From ce6d60581730622f051646bda377b9fa9b40a432 Mon Sep 17 00:00:00 2001
From: Diego de Fauconval
 <diegodefauconval@wifi-student19-nat-inside-666.sri.ucl.ac.be>
Date: Wed, 23 Nov 2022 19:03:12 +0100
Subject: [PATCH] test map lidar

---
 lidar.csv   | 1063 +++++++++++++++++++++++++++++++++++++++++++++++++++
 mapLiDAR.py |   21 +
 2 files changed, 1084 insertions(+)
 create mode 100644 lidar.csv
 create mode 100644 mapLiDAR.py

diff --git a/lidar.csv b/lidar.csv
new file mode 100644
index 0000000..feb2c26
--- /dev/null
+++ b/lidar.csv
@@ -0,0 +1,1063 @@
+theta	dist
+0.15	00634.00
+0.50	00634.00
+0.82	00636.00
+1.17	00636.00
+1.51	00636.00
+1.84	00636.00
+2.19	00636.00
+2.53	00636.00
+2.86	00636.00
+3.20	00636.00
+3.54	00636.00
+3.87	00636.00
+4.22	00636.00
+4.56	00638.00
+4.89	00638.00
+5.23	00638.00
+5.58	00638.00
+5.91	00638.00
+6.25	00638.00
+6.59	00640.00
+6.92	00640.00
+7.26	00640.00
+7.61	00642.00
+7.93	00642.00
+8.28	00642.00
+8.62	00642.00
+8.95	00642.00
+9.29	00644.00
+9.64	00644.00
+9.96	00646.00
+10.31	00646.00
+10.65	00646.00
+10.94	00648.00
+11.28	00648.00
+11.61	00648.00
+11.95	00650.00
+12.29	00650.00
+12.62	00652.00
+12.96	00652.00
+13.31	00654.00
+13.64	00654.00
+13.98	00656.00
+14.33	00656.00
+14.66	00656.00
+15.00	00658.00
+15.34	00660.00
+15.67	00660.00
+16.01	00662.00
+16.36	00662.00
+16.68	00664.00
+17.03	00664.00
+17.31	00666.00
+17.66	00668.00
+18.00	00670.00
+18.33	00670.00
+18.67	00672.00
+19.01	00672.00
+19.34	00674.00
+19.69	00676.00
+20.03	00676.00
+20.36	00678.00
+20.70	00680.00
+21.04	00682.00
+21.32	00684.00
+21.65	00686.00
+21.99	00686.00
+22.34	00688.00
+22.67	00690.00
+23.21	00000.00
+23.36	00694.00
+23.89	00000.00
+24.87	00485.00
+25.21	00485.00
+25.54	00485.00
+25.89	00485.00
+26.23	00484.00
+26.56	00485.00
+26.91	00485.00
+27.25	00485.00
+27.59	00485.00
+27.92	00485.00
+28.26	00485.00
+28.61	00485.00
+28.93	00486.00
+29.28	00487.00
+29.62	00487.00
+29.95	00488.00
+30.29	00488.00
+30.64	00489.00
+30.96	00489.00
+31.31	00488.00
+31.65	00489.00
+32.00	00490.00
+32.33	00490.00
+32.67	00490.00
+33.01	00491.00
+33.29	00492.00
+33.62	00492.00
+33.96	00492.00
+34.31	00493.00
+34.65	00493.00
+34.98	00494.00
+35.33	00494.00
+35.67	00494.00
+36.00	00496.00
+36.34	00496.00
+36.68	00496.00
+37.01	00497.00
+37.36	00498.00
+37.70	00499.00
+38.05	00499.00
+38.37	00500.00
+38.72	00501.00
+39.06	00501.00
+39.34	00503.00
+39.67	00503.00
+40.01	00504.00
+40.36	00505.00
+40.70	00505.00
+41.03	00506.00
+41.37	00507.00
+41.72	00507.00
+42.04	00509.00
+42.39	00510.00
+42.73	00510.00
+43.06	00510.00
+43.40	00512.00
+43.55	00000.00
+43.69	00514.00
+44.23	00000.00
+44.37	00514.00
+44.57	00000.00
+45.25	00000.00
+46.06	00520.00
