4.750000, 4.760000, 4.770000, 4.770000, 4.790000, 4.800000, 4.810000, 4.820000, 4.740000, 4.750000, 3.180000, 2.970000, 2.790000, 2.620000, 2.490000, 2.370000, 2.270000, 2.160000, 2.070000, 1.990000, 1.910000, 1.840000, 1.780000, 1.720000, 1.660000, 1.600000, 1.570000, 1.520000, 1.480000, 1.430000, 1.390000, 1.360000, 1.320000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.160000, 1.140000, 1.130000, 1.110000, 1.090000, 1.070000, 1.060000, 1.060000, 1.060000, 1.070000, 1.090000, 1.100000, 1.120000, 1.140000, 1.150000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.270000, 1.270000, 1.290000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.550000, 1.590000, 1.630000, 1.670000, 1.710000, 1.760000, 1.820000, 1.880000, 1.940000, 2.020000, 2.090000, 2.160000, 2.270000, 2.370000, 2.480000, 2.610000, 2.790000, 2.980000, 3.210000, 3.490000, 3.870000, 4.390000, 22.780000, 21.390000, 22.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055381, 396170 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.499001, -19.966000, -1.231563 ], "estimate": [ -49.499001, -19.966000, -1.231563 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.840000, 5.860000, 5.880000, 5.910000, 5.930000, 5.970000, 5.940000, 5.660000, 5.400000, 5.160000, 4.950000, 4.750000, 4.580000, 4.420000, 4.280000, 4.150000, 4.020000, 3.900000, 3.780000, 3.670000, 3.590000, 3.480000, 3.400000, 3.320000, 3.260000, 3.180000, 3.110000, 3.050000, 3.020000, 3.070000, 3.130000, 3.210000, null, null, 5.830000, 5.820000, 8.770000, 4.230000, 4.130000, 4.020000, 3.970000, 3.940000, 3.990000, 4.110000, 4.210000, 4.340000, 2.220000, 2.190000, 2.170000, 2.140000, 2.120000, 2.110000, 2.090000, 2.080000, 2.080000, 2.880000, 3.020000, 3.020000, 3.010000, 2.990000, 2.970000, 2.970000, 3.920000, 3.900000, 3.890000, 3.890000, 4.690000, 4.690000, 4.710000, 4.700000, 4.690000, 4.670000, 4.670000, 4.660000, 4.670000, 4.660000, 4.650000, 4.650000, 4.750000, 4.750000, 4.750000, 4.760000, 4.770000, 4.770000, 4.780000, 4.790000, 4.810000, 4.820000, 4.740000, 4.740000, 3.190000, 2.970000, 2.780000, 2.610000, 2.480000, 2.360000, 2.260000, 2.140000, 2.060000, 1.970000, 1.890000, 1.820000, 1.760000, 1.700000, 1.650000, 1.600000, 1.560000, 1.510000, 1.460000, 1.420000, 1.390000, 1.350000, 1.310000, 1.270000, 1.250000, 1.210000, 1.200000, 1.170000, 1.150000, 1.120000, 1.110000, 1.090000, 1.080000, 1.050000, 1.050000, 1.050000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.310000, 1.340000, 1.370000, 1.390000, 1.430000, 1.460000, 1.490000, 1.530000, 1.570000, 1.600000, 1.650000, 1.690000, 1.750000, 1.790000, 1.850000, 1.920000, 1.990000, 2.060000, 2.130000, 2.230000, 2.330000, 2.440000, 2.610000, 2.720000, 2.910000, 3.140000, 3.380000, 3.740000, 4.200000, 5.030000, 22.770000, 22.090000, 22.090000, 15.920000, 15.940000, 12.970000, 8.370000, 7.410000 ], "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, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055381, 467808 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.497997, -19.969000, -1.133235 ], "estimate": [ -49.497997, -19.969000, -1.133235 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.980000, 5.810000, 5.530000, 5.300000, 5.080000, 4.860000, 4.680000, 4.520000, 4.390000, 4.230000, 4.090000, 3.970000, 3.850000, 3.740000, 3.650000, 3.550000, 3.470000, 3.380000, 3.300000, 3.220000, 3.160000, 3.080000, 3.050000, 3.060000, 3.100000, 3.170000, 3.220000, null, 5.860000, 5.800000, 5.390000, 7.260000, 4.170000, 4.130000, 3.980000, 3.950000, 3.950000, 4.070000, 4.170000, 4.300000, 2.240000, 2.200000, 2.180000, 2.160000, 2.140000, 2.120000, 2.110000, 2.090000, 2.090000, 2.150000, 2.960000, 3.040000, 3.010000, 3.000000, 2.990000, 2.970000, 3.030000, 3.910000, 3.900000, 3.900000, 4.390000, 4.700000, 4.720000, 4.710000, 4.700000, 4.680000, 4.670000, 4.660000, 4.660000, 4.660000, 4.660000, 4.650000, 4.690000, 4.740000, 4.740000, 4.760000, 4.770000, 4.770000, 4.770000, 4.790000, 4.800000, 4.810000, 4.810000, 4.750000, 3.420000, 3.070000, 2.870000, 2.680000, 2.540000, 2.410000, 2.290000, 2.190000, 2.090000, 2.010000, 1.920000, 1.850000, 1.780000, 1.720000, 1.670000, 1.620000, 1.570000, 1.520000, 1.470000, 1.430000, 1.390000, 1.360000, 1.320000, 1.280000, 1.250000, 1.220000, 1.190000, 1.170000, 1.140000, 1.120000, 1.120000, 1.090000, 1.070000, 1.050000, 1.050000, 1.050000, 1.040000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.280000, 1.290000, 1.310000, 1.350000, 1.380000, 1.400000, 1.430000, 1.470000, 1.510000, 1.540000, 1.580000, 1.620000, 1.660000, 1.700000, 1.760000, 1.800000, 1.870000, 1.940000, 2.020000, 2.080000, 2.160000, 2.270000, 2.370000, 2.480000, 2.620000, 2.790000, 2.980000, 3.220000, 3.490000, 3.910000, 4.430000, 21.400000, 21.370000, 22.080000, 22.070000, null, null, 8.360000, 8.370000, 7.200000, 6.680000, 6.240000, 5.860000, 5.530000, 5.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055383, 855666 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.497002, -19.969999, -1.059489 ], "estimate": [ -49.497002, -19.969999, -1.059489 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.850000, 4.670000, 4.510000, 4.360000, 4.210000, 4.090000, 3.950000, 3.850000, 3.740000, 3.640000, 3.550000, 3.470000, 3.380000, 3.300000, 3.220000, 3.150000, 3.080000, 3.070000, 3.070000, 3.120000, 3.190000, 3.240000, null, null, 5.790000, 7.370000, 8.740000, 4.180000, 4.040000, 3.990000, 3.950000, 3.970000, 4.110000, 4.210000, 4.320000, 2.230000, 2.200000, 2.180000, 2.150000, 2.130000, 2.120000, 2.100000, 2.090000, 2.080000, 2.870000, 3.010000, 3.050000, 3.020000, 3.000000, 2.980000, 2.980000, 3.930000, 3.910000, 3.900000, 3.900000, 4.710000, 4.700000, 4.720000, 4.700000, 4.690000, 4.680000, 4.680000, 4.670000, 4.660000, 4.660000, 4.650000, 4.660000, 4.740000, 4.750000, 4.750000, 4.760000, 4.770000, 4.770000, 4.780000, 4.790000, 4.810000, 4.810000, 4.770000, 4.740000, 3.230000, 3.000000, 2.810000, 2.640000, 2.490000, 2.370000, 2.260000, 2.160000, 2.060000, 1.970000, 1.890000, 1.820000, 1.760000, 1.700000, 1.640000, 1.590000, 1.540000, 1.500000, 1.450000, 1.410000, 1.380000, 1.330000, 1.300000, 1.270000, 1.230000, 1.210000, 1.190000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.050000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.310000, 1.350000, 1.380000, 1.400000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.620000, 1.670000, 1.710000, 1.770000, 1.810000, 1.880000, 1.940000, 2.020000, 2.100000, 2.170000, 2.270000, 2.380000, 2.490000, 2.650000, 2.810000, 2.990000, 3.260000, 3.480000, 3.930000, 4.530000, 21.380000, 22.770000, 22.050000, 22.060000, null, 13.680000, 8.340000, 8.360000, 7.140000, 6.640000, 6.190000, 5.830000, 5.510000, 5.200000, 4.940000, 4.710000, 4.480000, 4.290000, 4.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055383, 856848 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.496002, -19.972000, -0.979597 ], "estimate": [ -49.496002, -19.972000, -0.979597 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.260000, 4.120000, 3.990000, 3.880000, 3.770000, 3.680000, 3.590000, 3.490000, 3.410000, 3.320000, 3.250000, 3.180000, 3.110000, 3.070000, 3.070000, 3.120000, 3.180000, 3.230000, null, null, 5.830000, 5.390000, 7.260000, 4.210000, 4.130000, 3.980000, 3.960000, 3.950000, 4.080000, 4.190000, 4.310000, 2.240000, 2.200000, 2.180000, 2.170000, 2.140000, 2.120000, 2.110000, 2.100000, 2.090000, 2.840000, 2.980000, 3.040000, 3.030000, 3.010000, 2.990000, 2.980000, 3.190000, 3.920000, 3.900000, 3.900000, 4.690000, 4.700000, 4.720000, 4.710000, 4.700000, 4.690000, 4.680000, 4.670000, 4.660000, 4.670000, 4.660000, 4.650000, 4.710000, 4.740000, 4.750000, 4.760000, 4.770000, 4.770000, 4.770000, 4.790000, 4.800000, 4.810000, 4.810000, 4.750000, 3.290000, 3.050000, 2.840000, 2.660000, 2.510000, 2.380000, 2.280000, 2.170000, 2.060000, 1.980000, 1.900000, 1.820000, 1.760000, 1.700000, 1.640000, 1.580000, 1.550000, 1.500000, 1.450000, 1.410000, 1.380000, 1.330000, 1.290000, 1.270000, 1.230000, 1.210000, 1.180000, 1.150000, 1.130000, 1.120000, 1.100000, 1.070000, 1.050000, 1.040000, 1.040000, 1.030000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.130000, 1.130000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.270000, 1.280000, 1.300000, 1.330000, 1.360000, 1.390000, 1.420000, 1.460000, 1.500000, 1.540000, 1.570000, 1.620000, 1.650000, 1.700000, 1.750000, 1.790000, 1.850000, 1.920000, 1.990000, 2.070000, 2.150000, 2.250000, 2.340000, 2.460000, 2.580000, 2.750000, 2.940000, 3.180000, 3.450000, 3.830000, 4.380000, 5.340000, 21.680000, 22.060000, 22.060000, 15.900000, null, 8.630000, 8.360000, 7.350000, 6.790000, 6.330000, 5.950000, 5.590000, 5.280000, 5.030000, 4.760000, 4.540000, 4.350000, 4.150000, 3.990000, 3.840000, 3.700000, 3.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 857817 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.494999, -19.974001, -0.893560 ], "estimate": [ -49.494999, -19.974001, -0.893560 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.710000, 3.610000, 3.520000, 3.430000, 3.340000, 3.270000, 3.190000, 3.120000, 3.060000, 3.060000, 3.110000, 3.180000, 3.240000, null, null, 5.860000, 5.850000, 5.410000, 4.250000, 4.140000, 4.010000, 3.970000, 3.970000, 4.060000, 4.150000, 4.270000, 2.230000, 2.210000, 2.190000, 2.170000, 2.150000, 2.130000, 2.110000, 2.100000, 2.100000, 2.210000, 2.960000, 3.050000, 3.040000, 3.010000, 3.000000, 2.980000, 2.990000, 3.930000, 3.910000, 3.890000, 3.930000, 4.690000, 4.690000, 4.720000, 4.710000, 4.690000, 4.680000, 4.670000, 4.670000, 4.670000, 4.660000, 4.640000, 4.650000, 4.750000, 4.750000, 4.750000, 4.760000, 4.770000, 4.770000, 4.780000, 4.800000, 4.820000, 4.820000, 4.740000, 3.480000, 3.070000, 2.870000, 2.680000, 2.520000, 2.390000, 2.280000, 2.170000, 2.060000, 1.980000, 1.900000, 1.820000, 1.760000, 1.690000, 1.640000, 1.580000, 1.550000, 1.500000, 1.450000, 1.400000, 1.370000, 1.330000, 1.280000, 1.260000, 1.220000, 1.200000, 1.180000, 1.150000, 1.120000, 1.120000, 1.090000, 1.070000, 1.050000, 1.030000, 1.040000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.280000, 1.300000, 1.320000, 1.350000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.640000, 1.690000, 1.720000, 1.780000, 1.830000, 1.900000, 1.970000, 2.040000, 2.120000, 2.220000, 2.310000, 2.420000, 2.570000, 2.680000, 2.870000, 3.090000, 3.330000, 3.670000, 4.130000, 4.890000, 21.860000, 22.090000, 22.050000, null, 15.900000, 13.100000, 8.340000, 7.450000, 6.940000, 6.450000, 6.050000, 5.690000, 5.360000, 5.080000, 4.830000, 4.610000, 4.400000, 4.200000, 4.020000, 3.860000, 3.730000, 3.600000, 3.480000, 3.360000, 3.240000, 3.150000, 3.060000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 858839 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492996, -19.976000, -0.789086 ], "estimate": [ -49.492996, -19.976000, -0.789086 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.250000, 3.180000, 3.110000, 3.080000, 3.080000, 3.140000, 3.190000, 3.250000, null, 5.900000, 5.860000, 5.410000, 5.440000, 4.210000, 4.150000, 4.000000, 3.990000, 3.970000, 4.090000, 4.190000, 4.310000, 2.240000, 2.210000, 2.190000, 2.170000, 2.140000, 2.130000, 2.110000, 2.090000, 2.090000, 2.860000, 2.990000, 3.050000, 3.030000, 3.010000, 2.990000, 2.990000, 3.920000, 3.930000, 3.910000, 3.910000, 4.710000, 4.710000, 4.720000, 4.720000, 4.710000, 4.700000, 4.680000, 4.680000, 4.670000, 4.670000, 4.660000, 4.660000, 4.720000, 4.750000, 4.750000, 4.760000, 4.770000, 4.770000, 4.770000, 4.790000, 4.800000, 4.810000, 4.800000, 4.760000, 3.230000, 2.990000, 2.790000, 2.600000, 2.450000, 2.320000, 2.210000, 2.120000, 2.020000, 1.930000, 1.860000, 1.780000, 1.710000, 1.660000, 1.610000, 1.560000, 1.520000, 1.470000, 1.420000, 1.390000, 1.340000, 1.300000, 1.270000, 1.230000, 1.210000, 1.180000, 1.150000, 1.120000, 1.110000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.260000, 1.280000, 1.300000, 1.330000, 1.360000, 1.390000, 1.410000, 1.450000, 1.490000, 1.530000, 1.570000, 1.600000, 1.650000, 1.690000, 1.730000, 1.790000, 1.850000, 1.920000, 1.980000, 2.060000, 2.140000, 2.230000, 2.330000, 2.450000, 2.560000, 2.720000, 2.910000, 3.140000, 3.390000, 3.770000, 4.240000, 21.760000, 21.820000, 22.030000, 22.040000, 15.880000, 15.900000, 8.630000, 8.330000, 7.370000, 6.790000, 6.330000, 5.950000, 5.590000, 5.280000, 5.010000, 4.770000, 4.550000, 4.340000, 4.150000, 3.990000, 3.830000, 3.680000, 3.550000, 3.440000, 3.320000, 3.210000, 3.110000, 3.040000, 2.930000, 2.930000, 2.950000, 2.980000, 5.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 859771 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.978001, -0.690757 ], "estimate": [ -49.491001, -19.978001, -0.690757 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.210000, 3.260000, 5.930000, 5.900000, 5.830000, 5.860000, 4.310000, 4.190000, 4.060000, 4.010000, 3.990000, 3.990000, 4.120000, 4.250000, 4.350000, 2.230000, 2.220000, 2.190000, 2.170000, 2.150000, 2.130000, 2.110000, 2.100000, 2.140000, 2.930000, 3.070000, 3.040000, 3.030000, 3.000000, 2.990000, 2.990000, 3.940000, 3.930000, 3.920000, 3.910000, 4.710000, 4.710000, 4.720000, 4.710000, 4.710000, 4.700000, 4.690000, 4.680000, 4.670000, 4.670000, 4.660000, 4.660000, 4.750000, 4.750000, 4.750000, 4.770000, 4.770000, 4.780000, 4.780000, 4.800000, 4.800000, 4.820000, 4.730000, 3.350000, 3.110000, 2.890000, 2.680000, 2.520000, 2.380000, 2.260000, 2.160000, 2.050000, 1.970000, 1.880000, 1.810000, 1.750000, 1.680000, 1.610000, 1.570000, 1.520000, 1.480000, 1.430000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.210000, 1.180000, 1.150000, 1.130000, 1.120000, 1.090000, 1.070000, 1.040000, 1.030000, 1.020000, 1.010000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.330000, 1.370000, 1.390000, 1.420000, 1.460000, 1.500000, 1.540000, 1.570000, 1.620000, 1.660000, 1.700000, 1.760000, 1.810000, 1.860000, 1.930000, 2.010000, 2.090000, 2.180000, 2.280000, 2.370000, 2.490000, 2.610000, 2.790000, 2.970000, 3.200000, 3.430000, 3.880000, 4.410000, 21.530000, 21.380000, 22.000000, 21.980000, null, null, 8.310000, 8.330000, 7.150000, 6.640000, 6.190000, 5.830000, 5.480000, 5.190000, 4.930000, 4.690000, 4.470000, 4.280000, 4.100000, 3.920000, 3.770000, 3.640000, 3.510000, 3.390000, 3.280000, 3.170000, 3.090000, 2.990000, 2.920000, 2.920000, 2.940000, 2.980000, 5.900000, 5.980000, 6.060000, 6.140000, 5.610000, 5.680000, 5.340000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 860692 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492996, -19.976999, -0.604720 ], "estimate": [ -49.492996, -19.976999, -0.604720 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 7.420000, 4.290000, 4.190000, 4.080000, 4.020000, 4.000000, 4.010000, 4.140000, 4.260000, 2.270000, 2.240000, 2.220000, 2.190000, 2.170000, 2.160000, 2.130000, 2.120000, 2.120000, 2.230000, 2.960000, 3.070000, 3.050000, 3.030000, 3.010000, 3.000000, 2.990000, 3.950000, 3.940000, 3.920000, 3.900000, 4.710000, 4.700000, 4.720000, 4.710000, 4.710000, 4.700000, 4.690000, 4.690000, 4.670000, 4.670000, 4.660000, 4.660000, 4.760000, 4.760000, 4.760000, 4.770000, 4.770000, 4.770000, 4.790000, 4.810000, 4.810000, 4.820000, 4.740000, 3.500000, 3.080000, 2.860000, 2.660000, 2.490000, 2.360000, 2.240000, 2.130000, 2.030000, 1.950000, 1.860000, 1.790000, 1.730000, 1.670000, 1.600000, 1.560000, 1.510000, 1.470000, 1.410000, 1.380000, 1.330000, 1.290000, 1.270000, 1.230000, 1.200000, 1.170000, 1.140000, 1.120000, 1.100000, 1.090000, 1.060000, 1.030000, 1.020000, 1.010000, 1.010000, 1.020000, 1.020000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.140000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.280000, 1.290000, 1.310000, 1.340000, 1.380000, 1.390000, 1.420000, 1.460000, 1.490000, 1.540000, 1.570000, 1.620000, 1.660000, 1.700000, 1.760000, 1.810000, 1.860000, 1.930000, 2.010000, 2.090000, 2.190000, 2.270000, 2.370000, 2.540000, 2.610000, 2.780000, 2.970000, 3.220000, 3.480000, 3.890000, 4.460000, 21.600000, 21.340000, 22.000000, 21.980000, 15.870000, 13.770000, 8.320000, 8.320000, 7.170000, 6.630000, 6.210000, 5.830000, 5.500000, 5.200000, 4.930000, 4.690000, 4.480000, 4.270000, 4.100000, 3.930000, 3.770000, 3.640000, 3.510000, 3.390000, 3.280000, 3.170000, 3.080000, 3.000000, 2.910000, 2.910000, 2.930000, 2.970000, 5.900000, 5.970000, 6.040000, 6.130000, 5.250000, 6.280000, 6.490000, 5.650000, 5.700000, null, 2.160000, 2.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1 ], "timestamp": [ 976055383, 861714 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492001, -19.976999, -0.530973 ], "estimate": [ -49.492001, -19.976999, -0.530973 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 4.000000, 4.120000, 4.240000, 4.350000, 2.260000, 2.240000, 2.220000, 2.190000, 2.180000, 2.150000, 2.140000, 2.120000, 2.170000, 2.940000, 3.090000, 3.060000, 3.050000, 3.040000, 3.010000, 3.010000, 3.960000, 3.950000, 3.930000, 3.910000, 4.720000, 4.720000, 4.730000, 4.720000, 4.710000, 4.710000, 4.690000, 4.690000, 4.680000, 4.680000, 4.670000, 4.660000, 4.760000, 4.760000, 4.770000, 4.780000, 4.770000, 4.780000, 4.790000, 4.800000, 4.820000, 4.820000, 4.750000, 4.740000, 3.150000, 2.910000, 2.700000, 2.530000, 2.390000, 2.260000, 2.150000, 2.040000, 1.950000, 1.870000, 1.800000, 1.730000, 1.660000, 1.610000, 1.560000, 1.510000, 1.460000, 1.410000, 1.380000, 1.340000, 1.290000, 1.260000, 1.230000, 1.200000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.030000, 1.020000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.310000, 1.340000, 1.370000, 1.390000, 1.420000, 1.450000, 1.490000, 1.520000, 1.570000, 1.600000, 1.650000, 1.700000, 1.750000, 1.790000, 1.850000, 1.920000, 1.990000, 2.070000, 2.160000, 2.250000, 2.350000, 2.460000, 2.570000, 2.730000, 2.930000, 3.160000, 3.430000, 3.810000, 4.330000, 5.240000, 21.760000, 22.020000, 22.000000, 15.850000, 15.870000, null, 8.310000, 7.340000, 6.810000, 6.350000, 5.950000, 5.580000, 5.280000, 5.010000, 4.770000, 4.540000, 4.340000, 4.140000, 3.980000, 3.820000, 3.670000, 3.550000, 3.410000, 3.310000, 3.200000, 3.100000, 3.010000, 2.910000, 2.900000, 2.920000, 2.940000, 5.860000, 5.940000, 6.010000, 6.110000, 5.500000, 6.250000, 6.370000, 4.360000, 5.760000, null, 2.160000, 2.140000, 2.080000, 2.050000, 2.020000, 1.980000, 1.980000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 862642 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492001, -19.976999, -0.438791 ], "estimate": [ -49.492001, -19.976999, -0.438791 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.320000, 2.260000, 2.250000, 2.220000, 2.200000, 2.170000, 2.150000, 2.130000, 2.130000, 2.860000, 2.990000, 3.090000, 3.070000, 3.040000, 3.040000, 3.030000, 3.010000, 3.970000, 3.950000, 3.920000, 3.930000, 4.730000, 4.720000, 4.740000, 4.730000, 4.710000, 4.700000, 4.700000, 4.690000, 4.690000, 4.680000, 4.680000, 4.670000, 4.770000, 4.770000, 4.770000, 4.780000, 4.780000, 4.790000, 4.800000, 4.820000, 4.820000, 4.830000, 4.760000, 3.310000, 3.050000, 2.820000, 2.640000, 2.460000, 2.330000, 2.200000, 2.090000, 2.000000, 1.910000, 1.840000, 1.770000, 1.700000, 1.630000, 1.580000, 1.540000, 1.480000, 1.440000, 1.380000, 1.360000, 1.310000, 1.270000, 1.240000, 1.210000, 1.180000, 1.150000, 1.130000, 1.110000, 1.090000, 1.060000, 1.040000, 1.030000, 1.020000, 1.020000, 1.020000, 1.030000, 1.030000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.210000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.360000, 1.380000, 1.400000, 1.430000, 1.470000, 1.510000, 1.540000, 1.580000, 1.630000, 1.680000, 1.720000, 1.780000, 1.820000, 1.890000, 1.940000, 2.030000, 2.100000, 2.190000, 2.290000, 2.400000, 2.540000, 2.640000, 2.810000, 3.010000, 3.240000, 3.550000, 3.970000, 4.560000, 21.520000, 21.320000, 21.990000, 21.970000, 15.870000, 15.870000, 8.280000, 8.310000, 7.120000, 6.620000, 6.170000, 5.800000, 5.450000, 5.160000, 4.890000, 4.660000, 4.440000, 4.240000, 4.070000, 3.900000, 3.760000, 3.610000, 3.480000, 3.370000, 3.260000, 3.160000, 3.060000, 2.970000, 2.900000, 2.900000, 2.920000, 2.970000, 5.890000, 5.950000, 6.030000, 5.800000, 5.430000, 6.290000, 5.700000, 5.830000, 5.440000, 6.860000, 2.140000, 2.090000, 2.060000, 2.030000, 2.000000, 1.970000, 1.980000, 2.010000, 2.060000, 2.110000, 2.160000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 863548 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492001, -19.976999, -0.346608 ], "estimate": [ -49.492001, -19.976999, -0.346608 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.170000, 2.150000, 2.140000, 2.150000, 2.950000, 3.100000, 3.080000, 3.060000, 3.050000, 3.030000, 3.030000, 3.980000, 3.960000, 3.950000, 3.950000, 4.750000, 4.740000, 4.750000, 4.740000, 4.730000, 4.710000, 4.700000, 4.700000, 4.690000, 4.690000, 4.690000, 4.680000, 4.770000, 4.770000, 4.770000, 4.780000, 4.790000, 4.800000, 4.800000, 4.820000, 4.830000, 4.830000, 4.760000, 3.650000, 3.120000, 2.890000, 2.680000, 2.510000, 2.360000, 2.240000, 2.120000, 2.020000, 1.930000, 1.850000, 1.780000, 1.710000, 1.650000, 1.590000, 1.540000, 1.490000, 1.450000, 1.400000, 1.380000, 1.330000, 1.280000, 1.250000, 1.220000, 1.190000, 1.150000, 1.130000, 1.120000, 1.090000, 1.060000, 1.040000, 1.030000, 1.030000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.110000, 1.140000, 1.150000, 1.160000, 1.170000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.290000, 1.290000, 1.330000, 1.350000, 1.390000, 1.400000, 1.430000, 1.470000, 1.510000, 1.540000, 1.580000, 1.620000, 1.670000, 1.720000, 1.770000, 1.820000, 1.870000, 1.950000, 2.020000, 2.090000, 2.190000, 2.290000, 2.380000, 2.540000, 2.610000, 2.780000, 2.950000, 3.190000, 3.410000, 3.850000, 4.340000, 5.330000, 21.740000, 22.000000, 21.990000, 15.860000, 15.870000, 8.610000, 8.310000, 7.310000, 6.740000, 6.280000, 5.880000, 5.530000, 5.220000, 4.950000, 4.720000, 4.500000, 4.280000, 4.110000, 3.930000, 3.780000, 3.640000, 3.510000, 3.390000, 3.280000, 3.170000, 3.070000, 2.990000, 2.890000, 2.880000, 2.910000, 2.940000, 5.850000, 5.920000, 6.000000, 6.090000, 6.180000, 6.260000, 6.350000, 4.380000, 6.540000, null, 2.140000, 2.100000, 2.060000, 2.030000, 1.990000, 1.970000, 1.970000, 1.990000, 2.040000, 2.090000, 2.150000, 2.210000, 2.270000, 2.330000, 2.400000, 2.480000, 2.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 864500 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492001, -19.976999, -0.254425 ], "estimate": [ -49.492001, -19.976999, -0.254425 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.090000, 3.080000, 3.070000, 3.050000, 3.040000, 3.040000, 3.990000, 3.970000, 3.950000, 3.950000, 4.750000, 4.750000, 4.770000, 4.760000, 4.740000, 4.730000, 4.710000, 4.710000, 4.700000, 4.700000, 4.700000, 4.680000, 4.780000, 4.780000, 4.780000, 4.790000, 4.800000, 4.800000, 4.810000, 4.830000, 4.830000, 4.840000, 4.770000, 3.580000, 3.120000, 2.890000, 2.670000, 2.500000, 2.360000, 2.240000, 2.120000, 2.030000, 1.930000, 1.840000, 1.780000, 1.710000, 1.650000, 1.590000, 1.530000, 1.490000, 1.440000, 1.400000, 1.370000, 1.330000, 1.280000, 1.260000, 1.220000, 1.180000, 1.150000, 1.130000, 1.110000, 1.090000, 1.060000, 1.050000, 1.030000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.280000, 1.310000, 1.340000, 1.370000, 1.380000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.640000, 1.680000, 1.730000, 1.790000, 1.830000, 1.890000, 1.960000, 2.030000, 2.120000, 2.200000, 2.290000, 2.410000, 2.540000, 2.630000, 2.790000, 2.980000, 3.210000, 3.490000, 3.860000, 4.360000, 5.390000, 21.730000, 22.010000, 21.990000, 15.850000, 15.850000, 8.590000, 8.300000, 7.300000, 6.710000, 6.250000, 5.890000, 5.520000, 5.210000, 4.940000, 4.710000, 4.480000, 4.280000, 4.100000, 3.920000, 3.770000, 3.630000, 3.490000, 3.370000, 3.270000, 3.160000, 3.060000, 2.970000, 2.880000, 2.880000, 2.910000, 2.950000, 5.840000, 5.910000, 5.990000, 6.090000, 6.170000, 6.260000, 6.350000, 4.370000, 6.540000, null, 2.120000, 2.080000, 2.050000, 2.010000, 1.980000, 1.960000, 1.950000, 1.980000, 2.040000, 2.090000, 2.150000, 2.200000, 2.260000, 2.330000, 2.400000, 2.480000, 2.550000, 2.640000, 2.730000, 2.820000, 2.930000, 3.050000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 865411 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.492001, -19.976999, -0.156096 ], "estimate": [ -49.492001, -19.976999, -0.156096 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 3.980000, 3.960000, 3.960000, 4.760000, 4.760000, 4.770000, 4.760000, 4.750000, 4.740000, 4.730000, 4.720000, 4.710000, 4.710000, 4.710000, 4.710000, 4.790000, 4.790000, 4.800000, 4.800000, 4.810000, 4.810000, 4.820000, 4.830000, 4.840000, 4.840000, 4.770000, 4.770000, 3.160000, 2.910000, 2.700000, 2.520000, 2.370000, 2.240000, 2.120000, 2.020000, 1.920000, 1.850000, 1.780000, 1.710000, 1.660000, 1.590000, 1.530000, 1.490000, 1.440000, 1.390000, 1.370000, 1.330000, 1.280000, 1.260000, 1.220000, 1.190000, 1.150000, 1.130000, 1.100000, 1.080000, 1.060000, 1.040000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.270000, 1.290000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.490000, 1.520000, 1.560000, 1.600000, 1.650000, 1.700000, 1.740000, 1.790000, 1.850000, 1.910000, 1.970000, 2.030000, 2.120000, 2.210000, 2.300000, 2.420000, 2.520000, 2.640000, 2.810000, 2.990000, 3.210000, 3.490000, 3.860000, 4.330000, 5.290000, 21.680000, 22.010000, 21.990000, 15.860000, 15.840000, null, 8.290000, 7.330000, 6.740000, 6.280000, 5.880000, 5.520000, 5.220000, 4.950000, 4.710000, 4.480000, 4.280000, 4.090000, 3.910000, 3.760000, 3.630000, 3.490000, 3.370000, 3.270000, 3.160000, 3.060000, 2.970000, 2.870000, 2.870000, 2.900000, 2.930000, 5.830000, 5.900000, 5.980000, 6.070000, 6.150000, 6.250000, 6.320000, 4.370000, 4.350000, null, 2.120000, 2.080000, 2.040000, 2.010000, 1.970000, 1.950000, 1.950000, 1.970000, 2.020000, 2.070000, 2.130000, 2.190000, 2.250000, 2.320000, 2.380000, 2.470000, 2.530000, 2.610000, 2.710000, 2.810000, 2.910000, 3.030000, 3.150000, 3.290000, 3.430000, 3.600000, 3.790000, 4.000000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055383, 868219 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.490002, -19.978001, -0.057768 ], "estimate": [ -49.490002, -19.978001, -0.057768 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.770000, 4.780000, 4.770000, 4.760000, 4.750000, 4.730000, 4.730000, 4.720000, 4.720000, 4.710000, 4.700000, 4.810000, 4.800000, 4.800000, 4.810000, 4.820000, 4.820000, 4.840000, 4.840000, 4.850000, 4.860000, 4.770000, 3.500000, 3.100000, 2.870000, 2.650000, 2.480000, 2.340000, 2.210000, 2.090000, 1.990000, 1.910000, 1.830000, 1.750000, 1.690000, 1.630000, 1.570000, 1.520000, 1.480000, 1.430000, 1.390000, 1.350000, 1.310000, 1.270000, 1.250000, 1.210000, 1.180000, 1.140000, 1.120000, 1.100000, 1.080000, 1.050000, 1.040000, 1.040000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.280000, 1.280000, 1.310000, 1.340000, 1.360000, 1.380000, 1.410000, 1.440000, 1.470000, 1.510000, 1.550000, 1.580000, 1.620000, 1.670000, 1.710000, 1.770000, 1.820000, 1.870000, 1.930000, 1.990000, 2.070000, 2.150000, 2.250000, 2.340000, 2.460000, 2.560000, 2.690000, 2.870000, 3.050000, 3.290000, 3.600000, 4.020000, 4.620000, 19.280000, 21.720000, 22.000000, 21.980000, 15.840000, 15.840000, 8.410000, 8.270000, 7.160000, 6.620000, 6.170000, 5.780000, 5.440000, 5.150000, 4.880000, 4.650000, 4.420000, 4.230000, 4.040000, 3.870000, 3.730000, 3.580000, 3.460000, 3.330000, 3.230000, 3.140000, 3.040000, 2.940000, 2.870000, 2.870000, 2.880000, 2.930000, 5.840000, 5.910000, 5.990000, 6.080000, 6.160000, 6.260000, 6.340000, 6.440000, 6.540000, null, 2.110000, 2.060000, 2.030000, 1.990000, 1.970000, 1.940000, 1.960000, 1.970000, 2.030000, 2.080000, 2.140000, 2.190000, 2.260000, 2.330000, 2.390000, 2.460000, 2.540000, 2.620000, 2.720000, 2.800000, 2.920000, 3.030000, 3.170000, 3.310000, 3.440000, 3.620000, 3.830000, 4.060000, 4.300000, 4.550000, 4.850000, 5.020000, 5.010000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055384, 678840 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.978001, 0.028269 ], "estimate": [ -49.491001, -19.978001, 0.028269 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.750000, 4.740000, 4.730000, 4.730000, 4.730000, 4.810000, 4.810000, 4.810000, 4.820000, 4.830000, 4.840000, 4.840000, 4.850000, 4.860000, 4.870000, 4.830000, 4.790000, 3.180000, 2.940000, 2.720000, 2.540000, 2.380000, 2.240000, 2.130000, 2.020000, 1.920000, 1.850000, 1.780000, 1.720000, 1.660000, 1.580000, 1.530000, 1.480000, 1.430000, 1.400000, 1.370000, 1.330000, 1.280000, 1.260000, 1.220000, 1.180000, 1.150000, 1.120000, 1.110000, 1.070000, 1.060000, 1.040000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.180000, 1.200000, 1.230000, 1.240000, 1.260000, 1.270000, 1.290000, 1.320000, 1.340000, 1.370000, 1.380000, 1.410000, 1.440000, 1.480000, 1.510000, 1.550000, 1.580000, 1.620000, 1.670000, 1.710000, 1.770000, 1.820000, 1.870000, 1.940000, 2.000000, 2.060000, 2.140000, 2.240000, 2.320000, 2.440000, 2.540000, 2.660000, 2.840000, 3.020000, 3.240000, 3.530000, 3.900000, 4.390000, 5.330000, 21.670000, 22.120000, 21.990000, null, 15.830000, 13.090000, 8.280000, 7.330000, 6.750000, 6.300000, 5.890000, 5.540000, 5.220000, 4.940000, 4.700000, 4.470000, 4.270000, 4.080000, 3.910000, 3.750000, 3.610000, 3.470000, 3.360000, 3.250000, 3.150000, 3.050000, 2.950000, 2.870000, 2.870000, 2.890000, 2.930000, 5.810000, 5.890000, 5.970000, 6.040000, 6.120000, 6.220000, 5.420000, 4.320000, 4.350000, null, 2.110000, 2.070000, 2.030000, 1.990000, 1.970000, 1.940000, 1.930000, 1.950000, 2.000000, 2.060000, 2.110000, 2.170000, 2.220000, 2.290000, 2.360000, 2.440000, 2.500000, 2.590000, 2.680000, 2.770000, 2.870000, 2.990000, 3.120000, 3.250000, 3.390000, 3.540000, 3.780000, 3.980000, 4.220000, 4.460000, 4.750000, 5.020000, 5.000000, 4.980000, 4.970000, 4.960000, 4.950000, 4.940000, 4.920000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055384, 399888 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.491001, -19.978001, 0.108161 ], "estimate": [ -49.491001, -19.978001, 0.108161 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.720000, 4.820000, 4.820000, 4.820000, 4.830000, 4.830000, 4.840000, 4.840000, 4.860000, 4.870000, 4.880000, 4.800000, 3.500000, 3.100000, 2.860000, 2.660000, 2.490000, 2.340000, 2.200000, 2.090000, 1.980000, 1.900000, 1.830000, 1.760000, 1.690000, 1.630000, 1.560000, 1.510000, 1.470000, 1.420000, 1.380000, 1.340000, 1.300000, 1.260000, 1.240000, 1.210000, 1.170000, 1.140000, 1.110000, 1.090000, 1.070000, 1.050000, 1.050000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.380000, 1.410000, 1.430000, 1.470000, 1.500000, 1.530000, 1.570000, 1.610000, 1.650000, 1.700000, 1.740000, 1.790000, 1.850000, 1.910000, 1.960000, 2.040000, 2.110000, 2.190000, 2.300000, 2.390000, 2.530000, 2.600000, 2.750000, 2.950000, 3.110000, 3.360000, 3.710000, 4.140000, 4.800000, 19.240000, 21.600000, 22.010000, 21.990000, 15.840000, 15.840000, 8.280000, 8.290000, 7.090000, 6.580000, 6.130000, 5.740000, 5.400000, 5.100000, 4.840000, 4.600000, 4.390000, 4.190000, 4.000000, 3.830000, 3.680000, 3.560000, 3.420000, 3.310000, 3.190000, 3.100000, 3.000000, 2.900000, 2.870000, 2.860000, 2.880000, 2.930000, 5.840000, 5.910000, 5.990000, 6.070000, 6.150000, 6.250000, 6.310000, 6.430000, 6.530000, 2.080000, 2.090000, 2.040000, 2.010000, 1.970000, 1.940000, 1.940000, 1.930000, 1.970000, 2.020000, 2.070000, 2.120000, 2.180000, 2.240000, 2.320000, 2.380000, 2.460000, 2.530000, 2.620000, 2.710000, 2.800000, 2.910000, 3.020000, 3.150000, 3.290000, 3.430000, 3.600000, 3.840000, 4.050000, 4.300000, 4.550000, 4.850000, 5.010000, 4.990000, 4.970000, 4.950000, 4.950000, 4.940000, 4.920000, 4.920000, 4.910000, 4.900000, 4.890000, 4.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055384, 468289 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.490002, -19.976999, 0.194199 ], "estimate": [ -49.490002, -19.976999, 0.194199 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.840000, 4.850000, 4.860000, 4.860000, 4.880000, 4.890000, 4.810000, 3.530000, 3.140000, 2.900000, 2.690000, 2.520000, 2.370000, 2.230000, 2.120000, 2.000000, 1.920000, 1.830000, 1.770000, 1.690000, 1.640000, 1.570000, 1.530000, 1.480000, 1.430000, 1.380000, 1.350000, 1.310000, 1.270000, 1.240000, 1.210000, 1.190000, 1.150000, 1.110000, 1.090000, 1.070000, 1.050000, 1.060000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.410000, 1.440000, 1.470000, 1.510000, 1.550000, 1.580000, 1.620000, 1.660000, 1.700000, 1.760000, 1.790000, 1.860000, 1.920000, 1.970000, 2.040000, 2.120000, 2.200000, 2.300000, 2.400000, 2.530000, 2.620000, 2.770000, 2.960000, 3.150000, 3.410000, 3.710000, 4.140000, 4.810000, 18.540000, 21.570000, 22.010000, 21.990000, 15.840000, 15.850000, 8.300000, 8.290000, 7.100000, 6.560000, 6.120000, 5.740000, 5.390000, 5.100000, 4.840000, 4.580000, 4.370000, 4.170000, 4.000000, 3.830000, 3.690000, 3.560000, 3.430000, 3.310000, 3.200000, 3.100000, 3.010000, 2.860000, 2.850000, 2.860000, 2.870000, 2.940000, 5.840000, 5.910000, 5.990000, 6.070000, 6.140000, 6.240000, 5.320000, 6.430000, 6.530000, 2.110000, 2.100000, 2.040000, 2.010000, 1.970000, 1.940000, 1.930000, 1.930000, 1.960000, 2.020000, 2.070000, 2.120000, 2.180000, 2.240000, 2.320000, 2.380000, 2.460000, 2.530000, 2.610000, 2.700000, 2.790000, 2.900000, 3.020000, 3.140000, 3.280000, 3.410000, 3.590000, 3.820000, 4.020000, 4.270000, 4.540000, 4.840000, 5.000000, 4.980000, 4.970000, 4.960000, 4.940000, 4.930000, 4.920000, 4.910000, 4.900000, 4.890000, 4.890000, 4.890000, 4.890000, 4.890000, 4.890000, 4.890000, 4.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055384, 796533 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.487999, -19.976999, 0.292527 ], "estimate": [ -49.487999, -19.976999, 0.292527 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.900000, 4.800000, 3.380000, 3.100000, 2.870000, 2.670000, 2.500000, 2.360000, 2.230000, 2.110000, 2.010000, 1.910000, 1.840000, 1.770000, 1.690000, 1.640000, 1.580000, 1.530000, 1.470000, 1.430000, 1.380000, 1.340000, 1.310000, 1.270000, 1.230000, 1.200000, 1.180000, 1.140000, 1.130000, 1.110000, 1.090000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.410000, 1.440000, 1.470000, 1.500000, 1.530000, 1.560000, 1.590000, 1.630000, 1.680000, 1.720000, 1.770000, 1.820000, 1.860000, 1.930000, 2.000000, 2.070000, 2.140000, 2.220000, 2.320000, 2.430000, 2.530000, 2.650000, 2.800000, 2.980000, 3.190000, 3.420000, 3.780000, 4.210000, 4.880000, 18.110000, 21.440000, 21.990000, 21.990000, 15.830000, 15.830000, 8.280000, 8.280000, 7.010000, 6.500000, 6.050000, 5.670000, 5.340000, 5.040000, 4.770000, 4.540000, 4.320000, 4.140000, 3.960000, 3.800000, 3.660000, 3.520000, 3.400000, 3.290000, 3.180000, 3.070000, 2.970000, 2.860000, 2.850000, 2.850000, 2.860000, 2.920000, 5.830000, 5.900000, 5.990000, 6.060000, 6.150000, 5.680000, 5.550000, 6.410000, 6.510000, 2.090000, 2.080000, 2.030000, 1.990000, 1.970000, 1.930000, 1.930000, 1.940000, 1.980000, 2.030000, 2.070000, 2.130000, 2.190000, 2.240000, 2.310000, 2.380000, 2.450000, 2.530000, 2.620000, 2.700000, 2.800000, 2.900000, 3.020000, 3.140000, 3.280000, 3.420000, 3.590000, 3.800000, 4.030000, 4.270000, 4.530000, 4.850000, 4.990000, 4.970000, 4.960000, 4.950000, 4.930000, 4.920000, 4.910000, 4.900000, 4.890000, 4.890000, 4.890000, 4.890000, 4.880000, 4.880000, 4.880000, 4.890000, 4.890000, 4.890000, 3.950000, 3.130000, 2.750000, 2.410000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055384, 867377 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.482002, -19.975000, 0.366273 ], "estimate": [ -49.482002, -19.975000, 0.366273 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.450000, 2.310000, 2.200000, 2.080000, 1.990000, 1.900000, 1.830000, 1.760000, 1.670000, 1.620000, 1.560000, 1.510000, 1.460000, 1.420000, 1.370000, 1.340000, 1.300000, 1.260000, 1.230000, 1.210000, 1.170000, 1.140000, 1.120000, 1.100000, 1.070000, 1.060000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.220000, 1.230000, 1.260000, 1.280000, 1.290000, 1.310000, 1.340000, 1.370000, 1.390000, 1.410000, 1.430000, 1.460000, 1.490000, 1.530000, 1.550000, 1.580000, 1.620000, 1.660000, 1.700000, 1.750000, 1.800000, 1.850000, 1.900000, 1.970000, 2.030000, 2.110000, 2.190000, 2.280000, 2.380000, 2.510000, 2.580000, 2.740000, 2.890000, 3.080000, 3.290000, 3.600000, 3.970000, 4.470000, 5.300000, 19.280000, 22.690000, 21.960000, 21.960000, 15.850000, null, 8.290000, 7.340000, 6.810000, 6.330000, 5.920000, 5.540000, 5.210000, 4.920000, 4.680000, 4.440000, 4.250000, 4.060000, 3.880000, 3.730000, 3.590000, 3.460000, 3.340000, 3.230000, 3.120000, 3.030000, 2.940000, 2.820000, 2.820000, 2.840000, 2.890000, 5.780000, 5.850000, 5.930000, 6.010000, 6.100000, 6.180000, 5.250000, 4.310000, 4.310000, null, 2.060000, 2.040000, 2.000000, 1.970000, 1.930000, 1.900000, 1.930000, 1.960000, 2.000000, 2.040000, 2.090000, 2.150000, 2.210000, 2.270000, 2.330000, 2.410000, 2.470000, 2.560000, 2.640000, 2.730000, 2.840000, 2.950000, 3.070000, 3.200000, 3.330000, 3.470000, 3.660000, 3.880000, 4.100000, 4.350000, 4.640000, 4.940000, 4.980000, 4.960000, 4.940000, 4.930000, 4.920000, 4.900000, 4.900000, 4.890000, 4.890000, 4.880000, 4.880000, 4.880000, 4.870000, 4.870000, 4.870000, 4.880000, 4.880000, 4.890000, 3.470000, 2.990000, 2.640000, 2.340000, 2.180000, 2.120000, 2.110000, 2.110000, 2.120000, 2.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055385, 177780 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.467999, -19.969000, 0.341691 ], "estimate": [ -49.467999, -19.969000, 0.341691 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.230000, 2.110000, 2.020000, 1.910000, 1.840000, 1.760000, 1.690000, 1.640000, 1.570000, 1.530000, 1.480000, 1.430000, 1.380000, 1.340000, 1.310000, 1.260000, 1.240000, 1.210000, 1.180000, 1.140000, 1.130000, 1.100000, 1.070000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.400000, 1.430000, 1.470000, 1.490000, 1.530000, 1.550000, 1.590000, 1.620000, 1.670000, 1.700000, 1.750000, 1.800000, 1.850000, 1.910000, 1.970000, 2.030000, 2.110000, 2.200000, 2.290000, 2.370000, 2.510000, 2.590000, 2.730000, 2.890000, 3.080000, 3.290000, 3.580000, 3.950000, 4.430000, 5.280000, 19.280000, 21.250000, 21.990000, 21.950000, 15.810000, null, 8.270000, 8.280000, 7.060000, 6.530000, 6.090000, 5.690000, 5.350000, 5.050000, 4.780000, 4.550000, 4.320000, 4.140000, 3.960000, 3.790000, 3.650000, 3.510000, 3.390000, 3.280000, 3.170000, 3.070000, 2.970000, 2.860000, 2.820000, 2.840000, 2.880000, 5.760000, 5.840000, 5.920000, 6.000000, 6.070000, 6.150000, 6.250000, 5.250000, 4.310000, null, 2.080000, 2.050000, 2.010000, 1.980000, 1.950000, 1.920000, 1.900000, 1.940000, 1.980000, 2.030000, 2.070000, 2.130000, 2.190000, 2.240000, 2.320000, 2.380000, 2.460000, 2.530000, 2.620000, 2.710000, 2.810000, 2.910000, 3.030000, 3.150000, 3.300000, 3.440000, 3.610000, 3.820000, 4.040000, 4.280000, 4.560000, 4.880000, 4.980000, 4.970000, 4.940000, 4.930000, 4.930000, 4.910000, 4.900000, 4.900000, 4.890000, 4.880000, 4.880000, 4.870000, 4.870000, 4.870000, 4.870000, 4.870000, 4.880000, 4.880000, 4.890000, 3.270000, 2.880000, 2.530000, 2.280000, 2.160000, 2.100000, 2.110000, 2.110000, 2.120000, 2.140000, 2.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055385, 375836 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.432999, -19.956999, 0.347837 ], "estimate": [ -49.432999, -19.956999, 0.347837 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.130000, 2.020000, 1.930000, 1.840000, 1.760000, 1.700000, 1.640000, 1.570000, 1.520000, 1.470000, 1.420000, 1.370000, 1.340000, 1.300000, 1.260000, 1.220000, 1.200000, 1.160000, 1.130000, 1.120000, 1.090000, 1.050000, 1.050000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.370000, 1.400000, 1.420000, 1.440000, 1.470000, 1.500000, 1.530000, 1.560000, 1.590000, 1.630000, 1.680000, 1.710000, 1.760000, 1.810000, 1.860000, 1.920000, 1.990000, 2.050000, 2.130000, 2.210000, 2.300000, 2.400000, 2.510000, 2.610000, 2.760000, 2.930000, 3.120000, 3.340000, 3.660000, 4.050000, 4.620000, 21.780000, 21.450000, 22.670000, 21.980000, 21.960000, 15.820000, null, 8.250000, 7.420000, 6.850000, 6.360000, 5.940000, 5.570000, 5.220000, 4.940000, 4.700000, 4.460000, 4.250000, 4.070000, 3.890000, 3.740000, 3.580000, 3.460000, 3.340000, 3.230000, 3.120000, 3.020000, 2.930000, 2.810000, 2.800000, 2.810000, 2.860000, 5.760000, 5.840000, 5.910000, 5.980000, 6.070000, 6.140000, 6.250000, 5.440000, 4.290000, null, 2.060000, 2.040000, 1.990000, 1.970000, 1.930000, 1.900000, 1.890000, 1.910000, 1.970000, 2.000000, 2.060000, 2.110000, 2.170000, 2.230000, 2.290000, 2.360000, 2.430000, 2.520000, 2.600000, 2.680000, 2.780000, 2.890000, 3.010000, 3.140000, 3.280000, 3.420000, 3.590000, 3.800000, 4.040000, 4.280000, 4.550000, 4.860000, 4.970000, 4.950000, 4.940000, 4.920000, 4.910000, 4.900000, 4.900000, 4.890000, 4.880000, 4.870000, 4.860000, 4.860000, 4.860000, 4.860000, 4.860000, 4.870000, 4.870000, 4.880000, 4.880000, 3.290000, 2.910000, 2.590000, 2.320000, 2.160000, 2.110000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055385, 620030 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.362999, -19.931999, 0.353982 ], "estimate": [ -49.362999, -19.931999, 0.353982 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.820000, 1.740000, 1.660000, 1.590000, 1.540000, 1.480000, 1.420000, 1.370000, 1.330000, 1.290000, 1.250000, 1.210000, 1.180000, 1.150000, 1.110000, 1.090000, 1.070000, 1.030000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.400000, 1.430000, 1.460000, 1.490000, 1.520000, 1.550000, 1.580000, 1.620000, 1.660000, 1.700000, 1.760000, 1.800000, 1.850000, 1.910000, 1.970000, 2.040000, 2.110000, 2.200000, 2.290000, 2.380000, 2.470000, 2.580000, 2.730000, 2.890000, 3.090000, 3.300000, 3.600000, 3.970000, 4.470000, 5.300000, 21.660000, 21.260000, 21.920000, 21.910000, 15.760000, null, 8.210000, 8.220000, 6.930000, 6.400000, 5.960000, 5.590000, 5.260000, 4.970000, 4.710000, 4.470000, 4.260000, 4.070000, 3.890000, 3.740000, 3.580000, 3.460000, 3.330000, 3.220000, 3.110000, 3.010000, 2.920000, 2.830000, 2.750000, 2.770000, 2.780000, 2.900000, 5.750000, 5.830000, 5.900000, 5.980000, 6.040000, 6.150000, 5.630000, 4.240000, 6.450000, null, 2.010000, 1.980000, 1.940000, 1.920000, 1.880000, 1.860000, 1.850000, 1.870000, 1.900000, 1.960000, 2.010000, 2.070000, 2.120000, 2.170000, 2.240000, 2.320000, 2.380000, 2.470000, 2.540000, 2.640000, 2.740000, 2.850000, 2.980000, 3.110000, 3.240000, 3.390000, 3.570000, 3.810000, 4.040000, 4.300000, 4.580000, 4.910000, 4.940000, 4.920000, 4.910000, 4.900000, 4.890000, 4.880000, 4.870000, 4.860000, 4.850000, 4.850000, 4.850000, 4.840000, 4.840000, 4.850000, 4.850000, 4.850000, 4.850000, 4.860000, 4.870000, 3.350000, 2.980000, 2.700000, 2.430000, 2.220000, 2.150000, 2.090000, 2.100000, 2.110000, 2.120000, 2.130000, 2.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055385, 712229 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.287003, -19.903000, 0.366273 ], "estimate": [ -49.287003, -19.903000, 0.366273 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.520000, 1.450000, 1.390000, 1.340000, 1.290000, 1.240000, 1.200000, 1.160000, 1.120000, 1.090000, 1.060000, 1.020000, 1.010000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.220000, 1.240000, 1.250000, 1.280000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.410000, 1.430000, 1.460000, 1.490000, 1.510000, 1.550000, 1.580000, 1.620000, 1.650000, 1.700000, 1.750000, 1.780000, 1.850000, 1.910000, 1.970000, 2.040000, 2.100000, 2.190000, 2.270000, 2.360000, 2.470000, 2.580000, 2.710000, 2.880000, 3.060000, 3.250000, 3.580000, 3.940000, 4.450000, 5.160000, 18.590000, 21.510000, 22.040000, 21.820000, 15.750000, 15.660000, 8.350000, 8.120000, 7.020000, 6.460000, 6.010000, 5.610000, 5.280000, 4.980000, 4.700000, 4.470000, 4.250000, 4.050000, 3.870000, 3.720000, 3.580000, 3.440000, 3.310000, 3.200000, 3.090000, 2.990000, 2.890000, 2.810000, 2.700000, 2.670000, 2.680000, 2.710000, 2.770000, 5.700000, 5.770000, 5.850000, 5.920000, 6.000000, 6.110000, 5.100000, 4.140000, 6.400000, null, 6.560000, 1.900000, 1.890000, 1.860000, 1.830000, 1.810000, 1.780000, 1.770000, 1.800000, 1.840000, 1.890000, 1.950000, 1.990000, 2.050000, 2.120000, 2.180000, 2.250000, 2.330000, 2.410000, 2.510000, 2.610000, 2.720000, 2.820000, 2.950000, 3.100000, 3.250000, 3.410000, 3.670000, 3.910000, 4.170000, 4.450000, 4.790000, 4.890000, 4.890000, 4.880000, 4.870000, 4.850000, 4.840000, 4.830000, 4.820000, 4.820000, 4.810000, 4.810000, 4.810000, 4.810000, 4.810000, 4.820000, 4.820000, 4.820000, 4.830000, 4.850000, 4.850000, 3.340000, 3.050000, 2.770000, 2.550000, 2.340000, 2.190000, 2.140000, 2.090000, 2.100000, 2.110000, 2.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 643530 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.232998, -19.883001, 0.347837 ], "estimate": [ -49.232998, -19.883001, 0.347837 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.360000, 1.310000, 1.250000, 1.200000, 1.160000, 1.100000, 1.080000, 1.040000, 1.000000, 1.000000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.290000, 1.300000, 1.320000, 1.350000, 1.380000, 1.400000, 1.410000, 1.440000, 1.470000, 1.510000, 1.530000, 1.570000, 1.600000, 1.630000, 1.680000, 1.720000, 1.780000, 1.810000, 1.870000, 1.930000, 2.000000, 2.060000, 2.140000, 2.220000, 2.330000, 2.410000, 2.520000, 2.660000, 2.810000, 2.960000, 3.200000, 3.440000, 3.770000, 4.140000, 4.840000, 17.870000, 21.440000, 22.450000, 21.750000, 21.750000, 15.590000, null, 8.040000, 7.420000, 6.690000, 6.180000, 5.770000, 5.410000, 5.090000, 4.800000, 4.540000, 4.320000, 4.120000, 3.930000, 3.760000, 3.610000, 3.470000, 3.340000, 3.220000, 3.110000, 3.010000, 2.920000, 2.810000, 2.730000, 2.640000, 2.590000, 2.610000, 2.640000, 2.690000, 5.640000, 5.710000, 5.800000, 5.880000, 5.970000, 6.050000, 5.030000, 4.060000, 6.360000, null, 6.490000, 1.890000, 1.850000, 1.830000, 1.800000, 1.770000, 1.750000, 1.730000, 1.720000, 1.740000, 1.790000, 1.840000, 1.880000, 1.950000, 2.010000, 2.060000, 2.140000, 2.220000, 2.300000, 2.390000, 2.490000, 2.590000, 2.700000, 2.820000, 2.970000, 3.120000, 3.270000, 3.540000, 3.760000, 4.010000, 4.310000, 4.650000, 4.880000, 4.870000, 4.850000, 4.840000, 4.820000, 4.810000, 4.810000, 4.800000, 4.800000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 4.790000, 4.800000, 4.810000, 4.810000, 4.830000, 4.840000, 3.890000, 3.260000, 2.990000, 2.760000, 2.580000, 2.390000, 2.240000, 2.140000, 2.110000, 2.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 122288 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.191002, -19.868999, 0.335546 ], "estimate": [ -49.191002, -19.868999, 0.335546 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.240000, 1.180000, 1.130000, 1.090000, 1.050000, 0.990000, 0.990000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.340000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.500000, 1.530000, 1.570000, 1.610000, 1.640000, 1.690000, 1.730000, 1.790000, 1.820000, 1.880000, 1.940000, 2.010000, 2.090000, 2.150000, 2.260000, 2.320000, 2.430000, 2.550000, 2.700000, 2.830000, 3.000000, 3.220000, 3.500000, 3.850000, 4.290000, 5.020000, 17.850000, 21.040000, 22.430000, 21.700000, 21.730000, 15.550000, null, 8.010000, 7.060000, 6.500000, 6.030000, 5.620000, 5.270000, 4.970000, 4.690000, 4.440000, 4.240000, 4.030000, 3.850000, 3.690000, 3.540000, 3.400000, 3.280000, 3.180000, 3.060000, 2.950000, 2.870000, 2.770000, 2.690000, 2.590000, 2.550000, 2.570000, 2.580000, 2.690000, 5.600000, 5.660000, 5.750000, 5.840000, 5.920000, 6.000000, 5.020000, 4.040000, 6.290000, null, 6.450000, 6.350000, 1.820000, 1.820000, 1.780000, 1.760000, 1.730000, 1.720000, 1.690000, 1.690000, 1.720000, 1.760000, 1.800000, 1.870000, 1.930000, 1.990000, 2.050000, 2.130000, 2.210000, 2.300000, 2.390000, 2.490000, 2.590000, 2.720000, 2.850000, 2.990000, 3.150000, 3.350000, 3.640000, 3.880000, 4.180000, 4.480000, 4.860000, 4.850000, 4.830000, 4.820000, 4.810000, 4.790000, 4.790000, 4.790000, 4.790000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 4.780000, 4.790000, 4.790000, 4.800000, 4.810000, 4.820000, 4.840000, 3.400000, 3.130000, 2.900000, 2.680000, 2.500000, 2.350000, 2.220000, 2.140000, 2.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 123314 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.148998, -19.854000, 0.353982 ], "estimate": [ -49.148998, -19.854000, 0.353982 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.080000, 1.040000, 0.990000, 0.990000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.310000, 1.340000, 1.360000, 1.400000, 1.410000, 1.430000, 1.460000, 1.490000, 1.510000, 1.560000, 1.590000, 1.610000, 1.670000, 1.700000, 1.760000, 1.800000, 1.860000, 1.910000, 1.980000, 2.040000, 2.120000, 2.200000, 2.280000, 2.390000, 2.490000, 2.600000, 2.750000, 2.910000, 3.140000, 3.380000, 3.670000, 4.020000, 4.660000, 5.930000, 18.980000, 21.180000, 21.690000, 21.680000, 15.510000, 15.520000, 7.960000, 7.970000, 6.740000, 6.230000, 5.780000, 5.420000, 5.080000, 4.800000, 4.540000, 4.310000, 4.100000, 3.910000, 3.750000, 3.590000, 3.450000, 3.320000, 3.210000, 3.080000, 2.980000, 2.890000, 2.800000, 2.710000, 2.640000, 2.540000, 2.530000, 2.550000, 2.590000, 2.640000, 5.590000, 5.660000, 5.750000, 5.840000, 5.910000, 5.080000, 5.260000, 6.200000, null, null, 6.380000, 6.290000, 1.800000, 1.780000, 1.750000, 1.730000, 1.710000, 1.690000, 1.660000, 1.660000, 1.670000, 1.720000, 1.780000, 1.830000, 1.880000, 1.960000, 2.020000, 2.090000, 2.170000, 2.250000, 2.340000, 2.450000, 2.560000, 2.670000, 2.810000, 2.960000, 3.130000, 3.330000, 3.630000, 3.880000, 4.190000, 4.510000, 4.840000, 4.820000, 4.810000, 4.800000, 4.790000, 4.790000, 4.780000, 4.770000, 4.770000, 4.770000, 4.760000, 4.770000, 4.770000, 4.770000, 4.780000, 4.790000, 4.790000, 4.800000, 4.810000, 4.820000, 4.830000, 3.430000, 3.140000, 2.920000, 2.740000, 2.560000, 2.390000, 2.270000, 2.160000, 2.140000, 2.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 124232 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.086002, -19.830000, 0.353982 ], "estimate": [ -49.086002, -19.830000, 0.353982 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.430000, 1.470000, 1.490000, 1.520000, 1.560000, 1.590000, 1.630000, 1.670000, 1.710000, 1.770000, 1.820000, 1.860000, 1.920000, 1.990000, 2.060000, 2.130000, 2.200000, 2.300000, 2.400000, 2.500000, 2.630000, 2.760000, 2.930000, 3.140000, 3.410000, 3.710000, 4.100000, 4.710000, 17.750000, 18.910000, 21.140000, 21.720000, 21.620000, 15.490000, 15.480000, 7.940000, 7.920000, 6.720000, 6.190000, 5.760000, 5.380000, 5.060000, 4.760000, 4.510000, 4.300000, 4.070000, 3.870000, 3.710000, 3.570000, 3.410000, 3.290000, 3.180000, 3.070000, 2.960000, 2.860000, 2.770000, 2.670000, 2.600000, 2.490000, 2.470000, 2.480000, 2.490000, 2.550000, 5.520000, 5.590000, 5.660000, 5.750000, 5.850000, 5.930000, 4.920000, 3.990000, 6.230000, null, 6.380000, 6.280000, 6.190000, 1.740000, 1.730000, 1.710000, 1.690000, 1.660000, 1.640000, 1.630000, 1.610000, 1.630000, 1.660000, 1.710000, 1.780000, 1.830000, 1.890000, 1.960000, 2.040000, 2.120000, 2.210000, 2.300000, 2.400000, 2.520000, 2.640000, 2.780000, 2.940000, 3.110000, 3.330000, 3.640000, 3.920000, 4.240000, 4.600000, 4.800000, 4.790000, 4.780000, 4.770000, 4.770000, 4.760000, 4.750000, 4.750000, 4.750000, 4.740000, 4.740000, 4.740000, 4.750000, 4.750000, 4.760000, 4.770000, 4.780000, 4.790000, 4.790000, 4.810000, 4.820000, 3.460000, 3.210000, 2.990000, 2.800000, 2.630000, 2.480000, 2.330000, 2.230000, 2.140000, 2.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055388, 125154 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -49.014999, -19.805000, 0.353982 ], "estimate": [ -49.014999, -19.805000, 0.353982 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.350000, 1.380000, 1.400000, 1.420000, 1.440000, 1.480000, 1.500000, 1.540000, 1.570000, 1.600000, 1.640000, 1.680000, 1.720000, 1.780000, 1.830000, 1.870000, 1.940000, 2.000000, 2.070000, 2.140000, 2.220000, 2.310000, 2.420000, 2.540000, 2.660000, 2.790000, 2.990000, 3.190000, 3.440000, 3.760000, 4.220000, 4.860000, 17.680000, 18.830000, 21.020000, 21.630000, 21.560000, 15.400000, 15.410000, 7.830000, 7.850000, 6.620000, 6.100000, 5.680000, 5.310000, 4.980000, 4.680000, 4.440000, 4.220000, 3.990000, 3.830000, 3.650000, 3.500000, 3.370000, 3.230000, 3.110000, 3.010000, 2.910000, 2.810000, 2.720000, 2.640000, 2.560000, 2.490000, 2.390000, 2.400000, 2.420000, 2.470000, 5.450000, 5.520000, 5.590000, 5.670000, 5.760000, 5.840000, 4.850000, 6.040000, 3.920000, null, null, 6.250000, 6.160000, 6.070000, 1.690000, 1.670000, 1.650000, 1.630000, 1.610000, 1.600000, 1.580000, 1.560000, 1.560000, 1.580000, 1.640000, 1.700000, 1.750000, 1.810000, 1.880000, 1.950000, 2.040000, 2.120000, 2.230000, 2.330000, 2.450000, 2.570000, 2.710000, 2.890000, 3.070000, 3.400000, 3.640000, 3.930000, 4.290000, 4.700000, 4.770000, 4.760000, 4.750000, 4.730000, 4.730000, 4.720000, 4.720000, 4.720000, 4.720000, 4.720000, 4.720000, 4.720000, 4.720000, 4.730000, 4.740000, 4.750000, 4.760000, 4.780000, 4.790000, 4.800000, 4.810000, 3.510000, 3.260000, 3.040000, 2.870000, 2.710000, 2.560000, 2.420000, 2.320000, 2.210000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 126018 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.961002, -19.785000, 0.347837 ], "estimate": [ -48.961002, -19.785000, 0.347837 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.030000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.290000, 1.310000, 1.330000, 1.360000, 1.390000, 1.410000, 1.430000, 1.460000, 1.490000, 1.510000, 1.550000, 1.580000, 1.610000, 1.650000, 1.700000, 1.740000, 1.790000, 1.840000, 1.890000, 1.950000, 2.030000, 2.080000, 2.170000, 2.260000, 2.340000, 2.460000, 2.570000, 2.680000, 2.820000, 3.020000, 3.260000, 3.530000, 3.850000, 4.340000, 5.120000, 17.620000, 18.780000, 20.840000, 21.510000, 21.500000, 15.320000, 15.350000, 7.770000, 7.780000, 6.490000, 5.980000, 5.550000, 5.200000, 4.870000, 4.600000, 4.360000, 4.140000, 3.920000, 3.750000, 3.590000, 3.430000, 3.300000, 3.180000, 3.070000, 2.960000, 2.850000, 2.750000, 2.670000, 2.590000, 2.510000, 2.440000, 2.360000, 2.340000, 2.360000, 2.360000, 2.470000, 5.440000, 5.500000, 5.580000, 5.670000, 5.760000, 5.160000, 5.930000, 3.830000, 4.500000, null, 6.210000, 6.120000, 6.040000, 5.960000, 1.660000, 1.610000, 1.620000, 1.600000, 1.570000, 1.560000, 1.530000, 1.530000, 1.520000, 1.510000, 1.550000, 1.590000, 1.660000, 1.730000, 1.790000, 1.860000, 1.940000, 2.040000, 2.130000, 2.240000, 2.360000, 2.480000, 2.650000, 2.820000, 3.020000, 3.360000, 3.630000, 3.960000, 4.350000, 4.740000, 4.730000, 4.720000, 4.720000, 4.710000, 4.700000, 4.700000, 4.690000, 4.700000, 4.700000, 4.700000, 4.700000, 4.710000, 4.710000, 4.720000, 4.720000, 4.730000, 4.750000, 4.760000, 4.780000, 4.790000, 4.810000, 3.520000, 3.280000, 3.090000, 2.910000, 2.770000, 2.630000, 2.500000, 2.380000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 126906 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.917004, -19.769001, 0.323255 ], "estimate": [ -48.917004, -19.769001, 0.323255 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.990000, 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.110000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.350000, 1.370000, 1.400000, 1.410000, 1.440000, 1.470000, 1.490000, 1.520000, 1.560000, 1.590000, 1.620000, 1.670000, 1.710000, 1.760000, 1.810000, 1.860000, 1.910000, 1.980000, 2.040000, 2.110000, 2.190000, 2.290000, 2.390000, 2.490000, 2.610000, 2.740000, 2.920000, 3.110000, 3.340000, 3.640000, 4.050000, 4.570000, 5.670000, 17.550000, 21.140000, 22.150000, 21.460000, 21.410000, 15.280000, null, 7.720000, 6.820000, 6.280000, 5.820000, 5.420000, 5.070000, 4.760000, 4.500000, 4.270000, 4.040000, 3.840000, 3.660000, 3.500000, 3.380000, 3.230000, 3.110000, 3.000000, 2.900000, 2.800000, 2.700000, 2.620000, 2.550000, 2.470000, 2.400000, 2.330000, 2.280000, 2.300000, 2.320000, 2.370000, 5.400000, 5.470000, 5.550000, 5.640000, 5.730000, 5.010000, 5.040000, 3.790000, 4.460000, null, 6.170000, 6.080000, 6.000000, 5.910000, 3.400000, 1.590000, 1.580000, 1.570000, 1.560000, 1.530000, 1.510000, 1.510000, 1.490000, 1.480000, 1.470000, 1.520000, 1.570000, 1.640000, 1.700000, 1.780000, 1.850000, 1.940000, 2.030000, 2.130000, 2.260000, 2.380000, 2.520000, 2.690000, 2.900000, 3.130000, 3.500000, 3.830000, 4.220000, 4.650000, 4.720000, 4.710000, 4.700000, 4.690000, 4.680000, 4.680000, 4.680000, 4.680000, 4.680000, 4.680000, 4.680000, 4.690000, 4.700000, 4.710000, 4.720000, 4.720000, 4.730000, 4.750000, 4.760000, 4.790000, 4.790000, 4.820000, 3.420000, 3.200000, 3.030000, 2.880000, 2.730000, 2.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 127786 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.867996, -19.754000, 0.292527 ], "estimate": [ -48.867996, -19.754000, 0.292527 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.990000, 0.990000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.400000, 1.420000, 1.460000, 1.490000, 1.520000, 1.550000, 1.590000, 1.620000, 1.670000, 1.710000, 1.750000, 1.800000, 1.850000, 1.900000, 1.970000, 2.030000, 2.100000, 2.180000, 2.270000, 2.370000, 2.480000, 2.590000, 2.700000, 2.860000, 3.080000, 3.290000, 3.610000, 3.970000, 4.480000, 5.450000, 17.530000, 21.120000, 20.730000, 21.420000, 21.400000, 15.240000, null, 7.680000, 7.680000, 6.380000, 5.870000, 5.460000, 5.110000, 4.810000, 4.530000, 4.290000, 4.060000, 3.860000, 3.670000, 3.510000, 3.380000, 3.240000, 3.120000, 3.000000, 2.900000, 2.800000, 2.700000, 2.620000, 2.540000, 2.460000, 2.400000, 2.330000, 2.250000, 2.240000, 2.250000, 2.310000, 2.370000, 5.400000, 5.470000, 5.560000, 5.650000, 5.730000, 4.810000, 5.930000, 3.780000, 4.410000, null, 6.090000, 6.000000, 5.920000, 5.840000, 3.430000, 1.590000, 1.540000, 1.550000, 1.530000, 1.520000, 1.500000, 1.480000, 1.470000, 1.450000, 1.450000, 1.460000, 1.520000, 1.570000, 1.640000, 1.710000, 1.790000, 1.870000, 1.970000, 2.080000, 2.180000, 2.330000, 2.470000, 2.660000, 2.880000, 3.130000, 3.510000, 3.850000, 4.280000, 4.700000, 4.700000, 4.680000, 4.670000, 4.670000, 4.660000, 4.660000, 4.660000, 4.660000, 4.660000, 4.670000, 4.670000, 4.680000, 4.690000, 4.700000, 4.710000, 4.720000, 4.730000, 4.740000, 4.760000, 4.790000, 4.800000, 4.820000, 3.420000, 3.220000, 3.060000, 2.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055388, 128623 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.807999, -19.737000, 0.243363 ], "estimate": [ -48.807999, -19.737000, 0.243363 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.990000, 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.320000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.540000, 1.580000, 1.620000, 1.660000, 1.690000, 1.740000, 1.790000, 1.840000, 1.900000, 1.950000, 2.010000, 2.090000, 2.180000, 2.250000, 2.370000, 2.460000, 2.560000, 2.690000, 2.840000, 3.050000, 3.250000, 3.570000, 3.920000, 4.390000, 5.260000, 17.480000, 21.040000, 20.780000, 21.980000, 21.330000, null, 15.200000, 7.680000, 7.640000, 6.490000, 5.960000, 5.530000, 5.180000, 4.840000, 4.550000, 4.310000, 4.080000, 3.880000, 3.680000, 3.530000, 3.380000, 3.240000, 3.120000, 3.010000, 2.910000, 2.810000, 2.700000, 2.620000, 2.540000, 2.460000, 2.390000, 2.320000, 2.260000, 2.190000, 2.200000, 2.210000, 2.260000, 5.320000, 5.390000, 5.480000, 5.560000, 5.650000, 5.730000, 5.830000, 5.950000, 3.750000, null, 6.100000, 6.010000, 5.930000, 5.850000, 5.800000, 5.710000, 5.620000, 1.510000, 1.510000, 1.510000, 1.490000, 1.480000, 1.460000, 1.440000, 1.440000, 1.420000, 1.420000, 1.430000, 1.500000, 1.560000, 1.630000, 1.710000, 1.790000, 1.890000, 1.990000, 2.100000, 2.250000, 2.400000, 2.590000, 2.810000, 3.070000, 3.490000, 3.860000, 4.340000, 4.680000, 4.670000, 4.660000, 4.660000, 4.650000, 4.650000, 4.650000, 4.650000, 4.650000, 4.650000, 4.660000, 4.660000, 4.670000, 4.680000, 4.690000, 4.700000, 4.720000, 4.720000, 4.740000, 4.760000, 4.790000, 4.800000, 4.820000, 3.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055388, 129461 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.742996, -19.722000, 0.237217 ], "estimate": [ -48.742996, -19.722000, 0.237217 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.470000, 1.510000, 1.540000, 1.580000, 1.600000, 1.640000, 1.690000, 1.730000, 1.780000, 1.830000, 1.880000, 1.940000, 2.020000, 2.080000, 2.170000, 2.240000, 2.340000, 2.450000, 2.560000, 2.680000, 2.850000, 3.050000, 3.280000, 3.560000, 3.930000, 4.420000, 5.400000, 17.390000, 20.970000, 20.730000, 21.380000, 21.280000, 15.130000, 15.110000, 7.570000, 7.560000, 6.330000, 5.830000, 5.420000, 5.050000, 4.750000, 4.450000, 4.210000, 3.990000, 3.800000, 3.610000, 3.470000, 3.310000, 3.180000, 3.070000, 2.950000, 2.840000, 2.750000, 2.650000, 2.570000, 2.490000, 2.430000, 2.350000, 2.280000, 2.230000, 2.160000, 2.110000, 2.140000, 2.150000, 2.200000, 5.310000, 5.370000, 5.460000, 5.550000, 5.650000, 4.830000, 5.850000, 3.670000, null, null, 5.970000, 5.890000, 5.820000, 5.740000, 3.270000, 5.610000, 4.680000, 5.480000, 1.460000, 1.460000, 1.460000, 1.440000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.380000, 1.380000, 1.430000, 1.490000, 1.570000, 1.650000, 1.740000, 1.850000, 1.970000, 2.110000, 2.270000, 2.470000, 2.690000, 2.970000, 3.430000, 3.850000, 4.380000, 4.650000, 4.650000, 4.640000, 4.640000, 4.640000, 4.650000, 4.640000, 4.640000, 4.640000, 4.640000, 4.650000, 4.650000, 4.660000, 4.670000, 4.690000, 4.700000, 4.720000, 4.720000, 4.750000, 4.760000, 4.