├── .gitignore
├── CMakeLists.txt
├── LICENSE
├── README.md
├── examples
    ├── copyright_notice.txt
    ├── cow.ply
    ├── point_cloud_io.rviz
    └── some_cows.bag
├── include
    └── point_cloud_io
    │   ├── Read.hpp
    │   └── Write.hpp
├── launch
    ├── example_read.launch
    └── example_write.launch
├── package.xml
├── src
    ├── Read.cpp
    ├── Write.cpp
    ├── read_node.cpp
    └── write_node.cpp
└── test
    └── empty_test.cpp


/.gitignore:
--------------------------------------------------------------------------------
 1 | # Compiled Object files
 2 | *.slo
 3 | *.lo
 4 | *.o
 5 | *.obj
 6 | 
 7 | # Compiled Dynamic libraries
 8 | *.so
 9 | *.dylib
10 | *.dll
11 | 
12 | # Compiled Static libraries
13 | *.lai
14 | *.la
15 | *.a
16 | *.lib
17 | 
18 | # Executables
19 | *.exe
20 | *.out
21 | *.app
22 | 
23 | # Eclipse
24 | .cproject
25 | .project
26 | .settings
27 | 
28 | # Files written by the example
29 | examples/received_cloud_*
30 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 3.5.1)
  2 | project(point_cloud_io)
  3 | 
  4 | set(CMAKE_CXX_STANDARD 17)
  5 | add_compile_options(-Wall -Wextra -Wpedantic -Werror=return-type)
  6 | set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
  7 | 
  8 | # Options.
  9 | option(BUILD_WITH_VTK_SUPPORT "Build package with support for VTK files." OFF)
 10 | if(BUILD_WITH_VTK_SUPPORT)
 11 |   message("point_cloud_io will be built with support for VTK files.")
 12 |   add_definitions(-DHAVE_VTK)
 13 | endif()
 14 | 
 15 | set(CATKIN_PACKAGE_DEPENDENCIES
 16 |   pcl_ros
 17 |   roscpp
 18 |   sensor_msgs
 19 | )
 20 | 
 21 | find_package(catkin REQUIRED
 22 |   COMPONENTS
 23 |     ${CATKIN_PACKAGE_DEPENDENCIES}
 24 | )
 25 | 
 26 | catkin_package(
 27 |   INCLUDE_DIRS
 28 |     include
 29 |   CATKIN_DEPENDS
 30 |     ${CATKIN_PACKAGE_DEPENDENCIES}
 31 | )
 32 | 
 33 | include_directories(
 34 |   include
 35 |   SYSTEM
 36 |     ${catkin_INCLUDE_DIRS}
 37 | )
 38 | 
 39 | ###########
 40 | ## Build ##
 41 | ###########
 42 | add_executable(read
 43 |   src/read_node.cpp
 44 |   src/Read.cpp
 45 | )
 46 | target_link_libraries(read
 47 |   ${catkin_LIBRARIES}
 48 | )
 49 | 
 50 | add_executable(write
 51 |   src/write_node.cpp
 52 |   src/Write.cpp
 53 | )
 54 | target_link_libraries(write
 55 |   ${catkin_LIBRARIES}
 56 | )
 57 | 
 58 | #############
 59 | ## Install ##
 60 | #############
 61 | install(
 62 |   TARGETS
 63 |     read
 64 |     write
 65 |   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 66 |   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 67 |   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 68 | )
 69 | install(
 70 |   DIRECTORY
 71 |     include/${PROJECT_NAME}/
 72 |   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 73 | )
 74 | install(
 75 |   DIRECTORY
 76 |     examples
 77 |     launch
 78 |   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 79 | )
 80 | 
 81 | find_package(cmake_clang_tools QUIET)
 82 | if(cmake_clang_tools_FOUND)
 83 |   add_default_clang_tooling(
 84 |     TARGETS
 85 |       read
 86 |       write
 87 |   )
 88 | endif(cmake_clang_tools_FOUND)
 89 | 
 90 | ##############
 91 | ##   Test   ##
 92 | ##############
 93 | if(CATKIN_ENABLE_TESTING)
 94 |   catkin_add_gtest(test_${PROJECT_NAME}
 95 |     test/empty_test.cpp
 96 |   )
 97 |   add_dependencies(test_${PROJECT_NAME}
 98 |     read
 99 |     write
100 |   )
101 |   target_include_directories(test_${PROJECT_NAME} PRIVATE
102 |     include
103 |   )
104 |   target_include_directories(test_${PROJECT_NAME} SYSTEM PUBLIC
105 |     ${catkin_INCLUDE_DIRS}
106 |   )
107 |   target_link_libraries(test_${PROJECT_NAME}
108 |     gtest_main
109 |     ${catkin_LIBRARIES}
110 |   )
111 | 
112 |   ###################
113 |   ## Code_coverage ##
114 |   ###################
115 |   find_package(cmake_code_coverage QUIET)
116 |   if(cmake_code_coverage_FOUND)
117 |     add_gtest_coverage(
118 |       TEST_BUILD_TARGETS
119 |         test_${PROJECT_NAME}
120 |     )
121 |   endif()
122 | endif()


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | Copyright 2019, ANYbotics AG.
 2 | 
 3 | Redistribution and use in source and binary forms, with or without
 4 | modification, are permitted provided that the following conditions
 5 | are met:
 6 | 
 7 | 1. Redistributions of source code must retain the above copyright
 8 |    notice, this list of conditions and the following disclaimer.
 9 | 
10 | 2. Redistributions in binary form must reproduce the above copyright
11 |    notice, this list of conditions and the following disclaimer in
12 |    the documentation and/or other materials provided with the
13 |    distribution.
14 | 
15 | 3. Neither the name of the copyright holder nor the names of its
16 |    contributors may be used to endorse or promote products derived
17 |    from this software without specific prior written permission.
18 | 
19 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
22 | A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
23 | HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 | LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
26 | DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
27 | THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
28 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | Point Cloud IO
 2 | ======================
 3 | 
 4 | Overview
 5 | ---------------
 6 | 
 7 | These are two simple [ROS] point cloud helper nodes. **_read_** reads a point cloud from file (ply or vtk) and publishes it as a [sensor_msgs/PointCloud2] message. **_write_** subscribes to a [sensor_msgs/PointCloud2] topic and writes received messages to seperate files (ply, pcd).
 8 | 
 9 | For visualization, make sure to set the **Decay Time** in the **PointCloud2** tab in [rviz] to a high number to get the point cloud visible for a long time.
10 | 
11 | This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
12 | 
13 | **Author: Péter Fankhauser, Remo Diethelm<br />
14 | Affiliation: [ANYbotics](https://www.anybotics.com/)<br />
15 | Maintainer: Remo Diethelm, rdiethelm@anybotics.com<br />**
16 | 
17 | This projected was initially developed at ETH Zurich (Autonomous Systems Lab & Robotic Systems Lab).
18 | 
19 | [This work is conducted as part of ANYmal Research, a community to advance legged robotics.](https://www.anymal-research.org/)
20 | 
21 | The source code is released under a [BSD 3-Clause license](LICENSE).
22 | 
23 | Installation
24 | ------------
25 | 
26 | ### Dependencies
27 | 
28 | This software is built on the Robot Operating System ([ROS]), which needs to be [installed](http://wiki.ros.org) first. Additionaly, the it depends on following software:
29 | 
30 | - [Point Cloud Library (PCL)](http://pointclouds.org/).
31 | 
32 | 
33 | ### Building
34 | 
35 | In order to build Point Cloud IO, clone the latest version from this repository into your catkin workspace and compile the package using ROS.
36 | 
37 |     cd ~/catkin_workspace/src
38 |     git clone https://github.com/anybotics/point_cloud_io.git
39 |     cd ../
40 |     catkin build point_cloud_io
41 | 
42 | Note: building the tool with support for the VTK file format is disabled by default. To enable it, run `catkin build point_cloud_io --cmake-args -DBUILD_WITH_VTK_SUPPORT=True` instead.
43 | 
44 | Usage
45 | ------------
46 | 
47 | To create your own launch-file, you can use the examples from `point_cloud_io/launch/...`.
48 | 
49 | 
50 | ### Read
51 | 
52 | Load and publish a ply or vtk file with
53 | 
54 |     rosrun point_cloud_io read _file_path:=/home/user/my_point_cloud.ply _topic:=/my_topic _frame:=/sensor_frame
55 | 
56 | Optionally, you can also add `_rate:=1.0` to have the node publish your point cloud at the specified rate.
57 | 
58 | 
59 | ### Write
60 | 
61 | Subscribe and save point clouds to a ply file with
62 | 
63 |     rosrun point_cloud_io write _topic:=/your_topic _folder_path:=/home/user/my_point_clouds
64 | 
65 | Optionally, you can set parameters to fit the point cloud file names to your needs:
66 | 
67 | - `_file_prefix:=my_prefix` (default: "point_cloud")
68 | - `_file_ending:=my_ending` (default: "ply", currently only format which is supported for writing)
69 | - `_add_counter_to_path:=false` (default: `true`)
70 | - `_add_frame_id_to_path:=true` (default: `false`)
71 | - `_add_stamp_sec_to_path:=true` (default: `false`)
72 | - `_add_stamp_nsec_to_path:=true` (default: `false`)
73 | 
74 | 
75 | Bugs & Feature Requests
76 | ------------
77 | 
78 | Please report bugs and request features using the [Issue Tracker](https://github.com/anybotics/point_cloud_io/issues).
79 | 
80 | 
81 | [ROS]: http://www.ros.org
82 | [rviz]: http://wiki.ros.org/rviz
83 | [sensor_msgs/PointCloud2]: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
84 | 


--------------------------------------------------------------------------------
/examples/copyright_notice.txt:
--------------------------------------------------------------------------------
1 | The cow.ply demo files was taken from http://people.sc.fsu.edu/~jburkardt/data/ply/ply.html
2 | by John Burkardt and is distributed under the GNU PGPL license:
3 | http://people.sc.fsu.edu/~jburkardt/txt/gnu_lgpl.txt
4 | 


--------------------------------------------------------------------------------
/examples/cow.ply:
--------------------------------------------------------------------------------
   1 | ply
   2 | format ascii 1.0
   3 | element vertex 2903
   4 | property float32 x
   5 | property float32 y
   6 | property float32 z
   7 | end_header
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  12 | 0.652035 0.0379582 -0.542332 
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 660 | -0.337087 1.38182 -0.692724 
 661 | -0.556479 1.07713 -0.660866 