+46.26	00000.00
+46.41	00522.00
+46.60	00000.00
+46.67	00351.00
+46.94	00000.00
+47.70	00526.00
+48.04	00530.00
+48.37	00530.00
+48.71	00530.00
+49.06	00532.00
+49.39	00534.00
+49.69	00536.00
+50.02	00536.00
+50.36	00538.00
+50.70	00540.00
+51.03	00542.00
+51.34	00000.00
+51.37	00544.00
+51.69	00000.00
+52.37	00000.00
+52.39	00546.00
+52.70	00000.00
+53.04	00000.00
+53.07	00886.00
+53.38	00000.00
+53.42	00884.00
+53.76	00882.00
+54.50	00878.00
+54.74	00000.00
+55.17	00720.00
+55.76	00000.00
+56.29	00572.00
+56.43	00000.00
+56.57	00844.00
+56.77	00000.00
+57.45	00000.00
+57.59	00832.00
+57.79	00000.00
+57.94	00830.00
+58.28	00824.00
+58.62	00820.00
+58.95	00820.00
+59.68	00818.00
+59.82	00000.00
+60.50	00000.00
+60.84	00000.00
+61.05	00806.00
+61.18	00000.00
+61.39	00800.00
+61.72	00798.00
+62.53	00000.00
+62.75	00796.00
+62.87	00000.00
+63.55	00000.00
+63.81	00792.00
+63.89	00000.00
+64.15	00778.00
+64.50	00778.00
+64.82	00782.00
+65.17	00776.00
+65.51	00774.00
+65.84	00772.00
+66.19	00770.00
+66.92	00768.00
+66.94	00000.00
+67.54	00778.00
+67.62	00000.00
+67.89	00780.00
+68.28	00768.00
+68.62	00766.00
+68.95	00766.00
+69.30	00764.00
+69.64	00762.00
+69.97	00760.00
+70.31	00758.00
+70.65	00756.00
+70.98	00756.00
+71.32	00754.00
+71.67	00754.00
+72.02	00752.00
+72.34	00750.00
+72.69	00748.00
+73.03	00748.00
+73.36	00746.00
+74.04	00746.00
+74.06	00000.00
+74.73	00000.00
+75.08	00000.00
+75.42	00000.00
+75.76	00000.00
+76.09	00000.00
+76.43	00000.00
+76.77	00000.00
+77.11	00000.00
+77.45	00000.00
+77.79	00000.00
+78.13	00000.00
+78.46	00000.00
+78.80	00000.00
+79.15	00000.00
+79.48	00000.00
+79.82	00000.00
+80.16	00000.00
+80.50	00000.00
+80.84	00000.00
+81.18	00000.00
+81.52	00000.00
+81.85	00000.00
+82.19	00000.00
+82.53	00000.00
+82.88	00000.00
+83.21	00000.00
+83.55	00000.00
+83.89	00000.00
+84.23	00000.00
+84.57	00000.00
+84.91	00000.00
+85.24	00000.00
+85.58	00000.00
+85.92	00000.00
+86.26	00000.00
+86.60	00000.00
+86.94	00000.00
+87.28	00000.00
+87.62	00000.00
+87.96	00000.00
+88.30	00000.00
+88.64	00000.00
+88.97	00000.00
+89.31	00000.00
+89.65	00000.00
+89.99	00000.00
+90.33	00000.00
+90.42	00718.00
+90.76	00718.00
+91.10	00718.00
+91.43	00718.00
+91.78	00718.00
+92.12	00720.00
+92.45	00718.00
+92.80	00718.00
+93.14	00720.00
+93.47	00720.00
+93.81	00720.00
+94.15	00720.00
+94.48	00720.00
+94.82	00722.00
+95.17	00722.00
+95.50	00722.00
+95.84	00722.00
+96.19	00722.00
+96.47	00724.00
+96.81	00724.00
+97.14	00724.00
+97.48	00726.00
+97.83	00726.00
+98.15	00726.00
+98.50	00726.00
+98.84	00728.00
+99.17	00728.00
+99.51	00728.00
+99.85	00730.00
+100.18	00730.00
+100.53	00730.00
+100.87	00732.00
+101.20	00732.00
+101.55	00734.00
+101.89	00736.00
