From 1b803e43062cf9eebf2d2226bc215084aa195750 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 8 Feb 2025 11:42:11 -0500 Subject: [PATCH 1/3] Updated visualization to parse CSV-like files --- Makefile | 2 +- common/parse_scan.cpp | 68 +- common/parse_scan.h | 15 +- ex_data/scan1/first.conf | 1152 ------------------ ex_data/scan1/first.csv | 2099 +++++++++++++++++--------------- ex_data/scan1/match_iter1.csv | 953 --------------- ex_data/scan1/second.conf | 1152 ------------------ ex_data/scan1/second.csv | 2105 ++++++++++++++++++--------------- ex_data/scan2/first.conf | 1152 ------------------ ex_data/scan2/first.csv | 1912 ++++++++++++++++++------------ ex_data/scan2/match_iter1.csv | 766 ------------ ex_data/scan2/second.conf | 1152 ------------------ ex_data/scan2/second.csv | 1914 ++++++++++++++++++------------ ex_data/scan3/first.conf | 726 ------------ ex_data/scan3/first.csv | 720 +++++++++++ ex_data/scan3/second.conf | 726 ------------ ex_data/scan3/second.csv | 720 +++++++++++ view.conf | 2 + vis/lidar_view.cpp | 16 +- vis/main.cpp | 14 +- vis/view_config.cpp | 2 + vis/view_config.h | 2 + 22 files changed, 6083 insertions(+), 11287 deletions(-) delete mode 100644 ex_data/scan1/first.conf delete mode 100644 ex_data/scan1/match_iter1.csv delete mode 100644 ex_data/scan1/second.conf delete mode 100644 ex_data/scan2/first.conf delete mode 100644 ex_data/scan2/match_iter1.csv delete mode 100644 ex_data/scan2/second.conf delete mode 100644 ex_data/scan3/first.conf create mode 100644 ex_data/scan3/first.csv delete mode 100644 ex_data/scan3/second.conf create mode 100644 ex_data/scan3/second.csv diff --git a/Makefile b/Makefile index a3085a3..d2fcc20 100644 --- a/Makefile +++ b/Makefile @@ -47,7 +47,7 @@ test: $(TEST_TARGET) .PHONY: view view: $(MAIN_TARGET) - ./$(BUILD_DIR)/$(MAIN_TARGET) -S ex_data/scan$(N)/first.conf -D ex_data/scan$(N)/second.conf --method $(METHOD) + ./$(BUILD_DIR)/$(MAIN_TARGET) -S ex_data/scan$(N)/first.csv -D ex_data/scan$(N)/second.csv --method $(METHOD) .PHONY: bench bench: $(BENCH_TARGET) diff --git a/common/parse_scan.cpp b/common/parse_scan.cpp index e93b6a0..9b1380e 100644 --- a/common/parse_scan.cpp +++ b/common/parse_scan.cpp @@ -1,42 +1,46 @@ #include "parse_scan.h" +#include +#include +#include +#include +#include +#include +#include +#include "icp/geo.h" -void parse_scan_var(const char* var, const char* data, void* user_data) { - LidarScan* scan = static_cast(user_data); - if (strcmp(var, "range_min") == 0) { - scan->range_min = strtod(data, NULL); - } else if (strcmp(var, "range_max") == 0) { - scan->range_max = strtod(data, NULL); - } else if (strcmp(var, "angle_max") == 0) { - scan->angle_max = strtod(data, NULL); - } else if (strcmp(var, "angle_min") == 0) { - scan->angle_min = strtod(data, NULL); - } else if (strcmp(var, "angle_increment") == 0) { - scan->angle_increment = strtod(data, NULL); - } else if (isdigit(var[0])) { - long index = strtol(var, NULL, 10); - double angle = scan->angle_min + index * scan->angle_increment; - double range = strtod(data, NULL); - if (range >= scan->range_min && range <= scan->range_max) { - scan->points.push_back(icp::Vector(100 * range * std::cos(angle), - 100 * range * std::sin(angle))); - } +float parse_float(std::string_view view) { + float f; + auto [_, ec] = std::from_chars(view.data(), (view.data() + view.size()), f); + if (ec != std::errc()) { + throw std::runtime_error("failed to read lidar scan: invalid value"); } + return f; } -LidarScan parse_lidar_scan(std::string path) { - FILE* file = fopen(path.c_str(), "r"); - if (!file) { - perror("parse_config: fopen"); - std::exit(1); +std::vector parse_lidar_scan(std::string path) { + std::ifstream in(path); + if (!in.is_open()) { + throw std::runtime_error("failed to read lidar scan: failed to open file"); } - LidarScan scan; - if (conf_parse_file(file, parse_scan_var, &scan) != 0) { - perror("parse_config: conf_parse_file"); - std::exit(1); - } + std::vector result; + + std::string line; + while (std::getline(in, line)) { + size_t index = line.find(','); + std::string_view view(line); + + std::string_view x_view = view.substr(0, index); + std::string_view y_view = view.substr(index + 1); - fclose(file); + float x = parse_float(x_view); + float y = parse_float(y_view); + if (std::isinf(x) || std::isinf(y)) { + continue; + } + + result.emplace_back(x, y); + } - return scan; + return result; } diff --git a/common/parse_scan.h b/common/parse_scan.h index 1f77b9b..aadcfac 100644 --- a/common/parse_scan.h +++ b/common/parse_scan.h @@ -1,17 +1,4 @@ #include #include "icp/geo.h" -extern "C" { -#include -} -struct LidarScan { - double range_max; - double range_min; - double angle_min; - double angle_max; - double angle_increment; - - std::vector points; -}; - -LidarScan parse_lidar_scan(std::string path); +std::vector parse_lidar_scan(std::string path); diff --git a/ex_data/scan1/first.conf b/ex_data/scan1/first.conf deleted file mode 100644 index 5bdf69a..0000000 --- a/ex_data/scan1/first.conf +++ /dev/null @@ -1,1152 +0,0 @@ -angle_max = 3.14159 -angle_min = -3.14159 -angle_increment = 0.00548271 -length = 1146 -range_max = 12 -range_min = 0.15 -0 = 0.598 -1 = inf -2 = inf -3 = inf -4 = inf -5 = inf -6 = inf -7 = inf -8 = inf -9 = inf -10 = inf -11 = inf -12 = inf -13 = inf -14 = inf -15 = inf -16 = inf -17 = inf -18 = inf -19 = inf -20 = inf -21 = inf -22 = inf -23 = inf -24 = inf -25 = inf -26 = inf -27 = inf -28 = inf -29 = inf -30 = inf -31 = inf -32 = inf -33 = inf -34 = inf -35 = inf -36 = inf -37 = inf -38 = inf -39 = inf -40 = inf -41 = inf -42 = 0.476 -43 = 0.476 -44 = 0.476 -45 = 0.476 -46 = 0.473 -47 = 0.473 -48 = 0.473 -49 = 0.469 -50 = 0.459 -51 = inf -52 = inf -53 = inf -54 = inf -55 = inf -56 = inf -57 = 0.431 -58 = 0.431 -59 = 0.431 -60 = 0.431 -61 = 0.426 -62 = 0.426 -63 = 0.426 -64 = 0.422 -65 = 0.422 -66 = 0.42 -67 = 0.418 -68 = 0.414 -69 = 0.406 -70 = 0.402 -71 = 0.402 -72 = 0.402 -73 = 0.399 -74 = 0.399 -75 = 0.399 -76 = 0.396 -77 = 0.394 -78 = 0.392 -79 = 0.389 -80 = 0.389 -81 = 0.386 -82 = 0.384 -83 = 0.384 -84 = 0.379 -85 = 0.379 -86 = 0.374 -87 = 0.374 -88 = 0.374 -89 = 0.372 -90 = 0.372 -91 = 0.37 -92 = 0.368 -93 = 0.366 -94 = 0.364 -95 = 0.362 -96 = 0.362 -97 = 0.361 -98 = 0.359 -99 = 0.357 -100 = 0.354 -101 = 0.353 -102 = 0.353 -103 = 0.351 -104 = 0.35 -105 = 0.348 -106 = 0.347 -107 = 0.345 -108 = 0.344 -109 = 0.343 -110 = 0.342 -111 = 0.341 -112 = 0.34 -113 = 0.339 -114 = 0.337 -115 = 0.336 -116 = 0.335 -117 = 0.334 -118 = 0.333 -119 = 0.332 -120 = 0.331 -121 = 0.33 -122 = 0.329 -123 = 0.327 -124 = 0.326 -125 = 0.325 -126 = 0.325 -127 = 0.324 -128 = 0.323 -129 = 0.322 -130 = 0.322 -131 = 0.321 -132 = 0.319 -133 = 0.319 -134 = 0.318 -135 = 0.318 -136 = 0.317 -137 = 0.316 -138 = 0.316 -139 = 0.315 -140 = 0.314 -141 = 0.313 -142 = 0.313 -143 = 0.312 -144 = 0.311 -145 = 0.31 -146 = 0.309 -147 = 0.309 -148 = 0.308 -149 = 0.308 -150 = 0.307 -151 = 0.307 -152 = 0.306 -153 = 0.305 -154 = 0.304 -155 = 0.304 -156 = 0.304 -157 = 0.303 -158 = 0.302 -159 = 0.302 -160 = 0.302 -161 = 0.301 -162 = 0.301 -163 = 0.3 -164 = 0.3 -165 = 0.3 -166 = 0.299 -167 = 0.298 -168 = 0.298 -169 = 0.297 -170 = 0.297 -171 = 0.297 -172 = 0.297 -173 = 0.296 -174 = 0.296 -175 = 0.295 -176 = 0.295 -177 = 0.294 -178 = 0.295 -179 = 0.294 -180 = 0.294 -181 = 0.294 -182 = 0.294 -183 = 0.293 -184 = 0.292 -185 = 0.293 -186 = 0.293 -187 = 0.292 -188 = 0.292 -189 = 0.292 -190 = 0.292 -191 = 0.291 -192 = 0.292 -193 = 0.291 -194 = 0.291 -195 = 0.291 -196 = 0.291 -197 = 0.291 -198 = 0.291 -199 = 0.291 -200 = 0.291 -201 = 0.29 -202 = 0.291 -203 = 0.291 -204 = 0.29 -205 = 0.29 -206 = 0.291 -207 = 0.29 -208 = 0.291 -209 = 0.291 -210 = 0.291 -211 = 0.291 -212 = 0.291 -213 = 0.291 -214 = 0.291 -215 = 0.29 -216 = 0.29 -217 = 0.291 -218 = 0.291 -219 = 0.291 -220 = 0.291 -221 = 0.291 -222 = 0.291 -223 = 0.291 -224 = 0.292 -225 = 0.292 -226 = 0.292 -227 = 0.292 -228 = 0.292 -229 = 0.292 -230 = 0.292 -231 = 0.292 -232 = 0.292 -233 = 0.293 -234 = 0.293 -235 = 0.294 -236 = 0.294 -237 = 0.294 -238 = 0.294 -239 = 0.295 -240 = 0.295 -241 = 0.295 -242 = 0.295 -243 = 0.295 -244 = 0.295 -245 = 0.295 -246 = 0.295 -247 = 0.296 -248 = 0.296 -249 = 0.297 -250 = 0.297 -251 = 0.297 -252 = 0.298 -253 = 0.298 -254 = 0.298 -255 = 0.298 -256 = 0.299 -257 = 0.299 -258 = 0.3 -259 = 0.301 -260 = 0.301 -261 = 0.301 -262 = 0.302 -263 = 0.303 -264 = 0.303 -265 = 0.303 -266 = 0.304 -267 = 0.304 -268 = 0.305 -269 = 0.307 -270 = inf -271 = inf -272 = inf -273 = 0.202 -274 = 0.202 -275 = 0.202 -276 = 0.202 -277 = 0.2 -278 = 0.217 -279 = 0.217 -280 = 0.217 -281 = 0.217 -282 = 0.216 -283 = 0.216 -284 = 0.216 -285 = 0.221 -286 = 0.221 -287 = 0.221 -288 = 0.221 -289 = 0.22 -290 = 0.22 -291 = 0.22 -292 = inf -293 = inf -294 = inf -295 = inf -296 = inf -297 = inf -298 = 0.33 -299 = 0.33 -300 = 0.33 -301 = 0.33 -302 = inf -303 = inf -304 = inf -305 = inf -306 = inf -307 = inf -308 = inf -309 = inf -310 = inf -311 = inf -312 = inf -313 = inf -314 = inf -315 = inf -316 = 0.208 -317 = 0.208 -318 = 0.208 -319 = 0.208 -320 = 0.34 -321 = 0.206 -322 = 0.206 -323 = 0.336 -324 = inf -325 = inf -326 = inf -327 = inf -328 = inf -329 = inf -330 = inf -331 = 0.348 -332 = 0.348 -333 = 0.348 -334 = 0.348 -335 = inf -336 = inf -337 = inf -338 = inf -339 = 0.576 -340 = 0.576 -341 = 0.576 -342 = 0.576 -343 = 0.576 -344 = 0.576 -345 = 0.578 -346 = 0.58 -347 = 0.584 -348 = 0.512 -349 = 0.512 -350 = 0.512 -351 = 0.506 -352 = 0.503 -353 = 0.499 -354 = 0.495 -355 = 0.491 -356 = 0.488 -357 = 0.485 -358 = 0.481 -359 = 0.477 -360 = 0.471 -361 = 0.57 -362 = 0.57 -363 = 0.57 -364 = 0.57 -365 = 0.574 -366 = 0.58 -367 = 0.584 -368 = 0.59 -369 = 0.59 -370 = 0.596 -371 = 0.602 -372 = 0.608 -373 = 0.614 -374 = 0.618 -375 = 0.614 -376 = 0.616 -377 = 0.616 -378 = 0.624 -379 = 0.624 -380 = 0.624 -381 = 0.622 -382 = 0.622 -383 = 0.62 -384 = 0.62 -385 = 0.618 -386 = 0.616 -387 = 0.616 -388 = 0.614 -389 = 0.612 -390 = 0.612 -391 = 0.61 -392 = 0.604 -393 = inf -394 = inf -395 = inf -396 = inf -397 = 0.6 -398 = 0.6 -399 = 0.6 -400 = 0.6 -401 = 0.594 -402 = 0.594 -403 = 0.594 -404 = inf -405 = inf -406 = 0.59 -407 = 0.59 -408 = 0.59 -409 = 0.59 -410 = 0.588 -411 = 0.584 -412 = 0.584 -413 = 0.58 -414 = 0.58 -415 = 0.58 -416 = 0.578 -417 = 0.578 -418 = 0.578 -419 = 0.578 -420 = 0.576 -421 = 0.576 -422 = 0.572 -423 = 0.574 -424 = 0.572 -425 = 0.572 -426 = 0.572 -427 = 0.572 -428 = 0.57 -429 = 0.57 -430 = 0.568 -431 = 0.568 -432 = 0.566 -433 = 0.564 -434 = 0.564 -435 = 0.562 -436 = 0.562 -437 = 0.562 -438 = 0.562 -439 = 0.562 -440 = 0.562 -441 = 0.562 -442 = 0.56 -443 = 0.558 -444 = 0.558 -445 = 0.558 -446 = 0.558 -447 = 0.558 -448 = 0.556 -449 = 0.556 -450 = 0.556 -451 = 0.554 -452 = 0.554 -453 = 0.554 -454 = 0.554 -455 = 0.554 -456 = 0.554 -457 = 0.554 -458 = 0.554 -459 = 0.554 -460 = 0.554 -461 = 0.554 -462 = 0.554 -463 = 0.558 -464 = 0.556 -465 = 0.556 -466 = 0.544 -467 = 0.544 -468 = 0.544 -469 = 0.544 -470 = inf -471 = inf -472 = inf -473 = inf -474 = inf -475 = 2.038 -476 = 2.038 -477 = 2.038 -478 = 2.038 -479 = 2.034 -480 = 2.034 -481 = 2.034 -482 = 2.034 -483 = 2.048 -484 = 2.048 -485 = 2.06 -486 = 2.08 -487 = 2.104 -488 = 2.14 -489 = inf -490 = inf -491 = inf -492 = inf -493 = 6.784 -494 = 6.784 -495 = 6.784 -496 = 6.784 -497 = 6.792 -498 = inf -499 = 6.832 -500 = 6.832 -501 = 6.832 -502 = 6.832 -503 = 6.832 -504 = 6.832 -505 = inf -506 = 6.848 -507 = 6.848 -508 = 6.848 -509 = 6.848 -510 = 6.864 -511 = inf -512 = 4.424 -513 = 4.424 -514 = 4.424 -515 = 4.424 -516 = 4.432 -517 = 4.432 -518 = 4.432 -519 = 4.448 -520 = 4.432 -521 = 4.416 -522 = 3.676 -523 = 3.676 -524 = 3.62 -525 = 3.596 -526 = 3.584 -527 = 3.584 -528 = 3.58 -529 = 3.564 -530 = 3.544 -531 = 3.54 -532 = 3.544 -533 = 3.532 -534 = 3.52 -535 = 3.532 -536 = 3.54 -537 = 3.548 -538 = 3.564 -539 = 3.588 -540 = 3.612 -541 = 7.288 -542 = 7.288 -543 = 7.288 -544 = 7.344 -545 = 7.36 -546 = 7.344 -547 = 7.36 -548 = 7.368 -549 = 7.368 -550 = 7.368 -551 = 2.908 -552 = 2.908 -553 = 2.908 -554 = 2.876 -555 = 2.856 -556 = 2.884 -557 = 2.892 -558 = 2.88 -559 = 2.892 -560 = 0.966 -561 = 0.966 -562 = 0.966 -563 = 0.966 -564 = 0.962 -565 = 0.962 -566 = 0.962 -567 = 0.962 -568 = 0.962 -569 = 0.96 -570 = 0.958 -571 = inf -572 = inf -573 = 4.096 -574 = 4.096 -575 = 4.096 -576 = 4.096 -577 = 4.092 -578 = 4.092 -579 = 4.072 -580 = 4.06 -581 = 4.06 -582 = 4.064 -583 = 4.04 -584 = 4.004 -585 = 3.996 -586 = 4.004 -587 = 3.992 -588 = 3.96 -589 = 3.972 -590 = 