 662 | -0.332432 1.23652 -0.664182 
 663 | -0.572798 0.986433 -0.576667 
 664 | -0.360036 1.09903 -0.612885 
 665 | -0.573631 0.944234 -0.512626 
 666 | -0.373423 1.00948 -0.543325 
 667 | -0.373582 0.963961 -0.477212 
 668 | -0.877541 2.37779 -0.0567158 
 669 | -0.861632 2.39082 0.00212798 
 670 | -0.723509 2.37672 0.00212747 
 671 | -0.882853 2.35663 -0.119549 
 672 | -0.735852 2.3582 -0.0648361 
 673 | -0.911569 2.33345 -0.224462 
 674 | -0.762635 2.34273 -0.127043 
 675 | -0.931727 2.3146 -0.317654 
 676 | -0.79035 2.31199 -0.236778 
 677 | -0.960538 2.27904 -0.395849 
 678 | -0.802829 2.26847 -0.333356 
 679 | -1.02564 2.22039 -0.460806 
 680 | -0.833475 2.21702 -0.359169 
 681 | -1.02625 2.10077 -0.505262 
 682 | -0.905463 2.12872 -0.415249 
 683 | -0.982884 1.98897 -0.543974 
 684 | -0.871019 2.03472 -0.484258 
 685 | -0.96135 1.8562 -0.593928 
 686 | -0.847727 1.9594 -0.550733 
 687 | -0.993926 1.73361 -0.632656 
 688 | -0.835733 1.79016 -0.640129 
 689 | -0.998387 1.59257 -0.663932 
 690 | -0.816597 1.67598 -0.682623 
 691 | -0.956863 1.29525 -0.682566 
 692 | -0.806076 1.45225 -0.742953 
 693 | -0.948342 1.18502 -0.637758 
 694 | -0.816558 1.2199 -0.717778 
 695 | -0.959882 1.10608 -0.574916 
 696 | -0.809531 1.09989 -0.657427 
 697 | -0.962219 1.05839 -0.488464 
 698 | -0.783122 1.01437 -0.594439 
 699 | 0.383061 1.22509 -0.530593 
 700 | 0.381262 1.30589 -0.54748 
 701 | 0.300402 2.39048 0.00212368 
 702 | 0.302981 2.37267 -0.0959082 
 703 | 0.312383 2.35156 -0.125173 
 704 | 0.318245 2.31689 -0.17469 
 705 | 0.321688 2.25718 -0.256182 
 706 | 0.327057 2.19145 -0.324552 
 707 | 0.355744 1.94315 -0.468741 
 708 | 0.350666 2.01687 -0.433887 
 709 | 0.376846 1.78849 -0.51467 
 710 | 0.385199 1.70219 -0.532127 
 711 | 0.390193 1.61179 -0.547128 
 712 | 0.391868 1.51964 -0.556265 
 713 | 0.398247 1.42249 -0.567043 
 714 | 0.183754 1.0167 -0.297059 
 715 | 0.24407 1.00699 -0.332333 
 716 | 0.191918 0.959636 -0.252153 
 717 | 0.226694 0.921489 0.00212396 
 718 | 0.197586 0.927634 -0.189417 
 719 | 0.365766 0.916904 0.00212344 
 720 | 0.195713 1.06619 -0.360677 
 721 | 0.210607 1.19381 -0.43941 
 722 | 0.263619 1.35436 -0.485523 
 723 | 0.248041 1.18636 -0.448076 
 724 | 0.20054 1.12477 -0.392199 
 725 | 0.0671428 0.916247 0.00212455 
 726 | -0.761592 0.968223 -0.513026 
 727 | -0.943831 2.38331 -0.0568963 
 728 | -0.937223 2.3998 0.00212826 
 729 | -0.957227 2.36311 -0.115851 
 730 | -0.9666 2.34212 -0.231176 
 731 | -0.987688 2.33293 -0.316194 
 732 | -1.03916 2.29423 -0.430902 
 733 | -1.1007 2.21653 -0.48863 
 734 | -1.10595 2.08102 -0.518685 
 735 | -1.13844 1.89292 -0.530997 
 736 | -1.13348 1.80266 -0.546081 
 737 | -1.13999 1.73002 -0.567513 
 738 | -1.13303 1.61799 -0.602293 
 739 | -1.13643 1.4787 -0.615588 
 740 | -1.15186 1.36483 -0.569096 
 741 | -1.12764 1.26347 -0.515216 
 742 | -1.11647 1.18653 -0.472109 
 743 | -1.08398 2.39188 -0.0514297 
 744 | -1.08073 2.40856 0.00212879 
 745 | -1.09745 2.37376 -0.107011 
 746 | -1.11081 2.36799 -0.189099 
 747 | -1.19236 2.31612 -0.353337 
 748 | -1.22162 2.21504 -0.466938 
 749 | -1.21469 2.10314 -0.501806 
 750 | -1.22936 1.96062 -0.508696 
 751 | -1.23664 1.84464 -0.52233 
 752 | -1.23266 1.78485 -0.542131 
 753 | -1.19376 1.70594 -0.572949 
 754 | -1.17811 1.61993 -0.599931 
 755 | -1.20153 1.48177 -0.604881 
 756 | -1.23817 1.37138 -0.561069 
 757 | -1.24551 1.27018 -0.489009 
 758 | -1.24255 1.21717 -0.451413 
 759 | -1.23806 1.2021 -0.42291 
 760 | -1.25842 2.40454 -0.05887 
 761 | -1.24862 2.41492 0.00212941 
 762 | -1.26749 2.39229 -0.0989264 
 763 | -1.28396 2.37607 -0.188803 
 764 | -1.29922 2.31869 -0.352864 
 765 | -1.31405 2.20099 -0.474678 
 766 | -1.35384 2.07174 -0.514121 
 767 | -1.35481 1.94193 -0.528553 
 768 | -1.33631 1.84451 -0.543726 
 769 | -1.29316 1.77143 -0.559005 
 770 | -1.25437 1.69483 -0.586401 
 771 | -1.25189 1.61153 -0.620238 
 772 | -1.30604 1.43774 -0.618047 
 773 | -1.34515 1.29917 -0.556831 
 774 | -1.35208 1.19157 -0.495166 
 775 | -1.35529 1.15122 -0.458381 
 776 | -1.35851 1.11087 -0.421595 
 777 | -1.51996 2.44304 -0.0274789 
 778 | -1.5008 2.44881 0.00213034 
 779 | -1.53074 2.42813 -0.094319 
 780 | -1.53327 2.40792 -0.172047 
 781 | -1.53862 2.37324 -0.264405 
 782 | -1.53961 2.29832 -0.384006 
 783 | -1.52526 2.15956 -0.487385 
 784 | -1.4756 1.97154 -0.549849 
 785 | -1.45966 1.8927 -0.55755 
 786 | -1.45297 1.84967 -0.559296 
 787 | -1.43217 1.7359 -0.578286 
 788 | -1.41437 1.63773 -0.602341 
 789 | -1.40615 1.55547 -0.612969 
 790 | -1.39213 1.41923 -0.604007 
 791 | -1.4131 1.24076 -0.550863 
 792 | -1.47316 1.06929 -0.51234 
 793 | -1.68755 2.47112 -0.0203944 
 794 | -1.68069 2.48554 0.002131 
 795 | -1.69838 2.42805 -0.0936879 
 796 | -1.69734 2.41698 -0.15795 
 797 | -1.71221 2.39207 -0.247068 
 798 | -1.7019 2.33382 -0.343676 
 799 | -1.6769 2.2475 -0.412813 
 800 | -1.63343 2.08972 -0.494169 
 801 | -1.58737 1.93646 -0.530827 
 802 | -1.57185 1.8099 -0.537541 
 803 | -1.57026 1.71984 -0.543306 
 804 | -1.52618 1.63709 -0.566762 
 805 | -1.50957 1.49669 -0.588398 
 806 | -1.49508 1.37783 -0.590377 
 807 | -1.49878 1.21172 -0.553812 
 808 | -1.54326 1.06772 -0.522602 
 809 | -1.89324 2.34611 -0.137662 
 810 | -1.88793 2.35272 0.00213177 
 811 | -1.83729 2.3832 0.00213158 
 812 | -1.89652 2.30128 -0.223863 
 813 | -1.82218 2.40123 -0.16542 
 814 | -1.89028 2.24156 -0.267375 
 815 | -1.83843 2.36423 -0.242417 
 816 | -1.87407 2.17092 -0.308538 
 817 | -1.81347 2.30807 -0.301869 
 818 | -1.85905 2.09055 -0.334176 
 819 | -1.78673 2.23467 -0.374304 
 820 | -1.83127 1.94175 -0.388426 
 821 | -1.77204 2.13025 -0.399426 
 822 | -1.79942 1.77063 -0.433222 
 823 | -1.75073 1.95482 -0.432469 
 824 | -1.77487 1.68042 -0.462237 
 825 | -1.71376 1.80486 -0.47607 
 826 | -1.73477 1.59494 -0.488769 
 827 | -1.68382 1.70213 -0.511383 
 828 | -1.70872 1.44686 -0.510272 
 829 | -1.6516 1.61737 -0.533882 
 830 | -1.70658 1.30874 -0.500429 
 831 | -1.62319 1.45091 -0.562795 
 832 | -1.71795 1.16301 -0.467337 
 833 | -1.62058 1.33016 -0.563897 
 834 | -1.73036 1.04801 -0.43913 
 835 | -1.63666 1.16122 -0.535398 
 836 | -1.74744 0.982462 -0.422639 
 837 | -1.65651 1.04578 -0.497572 
 838 | -1.98814 2.30388 -0.127995 
 839 | -1.9686 2.30946 0.00213207 
 840 | -1.97182 2.24978 -0.188929 
 841 | -1.96594 2.19865 -0.218904 
 842 | -1.95294 2.12823 -0.250757 
 843 | -1.94621 2.05075 -0.269055 
 844 | -1.92108 1.92699 -0.305461 
 845 | -1.88655 1.78203 -0.371266 
 846 | -1.85116 1.67318 -0.402656 
 847 | -1.82522 1.55324 -0.417696 
 848 | -1.79215 1.41623 -0.431693 
 849 | -1.767 1.30183 -0.445517 
 850 | -1.7691 1.17153 -0.421766 
 851 | -1.78648 1.08426 -0.401343 
 852 | -1.97701 2.19887 -0.0912052 
 853 | -1.97703 2.22821 0.0021321 
 854 | -1.97343 2.16424 -0.117094 
 855 | -1.97089 2.11326 -0.13753 
 856 | -1.96056 2.06355 -0.15876 
 857 | -1.957 2.01446 -0.161299 
 858 | -1.94243 1.91226 -0.183132 
 859 | -1.91558 1.77321 -0.229065 
 860 | -1.89345 1.66503 -0.270536 
 861 | -1.86615 1.54773 -0.320414 
 862 | -1.84339 1.45185 -0.326916 
 863 | -1.7892 1.28103 -0.347829 
 864 | -1.42736 1.02777 -0.42387 
 865 | -1.48401 0.937248 -0.388195 
 866 | 0.558519 2.38663 0.00212273 
 867 | -1.58109 0.810576 -0.312053 
 868 | -1.80535 0.356845 -0.466851 
 869 | -1.77956 0.359688 -0.477568 
 870 | -1.76257 0.280029 -0.494301 
 871 | -1.72633 0.375461 -0.452927 
 872 | -1.68762 0.384444 -0.457639 
 873 | -1.65812 0.310009 -0.47733 
 874 | -1.67138 0.384365 -0.423988 
 875 | -1.64057 0.307558 -0.432659 
 876 | -1.79746 0.272915 -0.495328 
 877 | -1.79721 0.24785 -0.489315 
 878 | -1.76451 0.218369 -0.484511 
 879 | -1.80369 0.206348 -0.492119 
 880 | -1.61333 0.252646 -0.435934 
 881 | -1.62404 0.243574 -0.477978 
 882 | -1.74221 0.289934 -0.499988 
 883 | -1.75077 0.374191 -0.458706 
 884 | -1.80979 0.19918 -0.416665 
 885 | -1.79392 0.207538 -0.369393 
 886 | -1.77732 0.266651 -0.372422 
 887 | -1.79655 0.370858 -0.385332 
 888 | -1.81386 0.348329 -0.423855 
 889 | -1.81136 0.254952 -0.427549 
 890 | -1.67792 0.238523 -0.48556 
 891 | -1.71136 0.303816 -0.479336 
 892 | -1.71778 0.227776 -0.498833 
 893 | -1.73888 0.221181 -0.495214 
 894 | -1.66785 0.325001 -0.396644 
 895 | -1.63271 0.248683 -0.405518 
 896 | -1.73775 0.279593 -0.355856 
 897 | -1.69492 0.312218 -0.37046 
 898 | -1.72471 0.379357 -0.369966 
 899 | -1.74561 0.383056 -0.372616 
 900 | -1.68179 0.377396 -0.401039 
 901 | -1.77488 1.18526 -0.359277 
 902 | -1.91901 1.97252 -0.125042 
 903 | -1.90948 1.91396 -0.121573 
 904 | -1.90071 1.79821 -0.139809 
 905 | -1.89198 1.66893 -0.187575 
 906 | -1.87167 1.56877 -0.238727 
 907 | -1.92821 1.95422 0.00213192 
 908 | -1.92935 2.17324 0.00213192 
 909 | -1.93241 2.11616 0.00213193 
 910 | -1.93846 2.04643 0.00213196 
 911 | -2.05529 2.04576 -0.0232759 
 912 | -2.03639 1.82284 -0.021288 
 913 | -2.04176 1.82224 0.00213234 
 914 | -2.0436 2.25552 -0.0252597 
 915 | -2.06112 2.04516 0.00213241 
 916 | -1.97224 2.39139 -0.0272435 
 917 | -2.04991 2.25581 0.00213237 
 918 | -1.8712 2.4679 -0.0292276 
 919 | -1.97836 2.39428 0.0021321 
 920 | -1.76916 2.48725 -0.0312116 
 921 | -1.87503 2.47403 0.00213172 
 922 | -2.03937 2.0474 -0.0418738 
 923 | -2.02173 1.8245 -0.0384355 
 924 | -2.02636 2.25476 -0.0453122 
 925 | -1.95549 2.3835 -0.0487508 
 926 | -1.8607 2.45115 -0.0521894 
 927 | -1.76443 2.468 -0.0556281 
 928 | -2.01761 2.04964 -0.0486889 
 929 | -2.00169 1.82677 -0.0447172 
 930 | -2.0028 2.25372 -0.0526606 
 931 | -1.93261 2.37272 -0.0566282 
 932 | -1.84637 2.42827 -0.0606002 
 933 | -1.99584 2.05188 -0.0418916 
 934 | -1.98165 1.82903 -0.0384489 
 935 | -1.97923 2.25267 -0.04533 
 936 | -1.90972 2.36194 -0.0487686 
 937 | -1.83202 2.40539 -0.0522072 
 938 | -1.97989 2.05352 -0.0232983 
 939 | -1.96697 1.83069 -0.0213146 
 940 | -1.96197 2.2519 -0.0252864 