+102.22	00736.00
+102.56	00738.00
+102.90	00738.00
+103.23	00738.00
+103.57	00740.00
+103.92	00740.00
+104.25	00742.00
+104.59	00744.00
+104.94	00744.00
+105.22	00746.00
+105.56	00748.00
+105.89	00748.00
+106.23	00750.00
+106.57	00750.00
+106.90	00752.00
+107.25	00754.00
+107.59	00756.00
+107.92	00758.00
+108.26	00758.00
+108.61	00760.00
+108.93	00760.00
+109.28	00762.00
+109.62	00764.00
+109.95	00766.00
+110.29	00768.00
+110.58	00770.00
+110.92	00772.00
+111.26	00772.00
+111.59	00774.00
+112.36	00000.00
+112.71	00626.00
+113.06	00620.00
+113.45	00610.00
+113.80	00600.00
+114.19	00592.00
+114.58	00584.00
+114.92	00576.00
+115.31	00570.00
+115.65	00562.00
+116.04	00554.00
+116.39	00548.00
+116.78	00540.00
+117.17	00534.00
+117.52	00526.00
+117.91	00520.00
+118.25	00517.00
+118.64	00511.00
+118.98	00505.00
+119.37	00499.00
+119.72	00493.00
+120.11	00487.00
+120.50	00481.00
+120.84	00478.00
+121.18	00474.00
+121.57	00469.00
+121.96	00463.00
+122.31	00459.00
+122.70	00454.00
+123.05	00450.00
+123.44	00445.00
+123.78	00441.00
+124.17	00438.00
+124.50	00434.00
+124.90	00429.00
+125.23	00426.00
+125.62	00422.00
+125.96	00418.00
+126.36	00415.00
+126.70	00411.00
+127.09	00408.00
+127.42	00406.00
+127.83	00402.00
+128.16	00399.00
+128.55	00396.00
+128.89	00392.00
+129.28	00389.00
+129.62	00386.00
+130.01	00383.00
+130.34	00381.00
+130.68	00379.00
+131.08	00376.00
+131.42	00373.00
+131.81	00370.00
+132.14	00368.00
+132.54	00365.00
+132.87	00362.00
+133.26	00361.00
+133.60	00359.00
+133.99	00356.00
+134.34	00354.00
+134.67	00354.00
+135.01	00355.00
+135.34	00355.00
+135.62	00357.00
+135.97	00358.00
+136.09	00000.00
+136.30	00361.00
+136.58	00363.00
+136.77	00000.00
+136.92	00365.00
+137.11	00000.00
+137.20	00368.00
+137.45	00000.00
+137.79	00000.00
+137.87	00371.00
+138.13	00000.00
+138.47	00000.00
+138.81	00000.00
+139.14	00000.00
+139.48	00000.00
+139.82	00000.00
+140.16	00000.00
+140.50	00000.00
+140.84	00000.00
+141.18	00000.00
+141.51	00000.00
+141.86	00000.00
+142.20	00000.00
+142.53	00000.00
+142.87	00000.00
+143.21	00000.00
+143.55	00000.00
+143.89	00000.00
+144.23	00000.00
+144.57	00000.00
+144.90	00000.00
+145.24	00000.00
+145.59	00000.00
+145.93	00000.00
+146.26	00000.00
+146.60	00000.00
+146.94	00000.00
+147.28	00000.00
+147.62	00000.00
+147.96	00000.00
+148.30	00000.00
+148.63	00000.00
+148.97	00000.00
+149.32	00000.00
+149.65	00000.00
+149.99	00000.00
+150.33	00000.00
+150.67	00000.00
+151.01	00000.00
+151.35	00000.00
+151.69	00000.00
+152.02	00000.00
+152.36	00000.00
+152.70	00000.00
+153.04	00000.00
+153.38	00000.00
+153.72	00000.00
+154.06	00000.00
+154.40	00000.00
+154.74	00000.00
+155.08	00000.00
+155.41	00000.00
+155.75	00000.00