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 130360 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.687000, -19.708000, 0.243363 ], "estimate": [ -48.687000, -19.708000, 0.243363 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.980000, 0.970000, 0.980000, 0.970000, 0.980000, 0.980000, 0.970000, 0.970000, 0.960000, 0.970000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.020000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.300000, 1.310000, 1.340000, 1.370000, 1.400000, 1.400000, 1.430000, 1.470000, 1.500000, 1.530000, 1.570000, 1.590000, 1.640000, 1.680000, 1.720000, 1.770000, 1.830000, 1.860000, 1.930000, 2.000000, 2.060000, 2.140000, 2.230000, 2.320000, 2.420000, 2.530000, 2.680000, 2.820000, 3.010000, 3.230000, 3.500000, 3.860000, 4.320000, 5.110000, 17.360000, 17.790000, 20.960000, 21.880000, 21.180000, null, 15.070000, 7.530000, 7.510000, 6.360000, 5.860000, 5.420000, 5.060000, 4.740000, 4.460000, 4.210000, 4.010000, 3.790000, 3.610000, 3.450000, 3.320000, 3.180000, 3.050000, 2.930000, 2.830000, 2.740000, 2.650000, 2.560000, 2.480000, 2.410000, 2.340000, 2.270000, 2.220000, 2.150000, 2.090000, 2.080000, 2.090000, 2.100000, 2.160000, 5.290000, 5.380000, 5.450000, 5.540000, 4.930000, 4.670000, 5.840000, 3.640000, 4.270000, 5.970000, 5.890000, 5.820000, 5.740000, 5.680000, 3.260000, 5.540000, 4.490000, 5.430000, 1.450000, 1.410000, 1.440000, 1.410000, 1.400000, 1.390000, 1.370000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 1.370000, 1.450000, 1.530000, 1.620000, 1.720000, 1.840000, 1.980000, 2.150000, 2.350000, 2.590000, 2.860000, 3.350000, 3.790000, 4.370000, 4.640000, 4.630000, 4.630000, 4.620000, 4.630000, 4.630000, 4.630000, 4.630000, 4.630000, 4.640000, 4.650000, 4.650000, 4.660000, 4.660000, 4.680000, 4.690000, 4.710000, 4.720000, 4.750000, 4.760000, 4.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 131278 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.637997, -19.695999, 0.243363 ], "estimate": [ -48.637997, -19.695999, 0.243363 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.380000, 1.390000, 1.410000, 1.440000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.700000, 1.730000, 1.770000, 1.820000, 1.880000, 1.950000, 2.030000, 2.090000, 2.180000, 2.260000, 2.360000, 2.460000, 2.580000, 2.700000, 2.900000, 3.070000, 3.330000, 3.630000, 4.030000, 4.510000, 17.300000, 17.300000, 18.420000, 20.540000, 21.190000, 21.160000, 14.990000, 15.010000, 7.450000, 7.450000, 6.160000, 5.690000, 5.280000, 4.920000, 4.630000, 4.350000, 4.110000, 3.900000, 3.700000, 3.540000, 3.380000, 3.240000, 3.110000, 2.990000, 2.880000, 2.780000, 2.680000, 2.590000, 2.500000, 2.430000, 2.360000, 2.290000, 2.250000, 2.170000, 2.130000, 2.070000, 2.010000, 2.030000, 2.040000, 2.090000, 5.240000, 5.320000, 5.400000, 5.490000, 5.590000, 4.500000, 5.790000, 3.550000, 4.220000, 4.370000, 5.860000, 5.790000, 5.710000, 5.640000, 3.210000, 5.510000, 4.490000, 5.390000, 5.340000, 5.280000, 1.380000, 1.380000, 1.380000, 1.380000, 1.370000, 1.350000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.360000, 1.440000, 1.530000, 1.640000, 1.780000, 1.930000, 2.130000, 2.350000, 2.620000, 2.920000, 3.530000, 4.090000, 4.630000, 4.610000, 4.610000, 4.620000, 4.620000, 4.610000, 4.620000, 4.620000, 4.620000, 4.630000, 4.630000, 4.640000, 4.640000, 4.650000, 4.670000, 4.680000, 4.700000, 4.720000, 4.730000, 4.760000, 4.780000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 268334 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.584999, -19.683001, 0.237217 ], "estimate": [ -48.584999, -19.683001, 0.237217 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.410000, 1.440000, 1.470000, 1.500000, 1.530000, 1.570000, 1.610000, 1.640000, 1.680000, 1.740000, 1.770000, 1.820000, 1.880000, 1.950000, 2.020000, 2.090000, 2.180000, 2.250000, 2.340000, 2.460000, 2.590000, 2.700000, 2.890000, 3.090000, 3.330000, 3.620000, 4.000000, 4.540000, 17.230000, 17.230000, 20.820000, 20.550000, 21.180000, 21.110000, 14.960000, 14.980000, 7.410000, 7.400000, 6.140000, 5.670000, 5.240000, 4.910000, 4.590000, 4.320000, 4.100000, 3.870000, 3.680000, 3.510000, 3.370000, 3.220000, 3.080000, 2.960000, 2.850000, 2.750000, 2.650000, 2.570000, 2.490000, 2.420000, 2.340000, 2.270000, 2.230000, 2.150000, 2.100000, 2.040000, 1.980000, 1.980000, 2.000000, 2.010000, 2.070000, 5.260000, 5.330000, 5.410000, 5.510000, 4.660000, 5.720000, 5.830000, 3.530000, null, 5.850000, 5.770000, 5.690000, 5.630000, 5.560000, 3.200000, 4.450000, 5.380000, 5.340000, 5.270000, 5.220000, 1.360000, 1.340000, 1.370000, 1.350000, 1.350000, 1.340000, 1.330000, 1.320000, 1.300000, 1.300000, 1.280000, 1.280000, 1.290000, 1.350000, 1.460000, 1.570000, 1.700000, 1.880000, 2.070000, 2.310000, 2.600000, 2.950000, 3.620000, 4.310000, 4.600000, 4.600000, 4.600000, 4.600000, 4.600000, 4.600000, 4.610000, 4.610000, 4.610000, 4.620000, 4.620000, 4.630000, 4.640000, 4.650000, 4.670000, 4.680000, 4.710000, 4.720000, 4.730000, 4.760000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055388, 603505 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.526001, -19.669001, 0.231072 ], "estimate": [ -48.526001, -19.669001, 0.231072 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 1.010000, 1.010000, 1.030000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.360000, 1.390000, 1.400000, 1.440000, 1.470000, 1.500000, 1.530000, 1.570000, 1.590000, 1.640000, 1.680000, 1.720000, 1.760000, 1.810000, 1.870000, 1.940000, 2.000000, 2.070000, 2.160000, 2.240000, 2.330000, 2.440000, 2.550000, 2.680000, 2.870000, 3.070000, 3.300000, 3.600000, 3.980000, 4.490000, 5.400000, 17.190000, 21.040000, 21.080000, 21.690000, 21.050000, null, 14.920000, 7.320000, 7.340000, 6.190000, 5.700000, 5.280000, 4.920000, 4.610000, 4.320000, 4.100000, 3.870000, 3.670000, 3.510000, 3.360000, 3.210000, 3.080000, 2.950000, 2.840000, 2.740000, 2.650000, 2.560000, 2.470000, 2.400000, 2.330000, 2.270000, 2.200000, 2.140000, 2.080000, 2.030000, 1.990000, 1.910000, 1.920000, 1.940000, 1.960000, 2.020000, 5.250000, 5.330000, 5.410000, 5.510000, 4.430000, 5.720000, 3.520000, null, null, 5.770000, 5.690000, 5.630000, 5.550000, 5.500000, 3.120000, 4.390000, 5.330000, 5.270000, 5.210000, 5.170000, 5.130000, 1.340000, 1.300000, 1.340000, 1.320000, 1.310000, 1.300000, 1.280000, 1.280000, 1.270000, 1.260000, 1.260000, 1.250000, 1.230000, 1.290000, 1.410000, 1.530000, 1.700000, 1.900000, 2.120000, 2.420000, 2.790000, 3.540000, 4.300000, 4.590000, 4.580000, 4.580000, 4.580000, 4.580000, 4.580000, 4.590000, 4.600000, 4.600000, 4.610000, 4.620000, 4.630000, 4.640000, 4.650000, 4.660000, 4.680000, 4.700000, 4.720000, 4.730000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055388, 668030 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.466000, -19.655001, 0.224926 ], "estimate": [ -48.466000, -19.655001, 0.224926 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.270000, 1.290000, 1.300000, 1.330000, 1.350000, 1.380000, 1.410000, 1.430000, 1.460000, 1.490000, 1.520000, 1.550000, 1.580000, 1.630000, 1.650000, 1.700000, 1.760000, 1.800000, 1.860000, 1.930000, 1.990000, 2.060000, 2.140000, 2.220000, 2.310000, 2.410000, 2.510000, 2.660000, 2.830000, 3.030000, 3.240000, 3.540000, 3.910000, 4.340000, 5.260000, 17.120000, 17.140000, 20.330000, 21.730000, 21.010000, null, 14.840000, 7.550000, 7.290000, 6.290000, 5.740000, 5.300000, 4.940000, 4.600000, 4.330000, 4.100000, 3.880000, 3.690000, 3.500000, 3.360000, 3.210000, 3.080000, 2.940000, 2.840000, 2.730000, 2.640000, 2.550000, 2.470000, 2.390000, 2.330000, 2.250000, 2.180000, 2.130000, 2.070000, 2.020000, 1.960000, 1.930000, 1.870000, 1.870000, 1.890000, 1.900000, 1.970000, 5.240000, 5.320000, 5.410000, 4.360000, 5.600000, 5.720000, 3.410000, null, 5.760000, 5.690000, 5.630000, 5.550000, 5.490000, 5.440000, 3.060000, 4.350000, 5.260000, 5.220000, 5.170000, 5.130000, 5.070000, 4.100000, 1.290000, 1.280000, 1.280000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000, 1.250000, 1.260000, 1.250000, 1.230000, 1.230000, 1.210000, 1.340000, 1.500000, 1.680000, 1.910000, 2.210000, 2.610000, 3.400000, 4.280000, 4.570000, 4.570000, 4.560000, 4.560000, 4.560000, 4.570000, 4.580000, 4.580000, 4.590000, 4.600000, 4.610000, 4.630000, 4.630000, 4.640000, 4.660000, 4.680000, 4.700000, 4.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055388, 942985 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.410000, -19.642000, 0.231072 ], "estimate": [ -48.410000, -19.642000, 0.231072 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.960000, 0.960000, 0.950000, 0.960000, 0.960000, 0.950000, 0.950000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.950000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.060000, 1.070000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.290000, 1.300000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.490000, 1.510000, 1.560000, 1.590000, 1.610000, 1.660000, 1.700000, 1.760000, 1.810000, 1.860000, 1.930000, 2.010000, 2.060000, 2.140000, 2.220000, 2.310000, 2.430000, 2.530000, 2.670000, 2.870000, 3.040000, 3.270000, 3.590000, 3.960000, 4.500000, 17.070000, 17.060000, 17.090000, 20.260000, 21.660000, 20.940000, null, 14.760000, 7.400000, 7.230000, 6.160000, 5.650000, 5.230000, 4.870000, 4.550000, 4.290000, 4.040000, 3.830000, 3.630000, 3.460000, 3.310000, 3.170000, 3.030000, 2.920000, 2.800000, 2.690000, 2.610000, 2.510000, 2.430000, 2.360000, 2.290000, 2.230000, 2.150000, 2.110000, 2.050000, 1.990000, 1.950000, 1.900000, 1.850000, 1.810000, 1.820000, 1.830000, 1.860000, 1.920000, 4.450000, 5.330000, 5.430000, 4.310000, 5.640000, 5.740000, 3.390000, null, 5.670000, 5.610000, 5.540000, 5.470000, 5.420000, 5.350000, 3.030000, 5.250000, 5.200000, 5.160000, 5.110000, 5.050000, 5.020000, 4.430000, 4.960000, 3.320000, 1.240000, 1.240000, 1.250000, 1.250000, 1.240000, 1.240000, 1.230000, 1.220000, 1.220000, 1.220000, 1.210000, 1.210000, 1.190000, 1.260000, 1.440000, 1.670000, 2.000000, 2.440000, 3.340000, 4.520000, 4.550000, 4.550000, 4.550000, 4.550000, 4.550000, 4.560000, 4.570000, 4.580000, 4.580000, 4.590000, 4.610000, 4.620000, 4.630000, 4.650000, 4.660000, 4.680000, 4.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976055389, 678189 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.354000, -19.629999, 0.224926 ], "estimate": [ -48.354000, -19.629999, 0.224926 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 0.950000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.100000, 1.110000, 1.130000, 1.130000, 1.150000, 1.170000, 1.180000, 1.200000, 1.230000, 1.240000, 1.260000, 1.290000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.520000, 1.560000, 1.580000, 1.610000, 1.660000, 1.710000, 1.760000, 1.810000, 1.870000, 1.940000, 2.000000, 2.060000, 2.140000, 2.220000, 2.310000, 2.410000, 2.530000, 2.670000, 2.850000, 3.050000, 3.260000, 3.620000, 3.990000, 4.590000, 17.020000, 17.030000, 17.040000, 20.210000, 21.620000, 20.890000, null, 14.720000, 7.360000, 7.180000, 6.120000, 5.600000, 5.190000, 4.830000, 4.510000, 4.240000, 3.990000, 3.780000, 3.590000, 3.420000, 3.270000, 3.130000, 2.990000, 2.870000, 2.760000, 2.660000, 2.560000, 2.470000, 2.410000, 2.330000, 2.250000, 2.190000, 2.120000, 2.060000, 2.010000, 1.960000, 1.920000, 1.870000, 1.830000, 1.800000, 1.770000, 1.790000, 1.800000, 1.850000, 1.860000, 4.310000, 5.360000, 4.340000, 5.560000, 5.660000, 3.340000, null, 5.640000, 5.590000, 5.520000, 5.460000, 5.400000, 5.330000, 2.990000, 4.310000, 5.170000, 5.140000, 5.090000, 5.040000, 5.000000, 4.960000, 4.890000, 3.300000, 3.310000, 1.410000, 1.210000, 1.210000, 1.240000, 1.220000, 1.220000, 1.210000, 1.210000, 1.200000, 1.200000, 1.200000, 1.200000, 1.190000, 1.180000, 1.180000, 1.440000, 1.790000, 2.330000, 3.440000, 4.540000, 4.540000, 4.540000, 4.550000, 4.550000, 4.550000, 4.560000, 4.560000, 4.580000, 4.590000, 4.590000, 4.610000, 4.640000, 4.650000, 4.660000, 4.680000, 4.700000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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": [ 976055389, 326935 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.299999, -19.616999, 0.218781 ], "estimate": [ -48.299999, -19.616999, 0.218781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.940000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.410000, 1.440000, 1.480000, 1.510000, 1.540000, 1.570000, 1.610000, 1.650000, 1.700000, 1.750000, 1.800000, 1.860000, 1.920000, 1.980000, 2.050000, 2.130000, 2.200000, 2.300000, 2.380000, 2.510000, 2.650000, 2.810000, 3.000000, 3.220000, 3.560000, 3.930000, 4.460000, 16.950000, 16.980000, 16.980000, 20.350000, 21.570000, 20.850000, 20.850000, 14.690000, 12.450000, 7.120000, 6.160000, 5.670000, 5.230000, 4.850000, 4.530000, 4.270000, 4.000000, 3.790000, 3.600000, 3.440000, 3.280000, 3.120000, 2.990000, 2.870000, 2.760000, 2.650000, 2.550000, 2.470000, 2.400000, 2.330000, 2.250000, 2.180000, 2.120000, 2.050000, 2.000000, 1.950000, 1.910000, 1.860000, 1.820000, 1.780000, 1.750000, 1.740000, 1.750000, 1.760000, 1.810000, 1.800000, 5.260000, 5.360000, 4.240000, 5.570000, 5.670000, 3.310000, null, 4.090000, 5.520000, 5.460000, 5.390000, 5.330000, 5.270000, 2.970000, 4.260000, 5.130000, 5.090000, 5.040000, 5.000000, 4.960000, 4.070000, 4.890000, 3.290000, 3.280000, 4.780000, 1.410000, 1.200000, 1.190000, 1.210000, 1.210000, 1.200000, 1.200000, 1.190000, 1.190000, 1.180000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.350000, 1.900000, 3.180000, 4.530000, 4.530000, 4.530000, 4.540000, 4.540000, 4.550000, 4.550000, 4.560000, 4.570000, 4.580000, 4.600000, 4.610000, 4.630000, 4.650000, 4.660000, 4.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055389, 501981 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.272003, -19.611000, 0.218781 ], "estimate": [ -48.272003, -19.611000, 0.218781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.940000, 0.940000, 0.940000, 0.950000, 0.940000, 0.950000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.480000, 1.510000, 1.540000, 1.570000, 1.620000, 1.660000, 1.700000, 1.750000, 1.800000, 1.860000, 1.920000, 1.990000, 2.050000, 2.130000, 2.210000, 2.300000, 2.410000, 2.530000, 2.700000, 2.840000, 3.030000, 3.300000, 3.600000, 3.990000, 4.590000, 16.930000, 16.930000, 16.940000, 20.130000, 21.520000, 20.800000, 20.810000, 14.640000, 7.330000, 7.080000, 6.090000, 5.560000, 5.130000, 4.780000, 4.460000, 4.190000, 3.940000, 3.730000, 3.550000, 3.370000, 3.230000, 3.080000, 2.940000, 2.830000, 2.720000, 2.610000, 2.520000, 2.440000, 2.360000, 2.290000, 2.230000, 2.150000, 2.080000, 2.040000, 1.970000, 1.930000, 1.880000, 1.840000, 1.790000, 1.770000, 1.720000, 1.690000, 1.690000, 1.720000, 1.730000, 1.780000, 5.190000, 5.300000, 4.220000, 5.490000, 5.610000, 5.720000, 3.340000, 5.540000, 5.490000, 5.440000, 5.370000, 5.320000, 5.260000, 5.210000, 2.920000, 5.110000, 5.060000, 5.030000, 4.980000, 4.940000, 4.910000, 3.960000, 4.820000, 3.220000, 4.780000, 4.760000, 4.730000, 1.370000, 1.170000, 1.170000, 1.180000, 1.180000, 1.180000, 1.170000, 1.170000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.160000, 1.150000, 1.160000, 3.710000, 4.520000, 4.520000, 4.530000, 4.530000, 4.540000, 4.540000, 4.550000, 4.560000, 4.570000, 4.590000, 4.600000, 4.620000, 4.640000, 4.650000, 4.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055389, 905804 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.215000, -19.599001, 0.218781 ], "estimate": [ -48.215000, -19.599001, 0.218781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.930000, 0.940000, 0.950000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.260000, 1.270000, 1.280000, 1.310000, 1.330000, 1.370000, 1.400000, 1.420000, 1.440000, 1.480000, 1.510000, 1.550000, 1.580000, 1.630000, 1.660000, 1.710000, 1.770000, 1.810000, 1.870000, 1.940000, 2.000000, 2.060000, 2.140000, 2.250000, 2.320000, 2.440000, 2.560000, 2.710000, 2.890000, 3.130000, 3.370000, 3.700000, 4.040000, 4.810000, 16.860000, 16.880000, 18.050000, 20.510000, 21.430000, 20.730000, null, 14.580000, 6.990000, 7.030000, 5.910000, 5.420000, 5.020000, 4.680000, 4.370000, 4.100000, 3.860000, 3.650000, 3.490000, 3.310000, 3.170000, 3.020000, 2.890000, 2.780000, 2.660000, 2.560000, 2.480000, 2.410000, 2.320000, 2.250000, 2.180000, 2.120000, 2.050000, 2.000000, 1.950000, 1.900000, 1.850000, 1.810000, 1.780000, 1.730000, 1.700000, 1.670000, 1.630000, 1.650000, 1.670000, 1.690000, 1.740000, 5.230000, 4.140000, 5.440000, 5.550000, 5.670000, 3.290000, null, 5.460000, 5.410000, 5.340000, 5.290000, 5.230000, 5.180000, 5.150000, 2.930000, 5.040000, 5.000000, 4.960000, 4.930000, 4.890000, 3.920000, 4.820000, 4.800000, 3.190000, 4.740000, 4.720000, 4.680000, 1.370000, 1.340000, 1.150000, 1.140000, 1.170000, 1.160000, 1.160000, 1.150000, 1.150000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.140000, 1.130000, 4.510000, 4.510000, 4.520000, 4.530000, 4.530000, 4.540000, 4.550000, 4.560000, 4.570000, 4.590000, 4.610000, 4.630000, 4.650000, 4.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055389, 907009 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.153999, -19.584999, 0.224926 ], "estimate": [ -48.153999, -19.584999, 0.224926 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.230000, 1.260000, 1.280000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.420000, 1.450000, 1.490000, 1.520000, 1.570000, 1.600000, 1.640000, 1.690000, 1.730000, 1.790000, 1.840000, 1.900000, 1.960000, 2.040000, 2.100000, 2.190000, 2.270000, 2.360000, 2.490000, 2.640000, 2.780000, 2.970000, 3.210000, 3.500000, 3.870000, 4.410000, 16.810000, 16.800000, 16.840000, 20.450000, 20.010000, 20.690000, 20.690000, 14.500000, 12.640000, 6.980000, 6.110000, 5.610000, 5.180000, 4.800000, 4.490000, 4.200000, 3.950000, 3.720000, 3.550000, 3.370000, 3.220000, 3.070000, 2.930000, 2.800000, 2.690000, 2.590000, 2.500000, 2.420000, 2.340000, 2.260000, 2.200000, 2.120000, 2.070000, 2.010000, 1.950000, 1.900000, 1.850000, 1.820000, 1.770000, 1.730000, 1.700000, 1.670000, 1.630000, 1.600000, 1.600000, 1.620000, 1.630000, 1.660000, 1.710000, 4.110000, 5.390000, 5.510000, 5.630000, 3.180000, null, 5.430000, 5.360000, 5.310000, 5.240000, 5.200000, 5.150000, 5.090000, 2.900000, 5.010000, 4.970000, 4.930000, 4.900000, 4.860000, 4.790000, 4.190000, 4.740000, 3.170000, 4.730000, 4.680000, 4.660000, 4.640000, 4.620000, 1.320000, 1.300000, 1.120000, 1.120000, 1.130000, 1.140000, 1.140000, 1.140000, 1.130000, 1.130000, 1.130000, 1.130000, 1.130000, 1.120000, 1.130000, 1.120000, 1.130000, 1.130000, 4.510000, 4.520000, 4.530000, 4.540000, 4.550000, 4.560000, 4.580000, 4.600000, 4.620000, 4.640000, 4.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055390, 964560 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.098000, -19.571999, 0.218781 ], "estimate": [ -48.098000, -19.571999, 0.218781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.940000, 0.940000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.270000, 1.280000, 1.300000, 1.320000, 1.350000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.540000, 1.570000, 1.610000, 1.640000, 1.700000, 1.740000, 1.790000, 1.860000, 1.910000, 1.970000, 2.030000, 2.120000, 2.180000, 2.300000, 2.400000, 2.530000, 2.660000, 2.820000, 3.030000, 3.290000, 3.610000, 3.920000, 4.590000, 5.840000, 16.770000, 16.790000, 20.330000, 21.360000, 20.650000, 20.630000, 14.470000, 12.440000, 6.920000, 5.970000, 5.510000, 5.080000, 4.730000, 4.410000, 4.130000, 3.890000, 3.660000, 3.490000, 3.310000, 3.160000, 3.010000, 2.880000, 2.760000, 2.650000, 2.550000, 2.460000, 2.380000, 2.300000, 2.230000, 2.150000, 2.100000, 2.040000, 1.970000, 1.920000, 1.870000, 1.820000, 1.790000, 1.740000, 1.700000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.560000, 1.580000, 1.580000, 1.630000, 1.670000, 4.080000, 5.450000, 5.560000, 3.810000, 3.140000, 5.400000, 5.340000, 5.280000, 5.230000, 5.180000, 5.140000, 5.090000, 4.320000, 2.850000, 4.950000, 4.910000, 4.890000, 4.850000, 4.810000, 4.010000, 4.740000, 4.730000, 3.120000, 4.660000, 4.650000, 4.630000, 4.610000, 4.580000, 4.560000, 1.290000, 1.290000, 1.110000, 1.090000, 1.090000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.120000, 1.100000, 1.070000, 4.520000, 4.530000, 4.540000, 4.550000, 4.560000, 4.580000, 4.610000, 4.630000, 4.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 255679 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.043999, -19.559999, 0.218781 ], "estimate": [ -48.043999, -19.559999, 0.218781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.090000, 1.100000, 1.120000, 1.130000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.530000, 1.570000, 1.610000, 1.650000, 1.690000, 1.740000, 1.790000, 1.850000, 1.900000, 1.970000, 2.030000, 2.120000, 2.190000, 2.280000, 2.400000, 2.530000, 2.660000, 2.820000, 3.030000, 3.290000, 3.610000, 3.900000, 4.580000, 5.810000, 16.720000, 16.740000, 20.340000, 19.910000, 20.610000, 20.600000, 14.420000, 12.510000, 6.850000, 5.980000, 5.500000, 5.080000, 4.700000, 4.390000, 4.110000, 3.860000, 3.650000, 3.470000, 3.300000, 3.130000, 3.000000, 2.870000, 2.730000, 2.630000, 2.530000, 2.430000, 2.360000, 2.280000, 2.210000, 2.150000, 2.080000, 2.010000, 1.950000, 1.900000, 1.860000, 1.810000, 1.780000, 1.730000, 1.690000, 1.660000, 1.630000, 1.600000, 1.560000, 1.530000, 1.510000, 1.510000, 1.540000, 1.540000, 1.580000, 1.600000, 5.350000, 5.470000, 5.550000, 3.100000, null, 5.330000, 5.270000, 5.230000, 5.160000, 5.130000, 5.060000, 5.030000, 2.790000, 4.940000, 4.890000, 4.870000, 4.840000, 4.800000, 4.770000, 3.820000, 4.720000, 4.680000, 3.090000, 4.640000, 4.620000, 4.600000, 4.580000, 4.560000, 4.520000, 3.180000, 1.280000, 1.270000, 1.140000, 1.090000, 1.080000, 1.100000, 1.110000, 1.110000, 1.110000, 1.110000, 1.100000, 1.110000, 1.100000, 1.110000, 1.110000, 1.110000, 1.120000, 1.100000, 1.130000, 4.540000, 4.550000, 4.560000, 4.580000, 4.610000, 4.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 256865 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.991001, -19.548000, 0.224926 ], "estimate": [ -47.991001, -19.548000, 0.224926 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.940000, 0.930000, 0.930000, 0.940000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.370000, 1.400000, 1.420000, 1.440000, 1.480000, 1.510000, 1.560000, 1.590000, 1.630000, 1.670000, 1.710000, 1.770000, 1.820000, 1.880000, 1.940000, 2.010000, 2.070000, 2.150000, 2.260000, 2.360000, 2.500000, 2.590000, 2.750000, 2.950000, 3.180000, 3.470000, 3.800000, 4.320000, 5.160000, 16.670000, 16.690000, 20.410000, 20.500000, 21.240000, 20.540000, null, 14.370000, 6.820000, 6.830000, 5.680000, 5.210000, 4.810000, 4.480000, 4.200000, 3.920000, 3.710000, 3.510000, 3.350000, 3.180000, 3.010000, 2.900000, 2.770000, 2.640000, 2.540000, 2.460000, 2.370000, 2.280000, 2.230000, 2.150000, 2.090000, 2.020000, 1.960000, 1.910000, 1.850000, 1.810000, 1.770000, 1.720000, 1.700000, 1.650000, 1.620000, 1.590000, 1.560000, 1.530000, 1.490000, 1.480000, 1.470000, 1.480000, 1.500000, 1.520000, 1.570000, 5.350000, 5.460000, 5.520000, 3.090000, null, 5.290000, 5.230000, 5.180000, 5.140000, 5.080000, 5.040000, 4.990000, 4.040000, 2.740000, 4.880000, 4.840000, 4.800000, 4.760000, 4.740000, 3.830000, 4.680000, 3.140000, 3.100000, 4.620000, 4.590000, 4.580000, 4.560000, 4.540000, 4.530000, 3.140000, 4.500000, 4.490000, 1.260000, 1.240000, 1.110000, 1.070000, 1.070000, 1.100000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000, 1.110000, 1.110000, 1.100000, 1.140000, 4.560000, 4.580000, 4.610000, 4.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055392, 257837 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.962002, -19.542000, 0.224926 ], "estimate": [ -47.962002, -19.542000, 0.224926 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.060000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.260000, 1.270000, 1.290000, 1.310000, 1.340000, 1.380000, 1.400000, 1.420000, 1.450000, 1.490000, 1.520000, 1.560000, 1.590000, 1.630000, 1.680000, 1.720000, 1.780000, 1.830000, 1.880000, 1.950000, 2.020000, 2.090000, 2.180000, 2.280000, 2.380000, 2.490000, 2.630000, 2.780000, 2.990000, 3.230000, 3.530000, 3.890000, 4.450000, 5.630000, 16.630000, 16.630000, 17.770000, 20.250000, 21.070000, 20.500000, 14.420000, 14.330000, 6.770000, 6.770000, 5.560000, 5.100000, 4.730000, 4.410000, 4.120000, 3.860000, 3.640000, 3.450000, 3.280000, 3.120000, 2.970000, 2.850000, 2.720000, 2.610000, 2.510000, 2.420000, 2.330000, 2.250000, 2.190000, 2.120000, 2.050000, 2.000000, 1.940000, 1.880000, 1.830000, 1.780000, 1.740000, 1.700000, 1.660000, 1.620000, 1.600000, 1.560000, 1.530000, 1.500000, 1.480000, 1.450000, 1.440000, 1.430000, 1.430000, 1.450000, 1.470000, 1.540000, 5.390000, 5.460000, 3.660000, 3.040000, 5.280000, 5.220000, 5.160000, 5.110000, 5.050000, 5.020000, 4.970000, 3.980000, 2.680000, 4.850000, 4.820000, 4.780000, 4.750000, 4.730000, 3.930000, 4.670000, 4.640000, 3.080000, 3.040000, 4.550000, 4.560000, 4.550000, 4.530000, 4.510000, 4.490000, 3.330000, 4.480000, 4.470000, 4.460000, 1.240000, 1.230000, 1.150000, 1.070000, 1.060000, 1.050000, 1.080000, 1.070000, 1.080000, 1.080000, 1.080000, 1.080000, 1.080000, 1.090000, 1.100000, 1.090000, 1.100000, 1.110000, 1.110000, 4.600000, 4.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 258548 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.902000, -19.528999, 0.218781 ], "estimate": [ -47.902000, -19.528999, 0.218781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.930000, 0.930000, 0.950000, 0.950000, 0.950000, 0.950000, 0.970000, 0.970000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.130000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.220000, 1.250000, 1.280000, 1.290000, 1.310000, 1.350000, 1.380000, 1.400000, 1.430000, 1.450000, 1.490000, 1.520000, 1.570000, 1.600000, 1.650000, 1.690000, 1.730000, 1.790000, 1.840000, 1.890000, 1.970000, 2.020000, 2.100000, 2.180000, 2.290000, 2.400000, 2.510000, 2.650000, 2.850000, 3.020000, 3.250000, 3.570000, 3.970000, 4.550000, 5.670000, 16.570000, 16.590000, 17.700000, 19.950000, 20.680000, 20.450000, 14.290000, 14.270000, 6.720000, 6.710000, 5.470000, 5.030000, 4.640000, 4.330000, 4.060000, 3.810000, 3.580000, 3.390000, 3.220000, 3.070000, 2.930000, 2.790000, 2.680000, 2.560000, 2.470000, 2.380000, 2.290000, 2.230000, 2.140000, 2.080000, 2.020000, 1.960000, 1.910000, 1.850000, 1.800000, 1.770000, 1.720000, 1.690000, 1.640000, 1.610000, 1.580000, 1.540000, 1.500000, 1.480000, 1.460000, 1.430000, 1.400000, 1.400000, 1.370000, 1.380000, 1.420000, 1.420000, 1.480000, 5.420000, 5.410000, 3.620000, 3.000000, 5.190000, 5.150000, 5.080000, 5.030000, 5.000000, 4.950000, 4.900000, 3.950000, 2.690000, 4.800000, 4.770000, 4.730000, 4.700000, 4.680000, 3.990000, 4.630000, 4.600000, 3.070000, 3.040000, 4.550000, 4.530000, 4.510000, 4.500000, 4.480000, 4.430000, 4.430000, 4.450000, 4.440000, 4.430000, 4.430000, 1.230000, 1.220000, 1.210000, 1.110000, 1.040000, 1.040000, 1.040000, 1.070000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.090000, 1.100000, 1.100000, 1.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 259536 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.842999, -19.514999, 0.224926 ], "estimate": [ -47.842999, -19.514999, 0.224926 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.940000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.190000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.310000, 1.340000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.550000, 1.590000, 1.630000, 1.680000, 1.710000, 1.770000, 1.820000, 1.880000, 1.940000, 2.010000, 2.080000, 2.170000, 2.270000, 2.370000, 2.470000, 2.610000, 2.800000, 2.950000, 3.190000, 3.480000, 3.830000, 4.370000, 16.510000, 16.520000, 16.520000, 16.530000, 19.740000, 21.110000, 20.390000, 20.390000, 14.210000, 6.630000, 6.660000, 5.580000, 5.110000, 4.720000, 4.390000, 4.100000, 3.830000, 3.610000, 3.410000, 3.260000, 3.070000, 2.940000, 2.800000, 2.690000, 2.570000, 2.460000, 2.380000, 2.300000, 2.220000, 2.140000, 2.080000, 2.010000, 1.950000, 1.900000, 1.850000, 1.800000, 1.750000, 1.710000, 1.670000, 1.630000, 1.600000, 1.560000, 1.520000, 1.500000, 1.470000, 1.450000, 1.420000, 1.390000, 1.380000, 1.360000, 1.330000, 1.330000, 1.330000, 1.360000, 1.400000, 1.440000, 5.350000, 3.590000, 2.920000, 5.150000, 5.090000, 5.030000, 5.000000, 4.950000, 4.900000, 4.870000, 3.910000, 2.680000, 2.680000, 4.720000, 4.710000, 4.670000, 4.640000, 3.740000, 4.600000, 4.570000, 3.050000, 2.990000, 4.520000, 4.500000, 4.480000, 4.470000, 4.460000, 4.450000, 3.080000, 4.430000, 4.430000, 4.430000, 4.420000, 4.420000, 4.420000, 1.230000, 1.200000, 1.200000, 1.100000, 1.040000, 1.030000, 1.020000, 1.060000, 1.060000, 1.060000, 1.070000, 1.070000, 1.080000, 1.080000, 1.090000, 1.090000, 1.100000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 260465 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.787003, -19.501999, 0.237217 ], "estimate": [ -47.787003, -19.501999, 0.237217 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.930000, 0.930000, 0.940000, 0.930000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.150000, 1.170000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.370000, 1.400000, 1.420000, 1.450000, 1.480000, 1.510000, 1.550000, 1.590000, 1.630000, 1.670000, 1.710000, 1.770000, 1.810000, 1.870000, 1.930000, 2.010000, 2.070000, 2.160000, 2.270000, 2.360000, 2.470000, 2.600000, 2.750000, 2.940000, 3.160000, 3.460000, 3.830000, 4.320000, 16.450000, 16.470000, 16.470000, 16.490000, 19.750000, 21.050000, 20.340000, 20.350000, 14.170000, 6.850000, 6.610000, 5.630000, 5.120000, 4.710000, 4.380000, 4.100000, 3.830000, 3.590000, 3.390000, 3.220000, 3.060000, 2.920000, 2.790000, 2.670000, 2.550000, 2.440000, 2.360000, 2.270000, 2.190000, 2.120000, 2.050000, 1.990000, 1.930000, 1.880000, 1.840000, 1.780000, 1.730000, 1.700000, 1.650000, 1.600000, 1.580000, 1.540000, 1.510000, 1.470000, 1.460000, 1.430000, 1.390000, 1.370000, 1.340000, 1.330000, 1.320000, 1.310000, 1.280000, 1.300000, 1.320000, 1.330000, 1.370000, 1.420000, 3.550000, 2.940000, 5.080000, 5.030000, 4.990000, 4.940000, 4.900000, 4.860000, 3.940000, 4.780000, 4.720000, 2.580000, 4.700000, 4.660000, 4.640000, 4.610000, 4.490000, 4.560000, 4.540000, 3.010000, 2.960000, 4.490000, 4.480000, 4.460000, 4.440000, 4.430000, 4.430000, 3.110000, 4.420000, 4.410000, 4.410000, 4.400000, 4.400000, 4.400000, 4.400000, 1.210000, 1.190000, 1.190000, 1.190000, 1.080000, 1.040000, 1.010000, 1.020000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000, 1.070000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 261376 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.732998, -19.489000, 0.243363 ], "estimate": [ -47.732998, -19.489000, 0.243363 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.070000, 1.080000, 1.090000, 1.110000, 1.130000, 1.130000, 1.140000, 1.160000, 1.180000, 1.190000, 1.220000, 1.220000, 1.240000, 1.270000, 1.280000, 1.310000, 1.330000, 1.370000, 1.400000, 1.420000, 1.440000, 1.480000, 1.510000, 1.550000, 1.580000, 1.620000, 1.670000, 1.700000, 1.760000, 1.810000, 1.870000, 1.930000, 2.010000, 2.080000, 2.170000, 2.260000, 2.360000, 2.460000, 2.590000, 2.740000, 2.940000, 3.160000, 3.430000, 3.800000, 4.270000, 5.100000, 16.420000, 16.420000, 16.440000, 20.050000, 19.610000, 20.290000, 20.290000, 14.110000, 14.130000, 6.560000, 5.610000, 5.140000, 4.730000, 4.380000, 4.080000, 3.830000, 3.580000, 3.400000, 3.220000, 3.070000, 2.910000, 2.770000, 2.650000, 2.540000, 2.430000, 2.340000, 2.250000, 2.180000, 2.110000, 2.040000, 1.970000, 1.910000, 1.850000, 1.810000, 1.770000, 1.720000, 1.680000, 1.620000, 1.600000, 1.570000, 1.520000, 1.490000, 1.470000, 1.440000, 1.410000, 1.390000, 1.350000, 1.340000, 1.320000, 1.300000, 1.300000, 1.260000, 1.250000, 1.240000, 1.260000, 1.290000, 1.300000, 1.360000, 2.860000, 5.070000, 5.040000, 4.980000, 4.930000, 4.890000, 4.860000, 4.810000, 3.830000, 4.740000, 4.690000, 2.590000, 4.650000, 4.630000, 4.600000, 4.570000, 3.760000, 4.540000, 4.520000, 3.000000, 2.960000, 4.460000, 4.440000, 4.430000, 4.420000, 4.420000, 4.410000, 3.070000, 4.390000, 4.390000, 4.380000, 4.380000, 4.380000, 4.380000, 4.380000, 4.380000, 4.370000, 1.170000, 1.180000, 1.170000, 1.170000, 1.070000, 1.030000, 1.010000, 1.010000, 1.050000, 1.050000, 1.060000, 1.060000, 1.070000, 1.070000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 262413 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.677998, -19.475000, 0.255654 ], "estimate": [ -47.677998, -19.475000, 0.255654 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.960000, 0.960000, 0.970000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.090000, 1.100000, 1.100000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.380000, 1.400000, 1.420000, 1.450000, 1.480000, 1.520000, 1.550000, 1.590000, 1.620000, 1.670000, 1.710000, 1.770000, 1.810000, 1.870000, 1.940000, 2.010000, 2.090000, 2.190000, 2.270000, 2.370000, 2.480000, 2.660000, 2.770000, 2.970000, 3.190000, 3.460000, 3.840000, 4.340000, 5.370000, 16.370000, 16.370000, 16.380000, 20.000000, 19.570000, 20.240000, 20.240000, 14.080000, 6.800000, 6.500000, 5.550000, 5.060000, 4.650000, 4.310000, 4.030000, 3.760000, 3.540000, 3.360000, 3.180000, 3.010000, 2.870000, 2.730000, 2.610000, 2.500000, 2.410000, 2.310000, 2.230000, 2.140000, 2.070000, 2.000000, 1.940000, 1.890000, 1.830000, 1.780000, 1.730000, 1.690000, 1.650000, 1.600000, 1.580000, 1.530000, 1.500000, 1.470000, 1.440000, 1.410000, 1.380000, 1.360000, 1.340000, 1.320000, 1.300000, 1.290000, 1.260000, 1.250000, 1.230000, 1.220000, 1.190000, 1.210000, 1.240000, 1.250000, 1.290000, 1.360000, 5.020000, 4.970000, 4.920000, 4.880000, 4.830000, 4.800000, 4.760000, 3.810000, 4.690000, 4.630000, 2.540000, 4.610000, 4.580000, 4.550000, 4.530000, 3.700000, 4.500000, 4.480000, 2.970000, 2.920000, 4.430000, 4.430000, 4.410000, 4.400000, 4.390000, 4.380000, 3.160000, 4.370000, 4.360000, 4.370000, 4.360000, 4.360000, 4.360000, 4.370000, 4.370000, 4.130000, 3.480000, 1.500000, 1.170000, 1.170000, 1.170000, 1.140000, 1.060000, 1.010000, 1.000000, 1.000000, 1.040000, 1.050000, 1.060000, 1.060000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 263339 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.622002, -19.459999, 0.261799 ], "estimate": [ -47.622002, -19.459999, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.230000, 1.230000, 1.270000, 1.280000, 1.290000, 1.320000, 1.350000, 1.380000, 1.410000, 1.430000, 1.470000, 1.490000, 1.530000, 1.570000, 1.600000, 1.640000, 1.680000, 1.720000, 1.780000, 1.840000, 1.890000, 1.960000, 2.030000, 2.110000, 2.200000, 2.290000, 2.390000, 2.510000, 2.640000, 2.810000, 3.020000, 3.240000, 3.510000, 3.920000, 4.400000, 5.390000, 16.310000, 16.320000, 16.330000, 19.940000, 19.510000, 20.190000, 20.190000, 14.020000, 6.710000, 6.450000, 5.470000, 5.000000, 4.580000, 4.240000, 3.950000, 3.700000, 3.480000, 3.290000, 3.120000, 2.960000, 2.810000, 2.680000, 2.550000, 2.450000, 2.360000, 2.260000, 2.180000, 2.110000, 2.030000, 1.970000, 1.910000, 1.850000, 1.790000, 1.750000, 1.710000, 1.670000, 1.610000, 1.590000, 1.540000, 1.510000, 1.470000, 1.440000, 1.410000, 1.390000, 1.360000, 1.330000, 1.310000, 1.300000, 1.280000, 1.250000, 1.240000, 1.220000, 1.200000, 1.190000, 1.180000, 1.160000, 1.150000, 1.170000, 1.200000, 1.220000, 1.290000, 4.940000, 4.900000, 4.870000, 4.810000, 4.780000, 4.740000, 3.790000, 4.660000, 4.650000, 2.520000, 2.550000, 4.560000, 4.540000, 4.520000, 3.580000, 4.480000, 4.460000, 4.440000, 2.940000, 2.880000, 4.370000, 4.390000, 4.380000, 4.370000, 4.370000, 4.360000, 3.010000, 4.350000, 4.350000, 4.350000, 4.340000, 4.350000, 4.350000, 4.360000, 4.360000, 3.940000, 3.400000, 2.200000, 1.500000, 1.130000, 1.160000, 1.160000, 1.160000, 1.060000, 1.060000, 1.010000, 0.990000, 1.000000, 1.030000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 264250 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.563000, -19.444000, 0.261799 ], "estimate": [ -47.563000, -19.444000, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.070000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.160000, 1.180000, 1.190000, 1.200000, 1.220000, 1.240000, 1.270000, 1.280000, 1.300000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.470000, 1.500000, 1.530000, 1.570000, 1.600000, 1.640000, 1.680000, 1.730000, 1.790000, 1.850000, 1.900000, 1.970000, 2.040000, 2.120000, 2.190000, 2.300000, 2.400000, 2.530000, 2.640000, 2.810000, 2.990000, 3.230000, 3.470000, 3.910000, 4.370000, 5.340000, 16.270000, 16.270000, 16.270000, 19.910000, 19.510000, 20.300000, 20.130000, 13.950000, 12.290000, 6.410000, 5.450000, 5.000000, 4.590000, 4.240000, 3.940000, 3.690000, 3.470000, 3.270000, 3.100000, 2.930000, 2.800000, 2.660000, 2.550000, 2.430000, 2.340000, 2.240000, 2.160000, 2.090000, 2.010000, 1.950000, 1.880000, 1.820000, 1.770000, 1.720000, 1.680000, 1.640000, 1.610000, 1.550000, 1.520000, 1.480000, 1.460000, 1.420000, 1.390000, 1.360000, 1.330000, 1.310000, 1.300000, 1.270000, 1.260000, 1.230000, 1.220000, 1.190000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.110000, 1.120000, 1.140000, 1.150000, 1.190000, 1.210000, 4.840000, 4.810000, 4.770000, 4.730000, 4.700000, 3.730000, 4.640000, 4.610000, 4.560000, 2.500000, 4.520000, 4.510000, 4.480000, 3.560000, 4.440000, 4.430000, 4.420000, 2.900000, 2.850000, 4.370000, 4.360000, 4.350000, 4.340000, 4.340000, 4.330000, 3.020000, 4.330000, 4.330000, 4.330000, 4.330000, 4.330000, 4.330000, 4.340000, 4.350000, 3.930000, 3.430000, 3.050000, 1.910000, 1.570000, 1.320000, 1.150000, 1.150000, 1.160000, 1.150000, 1.060000, 1.050000, 1.000000, 0.990000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 265207 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.507004, -19.429001, 0.261799 ], "estimate": [ -47.507004, -19.429001, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.090000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.360000, 1.390000, 1.410000, 1.430000, 1.470000, 1.490000, 1.530000, 1.570000, 1.600000, 1.640000, 1.680000, 1.720000, 1.790000, 1.830000, 1.890000, 1.950000, 2.030000, 2.110000, 2.190000, 2.280000, 2.370000, 2.520000, 2.610000, 2.760000, 2.930000, 3.170000, 3.410000, 3.790000, 4.240000, 4.980000, 16.220000, 16.210000, 16.220000, 16.240000, 19.410000, 20.810000, 20.080000, 20.090000, 13.910000, 6.350000, 6.350000, 5.160000, 4.710000, 4.330000, 4.020000, 3.740000, 3.500000, 3.300000, 3.130000, 2.950000, 2.810000, 2.670000, 2.550000, 2.440000, 2.330000, 2.250000, 2.150000, 2.080000, 2.010000, 1.930000, 1.870000, 1.820000, 1.760000, 1.710000, 1.670000, 1.620000, 1.590000, 1.550000, 1.510000, 1.470000, 1.440000, 1.410000, 1.380000, 1.340000, 1.320000, 1.290000, 1.280000, 1.260000, 1.230000, 1.210000, 1.200000, 1.190000, 1.160000, 1.150000, 1.140000, 1.130000, 1.120000, 1.110000, 1.090000, 1.070000, 1.060000, 1.080000, 1.120000, 1.140000, 1.200000, 4.770000, 4.730000, 4.690000, 4.660000, 3.770000, 4.600000, 4.570000, 4.540000, 2.450000, 4.500000, 4.470000, 4.450000, 4.070000, 4.340000, 4.400000, 4.390000, 4.360000, 2.820000, 4.350000, 4.340000, 4.330000, 4.320000, 4.320000, 4.310000, 4.270000, 4.270000, 4.310000, 4.310000, 4.310000, 4.310000, 4.320000, 4.320000, 4.330000, 4.090000, 3.590000, 3.210000, 2.900000, 1.950000, 1.680000, 1.460000, 1.280000, 1.140000, 1.150000, 1.150000, 1.150000, 1.130000, 1.050000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 266116 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.481003, -19.421999, 0.261799 ], "estimate": [ -47.481003, -19.421999, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.080000, 1.100000, 1.100000, 1.110000, 1.130000, 1.130000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.240000, 1.270000, 1.280000, 1.310000, 1.330000, 1.360000, 1.390000, 1.400000, 1.430000, 1.460000, 1.490000, 1.530000, 1.560000, 1.590000, 1.630000, 1.680000, 1.720000, 1.780000, 1.830000, 1.890000, 1.940000, 2.030000, 2.100000, 2.180000, 2.260000, 2.350000, 2.490000, 2.580000, 2.730000, 2.910000, 3.110000, 3.380000, 3.720000, 4.120000, 4.770000, 16.170000, 16.170000, 16.170000, 16.180000, 19.790000, 19.360000, 20.060000, 20.040000, 13.870000, 6.420000, 6.300000, 5.290000, 4.790000, 4.390000, 4.070000, 3.770000, 3.530000, 3.320000, 3.120000, 2.960000, 2.800000, 2.670000, 2.550000, 2.430000, 2.340000, 2.230000, 2.140000, 2.070000, 1.980000, 1.930000, 1.850000, 1.790000, 1.750000, 1.700000, 1.650000, 1.600000, 1.570000, 1.530000, 1.490000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.300000, 1.280000, 1.270000, 1.240000, 1.210000, 1.190000, 1.190000, 1.170000, 1.150000, 1.150000, 1.130000, 1.110000, 1.090000, 1.090000, 1.080000, 1.060000, 1.050000, 1.030000, 1.020000, 1.040000, 1.080000, 1.080000, 1.160000, 4.690000, 4.650000, 4.620000, 3.690000, 4.560000, 4.530000, 4.500000, 4.490000, 2.440000, 4.440000, 4.430000, 4.400000, 3.730000, 4.370000, 4.360000, 4.340000, 2.850000, 2.800000, 4.310000, 4.310000, 4.300000, 4.290000, 4.290000, 4.290000, 2.930000, 4.280000, 4.290000, 4.290000, 4.290000, 4.300000, 4.300000, 4.310000, 4.130000, 3.670000, 3.290000, 2.980000, 2.730000, 1.910000, 1.680000, 1.480000, 1.330000, 1.210000, 1.140000, 1.150000, 1.140000, 1.150000, 1.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 408455 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.427002, -19.408001, 0.261799 ], "estimate": [ -47.427002, -19.408001, 0.261799 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.240000, 1.270000, 1.280000, 1.300000, 1.320000, 1.350000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.510000, 1.550000, 1.580000, 1.620000, 1.660000, 1.710000, 1.770000, 1.810000, 1.860000, 1.930000, 2.000000, 2.060000, 2.140000, 2.220000, 2.310000, 2.440000, 2.530000, 2.660000, 2.860000, 3.020000, 3.230000, 3.550000, 3.910000, 4.370000, 5.190000, 16.130000, 16.130000, 16.130000, 16.160000, 19.330000, 20.710000, 20.000000, 19.990000, 13.820000, 6.260000, 6.240000, 5.010000, 4.570000, 4.200000, 3.900000, 3.630000, 3.390000, 3.200000, 3.010000, 2.860000, 2.720000, 2.580000, 2.460000, 2.360000, 2.260000, 2.170000, 2.070000, 2.000000, 1.930000, 1.860000, 1.800000, 1.750000, 1.690000, 1.660000, 1.600000, 1.560000, 1.520000, 1.490000, 1.450000, 1.420000, 1.390000, 1.350000, 1.310000, 1.290000, 1.270000, 1.260000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.130000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.030000, 1.040000, 0.990000, 0.970000, 0.990000, 1.030000, 1.040000, 1.080000, 4.630000, 4.600000, 4.550000, 3.620000, 4.500000, 4.490000, 4.460000, 2.400000, 4.420000, 4.400000, 4.380000, 3.710000, 4.350000, 4.330000, 4.320000, 2.830000, 2.770000, 4.260000, 4.280000, 4.270000, 4.270000, 4.270000, 4.270000, 3.070000, 4.250000, 4.270000, 4.280000, 4.270000, 4.280000, 4.290000, 4.290000, 4.290000, 3.850000, 3.470000, 3.160000, 2.890000, 2.670000, 1.920000, 1.720000, 1.550000, 1.420000, 1.320000, 1.230000, 1.170000, 1.140000, 1.140000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 669906 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.368999, -19.393000, 0.255654 ], "estimate": [ -47.368999, -19.393000, 0.255654 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.020000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.130000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.400000, 1.420000, 1.440000, 1.470000, 1.500000, 1.530000, 1.560000, 1.610000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.900000, 1.960000, 2.040000, 2.100000, 2.180000, 2.270000, 2.390000, 2.470000, 2.590000, 2.740000, 2.910000, 3.090000, 3.370000, 3.690000, 4.100000, 4.680000, 6.000000, 16.080000, 16.080000, 16.090000, 17.210000, 19.700000, 20.670000, 19.940000, null, 13.770000, 6.200000, 5.260000, 4.810000, 4.400000, 4.040000, 3.760000, 3.500000, 3.290000, 3.090000, 2.910000, 2.770000, 2.630000, 2.500000, 2.400000, 2.280000, 2.190000, 2.110000, 2.010000, 1.940000, 1.870000, 1.810000, 1.760000, 1.690000, 1.650000, 1.600000, 1.570000, 1.520000, 1.480000, 1.450000, 1.410000, 1.380000, 1.350000, 1.310000, 1.290000, 1.260000, 1.240000, 1.210000, 1.190000, 1.170000, 1.160000, 1.140000, 1.130000, 1.100000, 1.090000, 1.080000, 1.070000, 1.050000, 1.050000, 1.030000, 1.030000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.950000, 0.940000, 0.960000, 0.990000, 1.000000, 1.050000, 4.540000, 3.590000, 4.470000, 4.460000, 4.430000, 4.420000, 2.360000, 4.380000, 4.350000, 4.290000, 3.830000, 4.310000, 4.300000, 4.290000, 2.810000, 2.760000, 4.260000, 4.250000, 4.250000, 4.250000, 4.250000, 4.250000, 2.890000, 4.250000, 4.260000, 4.260000, 4.260000, 4.270000, 4.270000, 4.290000, 4.080000, 3.680000, 3.360000, 3.080000, 2.850000, 2.650000, 2.050000, 1.790000, 1.650000, 1.520000, 1.430000, 1.340000, 1.270000, 1.200000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055392, 896535 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.311001, -19.379000, 0.237217 ], "estimate": [ -47.311001, -19.379000, 0.237217 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.990000, 0.990000, 1.020000, 1.000000, 1.010000, 1.020000, 1.010000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.140000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.350000, 1.390000, 1.400000, 1.430000, 1.460000, 1.480000, 1.530000, 1.550000, 1.590000, 1.630000, 1.670000, 1.710000, 1.770000, 1.820000, 1.860000, 1.930000, 2.000000, 2.050000, 2.130000, 2.210000, 2.300000, 2.400000, 2.520000, 2.660000, 2.790000, 2.970000, 3.200000, 3.460000, 3.800000, 4.160000, 4.960000, 11.090000, 16.020000, 16.020000, 16.030000, 17.140000, 19.450000, 20.540000, 19.900000, 13.750000, 6.430000, 6.150000, 5.170000, 4.670000, 4.270000, 3.930000, 3.650000, 3.410000, 3.200000, 3.010000, 2.840000, 2.680000, 2.560000, 2.440000, 2.330000, 2.240000, 2.120000, 2.050000, 1.960000, 1.890000, 1.830000, 1.770000, 1.700000, 1.670000, 1.600000, 1.570000, 1.520000, 1.480000, 1.450000, 1.420000, 1.380000, 1.350000, 1.310000, 1.290000, 1.260000, 1.220000, 1.200000, 1.190000, 1.170000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.990000, 0.990000, 0.990000, 0.970000, 0.970000, 0.960000, 0.950000, 0.910000, 0.900000, 0.920000, 0.960000, 0.960000, 1.000000, 3.550000, 4.440000, 4.420000, 4.400000, 4.380000, 2.320000, 4.340000, 4.320000, 3.400000, 4.290000, 4.280000, 4.260000, 4.250000, 2.780000, 2.750000, 4.230000, 4.240000, 4.240000, 4.240000, 4.240000, 4.240000, 2.890000, 4.250000, 4.250000, 4.260000, 4.250000, 4.260000, 4.270000, 4.280000, 3.940000, 3.590000, 3.290000, 3.060000, 2.840000, 2.650000, 2.500000, 1.870000, 1.720000, 1.620000, 1.530000, 1.450000, 1.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055393, 149183 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.257004, -19.365999, 0.200344 ], "estimate": [ -47.257004, -19.365999, 0.200344 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 1.010000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.120000, 1.140000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.350000, 1.370000, 1.400000, 1.420000, 1.440000, 1.480000, 1.500000, 1.540000, 1.580000, 1.610000, 1.650000, 1.700000, 1.740000, 1.790000, 1.850000, 1.900000, 1.960000, 2.030000, 2.090000, 2.170000, 2.260000, 2.350000, 2.470000, 2.580000, 2.730000, 2.870000, 3.060000, 3.310000, 3.600000, 3.960000, 4.460000, 5.250000, 15.990000, 15.980000, 15.980000, 16.000000, 19.560000, 19.180000, 20.090000, 19.840000, 13.650000, 6.080000, 6.100000, 5.020000, 4.530000, 4.140000, 3.830000, 3.560000, 3.320000, 3.100000, 2.930000, 2.770000, 2.630000, 2.490000, 2.380000, 2.270000, 2.160000, 2.080000, 1.990000, 1.910000, 1.850000, 1.780000, 1.720000, 1.670000, 1.610000, 1.570000, 1.520000, 1.480000, 1.450000, 1.420000, 1.390000, 1.340000, 1.320000, 1.290000, 1.250000, 1.220000, 1.200000, 1.180000, 1.150000, 1.140000, 1.120000, 1.110000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 1.000000, 0.980000, 0.980000, 0.970000, 0.950000, 0.950000, 0.940000, 0.940000, 0.920000, 0.920000, 0.920000, 0.880000, 0.880000, 0.890000, 0.900000, 0.930000, 0.960000, 4.400000, 4.370000, 4.350000, 4.330000, 2.310000, 4.290000, 4.280000, 3.380000, 4.250000, 4.250000, 4.250000, 4.240000, 2.760000, 2.710000, 4.220000, 4.220000, 4.220000, 4.230000, 4.220000, 4.220000, 2.880000, 4.240000, 4.240000, 4.250000, 4.250000, 4.250000, 4.270000, 4.150000, 3.790000, 3.490000, 3.230000, 3.010000, 2.810000, 2.660000, 2.510000, 1.950000, 1.800000, 1.710000, 1.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055393, 168349 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.202003, -19.355999, 0.151180 ], "estimate": [ -47.202003, -19.355999, 0.151180 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.010000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.060000, 1.060000, 1.070000, 1.090000, 1.090000, 1.100000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.460000, 1.490000, 1.520000, 1.550000, 1.580000, 1.620000, 1.660000, 1.700000, 1.750000, 1.800000, 1.860000, 1.920000, 1.970000, 2.050000, 2.110000, 2.190000, 2.280000, 2.370000, 2.480000, 2.600000, 2.750000, 2.910000, 3.150000, 3.380000, 3.670000, 4.040000, 4.630000, 10.930000, 15.930000, 15.930000, 15.930000, 15.960000, 19.510000, 19.120000, 20.060000, 19.790000, 13.600000, 6.060000, 6.050000, 4.920000, 4.450000, 4.090000, 3.760000, 3.490000, 3.270000, 3.070000, 2.890000, 2.730000, 2.580000, 2.450000, 2.340000, 2.240000, 2.130000, 2.040000, 1.960000, 1.880000, 1.810000, 1.750000, 1.700000, 1.640000, 1.590000, 1.550000, 1.500000, 1.460000, 1.420000, 1.390000, 1.360000, 1.320000, 1.290000, 1.270000, 1.230000, 1.200000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.090000, 1.070000, 1.050000, 1.050000, 1.030000, 1.020000, 1.000000, 1.000000, 0.980000, 0.970000, 0.970000, 0.960000, 0.950000, 0.950000, 0.920000, 0.920000, 0.920000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.850000, 0.850000, 0.860000, 0.910000, 0.900000, 4.320000, 4.320000, 4.300000, 2.260000, 4.270000, 4.250000, 4.240000, 4.240000, 4.230000, 4.220000, 4.210000, 2.730000, 2.730000, 4.200000, 4.210000, 4.210000, 4.210000, 4.220000, 4.220000, 2.860000, 4.230000, 4.230000, 4.230000, 4.250000, 4.250000, 4.260000, 4.040000, 3.720000, 3.440000, 3.210000, 2.990000, 2.830000, 2.680000, 2.540000, 2.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055393, 527359 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.172001, -19.351999, 0.126598 ], "estimate": [ -47.172001, -19.351999, 0.126598 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.130000, 1.140000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.420000, 1.440000, 1.470000, 1.500000, 1.540000, 1.580000, 1.610000, 1.640000, 1.690000, 1.740000, 1.790000, 1.840000, 1.890000, 1.960000, 2.020000, 2.090000, 2.160000, 2.260000, 2.350000, 2.460000, 2.570000, 2.700000, 2.850000, 3.070000, 3.280000, 3.540000, 3.920000, 4.430000, 5.250000, 15.890000, 15.880000, 15.870000, 15.870000, 17.010000, 19.050000, 20.460000, 19.730000, null, 13.560000, 5.990000, 5.040000, 4.570000, 4.160000, 3.840000, 3.560000, 3.320000, 3.110000, 2.920000, 2.740000, 2.600000, 2.470000, 2.350000, 2.240000, 2.150000, 2.050000, 1.960000, 1.890000, 1.810000, 1.740000, 1.690000, 1.640000, 1.590000, 1.540000, 1.500000, 1.470000, 1.420000, 1.380000, 1.350000, 1.310000, 1.290000, 1.260000, 1.230000, 1.190000, 1.170000, 1.150000, 1.130000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.950000, 0.930000, 0.940000, 0.920000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.860000, 0.860000, 0.820000, 0.820000, 0.820000, 0.850000, 0.890000, 0.870000, 4.260000, 2.290000, 4.240000, 3.370000, 4.220000, 4.210000, 4.210000, 4.200000, 2.980000, 2.700000, 4.170000, 4.190000, 4.200000, 4.200000, 4.200000, 4.200000, 4.160000, 4.220000, 4.230000, 4.240000, 4.230000, 4.250000, 4.260000, 4.100000, 3.790000, 3.520000, 3.290000, 3.090000, 2.920000 ], "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, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055393, 542515 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.112003, -19.346001, 0.095870 ], "estimate": [ -47.112003, -19.346001, 0.095870 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.110000, 1.120000, 1.140000, 1.140000, 1.150000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.300000, 1.300000, 1.320000, 1.340000, 1.400000, 1.400000, 1.430000, 1.460000, 1.480000, 1.520000, 1.550000, 1.590000, 1.630000, 1.680000, 1.720000, 1.760000, 1.800000, 1.870000, 1.920000, 1.980000, 2.060000, 2.110000, 2.200000, 2.300000, 2.390000, 2.500000, 2.610000, 2.750000, 2.930000, 3.140000, 3.390000, 3.700000, 4.110000, 4.700000, 5.820000, 15.830000, 15.840000, 15.830000, 15.840000, 19.400000, 19.040000, 19.950000, 19.700000, 13.510000, 5.950000, 5.940000, 4.790000, 4.330000, 3.970000, 3.670000, 3.400000, 3.180000, 2.970000, 2.790000, 2.640000, 2.490000, 2.370000, 2.260000, 2.170000, 2.080000, 1.980000, 1.920000, 1.850000, 1.770000, 1.700000, 1.660000, 1.610000, 1.550000, 1.500000, 1.470000, 1.420000, 1.380000, 1.360000, 1.310000, 1.290000, 1.260000, 1.220000, 1.200000, 1.180000, 1.150000, 1.130000, 1.100000, 1.100000, 1.070000, 1.050000, 1.050000, 1.030000, 1.020000, 0.990000, 1.000000, 0.980000, 0.970000, 0.970000, 0.950000, 0.940000, 0.930000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.860000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.800000, 0.800000, 0.800000, 0.810000, 0.870000, 0.890000, 3.350000, 4.200000, 4.200000, 4.190000, 4.190000, 4.180000, 2.690000, 2.680000, 4.150000, 4.180000, 4.180000, 4.190000, 4.190000, 4.200000, 2.860000, 4.220000, 4.230000, 4.240000, 4.250000, 4.250000, 4.200000, 3.900000, 3.630000, 3.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055393, 812093 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.052998, -19.340000, 0.095870 ], "estimate": [ -47.052998, -19.340000, 0.095870 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.970000, 0.980000, 0.990000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.270000, 1.290000, 1.300000, 1.320000, 1.350000, 1.380000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.580000, 1.620000, 1.670000, 1.710000, 1.760000, 1.810000, 1.860000, 1.910000, 1.980000, 2.040000, 2.120000, 2.190000, 2.300000, 2.400000, 2.510000, 2.620000, 2.760000, 2.930000, 3.150000, 3.400000, 3.710000, 4.120000, 4.710000, 5.790000, 15.790000, 15.780000, 15.780000, 15.790000, 19.370000, 18.970000, 19.970000, 19.620000, 13.450000, 5.890000, 5.900000, 4.740000, 4.300000, 3.930000, 3.640000, 3.370000, 3.150000, 2.930000, 2.760000, 2.600000, 2.460000, 2.340000, 2.240000, 2.130000, 2.050000, 1.970000, 1.890000, 1.810000, 1.750000, 1.690000, 1.620000, 1.580000, 1.520000, 1.480000, 1.440000, 1.390000, 1.360000, 1.320000, 1.290000, 1.260000, 1.230000, 1.200000, 1.190000, 1.150000, 1.130000, 1.110000, 1.090000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 0.990000, 0.980000, 0.970000, 0.970000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.910000, 0.890000, 0.890000, 0.870000, 0.860000, 0.860000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.810000, 0.790000, 0.780000, 0.770000, 0.790000, 0.840000, 0.860000, 4.170000, 4.160000, 4.160000, 4.150000, 2.660000, 2.660000, 4.160000, 4.160000, 4.160000, 4.170000, 4.170000, 4.180000, 2.840000, 4.210000, 4.210000, 4.230000, 4.240000, 4.250000, 4.140000, 3.850000, 3.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055394, 217792 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.000000, -19.334999, 0.095870 ], "estimate": [ -47.000000, -19.334999, 0.095870 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.990000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.260000, 1.290000, 1.310000, 1.330000, 1.350000, 1.370000, 1.390000, 1.420000, 1.450000, 1.490000, 1.520000, 1.560000, 1.590000, 1.630000, 1.670000, 1.710000, 1.760000, 1.810000, 1.860000, 1.920000, 1.980000, 2.050000, 2.130000, 2.190000, 2.310000, 2.400000, 2.500000, 2.630000, 2.760000, 2.960000, 3.160000, 3.390000, 3.710000, 4.130000, 4.750000, 5.730000, 15.730000, 15.730000, 15.720000, 15.740000, 19.280000, 18.960000, 20.250000, 19.590000, 13.400000, 5.840000, 5.840000, 4.730000, 4.270000, 3.900000, 3.600000, 3.350000, 3.100000, 2.910000, 2.720000, 2.570000, 2.430000, 2.320000, 2.210000, 2.120000, 2.010000, 1.940000, 1.870000, 1.790000, 1.720000, 1.660000, 1.610000, 1.550000, 1.500000, 1.470000, 1.420000, 1.380000, 1.330000, 1.300000, 1.280000, 1.250000, 1.210000, 1.190000, 1.160000, 1.130000, 1.120000, 1.090000, 1.070000, 1.060000, 1.050000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.760000, 0.760000, 0.760000, 0.770000, 0.820000, 4.140000, 4.130000, 2.840000, 2.640000, 4.140000, 4.140000, 4.150000, 4.160000, 4.170000, 4.170000, 2.800000, 4.200000, 4.210000, 4.230000, 4.240000, 4.250000, 4.080000, 3.810000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055394, 218873 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.942997, -19.330000, 0.089725 ], "estimate": [ -46.942997, -19.330000, 0.089725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.150000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.290000, 1.300000, 1.320000, 1.350000, 1.380000, 1.400000, 1.420000, 1.460000, 1.490000, 1.520000, 1.560000, 1.590000, 1.630000, 1.680000, 1.710000, 1.770000, 1.810000, 1.860000, 1.920000, 1.980000, 2.050000, 2.130000, 2.210000, 2.310000, 2.400000, 2.500000, 2.630000, 2.750000, 2.930000, 3.170000, 3.410000, 3.710000, 4.130000, 4.720000, 5.690000, 15.680000, 15.680000, 15.670000, 15.680000, 16.850000, 19.230000, 20.250000, 19.540000, 13.390000, 5.770000, 5.790000, 4.730000, 4.250000, 3.880000, 3.590000, 3.320000, 3.080000, 2.890000, 2.700000, 2.550000, 2.420000, 2.290000, 2.190000, 2.090000, 1.990000, 1.910000, 1.850000, 1.770000, 1.700000, 1.640000, 1.590000, 1.530000, 1.480000, 1.440000, 1.400000, 1.360000, 1.330000, 1.290000, 1.250000, 1.220000, 1.190000, 1.180000, 1.140000, 1.120000, 1.100000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.890000, 0.890000, 0.890000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.840000, 0.840000, 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.770000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.770000, 0.740000, 0.740000, 0.740000, 0.750000, 0.810000, 0.820000, 2.630000, 2.690000, 4.140000, 4.140000, 4.150000, 4.160000, 4.170000, 4.160000, 4.170000, 4.210000, 4.220000, 4.240000, 4.250000, 4.030000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055394, 289121 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.882999, -19.325001, 0.089725 ], "estimate": [ -46.882999, -19.325001, 0.089725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.970000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.000000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.360000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.520000, 1.570000, 1.590000, 1.630000, 1.670000, 1.720000, 1.770000, 1.820000, 1.860000, 1.920000, 2.000000, 2.050000, 2.130000, 2.220000, 2.310000, 2.420000, 2.520000, 2.640000, 2.770000, 2.960000, 3.190000, 3.430000, 3.750000, 4.190000, 4.710000, 10.590000, 15.640000, 15.640000, 15.630000, 15.630000, 16.740000, 19.200000, 20.200000, 19.490000, 13.370000, 5.740000, 5.740000, 4.680000, 4.200000, 3.830000, 3.530000, 3.280000, 3.050000, 2.840000, 2.660000, 2.510000, 2.370000, 2.250000, 2.150000, 2.060000, 1.960000, 1.880000, 1.820000, 1.740000, 1.690000, 1.610000, 1.550000, 1.510000, 1.470000, 1.420000, 1.370000, 1.330000, 1.290000, 1.270000, 1.230000, 1.190000, 1.180000, 1.150000, 1.120000, 1.090000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.960000, 0.950000, 0.940000, 0.920000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.760000, 0.750000, 0.760000, 0.760000, 0.720000, 0.730000, 0.730000, 0.730000, 0.800000, 4.130000, 4.130000, 4.140000, 4.160000, 4.170000, 4.180000, 2.840000, 4.210000, 4.230000, 4.240000, 4.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 653962 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.822998, -19.319000, 0.089725 ], "estimate": [ -46.822998, -19.319000, 0.089725 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 1.000000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.060000, 1.060000, 1.060000, 1.080000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.150000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.230000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.360000, 1.380000, 1.410000, 1.430000, 1.470000, 1.490000, 1.530000, 1.570000, 1.600000, 1.630000, 1.680000, 1.710000, 1.770000, 1.820000, 1.860000, 1.950000, 2.000000, 2.060000, 2.140000, 2.230000, 2.320000, 2.420000, 2.530000, 2.650000, 2.810000, 2.970000, 3.200000, 3.440000, 3.700000, 4.220000, 4.790000, 10.540000, 15.580000, 15.570000, 15.580000, 15.570000, 19.120000, 19.210000, 20.160000, 19.430000, null, 5.670000, 5.680000, 4.660000, 4.170000, 3.780000, 3.490000, 3.250000, 3.020000, 2.810000, 2.630000, 2.470000, 2.360000, 2.240000, 2.110000, 2.020000, 1.940000, 1.860000, 1.790000, 1.710000, 1.660000, 1.600000, 1.530000, 1.480000, 1.440000, 1.400000, 1.350000, 1.310000, 1.290000, 1.240000, 1.210000, 1.180000, 1.160000, 1.120000, 1.110000, 1.080000, 1.060000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.950000, 0.940000, 0.940000, 0.930000, 0.910000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.830000, 0.820000, 0.810000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.720000, 0.720000, 0.720000, 0.760000, 4.150000, 4.160000, 4.170000, 2.820000, 4.200000, 4.220000, 4.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 655156 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.767998, -19.314001, 0.083579 ], "estimate": [ -46.767998, -19.314001, 0.083579 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 0.990000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 0.990000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.370000, 1.380000, 1.400000, 1.430000, 1.460000, 1.490000, 1.530000, 1.560000, 1.590000, 1.630000, 1.670000, 1.710000, 1.760000, 1.810000, 1.870000, 1.920000, 1.980000, 2.060000, 2.130000, 2.210000, 2.320000, 2.410000, 2.500000, 2.620000, 2.760000, 2.940000, 3.150000, 3.410000, 3.660000, 4.130000, 4.610000, 5.530000, 15.530000, 15.530000, 15.530000, 15.510000, 19.200000, 18.740000, 20.100000, 19.380000, 19.390000, 13.200000, 5.630000, 4.680000, 4.240000, 3.850000, 3.520000, 3.260000, 3.040000, 2.820000, 2.640000, 2.480000, 2.350000, 2.230000, 2.120000, 2.030000, 1.940000, 1.860000, 1.780000, 1.710000, 1.650000, 1.580000, 1.530000, 1.480000, 1.430000, 1.380000, 1.340000, 1.300000, 1.280000, 1.240000, 1.190000, 1.180000, 1.140000, 1.110000, 1.090000, 1.060000, 1.040000, 1.030000, 1.010000, 1.000000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.900000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.840000, 0.840000, 0.830000, 0.820000, 0.820000, 0.820000, 0.800000, 0.800000, 0.800000, 0.780000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.710000, 0.710000, 0.710000, 0.710000, 2.810000, 4.210000, 4.