 941 | -1.89296 2.35404 -0.0272747 
 942 | -1.82152 2.38863 -0.029263 
 943 | -1.97405 2.05413 0.00210123 
 944 | -1.96158 1.8313 0.00210559 
 945 | -1.95564 2.25162 0.00210116 
 946 | -1.81766 2.38249 0.00209184 
 947 | -1.77088 2.4943 0.00213134 
 948 | 1.80134 2.42054 -0.270343 
 949 | 1.79308 2.49427 -0.279133 
 950 | 1.83408 2.50764 -0.250401 
 951 | 1.8587 2.4892 -0.228519 
 952 | 1.83797 2.41463 -0.251512 
 953 | 1.85869 2.41623 -0.227439 
 954 | 1.82179 2.39496 -0.257026 
 955 | 1.79736 2.40381 -0.26374 
 956 | 1.84627 2.38928 -0.24188 
 957 | 1.85486 2.3995 -0.220835 
 958 | 1.86738 2.43002 -0.20207 
 959 | 1.84689 2.50848 -0.218243 
 960 | 1.87119 2.47524 -0.209903 
 961 | 1.78564 2.52418 -0.251824 
 962 | 1.81014 2.52656 -0.235898 
 963 | 1.75695 2.43257 -0.268152 
 964 | 1.7691 2.49723 -0.266168 
 965 | 1.77343 2.53697 -0.258441 
 966 | 1.80615 2.55507 -0.237194 
 967 | 1.83055 2.55388 -0.225596 
 968 | 1.8264 2.52221 -0.232706 
 969 | 1.86341 2.53148 -0.204283 
 970 | 1.88769 2.48608 -0.197115 
 971 | 1.89584 2.44123 -0.193509 
 972 | 1.87569 2.40879 -0.192192 
 973 | 1.85877 2.37944 -0.222868 
 974 | 1.83416 2.36923 -0.243537 
 975 | 1.80555 2.3708 -0.258988 
 976 | 1.78131 2.39576 -0.264145 
 977 | 1.90438 2.46778 -0.174877 
 978 | 1.90017 2.43572 -0.177878 
 979 | 1.88799 2.3915 -0.181872 
 980 | 1.87109 2.37022 -0.211922 
 981 | 1.82619 2.34446 -0.237771 
 982 | 1.80179 2.34563 -0.249215 
 983 | 1.75317 2.36294 -0.258534 
 984 | 1.72904 2.38263 -0.25208 
 985 | 1.87585 2.52992 -0.188458 
 986 | 1.89197 2.49708 -0.184032 
 987 | 1.83499 2.56472 -0.212531 
 988 | 1.77762 2.54819 -0.249316 
 989 | 1.75281 2.50235 -0.277414 
 990 | 1.74287 2.5008 -0.268677 
 991 | 1.74877 2.43295 -0.271912 
 992 | 1.72486 2.50531 -0.26436 
 993 | 1.79063 2.58876 -0.209176 
 994 | 1.81026 2.57062 -0.23164 
 995 | 1.81555 2.58208 -0.182013 
 996 | 1.86057 2.55045 -0.149755 
 997 | 1.88916 2.50838 -0.134234 
 998 | 1.90513 2.46468 -0.142816 
 999 | 1.90889 2.42495 -0.150892 
1000 | 1.72879 2.42429 -0.264154 
1001 | 1.74748 2.61675 -0.160978 
1002 | 1.78868 2.60068 -0.12298 
1003 | 1.84973 2.54953 -0.0969675 
1004 | 1.89415 2.5041 -0.090113 
1005 | 1.91839 2.45964 -0.090986 
1006 | 1.92965 2.41022 -0.124412 
1007 | 1.92104 2.35948 -0.145228 
1008 | 1.90793 2.3193 -0.189317 
1009 | 1.85477 2.26582 -0.221642 
1010 | 1.83029 2.25871 -0.229894 
1011 | 1.77348 2.25263 -0.249418 
1012 | 1.737 2.26543 -0.255466 
1013 | 1.69281 2.32602 -0.252568 
1014 | 1.66871 2.39016 -0.245806 
1015 | 1.65653 2.48002 -0.253102 
1016 | 1.66463 2.41511 -0.251431 
1017 | 1.74951 2.56392 -0.242999 
1018 | 1.66896 2.54352 -0.239115 
1019 | 1.88425 2.4993 0.00214869 
1020 | 1.93139 2.4597 -0.0507753 
1021 | 1.9588 2.39827 -0.0857404 
1022 | 1.95793 2.3247 -0.121221 
1023 | 1.96513 2.2391 -0.157892 
1024 | 1.72089 2.23732 -0.257811 
1025 | 1.68446 2.27019 -0.261918 
1026 | 1.6684 2.31032 -0.257664 
1027 | 1.63214 2.34727 -0.261226 
1028 | 1.62416 2.3874 -0.257162 
1029 | 1.61223 2.43147 -0.252621 
1030 | 1.75126 2.61718 0.00199489 
1031 | 1.70144 2.64758 -0.0596479 
1032 | 1.70215 2.60097 -0.205944 
1033 | 1.62975 2.62819 -0.193495 
1034 | 1.67613 2.65658 -0.110817 
1035 | 1.59322 2.56881 -0.206526 
1036 | 1.61241 2.49576 -0.246406 
1037 | 1.96072 2.20781 -0.168948 
1038 | 1.93213 2.14843 -0.182159 
1039 | 1.84266 2.14841 -0.220593 
1040 | 1.75725 2.20408 -0.249748 
1041 | 2.0039 2.39475 -0.050608 
1042 | 1.94062 2.45503 0.00221019 
1043 | 2.0291 2.3828 0.00231125 
1044 | 2.04938 2.36195 0.00233763 
1045 | 2.04828 2.34617 -0.052345 
1046 | 2.03126 2.31721 -0.0871248 
1047 | 2.02682 2.2826 -0.106636 
1048 | 2.00972 2.22158 -0.144514 
1049 | 1.99325 2.18619 -0.155684 
1050 | 1.97724 2.12524 -0.153074 
1051 | 1.97276 2.09829 -0.167696 
1052 | 1.85869 2.11595 -0.220117 
1053 | 1.74493 2.14428 -0.25923 
1054 | 1.70433 2.16987 -0.272079 
1055 | 1.65174 2.21962 -0.282156 
1056 | 1.61152 2.28022 -0.279511 
1057 | 1.59971 2.33606 -0.26969 
1058 | 1.59185 2.38387 -0.2609 
1059 | 2.12189 2.29701 0.00242111 
1060 | 2.12898 2.28478 -0.0480342 
1061 | 2.11199 2.26388 -0.0820382 
1062 | 2.09517 2.23809 -0.108381 
1063 | 2.07037 2.19622 -0.136254 
1064 | 2.05003 2.16059 -0.143214 
1065 | 2.03777 2.12086 -0.150756 
1066 | 2.03358 2.0967 -0.152996 
1067 | 2.18933 2.24857 -0.0529362 
1068 | 2.18432 2.23611 -0.0903875 
1069 | 2.16438 2.24339 -0.0810862 
1070 | 2.17539 2.20304 -0.125749 
1071 | 2.13078 2.18418 -0.138819 
1072 | 2.14763 2.218 -0.111537 
1073 | 2.16285 2.16859 -0.145057 
1074 | 2.11063 2.14778 -0.137726 
1075 | 2.15865 2.11668 -0.153965 
1076 | 2.11836 2.12082 -0.15263 
1077 | 2.16519 2.2643 -0.0467118 
1078 | 2.07377 2.09312 -0.158422 
1079 | 2.2657 2.21252 -0.0581953 
1080 | 2.25327 2.21407 -0.0738617 
1081 | 2.22082 2.22725 -0.0839561 
1082 | 2.2869 2.17973 0.00253643 
1083 | 2.29405 2.18756 -0.0531349 
1084 | 2.27732 2.18989 -0.0767623 
1085 | 2.23065 2.23638 0.00253664 
1086 | 2.23355 2.2326 -0.0555063 
1087 | 2.28708 2.1465 0.00253643 
1088 | 2.27103 2.10189 0.00253649 
1089 | 2.28626 2.09298 -0.0376977 
1090 | 2.26295 2.07355 0.00253652 
1091 | 2.27432 2.06821 -0.0318437 
1092 | 2.26957 2.0552 -0.0653629 
1093 | 2.28141 2.08052 -0.075312 
1094 | 2.24045 2.04274 -0.102254 
1095 | 2.19528 2.04589 -0.133437 
1096 | 2.1991 2.07144 -0.147159 
1097 | 2.2524 2.07148 -0.107883 
1098 | 2.21533 2.0787 -0.1387 
1099 | 2.16656 2.08502 -0.161358 
1100 | 2.16257 2.06828 -0.15475 
1101 | 2.12607 2.08582 -0.168472 
1102 | 2.06986 2.04828 -0.154534 
1103 | 2.11811 2.06498 -0.162173 
1104 | 2.15874 2.04745 -0.148543 
1105 | 2.11833 2.04376 -0.15211 
1106 | 2.09826 2.03532 -0.148314 
1107 | 2.04984 2.05991 -0.148958 
1108 | 2.05392 2.03101 -0.143712 
1109 | 2.07422 2.01822 -0.13729 
1110 | 2.02961 2.06425 -0.152057 
1111 | 2.02575 2.03536 -0.146626 
1112 | 2.02705 1.99353 -0.0899416 
1113 | 2.10318 2.00705 -0.106666 
1114 | 2.08784 1.9839 -0.0761753 
1115 | 2.14374 2.00192 -0.0959856 
1116 | 2.12831 1.97915 -0.0694443 
1117 | 2.19234 2.00901 -0.0882936 
1118 | 2.17295 1.97757 -0.0543643 
1119 | 1.96878 2.0619 -0.16714 
1120 | 1.96089 2.03261 -0.157509 
1121 | 1.99415 2.00394 -0.112572 
1122 | 1.94943 2.00985 -0.131214 
1123 | 2.20653 1.99613 0.00253673 
1124 | 2.21385 1.99117 -0.0297584 
1125 | 2.23765 2.01276 -0.0443273 
1126 | 2.16194 1.97331 0.0025369 
1127 | 2.11305 1.97117 -0.0293525 
1128 | 2.11769 1.97255 0.00253706 
1129 | 2.06034 1.97685 -0.0436875 
1130 | 1.95644 1.98092 0.00236883 
1131 | 1.91197 1.97383 0.00232932 
1132 | 1.92277 1.9667 -0.0617293 
1133 | 2.01966 1.97843 -0.0588556 
1134 | 1.9789 1.98039 -0.0779734 
1135 | 2.00484 1.98501 0.00240832 
1136 | 1.97157 1.9773 -0.0457325 
1137 | 2.06938 1.97296 0.00253724 
1138 | 1.93011 1.96981 -0.0941333 
1139 | 1.82746 1.96133 0.0022591 
1140 | 1.84626 1.95474 -0.0611119 
1141 | 1.86089 1.96055 -0.121649 
1142 | 1.71674 1.92864 -0.0808863 
1143 | 1.71047 1.93739 0.00216255 
1144 | 1.86438 2.00378 -0.150081 
1145 | 1.73542 1.9429 -0.144844 
1146 | 1.87171 2.02259 -0.176662 
1147 | 1.86723 2.07349 -0.20002 
1148 | 1.74916 2.07016 -0.246244 
1149 | 1.74988 2.02243 -0.214355 
1150 | 1.7428 1.9906 -0.176763 
1151 | 1.67187 2.11009 -0.281093 
1152 | 1.64026 2.05488 -0.253327 
1153 | 1.60512 2.00935 -0.200143 
1154 | 1.59769 1.97814 -0.170617 
1155 | 1.55284 2.00505 -0.19536 
1156 | 1.58943 1.91383 0.00206161 
1157 | 1.5798 1.912 -0.0713421 
1158 | 1.5625 1.92548 -0.12625 
1159 | 1.51691 1.97896 -0.176793 
1160 | 1.58325 2.10186 -0.275848 
1161 | 1.48377 2.04792 -0.217996 
1162 | 1.54373 2.07833 -0.240688 
1163 | 1.56854 2.02253 -0.21014 
1164 | 1.49887 2.19849 -0.268534 
1165 | 1.53074 2.21203 -0.284232 
1166 | 1.56682 2.24895 -0.289473 
1167 | 1.61946 2.15908 -0.283275 
1168 | 1.55916 2.3453 -0.279974 
1169 | 1.58776 2.42832 -0.26049 
1170 | 1.55537 2.39667 -0.266948 
1171 | 1.51931 2.33533 -0.259762 
1172 | 1.47492 2.31491 -0.256721 
1173 | 1.45925 2.1714 -0.237862 
1174 | 1.52738 2.3835 -0.255293 
1175 | 1.48716 2.37904 -0.250805 
1176 | 1.45132 2.2965 -0.233714 
1177 | 1.82369 2.55656 0.00207838 
1178 | 2.1903 2.25686 0.00253679 
1179 | 2.26297 2.21552 0.00253652 
1180 | 1.56155 2.74447 0.00178841 
1181 | 1.6221 2.71554 0.00185431 
1182 | 1.62095 2.7161 -0.0552968 
1183 | 1.57244 2.74106 -0.0597356 
1184 | 1.61555 2.70992 -0.11653 
1185 | 1.56792 2.7434 -0.0838039 
1186 | 1.61103 2.7034 -0.133161 
1187 | 1.50525 2.7524 0.00174013 
1188 | 1.50407 2.74504 -0.0577605 
1189 | 1.51116 2.74459 -0.0944889 
1190 | 1.57123 2.74611 -0.112003 
1191 | 1.51483 2.75047 -0.11426 
1192 | 1.56638 2.73348 -0.149472 
1193 | 1.60264 2.70534 -0.153033 
1194 | 1.65433 2.69096 0.00188946 
1195 | 1.63061 2.66932 -0.157168 
1196 | 1.46048 2.71008 -0.197917 
1197 | 1.45614 2.6664 -0.206027 
1198 | 1.44084 2.65525 -0.174376 
1199 | 1.44939 2.70954 -0.149074 
1200 | 1.43729 2.66099 -0.149501 
1201 | 1.45878 2.73656 -0.0940523 
1202 | 1.45673 2.73686 0.00170064 
1203 | 1.46639 2.73044 -0.115075 
1204 | 1.46601 2.732 -0.131182 
1205 | 1.47327 2.73547 -0.167373 
1206 | 1.42158 2.67184 -0.135964 
1207 | 1.43432 2.71372 -0.107809 
1208 | 1.44589 2.7076 -0.128924 
1209 | 1.41633 2.70071 0.00167434 
1210 | 1.34571 2.64027 -0.100739 
1211 | 1.40474 2.63816 -0.163074 
1212 | 1.36447 2.61363 -0.160522 
1213 | 1.43271 2.64325 -0.17535 
1214 | 1.45572 2.6194 -0.222844 
1215 | 1.40702 2.60858 -0.234878 
1216 | 1.37917 2.59132 -0.223782 
1217 | 1.3589 2.54727 -0.227573 
1218 | 1.34366 2.54734 -0.186706 
1219 | 1.47175 2.63216 -0.229955 
1220 | 1.47104 2.61087 -0.260384 
1221 | 1.42631 2.60399 -0.272131 
1222 | 1.39017 2.58358 -0.269278 
1223 | 1.37409 2.55074 -0.263949 
1224 | 1.48592 2.60746 -0.309697 
1225 | 1.44125 2.59704 -0.325936 
1226 | 1.41745 2.57543 -0.311208 
1227 | 1.39749 2.54222 -0.301837 
1228 | 1.55235 2.59966 -0.230982 