+155.82	01266.00
+156.09	00000.00
+156.15	01266.00
+156.43	00000.00
+156.49	01262.00
+156.77	00000.00
+156.84	01258.00
+157.17	01256.00
+157.51	01252.00
+157.86	01250.00
+158.19	01246.00
+158.53	01242.00
+158.87	01240.00
+159.21	01238.00
+159.54	01236.00
+159.89	01234.00
+160.23	01230.00
+160.62	01228.00
+160.97	01228.00
+161.30	01224.00
+161.64	01220.00
+161.98	01218.00
+162.32	01216.00
+162.65	01214.00
+163.00	01212.00
+163.34	01210.00
+163.67	01208.00
+164.01	01208.00
+164.36	01206.00
+164.70	01204.00
+165.03	01202.00
+165.37	01200.00
+165.72	01198.00
+166.04	01194.00
+166.39	01194.00
+166.73	01192.00
+167.06	01192.00
+167.40	01190.00
+167.74	01188.00
+168.09	01188.00
+168.42	01186.00
+168.76	01184.00
+169.11	01182.00
+169.44	01182.00
+169.78	01182.00
+170.12	01180.00
+170.46	01178.00
+170.79	01176.00
+171.14	01176.00
+171.48	01176.00
+171.81	01174.00
+172.16	01174.00
+172.50	01174.00
+172.84	01174.00
+173.17	01172.00
+173.51	01172.00
+173.90	01170.00
+174.25	01170.00
+174.59	01170.00
+174.92	01170.00
+175.26	01168.00
+175.61	01168.00
+175.94	01166.00
+176.28	01166.00
+176.62	01166.00
+176.97	01166.00
+177.29	01166.00
+177.64	01166.00
+177.98	01166.00
+178.31	01166.00
+178.65	01166.00
+178.99	01166.00
+179.34	01168.00
+179.67	01166.00
+180.01	01166.00
+180.36	01164.00
+180.69	01164.00
+181.03	01166.00
+181.37	01166.00
+181.70	01166.00
+182.04	01168.00
+182.39	01168.00
+182.73	01168.00
+183.06	01170.00
+183.41	01170.00
+183.75	01170.00
+184.08	01170.00
+184.37	01172.00
+185.04	01174.00
+185.92	00000.00
+185.95	02044.00
+186.30	02044.00
+186.58	02052.00
+186.60	00000.00
+186.92	02088.00
+186.94	00000.00
+187.28	00000.00
+187.59	02132.00
+188.67	02036.00
+188.95	02066.00
+188.98	00000.00
+189.65	00000.00
+189.68	02042.00
+189.99	00000.00
+190.03	01940.00
+190.37	01942.00
+190.70	01944.00
+191.01	00000.00
+191.05	01936.00
+191.39	01932.00
+191.72	01936.00
+192.06	01942.00
+192.40	01950.00
+192.75	01956.00
+193.07	01962.00
+193.42	01968.00
+193.76	01988.00
+194.09	02006.00
+194.44	02010.00
+194.78	02026.00
+195.12	02040.00
+195.40	02056.00
+195.73	02080.00
+196.07	02112.00
+196.77	02148.00
+197.44	04424.00
+197.78	04424.00
+198.13	00000.00
+198.68	02468.00
+198.80	00000.00
+199.08	02448.00
+199.14	00000.00
+199.42	02420.00
+199.76	02396.00
+200.09	02376.00
+200.16	00000.00
+200.43	02344.00
+200.78	02316.00
+201.10	02292.00
+201.45	02264.00
+201.80	02240.00
+202.19	02228.00
+202.53	02228.00
+202.87	02228.00
+203.89	04704.00
+204.56	04704.00
+204.91	00000.00
+204.97	03536.00
+205.25	00000.00
+205.30	03580.00
+205.59	00000.00
+205.64	03628.00
+205.98	03676.00
+206.26	00000.00
+206.32	03716.00
+206.65	03760.00
+207.67	03816.00
+207.97	04404.00