3.972 -591 = 3.992 -592 = 3.984 -593 = 3.988 -594 = 3.984 -595 = 3.972 -596 = 3.968 -597 = 3.968 -598 = 3.96 -599 = 3.976 -600 = 4.064 -601 = 4.092 -602 = 4.04 -603 = 4.024 -604 = 4.048 -605 = 4.048 -606 = 4.248 -607 = 4.248 -608 = 4.248 -609 = 4.224 -610 = 4.216 -611 = 5.824 -612 = 5.8 -613 = 5.8 -614 = 5.792 -615 = 5.768 -616 = 5.768 -617 = 5.736 -618 = 5.688 -619 = 5.664 -620 = 6.064 -621 = 6.064 -622 = 6.12 -623 = 6.184 -624 = 6.24 -625 = 6.344 -626 = 6.344 -627 = 6.344 -628 = 6.408 -629 = 6.408 -630 = 6.456 -631 = 6.496 -632 = 5.288 -633 = 5.288 -634 = 5.288 -635 = 5.304 -636 = 5.536 -637 = 5.536 -638 = 5.56 -639 = 5.576 -640 = 5.568 -641 = 5.568 -642 = 5.584 -643 = 5.592 -644 = 5.584 -645 = 5.608 -646 = 7.192 -647 = 7.192 -648 = 7.152 -649 = 7.152 -650 = 7.192 -651 = 7.32 -652 = 7.512 -653 = 7.624 -654 = 7.672 -655 = 7.712 -656 = 7.752 -657 = 7.832 -658 = 7.936 -659 = 7.984 -660 = 8.016 -661 = 8.016 -662 = 8.096 -663 = 8.2 -664 = 6.744 -665 = 6.744 -666 = 6.784 -667 = 8.36 -668 = 8.36 -669 = 7.656 -670 = 7.64 -671 = 7.64 -672 = 7.632 -673 = 7.616 -674 = 7.576 -675 = 7.544 -676 = 7.544 -677 = 7.528 -678 = 7.52 -679 = 7.48 -680 = 7.632 -681 = 7.632 -682 = 7.632 -683 = 7.688 -684 = 7.968 -685 = 7.968 -686 = 7.704 -687 = 7.704 -688 = 6.648 -689 = 2.784 -690 = 2.784 -691 = 2.784 -692 = 2.776 -693 = 2.776 -694 = 2.776 -695 = 2.776 -696 = 2.792 -697 = 2.824 -698 = 3.884 -699 = 3.884 -700 = 3.884 -701 = 3.868 -702 = 3.872 -703 = 3.888 -704 = 3.908 -705 = 5.792 -706 = 5.792 -707 = inf -708 = inf -709 = inf -710 = inf -711 = inf -712 = inf -713 = inf -714 = inf -715 = inf -716 = inf -717 = inf -718 = inf -719 = inf -720 = inf -721 = inf -722 = inf -723 = inf -724 = inf -725 = inf -726 = inf -727 = inf -728 = inf -729 = inf -730 = inf -731 = inf -732 = inf -733 = inf -734 = inf -735 = inf -736 = inf -737 = inf -738 = inf -739 = inf -740 = inf -741 = inf -742 = inf -743 = 1.174 -744 = 1.174 -745 = 1.174 -746 = 1.174 -747 = inf -748 = inf -749 = 1.162 -750 = 1.162 -751 = 1.162 -752 = 1.162 -753 = 1.154 -754 = 1.154 -755 = 1.154 -756 = 1.154 -757 = 1.15 -758 = 1.15 -759 = 1.15 -760 = 1.144 -761 = 1.144 -762 = 1.144 -763 = 1.142 -764 = 1.14 -765 = 1.136 -766 = 1.136 -767 = 1.136 -768 = 1.136 -769 = 1.136 -770 = 1.136 -771 = 1.132 -772 = 1.13 -773 = 1.13 -774 = 1.13 -775 = 1.128 -776 = 1.126 -777 = 1.12 -778 = 1.112 -779 = 1.112 -780 = 1.112 -781 = 1.11 -782 = 1.11 -783 = 1.112 -784 = 1.112 -785 = 1.11 -786 = 1.11 -787 = 1.11 -788 = 1.11 -789 = 1.11 -790 = 1.108 -791 = 1.108 -792 = 1.11 -793 = 1.11 -794 = 1.11 -795 = 1.108 -796 = 0.489 -797 = 0.489 -798 = 0.489 -799 = 0.489 -800 = 0.483 -801 = 0.483 -802 = 0.483 -803 = 0.479 -804 = 0.476 -805 = 0.474 -806 = 0.471 -807 = 0.469 -808 = 0.467 -809 = 0.463 -810 = 0.461 -811 = 0.461 -812 = 0.461 -813 = 0.458 -814 = 0.455 -815 = 0.453 -816 = 0.452 -817 = 0.45 -818 = 0.447 -819 = 0.446 -820 = 0.445 -821 = 0.445 -822 = 0.444 -823 = 0.442 -824 = 0.439 -825 = 0.44 -826 = 0.446 -827 = 0.453 -828 = 0.453 -829 = 0.45 -830 = 0.44 -831 = 0.435 -832 = 0.435 -833 = 0.435 -834 = 0.433 -835 = 0.432 -836 = 0.432 -837 = 0.433 -838 = 0.434 -839 = 0.434 -840 = 0.436 -841 = 0.435 -842 = 0.433 -843 = 0.434 -844 = 0.435 -845 = 0.434 -846 = 0.434 -847 = 0.435 -848 = 0.434 -849 = 0.435 -850 = 0.438 -851 = 0.473 -852 = 0.473 -853 = 0.473 -854 = 0.476 -855 = 0.476 -856 = 0.476 -857 = 0.476 -858 = 0.476 -859 = 0.476 -860 = 0.477 -861 = 0.478 -862 = 0.477 -863 = 0.476 -864 = 0.476 -865 = 0.476 -866 = 0.476 -867 = 0.476 -868 = 0.475 -869 = 0.475 -870 = 0.475 -871 = 0.475 -872 = 0.474 -873 = 0.474 -874 = 0.474 -875 = 0.474 -876 = 0.474 -877 = 0.477 -878 = 0.478 -879 = 0.478 -880 = 0.473 -881 = 0.474 -882 = 0.477 -883 = 0.502 -884 = 0.502 -885 = 0.506 -886 = 0.512 -887 = 0.512 -888 = 0.516 -889 = 0.516 -890 = 0.516 -891 = 0.516 -892 = 0.516 -893 = 0.516 -894 = 0.516 -895 = 0.518 -896 = 0.518 -897 = 0.518 -898 = 0.518 -899 = 0.52 -900 = 0.52 -901 = 0.524 -902 = 0.532 -903 = 0.534 -904 = 0.534 -905 = 0.538 -906 = 0.538 -907 = 0.53 -908 = 0.522 -909 = 0.522 -910 = 0.524 -911 = 0.52 -912 = 0.518 -913 = 0.516 -914 = 0.514 -915 = 0.514 -916 = 0.514 -917 = 0.54 -918 = 0.54 -919 = 0.548 -920 = 0.546 -921 = 0.546 -922 = 0.55 -923 = 0.55 -924 = 0.546 -925 = 0.546 -926 = 0.56 -927 = 0.56 -928 = 0.56 -929 = 0.558 -930 = 0.574 -931 = 0.574 -932 = 0.576 -933 = 0.576 -934 = 0.578 -935 = 0.58 -936 = 0.61 -937 = 0.61 -938 = 0.606 -939 = 0.602 -940 = 0.606 -941 = 0.634 -942 = 0.634 -943 = 0.642 -944 = 0.642 -945 = 0.65 -946 = 0.656 -947 = 0.684 -948 = 0.684 -949 = 0.684 -950 = 0.682 -951 = inf -952 = inf -953 = inf -954 = 3.104 -955 = 3.104 -956 = 3.104 -957 = 3.104 -958 = 3.092 -959 = 3.092 -960 = 3.092 -961 = 3.084 -962 = 3.064 -963 = 3.052 -964 = 3.048 -965 = 3.04 -966 = 3.028 -967 = 3.02 -968 = 3.02 -969 = 3.012 -970 = 3.004 -971 = 2.996 -972 = 2.984 -973 = 2.976 -974 = 2.968 -975 = 2.964 -976 = 2.956 -977 = 2.948 -978 = 2.944 -979 = 2.932 -980 = 2.924 -981 = 2.92 -982 = 2.92 -983 = 2.916 -984 = 2.908 -985 = 2.9 -986 = 2.888 -987 = 2.88 -988 = 2.88 -989 = 2.872 -990 = 2.864 -991 = 2.86 -992 = 2.856 -993 = 2.852 -994 = 2.84 -995 = 2.836 -996 = 2.832 -997 = 2.832 -998 = 2.828 -999 = 2.824 -1000 = 2.816 -1001 = 2.812 -1002 = 2.808 -1003 = 2.804 -1004 = 2.8 -1005 = 2.804 -1006 = 2.852 -1007 = 2.928 -1008 = 3.008 -1009 = 3.1 -1010 = 3.1 -1011 = 3.188 -1012 = 1.926 -1013 = 1.926 -1014 = 1.926 -1015 = 1.888 -1016 = 1.87 -1017 = 1.858 -1018 = 1.846 -1019 = 1.836 -1020 = 1.834 -1021 = 1.836 -1022 = 1.838 -1023 = 1.838 -1024 = 1.838 -1025 = 1.84 -1026 = 1.846 -1027 = 1.854 -1028 = 1.862 -1029 = 1.864 -1030 = 1.87 -1031 = 1.884 -1032 = 1.894 -1033 = 1.922 -1034 = 1.936 -1035 = 1.95 -1036 = 1.976 -1037 = 1.976 -1038 = 1.978 -1039 = 1.754 -1040 = 1.748 -1041 = 1.748 -1042 = 1.746 -1043 = 1.748 -1044 = 1.75 -1045 = 1.748 -1046 = 1.748 -1047 = 1.75 -1048 = 1.744 -1049 = 1.742 -1050 = 1.74 -1051 = 1.746 -1052 = 1.746 -1053 = 1.746 -1054 = 1.746 -1055 = 1.744 -1056 = 1.744 -1057 = 1.746 -1058 = 1.744 -1059 = 1.744 -1060 = 1.748 -1061 = 1.746 -1062 = 1.746 -1063 = 1.75 -1064 = 1.04 -1065 = 1.04 -1066 = 1.04 -1067 = 1.04 -1068 = 1.036 -1069 = 1.036 -1070 = 1.032 -1071 = 1.03 -1072 = 1.028 -1073 = 1.028 -1074 = 1.026 -1075 = 1.024 -1076 = 1.02 -1077 = 1.018 -1078 = 1.018 -1079 = 1.016 -1080 = 1.018 -1081 = 1.018 -1082 = inf -1083 = inf -1084 = inf -1085 = inf -1086 = inf -1087 = inf -1088 = inf -1089 = inf -1090 = inf -1091 = inf -1092 = inf -1093 = 0.431 -1094 = 0.431 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b/ex_data/scan1/second.conf deleted file mode 100644 index 39f154e..0000000 --- a/ex_data/scan1/second.conf +++ /dev/null @@ -1,1152 +0,0 @@ -angle_max = 3.14159 -angle_min = -3.14159 -angle_increment = 0.00548271 -length = 1146 -range_max = 12 -range_min = 0.15 -0 = 0.44 -1 = 0.434 -2 = 0.434 -3 = 0.429 -4 = 0.425 -5 = 0.425 -6 = 0.413 -7 = 0.413 -8 = 0.407 -9 = 0.407 -10 = 0.407 -11 = inf -12 = 0.388 -13 = 0.388 -14 = 0.388 -15 = 0.388 -16 = 0.383 -17 = 0.383 -18 = 0.383 -19 = 0.38 -20 = 0.38 -21 = 0.38 -22 = 0.377 -23 = 0.377 -24 = 0.375 -25 = 0.373 -26 = 0.371 -27 = 0.367 -28 = 0.362 -29 = 0.362 -30 = 0.362 -31 = 0.36 -32 = 0.36 -33 = 0.358 -34 = 0.356 -35 = 0.355 -36 = 0.351 -37 = 0.349 -38 = 0.349 -39 = 0.347 -40 = 0.346 -41 = 0.345 -42 = 0.344 -43 = 0.342 -44 = 0.338 -45 = 0.335 -46 = 0.334 -47 = 0.334 -48 = 0.334 -49 = 0.333 -50 = 0.332 -51 = 0.33 -52 = 0.328 -53 = 0.326 -54 = 0.326 -55 = 0.324 -56 = 0.323 -57 = 0.323 -58 = 0.321 -59 = 0.319 -60 = 0.319 -61 = 0.318 -62 = 0.316 -63 = 0.315 -64 = 0.314 -65 = 0.313 -66 = 0.311 -67 = 0.311 -68 = 0.31 -69 = 0.308 -70 = 0.308 -71 = 0.307 -72 = 0.307 -73 = 0.306 -74 = 0.305 -75 = 0.304 -76 = 0.303 -77 = 0.303 -78 = 0.302 -79 = 0.301 -80 = 0.3 -81 = 0.3 -82 = 0.298 -83 = 0.297 -84 = 0.297 -85 = 0.296 -86 = 0.294 -87 = 0.294 -88 = 0.294 -89 = 0.293 -90 = 0.292 -91 = 0.291 -92 = 0.291 -93 = 0.29 -94 = 0.288 -95 = 0.288 -96 = 0.288 -97 = 0.287 -98 = 0.287 -99 = 0.286 -100 = 0.286 -101 = 0.285 -102 = 0.284 -103 = 0.283 -104 = 0.283 -105 = 0.283 -106 = 0.283 -107 = 0.281 -108 = 0.281 -109 = 0.281 -110 = 0.281 -111 = 0.279 -112 = 0.279 -113 = 0.279 -114 = 0.278 -115 = 0.278 -116 = 0.277 -117 = 0.277 -118 = 0.277 -119 = 0.276 -120 = 0.275 -121 = 0.275 -122 = 0.275 -123 = 0.275 -124 = 0.274 -125 = 0.273 -126 = 0.273 -127 = 0.273 -128 = 0.272 -129 = 0.272 -130 = 0.272 -131 = 0.272 -132 = 0.271 -133 = 0.271 -134 = 0.271 -135 = 0.271 -136 = 0.27 -137 = 0.27 -138 = 0.27 -139 = 0.27 -140 = 0.27 -141 = 0.269 -142 = 0.269 -143 = 0.269 -144 = 0.269 -145 = 0.269 -146 = 0.268 -147 = 0.268 -148 = 0.268 -149 = 0.268 -150 = 0.268 -151 = 0.268 -152 = 0.268 -153 = 0.268 -154 = 0.267 -155 = 0.267 -156 = 0.267 -157 = 0.267 -158 = 0.267 -159 = 0.268 -160 = 0.267 -161 = 0.267 -162 = 0.267 -163 = 0.267 -164 = 0.267 -165 = 0.267 -166 = 0.267 -167 = 0.267 -168 = 0.267 -169 = 0.267 -170 = 0.267 -171 = 0.267 -172 = 0.267 -173 = 0.267 -174 = 0.267 -175 = 0.267 -176 = 0.267 -177 = 0.268 -178 = 0.268 -179 = 0.267 -180 = 0.267 -181 = 0.268 -182 = 0.269 -183 = 0.268 -184 = 0.268 -185 = 0.268 -186 = 0.269 -187 = 0.269 -188 = 0.269 -189 = 0.269 -190 = 0.27 -191 = 0.27 -192 = 0.27 -193 = 0.27 -194 = 0.27 -195 = 0.271 -196 = 0.271 -197 = 0.272 -198 = 0.272 -199 = 0.272 -200 = 0.274 -201 = inf -202 = inf -203 = inf -204 = inf -205 = 0.171 -206 = 0.171 -207 = 0.171 -208 = 0.171 -209 = 0.171 -210 = 0.17 -211 = inf -212 = inf -213 = inf -214 = 0.188 -215 = 0.188 -216 = 0.188 -217 = 0.188 -218 = 0.186 -219 = 0.186 -220 = 0.185 -221 = 0.185 -222 = 0.187 -223 = 0.189 -224 = 0.189 -225 = 0.189 -226 = 0.189 -227 = 0.189 -228 = inf -229 = inf -230 = inf -231 = inf -232 = inf -233 = inf -234 = inf -235 = 0.294 -236 = 0.294 -237 = 0.294 -238 = 0.294 -239 = 0.294 -240 = 0.294 -241 = 0.294 -242 = 0.295 -243 = 0.296 -244 = inf -245 = inf -246 = inf -247 = inf -248 = inf -249 = inf -250 = inf -251 = inf -252 = inf -253 = inf -254 = inf -255 = inf -256 = 0.171 -257 = 0.171 -258 = 0.171 -259 = 0.171 -260 = 0.17 -261 = 0.17 -262 = 0.17 -263 = 0.318 -264 = 0.318 -265 = 0.318 -266 = 0.302 -267 = 0.302 -268 = 0.3 -269 = inf -270 = inf -271 = inf -272 = inf -273 = inf -274 = inf -275 = inf -276 = inf -277 = 0.312 -278 = 0.312 -279 = 0.312 -280 = 0.312 -281 = 0.311 -282 = inf -283 = inf -284 = inf -285 = inf -286 = 0.532 -287 = 0.532 -288 = 0.532 -289 = 0.532 -290 = 0.53 -291 = 0.53 -292 = 0.532 -293 = 0.534 -294 = 0.536 -295 = 0.536 -296 = 0.536 -297 = 0.538 -298 = 0.54 -299 = 0.475 -300 = 0.475 -301 = 0.475 -302 = 0.472 -303 = 0.468 -304 = 0.464 -305 = 0.46 -306 = 0.456 -307 = 0.452 -308 = 0.449 -309 = 0.446 -310 = 0.443 -311 = 0.44 -312 = 0.436 -313 = 0.528 -314 = 0.528 -315 = 0.528 -316 = 0.532 -317 = 0.532 -318 = 0.536 -319 = 0.54 -320 = 0.546 -321 = 0.55 -322 = 0.556 -323 = 0.562 -324 = 0.562 -325 = 0.566 -326 = 0.57 -327 = 0.576 -328 = 0.582 -329 = 0.586 -330 = 0.586 -331 = 0.586 -332 = 0.586 -333 = 0.584 -334 = 0.584 -335 = 0.584 -336 = 0.582 -337 = 0.58 -338 = 0.58 -339 = 0.578 -340 = 0.578 -341 = 0.576 -342 = 0.576 -343 = 0.574 -344 = 0.574 -345 = 0.57 -346 = 0.564 -347 = inf -348 = inf -349 = inf -350 = inf -351 = 0.56 -352 = 0.56 -353 = 0.56 -354 = 0.56 -355 = 0.558 -356 = 0.558 -357 = 0.558 -358 = 0.558 -359 = 0.558 -360 = 0.558 -361 = 0.554 -362 = 0.55 -363 = 0.55 -364 = 0.548 -365 = 0.548 -366 = 0.544 -367 = 0.544 -368 = 0.544 -369 = 0.544 -370 = 0.544 -371 = 0.544 -372 = 0.542 -373 = 0.54 -374 = 0.538 -375 = 0.538 -376 = 0.538 -377 = 0.536 -378 = 0.536 -379 = 0.536 -380 = 0.536 -381 = 0.536 -382 = 0.534 -383 = 0.534 -384 = 0.532 -385 = 0.53 -386 = 0.53 -387 = 0.53 -388 = 0.528 -389 = 0.528 -390 = 0.528 -391 = 0.528 -392 = 0.528 -393 = 0.526 -394 = 0.524 -395 = 0.526 -396 = 0.526 -397 = 0.526 -398 = 0.526 -399 = 0.524 -400 = 0.524 -401 = 0.522 -402 = 0.522 -403 = 0.52 -404 = 0.52 -405 = 0.522 -406 = 0.522 -407 = 0.52 -408 = 0.52 -409 = 0.52 -410 = 0.52 -411 = 0.52 -412 = 0.52 -413 = 0.52 -414 = 0.52 -415 = 0.52 -416 = 0.522 -417 = 0.526 -418 = 0.52 -419 = inf -420 = inf -421 = inf -422 = inf -423 = 0.512 -424 = 0.512 -425 = 0.512 -426 = 0.512 -427 = 0.512 -428 = 0.512 -429 = 0.514 -430 = 0.514 -431 = inf -432 = inf -433 = inf -434 = inf -435 = inf -436 = 2.044 -437 = 2.044 -438 = 2.044 -439 = 2.044 -440 = 2.06 -441 = 2.06 -442 = 2.076 -443 = 4.336 -444 = 4.336 -445 = 4.336 -446 = 4.336 -447 = 6.784 -448 = 6.784 -449 = 6.784 -450 = 6.784 -451 = 6.776 -452 = inf -453 = 6.784 -454 = 6.784 -455 = 6.784 -456 = 6.784 -457 = 6.808 -458 = inf -459 = inf -460 = 6.84 -461 = 6.84 -462 = 6.84 -463 = 6.84 -464 = 6.84 -465 = 6.856 -466 = 4.392 -467 = 4.4 -468 = 4.4 -469 = 4.4 -470 = 4.408 -471 = 4.408 -472 = 4.408 -473 = 4.416 -474 = 4.416 -475 = 4.408 -476 = 6.368 -477 = 6.368 -478 = 6.368 -479 = 6.968 -480 = 7 -481 = 7 -482 = 7.016 -483 = 7.016 -484 = 7.032 -485 = 7.056 -486 = 7.064 -487 = 7.08 -488 = 7.08 -489 = 7.088 -490 = 7.128 -491 = 7.152 -492 = 7.16 -493 = 7.16 -494 = 7.184 -495 = 7.2 -496 = 7.208 -497 = 7.232 -498 = 7.304 -499 = 7.344 -500 = 7.32 -501 = 7.32 -502 = 7.352 -503 = 7.4 -504 = 7.408 -505 = 7.392 -506 = 7.416 -507 = 7.432 -508 = 4.608 -509 = 4.608 -510 = 4.608 -511 = inf -512 = inf -513 = inf -514 = inf -515 = inf -516 = inf -517 = inf -518 = inf -519 = inf -520 = 0.946 -521 = 0.946 -522 = 0.946 -523 = 0.946 -524 = 0.942 -525 = 0.942 -526 = 0.942 -527 = 0.942 -528 = 0.942 -529 = 0.94 -530 = 0.942 -531 = inf -532 = 4.052 -533 = 4.052 -534 = 4.052 -535 = 4.052 -536 = 4.04 -537 = 4.02 -538 = 4.02 -539 = 3.996 -540 = 3.98 -541 = 3.98 -542 = 3.988 -543 = 3.972 -544 = 3.968 -545 = 3.984 -546 = 3.98 -547 = 3.972 -548 = 3.968 -549 = 3.96 -550 = 3.964 -551 = 3.96 -552 = 3.94 -553 = 3.96 -554 = 4.104 -555 = 4.104 -556 = 4.08 -557 = 4.08 -558 = 4.104 -559 = 4.104 -560 = 4.104 -561 = 4.104 -562 = 4.192 -563 = 4.216 -564 = 4.208 -565 = 5.816 -566 = 5.816 -567 = 5.752 -568 = 5.752 -569 = 5.688 -570 = 5.672 -571 = 5.64 -572 = 5.592 -573 = 5.568 -574 = 5.568 -575 = 6.16 -576 = 6.16 -577 = 6.16 -578 = 6.232 -579 = 6.168 -580 = 6.16 -581 = 6.288 -582 = 6.288 -583 = 6.352 -584 = 6.408 -585 = 6.464 -586 = 5.344 -587 = 5.344 -588 = 5.296 -589 = 5.296 -590 = 5.528 -591 = 5.528 -592 = 5.528 -593 = 5.544 -594 = 5.56 -595 = 5.568 -596 = 5.576 -597 = 5.576 -598 = 5.576 -599 = 5.576 -600 = 7.192 -601 = 7.192 -602 = 7.192 -603 = 7.152 -604 = 7.184 -605 = 7.496 -606 = 7.496 -607 = 7.584 -608 = 7.632 -609 = 7.696 -610 = 7.8 -611 = 7.888 -612 = 7.928 -613 = 7.968 -614 = 8.032 -615 = 8.088 -616 = 8.192 -617 = 8.192 -618 = 6.712 -619 = 6.712 -620 = 6.736 -621 = 7.696 -622 = 7.696 -623 = 7.664 -624 = 7.664 -625 = 7.664 -626 = 7.624 -627 = 7.608 -628 = 7.56 -629 = 7.536 -630 = 7.552 -631 = 7.512 -632 = 7.456 -633 = 7.456 -634 = 7.376 -635 = 7.648 -636 = 7.728 -637 = 7.728 -638 = 7.768 -639 = 7.792 -640 = 7.856 -641 = 6.656 -642 = 6.584 -643 = 6.584 -644 = 6.584 -645 = 6.6 -646 = 2.788 -647 = 2.788 -648 = 2.78 -649 = 2.78 -650 = 2.78 -651 = 2.796 -652 = 2.808 -653 = 3.896 -654 = 3.892 -655 = 3.892 -656 = 3.888 -657 = 3.888 -658 = 3.888 -659 = 3.904 -660 = 5.592 -661 = 5.6 -662 = 5.6 -663 = 5.576 -664 = 5.592 -665 = inf -666 = inf -667 = inf -668 = inf -669 = inf -670 = inf -671 = inf -672 = inf -673 = inf -674 = inf -675 = inf -676 = inf -677 = inf -678 = inf -679 = inf -680 = inf -681 = inf -682 = inf -683 = inf -684 = inf -685 = inf -686 = inf -687 = inf -688 = inf -689 = inf -690 = inf -691 = inf -692 = inf -693 = inf -694 = inf -695 = inf -696 = 1.2 -697 = 1.2 -698 = 1.2 -699 = 1.2 -700 = 1.188 -701 = 1.188 -702 = 1.188 -703 = inf -704 = inf -705 = 1.18 -706 = 1.18 -707 = 1.18 -708 = 1.18 -709 = 1.18 -710 = 1.18 -711 = 1.178 -712 = 1.172 -713 = 1.172 -714 = 1.172 -715 = 1.162 -716 = 1.162 -717 = 1.162 -718 = 1.164 -719 = 1.162 -720 = 1.158 -721 = 1.154 -722 = 1.152 -723 = 1.15 -724 = 1.15 -725 = 1.15 -726 = 1.15 -727 = 1.148 -728 = 1.148 -729 = 1.144 -730 = 1.136 -731 = 1.132 -732 = 1.132 -733 = 1.132 -734 = 1.132 -735 = 1.13 -736 = 1.13 -737 = 1.13 -738 = 1.13 -739 = 1.13 -740 = 1.13 -741 = 1.13 -742 = 1.128 -743 = 1.128 -744 = 1.128 -745 = 1.126 -746 = 1.128 -747 = 1.128 -748 = 1.126 -749 = 1.126 -750 = 1.126 -751 = 1.128 -752 = 1.128 -753 = 1.128 -754 = 1.128 -755 = 1.128 -756 = 1.13 -757 = 1.13 -758 = 1.13 -759 = 1.138 -760 = 1.138 -761 = 1.13 -762 = 1.13 -763 = 1.132 -764 = 1.132 -765 = 1.132 -766 = 1.132 -767 = 0.52 -768 = 0.52 -769 = 0.52 -770 = 0.52 -771 = 0.514 -772 = 0.514 -773 = 0.51 -774 = 0.508 -775 = 0.505 -776 = 0.503 -777 = 0.502 -778 = 0.502 -779 = 0.501 -780 = 0.501 -781 = 0.501 -782 = 0.501 -783 = 0.501 -784 = 0.5 -785 = 0.5 -786 = 0.5 -787 = 0.5 -788 = 0.498 -789 = 0.498 -790 = 0.498 -791 = 0.498 -792 = 0.498 -793 = 0.497 -794 = 0.495 -795 = 0.495 -796 = 0.495 -797 = 0.494 -798 = 0.494 -799 = 0.494 -800 = 0.493 -801 = 0.492 -802 = 0.492 -803 = inf -804 = inf -805 = 0.492 -806 = 0.492 -807 = 0.492 -808 = 0.492 -809 = 0.489 -810 = 0.511 -811 = 0.511 -812 = 0.511 -813 = inf -814 = inf -815 = 0.493 -816 = 0.493 -817 = 0.493 -818 = 0.493 -819 = 0.496 -820 = 0.496 -821 = 0.494 -822 = 0.492 -823 = 0.491 -824 = 0.49 -825 = 0.488 -826 = 0.49 -827 = 0.52 -828 = 0.52 -829 = 0.516 -830 = 0.516 -831 = 0.518 -832 = 0.52 -833 = 0.522 -834 = 0.522 -835 = 0.522 -836 = 0.524 -837 = 0.526 -838 = 0.526 -839 = 0.528 -840 = 0.528 -841 = 0.532 -842 = 0.528 -843 = 0.524 -844 = 0.526 -845 = 0.53 -846 = 0.536 -847 = 0.544 -848 = 0.554 -849 = 0.556 -850 = 0.56 -851 = 0.56 -852 = 0.566 -853 = 0.57 -854 = 0.574 -855 = 0.578 -856 = 0.58 -857 = 0.582 -858 = 0.582 -859 = 0.584 -860 = 0.586 -861 = 0.586 -862 = 0.59 -863 = 0.594 -864 = 0.596 -865 = 0.596 -866 = 0.594 -867 = 0.596 -868 = 0.596 -869 = 0.596 -870 = 0.596 -871 = 0.594 -872 = 0.592 -873 = 0.592 -874 = 0.592 -875 = 0.592 -876 = 0.594 -877 = 0.606 -878 = 0.606 -879 = 0.622 -880 = 0.636 -881 = 0.654 -882 = 0.63 -883 = 0.63 -884 = 0.638 -885 = 0.644 -886 = 0.644 -887 = 0.644 -888 = 0.65 -889 = 0.68 -890 = 0.68 -891 = 0.672 -892 = 0.716 -893 = 0.716 -894 = 0.716 -895 = inf -896 = inf -897 = inf -898 = inf -899 = 3.388 -900 = 3.388 -901 = 3.388 -902 = 3.388 -903 = 3.38 -904 = 3.38 -905 = 3.38 -906 = 3.372 -907 = 3.36 -908 = 3.352 -909 = 3.336 -910 = 3.32 -911 = 3.316 -912 = 3.308 -913 = 3.296 -914 = 3.284 -915 = 3.272 -916 = 3.272 -917 = 3.264 -918 = 3.248 -919 = 3.24 -920 = 3.232 -921 = 3.22 -922 = 3.216 -923 = 3.208 -924 = 3.184 -925 = 3.18 -926 = 3.176 -927 = 3.168 -928 = 3.164 -929 = 3.16 -930 = 3.152 -931 = 3.144 -932 = 3.144 -933 = 3.144 -934 = 3.128 -935 = 3.116 -936 = 2.016 -937 = 2.02 -938 = 2.02 -939 = 2.02 -940 = 1.942 -941 = 1.942 -942 = 1.946 -943 = 1.94 -944 = 1.946 -945 = 1.946 -946 = 1.952 -947 = 1.96 -948 = 1.988 -949 = 2 -950 = 1.998 -951 = 2.016 -952 = 2.028 -953 = 2.028 -954 = 2.03 -955 = 2.026 -956 = 2.032 -957 = 2.048 -958 = 2.068 -959 = 2.068 -960 = 2.084 -961 = 1.236 -962 = 1.236 -963 = 1.236 -964 = 1.236 -965 = inf -966 = 3.316 -967 = 3.316 -968 = 3.316 -969 = 3.316 -970 = 3.276 -971 = 3.276 -972 = 3.276 -973 = 3.3 -974 = 3.444 -975 = 3.444 -976 = 3.412 -977 = 3.384 -978 = 3.384 -979 = 3.36 -980 = 3.236 -981 = 3.236 -982 = 3.216 -983 = 3.212 -984 = 3.1 -985 = 3.1 -986 = 3.116 -987 = 1.788 -988 = 1.788 -989 = 1.788 -990 = 1.788 -991 = 1.78 -992 = 1.776 -993 = 1.774 -994 = 1.774 -995 = 1.776 -996 = 1.776 -997 = 1.774 -998 = 1.778 -999 = 1.778 -1000 = 1.78 -1001 = 1.778 -1002 = 1.778 -1003 = 1.778 -1004 = 1.778 -1005 = 1.778 -1006 = 1.778 -1007 = 1.778 -1008 = 1.778 -1009 = 1.78 -1010 = 1.78 -1011 = 1.78 -1012 = 1.78 -1013 = 1.782 -1014 = 1.084 -1015 = 1.068 -1016 = 1.068 -1017 = 1.068 -1018 = 1.066 -1019 = 1.062 -1020 = 1.06 -1021 = 1.06 -1022 = 1.056 -1023 = 1.054 -1024 = 1.052 -1025 = 1.05 -1026 = inf -1027 = 0.576 -1028 = 0.576 -1029 = 0.576 -1030 = 0.576 -1031 = 0.528 -1032 = 0.528 -1033 = inf -1034 = inf -1035 = 0.466 -1036 = 0.466 -1037 = 0.466 -1038 = 0.466 -1039 = 0.435 -1040 = 0.435 -1041 = 0.423 -1042 = inf -1043 = inf -1044 = inf -1045 = inf -1046 = inf -1047 = inf -1048 = inf -1049 = inf -1050 = inf -1051 = inf -1052 = inf -1053 = inf -1054 = inf -1055 = 0.295 -1056 = 0.295 -1057 = 0.295 -1058 = 0.295 -1059 = 0.293 -1060 = 0.293 -1061 = 0.29 -1062 = inf -1063 = inf -1064 = inf -1065 = inf -1066 = inf -1067 = inf -1068 = inf -1069 = inf -1070 = inf -1071 = inf -1072 = inf -1073 = inf -1074 = inf -1075 = inf -1076 = inf -1077 = inf -1078 = inf -1079 = inf -1080 = inf -1081 = inf -1082 = inf -1083 = inf -1084 = inf -1085 = inf -1086 = inf -1087 = inf -1088 = 0.616 -1089 = 0.616 -1090 = 0.616 -1091 = 0.616 -1092 = 0.606 -1093 = inf -1094 = inf -1095 = inf -1096 = inf -1097 = inf -1098 = inf -1099 = inf -1100 = inf -1101 = inf -1102 = inf -1103 = inf -1104 = inf -1105 = inf -1106 = inf -1107 = inf -1108 = inf -1109 = inf -1110 = inf -1111 = inf -1112 = inf -1113 = inf -1114 = inf -1115 = inf -1116 = inf -1117 = inf -1118 = inf -1119 = inf -1120 = inf -1121 = inf -1122 = inf -1123 = inf -1124 = inf -1125 = inf -1126 = inf -1127 = inf -1128 = inf -1129 = inf -1130 = inf -1131 = 0.483 -1132 = 0.483 -1133 = 0.483 -1134 = 0.483 -1135 = 0.473 -1136 = 0.473 -1137 = 0.465 -1138 = 0.465 -1139 = 0.465 -1140 = 0.465 -1141 = 0.457 -1142 = 0.45 -1143 = 0.45 -1144 = 0.447 -1145 = 0.444 diff --git a/ex_data/scan1/second.csv b/ex_data/scan1/second.csv index 9b41523..b4cd999 100644 --- a/ex_data/scan1/second.csv +++ b/ex_data/scan1/second.csv @@ -1,959 +1,1146 @@ --44,-0.000116758 --43.3993,-0.238064 --43.3974,-0.476005 --42.8942,-0.705707 --42.4898,-0.932099 --42.484,-1.16504 --41.2777,-1.35848 --41.2696,-1.58477 --40.6609,-1.78471 --40.6505,-2.00761 --40.6388,-2.23045 --38.716,-2.55101 --38.7015,-2.76324 --38.6857,-2.97539 --38.6689,-3.18744 --38.1527,-3.3556 --38.1337,-3.56473 --38.1136,-3.77375 --37.794,-3.95146 --37.7718,-4.15861 --37.7484,-4.36564 --37.4261,-4.53644 --37.4006,-4.74157 --37.1758,-4.92031 --36.9501,-5.09673 --36.7237,-5.27083 --36.2986,-5.41309 --35.7743,-5.53557 --35.7434,-5.73162 --35.7114,-5.92751 --35.4813,-6.08938 --35.4473,-6.28382 --35.2156,-6.44209 --34.9832,-6.598 --34.8484,-6.77063 --34.4185,-6.88315 --34.1843,-7.03146 --34.1453,-7.21877 --33.9097,-7.36343 --33.7712,-7.52748 --33.632,-7.69023 --33.492,-7.85169 --33.2539,-7.98848 --32.8212,-8.07512 --32.4855,-8.18167 --32.3434,-8.3347 --32.2972,-8.51191 --32.25,-8.68885 --32.1055,-8.839 --31.9603,-8.98782 --31.7183,-9.10771 --31.4759,-9.22522 --31.2333,-9.34036 --31.1816,-9.51146 --30.938,-9.62287 --30.7895,-9.76213 --30.7355,-9.93079 --30.4906,-10.0366 --30.2455,-10.1401 --30.1894,-10.3057 --30.038,-10.4383 --29.7918,-10.5361 --29.6395,-10.6654 --29.4866,-10.7934 --29.3333,-10.92 --29.0859,-11.0099 --29.0251,-11.1692 --28.8703,-11.2917 --28.6221,-11.376 --28.5593,-11.5327 --28.4032,-11.6512 --28.3389,-11.8067 --28.1816,-11.923 --28.0239,-12.0378 --27.8658,-12.1513 --27.7074,-12.2635 --27.6397,-12.4152 --27.4802,-12.5251 --27.3204,-12.6336 --27.1602,-12.7407 --27.0899,-12.8894 --26.8387,-12.9508 --26.6775,-13.0538 --26.6055,-13.1999 --26.4434,-13.3006 --26.1919,-13.3546 --26.1183,-13.498 --26.0439,-13.641 --25.8804,-13.7367 --25.7166,-13.831 --25.5526,-13.9239 --25.4759,-14.0638 --25.3111,-14.1545 --25.0591,-14.1945 --24.9809,-14.3316 --24.9019,-14.4684 --24.736,-14.554 --24.6559,-14.6894 --24.4893,-14.7727 --24.408,-14.9067 --24.2408,-14.9877 --24.0735,-15.0674 --23.9061,-15.1456 --23.8227,-15.2765 --23.7386,-15.4068 --23.6537,-15.5368 --23.4016,-15.5555 --23.316,-15.6836 --23.2297,-15.8112 --23.1426,-15.9383 --22.8908,-15.9506 --22.803,-16.0759 --22.7145,-16.2006 --22.5443,-16.2664 --22.4547,-16.3898 --22.2841,-16.4532 --22.1936,-16.5752 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-33 = inf -34 = inf -35 = inf -36 = inf -37 = inf -38 = inf -39 = inf -40 = inf -41 = inf -42 = inf -43 = inf -44 = inf -45 = inf -46 = inf -47 = inf -48 = inf -49 = inf -50 = inf -51 = inf -52 = inf -53 = inf -54 = inf -55 = inf -56 = inf -57 = inf -58 = inf -59 = inf -60 = inf -61 = inf -62 = inf -63 = inf -64 = inf -65 = inf -66 = inf -67 = inf -68 = inf -69 = inf -70 = inf -71 = inf -72 = inf -73 = inf -74 = inf -75 = inf -76 = inf -77 = inf -78 = inf -79 = inf -80 = inf -81 = inf -82 = inf -83 = inf -84 = inf -85 = inf -86 = inf -87 = inf -88 = inf -89 = inf -90 = inf -91 = inf -92 = inf -93 = inf -94 = inf -95 = inf -96 = 2.504 -97 = 2.504 -98 = 2.504 -99 = 2.504 -100 = 2.496 -101 = 2.496 -102 = 2.52 -103 = inf -104 = inf -105 = inf -106 = inf -107 = inf -108 = inf -109 = inf -110 = inf -111 = inf -112 = inf -113 = inf -114 = inf -115 = inf -116 = 4.72 -117 = 4.72 -118 = 4.72 -119 = 4.72 -120 = 4.752 -121 = 3.22 -122 = 3.224 -123 = 3.224 -124 = 3.224 -125 = 3.224 -126 = 3.236 -127 = 3.348 -128 = 3.348 -129 = 3.332 -130 = 3.296 -131 = 3.276 -132 = 3.28 -133 = 3.252 -134 = 3.204 -135 = 3.184 -136 = 3.196 -137 = 3.208 -138 = 3.22 -139 = 3.228 -140 = 3.248 -141 = 3.248 -142 = 3.264 -143 = 3.296 -144 = 3.324 -145 = 3.372 -146 = 3.44 -147 = 3.472 -148 = 3.488 -149 = inf -150 = inf -151 = inf -152 = inf -153 = inf -154 = inf -155 = inf -156 = inf -157 = inf -158 = inf -159 = inf -160 = inf -161 = inf -162 = inf -163 = 3.404 -164 = 3.404 -165 = 3.404 -166 = 3.404 -167 = 3.384 -168 = inf -169 = inf -170 = inf -171 = inf -172 = inf -173 = inf -174 = inf -175 = inf -176 = inf -177 = 1.548 -178 = 1.548 -179 = 1.548 -180 = 1.548 -181 = 1.548 -182 = 1.548 -183 = 1.548 -184 = 1.552 -185 = 1.558 -186 = 1.56 -187 = 1.558 -188 = 2.64 -189 = 2.64 -190 = 2.64 -191 = 2.676 -192 = 2.732 -193 = 2.764 -194 = 2.94 -195 = 2.952 -196 = 2.952 -197 = 2.944 -198 = 2.936 -199 = 2.936 -200 = 2.94 -201 = inf -202 = inf -203 = 1.652 -204 = 1.652 -205 = 1.652 -206 = 1.652 -207 = 1.65 -208 = inf -209 = inf -210 = inf -211 = inf -212 = inf -213 = inf -214 = 3.848 -215 = 3.848 -216 = 3.848 -217 = 3.848 -218 = 3.804 -219 = inf -220 = inf -221 = inf -222 = inf -223 = inf -224 = inf -225 = 1.558 -226 = 1.558 -227 = 1.558 -228 = 1.558 -229 = 1.54 -230 = 1.54 -231 = inf -232 = inf -233 = inf -234 = inf -235 = inf -236 = inf -237 = inf -238 = inf -239 = inf -240 = inf -241 = inf -242 = inf -243 = inf -244 = inf -245 = inf -246 = inf -247 = inf -248 = inf -249 = inf -250 = inf -251 = inf -252 = inf -253 = inf -254 = inf -255 = inf -256 = inf -257 = inf -258 = inf -259 = inf -260 = inf -261 = inf -262 = inf -263 = 1.388 -264 = 1.388 -265 = 1.388 -266 = 1.388 -267 = inf -268 = inf -269 = inf -270 = inf -271 = inf -272 = inf -273 = inf -274 = inf -275 = inf -276 = inf -277 = inf -278 = 1.318 -279 = 1.318 -280 = 1.318 -281 = 1.318 -282 = 1.334 -283 = 1.334 -284 = 1.334 -285 = 1.334 -286 = 1.33 -287 = 1.326 -288 = 1.322 -289 = 1.306 -290 = 1.28 -291 = 1.264 -292 = 1.262 -293 = 1.258 -294 = 1.25 -295 = 1.252 -296 = 1.492 -297 = 1.492 -298 = 1.492 -299 = 1.49 -300 = 1.49 -301 = 1.448 -302 = 1.464 -303 = 1.464 -304 = 1.456 -305 = 1.46 -306 = 1.478 -307 = 1.484 -308 = 1.484 -309 = 1.482 -310 = 1.48 -311 = 1.478 -312 = 1.478 -313 = 1.478 -314 = 0.944 -315 = 0.944 -316 = 0.932 -317 = 0.932 -318 = 0.932 -319 = 0.926 -320 = 0.924 -321 = 0.924 -322 = 0.926 -323 = 0.938 -324 = 0.948 -325 = 0.95 -326 = 0.95 -327 = 0.95 -328 = 0.95 -329 = 0.95 -330 = 0.946 -331 = 0.946 -332 = 0.946 -333 = 0.944 -334 = 0.95 -335 = 0.952 -336 = 0.95 -337 = 0.95 -338 = 0.95 -339 = 1.044 -340 = 1.044 -341 = 1.044 -342 = 1.034 -343 = 1.03 -344 = 1.03 -345 = 1.024 -346 = 1.346 -347 = 1.346 -348 = 1.346 -349 = inf -350 = inf -351 = 5.152 -352 = 5.152 -353 = 5.152 -354 = 5.152 -355 = 5.136 -356 = 5.136 -357 = 5.136 -358 = 5.08 -359 = 4.392 -360 = 4.392 -361 = 4.448 -362 = 4.448 -363 = 5.056 -364 = 5.056 -365 = 5.056 -366 = 5.056 -367 = 5.056 -368 = 5.048 -369 = 5.08 -370 = 5.088 -371 = 5.056 -372 = 5.04 -373 = 5.04 -374 = 5.04 -375 = 5.056 -376 = 5.056 -377 = 5.032 -378 = 4.28 -379 = 4.28 -380 = 4.296 -381 = 4.296 -382 = 4.296 -383 = 5.112 -384 = 5.112 -385 = 5.096 -386 = 5.096 -387 = 5.12 -388 = 5.144 -389 = 2.936 -390 = 2.936 -391 = 2.936 -392 = 2.928 -393 = 2.928 -394 = 5.096 -395 = 5.096 -396 = 5.088 -397 = 5.088 -398 = inf -399 = inf -400 = inf -401 = 6.248 -402 = 6.248 -403 = 6.248 -404 = 6.248 -405 = 6.384 -406 = 6.384 -407 = 6.384 -408 = 6.424 -409 = 6.424 -410 = 6.424 -411 = 6.424 -412 = 6.424 -413 = 6.424 -414 = 6.432 -415 = 6.432 -416 = 6.432 -417 = 6.448 -418 = 6.448 -419 = 1.754 -420 = 1.754 -421 = 1.754 -422 = 1.754 -423 = 1.752 -424 = 1.772 -425 = 1.772 -426 = 5.008 -427 = 5.008 -428 = 5.008 -429 = 5.024 -430 = 5.104 -431 = 5.184 -432 = 5.184 -433 = 5.184 -434 = 5.2 -435 = 5.216 -436 = 5.208 -437 = 5.208 -438 = 5.184 -439 = 5.184 -440 = 5.216 -441 = 5.2 -442 = inf -443 = inf -444 = 1.932 -445 = 1.932 -446 = 1.932 -447 = 1.932 -448 = 1.864 -449 = 1.864 -450 = 1.864 -451 = 1.874 -452 = 1.882 -453 = 1.888 -454 = 1.896 -455 = 5.272 -456 = 5.272 -457 = 5.272 -458 = 5.272 -459 = 5.288 -460 = 5.288 -461 = 5.272 -462 = 5.288 -463 = 5.32 -464 = 5.328 -465 = 5.344 -466 = 2.112 -467 = 2.112 -468 = 2.112 -469 = 2.112 -470 = 2.084 -471 = 2.092 -472 = 2.124 -473 = 2.096 -474 = 2.096 -475 = 2.096 -476 = 2.096 -477 = 2.108 -478 = 2.116 -479 = 2.112 -480 = 0.626 -481 = 0.626 -482 = 0.626 -483 = 0.626 -484 = inf -485 = inf -486 = 0.564 -487 = 0.564 -488 = 0.564 -489 = 0.564 -490 = 0.57 -491 = 0.57 -492 = 0.562 -493 = 0.554 -494 = 0.546 -495 = 0.54 -496 = 0.532 -497 = 0.524 -498 = 0.518 -499 = 0.505 -500 = 0.505 -501 = 0.491 -502 = 0.485 -503 = 0.479 -504 = 0.474 -505 = 0.468 -506 = 0.465 -507 = inf -508 = inf -509 = inf -510 = 0.716 -511 = 0.716 -512 = 0.716 -513 = 0.716 -514 = 0.718 -515 = 0.722 -516 = 0.724 -517 = 0.726 -518 = 0.726 -519 = 0.71 -520 = 0.716 -521 = 0.716 -522 = 0.716 -523 = 0.424 -524 = 0.424 -525 = 0.418 -526 = 0.418 -527 = 0.413 -528 = 0.41 -529 = 0.411 -530 = 0.413 -531 = 0.415 -532 = 0.417 -533 = 0.419 -534 = 0.419 -535 = 0.422 -536 = 0.424 -537 = 0.426 -538 = 0.428 -539 = 0.431 -540 = 0.433 -541 = 0.436 -542 = 0.438 -543 = 0.441 -544 = 0.441 -545 = 0.443 -546 = 0.446 -547 = 0.449 -548 = 0.452 -549 = 0.456 -550 = 0.459 -551 = 0.462 -552 = 0.465 -553 = 0.465 -554 = 0.469 -555 = 0.472 -556 = 0.476 -557 = 0.478 -558 = 0.481 -559 = 0.484 -560 = 0.487 -561 = 0.491 -562 = 0.494 -563 = 0.494 -564 = 0.498 -565 = 0.503 -566 = 0.507 -567 = 0.511 -568 = 0.515 -569 = inf -570 = inf -571 = inf -572 = inf -573 = inf -574 = 2.18 -575 = 2.18 -576 = 2.18 -577 = 2.18 -578 = 2.396 -579 = 2.396 -580 = 2.396 -581 = 2.372 -582 = 2.372 -583 = 2.372 -584 = 2.364 -585 = 2.364 -586 = 2.364 -587 = 2.348 -588 = 2.344 -589 = 2.344 -590 = 2.336 -591 = 2.332 -592 = 2.328 -593 = 2.32 -594 = 2.316 -595 = 2.312 -596 = 2.34 -597 = 2.376 -598 = 1.934 -599 = 1.934 -600 = 1.946 -601 = 1.946 -602 = 1.946 -603 = 1.942 -604 = 1.93 -605 = 1.924 -606 = 1.74 -607 = 1.74 -608 = 1.728 -609 = 1.72 -610 = 1.716 -611 = 1.71 -612 = 1.726 -613 = 1.994 -614 = 1.994 -615 = 1.994 -616 = 2.132 -617 = 2.132 -618 = 2.132 -619 = inf -620 = inf -621 = 0.522 -622 = 0.522 -623 = 0.522 -624 = 0.522 -625 = inf -626 = inf -627 = inf -628 = inf -629 = inf -630 = inf -631 = inf -632 = inf -633 = inf -634 = inf -635 = inf -636 = inf -637 = inf -638 = inf -639 = inf -640 = inf -641 = inf -642 = inf -643 = inf -644 = inf -645 = inf -646 = inf -647 = inf -648 = inf -649 = inf -650 = inf -651 = inf -652 = inf -653 = inf -654 = inf -655 = inf -656 = inf -657 = inf -658 = inf -659 = inf -660 = inf -661 = inf -662 = inf -663 = inf -664 = inf -665 = inf -666 = inf -667 = inf -668 = inf -669 = inf -670 = inf -671 = inf -672 = inf -673 = inf -674 = inf -675 = inf -676 = inf -677 = inf -678 = inf -679 = inf -680 = inf -681 = inf -682 = inf -683 = inf -684 = inf -685 = inf -686 = inf -687 = inf -688 = inf -689 = inf -690 = inf -691 = inf -692 = inf -693 = inf -694 = inf -695 = 1.132 -696 = 1.132 -697 = 1.132 -698 = 1.132 -699 = 1.134 -700 = 1.134 -701 = 1.134 -702 = 1.14 -703 = 1.17 -704 = 1.17 -705 = 1.158 -706 = 1.156 -707 = 1.16 -708 = 1.17 -709 = 1.172 -710 = 1.172 -711 = 2.32 -712 = 2.32 -713 = 2.32 -714 = 2.32 -715 = 2.32 -716 = 2.324 -717 = 2.328 -718 = 2.332 -719 = 2.336 -720 = 2.336 -721 = 2.34 -722 = 2.34 -723 = 2.664 -724 = 2.664 -725 = 2.664 -726 = 2.664 -727 = 2.664 -728 = 2.676 -729 = 2.684 -730 = 2.688 -731 = 2.688 -732 = 2.688 -733 = 2.692 -734 = 2.7 -735 = 2.704 -736 = 2.708 -737 = 2.708 -738 = 2.608 -739 = 2.608 -740 = 2.584 -741 = 2.584 -742 = 2.584 -743 = 2.74 -744 = 2.74 -745 = 2.756 -746 = inf -747 = inf -748 = 2.624 -749 = 2.624 -750 = 2.624 -751 = 2.624 -752 = 2.588 -753 = 2.588 -754 = 2.56 -755 = 2.552 -756 = 2.564 -757 = 2.576 -758 = 2.576 -759 = 2.58 -760 = 2.592 -761 = 2.604 -762 = 2.616 -763 = 2.576 -764 = 2.576 -765 = 2.62 -766 = 2.62 -767 = 2.632 -768 = 2.656 -769 = 2.664 -770 = 2.668 -771 = 2.676 -772 = 2.68 -773 = 2.688 -774 = 2.704 -775 = 2.724 -776 = 2.76 -777 = 2.76 -778 = 2.76 -779 = 2.732 -780 = 2.744 -781 = 2.756 -782 = 2.772 -783 = 2.784 -784 = 2.792 -785 = 2.808 -786 = 2.816 -787 = 2.828 -788 = 2.844 -789 = 2.86 -790 = 2.856 -791 = 2.868 -792 = 2.868 -793 = 2.892 -794 = 2.892 -795 = 2.892 -796 = 2.904 -797 = 2.932 -798 = 2.952 -799 = 1.142 -800 = 1.142 -801 = 1.132 -802 = 1.132 -803 = 1.132 -804 = 1.122 -805 = 1.12 -806 = 1.122 -807 = 1.116 -808 = 0.966 -809 = 0.962 -810 = 0.962 -811 = 0.962 -812 = 0.962 -813 = 0.958 -814 = 0.954 -815 = 0.948 -816 = 0.944 -817 = 0.94 -818 = 0.934 -819 = 0.93 -820 = 0.928 -821 = 0.922 -822 = 0.918 -823 = 0.914 -824 = 0.91 -825 = 0.906 -826 = 0.904 -827 = 0.9 -828 = 0.896 -829 = 0.892 -830 = 0.89 -831 = 0.886 -832 = 0.884 -833 = 0.882 -834 = 0.88 -835 = 0.878 -836 = 0.876 -837 = 0.876 -838 = 0.876 -839 = 0.876 -840 = 0.876 -841 = 0.876 -842 = 0.878 -843 = 0.88 -844 = 0.52 -845 = 0.52 -846 = 0.52 -847 = 0.514 -848 = 0.514 -849 = 0.51 -850 = 0.509 -851 = 0.508 -852 = 0.506 -853 = 0.504 -854 = 0.497 -855 = 0.493 -856 = 0.495 -857 = 0.497 -858 = 0.497 -859 = 0.497 -860 = 0.497 -861 = 0.497 -862 = 0.497 -863 = 0.498 -864 = 0.498 -865 = 0.499 -866 = 0.5 -867 = 0.501 -868 = 0.502 -869 = 0.502 -870 = 0.506 -871 = 0.509 -872 = 0.508 -873 = 0.505 -874 = 0.498 -875 = 0.488 -876 = 0.488 -877 = 0.488 -878 = 0.487 -879 = 0.487 -880 = 0.487 -881 = 0.487 -882 = 0.487 -883 = 0.484 -884 = 0.482 -885 = 0.478 -886 = 0.473 -887 = 0.471 -888 = 0.47 -889 = 0.47 -890 = 0.466 -891 = 0.457 -892 = 0.455 -893 = 0.456 -894 = 0.461 -895 = 0.462 -896 = 0.455 -897 = 0.455 -898 = 0.456 -899 = 0.443 -900 = 0.443 -901 = 0.446 -902 = 0.447 -903 = inf -904 = 0.43 -905 = 0.43 -906 = 0.43 -907 = 0.43 -908 = 0.435 -909 = 0.442 -910 = 0.441 -911 = 0.441 -912 = 0.425 -913 = 0.418 -914 = 0.415 -915 = 0.413 -916 = 0.411 -917 = 0.41 -918 = 0.41 -919 = 0.408 -920 = 0.382 -921 = 0.382 -922 = 0.382 -923 = 0.381 -924 = 0.381 -925 = 0.38 -926 = 0.38 -927 = 0.38 -928 = 0.381 -929 = 0.383 -930 = 0.293 -931 = 0.293 -932 = 0.29 -933 = 0.29 -934 = 0.29 -935 = 0.288 -936 = 0.286 -937 = 0.284 -938 = 0.283 -939 = 0.281 -940 = 0.28 -941 = 0.279 -942 = 0.278 -943 = 0.277 -944 = 0.275 -945 = 0.275 -946 = 0.275 -947 = 0.274 -948 = 0.274 -949 = 0.273 -950 = 0.273 -951 = 0.273 -952 = 0.273 -953 = 0.272 -954 = 0.272 -955 = 0.273 -956 = 0.273 -957 = 0.274 -958 = 0.275 -959 = 0.275 -960 = 0.276 -961 = 0.277 -962 = 0.277 -963 = 0.278 -964 = 0.278 -965 = 0.28 -966 = 0.281 -967 = 0.281 -968 = 0.282 -969 = 0.284 -970 = 0.285 -971 = 0.287 -972 = 0.287 -973 = 0.289 -974 = 0.29 -975 = 0.292 -976 = 0.295 -977 = 0.298 -978 = 0.298 -979 = 0.3 -980 = 0.304 -981 = 0.307 -982 = 0.311 -983 = 0.316 -984 = 0.316 -985 = 0.322 -986 = inf -987 = inf -988 = inf -989 = inf -990 = inf -991 = inf -992 = inf -993 = inf -994 = inf -995 = inf -996 = inf -997 = inf -998 = inf -999 = 3.612 -1000 = 3.612 -1001 = 3.612 -1002 = 3.612 -1003 = 3.588 -1004 = 3.588 -1005 = 3.588 -1006 = 3.592 -1007 = 3.588 -1008 = 3.592 -1009 = 3.596 -1010 = 3.6 -1011 = 3.6 -1012 = 3.604 -1013 = 3.608 -1014 = 3.616 -1015 = 3.616 -1016 = 3.616 -1017 = 3.616 -1018 = 3.64 -1019 = 3.64 -1020 = 3.644 -1021 = 3.668 -1022 = 3.672 -1023 = 3.684 -1024 = inf -1025 = inf -1026 = inf -1027 = 3.692 -1028 = 3.692 -1029 = 3.692 -1030 = 3.692 -1031 = 4.952 -1032 = 4.952 -1033 = 4.952 -1034 = 4.952 -1035 = 4.06 -1036 = 4.06 -1037 = 4.028 -1038 = 4.056 -1039 = 4.064 -1040 = 4.064 -1041 = 4.064 -1042 = 4.2 -1043 = 4.2 -1044 = 4.192 -1045 = 4.192 -1046 = 4.192 -1047 = 4.16 -1048 = 4.14 -1049 = 4.14 -1050 = 3.828 -1051 = 3.828 -1052 = 3.828 -1053 = 3.852 -1054 = 3.844 -1055 = 3.856 -1056 = inf -1057 = inf -1058 = inf -1059 = inf -1060 = 10.44 -1061 = 10.44 -1062 = 10.44 -1063 = 10.44 -1064 = 9.936 -1065 = 9.936 -1066 = 9.936 -1067 = inf -1068 = inf -1069 = inf -1070 = inf -1071 = inf -1072 = inf -1073 = inf -1074 = inf -1075 = inf -1076 = inf -1077 = inf -1078 = inf -1079 = inf -1080 = inf -1081 = inf -1082 = inf -1083 = inf -1084 = inf -1085 = 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= 2.612 -114 = 2.612 -115 = 2.612 -116 = 2.608 -117 = 2.604 -118 = 2.64 -119 = 2.732 -120 = 2.732 -121 = 3.244 -122 = 3.244 -123 = 3.244 -124 = 3.248 -125 = 3.248 -126 = 3.248 -127 = 3.244 -128 = 3.26 -129 = 3.272 -130 = 3.264 -131 = 3.244 -132 = 3.224 -133 = 2.464 -134 = 2.464 -135 = 2.44 -136 = 2.44 -137 = 2.44 -138 = 2.452 -139 = 2.464 -140 = 2.464 -141 = 2.46 -142 = 2.488 -143 = 2.496 -144 = 2.48 -145 = 2.492 -146 = 2.524 -147 = 2.54 -148 = 2.544 -149 = 2.552 -150 = 2.552 -151 = 2.56 -152 = 2.556 -153 = 2.54 -154 = inf -155 = inf -156 = inf -157 = inf -158 = inf -159 = inf -160 = inf -161 = inf -162 = 2.532 -163 = 2.532 -164 = 2.532 -165 = 2.532 -166 = 2.54 -167 = 2.54 -168 = 2.54 -169 = inf -170 = inf -171 = inf -172 = inf -173 = inf -174 = inf -175 = inf -176 = inf -177 = 1.544 -178 = 1.544 -179 = 1.544 -180 = 1.544 -181 = 1.544 -182 = 1.544 -183 = 1.54 -184 = 1.538 -185 = 1.546 -186 = 1.546 -187 = 1.55 -188 = 1.558 -189 = 1.56 -190 = 3.436 -191 = 3.436 -192 = 3.444 -193 = 3.444 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1.346 -359 = 1.338 -360 = 1.332 -361 = 1.326 -362 = 1.32 -363 = 1.316 -364 = 1.314 -365 = 1.31 -366 = 1.308 -367 = 1.304 -368 = 1.302 -369 = 1.298 -370 = 1.29 -371 = 1.286 -372 = 1.28 -373 = 1.276 -374 = 1.278 -375 = 1.29 -376 = 1.302 -377 = 1.302 -378 = 1.3 -379 = 1.298 -380 = 1.296 -381 = 1.29 -382 = 1.286 -383 = 1.282 -384 = 1.278 -385 = 1.274 -386 = 1.274 -387 = 1.274 -388 = 1.274 -389 = 1.274 -390 = 1.28 -391 = 1.288 -392 = 1.292 -393 = 1.294 -394 = 1.3 -395 = 1.3 -396 = 1.308 -397 = 1.382 -398 = 1.382 -399 = 1.406 -400 = 1.416 -401 = 1.422 -402 = inf -403 = inf -404 = inf -405 = inf -406 = inf -407 = 6.416 -408 = 6.416 -409 = 6.416 -410 = 6.416 -411 = 6.424 -412 = 6.424 -413 = 6.432 -414 = 1.12 -415 = 1.12 -416 = 1.12 -417 = 1.11 -418 = 1.11 -419 = 1.102 -420 = 1.096 -421 = 1.088 -422 = 1.088 -423 = 1.086 -424 = 1.072 -425 = 1.078 -426 = inf -427 = inf -428 = inf -429 = 5.168 -430 = 5.168 -431 = 5.168 -432 = 5.168 -433 = 5.192 -434 = 5.184 -435 = 5.192 -436 = 5.216 -437 = 5.2 -438 = 5.208 -439 = 5.232 -440 = 5.248 -441 = 5.248 -442 = inf -443 = 1.856 -444 = 1.856 -445 = 1.856 -446 = 1.856 -447 = 1.86 -448 = 1.86 -449 = 1.86 -450 = 1.872 -451 = 1.872 -452 = 1.876 -453 = 1.878 -454 = 1.886 -455 = 1.896 -456 = 1.896 -457 = 5.296 -458 = 5.296 -459 = 5.296 -460 = 5.296 -461 = 5.296 -462 = 5.304 -463 = 5.32 -464 = 5.352 -465 = 5.36 -466 = 5.36 -467 = 5.36 -468 = 2.156 -469 = 2.108 -470 = 2.108 -471 = 2.108 -472 = 2.08 -473 = 2.144 -474 = 2.144 -475 = 2.124 -476 = 2.112 -477 = 2.116 -478 = 2.124 -479 = 2.12 -480 = 2.124 -481 = inf -482 = inf -483 = inf -484 = inf -485 = inf -486 = inf -487 = inf -488 = 0.578 -489 = 0.578 -490 = 0.578 -491 = 0.578 -492 = 0.58 -493 = 0.57 -494 = 0.562 -495 = 0.554 -496 = 0.546 -497 = 0.54 -498 = 0.534 -499 = 0.526 -500 = 0.52 -501 = 0.512 -502 = 0.507 -503 = 0.501 -504 = 0.496 -505 = 0.489 -506 = 0.483 -507 = 0.477 -508 = inf -509 = 0.726 -510 = 0.726 -511 = 0.726 -512 = 0.726 -513 = 0.728 -514 = 0.728 -515 = 0.728 -516 = 0.73 -517 = 0.73 -518 = 0.732 -519 = 0.736 -520 = 0.732 -521 = 0.722 -522 = inf -523 = inf -524 = 0.427 -525 = 0.427 -526 = 0.427 -527 = 0.427 -528 = 0.422 -529 = 0.422 -530 = 0.418 -531 = 0.418 -532 = 0.418 -533 = 0.42 -534 = 0.421 -535 = 0.424 -536 = 0.427 -537 = 0.429 -538 = 0.432 -539 = 0.434 -540 = 0.436 -541 = 0.438 -542 = 0.441 -543 = 0.441 -544 = 0.444 -545 = 0.446 -546 = 0.449 -547 = 0.451 -548 = 0.454 -549 = 0.458 -550 = 0.461 -551 = 0.465 -552 = 0.465 -553 = 0.468 -554 = 0.471 -555 = 0.475 -556 = 0.478 -557 = 0.481 -558 = 0.484 -559 = 0.487 -560 = 0.49 -561 = 0.493 -562 = 0.493 -563 = 0.496 -564 = 0.5 -565 = 0.505 -566 = 0.509 -567 = 0.512 -568 = 0.516 -569 = 0.52 -570 = inf -571 = inf -572 = inf -573 = inf -574 = inf -575 = inf -576 = 2.22 -577 = 2.22 -578 = 2.22 -579 = 2.22 -580 = 2.416 -581 = 2.416 -582 = 2.388 -583 = 2.388 -584 = 2.388 -585 = 2.388 -586 = 2.372 -587 = 2.372 -588 = 2.364 -589 = 2.356 -590 = 2.352 -591 = 2.348 -592 = 2.34 -593 = 2.336 -594 = 2.328 -595 = 2.32 -596 = inf -597 = inf -598 = 1.942 -599 = 1.942 -600 = 1.942 -601 = 1.942 -602 = 1.962 -603 = 1.962 -604 = 1.952 -605 = 1.936 -606 = 1.738 -607 = 1.738 -608 = 1.732 -609 = 1.732 -610 = 1.728 -611 = 1.718 -612 = 1.726 -613 = 2.032 -614 = 2.032 -615 = 2.032 -616 = 2.032 -617 = 2.032 -618 = 2.17 -619 = 2.17 -620 = inf -621 = inf -622 = inf -623 = inf -624 = inf -625 = inf -626 = inf -627 = inf -628 = inf -629 = inf -630 = inf -631 = inf -632 = inf -633 = inf -634 = inf -635 = inf -636 = inf -637 = inf -638 = inf -639 = inf -640 = inf -641 = inf -642 = inf -643 = inf -644 = inf -645 = inf -646 = inf -647 = inf -648 = inf -649 = inf -650 = inf -651 = inf -652 = inf -653 = inf -654 = inf -655 = inf -656 = inf -657 = inf -658 = inf -659 = inf -660 = inf -661 = inf -662 = inf -663 = inf -664 = inf -665 = inf -666 = inf -667 = inf -668 = inf -669 = inf -670 = inf -671 = inf -672 = inf -673 = inf -674 = inf -675 = inf -676 = inf -677 = inf -678 = inf -679 = inf -680 = inf -681 = inf -682 = inf -683 = inf -684 = inf -685 = inf -686 = inf -687 = inf -688 = inf -689 = inf -690 = inf -691 = inf -692 = inf -693 = inf -694 = 1.136 -695 = 1.136 -696 = 1.136 -697 = 1.136 -698 = 1.138 -699 = 1.138 -700 = 1.14 -701 = 1.144 -702 = 1.174 -703 = 1.174 -704 = 1.174 -705 = 1.164 -706 = 1.162 -707 = 1.166 -708 = 1.174 -709 = 1.176 -710 = 2.324 -711 = 2.324 -712 = 2.324 -713 = 2.324 -714 = 2.324 -715 = 2.324 -716 = 2.324 -717 = 2.332 -718 = 2.336 -719 = 2.336 -720 = 2.34 -721 = 2.344 -722 = 2.352 -723 = 2.672 -724 = 2.672 -725 = 2.672 -726 = 2.676 -727 = 2.68 -728 = 1.13 -729 = 1.13 -730 = 1.124 -731 = 1.124 -732 = 1.124 -733 = 1.116 -734 = 1.11 -735 = 1.106 -736 = 1.106 -737 = 1.108 -738 = 1.106 -739 = 1.104 -740 = 1.114 -741 = 1.042 -742 = 1.042 -743 = 1.042 -744 = 1.042 -745 = 1.028 -746 = 1.014 -747 = 1.002 -748 = 0.992 -749 = 0.978 -750 = 0.968 -751 = 0.964 -752 = 0.96 -753 = 0.958 -754 = 0.958 -755 = 0.956 -756 = 0.956 -757 = 0.956 -758 = 0.954 -759 = 0.952 -760 = 0.95 -761 = 0.95 -762 = 0.948 -763 = 0.948 -764 = 0.946 -765 = 0.946 -766 = 0.946 -767 = 0.944 -768 = 0.942 -769 = 0.942 -770 = 0.942 -771 = 0.942 -772 = 0.942 -773 = 0.942 -774 = 0.944 -775 = 0.95 -776 = 0.956 -777 = 0.956 -778 = 0.96 -779 = 0.962 -780 = 0.964 -781 = 0.966 -782 = 0.97 -783 = 0.97 -784 = 0.966 -785 = 0.968 -786 = 0.97 -787 = 0.97 -788 = 0.968 -789 = 0.972 -790 = 0.984 -791 = 1.028 -792 = 1.028 -793 = 1.038 -794 = 1.038 -795 = 1.138 -796 = 0.972 -797 = 0.972 -798 = 0.972 -799 = 0.968 -800 = 0.968 -801 = 0.968 -802 = 0.964 -803 = 0.96 -804 = 0.958 -805 = 0.958 -806 = 0.958 -807 = 0.96 -808 = 0.964 -809 = 0.968 -810 = 0.976 -811 = 0.984 -812 = 0.994 -813 = 1.006 -814 = 1.006 -815 = 3.028 -816 = 3.028 -817 = 3.028 -818 = 3.028 -819 = 2.704 -820 = 2.688 -821 = 2.688 -822 = 2.688 -823 = 2.688 -824 = 2.684 -825 = 3.16 -826 = 3.16 -827 = 3.788 -828 = 3.788 -829 = 2.868 -830 = 2.868 -831 = 2.868 -832 = 2.868 -833 = 3.908 -834 = 3.908 -835 = 3.908 -836 = inf -837 = 0.66 -838 = 0.66 -839 = 0.66 -840 = 0.66 -841 = 0.664 -842 = 0.664 -843 = 0.664 -844 = 0.648 -845 = 0.648 -846 = 0.648 -847 = 0.64 -848 = 0.632 -849 = 0.626 -850 = 0.624 -851 = 0.614 -852 = 0.604 -853 = 0.6 -854 = 0.594 -855 = 0.59 -856 = 0.586 -857 = 0.584 -858 = 0.582 -859 = 0.582 -860 = 0.578 -861 = 0.568 -862 = 0.562 -863 = 0.558 -864 = 0.554 -865 = 0.552 -866 = 0.548 -867 = 0.544 -868 = 0.54 -869 = 0.538 -870 = 0.534 -871 = 0.53 -872 = 0.524 -873 = 0.518 -874 = 0.514 -875 = 0.509 -876 = 0.505 -877 = 0.505 -878 = 0.502 -879 = 0.497 -880 = 0.497 -881 = 0.495 -882 = 0.482 -883 = 0.478 -884 = 0.485 -885 = 0.485 -886 = 0.486 -887 = 0.477 -888 = 0.477 -889 = 0.479 -890 = 0.477 -891 = 0.474 -892 = 0.473 -893 = 0.471 -894 = 0.469 -895 = 0.468 -896 = 0.466 -897 = 0.465 -898 = 0.464 -899 = 0.463 -900 = 0.461 -901 = 0.46 -902 = 0.458 -903 = 0.457 -904 = 0.455 -905 = 0.454 -906 = 0.453 -907 = 0.451 -908 = 0.45 -909 = 0.449 -910 = 0.448 -911 = 0.447 -912 = 0.446 -913 = 0.445 -914 = 0.444 -915 = 0.443 -916 = 0.442 -917 = 0.441 -918 = 0.44 -919 = 0.439 -920 = 0.438 -921 = 0.437 -922 = 0.437 -923 = 0.436 -924 = 0.435 -925 = 0.435 -926 = 0.434 -927 = 0.432 -928 = 0.431 -929 = 0.43 -930 = 0.429 -931 = 0.428 -932 = 0.426 -933 = 0.425 -934 = 0.424 -935 = 0.424 -936 = 0.423 -937 = 0.423 -938 = 0.422 -939 = 0.422 -940 = 0.422 -941 = 0.423 -942 = 0.424 -943 = 0.424 -944 = 0.424 -945 = 0.425 -946 = 0.426 -947 = 0.426 -948 = 0.427 -949 = 0.428 -950 = 0.429 -951 = 0.431 -952 = 0.432 -953 = 0.436 -954 = 0.424 -955 = 0.424 -956 = 0.424 -957 = 0.429 -958 = 0.429 -959 = 0.428 -960 = 0.428 -961 = 0.428 -962 = 0.429 -963 = 0.43 -964 = 0.43 -965 = 0.431 -966 = 0.432 -967 = 0.435 -968 = 0.438 -969 = 0.438 -970 = 0.44 -971 = 0.442 -972 = 0.443 -973 = 0.444 -974 = 0.445 -975 = 0.447 -976 = 0.447 -977 = 0.449 -978 = 0.451 -979 = 0.452 -980 = 0.454 -981 = 0.455 -982 = 0.457 -983 = 0.46 -984 = 0.462 -985 = 0.464 -986 = 0.464 -987 = 0.468 -988 = 0.472 -989 = 0.477 -990 = 0.48 -991 = 0.483 -992 = 0.485 -993 = inf -994 = inf -995 = inf -996 = inf -997 = inf -998 = inf -999 = inf -1000 = 3.572 -1001 = 3.572 -1002 = 3.572 -1003 = 3.572 -1004 = 3.58 -1005 = 3.58 -1006 = 3.592 -1007 = 3.584 -1008 = 3.584 -1009 = 3.584 -1010 = 3.588 -1011 = 3.592 -1012 = 3.592 -1013 = 3.596 -1014 = 3.6 -1015 = 3.608 -1016 = 3.624 -1017 = 3.624 -1018 = 3.612 -1019 = 3.632 -1020 = 3.644 -1021 = 3.648 -1022 = 3.672 -1023 = 3.676 -1024 = 3.676 -1025 = inf -1026 = inf -1027 = inf -1028 = inf -1029 = inf -1030 = inf -1031 = inf -1032 = 4.088 -1033 = 4.088 -1034 = 4.088 -1035 = 4.088 -1036 = 4.06 -1037 = 4.06 -1038 = 4.056 -1039 = 4.06 -1040 = 4.06 -1041 = 4.072 -1042 = 4.08 -1043 = 4.184 -1044 = 4.184 -1045 = 4.184 -1046 = 4.176 -1047 = 4.176 -1048 = 4.152 -1049 = 4.12 -1050 = 3.808 -1051 = 3.808 -1052 = 3.852 -1053 = 3.868 -1054 = 3.824 -1055 = 3.836 -1056 = inf -1057 = inf -1058 = inf -1059 = inf -1060 = inf -1061 = 10.504 -1062 = 10.504 -1063 = 10.504 -1064 = 10.504 -1065 = 9.992 -1066 = 9.992 -1067 = 9.992 -1068 = inf -1069 = inf -1070 = inf -1071 = inf -1072 = inf -1073 = inf -1074 = inf -1075 = inf -1076 = inf -1077 = inf -1078 = inf -1079 = inf -1080 = inf -1081 = inf -1082 = inf -1083 = inf -1084 = inf -1085 = inf -1086 = inf -1087 = inf -1088 = inf -1089 = inf -1090 = inf -1091 = inf -1092 = inf -1093 = inf -1094 = inf -1095 = inf -1096 = inf -1097 = inf -1098 = inf -1099 = inf -1100 = inf -1101 = inf -1102 = inf -1103 = inf -1104 = inf -1105 = inf -1106 = inf -1107 = inf -1108 = inf -1109 = inf -1110 = inf -1111 = inf -1112 = inf -1113 = inf -1114 = inf -1115 = inf -1116 = inf -1117 = inf -1118 = inf -1119 = inf -1120 = inf -1121 = inf -1122 = inf -1123 = inf -1124 = inf -1125 = inf -1126 = inf -1127 = inf -1128 = inf -1129 = inf -1130 = inf -1131 = inf -1132 = inf -1133 = inf -1134 = inf -1135 = inf -1136 = inf -1137 = inf -1138 = inf -1139 = inf -1140 = inf -1141 = inf -1142 = inf -1143 = inf -1144 = inf -1145 = inf diff --git a/ex_data/scan2/second.csv b/ex_data/scan2/second.csv index d5a3a95..6e491f7 100644 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-angle_max = 3.141592741012573 -angle_min = -3.1241390705108643 -angle_increment = 0.0087145091965794 -length = 720 -range_max = 12.0 -range_min = 0.1500000059604644 -0 = 0.163000002503395 -1 = 0.1620000004768371 -2 = 0.1620000004768371 -3 = 0.1609999984502792 -4 = 0.1609999984502792 -5 = 0.1609999984502792 -6 = 0.1609999984502792 -7 = 0.1609999984502792 -8 = 0.1609999984502792 -9 = 0.1609999984502792 -10 = 0.1609999984502792 -11 = 0.1609999984502792 -12 = 0.1620000004768371 -13 = 0.1620000004768371 -14 = 0.1620000004768371 -15 = 0.1620000004768371 -16 = 0.164000004529953 -17 = 0.164000004529953 -18 = 0.1650000065565109 -19 = 0.1650000065565109 -20 = 0.1659999936819076 -21 = 0.1669999957084655 -22 = 0.1679999977350235 -23 = 0.1689999997615814 -24 = 0.1700000017881393 -25 = 0.1710000038146972 -26 = 0.1720000058412552 -27 = 0.1729999929666519 -28 = 0.1749999970197677 -29 = 0.1759999990463256 -30 = 0.1770000010728836 -31 = 0.1780000030994415 -32 = 0.1790000051259994 -33 = 0.1809999942779541 -34 = 0.181999996304512 -35 = 0.1829999983310699 -36 = 0.1850000023841858 -37 = 0.1860000044107437 -38 = 0.1870000064373016 -39 = 0.1889999955892563 -40 = 0.1889999955892563 -41 = 0.1909999996423721 -42 = 0.19200000166893 -43 = 0.1940000057220459 -44 = 0.1959999948740005 -45 = 0.1969999969005584 -46 = 0.1979999989271164 -47 = 0.2010000050067901 -48 = 0.202000007033348 -49 = 0.2039999961853027 -50 = 0.2070000022649765 -51 = 0.2090000063180923 -52 = 0.210999995470047 -53 = 0.2140000015497207 -54 = 0.2150000035762787 -55 = 0.2169999927282333 -56 = 0.221000000834465 -57 = 0.2230000048875808 -58 = 0.2249999940395355 -59 = 0.2290000021457672 -60 = 0.231000006198883 -61 = 0.2329999953508377 -62 = 0.2370000034570694 -63 = 0.2440000027418136 -64 = 0.2469999939203262 -65 = 0.25 -66 = 0.2540000081062317 -67 = 0.2619999945163727 -68 = 0.2660000026226043 -69 = 0.270000010728836 -70 = 0.2739999890327453 -71 = 0.2820000052452087 -72 = 0.2870000004768371 -73 = 0.2939999997615814 -74 = 0.3000000119209289 -75 = inf -76 = inf -77 = inf -78 = inf -79 = inf -80 = inf -81 = inf -82 = 0.2300000041723251 -83 = 0.2300000041723251 -84 = 0.2240000069141388 -85 = 0.2199999988079071 -86 = 0.2160000056028366 -87 = 0.209999993443489 -88 = 0.2080000042915344 -89 = 0.2080000042915344 -90 = 0.2039999961853027 -91 = 0.2010000050067901 -92 = 0.1979999989271164 -93 = 0.1969999969005584 -94 = 0.1940000057220459 -95 = 0.1930000036954879 -96 = 0.1909999996423721 -97 = 0.1899999976158142 -98 = 0.1889999955892563 -99 = 0.1870000064373016 -100 = 0.1860000044107437 -101 = 0.1850000023841858 -102 = 0.1840000003576278 -103 = 0.1840000003576278 -104 = 0.1829999983310699 -105 = 0.1829999983310699 -106 = 0.181999996304512 -107 = 0.1809999942779541 -108 = 0.1809999942779541 -109 = 0.1809999942779541 -110 = 0.1809999942779541 -111 = 0.1809999942779541 -112 = 0.181999996304512 -113 = 0.181999996304512 -114 = 0.1829999983310699 -115 = 0.1840000003576278 -116 = 0.1850000023841858 -117 = 0.1870000064373016 -118 = 0.1879999935626983 -119 = 0.1909999996423721 -120 = 0.1930000036954879 -121 = 0.1959999948740005 -122 = 0.1990000009536743 -123 = 0.202000007033348 -124 = 0.2090000063180923 -125 = inf -126 = inf -127 = inf -128 = inf -129 = inf -130 = inf -131 = inf -132 = inf -133 = inf -134 = inf -135 = inf -136 = inf -137 = inf -138 = inf -139 = inf -140 = inf -141 = inf -142 = inf -143 = inf -144 = inf -145 = inf -146 = inf -147 = inf -148 = inf -149 = inf -150 = 1.1460000276565552 -151 = 1.1460000276565552 -152 = 1.1540000438690186 -153 = 1.1540000438690186 -154 = 1.1679999828338623 -155 = 1.1759999990463257 -156 = inf -157 = 1.090000033378601 -158 = 1.090000033378601 -159 = 1.0980000495910645 -160 = 1.1039999723434448 -161 = inf -162 = inf -163 = inf -164 = inf -165 = inf -166 = inf -167 = 2.763999938964844 -168 = 2.763999938964844 -169 = 2.752000093460083 -170 = 2.7320001125335693 -171 = 2.759999990463257 -172 = 2.7839999198913574 -173 = 2.815999984741211 -174 = 2.8480000495910645 -175 = 2.8959999084472656 -176 = 2.940000057220459 -177 = 3.2079999446868896 -178 = 3.2079999446868896 -179 = 3.184000015258789 -180 = 2.907999992370605 -181 = 2.907999992370605 -182 = 2.8559999465942383 -183 = 2.8559999465942383 -184 = 2.8480000495910645 -185 = 2.8480000495910645 -186 = 2.851999998092652 -187 = 2.851999998092652 -188 = 2.8559999465942383 -189 = 2.8359999656677246 -190 = 2.8320000171661377 -191 = 2.819999933242798 -192 = 2.815999984741211 -193 = 2.808000087738037 -194 = 2.803999900817871 -195 = 2.799999952316284 -196 = 2.7920000553131104 -197 = 2.7799999713897705 -198 = 2.7799999713897705 -199 = 2.7839999198913574 -200 = 2.776000022888184 -201 = 2.7720000743865967 -202 = 2.940000057220459 -203 = 2.940000057220459 -204 = 2.927999973297119 -205 = 2.6640000343322754 -206 = 2.6600000858306885 -207 = 2.6600000858306885 -208 = 2.6559998989105225 -209 = 2.6480000019073486 -210 = 2.6480000019073486 -211 = 2.6440000534057617 -212 = 2.631999969482422 -213 = 2.640000104904175 -214 = 2.640000104904175 -215 = 2.628000020980835 -216 = 2.624000072479248 -217 = 2.628000020980835 -218 = 2.628000020980835 -219 = 2.624000072479248 -220 = 2.619999885559082 -221 = 2.619999885559082 -222 = 2.624000072479248 -223 = 2.619999885559082 -224 = 2.619999885559082 -225 = 2.619999885559082 -226 = 2.6080000400543213 -227 = 2.6080000400543213 -228 = 2.611999988555908 -229 = 2.611999988555908 -230 = 2.400000095367432 -231 = 2.400000095367432 -232 = 2.3919999599456787 -233 = 2.3919999599456787 -234 = 2.7880001068115234 -235 = inf -236 = inf -237 = inf -238 = inf -239 = inf -240 = 2.24399995803833 -241 = 2.24399995803833 -242 = 2.247999906539917 -243 = 2.236000061035156 -244 = 2.236000061035156 -245 = 2.24399995803833 -246 = inf -247 = inf -248 = 2.2679998874664307 -249 = 2.2679998874664307 -250 = inf -251 = inf -252 = inf -253 = inf -254 = 2.259999990463257 -255 = 2.259999990463257 -256 = inf -257 = 5.271999835968018 -258 = 5.271999835968018 -259 = 5.423999786376953 -260 = 5.375999927520752 -261 = 5.480000019073486 -262 = 5.504000186920166 -263 = 5.4079999923706055 -264 = 5.335999965667725 -265 = 5.303999900817871 -266 = 5.328000068664551 -267 = 5.328000068664551 -268 = 5.368000030517578 -269 = 5.368000030517578 -270 = 9.416000366210938 -271 = 9.456000328063965 -272 = 9.53600025177002 -273 = 9.616000175476074 -274 = 9.631999969482422 -275 = 9.631999969482422 -276 = 9.696000099182127 -277 = 9.68000030517578 -278 = 3.944000005722046 -279 = 3.944000005722046 -280 = 3.884000062942505 -281 = 3.839999914169312 -282 = 3.75600004196167 -283 = 3.723999977111816 -284 = 3.635999917984009 -285 = 3.651999950408936 -286 = 3.700000047683716 -287 = 3.723999977111816 -288 = 3.723999977111816 -289 = 3.6679999828338623 -290 = 3.595999956130981 -291 = 3.568000078201294 -292 = 3.552000045776367 -293 = 3.5280001163482666 -294 = 3.440000057220459 -295 = 3.4760000705718994 -296 = 3.483999967575073 -297 = 3.5160000324249268 -298 = 3.5239999294281006 -299 = 3.5999999046325684 -300 = 3.640000104904175 -301 = 3.615999937057495 -302 = 3.6760001182556152 -303 = 3.611999988555908 -304 = 3.588000059127808 -305 = 3.572000026702881 -306 = 3.611999988555908 -307 = 3.635999917984009 -308 = 3.6679999828338623 -309 = 3.680000066757202 -310 = 3.703999996185303 -311 = 3.723999977111816 -312 = 3.759999990463257 -313 = 3.783999919891357 -314 = 3.8320000171661377 -315 = 3.8440001010894775 -316 = 3.871999979019165 -317 = 3.900000095367432 -318 = 2.6040000915527344 -319 = 2.6040000915527344 -320 = 2.6480000019073486 -321 = 2.6480000019073486 -322 = 2.640000104904175 -323 = 2.6600000858306885 -324 = 2.483999967575073 -325 = 2.483999967575073 -326 = 2.492000102996826 -327 = 2.200000047683716 -328 = 2.196000099182129 -329 = 2.191999912261963 -330 = 2.187999963760376 -331 = 2.180000066757202 -332 = 2.184000015258789 -333 = 2.191999912261963 -334 = 2.191999912261963 -335 = 2.200000047683716 -336 = 2.24399995803833 -337 = 2.276000022888184 -338 = 2.2880001068115234 -339 = 2.2839999198913574 -340 = 2.200000047683716 -341 = 2.187999963760376 -342 = 2.180000066757202 -343 = 2.191999912261963 -344 = 2.191999912261963 -345 = 2.2039999961853027 -346 = 4.703999996185303 -347 = 4.703999996185303 -348 = 4.688000202178955 -349 = inf -350 = 4.144000053405762 -351 = 4.144000053405762 -352 = 4.191999912261963 -353 = 4.223999977111816 -354 = 4.223999977111816 -355 = 4.223999977111816 -356 = 4.239999771118164 -357 = 4.415999889373779 -358 = 4.440000057220459 -359 = 4.392000198364258 -360 = 4.296000003814697 -361 = 4.248000144958496 -362 = 4.239999771118164 -363 = 7.072000026702881 -364 = 7.056000232696533 -365 = 7.039999961853027 -366 = 3.51200008392334 -367 = 3.51200008392334 -368 = 3.496000051498413 -369 = 3.532000064849853 -370 = 3.375999927520752 -371 = 3.3480000495910645 -372 = 3.3480000495910645 -373 = 3.3320000171661377 -374 = 3.3239998817443848 -375 = 3.2920000553131104 -376 = 3.2920000553131104 -377 = 3.2880001068115234 -378 = 3.299999952316284 -379 = 3.308000087738037 -380 = 3.312000036239624 -381 = 3.3399999141693115 -382 = 3.3919999599456787 -383 = 3.407999992370605 -384 = 3.388000011444092 -385 = 3.364000082015991 -386 = 6.631999969482422 -387 = 6.631999969482422 -388 = 6.616000175476074 -389 = 6.616000175476074 -390 = 6.616000175476074 -391 = 6.576000213623047 -392 = 6.584000110626221 -393 = 6.559999942779541 -394 = 6.552000045776367 -395 = 6.567999839782715 -396 = 6.559999942779541 -397 = 6.535999774932861 -398 = 6.527999877929688 -399 = 6.527999877929688 -400 = 6.544000148773193 -401 = 6.51200008392334 -402 = inf -403 = 3.723999977111816 -404 = 3.723999977111816 -405 = 3.068000078201294 -406 = 3.068000078201294 -407 = 3.0439999103546143 -408 = 3.0239999294281006 -409 = 3.0199999809265137 -410 = 3.200000047683716 -411 = 3.200000047683716 -412 = 3.184000015258789 -413 = 3.1760001182556152 -414 = 3.184000015258789 -415 = 3.191999912261963 -416 = 3.211999893188477 -417 = 3.2079999446868896 -418 = 3.236000061035156 -419 = 3.263999938964844 -420 = 3.140000104904175 -421 = 3.140000104904175 -422 = 3.131999969482422 -423 = 3.131999969482422 -424 = 3.135999917984009 -425 = 3.0160000324249268 -426 = 2.9760000705718994 -427 = 2.9679999351501465 -428 = 2.9679999351501465 -429 = 3.0 -430 = 3.055999994277954 -431 = 3.052000045776367 -432 = 3.003999948501587 -433 = 2.98799991607666 -434 = 3.01200008392334 -435 = 3.0439999103546143 -436 = inf -437 = inf -438 = 6.671999931335449 -439 = 6.671999931335449 -440 = 6.71999979019165 -441 = 6.728000164031982 -442 = 6.736000061035156 -443 = 6.728000164031982 -444 = 6.760000228881836 -445 = 6.760000228881836 -446 = 7.495999813079834 -447 = 7.535999774932861 -448 = 7.544000148773193 -449 = 7.559999942779541 -450 = 7.567999839782715 -451 = 7.599999904632568 -452 = 7.624000072479248 -453 = 7.656000137329102 -454 = 7.671999931335449 -455 = 7.688000202178955 -456 = 7.711999893188477 -457 = 7.736000061035156 -458 = inf -459 = inf -460 = inf -461 = inf -462 = inf -463 = inf -464 = inf -465 = 4.576000213623047 -466 = 4.576000213623047 -467 = 4.552000045776367 -468 = 4.544000148773193 -469 = 4.616000175476074 -470 = 4.631999969482422 -471 = 4.656000137329102 -472 = 4.671999931335449 -473 = 4.703999996185303 -474 = 4.703999996185303 -475 = 4.5920000076293945 -476 = 4.552000045776367 -477 = 4.4720001220703125 -478 = 4.400000095367432 -479 = 4.584000110626221 -480 = 4.584000110626221 -481 = 4.576000213623047 -482 = 4.559999942779541 -483 = 4.559999942779541 -484 = 4.552000045776367 -485 = 4.576000213623047 -486 = 4.624000072479248 -487 = 4.703999996185303 -488 = 4.76800012588501 -489 = 4.800000190734863 -490 = 4.831999778747559 -491 = 4.863999843597412 -492 = 4.927999973297119 -493 = 4.920000076293945 -494 = 4.992000102996826 -495 = 4.992000102996826 -496 = 5.239999771118164 -497 = 5.25600004196167 -498 = 5.447999954223633 -499 = 5.383999824523926 -500 = 5.368000030517578 -501 = 5.343999862670898 -502 = 5.368000030517578 -503 = 5.831999778747559 -504 = 5.567999839782715 -505 = 5.584000110626221 -506 = 5.616000175476074 -507 = 6.064000129699707 -508 = 6.136000156402588 -509 = 6.199999809265137 -510 = 6.223999977111816 -511 = 6.296000003814697 -512 = 6.343999862670898 -513 = 6.440000057220459 -514 = 6.480000019073486 -515 = 6.599999904632568 -516 = 6.671999931335449 -517 = 6.76800012588501 -518 = 6.800000190734863 -519 = 6.952000141143799 -520 = 6.8480000495910645 -521 = 6.815999984741211 -522 = 6.800000190734863 -523 = 6.728000164031982 -524 = 6.671999931335449 -525 = 6.616000175476074 -526 = 6.616000175476074 -527 = 6.544000148773193 -528 = inf -529 = inf -530 = inf -531 = inf -532 = inf -533 = inf -534 = inf -535 = inf -536 = inf -537 = inf -538 = inf -539 = inf -540 = inf -541 = inf -542 = 4.084000110626221 -543 = 4.084000110626221 -544 = 3.3919999599456787 -545 = 3.380000114440918 -546 = 3.359999895095825 -547 = 3.400000095367432 -548 = 3.431999921798706 -549 = 3.51200008392334 -550 = 4.0 -551 = 4.072000026702881 -552 = 4.072000026702881 -553 = 4.311999797821045 -554 = 4.311999797821045 -555 = 4.303999900817871 -556 = 4.296000003814697 -557 = 4.28000020980835 -558 = 3.1640000343322754 -559 = 3.171999931335449 -560 = 3.171999931335449 -561 = 4.639999866485596 -562 = 4.639999866485596 -563 = 6.072000026702881 -564 = 6.072000026702881 -565 = 6.056000232696533 -566 = 6.056000232696533 -567 = 5.48799991607666 -568 = 5.48799991607666 -569 = 6.0320000648498535 -570 = 6.0320000648498535 -571 = inf -572 = inf -573 = inf -574 = inf -575 = inf -576 = inf -577 = inf -578 = inf -579 = inf -580 = inf -581 = inf -582 = inf -583 = inf -584 = inf -585 = inf -586 = inf -587 = inf -588 = inf -589 = inf -590 = inf -591 = inf -592 = inf -593 = inf -594 = inf -595 = inf -596 = inf -597 = inf -598 = inf -599 = inf -600 = inf -601 = inf -602 = inf -603 = inf -604 = inf -605 = inf -606 = inf -607 = inf -608 = inf -609 = inf -610 = inf -611 = inf -612 = inf -613 = inf -614 = inf -615 = inf -616 = inf -617 = inf -618 = inf -619 = inf -620 = inf -621 = inf -622 = inf -623 = inf -624 = inf -625 = inf -626 = 0.5860000252723694 -627 = 0.5860000252723694 -628 = 0.5920000076293945 -629 = 0.5720000267028809 -630 = 0.5659999847412109 -631 = 0.5659999847412109 -632 = inf -633 = 0.5 -634 = 0.5 -635 = 0.4930000007152557 -636 = 0.4930000007152557 -637 = inf -638 = 0.4580000042915344 -639 = 0.4580000042915344 -640 = 0.4519999921321869 -641 = 0.4519999921321869 -642 = 0.4490000009536743 -643 = inf -644 = inf -645 = inf -646 = inf -647 = inf -648 = inf -649 = inf -650 = inf -651 = inf -652 = inf -653 = inf -654 = inf -655 = inf -656 = inf -657 = inf -658 = inf -659 = inf -660 = inf -661 = inf -662 = inf -663 = inf -664 = inf -665 = 