1229 | 1.51541 2.61851 -0.256686 
1230 | 1.51501 2.60805 -0.273798 
1231 | 1.52263 2.60588 -0.294437 
1232 | 1.49742 2.61861 -0.341259 
1233 | 1.45641 2.60129 -0.370371 
1234 | 1.43242 2.56768 -0.356797 
1235 | 1.54187 2.62175 -0.333854 
1236 | 1.51649 2.63936 -0.388334 
1237 | 1.46776 2.61638 -0.401545 
1238 | 1.44785 2.57078 -0.389386 
1239 | 1.46663 2.61709 -0.450091 
1240 | 1.4901 2.65619 -0.479229 
1241 | 1.46445 2.64647 -0.544482 
1242 | 1.50715 2.66487 -0.442426 
1243 | 1.5569 2.64686 -0.38456 
1244 | 1.5389 2.67074 -0.462848 
1245 | 1.52227 2.67663 -0.482143 
1246 | 1.49667 2.68695 -0.545302 
1247 | 1.46302 2.67273 -0.606654 
1248 | 1.44723 2.61419 -0.587707 
1249 | 1.44211 2.63534 -0.638171 
1250 | 1.44243 2.57621 -0.445352 
1251 | 1.44885 2.58713 -0.517323 
1252 | 1.41687 2.53725 -0.33514 
1253 | 1.43149 2.53911 -0.396056 
1254 | 1.43048 2.54732 -0.439731 
1255 | 1.43249 2.53185 -0.530424 
1256 | 1.45811 2.56236 -0.637467 
1257 | 1.46707 2.50187 -0.599033 
1258 | 1.48861 2.42702 -0.537874 
1259 | 1.43782 2.48142 -0.470676 
1260 | 1.47791 2.40921 -0.47859 
1261 | 1.40682 2.47133 -0.240013 
1262 | 1.414 2.47931 -0.279915 
1263 | 1.46302 2.43606 -0.252864 
1264 | 1.44793 2.42336 -0.205101 
1265 | 1.43542 2.47087 -0.402747 
1266 | 1.42925 2.48318 -0.320399 
1267 | 1.48778 2.40577 -0.402127 
1268 | 1.56029 2.54753 -0.236205 
1269 | 1.5726 2.53436 -0.225644 
1270 | 1.55616 2.51098 -0.235659 
1271 | 1.48718 2.65622 -0.604825 
1272 | 1.46637 2.62254 -0.631838 
1273 | 1.49621 2.61988 -0.563895 
1274 | 1.48329 2.61533 -0.600558 
1275 | 1.4788 2.62098 -0.616013 
1276 | 1.48402 2.60828 -0.568881 
1277 | 1.50866 2.65883 -0.5483 
1278 | 1.5086 2.63877 -0.550235 
1279 | 1.4874 2.63499 -0.594602 
1280 | 1.50939 2.61916 -0.515631 
1281 | 1.53937 2.53864 -0.268953 
1282 | 1.5427 2.58186 -0.297227 
1283 | 1.57776 2.53026 -0.351667 
1284 | 1.58947 2.57643 -0.36773 
1285 | 1.58452 2.61632 -0.40426 
1286 | 1.55518 2.63788 -0.458268 
1287 | 1.52991 2.65021 -0.500983 
1288 | 1.51783 2.64216 -0.501481 
1289 | 1.54293 2.62588 -0.459146 
1290 | 1.55225 2.59233 -0.405834 
1291 | 1.54895 2.56112 -0.376401 
1292 | 1.5149 2.60939 -0.455945 
1293 | 1.5441 2.47458 -0.234751 
1294 | 1.54953 2.53439 -0.350614 
1295 | 1.51974 2.58545 -0.417864 
1296 | 1.50864 2.55719 -0.375846 
1297 | 1.48905 2.52226 -0.350384 
1298 | 1.48813 2.53025 -0.390097 
1299 | 1.48715 2.55047 -0.432772 
1300 | 1.48966 2.56883 -0.495799 
1301 | 1.48878 2.58867 -0.53437 
1302 | 1.47969 2.50724 -0.404247 
1303 | 1.47443 2.51268 -0.460371 
1304 | 1.47714 2.53818 -0.514741 
1305 | 1.48024 2.56211 -0.553003 
1306 | 1.49172 2.46278 -0.404838 
1307 | 1.48221 2.46055 -0.46559 
1308 | 1.48492 2.49092 -0.527467 
1309 | 1.47588 2.52315 -0.568793 
1310 | 1.4712 2.57087 -0.60043 
1311 | 1.47087 2.58838 -0.614994 
1312 | 1.55579 2.44367 -0.250131 
1313 | 1.52395 2.44215 -0.233433 
1314 | 1.54553 2.50944 -0.344799 
1315 | 1.57799 2.51315 -0.341207 
1316 | 1.52963 2.48863 -0.338469 
1317 | 1.45541 2.37317 -0.230381 
1318 | 1.29651 2.63624 0.00212 
1319 | 1.3278 2.65948 0.00160855 
1320 | 1.38734 2.47273 -0.211039 
1321 | 0.720809 1.2603 0.372888 
1322 | 0.66883 1.21893 0.391093 
1323 | 0.641014 1.16565 0.382468 
1324 | 0.777598 1.28243 0.332942 
1325 | 0.71946 1.17347 0.357014 
1326 | 0.821001 1.26462 0.282936 
1327 | 0.76932 1.18236 0.32808 
1328 | 0.766565 1.12818 0.313603 
1329 | 0.834939 1.193 0.247728 
1330 | 0.710274 1.11127 0.337742 
1331 | 0.619268 1.10488 0.364386 
1332 | 0.696088 1.07703 0.326202 
1333 | 0.680439 1.0328 0.299167 
1334 | 0.609583 1.07003 0.347692 
1335 | 0.660933 0.971349 0.252225 
1336 | 0.595561 1.01689 0.319952 
1337 | 0.754385 1.04123 0.278872 
1338 | 0.782064 1.01467 0.238026 
1339 | 0.74139 0.985688 0.240102 
1340 | 0.812321 1.05858 0.231449 
1341 | 0.765097 1.09244 0.301018 
1342 | 0.853206 1.23733 0.236849 
1343 | 0.874026 1.11837 0.210044 
1344 | 0.917984 1.19301 0.174566 
1345 | 0.835371 1.11467 0.241932 
1346 | 0.894211 1.04965 0.195343 
1347 | 0.913443 1.11668 0.17946 
1348 | 0.866506 1.0129 0.206482 
1349 | 0.832184 0.968263 0.212896 
1350 | 0.767072 0.938914 0.215157 
1351 | 0.726068 0.937217 0.219957 
1352 | 0.649971 0.945244 0.236312 
1353 | 0.575002 0.953765 0.290854 
1354 | 0.949334 1.11506 0.139676 
1355 | 0.963145 1.18808 0.127637 
1356 | 0.933601 1.02924 0.148492 
1357 | 0.9033 0.982911 0.158614 
1358 | 0.8578 0.933029 0.161863 
1359 | 0.78027 0.900903 0.172411 
1360 | 0.714743 0.900929 0.174025 
1361 | 0.647251 0.904658 0.192173 
1362 | 0.56116 0.905893 0.247139 
1363 | 0.908184 1.50137 0.256862 
1364 | 0.864438 1.45062 0.29277 
1365 | 0.928299 1.38586 0.232211 
1366 | 0.974734 1.42097 0.191211 
1367 | 0.941391 1.32181 0.192194 
1368 | 0.90382 1.35305 0.245714 
1369 | 0.843249 1.37512 0.298779 
1370 | 0.825281 1.33367 0.297236 
1371 | 0.812471 1.3612 0.357191 
1372 | 0.977674 1.29096 0.153143 
1373 | 1.00088 1.2648 0.117499 
1374 | 1.02813 1.29864 0.118759 
1375 | 1.00416 1.33449 0.146235 
1376 | -0.369484 0.905434 0.383463 
1377 | -0.577603 0.890901 0.40792 
1378 | -0.528114 0.831299 0.365099 
1379 | -0.383202 0.823412 0.247622 
1380 | -0.376299 0.859039 0.354876 
1381 | -0.12579 0.931032 0.298522 
1382 | -0.39137 0.806882 0.171098 
1383 | -0.130013 0.884055 0.179313 
1384 | 0.439154 0.382628 0.419174 
1385 | 0.415747 0.379789 0.408462 
1386 | 0.42291 0.295855 0.436939 
1387 | 0.522568 0.407389 0.399245 
1388 | 0.487445 0.398405 0.394533 
1389 | 0.501035 0.32676 0.420946 
1390 | 0.537304 0.407305 0.365593 
1391 | 0.549334 0.332949 0.418936 
1392 | 0.423135 0.270795 0.430922 
1393 | 0.45456 0.302969 0.435907 
1394 | 0.417259 0.229288 0.433725 
1395 | 0.452806 0.241309 0.426117 
1396 | 0.456954 0.221023 0.413444 
1397 | 0.589985 0.275591 0.37754 
1398 | 0.56526 0.330502 0.374264 
1399 | 0.465272 0.397135 0.400312 
1400 | 0.473035 0.312879 0.441598 
1401 | 0.410297 0.277892 0.369155 
1402 | 0.411717 0.22212 0.358272 
1403 | 0.426122 0.230482 0.310999 
1404 | 0.408023 0.371273 0.365461 
1405 | 0.423729 0.393798 0.326943 
1406 | 0.441185 0.289591 0.314032 
1407 | 0.531371 0.261463 0.42717 
1408 | 0.580266 0.266514 0.419584 
1409 | 0.495207 0.250715 0.440439 
1410 | 0.476059 0.244126 0.43682 
1411 | 0.540508 0.347941 0.33825 
1412 | 0.477085 0.302537 0.297462 
1413 | 0.515951 0.335162 0.312066 
1414 | 0.539076 0.263199 0.319004 
1415 | 0.572397 0.271623 0.347124 
1416 | 0.48892 0.402297 0.311572 
1417 | 0.469952 0.406 0.314221 
1418 | -1.59235 0.813428 0.408365 
1419 | -1.54696 0.845956 0.332554 
1420 | -1.484 0.937248 0.392455 
1421 | -1.62812 0.763859 0.444996 
1422 | -1.52623 0.924482 0.437674 
1423 | -1.66895 0.772539 0.479754 
1424 | -1.56058 0.915066 0.480107 
1425 | -1.71592 0.780301 0.490563 
1426 | -1.60356 0.921356 0.494578 
1427 | -1.76667 0.794667 0.481658 
1428 | -1.64432 0.943423 0.499723 
1429 | -1.88389 0.826503 0.338237 
1430 | -1.88036 0.827234 0.400228 
1431 | -1.82547 0.948568 0.393607 
1432 | -1.80511 1.00153 0.392695 
1433 | -1.81222 1.00124 0.321539 
1434 | -1.83484 0.948188 0.298736 
1435 | -1.74252 0.598564 0.463916 
1436 | -1.73576 0.476367 0.46869 
1437 | -1.69883 0.477425 0.463585 
1438 | -1.73885 0.673118 0.476796 
1439 | -1.69431 0.606926 0.458401 
1440 | -1.68528 0.673299 0.470933 
1441 | -1.75558 0.676129 0.474402 
1442 | -1.78836 0.587151 0.443771 
1443 | -1.77502 0.472986 0.453358 
1444 | -1.80851 0.688242 0.445292 
1445 | -1.82194 0.804586 0.432196 
1446 | -1.83578 0.5869 0.421057 
1447 | -1.81723 0.468763 0.423199 
1448 | -1.86337 0.687541 0.412954 
1449 | -1.6742 0.491416 0.433751 
1450 | -1.66743 0.602293 0.436012 
1451 | -1.65077 0.678452 0.435377 
1452 | -1.61672 0.743308 0.389216 
1453 | -1.65584 0.658712 0.380501 
1454 | -1.67763 0.584436 0.391953 
1455 | -1.68468 0.496424 0.3992 
1456 | -1.68194 0.652753 0.358399 
1457 | -1.64836 0.731001 0.344451 
1458 | -1.71737 0.652078 0.339982 
1459 | -1.69324 0.742286 0.319303 
1460 | -1.7758 0.661075 0.33746 
1461 | -1.75715 0.78757 0.311016 
1462 | -1.76811 0.573803 0.363856 
1463 | -1.77017 0.476768 0.37958 
1464 | -1.72762 0.574553 0.368 
1465 | -1.7985 0.9058 0.285772 
1466 | -1.72558 0.859387 0.283611 
1467 | -1.8322 0.797361 0.30939 
1468 | -1.85046 0.690416 0.343275 
1469 | -1.81379 0.576973 0.366934 
1470 | -1.79545 0.479611 0.38196 
1471 | -1.86856 0.686409 0.374472 
1472 | -1.84578 0.564648 0.38379 
1473 | -1.82814 0.470733 0.400973 
1474 | 0.533448 0.624065 0.395833 
1475 | 0.509387 0.517291 0.396534 
1476 | 0.519596 0.517865 0.368256 
1477 | 0.545689 0.698743 0.403719 
1478 | 0.550727 0.635517 0.359744 
1479 | 0.549432 0.829496 0.404182 
1480 | 0.56094 0.699523 0.361256 
1481 | 0.555801 0.907171 0.428453 
1482 | 0.563325 0.83699 0.365726 
1483 | 0.424259 0.507823 0.406933 
1484 | 0.39841 0.495427 0.395216 
1485 | 0.41226 0.601623 0.422789 
1486 | 0.385102 0.598189 0.411799 
1487 | 0.416501 0.675089 0.430304 
1488 | 0.374566 0.683142 0.426796 
1489 | 0.415231 0.805586 0.444737 
1490 | 0.351679 0.797625 0.436684 
1491 | 0.385772 0.877725 0.466451 
1492 | 0.337913 0.878726 0.44919 
1493 | 0.35756 0.600953 0.390465 
1494 | 0.332428 0.681035 0.393277 
1495 | 0.323353 0.806005 0.414 
1496 | 0.31097 0.88026 0.422415 
1497 | 0.388252 0.491993 0.374286 
1498 | 0.364158 0.603871 0.349351 
1499 | 0.338943 0.686043 0.348791 
1500 | 0.307998 0.801434 0.354587 
1501 | 0.298274 0.90815 0.311908 
1502 | 0.39158 0.507404 0.350703 
1503 | 0.397796 0.616734 0.309068 
1504 | 0.382725 0.687868 0.306093 
1505 | 0.362156 0.844157 0.303929 
1506 | 0.363541 0.89992 0.276833 
1507 | 0.479995 0.514462 0.414546 
1508 | 0.512148 0.886744 0.454765 
1509 | 0.514246 0.827658 0.44181 
1510 | 0.50405 0.684747 0.443494 
1511 | 0.498641 0.597188 0.427457 
1512 | 0.45225 0.507968 0.415864 
1513 | 0.453925 0.905901 0.482254 
1514 | 0.460062 0.828751 0.453333 
1515 | 0.469045 0.673458 0.442206 