+208.30	04408.00
+208.64	04408.00
+208.98	00000.00
+208.98	04416.00
+209.31	00000.00
+209.31	04416.00
+209.65	04424.00
+210.00	04424.00
+210.34	04424.00
+210.67	04432.00
+211.01	04432.00
+211.35	04440.00
+211.68	04448.00
+212.03	04456.00
+212.37	04456.00
+212.72	04456.00
+213.05	04464.00
+213.39	04472.00
+213.73	04472.00
+214.07	04480.00
+214.40	04488.00
+214.75	04488.00
+215.09	04496.00
+215.42	04496.00
+215.76	04504.00
+216.78	04512.00
+218.13	00000.00
+218.47	00000.00
+219.14	00000.00
+219.48	00000.00
+219.56	03980.00
+219.82	00000.00
+219.89	03928.00
+220.16	00000.00
+220.23	03868.00
+220.50	00000.00
+220.58	03820.00
+220.84	00000.00
+220.90	03772.00
+221.18	00000.00
+221.25	03728.00
+221.92	03736.00
+222.21	04844.00
+222.54	04848.00
+222.89	04856.00
+223.23	04864.00
+223.55	00000.00
+223.56	04872.00
+223.90	04880.00
+224.25	04880.00
+224.58	04888.00
+224.92	04896.00
+225.26	04904.00
+225.59	04912.00
+225.93	04848.00
+226.95	04792.00
+227.97	04856.00
+228.30	00000.00
+228.31	04632.00
+228.64	00000.00
+228.65	04584.00
+228.98	04560.00
+229.31	00000.00
+229.32	04536.00
+229.65	00000.00
+229.67	04512.00
+230.02	04488.00
+230.34	04464.00
+230.69	04440.00
+231.03	04408.00
+231.36	04392.00
+231.70	04376.00
+232.04	04360.00
+232.37	04344.00
+232.72	04328.00
+233.06	04304.00
+233.40	04280.00
+233.73	04264.00
+234.07	04248.00
+234.42	04232.00
+234.74	04224.00
+235.09	04208.00
+235.44	04184.00
+235.76	04160.00
+236.11	04136.00
+236.45	04120.00
+236.78	04104.00
+237.18	04096.00
+237.51	04080.00
+237.85	04068.00
+238.20	04052.00
+238.55	04040.00
+238.87	04028.00
+239.22	04020.00
+239.89	03740.00
+240.23	03724.00
+240.57	03752.00
+240.90	03812.00
+241.25	03828.00
+241.52	00000.00
+241.59	03800.00
+241.94	03792.00
+242.27	03796.00
+242.61	03804.00
+242.95	03820.00
+243.28	03848.00
+243.62	03888.00
+244.29	03924.00
+245.92	00000.00
+246.60	00000.00
+246.94	00000.00
+247.08	16800.00
+247.28	00000.00
+247.40	16816.00
+247.62	00000.00
+247.75	16704.00
+247.96	00000.00
+248.09	16816.00
+248.30	00000.00
+248.43	16912.00
+248.64	00000.00
+248.76	16944.00
+248.97	00000.00
+249.10	16736.00
+250.92	07128.00
+251.25	07088.00
+251.59	07120.00
+251.69	00000.00
+251.92	07200.00
+252.03	00000.00
+252.26	07224.00
+252.37	00000.00
+252.70	00000.00
+253.28	07240.00
+253.84	12472.00
+254.19	12560.00
+254.51	12584.00
+254.73	00000.00
+254.86	12624.00
+255.08	00000.00
+255.20	12672.00
+255.53	12760.00
+255.76	00000.00
+256.22	12824.00
+256.54	13864.00
+256.89	14144.00
+257.22	14200.00
+258.13	00000.00
+258.23	14272.00
+258.92	16752.00
+259.25	16720.00
+259.82	00000.00
+259.94	15096.00
+260.16	00000.00
+260.26	15144.00
+260.61	15168.00
+260.84	00000.00
+261.28	15160.00