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 656129 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.712997, -19.309999, 0.083579 ], "estimate": [ -46.712997, -19.309999, 0.083579 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.210000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.340000, 1.370000, 1.390000, 1.410000, 1.430000, 1.480000, 1.500000, 1.530000, 1.570000, 1.600000, 1.640000, 1.680000, 1.720000, 1.770000, 1.820000, 1.860000, 1.940000, 2.000000, 2.070000, 2.150000, 2.230000, 2.320000, 2.420000, 2.530000, 2.650000, 2.800000, 2.980000, 3.200000, 3.460000, 3.800000, 4.230000, 4.840000, 10.430000, 15.490000, 15.480000, 15.470000, 15.480000, 19.160000, 18.760000, 20.040000, 19.340000, null, 5.630000, 5.580000, 4.570000, 4.110000, 3.720000, 3.420000, 3.180000, 2.940000, 2.740000, 2.560000, 2.420000, 2.290000, 2.170000, 2.070000, 1.970000, 1.880000, 1.810000, 1.740000, 1.670000, 1.610000, 1.550000, 1.500000, 1.450000, 1.390000, 1.350000, 1.310000, 1.280000, 1.240000, 1.200000, 1.180000, 1.150000, 1.120000, 1.090000, 1.060000, 1.040000, 1.030000, 1.000000, 0.990000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.900000, 0.880000, 0.880000, 0.870000, 0.860000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.730000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.700000, 0.710000, 0.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 657152 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.683998, -19.306999, 0.077434 ], "estimate": [ -46.683998, -19.306999, 0.077434 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.410000, 1.440000, 1.470000, 1.510000, 1.540000, 1.580000, 1.610000, 1.640000, 1.690000, 1.730000, 1.780000, 1.830000, 1.880000, 1.940000, 2.020000, 2.100000, 2.160000, 2.250000, 2.340000, 2.450000, 2.550000, 2.680000, 2.830000, 3.020000, 3.250000, 3.510000, 3.870000, 4.330000, 5.020000, 10.390000, 15.440000, 15.440000, 15.430000, 15.430000, 16.560000, 18.620000, 20.000000, 19.290000, null, 5.520000, 5.540000, 4.520000, 4.050000, 3.660000, 3.370000, 3.130000, 2.900000, 2.700000, 2.530000, 2.380000, 2.250000, 2.120000, 2.030000, 1.940000, 1.860000, 1.770000, 1.710000, 1.640000, 1.580000, 1.520000, 1.480000, 1.420000, 1.370000, 1.330000, 1.290000, 1.250000, 1.210000, 1.180000, 1.160000, 1.120000, 1.100000, 1.070000, 1.050000, 1.030000, 1.010000, 0.990000, 0.960000, 0.950000, 0.940000, 0.920000, 0.910000, 0.900000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.820000, 0.800000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.710000, 0.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 657981 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.625000, -19.303001, 0.046706 ], "estimate": [ -46.625000, -19.303001, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.000000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 0.990000, 1.000000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.210000, 1.220000, 1.240000, 1.260000, 1.290000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.420000, 1.440000, 1.470000, 1.510000, 1.540000, 1.580000, 1.610000, 1.650000, 1.690000, 1.730000, 1.780000, 1.830000, 1.880000, 1.950000, 2.020000, 2.100000, 2.180000, 2.250000, 2.340000, 2.440000, 2.550000, 2.670000, 2.830000, 3.030000, 3.260000, 3.530000, 3.900000, 4.350000, 5.080000, 10.340000, 15.390000, 15.380000, 15.370000, 15.370000, 16.490000, 18.540000, 19.950000, 19.230000, null, 5.740000, 5.470000, 4.520000, 4.060000, 3.670000, 3.370000, 3.120000, 2.900000, 2.690000, 2.520000, 2.370000, 2.240000, 2.120000, 2.020000, 1.930000, 1.850000, 1.760000, 1.690000, 1.630000, 1.570000, 1.520000, 1.460000, 1.410000, 1.340000, 1.310000, 1.280000, 1.240000, 1.190000, 1.170000, 1.130000, 1.110000, 1.080000, 1.060000, 1.040000, 1.020000, 0.990000, 0.980000, 0.960000, 0.940000, 0.920000, 0.920000, 0.890000, 0.880000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.690000, 0.700000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.700000, 0.690000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 658889 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.564999, -19.302000, 0.003687 ], "estimate": [ -46.564999, -19.302000, 0.003687 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.990000, 0.990000, 0.990000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.060000, 1.070000, 1.090000, 1.090000, 1.110000, 1.120000, 1.130000, 1.140000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.370000, 1.390000, 1.410000, 1.430000, 1.450000, 1.490000, 1.530000, 1.570000, 1.590000, 1.640000, 1.670000, 1.730000, 1.770000, 1.820000, 1.870000, 1.940000, 2.000000, 2.070000, 2.150000, 2.220000, 2.320000, 2.420000, 2.540000, 2.660000, 2.810000, 3.000000, 3.210000, 3.490000, 3.820000, 4.250000, 4.890000, 10.280000, 15.340000, 15.330000, 15.320000, 15.330000, 16.250000, 19.060000, 19.880000, 19.260000, 19.170000, 12.980000, 5.420000, 4.610000, 4.150000, 3.760000, 3.430000, 3.160000, 2.920000, 2.720000, 2.540000, 2.380000, 2.250000, 2.130000, 2.030000, 1.940000, 1.850000, 1.770000, 1.700000, 1.630000, 1.570000, 1.510000, 1.470000, 1.410000, 1.370000, 1.310000, 1.280000, 1.230000, 1.190000, 1.170000, 1.130000, 1.110000, 1.080000, 1.050000, 1.040000, 1.010000, 0.990000, 0.970000, 0.950000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.870000, 0.860000, 0.840000, 0.830000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.680000, 0.690000, 0.690000, 0.680000, 0.670000, 0.680000, 0.670000, 0.670000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 659829 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.508999, -19.302000, -0.002458 ], "estimate": [ -46.508999, -19.302000, -0.002458 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.990000, 0.980000, 0.990000, 0.980000, 0.990000, 0.990000, 0.980000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.970000, 0.980000, 1.000000, 1.000000, 1.010000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.070000, 1.090000, 1.100000, 1.120000, 1.120000, 1.140000, 1.140000, 1.150000, 1.160000, 1.190000, 1.200000, 1.220000, 1.230000, 1.240000, 1.270000, 1.290000, 1.300000, 1.330000, 1.350000, 1.380000, 1.390000, 1.420000, 1.450000, 1.480000, 1.510000, 1.550000, 1.580000, 1.620000, 1.670000, 1.700000, 1.750000, 1.800000, 1.860000, 1.910000, 1.980000, 2.050000, 2.120000, 2.210000, 2.300000, 2.390000, 2.530000, 2.610000, 2.760000, 2.950000, 3.160000, 3.430000, 3.730000, 4.130000, 4.740000, 10.180000, 10.310000, 15.270000, 15.260000, 15.270000, 15.280000, 19.060000, 18.510000, 19.370000, 19.120000, 12.930000, 5.380000, 4.780000, 4.140000, 3.750000, 3.410000, 3.130000, 2.910000, 2.710000, 2.530000, 2.370000, 2.230000, 2.110000, 2.010000, 1.920000, 1.820000, 1.760000, 1.690000, 1.620000, 1.550000, 1.500000, 1.450000, 1.400000, 1.350000, 1.300000, 1.260000, 1.220000, 1.190000, 1.160000, 1.120000, 1.090000, 1.070000, 1.040000, 1.020000, 1.000000, 0.980000, 0.970000, 0.940000, 0.930000, 0.920000, 0.900000, 0.880000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.810000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 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, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 660773 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.452999, -19.302000, -0.002458 ], "estimate": [ -46.452999, -19.302000, -0.002458 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.990000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.140000, 1.160000, 1.170000, 1.190000, 1.200000, 1.220000, 1.240000, 1.250000, 1.270000, 1.300000, 1.310000, 1.330000, 1.360000, 1.390000, 1.400000, 1.430000, 1.460000, 1.500000, 1.520000, 1.560000, 1.590000, 1.650000, 1.680000, 1.720000, 1.780000, 1.820000, 1.880000, 1.940000, 2.000000, 2.070000, 2.150000, 2.240000, 2.330000, 2.420000, 2.540000, 2.670000, 2.830000, 3.010000, 3.230000, 3.500000, 3.860000, 4.280000, 5.040000, 10.180000, 15.230000, 15.220000, 15.210000, 15.210000, 19.040000, 18.530000, 19.790000, 19.080000, 19.080000, 5.590000, 5.330000, 4.360000, 3.970000, 3.590000, 3.290000, 3.030000, 2.810000, 2.620000, 2.450000, 2.300000, 2.170000, 2.050000, 1.950000, 1.860000, 1.790000, 1.710000, 1.640000, 1.580000, 1.510000, 1.460000, 1.420000, 1.370000, 1.310000, 1.270000, 1.230000, 1.190000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 1.000000, 0.980000, 0.960000, 0.950000, 0.920000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 661684 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.393997, -19.302000, -0.008604 ], "estimate": [ -46.393997, -19.302000, -0.008604 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.980000, 0.970000, 0.980000, 0.970000, 0.970000, 0.980000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.980000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.140000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.290000, 1.300000, 1.330000, 1.360000, 1.390000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.550000, 1.600000, 1.630000, 1.680000, 1.710000, 1.760000, 1.810000, 1.870000, 1.930000, 1.990000, 2.070000, 2.140000, 2.220000, 2.310000, 2.440000, 2.520000, 2.660000, 2.810000, 3.000000, 3.210000, 3.500000, 3.850000, 4.230000, 4.960000, 10.120000, 15.190000, 15.180000, 15.170000, 15.180000, 15.380000, 18.760000, 18.360000, 19.080000, 19.030000, 12.840000, 5.280000, 4.420000, 3.990000, 3.610000, 3.300000, 3.020000, 2.810000, 2.610000, 2.440000, 2.300000, 2.160000, 2.040000, 1.950000, 1.850000, 1.770000, 1.700000, 1.630000, 1.570000, 1.510000, 1.460000, 1.400000, 1.350000, 1.310000, 1.270000, 1.220000, 1.180000, 1.150000, 1.120000, 1.090000, 1.060000, 1.040000, 1.020000, 1.000000, 0.970000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 662667 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.334999, -19.302000, -0.008604 ], "estimate": [ -46.334999, -19.302000, -0.008604 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 0.970000, 0.970000, 0.970000, 0.970000, 0.980000, 0.980000, 1.010000, 1.010000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.120000, 1.130000, 1.130000, 1.140000, 1.150000, 1.160000, 1.190000, 1.200000, 1.220000, 1.230000, 1.250000, 1.280000, 1.290000, 1.300000, 1.330000, 1.350000, 1.390000, 1.390000, 1.420000, 1.450000, 1.490000, 1.520000, 1.560000, 1.590000, 1.640000, 1.680000, 1.720000, 1.780000, 1.830000, 1.880000, 1.940000, 2.010000, 2.070000, 2.150000, 2.240000, 2.330000, 2.440000, 2.550000, 2.690000, 2.850000, 3.040000, 3.290000, 3.560000, 3.930000, 4.420000, 5.150000, 10.070000, 15.130000, 15.110000, 15.100000, 15.110000, 18.750000, 18.360000, 19.660000, 18.970000, 18.970000, 5.490000, 5.230000, 4.270000, 3.870000, 3.500000, 3.210000, 2.950000, 2.750000, 2.550000, 2.390000, 2.250000, 2.110000, 2.000000, 1.910000, 1.820000, 1.750000, 1.670000, 1.600000, 1.540000, 1.480000, 1.430000, 1.380000, 1.330000, 1.290000, 1.240000, 1.190000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.020000, 0.990000, 0.970000, 0.940000, 0.940000, 0.920000, 0.910000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.810000, 0.790000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.660000, 0.650000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.650000, 0.650000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 663619 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.276001, -19.303001, -0.014749 ], "estimate": [ -46.276001, -19.303001, -0.014749 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.970000, 0.990000, 0.980000, 0.980000, 1.000000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.040000, 1.040000, 1.040000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.220000, 1.230000, 1.240000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.390000, 1.390000, 1.420000, 1.450000, 1.480000, 1.520000, 1.560000, 1.590000, 1.630000, 1.680000, 1.720000, 1.770000, 1.820000, 1.870000, 1.940000, 2.000000, 2.070000, 2.150000, 2.220000, 2.330000, 2.430000, 2.550000, 2.680000, 2.840000, 3.020000, 3.250000, 3.540000, 3.910000, 4.390000, 5.080000, 10.020000, 15.060000, 15.060000, 15.060000, 15.060000, 15.370000, 18.610000, 18.310000, 18.980000, 18.920000, 12.720000, 5.160000, 4.320000, 3.890000, 3.510000, 3.200000, 2.940000, 2.730000, 2.540000, 2.380000, 2.230000, 2.110000, 1.990000, 1.890000, 1.800000, 1.730000, 1.660000, 1.580000, 1.520000, 1.470000, 1.410000, 1.360000, 1.310000, 1.280000, 1.220000, 1.180000, 1.150000, 1.110000, 1.090000, 1.050000, 1.030000, 1.010000, 0.980000, 0.960000, 0.940000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.810000, 0.790000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 664530 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.221001, -19.304001, -0.014749 ], "estimate": [ -46.221001, -19.304001, -0.014749 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.130000, 1.150000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.380000, 1.390000, 1.420000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.630000, 1.670000, 1.710000, 1.770000, 1.810000, 1.860000, 1.930000, 2.000000, 2.070000, 2.140000, 2.220000, 2.320000, 2.430000, 2.540000, 2.710000, 2.830000, 3.010000, 3.260000, 3.540000, 3.900000, 4.380000, 5.050000, 9.970000, 15.020000, 15.010000, 15.000000, 15.000000, 15.190000, 18.590000, 18.310000, 19.060000, 18.860000, 12.660000, 5.110000, 4.390000, 3.870000, 3.500000, 3.180000, 2.920000, 2.720000, 2.520000, 2.360000, 2.220000, 2.080000, 1.980000, 1.870000, 1.790000, 1.710000, 1.640000, 1.580000, 1.510000, 1.460000, 1.400000, 1.350000, 1.300000, 1.270000, 1.220000, 1.180000, 1.140000, 1.110000, 1.080000, 1.040000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.760000, 0.760000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.640000, 0.640000, 0.630000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055396, 768566 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.163998, -19.305000, -0.020895 ], "estimate": [ -46.163998, -19.305000, -0.020895 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.960000, 0.960000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.020000, 1.030000, 1.040000, 1.050000, 1.050000, 1.070000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.190000, 1.210000, 1.230000, 1.250000, 1.260000, 1.280000, 1.300000, 1.320000, 1.350000, 1.370000, 1.390000, 1.430000, 1.450000, 1.490000, 1.520000, 1.560000, 1.600000, 1.640000, 1.690000, 1.720000, 1.780000, 1.830000, 1.870000, 1.940000, 2.010000, 2.080000, 2.150000, 2.250000, 2.340000, 2.460000, 2.580000, 2.710000, 2.870000, 3.120000, 3.320000, 3.630000, 3.990000, 4.540000, 9.840000, 9.930000, 14.970000, 14.950000, 14.940000, 14.940000, 18.590000, 18.300000, 19.500000, 18.810000, 18.800000, 5.330000, 5.050000, 4.130000, 3.750000, 3.390000, 3.090000, 2.840000, 2.640000, 2.450000, 2.310000, 2.150000, 2.030000, 1.930000, 1.840000, 1.750000, 1.680000, 1.610000, 1.530000, 1.480000, 1.420000, 1.370000, 1.320000, 1.280000, 1.230000, 1.190000, 1.160000, 1.110000, 1.080000, 1.050000, 1.020000, 1.000000, 0.980000, 0.950000, 0.940000, 0.930000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055397, 390840 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.106003, -19.306000, -0.020895 ], "estimate": [ -46.106003, -19.306000, -0.020895 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.960000, 0.970000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.070000, 1.090000, 1.100000, 1.110000, 1.120000, 1.130000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.330000, 1.350000, 1.400000, 1.390000, 1.420000, 1.460000, 1.490000, 1.530000, 1.570000, 1.600000, 1.650000, 1.700000, 1.730000, 1.790000, 1.840000, 1.890000, 1.950000, 2.030000, 2.090000, 2.190000, 2.260000, 2.360000, 2.480000, 2.610000, 2.740000, 2.920000, 3.130000, 3.380000, 3.710000, 4.100000, 4.710000, 9.850000, 9.880000, 14.910000, 14.900000, 14.890000, 14.910000, 18.530000, 18.060000, 19.460000, 18.760000, 18.750000, 5.100000, 5.000000, 4.040000, 3.640000, 3.300000, 3.020000, 2.770000, 2.570000, 2.400000, 2.250000, 2.110000, 1.990000, 1.880000, 1.790000, 1.700000, 1.640000, 1.580000, 1.500000, 1.450000, 1.390000, 1.340000, 1.290000, 1.260000, 1.200000, 1.170000, 1.130000, 1.090000, 1.070000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.740000, 0.720000, 0.730000, 0.720000, 0.700000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055397, 169232 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.046001, -19.308001, -0.039331 ], "estimate": [ -46.046001, -19.308001, -0.039331 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.110000, 1.120000, 1.140000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.250000, 1.270000, 1.280000, 1.300000, 1.330000, 1.350000, 1.380000, 1.400000, 1.420000, 1.470000, 1.490000, 1.530000, 1.570000, 1.600000, 1.650000, 1.700000, 1.730000, 1.790000, 1.830000, 1.890000, 1.950000, 2.030000, 2.090000, 2.180000, 2.280000, 2.380000, 2.480000, 2.600000, 2.750000, 2.920000, 3.150000, 3.390000, 3.730000, 4.150000, 4.770000, 9.770000, 9.840000, 14.860000, 14.840000, 14.840000, 14.830000, 18.470000, 18.030000, 19.410000, 18.680000, 18.690000, 5.210000, 4.950000, 3.980000, 3.640000, 3.290000, 2.990000, 2.750000, 2.550000, 2.380000, 2.230000, 2.100000, 1.970000, 1.870000, 1.780000, 1.690000, 1.620000, 1.550000, 1.490000, 1.440000, 1.390000, 1.330000, 1.280000, 1.230000, 1.190000, 1.150000, 1.110000, 1.080000, 1.040000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.910000, 0.880000, 0.860000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055397, 485026 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.988998, -19.310999, -0.076205 ], "estimate": [ -45.988998, -19.310999, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 0.990000, 1.000000, 1.000000, 1.020000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.150000, 1.170000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.330000, 1.360000, 1.390000, 1.400000, 1.430000, 1.480000, 1.510000, 1.540000, 1.580000, 1.620000, 1.670000, 1.700000, 1.760000, 1.800000, 1.860000, 1.920000, 1.980000, 2.050000, 2.120000, 2.210000, 2.310000, 2.420000, 2.540000, 2.670000, 2.820000, 3.020000, 3.270000, 3.550000, 3.870000, 4.400000, 8.960000, 9.740000, 14.810000, 14.800000, 14.790000, 14.790000, 14.790000, 18.440000, 18.100000, 19.350000, 18.640000, null, 4.900000, 4.890000, 3.870000, 3.470000, 3.160000, 2.890000, 2.650000, 2.470000, 2.310000, 2.160000, 2.030000, 1.920000, 1.810000, 1.730000, 1.660000, 1.600000, 1.510000, 1.470000, 1.400000, 1.340000, 1.290000, 1.260000, 1.200000, 1.170000, 1.120000, 1.090000, 1.060000, 1.020000, 1.000000, 0.970000, 0.950000, 0.920000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055397, 568986 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.932999, -19.316000, -0.082350 ], "estimate": [ -45.932999, -19.316000, -0.082350 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.950000, 0.950000, 0.940000, 0.940000, 0.940000, 0.950000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.130000, 1.140000, 1.160000, 1.170000, 1.190000, 1.210000, 1.230000, 1.240000, 1.270000, 1.290000, 1.300000, 1.330000, 1.350000, 1.380000, 1.410000, 1.430000, 1.470000, 1.500000, 1.540000, 1.580000, 1.610000, 1.650000, 1.700000, 1.750000, 1.800000, 1.860000, 1.910000, 1.970000, 2.040000, 2.120000, 2.220000, 2.310000, 2.420000, 2.530000, 2.670000, 2.820000, 3.030000, 3.260000, 3.550000, 3.900000, 4.460000, 8.880000, 9.700000, 14.750000, 14.730000, 14.730000, 14.730000, 14.720000, 18.290000, 18.000000, 19.300000, 18.580000, 12.540000, 4.840000, 4.830000, 3.800000, 3.380000, 3.080000, 2.820000, 2.600000, 2.420000, 2.260000, 2.120000, 2.000000, 1.880000, 1.780000, 1.700000, 1.620000, 1.550000, 1.490000, 1.430000, 1.380000, 1.320000, 1.280000, 1.230000, 1.190000, 1.150000, 1.110000, 1.070000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.900000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055397, 903574 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.877003, -19.320000, -0.082350 ], "estimate": [ -45.877003, -19.320000, -0.082350 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.070000, 1.080000, 1.100000, 1.110000, 1.120000, 1.140000, 1.140000, 1.150000, 1.170000, 1.190000, 1.210000, 1.240000, 1.240000, 1.260000, 1.280000, 1.300000, 1.330000, 1.360000, 1.390000, 1.400000, 1.430000, 1.470000, 1.500000, 1.540000, 1.580000, 1.620000, 1.650000, 1.700000, 1.750000, 1.800000, 1.860000, 1.910000, 1.990000, 2.060000, 2.130000, 2.220000, 2.320000, 2.430000, 2.550000, 2.690000, 2.870000, 3.060000, 3.300000, 3.600000, 4.010000, 4.540000, 8.950000, 9.660000, 14.700000, 14.700000, 14.690000, 14.680000, 14.760000, 18.260000, 17.860000, 19.180000, 18.540000, 12.340000, 4.780000, 4.780000, 3.710000, 3.340000, 3.020000, 2.770000, 2.550000, 2.390000, 2.230000, 2.100000, 1.970000, 1.850000, 1.770000, 1.680000, 1.600000, 1.530000, 1.470000, 1.420000, 1.350000, 1.300000, 1.270000, 1.210000, 1.180000, 1.130000, 1.090000, 1.060000, 1.020000, 1.010000, 0.980000, 0.950000, 0.920000, 0.900000, 0.890000, 0.850000, 0.850000, 0.830000, 0.810000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055397, 968601 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.816002, -19.325001, -0.076205 ], "estimate": [ -45.816002, -19.325001, -0.076205 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.970000, 0.970000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.230000, 1.250000, 1.270000, 1.290000, 1.310000, 1.340000, 1.370000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.630000, 1.680000, 1.720000, 1.770000, 1.820000, 1.870000, 1.940000, 2.010000, 2.090000, 2.180000, 2.280000, 2.380000, 2.490000, 2.600000, 2.800000, 2.940000, 3.190000, 3.440000, 3.760000, 4.260000, 9.430000, 9.570000, 9.650000, 14.640000, 14.620000, 14.610000, 14.630000, 18.330000, 17.810000, 19.190000, 18.480000, 18.470000, 5.000000, 4.720000, 3.780000, 3.460000, 3.140000, 2.850000, 2.640000, 2.440000, 2.270000, 2.120000, 2.000000, 1.880000, 1.780000, 1.690000, 1.610000, 1.540000, 1.480000, 1.430000, 1.370000, 1.310000, 1.270000, 1.210000, 1.180000, 1.130000, 1.100000, 1.060000, 1.030000, 1.010000, 0.970000, 0.950000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055398, 477120 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.752998, -19.330000, -0.088496 ], "estimate": [ -45.752998, -19.330000, -0.088496 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.940000, 0.950000, 0.940000, 0.930000, 0.930000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.970000, 0.980000, 0.980000, 0.990000, 1.000000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.280000, 1.290000, 1.320000, 1.350000, 1.390000, 1.400000, 1.430000, 1.460000, 1.490000, 1.540000, 1.570000, 1.610000, 1.650000, 1.690000, 1.740000, 1.790000, 1.850000, 1.910000, 1.970000, 2.050000, 2.140000, 2.220000, 2.310000, 2.430000, 2.550000, 2.680000, 2.850000, 3.050000, 3.320000, 3.600000, 4.010000, 4.560000, 8.810000, 9.540000, 14.590000, 14.560000, 14.560000, 14.560000, 14.560000, 18.120000, 18.110000, 19.130000, 18.410000, null, 4.670000, 4.650000, 3.690000, 3.320000, 3.000000, 2.740000, 2.540000, 2.370000, 2.210000, 2.070000, 1.940000, 1.850000, 1.750000, 1.660000, 1.580000, 1.510000, 1.440000, 1.390000, 1.320000, 1.290000, 1.230000, 1.190000, 1.150000, 1.120000, 1.070000, 1.030000, 1.000000, 0.980000, 0.950000, 0.920000, 0.910000, 0.890000, 0.860000, 0.850000, 0.820000, 0.810000, 0.790000, 0.790000, 0.790000, 0.770000, 0.750000, 0.750000, 0.730000, 0.720000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055398, 478221 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.695999, -19.336000, -0.113078 ], "estimate": [ -45.695999, -19.336000, -0.113078 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.930000, 0.940000, 0.940000, 0.930000, 0.930000, 0.920000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.930000, 0.940000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.030000, 1.040000, 1.060000, 1.060000, 1.080000, 1.090000, 1.110000, 1.120000, 1.130000, 1.150000, 1.160000, 1.190000, 1.200000, 1.220000, 1.240000, 1.260000, 1.290000, 1.290000, 1.320000, 1.350000, 1.380000, 1.400000, 1.440000, 1.460000, 1.490000, 1.540000, 1.580000, 1.610000, 1.650000, 1.690000, 1.740000, 1.790000, 1.850000, 1.920000, 1.980000, 2.060000, 2.140000, 2.240000, 2.330000, 2.440000, 2.560000, 2.690000, 2.890000, 3.090000, 3.370000, 3.650000, 4.090000, 4.690000, 9.440000, 9.490000, 14.520000, 14.510000, 14.500000, 14.500000, 14.510000, 18.040000, 17.710000, 19.070000, 18.350000, null, 4.590000, 4.580000, 3.620000, 3.260000, 2.960000, 2.690000, 2.500000, 2.330000, 2.160000, 2.020000, 1.910000, 1.820000, 1.720000, 1.640000, 1.550000, 1.490000, 1.430000, 1.370000, 1.310000, 1.260000, 1.210000, 1.180000, 1.120000, 1.080000, 1.050000, 1.030000, 0.990000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.720000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055398, 569198 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.642002, -19.343000, -0.168387 ], "estimate": [ -45.642002, -19.343000, -0.168387 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.920000, 0.920000, 0.940000, 0.940000, 0.940000, 0.920000, 0.930000, 0.920000, 0.920000, 0.920000, 0.920000, 0.920000, 0.930000, 0.930000, 0.940000, 0.930000, 0.940000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.960000, 0.960000, 0.980000, 0.990000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.150000, 1.160000, 1.190000, 1.210000, 1.230000, 1.240000, 1.270000, 1.290000, 1.300000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.550000, 1.580000, 1.630000, 1.660000, 1.710000, 1.780000, 1.810000, 1.880000, 1.940000, 2.020000, 2.100000, 2.200000, 2.290000, 2.390000, 2.500000, 2.650000, 2.800000, 2.990000, 3.230000, 3.490000, 3.890000, 4.380000, 8.730000, 9.420000, 14.490000, 14.470000, 14.450000, 14.440000, 14.450000, 15.610000, 18.010000, 18.970000, 18.550000, 18.290000, 12.110000, 4.540000, 4.530000, 3.460000, 3.110000, 2.840000, 2.600000, 2.400000, 2.250000, 2.100000, 1.980000, 1.860000, 1.770000, 1.680000, 1.600000, 1.510000, 1.450000, 1.390000, 1.340000, 1.290000, 1.230000, 1.180000, 1.150000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.780000, 0.760000, 0.740000, 0.730000, 0.710000, 0.720000, 0.710000, 0.700000, 0.680000, 0.680000, 0.680000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 819437 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.586002, -19.354000, -0.217552 ], "estimate": [ -45.586002, -19.354000, -0.217552 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.930000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.920000, 0.920000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.970000, 0.990000, 0.990000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.120000, 1.140000, 1.150000, 1.160000, 1.180000, 1.200000, 1.230000, 1.240000, 1.260000, 1.290000, 1.300000, 1.330000, 1.360000, 1.390000, 1.410000, 1.440000, 1.480000, 1.520000, 1.560000, 1.590000, 1.630000, 1.680000, 1.730000, 1.780000, 1.840000, 1.900000, 1.970000, 2.040000, 2.140000, 2.220000, 2.320000, 2.440000, 2.590000, 2.690000, 2.880000, 3.090000, 3.360000, 3.700000, 4.130000, 9.300000, 9.330000, 9.390000, 14.420000, 14.390000, 14.400000, 14.400000, 14.410000, 17.940000, 17.570000, 18.960000, 18.240000, null, 4.490000, 4.470000, 3.560000, 3.280000, 2.960000, 2.710000, 2.500000, 2.320000, 2.170000, 2.040000, 1.920000, 1.820000, 1.720000, 1.630000, 1.560000, 1.480000, 1.420000, 1.360000, 1.300000, 1.260000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.830000, 0.820000, 0.810000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 820317 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.527000, -19.368999, -0.272861 ], "estimate": [ -45.527000, -19.368999, -0.272861 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.900000, 0.900000, 0.900000, 0.900000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.910000, 0.900000, 0.910000, 0.900000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.050000, 1.060000, 1.080000, 1.100000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.250000, 1.280000, 1.300000, 1.330000, 1.350000, 1.390000, 1.410000, 1.440000, 1.470000, 1.510000, 1.550000, 1.590000, 1.640000, 1.680000, 1.730000, 1.780000, 1.850000, 1.920000, 1.980000, 2.060000, 2.150000, 2.240000, 2.340000, 2.460000, 2.580000, 2.750000, 2.930000, 3.190000, 3.440000, 3.860000, 4.340000, 8.530000, 9.300000, 9.450000, 14.350000, 14.340000, 14.330000, 14.340000, 15.470000, 17.890000, 18.880000, 18.520000, 18.160000, 11.990000, 4.420000, 4.420000, 3.470000, 3.150000, 2.870000, 2.620000, 2.430000, 2.260000, 2.120000, 1.990000, 1.880000, 1.770000, 1.700000, 1.610000, 1.530000, 1.460000, 1.400000, 1.340000, 1.290000, 1.240000, 1.190000, 1.150000, 1.110000, 1.070000, 1.040000, 1.020000, 0.990000, 0.950000, 0.930000, 0.900000, 0.890000, 0.860000, 0.860000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.730000, 0.730000, 0.720000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 821074 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.470001, -19.386000, -0.297443 ], "estimate": [ -45.470001, -19.386000, -0.297443 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.890000, 0.890000, 0.890000, 0.880000, 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, 0.880000, 0.890000, 0.890000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.980000, 0.980000, 1.000000, 1.010000, 1.030000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.230000, 1.260000, 1.290000, 1.300000, 1.340000, 1.360000, 1.390000, 1.410000, 1.450000, 1.490000, 1.530000, 1.570000, 1.600000, 1.650000, 1.710000, 1.770000, 1.820000, 1.880000, 1.960000, 2.030000, 2.120000, 2.200000, 2.320000, 2.440000, 2.550000, 2.700000, 2.920000, 3.130000, 3.370000, 3.800000, 4.270000, 8.570000, 9.250000, 9.380000, 14.290000, 14.270000, 14.270000, 14.270000, 17.900000, 17.820000, 18.820000, 18.360000, 18.120000, 11.920000, 4.360000, 4.350000, 3.400000, 3.170000, 2.880000, 2.650000, 2.430000, 2.270000, 2.120000, 2.000000, 1.890000, 1.790000, 1.700000, 1.610000, 1.540000, 1.480000, 1.410000, 1.350000, 1.290000, 1.250000, 1.200000, 1.160000, 1.130000, 1.090000, 1.040000, 1.030000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.870000, 0.850000, 0.840000, 0.830000, 0.820000, 0.790000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 821828 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.415001, -19.403000, -0.291298 ], "estimate": [ -45.415001, -19.403000, -0.291298 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.880000, 0.870000, 0.880000, 0.880000, 0.880000, 0.880000, 0.870000, 0.880000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.870000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.930000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.220000, 1.240000, 1.260000, 1.290000, 1.320000, 1.330000, 1.380000, 1.390000, 1.430000, 1.470000, 1.500000, 1.550000, 1.580000, 1.630000, 1.690000, 1.740000, 1.790000, 1.860000, 1.930000, 2.010000, 2.090000, 2.180000, 2.280000, 2.410000, 2.510000, 2.670000, 2.870000, 3.090000, 3.320000, 3.740000, 4.220000, 9.130000, 9.170000, 9.270000, 14.230000, 14.230000, 14.220000, 14.210000, 15.150000, 17.780000, 17.400000, 18.250000, 18.080000, 11.870000, 4.310000, 4.300000, 3.430000, 3.160000, 2.890000, 2.640000, 2.440000, 2.270000, 2.130000, 2.010000, 1.890000, 1.790000, 1.700000, 1.620000, 1.540000, 1.480000, 1.420000, 1.360000, 1.300000, 1.250000, 1.200000, 1.170000, 1.120000, 1.090000, 1.050000, 1.030000, 1.000000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.860000, 0.850000, 0.820000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.600000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 822620 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.362999, -19.419001, -0.291298 ], "estimate": [ -45.362999, -19.419001, -0.291298 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.870000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.850000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.240000, 1.270000, 1.290000, 1.310000, 1.340000, 1.370000, 1.390000, 1.430000, 1.470000, 1.510000, 1.550000, 1.590000, 1.640000, 1.700000, 1.770000, 1.810000, 1.880000, 1.960000, 2.040000, 2.120000, 2.210000, 2.330000, 2.440000, 2.580000, 2.750000, 2.960000, 3.200000, 3.550000, 3.950000, 8.360000, 9.110000, 9.150000, 14.180000, 14.170000, 14.160000, 14.150000, 14.170000, 17.710000, 17.330000, 18.730000, 18.020000, 17.990000, 11.820000, 4.260000, 4.260000, 3.300000, 3.020000, 2.760000, 2.550000, 2.360000, 2.220000, 2.060000, 1.950000, 1.840000, 1.760000, 1.670000, 1.590000, 1.520000, 1.450000, 1.390000, 1.330000, 1.280000, 1.220000, 1.180000, 1.140000, 1.120000, 1.080000, 1.040000, 1.020000, 0.980000, 0.950000, 0.930000, 0.910000, 0.900000, 0.870000, 0.860000, 0.850000, 0.820000, 0.810000, 0.790000, 0.780000, 0.780000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 823374 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.307999, -19.434999, -0.285152 ], "estimate": [ -45.307999, -19.434999, -0.285152 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.860000, 0.860000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.880000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.210000, 1.240000, 1.260000, 1.290000, 1.300000, 1.330000, 1.370000, 1.390000, 1.430000, 1.480000, 1.520000, 1.560000, 1.600000, 1.660000, 1.710000, 1.760000, 1.820000, 1.890000, 1.960000, 2.050000, 2.130000, 2.230000, 2.340000, 2.460000, 2.620000, 2.810000, 3.030000, 3.310000, 3.670000, 4.100000, 8.730000, 9.070000, 9.130000, 14.130000, 14.120000, 14.120000, 14.110000, 14.300000, 17.850000, 17.330000, 18.490000, 17.960000, 11.800000, 4.490000, 4.200000, 4.190000, 3.220000, 2.920000, 2.680000, 2.470000, 2.290000, 2.150000, 2.010000, 1.910000, 1.820000, 1.720000, 1.640000, 1.560000, 1.490000, 1.440000, 1.380000, 1.310000, 1.270000, 1.220000, 1.180000, 1.130000, 1.100000, 1.060000, 1.030000, 1.010000, 0.980000, 0.940000, 0.930000, 0.910000, 0.890000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 824128 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.249001, -19.453001, -0.291298 ], "estimate": [ -45.249001, -19.453001, -0.291298 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.860000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.080000, 1.090000, 1.120000, 1.140000, 1.150000, 1.160000, 1.190000, 1.200000, 1.230000, 1.250000, 1.290000, 1.300000, 1.330000, 1.370000, 1.400000, 1.430000, 1.470000, 1.520000, 1.570000, 1.600000, 1.660000, 1.710000, 1.770000, 1.830000, 1.890000, 1.970000, 2.060000, 2.150000, 2.250000, 2.370000, 2.500000, 2.670000, 2.870000, 3.090000, 3.410000, 3.800000, 4.610000, 8.410000, 9.020000, 14.070000, 14.060000, 14.060000, 14.050000, 14.050000, 17.680000, 17.260000, 18.620000, 17.920000, 17.900000, 11.710000, 4.150000, 4.140000, 4.150000, 3.120000, 2.860000, 2.630000, 2.430000, 2.250000, 2.130000, 1.990000, 1.880000, 1.780000, 1.700000, 1.610000, 1.540000, 1.480000, 1.420000, 1.360000, 1.310000, 1.260000, 1.210000, 1.170000, 1.120000, 1.090000, 1.050000, 1.030000, 0.990000, 0.970000, 0.940000, 0.920000, 0.900000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 824906 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.192001, -19.469999, -0.297443 ], "estimate": [ -45.192001, -19.469999, -0.297443 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.840000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.170000, 1.190000, 1.200000, 1.230000, 1.260000, 1.280000, 1.300000, 1.330000, 1.380000, 1.410000, 1.450000, 1.490000, 1.530000, 1.570000, 1.620000, 1.680000, 1.730000, 1.790000, 1.860000, 1.930000, 2.010000, 2.100000, 2.200000, 2.310000, 2.440000, 2.580000, 2.780000, 3.000000, 3.300000, 3.660000, 4.070000, 8.180000, 8.950000, 9.080000, 14.000000, 14.000000, 13.990000, 13.990000, 14.370000, 17.570000, 17.220000, 18.500000, 17.840000, 11.810000, 11.660000, 4.080000, 4.080000, 3.130000, 2.940000, 2.700000, 2.490000, 2.320000, 2.170000, 2.050000, 1.920000, 1.820000, 1.730000, 1.650000, 1.570000, 1.490000, 1.440000, 1.380000, 1.330000, 1.290000, 1.230000, 1.180000, 1.140000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.800000, 0.780000, 0.760000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.580000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 825662 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.137997, -19.487000, -0.303589 ], "estimate": [ -45.137997, -19.487000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.820000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.830000, 0.850000, 0.800000, 0.810000, 0.810000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.160000, 1.190000, 1.210000, 1.230000, 1.260000, 1.290000, 1.310000, 1.350000, 1.390000, 1.410000, 1.460000, 1.500000, 1.550000, 1.600000, 1.650000, 1.700000, 1.770000, 1.830000, 1.890000, 1.980000, 2.050000, 2.160000, 2.280000, 2.400000, 2.540000, 2.730000, 2.930000, 3.220000, 3.570000, 3.930000, 8.840000, 8.910000, 8.940000, 13.950000, 13.950000, 13.940000, 13.940000, 13.990000, 17.480000, 17.160000, 18.520000, 17.800000, 12.240000, 11.590000, 4.020000, 4.010000, 4.030000, 3.010000, 2.760000, 2.550000, 2.370000, 2.210000, 2.070000, 1.960000, 1.850000, 1.760000, 1.670000, 1.590000, 1.520000, 1.470000, 1.400000, 1.340000, 1.290000, 1.250000, 1.200000, 1.170000, 1.120000, 1.080000, 1.050000, 1.030000, 1.000000, 0.970000, 0.940000, 0.930000, 0.900000, 0.880000, 0.850000, 0.840000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 826416 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.087002, -19.503000, -0.315880 ], "estimate": [ -45.087002, -19.503000, -0.315880 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.930000, 0.950000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.120000, 1.140000, 1.160000, 1.170000, 1.190000, 1.220000, 1.240000, 1.270000, 1.290000, 1.330000, 1.370000, 1.400000, 1.440000, 1.490000, 1.520000, 1.570000, 1.620000, 1.680000, 1.740000, 1.800000, 1.860000, 1.950000, 2.030000, 2.130000, 2.240000, 2.360000, 2.500000, 2.680000, 2.880000, 3.160000, 3.480000, 3.890000, 8.100000, 8.840000, 8.890000, 13.900000, 13.900000, 13.890000, 13.890000, 13.900000, 17.430000, 17.060000, 18.450000, 17.740000, 17.730000, 11.540000, 4.010000, 3.980000, 3.980000, 3.020000, 2.790000, 2.600000, 2.400000, 2.240000, 2.080000, 1.980000, 1.860000, 1.780000, 1.700000, 1.610000, 1.540000, 1.480000, 1.420000, 1.360000, 1.300000, 1.260000, 1.220000, 1.170000, 1.130000, 1.100000, 1.060000, 1.030000, 1.000000, 0.980000, 0.950000, 0.930000, 0.910000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.790000, 0.770000, 0.760000, 0.760000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.660000, 0.670000, 0.660000, 0.660000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 827311 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.031002, -19.521999, -0.315880 ], "estimate": [ -45.031002, -19.521999, -0.315880 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.810000, 0.800000, 0.790000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.920000, 0.940000, 0.950000, 0.950000, 0.960000, 0.990000, 1.000000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.140000, 1.150000, 1.160000, 1.190000, 1.210000, 1.240000, 1.270000, 1.290000, 1.330000, 1.380000, 1.410000, 1.450000, 1.490000, 1.540000, 1.580000, 1.640000, 1.690000, 1.760000, 1.820000, 1.890000, 1.980000, 2.060000, 2.170000, 2.280000, 2.420000, 2.580000, 2.770000, 3.030000, 3.340000, 3.710000, 8.740000, 8.750000, 8.810000, 13.860000, 13.840000, 13.830000, 13.820000, 13.830000, 17.470000, 17.140000, 18.370000, 17.710000, 17.680000, 11.490000, 10.120000, 3.920000, 3.910000, 3.940000, 2.920000, 2.690000, 2.490000, 2.310000, 2.150000, 2.020000, 1.920000, 1.810000, 1.730000, 1.650000, 1.570000, 1.510000, 1.460000, 1.390000, 1.340000, 1.290000, 1.240000, 1.180000, 1.150000, 1.110000, 1.080000, 1.050000, 1.030000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.870000, 0.850000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.790000, 0.770000, 0.750000, 0.760000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055400, 973850 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.973000, -19.541000, -0.322026 ], "estimate": [ -44.973000, -19.541000, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.770000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.160000, 1.200000, 1.210000, 1.250000, 1.280000, 1.310000, 1.350000, 1.390000, 1.420000, 1.480000, 1.510000, 1.560000, 1.610000, 1.670000, 1.730000, 1.790000, 1.860000, 1.940000, 2.020000, 2.140000, 2.250000, 2.380000, 2.540000, 2.720000, 2.970000, 3.270000, 3.640000, 8.680000, 8.330000, 8.750000, 13.800000, 13.790000, 13.780000, 13.780000, 13.780000, 17.400000, 17.340000, 16.960000, 17.850000, 17.620000, 11.540000, 11.440000, 3.880000, 3.860000, 3.890000, 2.910000, 2.730000, 2.530000, 2.350000, 2.190000, 2.060000, 1.940000, 1.840000, 1.740000, 1.670000, 1.600000, 1.520000, 1.470000, 1.410000, 1.350000, 1.290000, 1.250000, 1.200000, 1.180000, 1.120000, 1.100000, 1.060000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.720000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.590000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055401, 296851 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.917999, -19.559000, -0.322026 ], "estimate": [ -44.917999, -19.559000, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.960000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.270000, 1.290000, 1.330000, 1.370000, 1.400000, 1.440000, 1.490000, 1.530000, 1.580000, 1.630000, 1.700000, 1.770000, 1.830000, 1.900000, 1.990000, 2.100000, 2.210000, 2.330000, 2.490000, 2.660000, 2.900000, 3.190000, 3.550000, 8.620000, 7.800000, 8.680000, 8.820000, 13.730000, 13.720000, 13.720000, 13.720000, 14.590000, 17.290000, 16.950000, 18.200000, 17.550000, 11.830000, 11.380000, 4.050000, 3.810000, 3.800000, 3.080000, 2.760000, 2.560000, 2.380000, 2.230000, 2.090000, 1.970000, 1.860000, 1.770000, 1.690000, 1.610000, 1.540000, 1.480000, 1.420000, 1.370000, 1.310000, 1.270000, 1.220000, 1.180000, 1.140000, 1.100000, 1.070000, 1.040000, 1.030000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.870000, 0.870000, 0.840000, 0.830000, 0.810000, 0.810000, 0.790000, 0.800000, 0.780000, 0.760000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055401, 380303 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.863998, -19.577000, -0.322026 ], "estimate": [ -44.863998, -19.577000, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.080000, 1.100000, 1.130000, 1.140000, 1.170000, 1.200000, 1.220000, 1.250000, 1.280000, 1.310000, 1.370000, 1.390000, 1.430000, 1.480000, 1.530000, 1.580000, 1.630000, 1.690000, 1.760000, 1.830000, 1.910000, 2.000000, 2.100000, 2.210000, 2.340000, 2.500000, 2.680000, 2.940000, 3.210000, 3.610000, 8.060000, 8.600000, 8.660000, 13.680000, 13.670000, 13.660000, 13.650000, 13.670000, 17.300000, 17.170000, 18.200000, 17.630000, 17.520000, 11.380000, 11.330000, 3.880000, 3.750000, 3.740000, 3.100000, 2.730000, 2.540000, 2.360000, 2.210000, 2.070000, 1.950000, 1.850000, 1.760000, 1.680000, 1.600000, 1.530000, 1.480000, 1.410000, 1.360000, 1.310000, 1.270000, 1.210000, 1.180000, 1.140000, 1.100000, 1.080000, 1.040000, 1.020000, 0.990000, 0.960000, 0.930000, 0.920000, 0.890000, 0.870000, 0.870000, 0.850000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.760000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055401, 629263 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.811001, -19.594999, -0.322026 ], "estimate": [ -44.811001, -19.594999, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.130000, 1.160000, 1.190000, 1.210000, 1.240000, 1.280000, 1.300000, 1.350000, 1.400000, 1.430000, 1.470000, 1.520000, 1.570000, 1.620000, 1.690000, 1.760000, 1.820000, 1.910000, 2.000000, 2.100000, 2.210000, 2.350000, 2.510000, 2.700000, 2.970000, 3.280000, 3.600000, 7.680000, 8.560000, 8.600000, 13.630000, 13.610000, 13.600000, 13.600000, 13.610000, 14.740000, 16.760000, 18.170000, 17.470000, 17.480000, 11.270000, 9.960000, 3.820000, 3.700000, 3.690000, 3.640000, 2.710000, 2.510000, 2.340000, 2.190000, 2.060000, 1.940000, 1.830000, 1.750000, 1.680000, 1.600000, 1.520000, 1.470000, 1.420000, 1.360000, 1.310000, 1.270000, 1.220000, 1.170000, 1.150000, 1.100000, 1.080000, 1.040000, 1.020000, 0.990000, 0.950000, 0.940000, 0.930000, 0.900000, 0.880000, 0.850000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.640000, 0.620000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055401, 769981 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.756001, -19.614000, -0.322026 ], "estimate": [ -44.756001, -19.614000, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.960000, 0.990000, 1.000000, 1.030000, 1.040000, 1.060000, 1.080000, 1.120000, 1.130000, 1.150000, 1.180000, 1.200000, 1.230000, 1.270000, 1.300000, 1.340000, 1.390000, 1.420000, 1.460000, 1.520000, 1.560000, 1.610000, 1.680000, 1.760000, 1.820000, 1.920000, 2.000000, 2.100000, 2.220000, 2.360000, 2.520000, 2.740000, 3.000000, 3.340000, 3.890000, 8.460000, 8.510000, 8.560000, 13.580000, 13.570000, 13.570000, 13.550000, 13.570000, 14.670000, 16.710000, 18.120000, 17.420000, 17.420000, 11.210000, 9.750000, 3.680000, 3.640000, 3.650000, 3.610000, 2.670000, 2.480000, 2.320000, 2.170000, 2.040000, 1.930000, 1.820000, 1.730000, 1.660000, 1.590000, 1.520000, 1.460000, 1.400000, 1.350000, 1.310000, 1.260000, 1.210000, 1.180000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.850000, 0.850000, 0.830000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.750000, 0.740000, 0.720000, 0.730000, 0.720000, 0.710000, 0.690000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055402, 112553 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.698997, -19.633001, -0.322026 ], "estimate": [ -44.698997, -19.633001, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.950000, 0.950000, 0.980000, 1.000000, 1.020000, 1.030000, 1.060000, 1.090000, 1.100000, 1.130000, 1.150000, 1.180000, 1.200000, 1.230000, 1.270000, 1.300000, 1.340000, 1.390000, 1.420000, 1.470000, 1.520000, 1.560000, 1.620000, 1.710000, 1.760000, 1.840000, 1.920000, 2.020000, 2.130000, 2.250000, 2.400000, 2.600000, 2.820000, 3.090000, 3.460000, 8.390000, 7.970000, 8.470000, 8.620000, 13.510000, 13.500000, 13.490000, 13.490000, 13.700000, 17.090000, 16.650000, 18.040000, 17.350000, 11.880000, 11.150000, 9.280000, 3.600000, 3.590000, 3.580000, 3.530000, 2.610000, 2.430000, 2.270000, 2.120000, 2.000000, 1.900000, 1.790000, 1.700000, 1.640000, 1.570000, 1.490000, 1.440000, 1.390000, 1.330000, 1.290000, 1.250000, 1.200000, 1.160000, 1.130000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.790000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.590000, 0.600000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055402, 169639 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.643997, -19.650999, -0.322026 ], "estimate": [ -44.643997, -19.650999, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.700000, 0.710000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.140000, 1.170000, 1.190000, 1.220000, 1.260000, 1.290000, 1.330000, 1.380000, 1.410000, 1.460000, 1.510000, 1.560000, 1.610000, 1.680000, 1.760000, 1.840000, 1.920000, 2.010000, 2.130000, 2.260000, 2.410000, 2.600000, 2.860000, 3.150000, 3.440000, 7.600000, 8.380000, 8.420000, 13.470000, 13.450000, 13.430000, 13.440000, 13.440000, 17.080000, 16.990000, 16.610000, 17.730000, 17.290000, 11.540000, 11.100000, 9.130000, 3.540000, 3.530000, 3.530000, 3.500000, 2.570000, 2.410000, 2.260000, 2.120000, 1.990000, 1.890000, 1.790000, 1.700000, 1.620000, 1.560000, 1.500000, 1.440000, 1.380000, 1.330000, 1.290000, 1.240000, 1.200000, 1.170000, 1.140000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.620000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055402, 513499 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.590000, -19.669001, -0.322026 ], "estimate": [ -44.590000, -19.669001, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.700000, 0.700000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.050000, 1.070000, 1.090000, 1.120000, 1.140000, 1.160000, 1.180000, 1.220000, 1.260000, 1.290000, 1.330000, 1.380000, 1.410000, 1.460000, 1.520000, 1.560000, 1.620000, 1.690000, 1.760000, 1.840000, 1.930000, 2.030000, 2.150000, 2.270000, 2.490000, 2.660000, 2.900000, 3.230000, 3.860000, 8.250000, 8.330000, 8.380000, 13.410000, 13.390000, 13.380000, 13.380000, 13.390000, 14.500000, 16.540000, 17.960000, 17.260000, 17.250000, 11.080000, 11.060000, 8.840000, 3.480000, 3.480000, 3.490000, 3.450000, 2.540000, 2.360000, 2.220000, 2.080000, 1.970000, 1.860000, 1.770000, 1.690000, 1.600000, 1.540000, 1.480000, 1.430000, 1.360000, 1.310000, 1.290000, 1.230000, 1.180000, 1.160000, 1.120000, 1.090000, 1.050000, 1.030000, 1.000000, 0.980000, 0.950000, 0.930000, 0.920000, 0.900000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.760000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055402, 592381 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.535000, -19.687000, -0.309735 ], "estimate": [ -44.535000, -19.687000, -0.309735 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.690000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.920000, 0.950000, 0.960000, 0.990000, 1.000000, 1.020000, 1.040000, 1.060000, 1.090000, 1.120000, 1.140000, 1.160000, 1.190000, 1.220000, 1.270000, 1.290000, 1.340000, 1.380000, 1.420000, 1.470000, 1.520000, 1.570000, 1.640000, 1.710000, 1.790000, 1.880000, 1.980000, 2.080000, 2.190000, 2.340000, 2.530000, 2.760000, 3.040000, 3.330000, 8.220000, 8.070000, 8.310000, 8.440000, 13.340000, 13.330000, 13.330000, 13.330000, 13.480000, 16.910000, 16.540000, 17.910000, 17.200000, 12.100000, 11.000000, 9.390000, 3.740000, 3.430000, 3.430000, 3.460000, 3.030000, 2.460000, 2.290000, 2.160000, 2.030000, 1.920000, 1.820000, 1.730000, 1.640000, 1.570000, 1.500000, 1.460000, 1.410000, 1.340000, 1.290000, 1.250000, 1.210000, 1.170000, 1.140000, 1.110000, 1.070000, 1.050000, 1.020000, 0.990000, 0.970000, 0.940000, 0.930000, 0.910000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.660000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 893740 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.477997, -19.705000, -0.303589 ], "estimate": [ -44.477997, -19.705000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.680000, 0.690000, 0.690000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.050000, 1.070000, 1.100000, 1.130000, 1.150000, 1.180000, 1.210000, 1.250000, 1.280000, 1.310000, 1.360000, 1.390000, 1.440000, 1.490000, 1.550000, 1.600000, 1.680000, 1.750000, 1.830000, 1.910000, 2.020000, 2.130000, 2.260000, 2.440000, 2.660000, 2.930000, 3.230000, 4.200000, 7.540000, 8.230000, 8.270000, 13.290000, 13.280000, 13.270000, 13.260000, 13.270000, 14.410000, 16.430000, 17.840000, 17.140000, 17.140000, 10.980000, 10.950000, 8.780000, 3.390000, 3.370000, 3.370000, 3.360000, 2.450000, 2.360000, 2.210000, 2.090000, 1.960000, 1.860000, 1.770000, 1.680000, 1.610000, 1.520000, 1.480000, 1.420000, 1.360000, 1.320000, 1.270000, 1.220000, 1.180000, 1.150000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.910000, 0.900000, 0.860000, 0.860000, 0.840000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 894981 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.419998, -19.723000, -0.297443 ], "estimate": [ -44.419998, -19.723000, -0.297443 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.670000, 0.670000, 0.680000, 0.680000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.810000, 0.810000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.990000, 1.010000, 1.030000, 1.060000, 1.080000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.370000, 1.400000, 1.460000, 1.510000, 1.570000, 1.620000, 1.700000, 1.770000, 1.860000, 1.960000, 2.060000, 2.180000, 2.340000, 2.540000, 2.750000, 3.070000, 3.610000, 7.320000, 8.150000, 8.200000, 13.250000, 13.230000, 13.220000, 13.210000, 13.210000, 13.390000, 16.900000, 16.370000, 17.780000, 17.080000, 12.980000, 10.890000, 9.260000, 8.300000, 3.320000, 3.310000, 3.320000, 3.280000, 2.380000, 2.270000, 2.150000, 2.020000, 1.910000, 1.820000, 1.710000, 1.640000, 1.570000, 1.490000, 1.440000, 1.390000, 1.340000, 1.300000, 1.240000, 1.200000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.790000, 0.800000, 0.780000, 0.780000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 895949 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.365002, -19.740000, -0.303589 ], "estimate": [ -44.365002, -19.740000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.870000, 0.890000, 0.910000, 0.920000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.050000, 1.080000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.320000, 1.360000, 1.410000, 1.460000, 1.510000, 1.560000, 1.630000, 1.710000, 1.780000, 1.870000, 1.960000, 2.070000, 2.230000, 2.380000, 2.570000, 2.830000, 3.110000, 3.890000, 7.430000, 8.100000, 8.150000, 13.180000, 13.150000, 13.150000, 13.150000, 13.150000, 14.160000, 16.700000, 16.410000, 17.630000, 17.010000, 11.680000, 10.830000, 9.140000, 8.180000, 3.260000, 3.250000, 3.250000, 3.230000, 2.370000, 2.260000, 2.120000, 2.000000, 1.890000, 1.790000, 1.710000, 1.620000, 1.560000, 1.490000, 1.420000, 1.370000, 1.320000, 1.290000, 1.250000, 1.180000, 1.160000, 1.120000, 1.090000, 1.060000, 1.030000, 1.010000, 0.970000, 0.960000, 0.940000, 0.910000, 0.890000, 0.880000, 0.850000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.760000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 896891 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.311001, -19.757000, -0.297443 ], "estimate": [ -44.311001, -19.757000, -0.297443 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.680000, 0.670000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.670000, 0.670000, 0.660000, 0.660000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.940000, 0.960000, 0.980000, 1.000000, 1.030000, 1.050000, 1.080000, 1.110000, 1.140000, 1.150000, 1.180000, 1.220000, 1.240000, 1.280000, 1.330000, 1.370000, 1.420000, 1.460000, 1.510000, 1.560000, 1.640000, 1.720000, 1.790000, 1.880000, 1.980000, 2.100000, 2.250000, 2.420000, 2.620000, 2.890000, 3.210000, 7.970000, 7.230000, 8.060000, 8.100000, 13.110000, 13.110000, 13.110000, 13.110000, 13.100000, 14.220000, 16.340000, 17.670000, 17.000000, 16.950000, 11.180000, 10.760000, 8.870000, 3.510000, 3.200000, 3.200000, 3.210000, 3.170000, 2.410000, 2.230000, 2.090000, 1.970000, 1.870000, 1.780000, 1.690000, 1.610000, 1.540000, 1.480000, 1.420000, 1.360000, 1.310000, 1.280000, 1.230000, 1.190000, 1.160000, 1.120000, 1.080000, 1.050000, 1.030000, 1.000000, 0.980000, 0.960000, 0.930000, 0.910000, 0.900000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 897883 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.253998, -19.775000, -0.303589 ], "estimate": [ -44.253998, -19.775000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.950000, 0.950000, 0.980000, 1.000000, 1.030000, 1.050000, 1.080000, 1.110000, 1.140000, 1.150000, 1.190000, 1.220000, 1.250000, 1.270000, 1.330000, 1.380000, 1.410000, 1.470000, 1.540000, 1.580000, 1.650000, 1.740000, 1.820000, 1.900000, 2.010000, 2.150000, 2.290000, 2.470000, 2.700000, 2.980000, 3.560000, 7.570000, 7.930000, 8.020000, 8.150000, 13.050000, 13.040000, 13.050000, 13.030000, 13.050000, 16.590000, 16.190000, 17.610000, 16.900000, 16.900000, 10.730000, 10.720000, 8.570000, 3.430000, 3.130000, 3.140000, 3.150000, 3.110000, 2.440000, 2.180000, 2.050000, 1.940000, 1.840000, 1.740000, 1.660000, 1.590000, 1.520000, 1.460000, 1.400000, 1.340000, 1.290000, 1.250000, 1.210000, 1.170000, 1.140000, 1.100000, 1.060000, 1.030000, 1.010000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.860000, 0.860000, 0.840000, 0.810000, 0.810000, 0.790000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 898795 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.197998, -19.792000, -0.303589 ], "estimate": [ -44.197998, -19.792000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.670000, 0.660000, 0.660000, 0.650000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.750000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.910000, 0.940000, 0.950000, 0.970000, 1.000000, 1.020000, 1.040000, 1.080000, 1.110000, 1.130000, 1.150000, 1.180000, 1.220000, 1.240000, 1.270000, 1.320000, 1.380000, 1.420000, 1.470000, 1.540000, 1.590000, 1.660000, 1.740000, 1.820000, 1.910000, 2.010000, 2.140000, 2.300000, 2.490000, 2.720000, 3.000000, 3.690000, 7.100000, 7.900000, 7.980000, 13.010000, 13.000000, 12.990000, 12.980000, 12.980000, 13.000000, 16.530000, 16.190000, 17.550000, 16.860000, 12.400000, 10.660000, 10.670000, 8.510000, 3.400000, 3.090000, 3.080000, 3.090000, 3.070000, 3.060000, 2.140000, 2.050000, 1.940000, 1.830000, 1.740000, 1.660000, 1.590000, 1.510000, 1.450000, 1.390000, 1.330000, 1.290000, 1.240000, 1.200000, 1.170000, 1.130000, 1.100000, 1.060000, 1.030000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.750000, 0.730000, 0.730000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 899701 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.142002, -19.809999, -0.303589 ], "estimate": [ -44.142002, -19.809999, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.650000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.650000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.690000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.950000, 0.970000, 1.000000, 1.010000, 1.040000, 1.070000, 1.100000, 1.130000, 1.140000, 1.170000, 1.210000, 1.240000, 1.280000, 1.320000, 1.380000, 1.410000, 1.470000, 1.520000, 1.590000, 1.660000, 1.740000, 1.820000, 1.910000, 2.030000, 2.140000, 2.310000, 2.500000, 2.740000, 3.040000, 3.950000, 7.030000, 7.850000, 7.910000, 12.960000, 12.940000, 12.930000, 12.910000, 12.920000, 12.930000, 16.620000, 16.710000, 17.500000, 16.770000, 12.200000, 10.600000, 10.600000, 8.440000, 3.340000, 3.030000, 3.030000, 3.030000, 3.050000, 3.000000, 2.090000, 2.020000, 1.920000, 1.810000, 1.720000, 1.640000, 1.580000, 1.510000, 1.440000, 1.390000, 1.330000, 1.290000, 1.230000, 1.190000, 1.160000, 1.120000, 1.090000, 1.050000, 1.030000, 1.010000, 0.970000, 0.960000, 0.930000, 0.920000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.590000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 900648 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.084999, -19.828001, -0.297443 ], "estimate": [ -44.084999, -19.828001, -0.297443 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.650000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.950000, 0.970000, 0.990000, 1.030000, 1.040000, 1.070000, 1.100000, 1.120000, 1.150000, 1.180000, 1.210000, 1.250000, 1.290000, 1.330000, 1.380000, 1.430000, 1.490000, 1.560000, 1.600000, 1.680000, 1.750000, 1.840000, 1.980000, 2.050000, 2.220000, 2.380000, 2.590000, 2.840000, 3.390000, 7.770000, 6.920000, 7.840000, 7.880000, 12.890000, 12.870000, 12.870000, 12.870000, 12.870000, 16.510000, 16.430000, 16.050000, 17.360000, 16.730000, 11.510000, 10.540000, 9.050000, 8.080000, 3.250000, 2.970000, 2.960000, 2.980000, 2.940000, 2.950000, 2.030000, 1.990000, 1.880000, 1.770000, 1.690000, 1.620000, 1.550000, 1.490000, 1.420000, 1.370000, 1.310000, 1.270000, 1.210000, 1.180000, 1.140000, 1.110000, 1.070000, 1.050000, 1.020000, 0.990000, 0.960000, 0.940000, 0.930000, 0.900000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.750000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 901576 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.028999, -19.844999, -0.303589 ], "estimate": [ -44.028999, -19.844999, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.640000, 0.640000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.950000, 0.960000, 0.990000, 1.020000, 1.040000, 1.070000, 1.070000, 1.120000, 1.150000, 1.180000, 1.210000, 1.250000, 1.280000, 1.330000, 1.380000, 1.420000, 1.490000, 1.550000, 1.600000, 1.680000, 1.750000, 1.840000, 1.930000, 2.070000, 2.230000, 2.400000, 2.610000, 2.810000, 3.510000, 7.720000, 7.080000, 7.790000, 7.820000, 12.840000, 12.820000, 12.810000, 12.810000, 12.810000, 16.420000, 16.350000, 16.000000, 17.320000, 16.640000, 11.520000, 10.470000, 9.040000, 8.090000, 3.230000, 2.910000, 2.920000, 2.910000, 2.940000, 2.890000, 2.450000, 1.970000, 1.870000, 1.780000, 1.700000, 1.620000, 1.550000, 1.480000, 1.430000, 1.370000, 1.310000, 1.270000, 1.210000, 1.180000, 1.150000, 1.100000, 1.060000, 1.030000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.760000, 0.770000, 0.750000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.640000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.580000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 902488 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.974998, -19.863001, -0.309735 ], "estimate": [ -43.974998, -19.863001, -0.309735 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.950000, 0.970000, 1.000000, 1.030000, 1.040000, 1.080000, 1.100000, 1.130000, 1.170000, 1.200000, 1.230000, 1.280000, 1.320000, 1.360000, 1.400000, 1.460000, 1.520000, 1.580000, 1.650000, 1.740000, 1.810000, 1.900000, 2.020000, 2.170000, 2.330000, 2.530000, 2.770000, 3.320000, 7.650000, 6.970000, 7.720000, 7.760000, 12.790000, 12.770000, 12.750000, 12.750000, 12.750000, 12.860000, 16.310000, 16.070000, 17.330000, 16.610000, 12.060000, 10.430000, 10.430000, 8.360000, 7.530000, 3.020000, 2.870000, 2.860000, 2.890000, 2.830000, 2.840000, 1.970000, 1.910000, 1.800000, 1.710000, 1.640000, 1.560000, 1.500000, 1.440000, 1.380000, 1.320000, 1.280000, 1.220000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.030000, 1.000000, 0.970000, 0.950000, 0.920000, 0.900000, 0.890000, 0.860000, 0.860000, 0.840000, 0.820000, 0.810000, 0.790000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 903395 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.918999, -19.881001, -0.322026 ], "estimate": [ -43.918999, -19.881001, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.730000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.950000, 0.960000, 0.970000, 1.020000, 1.040000, 1.070000, 1.090000, 1.130000, 1.150000, 1.180000, 1.220000, 1.270000, 1.300000, 1.350000, 1.390000, 1.450000, 1.500000, 1.560000, 1.640000, 1.710000, 1.810000, 1.880000, 1.990000, 2.140000, 2.300000, 2.490000, 2.730000, 3.250000, 7.590000, 7.280000, 7.660000, 7.700000, 12.730000, 12.710000, 12.710000, 12.690000, 12.690000, 12.710000, 16.250000, 15.870000, 17.260000, 16.560000, 16.560000, 10.610000, 10.370000, 8.510000, 