1516 | 0.459806 0.583277 0.429114 
1517 | 0.43251 0.524847 0.313084 
1518 | 0.41702 0.902274 0.26746 
1519 | 0.425448 0.862759 0.294865 
1520 | 0.428684 0.691862 0.283731 
1521 | 0.439849 0.620111 0.28642 
1522 | 0.527857 0.40034 0.342649 
1523 | 0.464385 0.511204 0.298996 
1524 | 0.516669 0.526244 0.325057 
1525 | 0.523674 0.902869 0.272278 
1526 | 0.536343 0.832533 0.289871 
1527 | 0.515761 0.714673 0.298665 
1528 | 0.566296 0.914995 0.380762 
1529 | 0.505477 0.652144 0.307464 
1530 | 0.602192 1.059 0.417036 
1531 | 0.589091 0.996277 0.397341 
1532 | 0.583806 1.04782 0.467513 
1533 | 0.57141 0.98165 0.445662 
1534 | 0.525235 1.06186 0.510695 
1535 | 0.52855 0.955603 0.473328 
1536 | 0.454049 1.04411 0.515809 
1537 | 0.452546 0.957251 0.499922 
1538 | 0.364348 1.04678 0.505274 
1539 | 0.369056 0.948321 0.486897 
1540 | 0.318398 1.0376 0.481841 
1541 | 0.32687 0.962726 0.473139 
1542 | 0.289014 1.02966 0.45392 
1543 | 0.299593 0.972786 0.432607 
1544 | 0.252602 1.0381 0.374697 
1545 | 0.244072 1.00699 0.33658 
1546 | 0.618136 1.10611 0.431658 
1547 | 0.605401 1.117 0.471767 
1548 | 0.550802 1.12953 0.51896 
1549 | 0.4689 1.12399 0.531718 
1550 | 0.383788 1.12389 0.519533 
1551 | 0.330269 1.1072 0.50564 
1552 | 0.292373 1.09718 0.486165 
1553 | 0.236138 1.10234 0.405395 
1554 | 0.637814 1.18124 0.449167 
1555 | 0.37908 1.17777 0.52447 
1556 | 0.481578 1.19742 0.534151 
1557 | 0.565565 1.19275 0.515015 
1558 | 0.609822 1.18192 0.493032 
1559 | 0.288163 1.1683 0.501964 
1560 | 0.248045 1.18636 0.452324 
1561 | 0.335396 1.16866 0.524749 
1562 | 0.984735 2.47235 0.0172057 
1563 | 1.08387 2.51096 0.0340487 
1564 | 0.996751 2.44695 0.0769884 
1565 | 1.09191 2.49648 0.0674534 
1566 | 1.00646 2.38495 0.133192 
1567 | 1.10254 2.42482 0.131838 
1568 | 1.01893 2.32309 0.151494 
1569 | 1.12952 2.37419 0.152089 
1570 | 1.03159 2.26111 0.16973 
1571 | 1.14702 2.30317 0.178789 
1572 | 1.05266 2.13662 0.20597 
1573 | 1.18941 2.20546 0.20254 
1574 | 1.06434 2.00328 0.222579 
1575 | 1.21367 2.07056 0.21787 
1576 | 1.10446 1.82841 0.222275 
1577 | 1.22732 1.91468 0.201604 
1578 | 1.12259 1.72081 0.207429 
1579 | 1.25388 1.81133 0.174803 
1580 | 1.13944 1.6762 0.184039 
1581 | 1.26338 1.78286 0.161782 
1582 | 1.14771 1.63575 0.158768 
1583 | 1.27815 1.75261 0.137819 
1584 | 1.17422 1.56684 0.115414 
1585 | 1.28946 1.72041 0.10825 
1586 | 1.20774 1.54952 0.084812 
1587 | 1.30561 1.6834 0.0800642 
1588 | 1.18275 2.55172 0.047374 
1589 | 1.30124 2.62082 0.0682637 
1590 | 1.47481 1.8797 0.0838721 
1591 | 1.37289 1.81275 0.111159 
1592 | 1.40198 1.79386 0.0892194 
1593 | 1.46791 1.89973 0.134362 
1594 | 1.36064 1.85038 0.139635 
1595 | 1.45162 1.95542 0.178801 
1596 | 1.35514 1.89614 0.172802 
1597 | 1.4399 2.06158 0.221168 
1598 | 1.34358 1.97928 0.205563 
1599 | 1.41647 2.17533 0.239955 
1600 | 1.31034 2.12558 0.230751 
1601 | 1.37131 2.28657 0.224655 
1602 | 1.26769 2.24848 0.213101 
1603 | 1.36952 2.38103 0.212096 
1604 | 1.24104 2.35311 0.18373 
1605 | 1.33994 2.47094 0.197399 
1606 | 1.21929 2.41839 0.172436 
1607 | 1.31496 2.57597 0.144524 
1608 | 1.19206 2.47528 0.142068 
1609 | 1.30943 2.60212 0.108765 
1610 | 1.18359 2.53049 0.0816295 
1611 | 1.13156 1.43368 0.0908779 
1612 | 0.699085 2.38201 0.0914261 
1613 | 0.855409 2.40915 0.07605 
1614 | 0.71931 2.32853 0.15265 
1615 | 0.865293 2.34704 0.132183 
1616 | 0.768707 2.25826 0.188567 
1617 | 0.881842 2.28153 0.157653 
1618 | 0.784065 2.16937 0.227967 
1619 | 0.899337 2.2105 0.184353 
1620 | 0.820913 2.05167 0.258502 
1621 | 0.916494 2.08547 0.220169 
1622 | 0.869613 1.91721 0.273516 
1623 | 0.957974 1.94856 0.229165 
1624 | 0.897636 1.81003 0.291929 
1625 | 1.00766 1.77835 0.25523 
1626 | 0.936088 1.72311 0.289221 
1627 | 0.945402 1.64066 0.285324 
1628 | 1.04082 1.67873 0.240115 
1629 | 0.960019 1.54696 0.231563 
1630 | 1.05397 1.61264 0.203686 
1631 | 1.0687 1.53548 0.169695 
1632 | 1.10699 1.47067 0.12393 
1633 | 0.839422 1.90627 0.319757 
1634 | 0.871914 1.77994 0.316482 
1635 | 0.888454 1.69987 0.318739 
1636 | 0.888445 1.62278 0.318399 
1637 | 0.867877 1.54601 0.318748 
1638 | 0.714633 2.15084 0.265603 
1639 | 0.75279 2.04302 0.311761 
1640 | 0.766565 2.03908 0.299462 
1641 | 0.779442 1.36167 0.415241 
1642 | 0.844329 1.441 0.363296 
1643 | 0.801977 1.41681 0.434672 
1644 | 0.849618 1.51623 0.352835 
1645 | 0.807676 1.51145 0.431569 
1646 | 0.863553 1.62034 0.38378 
1647 | 0.826186 1.61714 0.453865 
1648 | 0.862375 1.69978 0.39514 
1649 | 0.83479 1.69413 0.449267 
1650 | 0.851549 1.77675 0.376626 
1651 | 0.811454 1.80061 0.425631 
1652 | 0.80626 1.92452 0.341401 
1653 | 0.791352 1.92886 0.368171 
1654 | 0.779027 2.04403 0.288027 
1655 | 0.598271 2.37723 0.0815876 
1656 | 0.620586 2.33238 0.152779 
1657 | 0.672756 2.21938 0.242813 
1658 | 0.69247 1.27469 0.448796 
1659 | 0.648191 1.22222 0.441073 
1660 | 0.570496 2.36489 0.0959052 
1661 | 0.582478 2.34314 0.146184 
1662 | 0.623601 2.25079 0.230243 
1663 | 0.657173 2.16451 0.294525 
1664 | 0.693016 2.0732 0.336592 
1665 | 0.71597 1.948 0.405587 
1666 | 0.737825 1.83681 0.459393 
1667 | 0.758274 1.71368 0.501155 
1668 | 0.760536 1.58781 0.51795 
1669 | 0.739421 1.49566 0.504117 
1670 | 0.733796 1.42895 0.50082 
1671 | 0.709468 1.34232 0.461914 
1672 | 0.545883 1.3113 0.527345 
1673 | 0.455096 2.37755 0.0804243 
1674 | 0.587927 1.44582 0.557408 
1675 | 0.599984 1.52052 0.565506 
1676 | 0.602417 1.57887 0.573224 
1677 | 0.575929 1.72811 0.557307 
1678 | 0.550247 1.83659 0.506587 
1679 | 0.529309 1.96822 0.451053 
1680 | 0.521514 2.10148 0.382018 
1681 | 0.477957 2.24259 0.280812 
1682 | 0.461427 2.31657 0.1801 
1683 | 0.451186 2.35899 0.116447 
1684 | -0.243122 2.3456 0.0729816 
1685 | -0.0164301 2.3104 0.126306 
1686 | -0.237091 2.30667 0.129375 
1687 | -0.0216975 2.25479 0.205691 
1688 | -0.214296 2.26289 0.191697 
1689 | -0.00637012 2.13444 0.310935 
1690 | -0.206966 2.1756 0.279713 
1691 | 0.0362125 2.03745 0.387407 
1692 | -0.23438 2.10316 0.363586 
1693 | 0.0644202 1.93635 0.44264 
1694 | -0.202261 1.94942 0.480961 
1695 | 0.072333 1.77075 0.524869 
1696 | -0.103996 1.75928 0.555118 
1697 | 0.0672682 1.6893 0.545662 
1698 | -0.104044 1.6686 0.58444 
1699 | 0.07716 1.62209 0.555867 
1700 | -0.113861 1.59412 0.600142 
1701 | 0.0743565 1.55867 0.564057 
1702 | -0.102616 1.52027 0.606203 
1703 | 0.0816122 1.46746 0.55011 
1704 | -0.100636 1.43092 0.603056 
1705 | 0.0878759 1.3717 0.504804 
1706 | -0.0989703 1.32421 0.588981 
1707 | 0.0765427 1.32176 0.488322 
1708 | -0.109078 1.22289 0.554818 
1709 | 0.0726457 1.20884 0.451668 
1710 | -0.101541 1.10375 0.48565 
1711 | 0.0799102 1.13135 0.408138 
1712 | -0.1078 1.02295 0.412008 
1713 | 0.0685371 1.06699 0.368527 
1714 | -0.104217 0.98232 0.339306 
1715 | 0.0650325 1.03194 0.323172 
1716 | 0.0606197 0.961836 0.256111 
1717 | 0.0607472 0.94233 0.187067 
1718 | -0.588431 2.35006 0.0841663 
1719 | -0.439353 2.34661 0.0688652 
1720 | -0.587514 2.32674 0.121789 
1721 | -0.459418 2.32047 0.119638 
1722 | -0.617872 2.30212 0.197468 
1723 | -0.45103 2.29318 0.173664 
1724 | -0.605216 2.25989 0.284709 
1725 | -0.420852 2.25181 0.242152 
1726 | -0.639101 2.19085 0.33761 
1727 | -0.426582 2.17874 0.310729 
1728 | -0.743111 2.13404 0.371413 
1729 | -0.520743 2.0463 0.430194 
1730 | -0.768884 2.0005 0.507394 
1731 | -0.392484 1.80532 0.595546 
1732 | -0.673378 1.79638 0.648951 
1733 | -0.339265 1.67533 0.651114 
1734 | -0.626245 1.68227 0.700512 
1735 | -0.333732 1.60451 0.673569 
1736 | -0.578316 1.53957 0.743672 
1737 | -0.326679 1.50404 0.682275 
1738 | -0.576888 1.34657 0.752127 
1739 | -0.337082 1.38182 0.696976 
1740 | -0.564333 1.20042 0.72753 
1741 | -0.332427 1.23652 0.668433 
1742 | -0.556475 1.07713 0.66512 
1743 | -0.360032 1.09903 0.617136 
1744 | -0.572794 0.986433 0.58092 
1745 | -0.373419 1.00948 0.547576 
1746 | -0.573627 0.944234 0.516879 
1747 | -0.373578 0.963961 0.481464 
1748 | -0.877541 2.37779 0.0609719 
1749 | -0.735852 2.3582 0.0690911 
1750 | -0.882852 2.35663 0.123805 
1751 | -0.762634 2.34273 0.131299 
1752 | -0.911567 2.33345 0.228718 
1753 | -0.790348 2.31199 0.241034 
1754 | -0.931725 2.3146 0.32191 
1755 | -0.802827 2.26847 0.337611 
1756 | -0.960535 2.27904 0.400105 
1757 | -0.833473 2.21702 0.363425 
1758 | -1.02563 2.22039 0.465064 
1759 | -0.90546 2.12872 0.419505 
1760 | -1.02624 2.10077 0.50952 
1761 | -0.871015 2.03472 0.488514 
1762 | -0.98288 1.98897 0.548232 
1763 | -0.847723 1.9594 0.554989 
1764 | -0.961346 1.8562 0.598183 
1765 | -0.835729 1.79016 0.644385 
1766 | -0.993922 1.73361 0.636914 
1767 | -0.816592 1.67598 0.686879 
1768 | -0.998383 1.59257 0.66819 
1769 | -0.80607 1.45225 0.747208 
1770 | -0.956858 1.29525 0.686822 
1771 | -0.816552 1.2199 0.722034 
1772 | -0.948338 1.18502 0.642013 
1773 | -0.809527 1.09989 0.661682 
1774 | -0.959878 1.10608 0.579171 
1775 | -0.783118 1.01437 0.598695 
1776 | -0.962215 1.05839 0.49272 
1777 | -0.761588 0.968223 0.517281 
1778 | 0.381266 1.30589 0.551726 
1779 | 0.383065 1.22509 0.534838 
1780 | 0.302981 2.37267 0.100156 
1781 | 0.312384 2.35156 0.129421 
1782 | 0.318247 2.31689 0.178938 
1783 | 0.32169 2.25718 0.26043 
1784 | 0.327059 2.19145 0.3288 
1785 | 0.35067 2.01687 0.438134 
1786 | 0.355748 1.94315 0.472989 
1787 | 0.37685 1.78849 0.518916 
1788 | 0.385203 1.70219 0.536373 
1789 | 0.390197 1.61179 0.551373 
1790 | 0.391872 1.51964 0.560511 
1791 | 0.398251 1.42249 0.571289 
1792 | 0.183756 1.0167 0.301307 
1793 | 0.19192 0.959636 0.256401 
1794 | 0.197588 0.927634 0.193665 
1795 | 0.195715 1.06619 0.364925 
1796 | 0.263623 1.35436 0.489771 
1797 | 0.210611 1.19381 0.443658 
1798 | 0.200543 1.12477 0.396447 
1799 | -0.761901 0.92178 0.398496 
1800 | -0.943831 2.38331 0.0611529 
1801 | -0.957227 2.36311 0.120107 
1802 | -0.966598 2.34212 0.235431 
1803 | -0.987686 2.33293 0.320452 
1804 | -1.03915 2.29423 0.43516 