+261.85	00000.00
+263.21	00000.00
+263.59	03908.00
+263.89	00000.00
+263.92	03912.00
+264.23	00000.00
+264.27	03920.00
+264.57	00000.00
+264.61	03932.00
+264.91	00000.00
+264.94	03936.00
+265.24	00000.00
+265.28	03940.00
+265.62	03944.00
+265.95	03944.00
+266.29	03948.00
+266.62	03960.00
+266.97	03956.00
+267.31	03960.00
+267.64	03972.00
+267.98	03976.00
+268.32	03980.00
+268.65	03992.00
+268.99	03996.00
+269.67	04004.00
+271.35	00000.00
+271.97	00832.00
+272.03	00000.00
+272.31	00836.00
+272.36	00000.00
+272.65	00840.00
+272.98	00844.00
+273.26	00848.00
+273.61	00852.00
+273.95	00860.00
+274.28	00860.00
+274.62	00864.00
+274.97	00868.00
+275.98	00876.00
+276.09	00000.00
+276.43	00000.00
+276.48	00954.00
+276.83	00954.00
+277.11	00000.00
+277.15	00956.00
+277.50	00954.00
+277.84	00950.00
+278.17	00948.00
+278.51	00948.00
+278.84	00950.00
+279.18	00950.00
+279.53	00952.00
+279.85	00952.00
+280.20	00956.00
+280.55	00962.00
+280.87	00964.00
+281.22	00966.00
+281.56	00968.00
+281.89	00970.00
+282.23	00972.00
+282.56	00980.00
+282.90	00976.00
+283.25	00964.00
+283.92	00958.00
+284.37	00910.00
+284.57	00000.00
+284.72	00908.00
+285.05	00910.00
+285.34	00914.00
+285.67	00916.00
+286.01	00916.00
+286.36	00920.00
+286.70	00924.00
+287.03	00928.00
+288.06	00936.00
+288.30	00000.00
+288.63	00000.00
+289.08	02904.00
+289.31	00000.00
+289.65	00000.00
+289.87	02320.00
+289.99	00000.00
+290.21	02332.00
+290.33	00000.00
+290.67	00000.00
+291.19	02672.00
+291.35	00000.00
+291.51	02656.00
+291.86	02644.00
+292.20	02628.00
+292.36	00000.00
+292.53	02616.00
+292.70	00000.00
+292.87	02604.00
+293.21	02588.00
+293.56	02572.00
+293.89	02560.00
+294.23	02548.00
+294.58	02532.00
+294.92	02520.00
+295.25	02512.00
+295.59	02500.00
+295.93	02488.00
+296.28	02476.00
+296.61	02464.00
+297.02	02452.00
+297.34	02440.00
+297.69	02432.00
+298.03	02420.00
+298.37	02408.00
+298.70	02400.00
+299.39	02396.00
+299.84	01984.00
+300.17	01982.00
+300.51	02000.00
+300.84	00000.00
+301.09	02332.00
+301.42	02320.00
+301.76	02316.00
+302.11	02312.00
+302.44	02304.00
+302.54	00000.00
+302.78	02296.00
+303.12	02284.00
+303.46	02276.00
+303.79	02268.00
+304.14	02260.00
+304.48	02252.00
+304.83	02248.00
+305.16	02240.00
+305.50	02236.00
+306.79	01636.00
+307.07	01642.00
+307.42	01650.00
+307.62	00000.00
+307.77	01660.00
+307.96	00000.00
+308.11	01666.00
+308.78	01674.00
+309.29	02160.00
+309.64	02152.00
+309.97	02144.00
+309.99	00000.00
+310.31	02140.00
+310.65	02132.00
+310.67	00000.00
+311.00	02140.00
+311.33	02156.00
+311.67	02184.00
+312.01	02212.00
+312.64	02248.00
+313.65	02380.00
+313.99	02396.00
+314.06	00000.00
+314.67	02400.00
+314.74	00000.00
+315.08	00000.00
+315.36	02396.00