7.650000, 3.080000, 2.800000, 2.810000, 2.800000, 2.830000, 2.790000, 2.780000, 1.860000, 1.820000, 1.730000, 1.650000, 1.580000, 1.510000, 1.450000, 1.390000, 1.330000, 1.290000, 1.240000, 1.180000, 1.160000, 1.120000, 1.090000, 1.050000, 1.030000, 1.000000, 0.980000, 0.960000, 0.940000, 0.900000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055404, 974781 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.862003, -19.900000, -0.328171 ], "estimate": [ -43.862003, -19.900000, -0.328171 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.970000, 1.000000, 1.030000, 1.050000, 1.090000, 1.100000, 1.140000, 1.170000, 1.200000, 1.240000, 1.270000, 1.320000, 1.370000, 1.420000, 1.480000, 1.540000, 1.590000, 1.670000, 1.760000, 1.840000, 1.960000, 2.080000, 2.250000, 2.430000, 2.630000, 3.100000, 7.540000, 6.730000, 7.560000, 7.630000, 7.750000, 12.660000, 12.650000, 12.650000, 12.650000, 12.660000, 13.770000, 16.050000, 17.210000, 16.640000, 16.510000, 11.110000, 10.320000, 8.810000, 7.930000, 7.160000, 2.880000, 2.760000, 2.760000, 2.780000, 2.720000, 2.730000, 2.730000, 1.830000, 1.760000, 1.690000, 1.610000, 1.530000, 1.480000, 1.420000, 1.350000, 1.310000, 1.270000, 1.220000, 1.180000, 1.140000, 1.090000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.910000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.790000, 0.770000, 0.770000, 0.750000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055405, 310068 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.807003, -19.919001, -0.328171 ], "estimate": [ -43.807003, -19.919001, -0.328171 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.930000, 0.950000, 0.970000, 1.000000, 1.030000, 1.050000, 1.080000, 1.100000, 1.140000, 1.170000, 1.190000, 1.240000, 1.290000, 1.310000, 1.370000, 1.420000, 1.470000, 1.540000, 1.590000, 1.670000, 1.750000, 1.850000, 1.970000, 2.100000, 2.250000, 2.440000, 2.720000, 3.250000, 7.480000, 7.130000, 7.530000, 7.570000, 12.620000, 12.600000, 12.590000, 12.580000, 12.590000, 12.590000, 13.700000, 15.730000, 17.160000, 16.470000, 16.440000, 10.820000, 10.260000, 8.640000, 7.770000, 7.060000, 2.890000, 2.700000, 2.690000, 2.700000, 2.700000, 2.670000, 2.670000, 1.790000, 1.730000, 1.670000, 1.590000, 1.530000, 1.460000, 1.410000, 1.350000, 1.300000, 1.260000, 1.210000, 1.160000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.950000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.790000, 0.800000, 0.780000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.590000, 0.580000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055405, 372331 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.750000, -19.938000, -0.334317 ], "estimate": [ -43.750000, -19.938000, -0.334317 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.810000, 0.830000, 0.830000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.070000, 1.100000, 1.130000, 1.160000, 1.190000, 1.230000, 1.270000, 1.320000, 1.370000, 1.410000, 1.480000, 1.540000, 1.590000, 1.660000, 1.760000, 1.850000, 1.970000, 2.100000, 2.260000, 2.440000, 2.790000, 3.360000, 7.440000, 6.950000, 7.490000, 7.530000, 12.560000, 12.550000, 12.540000, 12.540000, 12.530000, 12.540000, 13.660000, 15.680000, 17.100000, 16.400000, 16.370000, 10.740000, 10.200000, 8.610000, 7.760000, 7.050000, 2.880000, 2.640000, 2.650000, 2.650000, 2.670000, 2.610000, 2.620000, 2.610000, 1.710000, 1.670000, 1.590000, 1.520000, 1.460000, 1.400000, 1.350000, 1.300000, 1.260000, 1.200000, 1.170000, 1.130000, 1.100000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.920000, 0.900000, 0.870000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055405, 693896 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.695000, -19.956999, -0.334317 ], "estimate": [ -43.695000, -19.956999, -0.334317 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.830000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.940000, 0.950000, 0.990000, 1.020000, 1.040000, 1.070000, 1.090000, 1.130000, 1.150000, 1.200000, 1.220000, 1.270000, 1.320000, 1.360000, 1.410000, 1.460000, 1.530000, 1.600000, 1.660000, 1.750000, 1.850000, 1.970000, 2.110000, 2.260000, 2.460000, 2.840000, 3.450000, 7.380000, 6.580000, 7.450000, 7.470000, 12.500000, 12.480000, 12.470000, 12.470000, 12.470000, 12.480000, 13.590000, 15.630000, 17.040000, 16.350000, 16.300000, 10.740000, 10.140000, 8.570000, 7.740000, 7.010000, 2.830000, 2.580000, 2.590000, 2.580000, 2.620000, 2.560000, 2.570000, 2.570000, 1.750000, 1.650000, 1.590000, 1.520000, 1.460000, 1.400000, 1.340000, 1.300000, 1.250000, 1.200000, 1.170000, 1.130000, 1.100000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.920000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.740000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055405, 769880 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.641003, -19.976000, -0.334317 ], "estimate": [ -43.641003, -19.976000, -0.334317 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.890000, 0.920000, 0.940000, 0.960000, 0.990000, 1.020000, 1.040000, 1.070000, 1.100000, 1.130000, 1.160000, 1.190000, 1.220000, 1.270000, 1.320000, 1.370000, 1.420000, 1.470000, 1.570000, 1.600000, 1.680000, 1.770000, 1.870000, 1.990000, 2.140000, 2.300000, 2.550000, 2.980000, 7.310000, 6.950000, 6.890000, 7.390000, 7.430000, 12.450000, 12.430000, 12.420000, 12.410000, 12.410000, 12.480000, 16.110000, 16.200000, 16.990000, 16.280000, 16.280000, 10.330000, 10.090000, 8.360000, 7.540000, 6.880000, 2.780000, 2.540000, 2.540000, 2.540000, 2.570000, 2.510000, 2.520000, 2.520000, 2.520000, 1.600000, 1.580000, 1.500000, 1.440000, 1.390000, 1.330000, 1.290000, 1.240000, 1.190000, 1.160000, 1.110000, 1.080000, 1.050000, 1.030000, 1.000000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055406, 879140 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.587002, -19.995001, -0.334317 ], "estimate": [ -43.587002, -19.995001, -0.334317 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.850000, 0.860000, 0.870000, 0.900000, 0.910000, 0.940000, 0.960000, 0.990000, 1.020000, 1.040000, 1.070000, 1.100000, 1.120000, 1.160000, 1.200000, 1.230000, 1.270000, 1.320000, 1.370000, 1.430000, 1.510000, 1.550000, 1.620000, 1.710000, 1.800000, 1.930000, 2.030000, 2.180000, 2.380000, 2.710000, 3.220000, 7.260000, 6.420000, 7.280000, 7.350000, 7.460000, 12.390000, 12.370000, 12.370000, 12.370000, 12.360000, 16.270000, 16.090000, 15.520000, 16.940000, 16.210000, 11.500000, 10.030000, 10.040000, 8.090000, 7.300000, 6.680000, 2.730000, 2.470000, 2.480000, 2.470000, 2.510000, 2.460000, 2.460000, 2.470000, 2.470000, 1.580000, 1.530000, 1.480000, 1.430000, 1.360000, 1.320000, 1.280000, 1.220000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.810000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055406, 169656 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.531002, -20.014000, -0.328171 ], "estimate": [ -43.531002, -20.014000, -0.328171 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.690000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.830000, 0.840000, 0.870000, 0.880000, 0.890000, 0.920000, 0.950000, 0.960000, 1.000000, 1.020000, 1.030000, 1.080000, 1.100000, 1.130000, 1.170000, 1.210000, 1.250000, 1.290000, 1.340000, 1.380000, 1.440000, 1.500000, 1.570000, 1.660000, 1.740000, 1.830000, 1.940000, 2.080000, 2.240000, 2.510000, 2.890000, 3.620000, 6.930000, 6.390000, 7.260000, 7.310000, 12.350000, 12.330000, 12.310000, 12.310000, 12.300000, 12.320000, 13.420000, 15.590000, 16.880000, 16.280000, 16.150000, 10.960000, 9.990000, 8.690000, 7.830000, 7.080000, 6.530000, 2.660000, 2.430000, 2.430000, 2.420000, 2.460000, 2.400000, 2.410000, 2.410000, 2.420000, 1.740000, 1.500000, 1.470000, 1.400000, 1.350000, 1.300000, 1.260000, 1.200000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.970000, 0.960000, 0.930000, 0.920000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.760000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.660000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055406, 513103 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.474998, -20.033001, -0.328171 ], "estimate": [ -43.474998, -20.033001, -0.328171 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.810000, 0.830000, 0.850000, 0.870000, 0.890000, 0.900000, 0.920000, 0.950000, 0.960000, 1.000000, 1.020000, 1.050000, 1.090000, 1.120000, 1.140000, 1.180000, 1.220000, 1.270000, 1.310000, 1.360000, 1.410000, 1.470000, 1.540000, 1.600000, 1.680000, 1.770000, 1.880000, 2.000000, 2.140000, 2.370000, 2.700000, 3.230000, 7.140000, 6.300000, 7.170000, 7.250000, 7.260000, 12.270000, 12.250000, 12.250000, 12.250000, 12.260000, 12.370000, 15.930000, 15.960000, 16.820000, 16.110000, 11.900000, 10.260000, 9.920000, 8.290000, 7.470000, 6.820000, 6.360000, 2.570000, 2.370000, 2.380000, 2.370000, 2.400000, 2.350000, 2.360000, 2.360000, 2.370000, 2.370000, 1.440000, 1.430000, 1.380000, 1.320000, 1.280000, 1.230000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.030000, 0.990000, 0.960000, 0.940000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.630000, 0.630000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.590000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055406, 570201 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.418999, -20.052000, -0.322026 ], "estimate": [ -43.418999, -20.052000, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.640000, 0.640000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.690000, 0.700000, 0.710000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.780000, 0.800000, 0.820000, 0.840000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.990000, 1.020000, 1.030000, 1.070000, 1.100000, 1.120000, 1.150000, 1.200000, 1.220000, 1.270000, 1.310000, 1.360000, 1.430000, 1.490000, 1.550000, 1.640000, 1.720000, 1.800000, 1.930000, 2.050000, 2.250000, 2.530000, 2.910000, 3.700000, 6.940000, 6.350000, 7.110000, 7.190000, 12.230000, 12.210000, 12.200000, 12.200000, 12.190000, 12.200000, 16.220000, 15.890000, 15.460000, 16.720000, 16.050000, 11.260000, 9.870000, 9.890000, 7.990000, 7.210000, 6.610000, 6.130000, 2.500000, 2.320000, 2.320000, 2.310000, 2.360000, 2.290000, 2.300000, 2.300000, 2.310000, 2.320000, 1.460000, 1.400000, 1.360000, 1.290000, 1.260000, 1.200000, 1.170000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.920000, 0.910000, 0.900000, 0.860000, 0.850000, 0.840000, 0.820000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 858131 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.362999, -20.070999, -0.322026 ], "estimate": [ -43.362999, -20.070999, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.760000, 0.780000, 0.790000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.920000, 0.950000, 0.960000, 1.000000, 1.030000, 1.040000, 1.080000, 1.110000, 1.130000, 1.170000, 1.210000, 1.250000, 1.280000, 1.340000, 1.390000, 1.450000, 1.520000, 1.580000, 1.670000, 1.750000, 1.850000, 1.970000, 2.100000, 2.370000, 2.690000, 3.190000, 7.030000, 6.540000, 6.740000, 7.120000, 7.150000, 12.180000, 12.160000, 12.130000, 12.130000, 12.120000, 12.140000, 13.270000, 15.340000, 16.700000, 16.070000, 15.990000, 10.770000, 9.810000, 8.580000, 7.740000, 7.010000, 6.450000, 5.970000, 2.440000, 2.260000, 2.260000, 2.260000, 2.290000, 2.260000, 2.240000, 2.240000, 2.240000, 2.260000, 2.260000, 1.330000, 1.320000, 1.290000, 1.230000, 1.190000, 1.150000, 1.110000, 1.090000, 1.050000, 1.030000, 1.000000, 0.960000, 0.930000, 0.920000, 0.890000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 859387 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.307003, -20.089001, -0.309735 ], "estimate": [ -43.307003, -20.089001, -0.309735 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.590000, 0.580000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.610000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.690000, 0.700000, 0.710000, 0.710000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.910000, 0.940000, 0.950000, 0.980000, 1.010000, 1.040000, 1.060000, 1.100000, 1.120000, 1.160000, 1.190000, 1.230000, 1.260000, 1.320000, 1.370000, 1.430000, 1.490000, 1.560000, 1.640000, 1.740000, 1.820000, 1.930000, 2.060000, 2.320000, 2.620000, 3.060000, 4.070000, 7.000000, 6.100000, 7.060000, 7.080000, 12.120000, 12.100000, 12.090000, 12.080000, 12.070000, 12.070000, 13.190000, 15.630000, 15.230000, 16.650000, 15.920000, 11.270000, 9.770000, 9.760000, 7.980000, 7.210000, 6.590000, 6.170000, 2.450000, 2.230000, 2.200000, 2.200000, 2.210000, 2.240000, 2.180000, 2.180000, 2.190000, 2.190000, 2.200000, 2.210000, 1.310000, 1.290000, 1.250000, 1.190000, 1.150000, 1.110000, 1.080000, 1.060000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.890000, 0.880000, 0.850000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.790000, 0.780000, 0.750000, 0.750000, 0.730000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.640000, 0.630000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.570000, 0.590000, 0.590000, 0.580000, 0.590000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 860368 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.250999, -20.107000, -0.309735 ], "estimate": [ -43.250999, -20.107000, -0.309735 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.600000, 0.590000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.780000, 0.780000, 0.820000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 1.010000, 1.030000, 1.050000, 1.090000, 1.120000, 1.150000, 1.180000, 1.230000, 1.270000, 1.320000, 1.370000, 1.430000, 1.490000, 1.560000, 1.630000, 1.720000, 1.810000, 1.910000, 2.070000, 2.310000, 2.590000, 3.010000, 3.990000, 6.940000, 6.220000, 6.990000, 7.030000, 7.140000, 12.040000, 12.020000, 12.020000, 12.010000, 12.020000, 12.110000, 15.560000, 15.640000, 16.580000, 15.860000, 11.830000, 10.170000, 9.680000, 8.220000, 7.440000, 6.740000, 6.220000, 5.770000, 2.340000, 2.140000, 2.140000, 2.140000, 2.150000, 2.170000, 2.120000, 2.120000, 2.130000, 2.140000, 2.150000, 2.150000, 1.290000, 1.230000, 1.190000, 1.160000, 1.130000, 1.080000, 1.050000, 1.020000, 0.990000, 0.960000, 0.930000, 0.920000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 861312 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.195000, -20.125000, -0.309735 ], "estimate": [ -43.195000, -20.125000, -0.309735 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.600000, 0.600000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.800000, 0.820000, 0.830000, 0.860000, 0.860000, 0.880000, 0.900000, 0.910000, 0.940000, 0.950000, 0.980000, 1.010000, 1.030000, 1.060000, 1.100000, 1.140000, 1.170000, 1.210000, 1.250000, 1.290000, 1.350000, 1.400000, 1.460000, 1.520000, 1.590000, 1.660000, 1.750000, 1.850000, 2.010000, 2.190000, 2.440000, 2.770000, 3.360000, 6.860000, 6.830000, 6.510000, 6.950000, 6.970000, 12.000000, 11.970000, 11.960000, 11.960000, 11.960000, 11.960000, 15.580000, 15.510000, 15.170000, 16.530000, 15.810000, 11.240000, 9.730000, 9.640000, 7.940000, 7.190000, 6.560000, 6.110000, 5.630000, 2.280000, 2.090000, 2.090000, 2.090000, 2.100000, 2.120000, 2.070000, 2.070000, 2.080000, 2.100000, 2.100000, 2.100000, 2.110000, 1.200000, 1.170000, 1.140000, 1.100000, 1.070000, 1.030000, 1.010000, 0.970000, 0.940000, 0.930000, 0.890000, 0.880000, 0.850000, 0.850000, 0.840000, 0.810000, 0.790000, 0.780000, 0.790000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.580000, 0.570000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 862324 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.141003, -20.143000, -0.303589 ], "estimate": [ -43.141003, -20.143000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.750000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.910000, 0.930000, 0.940000, 0.970000, 1.000000, 1.010000, 1.050000, 1.100000, 1.120000, 1.150000, 1.180000, 1.230000, 1.270000, 1.320000, 1.370000, 1.430000, 1.490000, 1.550000, 1.630000, 1.710000, 1.790000, 1.910000, 2.090000, 2.320000, 2.610000, 3.040000, 3.900000, 6.810000, 6.440000, 6.870000, 6.900000, 6.950000, 11.920000, 11.910000, 11.900000, 11.900000, 11.900000, 11.900000, 13.030000, 15.080000, 16.450000, 15.900000, 15.710000, 10.660000, 9.570000, 9.580000, 7.640000, 6.910000, 6.360000, 5.920000, 5.460000, 2.210000, 2.030000, 2.030000, 2.030000, 2.040000, 2.070000, 2.010000, 2.020000, 2.030000, 2.030000, 2.030000, 2.040000, 2.050000, 2.060000, 1.150000, 1.130000, 1.080000, 1.040000, 1.020000, 0.990000, 0.950000, 0.920000, 0.900000, 0.890000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 864542 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.091000, -20.158001, -0.303589 ], "estimate": [ -43.091000, -20.158001, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.950000, 0.980000, 1.000000, 1.050000, 1.070000, 1.100000, 1.130000, 1.160000, 1.210000, 1.260000, 1.300000, 1.360000, 1.410000, 1.460000, 1.530000, 1.590000, 1.660000, 1.750000, 1.850000, 2.020000, 2.230000, 2.480000, 2.840000, 3.450000, 6.760000, 6.330000, 6.400000, 6.840000, 6.870000, 11.890000, 11.880000, 11.870000, 11.850000, 11.850000, 11.850000, 12.720000, 15.410000, 15.210000, 16.420000, 15.700000, 11.650000, 9.990000, 9.520000, 8.100000, 7.340000, 6.660000, 6.150000, 5.700000, 2.260000, 2.130000, 1.990000, 1.990000, 1.990000, 2.000000, 2.020000, 1.970000, 1.970000, 1.980000, 1.990000, 1.990000, 1.990000, 2.010000, 2.020000, 1.170000, 1.070000, 1.060000, 1.020000, 1.000000, 0.960000, 0.930000, 0.910000, 0.890000, 0.860000, 0.840000, 0.830000, 0.820000, 0.800000, 0.780000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.710000, 0.710000, 0.710000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.610000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 865501 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.035999, -20.174999, -0.303589 ], "estimate": [ -43.035999, -20.174999, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.790000, 0.790000, 0.810000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.910000, 0.920000, 0.940000, 0.970000, 1.000000, 1.010000, 1.040000, 1.080000, 1.120000, 1.150000, 1.180000, 1.230000, 1.270000, 1.320000, 1.370000, 1.420000, 1.490000, 1.540000, 1.620000, 1.690000, 1.780000, 1.920000, 2.120000, 2.330000, 2.610000, 3.040000, 3.820000, 6.720000, 5.910000, 6.760000, 6.800000, 6.820000, 11.840000, 11.810000, 11.800000, 11.790000, 11.780000, 11.790000, 12.990000, 15.350000, 14.940000, 16.380000, 15.640000, 11.270000, 9.710000, 9.470000, 7.910000, 7.200000, 6.530000, 6.040000, 5.600000, 2.230000, 2.090000, 1.920000, 1.930000, 1.920000, 1.930000, 1.960000, 1.920000, 1.920000, 1.920000, 1.920000, 1.930000, 1.940000, 1.950000, 1.960000, 1.970000, 1.180000, 1.020000, 1.030000, 0.980000, 0.950000, 0.920000, 0.900000, 0.880000, 0.850000, 0.840000, 0.820000, 0.810000, 0.790000, 0.780000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.660000, 0.660000, 0.660000, 0.660000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 866410 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.977997, -20.193001, -0.303589 ], "estimate": [ -42.977997, -20.193001, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.870000, 0.890000, 0.910000, 0.930000, 0.960000, 0.970000, 1.000000, 1.020000, 1.060000, 1.100000, 1.130000, 1.170000, 1.200000, 1.240000, 1.280000, 1.330000, 1.380000, 1.440000, 1.510000, 1.560000, 1.640000, 1.730000, 1.810000, 1.980000, 2.170000, 2.430000, 2.740000, 3.220000, 6.640000, 6.630000, 6.080000, 6.690000, 6.740000, 6.770000, 11.760000, 11.760000, 11.740000, 11.740000, 11.740000, 11.730000, 15.720000, 15.380000, 15.010000, 16.320000, 15.600000, 11.010000, 9.540000, 9.420000, 7.790000, 7.070000, 6.430000, 5.970000, 5.520000, 2.190000, 2.060000, 1.870000, 1.870000, 1.870000, 1.880000, 1.910000, 1.910000, 1.860000, 1.870000, 1.880000, 1.880000, 1.880000, 1.900000, 1.910000, 1.910000, 1.920000, 1.300000, 0.990000, 0.970000, 0.930000, 0.910000, 0.890000, 0.860000, 0.850000, 0.830000, 0.810000, 0.790000, 0.770000, 0.770000, 0.760000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.650000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 867391 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.918999, -20.212000, -0.303589 ], "estimate": [ -42.918999, -20.212000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.810000, 0.820000, 0.840000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.070000, 1.110000, 1.140000, 1.180000, 1.220000, 1.260000, 1.310000, 1.360000, 1.400000, 1.460000, 1.530000, 1.580000, 1.660000, 1.740000, 1.890000, 2.060000, 2.270000, 2.540000, 2.900000, 3.550000, 6.590000, 6.610000, 5.800000, 6.660000, 6.690000, 6.800000, 11.720000, 11.700000, 11.680000, 11.670000, 11.670000, 11.690000, 12.800000, 15.230000, 16.230000, 16.160000, 15.520000, 10.780000, 9.350000, 9.360000, 7.650000, 6.980000, 6.360000, 5.880000, 5.460000, 5.100000, 2.010000, 1.840000, 1.820000, 1.820000, 1.820000, 1.830000, 1.840000, 1.800000, 1.810000, 1.820000, 1.820000, 1.830000, 1.830000, 1.830000, 1.850000, 1.860000, 1.870000, 1.880000, 0.950000, 0.910000, 0.910000, 0.870000, 0.840000, 0.840000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.650000, 0.640000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 868299 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.862999, -20.230000, -0.303589 ], "estimate": [ -42.862999, -20.230000, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.920000, 0.940000, 0.970000, 0.990000, 1.010000, 1.050000, 1.080000, 1.120000, 1.150000, 1.190000, 1.220000, 1.260000, 1.310000, 1.370000, 1.420000, 1.470000, 1.540000, 1.600000, 1.700000, 1.770000, 1.930000, 2.100000, 2.320000, 2.600000, 2.990000, 3.660000, 6.540000, 6.550000, 6.090000, 6.610000, 6.640000, 6.760000, 11.650000, 11.630000, 11.610000, 11.600000, 11.610000, 11.630000, 12.730000, 15.170000, 14.820000, 16.140000, 15.460000, 10.790000, 9.340000, 9.300000, 7.650000, 6.980000, 6.340000, 5.860000, 5.450000, 5.080000, 1.990000, 1.870000, 1.750000, 1.760000, 1.750000, 1.760000, 1.790000, 1.800000, 1.750000, 1.750000, 1.750000, 1.760000, 1.760000, 1.780000, 1.790000, 1.810000, 1.820000, 1.830000, 1.830000, 1.850000, 0.890000, 0.860000, 0.870000, 0.830000, 0.800000, 0.790000, 0.790000, 0.780000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.610000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 869204 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.807999, -20.247000, -0.309735 ], "estimate": [ -42.807999, -20.247000, -0.309735 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 1.000000, 1.020000, 1.060000, 1.090000, 1.120000, 1.160000, 1.200000, 1.240000, 1.270000, 1.330000, 1.370000, 1.410000, 1.490000, 1.540000, 1.640000, 1.710000, 1.820000, 1.980000, 2.160000, 2.410000, 2.700000, 3.170000, 6.470000, 6.480000, 5.630000, 6.110000, 6.550000, 6.580000, 11.610000, 11.590000, 11.570000, 11.560000, 11.550000, 11.560000, 11.550000, 12.720000, 15.100000, 16.110000, 16.060000, 15.390000, 10.730000, 9.270000, 9.230000, 7.590000, 6.920000, 6.280000, 5.830000, 5.420000, 5.050000, 1.970000, 1.850000, 1.700000, 1.700000, 1.710000, 1.700000, 1.720000, 1.740000, 1.690000, 1.690000, 1.700000, 1.700000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.760000, 1.770000, 1.790000, 1.810000, 1.820000, 0.840000, 0.800000, 0.820000, 0.780000, 0.770000, 0.750000, 0.750000, 0.730000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055408, 970540 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.753998, -20.264999, -0.322026 ], "estimate": [ -42.753998, -20.264999, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.820000, 0.830000, 0.840000, 0.870000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 1.010000, 1.020000, 1.060000, 1.090000, 1.120000, 1.160000, 1.190000, 1.240000, 1.270000, 1.320000, 1.370000, 1.430000, 1.480000, 1.550000, 1.600000, 1.710000, 1.820000, 1.980000, 2.170000, 2.410000, 2.700000, 3.150000, 6.420000, 6.430000, 5.880000, 6.070000, 6.510000, 6.530000, 11.560000, 11.540000, 11.520000, 11.510000, 11.500000, 11.500000, 11.500000, 15.140000, 15.050000, 14.660000, 16.090000, 15.340000, 11.040000, 9.510000, 9.180000, 7.750000, 7.040000, 6.390000, 5.900000, 5.500000, 5.120000, 4.780000, 1.860000, 1.760000, 1.650000, 1.650000, 1.650000, 1.650000, 1.680000, 1.690000, 1.640000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 1.690000, 1.710000, 1.720000, 1.730000, 1.740000, 1.750000, 1.770000, 1.790000, 0.790000, 0.780000, 0.780000, 0.770000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055409, 221400 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.700001, -20.283001, -0.322026 ], "estimate": [ -42.700001, -20.283001, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.880000, 0.900000, 0.930000, 0.940000, 0.960000, 0.980000, 1.010000, 1.030000, 1.060000, 1.090000, 1.120000, 1.170000, 1.210000, 1.230000, 1.280000, 1.320000, 1.370000, 1.430000, 1.490000, 1.540000, 1.630000, 1.730000, 1.860000, 2.020000, 2.210000, 2.450000, 2.760000, 3.240000, 6.360000, 6.370000, 5.560000, 6.010000, 6.450000, 6.470000, 11.490000, 11.490000, 11.460000, 11.450000, 11.450000, 11.450000, 11.450000, 15.040000, 15.010000, 14.590000, 16.020000, 15.310000, 11.100000, 9.540000, 9.120000, 7.780000, 7.040000, 6.380000, 5.910000, 5.560000, 5.120000, 4.790000, 1.820000, 1.750000, 1.600000, 1.590000, 1.600000, 1.600000, 1.610000, 1.630000, 1.630000, 1.580000, 1.590000, 1.600000, 1.610000, 1.610000, 1.620000, 1.630000, 1.640000, 1.650000, 1.670000, 1.680000, 1.690000, 1.710000, 1.730000, 1.740000, 1.760000, 0.860000, 0.740000, 0.730000, 0.740000, 0.710000, 0.690000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055409, 370358 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.653999, -20.299000, -0.315880 ], "estimate": [ -42.653999, -20.299000, -0.315880 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.590000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.940000, 0.950000, 0.990000, 1.000000, 1.030000, 1.060000, 1.100000, 1.130000, 1.170000, 1.210000, 1.250000, 1.280000, 1.330000, 1.380000, 1.440000, 1.500000, 1.550000, 1.640000, 1.750000, 1.870000, 2.040000, 2.240000, 2.490000, 2.810000, 3.290000, 6.320000, 6.330000, 5.470000, 5.950000, 6.400000, 6.430000, 11.450000, 11.440000, 11.420000, 11.410000, 11.400000, 11.390000, 11.390000, 12.540000, 14.960000, 14.560000, 15.970000, 15.240000, 11.260000, 9.670000, 9.070000, 7.820000, 7.080000, 6.450000, 5.940000, 5.530000, 5.150000, 4.810000, 4.530000, 1.750000, 1.660000, 1.540000, 1.540000, 1.560000, 1.550000, 1.560000, 1.590000, 1.590000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.610000, 1.620000, 1.630000, 1.650000, 1.670000, 1.680000, 1.700000, 1.720000, 1.730000, 1.740000, 0.710000, 0.700000, 0.690000, 0.700000, 0.690000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055409, 642766 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.305000, -0.315880 ], "estimate": [ -42.632999, -20.305000, -0.315880 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.940000, 0.970000, 1.000000, 1.010000, 1.040000, 1.080000, 1.110000, 1.140000, 1.180000, 1.210000, 1.260000, 1.300000, 1.350000, 1.390000, 1.460000, 1.510000, 1.590000, 1.680000, 1.790000, 1.940000, 2.110000, 2.320000, 2.600000, 2.960000, 3.580000, 6.280000, 6.300000, 5.860000, 6.340000, 6.370000, 6.400000, 11.420000, 11.390000, 11.360000, 11.360000, 11.350000, 11.350000, 11.360000, 12.510000, 14.910000, 14.540000, 15.930000, 15.200000, 10.870000, 9.400000, 9.020000, 7.680000, 6.950000, 6.330000, 5.830000, 5.500000, 5.060000, 4.760000, 4.470000, 1.720000, 1.640000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.540000, 1.560000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.740000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.650000, 0.640000, 0.640000, 0.620000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055409, 822402 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.636002, -20.304001, -0.322026 ], "estimate": [ -42.636002, -20.304001, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.850000, 0.860000, 0.880000, 0.880000, 0.910000, 0.930000, 0.940000, 0.970000, 0.990000, 1.010000, 1.050000, 1.070000, 1.110000, 1.140000, 1.180000, 1.210000, 1.250000, 1.290000, 1.350000, 1.390000, 1.450000, 1.500000, 1.580000, 1.670000, 1.790000, 1.920000, 2.090000, 2.290000, 2.550000, 2.920000, 3.420000, 6.270000, 6.290000, 5.670000, 6.330000, 6.360000, 6.390000, 11.410000, 11.390000, 11.380000, 11.370000, 11.350000, 11.350000, 11.360000, 14.970000, 14.900000, 14.510000, 15.940000, 15.200000, 10.940000, 9.430000, 9.030000, 7.710000, 6.980000, 6.360000, 5.860000, 5.500000, 5.080000, 4.770000, 4.490000, 1.720000, 1.630000, 1.510000, 1.510000, 1.520000, 1.510000, 1.520000, 1.540000, 1.550000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.740000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055410, 532732 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.636002, -20.304001, -0.322026 ], "estimate": [ -42.636002, -20.304001, -0.322026 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.730000, 0.750000, 0.750000, 0.760000, 0.780000, 0.790000, 0.790000, 0.810000, 0.830000, 0.850000, 0.860000, 0.880000, 0.880000, 0.910000, 0.930000, 0.940000, 0.960000, 0.990000, 1.010000, 1.050000, 1.070000, 1.110000, 1.130000, 1.170000, 1.200000, 1.260000, 1.290000, 1.340000, 1.390000, 1.450000, 1.510000, 1.570000, 1.670000, 1.790000, 1.920000, 2.090000, 2.300000, 2.560000, 2.920000, 3.420000, 6.280000, 6.300000, 5.670000, 6.330000, 6.360000, 6.390000, 11.420000, 11.380000, 11.370000, 11.360000, 11.360000, 11.360000, 11.360000, 14.970000, 14.900000, 14.510000, 15.930000, 15.200000, 10.940000, 9.440000, 9.030000, 7.730000, 6.980000, 6.340000, 5.840000, 5.500000, 5.070000, 4.760000, 4.480000, 1.720000, 1.630000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.550000, 1.550000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.740000, 0.680000, 0.670000, 0.660000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055410, 755216 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.636002, -20.304001, -0.315880 ], "estimate": [ -42.636002, -20.304001, -0.315880 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.600000, 0.590000, 0.600000, 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.850000, 0.870000, 0.870000, 0.890000, 0.900000, 0.930000, 0.940000, 0.970000, 0.990000, 1.010000, 1.050000, 1.080000, 1.110000, 1.140000, 1.180000, 1.200000, 1.250000, 1.300000, 1.340000, 1.390000, 1.450000, 1.510000, 1.580000, 1.670000, 1.790000, 1.930000, 2.090000, 2.300000, 2.560000, 2.930000, 3.430000, 6.280000, 6.290000, 5.760000, 6.330000, 6.360000, 6.390000, 11.420000, 11.390000, 11.380000, 11.370000, 11.360000, 11.350000, 11.350000, 14.970000, 14.910000, 14.510000, 15.940000, 15.200000, 10.950000, 9.430000, 9.030000, 7.710000, 6.980000, 6.340000, 5.860000, 5.500000, 5.080000, 4.770000, 4.490000, 1.720000, 1.640000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.540000, 1.550000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.610000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.740000, 0.680000, 0.670000, 0.660000, 0.680000, 0.660000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055410, 850399 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.636002, -20.304001, -0.315880 ], "estimate": [ -42.636002, -20.304001, -0.315880 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.850000, 0.870000, 0.880000, 0.880000, 0.900000, 0.930000, 0.940000, 0.970000, 0.990000, 1.020000, 1.050000, 1.080000, 1.110000, 1.140000, 1.170000, 1.210000, 1.250000, 1.300000, 1.340000, 1.390000, 1.460000, 1.510000, 1.570000, 1.670000, 1.790000, 1.920000, 2.090000, 2.300000, 2.570000, 2.940000, 3.430000, 6.270000, 6.290000, 5.770000, 6.340000, 6.360000, 6.390000, 11.420000, 11.390000, 11.370000, 11.370000, 11.360000, 11.340000, 11.360000, 14.970000, 14.910000, 14.510000, 15.920000, 15.200000, 10.890000, 9.410000, 9.030000, 7.690000, 6.960000, 6.330000, 5.840000, 5.490000, 5.070000, 4.760000, 4.470000, 1.720000, 1.630000, 1.510000, 1.510000, 1.510000, 1.510000, 1.520000, 1.550000, 1.560000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.610000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.740000, 0.680000, 0.670000, 0.660000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 187005 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.636002, -20.304001, -0.303589 ], "estimate": [ -42.636002, -20.304001, -0.303589 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.600000, 0.590000, 0.600000, 0.600000, 0.590000, 0.600000, 0.610000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.760000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.880000, 0.880000, 0.910000, 0.930000, 0.940000, 0.970000, 1.000000, 1.010000, 1.050000, 1.080000, 1.110000, 1.140000, 1.180000, 1.210000, 1.260000, 1.300000, 1.350000, 1.390000, 1.450000, 1.510000, 1.600000, 1.690000, 1.800000, 1.950000, 2.120000, 2.330000, 2.610000, 2.990000, 3.640000, 6.280000, 6.300000, 5.740000, 6.340000, 6.360000, 6.400000, 11.400000, 11.380000, 11.370000, 11.360000, 11.350000, 11.350000, 11.350000, 12.500000, 14.910000, 14.560000, 15.890000, 15.200000, 10.650000, 9.240000, 9.020000, 7.580000, 6.880000, 6.250000, 5.770000, 5.450000, 5.030000, 4.710000, 1.890000, 1.710000, 1.620000, 1.510000, 1.510000, 1.520000, 1.510000, 1.520000, 1.540000, 1.550000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.590000, 1.600000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 1.690000, 1.710000, 1.730000, 1.100000, 0.680000, 0.660000, 0.670000, 0.680000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.590000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 188256 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.636002, -20.304001, -0.285152 ], "estimate": [ -42.636002, -20.304001, -0.285152 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.850000, 0.870000, 0.870000, 0.890000, 0.910000, 0.930000, 0.940000, 0.970000, 1.000000, 1.020000, 1.050000, 1.070000, 1.110000, 1.140000, 1.180000, 1.210000, 1.260000, 1.300000, 1.350000, 1.390000, 1.460000, 1.500000, 1.580000, 1.670000, 1.790000, 1.930000, 2.100000, 2.300000, 2.560000, 2.920000, 3.430000, 6.280000, 6.300000, 5.830000, 6.330000, 6.360000, 6.390000, 11.420000, 11.390000, 11.390000, 11.350000, 11.350000, 11.350000, 11.350000, 14.970000, 14.910000, 14.500000, 15.940000, 15.200000, 10.890000, 9.410000, 9.020000, 7.670000, 6.960000, 6.320000, 5.840000, 5.490000, 5.070000, 4.750000, 4.480000, 1.710000, 1.630000, 1.500000, 1.510000, 1.510000, 1.510000, 1.520000, 1.550000, 1.560000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.690000, 1.710000, 1.730000, 1.260000, 0.680000, 0.670000, 0.660000, 0.670000, 0.660000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 189247 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.636002, -20.304001, -0.242134 ], "estimate": [ -42.636002, -20.304001, -0.242134 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.870000, 0.890000, 0.900000, 0.930000, 0.940000, 0.960000, 0.990000, 1.020000, 1.050000, 1.070000, 1.100000, 1.130000, 1.170000, 1.200000, 1.250000, 1.290000, 1.330000, 1.380000, 1.440000, 1.490000, 1.570000, 1.650000, 1.770000, 1.890000, 2.060000, 2.260000, 2.510000, 2.850000, 3.350000, 6.290000, 6.290000, 5.460000, 5.910000, 6.350000, 6.380000, 11.420000, 11.400000, 11.380000, 11.360000, 11.360000, 11.360000, 11.360000, 14.990000, 14.950000, 14.640000, 15.920000, 15.190000, 11.120000, 9.560000, 9.030000, 7.780000, 7.010000, 6.380000, 5.880000, 5.510000, 5.100000, 4.780000, 4.500000, 1.710000, 1.630000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.550000, 1.550000, 1.510000, 1.500000, 1.510000, 1.520000, 1.520000, 1.530000, 1.540000, 1.550000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.630000, 1.650000, 1.660000, 1.690000, 1.710000, 1.720000, 1.740000, 0.680000, 0.660000, 0.660000, 0.670000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.590000, 0.600000, 0.600000, 0.590000, 0.590000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.510000, 0.530000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 189993 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.637001, -20.304001, -0.162242 ], "estimate": [ -42.637001, -20.304001, -0.162242 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.610000, 0.610000, 0.620000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.740000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.820000, 0.850000, 0.850000, 0.870000, 0.890000, 0.910000, 0.930000, 0.940000, 0.960000, 0.990000, 1.020000, 1.030000, 1.060000, 1.100000, 1.120000, 1.160000, 1.200000, 1.240000, 1.270000, 1.320000, 1.370000, 1.420000, 1.480000, 1.540000, 1.630000, 1.730000, 1.850000, 2.000000, 2.190000, 2.410000, 2.700000, 3.110000, 6.280000, 6.290000, 5.630000, 5.400000, 6.350000, 6.380000, 6.400000, 11.390000, 11.400000, 11.370000, 11.370000, 11.360000, 11.360000, 11.360000, 12.500000, 14.540000, 15.900000, 15.220000, 15.170000, 9.990000, 9.020000, 9.040000, 7.210000, 6.550000, 5.990000, 5.580000, 5.190000, 4.840000, 4.550000, 1.730000, 1.650000, 1.520000, 1.500000, 1.510000, 1.510000, 1.510000, 1.550000, 1.550000, 1.500000, 1.510000, 1.510000, 1.520000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.630000, 1.640000, 1.660000, 1.670000, 1.700000, 1.720000, 0.860000, 0.670000, 0.660000, 0.660000, 0.660000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.590000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 190750 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.636002, -20.304001, -0.070059 ], "estimate": [ -42.636002, -20.304001, -0.070059 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.620000, 0.630000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.880000, 0.910000, 0.920000, 0.940000, 0.960000, 0.990000, 1.010000, 1.030000, 1.070000, 1.090000, 1.120000, 1.150000, 1.190000, 1.210000, 1.260000, 1.310000, 1.360000, 1.410000, 1.470000, 1.510000, 1.600000, 1.690000, 1.800000, 1.940000, 2.110000, 2.310000, 2.570000, 2.910000, 3.410000, 6.280000, 6.300000, 5.970000, 5.950000, 6.360000, 6.390000, 11.420000, 11.400000, 11.380000, 11.380000, 11.370000, 11.350000, 11.360000, 12.320000, 14.990000, 14.620000, 15.920000, 15.200000, 10.700000, 9.270000, 9.050000, 7.570000, 6.860000, 6.260000, 5.770000, 5.410000, 5.000000, 4.680000, 1.760000, 1.670000, 1.530000, 1.510000, 1.500000, 1.510000, 1.510000, 1.520000, 1.550000, 1.520000, 1.500000, 1.510000, 1.510000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 1.700000, 0.900000, 0.660000, 0.660000, 0.660000, 0.670000, 0.640000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.510000, 0.520000, 0.530000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.510000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 191745 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.304001, 0.046706 ], "estimate": [ -42.632004, -20.304001, 0.046706 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.970000, 1.000000, 1.020000, 1.040000, 1.060000, 1.090000, 1.120000, 1.140000, 1.180000, 1.210000, 1.250000, 1.290000, 1.350000, 1.390000, 1.440000, 1.490000, 1.560000, 1.650000, 1.760000, 1.870000, 2.030000, 2.210000, 2.430000, 2.710000, 3.110000, 6.300000, 6.290000, 5.580000, 5.480000, 6.350000, 6.370000, 6.400000, 11.390000, 11.390000, 11.380000, 11.360000, 11.360000, 11.350000, 11.360000, 12.520000, 14.680000, 14.540000, 15.230000, 15.150000, 10.000000, 9.030000, 9.040000, 7.190000, 6.520000, 5.980000, 5.540000, 5.160000, 4.810000, 1.790000, 1.690000, 1.520000, 1.500000, 1.500000, 1.510000, 1.510000, 1.510000, 1.550000, 1.550000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.530000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.640000, 1.650000, 1.670000, 1.680000, 0.920000, 0.660000, 0.650000, 0.650000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.500000, 0.490000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 192752 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.304001, 0.138889 ], "estimate": [ -42.631001, -20.304001, 0.138889 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.850000, 0.870000, 0.870000, 0.890000, 0.900000, 0.930000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.050000, 1.080000, 1.100000, 1.130000, 1.160000, 1.190000, 1.230000, 1.270000, 1.320000, 1.370000, 1.400000, 1.480000, 1.510000, 1.600000, 1.690000, 1.790000, 1.910000, 2.070000, 2.260000, 2.480000, 2.770000, 3.190000, 6.300000, 6.300000, 5.650000, 5.420000, 6.350000, 6.380000, 6.410000, 11.410000, 11.390000, 11.390000, 11.360000, 11.360000, 11.360000, 11.360000, 12.530000, 14.500000, 14.540000, 15.270000, 15.170000, 10.080000, 9.020000, 9.030000, 7.230000, 6.540000, 5.990000, 5.560000, 5.170000, 4.810000, 1.750000, 1.670000, 1.530000, 1.500000, 1.500000, 1.500000, 1.510000, 1.520000, 1.550000, 1.510000, 1.490000, 1.500000, 1.510000, 1.520000, 1.520000, 1.520000, 1.550000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.630000, 1.650000, 1.660000, 1.680000, 0.660000, 0.660000, 0.640000, 0.650000, 0.640000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.550000, 0.540000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 193675 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.304001, 0.218781 ], "estimate": [ -42.631001, -20.304001, 0.218781 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.730000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.910000, 0.940000, 0.950000, 0.970000, 1.000000, 1.010000, 1.030000, 1.060000, 1.080000, 1.110000, 1.120000, 1.160000, 1.190000, 1.230000, 1.260000, 1.310000, 1.360000, 1.400000, 1.450000, 1.500000, 1.570000, 1.660000, 1.770000, 1.870000, 2.020000, 2.200000, 2.410000, 2.670000, 3.020000, 3.580000, 6.310000, 6.320000, 5.940000, 5.960000, 6.380000, 6.400000, 11.420000, 11.410000, 11.400000, 11.380000, 11.370000, 11.370000, 11.370000, 12.420000, 14.950000, 14.870000, 15.450000, 15.220000, 10.920000, 9.370000, 9.060000, 7.590000, 6.870000, 6.230000, 5.740000, 5.340000, 4.980000, 1.840000, 1.700000, 1.540000, 1.500000, 1.510000, 1.510000, 1.510000, 1.510000, 1.550000, 1.550000, 1.500000, 1.500000, 1.510000, 1.520000, 1.520000, 1.530000, 1.540000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.610000, 1.630000, 1.640000, 1.660000, 1.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 194628 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.304001, 0.323255 ], "estimate": [ -42.632004, -20.304001, 0.323255 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.860000, 0.880000, 0.880000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.990000, 1.020000, 1.030000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.180000, 1.220000, 1.260000, 1.300000, 1.350000, 1.380000, 1.440000, 1.500000, 1.550000, 1.630000, 1.730000, 1.840000, 1.970000, 2.130000, 2.320000, 2.540000, 2.870000, 3.290000, 6.310000, 6.310000, 5.420000, 5.490000, 6.370000, 6.390000, 6.430000, 11.430000, 11.410000, 11.390000, 11.380000, 11.380000, 11.370000, 11.360000, 12.530000, 14.530000, 15.870000, 15.240000, 15.180000, 9.840000, 9.040000, 7.820000, 7.080000, 6.420000, 5.900000, 5.500000, 5.070000, 4.740000, 1.710000, 1.610000, 1.510000, 1.510000, 1.510000, 1.510000, 1.510000, 1.560000, 1.560000, 1.500000, 1.500000, 1.510000, 1.520000, 1.530000, 1.520000, 1.540000, 1.550000, 1.550000, 1.570000, 1.580000, 1.590000, 1.610000, 1.610000, 1.620000, 1.640000, 1.660000, 1.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.530000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 195533 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.304001, 0.433874 ], "estimate": [ -42.631001, -20.304001, 0.433874 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.870000, 0.880000, 0.890000, 0.910000, 0.930000, 0.960000, 0.960000, 0.980000, 1.010000, 1.030000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.180000, 1.210000, 1.240000, 1.280000, 1.330000, 1.370000, 1.410000, 1.460000, 1.510000, 1.580000, 1.670000, 1.770000, 1.880000, 2.020000, 2.200000, 2.390000, 2.640000, 2.970000, 3.450000, 6.320000, 6.320000, 6.150000, 5.980000, 6.380000, 6.410000, 6.520000, 11.430000, 11.420000, 11.400000, 11.390000, 11.390000, 11.380000, 11.400000, 14.950000, 14.950000, 15.940000, 15.230000, 11.070000, 9.440000, 9.060000, 7.640000, 6.890000, 6.250000, 5.760000, 5.350000, 4.960000, 1.780000, 1.680000, 1.530000, 1.510000, 1.520000, 1.520000, 1.520000, 1.540000, 1.560000, 1.510000, 1.510000, 1.520000, 1.520000, 1.530000, 1.530000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.610000, 1.620000, 1.640000, 1.660000, 0.820000, 0.660000, 0.660000, 0.650000, 0.650000, 0.610000, 0.600000, 0.600000, 0.600000, 0.580000, 0.590000, 0.580000, 0.570000, 0.570000, 0.550000, 0.560000, 0.540000, 0.540000, 0.540000, 0.520000, 0.530000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.610000, 0.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 196437 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.305000, 0.513766 ], "estimate": [ -42.632999, -20.305000, 0.513766 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.960000, 0.980000, 0.990000, 1.020000, 1.030000, 1.060000, 1.090000, 1.110000, 1.130000, 1.170000, 1.190000, 1.220000, 1.260000, 1.300000, 1.350000, 1.380000, 1.430000, 1.490000, 1.530000, 1.610000, 1.700000, 1.800000, 1.930000, 2.080000, 2.250000, 2.470000, 2.730000, 3.100000, 3.770000, 6.300000, 6.330000, 5.970000, 6.290000, 6.400000, 6.420000, 11.450000, 11.440000, 11.420000, 11.410000, 11.400000, 11.390000, 11.390000, 12.410000, 15.010000, 14.830000, 15.960000, 15.230000, 10.780000, 9.230000, 9.050000, 7.490000, 6.780000, 6.150000, 5.680000, 5.270000, 4.910000, 1.760000, 1.650000, 1.530000, 1.520000, 1.530000, 1.530000, 1.530000, 1.570000, 1.570000, 1.520000, 1.520000, 1.520000, 1.520000, 1.530000, 1.550000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.610000, 1.610000, 1.620000, 1.630000, 1.650000, 1.640000, 0.660000, 0.650000, 0.660000, 0.650000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.520000, 0.510000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.620000, 0.640000, 0.650000, 0.660000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 250502 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.305000, 0.581367 ], "estimate": [ -42.632999, -20.305000, 0.581367 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.040000, 1.070000, 1.100000, 1.130000, 1.150000, 1.170000, 1.210000, 1.230000, 1.260000, 1.310000, 1.360000, 1.390000, 1.440000, 1.510000, 1.540000, 1.620000, 1.710000, 1.820000, 1.950000, 2.100000, 2.270000, 2.500000, 2.760000, 3.150000, 6.350000, 6.320000, 6.330000, 5.960000, 6.370000, 6.410000, 6.430000, 11.450000, 11.430000, 11.430000, 11.410000, 11.400000, 11.400000, 11.400000, 15.030000, 14.980000, 14.550000, 15.970000, 15.240000, 10.720000, 9.220000, 9.060000, 7.510000, 6.790000, 6.150000, 5.660000, 5.260000, 4.890000, 1.740000, 1.560000, 1.530000, 1.530000, 1.540000, 1.530000, 1.540000, 1.560000, 1.570000, 1.510000, 1.520000, 1.520000, 1.540000, 1.540000, 1.550000, 1.550000, 1.570000, 1.570000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.640000, 0.620000, 0.610000, 0.610000, 0.590000, 0.580000, 0.590000, 0.570000, 0.570000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.590000, 0.580000, 0.600000, 0.590000, 0.610000, 0.620000, 0.630000, 0.640000, 0.660000, 0.670000, 0.680000, 0.680000, 0.700000, 0.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 589576 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.305000, 0.667404 ], "estimate": [ -42.632999, -20.305000, 0.667404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.140000, 1.170000, 1.200000, 1.220000, 1.260000, 1.290000, 1.350000, 1.390000, 1.440000, 1.480000, 1.520000, 1.600000, 1.680000, 1.780000, 1.900000, 2.040000, 2.210000, 2.420000, 2.660000, 3.000000, 3.460000, 6.330000, 6.330000, 5.740000, 6.020000, 6.400000, 6.420000, 6.530000, 11.450000, 11.430000, 11.420000, 11.410000, 11.410000, 11.410000, 11.540000, 14.970000, 15.000000, 15.970000, 15.240000, 11.240000, 9.570000, 9.080000, 7.710000, 6.950000, 6.280000, 5.780000, 5.370000, 4.980000, 1.770000, 1.670000, 1.530000, 1.530000, 1.530000, 1.530000, 1.540000, 1.570000, 1.580000, 1.520000, 1.520000, 1.530000, 1.540000, 1.540000, 1.550000, 1.560000, 1.570000, 1.570000, 1.590000, 1.600000, 1.610000, 1.620000, 1.630000, 1.640000, 1.660000, 0.670000, 0.660000, 0.660000, 0.670000, 0.640000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.480000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.530000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.610000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.680000, 0.690000, 0.680000, 0.700000, 0.720000, 0.740000, 0.760000, 0.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 651309 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.305000, 0.771878 ], "estimate": [ -42.632999, -20.305000, 0.771878 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.330000, 1.380000, 1.420000, 1.480000, 1.550000, 1.600000, 1.670000, 1.770000, 1.870000, 2.010000, 2.170000, 2.370000, 2.600000, 2.920000, 3.340000, 6.350000, 6.340000, 5.480000, 5.520000, 6.410000, 6.430000, 6.470000, 11.470000, 11.440000, 11.430000, 11.430000, 11.410000, 11.420000, 11.420000, 12.540000, 14.710000, 15.970000, 15.270000, 15.230000, 9.840000, 9.090000, 7.840000, 7.050000, 6.380000, 5.840000, 5.480000, 5.040000, 1.780000, 1.670000, 1.540000, 1.540000, 1.540000, 1.540000, 1.550000, 1.570000, 1.590000, 1.520000, 1.530000, 1.530000, 1.540000, 1.550000, 1.560000, 1.560000, 1.570000, 1.580000, 1.600000, 1.610000, 1.620000, 1.620000, 1.640000, 1.650000, 0.770000, 0.670000, 0.670000, 0.670000, 0.660000, 0.630000, 0.610000, 0.610000, 0.590000, 0.580000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.530000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.560000, 0.560000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.620000, 0.620000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.730000, 0.750000, 0.770000, 0.790000, 0.800000, 0.830000, 0.850000, 0.890000, 0.910000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055413, 954187 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.305000, 0.864061 ], "estimate": [ -42.632999, -20.305000, 0.864061 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.630000, 1.710000, 1.800000, 1.900000, 2.040000, 2.210000, 2.400000, 2.650000, 2.980000, 3.470000, 6.350000, 6.340000, 5.550000, 6.370000, 6.420000, 6.450000, 6.490000, 11.460000, 11.440000, 11.440000, 11.430000, 11.430000, 11.420000, 11.430000, 14.970000, 15.000000, 15.960000, 15.270000, 11.290000, 9.610000, 9.100000, 7.710000, 6.940000, 6.280000, 5.760000, 5.340000, 1.890000, 1.740000, 1.570000, 1.550000, 1.540000, 1.550000, 1.550000, 1.560000, 1.590000, 1.530000, 1.520000, 1.530000, 1.540000, 1.550000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.610000, 1.620000, 1.620000, 1.630000, 1.650000, 1.390000, 0.680000, 0.670000, 0.680000, 0.660000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.500000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.480000, 0.480000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.650000, 0.660000, 0.660000, 0.680000, 0.690000, 0.700000, 0.730000, 0.730000, 0.760000, 0.780000, 0.800000, 0.830000, 0.850000, 0.880000, 0.910000, 0.950000, 0.990000, 1.030000, 1.060000, 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": [ 976055414, 742670 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.304001, 0.913225 ], "estimate": [ -42.632004, -20.304001, 0.913225 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.370000, 2.610000, 2.920000, 3.370000, 6.360000, 6.360000, 5.510000, 5.500000, 6.420000, 6.450000, 6.470000, 11.490000, 11.470000, 11.440000, 11.440000, 11.430000, 11.440000, 11.440000, 12.570000, 14.640000, 14.560000, 15.310000, 15.240000, 9.970000, 9.090000, 7.880000, 7.080000, 6.380000, 5.860000, 5.480000, 5.040000, 1.770000, 1.570000, 1.550000, 1.550000, 1.550000, 1.560000, 1.570000, 1.590000, 1.530000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 0.730000, 0.680000, 0.670000, 0.680000, 0.650000, 0.630000, 0.620000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.650000, 0.660000, 0.680000, 0.680000, 0.690000, 0.710000, 0.730000, 0.750000, 0.770000, 0.780000, 0.810000, 0.840000, 0.860000, 0.900000, 0.930000, 0.960000, 1.010000, 1.050000, 1.100000, 1.140000, 1.190000, 1.240000, 1.310000, 1.380000, 1.450000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055414, 302459 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.303001, 1.054572 ], "estimate": [ -42.631001, -20.303001, 1.054572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.370000, 5.480000, 5.830000, 6.430000, 6.460000, 6.500000, 11.490000, 11.470000, 11.450000, 11.440000, 11.440000, 11.440000, 11.440000, 12.560000, 14.670000, 15.970000, 15.310000, 15.260000, 9.920000, 9.100000, 7.840000, 7.040000, 6.370000, 5.850000, 5.420000, 1.860000, 1.740000, 1.570000, 1.550000, 1.560000, 1.560000, 1.560000, 1.570000, 1.600000, 1.540000, 1.540000, 1.550000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.650000, 1.330000, 0.690000, 0.680000, 0.680000, 0.660000, 0.630000, 0.620000, 0.610000, 0.600000, 0.600000, 0.580000, 0.590000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.430000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.460000, 0.450000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.550000, 0.560000, 0.560000, 0.580000, 0.590000, 0.590000, 0.590000, 0.610000, 0.610000, 0.620000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.710000, 0.730000, 0.750000, 0.770000, 0.790000, 0.810000, 0.840000, 0.870000, 0.900000, 0.930000, 0.970000, 1.010000, 1.040000, 1.090000, 1.140000, 1.190000, 1.250000, 1.300000, 1.370000, 1.450000, 1.530000, 1.610000, 1.720000, 1.860000, 1.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055414, 562780 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.303001, 1.128319 ], "estimate": [ -42.631001, -20.303001, 1.128319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 6.510000, 11.490000, 11.480000, 11.460000, 11.440000, 11.440000, 11.440000, 11.440000, 12.560000, 14.700000, 16.000000, 15.310000, 15.280000, 9.870000, 9.120000, 7.840000, 7.060000, 6.370000, 5.830000, 5.410000, 1.820000, 1.740000, 1.580000, 1.560000, 1.560000, 1.570000, 1.570000, 1.590000, 1.610000, 1.550000, 1.550000, 1.550000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.650000, 1.660000, 0.740000, 0.690000, 0.680000, 0.680000, 0.650000, 0.620000, 0.610000, 0.610000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.460000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.590000, 0.590000, 0.590000, 0.590000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.670000, 0.680000, 0.690000, 0.710000, 0.730000, 0.750000, 0.770000, 0.780000, 0.810000, 0.840000, 0.870000, 0.900000, 0.930000, 0.970000, 1.000000, 1.040000, 1.090000, 1.140000, 1.190000, 1.240000, 1.300000, 1.380000, 1.450000, 1.530000, 1.620000, 1.730000, 1.860000, 2.010000, 2.180000, 2.380000, 2.600000, 2.890000, 3.240000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055414, 912289 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.303001, 1.220501 ], "estimate": [ -42.631001, -20.303001, 1.220501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 11.450000, 11.450000, 11.450000, 11.490000, 15.040000, 15.070000, 16.010000, 15.310000, 11.340000, 9.690000, 9.130000, 7.770000, 6.970000, 6.280000, 5.780000, 5.350000, 1.820000, 1.740000, 1.570000, 1.570000, 1.570000, 1.580000, 1.580000, 1.610000, 1.590000, 1.560000, 1.560000, 1.560000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.660000, 1.650000, 0.700000, 0.680000, 0.680000, 0.680000, 0.640000, 0.630000, 0.610000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.440000, 0.440000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.590000, 0.610000, 0.620000, 0.630000, 0.640000, 0.660000, 0.660000, 0.680000, 0.690000, 0.710000, 0.730000, 0.750000, 0.770000, 0.780000, 0.810000, 0.840000, 0.870000, 0.900000, 0.930000, 0.970000, 1.010000, 1.040000, 1.090000, 1.150000, 1.190000, 1.260000, 1.320000, 1.390000, 1.460000, 1.550000, 1.630000, 1.740000, 1.880000, 2.030000, 2.200000, 2.400000, 2.630000, 2.930000, 3.300000, 3.780000, 4.280000, 5.180000, 7.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055414, 913436 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.303001, 1.263520 ], "estimate": [ -42.631001, -20.303001, 1.263520 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 15.130000, 16.020000, 15.310000, 10.930000, 9.360000, 9.130000, 7.570000, 6.850000, 6.170000, 5.690000, 5.280000, 1.830000, 1.690000, 1.590000, 1.580000, 1.580000, 1.580000, 1.590000, 1.620000, 1.570000, 1.560000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.650000, 1.650000, 1.660000, 0.730000, 0.700000, 0.690000, 0.690000, 0.660000, 0.650000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.440000, 0.450000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.440000, 0.460000, 0.460000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.470000, 0.480000, 0.480000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.550000, 0.550000, 0.560000, 0.580000, 0.580000, 0.590000, 0.580000, 0.590000, 0.610000, 0.610000, 0.630000, 0.640000, 0.650000, 0.680000, 0.690000, 0.700000, 0.710000, 0.730000, 0.760000, 0.780000, 0.780000, 0.820000, 0.850000, 0.880000, 0.910000, 0.940000, 0.980000, 1.020000, 1.060000, 1.110000, 1.150000, 1.210000, 1.280000, 1.330000, 1.400000, 1.480000, 1.570000, 1.660000, 1.780000, 1.910000, 2.060000, 2.250000, 2.440000, 2.690000, 3.010000, 3.390000, 3.930000, 5.150000, 7.700000, 7.690000, 7.690000, 7.690000, 7.690000, 10.070000, 10.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055415, 524940 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.302000, 1.355703 ], "estimate": [ -42.631001, -20.302000, 1.355703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 9.130000, 7.800000, 7.010000, 6.330000, 5.830000, 5.410000, 1.830000, 1.740000, 1.590000, 1.590000, 1.590000, 1.600000, 1.600000, 1.630000, 1.580000, 1.570000, 1.570000, 1.580000, 1.590000, 1.600000, 1.610000, 1.620000, 1.620000, 1.620000, 1.640000, 1.650000, 1.660000, 1.670000, 0.740000, 0.710000, 0.700000, 0.680000, 0.660000, 0.630000, 0.630000, 0.620000, 0.610000, 0.600000, 0.590000, 0.570000, 0.570000, 0.560000, 0.570000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.480000, 0.490000, 0.490000, 0.480000, 0.480000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.530000, 0.530000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.620000, 0.610000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.720000, 0.740000, 0.770000, 0.780000, 0.810000, 0.840000, 0.860000, 0.890000, 0.930000, 0.960000, 1.010000, 1.040000, 1.090000, 1.130000, 1.190000, 1.260000, 1.310000, 1.370000, 1.450000, 1.530000, 1.620000, 1.730000, 1.850000, 2.010000, 2.180000, 2.370000, 2.610000, 2.890000, 3.260000, 3.730000, 4.210000, 5.160000, 7.690000, 7.690000, 7.680000, 7.680000, 10.040000, 10.060000, 9.880000, 9.880000, 10.180000, 10.180000, 10.210000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 444969 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.301001, 1.454031 ], "estimate": [ -42.631001, -20.301001, 1.454031 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 5.200000, 1.800000, 1.620000, 1.600000, 1.600000, 1.600000, 1.610000, 1.620000, 1.630000, 1.590000, 1.590000, 1.590000, 1.600000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 0.790000, 0.730000, 0.710000, 0.700000, 0.670000, 0.650000, 0.630000, 0.620000, 0.610000, 0.610000, 0.590000, 0.580000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.440000, 0.450000, 0.450000, 0.450000, 0.440000, 0.440000, 0.440000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.450000, 0.440000, 0.440000, 0.440000, 0.440000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.480000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.610000, 0.620000, 0.630000, 0.640000, 0.660000, 0.680000, 0.680000, 0.690000, 0.700000, 0.730000, 0.760000, 0.770000, 0.790000, 0.820000, 0.840000, 0.880000, 0.910000, 0.940000, 0.980000, 1.030000, 1.070000, 1.110000, 1.160000, 1.220000, 1.290000, 1.330000, 1.410000, 1.480000, 1.580000, 1.680000, 1.780000, 1.930000, 2.080000, 2.270000, 2.480000, 2.730000, 3.060000, 3.480000, 4.030000, 5.140000, 7.680000, 7.680000, 7.680000, 7.630000, 7.650000, 10.040000, 10.000000, 9.890000, 9.880000, 10.160000, 10.190000, 10.210000, 10.280000, 12.550000, 12.590000, 12.630000, 12.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 463050 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.301001, 1.546214 ], "estimate": [ -42.631001, -20.301001, 1.546214 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.610000, 1.610000, 1.630000, 1.640000, 1.590000, 1.590000, 1.600000, 1.600000, 1.610000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.680000, 0.800000, 0.730000, 0.720000, 0.720000, 0.680000, 0.660000, 0.640000, 0.630000, 0.610000, 0.600000, 0.600000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.490000, 0.480000, 0.480000, 0.470000, 0.480000, 0.470000, 0.460000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.440000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.620000, 0.610000, 0.630000, 0.650000, 0.660000, 0.680000, 0.680000, 0.720000, 0.730000, 0.750000, 0.770000, 0.790000, 0.820000, 0.850000, 0.880000, 0.910000, 0.940000, 0.980000, 1.030000, 1.070000, 1.110000, 1.160000, 1.220000, 1.290000, 1.340000, 1.410000, 1.490000, 1.580000, 1.680000, 1.790000, 1.930000, 2.090000, 2.260000, 2.470000, 2.740000, 3.060000, 3.450000, 4.010000, 5.130000, 7.680000, 7.680000, 7.670000, 7.660000, 7.630000, 10.040000, 10.050000, 9.870000, 9.880000, 10.160000, 10.180000, 10.190000, 10.230000, 12.530000, 12.570000, 12.600000, 12.660000, 12.700000, 12.650000, 11.870000, 11.120000, 5.080000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 464068 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.301001, 1.603982 ], "estimate": [ -42.631001, -20.301001, 1.603982 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.600000, 1.600000, 1.610000, 1.620000, 1.620000, 1.620000, 1.620000, 1.630000, 1.640000, 1.650000, 1.660000, 1.670000, 1.690000, 0.860000, 0.750000, 0.720000, 0.720000, 0.690000, 0.680000, 0.660000, 0.650000, 0.630000, 0.610000, 0.610000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.520000, 0.520000, 0.510000, 0.520000, 0.510000, 0.510000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.510000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.540000, 0.540000, 0.550000, 0.560000, 0.550000, 0.570000, 0.570000, 0.580000, 0.590000, 0.580000, 0.590000, 0.600000, 0.610000, 0.630000, 0.640000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.730000, 0.750000, 0.770000, 0.790000, 0.820000, 0.850000, 0.880000, 0.910000, 0.940000, 0.980000, 1.020000, 1.070000, 1.110000, 1.160000, 1.210000, 1.280000, 1.330000, 1.410000, 1.480000, 1.570000, 1.660000, 1.780000, 1.910000, 2.060000, 2.240000, 2.430000, 2.670000, 2.980000, 3.360000, 3.860000, 5.120000, 5.210000, 7.670000, 7.660000, 7.660000, 7.670000, 10.020000, 10.040000, 9.860000, 9.870000, 10.160000, 10.170000, 10.180000, 10.200000, 12.520000, 12.560000, 12.600000, 12.640000, 12.680000, 12.730000, 12.100000, 11.310000, 10.650000, 3.970000, 3.320000, 2.970000, 2.