1805 | -1.10069 2.21653 0.492888 
1806 | -1.10594 2.08102 0.522942 
1807 | -1.13843 1.89292 0.535254 
1808 | -1.13347 1.80266 0.550339 
1809 | -1.13998 1.73002 0.571771 
1810 | -1.13302 1.61799 0.606551 
1811 | -1.13642 1.4787 0.619846 
1812 | -1.15185 1.36483 0.573354 
1813 | -1.12763 1.26347 0.519473 
1814 | -1.11646 1.18653 0.476366 
1815 | -1.08397 2.39188 0.0556873 
1816 | -1.09744 2.37376 0.111269 
1817 | -1.1108 2.36799 0.193357 
1818 | -1.19235 2.31612 0.357594 
1819 | -1.22161 2.21504 0.471196 
1820 | -1.21468 2.10314 0.506064 
1821 | -1.22935 1.96062 0.512954 
1822 | -1.23663 1.84464 0.526588 
1823 | -1.23265 1.78485 0.546389 
1824 | -1.19375 1.70594 0.577206 
1825 | -1.1781 1.61993 0.604188 
1826 | -1.20152 1.48177 0.609139 
1827 | -1.23816 1.37138 0.565327 
1828 | -1.2455 1.27018 0.493267 
1829 | -1.24254 1.21717 0.45567 
1830 | -1.23805 1.2021 0.427168 
1831 | -1.12736 1.15336 0.417981 
1832 | -0.870025 0.961382 0.392435 
1833 | -0.983815 1.03216 0.39632 
1834 | -0.944239 1.01247 0.402195 
1835 | -1.25841 2.40454 0.0631288 
1836 | -1.26748 2.39229 0.103186 
1837 | -1.28395 2.37607 0.193063 
1838 | -1.29921 2.31869 0.357124 
1839 | -1.31404 2.20099 0.478937 
1840 | -1.35383 2.07174 0.518381 
1841 | -1.3548 1.94193 0.532813 
1842 | -1.3363 1.84451 0.547986 
1843 | -1.29315 1.77143 0.563264 
1844 | -1.25436 1.69483 0.590661 
1845 | -1.25188 1.61153 0.624498 
1846 | -1.30603 1.43774 0.622307 
1847 | -1.34514 1.29917 0.561091 
1848 | -1.35207 1.19157 0.499426 
1849 | -1.35528 1.15122 0.462641 
1850 | -1.3585 1.11087 0.425855 
1851 | -1.51995 2.44304 0.0317397 
1852 | -1.53073 2.42813 0.0985798 
1853 | -1.53326 2.40792 0.176308 
1854 | -1.53861 2.37324 0.268667 
1855 | -1.5396 2.29832 0.388268 
1856 | -1.52525 2.15956 0.491646 
1857 | -1.47559 1.97154 0.554109 
1858 | -1.45965 1.8927 0.56181 
1859 | -1.45296 1.84967 0.563555 
1860 | -1.43216 1.7359 0.582546 
1861 | -1.41436 1.63773 0.606601 
1862 | -1.40614 1.55547 0.617229 
1863 | -1.39212 1.41923 0.608267 
1864 | -1.41309 1.24076 0.555123 
1865 | -1.47315 1.06929 0.5166 
1866 | -1.68754 2.47112 0.0246564 
1867 | -1.69837 2.42805 0.0979502 
1868 | -1.69733 2.41698 0.162211 
1869 | -1.7122 2.39207 0.25133 
1870 | -1.70189 2.33382 0.347938 
1871 | -1.67689 2.2475 0.417075 
1872 | -1.63342 2.08972 0.498431 
1873 | -1.58736 1.93646 0.535089 
1874 | -1.57184 1.8099 0.541802 
1875 | -1.57025 1.71984 0.547568 
1876 | -1.52617 1.63709 0.571024 
1877 | -1.50956 1.49669 0.592658 
1878 | -1.49507 1.37783 0.594637 
1879 | -1.49877 1.21172 0.558072 
1880 | -1.54325 1.06772 0.526863 
1881 | -1.89323 2.34611 0.141926 
1882 | -1.82217 2.40123 0.169684 
1883 | -1.89651 2.30128 0.228127 
1884 | -1.83842 2.36423 0.246681 
1885 | -1.89027 2.24156 0.271639 
1886 | -1.81346 2.30807 0.306133 
1887 | -1.87406 2.17092 0.312802 
1888 | -1.78672 2.23467 0.378566 
1889 | -1.85904 2.09055 0.33844 
1890 | -1.77203 2.13025 0.403688 
1891 | -1.83126 1.94175 0.39269 
1892 | -1.75072 1.95482 0.436731 
1893 | -1.79941 1.77063 0.437486 
1894 | -1.71375 1.80486 0.480331 
1895 | -1.77486 1.68042 0.466499 
1896 | -1.68381 1.70213 0.515645 
1897 | -1.73476 1.59494 0.493031 
1898 | -1.65159 1.61737 0.538144 
1899 | -1.70871 1.44686 0.514534 
1900 | -1.62318 1.45091 0.567057 
1901 | -1.70657 1.30874 0.504691 
1902 | -1.62057 1.33016 0.568158 
1903 | -1.71794 1.16301 0.471599 
1904 | -1.63665 1.16122 0.53966 
1905 | -1.73035 1.04801 0.443391 
1906 | -1.6565 1.04578 0.501834 
1907 | -1.74743 0.982462 0.426901 
1908 | -1.69197 0.968232 0.483025 
1909 | -1.98813 2.30388 0.132259 
1910 | -1.97181 2.24978 0.193193 
1911 | -1.96593 2.19865 0.223168 
1912 | -1.95293 2.12823 0.255021 
1913 | -1.9462 2.05075 0.273319 
1914 | -1.92107 1.92699 0.309725 
1915 | -1.88654 1.78203 0.37553 
1916 | -1.85115 1.67318 0.40692 
1917 | -1.82521 1.55324 0.42196 
1918 | -1.79214 1.41623 0.435955 
1919 | -1.76699 1.30183 0.449779 
1920 | -1.76909 1.17153 0.426028 
1921 | -1.78647 1.08426 0.405605 
1922 | -1.977 2.19887 0.0954694 
1923 | -1.97342 2.16424 0.121358 
1924 | -1.97088 2.11326 0.141794 
1925 | -1.96055 2.06355 0.163023 
1926 | -1.95699 2.01446 0.165563 
1927 | -1.94242 1.91226 0.187396 
1928 | -1.91557 1.77321 0.233328 
1929 | -1.89344 1.66503 0.2748 
1930 | -1.86614 1.54773 0.324678 
1931 | -1.84338 1.45185 0.33118 
1932 | -1.78919 1.28103 0.352091 
1933 | -1.42735 1.02777 0.428129 
1934 | -1.81493 0.927047 0.408396 
1935 | -1.58108 0.810576 0.316314 
1936 | -1.72266 0.488582 0.376221 
1937 | -1.77955 0.359688 0.48183 
1938 | -1.80534 0.356845 0.471115 
1939 | -1.79745 0.272915 0.499591 
1940 | -1.68761 0.384444 0.461901 
1941 | -1.72632 0.375461 0.457189 
1942 | -1.71135 0.303816 0.483598 
1943 | -1.67137 0.384365 0.428249 
1944 | -1.65811 0.310009 0.481592 
1945 | -1.7972 0.24785 0.493579 
1946 | -1.76256 0.280029 0.498563 
1947 | -1.80368 0.206348 0.496382 
1948 | -1.7645 0.218369 0.488773 
1949 | -1.75992 0.198078 0.476095 
1950 | -1.61332 0.252646 0.440196 
1951 | -1.64056 0.307558 0.43692 
1952 | -1.75076 0.374191 0.462968 
1953 | -1.7422 0.289934 0.50425 
1954 | -1.81135 0.254952 0.431812 
1955 | -1.80978 0.19918 0.420929 
1956 | -1.79391 0.207538 0.373655 
1957 | -1.81385 0.348329 0.428118 
1958 | -1.79654 0.370858 0.389596 
1959 | -1.77731 0.266651 0.376684 
1960 | -1.67791 0.238523 0.489822 
1961 | -1.62403 0.243574 0.48224 
1962 | -1.71777 0.227776 0.503095 
1963 | -1.73887 0.221181 0.499476 
1964 | -1.66784 0.325001 0.400906 
1965 | -1.73774 0.279593 0.360118 
1966 | -1.69491 0.312218 0.374722 
1967 | -1.66942 0.240259 0.381656 
1968 | -1.6327 0.248683 0.40978 
1969 | -1.7247 0.379357 0.374228 
1970 | -1.7456 0.383056 0.376877 
1971 | -1.68178 0.377396 0.405301 
1972 | -1.78747 1.09099 0.347991 
1973 | -1.77487 1.18526 0.363539 
1974 | -1.84736 1.46705 0.297938 
1975 | -1.919 1.97252 0.129306 
1976 | -1.90947 1.91396 0.125837 
1977 | -1.9007 1.79821 0.144073 
1978 | -1.89197 1.66893 0.191839 
1979 | -1.87166 1.56877 0.242991 
1980 | -1.93914 2.00507 0.00213196 
1981 | -2.03707 1.52001 0.0105783 
1982 | -2.02447 1.66952 0.0235689 
1983 | -2.02941 1.66896 0.00213229 
1984 | -2.03639 1.82284 0.0255526 
1985 | -2.05529 2.04576 0.0275408 
1986 | -2.0436 2.25552 0.0295243 
1987 | -1.97223 2.39139 0.0315077 
1988 | -1.87119 2.4679 0.033491 
1989 | -1.76915 2.48725 0.0354742 
1990 | -2.01929 1.51944 0.0248207 
1991 | -2.01098 1.67104 0.0392617 
1992 | -2.02172 1.8245 0.0427001 
1993 | -2.03936 2.0474 0.0461385 
1994 | -2.02635 2.25476 0.0495768 
1995 | -1.95548 2.3835 0.0530148 
1996 | -1.86069 2.45115 0.0564528 
1997 | -1.76442 2.468 0.0598908 
1998 | -1.99502 1.51867 0.0300355 
1999 | -1.99254 1.67311 0.0450098 
2000 | -2.00168 1.82677 0.0489816 
2001 | -2.0176 2.04964 0.0529533 
2002 | -2.00279 2.25372 0.056925 
2003 | -1.9326 2.37272 0.060892 
2004 | -1.84636 2.42827 0.0648634 
2005 | -1.97075 1.5179 0.0248339 
2006 | -1.97411 1.67518 0.0392748 
2007 | -1.98164 1.82903 0.0427132 
2008 | -1.99583 2.05188 0.046156 
2009 | -1.97922 2.25267 0.0495942 
2010 | -1.90971 2.36194 0.0530322 
2011 | -1.83201 2.40539 0.0564704 
2012 | -1.95297 1.51733 0.0106 
2013 | -1.96061 1.67669 0.0235907 
2014 | -1.96696 1.83069 0.0255788 
2015 | -1.97989 2.05352 0.0275625 
2016 | -1.96196 2.2519 0.0295504 
2017 | -1.89295 2.35404 0.0315383 
2018 | -1.82151 2.38863 0.0335261 
2019 | -1.94645 1.51712 -0.00884862 
2020 | -1.95566 1.67725 0.00215847 
2021 | -1.95294 1.51733 -0.0283016 
2022 | -1.9606 1.6767 -0.0192826 
2023 | -1.97071 1.51789 -0.0425529 
2024 | -1.97408 1.67518 -0.0349842 
2025 | -1.99498 1.51867 -0.0477808 
2026 | -1.99251 1.67311 -0.0407456 
2027 | -2.01925 1.51944 -0.0425881 
2028 | -2.01095 1.67104 -0.0350237 
2029 | -2.03703 1.52001 -0.028363 
2030 | -2.02445 1.66952 -0.0193484 
2031 | -2.04357 1.52022 -0.00887026 
2032 | 1.75696 2.43257 0.272388 
2033 | 1.83409 2.50764 0.254636 
2034 | 1.79309 2.49427 0.283369 
2035 | 1.85871 2.4892 0.232755 
2036 | 1.80135 2.42054 0.274579 
2037 | 1.83798 2.41463 0.255747 
2038 | 1.8587 2.41623 0.231675 
2039 | 1.8218 2.39496 0.261262 
2040 | 1.84628 2.38928 0.246115 
2041 | 1.85487 2.3995 0.225071 
2042 | 1.86739 2.43002 0.206306 
2043 | 1.8469 2.50848 0.222479 
2044 | 1.82641 2.52221 0.236942 
2045 | 1.8712 2.47524 0.214139 
2046 | 1.81015 2.52656 0.240134 
2047 | 1.78565 2.52418 0.25606 
2048 | 1.77344 2.53697 0.262677 
2049 | 1.75282 2.50235 0.281649 
2050 | 1.80616 2.55507 0.24143 
2051 | 1.83056 2.55388 0.229832 
2052 | 1.86342 2.53148 0.208519 
2053 | 1.8877 2.48608 0.201351 
2054 | 1.89585 2.44123 0.197745 
2055 | 1.8757 2.40879 0.196427 
2056 | 1.85878 2.37944 0.227103 
2057 | 1.83417 2.36923 0.247773 
2058 | 1.80556 2.3708 0.263223 
2059 | 1.79737 2.40381 0.267975 
2060 | 1.78132 2.39576 0.268381 
2061 | 1.90018 2.43572 0.182114 
2062 | 1.90439 2.46778 0.179112 
2063 | 1.888 2.3915 0.186108 
2064 | 1.8711 2.37022 0.216158 
2065 | 1.8262 2.34446 0.242007 
2066 | 1.8018 2.34563 0.253451 
2067 | 1.75318 2.36294 0.262769 
2068 | 1.89198 2.49708 0.188268 
2069 | 1.87586 2.52992 0.192694 
2070 | 1.835 2.56472 0.216766 
2071 | 1.81027 2.57062 0.235876 
2072 | 1.74288 2.5008 0.272912 
2073 | 1.77763 2.54819 0.253552 
2074 | 1.74878 2.43295 0.276148 
2075 | 1.72905 2.38263 0.256316 
2076 | 1.74952 2.56392 0.247235 
2077 | 1.79064 2.58876 0.213412 
2078 | 1.81556 2.58208 0.186249 
2079 | 1.86058 2.55045 0.15399 
2080 | 1.88917 2.50838 0.13847 
2081 | 1.90514 2.46468 0.147052 
2082 | 1.9089 2.42495 0.155128 
2083 | 1.7288 2.42429 0.26839 
2084 | 1.78869 2.60068 0.127216 
2085 | 1.74749 2.61675 0.165213 
2086 | 1.84974 2.54953 0.101203 
2087 | 1.89416 2.5041 0.0943487 
2088 | 1.9184 2.45964 0.0952214 
2089 | 1.92966 2.41022 0.128648 
2090 | 1.92105 2.35948 0.149463 
2091 | 1.90794 2.3193 0.193553 
2092 | 1.85478 2.26582 0.225878 
2093 | 1.77349 2.25263 0.253653 
2094 | 1.8303 2.25871 0.23413 