+315.69	02384.00
+316.03	02380.00
+316.09	00000.00
+316.37	02376.00
+316.70	02372.00
+316.77	00000.00
+317.04	02368.00
+317.39	02364.00
+317.73	02360.00
+318.06	02356.00
+318.41	02352.00
+318.75	02352.00
+319.09	02348.00
+319.42	02348.00
+319.76	02344.00
+320.11	02340.00
+320.43	02340.00
+320.78	02336.00
+321.12	02332.00
+321.47	02328.00
+321.80	02324.00
+322.14	02324.00
+322.48	02320.00
+322.81	02316.00
+323.15	02316.00
+323.50	02312.00
+323.84	02312.00
+324.17	02308.00
+324.51	02308.00
+324.85	02304.00
+325.18	02300.00
+325.53	02300.00
+325.87	02300.00
+326.22	02296.00
+326.55	02296.00
+326.89	02296.00
+327.23	02296.00
+327.56	02292.00
+327.90	02292.00
+328.25	02292.00
+328.59	02292.00
+328.92	02292.00
+329.26	02288.00
+329.61	02288.00
+329.95	02284.00
+330.28	02284.00
+330.62	02284.00
+330.97	02280.00
+331.29	02280.00
+331.64	02284.00
+331.98	02284.00
+332.33	02284.00
+332.66	02284.00
+333.00	02284.00
+333.34	02284.00
+333.67	02284.00
+334.01	02288.00
+334.36	02288.00
+334.70	02288.00
+335.03	02288.00
+335.37	02288.00
+335.71	02284.00
+336.04	02288.00
+336.39	02292.00
+336.73	02296.00
+337.08	02296.00
+337.40	02296.00
+337.75	02296.00
+338.09	02292.00
+338.42	02296.00
+338.76	02296.00
+339.10	02296.00
+339.45	02300.00
+339.78	02304.00
+340.12	02300.00
+340.47	02304.00
+340.81	02304.00
+341.14	02308.00
+341.48	02312.00
+341.82	02312.00
+342.15	02316.00
+343.19	02320.00
+344.23	00000.00
+344.57	00000.00
+344.59	02172.00
+344.93	02144.00
+345.25	00000.00
+345.26	02120.00
+345.59	00000.00
+345.61	02104.00
+345.92	00000.00
+345.95	02088.00
+346.29	02068.00
+348.29	00000.00
+348.63	00000.00
+348.81	00646.00
+349.15	00644.00
+349.50	00644.00
+349.84	00644.00
+350.17	00642.00
+350.51	00642.00
+350.86	00642.00
+351.18	00642.00
+351.53	00640.00
+351.87	00640.00
+352.20	00640.00
+352.55	00638.00
+352.89	00638.00
+353.22	00638.00
+353.56	00638.00
+354.06	00636.00
+354.39	00636.00
+354.73	00636.00
+355.08	00636.00
+355.40	00636.00
+355.75	00636.00
+356.09	00636.00
+356.42	00636.00
+356.76	00634.00
+357.11	00636.00
+357.43	00636.00
+357.78	00634.00
+358.12	00634.00
+358.45	00634.00
+358.79	00634.00
+359.14	00634.00
+359.47	00634.00
+359.81	00634.00
diff --git a/mapLiDAR.py b/mapLiDAR.py
new file mode 100644
index 0000000..001fd6b
--- /dev/null
+++ b/mapLiDAR.py
@@ -0,0 +1,21 @@
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+
+
+data = pd.read_csv("lidar.csv", sep='\t')
+
+theta = data["theta"]
+dist = data["dist"]
+
+
+posx = dist * np.cos(theta)
+posy = dist * np.sin(theta)
+
+for i in range(len(dist)) :
+    if dist[i] != 0 :
+        plt.plot(posx[i], posy[i], 'ob')
+
+plt.axis("equal")
+
+plt.show()
\ No newline at end of file
-- 
GitLab