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 465013 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.299999, 1.690020 ], "estimate": [ -42.631001, -20.299999, 1.690020 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.620000, 1.620000, 1.620000, 1.640000, 1.640000, 1.650000, 1.660000, 1.670000, 1.690000, 1.700000, 0.760000, 0.730000, 0.730000, 0.700000, 0.680000, 0.670000, 0.660000, 0.640000, 0.620000, 0.620000, 0.610000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.450000, 0.450000, 0.450000, 0.460000, 0.450000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.450000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.550000, 0.550000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.660000, 0.680000, 0.690000, 0.710000, 0.720000, 0.750000, 0.770000, 0.780000, 0.820000, 0.840000, 0.870000, 0.910000, 0.930000, 0.970000, 1.010000, 1.050000, 1.100000, 1.150000, 1.200000, 1.270000, 1.320000, 1.390000, 1.470000, 1.550000, 1.650000, 1.750000, 1.880000, 2.020000, 2.200000, 2.380000, 2.620000, 2.900000, 3.250000, 3.710000, 4.190000, 5.130000, 7.660000, 7.660000, 7.660000, 7.660000, 10.010000, 10.030000, 9.850000, 9.850000, 10.140000, 10.150000, 10.180000, 10.190000, 12.500000, 12.540000, 12.580000, 12.620000, 12.670000, 12.710000, 12.250000, 11.430000, 10.770000, 4.130000, 3.350000, 3.030000, 2.720000, 2.480000, 2.300000, 2.150000, 2.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 466006 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.299999, 1.806784 ], "estimate": [ -42.631001, -20.299999, 1.806784 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.670000, 1.690000, 1.700000, 1.700000, 0.770000, 0.730000, 0.740000, 0.720000, 0.690000, 0.680000, 0.670000, 0.660000, 0.650000, 0.630000, 0.620000, 0.610000, 0.600000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.550000, 0.530000, 0.540000, 0.520000, 0.520000, 0.520000, 0.520000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.480000, 0.490000, 0.490000, 0.480000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.450000, 0.460000, 0.450000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.510000, 0.520000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.560000, 0.570000, 0.570000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.620000, 0.620000, 0.630000, 0.650000, 0.660000, 0.670000, 0.690000, 0.690000, 0.700000, 0.720000, 0.750000, 0.770000, 0.780000, 0.810000, 0.840000, 0.870000, 0.900000, 0.930000, 0.980000, 1.000000, 1.050000, 1.090000, 1.130000, 1.190000, 1.260000, 1.310000, 1.380000, 1.460000, 1.530000, 1.610000, 1.720000, 1.860000, 1.990000, 2.140000, 2.320000, 2.550000, 2.810000, 3.150000, 3.570000, 4.120000, 5.120000, 7.660000, 7.650000, 7.650000, 7.630000, 7.650000, 10.020000, 9.880000, 9.860000, 9.860000, 10.140000, 10.160000, 10.180000, 10.270000, 12.510000, 12.560000, 12.600000, 12.640000, 12.690000, 12.430000, 11.620000, 10.920000, 4.420000, 3.510000, 3.080000, 2.780000, 2.520000, 2.320000, 2.160000, 2.030000, 1.920000, 1.810000, 1.740000, 1.660000, 1.590000, 1.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 466915 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.631001, -20.299000, 1.917404 ], "estimate": [ -42.631001, -20.299000, 1.917404 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.650000, 0.640000, 0.620000, 0.610000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.470000, 0.460000, 0.470000, 0.460000, 0.460000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.470000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.560000, 0.560000, 0.570000, 0.570000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.700000, 0.720000, 0.740000, 0.760000, 0.770000, 0.790000, 0.810000, 0.830000, 0.860000, 0.900000, 0.920000, 0.960000, 1.000000, 1.050000, 1.080000, 1.130000, 1.190000, 1.240000, 1.300000, 1.370000, 1.440000, 1.520000, 1.610000, 1.700000, 1.830000, 1.960000, 2.110000, 2.280000, 2.480000, 2.740000, 3.040000, 3.430000, 3.940000, 5.110000, 5.340000, 7.640000, 7.640000, 7.640000, 7.630000, 10.000000, 10.010000, 9.840000, 9.840000, 10.130000, 10.150000, 10.160000, 10.180000, 12.500000, 12.520000, 12.570000, 12.610000, 12.650000, 12.710000, 11.970000, 11.150000, 5.070000, 3.800000, 3.170000, 2.870000, 2.590000, 2.390000, 2.210000, 2.070000, 1.960000, 1.840000, 1.740000, 1.670000, 1.600000, 1.530000, 1.490000, 1.440000, 1.380000, 1.340000, 1.290000, 1.260000, 1.230000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 467823 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.298000, 1.985005 ], "estimate": [ -42.632004, -20.298000, 1.985005 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.680000, 0.660000, 0.660000, 0.640000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.460000, 0.470000, 0.470000, 0.480000, 0.470000, 0.470000, 0.470000, 0.480000, 0.470000, 0.480000, 0.470000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.460000, 0.470000, 0.470000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.640000, 0.640000, 0.660000, 0.680000, 0.680000, 0.700000, 0.710000, 0.730000, 0.750000, 0.760000, 0.780000, 0.800000, 0.820000, 0.850000, 0.880000, 0.900000, 0.940000, 0.970000, 1.010000, 1.050000, 1.090000, 1.140000, 1.190000, 1.250000, 1.300000, 1.380000, 1.440000, 1.510000, 1.600000, 1.700000, 1.820000, 1.960000, 2.120000, 2.280000, 2.490000, 2.730000, 3.050000, 3.420000, 3.910000, 5.100000, 5.320000, 7.640000, 7.630000, 7.630000, 7.630000, 10.000000, 10.000000, 9.830000, 9.830000, 10.130000, 10.130000, 10.160000, 10.170000, 12.490000, 12.510000, 12.570000, 12.610000, 12.640000, 12.690000, 12.170000, 11.360000, 10.710000, 3.930000, 3.280000, 2.940000, 2.650000, 2.430000, 2.250000, 2.100000, 1.980000, 1.860000, 1.770000, 1.680000, 1.610000, 1.540000, 1.510000, 1.430000, 1.390000, 1.350000, 1.310000, 1.270000, 1.240000, 1.200000, 1.160000, 1.140000, 1.120000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 468763 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.298000, 2.015732 ], "estimate": [ -42.632004, -20.298000, 2.015732 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.630000, 0.620000, 0.620000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.630000, 0.630000, 0.640000, 0.650000, 0.650000, 0.680000, 0.680000, 0.710000, 0.710000, 0.740000, 0.750000, 0.760000, 0.780000, 0.800000, 0.820000, 0.850000, 0.880000, 0.910000, 0.940000, 0.970000, 1.020000, 1.060000, 1.100000, 1.140000, 1.200000, 1.260000, 1.320000, 1.390000, 1.450000, 1.520000, 1.600000, 1.710000, 1.840000, 1.960000, 2.120000, 2.280000, 2.500000, 2.740000, 3.040000, 3.430000, 3.900000, 5.090000, 5.220000, 7.630000, 7.620000, 7.620000, 7.630000, 10.000000, 10.000000, 9.820000, 9.820000, 10.120000, 10.130000, 10.160000, 10.170000, 12.480000, 12.500000, 12.560000, 12.600000, 12.640000, 12.680000, 12.200000, 11.400000, 10.750000, 3.980000, 3.280000, 2.940000, 2.650000, 2.420000, 2.240000, 2.090000, 1.970000, 1.850000, 1.760000, 1.680000, 1.600000, 1.540000, 1.490000, 1.430000, 1.390000, 1.350000, 1.300000, 1.270000, 1.240000, 1.190000, 1.160000, 1.140000, 1.110000, 1.090000, 1.060000, 1.030000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 469450 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.298000, 2.107915 ], "estimate": [ -42.632004, -20.298000, 2.107915 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.480000, 0.470000, 0.480000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.480000, 0.490000, 0.490000, 0.490000, 0.480000, 0.480000, 0.490000, 0.480000, 0.490000, 0.490000, 0.500000, 0.490000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.600000, 0.590000, 0.610000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.680000, 0.690000, 0.700000, 0.720000, 0.730000, 0.750000, 0.770000, 0.780000, 0.800000, 0.830000, 0.850000, 0.870000, 0.910000, 0.930000, 0.970000, 1.010000, 1.040000, 1.090000, 1.130000, 1.190000, 1.230000, 1.300000, 1.350000, 1.420000, 1.490000, 1.570000, 1.670000, 1.770000, 1.890000, 2.040000, 2.200000, 2.400000, 2.610000, 2.870000, 3.200000, 3.630000, 4.140000, 5.100000, 7.630000, 7.620000, 7.620000, 7.590000, 7.590000, 10.000000, 10.010000, 9.820000, 9.840000, 10.130000, 10.130000, 10.150000, 10.200000, 12.490000, 12.520000, 12.560000, 12.610000, 12.650000, 12.600000, 11.770000, 11.040000, 4.680000, 3.510000, 3.080000, 2.760000, 2.500000, 2.290000, 2.140000, 1.990000, 1.890000, 1.780000, 1.700000, 1.620000, 1.560000, 1.510000, 1.450000, 1.400000, 1.360000, 1.300000, 1.280000, 1.230000, 1.200000, 1.170000, 1.130000, 1.110000, 1.080000, 1.060000, 1.040000, 1.020000, 0.990000, 0.960000, 0.950000, 0.940000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 470365 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.298000, 2.206244 ], "estimate": [ -42.632004, -20.298000, 2.206244 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.580000, 0.580000, 0.570000, 0.560000, 0.550000, 0.560000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.490000, 0.500000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.570000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.650000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.820000, 0.850000, 0.870000, 0.900000, 0.930000, 0.970000, 1.000000, 1.040000, 1.080000, 1.110000, 1.170000, 1.220000, 1.290000, 1.330000, 1.400000, 1.470000, 1.530000, 1.620000, 1.720000, 1.850000, 1.960000, 2.120000, 2.280000, 2.480000, 2.720000, 3.030000, 3.390000, 3.840000, 4.780000, 5.100000, 7.620000, 7.610000, 7.610000, 7.610000, 9.980000, 10.000000, 9.810000, 9.810000, 9.910000, 10.120000, 10.130000, 10.150000, 12.460000, 12.490000, 12.520000, 12.580000, 12.600000, 12.660000, 12.280000, 11.510000, 10.820000, 4.020000, 3.280000, 2.940000, 2.630000, 2.400000, 2.230000, 2.070000, 1.940000, 1.830000, 1.740000, 1.650000, 1.580000, 1.520000, 1.460000, 1.410000, 1.370000, 1.330000, 1.280000, 1.250000, 1.200000, 1.170000, 1.140000, 1.130000, 1.100000, 1.060000, 1.050000, 1.020000, 1.000000, 0.970000, 0.960000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 471271 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.298000, 2.292281 ], "estimate": [ -42.632004, -20.298000, 2.292281 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.570000, 0.570000, 0.550000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.490000, 0.500000, 0.500000, 0.490000, 0.490000, 0.490000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.570000, 0.590000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.630000, 0.640000, 0.640000, 0.660000, 0.670000, 0.680000, 0.700000, 0.700000, 0.720000, 0.730000, 0.750000, 0.770000, 0.780000, 0.780000, 0.810000, 0.830000, 0.850000, 0.870000, 0.900000, 0.930000, 0.970000, 1.000000, 1.030000, 1.070000, 1.120000, 1.170000, 1.210000, 1.280000, 1.330000, 1.390000, 1.470000, 1.530000, 1.620000, 1.710000, 1.830000, 1.950000, 2.100000, 2.250000, 2.450000, 2.690000, 2.950000, 3.300000, 3.730000, 4.140000, 5.090000, 7.610000, 7.610000, 7.600000, 7.580000, 7.600000, 9.990000, 9.990000, 9.810000, 9.820000, 10.110000, 10.130000, 10.140000, 10.220000, 12.470000, 12.510000, 12.550000, 12.600000, 12.630000, 12.590000, 11.760000, 11.030000, 4.490000, 3.390000, 3.030000, 2.720000, 2.440000, 2.260000, 2.100000, 1.980000, 1.850000, 1.760000, 1.680000, 1.590000, 1.530000, 1.500000, 1.410000, 1.380000, 1.330000, 1.280000, 1.250000, 1.200000, 1.180000, 1.140000, 1.120000, 1.090000, 1.070000, 1.040000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 472218 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632004, -20.296999, 2.396755 ], "estimate": [ -42.632004, -20.296999, 2.396755 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.500000, 0.500000, 0.500000, 0.510000, 0.510000, 0.510000, 0.500000, 0.510000, 0.510000, 0.510000, 0.510000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.570000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.610000, 0.600000, 0.600000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.660000, 0.670000, 0.670000, 0.690000, 0.710000, 0.710000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.820000, 0.850000, 0.870000, 0.900000, 0.920000, 0.960000, 0.980000, 1.030000, 1.060000, 1.090000, 1.140000, 1.190000, 1.250000, 1.300000, 1.360000, 1.430000, 1.480000, 1.560000, 1.660000, 1.750000, 1.850000, 1.990000, 2.130000, 2.310000, 2.510000, 2.730000, 3.020000, 3.370000, 3.830000, 4.470000, 5.090000, 7.610000, 7.590000, 7.600000, 7.600000, 9.970000, 9.990000, 9.810000, 9.810000, 9.810000, 10.110000, 10.120000, 10.140000, 10.260000, 12.470000, 12.500000, 12.540000, 12.590000, 12.630000, 12.420000, 11.620000, 10.920000, 4.080000, 3.290000, 2.930000, 2.630000, 2.400000, 2.210000, 2.050000, 1.920000, 1.810000, 1.720000, 1.630000, 1.560000, 1.500000, 1.450000, 1.400000, 1.360000, 1.300000, 1.270000, 1.220000, 1.190000, 1.160000, 1.130000, 1.110000, 1.070000, 1.040000, 1.030000, 1.000000, 0.980000, 0.960000, 0.940000, 0.920000, 0.900000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 483361 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.296999, 2.495083 ], "estimate": [ -42.632999, -20.296999, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.520000, 0.520000, 0.510000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.540000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.770000, 0.780000, 0.790000, 0.810000, 0.830000, 0.850000, 0.870000, 0.900000, 0.930000, 0.960000, 0.990000, 1.030000, 1.070000, 1.100000, 1.150000, 1.190000, 1.240000, 1.300000, 1.360000, 1.410000, 1.480000, 1.570000, 1.640000, 1.730000, 1.850000, 1.960000, 2.110000, 2.270000, 2.450000, 2.680000, 2.940000, 3.290000, 3.680000, 4.120000, 5.090000, 7.610000, 7.600000, 7.600000, 7.590000, 7.580000, 9.970000, 10.000000, 9.780000, 9.790000, 10.100000, 10.100000, 10.130000, 10.150000, 12.460000, 12.490000, 12.520000, 12.570000, 12.600000, 12.670000, 11.960000, 11.160000, 4.860000, 3.510000, 3.040000, 2.720000, 2.430000, 2.250000, 2.090000, 1.960000, 1.830000, 1.730000, 1.650000, 1.570000, 1.510000, 1.480000, 1.410000, 1.360000, 1.310000, 1.270000, 1.230000, 1.190000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.030000, 1.000000, 0.980000, 0.960000, 0.940000, 0.910000, 0.890000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 702801 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.296999, 2.538102 ], "estimate": [ -42.632999, -20.296999, 2.538102 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.600000, 0.610000, 0.620000, 0.610000, 0.620000, 0.630000, 0.650000, 0.650000, 0.660000, 0.670000, 0.690000, 0.690000, 0.710000, 0.710000, 0.730000, 0.740000, 0.760000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.880000, 0.910000, 0.940000, 0.970000, 1.000000, 1.030000, 1.070000, 1.110000, 1.150000, 1.200000, 1.260000, 1.310000, 1.360000, 1.420000, 1.480000, 1.570000, 1.650000, 1.740000, 1.840000, 1.960000, 2.110000, 2.260000, 2.450000, 2.660000, 2.920000, 3.250000, 3.640000, 4.120000, 5.090000, 7.610000, 7.600000, 7.590000, 7.580000, 7.590000, 9.970000, 9.980000, 9.780000, 9.770000, 10.100000, 10.100000, 10.120000, 10.140000, 12.450000, 12.480000, 12.500000, 12.560000, 12.590000, 12.640000, 12.210000, 11.420000, 10.740000, 3.750000, 3.130000, 2.780000, 2.490000, 2.270000, 2.110000, 1.980000, 1.850000, 1.750000, 1.660000, 1.580000, 1.520000, 1.470000, 1.410000, 1.360000, 1.310000, 1.270000, 1.220000, 1.190000, 1.160000, 1.130000, 1.100000, 1.070000, 1.040000, 1.030000, 1.000000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055417, 966653 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.632999, -20.296999, 2.605703 ], "estimate": [ -42.632999, -20.296999, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.700000, 0.710000, 0.710000, 0.730000, 0.740000, 0.760000, 0.780000, 0.780000, 0.790000, 0.810000, 0.830000, 0.850000, 0.880000, 0.910000, 0.940000, 0.960000, 0.990000, 1.020000, 1.060000, 1.100000, 1.140000, 1.180000, 1.230000, 1.290000, 1.340000, 1.390000, 1.470000, 1.540000, 1.620000, 1.690000, 1.800000, 1.910000, 2.040000, 2.180000, 2.350000, 2.550000, 2.790000, 3.070000, 3.420000, 3.860000, 4.760000, 5.080000, 7.600000, 7.600000, 7.580000, 7.560000, 7.620000, 9.970000, 9.990000, 9.780000, 9.790000, 10.100000, 10.120000, 10.130000, 10.190000, 12.460000, 12.480000, 12.520000, 12.570000, 12.600000, 12.670000, 11.890000, 11.120000, 4.460000, 3.270000, 2.950000, 2.630000, 2.370000, 2.190000, 2.030000, 1.900000, 1.800000, 1.710000, 1.620000, 1.550000, 1.480000, 1.420000, 1.380000, 1.320000, 1.280000, 1.240000, 1.200000, 1.170000, 1.130000, 1.100000, 1.080000, 1.050000, 1.030000, 1.010000, 0.980000, 0.960000, 0.940000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.830000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055418, 316939 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.634998, -20.296000, 2.697886 ], "estimate": [ -42.634998, -20.296000, 2.697886 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.570000, 0.560000, 0.560000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.690000, 0.700000, 0.710000, 0.700000, 0.720000, 0.740000, 0.760000, 0.780000, 0.780000, 0.800000, 0.820000, 0.840000, 0.850000, 0.880000, 0.910000, 0.930000, 0.960000, 0.990000, 1.030000, 1.050000, 1.090000, 1.120000, 1.170000, 1.210000, 1.280000, 1.330000, 1.380000, 1.450000, 1.520000, 1.590000, 1.670000, 1.760000, 1.860000, 1.980000, 2.130000, 2.280000, 2.470000, 2.670000, 2.930000, 3.250000, 3.640000, 4.120000, 5.080000, 7.610000, 7.590000, 7.580000, 7.580000, 7.580000, 9.960000, 9.990000, 9.770000, 9.770000, 10.090000, 10.090000, 10.120000, 10.140000, 12.440000, 12.470000, 12.500000, 12.530000, 12.580000, 12.630000, 12.210000, 11.410000, 10.750000, 3.700000, 3.070000, 2.720000, 2.430000, 2.240000, 2.070000, 1.940000, 1.810000, 1.720000, 1.630000, 1.550000, 1.490000, 1.450000, 1.380000, 1.330000, 1.280000, 1.240000, 1.200000, 1.170000, 1.130000, 1.100000, 1.070000, 1.040000, 1.030000, 1.000000, 0.970000, 0.960000, 0.930000, 0.910000, 0.890000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055418, 265030 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.637997, -20.295000, 2.802360 ], "estimate": [ -42.637997, -20.295000, 2.802360 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.640000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.810000, 0.830000, 0.850000, 0.860000, 0.890000, 0.920000, 0.940000, 0.970000, 0.990000, 1.030000, 1.060000, 1.100000, 1.140000, 1.180000, 1.220000, 1.290000, 1.320000, 1.400000, 1.450000, 1.510000, 1.580000, 1.670000, 1.770000, 1.860000, 1.980000, 2.120000, 2.270000, 2.450000, 2.650000, 2.920000, 3.210000, 3.570000, 4.050000, 5.070000, 5.260000, 7.600000, 7.590000, 7.580000, 7.590000, 9.960000, 9.970000, 9.780000, 9.770000, 9.790000, 10.100000, 10.110000, 10.120000, 10.240000, 12.460000, 12.480000, 12.520000, 12.570000, 12.600000, 12.400000, 11.610000, 10.890000, 3.780000, 3.120000, 2.770000, 2.460000, 2.250000, 2.070000, 1.940000, 1.810000, 1.720000, 1.630000, 1.550000, 1.480000, 1.440000, 1.380000, 1.320000, 1.280000, 1.230000, 1.200000, 1.160000, 1.130000, 1.090000, 1.060000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.920000, 0.890000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055418, 391790 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.643997, -20.293001, 2.876106 ], "estimate": [ -42.643997, -20.293001, 2.876106 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.560000, 0.550000, 0.550000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.620000, 0.610000, 0.620000, 0.620000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.670000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.740000, 0.750000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.850000, 0.850000, 0.880000, 0.910000, 0.930000, 0.960000, 0.980000, 1.030000, 1.050000, 1.090000, 1.130000, 1.170000, 1.210000, 1.270000, 1.310000, 1.370000, 1.430000, 1.480000, 1.560000, 1.630000, 1.710000, 1.820000, 1.920000, 2.060000, 2.190000, 2.350000, 2.540000, 2.750000, 3.010000, 3.340000, 3.740000, 4.110000, 5.080000, 7.600000, 7.590000, 7.580000, 7.580000, 7.580000, 9.950000, 9.970000, 9.770000, 9.770000, 10.100000, 10.100000, 10.110000, 10.130000, 12.430000, 12.470000, 12.490000, 12.530000, 12.570000, 12.620000, 12.310000, 11.490000, 10.810000, 3.600000, 3.030000, 2.680000, 2.390000, 2.180000, 2.040000, 1.890000, 1.790000, 1.690000, 1.600000, 1.530000, 1.450000, 1.400000, 1.360000, 1.290000, 1.260000, 1.210000, 1.180000, 1.130000, 1.110000, 1.080000, 1.050000, 1.030000, 1.000000, 0.970000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055418, 789005 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.660000, -20.289000, 2.863815 ], "estimate": [ -42.660000, -20.289000, 2.863815 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.560000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.610000, 0.610000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.750000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.850000, 0.880000, 0.900000, 0.930000, 0.960000, 0.990000, 1.020000, 1.050000, 1.070000, 1.120000, 1.170000, 1.200000, 1.260000, 1.300000, 1.350000, 1.420000, 1.480000, 1.530000, 1.620000, 1.690000, 1.780000, 1.890000, 2.010000, 2.130000, 2.300000, 2.470000, 2.670000, 2.920000, 3.210000, 3.580000, 4.040000, 5.060000, 5.180000, 7.590000, 7.580000, 7.570000, 7.570000, 9.950000, 9.970000, 9.970000, 9.760000, 9.780000, 10.090000, 10.100000, 10.120000, 10.180000, 12.440000, 12.470000, 12.500000, 12.550000, 12.590000, 12.640000, 12.080000, 11.300000, 4.680000, 3.250000, 2.920000, 2.600000, 2.360000, 2.140000, 1.990000, 1.880000, 1.750000, 1.650000, 1.570000, 1.500000, 1.450000, 1.390000, 1.340000, 1.280000, 1.240000, 1.200000, 1.160000, 1.130000, 1.090000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.860000, 0.850000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.570000, 0.580000, 0.570000, 0.580000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055418, 791324 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.694000, -20.278999, 2.863815 ], "estimate": [ -42.694000, -20.278999, 2.863815 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.570000, 0.580000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.580000, 0.590000, 0.580000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.610000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.670000, 0.690000, 0.690000, 0.710000, 0.720000, 0.720000, 0.740000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.830000, 0.850000, 0.860000, 0.880000, 0.910000, 0.930000, 0.960000, 0.980000, 1.020000, 1.040000, 1.080000, 1.120000, 1.160000, 1.200000, 1.250000, 1.300000, 1.360000, 1.410000, 1.470000, 1.540000, 1.600000, 1.690000, 1.770000, 1.870000, 1.990000, 2.120000, 2.280000, 2.460000, 2.650000, 2.900000, 3.190000, 3.540000, 3.990000, 5.040000, 5.030000, 7.570000, 7.560000, 7.550000, 7.560000, 7.580000, 9.940000, 9.960000, 9.730000, 9.770000, 10.070000, 10.080000, 10.100000, 10.100000, 12.410000, 12.450000, 12.480000, 12.510000, 12.560000, 12.610000, 12.110000, 11.320000, 4.800000, 3.390000, 2.950000, 2.610000, 2.310000, 2.140000, 1.990000, 1.870000, 1.750000, 1.660000, 1.580000, 1.510000, 1.430000, 1.380000, 1.340000, 1.280000, 1.240000, 1.190000, 1.160000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.850000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.680000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.570000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055418, 951570 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.766003, -20.259001, 2.876106 ], "estimate": [ -42.766003, -20.259001, 2.876106 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.570000, 0.570000, 0.580000, 0.570000, 0.580000, 0.580000, 0.590000, 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.720000, 0.710000, 0.720000, 0.740000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.850000, 0.850000, 0.880000, 0.910000, 0.930000, 0.950000, 0.980000, 1.020000, 1.040000, 1.080000, 1.110000, 1.150000, 1.200000, 1.250000, 1.300000, 1.330000, 1.390000, 1.450000, 1.520000, 1.590000, 1.670000, 1.750000, 1.850000, 1.960000, 2.090000, 2.230000, 2.400000, 2.570000, 2.790000, 3.050000, 3.370000, 3.750000, 4.240000, 5.000000, 7.530000, 7.520000, 7.500000, 7.500000, 7.500000, 9.880000, 9.890000, 9.750000, 9.680000, 9.890000, 10.010000, 10.030000, 10.050000, 12.350000, 12.380000, 12.410000, 12.450000, 12.490000, 12.530000, 12.580000, 11.760000, 10.980000, 4.080000, 3.170000, 2.810000, 2.490000, 2.280000, 2.070000, 1.940000, 1.810000, 1.720000, 1.620000, 1.540000, 1.480000, 1.410000, 1.370000, 1.300000, 1.260000, 1.210000, 1.180000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.950000, 0.910000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.640000, 0.620000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055419, 290863 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.842999, -20.239000, 2.882251 ], "estimate": [ -42.842999, -20.239000, 2.882251 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.580000, 0.580000, 0.580000, 0.590000, 0.590000, 0.590000, 0.590000, 0.600000, 0.600000, 0.590000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.680000, 0.680000, 0.680000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.770000, 0.780000, 0.780000, 0.800000, 0.820000, 0.830000, 0.850000, 0.860000, 0.880000, 0.900000, 0.920000, 0.950000, 0.990000, 1.010000, 1.040000, 1.070000, 1.110000, 1.140000, 1.190000, 1.230000, 1.290000, 1.330000, 1.380000, 1.430000, 1.490000, 1.550000, 1.620000, 1.700000, 1.790000, 1.900000, 2.020000, 2.150000, 2.300000, 2.470000, 2.650000, 2.900000, 3.190000, 3.510000, 3.920000, 4.920000, 4.910000, 7.450000, 7.430000, 7.420000, 7.410000, 7.400000, 9.810000, 9.820000, 9.610000, 9.620000, 9.920000, 9.930000, 9.950000, 9.960000, 12.270000, 12.310000, 12.340000, 12.370000, 12.420000, 12.470000, 12.440000, 11.630000, 10.890000, 4.130000, 3.110000, 2.800000, 2.480000, 2.260000, 2.070000, 1.920000, 1.810000, 1.730000, 1.620000, 1.540000, 1.470000, 1.400000, 1.350000, 1.290000, 1.250000, 1.200000, 1.170000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.570000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055419, 363103 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.875000, -20.230999, 2.876106 ], "estimate": [ -42.875000, -20.230999, 2.876106 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.780000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.880000, 0.900000, 0.920000, 0.950000, 0.970000, 1.000000, 1.030000, 1.050000, 1.100000, 1.130000, 1.170000, 1.210000, 1.260000, 1.300000, 1.350000, 1.410000, 1.470000, 1.520000, 1.590000, 1.680000, 1.750000, 1.850000, 1.950000, 2.070000, 2.220000, 2.360000, 2.520000, 2.740000, 2.980000, 3.270000, 3.630000, 4.020000, 4.860000, 7.390000, 7.370000, 7.360000, 7.350000, 7.350000, 7.380000, 9.740000, 9.760000, 9.530000, 9.540000, 9.860000, 9.870000, 9.890000, 9.910000, 12.210000, 12.240000, 12.270000, 12.320000, 12.350000, 12.390000, 12.330000, 11.510000, 10.800000, 4.190000, 3.190000, 2.790000, 2.500000, 2.250000, 2.080000, 1.910000, 1.800000, 1.710000, 1.620000, 1.540000, 1.460000, 1.390000, 1.350000, 1.280000, 1.240000, 1.190000, 1.160000, 1.130000, 1.090000, 1.060000, 1.030000, 1.000000, 0.980000, 0.960000, 0.930000, 0.900000, 0.880000, 0.870000, 0.860000, 0.820000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.590000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 702867 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.919998, -20.218000, 2.869960 ], "estimate": [ -42.919998, -20.218000, 2.869960 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.590000, 0.590000, 0.600000, 0.600000, 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.630000, 0.640000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.710000, 0.720000, 0.720000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.800000, 0.820000, 0.840000, 0.860000, 0.870000, 0.890000, 0.920000, 0.940000, 0.960000, 0.980000, 1.010000, 1.040000, 1.080000, 1.110000, 1.150000, 1.190000, 1.230000, 1.280000, 1.330000, 1.380000, 1.440000, 1.500000, 1.560000, 1.620000, 1.700000, 1.790000, 1.890000, 2.000000, 2.140000, 2.280000, 2.430000, 2.620000, 2.850000, 3.110000, 3.420000, 3.820000, 4.810000, 4.830000, 7.330000, 7.320000, 7.320000, 7.310000, 7.320000, 9.690000, 9.710000, 9.730000, 9.500000, 9.510000, 9.820000, 9.840000, 9.850000, 9.920000, 12.170000, 12.200000, 12.250000, 12.280000, 12.330000, 12.370000, 11.880000, 11.130000, 10.480000, 3.670000, 3.000000, 2.670000, 2.390000, 2.180000, 2.000000, 1.870000, 1.760000, 1.670000, 1.580000, 1.510000, 1.440000, 1.380000, 1.320000, 1.270000, 1.210000, 1.190000, 1.140000, 1.110000, 1.080000, 1.050000, 1.020000, 0.990000, 0.970000, 0.950000, 0.920000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.590000, 0.580000, 0.560000, 0.550000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 703989 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -42.959999, -20.206999, 2.851524 ], "estimate": [ -42.959999, -20.206999, 2.851524 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.600000, 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.730000, 0.750000, 0.760000, 0.770000, 0.790000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.860000, 0.890000, 0.910000, 0.930000, 0.960000, 0.990000, 1.010000, 1.040000, 1.070000, 1.100000, 1.150000, 1.190000, 1.220000, 1.270000, 1.310000, 1.360000, 1.420000, 1.480000, 1.530000, 1.610000, 1.690000, 1.760000, 1.850000, 1.960000, 2.080000, 2.220000, 2.360000, 2.530000, 2.720000, 2.980000, 3.270000, 3.610000, 4.100000, 4.780000, 7.320000, 7.300000, 7.300000, 7.280000, 7.280000, 7.280000, 9.660000, 9.690000, 9.460000, 9.470000, 9.780000, 9.790000, 9.810000, 9.830000, 12.120000, 12.160000, 12.180000, 12.230000, 12.260000, 12.320000, 12.340000, 11.530000, 10.790000, 4.600000, 3.390000, 2.830000, 2.530000, 2.300000, 2.100000, 1.930000, 1.810000, 1.720000, 1.640000, 1.540000, 1.480000, 1.400000, 1.350000, 1.300000, 1.250000, 1.200000, 1.170000, 1.130000, 1.090000, 1.060000, 1.030000, 1.000000, 0.980000, 0.960000, 0.930000, 0.910000, 0.880000, 0.880000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.570000, 0.570000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 704960 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.014999, -20.191000, 2.851524 ], "estimate": [ -43.014999, -20.191000, 2.851524 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.600000, 0.610000, 0.610000, 0.610000, 0.610000, 0.620000, 0.610000, 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.760000, 0.770000, 0.790000, 0.790000, 0.800000, 0.820000, 0.840000, 0.860000, 0.860000, 0.880000, 0.910000, 0.920000, 0.950000, 0.970000, 1.000000, 1.020000, 1.050000, 1.090000, 1.120000, 1.160000, 1.200000, 1.240000, 1.290000, 1.330000, 1.390000, 1.450000, 1.500000, 1.570000, 1.640000, 1.720000, 1.800000, 1.900000, 2.000000, 2.130000, 2.270000, 2.430000, 2.610000, 2.820000, 3.080000, 3.370000, 3.750000, 4.740000, 4.750000, 7.260000, 7.250000, 7.240000, 7.230000, 7.220000, 9.600000, 9.620000, 9.650000, 9.430000, 9.430000, 9.740000, 9.750000, 9.770000, 9.780000, 12.090000, 12.120000, 12.160000, 12.190000, 12.230000, 12.280000, 12.110000, 11.330000, 10.640000, 4.330000, 3.280000, 2.790000, 2.490000, 2.270000, 2.060000, 1.910000, 1.800000, 1.700000, 1.620000, 1.540000, 1.460000, 1.390000, 1.350000, 1.290000, 1.230000, 1.190000, 1.150000, 1.120000, 1.080000, 1.050000, 1.020000, 1.000000, 0.970000, 0.950000, 0.920000, 0.900000, 0.880000, 0.870000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.740000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.560000, 0.560000, 0.570000, 0.580000, 0.550000, 0.560000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 705832 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.084000, -20.170000, 2.845378 ], "estimate": [ -43.084000, -20.170000, 2.845378 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.620000, 0.610000, 0.610000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.760000, 0.760000, 0.780000, 0.790000, 0.810000, 0.800000, 0.820000, 0.850000, 0.860000, 0.870000, 0.900000, 0.920000, 0.930000, 0.950000, 0.980000, 1.010000, 1.030000, 1.060000, 1.100000, 1.130000, 1.170000, 1.200000, 1.250000, 1.300000, 1.340000, 1.390000, 1.460000, 1.510000, 1.580000, 1.630000, 1.710000, 1.800000, 1.900000, 2.020000, 2.140000, 2.270000, 2.430000, 2.610000, 2.820000, 3.080000, 3.380000, 3.720000, 4.680000, 4.690000, 7.200000, 7.190000, 7.180000, 7.180000, 7.160000, 9.540000, 9.570000, 9.580000, 9.360000, 9.360000, 9.670000, 9.680000, 9.700000, 9.720000, 12.020000, 12.050000, 12.090000, 12.130000, 12.170000, 12.220000, 12.190000, 11.400000, 10.670000, 10.090000, 3.380000, 2.860000, 2.550000, 2.310000, 2.120000, 1.980000, 1.810000, 1.730000, 1.630000, 1.550000, 1.490000, 1.410000, 1.360000, 1.300000, 1.250000, 1.200000, 1.160000, 1.130000, 1.090000, 1.070000, 1.020000, 1.000000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.770000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 706689 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.147999, -20.150999, 2.845378 ], "estimate": [ -43.147999, -20.150999, 2.845378 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.610000, 0.610000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.890000, 0.900000, 0.930000, 0.940000, 0.970000, 0.990000, 1.020000, 1.030000, 1.070000, 1.100000, 1.140000, 1.180000, 1.220000, 1.270000, 1.310000, 1.370000, 1.400000, 1.470000, 1.530000, 1.600000, 1.670000, 1.740000, 1.820000, 1.930000, 2.040000, 2.160000, 2.290000, 2.460000, 2.650000, 2.870000, 3.130000, 3.420000, 3.770000, 4.610000, 4.610000, 7.140000, 7.120000, 7.110000, 7.110000, 7.100000, 9.470000, 9.500000, 9.530000, 9.290000, 9.300000, 9.620000, 9.630000, 9.640000, 9.660000, 11.960000, 11.980000, 12.020000, 12.060000, 12.090000, 12.150000, 12.110000, 11.330000, 10.630000, 10.030000, 3.490000, 2.860000, 2.570000, 2.330000, 2.140000, 1.960000, 1.820000, 1.730000, 1.640000, 1.550000, 1.480000, 1.420000, 1.360000, 1.310000, 1.260000, 1.200000, 1.160000, 1.130000, 1.090000, 1.050000, 1.020000, 1.000000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.870000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 707576 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.174000, -20.143000, 2.845378 ], "estimate": [ -43.174000, -20.143000, 2.845378 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.620000, 0.620000, 0.620000, 0.620000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.670000, 0.660000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.700000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.830000, 0.840000, 0.860000, 0.860000, 0.890000, 0.910000, 0.920000, 0.940000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.110000, 1.140000, 1.190000, 1.220000, 1.270000, 1.320000, 1.370000, 1.420000, 1.470000, 1.530000, 1.600000, 1.680000, 1.740000, 1.830000, 1.930000, 2.040000, 2.160000, 2.290000, 2.450000, 2.640000, 2.840000, 3.100000, 3.400000, 3.740000, 4.560000, 4.560000, 7.080000, 7.070000, 7.070000, 7.060000, 7.050000, 9.410000, 9.450000, 9.460000, 9.240000, 9.240000, 9.560000, 9.580000, 9.590000, 9.610000, 11.900000, 11.930000, 11.960000, 12.000000, 12.040000, 12.080000, 12.130000, 11.460000, 10.750000, 10.120000, 3.790000, 3.100000, 2.650000, 2.420000, 2.200000, 2.010000, 1.850000, 1.750000, 1.660000, 1.580000, 1.510000, 1.440000, 1.380000, 1.320000, 1.270000, 1.220000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.000000, 0.970000, 0.960000, 0.930000, 0.910000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 708323 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.220001, -20.129000, 2.839233 ], "estimate": [ -43.220001, -20.129000, 2.839233 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.620000, 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.820000, 0.840000, 0.840000, 0.870000, 0.870000, 0.890000, 0.910000, 0.930000, 0.960000, 0.980000, 1.000000, 1.040000, 1.050000, 1.080000, 1.110000, 1.160000, 1.190000, 1.230000, 1.290000, 1.320000, 1.370000, 1.430000, 1.490000, 1.550000, 1.600000, 1.670000, 1.760000, 1.840000, 1.940000, 2.040000, 2.160000, 2.310000, 2.460000, 2.660000, 2.880000, 3.130000, 3.430000, 4.110000, 4.520000, 4.700000, 7.040000, 7.030000, 7.020000, 7.010000, 7.010000, 9.380000, 9.410000, 9.430000, 9.200000, 9.200000, 9.530000, 9.520000, 9.540000, 9.560000, 11.850000, 11.880000, 11.920000, 11.960000, 11.990000, 12.040000, 12.090000, 11.390000, 10.690000, 10.080000, 3.890000, 3.130000, 2.660000, 2.430000, 2.200000, 2.020000, 1.870000, 1.800000, 1.660000, 1.580000, 1.510000, 1.440000, 1.380000, 1.320000, 1.270000, 1.220000, 1.180000, 1.130000, 1.110000, 1.070000, 1.040000, 1.010000, 0.970000, 0.950000, 0.940000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 709239 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.267002, -20.115000, 2.833087 ], "estimate": [ -43.267002, -20.115000, 2.833087 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.630000, 0.630000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.670000, 0.680000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.760000, 0.770000, 0.790000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.860000, 0.880000, 0.910000, 0.930000, 0.940000, 0.970000, 0.990000, 1.020000, 1.040000, 1.070000, 1.100000, 1.130000, 1.170000, 1.200000, 1.250000, 1.300000, 1.340000, 1.390000, 1.440000, 1.500000, 1.570000, 1.630000, 1.710000, 1.790000, 1.880000, 1.980000, 2.090000, 2.220000, 2.350000, 2.500000, 2.700000, 2.910000, 3.160000, 3.450000, 4.480000, 4.490000, 4.760000, 7.030000, 7.020000, 7.000000, 6.990000, 6.970000, 9.340000, 9.370000, 9.370000, 9.160000, 9.160000, 9.490000, 9.500000, 9.510000, 9.510000, 11.830000, 11.860000, 11.890000, 11.930000, 11.970000, 12.010000, 12.060000, 11.380000, 10.680000, 10.070000, 4.030000, 3.150000, 2.690000, 2.450000, 2.200000, 2.030000, 1.880000, 1.790000, 1.660000, 1.580000, 1.520000, 1.450000, 1.390000, 1.330000, 1.270000, 1.220000, 1.180000, 1.140000, 1.110000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.940000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 710173 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.327003, -20.096001, 2.833087 ], "estimate": [ -43.327003, -20.096001, 2.833087 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.630000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.830000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.970000, 1.000000, 1.020000, 1.050000, 1.080000, 1.110000, 1.130000, 1.170000, 1.210000, 1.270000, 1.300000, 1.340000, 1.400000, 1.460000, 1.510000, 1.570000, 1.630000, 1.710000, 1.790000, 1.890000, 1.990000, 2.110000, 2.230000, 2.360000, 2.520000, 2.700000, 2.920000, 3.170000, 3.440000, 4.420000, 4.440000, 6.980000, 6.960000, 6.960000, 6.940000, 6.940000, 6.910000, 9.290000, 9.310000, 9.320000, 9.120000, 9.120000, 9.430000, 9.430000, 9.450000, 9.470000, 11.770000, 11.810000, 11.830000, 11.870000, 11.920000, 11.960000, 12.000000, 11.360000, 10.660000, 10.060000, 4.310000, 3.240000, 2.760000, 2.470000, 2.250000, 2.060000, 1.900000, 1.770000, 1.720000, 1.590000, 1.520000, 1.460000, 1.390000, 1.340000, 1.280000, 1.230000, 1.190000, 1.140000, 1.110000, 1.080000, 1.040000, 1.020000, 0.980000, 0.960000, 0.930000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 711030 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.389999, -20.076000, 2.826942 ], "estimate": [ -43.389999, -20.076000, 2.826942 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.640000, 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.650000, 0.650000, 0.650000, 0.660000, 0.650000, 0.650000, 0.660000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.730000, 0.750000, 0.760000, 0.760000, 0.780000, 0.790000, 0.800000, 0.810000, 0.820000, 0.830000, 0.850000, 0.860000, 0.890000, 0.900000, 0.920000, 0.930000, 0.960000, 0.980000, 1.010000, 1.040000, 1.060000, 1.090000, 1.110000, 1.150000, 1.190000, 1.220000, 1.270000, 1.310000, 1.360000, 1.410000, 1.480000, 1.520000, 1.590000, 1.650000, 1.730000, 1.810000, 1.890000, 1.990000, 2.110000, 2.240000, 2.380000, 2.540000, 2.720000, 2.940000, 3.190000, 3.410000, 4.380000, 4.380000, 6.910000, 6.900000, 6.890000, 6.890000, 6.880000, 6.850000, 9.240000, 9.240000, 9.260000, 9.050000, 9.050000, 9.360000, 9.370000, 9.380000, 9.410000, 11.720000, 11.750000, 11.770000, 11.810000, 11.850000, 11.880000, 11.930000, 11.370000, 10.670000, 10.060000, 4.590000, 3.340000, 2.870000, 2.500000, 2.270000, 2.080000, 1.920000, 1.790000, 1.680000, 1.600000, 1.540000, 1.460000, 1.400000, 1.350000, 1.280000, 1.230000, 1.190000, 1.140000, 1.110000, 1.090000, 1.050000, 1.020000, 1.000000, 0.960000, 0.940000, 0.910000, 0.890000, 0.880000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 711866 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.447002, -20.058001, 2.833087 ], "estimate": [ -43.447002, -20.058001, 2.833087 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.650000, 0.650000, 0.650000, 0.660000, 0.660000, 0.660000, 0.650000, 0.660000, 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.690000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.760000, 0.760000, 0.780000, 0.790000, 0.790000, 0.810000, 0.820000, 0.840000, 0.840000, 0.860000, 0.870000, 0.890000, 0.910000, 0.930000, 0.950000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.100000, 1.140000, 1.170000, 1.200000, 1.250000, 1.300000, 1.330000, 1.390000, 1.440000, 1.500000, 1.560000, 1.620000, 1.700000, 1.770000, 1.850000, 1.940000, 2.050000, 2.160000, 2.290000, 2.440000, 2.610000, 2.800000, 3.030000, 3.300000, 4.330000, 4.320000, 4.320000, 6.860000, 6.840000, 6.830000, 6.820000, 6.820000, 6.790000, 9.180000, 9.200000, 9.210000, 8.980000, 9.000000, 9.310000, 9.320000, 9.340000, 9.350000, 11.660000, 11.690000, 11.730000, 11.760000, 11.810000, 11.840000, 11.890000, 11.180000, 10.480000, 9.890000, 4.390000, 3.260000, 2.800000, 2.450000, 2.240000, 2.050000, 1.910000, 1.770000, 1.660000, 1.600000, 1.520000, 1.450000, 1.390000, 1.340000, 1.270000, 1.230000, 1.190000, 1.150000, 1.110000, 1.070000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.770000, 0.780000, 0.760000, 0.750000, 0.740000, 0.720000, 0.710000, 0.700000, 0.700000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 712860 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.494999, -20.043001, 2.826942 ], "estimate": [ -43.494999, -20.043001, 2.826942 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.660000, 0.660000, 0.670000, 0.660000, 0.660000, 0.660000, 0.660000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.850000, 0.870000, 0.870000, 0.900000, 0.910000, 0.920000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.070000, 1.090000, 1.120000, 1.160000, 1.190000, 1.230000, 1.270000, 1.310000, 1.370000, 1.410000, 1.470000, 1.520000, 1.590000, 1.660000, 1.720000, 1.800000, 1.890000, 1.980000, 2.090000, 2.220000, 2.350000, 2.490000, 2.670000, 2.880000, 3.100000, 3.320000, 4.270000, 4.280000, 4.560000, 6.810000, 6.790000, 6.790000, 6.780000, 6.770000, 6.770000, 9.140000, 9.160000, 9.000000, 8.950000, 8.990000, 9.270000, 9.280000, 9.300000, 9.320000, 11.620000, 11.650000, 11.690000, 11.730000, 11.770000, 11.810000, 11.740000, 10.990000, 10.320000, 9.750000, 4.090000, 3.190000, 2.750000, 2.410000, 2.210000, 2.030000, 1.880000, 1.750000, 1.640000, 1.560000, 1.500000, 1.440000, 1.380000, 1.330000, 1.270000, 1.210000, 1.180000, 1.130000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.900000, 0.880000, 0.870000, 0.840000, 0.830000, 0.820000, 0.800000, 0.790000, 0.770000, 0.740000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.570000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055421, 791210 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.546001, -20.027000, 2.826942 ], "estimate": [ -43.546001, -20.027000, 2.826942 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.650000, 0.670000, 0.670000, 0.660000, 0.660000, 0.670000, 0.680000, 0.680000, 0.680000, 0.670000, 0.680000, 0.680000, 0.670000, 0.670000, 0.680000, 0.690000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.800000, 0.800000, 0.800000, 0.820000, 0.830000, 0.850000, 0.870000, 0.870000, 0.890000, 0.900000, 0.940000, 0.940000, 0.960000, 0.990000, 1.010000, 1.040000, 1.060000, 1.090000, 1.110000, 1.140000, 1.180000, 1.220000, 1.260000, 1.300000, 1.340000, 1.390000, 1.440000, 1.490000, 1.550000, 1.620000, 1.700000, 1.770000, 1.850000, 1.930000, 2.040000, 2.150000, 2.280000, 2.420000, 2.570000, 2.760000, 2.980000, 3.240000, 4.240000, 4.220000, 4.240000, 6.760000, 6.760000, 6.740000, 6.730000, 6.720000, 6.680000, 9.080000, 9.100000, 9.110000, 8.900000, 8.910000, 9.210000, 9.220000, 9.220000, 9.260000, 9.360000, 11.580000, 11.610000, 11.650000, 11.680000, 11.730000, 11.780000, 11.450000, 10.740000, 10.100000, 9.560000, 3.800000, 3.070000, 2.670000, 2.360000, 2.150000, 1.990000, 1.860000, 1.720000, 1.620000, 1.540000, 1.490000, 1.410000, 1.370000, 1.300000, 1.250000, 1.200000, 1.160000, 1.130000, 1.090000, 1.060000, 1.030000, 1.000000, 0.980000, 0.960000, 0.920000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.760000, 0.750000, 0.740000, 0.720000, 0.700000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055422, 156272 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.602997, -20.009001, 2.833087 ], "estimate": [ -43.602997, -20.009001, 2.833087 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.680000, 0.690000, 0.680000, 0.680000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.730000, 0.740000, 0.740000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.840000, 0.850000, 0.870000, 0.860000, 0.890000, 0.900000, 0.930000, 0.940000, 0.960000, 0.990000, 1.010000, 1.030000, 1.050000, 1.080000, 1.120000, 1.150000, 1.180000, 1.210000, 1.250000, 1.300000, 1.330000, 1.380000, 1.430000, 1.490000, 1.540000, 1.610000, 1.680000, 1.740000, 1.820000, 1.900000, 2.000000, 2.120000, 2.240000, 2.380000, 2.520000, 2.700000, 2.900000, 3.130000, 3.640000, 4.180000, 4.180000, 6.730000, 6.710000, 6.690000, 6.680000, 6.670000, 6.670000, 6.640000, 9.040000, 9.050000, 9.040000, 8.850000, 8.860000, 9.160000, 9.180000, 9.190000, 9.210000, 11.520000, 11.550000, 11.560000, 11.620000, 11.650000, 11.690000, 11.740000, 11.080000, 10.380000, 9.820000, 9.300000, 3.480000, 2.890000, 2.540000, 2.270000, 2.080000, 1.930000, 1.800000, 1.690000, 1.590000, 1.520000, 1.450000, 1.390000, 1.340000, 1.270000, 1.230000, 1.190000, 1.140000, 1.110000, 1.090000, 1.050000, 1.020000, 1.000000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055422, 191877 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.665001, -19.990000, 2.839233 ], "estimate": [ -43.665001, -19.990000, 2.839233 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.670000, 0.670000, 0.680000, 0.680000, 0.690000, 0.690000, 0.690000, 0.690000, 0.700000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.840000, 0.860000, 0.870000, 0.880000, 0.890000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.060000, 1.080000, 1.120000, 1.150000, 1.180000, 1.210000, 1.240000, 1.290000, 1.330000, 1.370000, 1.430000, 1.480000, 1.540000, 1.590000, 1.660000, 1.730000, 1.790000, 1.870000, 1.980000, 2.080000, 2.200000, 2.330000, 2.480000, 2.630000, 2.820000, 3.050000, 3.250000, 4.100000, 4.110000, 4.380000, 6.650000, 6.630000, 6.620000, 6.610000, 6.600000, 6.600000, 8.940000, 8.970000, 8.990000, 8.780000, 8.780000, 9.100000, 9.110000, 9.120000, 9.140000, 9.250000, 11.460000, 11.490000, 11.520000, 11.550000, 11.600000, 11.640000, 11.430000, 10.740000, 10.090000, 9.550000, 4.410000, 3.200000, 2.750000, 2.450000, 2.200000, 2.020000, 1.880000, 1.760000, 1.640000, 1.560000, 1.480000, 1.420000, 1.370000, 1.310000, 1.250000, 1.200000, 1.160000, 1.120000, 1.090000, 1.070000, 1.030000, 1.010000, 0.970000, 0.960000, 0.930000, 0.900000, 0.880000, 0.870000, 0.840000, 0.830000, 0.800000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.660000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.530000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055422, 497764 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.720001, -19.973000, 2.833087 ], "estimate": [ -43.720001, -19.973000, 2.833087 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.680000, 0.690000, 0.680000, 0.690000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.750000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.830000, 0.840000, 0.860000, 0.880000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.960000, 0.980000, 1.000000, 1.020000, 1.050000, 1.070000, 1.100000, 1.130000, 1.170000, 1.190000, 1.210000, 1.260000, 1.300000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.610000, 1.680000, 1.730000, 1.820000, 1.890000, 1.990000, 2.090000, 2.210000, 2.330000, 2.490000, 2.650000, 2.830000, 3.070000, 4.050000, 4.050000, 4.060000, 4.340000, 6.590000, 6.570000, 6.560000, 6.550000, 6.550000, 6.510000, 8.890000, 8.920000, 8.940000, 8.720000, 8.710000, 9.040000, 9.050000, 9.060000, 9.070000, 9.150000, 11.390000, 11.420000, 11.460000, 11.500000, 11.530000, 11.570000, 11.520000, 10.810000, 10.140000, 9.600000, 9.100000, 3.420000, 2.870000, 2.530000, 2.260000, 2.050000, 1.900000, 1.790000, 1.670000, 1.570000, 1.500000, 1.430000, 1.360000, 1.310000, 1.260000, 1.210000, 1.170000, 1.130000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.910000, 0.900000, 0.880000, 0.870000, 0.840000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.610000, 0.620000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055422, 552170 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.771000, -19.956999, 2.833087 ], "estimate": [ -43.771000, -19.956999, 2.833087 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.690000, 0.690000, 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.050000, 1.080000, 1.110000, 1.140000, 1.180000, 1.190000, 1.240000, 1.280000, 1.310000, 1.360000, 1.410000, 1.470000, 1.500000, 1.560000, 1.620000, 1.690000, 1.760000, 1.840000, 1.920000, 2.030000, 2.120000, 2.250000, 2.380000, 2.530000, 2.670000, 2.890000, 3.070000, 4.010000, 4.010000, 4.020000, 6.550000, 6.540000, 6.530000, 6.510000, 6.500000, 6.500000, 6.500000, 8.850000, 8.870000, 8.890000, 8.680000, 8.670000, 8.990000, 9.000000, 9.010000, 9.030000, 9.140000, 11.350000, 11.390000, 11.410000, 11.440000, 11.490000, 11.530000, 11.410000, 10.710000, 10.040000, 9.510000, 9.030000, 3.420000, 2.870000, 2.540000, 2.250000, 2.040000, 1.900000, 1.780000, 1.670000, 1.570000, 1.500000, 1.430000, 1.360000, 1.320000, 1.260000, 1.210000, 1.160000, 1.130000, 1.100000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.920000, 0.900000, 0.880000, 0.870000, 0.850000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.600000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055422, 822962 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.825001, -19.940001, 2.820796 ], "estimate": [ -43.825001, -19.940001, 2.820796 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.690000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.760000, 0.770000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.810000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.920000, 0.930000, 0.950000, 0.960000, 0.980000, 1.010000, 1.030000, 1.040000, 1.070000, 1.100000, 1.120000, 1.150000, 1.190000, 1.220000, 1.260000, 1.300000, 1.330000, 1.380000, 1.420000, 1.480000, 1.520000, 1.590000, 1.640000, 1.710000, 1.780000, 1.870000, 1.940000, 2.040000, 2.150000, 2.260000, 2.400000, 2.540000, 2.720000, 2.920000, 3.090000, 3.970000, 3.960000, 3.970000, 6.510000, 6.490000, 6.470000, 6.470000, 6.450000, 6.450000, 6.440000, 8.800000, 8.820000, 8.850000, 8.630000, 8.630000, 8.950000, 8.950000, 8.960000, 8.980000, 9.100000, 11.300000, 11.320000, 11.360000, 11.400000, 11.440000, 11.490000, 11.430000, 10.710000, 10.050000, 9.510000, 9.020000, 3.520000, 2.920000, 2.580000, 2.290000, 2.050000, 1.910000, 1.790000, 1.700000, 1.580000, 1.510000, 1.430000, 1.370000, 1.310000, 1.260000, 1.200000, 1.160000, 1.130000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.960000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.800000, 0.790000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.580000, 0.580000, 0.570000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.520000, 0.520000, 0.530000, 0.530000, 0.520000, 0.530000, 0.530000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055422, 951295 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.881001, -19.921000, 2.820796 ], "estimate": [ -43.881001, -19.921000, 2.820796 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.860000, 0.860000, 0.880000, 0.900000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.050000, 1.080000, 1.100000, 1.130000, 1.170000, 1.200000, 1.230000, 1.270000, 1.300000, 1.340000, 1.380000, 1.430000, 1.490000, 1.530000, 1.590000, 1.640000, 1.710000, 1.790000, 1.870000, 1.960000, 2.050000, 2.160000, 2.280000, 2.410000, 2.560000, 2.720000, 2.920000, 3.630000, 3.900000, 3.910000, 3.900000, 6.460000, 6.440000, 6.420000, 6.410000, 6.390000, 6.390000, 6.390000, 8.740000, 8.770000, 8.780000, 8.590000, 8.580000, 8.900000, 8.900000, 8.910000, 8.930000, 8.980000, 11.230000, 11.270000, 11.320000, 11.340000, 11.400000, 11.420000, 11.470000, 10.750000, 10.100000, 9.540000, 9.050000, 3.710000, 2.990000, 2.630000, 2.350000, 2.120000, 1.930000, 1.800000, 1.700000, 1.610000, 1.530000, 1.450000, 1.380000, 1.330000, 1.270000, 1.220000, 1.170000, 1.130000, 1.100000, 1.070000, 1.030000, 1.020000, 0.980000, 0.960000, 0.930000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.720000, 0.710000, 0.710000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000, 0.540000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055423, 340764 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.937000, -19.903000, 2.814651 ], "estimate": [ -43.937000, -19.903000, 2.814651 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.740000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.860000, 0.880000, 0.880000, 0.890000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.990000, 1.010000, 1.040000, 1.050000, 1.070000, 1.090000, 1.120000, 1.150000, 1.190000, 1.210000, 1.240000, 1.290000, 1.320000, 1.360000, 1.400000, 1.450000, 1.500000, 1.550000, 1.620000, 1.680000, 1.740000, 1.820000, 1.900000, 1.990000, 2.090000, 2.200000, 2.310000, 2.440000, 2.600000, 2.770000, 2.890000, 3.860000, 3.850000, 3.860000, 4.140000, 6.390000, 6.380000, 6.360000, 6.350000, 6.340000, 6.330000, 6.340000, 8.690000, 8.710000, 8.730000, 8.530000, 8.510000, 8.830000, 8.840000, 8.850000, 8.860000, 8.940000, 11.180000, 11.220000, 11.230000, 11.280000, 11.310000, 11.360000, 11.400000, 10.690000, 10.030000, 9.490000, 9.000000, 3.800000, 3.060000, 2.660000, 2.380000, 2.140000, 1.940000, 1.810000, 1.710000, 1.620000, 1.530000, 1.460000, 1.390000, 1.340000, 1.270000, 1.220000, 1.160000, 1.150000, 1.100000, 1.070000, 1.040000, 1.010000, 0.980000, 0.960000, 0.930000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.760000, 0.760000, 0.740000, 0.730000, 0.710000, 0.700000, 0.700000, 0.680000, 0.680000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.550000, 0.550000, 0.530000, 0.520000, 0.520000, 0.530000, 0.540000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055423, 351554 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -43.966000, -19.893000, 2.808505 ], "estimate": [ -43.966000, -19.893000, 2.808505 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.720000, 0.720000, 0.720000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.740000, 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.840000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.020000, 1.040000, 1.050000, 1.080000, 1.090000, 1.120000, 1.160000, 1.190000, 1.210000, 1.250000, 1.290000, 1.320000, 1.360000, 1.410000, 1.460000, 1.490000, 1.550000, 1.610000, 1.680000, 1.730000, 1.810000, 1.890000, 1.980000, 2.070000, 2.180000, 2.290000, 2.430000, 2.570000, 2.730000, 2.860000, 3.810000, 3.800000, 3.810000, 4.040000, 6.350000, 6.320000, 6.310000, 6.300000, 6.280000, 6.280000, 6.280000, 8.620000, 8.660000, 8.670000, 8.440000, 8.460000, 8.560000, 8.780000, 8.800000, 8.810000, 8.820000, 11.130000, 11.150000, 11.170000, 11.220000, 11.250000, 11.300000, 11.340000, 10.890000, 10.230000, 9.640000, 9.130000, 4.640000, 3.330000, 2.810000, 2.460000, 2.250000, 2.010000, 1.860000, 1.740000, 1.650000, 1.560000, 1.490000, 1.420000, 1.360000, 1.290000, 1.250000, 1.190000, 1.140000, 1.110000, 1.080000, 1.040000, 1.020000, 1.000000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.860000, 0.840000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.690000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.540000, 0.550000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 636209 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.021000, -19.874001, 2.808505 ], "estimate": [ -44.021000, -19.874001, 2.808505 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.720000, 0.730000, 0.730000, 0.740000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.750000, 0.750000, 0.760000, 0.770000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.830000, 0.820000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.880000, 0.890000, 0.910000, 0.930000, 0.930000, 0.940000, 0.960000, 0.990000, 1.000000, 1.020000, 1.050000, 1.060000, 1.080000, 1.110000, 1.140000, 1.160000, 1.190000, 1.220000, 1.270000, 1.300000, 1.330000, 1.380000, 1.420000, 1.460000, 1.500000, 1.560000, 1.620000, 1.680000, 1.750000, 1.820000, 1.900000, 2.000000, 2.090000, 2.200000, 2.310000, 2.440000, 2.590000, 2.750000, 3.020000, 3.780000, 3.750000, 3.730000, 4.030000, 6.290000, 6.270000, 6.260000, 6.250000, 6.240000, 6.230000, 6.240000, 8.550000, 8.600000, 8.610000, 8.410000, 8.420000, 8.470000, 8.730000, 8.740000, 8.750000, 8.770000, 11.070000, 11.090000, 11.130000, 11.160000, 11.200000, 11.240000, 11.280000, 10.880000, 10.200000, 9.620000, 9.110000, 8.680000, 3.420000, 2.860000, 2.530000, 2.280000, 2.060000, 1.890000, 1.760000, 1.660000, 1.570000, 1.500000, 1.430000, 1.370000, 1.300000, 1.260000, 1.190000, 1.150000, 1.120000, 1.070000, 1.050000, 1.030000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.880000, 0.850000, 0.830000, 0.820000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 678400 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.072998, -19.857000, 2.808505 ], "estimate": [ -44.072998, -19.857000, 2.808505 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 0.980000, 1.000000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.120000, 1.160000, 1.190000, 1.210000, 1.240000, 1.280000, 1.310000, 1.350000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.650000, 1.710000, 1.790000, 1.860000, 1.950000, 2.040000, 2.130000, 2.240000, 2.360000, 2.500000, 2.650000, 2.760000, 3.680000, 3.700000, 3.700000, 3.700000, 6.260000, 6.250000, 6.230000, 6.200000, 6.190000, 6.180000, 6.180000, 6.160000, 8.540000, 8.550000, 8.570000, 8.370000, 8.350000, 8.680000, 8.680000, 8.690000, 8.700000, 8.720000, 11.020000, 11.050000, 11.080000, 11.120000, 11.150000, 11.200000, 11.240000, 10.700000, 10.050000, 9.500000, 9.000000, 8.580000, 3.370000, 2.840000, 2.510000, 2.270000, 2.040000, 1.900000, 1.740000, 1.650000, 1.560000, 1.490000, 1.420000, 1.370000, 1.310000, 1.250000, 1.190000, 1.150000, 1.120000, 1.080000, 1.040000, 1.010000, 0.990000, 0.960000, 0.930000, 0.910000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.510000, 0.520000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 679422 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.125999, -19.838001, 2.802360 ], "estimate": [ -44.125999, -19.838001, 2.802360 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.950000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.110000, 1.140000, 1.170000, 1.200000, 1.210000, 1.260000, 1.300000, 1.330000, 1.370000, 1.400000, 1.450000, 1.500000, 1.550000, 1.610000, 1.670000, 1.730000, 1.790000, 1.880000, 1.970000, 2.060000, 2.150000, 2.250000, 2.380000, 2.520000, 2.670000, 2.940000, 3.670000, 3.660000, 3.660000, 3.840000, 6.200000, 6.190000, 6.170000, 6.150000, 6.140000, 6.130000, 6.130000, 6.150000, 8.480000, 8.510000, 8.520000, 8.320000, 8.300000, 8.630000, 8.640000, 8.640000, 8.660000, 8.690000, 10.980000, 11.000000, 11.030000, 11.070000, 11.110000, 11.150000, 11.190000, 10.680000, 10.040000, 9.480000, 8.980000, 8.550000, 3.460000, 2.910000, 2.550000, 2.270000, 2.070000, 1.890000, 1.750000, 1.650000, 1.570000, 1.500000, 1.430000, 1.360000, 1.300000, 1.260000, 1.200000, 1.150000, 1.120000, 1.080000, 1.040000, 1.020000, 0.980000, 0.960000, 0.940000, 0.900000, 0.880000, 0.870000, 0.860000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.700000, 0.700000, 0.690000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.630000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.510000, 0.510000, 0.520000, 0.520000, 0.520000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 680377 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.182003, -19.819000, 2.790069 ], "estimate": [ -44.182003, -19.819000, 2.790069 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.750000, 0.750000, 0.760000, 0.760000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.910000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 0.990000, 1.000000, 1.030000, 1.050000, 1.060000, 1.090000, 1.110000, 1.130000, 1.170000, 1.190000, 1.210000, 1.240000, 1.290000, 1.320000, 1.340000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.650000, 1.710000, 1.780000, 1.870000, 1.930000, 2.020000, 2.120000, 2.240000, 2.330000, 2.450000, 2.610000, 2.760000, 3.580000, 3.600000, 3.600000, 3.610000, 6.150000, 6.140000, 6.120000, 6.100000, 6.090000, 6.070000, 6.070000, 6.050000, 8.390000, 8.440000, 8.450000, 8.450000, 8.260000, 8.240000, 8.570000, 8.580000, 8.590000, 8.610000, 10.890000, 10.920000, 10.950000, 10.990000, 11.030000, 11.060000, 11.090000, 11.130000, 10.430000, 9.810000, 9.270000, 8.800000, 4.470000, 3.320000, 2.830000, 2.480000, 2.220000, 2.040000, 1.870000, 1.750000, 1.630000, 1.550000, 1.480000, 1.420000, 1.360000, 1.290000, 1.250000, 1.190000, 1.140000, 1.110000, 1.070000, 1.040000, 1.010000, 0.980000, 0.960000, 0.910000, 0.900000, 0.880000, 0.870000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.750000, 0.750000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 681365 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.237999, -19.798000, 2.777778 ], "estimate": [ -44.237999, -19.798000, 2.777778 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.740000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 0.770000, 0.780000, 0.770000, 0.770000, 0.770000, 0.780000, 0.770000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.840000, 0.850000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.990000, 1.000000, 1.030000, 1.040000, 1.050000, 1.080000, 1.100000, 1.120000, 1.150000, 1.180000, 1.210000, 1.230000, 1.270000, 1.310000, 1.330000, 1.370000, 1.420000, 1.470000, 1.510000, 1.550000, 1.620000, 1.680000, 1.750000, 1.810000, 1.890000, 1.970000, 2.060000, 2.160000, 2.270000, 2.390000, 2.520000, 2.600000, 3.540000, 3.580000, 3.550000, 3.550000, 3.800000, 6.090000, 6.070000, 6.070000, 6.050000, 6.040000, 6.030000, 6.020000, 6.080000, 8.350000, 8.380000, 8.410000, 8.210000, 8.210000, 8.310000, 8.510000, 8.530000, 8.550000, 8.560000, 10.860000, 10.880000, 10.900000, 10.940000, 10.980000, 11.030000, 11.060000, 10.890000, 10.240000, 9.620000, 9.120000, 8.660000, 4.350000, 3.260000, 2.790000, 2.460000, 2.210000, 2.030000, 1.860000, 1.750000, 1.630000, 1.540000, 1.480000, 1.400000, 1.360000, 1.290000, 1.250000, 1.190000, 1.150000, 1.110000, 1.080000, 1.040000, 1.020000, 0.980000, 0.960000, 0.930000, 0.900000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.700000, 0.700000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.530000, 0.530000, 0.520000, 0.520000, 0.520000, 0.530000, 0.520000, 0.520000, 0.