2095 | 1.73701 2.26543 0.259701 
2096 | 1.69282 2.32602 0.256806 
2097 | 1.72487 2.50531 0.268598 
2098 | 1.66464 2.41511 0.255669 
2099 | 1.65654 2.48002 0.25734 
2100 | 1.70216 2.60097 0.210182 
2101 | 1.66897 2.54352 0.243353 
2102 | 1.9314 2.4597 0.0550105 
2103 | 1.95881 2.39827 0.0899756 
2104 | 1.95794 2.3247 0.125457 
2105 | 1.96514 2.2391 0.162128 
2106 | 1.7209 2.23732 0.262047 
2107 | 1.66841 2.31032 0.261902 
2108 | 1.68447 2.27019 0.266156 
2109 | 1.66872 2.39016 0.250044 
2110 | 1.63215 2.34727 0.265464 
2111 | 1.61224 2.43147 0.256859 
2112 | 1.61242 2.49576 0.250644 
2113 | 1.70145 2.64758 0.0638849 
2114 | 1.67614 2.65658 0.115055 
2115 | 1.62976 2.62819 0.197733 
2116 | 1.59323 2.56881 0.210764 
2117 | 1.96073 2.20781 0.173183 
2118 | 1.93214 2.14843 0.186395 
2119 | 1.84267 2.14841 0.224829 
2120 | 1.75726 2.20408 0.253984 
2121 | 2.00391 2.39475 0.0548428 
2122 | 2.04829 2.34617 0.0565794 
2123 | 2.02683 2.2826 0.110869 
2124 | 2.03127 2.31721 0.0913595 
2125 | 2.00973 2.22158 0.148748 
2126 | 1.99326 2.18619 0.159919 
2127 | 1.97725 2.12524 0.15731 
2128 | 1.97277 2.09829 0.171931 
2129 | 1.8587 2.11595 0.224353 
2130 | 1.74494 2.14428 0.263466 
2131 | 1.70434 2.16987 0.276317 
2132 | 1.65175 2.21962 0.286393 
2133 | 1.61153 2.28022 0.283749 
2134 | 1.62417 2.3874 0.261399 
2135 | 1.59186 2.38387 0.265138 
2136 | 1.58777 2.42832 0.264728 
2137 | 2.12899 2.28478 0.052268 
2138 | 2.112 2.26388 0.0862722 
2139 | 2.09518 2.23809 0.112615 
2140 | 2.07038 2.19622 0.140487 
2141 | 2.05004 2.16059 0.147448 
2142 | 2.03778 2.12086 0.15499 
2143 | 2.03359 2.0967 0.157229 
2144 | 2.18433 2.23611 0.0946209 
2145 | 2.18934 2.24857 0.0571696 
2146 | 2.1652 2.2643 0.0509454 
2147 | 2.14764 2.218 0.115771 
2148 | 2.13079 2.18418 0.143053 
2149 | 2.1754 2.20304 0.129983 
2150 | 2.16286 2.16859 0.14929 
2151 | 2.15866 2.11668 0.158199 
2152 | 2.11064 2.14778 0.14196 
2153 | 2.16211 2.26887 0.0025369 
2154 | 2.16439 2.24339 0.0853198 
2155 | 2.11837 2.12082 0.156864 
2156 | 2.07378 2.09312 0.162656 
2157 | 2.25328 2.21407 0.0780947 
2158 | 2.26571 2.21252 0.0624281 
2159 | 2.23356 2.2326 0.0597393 
2160 | 2.29406 2.18756 0.0573675 
2161 | 2.27733 2.18989 0.0809951 
2162 | 2.22083 2.22725 0.0881893 
2163 | 2.30232 2.14627 0.0494285 
2164 | 2.27433 2.06821 0.0360765 
2165 | 2.26958 2.0552 0.0695957 
2166 | 2.28627 2.09298 0.0419303 
2167 | 2.24046 2.04274 0.106488 
2168 | 2.25241 2.07148 0.112117 
2169 | 2.21534 2.0787 0.142934 
2170 | 2.28142 2.08052 0.0795448 
2171 | 2.28529 2.11337 0.084592 
2172 | 2.16258 2.06828 0.158984 
2173 | 2.19911 2.07144 0.151393 
2174 | 2.16657 2.08502 0.165592 
2175 | 2.12608 2.08582 0.172706 
2176 | 2.06987 2.04828 0.158768 
2177 | 2.15875 2.04745 0.152777 
2178 | 2.11812 2.06498 0.166407 
2179 | 2.09827 2.03532 0.152548 
2180 | 2.11834 2.04376 0.156343 
2181 | 2.05393 2.03101 0.147946 
2182 | 2.04985 2.05991 0.153192 
2183 | 2.07423 2.01822 0.141523 
2184 | 2.02962 2.06425 0.156291 
2185 | 2.02706 1.99353 0.0941762 
2186 | 2.02576 2.03536 0.15086 
2187 | 2.08785 1.9839 0.0804095 
2188 | 2.10319 2.00705 0.1109 
2189 | 2.12832 1.97915 0.0736781 
2190 | 2.14375 2.00192 0.100219 
2191 | 2.17296 1.97757 0.0585979 
2192 | 2.19235 2.00901 0.092527 
2193 | 1.96879 2.0619 0.171376 
2194 | 1.99416 2.00394 0.116808 
2195 | 1.9609 2.03261 0.161744 
2196 | 2.21386 1.99117 0.0339916 
2197 | 2.23087 2.02013 0.00253664 
2198 | 2.23766 2.01276 0.0485603 
2199 | 2.11305 1.97117 0.0335865 
2200 | 2.06035 1.97685 0.0479219 
2201 | 1.97157 1.9773 0.0499675 
2202 | 2.01967 1.97843 0.0630903 
2203 | 1.97891 1.98039 0.0822084 
2204 | 1.94944 2.00985 0.13545 
2205 | 1.92278 1.9667 0.0659648 
2206 | 1.84627 1.95474 0.0653479 
2207 | 1.93012 1.96981 0.0983688 
2208 | 1.8609 1.96055 0.125884 
2209 | 1.73543 1.9429 0.14908 
2210 | 1.86439 2.00378 0.154317 
2211 | 1.74281 1.9906 0.180999 
2212 | 1.86724 2.07349 0.204256 
2213 | 1.87172 2.02259 0.180898 
2214 | 1.74917 2.07016 0.25048 
2215 | 1.74989 2.02243 0.218591 
2216 | 1.67188 2.11009 0.285331 
2217 | 1.64027 2.05488 0.257564 
2218 | 1.5977 1.97814 0.174855 
2219 | 1.60513 2.00935 0.204381 
2220 | 1.56855 2.02253 0.214378 
2221 | 1.71675 1.92864 0.0851231 
2222 | 1.57981 1.912 0.0755801 
2223 | 1.56251 1.92548 0.130487 
2224 | 1.51692 1.97896 0.181031 
2225 | 1.61947 2.15908 0.287513 
2226 | 1.55285 2.00505 0.199598 
2227 | 1.48378 2.04792 0.222233 
2228 | 1.54374 2.07833 0.244926 
2229 | 1.49888 2.19849 0.272772 
2230 | 1.45926 2.1714 0.242102 
2231 | 1.58326 2.10186 0.280085 
2232 | 1.53075 2.21203 0.28847 
2233 | 1.56683 2.24895 0.293711 
2234 | 1.59972 2.33606 0.273927 
2235 | 1.55917 2.3453 0.284211 
2236 | 1.55538 2.39667 0.271185 
2237 | 1.5558 2.44367 0.254369 
2238 | 1.52739 2.3835 0.25953 
2239 | 1.51932 2.33533 0.264 
2240 | 1.47493 2.31491 0.260959 
2241 | 1.45133 2.2965 0.237954 
2242 | 1.48717 2.37904 0.255043 
2243 | 1.45542 2.37317 0.234621 
2244 | 1.57245 2.74106 0.0639736 
2245 | 1.62096 2.7161 0.0595344 
2246 | 1.56793 2.7434 0.0880419 
2247 | 1.61556 2.70992 0.120768 
2248 | 1.57124 2.74611 0.11624 
2249 | 1.50408 2.74504 0.061999 
2250 | 1.51117 2.74459 0.0987273 
2251 | 1.51484 2.75047 0.118497 
2252 | 1.51408 2.74962 0.150937 
2253 | 1.61104 2.7034 0.137399 
2254 | 1.56639 2.73348 0.153709 
2255 | 1.60265 2.70534 0.157271 
2256 | 1.63062 2.66932 0.161406 
2257 | 1.45615 2.6664 0.210266 
2258 | 1.46049 2.71008 0.202154 
2259 | 1.4494 2.70954 0.153314 
2260 | 1.44085 2.65525 0.178616 
2261 | 1.4459 2.7076 0.133164 
2262 | 1.45879 2.73656 0.0982911 
2263 | 1.4664 2.73044 0.119313 
2264 | 1.46602 2.732 0.13542 
2265 | 1.47328 2.73547 0.171611 
2266 | 1.43433 2.71372 0.112049 
2267 | 1.42159 2.67184 0.140204 
2268 | 1.4373 2.66099 0.153741 
2269 | 1.43222 2.71759 0.0016831 
2270 | 1.36448 2.61363 0.164762 
2271 | 1.40475 2.63816 0.167314 
2272 | 1.43272 2.64325 0.17959 
2273 | 1.45573 2.6194 0.227083 
2274 | 1.40703 2.60858 0.239117 
2275 | 1.35891 2.54727 0.231813 
2276 | 1.37918 2.59132 0.228022 
2277 | 1.47176 2.63216 0.234193 
2278 | 1.42632 2.60399 0.27637 
2279 | 1.47105 2.61087 0.264622 
2280 | 1.39018 2.58358 0.273518 
2281 | 1.3741 2.55074 0.268189 
2282 | 1.44126 2.59704 0.330176 
2283 | 1.48593 2.60746 0.313935 
2284 | 1.3975 2.54222 0.306077 
2285 | 1.41746 2.57543 0.315448 
2286 | 1.51542 2.61851 0.260923 
2287 | 1.55236 2.59966 0.23522 
2288 | 1.51502 2.60805 0.278036 
2289 | 1.49743 2.61861 0.345497 
2290 | 1.52264 2.60588 0.298674 
2291 | 1.45642 2.60129 0.37461 
2292 | 1.43243 2.56768 0.361037 
2293 | 1.5165 2.63936 0.392572 
2294 | 1.54188 2.62175 0.338092 
2295 | 1.46777 2.61638 0.405783 
2296 | 1.44786 2.57078 0.393626 
2297 | 1.49011 2.65619 0.483467 
2298 | 1.46664 2.61709 0.454329 
2299 | 1.44886 2.58713 0.521563 
2300 | 1.50716 2.66487 0.446663 
2301 | 1.55691 2.64686 0.388798 
2302 | 1.53891 2.67074 0.467086 
2303 | 1.52228 2.67663 0.486381 
2304 | 1.49668 2.68695 0.54954 
2305 | 1.46303 2.67273 0.610892 
2306 | 1.46446 2.64647 0.54872 
2307 | 1.44212 2.63534 0.642411 
2308 | 1.44724 2.61419 0.591947 
2309 | 1.44244 2.57621 0.449591 
2310 | 1.41688 2.53725 0.33938 
2311 | 1.4315 2.53911 0.400296 
2312 | 1.43049 2.54732 0.443971 
2313 | 1.43783 2.48142 0.474916 
2314 | 1.4325 2.53185 0.534664 
2315 | 1.45812 2.56236 0.641705 
2316 | 1.46708 2.50187 0.60327 
2317 | 1.48862 2.42702 0.542112 
2318 | 1.43543 2.47087 0.406987 
2319 | 1.34367 2.54734 0.190946 
2320 | 1.38735 2.47273 0.215278 
2321 | 1.40683 2.47133 0.244253 
2322 | 1.46303 2.43606 0.257102 
2323 | 1.41401 2.47931 0.284155 
2324 | 1.42926 2.48318 0.324639 
2325 | 1.48779 2.40577 0.406364 
2326 | 1.47792 2.40921 0.482828 
2327 | 1.57261 2.53436 0.229882 
2328 | 1.5603 2.54753 0.240443 
2329 | 1.55617 2.51098 0.239897 
2330 | 1.48719 2.65622 0.609063 
2331 | 1.4833 2.61533 0.604795 
2332 | 1.49622 2.61988 0.568133 
2333 | 1.48741 2.63499 0.59884 
2334 | 1.48403 2.60828 0.573119 
2335 | 1.50867 2.65883 0.552537 
2336 | 1.50861 2.63877 0.554473 
2337 | 1.5094 2.61916 0.519869 
2338 | 1.54271 2.58186 0.301465 
2339 | 1.53938 2.53864 0.273191 
2340 | 1.58948 2.57643 0.371968 
2341 | 1.55519 2.63788 0.462506 
2342 | 1.52992 2.65021 0.505221 
2343 | 1.51784 2.64216 0.505719 
2344 | 1.55226 2.59233 0.410072 
2345 | 1.58453 2.61632 0.408498 
2346 | 1.54896 2.56112 0.380639 
2347 | 1.54294 2.62588 0.463383 
2348 | 1.57777 2.53026 0.355905 
2349 | 1.51491 2.60939 0.460183 
2350 | 1.51975 2.58545 0.422101 
2351 | 1.54954 2.53439 0.354851 
2352 | 1.50865 2.55719 0.380083 
2353 | 1.48906 2.52226 0.354622 
2354 | 1.48814 2.53025 0.394335 
2355 | 1.48716 2.55047 0.43701 
2356 | 1.48967 2.56883 0.500037 
2357 | 1.48879 2.58867 0.538608 
2358 | 1.4797 2.50724 0.408485 
2359 | 1.47444 2.51268 0.464609 
2360 | 1.47715 2.53818 0.518978 
2361 | 1.48025 2.56211 0.557241 
2362 | 1.48222 2.46055 0.469828 
2363 | 1.48493 2.49092 0.531705 
2364 | 1.47589 2.52315 0.573031 
2365 | 1.47121 2.57087 0.604668 
2366 | 1.47088 2.58838 0.619232 
2367 | 1.47881 2.62098 0.62025 
2368 | 1.52396 2.44215 0.237671 
2369 | 1.54411 2.47458 0.238989 
2370 | 1.54554 2.50944 0.349037 
2371 | 1.578 2.51315 0.345444 
2372 | 1.52964 2.48863 0.342707 
2373 | 1.49173 2.46278 0.409075 
2374 | 1.76911 2.49723 0.270404 
2375 | 1.46638 2.62254 0.636076 
2376 | 1.44794 2.42336 0.209341 
2377 | 1.34572 2.64027 0.104979 
2378 | -1.66781 0.827741 0.291157 
2379 | -1.79851 0.9058 -0.281508 
2380 | -1.78748 1.09099 -0.343729 
2381 | 1.51407 2.74962 -0.146699 
2382 | 2.19529 2.04589 0.137671 
2383 | -1.90016 1.68762 -0.147074 
2384 | -1.90761 1.70005 0.00213184 
2385 | -1.90416 1.80917 0.00213183 
2386 | -1.91407 1.89284 0.00213187 
2387 | -1.90015 1.68762 0.151338 
2388 | -1.97178 1.18361 0.0456798 
2389 | -1.96232 1.36022 0.0363257 
2390 | -1.97261 1.26827 0.0412144 
2391 | 0.588417 0.215459 -0.469025 
2392 | 0.614866 0.221521 -0.429374 