0.4239999949932098 -666 = 0.4239999949932098 -667 = 0.4199999868869781 -668 = 0.4180000126361847 -669 = 0.4180000126361847 -670 = 0.4149999916553497 -671 = 0.4120000004768371 -672 = inf -673 = inf -674 = inf -675 = 0.221000000834465 -676 = 0.221000000834465 -677 = 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3.141592741012573 -angle_min = -3.1241390705108643 -angle_increment = 0.0087145091965794 -length = 720 -range_max = 12.0 -range_min = 0.1500000059604644 -0 = 0.1620000004768371 -1 = 0.1609999984502792 -2 = 0.1599999964237213 -3 = 0.1589999943971634 -4 = 0.1589999943971634 -5 = 0.1589999943971634 -6 = 0.1589999943971634 -7 = 0.1580000072717666 -8 = 0.1580000072717666 -9 = 0.1580000072717666 -10 = 0.1580000072717666 -11 = 0.1580000072717666 -12 = 0.1580000072717666 -13 = 0.1580000072717666 -14 = 0.1580000072717666 -15 = 0.1589999943971634 -16 = 0.1589999943971634 -17 = 0.1589999943971634 -18 = 0.1599999964237213 -19 = 0.1599999964237213 -20 = 0.1609999984502792 -21 = 0.1609999984502792 -22 = 0.1620000004768371 -23 = 0.163000002503395 -24 = 0.164000004529953 -25 = 0.1650000065565109 -26 = 0.1659999936819076 -27 = 0.1669999957084655 -28 = 0.1679999977350235 -29 = 0.1689999997615814 -30 = 0.1710000038146972 -31 = 0.1720000058412552 -32 = 0.1729999929666519 -33 = 0.1739999949932098 -34 = 0.1749999970197677 -35 = 0.1759999990463256 -36 = 0.1780000030994415 -37 = 0.1790000051259994 -38 = 0.1800000071525573 -39 = 0.181999996304512 -40 = 0.1829999983310699 -41 = 0.1850000023841858 -42 = 0.1860000044107437 -43 = 0.1870000064373016 -44 = 0.1879999935626983 -45 = 0.1889999955892563 -46 = 0.1899999976158142 -47 = 0.19200000166893 -48 = 0.1930000036954879 -49 = 0.1969999969005584 -50 = 0.1979999989271164 -51 = 0.1990000009536743 -52 = 0.2010000050067901 -53 = 0.2039999961853027 -54 = 0.2049999982118606 -55 = 0.2080000042915344 -56 = 0.2090000063180923 -57 = 0.209999993443489 -58 = 0.2119999974966049 -59 = 0.2140000015497207 -60 = 0.2150000035762787 -61 = 0.2199999988079071 -62 = 0.2220000028610229 -63 = 0.2240000069141388 -64 = 0.2269999980926513 -65 = 0.2349999994039535 -66 = 0.2380000054836273 -67 = 0.2419999986886978 -68 = 0.2460000067949295 -69 = 0.25 -70 = 0.2590000033378601 -71 = 0.2630000114440918 -72 = 0.2680000066757202 -73 = 0.2720000147819519 -74 = 0.2770000100135803 -75 = 0.2879999876022339 -76 = inf -77 = inf -78 = inf -79 = inf -80 = inf -81 = inf -82 = 0.2300000041723251 -83 = 0.2300000041723251 -84 = 0.2269999980926513 -85 = 0.221000000834465 -86 = 0.2179999947547912 -87 = 0.2140000015497207 -88 = 0.209999993443489 -89 = 0.2070000022649765 -90 = 0.2049999982118606 -91 = 0.2039999961853027 -92 = 0.2000000029802322 -93 = 0.1979999989271164 -94 = 0.1969999969005584 -95 = 0.1940000057220459 -96 = 0.19200000166893 -97 = 0.1909999996423721 -98 = 0.1909999996423721 -99 = 0.1879999935626983 -100 = 0.1870000064373016 -101 = 0.1860000044107437 -102 = 0.1850000023841858 -103 = 0.1850000023841858 -104 = 0.1840000003576278 -105 = 0.1840000003576278 -106 = 0.1840000003576278 -107 = 0.1829999983310699 -108 = 0.181999996304512 -109 = 0.181999996304512 -110 = 0.181999996304512 -111 = 0.181999996304512 -112 = 0.1829999983310699 -113 = 0.1829999983310699 -114 = 0.1840000003576278 -115 = 0.1850000023841858 -116 = 0.1850000023841858 -117 = 0.1879999935626983 -118 = 0.1889999955892563 -119 = 0.1909999996423721 -120 = 0.1949999928474426 -121 = 0.1979999989271164 -122 = 0.2010000050067901 -123 = 0.2039999961853027 -124 = inf -125 = inf -126 = inf -127 = inf -128 = inf -129 = inf -130 = inf -131 = inf -132 = inf -133 = inf -134 = inf -135 = 1.4279999732971191 -136 = 1.4279999732971191 -137 = 1.4279999732971191 -138 = 1.4279999732971191 -139 = 1.440000057220459 -140 = 1.440000057220459 -141 = 1.4539999961853027 -142 = 1.4420000314712524 -143 = 1.4040000438690186 -144 = 1.3880000114440918 -145 = 1.3960000276565552 -146 = 1.3960000276565552 -147 = 1.5019999742507937 -148 = 1.5019999742507937 -149 = 1.5080000162124634 -150 = 1.5080000162124634 -151 = 1.531999945640564 -152 = inf -153 = inf -154 = 4.440000057220459 -155 = 4.440000057220459 -156 = 4.48799991607666 -157 = 4.48799991607666 -158 = 4.519999980926514 -159 = 3.4719998836517334 -160 = 3.4600000381469727 -161 = 4.335999965667725 -162 = 4.335999965667725 -163 = 4.311999797821045 -164 = 4.223999977111816 -165 = 4.208000183105469 -166 = 4.151999950408936 -167 = 4.0960001945495605 -168 = 4.056000232696533 -169 = 3.971999883651733 -170 = 3.992000102996826 -171 = 3.9159998893737793 -172 = 3.911999940872192 -173 = 3.868000030517578 -174 = 3.848000049591065 -175 = 3.788000106811523 -176 = 2.983999967575073 -177 = 2.983999967575073 -178 = 2.924000024795532 -179 = 2.9159998893737797 -180 = 2.9159998893737797 -181 = 2.8919999599456787 -182 = 2.900000095367432 -183 = 2.927999973297119 -184 = 2.940000057220459 -185 = 2.9719998836517334 -186 = 2.992000102996826 -187 = 3.0239999294281006 -188 = 3.052000045776367 -189 = inf -190 = inf -191 = 2.996000051498413 -192 = 2.996000051498413 -193 = 2.983999967575073 -194 = 2.983999967575073 -195 = 2.9719998836517334 -196 = 2.947999954223633 -197 = 2.924000024795532 -198 = 2.900000095367432 -199 = 2.888000011444092 -200 = 2.871999979019165 -201 = 2.864000082015991 -202 = 2.859999895095825 -203 = 2.851999998092652 -204 = 2.8480000495910645 -205 = 2.8399999141693115 -206 = 2.819999933242798 -207 = 2.812000036239624 -208 = 2.812000036239624 -209 = 2.808000087738037 -210 = 2.7880001068115234 -211 = 2.759999990463257 -212 = 2.940000057220459 -213 = inf -214 = inf -215 = inf -216 = inf -217 = inf -218 = 2.559999942779541 -219 = 2.559999942779541 -220 = 2.559999942779541 -221 = 2.5480000972747803 -222 = 2.539999961853028 -223 = 2.532000064849853 -224 = 2.51200008392334 -225 = 2.507999897003174 -226 = 2.5 -227 = 2.492000102996826 -228 = 2.492000102996826 -229 = 2.483999967575073 -230 = 2.4760000705718994 -231 = 2.4679999351501465 -232 = 2.4600000381469727 -233 = 2.45199990272522 -234 = 2.447999954223633 -235 = 2.440000057220459 -236 = 2.440000057220459 -237 = 2.2279999256134038 -238 = 2.220000028610229 -239 = 2.2160000801086426 -240 = 2.2239999771118164 -241 = 3.007999897003174 -242 = 3.01200008392334 -243 = 3.032000064849853 -244 = 3.052000045776367 -245 = inf -246 = inf -247 = 2.0160000324249268 -248 = 2.0160000324249268 -249 = 2.013999938964844 -250 = 2.009999990463257 -251 = 2.0179998874664307 -252 = 2.009999990463257 -253 = 2.003999948501587 -254 = 2.009999990463257 -255 = 2.00600004196167 -256 = 2.009999990463257 -257 = 1.9980000257492063 -258 = 2.0 -259 = 2.003999948501587 -260 = 2.0 -261 = 1.9980000257492063 -262 = 2.00600004196167 -263 = 3.007999897003174 -264 = 3.007999897003174 -265 = 3.007999897003174 -266 = 3.007999897003174 -267 = 2.8480000495910645 -268 = 2.8480000495910645 -269 = 2.8480000495910645 -270 = 2.851999998092652 -271 = 2.7279999256134038 -272 = 2.7279999256134038 -273 = inf -274 = inf -275 = inf -276 = 8.663999557495117 -277 = 8.663999557495117 -278 = 8.67199993133545 -279 = inf -280 = 8.680000305175781 -281 = 8.680000305175781 -282 = 8.704000473022461 -283 = 8.704000473022461 -284 = 7.927999973297119 -285 = 7.927999973297119 -286 = 6.703999996185303 -287 = 6.703999996185303 -288 = 6.6479997634887695 -289 = 6.607999801635742 -290 = inf -291 = 5.216000080108643 -292 = 5.216000080108643 -293 = 5.216000080108643 -294 = 5.216000080108643 -295 = 5.136000156402588 -296 = 5.136000156402588 -297 = 9.04800033569336 -298 = 9.04800033569336 -299 = 9.04800033569336 -300 = 9.04800033569336 -301 = 3.51200008392334 -302 = 3.51200008392334 -303 = 3.444000005722046 -304 = 3.351999998092652 -305 = 3.259999990463257 -306 = 3.2320001125335693 -307 = 3.1519999504089355 -308 = 3.0999999046325684 -309 = 3.007999897003174 -310 = 2.9159998893737797 -311 = 2.907999992370605 -312 = 2.927999973297119 -313 = 2.936000108718872 -314 = 2.940000057220459 -315 = 2.940000057220459 -316 = 2.9679999351501465 -317 = 2.983999967575073 -318 = 2.992000102996826 -319 = 3.007999897003174 -320 = 3.032000064849853 -321 = 3.039999961853028 -322 = 3.0480000972747803 -323 = 3.068000078201294 -324 = 3.072000026702881 -325 = 3.0840001106262207 -326 = 3.115999937057495 -327 = 3.131999969482422 -328 = 3.0439999103546143 -329 = 3.0439999103546143 -330 = 2.828000068664551 -331 = 2.828000068664551 -332 = 2.96399998664856 -333 = 2.884000062942505 -334 = 2.7039999961853027 -335 = 2.7039999961853027 -336 = 2.720000028610229 -337 = 2.7279999256134038 -338 = 2.752000093460083 -339 = 2.7679998874664307 -340 = 2.7880001068115234 -341 = 2.799999952316284 -342 = 2.819999933242798 -343 = 2.8399999141693115 -344 = 2.875999927520752 -345 = 2.8919999599456787 -346 = 3.068000078201294 -347 = 3.1080000400543213 -348 = 2.74399995803833 -349 = 2.747999906539917 -350 = 3.187999963760376 -351 = 3.184000015258789 -352 = 3.200000047683716 -353 = 3.2079999446868896 -354 = 3.568000078201294 -355 = 3.588000059127808 -356 = 3.687999963760376 -357 = 3.660000085830689 -358 = 3.2960000038146973 -359 = inf -360 = inf -361 = inf -362 = inf -363 = 3.236000061035156 -364 = 3.236000061035156 -365 = 3.2279999256134038 -366 = 3.2279999256134038 -367 = 3.2079999446868896 -368 = 3.196000099182129 -369 = 3.1480000019073486 -370 = 3.1600000858306885 -371 = 3.2239999771118164 -372 = 3.2239999771118164 -373 = 4.296000003814697 -374 = 4.296000003814697 -375 = 4.25600004196167 -376 = 4.23199987411499 -377 = 4.184000015258789 -378 = 4.159999847412109 -379 = 4.144000053405762 -380 = 4.119999885559082 -381 = 4.0960001945495605 -382 = inf -383 = 3.588000059127808 -384 = 3.588000059127808 -385 = 3.0999999046325684 -386 = 3.0999999046325684 -387 = 3.631999969482422 -388 = 3.631999969482422 -389 = 3.640000104904175 -390 = 3.6440000534057617 -391 = 3.6640000343322754 -392 = 3.828000068664551 -393 = 3.8239998817443848 -394 = 3.812000036239624 -395 = 3.660000085830689 -396 = 3.628000020980835 -397 = 3.619999885559082 -398 = 3.6040000915527344 -399 = 6.432000160217285 -400 = 6.432000160217285 -401 = 6.415999889373779 -402 = 6.415999889373779 -403 = 6.383999824523926 -404 = 6.352000236511231 -405 = 6.328000068664551 -406 = 6.303999900817871 -407 = 6.271999835968018 -408 = 6.263999938964844 -409 = 6.25600004196167 -410 = 6.23199987411499 -411 = 3.572000026702881 -412 = 3.572000026702881 -413 = 3.572000026702881 -414 = 3.559999942779541 -415 = 3.555999994277954 -416 = 3.5239999294281006 -417 = 3.5360000133514404 -418 = 6.064000129699707 -419 = 6.064000129699707 -420 = 6.047999858856201 -421 = 6.064000129699707 -422 = 6.047999858856201 -423 = 6.015999794006348 -424 = 6.039999961853027 -425 = 6.0320000648498535 -426 = 5.992000102996826 -427 = 5.992000102996826 -428 = 5.984000205993652 -429 = 6.015999794006348 -430 = 6.0 -431 = 5.992000102996826 -432 = 5.984000205993652 -433 = 5.960000038146973 -434 = 5.960000038146973 -435 = 5.952000141143799 -436 = 5.935999870300293 -437 = 5.927999973297119 -438 = 5.935999870300293 -439 = 5.912000179290772 -440 = 5.927999973297119 -441 = 5.90399980545044 -442 = 5.912000179290772 -443 = 5.895999908447266 -444 = 5.872000217437744 -445 = 3.2279999256134038 -446 = 3.2279999256134038 -447 = 3.407999992370605 -448 = 3.407999992370605 -449 = inf -450 = inf -451 = 2.563999891281128 -452 = 2.563999891281128 -453 = 2.5160000324249268 -454 = 2.4760000705718994 -455 = 2.46399998664856 -456 = 2.4679999351501465 -457 = 2.4760000705718994 -458 = 2.6519999504089355 -459 = 2.6440000534057617 -460 = 2.624000072479248 -461 = 2.624000072479248 -462 = 2.640000104904175 -463 = 2.6519999504089355 -464 = 2.6559998989105225 -465 = 2.6760001182556152 -466 = 2.684000015258789 -467 = 2.747999906539917 -468 = 2.7320001125335693 -469 = 2.6440000534057617 -470 = 2.615999937057495 -471 = 2.6080000400543213 -472 = 2.6080000400543213 -473 = 2.615999937057495 -474 = 2.6480000019073486 -475 = 2.635999917984009 -476 = 2.46399998664856 -477 = 2.46399998664856 -478 = 2.4600000381469727 -479 = 2.4560000896453857 -480 = 2.483999967575073 -481 = 2.5199999809265137 -482 = 2.555999994277954 -483 = 2.555999994277954 -484 = 2.503999948501587 -485 = 2.5239999294281006 -486 = 2.5239999294281006 -487 = 2.5360000133514404 -488 = 6.335999965667725 -489 = 6.335999965667725 -490 = 7.127999782562256 -491 = 7.119999885559082 -492 = 7.144000053405762 -493 = 7.184000015258789 -494 = 7.208000183105469 -495 = 7.263999938964844 -496 = 7.23199987411499 -497 = 7.320000171661377 -498 = 7.311999797821045 -499 = 7.360000133514404 -500 = 7.383999824523926 -501 = 7.415999889373779 -502 = 7.455999851226807 -503 = inf -504 = inf -505 = inf -506 = inf -507 = inf -508 = inf -509 = inf -510 = 7.760000228881836 -511 = 7.760000228881836 -512 = 7.800000190734863 -513 = 7.823999881744385 -514 = 7.903999805450439 -515 = 4.263999938964844 -516 = 4.25600004196167 -517 = 4.25600004196167 -518 = 4.223999977111816 -519 = 4.271999835968018 -520 = 4.271999835968018 -521 = 4.311999797821045 -522 = 4.383999824523926 -523 = 4.335999965667725 -524 = 4.368000030517578 -525 = 4.400000095367432 -526 = 4.263999938964844 -527 = 4.239999771118164 -528 = 4.263999938964844 -529 = inf -530 = 4.400000095367432 -531 = 4.400000095367432 -532 = 4.4079999923706055 -533 = 4.4079999923706055 -534 = 4.4079999923706055 -535 = 4.423999786376953 -536 = 4.455999851226807 -537 = 4.631999969482422 -538 = 4.664000034332275 -539 = 4.728000164031982 -540 = 4.736000061035156 -541 = 4.776000022888184 -542 = 4.831999778747559 -543 = 4.895999908447266 -544 = 4.872000217437744 -545 = inf -546 = 5.0879998207092285 -547 = 5.0879998207092285 -548 = 5.432000160217285 -549 = 5.432000160217285 -550 = 5.535999774932861 -551 = 5.576000213623047 -552 = 5.639999866485596 -553 = 5.559999942779541 -554 = 5.639999866485596 -555 = 5.6479997634887695 -556 = 5.97599983215332 -557 = 6.02400016784668 -558 = 6.047999858856201 -559 = 6.199999809265137 -560 = 6.239999771118164 -561 = 6.311999797821045 -562 = 6.360000133514404 -563 = 6.480000019073486 -564 = 6.567999839782715 -565 = 6.703999996185303 -566 = 6.888000011444092 -567 = 6.808000087738037 -568 = 6.791999816894531 -569 = 6.736000061035156 -570 = 6.728000164031982 -571 = 6.6479997634887695 -572 = 6.616000175476074 -573 = 6.5920000076293945 -574 = 6.552000045776367 -575 = 6.504000186920166 -576 = 6.535999774932861 -577 = 6.624000072479248 -578 = 6.808000087738037 -579 = 6.840000152587891 -580 = inf -581 = 7.28000020980835 -582 = 7.28000020980835 -583 = 7.3520002365112305 -584 = 7.631999969482422 -585 = 7.776000022888184 -586 = 8.055999755859375 -587 = 8.104000091552734 -588 = 8.152000427246094 -589 = 8.079999923706055 -590 = 8.079999923706055 -591 = inf -592 = inf -593 = inf -594 = 3.588000059127808 -595 = 3.588000059127808 -596 = 3.595999956130981 -597 = 3.5999999046325684 -598 = 4.0879998207092285 -599 = 4.0879998207092285 -600 = 4.119999885559082 -601 = 4.164000034332275 -602 = inf -603 = inf -604 = inf -605 = 0.4519999921321869 -606 = 0.4519999921321869 -607 = 0.44200000166893 -608 = 0.4350000023841858 -609 = 0.4329999983310699 -610 = 0.4329999983310699 -611 = 0.4320000112056732 -612 = 0.4300000071525574 -613 = 0.4280000030994415 -614 = 0.4259999990463257 -615 = 0.4250000119209289 -616 = 0.4259999990463257 -617 = 0.4239999949932098 -618 = 0.4230000078678131 -619 = 0.4239999949932098 -620 = 0.4250000119209289 -621 = 0.4280000030994415 -622 = 0.4269999861717224 -623 = 0.4280000030994415 -624 = 0.4289999902248382 -625 = 0.4269999861717224 -626 = 0.4309999942779541 -627 = 0.4300000071525574 -628 = 0.4289999902248382 -629 = 0.4300000071525574 -630 = 0.4320000112056732 -631 = 0.4339999854564667 -632 = 0.4339999854564667 -633 = 0.4329999983310699 -634 = 0.4320000112056732 -635 = 0.4300000071525574 -636 = 0.4280000030994415 -637 = 0.4269999861717224 -638 = 0.4259999990463257 -639 = 0.4250000119209289 -640 = 0.4250000119209289 -641 = 0.4239999949932098 -642 = 0.4230000078678131 -643 = 0.4239999949932098 -644 = 0.4230000078678131 -645 = 0.421999990940094 -646 = 0.4210000038146972 -647 = 0.4210000038146972 -648 = 0.4210000038146972 -649 = 0.4210000038146972 -650 = 0.4210000038146972 -651 = 0.4199999868869781 -652 = 0.4199999868869781 -653 = 0.4199999868869781 -654 = 0.4199999868869781 -655 = 0.4189999997615814 -656 = 0.4189999997615814 -657 = 0.4189999997615814 -658 = 0.4180000126361847 -659 = 0.4180000126361847 -660 = 0.4180000126361847 -661 = 0.4180000126361847 -662 = 0.4169999957084656 -663 = 0.4160000085830688 -664 = 0.4149999916553497 -665 = 0.4149999916553497 -666 = 0.4169999957084656 -667 = 0.4189999997615814 -668 = 0.4189999997615814 -669 = 0.4189999997615814 -670 = 0.4189999997615814 -671 = 0.4169999957084656 -672 = 0.4149999916553497 -673 = inf -674 = inf -675 = inf -676 = 0.2450000047683715 -677 = 0.2450000047683715 -678 = 0.2399999946355819 -679 = 0.238999992609024 -680 = 0.2360000014305114 -681 = 0.2339999973773956 -682 = 0.2319999933242797 -683 = 0.231000006198883 -684 = 0.2300000041723251 -685 = 0.2300000041723251 -686 = 0.2280000001192093 -687 = 0.2259999960660934 -688 = 0.2249999940395355 -689 = 0.2240000069141388 -690 = 0.2230000048875808 -691 = 0.2230000048875808 -692 = 0.221000000834465 -693 = 0.2199999988079071 -694 = 0.2189999967813491 -695 = 0.2189999967813491 -696 = 0.2179999947547912 -697 = 0.2169999927282333 -698 = 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+-0.16584244038372725,0.007230689452827932 +-0.16390038005095536,0.005715496914267044 +-0.16194464306714026,0.004234706170652303 +-0.16197539677049966,0.002823295155386772 +-0.15999392158997497,0.0013942416762428424 +-0.1589999943971514,-6.173014695495634e-08 diff --git a/view.conf b/view.conf index c022fbe..8acde84 100644 --- a/view.conf +++ b/view.conf @@ -3,3 +3,5 @@ window_height = 900 x_displace = 700 y_displace = 450 + +view_scale = 100 diff --git a/vis/lidar_view.cpp b/vis/lidar_view.cpp index e183e08..17945a2 100644 --- a/vis/lidar_view.cpp +++ b/vis/lidar_view.cpp @@ -63,26 +63,26 @@ void LidarView::draw(SDL_Renderer* renderer, [[maybe_unused]] const SDL_Rect* fr SDL_SetRenderDrawColor(renderer, 0, 0, 255, SDL_ALPHA_OPAQUE); for (const icp::Vector& point: destination) { - SDL_DrawCircle(renderer, point[0] + view_config::x_displace, - point[1] + view_config::y_displace, CIRCLE_RADIUS); + SDL_DrawCircle(renderer, view_config::view_scale * point[0] + view_config::x_displace, + view_config::view_scale * point[1] + view_config::y_displace, CIRCLE_RADIUS); } SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE); for (const icp::Vector& point: source) { icp::Vector result = icp->current_transform().apply_to(point); - SDL_DrawCircle(renderer, result[0] + view_config::x_displace, - result[1] + view_config::y_displace, CIRCLE_RADIUS); + SDL_DrawCircle(renderer, view_config::view_scale * result[0] + view_config::x_displace, + view_config::view_scale * result[1] + view_config::y_displace, CIRCLE_RADIUS); } icp::Vector a_cm = icp->current_transform().apply_to(icp::get_centroid(source)); SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE); - SDL_DrawCircle(renderer, a_cm.x() + view_config::x_displace, a_cm.y() + view_config::y_displace, - 20); + SDL_DrawCircle(renderer, view_config::view_scale * a_cm.x() + view_config::x_displace, + view_config::view_scale * a_cm.y() + view_config::y_displace, 20); icp::Vector b_cm = icp::get_centroid(destination); SDL_SetRenderDrawColor(renderer, 0, 0, 255, SDL_ALPHA_OPAQUE); - SDL_DrawCircle(renderer, b_cm.x() + view_config::x_displace, b_cm.y() + view_config::y_displace, - 20); + SDL_DrawCircle(renderer, view_config::view_scale * b_cm.x() + view_config::x_displace, + view_config::view_scale * b_cm.y() + view_config::y_displace, 20); if (is_iterating) { step(); diff --git a/vis/main.cpp b/vis/main.cpp index 6b20d98..caa4a5d 100644 --- a/vis/main.cpp +++ b/vis/main.cpp @@ -5,16 +5,12 @@ extern "C" { #include #include } -#include -#include -#include #include #include #include "view_config.h" #include "lidar_view.h" #include "icp/impl/vanilla.h" #include "icp/impl/trimmed.h" -#include "icp/driver.h" #include "parse_scan.h" void set_config_param(const char* var, const char* data, [[maybe_unused]] void* user_data) { @@ -26,6 +22,8 @@ void set_config_param(const char* var, const char* data, [[maybe_unused]] void* view_config::window_width = std::stoi(data); } else if (strcmp(var, "window_height") == 0) { view_config::window_height = std::stoi(data); + } else if (strcmp(var, "view_scale") == 0) { + view_config::view_scale = std::stod(data); } } @@ -140,12 +138,14 @@ int main(int argc, const char** argv) { // return 0; if (*read_scan_files) { - LidarScan source = parse_lidar_scan(f_src); - LidarScan destination = parse_lidar_scan(f_dst); + auto source = parse_lidar_scan(f_src); + auto dest = parse_lidar_scan(f_dst); + + std::cout << source.size() << " " << dest.size() << "\n"; icp::ICP::Config config; config.set("overlap_rate", 0.9); - LidarView* view = new LidarView(source.points, destination.points, std::move(icp)); + LidarView* view = new LidarView(source, dest, std::move(icp)); launch_gui(view, std::string(f_src) + std::string(" and ") + std::string(f_dst)); } diff --git a/vis/view_config.cpp b/vis/view_config.cpp index efbcc75..6629d90 100644 --- a/vis/view_config.cpp +++ b/vis/view_config.cpp @@ -14,4 +14,6 @@ namespace view_config { double y_displace = 50; bool use_light_mode = false; + + double view_scale = 100; } diff --git a/vis/view_config.h b/vis/view_config.h index 47d8ac6..bd3422f 100644 --- a/vis/view_config.h +++ b/vis/view_config.h @@ -13,4 +13,6 @@ namespace view_config { extern double y_displace; extern bool use_light_mode; + + extern double view_scale; } From c09e9355abb78725a9d96a084014f19a40ddf426 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 8 Feb 2025 11:50:36 -0500 Subject: [PATCH 2/3] Fixed benchmarks --- bench/bench.cpp | 11 +++++------ vis/main.cpp | 2 -- 2 files changed, 5 insertions(+), 8 deletions(-) diff --git a/bench/bench.cpp b/bench/bench.cpp index becd83a..01f8f83 100644 --- a/bench/bench.cpp +++ b/bench/bench.cpp @@ -2,6 +2,7 @@ #include #include #include +#include #include "icp/icp.h" #include "icp/driver.h" @@ -32,19 +33,17 @@ struct BenchmarkParams { BenchmarkResult run_benchmark(BenchmarkParams params) { auto icp = icp::ICP::from_method(params.method).value(); icp::ICPDriver driver(std::move(icp)); - driver.set_transform_tolerance(0.1 * M_PI / 180, 0.1); + driver.set_transform_tolerance(params.angle_tol, params.trans_tol); - LidarScan source = parse_lidar_scan("ex_data/scan" + std::to_string(params.scan_id) - + "/first.conf"); - LidarScan destination = parse_lidar_scan("ex_data/scan" + std::to_string(params.scan_id) - + "/second.conf"); + auto source = parse_lidar_scan("ex_data/scan" + std::to_string(params.scan_id) + "/first.csv"); + auto dest = parse_lidar_scan("ex_data/scan" + std::to_string(params.scan_id) + "/second.csv"); std::vector final_costs; std::vector iteration_counts; const auto start = std::chrono::high_resolution_clock::now(); for (size_t i = 0; i < params.num_iter; i++) { - auto result = driver.converge(source.points, destination.points, icp::RBTransform()); + auto result = driver.converge(source, dest, icp::RBTransform()); final_costs.push_back(result.cost); iteration_counts.push_back(result.iteration_count); } diff --git a/vis/main.cpp b/vis/main.cpp index caa4a5d..32dbe74 100644 --- a/vis/main.cpp +++ b/vis/main.cpp @@ -141,8 +141,6 @@ int main(int argc, const char** argv) { auto source = parse_lidar_scan(f_src); auto dest = parse_lidar_scan(f_dst); - std::cout << source.size() << " " << dest.size() << "\n"; - icp::ICP::Config config; config.set("overlap_rate", 0.9); LidarView* view = new LidarView(source, dest, std::move(icp)); From 3c4e8e39d27a950860138865b67cf396f727dba9 Mon Sep 17 00:00:00 2001 From: Yey007 <55263178+Yey007@users.noreply.github.com> Date: Sat, 8 Feb 2025 12:09:30 -0500 Subject: [PATCH 3/3] Don't use get_chars --- common/parse_scan.cpp | 16 ++++------------ 1 file changed, 4 insertions(+), 12 deletions(-) diff --git a/common/parse_scan.cpp b/common/parse_scan.cpp index 9b1380e..2256632 100644 --- a/common/parse_scan.cpp +++ b/common/parse_scan.cpp @@ -1,22 +1,13 @@ #include "parse_scan.h" -#include #include #include +#include #include #include #include #include #include "icp/geo.h" -float parse_float(std::string_view view) { - float f; - auto [_, ec] = std::from_chars(view.data(), (view.data() + view.size()), f); - if (ec != std::errc()) { - throw std::runtime_error("failed to read lidar scan: invalid value"); - } - return f; -} - std::vector parse_lidar_scan(std::string path) { std::ifstream in(path); if (!in.is_open()) { @@ -33,8 +24,9 @@ std::vector parse_lidar_scan(std::string path) { std::string_view x_view = view.substr(0, index); std::string_view y_view = view.substr(index + 1); - float x = parse_float(x_view); - float y = parse_float(y_view); + char* end = nullptr; + double x = std::strtod(x_view.cbegin(), &end); + double y = std::strtod(y_view.cbegin(), &end); if (std::isinf(x) || std::isinf(y)) { continue; }