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 682293 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.292004, -19.778000, 2.765487 ], "estimate": [ -44.292004, -19.778000, 2.765487 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.890000, 0.900000, 0.910000, 0.930000, 0.940000, 0.940000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.070000, 1.080000, 1.110000, 1.120000, 1.160000, 1.190000, 1.220000, 1.250000, 1.280000, 1.300000, 1.350000, 1.390000, 1.430000, 1.480000, 1.520000, 1.580000, 1.630000, 1.700000, 1.750000, 1.830000, 1.910000, 1.980000, 2.070000, 2.180000, 2.280000, 2.410000, 2.540000, 2.980000, 3.470000, 3.510000, 3.490000, 3.500000, 3.790000, 6.040000, 6.020000, 6.000000, 5.970000, 5.960000, 5.950000, 5.950000, 5.920000, 8.290000, 8.330000, 8.340000, 8.140000, 8.140000, 8.240000, 8.460000, 8.470000, 8.480000, 8.490000, 10.790000, 10.820000, 10.850000, 10.880000, 10.920000, 10.950000, 11.000000, 10.870000, 10.220000, 9.610000, 9.100000, 8.660000, 8.240000, 3.360000, 2.870000, 2.510000, 2.270000, 2.060000, 1.890000, 1.750000, 1.680000, 1.560000, 1.490000, 1.430000, 1.370000, 1.310000, 1.260000, 1.200000, 1.160000, 1.120000, 1.090000, 1.050000, 1.030000, 0.990000, 0.970000, 0.940000, 0.910000, 0.890000, 0.870000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000, 0.520000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 683212 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.343998, -19.758001, 2.759341 ], "estimate": [ -44.343998, -19.758001, 2.759341 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 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, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 0.780000, 0.790000, 0.780000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.930000, 0.950000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.040000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.180000, 1.200000, 1.230000, 1.270000, 1.310000, 1.330000, 1.370000, 1.410000, 1.450000, 1.500000, 1.550000, 1.620000, 1.670000, 1.730000, 1.800000, 1.870000, 1.950000, 2.040000, 2.120000, 2.240000, 2.340000, 2.480000, 2.650000, 3.440000, 3.470000, 3.450000, 3.450000, 3.680000, 5.990000, 5.970000, 5.950000, 5.940000, 5.930000, 5.920000, 5.910000, 5.870000, 8.230000, 8.260000, 8.290000, 8.310000, 8.100000, 8.090000, 8.410000, 8.420000, 8.420000, 8.440000, 8.510000, 10.750000, 10.780000, 10.810000, 10.850000, 10.880000, 10.920000, 10.980000, 10.520000, 9.900000, 9.340000, 8.870000, 8.440000, 4.150000, 3.180000, 2.770000, 2.440000, 2.220000, 2.020000, 1.860000, 1.720000, 1.650000, 1.540000, 1.480000, 1.410000, 1.360000, 1.300000, 1.250000, 1.220000, 1.150000, 1.120000, 1.090000, 1.050000, 1.020000, 1.000000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.640000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.530000, 0.530000, 0.530000, 0.530000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 684118 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.397003, -19.736000, 2.753196 ], "estimate": [ -44.397003, -19.736000, 2.753196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.960000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.090000, 1.120000, 1.140000, 1.170000, 1.190000, 1.220000, 1.260000, 1.290000, 1.330000, 1.360000, 1.390000, 1.440000, 1.490000, 1.540000, 1.590000, 1.650000, 1.710000, 1.780000, 1.840000, 1.920000, 2.000000, 2.100000, 2.200000, 2.310000, 2.430000, 2.590000, 3.360000, 3.410000, 3.390000, 3.390000, 3.560000, 5.940000, 5.920000, 5.900000, 5.880000, 5.860000, 5.850000, 5.850000, 5.840000, 5.890000, 8.180000, 8.220000, 8.240000, 8.050000, 8.040000, 8.200000, 8.350000, 8.370000, 8.370000, 8.390000, 10.680000, 10.700000, 10.730000, 10.770000, 10.810000, 10.850000, 10.890000, 10.830000, 10.170000, 9.570000, 9.060000, 8.600000, 8.190000, 3.660000, 3.030000, 2.650000, 2.360000, 2.140000, 1.980000, 1.820000, 1.700000, 1.600000, 1.530000, 1.460000, 1.400000, 1.350000, 1.290000, 1.240000, 1.190000, 1.160000, 1.120000, 1.080000, 1.040000, 1.020000, 1.000000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.760000, 0.760000, 0.750000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.540000, 0.530000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 685065 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.452999, -19.714001, 2.753196 ], "estimate": [ -44.452999, -19.714001, 2.753196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.770000, 0.780000, 0.780000, 0.770000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.980000, 0.990000, 1.010000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.130000, 1.150000, 1.180000, 1.200000, 1.230000, 1.260000, 1.290000, 1.320000, 1.360000, 1.410000, 1.440000, 1.490000, 1.540000, 1.600000, 1.650000, 1.720000, 1.780000, 1.850000, 1.920000, 2.000000, 2.100000, 2.200000, 2.310000, 2.410000, 3.340000, 3.330000, 3.350000, 3.340000, 3.340000, 3.550000, 5.890000, 5.860000, 5.850000, 5.820000, 5.810000, 5.800000, 5.800000, 5.790000, 5.850000, 8.130000, 8.170000, 8.180000, 7.990000, 8.000000, 8.040000, 8.300000, 8.310000, 8.320000, 8.340000, 10.610000, 10.640000, 10.680000, 10.720000, 10.740000, 10.790000, 10.830000, 10.860000, 10.190000, 9.600000, 9.090000, 8.640000, 8.210000, 4.010000, 3.170000, 2.760000, 2.430000, 2.210000, 2.030000, 1.880000, 1.740000, 1.630000, 1.540000, 1.480000, 1.420000, 1.360000, 1.310000, 1.260000, 1.200000, 1.160000, 1.120000, 1.100000, 1.070000, 1.030000, 1.010000, 0.980000, 0.960000, 0.930000, 0.900000, 0.880000, 0.860000, 0.840000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.730000, 0.730000, 0.720000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.540000, 0.540000, 0.540000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 685976 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.508999, -19.691000, 2.753196 ], "estimate": [ -44.508999, -19.691000, 2.753196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.760000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.810000, 0.800000, 0.810000, 0.810000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.830000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.910000, 0.910000, 0.920000, 0.940000, 0.950000, 0.970000, 0.980000, 0.990000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.150000, 1.190000, 1.200000, 1.240000, 1.270000, 1.300000, 1.330000, 1.370000, 1.420000, 1.460000, 1.510000, 1.550000, 1.600000, 1.670000, 1.730000, 1.790000, 1.860000, 1.940000, 2.010000, 2.110000, 2.220000, 2.320000, 2.420000, 3.270000, 3.300000, 3.280000, 3.270000, 3.280000, 3.560000, 5.820000, 5.800000, 5.790000, 5.770000, 5.760000, 5.740000, 5.730000, 5.710000, 8.070000, 8.070000, 8.100000, 8.120000, 7.930000, 7.920000, 8.010000, 8.230000, 8.240000, 8.250000, 8.270000, 10.560000, 10.580000, 10.610000, 10.650000, 10.690000, 10.720000, 10.770000, 10.830000, 10.160000, 9.570000, 9.070000, 8.610000, 8.190000, 4.170000, 3.290000, 2.830000, 2.520000, 2.260000, 2.060000, 1.940000, 1.780000, 1.660000, 1.570000, 1.490000, 1.440000, 1.370000, 1.330000, 1.270000, 1.210000, 1.180000, 1.130000, 1.110000, 1.070000, 1.040000, 1.020000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.790000, 0.780000, 0.770000, 0.750000, 0.740000, 0.720000, 0.710000, 0.690000, 0.700000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.540000, 0.540000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 686882 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.562000, -19.670000, 2.753196 ], "estimate": [ -44.562000, -19.670000, 2.753196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.770000, 0.780000, 0.770000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.940000, 0.950000, 0.950000, 0.960000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.190000, 1.210000, 1.250000, 1.280000, 1.320000, 1.350000, 1.390000, 1.430000, 1.480000, 1.520000, 1.560000, 1.620000, 1.680000, 1.730000, 1.790000, 1.870000, 1.940000, 2.030000, 2.130000, 2.230000, 2.290000, 3.230000, 3.200000, 3.250000, 3.220000, 3.220000, 3.240000, 5.800000, 5.780000, 5.750000, 5.730000, 5.720000, 5.700000, 5.690000, 5.690000, 5.670000, 8.020000, 8.020000, 8.040000, 8.070000, 7.870000, 7.870000, 7.920000, 8.190000, 8.190000, 8.210000, 8.220000, 10.500000, 10.530000, 10.570000, 10.590000, 10.620000, 10.670000, 10.720000, 10.760000, 10.190000, 9.600000, 9.090000, 8.640000, 8.210000, 7.830000, 3.460000, 2.930000, 2.600000, 2.300000, 2.120000, 1.960000, 1.820000, 1.710000, 1.600000, 1.520000, 1.440000, 1.390000, 1.340000, 1.280000, 1.240000, 1.200000, 1.150000, 1.120000, 1.090000, 1.050000, 1.010000, 0.990000, 0.960000, 0.940000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.680000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.560000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055425, 711969 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.612999, -19.649000, 2.759341 ], "estimate": [ -44.612999, -19.649000, 2.759341 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.780000, 0.790000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.990000, 1.010000, 1.030000, 1.050000, 1.060000, 1.080000, 1.090000, 1.120000, 1.140000, 1.170000, 1.200000, 1.210000, 1.250000, 1.300000, 1.320000, 1.360000, 1.400000, 1.440000, 1.490000, 1.520000, 1.570000, 1.630000, 1.690000, 1.740000, 1.800000, 1.870000, 1.950000, 2.040000, 2.130000, 2.230000, 2.370000, 3.170000, 3.160000, 3.180000, 3.170000, 3.170000, 3.360000, 5.730000, 5.710000, 5.700000, 5.680000, 5.660000, 5.650000, 5.640000, 5.630000, 5.630000, 7.960000, 7.970000, 7.990000, 8.020000, 7.810000, 7.810000, 7.890000, 8.130000, 8.140000, 8.150000, 8.170000, 10.440000, 10.470000, 10.500000, 10.540000, 10.580000, 10.610000, 10.650000, 10.700000, 10.130000, 9.540000, 9.040000, 8.590000, 8.180000, 7.790000, 3.580000, 2.990000, 2.640000, 2.390000, 2.150000, 1.990000, 1.850000, 1.740000, 1.630000, 1.540000, 1.470000, 1.390000, 1.360000, 1.290000, 1.260000, 1.210000, 1.160000, 1.130000, 1.100000, 1.060000, 1.030000, 1.000000, 0.970000, 0.950000, 0.920000, 0.900000, 0.890000, 0.870000, 0.860000, 0.830000, 0.810000, 0.800000, 0.800000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.660000, 0.650000, 0.660000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.550000, 0.550000, 0.550000, 0.550000, 0.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055426, 275189 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.667004, -19.628000, 2.759341 ], "estimate": [ -44.667004, -19.628000, 2.759341 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.780000, 0.780000, 0.780000, 0.790000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.890000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.040000, 1.050000, 1.060000, 1.090000, 1.110000, 1.120000, 1.150000, 1.180000, 1.200000, 1.230000, 1.270000, 1.300000, 1.340000, 1.390000, 1.420000, 1.450000, 1.500000, 1.540000, 1.600000, 1.640000, 1.700000, 1.750000, 1.830000, 1.900000, 1.990000, 2.070000, 2.160000, 2.200000, 3.140000, 3.100000, 3.150000, 3.120000, 3.120000, 3.130000, 3.380000, 5.680000, 5.660000, 5.630000, 5.630000, 5.610000, 5.600000, 5.590000, 5.580000, 5.580000, 7.900000, 7.940000, 7.950000, 7.980000, 7.770000, 7.740000, 8.070000, 8.080000, 8.080000, 8.100000, 8.120000, 10.410000, 10.440000, 10.460000, 10.490000, 10.530000, 10.570000, 10.610000, 10.650000, 10.000000, 9.430000, 8.920000, 8.480000, 8.080000, 7.710000, 3.580000, 3.000000, 2.660000, 2.400000, 2.160000, 1.990000, 1.860000, 1.760000, 1.640000, 1.550000, 1.470000, 1.410000, 1.360000, 1.300000, 1.260000, 1.210000, 1.170000, 1.130000, 1.100000, 1.060000, 1.030000, 1.010000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.790000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.640000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.550000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055426, 111855 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.723000, -19.605999, 2.753196 ], "estimate": [ -44.723000, -19.605999, 2.753196 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.800000, 0.790000, 0.790000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.900000, 0.900000, 0.900000, 0.910000, 0.930000, 0.940000, 0.960000, 0.960000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.050000, 1.080000, 1.090000, 1.120000, 1.140000, 1.160000, 1.180000, 1.210000, 1.240000, 1.280000, 1.310000, 1.340000, 1.380000, 1.420000, 1.470000, 1.500000, 1.550000, 1.610000, 1.640000, 1.710000, 1.760000, 1.830000, 1.900000, 1.980000, 2.070000, 2.140000, 2.640000, 3.070000, 3.070000, 3.090000, 3.070000, 3.070000, 3.070000, 3.350000, 5.630000, 5.610000, 5.590000, 5.560000, 5.540000, 5.530000, 5.530000, 5.520000, 5.500000, 7.840000, 7.850000, 7.880000, 7.910000, 7.700000, 7.710000, 7.820000, 8.030000, 8.030000, 8.040000, 8.050000, 8.200000, 10.360000, 10.390000, 10.430000, 10.450000, 10.490000, 10.540000, 10.580000, 10.120000, 9.560000, 9.030000, 8.580000, 8.160000, 7.780000, 3.960000, 3.220000, 2.800000, 2.520000, 2.270000, 2.060000, 1.920000, 1.810000, 1.720000, 1.600000, 1.530000, 1.450000, 1.390000, 1.340000, 1.290000, 1.240000, 1.190000, 1.150000, 1.130000, 1.080000, 1.050000, 1.020000, 0.990000, 0.970000, 0.950000, 0.920000, 0.910000, 0.890000, 0.870000, 0.860000, 0.830000, 0.820000, 0.810000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000, 0.620000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000, 0.570000, 0.570000, 0.560000, 0.560000, 0.560000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055426, 416445 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.777000, -19.584000, 2.747050 ], "estimate": [ -44.777000, -19.584000, 2.747050 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.790000, 0.790000, 0.790000, 0.800000, 0.800000, 0.800000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.860000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.920000, 0.920000, 0.930000, 0.960000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.050000, 1.060000, 1.070000, 1.100000, 1.110000, 1.150000, 1.170000, 1.190000, 1.220000, 1.250000, 1.300000, 1.320000, 1.350000, 1.390000, 1.430000, 1.480000, 1.520000, 1.550000, 1.610000, 1.660000, 1.730000, 1.780000, 1.850000, 1.920000, 2.000000, 2.080000, 2.170000, 3.040000, 3.010000, 3.050000, 3.020000, 3.020000, 3.020000, 3.220000, 5.600000, 5.550000, 5.530000, 5.530000, 5.510000, 5.490000, 5.490000, 5.470000, 5.460000, 5.450000, 7.780000, 7.810000, 7.830000, 7.860000, 7.650000, 7.620000, 7.960000, 7.970000, 7.980000, 7.990000, 8.000000, 10.290000, 10.310000, 10.340000, 10.370000, 10.400000, 10.450000, 10.490000, 10.550000, 10.000000, 9.420000, 8.920000, 8.460000, 8.070000, 7.710000, 3.950000, 3.230000, 2.810000, 2.520000, 2.280000, 2.070000, 1.930000, 1.810000, 1.710000, 1.610000, 1.540000, 1.460000, 1.400000, 1.350000, 1.290000, 1.240000, 1.200000, 1.160000, 1.130000, 1.090000, 1.060000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.900000, 0.880000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.600000, 0.600000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000, 0.560000, 0.560000, 0.570000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055426, 513030 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.830002, -19.560999, 2.740905 ], "estimate": [ -44.830002, -19.560999, 2.740905 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.900000, 0.910000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.010000, 1.040000, 1.050000, 1.070000, 1.090000, 1.100000, 1.130000, 1.140000, 1.180000, 1.200000, 1.240000, 1.280000, 1.300000, 1.330000, 1.370000, 1.400000, 1.450000, 1.490000, 1.530000, 1.580000, 1.630000, 1.690000, 1.730000, 1.790000, 1.860000, 1.940000, 2.020000, 2.050000, 3.000000, 2.970000, 2.960000, 2.990000, 2.960000, 2.960000, 2.970000, 3.220000, 5.520000, 5.510000, 5.490000, 5.470000, 5.450000, 5.440000, 5.420000, 5.410000, 5.400000, 5.420000, 7.730000, 7.750000, 7.770000, 7.800000, 7.600000, 7.570000, 7.900000, 7.910000, 7.920000, 7.930000, 7.940000, 10.230000, 10.250000, 10.280000, 10.310000, 10.350000, 10.380000, 10.430000, 10.470000, 10.010000, 9.440000, 8.930000, 8.480000, 8.070000, 7.710000, 7.380000, 3.370000, 2.910000, 2.590000, 2.350000, 2.160000, 1.970000, 1.840000, 1.740000, 1.640000, 1.550000, 1.490000, 1.420000, 1.370000, 1.310000, 1.260000, 1.210000, 1.170000, 1.140000, 1.100000, 1.070000, 1.040000, 1.010000, 0.990000, 0.950000, 0.940000, 0.920000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.580000, 0.590000, 0.580000, 0.560000, 0.570000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055426, 791306 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.883999, -19.539000, 2.734759 ], "estimate": [ -44.883999, -19.539000, 2.734759 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.790000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.870000, 0.870000, 0.880000, 0.900000, 0.900000, 0.910000, 0.900000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.190000, 1.200000, 1.240000, 1.280000, 1.300000, 1.340000, 1.380000, 1.410000, 1.450000, 1.500000, 1.530000, 1.580000, 1.630000, 1.690000, 1.740000, 1.800000, 1.870000, 1.950000, 1.990000, 2.950000, 2.940000, 2.910000, 2.900000, 2.940000, 2.910000, 2.910000, 3.040000, 5.500000, 5.480000, 5.430000, 5.430000, 5.410000, 5.390000, 5.380000, 5.360000, 5.350000, 5.350000, 5.340000, 7.680000, 7.700000, 7.720000, 7.750000, 7.540000, 7.520000, 7.840000, 7.860000, 7.870000, 7.870000, 7.900000, 10.180000, 10.200000, 10.230000, 10.260000, 10.290000, 10.330000, 10.370000, 10.420000, 9.920000, 9.370000, 8.850000, 8.410000, 8.020000, 7.660000, 7.330000, 3.440000, 2.960000, 2.630000, 2.380000, 2.180000, 2.020000, 1.860000, 1.740000, 1.660000, 1.580000, 1.510000, 1.450000, 1.380000, 1.340000, 1.270000, 1.230000, 1.180000, 1.150000, 1.120000, 1.080000, 1.040000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.910000, 0.890000, 0.880000, 0.870000, 0.840000, 0.830000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.560000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055426, 912184 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.937000, -19.515999, 2.728614 ], "estimate": [ -44.937000, -19.515999, 2.728614 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.910000, 0.910000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.090000, 1.100000, 1.120000, 1.150000, 1.170000, 1.200000, 1.220000, 1.260000, 1.300000, 1.320000, 1.360000, 1.390000, 1.430000, 1.470000, 1.510000, 1.550000, 1.610000, 1.650000, 1.710000, 1.760000, 1.830000, 1.890000, 1.930000, 2.910000, 2.890000, 2.870000, 2.860000, 2.890000, 2.860000, 2.850000, 2.860000, 3.110000, 5.420000, 5.410000, 5.390000, 5.360000, 5.350000, 5.330000, 5.320000, 5.310000, 5.300000, 5.300000, 7.640000, 7.630000, 7.640000, 7.660000, 7.640000, 7.480000, 7.500000, 7.790000, 7.790000, 7.810000, 7.820000, 7.830000, 10.110000, 10.140000, 10.170000, 10.200000, 10.240000, 10.280000, 10.320000, 10.370000, 9.810000, 9.250000, 8.760000, 8.340000, 7.940000, 7.580000, 7.250000, 3.460000, 2.970000, 2.650000, 2.400000, 2.190000, 2.030000, 1.880000, 1.760000, 1.670000, 1.590000, 1.530000, 1.450000, 1.400000, 1.350000, 1.290000, 1.240000, 1.200000, 1.150000, 1.120000, 1.080000, 1.050000, 1.020000, 1.000000, 0.970000, 0.950000, 0.940000, 0.910000, 0.890000, 0.880000, 0.870000, 0.850000, 0.830000, 0.820000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.580000, 0.580000, 0.580000, 0.570000, 0.570000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055427, 188714 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -44.990002, -19.493000, 2.722468 ], "estimate": [ -44.990002, -19.493000, 2.722468 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.980000, 0.980000, 1.000000, 1.010000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.140000, 1.160000, 1.190000, 1.200000, 1.240000, 1.270000, 1.310000, 1.330000, 1.370000, 1.400000, 1.450000, 1.480000, 1.520000, 1.570000, 1.620000, 1.670000, 1.720000, 1.790000, 1.850000, 1.900000, 2.330000, 2.860000, 2.830000, 2.800000, 2.850000, 2.810000, 2.800000, 2.800000, 2.940000, 5.400000, 5.380000, 5.340000, 5.330000, 5.320000, 5.300000, 5.280000, 5.260000, 5.250000, 5.250000, 5.210000, 7.590000, 7.570000, 7.590000, 7.600000, 7.450000, 7.440000, 7.420000, 7.750000, 7.760000, 7.750000, 7.770000, 7.790000, 10.070000, 10.090000, 10.120000, 10.160000, 10.190000, 10.230000, 10.280000, 10.320000, 9.730000, 9.180000, 8.710000, 8.280000, 7.890000, 7.530000, 7.220000, 3.540000, 3.020000, 2.680000, 2.420000, 2.230000, 2.050000, 1.920000, 1.770000, 1.680000, 1.600000, 1.540000, 1.480000, 1.410000, 1.360000, 1.300000, 1.260000, 1.210000, 1.160000, 1.130000, 1.100000, 1.050000, 1.030000, 1.010000, 0.980000, 0.950000, 0.950000, 0.920000, 0.900000, 0.880000, 0.880000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.770000, 0.750000, 0.740000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000, 0.580000, 0.580000, 0.570000, 0.570000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055427, 317109 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.040001, -19.469999, 2.710176 ], "estimate": [ -45.040001, -19.469999, 2.710176 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.810000, 0.820000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.880000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.930000, 0.930000, 0.950000, 0.960000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.050000, 1.070000, 1.070000, 1.100000, 1.110000, 1.140000, 1.150000, 1.200000, 1.210000, 1.240000, 1.270000, 1.300000, 1.330000, 1.360000, 1.400000, 1.430000, 1.480000, 1.510000, 1.560000, 1.620000, 1.670000, 1.720000, 1.780000, 1.840000, 1.860000, 2.820000, 2.800000, 2.780000, 2.730000, 2.780000, 2.760000, 2.750000, 2.760000, 2.940000, 5.340000, 5.320000, 5.300000, 5.280000, 5.260000, 5.240000, 5.230000, 5.210000, 5.190000, 5.190000, 5.190000, 7.530000, 7.510000, 7.520000, 7.540000, 7.590000, 7.370000, 7.360000, 7.680000, 7.690000, 7.700000, 7.720000, 7.730000, 10.000000, 10.020000, 10.060000, 10.090000, 10.120000, 10.160000, 10.200000, 10.250000, 9.900000, 9.340000, 8.840000, 8.390000, 7.990000, 7.630000, 7.300000, 7.120000, 3.270000, 2.850000, 2.550000, 2.330000, 2.150000, 2.000000, 1.880000, 1.750000, 1.660000, 1.580000, 1.520000, 1.450000, 1.390000, 1.350000, 1.290000, 1.250000, 1.200000, 1.160000, 1.130000, 1.090000, 1.050000, 1.030000, 1.000000, 0.970000, 0.960000, 0.940000, 0.910000, 0.890000, 0.880000, 0.870000, 0.860000, 0.830000, 0.820000, 0.810000, 0.800000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.580000, 0.570000, 0.580000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 652439 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.093998, -19.445000, 2.697886 ], "estimate": [ -45.093998, -19.445000, 2.697886 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.880000, 0.870000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.910000, 0.930000, 0.940000, 0.940000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.090000, 1.120000, 1.130000, 1.160000, 1.190000, 1.220000, 1.230000, 1.280000, 1.310000, 1.330000, 1.370000, 1.400000, 1.440000, 1.480000, 1.520000, 1.560000, 1.610000, 1.670000, 1.720000, 1.780000, 1.800000, 2.800000, 2.770000, 2.750000, 2.710000, 2.700000, 2.740000, 2.710000, 2.710000, 2.710000, 2.930000, 5.310000, 5.280000, 5.250000, 5.230000, 5.210000, 5.180000, 5.170000, 5.160000, 5.140000, 5.140000, 5.140000, 7.480000, 7.470000, 7.470000, 7.490000, 7.540000, 7.320000, 7.300000, 7.630000, 7.640000, 7.650000, 7.660000, 7.670000, 7.800000, 9.970000, 10.000000, 10.030000, 10.070000, 10.100000, 10.140000, 10.190000, 9.930000, 9.370000, 8.870000, 8.430000, 8.020000, 7.650000, 7.320000, 7.040000, 3.440000, 2.970000, 2.650000, 2.390000, 2.210000, 2.040000, 1.900000, 1.780000, 1.690000, 1.610000, 1.540000, 1.470000, 1.420000, 1.370000, 1.310000, 1.260000, 1.220000, 1.170000, 1.140000, 1.110000, 1.080000, 1.030000, 1.010000, 0.990000, 0.970000, 0.950000, 0.930000, 0.900000, 0.880000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.730000, 0.710000, 0.710000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.600000, 0.590000, 0.590000, 0.590000, 0.590000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 673815 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.147999, -19.419001, 2.685595 ], "estimate": [ -45.147999, -19.419001, 2.685595 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.930000, 0.930000, 0.940000, 0.960000, 0.970000, 0.970000, 0.980000, 1.000000, 1.000000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.170000, 1.190000, 1.210000, 1.240000, 1.270000, 1.300000, 1.330000, 1.370000, 1.400000, 1.450000, 1.480000, 1.510000, 1.560000, 1.610000, 1.660000, 1.710000, 1.750000, 2.040000, 2.720000, 2.710000, 2.680000, 2.650000, 2.660000, 2.670000, 2.660000, 2.650000, 2.660000, 2.890000, 5.240000, 5.220000, 5.190000, 5.170000, 5.150000, 5.140000, 5.120000, 5.100000, 5.090000, 5.080000, 5.080000, 5.120000, 7.410000, 7.410000, 7.430000, 7.450000, 7.260000, 7.260000, 7.320000, 7.570000, 7.580000, 7.590000, 7.610000, 7.660000, 9.920000, 9.940000, 9.960000, 9.990000, 10.030000, 10.080000, 10.110000, 10.110000, 9.500000, 8.990000, 8.540000, 8.120000, 7.730000, 7.400000, 7.080000, 6.990000, 3.200000, 2.810000, 2.530000, 2.320000, 2.150000, 1.990000, 1.860000, 1.780000, 1.660000, 1.580000, 1.520000, 1.460000, 1.410000, 1.360000, 1.290000, 1.260000, 1.210000, 1.170000, 1.140000, 1.110000, 1.070000, 1.030000, 1.010000, 0.980000, 0.950000, 0.930000, 0.920000, 0.900000, 0.880000, 0.880000, 0.870000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.590000, 0.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 674767 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.201000, -19.394001, 2.673303 ], "estimate": [ -45.201000, -19.394001, 2.673303 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.910000, 0.910000, 0.910000, 0.910000, 0.920000, 0.940000, 0.950000, 0.950000, 0.970000, 0.960000, 0.970000, 0.980000, 1.010000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.120000, 1.140000, 1.170000, 1.190000, 1.210000, 1.240000, 1.270000, 1.300000, 1.330000, 1.360000, 1.400000, 1.440000, 1.480000, 1.520000, 1.560000, 1.620000, 1.660000, 1.710000, 1.740000, 2.700000, 2.670000, 2.650000, 2.620000, 2.580000, 2.630000, 2.600000, 2.600000, 2.590000, 2.640000, 2.860000, 5.190000, 5.170000, 5.140000, 5.120000, 5.100000, 5.080000, 5.060000, 5.040000, 5.030000, 5.020000, 5.020000, 5.030000, 7.370000, 7.360000, 7.370000, 7.390000, 7.210000, 7.210000, 7.190000, 7.520000, 7.520000, 7.540000, 7.550000, 7.560000, 9.850000, 9.880000, 9.900000, 9.930000, 9.970000, 10.010000, 10.050000, 10.100000, 9.600000, 9.080000, 8.600000, 8.190000, 7.790000, 7.440000, 7.120000, 6.970000, 3.400000, 2.960000, 2.660000, 2.400000, 2.220000, 2.060000, 1.910000, 1.800000, 1.730000, 1.630000, 1.560000, 1.500000, 1.430000, 1.390000, 1.330000, 1.280000, 1.240000, 1.200000, 1.160000, 1.140000, 1.090000, 1.060000, 1.020000, 1.010000, 0.980000, 0.950000, 0.930000, 0.920000, 0.890000, 0.880000, 0.880000, 0.860000, 0.850000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.640000, 0.620000, 0.620000, 0.620000, 0.610000, 0.610000, 0.610000, 0.600000, 0.600000, 0.600000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 675711 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.250000, -19.368999, 2.661012 ], "estimate": [ -45.250000, -19.368999, 2.661012 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.850000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.950000, 0.960000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.060000, 1.060000, 1.080000, 1.100000, 1.130000, 1.140000, 1.160000, 1.190000, 1.220000, 1.240000, 1.280000, 1.300000, 1.330000, 1.360000, 1.400000, 1.440000, 1.480000, 1.520000, 1.550000, 1.610000, 1.630000, 1.670000, 2.670000, 2.630000, 2.610000, 2.590000, 2.570000, 2.550000, 2.590000, 2.550000, 2.550000, 2.550000, 2.710000, 2.830000, 5.140000, 5.120000, 5.090000, 5.070000, 5.040000, 5.020000, 5.010000, 5.000000, 4.980000, 4.970000, 4.960000, 4.980000, 7.320000, 7.290000, 7.300000, 7.330000, 7.150000, 7.150000, 7.140000, 7.470000, 7.470000, 7.480000, 7.500000, 7.500000, 9.780000, 9.800000, 9.840000, 9.870000, 9.910000, 9.930000, 9.980000, 10.030000, 9.710000, 9.190000, 8.690000, 8.260000, 7.870000, 7.510000, 7.190000, 6.860000, 6.920000, 3.180000, 2.790000, 2.520000, 2.310000, 2.140000, 1.990000, 1.860000, 1.760000, 1.700000, 1.590000, 1.530000, 1.470000, 1.410000, 1.370000, 1.320000, 1.280000, 1.230000, 1.190000, 1.160000, 1.130000, 1.090000, 1.050000, 1.030000, 1.010000, 0.980000, 0.950000, 0.940000, 0.910000, 0.900000, 0.880000, 0.870000, 0.860000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.650000, 0.640000, 0.630000, 0.630000, 0.620000, 0.620000, 0.630000, 0.620000, 0.610000, 0.610000, 0.600000, 0.610000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 676684 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.301003, -19.341999, 2.648721 ], "estimate": [ -45.301003, -19.341999, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.960000, 0.980000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.070000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.290000, 1.320000, 1.350000, 1.400000, 1.430000, 1.460000, 1.510000, 1.550000, 1.590000, 1.620000, 1.910000, 2.620000, 2.590000, 2.570000, 2.550000, 2.520000, 2.510000, 2.540000, 2.510000, 2.500000, 2.500000, 2.650000, 2.760000, 4.990000, 5.080000, 5.040000, 5.020000, 5.010000, 4.980000, 4.960000, 4.940000, 4.930000, 4.920000, 4.910000, 4.910000, 7.260000, 7.250000, 7.240000, 7.260000, 7.320000, 7.110000, 7.090000, 7.410000, 7.420000, 7.430000, 7.430000, 7.450000, 7.510000, 9.750000, 9.770000, 9.800000, 9.840000, 9.870000, 9.910000, 9.950000, 10.000000, 9.420000, 8.920000, 8.460000, 8.040000, 7.670000, 7.330000, 7.030000, 6.840000, 3.460000, 3.040000, 2.720000, 2.460000, 2.270000, 2.090000, 1.960000, 1.850000, 1.740000, 1.650000, 1.580000, 1.530000, 1.460000, 1.400000, 1.360000, 1.310000, 1.270000, 1.220000, 1.190000, 1.150000, 1.130000, 1.090000, 1.060000, 1.020000, 1.010000, 0.980000, 0.950000, 0.950000, 0.920000, 0.900000, 0.890000, 0.880000, 0.860000, 0.820000, 0.830000, 0.810000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.620000, 0.610000, 0.610000, 0.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 677595 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.355000, -19.313000, 2.648721 ], "estimate": [ -45.355000, -19.313000, 2.648721 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.880000, 0.890000, 0.910000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.970000, 0.990000, 1.010000, 1.020000, 1.030000, 1.060000, 1.060000, 1.070000, 1.090000, 1.110000, 1.140000, 1.150000, 1.180000, 1.200000, 1.230000, 1.250000, 1.290000, 1.310000, 1.350000, 1.380000, 1.410000, 1.460000, 1.500000, 1.530000, 1.580000, 1.620000, 2.590000, 2.570000, 2.530000, 2.500000, 2.480000, 2.450000, 2.460000, 2.480000, 2.440000, 2.440000, 2.450000, 2.600000, 2.720000, 4.880000, 5.010000, 4.990000, 4.960000, 4.940000, 4.920000, 4.900000, 4.890000, 4.870000, 4.860000, 4.860000, 4.860000, 7.190000, 7.200000, 7.180000, 7.190000, 7.230000, 7.030000, 7.040000, 7.030000, 7.360000, 7.360000, 7.370000, 7.390000, 7.400000, 9.670000, 9.700000, 9.730000, 9.760000, 9.790000, 9.840000, 9.880000, 9.920000, 9.580000, 9.070000, 8.570000, 8.160000, 7.770000, 7.430000, 7.120000, 6.810000, 6.810000, 3.290000, 2.920000, 2.640000, 2.390000, 2.210000, 2.050000, 1.920000, 1.820000, 1.730000, 1.640000, 1.600000, 1.510000, 1.460000, 1.400000, 1.360000, 1.310000, 1.270000, 1.220000, 1.190000, 1.150000, 1.120000, 1.090000, 1.060000, 1.030000, 1.020000, 0.990000, 0.970000, 0.960000, 0.930000, 0.910000, 0.900000, 0.890000, 0.870000, 0.850000, 0.840000, 0.820000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000, 0.630000, 0.620000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 678503 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.407997, -19.285000, 2.636431 ], "estimate": [ -45.407997, -19.285000, 2.636431 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.890000, 0.900000, 0.910000, 0.900000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 0.970000, 0.990000, 1.000000, 1.020000, 1.040000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.190000, 1.220000, 1.240000, 1.280000, 1.310000, 1.330000, 1.370000, 1.420000, 1.450000, 1.490000, 1.520000, 1.540000, 2.570000, 2.540000, 2.500000, 2.470000, 2.450000, 2.420000, 2.390000, 2.440000, 2.420000, 2.400000, 2.390000, 2.390000, 2.570000, 2.670000, 4.810000, 4.960000, 4.930000, 4.920000, 4.890000, 4.870000, 4.860000, 4.850000, 4.830000, 4.810000, 4.800000, 4.780000, 4.780000, 7.150000, 7.120000, 7.140000, 7.150000, 7.020000, 6.990000, 7.000000, 7.290000, 7.310000, 7.310000, 7.330000, 7.340000, 7.450000, 9.620000, 9.660000, 9.680000, 9.730000, 9.760000, 9.800000, 9.850000, 9.790000, 9.240000, 8.730000, 8.290000, 7.910000, 7.540000, 7.230000, 6.920000, 6.750000, 6.780000, 3.170000, 2.810000, 2.550000, 2.340000, 2.160000, 2.010000, 1.900000, 1.800000, 1.710000, 1.630000, 1.560000, 1.510000, 1.450000, 1.390000, 1.360000, 1.300000, 1.270000, 1.210000, 1.190000, 1.150000, 1.130000, 1.090000, 1.060000, 1.040000, 1.020000, 1.000000, 0.970000, 0.960000, 0.940000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.650000, 0.640000, 0.640000, 0.630000, 0.630000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 679443 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.459999, -19.256001, 2.630285 ], "estimate": [ -45.459999, -19.256001, 2.630285 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.940000, 0.950000, 0.960000, 0.960000, 0.980000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.070000, 1.100000, 1.120000, 1.130000, 1.160000, 1.180000, 1.200000, 1.220000, 1.260000, 1.290000, 1.320000, 1.350000, 1.380000, 1.420000, 1.450000, 1.460000, 1.750000, 2.520000, 2.490000, 2.450000, 2.420000, 2.400000, 2.380000, 2.350000, 2.380000, 2.370000, 2.340000, 2.340000, 2.340000, 2.470000, 2.580000, 4.600000, 4.880000, 4.890000, 4.870000, 4.850000, 4.820000, 4.800000, 4.790000, 4.770000, 4.750000, 4.740000, 4.730000, 4.740000, 7.080000, 7.100000, 7.060000, 7.070000, 7.100000, 6.920000, 6.930000, 6.920000, 7.240000, 7.250000, 7.260000, 7.270000, 7.280000, 9.560000, 9.580000, 9.610000, 9.640000, 9.660000, 9.700000, 9.740000, 9.790000, 9.660000, 9.120000, 8.630000, 8.200000, 7.830000, 7.460000, 7.150000, 6.860000, 6.690000, 6.740000, 3.200000, 2.860000, 2.580000, 2.380000, 2.190000, 2.050000, 1.930000, 1.820000, 1.740000, 1.660000, 1.580000, 1.530000, 1.470000, 1.410000, 1.370000, 1.320000, 1.280000, 1.240000, 1.210000, 1.170000, 1.130000, 1.110000, 1.090000, 1.050000, 1.030000, 1.010000, 0.980000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.880000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.730000, 0.730000, 0.720000, 0.710000, 0.700000, 0.700000, 0.690000, 0.680000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000, 0.650000, 0.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 680376 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.507004, -19.230000, 2.617994 ], "estimate": [ -45.507004, -19.230000, 2.617994 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.860000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.950000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.050000, 1.050000, 1.060000, 1.080000, 1.100000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.260000, 1.300000, 1.320000, 1.360000, 1.390000, 1.430000, 1.450000, 2.520000, 2.480000, 2.450000, 2.410000, 2.390000, 2.370000, 2.340000, 2.310000, 2.280000, 2.330000, 2.290000, 2.290000, 2.280000, 2.300000, 2.490000, 4.440000, 4.680000, 4.870000, 4.840000, 4.810000, 4.790000, 4.770000, 4.750000, 4.740000, 4.720000, 4.700000, 4.690000, 4.680000, 4.680000, 7.030000, 7.040000, 7.030000, 7.040000, 7.070000, 6.880000, 6.880000, 6.890000, 7.190000, 7.200000, 7.210000, 7.220000, 7.240000, 9.510000, 9.540000, 9.560000, 9.590000, 9.620000, 9.660000, 9.710000, 9.760000, 9.500000, 8.990000, 8.540000, 8.100000, 7.720000, 7.380000, 7.070000, 6.780000, 6.610000, 6.690000, 3.200000, 2.870000, 2.600000, 2.390000, 2.210000, 2.050000, 1.940000, 1.840000, 1.750000, 1.660000, 1.610000, 1.540000, 1.490000, 1.420000, 1.390000, 1.340000, 1.290000, 1.260000, 1.220000, 1.180000, 1.150000, 1.120000, 1.090000, 1.060000, 1.050000, 1.030000, 1.000000, 0.980000, 0.960000, 0.950000, 0.920000, 0.910000, 0.900000, 0.890000, 0.870000, 0.860000, 0.840000, 0.830000, 0.810000, 0.800000, 0.800000, 0.780000, 0.780000, 0.770000, 0.750000, 0.740000, 0.740000, 0.740000, 0.720000, 0.710000, 0.710000, 0.700000, 0.690000, 0.690000, 0.690000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000, 0.660000, 0.660000, 0.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 681280 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.556000, -19.202000, 2.617994 ], "estimate": [ -45.556000, -19.202000, 2.617994 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.880000, 0.900000, 0.890000, 0.900000, 0.910000, 0.900000, 0.910000, 0.930000, 0.940000, 0.950000, 0.950000, 0.970000, 0.970000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.080000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.220000, 1.250000, 1.280000, 1.310000, 1.340000, 1.360000, 1.410000, 2.490000, 2.460000, 2.420000, 2.390000, 2.360000, 2.330000, 2.300000, 2.270000, 2.260000, 2.270000, 2.280000, 2.240000, 2.240000, 2.230000, 2.270000, 2.450000, 4.350000, 4.570000, 4.810000, 4.780000, 4.760000, 4.740000, 4.710000, 4.690000, 4.670000, 4.660000, 4.650000, 4.630000, 4.620000, 4.620000, 6.970000, 6.990000, 6.970000, 6.970000, 7.000000, 6.830000, 6.820000, 6.840000, 7.140000, 7.140000, 7.160000, 7.160000, 7.170000, 7.280000, 9.470000, 9.490000, 9.510000, 9.570000, 9.610000, 9.640000, 9.670000, 9.720000, 9.140000, 8.690000, 8.240000, 7.860000, 7.490000, 7.180000, 6.880000, 6.620000, 6.610000, 6.670000, 3.090000, 2.800000, 2.540000, 2.350000, 2.180000, 2.040000, 1.920000, 1.820000, 1.740000, 1.660000, 1.590000, 1.550000, 1.490000, 1.440000, 1.390000, 1.340000, 1.280000, 1.270000, 1.220000, 1.190000, 1.150000, 1.130000, 1.100000, 1.080000, 1.050000, 1.030000, 1.010000, 0.990000, 0.970000, 0.960000, 0.940000, 0.910000, 0.910000, 0.890000, 0.880000, 0.870000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.700000, 0.700000, 0.690000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000, 0.670000, 0.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 682186 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.608997, -19.171000, 2.617994 ], "estimate": [ -45.608997, -19.171000, 2.617994 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.840000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.840000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.950000, 0.970000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.040000, 1.040000, 1.070000, 1.070000, 1.090000, 1.110000, 1.130000, 1.140000, 1.170000, 1.200000, 1.220000, 1.250000, 1.280000, 1.310000, 1.330000, 1.360000, 2.470000, 2.430000, 2.400000, 2.370000, 2.330000, 2.290000, 2.270000, 2.250000, 2.210000, 2.200000, 2.240000, 2.210000, 2.190000, 2.180000, 2.190000, 2.330000, 2.430000, 4.300000, 4.540000, 4.760000, 4.740000, 4.710000, 4.680000, 4.660000, 4.640000, 4.620000, 4.600000, 4.590000, 4.580000, 4.570000, 4.570000, 6.920000, 6.930000, 6.910000, 6.920000, 6.920000, 6.880000, 6.770000, 6.740000, 7.080000, 7.100000, 7.110000, 7.100000, 7.120000, 7.160000, 9.410000, 9.430000, 9.470000, 9.510000, 9.540000, 9.580000, 9.610000, 9.650000, 9.270000, 8.790000, 8.320000, 7.940000, 7.570000, 7.240000, 6.940000, 6.670000, 6.500000, 6.590000, 6.590000, 2.950000, 2.670000, 2.470000, 2.280000, 2.120000, 2.000000, 1.900000, 1.800000, 1.730000, 1.650000, 1.590000, 1.540000, 1.480000, 1.420000, 1.390000, 1.320000, 1.290000, 1.260000, 1.220000, 1.180000, 1.150000, 1.130000, 1.100000, 1.070000, 1.050000, 1.030000, 1.020000, 1.000000, 0.970000, 0.960000, 0.940000, 0.930000, 0.910000, 0.900000, 0.890000, 0.880000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.790000, 0.780000, 0.780000, 0.760000, 0.760000, 0.750000, 0.740000, 0.730000, 0.720000, 0.720000, 0.710000, 0.710000, 0.720000, 0.700000, 0.690000, 0.680000, 0.680000, 0.670000, 0.670000, 0.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055429, 713088 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.659000, -19.142000, 2.605703 ], "estimate": [ -45.659000, -19.142000, 2.605703 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.830000, 0.820000, 0.840000, 0.840000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.860000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.870000, 0.890000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.930000, 0.940000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.010000, 1.040000, 1.050000, 1.070000, 1.070000, 1.100000, 1.120000, 1.130000, 1.160000, 1.190000, 1.200000, 1.220000, 1.250000, 1.290000, 1.310000, 2.440000, 2.410000, 2.380000, 2.350000, 2.310000, 2.270000, 2.240000, 2.210000, 2.190000, 2.160000, 2.150000, 2.180000, 2.150000, 2.140000, 2.120000, 2.130000, 2.260000, 2.350000, 4.160000, 4.370000, 4.600000, 4.690000, 4.660000, 4.630000, 4.610000, 4.590000, 4.580000, 4.560000, 4.540000, 4.530000, 4.510000, 4.500000, 4.500000, 6.860000, 6.870000, 6.850000, 6.850000, 6.880000, 6.700000, 6.710000, 6.700000, 7.020000, 7.040000, 7.040000, 7.050000, 7.070000, 7.160000, 9.350000, 9.380000, 9.410000, 9.440000, 9.490000, 9.530000, 9.560000, 9.610000, 9.110000, 8.650000, 8.190000, 7.810000, 7.460000, 7.140000, 6.860000, 6.590000, 6.440000, 6.540000, 6.550000, 2.970000, 2.700000, 2.480000, 2.290000, 2.150000, 2.010000, 1.910000, 1.830000, 1.750000, 1.680000, 1.600000, 1.560000, 1.490000, 1.450000, 1.390000, 1.360000, 1.300000, 1.280000, 1.230000, 1.200000, 1.170000, 1.140000, 1.120000, 1.090000, 1.070000, 1.050000, 1.020000, 1.010000, 0.990000, 0.970000, 0.960000, 0.950000, 0.930000, 0.910000, 0.890000, 0.890000, 0.880000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.760000, 0.750000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.700000, 0.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055430, 232399 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.707001, -19.114000, 2.599557 ], "estimate": [ -45.707001, -19.114000, 2.599557 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.890000, 0.910000, 0.910000, 0.910000, 0.910000, 0.930000, 0.930000, 0.940000, 0.950000, 0.970000, 0.960000, 0.970000, 1.000000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.080000, 1.090000, 1.100000, 1.130000, 1.150000, 1.170000, 1.190000, 1.210000, 1.240000, 1.260000, 1.630000, 2.390000, 2.370000, 2.330000, 2.290000, 2.270000, 2.220000, 2.190000, 2.170000, 2.140000, 2.110000, 2.090000, 2.140000, 2.110000, 2.100000, 2.080000, 2.090000, 2.210000, 2.290000, 4.080000, 4.270000, 4.490000, 4.650000, 4.610000, 4.590000, 4.580000, 4.550000, 4.530000, 4.500000, 4.490000, 4.490000, 4.470000, 4.460000, 4.460000, 4.570000, 6.810000, 6.800000, 6.810000, 6.810000, 6.890000, 6.660000, 6.650000, 6.980000, 6.980000, 6.980000, 6.990000, 7.010000, 7.030000, 9.300000, 9.320000, 9.340000, 9.380000, 9.410000, 9.450000, 9.500000, 9.540000, 9.330000, 8.840000, 8.370000, 7.970000, 7.610000, 7.270000, 6.990000, 6.710000, 6.440000, 6.460000, 6.510000, 6.540000, 2.900000, 2.660000, 2.450000, 2.270000, 2.130000, 2.000000, 1.910000, 1.820000, 1.750000, 1.680000, 1.600000, 1.560000, 1.500000, 1.450000, 1.400000, 1.370000, 1.310000, 1.280000, 1.230000, 1.210000, 1.170000, 1.150000, 1.130000, 1.110000, 1.080000, 1.050000, 1.040000, 1.030000, 1.000000, 0.980000, 0.960000, 0.960000, 0.930000, 0.920000, 0.910000, 0.890000, 0.890000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.770000, 0.770000, 0.760000, 0.750000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055430, 173032 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.756001, -19.084999, 2.593412 ], "estimate": [ -45.756001, -19.084999, 2.593412 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.030000, 1.040000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.130000, 1.160000, 1.190000, 1.210000, 1.220000, 2.410000, 2.380000, 2.340000, 2.300000, 2.270000, 2.230000, 2.200000, 2.160000, 2.130000, 2.110000, 2.080000, 2.050000, 2.060000, 2.070000, 2.050000, 2.040000, 2.030000, 2.020000, 2.160000, 2.260000, 4.010000, 4.200000, 4.400000, 4.590000, 4.570000, 4.540000, 4.510000, 4.500000, 4.480000, 4.460000, 4.440000, 4.430000, 4.420000, 4.410000, 4.400000, 4.430000, 6.760000, 6.760000, 6.750000, 6.760000, 6.780000, 6.600000, 6.600000, 6.600000, 6.910000, 6.920000, 6.930000, 6.950000, 6.960000, 7.050000, 9.260000, 9.280000, 9.320000, 9.350000, 9.380000, 9.420000, 9.460000, 9.510000, 9.010000, 8.580000, 8.140000, 7.750000, 7.410000, 7.110000, 6.820000, 6.560000, 6.390000, 6.430000, 6.470000, 10.370000, 2.850000, 2.620000, 2.420000, 2.250000, 2.110000, 2.010000, 1.910000, 1.820000, 1.750000, 1.680000, 1.610000, 1.560000, 1.510000, 1.450000, 1.410000, 1.360000, 1.330000, 1.280000, 1.260000, 1.210000, 1.180000, 1.150000, 1.130000, 1.110000, 1.090000, 1.060000, 1.050000, 1.040000, 1.010000, 0.990000, 0.970000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.820000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.740000, 0.740000, 0.730000, 0.730000, 0.720000, 0.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055430, 383386 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.807003, -19.053001, 2.581121 ], "estimate": [ -45.807003, -19.053001, 2.581121 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.830000, 0.840000, 0.840000, 0.850000, 0.840000, 0.840000, 0.830000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.860000, 0.870000, 0.860000, 0.870000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.120000, 1.150000, 1.170000, 1.180000, 2.400000, 2.370000, 2.320000, 2.280000, 2.250000, 2.210000, 2.180000, 2.150000, 2.120000, 2.080000, 2.060000, 2.030000, 2.000000, 2.030000, 2.030000, 2.000000, 1.990000, 1.980000, 1.980000, 2.110000, 2.200000, 3.960000, 4.070000, 4.270000, 4.490000, 4.520000, 4.500000, 4.470000, 4.450000, 4.430000, 4.410000, 4.390000, 4.380000, 4.370000, 4.360000, 4.360000, 4.350000, 6.710000, 6.700000, 6.700000, 6.700000, 6.700000, 6.760000, 6.550000, 6.550000, 6.860000, 6.860000, 6.870000, 6.880000, 6.890000, 6.910000, 9.180000, 9.210000, 9.250000, 9.270000, 9.300000, 9.350000, 9.380000, 9.430000, 9.340000, 8.830000, 8.370000, 7.970000, 7.610000, 7.280000, 7.000000, 6.710000, 6.450000, 6.300000, 6.390000, 6.410000, 10.350000, 2.840000, 2.610000, 2.430000, 2.260000, 2.130000, 2.020000, 1.910000, 1.830000, 1.760000, 1.690000, 1.620000, 1.570000, 1.520000, 1.470000, 1.410000, 1.390000, 1.340000, 1.300000, 1.280000, 1.240000, 1.190000, 1.160000, 1.140000, 1.130000, 1.100000, 1.080000, 1.060000, 1.040000, 1.030000, 1.010000, 0.980000, 0.970000, 0.970000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.880000, 0.880000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.800000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.760000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055430, 533257 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.856003, -19.021999, 2.568830 ], "estimate": [ -45.856003, -19.021999, 2.568830 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.830000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.890000, 0.900000, 0.910000, 0.910000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.070000, 1.080000, 1.080000, 1.110000, 1.120000, 1.180000, 2.380000, 2.340000, 2.300000, 2.260000, 2.230000, 2.180000, 2.150000, 2.120000, 2.090000, 2.050000, 2.030000, 2.000000, 1.970000, 1.940000, 1.980000, 1.970000, 1.940000, 1.920000, 1.920000, 1.920000, 2.050000, 2.130000, 3.900000, 3.960000, 4.130000, 4.340000, 4.480000, 4.450000, 4.420000, 4.400000, 4.380000, 4.360000, 4.350000, 4.320000, 4.320000, 4.310000, 4.300000, 4.280000, 4.320000, 6.640000, 6.650000, 6.640000, 6.650000, 6.660000, 6.490000, 6.490000, 6.490000, 6.810000, 6.810000, 6.820000, 6.840000, 6.840000, 6.870000, 9.140000, 9.150000, 9.190000, 9.220000, 9.260000, 9.300000, 9.340000, 9.390000, 9.110000, 8.630000, 8.190000, 7.800000, 7.460000, 7.140000, 6.870000, 6.580000, 6.350000, 6.250000, 6.340000, 6.370000, 10.320000, 2.840000, 2.610000, 2.430000, 2.270000, 2.140000, 2.020000, 1.920000, 1.840000, 1.780000, 1.710000, 1.650000, 1.580000, 1.530000, 1.480000, 1.430000, 1.400000, 1.360000, 1.320000, 1.280000, 1.250000, 1.210000, 1.200000, 1.160000, 1.140000, 1.120000, 1.100000, 1.070000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.950000, 0.930000, 0.920000, 0.910000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.830000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000, 0.790000, 0.780000, 0.780000, 0.770000, 0.770000, 0.760000, 0.760000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055430, 795817 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.903000, -18.991999, 2.562684 ], "estimate": [ -45.903000, -18.991999, 2.562684 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.830000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.840000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.850000, 0.860000, 0.860000, 0.860000, 0.870000, 0.870000, 0.870000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.010000, 1.020000, 1.030000, 1.050000, 1.060000, 1.090000, 1.080000, 1.100000, 2.410000, 2.370000, 2.310000, 2.270000, 2.230000, 2.180000, 2.160000, 2.120000, 2.080000, 2.050000, 2.020000, 2.000000, 1.970000, 1.930000, 1.920000, 1.910000, 1.920000, 1.900000, 1.890000, 1.870000, 1.880000, 1.910000, 2.040000, 2.120000, 3.860000, 3.940000, 4.130000, 4.340000, 4.420000, 4.390000, 4.380000, 4.350000, 4.340000, 4.310000, 4.290000, 4.280000, 4.270000, 4.260000, 4.250000, 4.240000, 4.270000, 6.590000, 6.600000, 6.600000, 6.600000, 6.610000, 6.440000, 6.440000, 6.420000, 6.750000, 6.760000, 6.770000, 6.780000, 6.790000, 6.810000, 9.080000, 9.110000, 9.140000, 9.170000, 9.210000, 9.250000, 9.290000, 9.340000, 9.120000, 8.660000, 8.210000, 7.820000, 7.490000, 7.170000, 6.880000, 6.600000, 6.360000, 6.230000, 6.280000, 6.320000, 10.260000, 2.910000, 2.690000, 2.500000, 2.340000, 2.200000, 2.080000, 1.980000, 1.900000, 1.810000, 1.750000, 1.680000, 1.620000, 1.570000, 1.510000, 1.470000, 1.420000, 1.390000, 1.350000, 1.300000, 1.280000, 1.250000, 1.220000, 1.190000, 1.170000, 1.150000, 1.110000, 1.090000, 1.080000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.940000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.780000, 0.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055430, 912261 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -45.952999, -18.959999, 2.556539 ], "estimate": [ -45.952999, -18.959999, 2.556539 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.860000, 0.870000, 0.880000, 0.900000, 0.900000, 0.900000, 0.910000, 0.920000, 0.930000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 0.990000, 1.000000, 1.020000, 1.040000, 1.040000, 1.050000, 1.130000, 2.410000, 2.360000, 2.310000, 2.260000, 2.220000, 2.180000, 2.130000, 2.100000, 2.070000, 2.030000, 2.000000, 1.970000, 1.930000, 1.920000, 1.880000, 1.850000, 1.860000, 1.870000, 1.850000, 1.840000, 1.830000, 1.830000, 1.860000, 1.980000, 2.050000, 3.800000, 3.800000, 3.960000, 4.170000, 4.380000, 4.360000, 4.330000, 4.300000, 4.280000, 4.260000, 4.250000, 4.230000, 4.210000, 4.200000, 4.200000, 4.190000, 4.180000, 4.190000, 6.530000, 6.540000, 6.530000, 6.530000, 6.560000, 6.380000, 6.390000, 6.370000, 6.700000, 6.710000, 6.720000, 6.720000, 6.740000, 6.760000, 9.020000, 9.050000, 9.090000, 9.120000, 9.150000, 9.190000, 9.230000, 9.280000, 9.040000, 8.580000, 8.150000, 7.750000, 7.430000, 7.100000, 6.830000, 6.560000, 6.310000, 6.190000, 6.220000, 6.280000, 10.200000, 10.310000, 2.750000, 2.550000, 2.380000, 2.250000, 2.110000, 2.030000, 1.930000, 1.840000, 1.780000, 1.700000, 1.650000, 1.590000, 1.540000, 1.490000, 1.450000, 1.410000, 1.380000, 1.330000, 1.290000, 1.270000, 1.240000, 1.210000, 1.180000, 1.160000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.040000, 1.030000, 1.020000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.840000, 0.820000, 0.820000, 0.810000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055431, 248433 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.000999, -18.928001, 2.556539 ], "estimate": [ -46.000999, -18.928001, 2.556539 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.820000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.840000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.860000, 0.870000, 0.870000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.910000, 0.910000, 0.920000, 0.940000, 0.940000, 0.950000, 0.960000, 0.980000, 0.980000, 1.000000, 1.010000, 1.000000, 1.020000, 2.620000, 2.410000, 2.370000, 2.310000, 2.260000, 2.210000, 2.160000, 2.120000, 2.090000, 2.050000, 2.010000, 1.980000, 1.940000, 1.910000, 1.900000, 1.860000, 1.830000, 1.800000, 1.840000, 1.840000, 1.800000, 1.790000, 1.770000, 1.780000, 1.810000, 1.920000, 1.990000, 3.740000, 3.760000, 3.840000, 4.030000, 4.230000, 4.320000, 4.290000, 4.260000, 4.240000, 4.220000, 4.200000, 4.180000, 4.180000, 4.160000, 4.150000, 4.140000, 4.130000, 4.130000, 6.470000, 6.480000, 6.480000, 6.480000, 6.490000, 6.520000, 6.330000, 6.340000, 6.320000, 6.640000, 6.650000, 6.670000, 6.680000, 6.700000, 6.760000, 8.970000, 9.000000, 9.030000, 9.070000, 9.110000, 9.150000, 9.190000, 9.240000, 8.900000, 8.450000, 8.020000, 7.660000, 7.340000, 7.040000, 6.760000, 6.490000, 6.260000, 6.130000, 6.170000, 6.230000, 10.170000, 10.280000, 2.770000, 2.570000, 2.400000, 2.280000, 2.150000, 2.030000, 1.940000, 1.860000, 1.790000, 1.740000, 1.670000, 1.610000, 1.560000, 1.510000, 1.470000, 1.420000, 1.390000, 1.350000, 1.320000, 1.290000, 1.260000, 1.220000, 1.200000, 1.170000, 1.160000, 1.140000, 1.110000, 1.110000, 1.070000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.820000, 0.820000, 0.810000, 0.810000, 0.800000, 0.800000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055431, 313063 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.049999, -18.896000, 2.550393 ], "estimate": [ -46.049999, -18.896000, 2.550393 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.820000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.830000, 0.840000, 0.850000, 0.850000, 0.860000, 0.850000, 0.850000, 0.860000, 0.860000, 0.870000, 0.870000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.910000, 0.920000, 0.930000, 0.950000, 0.950000, 0.970000, 0.970000, 0.970000, 0.970000, 1.010000, 2.680000, 2.420000, 2.370000, 2.300000, 2.250000, 2.200000, 2.150000, 2.110000, 2.070000, 2.020000, 1.990000, 1.950000, 1.910000, 1.890000, 1.850000, 1.840000, 1.800000, 1.770000, 1.760000, 1.790000, 1.780000, 1.750000, 1.730000, 1.720000, 1.730000, 1.760000, 1.870000, 1.930000, 2.000000, 3.700000, 3.720000, 3.890000, 4.070000, 4.270000, 4.250000, 4.220000, 4.190000, 4.180000, 4.160000, 4.140000, 4.120000, 4.110000, 4.090000, 4.080000, 4.070000, 4.060000, 4.070000, 6.420000, 6.430000, 6.430000, 6.420000, 6.420000, 6.490000, 6.260000, 6.260000, 6.320000, 6.590000, 6.600000, 6.610000, 6.620000, 6.630000, 6.740000, 8.930000, 8.960000, 8.980000, 9.020000, 9.050000, 9.100000, 9.140000, 9.180000, 8.790000, 8.360000, 7.950000, 7.590000, 7.260000, 6.970000, 6.690000, 6.430000, 6.200000, 6.090000, 6.120000, 6.180000, 10.130000, 10.240000, 5.020000, 2.600000, 2.440000, 2.300000, 2.170000, 2.070000, 1.980000, 1.890000, 1.820000, 1.760000, 1.690000, 1.640000, 1.580000, 1.530000, 1.490000, 1.450000, 1.410000, 1.390000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.190000, 1.170000, 1.140000, 1.140000, 1.110000, 1.100000, 1.080000, 1.050000, 1.050000, 1.030000, 1.020000, 1.000000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000, 0.850000, 0.840000, 0.830000, 0.830000, 0.820000, 0.820000, 0.810000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 592890 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.098000, -18.864000, 2.544248 ], "estimate": [ -46.098000, -18.864000, 2.544248 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.890000, 0.900000, 0.910000, 0.920000, 0.930000, 0.940000, 0.920000, 0.940000, 0.940000, 2.800000, 2.740000, 2.670000, 2.420000, 2.340000, 2.260000, 2.220000, 2.160000, 2.120000, 2.080000, 2.030000, 1.990000, 1.950000, 1.910000, 1.880000, 1.850000, 1.820000, 1.790000, 1.750000, 1.740000, 1.720000, 1.730000, 1.740000, 1.700000, 1.690000, 1.680000, 1.670000, 1.710000, 1.790000, 1.850000, 1.920000, 3.640000, 3.650000, 3.700000, 3.860000, 4.050000, 4.220000, 4.190000, 4.170000, 4.140000, 4.130000, 4.100000, 4.080000, 4.070000, 4.060000, 4.040000, 4.030000, 4.020000, 4.010000, 4.010000, 6.370000, 6.370000, 6.370000, 6.360000, 6.370000, 6.410000, 6.210000, 6.210000, 6.190000, 6.540000, 6.550000, 6.560000, 6.560000, 6.570000, 6.640000, 8.860000, 8.900000, 8.930000, 8.960000, 8.990000, 9.040000, 9.080000, 9.130000, 8.850000, 8.390000, 7.990000, 7.620000, 7.310000, 7.010000, 6.730000, 6.470000, 6.240000, 6.010000, 6.070000, 6.110000, 6.160000, 10.160000, 10.270000, 2.710000, 2.520000, 2.380000, 2.250000, 2.140000, 2.030000, 1.950000, 1.880000, 1.800000, 1.740000, 1.670000, 1.620000, 1.570000, 1.530000, 1.480000, 1.450000, 1.400000, 1.380000, 1.340000, 1.300000, 1.280000, 1.250000, 1.220000, 1.190000, 1.180000, 1.150000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.060000, 1.040000, 1.020000, 1.010000, 0.990000, 0.980000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000, 0.840000, 0.830000, 0.830000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 594007 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.146000, -18.830999, 2.531957 ], "estimate": [ -46.146000, -18.830999, 2.531957 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.820000, 0.810000, 0.800000, 0.810000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.850000, 0.860000, 0.870000, 0.880000, 0.880000, 0.890000, 0.900000, 0.900000, 0.910000, 0.890000, 0.900000, 0.900000, 2.930000, 2.850000, 2.780000, 2.710000, 2.640000, 2.390000, 2.300000, 2.230000, 2.180000, 2.120000, 2.090000, 2.030000, 1.990000, 1.950000, 1.910000, 1.870000, 1.830000, 1.810000, 1.770000, 1.740000, 1.710000, 1.690000, 1.670000, 1.680000, 1.690000, 1.650000, 1.640000, 1.630000, 1.630000, 1.640000, 1.720000, 1.780000, 1.840000, 3.600000, 3.600000, 3.600000, 3.680000, 3.850000, 4.030000, 4.160000, 4.140000, 4.110000, 4.080000, 4.060000, 4.040000, 4.030000, 4.010000, 3.990000, 3.980000, 3.970000, 3.960000, 3.950000, 3.950000, 6.300000, 6.310000, 6.320000, 6.310000, 6.310000, 6.350000, 6.150000, 6.160000, 6.150000, 6.480000, 6.480000, 6.490000, 6.510000, 6.520000, 6.530000, 8.800000, 8.830000, 8.870000, 8.900000, 8.930000, 8.970000, 9.010000, 9.060000, 8.930000, 8.460000, 8.060000, 7.680000, 7.350000, 7.050000, 6.770000, 6.500000, 6.270000, 6.040000, 5.970000, 6.050000, 6.080000, 10.090000, 10.190000, 4.920000, 2.630000, 2.470000, 2.320000, 2.210000, 2.100000, 2.010000, 1.920000, 1.850000, 1.790000, 1.720000, 1.670000, 1.610000, 1.570000, 1.520000, 1.480000, 1.440000, 1.410000, 1.380000, 1.340000, 1.310000, 1.280000, 1.250000, 1.220000, 1.200000, 1.170000, 1.160000, 1.150000, 1.120000, 1.100000, 1.080000, 1.070000, 1.050000, 1.050000, 1.050000, 1.010000, 1.000000, 0.990000, 0.970000, 0.970000, 0.960000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.870000, 0.860000, 0.850000, 0.850000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 594902 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.194000, -18.798000, 2.519666 ], "estimate": [ -46.194000, -18.798000, 2.519666 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.860000, 0.860000, 0.880000, 0.880000, 0.890000, 0.880000, 0.880000, 0.900000, 3.040000, 2.940000, 2.870000, 2.780000, 2.720000, 2.640000, 2.570000, 2.290000, 2.220000, 2.160000, 2.100000, 2.050000, 2.010000, 1.960000, 1.920000, 1.880000, 1.840000, 1.800000, 1.780000, 1.750000, 1.710000, 1.680000, 1.650000, 1.630000, 1.630000, 1.660000, 1.630000, 1.610000, 1.600000, 1.570000, 1.590000, 1.610000, 1.700000, 1.750000, 1.810000, 3.550000, 3.540000, 3.540000, 3.610000, 3.770000, 3.950000, 4.120000, 4.090000, 4.060000, 4.040000, 4.010000, 3.990000, 3.980000, 3.970000, 3.950000, 3.930000, 3.920000, 3.920000, 3.920000, 3.910000, 6.250000, 6.260000, 6.260000, 6.260000, 6.260000, 6.280000, 6.100000, 6.110000, 6.090000, 6.420000, 6.430000, 6.440000, 6.450000, 6.460000, 6.480000, 8.740000, 8.760000, 8.800000, 8.830000, 8.860000, 8.910000, 8.940000, 8.980000, 9.030000, 8.630000, 8.200000, 7.800000, 7.470000, 7.150000, 6.860000, 6.590000, 6.350000, 6.120000, 5.920000, 5.960000, 6.020000, 6.050000, 10.090000, 10.200000, 4.850000, 2.590000, 2.440000, 2.300000, 2.180000, 2.090000, 2.000000, 1.930000, 1.850000, 1.790000, 1.720000, 1.670000, 1.610000, 1.570000, 1.530000, 1.480000, 1.440000, 1.410000, 1.380000, 1.350000, 1.310000, 1.290000, 1.260000, 1.230000, 1.200000, 1.190000, 1.160000, 1.150000, 1.140000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.050000, 1.030000, 1.020000, 0.990000, 0.980000, 0.970000, 0.960000, 0.950000, 0.940000, 0.930000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.880000, 0.880000, 0.870000, 0.860000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 595772 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.241001, -18.764000, 2.513520 ], "estimate": [ -46.241001, -18.764000, 2.513520 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.810000, 0.810000, 0.800000, 0.800000, 0.810000, 0.820000, 0.820000, 0.830000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.860000, 0.850000, 0.860000, 0.840000, 0.850000, 0.860000, 3.270000, 3.160000, 3.060000, 2.970000, 2.880000, 2.810000, 2.720000, 2.650000, 2.570000, 2.280000, 2.220000, 2.150000, 2.090000, 2.040000, 1.980000, 1.940000, 1.890000, 1.850000, 1.810000, 1.780000, 1.740000, 1.720000, 1.680000, 1.640000, 1.620000, 1.600000, 1.580000, 1.610000, 1.590000, 1.560000, 1.550000, 1.540000, 1.530000, 1.530000, 1.610000, 1.670000, 1.720000, 1.770000, 3.510000, 3.490000, 3.500000, 3.520000, 3.680000, 3.840000, 4.010000, 4.040000, 4.010000, 3.980000, 3.960000, 3.940000, 3.930000, 3.920000, 3.900000, 3.890000, 3.870000, 3.860000, 3.850000, 3.840000, 3.860000, 6.200000, 6.200000, 6.210000, 6.200000, 6.200000, 6.240000, 6.060000, 6.050000, 6.040000, 6.360000, 6.370000, 6.370000, 6.390000, 6.410000, 6.420000, 8.690000, 8.720000, 8.740000, 8.780000, 8.820000, 8.850000, 8.900000, 8.950000, 8.920000, 8.460000, 8.050000, 7.670000, 7.340000, 7.050000, 6.760000, 6.490000, 6.260000, 6.040000, 5.860000, 5.920000, 5.980000, 6.030000, 10.060000, 10.180000, 4.790000, 4.670000, 2.450000, 2.320000, 2.210000, 2.100000, 2.030000, 1.940000, 1.860000, 1.790000, 1.740000, 1.690000, 1.630000, 1.580000, 1.550000, 1.510000, 1.460000, 1.420000, 1.400000, 1.360000, 1.330000, 1.290000, 1.280000, 1.250000, 1.230000, 1.210000, 1.180000, 1.160000, 1.150000, 1.130000, 1.120000, 1.100000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.020000, 1.000000, 1.000000, 0.970000, 0.970000, 0.960000, 0.950000, 0.940000, 0.920000, 0.920000, 0.910000, 0.900000, 0.900000, 0.890000, 0.890000, 0.890000, 0.880000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 596691 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.288998, -18.729000, 2.507374 ], "estimate": [ -46.288998, -18.729000, 2.507374 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.820000, 0.830000, 0.830000, 0.840000, 0.840000, 0.850000, 0.850000, 0.850000, 0.850000, 0.830000, 0.830000, 0.840000, 3.540000, 3.390000, 3.260000, 3.150000, 3.050000, 2.950000, 2.850000, 2.770000, 2.690000, 2.620000, 2.550000, 2.240000, 2.170000, 2.110000, 2.050000, 1.990000, 1.940000, 1.890000, 1.840000, 1.810000, 1.760000, 1.730000, 1.700000, 1.650000, 1.620000, 1.610000, 1.580000, 1.540000, 1.550000, 1.560000, 1.550000, 1.520000, 1.500000, 1.490000, 1.480000, 1.500000, 1.550000, 1.620000, 1.660000, 1.710000, 3.480000, 3.450000, 3.440000, 3.450000, 3.520000, 3.670000, 3.840000, 4.010000, 3.980000, 3.950000, 3.930000, 3.910000, 3.900000, 3.880000, 3.860000, 3.840000, 3.830000, 3.810000, 3.800000, 3.800000, 3.800000, 3.810000, 6.150000, 6.160000, 6.160000, 6.150000, 6.140000, 6.180000, 5.990000, 5.990000, 5.990000, 6.310000, 6.320000, 6.330000, 6.340000, 6.360000, 6.360000, 8.640000, 8.670000, 8.690000, 8.720000, 8.760000, 8.800000, 8.840000, 8.890000, 8.920000, 8.450000, 8.040000, 7.670000, 7.350000, 7.050000, 6.760000, 6.490000, 6.270000, 6.050000, 5.840000, 5.850000, 5.920000, 5.950000, 10.000000, 10.110000, 4.760000, 4.670000, 2.520000, 2.370000, 2.270000, 2.150000, 2.070000, 1.980000, 1.900000, 1.840000, 1.780000, 1.720000, 1.670000, 1.610000, 1.580000, 1.530000, 1.490000, 1.450000, 1.420000, 1.400000, 1.350000, 1.320000, 1.290000, 1.270000, 1.240000, 1.220000, 1.200000, 1.180000, 1.160000, 1.150000, 1.140000, 1.120000, 1.100000, 1.080000, 1.080000, 1.060000, 1.050000, 1.040000, 1.030000, 1.010000, 1.000000, 0.980000, 0.980000, 0.970000, 0.960000, 0.950000, 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000, 0.890000, 0.890000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 597530 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.334999, -18.695999, 2.501229 ], "estimate": [ -46.334999, -18.695999, 2.501229 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.830000, 0.820000, 0.830000, 0.840000, 0.840000, 0.810000, 0.820000, 0.820000, 0.820000, 3.880000, 3.700000, 3.540000, 3.380000, 3.250000, 3.130000, 3.020000, 2.920000, 2.830000, 2.730000, 2.660000, 2.580000, 2.510000, 2.190000, 2.120000, 2.060000, 2.000000, 1.940000, 1.890000, 1.830000, 1.790000, 1.750000, 1.710000, 1.670000, 1.630000, 1.610000, 1.580000, 1.540000, 1.520000, 1.490000, 1.500000, 1.510000, 1.490000, 1.460000, 1.450000, 1.440000, 1.440000, 1.450000, 1.510000, 1.550000, 1.600000, 1.650000, 3.440000, 3.410000, 3.390000, 3.390000, 3.380000, 3.510000, 3.670000, 3.830000, 3.940000, 3.910000, 3.900000, 3.870000, 3.850000, 3.830000, 3.810000, 3.800000, 3.790000, 3.770000, 3.750000, 3.750000, 3.740000, 3.730000, 3.750000, 6.080000, 6.090000, 6.100000, 6.090000, 6.090000, 6.130000, 5.930000, 5.930000, 5.930000, 6.250000, 6.260000, 6.270000, 6.280000, 6.290000, 6.310000, 8.570000, 8.600000, 8.630000, 8.670000, 8.700000, 8.730000, 8.780000, 8.820000, 8.880000, 8.460000, 8.070000, 7.680000, 7.350000, 7.050000, 6.770000, 6.500000, 6.270000, 6.050000, 5.850000, 5.780000, 5.840000, 5.880000, 9.930000, 10.040000, 8.360000, 4.670000, 4.560000, 2.440000, 2.310000, 2.210000, 2.120000, 2.040000, 1.940000, 1.880000, 1.820000, 1.770000, 1.700000, 1.650000, 1.610000, 1.570000, 1.520000, 1.480000, 1.450000, 1.410000, 1.390000, 1.350000, 1.320000, 1.290000, 1.280000, 1.260000, 1.220000, 1.200000, 1.190000, 1.160000, 1.150000, 1.150000, 1.120000, 1.110000, 1.090000, 1.070000, 1.070000, 1.050000, 1.050000, 1.030000, 1.020000, 1.010000, 1.000000, 0.980000, 0.970000, 0.970000, 0.970000, 0.950000, 0.930000, 0.930000, 0.920000, 0.910000, 0.910000, 0.900000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 598368 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.380001, -18.661999, 2.495083 ], "estimate": [ -46.380001, -18.661999, 2.495083 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.810000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.810000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.820000, 0.800000, 0.800000, 0.810000, 0.820000, 4.350000, 4.180000, 3.960000, 3.770000, 3.590000, 3.430000, 3.280000, 3.160000, 3.040000, 2.930000, 2.830000, 2.740000, 2.640000, 2.570000, 2.500000, 2.170000, 2.100000, 2.030000, 1.970000, 1.910000, 1.850000, 1.800000, 1.750000, 1.720000, 1.670000, 1.630000, 1.610000, 1.570000, 1.540000, 1.500000, 1.480000, 1.450000, 1.470000, 1.470000, 1.460000, 1.430000, 1.410000, 1.400000, 1.390000, 1.410000, 1.460000, 1.510000, 1.540000, 1.590000, 1.620000, 3.390000, 3.360000, 3.340000, 3.350000, 3.350000, 3.490000, 3.620000, 3.800000, 3.900000, 3.870000, 3.840000, 3.820000, 3.800000, 3.790000, 3.760000, 3.750000, 3.730000, 3.720000, 3.710000, 3.700000, 3.690000, 3.690000, 3.690000, 6.040000, 6.040000, 6.040000, 6.040000, 6.040000, 6.060000, 5.880000, 5.890000, 5.860000, 6.200000, 6.200000, 6.220000, 6.220000, 6.230000, 6.260000, 6.340000, 8.550000, 8.570000, 8.600000, 8.640000, 8.680000, 8.720000, 8.760000, 8.810000, 8.570000, 8.150000, 7.750000, 7.430000, 7.120000, 6.820000, 6.560000, 6.320000, 6.100000, 5.900000, 5.720000, 5.780000, 5.830000, 5.880000, 9.960000, 10.080000, 4.710000, 4.590000, 4.470000, 2.400000, 2.290000, 2.190000, 2.090000, 2.010000, 1.930000, 1.860000, 1.800000, 1.750000, 1.700000, 1.650000, 1.600000, 1.560000, 1.520000, 1.490000, 1.450000, 1.410000, 1.390000, 1.350000, 1.320000, 1.290000, 1.280000, 1.260000, 1.230000, 1.210000, 1.190000, 1.180000, 1.160000, 1.150000, 1.130000, 1.110000, 1.100000, 1.100000, 1.080000, 1.070000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.990000, 0.970000, 0.970000, 0.960000, 0.960000, 0.940000, 0.930000, 0.930000, 0.920000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 599251 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.426003, -18.626999, 2.488938 ], "estimate": [ -46.426003, -18.626999, 2.488938 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.820000, 0.810000, 0.810000, 0.790000, 0.790000, 0.800000, 0.800000, 2.950000, 4.260000, 4.300000, 4.320000, 4.340000, 4.100000, 3.890000, 3.690000, 3.510000, 3.350000, 3.200000, 3.070000, 2.970000, 2.850000, 2.740000, 2.650000, 2.570000, 2.500000, 2.150000, 2.080000, 2.010000, 1.940000, 1.880000, 1.820000, 1.770000, 1.720000, 1.670000, 1.630000, 1.590000, 1.560000, 1.520000, 1.480000, 1.450000, 1.430000, 1.420000, 1.420000, 1.430000, 1.410000, 1.380000, 1.360000, 1.350000, 1.340000, 1.340000, 1.380000, 1.440000, 1.480000, 1.510000, 1.560000, 3.380000, 3.340000, 3.320000, 3.290000, 3.310000, 3.290000, 3.420000, 3.550000, 3.710000, 3.840000, 3.820000, 3.790000, 3.780000, 3.750000, 3.730000, 3.710000, 3.700000, 3.680000, 3.670000, 3.650000, 3.650000, 3.640000, 3.630000, 3.640000, 5.980000, 5.970000, 5.980000, 5.990000, 5.980000, 5.990000, 6.080000, 5.820000, 5.820000, 5.810000, 6.150000, 6.160000, 6.170000, 6.170000, 6.180000, 6.200000, 8.480000, 8.490000, 8.530000, 8.560000, 8.590000, 8.640000, 8.690000, 8.720000, 8.770000, 8.370000, 7.970000, 7.590000, 7.270000, 6.990000, 6.700000, 6.450000, 6.220000, 6.010000, 5.810000, 5.700000, 5.750000, 5.800000, 9.850000, 9.950000, 8.990000, 4.670000, 4.530000, 4.430000, 4.400000, 2.300000, 2.200000, 2.110000, 2.030000, 1.950000, 1.890000, 1.820000, 1.770000, 1.710000, 1.660000, 1.620000, 1.590000, 1.530000, 1.490000, 1.470000, 1.430000, 1.410000, 1.380000, 1.340000, 1.320000, 1.300000, 1.270000, 1.250000, 1.220000, 1.210000, 1.200000, 1.170000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000, 0.960000, 0.960000, 0.960000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 600100 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.473999, -18.591000, 2.482792 ], "estimate": [ -46.473999, -18.591000, 2.482792 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.800000, 0.810000, 0.790000, 0.790000, 0.790000, 0.810000, 4.230000, 4.240000, 4.260000, 2.900000, 4.260000, 4.290000, 4.310000, 4.260000, 4.020000, 3.790000, 3.600000, 3.420000, 3.260000, 3.120000, 2.990000, 2.870000, 2.770000, 2.670000, 2.580000, 2.500000, 2.230000, 2.060000, 1.980000, 1.920000, 1.850000, 1.800000, 1.740000, 1.690000, 1.630000, 1.600000, 1.550000, 1.510000, 1.490000, 1.440000, 1.420000, 1.390000, 1.370000, 1.380000, 1.380000, 1.360000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000, 1.330000, 1.370000, 1.410000, 1.450000, 1.490000, 1.520000, 3.330000, 3.290000, 3.270000, 3.240000, 3.250000, 3.240000, 3.350000, 3.490000, 3.630000, 3.790000, 3.770000, 3.740000, 3.720000, 3.710000, 3.680000, 3.660000, 3.640000, 3.630000, 3.630000, 3.600000, 3.600000, 3.580000, 3.570000, 3.570000, 3.590000, 5.930000, 5.930000, 5.930000, 5.920000, 5.930000, 5.950000, 5.780000, 5.780000, 5.750000, 6.090000, 6.100000, 6.110000, 6.120000, 6.140000, 6.150000, 6.200000, 8.430000, 8.460000, 8.490000, 8.530000, 8.560000, 8.600000, 8.650000, 8.690000, 8.550000, 8.140000, 7.770000, 7.430000, 7.100000, 6.820000, 6.560000, 6.310000, 6.100000, 5.900000, 5.710000, 5.630000, 5.700000, 5.750000, 9.830000, 9.950000, 8.300000, 4.590000, 4.480000, 4.380000, 4.360000, 2.300000, 2.200000, 2.110000, 2.040000, 1.960000, 1.890000, 1.830000, 1.780000, 1.720000, 1.670000, 1.630000, 1.590000, 1.550000, 1.510000, 1.480000, 1.440000, 1.410000, 1.390000, 1.350000, 1.320000, 1.300000, 1.290000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000, 0.980000, 0.970000, 0.970000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 600939 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.518997, -18.556000, 2.470501 ], "estimate": [ -46.518997, -18.556000, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.800000, 0.800000, 0.800000, 0.790000, 0.790000, 0.780000, 0.790000, 0.850000, 4.190000, 4.200000, 4.210000, 4.220000, 4.230000, 2.880000, 4.240000, 4.250000, 4.260000, 4.290000, 4.230000, 3.970000, 3.740000, 3.540000, 3.360000, 3.200000, 3.040000, 2.920000, 2.800000, 2.700000, 2.590000, 2.510000, 2.420000, 2.060000, 1.970000, 1.890000, 1.830000, 1.770000, 1.710000, 1.650000, 1.610000, 1.560000, 1.520000, 1.480000, 1.430000, 1.410000, 1.380000, 1.340000, 1.320000, 1.320000, 1.340000, 1.330000, 1.290000, 1.270000, 1.260000, 1.250000, 1.250000, 1.270000, 1.320000, 1.340000, 1.380000, 1.410000, 1.450000, 1.590000, 3.280000, 3.250000, 3.220000, 3.200000, 3.180000, 3.190000, 3.260000, 3.390000, 3.520000, 3.680000, 3.720000, 3.710000, 3.680000, 3.650000, 3.640000, 3.620000, 3.600000, 3.580000, 3.570000, 3.560000, 3.550000, 3.530000, 3.530000, 3.520000, 3.520000, 5.860000, 5.860000, 5.870000, 5.880000, 5.870000, 5.870000, 5.910000, 5.710000, 5.710000, 5.710000, 6.040000, 6.050000, 6.040000, 6.060000, 6.080000, 6.090000, 6.200000, 8.380000, 8.400000, 8.440000, 8.480000, 8.510000, 8.560000, 8.600000, 8.650000, 8.410000, 8.020000, 7.660000, 7.330000, 7.020000, 6.750000, 6.490000, 6.250000, 6.030000, 5.840000, 5.650000, 5.570000, 5.670000, 5.700000, 9.810000, 9.910000, 8.200000, 4.560000, 4.450000, 4.360000, 4.310000, 4.740000, 2.220000, 2.140000, 2.050000, 1.990000, 1.910000, 1.860000, 1.800000, 1.750000, 1.690000, 1.660000, 1.600000, 1.570000, 1.530000, 1.500000, 1.470000, 1.430000, 1.410000, 1.380000, 1.350000, 1.320000, 1.300000, 1.280000, 1.260000, 1.240000, 1.220000, 1.210000, 1.190000, 1.170000, 1.160000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.090000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000, 1.000000, 0.990000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 601876 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.563000, -18.521000, 2.470501 ], "estimate": [ -46.563000, -18.521000, 2.470501 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.800000, 0.770000, 0.780000, 0.770000, 0.790000, 0.850000, 2.670000, 2.710000, 4.170000, 4.180000, 4.190000, 4.200000, 4.210000, 4.190000, 2.870000, 4.240000, 4.250000, 4.260000, 4.280000, 4.070000, 3.830000, 3.610000, 3.410000, 3.230000, 3.080000, 2.930000, 2.800000, 2.700000, 2.590000, 2.500000, 2.410000, 2.020000, 1.950000, 1.870000, 1.800000, 1.730000, 1.680000, 1.610000, 1.570000, 1.520000, 1.470000, 1.430000, 1.400000, 1.360000, 1.320000, 1.300000, 1.290000, 1.290000, 1.300000, 1.290000, 1.240000, 1.230000, 1.220000, 1.200000, 1.200000, 1.230000, 1.270000, 1.300000, 1.330000, 1.370000, 1.400000, 1.440000, 3.270000, 3.220000, 3.200000, 3.170000, 3.140000, 3.130000, 3.140000, 3.230000, 3.350000, 3.490000, 3.640000, 3.680000, 3.640000, 3.630000, 3.610000, 3.590000, 3.560000, 3.550000, 3.530000, 3.520000, 3.510000, 3.490000, 3.480000, 3.480000, 3.470000, 3.460000, 3.550000, 5.820000, 5.820000, 5.830000, 5.830000, 5.820000, 5.850000, 5.660000, 5.660000, 5.640000, 5.990000, 5.980000, 6.000000, 6.010000, 6.030000, 6.040000, 6.120000, 8.320000, 8.350000, 8.380000, 8.410000, 8.450000, 8.490000, 8.540000, 8.590000, 8.490000, 8.080000, 7.720000, 7.380000, 7.060000, 6.790000, 6.530000, 6.290000, 6.080000, 5.880000, 5.690000, 5.540000, 5.600000, 5.640000, 5.710000, 9.840000, 9.030000, 8.000000, 4.480000, 4.380000, 4.280000, 4.290000, 4.730000, 2.190000, 2.110000, 2.050000, 1.960000, 1.910000, 1.840000, 1.800000, 1.740000, 1.700000, 1.650000, 1.600000, 1.570000, 1.530000, 1.500000, 1.470000, 1.430000, 1.410000, 1.380000, 1.350000, 1.320000, 1.300000, 1.290000, 1.280000, 1.250000, 1.230000, 1.210000, 1.200000, 1.190000, 1.170000, 1.170000, 1.150000, 1.140000, 1.120000, 1.110000, 1.100000, 1.080000, 1.070000, 1.060000, 1.050000, 1.050000, 1.040000, 1.030000, 1.020000, 1.010000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 713068 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.608997, -18.484001, 2.458210 ], "estimate": [ -46.608997, -18.484001, 2.458210 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.780000, 0.840000, 0.880000, 4.160000, 4.160000, 2.680000, 2.680000, 4.150000, 4.160000, 4.170000, 4.170000, 4.190000, 4.200000, 2.870000, 4.220000, 4.230000, 4.240000, 4.250000, 4.260000, 3.990000, 3.730000, 3.510000, 3.310000, 3.120000, 2.980000, 2.830000, 2.700000, 2.600000, 2.500000, 2.400000, 1.990000, 1.910000, 1.820000, 1.750000, 1.680000, 1.620000, 1.570000, 1.520000, 1.470000, 1.410000, 1.380000, 1.330000, 1.290000, 1.260000, 1.240000, 1.230000, 1.260000, 1.240000, 1.220000, 1.180000, 1.180000, 1.170000, 1.170000, 1.160000, 1.180000, 1.210000, 1.240000, 1.280000, 1.310000, 1.330000, 1.390000, 3.250000, 3.210000, 3.180000, 3.140000, 3.110000, 3.080000, 3.080000, 3.080000, 3.170000, 3.280000, 3.410000, 3.540000, 3.620000, 3.600000, 3.570000, 3.550000, 3.530000, 3.510000, 3.490000, 3.470000, 3.460000, 3.450000, 3.440000, 3.440000, 3.430000, 3.420000, 3.410000, 3.420000, 5.760000, 5.750000, 5.770000, 5.760000, 5.760000, 5.760000, 5.850000, 5.610000, 5.610000, 5.590000, 5.930000, 5.930000, 5.950000, 5.950000, 5.970000, 5.980000, 8.250000, 8.270000, 8.310000, 8.330000, 8.370000, 8.400000, 8.450000, 8.490000, 8.550000, 8.330000, 7.940000, 7.590000, 7.240000, 6.960000, 6.680000, 6.440000, 6.200000, 5.990000, 5.810000, 5.630000, 5.510000, 5.550000, 5.610000, 9.700000, 9.820000, 8.270000, 10.070000, 4.440000, 4.340000, 4.250000, 4.240000, 4.690000, 2.200000, 2.130000, 2.060000, 1.990000, 1.940000, 1.870000, 1.810000, 1.760000, 1.700000, 1.680000, 1.620000, 1.590000, 1.560000, 1.520000, 1.490000, 1.450000, 1.420000, 1.400000, 1.380000, 1.350000, 1.320000, 1.300000, 1.290000, 1.280000, 1.250000, 1.230000, 1.220000, 1.200000, 1.190000, 1.170000, 1.170000, 1.160000, 1.140000, 1.130000, 1.120000, 1.100000, 1.100000, 1.090000, 1.070000, 1.060000, 1.060000, 1.050000, 1.040000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055433, 979194 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.657001, -18.445999, 2.452065 ], "estimate": [ -46.657001, -18.445999, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.170000, 4.170000, 4.160000, 4.160000, 2.680000, 2.680000, 4.160000, 4.150000, 4.150000, 4.160000, 4.170000, 4.180000, 2.840000, 4.200000, 4.210000, 4.220000, 4.230000, 4.240000, 4.150000, 3.860000, 3.600000, 3.370000, 3.180000, 3.000000, 2.850000, 2.710000, 2.590000, 2.490000, 2.380000, 1.950000, 1.860000, 1.770000, 1.700000, 1.630000, 1.570000, 1.510000, 1.460000, 1.400000, 1.370000, 1.310000, 1.280000, 1.230000, 1.210000, 1.200000, 1.200000, 1.210000, 1.210000, 1.160000, 1.150000, 1.140000, 1.110000, 1.110000, 1.120000, 1.140000, 1.180000, 1.200000, 1.230000, 1.260000, 1.290000, 1.330000, 3.230000, 3.190000, 3.150000, 3.120000, 3.090000, 3.060000, 3.040000, 3.040000, 3.030000, 3.100000, 3.220000, 3.360000, 3.490000, 3.570000, 3.540000, 3.520000, 3.500000, 3.480000, 3.460000, 3.440000, 3.430000, 3.420000, 3.400000, 3.390000, 3.380000, 3.370000, 3.360000, 3.350000, 3.360000, 5.690000, 5.690000, 5.710000, 5.700000, 5.710000, 5.700000, 5.730000, 5.540000, 5.540000, 5.530000, 5.880000, 5.880000, 5.890000, 5.890000, 5.910000, 5.920000, 5.980000, 8.200000, 8.240000, 8.270000, 8.310000, 8.340000, 8.390000, 8.420000, 8.470000, 8.480000, 8.060000, 7.700000, 7.350000, 7.060000, 6.780000, 6.510000, 6.280000, 6.070000, 5.870000, 5.680000, 5.510000, 5.450000, 5.530000, 5.560000, 9.710000, 9.830000, 8.200000, 10.080000, 4.380000, 4.280000, 4.200000, 4.240000, 4.650000, 4.720000, 2.120000, 2.060000, 1.990000, 1.940000, 1.870000, 1.810000, 1.770000, 1.710000, 1.680000, 1.630000, 1.600000, 1.570000, 1.530000, 1.500000, 1.470000, 1.430000, 1.410000, 1.390000, 1.360000, 1.340000, 1.320000, 1.300000, 1.280000, 1.260000, 1.250000, 1.230000, 1.210000, 1.200000, 1.190000, 1.180000, 1.160000, 1.160000, 1.150000, 1.130000, 1.120000, 1.110000, 1.100000, 1.090000, 1.080000, 1.070000, 1.060000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055434, 132856 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.700001, -18.410999, 2.452065 ], "estimate": [ -46.700001, -18.410999, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.160000, 4.160000, 4.160000, 2.680000, 2.670000, 4.160000, 4.150000, 4.150000, 4.150000, 4.150000, 4.160000, 2.830000, 4.180000, 4.190000, 4.200000, 4.220000, 4.230000, 4.240000, 3.970000, 3.680000, 3.430000, 3.220000, 3.020000, 2.850000, 2.700000, 2.580000, 2.470000, 2.360000, 1.900000, 1.800000, 1.720000, 1.640000, 1.570000, 1.500000, 1.440000, 1.390000, 1.350000, 1.290000, 1.260000, 1.210000, 1.180000, 1.170000, 1.170000, 1.180000, 1.180000, 1.130000, 1.100000, 1.100000, 1.070000, 1.060000, 1.060000, 1.080000, 1.120000, 1.140000, 1.160000, 1.180000, 1.200000, 1.230000, 1.280000, 3.200000, 3.170000, 3.130000, 3.090000, 3.060000, 3.040000, 3.000000, 2.970000, 2.980000, 2.980000, 3.070000, 3.180000, 3.310000, 3.450000, 3.510000, 3.500000, 3.470000, 3.440000, 3.420000, 3.410000, 3.390000, 3.370000, 3.360000, 3.350000, 3.330000, 3.330000, 3.310000, 3.300000, 3.300000, 3.290000, 3.360000, 5.640000, 5.640000, 5.650000, 5.650000, 5.640000, 5.660000, 5.510000, 5.490000, 5.470000, 5.520000, 5.820000, 5.830000, 5.830000, 5.850000, 5.870000, 5.890000, 8.140000, 8.170000, 8.190000, 8.230000, 8.270000, 8.300000, 8.350000, 8.390000, 8.440000, 8.170000, 7.790000, 7.450000, 7.140000, 6.850000, 6.590000, 6.340000, 6.130000, 5.930000, 5.730000, 5.560000, 5.410000, 5.440000, 5.510000, 5.540000, 9.730000, 8.300000, 7.840000, null, 4.310000, 4.220000, 4.150000, 4.430000, 4.630000, 4.710000, 2.130000, 2.050000, 2.000000, 1.930000, 1.870000, 1.810000, 1.780000, 1.730000, 1.690000, 1.640000, 1.600000, 1.580000, 1.540000, 1.510000, 1.480000, 1.450000, 1.410000, 1.400000, 1.370000, 1.360000, 1.330000, 1.310000, 1.300000, 1.280000, 1.260000, 1.240000, 1.230000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.160000, 1.150000, 1.140000, 1.120000, 1.120000, 1.110000, 1.100000, 1.090000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055434, 337903 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.742996, -18.375999, 2.452065 ], "estimate": [ -46.742996, -18.375999, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.160000, 4.150000, 2.680000, 2.670000, 4.150000, 4.150000, 4.150000, 4.150000, 4.140000, 4.150000, 2.810000, 4.160000, 4.170000, 4.180000, 4.200000, 4.210000, 4.220000, 4.040000, 3.720000, 3.450000, 3.220000, 3.020000, 2.840000, 2.690000, 2.550000, 2.430000, 1.960000, 1.830000, 1.740000, 1.650000, 1.570000, 1.510000, 1.440000, 1.380000, 1.330000, 1.280000, 1.230000, 1.190000, 1.140000, 1.130000, 1.140000, 1.140000, 1.140000, 1.110000, 1.060000, 1.060000, 1.040000, 1.040000, 1.020000, 1.040000, 1.070000, 1.090000, 1.110000, 1.130000, 1.150000, 1.180000, 1.200000, 1.230000, 3.190000, 3.140000, 3.100000, 3.070000, 3.040000, 3.010000, 2.970000, 2.940000, 2.940000, 2.930000, 2.970000, 3.070000, 3.180000, 3.300000, 3.430000, 3.460000, 3.440000, 3.420000, 3.400000, 3.370000, 3.360000, 3.340000, 3.320000, 3.310000, 3.300000, 3.270000, 3.270000, 3.260000, 3.260000, 3.250000, 3.240000, 3.410000, 5.580000, 5.590000, 5.600000, 5.590000, 5.600000, 5.610000, 5.440000, 5.440000, 5.430000, 5.470000, 5.770000, 5.780000, 5.780000, 5.800000, 5.820000, 5.830000, 8.090000, 8.120000, 8.160000, 8.190000, 8.220000, 8.260000, 8.300000, 8.340000, 8.390000, 8.160000, 7.760000, 7.430000, 7.120000, 6.840000, 6.580000, 6.330000, 6.120000, 5.920000, 5.730000, 5.560000, 5.390000, 5.390000, 5.450000, 5.500000, 9.670000, 8.820000, 7.850000, null, 4.310000, 4.220000, 4.140000, 4.130000, 4.580000, 4.640000, 4.720000, 2.090000, 2.030000, 1.960000, 1.910000, 1.850000, 1.800000, 1.760000, 1.710000, 1.670000, 1.630000, 1.600000, 1.570000, 1.530000, 1.500000, 1.470000, 1.440000, 1.420000, 1.400000, 1.380000, 1.360000, 1.340000, 1.310000, 1.300000, 1.280000, 1.270000, 1.250000, 1.230000, 1.230000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.130000, 1.120000, 1.120000, 1.110000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055434, 593098 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.787003, -18.340000, 2.452065 ], "estimate": [ -46.787003, -18.340000, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.160000, 2.660000, 2.640000, 4.140000, 4.150000, 4.150000, 4.150000, 4.150000, 4.140000, 2.820000, 4.150000, 4.160000, 4.170000, 4.180000, 4.190000, 4.210000, 4.050000, 3.730000, 3.440000, 3.190000, 2.980000, 2.790000, 2.630000, 2.480000, 2.360000, 1.840000, 1.720000, 1.630000, 1.550000, 1.480000, 1.400000, 1.350000, 1.280000, 1.230000, 1.180000, 1.140000, 1.100000, 1.090000, 1.100000, 1.110000, 1.100000, 1.050000, 1.020000, 1.020000, 0.990000, 0.980000, 0.980000, 1.000000, 1.030000, 1.050000, 1.060000, 1.070000, 1.090000, 1.110000, 1.130000, 1.180000, 1.270000, 3.150000, 3.110000, 3.070000, 3.030000, 3.000000, 2.960000, 2.940000, 2.900000, 2.870000, 2.880000, 2.880000, 2.960000, 3.070000, 3.180000, 3.300000, 3.410000, 3.380000, 3.360000, 3.330000, 3.330000, 3.310000, 3.290000, 3.270000, 3.260000, 3.240000, 3.240000, 3.230000, 3.220000, 3.210000, 3.210000, 3.190000, 3.190000, 5.540000, 5.530000, 5.550000, 5.550000, 5.550000, 5.540000, 5.540000, 5.380000, 5.400000, 5.360000, 5.400000, 5.710000, 5.720000, 5.730000, 5.740000, 5.760000, 5.770000, 8.020000, 8.050000, 8.090000, 8.120000, 8.150000, 8.180000, 8.230000, 8.280000, 8.320000, 8.140000, 7.740000, 7.420000, 7.090000, 6.810000, 6.550000, 6.310000, 6.100000, 5.900000, 5.720000, 5.540000, 5.390000, 5.320000, 5.390000, 5.440000, 9.610000, 8.130000, 7.950000, 7.800000, 4.290000, 4.210000, 4.140000, 4.080000, 4.500000, 4.580000, 4.650000, 4.730000, 2.060000, 2.010000, 1.950000, 1.880000, 1.830000, 1.800000, 1.750000, 1.710000, 1.670000, 1.620000, 1.590000, 1.570000, 1.530000, 1.500000, 1.470000, 1.440000, 1.420000, 1.400000, 1.390000, 1.360000, 1.340000, 1.310000, 1.300000, 1.300000, 1.280000, 1.250000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.180000, 1.170000, 1.160000, 1.160000, 1.150000, 1.140000, 1.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055434, 854096 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.832996, -18.303001, 2.452065 ], "estimate": [ -46.832996, -18.303001, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.680000, 2.630000, 4.140000, 4.150000, 4.150000, 4.150000, 4.150000, 4.150000, 3.010000, 4.150000, 4.150000, 4.160000, 4.170000, 4.180000, 4.180000, 4.190000, 3.820000, 3.500000, 3.230000, 3.000000, 2.790000, 2.620000, 2.460000, 1.990000, 1.760000, 1.640000, 1.540000, 1.460000, 1.390000, 1.340000, 1.260000, 1.210000, 1.150000, 1.110000, 1.070000, 1.060000, 1.080000, 1.080000, 1.080000, 1.020000, 0.980000, 0.980000, 0.950000, 0.940000, 0.940000, 0.970000, 0.990000, 1.010000, 1.020000, 1.040000, 1.050000, 1.060000, 1.090000, 1.090000, 1.150000, 3.180000, 3.130000, 3.090000, 3.060000, 3.010000, 2.970000, 2.950000, 2.910000, 2.880000, 2.850000, 2.830000, 2.820000, 2.850000, 2.940000, 3.050000, 3.170000, 3.290000, 3.360000, 3.330000, 3.300000, 3.290000, 3.270000, 3.250000, 3.240000, 3.220000, 3.210000, 3.200000, 3.180000, 3.170000, 3.160000, 3.150000, 3.150000, 3.140000, 3.140000, 3.320000, 5.490000, 5.490000, 5.500000, 5.490000, 5.490000, 5.490000, 5.420000, 5.330000, 5.330000, 5.300000, 5.670000, 5.670000, 5.690000, 5.690000, 5.710000, 5.720000, 5.750000, 8.000000, 8.020000, 8.050000, 8.090000, 8.130000, 8.170000, 8.210000, 8.260000, 8.170000, 7.790000, 7.450000, 7.150000, 6.850000, 6.580000, 6.340000, 6.130000, 5.930000, 5.750000, 5.570000, 5.420000, 5.270000, 5.320000, 5.380000, 5.410000, 8.070000, 8.750000, 7.760000, 7.480000, 4.230000, 4.150000, 4.080000, 4.040000, 4.510000, 4.560000, 4.640000, 4.730000, 2.030000, 2.000000, 1.940000, 1.880000, 1.830000, 1.790000, 1.740000, 1.720000, 1.680000, 1.640000, 1.600000, 1.570000, 1.530000, 1.500000, 1.480000, 1.450000, 1.420000, 1.410000, 1.390000, 1.370000, 1.350000, 1.320000, 1.300000, 1.300000, 1.290000, 1.270000, 1.250000, 1.250000, 1.230000, 1.220000, 1.210000, 1.190000, 1.180000, 1.170000, 1.170000, 1.160000, 1.150000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055434, 938920 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.880001, -18.264000, 2.445919 ], "estimate": [ -46.880001, -18.264000, 2.445919 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.640000, 4.130000, 4.150000, 4.140000, 4.140000, 4.140000, 4.140000, 2.800000, 4.150000, 4.150000, 4.150000, 4.150000, 4.160000, 4.160000, 4.180000, 4.010000, 3.630000, 3.320000, 3.050000, 2.820000, 2.630000, 2.460000, 1.830000, 1.690000, 1.550000, 1.440000, 1.350000, 1.290000, 1.220000, 1.160000, 1.110000, 1.060000, 1.030000, 1.040000, 1.040000, 1.050000, 1.010000, 0.960000, 0.950000, 0.930000, 0.910000, 0.900000, 0.910000, 0.930000, 0.950000, 0.960000, 0.980000, 0.990000, 1.010000, 1.010000, 1.040000, 1.060000, 1.070000, 1.120000, 3.160000, 3.120000, 3.070000, 3.030000, 2.980000, 2.950000, 2.910000, 2.870000, 2.840000, 2.800000, 2.790000, 2.780000, 2.770000, 2.790000, 2.890000, 3.000000, 3.100000, 3.220000, 3.300000, 3.270000, 3.240000, 3.220000, 3.220000, 3.200000, 3.180000, 3.160000, 3.150000, 3.130000, 3.120000, 3.120000, 3.110000, 3.090000, 3.080000, 3.090000, 3.070000, 3.090000, 5.430000, 5.430000, 5.440000, 5.430000, 5.430000, 5.420000, 5.460000, 5.270000, 5.270000, 5.240000, 5.600000, 5.610000, 5.620000, 5.630000, 5.640000, 5.660000, 5.680000, 7.920000, 7.950000, 7.980000, 8.010000, 8.040000, 8.090000, 8.130000, 8.180000, 8.220000, 7.960000, 7.590000, 7.280000, 6.980000, 6.700000, 6.450000, 6.240000, 6.020000, 5.810000, 5.650000, 5.490000, 5.330000, 5.230000, 5.290000, 5.330000, 5.380000, 8.040000, 7.870000, 7.710000, 7.450000, 4.200000, 4.110000, 4.030000, 4.000000, 4.450000, 4.540000, 4.620000, 4.700000, 4.780000, 2.000000, 1.950000, 1.900000, 1.850000, 1.810000, 1.770000, 1.720000, 1.690000, 1.650000, 1.610000, 1.590000, 1.560000, 1.520000, 1.490000, 1.470000, 1.440000, 1.420000, 1.410000, 1.390000, 1.370000, 1.340000, 1.330000, 1.310000, 1.310000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000, 1.180000, 1.170000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055435, 223201 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.922997, -18.229000, 2.439774 ], "estimate": [ -46.922997, -18.229000, 2.439774 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.150000, 4.150000, 4.140000, 4.140000, 4.140000, 4.140000, 2.800000, 4.140000, 4.140000, 4.140000, 4.150000, 4.150000, 4.160000, 4.160000, 4.060000, 3.650000, 3.310000, 3.020000, 2.780000, 2.580000, 2.280000, 1.710000, 1.570000, 1.430000, 1.320000, 1.230000, 1.170000, 1.100000, 1.040000, 1.000000, 1.000000, 1.010000, 1.000000, 1.010000, 0.950000, 0.920000, 0.910000, 0.890000, 0.880000, 0.880000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.960000, 0.970000, 0.980000, 1.000000, 1.020000, 1.030000, 1.070000, 3.190000, 3.140000, 3.090000, 3.040000, 3.000000, 2.960000, 2.920000, 2.880000, 2.840000, 2.810000, 2.780000, 2.750000, 2.720000, 2.740000, 2.730000, 2.800000, 2.900000, 3.000000, 3.110000, 3.230000, 3.230000, 3.220000, 3.190000, 3.190000, 3.160000, 3.140000, 3.120000, 3.120000, 3.100000, 3.080000, 3.070000, 3.060000, 3.050000, 3.040000, 3.040000, 3.020000, 3.020000, 3.060000, 5.380000, 5.380000, 5.390000, 5.380000, 5.370000, 5.370000, 5.420000, 5.230000, 5.230000, 5.190000, 5.550000, 5.560000, 5.570000, 5.580000, 5.600000, 5.610000, 5.630000, 7.860000, 7.900000, 7.930000, 7.980000, 8.000000, 8.040000, 8.080000, 8.130000, 8.180000, 7.920000, 7.560000, 7.240000, 6.940000, 6.670000, 6.430000, 6.210000, 5.990000, 5.800000, 5.630000, 5.470000, 5.330000, 5.180000, 5.230000, 5.310000, 5.330000, 8.040000, 7.840000, 7.660000, 7.440000, 4.210000, 4.110000, 4.020000, 3.970000, 4.320000, 4.470000, 4.550000, 4.630000, 4.720000, 4.830000, 1.970000, 1.930000, 1.880000, 1.840000, 1.800000, 1.750000, 1.710000, 1.680000, 1.640000, 1.610000, 1.580000, 1.550000, 1.520000, 1.490000, 1.470000, 1.450000, 1.420000, 1.420000, 1.390000, 1.370000, 1.350000, 1.340000, 1.320000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.240000, 1.240000, 1.220000, 1.210000, 1.200000, 1.190000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055435, 312355 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -46.966000, -18.191999, 2.433628 ], "estimate": [ -46.966000, -18.191999, 2.433628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.140000, 4.140000, 4.140000, 4.130000, 4.110000, 2.790000, 4.130000, 4.130000, 4.140000, 4.140000, 4.150000, 4.150000, 4.150000, 4.030000, 3.600000, 3.220000, 2.930000, 2.670000, 2.470000, 1.710000, 1.520000, 1.360000, 1.260000, 1.150000, 1.060000, 1.010000, 0.980000, 0.970000, 0.980000, 0.980000, 0.980000, 0.900000, 0.900000, 0.880000, 0.850000, 0.830000, 0.840000, 0.850000, 0.880000, 0.890000, 0.890000, 0.900000, 0.920000, 0.930000, 0.950000, 0.960000, 0.970000, 0.980000, 1.020000, 1.050000, 3.200000, 3.150000, 3.090000, 3.050000, 3.000000, 2.950000, 2.920000, 2.870000, 2.840000, 2.800000, 2.780000, 2.730000, 2.700000, 2.680000, 2.690000, 2.670000, 2.720000, 2.820000, 2.930000, 3.020000, 3.130000, 3.200000, 3.170000, 3.140000, 3.130000, 3.110000, 3.100000, 3.070000, 3.060000, 3.040000, 3.030000, 3.020000, 3.010000, 3.000000, 2.990000, 2.980000, 2.980000, 2.980000, 2.980000, 5.330000, 5.320000, 5.320000, 5.320000, 5.320000, 5.320000, 5.320000, 5.500000, 5.170000, 5.180000, 5.160000, 5.490000, 5.500000, 5.520000, 5.530000, 5.540000, 5.550000, 5.570000, 7.820000, 7.850000, 7.870000, 7.920000, 7.960000, 7.990000, 8.030000, 8.080000, 8.140000, 7.820000, 7.480000, 7.170000, 6.870000, 6.610000, 6.370000, 6.160000, 5.950000, 5.760000, 5.600000, 5.440000, 5.290000, 5.160000, 5.180000, 5.230000, 5.290000, 8.020000, 7.780000, 7.630000, 7.380000, null, 4.090000, 4.010000, 3.940000, 3.940000, 4.410000, 4.490000, 4.570000, 4.660000, 4.770000, 4.750000, 1.950000, 1.900000, 1.860000, 1.820000, 1.780000, 1.730000, 1.700000, 1.670000, 1.630000, 1.600000, 1.580000, 1.540000, 1.520000, 1.490000, 1.460000, 1.440000, 1.420000, 1.410000, 1.390000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.310000, 1.290000, 1.280000, 1.260000, 1.250000, 1.240000, 1.230000, 1.220000, 1.210000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 662106 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.009998, -18.155001, 2.433628 ], "estimate": [ -47.009998, -18.155001, 2.433628 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.140000, 4.140000, 4.130000, 2.780000, 4.090000, 4.120000, 4.130000, 4.130000, 4.140000, 4.140000, 4.140000, 4.150000, 4.050000, 3.580000, 3.200000, 2.880000, 2.600000, 1.750000, 1.520000, 1.340000, 1.190000, 1.060000, 0.980000, 0.960000, 0.960000, 0.960000, 0.970000, 0.970000, 0.890000, 0.870000, 0.850000, 0.810000, 0.810000, 0.810000, 0.810000, 0.850000, 0.860000, 0.870000, 0.870000, 0.890000, 0.890000, 0.900000, 0.920000, 0.940000, 0.950000, 0.970000, 0.960000, 3.280000, 3.230000, 3.170000, 3.110000, 3.060000, 3.020000, 2.970000, 2.930000, 2.880000, 2.850000, 2.790000, 2.770000, 2.730000, 2.700000, 2.660000, 2.640000, 2.630000, 2.630000, 2.650000, 2.740000, 2.830000, 2.930000, 3.040000, 3.150000, 3.130000, 3.110000, 3.100000, 3.070000, 3.060000, 3.040000, 3.020000, 3.010000, 2.980000, 2.970000, 2.970000, 2.960000, 2.950000, 2.940000, 2.940000, 2.920000, 2.920000, 2.920000, 5.280000, 5.270000, 5.270000, 5.280000, 5.270000, 5.270000, 5.270000, 5.220000, 5.110000, 5.100000, 5.110000, 5.440000, 5.450000, 5.460000, 5.480000, 5.490000, 5.510000, 5.530000, 7.760000, 7.810000, 7.830000, 7.870000, 7.910000, 7.950000, 7.990000, 8.030000, 8.080000, 7.750000, 7.420000, 7.120000, 6.820000, 6.560000, 6.330000, 6.120000, 5.910000, 5.730000, 5.560000, 5.410000, 5.260000, 5.140000, 5.120000, 5.190000, 5.240000, 7.940000, 7.750000, 7.580000, 7.360000, null, 4.080000, 4.010000, 3.940000, 3.900000, 4.350000, 4.430000, 4.530000, 4.610000, 4.700000, 4.740000, 4.670000, 1.930000, 1.880000, 1.840000, 1.800000, 1.760000, 1.720000, 1.690000, 1.650000, 1.620000, 1.600000, 1.570000, 1.540000, 1.510000, 1.480000, 1.470000, 1.440000, 1.420000, 1.410000, 1.390000, 1.380000, 1.360000, 1.340000, 1.320000, 1.310000, 1.310000, 1.300000, 1.290000, 1.270000, 1.260000, 1.250000, 1.240000, 1.220000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 663311 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.056000, -18.115999, 2.427483 ], "estimate": [ -47.056000, -18.115999, 2.427483 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.130000, 4.130000, 2.790000, 4.120000, 4.130000, 4.130000, 4.120000, 4.130000, 4.130000, 4.140000, 4.140000, 3.920000, 3.410000, 3.000000, 2.680000, 1.620000, 1.370000, 1.180000, 1.030000, 0.940000, 0.940000, 0.940000, 0.940000, 0.940000, 0.840000, 0.830000, 0.800000, 0.800000, 0.780000, 0.790000, 0.790000, 0.820000, 0.830000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.890000, 0.890000, 0.900000, 0.910000, 0.930000, 3.360000, 3.300000, 3.230000, 3.180000, 3.120000, 3.050000, 3.010000, 2.960000, 2.920000, 2.860000, 2.830000, 2.790000, 2.740000, 2.700000, 2.680000, 2.640000, 2.610000, 2.590000, 2.580000, 2.580000, 2.590000, 2.680000, 2.760000, 2.860000, 2.960000, 3.070000, 3.080000, 3.050000, 3.040000, 3.020000, 3.000000, 2.980000, 2.960000, 2.960000, 2.940000, 2.930000, 2.910000, 2.890000, 2.880000, 2.870000, 2.880000, 2.870000, 2.860000, 2.860000, 2.910000, 5.210000, 5.220000, 5.220000, 5.210000, 5.210000, 5.190000, 5.230000, 5.050000, 5.060000, 5.040000, 5.050000, 5.390000, 5.400000, 5.410000, 5.420000, 5.430000, 5.440000, 5.520000, 7.720000, 7.750000, 7.780000, 7.820000, 7.860000, 7.890000, 7.940000, 7.990000, 8.000000, 7.640000, 7.310000, 7.020000, 6.740000, 6.470000, 6.260000, 6.050000, 5.840000, 5.690000, 5.520000, 5.360000, 5.220000, 5.080000, 5.080000, 5.140000, 5.200000, 7.890000, 7.700000, 7.540000, 7.310000, null, 4.060000, 3.980000, 3.910000, 3.850000, 4.270000, 4.380000, 4.460000, 4.540000, 4.640000, 4.720000, 4.660000, 4.590000, 1.880000, 1.870000, 1.820000, 1.790000, 1.740000, 1.710000, 1.680000, 1.640000, 1.610000, 1.590000, 1.560000, 1.530000, 1.510000, 1.480000, 1.470000, 1.440000, 1.420000, 1.410000, 1.410000, 1.390000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.290000, 1.280000, 1.270000, 1.260000, 1.250000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 664337 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.101002, -18.078001, 2.421337 ], "estimate": [ -47.101002, -18.078001, 2.421337 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.090000, 2.760000, 4.120000, 4.120000, 4.120000, 4.120000, 4.120000, 4.120000, 4.120000, 4.130000, 4.040000, 3.440000, 2.990000, 1.680000, 1.280000, 1.040000, 0.930000, 0.920000, 0.920000, 0.930000, 0.900000, 0.820000, 0.810000, 0.780000, 0.760000, 0.760000, 0.760000, 0.780000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.830000, 0.840000, 0.850000, 0.860000, 0.870000, 0.880000, 0.890000, 1.010000, 3.430000, 3.350000, 3.290000, 3.210000, 3.150000, 3.090000, 3.040000, 2.980000, 2.930000, 2.890000, 2.850000, 2.800000, 2.750000, 2.710000, 2.680000, 2.640000, 2.610000, 2.590000, 2.560000, 2.540000, 2.540000, 2.540000, 2.590000, 2.680000, 2.770000, 2.850000, 2.960000, 3.040000, 3.010000, 2.990000, 2.970000, 2.960000, 2.950000, 2.930000, 2.910000, 2.900000, 2.880000, 2.870000, 2.860000, 2.850000, 2.840000, 2.820000, 2.820000, 2.810000, 2.800000, 2.800000, 2.910000, 5.160000, 5.160000, 5.160000, 5.160000, 5.160000, 5.140000, 5.170000, 4.990000, 5.000000, 4.970000, 4.980000, 5.330000, 5.340000, 5.350000, 5.370000, 5.380000, 5.400000, 5.430000, 7.670000, 7.700000, 7.730000, 7.760000, 7.790000, 7.840000, 7.880000, 7.930000, 7.990000, 7.650000, 7.320000, 7.030000, 6.750000, 6.490000, 6.270000, 6.060000, 5.860000, 5.700000, 5.530000, 5.360000, 5.220000, 5.100000, 5.030000, 5.080000, 5.140000, 9.450000, 7.640000, 7.520000, 7.280000, 7.370000, null, 3.990000, 3.920000, 3.850000, 3.820000, 4.300000, 4.390000, 4.470000, 4.560000, 4.650000, 4.660000, 4.590000, 4.560000, 5.100000, 1.860000, 1.820000, 1.780000, 1.740000, 1.710000, 1.680000, 1.640000, 1.610000, 1.590000, 1.560000, 1.540000, 1.510000, 1.490000, 1.480000, 1.450000, 1.430000, 1.420000, 1.410000, 1.400000, 1.380000, 1.360000, 1.350000, 1.330000, 1.320000, 1.320000, 1.310000, 1.290000, 1.280000, 1.270000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 665307 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.142002, -18.041000, 2.409046 ], "estimate": [ -47.142002, -18.041000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.780000, 4.120000, 4.120000, 4.110000, 4.110000, 4.110000, 4.110000, 4.120000, 4.120000, 4.120000, 3.610000, 3.090000, 1.000000, 0.910000, 0.920000, 0.910000, 0.920000, 0.810000, 0.810000, 0.760000, 0.750000, 0.750000, 0.740000, 0.740000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.800000, 0.810000, 0.810000, 0.810000, 0.830000, 0.830000, 0.830000, 0.850000, 0.850000, 0.880000, 4.840000, 3.510000, 3.430000, 3.350000, 3.280000, 3.210000, 3.140000, 3.080000, 3.030000, 2.970000, 2.920000, 2.860000, 2.810000, 2.780000, 2.730000, 2.690000, 2.660000, 2.610000, 2.580000, 2.560000, 2.520000, 2.500000, 2.480000, 2.480000, 2.510000, 2.570000, 2.650000, 2.730000, 2.830000, 2.930000, 2.980000, 2.960000, 2.950000, 2.940000, 2.910000, 2.890000, 2.870000, 2.850000, 2.840000, 2.820000, 2.810000, 2.790000, 2.790000, 2.780000, 2.780000, 2.770000, 2.760000, 2.740000, 2.740000, 2.750000, 5.090000, 5.090000, 5.110000, 5.100000, 5.100000, 5.100000, 5.100000, 5.070000, 4.950000, 4.930000, 4.940000, 5.270000, 5.280000, 5.290000, 5.310000, 5.320000, 5.330000, 5.350000, 7.600000, 7.630000, 7.670000, 7.700000, 7.720000, 7.760000, 7.810000, 7.860000, 7.910000, 7.740000, 7.390000, 7.100000, 6.810000, 6.550000, 6.320000, 6.110000, 5.900000, 5.730000, 5.560000, 5.410000, 5.260000, 5.140000, 4.990000, 4.970000, 5.050000, 5.110000, 8.500000, 7.670000, null, null, 7.650000, 4.010000, 3.940000, 3.870000, 3.800000, 3.780000, 4.280000, 4.360000, 4.440000, 4.540000, 4.640000, 4.610000, 4.550000, 4.530000, 5.110000, 1.890000, 1.820000, 1.790000, 1.740000, 1.720000, 1.680000, 1.640000, 1.620000, 1.600000, 1.570000, 1.540000, 1.520000, 1.490000, 1.490000, 1.460000, 1.440000, 1.420000, 1.420000, 1.410000, 1.390000, 1.370000, 1.360000, 1.350000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 666237 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.183998, -18.004000, 2.409046 ], "estimate": [ -47.183998, -18.004000, 2.409046 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.120000, 4.120000, 4.120000, 4.110000, 4.110000, 4.110000, 4.110000, 4.100000, 4.120000, 0.920000, 0.880000, 0.900000, 0.900000, 0.900000, 0.800000, 0.790000, 0.750000, 0.730000, 0.730000, 0.740000, 0.740000, 0.770000, 0.770000, 0.770000, 0.770000, 0.770000, 0.780000, 0.780000, 0.790000, 0.790000, 0.800000, 0.810000, 0.810000, 0.820000, 0.820000, 0.830000, 0.850000, 4.830000, 4.890000, 3.570000, 3.440000, 3.360000, 3.280000, 3.200000, 3.120000, 3.060000, 3.020000, 2.950000, 2.890000, 2.850000, 2.790000, 2.750000, 2.710000, 2.670000, 2.630000, 2.590000, 2.560000, 2.530000, 2.490000, 2.460000, 2.430000, 2.440000, 2.430000, 2.480000, 2.560000, 2.640000, 2.730000, 2.820000, 2.910000, 2.940000, 2.930000, 2.900000, 2.880000, 2.850000, 2.840000, 2.820000, 2.800000, 2.790000, 2.770000, 2.760000, 2.750000, 2.730000, 2.730000, 2.720000, 2.720000, 2.700000, 2.700000, 2.680000, 2.650000, 5.040000, 5.050000, 5.050000, 5.060000, 5.050000, 5.040000, 5.040000, 5.420000, 4.900000, 4.900000, 4.860000, 5.230000, 5.230000, 5.240000, 5.250000, 5.270000, 5.280000, 5.300000, 5.410000, 7.590000, 7.610000, 7.640000, 7.690000, 7.720000, 7.760000, 7.810000, 7.860000, 7.770000, 7.430000, 7.120000, 6.840000, 6.580000, 6.350000, 6.130000, 5.930000, 5.750000, 5.580000, 5.420000, 5.280000, 5.140000, 5.010000, 4.940000, 4.990000, 5.060000, 5.120000, 7.570000, 7.430000, 7.230000, null, null, 3.960000, 3.880000, 3.820000, 3.770000, 3.820000, 4.280000, 4.370000, 4.460000, 4.550000, 4.620000, 4.560000, 4.510000, 4.520000, 5.130000, 5.270000, 1.820000, 1.780000, 1.740000, 1.710000, 1.680000, 1.650000, 1.620000, 1.600000, 1.570000, 1.560000, 1.530000, 1.510000, 1.490000, 1.470000, 1.450000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.330000, 1.320000, 1.320000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 667148 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.229000, -17.964001, 2.402900 ], "estimate": [ -47.229000, -17.964001, 2.402900 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.130000, 4.110000, 4.110000, 4.100000, 4.100000, 0.920000, 0.900000, 0.900000, 0.890000, 0.890000, 0.790000, 0.740000, 0.730000, 0.720000, 0.720000, 0.720000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.770000, 0.760000, 0.770000, 0.760000, 0.770000, 0.770000, 0.770000, 0.780000, 0.790000, 0.800000, 0.800000, 4.620000, 4.680000, 4.720000, 4.770000, 4.820000, 4.810000, 3.420000, 3.330000, 3.260000, 3.180000, 3.100000, 3.040000, 2.980000, 2.920000, 2.860000, 2.800000, 2.760000, 2.720000, 2.670000, 2.620000, 2.580000, 2.560000, 2.510000, 2.480000, 2.450000, 2.410000, 2.390000, 2.390000, 2.380000, 2.410000, 2.480000, 2.560000, 2.630000, 2.700000, 2.800000, 2.890000, 2.870000, 2.840000, 2.830000, 2.810000, 2.790000, 2.770000, 2.760000, 2.730000, 2.720000, 2.710000, 2.700000, 2.690000, 2.680000, 2.670000, 2.650000, 2.640000, 2.640000, 2.630000, 2.630000, 2.660000, 4.980000, 4.990000, 4.990000, 4.990000, 4.980000, 4.990000, 4.990000, 5.160000, 4.820000, 4.830000, 4.800000, 5.160000, 5.170000, 5.180000, 5.190000, 5.210000, 5.220000, 5.230000, 5.300000, 7.510000, 7.540000, 7.590000, 7.620000, 7.660000, 7.700000, 7.740000, 7.780000, 7.800000, 7.450000, 7.140000, 6.870000, 6.600000, 6.360000, 6.150000, 5.950000, 5.770000, 5.590000, 5.440000, 5.300000, 5.160000, 5.030000, 4.900000, 4.900000, 4.980000, 5.020000, 7.530000, 7.400000, null, 7.120000, 6.010000, 5.810000, 3.890000, 3.830000, 3.770000, 3.720000, 4.190000, 4.270000, 4.360000, 4.450000, 4.550000, 4.570000, 4.510000, 4.470000, 5.020000, 5.150000, 5.300000, 5.370000, 1.780000, 1.740000, 1.720000, 1.680000, 1.650000, 1.620000, 1.600000, 1.580000, 1.560000, 1.540000, 1.520000, 1.500000, 1.480000, 1.460000, 1.450000, 1.440000, 1.430000, 1.410000, 1.410000, 1.390000, 1.370000, 1.360000, 1.350000, 1.340000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 668105 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.272003, -17.924999, 2.396755 ], "estimate": [ -47.272003, -17.924999, 2.396755 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.120000, 4.110000, 0.940000, 0.890000, 0.890000, 0.890000, 0.830000, 0.760000, 0.720000, 0.720000, 0.720000, 0.710000, 0.740000, 0.740000, 0.740000, 0.740000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.760000, 0.770000, 0.760000, 0.760000, 0.760000, 0.770000, 0.770000, 0.770000, 4.500000, 4.540000, 4.570000, 4.620000, 4.650000, 4.710000, 4.760000, 4.800000, 3.440000, 3.340000, 3.270000, 3.180000, 3.100000, 3.040000, 2.980000, 2.910000, 2.860000, 2.800000, 2.750000, 2.690000, 2.650000, 2.610000, 2.570000, 2.530000, 2.490000, 2.460000, 2.420000, 2.380000, 2.360000, 2.350000, 2.350000, 2.340000, 2.380000, 2.440000, 2.530000, 2.590000, 2.670000, 2.770000, 2.830000, 2.820000, 2.790000, 2.770000, 2.760000, 2.730000, 2.710000, 2.700000, 2.700000, 2.680000, 2.660000, 2.640000, 2.640000, 2.620000, 2.620000, 2.610000, 2.600000, 2.600000, 2.590000, 2.580000, 2.590000, 4.940000, 4.940000, 4.930000, 4.940000, 4.930000, 4.930000, 4.920000, 4.970000, 4.770000, 4.780000, 4.750000, 4.750000, 5.110000, 5.120000, 5.130000, 5.150000, 5.160000, 5.180000, 5.200000, 7.450000, 7.480000, 7.510000, 7.550000, 7.580000, 7.630000, 7.680000, 7.710000, 7.760000, 7.570000, 7.240000, 6.960000, 6.690000, 6.440000, 6.220000, 6.020000, 5.810000, 5.650000, 5.490000, 5.350000, 5.200000, 5.070000, 4.940000, 4.810000, 4.880000, 4.960000, 4.990000, 7.500000, 7.350000, 7.110000, null, 7.540000, 5.720000, 3.860000, 3.790000, 3.720000, 3.690000, 4.170000, 4.250000, 4.340000, 4.440000, 4.540000, 4.540000, 4.470000, 4.450000, 5.020000, 5.140000, 5.320000, 5.330000, 1.790000, 1.750000, 1.720000, 1.690000, 1.660000, 1.630000, 1.610000, 1.590000, 1.580000, 1.550000, 1.520000, 1.510000, 1.490000, 1.470000, 1.460000, 1.450000, 1.430000, 1.430000, 1.420000, 1.410000, 1.390000, 1.370000, 1.360000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 669013 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.313000, -17.886999, 2.390610 ], "estimate": [ -47.313000, -17.886999, 2.390610 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.880000, 0.880000, 0.810000, 0.730000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.730000, 0.740000, 0.740000, 0.730000, 0.730000, 0.730000, 0.740000, 0.740000, 0.750000, 0.750000, 0.750000, 0.760000, 0.760000, 0.770000, 4.390000, 4.420000, 4.450000, 4.490000, 4.520000, 4.550000, 4.600000, 4.630000, 4.690000, 4.740000, 4.790000, 3.360000, 3.280000, 3.190000, 3.110000, 3.040000, 2.970000, 2.910000, 2.850000, 2.780000, 2.730000, 2.690000, 2.640000, 2.580000, 2.550000, 2.500000, 2.470000, 2.420000, 2.390000, 2.360000, 2.330000, 2.290000, 2.290000, 2.280000, 2.300000, 2.360000, 2.430000, 2.490000, 2.570000, 2.650000, 2.740000, 2.780000, 2.750000, 2.750000, 2.730000, 2.700000, 2.690000, 2.660000, 2.650000, 2.630000, 2.620000, 2.610000, 2.590000, 2.580000, 2.570000, 2.560000, 2.550000, 2.540000, 2.530000, 2.530000, 2.520000, 2.500000, 4.900000, 4.880000, 4.880000, 4.880000, 4.880000, 4.880000, 4.860000, 4.880000, 4.770000, 4.720000, 4.710000, 4.710000, 5.050000, 5.060000, 5.080000, 5.080000, 5.100000, 5.110000, 5.130000, 5.180000, 7.410000, 7.440000, 7.480000, 7.510000, 7.560000, 7.600000, 7.650000, 7.690000, 7.680000, 7.340000, 7.030000, 6.770000, 6.530000, 6.280000, 6.080000, 5.870000, 5.710000, 5.550000, 5.380000, 5.250000, 5.120000, 4.980000, 4.870000, 4.800000, 4.860000, 4.930000, 8.310000, 9.500000, null, 7.140000, 7.500000, 5.820000, 5.640000, 3.810000, 3.750000, 3.690000, 3.650000, 4.130000, 4.230000, 4.320000, 4.420000, 4.530000, 4.490000, 4.450000, 4.420000, 5.000000, 5.140000, 5.340000, 5.300000, 5.250000, 1.790000, 1.730000, 1.710000, 1.680000, 1.640000, 1.620000, 1.600000, 1.590000, 1.570000, 1.540000, 1.530000, 1.510000, 1.490000, 1.480000, 1.460000, 1.440000, 1.440000, 1.440000, 1.420000, 1.410000, 1.400000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 669921 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.357002, -17.846001, 2.378319 ], "estimate": [ -47.357002, -17.846001, 2.378319 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.720000, 0.730000, 0.720000, 0.720000, 0.730000, 0.730000, 0.740000, 0.740000, 0.730000, 0.710000, 4.290000, 4.320000, 4.350000, 4.380000, 4.410000, 4.440000, 4.470000, 4.500000, 4.540000, 4.580000, 4.630000, 4.670000, 4.720000, 3.400000, 3.280000, 3.190000, 3.100000, 3.030000, 2.950000, 2.900000, 2.830000, 2.780000, 2.720000, 2.670000, 2.610000, 2.570000, 2.530000, 2.480000, 2.440000, 2.400000, 2.370000, 2.330000, 2.290000, 2.270000, 2.240000, 2.250000, 2.230000, 2.270000, 2.340000, 2.400000, 2.470000, 2.540000, 2.620000, 2.690000, 2.730000, 2.710000, 2.690000, 2.680000, 2.650000, 2.630000, 2.600000, 2.600000, 2.590000, 2.570000, 2.550000, 2.540000, 2.520000, 2.520000, 2.510000, 2.500000, 2.500000, 2.500000, 2.480000, 2.480000, 2.480000, 2.720000, 4.820000, 4.820000, 4.840000, 4.820000, 4.820000, 4.810000, 4.820000, 5.040000, 4.660000, 4.660000, 4.650000, 4.980000, 5.000000, 5.010000, 5.020000, 5.030000, 5.050000, 5.070000, 5.100000, 7.350000, 7.390000, 7.420000, 7.450000, 7.500000, 7.520000, 7.590000, 7.630000, 7.690000, 7.430000, 7.120000, 6.840000, 6.590000, 6.350000, 6.130000, 5.940000, 5.750000, 5.590000, 5.430000, 5.290000, 5.160000, 5.030000, 4.910000, 4.790000, 4.780000, 4.850000, 4.890000, 7.340000, 7.270000, null, 6.990000, 5.900000, 5.720000, 3.940000, 3.780000, 3.710000, 3.670000, 3.630000, 4.120000, 4.220000, 4.320000, 4.420000, 4.520000, 4.480000, 4.410000, 4.390000, 5.010000, 5.160000, 5.310000, 5.270000, 5.230000, 5.920000, 1.750000, 1.710000, 1.680000, 1.660000, 1.630000, 1.610000, 1.600000, 1.580000, 1.550000, 1.540000, 1.520000, 1.510000, 1.490000, 1.480000, 1.460000, 1.460000, 1.440000, 1.430000, 1.420000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 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 ], "timestamp": [ 976055437, 670894 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.398998, -17.806000, 2.366027 ], "estimate": [ -47.398998, -17.806000, 2.366027 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.720000, 0.720000, 0.720000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 0.710000, 4.200000, 4.220000, 4.230000, 4.250000, 4.270000, 4.300000, 4.320000, 4.360000, 4.390000, 4.420000, 4.450000, 4.470000, 4.510000, 4.550000, 4.600000, 4.640000, 4.690000, 3.310000, 3.210000, 3.120000, 3.040000, 2.970000, 2.890000, 2.830000, 2.770000, 2.700000, 2.660000, 2.600000, 2.560000, 2.500000, 2.460000, 2.420000, 2.380000, 2.340000, 2.300000, 2.270000, 2.240000, 2.200000, 2.190000, 2.190000, 2.190000, 2.240000, 2.300000, 2.360000, 2.420000, 2.480000, 2.560000, 2.640000, 2.670000, 2.660000, 2.630000, 2.610000, 2.600000, 2.570000, 2.560000, 2.540000, 2.530000, 2.510000, 2.500000, 2.490000, 2.490000, 2.460000, 2.460000, 2.450000, 2.440000, 2.430000, 2.430000, 2.420000, 2.410000, 2.430000, 4.760000, 4.760000, 4.760000, 4.770000, 4.770000, 4.770000, 4.750000, 4.780000, 4.660000, 4.620000, 4.590000, 4.600000, 4.940000, 4.950000, 4.960000, 4.970000, 4.980000, 5.000000, 5.010000, 5.100000, 7.300000, 7.340000, 7.370000, 7.410000, 7.440000, 7.490000, 7.540000, 7.580000, 7.620000, 7.290000, 7.010000, 6.740000, 6.480000, 6.270000, 6.050000, 5.850000, 5.700000, 5.520000, 5.370000, 5.230000, 5.110000, 4.970000, 4.860000, 4.740000, 4.730000, 4.810000, 4.860000, 7.380000, 7.250000, 6.980000, 6.990000, 5.860000, 5.700000, 5.560000, 3.750000, 3.700000, 3.640000, 3.600000, 3.700000, 4.160000, 4.260000, 4.360000, 4.480000, 4.450000, 4.410000, 4.370000, 4.960000, 5.130000, 5.290000, 5.250000, 5.210000, 5.340000, 6.030000, 5.980000, 1.710000, 1.680000, 1.650000, 1.630000, 1.610000, 1.600000, 1.580000, 1.560000, 1.550000, 1.530000, 1.510000, 1.490000, 1.490000, 1.470000, 1.460000, 1.450000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 671803 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.439999, -17.764999, 2.353736 ], "estimate": [ -47.439999, -17.764999, 2.353736 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.710000, 0.710000, 0.700000, 0.700000, 0.710000, 0.700000, 0.700000, 0.700000, 0.710000, 0.710000, 0.710000, 0.700000, 0.700000, 0.700000, 0.720000, 0.690000, 4.120000, 4.140000, 4.150000, 4.160000, 4.180000, 4.200000, 4.220000, 4.250000, 4.250000, 4.280000, 4.300000, 4.330000, 4.360000, 4.400000, 4.430000, 4.460000, 4.490000, 4.530000, 4.570000, 4.620000, 4.660000, 3.250000, 3.160000, 3.070000, 2.990000, 2.910000, 2.840000, 2.780000, 2.710000, 2.660000, 2.600000, 2.550000, 2.510000, 2.460000, 2.400000, 2.370000, 2.330000, 2.280000, 2.250000, 2.210000, 2.180000, 2.150000, 2.150000, 2.130000, 2.150000, 2.200000, 2.260000, 2.320000, 2.370000, 2.440000, 2.530000, 2.590000, 2.620000, 2.600000, 2.590000, 2.570000, 2.550000, 2.520000, 2.510000, 2.490000, 2.490000, 2.470000, 2.460000, 2.440000, 2.440000, 2.420000, 2.400000, 2.400000, 2.390000, 2.380000, 2.380000, 2.360000, 2.360000, 2.360000, 7.030000, 4.720000, 4.710000, 4.710000, 4.720000, 4.710000, 4.710000, 4.710000, 4.770000, 4.550000, 4.560000, 4.540000, 4.550000, 4.890000, 4.910000, 4.920000, 4.930000, 4.950000, 4.960000, 4.970000, 7.240000, 7.270000, 7.300000, 7.350000, 7.380000, 7.420000, 7.470000, 7.510000, 7.570000, 7.460000, 7.160000, 6.870000, 6.620000, 6.380000, 6.170000, 5.960000, 5.790000, 5.610000, 5.460000, 5.310000, 5.170000, 5.050000, 4.920000, 4.810000, 4.690000, 4.720000, 4.780000, 4.840000, 9.410000, 7.210000, 6.940000, 7.020000, 5.800000, 5.580000, 5.530000, 3.720000, 3.680000, 3.620000, 3.570000, 3.600000, 4.120000, 4.220000, 4.330000, 4.450000, 4.430000, 4.380000, 4.340000, 4.950000, 5.120000, 5.280000, 5.230000, 5.190000, 5.380000, 6.010000, 5.960000, 5.940000, 1.690000, 1.670000, 1.640000, 1.630000, 1.610000, 1.600000, 1.580000, 1.560000, 1.550000, 1.530000, 1.510000, 1.510000, 1.490000, 1.480000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055437, 712962 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.480000, -17.725000, 2.341445 ], "estimate": [ -47.480000, -17.725000, 2.341445 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.700000, 0.690000, 0.690000, 0.700000, 0.690000, 0.700000, 4.090000, 4.100000, 4.100000, 4.110000, 4.130000, 4.140000, 4.150000, 4.160000, 4.180000, 4.200000, 4.220000, 4.240000, 4.260000, 4.280000, 4.310000, 4.340000, 4.360000, 4.400000, 4.430000, 4.460000, 4.500000, 4.540000, 4.580000, 4.620000, 3.200000, 3.100000, 3.020000, 2.930000, 2.860000, 2.790000, 2.720000, 2.660000, 2.600000, 2.550000, 2.490000, 2.440000, 2.400000, 2.350000, 2.300000, 2.270000, 2.230000, 2.190000, 2.160000, 2.120000, 2.110000, 2.120000, 2.090000, 2.100000, 2.150000, 2.210000, 2.270000, 2.330000, 2.390000, 2.460000, 2.530000, 2.580000, 2.550000, 2.530000, 2.520000, 2.500000, 2.490000, 2.470000, 2.450000, 2.430000, 2.410000, 2.410000, 2.390000, 2.380000, 2.370000, 2.360000, 2.350000, 2.330000, 2.330000, 2.320000, 2.320000, 2.320000, 2.310000, 2.320000, 4.670000, 4.660000, 4.650000, 4.670000, 4.650000, 4.650000, 4.630000, 4.650000, 5.160000, 4.490000, 4.500000, 4.470000, 4.730000, 4.840000, 4.850000, 4.860000, 4.870000, 4.890000, 4.900000, 4.920000, 7.200000, 7.230000, 7.260000, 7.300000, 7.330000, 7.380000, 7.410000, 7.470000, 7.510000, 7.360000, 7.060000, 6.790000, 6.550000, 6.300000, 6.090000, 5.900000, 5.730000, 5.560000, 5.410000, 5.270000, 5.140000, 5.010000, 4.900000, 4.780000, 4.670000, 4.650000, 4.720000, 4.780000, 9.380000, 7.160000, 6.930000, 7.020000, 5.750000, 5.630000, 5.510000, 3.720000, 3.670000, 3.620000, 3.560000, 3.540000, 4.070000, 4.180000, 4.270000, 4.390000, 4.420000, 4.380000, 4.320000, 4.360000, 5.060000, 5.260000, 5.230000, 5.190000, 5.170000, 5.990000, 5.950000, 5.920000, 5.900000, 1.710000, 1.680000, 1.650000, 1.630000, 1.610000, 1.610000, 1.590000, 1.570000, 1.560000, 1.530000, 1.530000, 1.520000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055438, 454310 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.518997, -17.684999, 2.335300 ], "estimate": [ -47.518997, -17.684999, 2.335300 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.690000, 0.700000, 0.690000, 0.690000, 0.690000, 0.690000, 0.680000, 0.690000, 0.710000, 4.060000, 4.060000, 4.070000, 4.070000, 4.080000, 4.090000, 4.090000, 4.100000, 4.120000, 4.130000, 4.140000, 4.150000, 4.170000, 4.190000, 4.220000, 4.240000, 4.250000, 4.270000, 4.300000, 4.320000, 4.350000, 4.390000, 4.420000, 4.450000, 4.490000, 4.520000, 4.560000, 3.210000, 3.110000, 3.030000, 2.930000, 2.860000, 2.770000, 2.710000, 2.650000, 2.580000, 2.540000, 2.480000, 2.430000, 2.370000, 2.340000, 2.280000, 2.250000, 2.200000, 2.170000, 2.130000, 2.100000, 2.070000, 2.060000, 2.050000, 2.050000, 2.100000, 2.130000, 2.180000, 2.240000, 2.300000, 2.370000, 2.430000, 2.510000, 2.530000, 2.500000, 2.490000, 2.480000, 2.460000, 2.430000, 2.410000, 2.400000, 2.380000, 2.370000, 2.340000, 2.330000, 2.330000, 2.310000, 2.300000, 2.300000, 2.290000, 2.290000, 2.280000, 2.270000, 2.270000, 2.260000, 2.270000, 4.620000, 4.610000, 4.610000, 4.600000, 4.610000, 4.600000, 4.590000, 4.600000, 4.680000, 4.440000, 4.440000, 4.440000, 4.440000, 4.790000, 4.800000, 4.810000, 4.830000, 4.830000, 4.850000, 4.870000, 4.920000, 7.170000, 7.200000, 7.240000, 7.280000, 7.320000, 7.370000, 7.410000, 7.460000, 7.420000, 7.100000, 6.830000, 6.590000, 6.350000, 6.130000, 5.930000, 5.760000, 5.590000, 5.440000, 5.300000, 5.170000, 5.040000, 4.920000, 4.800000, 4.690000, 4.580000, 4.660000, 4.730000, 4.770000, 7.130000, null, 6.940000, 6.940000, 5.650000, 5.500000, 5.440000, 3.690000, 3.630000, 3.580000, 3.530000, 3.510000, 4.070000, 4.180000, 4.280000, 4.410000, 4.390000, 4.340000, 4.300000, 4.920000, 5.100000, 5.230000, 5.190000, 5.150000, 5.930000, 5.960000, 5.930000, 5.900000, 5.870000, 5.850000, 1.680000, 1.660000, 1.640000, 1.620000, 1.620000, 1.600000, 1.580000, 1.570000, 1.560000, 1.550000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055438, 173208 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.561001, -17.642000, 2.329154 ], "estimate": [ -47.561001, -17.642000, 2.329154 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.680000, 0.690000, 0.680000, 0.680000, 0.910000, 1.300000, 2.020000, 3.980000, 4.050000, 4.050000, 4.050000, 4.060000, 4.060000, 4.070000, 4.080000, 4.080000, 4.090000, 4.110000, 4.120000, 4.140000, 4.140000, 4.150000, 4.170000, 4.200000, 4.220000, 4.250000, 4.250000, 4.280000, 4.310000, 4.340000, 4.370000, 4.410000, 4.440000, 4.470000, 4.500000, 3.290000, 3.110000, 3.020000, 2.920000, 2.840000, 2.760000, 2.690000, 2.620000, 2.570000, 2.510000, 2.450000, 2.400000, 2.340000, 2.290000, 2.260000, 2.210000, 2.170000, 2.130000, 2.100000, 2.060000, 2.030000, 2.000000, 2.010000, 2.000000, 2.030000, 2.070000, 2.100000, 2.160000, 2.220000, 2.260000, 2.340000, 2.400000, 2.480000, 2.460000, 2.460000, 2.430000, 2.410000, 2.390000, 2.360000, 2.350000, 2.330000, 2.310000, 2.300000, 2.300000, 2.280000, 2.270000, 2.270000, 2.240000, 2.240000, 2.220000, 2.220000, 2.210000, 2.210000, 2.210000, 2.200000, 2.180000, 2.430000, 4.540000, 4.540000, 4.550000, 4.560000, 4.540000, 4.530000, 4.530000, 4.570000, 4.390000, 4.390000, 4.370000, 4.380000, 4.730000, 4.740000, 4.750000, 4.750000, 4.770000, 4.790000, 4.800000, 4.830000, 7.090000, 7.130000, 7.170000, 7.200000, 7.240000, 7.290000, 7.340000, 7.380000, 7.440000, 7.220000, 6.920000, 6.660000, 6.420000, 6.200000, 5.990000, 5.830000, 5.640000, 5.500000, 5.350000, 5.210000, 5.080000, 4.950000, 4.840000, 4.720000, 4.630000, 4.580000, 4.620000, 4.710000, 4.740000, 7.090000, 6.920000, 7.300000, 6.920000, 5.600000, 5.450000, 5.410000, 3.660000, 3.600000, 3.550000, 3.520000, 3.490000, 4.040000, 4.150000, 4.250000, 4.400000, 4.360000, 4.320000, 4.280000, 4.920000, 5.110000, 5.210000, 5.170000, 5.130000, 5.970000, 5.940000, 5.910000, 5.890000, 5.850000, 5.830000, 5.790000, 1.690000, 1.660000, 1.640000, 1.630000, 1.620000, 1.600000, 1.590000, 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": [ 976055438, 454190 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.602001, -17.599001, 2.329154 ], "estimate": [ -47.602001, -17.599001, 2.329154 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 0.850000, 1.020000, 1.180000, 1.460000, 1.830000, 2.480000, 3.970000, 4.040000, 4.040000, 4.040000, 4.050000, 4.050000, 4.060000, 4.060000, 4.070000, 4.080000, 4.080000, 4.100000, 4.120000, 4.130000, 4.140000, 4.150000, 4.170000, 4.200000, 4.220000, 4.240000, 4.250000, 4.270000, 4.300000, 4.330000, 4.360000, 4.400000, 4.440000, 4.460000, 3.410000, 3.080000, 2.980000, 2.880000, 2.810000, 2.730000, 2.650000, 2.580000, 2.530000, 2.460000, 2.400000, 2.360000, 2.300000, 2.260000, 2.210000, 2.170000, 2.120000, 2.090000, 2.050000, 2.010000, 1.990000, 1.960000, 1.970000, 1.950000, 1.970000, 2.010000, 2.050000, 2.100000, 2.150000, 2.210000, 2.260000, 2.340000, 2.390000, 2.430000, 2.400000, 2.390000, 2.360000, 2.350000, 2.320000, 2.300000, 2.290000, 2.280000, 2.270000, 2.250000, 2.230000, 2.220000, 2.210000, 2.200000, 2.190000, 2.190000, 2.180000, 2.160000, 2.160000, 2.150000, 2.140000, 2.140000, 2.150000, 6.810000, 4.510000, 4.490000, 4.490000, 4.490000, 4.490000, 4.490000, 4.480000, 4.520000, 4.320000, 4.330000, 4.320000, 4.330000, 4.670000, 4.670000, 4.690000, 4.700000, 4.720000, 4.740000, 4.750000, 4.770000, 7.040000, 7.080000, 7.110000, 7.150000, 7.190000, 7.240000, 7.280000, 7.340000, 7.390000, 7.180000, 6.890000, 6.640000, 6.400000, 6.190000, 5.980000, 5.810000, 5.630000, 5.480000, 5.340000, 5.200000, 5.070000, 4.940000, 4.840000, 4.720000, 4.630000, 4.520000, 4.570000, 4.640000, 4.690000, 7.080000, 6.870000, 6.810000, 6.860000, 5.590000, 5.460000, 5.400000, 3.600000, 3.600000, 3.550000, 3.520000, 3.480000, 3.510000, 4.080000, 4.180000, 4.290000, 4.360000, 4.320000, 4.280000, 4.270000, 5.010000, 5.220000, 5.170000, 5.130000, 5.120000, 5.940000, 5.910000, 5.890000, 5.860000, 5.830000, 5.800000, 5.770000, 5.740000, 1.680000, 1.660000, 1.640000, 1.620000, 1.610000, 1.600000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055438, 532930 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.642002, -17.558001, 2.329154 ], "estimate": [ -47.642002, -17.558001, 2.329154 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.360000, 1.590000, 1.860000, 2.250000, 3.080000, 4.030000, 4.030000, 4.030000, 4.030000, 4.040000, 4.040000, 4.050000, 4.050000, 4.060000, 4.060000, 4.070000, 4.080000, 4.090000, 4.110000, 4.120000, 4.130000, 4.140000, 4.160000, 4.190000, 4.210000, 4.230000, 4.250000, 4.270000, 4.300000, 4.330000, 4.360000, 4.400000, 4.440000, 3.230000, 3.030000, 2.940000, 2.850000, 2.770000, 2.680000, 2.600000, 2.550000, 2.470000, 2.410000, 2.360000, 2.300000, 2.240000, 2.200000, 2.150000, 2.110000, 2.070000, 2.030000, 1.990000, 1.960000, 1.930000, 1.920000, 1.910000, 1.900000, 1.920000, 1.970000, 2.010000, 2.060000, 2.100000, 2.160000, 2.210000, 2.270000, 2.340000, 2.370000, 2.350000, 2.340000, 2.320000, 2.290000, 2.280000, 2.260000, 2.250000, 2.220000, 2.210000, 2.190000, 2.190000, 2.170000, 2.170000, 2.150000, 2.130000, 2.130000, 2.110000, 2.110000, 2.110000, 2.100000, 2.090000, 2.080000, 2.080000, 2.110000, 4.410000, 4.440000, 4.430000, 4.440000, 4.440000, 4.420000, 4.420000, 4.430000, 4.480000, 4.240000, 4.270000, 4.260000, 4.270000, 4.610000, 4.630000, 4.640000, 4.650000, 4.670000, 4.670000, 4.690000, 4.720000, 6.990000, 7.030000, 7.060000, 7.100000, 7.140000, 7.190000, 7.240000, 7.280000, 7.340000, 7.120000, 6.850000, 6.610000, 6.370000, 6.150000, 5.960000, 5.790000, 5.620000, 5.470000, 5.330000, 5.190000, 5.060000, 4.930000, 4.830000, 4.720000, 4.620000, 4.520000, 4.500000, 4.570000, 4.630000, 7.030000, null, 6.800000, 6.830000, 8.690000, 5.430000, 5.380000, 5.370000, 3.600000, 3.550000, 3.520000, 3.480000, 3.430000, 3.990000, 4.100000, 4.210000, 4.360000, 4.320000, 4.280000, 4.240000, 4.910000, 5.120000, 5.170000, 5.130000, 5.110000, 5.950000, 5.910000, 5.870000, 5.860000, 5.830000, 5.800000, 5.770000, 5.750000, 5.730000, 5.700000, 1.670000, 1.650000, 1.630000, 1.620000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055438, 755931 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.680000, -17.517000, 2.323009 ], "estimate": [ -47.680000, -17.517000, 2.323009 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.710000, 1.960000, 2.290000, 2.990000, 3.710000, 4.030000, 4.020000, 4.020000, 4.030000, 4.030000, 4.030000, 4.040000, 4.040000, 4.050000, 4.060000, 4.060000, 4.070000, 4.080000, 4.100000, 4.110000, 4.130000, 4.130000, 4.150000, 4.180000, 4.200000, 4.230000, 4.250000, 4.260000, 4.290000, 4.310000, 4.350000, 4.390000, 4.420000, 3.050000, 2.940000, 2.840000, 2.760000, 2.670000, 2.590000, 2.530000, 2.460000, 2.400000, 2.340000, 2.270000, 2.230000, 2.180000, 2.120000, 2.080000, 2.040000, 2.000000, 1.960000, 1.930000, 1.910000, 1.870000, 1.880000, 1.860000, 1.870000, 1.910000, 1.950000, 1.980000, 2.040000, 2.090000, 2.140000, 2.190000, 2.250000, 2.320000, 2.330000, 2.300000, 2.290000, 2.270000, 2.240000, 2.220000, 2.210000, 2.180000, 2.180000, 2.160000, 2.150000, 2.130000, 2.110000, 2.110000, 2.100000, 2.090000, 2.070000, 2.070000, 2.060000, 2.050000, 2.050000, 2.050000, 2.040000, 2.030000, 2.020000, 6.720000, 4.390000, 4.370000, 4.390000, 4.400000, 4.380000, 4.380000, 4.370000, 4.410000, 4.400000, 4.210000, 4.200000, 4.210000, 4.450000, 4.580000, 4.590000, 4.590000, 4.610000, 4.620000, 4.650000, 4.670000, 4.720000, 6.970000, 7.010000, 7.040000, 7.080000, 7.120000, 7.180000, 7.220000, 7.270000, 7.200000, 6.910000, 6.650000, 6.420000, 6.210000, 6.010000, 5.830000, 5.660000, 5.500000, 5.360000, 5.210000, 5.090000, 4.960000, 4.860000, 4.740000, 4.640000, 4.540000, 4.440000, 4.500000, 4.580000, 4.640000, null, null, 7.210000, 6.790000, 5.520000, 5.380000, 5.330000, 5.420000, 3.570000, 3.530000, 3.490000, 3.440000, 3.420000, 3.990000, 4.100000, 4.220000, 4.340000, 4.300000, 4.270000, 4.240000, 4.960000, 5.190000, 5.140000, 5.110000, 5.100000, 5.920000, 5.890000, 5.870000, 5.840000, 5.810000, 5.780000, 5.760000, 5.740000, 5.710000, 5.690000, 1.730000, 1.660000, 1.640000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055438, 913187 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.720001, -17.475000, 2.323009 ], "estimate": [ -47.720001, -17.475000, 2.323009 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.140000, 2.610000, 3.060000, 3.690000, 4.020000, 4.020000, 4.020000, 4.020000, 4.020000, 4.020000, 4.020000, 4.030000, 4.030000, 4.040000, 4.050000, 4.060000, 4.070000, 4.070000, 4.090000, 4.110000, 4.120000, 4.130000, 4.140000, 4.170000, 4.190000, 4.220000, 4.240000, 4.250000, 4.280000, 4.310000, 4.340000, 4.380000, 3.030000, 2.900000, 2.800000, 2.720000, 2.630000, 2.560000, 2.480000, 2.410000, 2.350000, 2.280000, 2.240000, 2.170000, 2.120000, 2.070000, 2.030000, 1.970000, 1.950000, 1.900000, 1.880000, 1.850000, 1.840000, 1.840000, 1.820000, 1.830000, 1.860000, 1.900000, 1.940000, 1.990000, 2.020000, 2.080000, 2.130000, 2.180000, 2.240000, 2.270000, 2.260000, 2.250000, 2.230000, 2.200000, 2.180000, 2.160000, 2.140000, 2.130000, 2.110000, 2.100000, 2.070000, 2.070000, 2.060000, 2.050000, 2.040000, 2.040000, 2.030000, 2.020000, 2.000000, 1.990000, 1.990000, 1.980000, 1.980000, 1.970000, 1.990000, 4.350000, 4.340000, 4.320000, 4.330000, 4.330000, 4.320000, 4.320000, 4.320000, 4.360000, 4.470000, 4.160000, 4.150000, 4.150000, 4.250000, 4.520000, 4.530000, 4.540000, 4.550000, 4.570000, 4.590000, 4.600000, 4.680000, 6.910000, 6.940000, 6.990000, 7.030000, 7.070000, 7.110000, 7.160000, 7.220000, 7.180000, 6.900000, 6.640000, 6.420000, 6.200000, 6.000000, 5.820000, 5.660000, 5.500000, 5.350000, 5.210000, 5.080000, 4.960000, 4.860000, 4.740000, 4.640000, 4.550000, 4.450000, 4.400000, 4.500000, 4.560000, 6.960000, 6.730000, 6.790000, 8.630000, 5.650000, 5.370000, 5.330000, 5.300000, 3.600000, 3.530000, 3.500000, 3.450000, 3.410000, 3.380000, 4.000000, 4.110000, 4.250000, 4.300000, 4.270000, 4.230000, 4.220000, 5.040000, 5.140000, 5.110000, 5.080000, 5.920000, 5.890000, 5.860000, 5.850000, 5.820000, 5.790000, 5.760000, 5.740000, 5.720000, 5.690000, 5.690000, 5.760000, 1.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055439, 199064 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.761002, -17.431999, 2.316863 ], "estimate": [ -47.761002, -17.431999, 2.316863 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.670000, 3.050000, 3.590000, 4.020000, 4.020000, 4.010000, 4.010000, 4.010000, 4.010000, 4.020000, 4.020000, 4.020000, 4.020000, 4.030000, 4.040000, 4.050000, 4.060000, 4.070000, 4.080000, 4.100000, 4.110000, 4.120000, 4.140000, 4.160000, 4.180000, 4.210000, 4.230000, 4.250000, 4.280000, 4.310000, 4.340000, 3.000000, 2.880000, 2.770000, 2.680000, 2.600000, 2.530000, 2.450000, 2.370000, 2.320000, 2.260000, 2.190000, 2.130000, 2.090000, 2.040000, 1.990000, 1.940000, 1.900000, 1.870000, 1.830000, 1.810000, 1.790000, 1.790000, 1.770000, 1.790000, 1.820000, 1.850000, 1.890000, 1.930000, 1.970000, 2.020000, 2.070000, 2.110000, 2.160000, 2.230000, 2.240000, 2.210000, 2.180000, 2.160000, 2.150000, 2.130000, 2.110000, 2.090000, 2.070000, 2.060000, 2.040000, 2.030000, 2.020000, 2.020000, 2.000000, 1.990000, 1.970000, 1.970000, 1.960000, 1.950000, 1.950000, 1.940000, 1.930000, 1.940000, 1.930000, 1.950000, 4.350000, 4.280000, 4.270000, 4.280000, 4.280000, 4.280000, 4.270000, 4.280000, 4.310000, 4.830000, 4.110000, 4.110000, 4.130000, 4.150000, 4.480000, 4.480000, 4.480000, 4.500000, 4.510000, 4.530000, 4.550000, 4.580000, 6.870000, 6.910000, 6.950000, 7.000000, 7.040000, 7.070000, 7.110000, 7.170000, 7.230000, 6.950000, 6.690000, 6.460000, 6.240000, 6.040000, 5.840000, 5.680000, 5.530000, 5.370000, 5.240000, 5.110000, 4.990000, 4.870000, 4.770000, 4.660000, 4.570000, 4.470000, 4.380000, 4.440000, 4.520000, 4.560000, null, 6.680000, 7.130000, 8.600000, 5.470000, 5.310000, 5.270000, 5.370000, 3.550000, 3.490000, 3.460000, 3.420000, 3.380000, 3.370000, 4.020000, 4.140000, 4.290000, 4.280000, 4.230000, 4.190000, 4.490000, 5.120000, 5.110000, 5.080000, 5.070000, 5.900000, 5.860000, 5.850000, 5.830000, 5.800000, 5.770000, 5.750000, 5.730000, 5.720000, 5.690000, 5.680000, 5.750000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055439, 313778 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.801003, -17.389000, 2.316863 ], "estimate": [ -47.801003, -17.389000, 2.316863 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.140000, 3.610000, 4.010000, 4.010000, 4.010000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000, 4.010000, 4.020000, 4.030000, 4.040000, 4.050000, 4.060000, 4.070000, 4.090000, 4.100000, 4.120000, 4.130000, 4.150000, 4.180000, 4.200000, 4.230000, 4.250000, 4.270000, 4.300000, 2.960000, 2.830000, 2.740000, 2.640000, 2.550000, 2.470000, 2.390000, 2.340000, 2.260000, 2.190000, 2.130000, 2.080000, 2.030000, 1.970000, 1.930000, 1.890000, 1.840000, 1.810000, 1.780000, 1.750000, 1.740000, 1.740000, 1.720000, 1.740000, 1.780000, 1.810000, 1.840000, 1.880000, 1.920000, 1.970000, 2.010000, 2.050000, 2.110000, 2.160000, 2.190000, 2.160000, 2.140000, 2.110000, 2.090000, 2.080000, 2.060000, 2.040000, 2.020000, 2.010000, 2.000000, 1.980000, 1.970000, 1.960000, 1.940000, 1.930000, 1.930000, 1.920000, 1.910000, 1.900000, 1.890000, 1.880000, 1.880000, 1.870000, 1.860000, 1.860000, 1.880000, 4.260000, 4.210000, 4.210000, 4.220000, 4.220000, 4.220000, 4.210000, 4.220000, 4.240000, 4.760000, 4.040000, 4.060000, 4.060000, 4.080000, 4.410000, 4.420000, 4.430000, 4.450000, 4.450000, 4.470000, 4.480000, 4.500000, 6.810000, 6.840000, 6.890000, 6.930000, 6.970000, 7.020000, 7.060000, 7.110000, 7.160000, 6.940000, 6.680000, 6.450000, 6.240000, 6.040000, 5.840000, 5.680000, 5.530000, 5.370000, 5.240000, 5.110000, 4.990000, 4.880000, 4.770000, 4.660000, 4.560000, 4.470000, 4.390000, 4.340000, 4.430000, 4.500000, null, 6.670000, 7.100000, 6.710000, 5.540000, 5.330000, 5.260000, 5.240000, 5.400000, 3.500000, 3.470000, 3.420000, 3.380000, 3.340000, 3.370000, 4.020000, 4.160000, 4.280000, 4.240000, 4.200000, 4.180000, 4.980000, 5.120000, 5.090000, 5.050000, 5.230000, 5.870000, 5.830000, 5.840000, 5.810000, 5.780000, 5.750000, 5.740000, 5.720000, 5.700000, 5.670000, 5.770000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 580281 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.839001, -17.348000, 2.316863 ], "estimate": [ -47.839001, -17.348000, 2.316863 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.600000, 4.010000, 4.010000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.020000, 4.010000, 4.010000, 4.030000, 4.030000, 4.050000, 4.050000, 4.070000, 4.090000, 4.100000, 4.110000, 4.130000, 4.150000, 4.180000, 4.200000, 4.220000, 4.250000, 4.270000, 2.930000, 2.810000, 2.700000, 2.600000, 2.520000, 2.430000, 2.350000, 2.270000, 2.210000, 2.140000, 2.090000, 2.040000, 1.980000, 1.930000, 1.880000, 1.840000, 1.800000, 1.760000, 1.740000, 1.700000, 1.710000, 1.680000, 1.690000, 1.720000, 1.740000, 1.780000, 1.810000, 1.840000, 1.890000, 1.920000, 1.970000, 2.000000, 2.050000, 2.110000, 2.160000, 2.120000, 2.100000, 2.070000, 2.050000, 2.030000, 2.020000, 2.000000, 1.980000, 1.970000, 1.960000, 1.930000, 1.920000, 1.910000, 1.900000, 1.890000, 1.870000, 1.860000, 1.850000, 1.850000, 1.850000, 1.840000, 1.830000, 1.820000, 1.820000, 1.820000, 1.800000, 1.810000, 4.170000, 4.160000, 4.160000, 4.150000, 4.160000, 4.160000, 4.170000, 4.170000, 4.190000, 4.710000, 3.990000, 3.990000, 4.010000, 4.030000, 4.360000, 4.370000, 4.380000, 4.390000, 4.410000, 4.430000, 4.440000, 4.460000, 6.770000, 6.800000, 6.830000, 6.880000, 6.920000, 6.970000, 7.020000, 7.050000, 7.110000, 6.920000, 6.650000, 6.420000, 6.210000, 6.010000, 5.830000, 5.660000, 5.520000, 5.360000, 5.230000, 5.090000, 4.980000, 4.860000, 4.760000, 4.650000, 4.560000, 4.460000, 4.380000, 4.320000, 4.370000, 4.450000, 4.490000, null, 7.080000, 8.540000, 10.090000, 5.400000, 5.230000, 5.210000, 5.340000, 5.470000, 3.470000, 3.420000, 3.380000, 3.340000, 3.320000, 3.940000, 4.070000, 4.200000, 4.250000, 4.210000, 4.170000, 4.160000, 5.100000, 5.090000, 5.050000, 5.030000, 5.860000, 5.830000, 5.840000, 5.810000, 5.780000, 5.760000, 5.740000, 5.720000, 5.700000, 5.690000, 5.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 581537 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.877998, -17.306999, 2.329154 ], "estimate": [ -47.877998, -17.306999, 2.329154 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.010000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000, 4.010000, 4.020000, 4.030000, 4.040000, 4.050000, 4.060000, 4.080000, 4.090000, 4.100000, 4.120000, 4.130000, 4.160000, 4.190000, 4.210000, 4.240000, 2.990000, 2.830000, 2.690000, 2.600000, 2.500000, 2.420000, 2.340000, 2.260000, 2.180000, 2.110000, 2.060000, 2.010000, 1.940000, 1.890000, 1.840000, 1.810000, 1.750000, 1.730000, 1.690000, 1.660000, 1.660000, 1.630000, 1.640000, 1.670000, 1.700000, 1.720000, 1.750000, 1.790000, 1.830000, 1.860000, 1.890000, 1.940000, 1.980000, 2.030000, 2.090000, 2.080000, 2.060000, 2.040000, 2.010000, 2.000000, 1.970000, 1.960000, 1.940000, 1.920000, 1.910000, 1.900000, 1.870000, 1.860000, 1.850000, 1.840000, 1.830000, 1.820000, 1.810000, 1.800000, 1.790000, 1.780000, 1.780000, 1.770000, 1.780000, 1.770000, 1.770000, 1.760000, 1.760000, 1.980000, 4.100000, 4.100000, 4.100000, 4.110000, 4.100000, 4.090000, 4.100000, 4.130000, 4.170000, 3.940000, 3.930000, 3.940000, 3.970000, 4.240000, 4.310000, 4.320000, 4.320000, 4.350000, 4.350000, 4.380000, 4.390000, 4.430000, 6.730000, 6.770000, 6.800000, 6.840000, 6.890000, 6.930000, 6.970000, 7.030000, 7.030000, 6.760000, 6.510000, 6.290000, 6.100000, 5.900000, 5.720000, 5.560000, 5.420000, 5.290000, 5.150000, 5.030000, 4.920000, 4.810000, 4.700000, 4.600000, 4.510000, 4.420000, 4.330000, 4.300000, 4.350000, 4.420000, 4.440000, 6.670000, null, 6.640000, 8.670000, 5.360000, 5.210000, 5.190000, 5.320000, 5.460000, 3.440000, 3.400000, 3.360000, 3.320000, 3.290000, 3.340000, 4.020000, 4.170000, 4.230000, 4.190000, 4.160000, 4.140000, 5.090000, 5.070000, 5.040000, 5.020000, 5.850000, 5.820000, 5.820000, 5.790000, 5.770000, 5.740000, 5.740000, 5.720000, 5.690000, 5.680000, 5.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 582537 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.918999, -17.264000, 2.335300 ], "estimate": [ -47.918999, -17.264000, 2.335300 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000, 4.020000, 4.030000, 4.040000, 4.050000, 4.070000, 4.080000, 4.100000, 4.110000, 4.130000, 4.140000, 4.170000, 4.200000, 4.220000, 2.850000, 2.720000, 2.610000, 2.510000, 2.420000, 2.330000, 2.250000, 2.170000, 2.100000, 2.040000, 1.980000, 1.910000, 1.870000, 1.820000, 1.770000, 1.720000, 1.690000, 1.650000, 1.630000, 1.630000, 1.610000, 1.610000, 1.620000, 1.650000, 1.680000, 1.710000, 1.730000, 1.770000, 1.800000, 1.830000, 1.880000, 1.910000, 1.960000, 2.010000, 2.050000, 2.030000, 2.010000, 1.980000, 1.960000, 1.930000, 1.920000, 1.900000, 1.880000, 1.870000, 1.860000, 1.840000, 1.830000, 1.820000, 1.800000, 1.790000, 1.780000, 1.780000, 1.760000, 1.760000, 1.750000, 1.740000, 1.730000, 1.720000, 1.720000, 1.720000, 1.710000, 1.700000, 1.700000, 1.860000, 4.050000, 4.050000, 4.050000, 4.060000, 4.040000, 4.040000, 4.050000, 4.060000, 4.090000, 4.610000, 3.890000, 3.890000, 3.910000, 3.920000, 4.250000, 4.270000, 4.280000, 4.280000, 4.300000, 4.320000, 4.330000, 4.340000, 4.440000, 6.690000, 6.730000, 6.780000, 6.810000, 6.850000, 6.910000, 6.940000, 7.000000, 6.860000, 6.620000, 6.390000, 6.170000, 5.980000, 5.800000, 5.630000, 5.480000, 5.350000, 5.200000, 5.070000, 4.960000, 4.850000, 4.750000, 4.640000, 4.560000, 4.450000, 4.370000, 4.280000, 4.250000, 4.320000, 4.390000, 4.440000, 6.610000, 7.010000, 8.670000, 5.460000, 5.220000, 5.180000, 5.160000, 5.310000, 5.460000, 3.420000, 3.380000, 3.340000, 3.320000, 3.280000, 3.280000, 3.990000, 4.150000, 4.200000, 4.170000, 4.150000, 4.130000, 5.090000, 5.050000, 5.020000, 5.010000, 5.830000, 5.800000, 5.810000, 5.780000, 5.760000, 5.740000, 5.730000, 5.710000, 5.690000, 5.660000, 5.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 583492 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -47.961002, -17.222000, 2.341445 ], "estimate": [ -47.961002, -17.222000, 2.341445 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 4.000000, 3.990000, 3.990000, 3.990000, 3.990000, 3.990000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000, 4.020000, 4.030000, 4.040000, 4.060000, 4.070000, 4.090000, 4.100000, 4.110000, 4.130000, 4.150000, 4.180000, 2.860000, 2.720000, 2.600000, 2.490000, 2.390000, 2.310000, 2.230000, 2.140000, 2.080000, 2.000000, 1.940000, 1.880000, 1.820000, 1.780000, 1.730000, 1.680000, 1.640000, 1.610000, 1.580000, 1.590000, 1.560000, 1.570000, 1.600000, 1.620000, 1.630000, 1.660000, 1.690000, 1.730000, 1.750000, 1.790000, 1.830000, 1.850000, 1.910000, 1.940000, 1.980000, 1.990000, 1.970000, 1.940000, 1.910000, 1.890000, 1.880000, 1.860000, 1.840000, 1.820000, 1.800000, 1.780000, 1.770000, 1.760000, 1.750000, 1.740000, 1.740000, 1.720000, 1.710000, 1.690000, 1.690000, 1.680000, 1.680000, 1.670000, 1.660000, 1.660000, 1.660000, 1.650000, 1.640000, 1.650000, 1.680000, 4.020000, 3.990000, 3.990000, 4.000000, 3.990000, 3.990000, 3.980000, 3.990000, 4.020000, 4.040000, 3.830000, 3.830000, 3.830000, 3.850000, 4.070000, 4.200000, 4.210000, 4.220000, 4.240000, 4.250000, 4.270000, 4.280000, 4.300000, 6.620000, 6.650000, 6.690000, 6.730000, 6.780000, 6.820000, 6.870000, 6.920000, 6.970000, 6.720000, 6.470000, 6.260000, 6.070000, 5.870000, 5.710000, 5.550000, 5.400000, 5.260000, 5.140000, 5.020000, 4.900000, 4.800000, 4.680000, 4.590000, 4.500000, 4.420000, 4.320000, 4.250000, 4.220000, 4.280000, 4.350000, 4.390000, 6.540000, 6.580000, 8.620000, 5.350000, 5.210000, 5.140000, 5.120000, 5.280000, 5.440000, 3.400000, 3.370000, 3.330000, 3.300000, 3.270000, 3.250000, 3.950000, 4.090000, 4.190000, 4.160000, 4.140000, 4.110000, 5.070000, 5.040000, 5.010000, 4.990000, 5.810000, 5.790000, 5.790000, 5.770000, 5.740000, 5.740000, 5.720000, 5.700000, 5.680000, 5.650000, 5.730000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 584462 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.000999, -17.180000, 2.335300 ], "estimate": [ -48.000999, -17.180000, 2.335300 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 4.000000, 3.990000, 3.990000, 3.990000, 3.990000, 3.990000, 3.990000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000, 4.020000, 4.030000, 4.040000, 4.050000, 4.070000, 4.080000, 4.100000, 4.110000, 4.130000, 4.150000, 2.840000, 2.690000, 2.560000, 2.450000, 2.350000, 2.250000, 2.170000, 2.090000, 2.010000, 1.950000, 1.890000, 1.830000, 1.770000, 1.710000, 1.670000, 1.630000, 1.600000, 1.560000, 1.550000, 1.530000, 1.530000, 1.550000, 1.570000, 1.580000, 1.620000, 1.640000, 1.660000, 1.690000, 1.720000, 1.740000, 1.790000, 1.820000, 1.860000, 1.890000, 1.930000, 1.950000, 1.920000, 1.900000, 1.880000, 1.850000, 1.830000, 1.810000, 1.790000, 1.770000, 1.750000, 1.750000, 1.730000, 1.720000, 1.700000, 1.690000, 1.680000, 1.670000, 1.660000, 1.650000, 1.650000, 1.640000, 1.630000, 1.620000, 1.610000, 1.600000, 1.600000, 1.600000, 1.590000, 1.590000, 1.580000, 1.690000, 3.950000, 3.930000, 3.930000, 3.930000, 3.940000, 3.940000, 3.920000, 3.930000, 3.960000, 3.990000, 3.780000, 3.770000, 3.780000, 3.790000, 3.840000, 4.140000, 4.150000, 4.160000, 4.170000, 4.190000, 4.210000, 4.230000, 4.250000, 6.570000, 6.600000, 6.630000, 6.670000, 6.710000, 6.770000, 6.810000, 6.870000, 6.910000, 6.730000, 6.490000, 6.270000, 6.080000, 5.880000, 5.720000, 5.560000, 5.410000, 5.270000, 5.150000, 5.020000, 4.910000, 4.800000, 4.700000, 4.600000, 4.510000, 4.420000, 4.330000, 4.260000, 4.180000, 4.190000, 4.280000, 4.340000, 6.630000, 6.940000, 6.550000, 5.380000, 5.280000, 5.130000, 5.100000, 5.200000, 5.330000, 5.480000, 3.370000, 3.330000, 3.300000, 3.270000, 3.230000, 3.220000, 3.960000, 4.130000, 4.170000, 4.130000, 4.100000, 4.080000, 5.050000, 5.020000, 4.990000, 5.200000, 5.790000, 5.790000, 5.770000, 5.750000, 5.740000, 5.730000, 5.700000, 5.680000, 5.670000, 5.650000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 585386 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.037998, -17.142000, 2.329154 ], "estimate": [ -48.037998, -17.142000, 2.329154 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 4.000000, 3.990000, 3.990000, 3.980000, 3.980000, 3.990000, 3.990000, 3.990000, 4.000000, 4.000000, 4.000000, 4.000000, 4.010000, 4.020000, 4.030000, 4.040000, 4.050000, 4.070000, 4.090000, 4.110000, 4.120000, 2.950000, 2.710000, 2.570000, 2.440000, 2.350000, 2.230000, 2.150000, 2.070000, 1.980000, 1.920000, 1.850000, 1.790000, 1.720000, 1.680000, 1.630000, 1.590000, 1.550000, 1.510000, 1.520000, 1.480000, 1.480000, 1.510000, 1.530000, 1.550000, 1.580000, 1.600000, 1.620000, 1.650000, 1.670000, 1.710000, 1.740000, 1.760000, 1.810000, 1.830000, 1.880000, 1.910000, 1.890000, 1.860000, 1.830000, 1.810000, 1.790000, 1.770000, 1.750000, 1.740000, 1.720000, 1.710000, 1.690000, 1.680000, 1.660000, 1.650000, 1.630000, 1.630000, 1.610000, 1.600000, 1.590000, 1.590000, 1.580000, 1.570000, 1.560000, 1.560000, 1.560000, 1.550000, 1.550000, 1.550000, 1.550000, 1.530000, 1.560000, 6.200000, 3.870000, 3.870000, 3.880000, 3.880000, 3.880000, 3.880000, 3.880000, 3.900000, 3.920000, 4.430000, 3.710000, 3.710000, 3.740000, 3.740000, 4.080000, 4.090000, 4.100000, 4.120000, 4.130000, 4.150000, 4.160000, 4.180000, 4.210000, 6.530000, 6.570000, 6.610000, 6.640000, 6.680000, 6.740000, 6.790000, 6.840000, 6.820000, 6.580000, 6.350000, 6.150000, 5.960000, 5.780000, 5.620000, 5.470000, 5.330000, 5.190000, 5.070000, 4.950000, 4.830000, 4.730000, 4.630000, 4.550000, 4.450000, 4.370000, 4.280000, 4.220000, 4.140000, 4.170000, 4.250000, 4.300000, 6.850000, 6.920000, 9.990000, 6.880000, 5.250000, 5.090000, 5.070000, 5.190000, 5.320000, 5.480000, 3.350000, 3.320000, 3.290000, 3.250000, 3.220000, 3.200000, 3.930000, 4.090000, 4.150000, 4.120000, 4.080000, 4.080000, 5.030000, 5.000000, 4.970000, 5.270000, 5.790000, 5.780000, 5.760000, 5.750000, 5.740000, 5.710000, 5.700000, 5.680000, 5.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 586300 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.077999, -17.100000, 2.316863 ], "estimate": [ -48.077999, -17.100000, 2.316863 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 3.990000, 3.990000, 3.980000, 3.980000, 3.980000, 3.980000, 3.980000, 3.990000, 3.990000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000, 4.030000, 4.040000, 4.050000, 4.070000, 4.080000, 4.090000, 4.120000, 2.710000, 2.560000, 2.440000, 2.330000, 2.220000, 2.110000, 2.040000, 1.950000, 1.890000, 1.820000, 1.750000, 1.690000, 1.620000, 1.590000, 1.540000, 1.500000, 1.480000, 1.490000, 1.450000, 1.460000, 1.480000, 1.500000, 1.520000, 1.550000, 1.560000, 1.590000, 1.610000, 1.640000, 1.660000, 1.690000, 1.730000, 1.750000, 1.790000, 1.830000, 1.860000, 1.850000, 1.830000, 1.810000, 1.780000, 1.760000, 1.740000, 1.720000, 1.710000, 1.680000, 1.660000, 1.650000, 1.630000, 1.620000, 1.610000, 1.600000, 1.580000, 1.570000, 1.560000, 1.560000, 1.550000, 1.550000, 1.540000, 1.530000, 1.520000, 1.520000, 1.510000, 1.500000, 1.500000, 1.490000, 1.490000, 1.480000, 1.450000, 6.150000, 3.820000, 3.820000, 3.830000, 3.830000, 3.840000, 3.830000, 3.820000, 3.830000, 3.880000, 4.030000, 3.670000, 3.660000, 3.690000, 3.700000, 3.880000, 4.030000, 4.050000, 4.060000, 4.070000, 4.080000, 4.100000, 4.120000, 4.150000, 4.250000, 6.510000, 6.550000, 6.580000, 6.620000, 6.670000, 6.720000, 6.780000, 6.830000, 6.640000, 6.410000, 6.180000, 6.000000, 5.830000, 5.650000, 5.500000, 5.360000, 5.230000, 5.100000, 4.980000, 4.860000, 4.760000, 4.650000, 4.570000, 4.470000, 4.390000, 4.300000, 4.240000, 4.160000, 4.070000, 4.170000, 4.240000, 4.280000, 6.820000, 9.870000, 6.630000, 5.260000, 5.110000, 5.060000, 5.040000, 5.200000, 5.360000, 5.510000, 3.340000, 3.300000, 3.270000, 3.230000, 3.200000, 3.190000, 3.930000, 4.120000, 4.130000, 4.100000, 4.070000, 4.060000, 5.010000, 4.990000, 4.970000, 5.790000, 5.770000, 5.770000, 5.750000, 5.750000, 5.720000, 5.710000, 5.690000, 5.670000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 587244 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.119999, -17.055000, 2.310718 ], "estimate": [ -48.119999, -17.055000, 2.310718 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 3.990000, 3.980000, 3.980000, 3.970000, 3.980000, 3.980000, 3.980000, 3.980000, 3.990000, 3.990000, 4.000000, 3.990000, 4.000000, 4.010000, 4.020000, 4.030000, 4.040000, 4.050000, 4.070000, 4.080000, 2.730000, 2.560000, 2.430000, 2.310000, 2.190000, 2.090000, 2.000000, 1.910000, 1.840000, 1.770000, 1.700000, 1.640000, 1.590000, 1.530000, 1.480000, 1.460000, 1.450000, 1.420000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.510000, 1.520000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.680000, 1.710000, 1.740000, 1.770000, 1.810000, 1.820000, 1.780000, 1.760000, 1.740000, 1.730000, 1.700000, 1.670000, 1.650000, 1.640000, 1.630000, 1.610000, 1.590000, 1.570000, 1.560000, 1.550000, 1.540000, 1.530000, 1.530000, 1.510000, 1.500000, 1.490000, 1.490000, 1.480000, 1.470000, 1.460000, 1.450000, 1.450000, 1.450000, 1.440000, 1.430000, 1.440000, 1.420000, 1.450000, 1.650000, 3.780000, 3.770000, 3.760000, 3.780000, 3.780000, 3.770000, 3.770000, 3.770000, 3.800000, 3.830000, 3.860000, 3.610000, 3.630000, 3.640000, 3.650000, 3.990000, 4.000000, 4.010000, 4.010000, 4.030000, 4.040000, 4.060000, 4.070000, 4.100000, 6.430000, 6.470000, 6.510000, 6.550000, 6.590000, 6.650000, 6.690000, 6.760000, 6.720000, 6.490000, 6.260000, 6.070000, 5.880000, 5.720000, 5.570000, 5.400000, 5.280000, 5.150000, 5.030000, 4.910000, 4.800000, 4.700000, 4.610000, 4.510000, 4.430000, 4.340000, 4.250000, 4.190000, 4.120000, 4.070000, 4.140000, 4.210000, 4.230000, 6.840000, 6.450000, 6.710000, 5.230000, 5.090000, 5.030000, 5.020000, 5.200000, 5.370000, 5.520000, 3.290000, 3.280000, 3.250000, 3.210000, 3.190000, 3.160000, 3.290000, 4.090000, 4.110000, 4.080000, 4.060000, 4.050000, 5.000000, 4.980000, 4.960000, 5.780000, 5.750000, 5.770000, 5.750000, 5.740000, 5.710000, 5.700000, 5.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 588170 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.160000, -17.011000, 2.304572 ], "estimate": [ -48.160000, -17.011000, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 3.980000, 3.980000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.980000, 3.980000, 3.980000, 3.990000, 4.000000, 3.990000, 4.000000, 4.010000, 4.020000, 4.030000, 4.050000, 4.060000, 2.720000, 2.540000, 2.380000, 2.260000, 2.140000, 2.040000, 1.950000, 1.850000, 1.790000, 1.710000, 1.640000, 1.580000, 1.520000, 1.470000, 1.430000, 1.430000, 1.410000, 1.390000, 1.400000, 1.420000, 1.430000, 1.440000, 1.460000, 1.480000, 1.510000, 1.520000, 1.540000, 1.570000, 1.590000, 1.620000, 1.640000, 1.660000, 1.700000, 1.730000, 1.750000, 1.780000, 1.740000, 1.730000, 1.710000, 1.670000, 1.640000, 1.630000, 1.620000, 1.600000, 1.570000, 1.550000, 1.540000, 1.530000, 1.530000, 1.500000, 1.500000, 1.480000, 1.480000, 1.470000, 1.450000, 1.440000, 1.440000, 1.430000, 1.410000, 1.410000, 1.400000, 1.400000, 1.390000, 1.390000, 1.390000, 1.380000, 1.380000, 1.370000, 1.380000, 1.610000, 3.710000, 3.710000, 3.720000, 3.720000, 3.720000, 3.720000, 3.710000, 3.710000, 3.730000, 3.770000, 4.280000, 3.560000, 3.560000, 3.590000, 3.580000, 3.920000, 3.940000, 3.950000, 3.960000, 3.980000, 3.990000, 4.000000, 4.010000, 4.030000, 4.140000, 6.410000, 6.450000, 6.500000, 6.530000, 6.580000, 6.630000, 6.680000, 6.740000, 6.510000, 6.290000, 6.090000, 5.900000, 5.730000, 5.570000, 5.430000, 5.300000, 5.170000, 5.040000, 4.920000, 4.810000, 4.710000, 4.620000, 4.530000, 4.440000, 4.350000, 4.270000, 4.210000, 4.130000, 4.050000, 4.040000, 4.130000, 4.200000, 6.450000, 6.430000, 6.500000, 5.260000, 5.170000, 5.020000, 4.990000, 5.090000, 5.250000, 5.390000, 5.550000, 3.280000, 3.260000, 3.220000, 3.200000, 3.170000, 3.150000, 3.210000, 4.120000, 4.090000, 4.080000, 4.050000, 4.080000, 4.980000, 4.970000, 4.950000, 5.750000, 5.750000, 5.750000, 5.740000, 5.720000, 5.700000, 5.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 589081 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.195000, -16.973000, 2.298427 ], "estimate": [ -48.195000, -16.973000, 2.298427 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 3.980000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.980000, 3.990000, 4.000000, 3.990000, 4.000000, 4.000000, 4.020000, 4.030000, 4.050000, 2.690000, 2.510000, 2.340000, 2.220000, 2.090000, 1.980000, 1.890000, 1.800000, 1.720000, 1.650000, 1.580000, 1.520000, 1.470000, 1.410000, 1.390000, 1.410000, 1.360000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.470000, 1.500000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.640000, 1.660000, 1.700000, 1.720000, 1.730000, 1.710000, 1.680000, 1.650000, 1.640000, 1.610000, 1.590000, 1.570000, 1.550000, 1.530000, 1.510000, 1.510000, 1.480000, 1.470000, 1.460000, 1.460000, 1.430000, 1.430000, 1.420000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.370000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.340000, 1.340000, 1.320000, 1.320000, 1.300000, 1.560000, 3.670000, 3.670000, 3.670000, 3.660000, 3.670000, 3.670000, 3.660000, 3.660000, 3.690000, 3.710000, 4.240000, 3.510000, 3.520000, 3.540000, 3.540000, 3.770000, 3.900000, 3.900000, 3.910000, 3.920000, 3.940000, 3.950000, 3.970000, 3.990000, 4.110000, 6.360000, 6.400000, 6.440000, 6.480000, 6.520000, 6.580000, 6.630000, 6.680000, 6.520000, 6.290000, 6.100000, 5.910000, 5.750000, 5.580000, 5.440000, 5.300000, 5.170000, 5.050000, 4.930000, 4.820000, 4.720000, 4.640000, 4.540000, 4.450000, 4.360000, 4.270000, 4.210000, 4.130000, 4.060000, 4.000000, 4.050000, 4.140000, 4.180000, 6.760000, 8.450000, 6.520000, 5.170000, 5.040000, 4.980000, 4.970000, 5.130000, 5.290000, 5.460000, 5.630000, 3.270000, 3.230000, 3.200000, 3.190000, 3.160000, 3.130000, 3.940000, 4.100000, 4.080000, 4.060000, 4.030000, 4.990000, 4.970000, 4.950000, 5.760000, 5.740000, 5.760000, 5.750000, 5.730000, 5.710000, 5.690000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 589992 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.217003, -16.948999, 2.310718 ], "estimate": [ -48.217003, -16.948999, 2.310718 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.980000, 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000, 3.980000, 3.980000, 3.990000, 3.990000, 3.990000, 4.000000, 4.010000, 4.020000, 2.850000, 2.550000, 2.380000, 2.230000, 2.090000, 1.980000, 1.870000, 1.780000, 1.690000, 1.620000, 1.550000, 1.490000, 1.420000, 1.390000, 1.370000, 1.360000, 1.330000, 1.330000, 1.350000, 1.360000, 1.390000, 1.400000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.510000, 1.530000, 1.550000, 1.570000, 1.610000, 1.620000, 1.640000, 1.680000, 1.720000, 1.690000, 1.650000, 1.630000, 1.610000, 1.580000, 1.560000, 1.540000, 1.520000, 1.510000, 1.490000, 1.470000, 1.450000, 1.440000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.290000, 1.290000, 1.290000, 1.280000, 1.280000, 1.280000, 1.290000, 1.520000, 3.610000, 3.620000, 3.620000, 3.630000, 3.630000, 3.630000, 3.620000, 3.620000, 3.630000, 3.660000, 3.750000, 3.470000, 3.470000, 3.490000, 3.500000, 3.510000, 3.840000, 3.850000, 3.860000, 3.880000, 3.890000, 3.900000, 3.930000, 3.940000, 3.960000, 6.310000, 6.340000, 6.390000, 6.430000, 6.480000, 6.510000, 6.560000, 6.620000, 6.580000, 6.360000, 6.160000, 5.970000, 5.790000, 5.630000, 5.480000, 5.340000, 5.210000, 5.080000, 4.960000, 4.860000, 4.750000, 4.640000, 4.560000, 4.460000, 4.390000, 4.300000, 4.240000, 4.160000, 4.090000, 4.020000, 3.980000, 4.050000, 4.140000, 4.160000, 6.370000, 10.070000, 5.230000, 5.120000, 5.000000, 4.950000, 4.950000, 5.160000, 5.330000, 5.500000, 5.690000, 3.250000, 3.210000, 3.190000, 3.180000, 3.140000, 3.120000, 3.970000, 4.090000, 4.060000, 4.040000, 4.010000, 4.970000, 4.960000, 4.940000, 5.750000, 5.740000, 5.750000, 5.740000, 5.720000, 5.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 653038 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.222000, -16.943001, 2.304572 ], "estimate": [ -48.222000, -16.943001, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.980000, 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000, 3.980000, 3.980000, 3.990000, 3.990000, 4.000000, 4.010000, 4.020000, 2.590000, 2.400000, 2.250000, 2.100000, 1.980000, 1.870000, 1.780000, 1.690000, 1.600000, 1.530000, 1.470000, 1.420000, 1.370000, 1.350000, 1.330000, 1.320000, 1.320000, 1.330000, 1.350000, 1.360000, 1.390000, 1.400000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.500000, 1.530000, 1.540000, 1.570000, 1.610000, 1.620000, 1.670000, 1.690000, 1.680000, 1.650000, 1.620000, 1.600000, 1.570000, 1.550000, 1.530000, 1.520000, 1.500000, 1.480000, 1.460000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.370000, 1.360000, 1.360000, 1.340000, 1.330000, 1.330000, 1.320000, 1.300000, 1.300000, 1.300000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.250000, 1.290000, 5.940000, 3.600000, 3.600000, 3.590000, 3.600000, 3.610000, 3.600000, 3.600000, 3.600000, 3.630000, 3.640000, 4.160000, 3.450000, 3.450000, 3.470000, 3.470000, 3.520000, 3.820000, 3.830000, 3.840000, 3.860000, 3.880000, 3.890000, 3.900000, 3.920000, 3.960000, 6.300000, 6.330000, 6.380000, 6.420000, 6.470000, 6.500000, 6.560000, 6.620000, 6.520000, 6.300000, 6.110000, 5.910000, 5.750000, 5.590000, 5.440000, 5.310000, 5.180000, 5.060000, 4.930000, 4.830000, 4.720000, 4.630000, 4.540000, 4.450000, 4.360000, 4.290000, 4.220000, 4.140000, 4.070000, 4.000000, 3.970000, 4.040000, 4.130000, 4.180000, 9.870000, 6.760000, 5.200000, 5.110000, 4.990000, 4.940000, 5.010000, 5.190000, 5.340000, 5.520000, 5.710000, 3.240000, 3.200000, 3.190000, 3.170000, 3.140000, 3.120000, 3.280000, 4.090000, 4.060000, 4.030000, 4.010000, 4.970000, 4.950000, 4.940000, 5.740000, 5.730000, 5.750000, 5.730000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055441, 989626 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.221001, -16.944000, 2.304572 ], "estimate": [ -48.221001, -16.944000, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 3.970000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000, 3.980000, 3.990000, 3.990000, 3.990000, 3.990000, 4.010000, 4.020000, 2.610000, 2.420000, 2.250000, 2.120000, 2.010000, 1.880000, 1.790000, 1.700000, 1.620000, 1.550000, 1.480000, 1.420000, 1.370000, 1.350000, 1.340000, 1.320000, 1.320000, 1.330000, 1.340000, 1.360000, 1.380000, 1.400000, 1.420000, 1.430000, 1.440000, 1.470000, 1.480000, 1.510000, 1.530000, 1.550000, 1.580000, 1.600000, 1.620000, 1.650000, 1.680000, 1.680000, 1.650000, 1.630000, 1.600000, 1.570000, 1.550000, 1.530000, 1.520000, 1.500000, 1.480000, 1.470000, 1.450000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.250000, 1.260000, 1.510000, 3.600000, 3.590000, 3.600000, 3.610000, 3.610000, 3.600000, 3.600000, 3.610000, 3.610000, 3.640000, 3.900000, 3.460000, 3.450000, 3.460000, 3.460000, 3.490000, 3.820000, 3.830000, 3.840000, 3.860000, 3.870000, 3.880000, 3.900000, 3.920000, 3.940000, 6.300000, 6.320000, 6.370000, 6.420000, 6.460000, 6.500000, 6.550000, 6.600000, 6.540000, 6.300000, 6.100000, 5.920000, 5.760000, 5.590000, 5.450000, 5.320000, 5.180000, 5.070000, 4.940000, 4.830000, 4.720000, 4.640000, 4.540000, 4.450000, 4.370000, 4.290000, 4.220000, 4.140000, 4.070000, 4.000000, 3.970000, 4.030000, 4.120000, 4.150000, 8.430000, 6.650000, 5.200000, 5.110000, 4.990000, 4.940000, 4.930000, 5.160000, 5.320000, 5.480000, 5.680000, 3.240000, 3.210000, 3.190000, 3.170000, 3.140000, 3.120000, 3.170000, 4.090000, 4.060000, 4.040000, 4.000000, 4.970000, 4.960000, 4.940000, 5.740000, 5.740000, 5.750000, 5.740000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055442, 331069 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.222000, -16.943001, 2.304572 ], "estimate": [ -48.222000, -16.943001, 2.304572 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000, 3.970000, 3.970000, 3.980000, 3.990000, 3.990000, 3.990000, 4.000000, 4.010000, 4.020000, 2.600000, 2.410000, 2.250000, 2.110000, 2.000000, 1.870000, 1.790000, 1.700000, 1.610000, 1.540000, 1.480000, 1.420000, 1.380000, 1.350000, 1.340000, 1.330000, 1.320000, 1.330000, 1.350000, 1.360000, 1.390000, 1.400000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.520000, 1.540000, 1.560000, 1.580000, 1.600000, 1.630000, 1.660000, 1.680000, 1.680000, 1.660000, 1.620000, 1.600000, 1.580000, 1.560000, 1.530000, 1.520000, 1.500000, 1.480000, 1.460000, 1.440000, 1.430000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.360000, 1.360000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.270000, 1.270000, 1.270000, 1.270000, 1.250000, 1.280000, 5.940000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.600000, 3.610000, 3.620000, 3.640000, 4.160000, 3.460000, 3.450000, 3.470000, 3.460000, 3.510000, 3.820000, 3.830000, 3.850000, 3.860000, 3.880000, 3.890000, 3.900000, 3.920000, 3.950000, 6.300000, 6.330000, 6.380000, 6.430000, 6.470000, 6.510000, 6.560000, 6.620000, 6.520000, 6.290000, 6.110000, 5.900000, 5.740000, 5.580000, 5.440000, 5.300000, 5.170000, 5.050000, 4.930000, 4.820000, 4.720000, 4.630000, 4.540000, 4.450000, 4.360000, 4.280000, 4.220000, 4.140000, 4.070000, 4.000000, 3.990000, 4.040000, 4.130000, 4.160000, 8.430000, 6.650000, 5.190000, 5.120000, 4.970000, 4.940000, 5.020000, 5.190000, 5.350000, 5.520000, 5.710000, 3.250000, 3.200000, 3.190000, 3.170000, 3.140000, 3.120000, 3.400000, 4.090000, 4.060000, 4.040000, 4.020000, 4.970000, 4.950000, 4.940000, 5.740000, 5.730000, 5.750000, 5.740000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055442, 294589 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.222000, -16.943001, 2.310718 ], "estimate": [ -48.222000, -16.943001, 2.310718 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.980000, 3.980000, 3.990000, 3.990000, 3.990000, 4.000000, 4.010000, 4.030000, 2.590000, 2.410000, 2.250000, 2.100000, 2.000000, 1.880000, 1.780000, 1.700000, 1.610000, 1.540000, 1.480000, 1.420000, 1.380000, 1.350000, 1.340000, 1.320000, 1.320000, 1.330000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.450000, 1.470000, 1.490000, 1.510000, 1.530000, 1.550000, 1.580000, 1.610000, 1.630000, 1.660000, 1.680000, 1.690000, 1.650000, 1.630000, 1.600000, 1.570000, 1.560000, 1.530000, 1.520000, 1.500000, 1.480000, 1.460000, 1.450000, 1.430000, 1.420000, 1.410000, 1.390000, 1.370000, 1.370000, 1.360000, 1.360000, 1.350000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.260000, 1.260000, 1.270000, 1.270000, 1.250000, 1.290000, 5.940000, 3.610000, 3.610000, 3.600000, 3.610000, 3.610000, 3.610000, 3.600000, 3.610000, 3.620000, 3.640000, 4.170000, 3.460000, 3.450000, 3.470000, 3.450000, 3.520000, 3.820000, 3.830000, 3.840000, 3.860000, 3.880000, 3.890000, 3.900000, 3.920000, 3.950000, 6.300000, 6.330000, 6.380000, 6.420000, 6.470000, 6.500000, 6.570000, 6.620000, 6.500000, 6.290000, 6.100000, 5.900000, 5.740000, 5.570000, 5.430000, 5.300000, 5.170000, 5.050000, 4.920000, 4.820000, 4.720000, 4.620000, 4.530000, 4.450000, 4.360000, 4.270000, 4.210000, 4.140000, 4.060000, 4.000000, 3.970000, 4.050000, 4.140000, 4.170000, 8.480000, 6.640000, 5.200000, 5.110000, 4.970000, 4.940000, 5.040000, 5.190000, 5.350000, 5.520000, 5.720000, 3.250000, 3.200000, 3.190000, 3.160000, 3.140000, 3.120000, 3.970000, 4.080000, 4.060000, 4.030000, 4.020000, 4.970000, 4.950000, 4.940000, 5.740000, 5.730000, 5.750000, 5.740000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055442, 473170 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.222000, -16.943001, 2.316863 ], "estimate": [ -48.222000, -16.943001, 2.316863 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.990000, 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000, 3.970000, 3.980000, 3.990000, 3.990000, 3.990000, 4.000000, 4.010000, 2.980000, 2.550000, 2.380000, 2.230000, 2.090000, 1.960000, 1.860000, 1.770000, 1.680000, 1.590000, 1.530000, 1.470000, 1.400000, 1.370000, 1.350000, 1.320000, 1.320000, 1.320000, 1.330000, 1.350000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.500000, 1.510000, 1.530000, 1.560000, 1.590000, 1.610000, 1.630000, 1.650000, 1.700000, 1.680000, 1.650000, 1.620000, 1.590000, 1.560000, 1.540000, 1.520000, 1.520000, 1.500000, 1.480000, 1.460000, 1.450000, 1.430000, 1.420000, 1.400000, 1.380000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.290000, 1.290000, 1.290000, 1.270000, 1.270000, 1.260000, 1.270000, 1.270000, 1.250000, 1.340000, 5.940000, 3.610000, 3.600000, 3.600000, 3.610000, 3.610000, 3.610000, 3.600000, 3.610000, 3.630000, 3.650000, 4.170000, 3.450000, 3.450000, 3.470000, 3.490000, 3.700000, 3.820000, 3.830000, 3.850000, 3.860000, 3.880000, 3.900000, 3.900000, 3.930000, 4.000000, 6.310000, 6.340000, 6.390000, 6.430000, 6.470000, 6.510000, 6.570000, 6.630000, 6.470000, 6.250000, 6.060000, 5.870000, 5.710000, 5.560000, 5.410000, 5.270000, 5.150000, 5.030000, 4.910000, 4.800000, 4.700000, 4.610000, 4.510000, 4.430000, 4.340000, 4.270000, 4.200000, 4.130000, 4.050000, 3.990000, 3.970000, 4.050000, 4.140000, 6.750000, 6.360000, 6.670000, 5.150000, 5.110000, 4.960000, 4.940000, 5.060000, 5.210000, 5.380000, 5.550000, 5.740000, 3.230000, 3.200000, 3.180000, 3.160000, 3.130000, 3.120000, 4.010000, 4.080000, 4.050000, 4.030000, 4.030000, 4.970000, 4.950000, 4.940000, 5.740000, 5.730000, 5.750000, 5.730000, 5.720000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055442, 751853 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.222000, -16.943001, 2.341445 ], "estimate": [ -48.222000, -16.943001, 2.341445 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.980000, 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.970000, 3.970000, 3.980000, 3.980000, 3.990000, 3.990000, 3.990000, 4.010000, 4.020000, 2.630000, 2.430000, 2.270000, 2.120000, 2.000000, 1.900000, 1.790000, 1.700000, 1.620000, 1.550000, 1.490000, 1.420000, 1.380000, 1.360000, 1.360000, 1.320000, 1.320000, 1.330000, 1.340000, 1.360000, 1.390000, 1.400000, 1.420000, 1.440000, 1.440000, 1.470000, 1.490000, 1.510000, 1.540000, 1.550000, 1.570000, 1.600000, 1.620000, 1.650000, 1.680000, 1.690000, 1.650000, 1.630000, 1.600000, 1.570000, 1.560000, 1.540000, 1.520000, 1.500000, 1.480000, 1.470000, 1.440000, 1.430000, 1.420000, 1.400000, 1.390000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.340000, 1.340000, 1.320000, 1.320000, 1.310000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.260000, 1.260000, 1.250000, 1.270000, 1.490000, 3.600000, 3.600000, 3.600000, 3.610000, 3.610000, 3.610000, 3.600000, 3.610000, 3.620000, 3.630000, 3.830000, 3.460000, 3.450000, 3.460000, 3.460000, 3.490000, 3.820000, 3.820000, 3.840000, 3.860000, 3.880000, 3.890000, 3.900000, 3.920000, 3.940000, 6.290000, 6.320000, 6.370000, 6.410000, 6.450000, 6.500000, 6.550000, 6.610000, 6.540000, 6.310000, 6.100000, 5.930000, 5.750000, 5.600000, 5.450000, 5.310000, 5.180000, 5.060000, 4.940000, 4.830000, 4.720000, 4.630000, 4.540000, 4.450000, 4.360000, 4.280000, 4.220000, 4.140000, 4.070000, 4.010000, 3.980000, 4.030000, 4.120000, 4.150000, 8.420000, 6.690000, 5.210000, 5.120000, 4.980000, 4.940000, 4.940000, 5.160000, 5.320000, 5.480000, 5.660000, 3.240000, 3.200000, 3.190000, 3.170000, 3.140000, 3.120000, 3.160000, 4.090000, 4.060000, 4.030000, 4.010000, 4.970000, 4.960000, 4.940000, 5.740000, 5.730000, 5.750000, 5.730000, 5.720000, 5.700000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055442, 833323 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.222000, -16.943001, 2.384464 ], "estimate": [ -48.222000, -16.943001, 2.384464 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.980000, 3.970000, 3.970000, 3.960000, 3.960000, 3.960000, 3.960000, 3.970000, 3.980000, 3.980000, 3.980000, 3.990000, 3.990000, 3.990000, 4.000000, 4.020000, 2.850000, 2.530000, 2.360000, 2.220000, 2.090000, 1.950000, 1.870000, 1.760000, 1.680000, 1.590000, 1.530000, 1.460000, 1.410000, 1.370000, 1.350000, 1.330000, 1.320000, 1.320000, 1.340000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.480000, 1.500000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.640000, 1.660000, 1.690000, 1.680000, 1.640000, 1.630000, 1.590000, 1.560000, 1.540000, 1.520000, 1.510000, 1.500000, 1.480000, 1.460000, 1.440000, 1.420000, 1.420000, 1.410000, 1.390000, 1.370000, 1.370000, 1.360000, 1.350000, 1.340000, 1.330000, 1.330000, 1.320000, 1.310000, 1.300000, 1.300000, 1.290000, 1.280000, 1.280000, 1.260000, 1.260000, 1.270000, 1.250000, 1.250000, 1.400000, 5.940000, 3.600000, 3.610000, 3.600000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.630000, 3.650000, 3.960000, 3.450000, 3.450000, 3.470000, 3.490000, 3.780000, 3.820000, 3.830000, 3.850000, 3.870000, 3.880000, 3.900000, 3.900000, 3.930000, 4.050000, 6.310000, 6.340000, 6.390000, 6.430000, 6.480000, 6.510000, 6.580000, 6.630000, 6.430000, 6.210000, 6.030000, 5.840000, 5.680000, 5.530000, 5.370000, 5.240000, 5.130000, 5.000000, 4.890000, 4.780000, 4.670000, 4.590000, 4.490000, 4.410000, 4.320000, 4.260000, 4.180000, 4.110000, 4.030000, 3.990000, 3.960000, 4.050000, 4.130000, 6.750000, 6.360000, 6.600000, 5.150000, 5.050000, 4.970000, 4.940000, 5.070000, 5.220000, 5.380000, 5.550000, 5.750000, 3.220000, 3.190000, 3.170000, 3.150000, 3.120000, 3.120000, 4.030000, 4.070000, 4.050000, 4.030000, 4.030000, 4.960000, 4.940000, 4.930000, 5.730000, 5.730000, 5.740000, 5.730000, 5.700000, 5.690000, 5.680000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055442, 993361 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.222000, -16.943001, 2.452065 ], "estimate": [ -48.222000, -16.943001, 2.452065 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.970000, 3.980000, 3.990000, 3.990000, 4.000000, 4.000000, 4.010000, 4.010000, 3.090000, 2.570000, 2.400000, 2.240000, 2.100000, 1.990000, 1.870000, 1.780000, 1.690000, 1.590000, 1.540000, 1.470000, 1.420000, 1.380000, 1.370000, 1.330000, 1.320000, 1.330000, 1.340000, 1.360000, 1.380000, 1.390000, 1.410000, 1.430000, 1.440000, 1.460000, 1.480000, 1.500000, 1.510000, 1.540000, 1.560000, 1.590000, 1.620000, 1.630000, 1.670000, 1.700000, 1.680000, 1.640000, 1.630000, 1.600000, 1.570000, 1.550000, 1.530000, 1.520000, 1.500000, 1.470000, 1.470000, 1.440000, 1.430000, 1.410000, 1.410000, 1.390000, 1.380000, 1.370000, 1.360000, 1.360000, 1.350000, 1.330000, 1.330000, 1.310000, 1.310000, 1.290000, 1.290000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.270000, 1.260000, 1.250000, 1.400000, 5.930000, 3.600000, 3.600000, 3.600000, 3.610000, 3.610000, 3.610000, 3.610000, 3.610000, 3.620000, 3.640000, 4.120000, 3.450000, 3.450000, 3.470000, 3.490000, 3.620000, 3.820000, 3.830000, 3.850000, 3.860000, 3.880000, 3.900000, 3.910000, 3.930000, 3.980000, 6.300000, 6.330000, 6.380000, 6.430000, 6.460000, 6.500000, 6.570000, 6.610000, 6.440000, 6.220000, 6.020000, 5.840000, 5.680000, 5.530000, 5.370000, 5.240000, 5.130000, 5.000000, 4.890000, 4.790000, 4.680000, 4.590000, 4.490000, 4.420000, 4.320000, 4.260000, 4.180000, 4.110000, 4.030000, 3.990000, 3.970000, 4.050000, 4.140000, 6.740000, 6.350000, 6.570000, 5.150000, 5.060000, 4.960000, 4.920000, 5.030000, 5.170000, 5.350000, 5.510000, 5.710000, 3.210000, 3.190000, 3.170000, 3.150000, 3.120000, 3.120000, 3.980000, 4.070000, 4.040000, 4.020000, 4.030000, 4.960000, 4.940000, 4.930000, 5.730000, 5.720000, 5.730000, 5.720000, 5.700000, 5.690000, 5.670000, 5.670000, 5.660000, 5.660000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055443, 133191 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.223000, -16.941999, 2.544248 ], "estimate": [ -48.223000, -16.941999, 2.544248 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 3.980000, 3.980000, 3.990000, 4.000000, 4.000000, 4.000000, 4.010000, 4.010000, 4.030000, 4.040000, 2.590000, 2.410000, 2.250000, 2.100000, 2.000000, 1.880000, 1.790000, 1.700000, 1.620000, 1.540000, 1.480000, 1.410000, 1.380000, 1.380000, 1.340000, 1.330000, 1.340000, 1.350000, 1.360000, 1.380000, 1.400000, 1.420000, 1.440000, 1.440000, 1.460000, 1.480000, 1.510000, 1.520000, 1.550000, 1.560000, 1.600000, 1.620000, 1.630000, 1.680000, 1.710000, 1.690000, 1.650000, 1.630000, 1.600000, 1.580000, 1.550000, 1.540000, 1.520000, 1.500000, 1.480000, 1.460000, 1.440000, 1.440000, 1.420000, 1.410000, 1.380000, 1.370000, 1.370000, 1.360000, 1.360000, 1.340000, 1.340000, 1.340000, 1.320000, 1.310000, 1.310000, 1.300000, 1.290000, 1.290000, 1.280000, 1.270000, 1.270000, 1.260000, 1.250000, 1.280000, 1.450000, 5.940000, 3.600000, 3.600000, 3.600000, 3.620000, 3.620000, 3.610000, 3.610000, 3.610000, 3.620000, 3.650000, 3.630000, 3.450000, 3.450000, 3.470000, 3.500000, 3.680000, 3.820000, 3.830000, 3.850000, 3.860000, 3.880000, 3.900000, 3.900000, 3.930000, 4.000000, 6.300000, 6.330000, 6.370000, 6.420000, 6.460000, 6.500000, 6.560000, 6.610000, 6.430000, 6.210000, 6.020000, 5.840000, 5.670000, 5.530000, 5.370000, 5.240000, 5.120000, 4.990000, 4.890000, 4.780000, 4.680000, 4.580000, 4.480000, 4.410000, 4.310000, 4.250000, 4.170000, 4.100000, 4.030000, 3.980000, 3.970000, 4.040000, 4.130000, 6.720000, 9.870000, 6.580000, 5.140000, 5.050000, 4.950000, 4.920000, 5.030000, 5.170000, 5.340000, 5.490000, 5.690000, 3.210000, 3.190000, 3.160000, 3.140000, 3.120000, 3.120000, 3.960000, 4.050000, 4.030000, 4.020000, 4.010000, 4.950000, 4.930000, 4.920000, 5.720000, 5.720000, 5.730000, 5.710000, 5.690000, 5.680000, 5.670000, 5.660000, 5.660000, 5.660000, 5.750000, 5.750000, 5.740000, 5.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055443, 402694 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.223999, -16.941000, 2.599557 ], "estimate": [ -48.223999, -16.941000, 2.599557 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 4.000000, 4.010000, 4.020000, 4.040000, 2.990000, 2.580000, 2.410000, 2.250000, 2.110000, 1.990000, 1.880000, 1.780000, 1.700000, 1.610000, 1.540000, 1.480000, 1.410000, 1.390000, 1.390000, 1.340000, 1.340000, 1.350000, 1.360000, 1.370000, 1.390000, 1.410000, 1.430000, 1.440000, 1.450000, 1.470000, 1.490000, 1.510000, 1.530000, 1.560000, 1.580000, 1.610000, 1.620000, 1.650000, 1.680000, 1.710000, 1.680000, 1.640000, 1.630000, 1.600000, 1.570000, 1.550000, 1.530000, 1.510000, 1.490000, 1.490000, 1.460000, 1.440000, 1.430000, 1.410000, 1.400000, 1.390000, 1.370000, 1.360000, 1.350000, 1.350000, 1.350000, 1.340000, 1.320000, 1.320000, 1.310000, 1.290000, 1.290000, 1.280000, 1.280000, 1.270000, 1.280000, 1.270000, 1.260000, 1.240000, 1.280000, 1.490000, 3.630000, 3.600000, 3.600000, 3.610000, 3.610000, 3.610000, 3.600000, 3.610000, 3.610000, 3.630000, 3.640000, 3.460000, 3.450000, 3.440000, 3.460000, 3.500000, 3.770000, 3.820000, 3.830000, 3.840000, 3.860000, 3.880000, 3.900000, 3.910000, 3.930000, 4.010000, 6.310000, 6.330000, 6.370000, 6.420000, 6.460000, 6.510000, 6.550000, 6.600000, 6.400000, 6.180000, 5.990000, 5.820000, 5.650000, 5.500000, 5.350000, 5.210000, 5.090000, 4.970000, 4.870000, 4.750000, 4.660000, 4.570000, 4.470000, 4.380000, 4.310000, 4.230000, 4.150000, 4.080000, 4.010000, 3.960000, 3.950000, 4.030000, 4.120000, 6.750000, 9.860000, 6.750000, 5.130000, 4.990000, 4.950000, 4.940000, 5.000000, 5.160000, 5.320000, 5.480000, 5.680000, 3.200000, 3.170000, 3.140000, 3.130000, 3.110000, 3.100000, 3.930000, 4.040000, 4.020000, 4.010000, 4.000000, 4.940000, 4.920000, 4.910000, 5.710000, 5.710000, 5.720000, 5.700000, 5.680000, 5.670000, 5.670000, 5.660000, 5.650000, 5.650000, 5.740000, 5.740000, 5.730000, 5.730000, 5.740000, 5.740000, 5.750000, 5.750000, 4.120000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055443, 493242 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.227997, -16.939001, 2.722468 ], "estimate": [ -48.227997, -16.939001, 2.722468 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 2.320000, 2.160000, 2.040000, 1.920000, 1.820000, 1.730000, 1.650000, 1.570000, 1.510000, 1.440000, 1.410000, 1.410000, 1.360000, 1.350000, 1.350000, 1.370000, 1.380000, 1.400000, 1.420000, 1.440000, 1.440000, 1.450000, 1.470000, 1.490000, 1.510000, 1.530000, 1.550000, 1.580000, 1.600000, 1.620000, 1.640000, 1.670000, 1.710000, 1.700000, 1.670000, 1.630000, 1.610000, 1.580000, 1.550000, 1.530000, 1.510000, 1.510000, 1.490000, 1.470000, 1.450000, 1.430000, 1.410000, 1.400000, 1.390000, 1.380000, 1.360000, 1.350000, 1.350000, 1.340000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.250000, 1.260000, 1.260000, 1.270000, 1.470000, 5.940000, 3.600000, 3.600000, 3.600000, 3.600000, 3.620000, 3.610000, 3.600000, 3.610000, 3.610000, 3.630000, 3.780000, 3.430000, 3.440000, 3.450000, 3.470000, 3.470000, 3.820000, 3.830000, 3.840000, 3.850000, 3.870000, 3.890000, 3.900000, 3.910000, 3.940000, 6.280000, 6.310000, 6.340000, 6.380000, 6.430000, 6.480000, 6.520000, 6.580000, 6.490000, 6.270000, 6.080000, 5.890000, 5.720000, 5.570000, 5.400000, 5.260000, 5.140000, 5.010000, 4.910000, 4.800000, 4.690000, 4.590000, 4.500000, 4.420000, 4.330000, 4.260000, 4.180000, 4.110000, 4.040000, 3.990000, 3.960000, 3.970000, 4.060000, 4.110000, 6.730000, 6.740000, 5.170000, 5.070000, 4.940000, 4.910000, 4.910000, 5.080000, 5.230000, 5.390000, 5.560000, 3.220000, 3.180000, 3.150000, 3.130000, 3.110000, 3.080000, 3.080000, 4.040000, 4.030000, 4.010000, 3.980000, 3.980000, 4.920000, 4.890000, 4.900000, 5.710000, 5.700000, 5.700000, 5.680000, 5.670000, 5.660000, 5.650000, 5.640000, 5.630000, 5.630000, 5.730000, 5.720000, 5.720000, 5.720000, 5.730000, 5.730000, 5.740000, 5.740000, 3.860000, 3.400000, 3.040000, 2.750000, 2.510000, 2.300000, 2.130000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055445, 645979 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.229000, -16.939001, 2.820796 ], "estimate": [ -48.229000, -16.939001, 2.820796 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.660000, 1.590000, 1.530000, 1.470000, 1.430000, 1.410000, 1.400000, 1.360000, 1.360000, 1.370000, 1.390000, 1.410000, 1.420000, 1.440000, 1.450000, 1.470000, 1.480000, 1.500000, 1.530000, 1.540000, 1.570000, 1.580000, 1.610000, 1.630000, 1.650000, 1.680000, 1.710000, 1.710000, 1.680000, 1.650000, 1.620000, 1.600000, 1.570000, 1.550000, 1.520000, 1.510000, 1.500000, 1.480000, 1.460000, 1.440000, 1.420000, 1.410000, 1.400000, 1.380000, 1.370000, 1.360000, 1.340000, 1.340000, 1.340000, 1.330000, 1.320000, 1.310000, 1.310000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.270000, 1.250000, 1.230000, 1.290000, 1.510000, 5.960000, 3.610000, 3.600000, 3.600000, 3.600000, 3.620000, 3.610000, 3.610000, 3.610000, 3.620000, 3.620000, 3.730000, 3.430000, 3.440000, 3.440000, 3.470000, 3.470000, 3.820000, 3.830000, 3.840000, 3.850000, 3.860000, 3.880000, 3.900000, 3.910000, 3.940000, 6.260000, 6.300000, 6.330000, 6.380000, 6.430000, 6.460000, 6.510000, 6.560000, 6.540000, 6.310000, 6.100000, 5.920000, 5.750000, 5.590000, 5.430000, 5.300000, 5.180000, 5.050000, 4.930000, 4.810000, 4.710000, 4.620000, 4.520000, 4.430000, 4.340000, 4.270000, 4.190000, 4.120000, 4.050000, 4.000000, 3.920000, 3.950000, 4.040000, 4.110000, 6.320000, 6.320000, 10.110000, 5.090000, 4.970000, 4.930000, 4.920000, 5.040000, 5.180000, 5.350000, 5.520000, 3.200000, 3.190000, 3.160000, 3.130000, 3.110000, 3.080000, 3.080000, 3.980000, 4.030000, 4.000000, 3.980000, 3.980000, 4.930000, 4.890000, 4.890000, 5.690000, 5.700000, 5.690000, 5.670000, 5.670000, 5.660000, 5.640000, 5.630000, 5.630000, 5.620000, 5.720000, 5.710000, 5.710000, 5.710000, 5.720000, 5.720000, 5.730000, 5.740000, 4.050000, 3.540000, 3.140000, 2.840000, 2.580000, 2.360000, 2.180000, 2.020000, 1.880000, 1.760000, 1.740000, 1.730000, 1.740000 ], "valid": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ], "timestamp": [ 976055445, 647236 ] }
{ "nrays": 180, "min_theta": -1.570796, "max_theta": 1.570796, "odometry": [ -48.227997, -16.939001, 2.906833 ], "estimate": [ -48.227997, -16.939001, 2.906833 ], "true_pose": [ null, null, null ], "theta": [ -1.570796, -1.553246, -1.535695, -1.518144, -1.500593, -1.483042, -1.465492, -1.447941, -1.430390, -1.412839, -1.395288, -1.377738, -1.360187, -1.342636, -1.325085, -1.307534, -1.289984, -1.272433, -1.254882, -1.237331, -1.219780, -1.202230, -1.184679, -1.167128, -1.149577, -1.132026, -1.114476, -1.096925, -1.079374, -1.061823, -1.044272, -1.026722, -1.009171, -0.991620, -0.974069, -0.956518, -0.938968, -0.921417, -0.903866, -0.886315, -0.868764, -0.851214, -0.833663, -0.816112, -0.798561, -0.781010, -0.763460, -0.745909, -0.728358, -0.710807, -0.693256, -0.675706, -0.658155, -0.640604, -0.623053, -0.605502, -0.587952, -0.570401, -0.552850, -0.535299, -0.517749, -0.500198, -0.482647, -0.465096, -0.447545, -0.429995, -0.412444, -0.394893, -0.377342, -0.359791, -0.342241, -0.324690, -0.307139, -0.289588, -0.272037, -0.254487, -0.236936, -0.219385, -0.201834, -0.184283, -0.166733, -0.149182, -0.131631, -0.114080, -0.096529, -0.078979, -0.061428, -0.043877, -0.026326, -0.008775, 0.008775, 0.026326, 0.043877, 0.061428, 0.078979, 0.096529, 0.114080, 0.131631, 0.149182, 0.166733, 0.184283, 0.201834, 0.219385, 0.236936, 0.254487, 0.272037, 0.289588, 0.307139, 0.324690, 0.342241, 0.359791, 0.377342, 0.394893, 0.412444, 0.429995, 0.447545, 0.465096, 0.482647, 0.500198, 0.517749, 0.535299, 0.552850, 0.570401, 0.587952, 0.605502, 0.623053, 0.640604, 0.658155, 0.675706, 0.693256, 0.710807, 0.728358, 0.745909, 0.763460, 0.781010, 0.798561, 0.816112, 0.833663, 0.851214, 0.868764, 0.886315, 0.903866, 0.921417, 0.938968, 0.956518, 0.974069, 0.991620, 1.009171, 1.026722, 1.044272, 1.061823, 1.079374, 1.096925, 1.114476, 1.132026, 1.149577, 1.167128, 1.184679, 1.202230, 1.219780, 1.237331, 1.254882, 1.272433, 1.289984, 1.307534, 1.325085, 1.342636, 1.360187, 1.377738, 1.395288, 1.412839, 1.430390, 1.447941, 1.465492, 1.483042, 1.500593, 1.518144, 1.535695, 1.553246, 1.570796 ], "readings": [ 1.420000, 1.410000, 1.390000, 1.360000, 1.370000, 1.380000, 1.410000, 1.420000, 1.440000, 1.440000, 1.470000, 1.480000, 1.510000, 1.520000, 1.540000, 1.560000, 1.590000, 1.610000, 1.630000, 1.650000, 1.670000, 1.710000, 1.730000, 1.710000, 1.670000, 1.640000, 1.620000, 1.600000, 1.570000, 1.550000, 1.520000, 1.510000, 1.490000, 1.470000, 1.450000, 1.440000, 1.420000, 1.410000, 1.390000, 1.380000, 1.370000, 1.360000, 1.340000, 1.340000, 1.340000, 1.330000, 1.320000, 1.320000, 1.300000, 1.300000, 1.300000, 1.290000, 1.280000, 1.280000, 1.270000, 1.260000, 1.290000, 1.480000, 5.960000, 3.630000, 3.610000, 3.600000, 3.600000, 3.620000, 3.610000, 3.620000, 3.610000, 3.620000, 3.630000, 3.640000, 3.450000, 3.440000, 3.450000, 3.460000, 3.460000, 3.810000, 3.820000, 3.830000, 3.850000, 3.860000, 3.880000, 3.890000, 3.910000, 3.930000, 4.030000, 6.290000, 6.320000, 6.360000, 6.410000, 6.450000, 6.500000, 6.540000, 6.590000, 6.430000, 6.210000, 6.020000, 5.840000, 5.670000, 5.520000, 5.370000, 5.230000, 5.100000, 4.980000, 4.870000, 4.760000, 4.660000, 4.560000, 4.460000, 4.380000, 4.300000, 4.230000, 4.140000, 4.070000, 4.010000, 3.950000, 3.930000, 4.000000, 4.090000, 4.140000, 9.800000, 6.720000, 5.140000, 5.070000, 4.940000, 4.890000, 4.910000, 5.110000, 5.270000, 5.430000, 5.620000, 3.200000, 3.170000, 3.140000, 3.110000, 3.090000, 3.080000, 3.170000, 4.030000, 4.020000, 4.000000, 3.980000, 4.930000, 4.910000, 4.910000, 5.700000, 5.690000, 5.690000, 5.680000, 5.670000, 5.660000, 5.650000, 5.640000, 5.620000, 5.620000, 5.670000, 5.710000, 5.710000, 5.710000, 5.710000, 5.710000, 5.720000, 5.730000, 5.730000, 3.790000, 3.330000, 2.980000, 2.700000, 2.460000, 2.260000, 2.090000, 1.950000, 1.810000, 1.760000, 1.730000, 1.73000