2393 | 0.63573 0.212003 -0.389727 
2394 | -1.61505 0.19252 -0.53166 
2395 | -1.5859 0.198581 -0.492009 
2396 | -1.56291 0.189064 -0.452363 
2397 | 0.588421 0.215459 0.47327 
2398 | 0.526712 0.218281 0.471666 
2399 | 0.61487 0.221521 0.433619 
2400 | 0.635732 0.212003 0.393973 
2401 | 0.622565 0.209606 0.354895 
2402 | -1.61504 0.19252 0.535922 
2403 | -1.68305 0.195336 0.534322 
2404 | -1.58589 0.198581 0.496271 
2405 | -1.5629 0.189064 0.456624 
2406 | -1.57741 0.186666 0.417551 
2407 | 2.24671 2.0535 0.00253658 
2408 | 2.25808 2.04816 -0.0334041 
2409 | 2.24965 2.0381 -0.0544351 
2410 | 2.19626 2.0255 -0.0907754 
2411 | 2.15989 2.02235 -0.0983701 
2412 | 2.11528 2.02315 -0.105392 
2413 | 2.25809 2.04816 0.0376369 
2414 | 2.24966 2.0381 0.0586681 
2415 | 2.19627 2.0255 0.0950088 
2416 | 2.1599 2.02235 0.102604 
2417 | 2.11529 2.02315 0.109626 
2418 | 1.57318 2.74302 -0.205481 
2419 | 1.60126 2.71922 -0.212419 
2420 | 1.61718 2.6832 -0.216272 
2421 | 1.61677 2.63618 -0.23293 
2422 | 1.50703 2.64818 -0.269734 
2423 | 1.55996 2.6301 -0.252454 
2424 | 1.46751 2.72201 -0.237435 
2425 | 1.47531 2.68677 -0.249157 
2426 | 1.48817 2.74012 -0.215911 
2427 | 1.5206 2.76016 0.218963 
2428 | 1.57319 2.74302 0.209719 
2429 | 1.60127 2.71922 0.216657 
2430 | 1.61719 2.6832 0.22051 
2431 | 1.61678 2.63618 0.237168 
2432 | 1.55997 2.6301 0.256692 
2433 | 1.50704 2.64818 0.273971 
2434 | 1.47532 2.68677 0.253394 
2435 | 1.46752 2.72201 0.241673 
2436 | 1.48818 2.74012 0.220148 
2437 | 1.52059 2.76016 -0.214725 
2438 | -1.99061 1.3572 0.0398126 
2439 | -1.98569 1.22002 0.0448687 
2440 | -1.98759 1.09988 0.0511238 
2441 | -1.95795 1.10056 0.0366299 
2442 | -1.99199 1.00056 0.046632 
2443 | -1.94612 1.05561 0.027342 
2444 | -2.0272 0.916666 0.0380716 
2445 | -1.92068 0.979962 -0.0438755 
2446 | -1.96525 0.901485 -0.0486626 
2447 | -2.05663 0.831783 0.00989508 
2448 | -2.02935 0.815712 -0.0481642 
2449 | -2.00748 1.36434 0.0304587 
2450 | -2.01936 1.25106 0.0458784 
2451 | -2.03585 1.17063 0.0533898 
2452 | -2.05407 1.04718 0.0675135 
2453 | -2.06704 0.947823 0.0678793 
2454 | -2.11169 0.871523 0.0595835 
2455 | -2.1522 0.793689 0.0550961 
2456 | -2.02498 1.37284 0.0266282 
2457 | -2.06129 1.25902 0.0425019 
2458 | -2.08282 1.17839 0.0642031 
2459 | -2.09371 1.08767 0.0745313 
2460 | -2.11326 0.980297 0.0700836 
2461 | -2.17298 0.863641 0.0752413 
2462 | -2.19644 0.755642 0.0705027 
2463 | -2.05919 1.3259 0.0364628 
2464 | -2.0953 1.24027 0.0458962 
2465 | -2.11805 1.14338 0.0622195 
2466 | -2.16194 1.06158 0.0553607 
2467 | -2.18612 0.898796 0.0687791 
2468 | -2.23621 0.770158 0.0804695 
2469 | -2.07519 1.35791 0.0185968 
2470 | -2.13613 1.18551 0.0508644 
2471 | -2.20529 1.06198 0.0329412 
2472 | -2.20596 0.953888 0.0513098 
2473 | -2.24148 0.834539 0.0684002 
2474 | -2.28363 0.756251 0.0872009 
2475 | -2.09407 1.35861 -0.00421956 
2476 | -2.15453 1.2172 0.0093312 
2477 | -2.20802 1.08902 0.0118616 
2478 | -2.2521 0.920757 0.0272329 
2479 | -2.29191 0.795796 0.059809 
2480 | -2.30147 0.714955 0.0857551 
2481 | -2.07052 1.36587 -0.0619218 
2482 | -2.12379 1.21678 -0.0723512 
2483 | -2.2003 1.09153 -0.0437246 
2484 | -2.21634 0.969422 -0.0620579 
2485 | -2.251 0.857135 -0.0170818 
2486 | -2.2756 0.73581 0.0222342 
2487 | -2.06552 1.338 -0.0697903 
2488 | -2.09973 1.17884 -0.0964549 
2489 | -2.15429 1.01558 -0.115634 
2490 | -2.19396 0.867727 -0.0925797 
2491 | -2.22533 0.810276 -0.0418952 
2492 | -2.25991 0.744688 0.0131622 
2493 | -2.04925 1.26865 -0.0847823 
2494 | -2.06876 1.12592 -0.125336 
2495 | -2.10561 0.996823 -0.12378 
2496 | -2.13717 0.876134 -0.102948 
2497 | -2.18243 0.806164 -0.0598717 
2498 | -2.24657 0.737719 0.0131842 
2499 | -1.99149 1.28173 -0.0637074 
2500 | -2.00697 1.13977 -0.103883 
2501 | -2.02578 1.05702 -0.116803 
2502 | -2.10497 0.912271 -0.119244 
2503 | -2.09511 0.831453 -0.0793778 
2504 | -2.13803 0.763767 -0.0160816 
2505 | -2.18981 0.741968 0.00976332 
2506 | -1.91514 1.2675 -0.0136888 
2507 | 1.58 2.75634 -0.260966 
2508 | 1.60801 2.73231 -0.263937 
2509 | 1.54371 2.77247 -0.258563 
2510 | 1.60294 2.77749 -0.312237 
2511 | 1.6314 2.75229 -0.303054 
2512 | 1.57876 2.78594 -0.314846 
2513 | 1.62662 2.79142 -0.331694 
2514 | 1.65102 2.76662 -0.326523 
2515 | 1.60621 2.7967 -0.342829 
2516 | 1.6625 2.79744 -0.352196 
2517 | 1.6748 2.78015 -0.341872 
2518 | 1.61582 2.70102 -0.275279 
2519 | 1.63518 2.72046 -0.310368 
2520 | 1.65083 2.73083 -0.333968 
2521 | 1.68276 2.73608 -0.34632 
2522 | 1.71894 2.74884 -0.354061 
2523 | 1.71095 2.78486 -0.350389 
2524 | 1.64615 2.80217 -0.359333 
2525 | 1.70661 2.80608 -0.36036 
2526 | 1.74308 2.75209 -0.353841 
2527 | 1.75127 2.78629 -0.350548 
2528 | 1.70229 2.8157 -0.375594 
2529 | 1.74285 2.80309 -0.36491 
2530 | 1.78359 2.75883 -0.345964 
2531 | 1.78358 2.78982 -0.346956 
2532 | 1.77938 2.80608 -0.357324 
2533 | 1.77481 2.81557 -0.376503 
2534 | 1.90472 2.81976 -0.339391 
2535 | 1.6158 2.66052 -0.275208 
2536 | 1.63075 2.68994 -0.329322 
2537 | 1.56287 2.65481 -0.29877 
2538 | 1.58995 2.67595 -0.349983 
2539 | 1.65877 2.71116 -0.340202 
2540 | 1.61757 2.6946 -0.377208 
2541 | 1.68669 2.71996 -0.347969 
2542 | 1.66594 2.7103 -0.372822 
2543 | 1.72276 2.72918 -0.360197 
2544 | 1.7221 2.72777 -0.388545 
2545 | 1.75443 2.73561 -0.384169 
2546 | 1.7468 2.73377 -0.363927 
2547 | 1.79897 2.74663 -0.380096 
2548 | 1.78721 2.74089 -0.360154 
2549 | 1.64093 2.7262 -0.411212 
2550 | 1.71344 2.73011 -0.412517 
2551 | 1.75802 2.74531 -0.407506 
2552 | 1.57696 2.71625 -0.390436 
2553 | 1.53737 2.70116 -0.358606 
2554 | 1.50651 2.66647 -0.292352 
2555 | 1.81078 2.75538 -0.391597 
2556 | 1.74559 2.76939 -0.417045 
2557 | 1.7984 2.7759 -0.405328 
2558 | 1.69292 2.76429 -0.42899 
2559 | 1.62456 2.75944 -0.419737 
2560 | 1.57282 2.74474 -0.391574 
2561 | 1.52937 2.72929 -0.355701 
2562 | 1.48267 2.69382 -0.281018 
2563 | 1.52534 2.7653 -0.352121 
2564 | 1.57273 2.77759 -0.396528 
2565 | 1.62465 2.7915 -0.416638 
2566 | 1.69695 2.79713 -0.434041 
2567 | 1.48258 2.73077 -0.285576 
2568 | 1.75347 2.7933 -0.426915 
2569 | 1.80226 2.8032 -0.410772 
2570 | 1.69335 2.81525 -0.411948 
2571 | 1.62535 2.8049 -0.386972 
2572 | 1.57766 2.79865 -0.362229 
2573 | 1.54206 2.78752 -0.330107 
2574 | 1.49914 2.76561 -0.27047 
2575 | 1.73855 2.81596 -0.379611 
2576 | 1.74572 2.81516 -0.41239 
2577 | 1.78641 2.81741 -0.396838 
2578 | 1.54372 2.77247 0.262801 
2579 | 1.58001 2.75634 0.265204 
2580 | 1.57877 2.78594 0.319084 
2581 | 1.60802 2.73231 0.268175 
2582 | 1.60295 2.77749 0.316474 
2583 | 1.60622 2.7967 0.347067 
2584 | 1.65103 2.76662 0.330761 
2585 | 1.63141 2.75229 0.307292 
2586 | 1.62663 2.79142 0.335932 
2587 | 1.64616 2.80217 0.363571 
2588 | 1.67481 2.78015 0.34611 
2589 | 1.61583 2.70102 0.279517 
2590 | 1.63519 2.72046 0.314605 
2591 | 1.65084 2.73083 0.338206 
2592 | 1.68277 2.73608 0.350558 
2593 | 1.71096 2.78486 0.354627 
2594 | 1.66251 2.79744 0.356434 
2595 | 1.70662 2.80608 0.364598 
2596 | 1.7023 2.8157 0.379832 
2597 | 1.71895 2.74884 0.358299 
2598 | 1.75128 2.78629 0.354784 
2599 | 1.74286 2.80309 0.369146 
2600 | 1.73856 2.81596 0.383847 
2601 | 1.74309 2.75209 0.358077 
2602 | 1.78359 2.78982 0.351192 
2603 | 1.77939 2.80608 0.36156 
2604 | 1.77482 2.81557 0.380739 
2605 | 1.90473 2.81976 0.343627 
2606 | 1.7836 2.75883 0.3502 
2607 | 1.61581 2.66052 0.279446 
2608 | 1.56288 2.65481 0.303008 
2609 | 1.63076 2.68994 0.33356 
2610 | 1.58996 2.67595 0.354221 
2611 | 1.65878 2.71116 0.344439 
2612 | 1.61758 2.6946 0.381445 
2613 | 1.6867 2.71996 0.352206 
2614 | 1.66595 2.7103 0.377059 
2615 | 1.72277 2.72918 0.364435 
2616 | 1.72211 2.72777 0.392783 
2617 | 1.74681 2.73377 0.368163 
2618 | 1.75444 2.73561 0.388405 
2619 | 1.78722 2.74089 0.36439 
2620 | 1.71345 2.73011 0.416754 
2621 | 1.75803 2.74531 0.411741 
2622 | 1.79898 2.74663 0.384332 
2623 | 1.81079 2.75538 0.395833 
2624 | 1.57697 2.71625 0.394674 
2625 | 1.53738 2.70116 0.362843 
2626 | 1.50652 2.66647 0.296589 
2627 | 1.79841 2.7759 0.409564 
2628 | 1.7456 2.76939 0.421281 
2629 | 1.69293 2.76429 0.433228 
2630 | 1.62457 2.75944 0.423975 
2631 | 1.64094 2.7262 0.41545 
2632 | 1.57283 2.74474 0.395811 
2633 | 1.52938 2.72929 0.359938 
2634 | 1.48268 2.69382 0.285256 
2635 | 1.57274 2.77759 0.400766 
2636 | 1.52535 2.7653 0.356359 
2637 | 1.62466 2.7915 0.420876 
2638 | 1.69696 2.79713 0.438279 
2639 | 1.48259 2.73077 0.289814 
2640 | 1.75348 2.7933 0.43115 
2641 | 1.80227 2.8032 0.415008 
2642 | 1.62536 2.8049 0.391209 
2643 | 1.69336 2.81525 0.416186 
2644 | 1.57767 2.79865 0.366467 
2645 | 1.54207 2.78752 0.334345 
2646 | 1.49915 2.76561 0.274707 
2647 | 1.74573 2.81516 0.416626 
2648 | 1.78642 2.81741 0.401074 
2649 | -0.82271 0.85073 -0.318447 
2650 | -0.882391 0.873634 -0.300859 
2651 | -0.870983 0.907832 -0.350164 
2652 | -0.948345 0.870624 -0.314793 
2653 | -0.822035 0.828654 -0.299894 
2654 | -0.900099 0.857417 -0.243809 
2655 | -0.770218 0.821023 -0.336666 
2656 | -0.700019 0.81621 -0.336641 
2657 | -0.772546 0.812815 -0.217726 
2658 | -0.830459 0.822681 -0.206389 
2659 | -0.917013 0.850139 -0.211326 
2660 | -0.95773 0.856592 -0.249372 
2661 | -0.952895 0.84574 -0.152517 
2662 | -0.961795 0.855045 -0.196413 
2663 | -0.770403 0.799745 -0.16214 
2664 | -0.57262 0.787716 -0.168912 
2665 | -0.575502 0.782982 0.00212692 
2666 | -0.763124 0.798445 0.00212761 
2667 | -0.956958 0.843373 0.00212833 
2668 | -1.72559 0.859387 -0.279349 
2669 | -1.12737 1.15336 -0.413723 
2670 | -0.944242 1.01247 -0.397939 
2671 | -0.983818 1.03216 -0.392062 
2672 | -0.870027 0.961382 -0.388179 
2673 | -1.84737 1.46705 -0.293674 
2674 | -1.66782 0.827741 -0.286896 
2675 | -0.882389 0.873634 0.305115 
2676 | -0.822708 0.85073 0.322703 
2677 | -0.948343 0.870624 0.319049 
2678 | -0.870981 0.907832 0.35442 
2679 | -0.822033 0.828654 0.304149 
2680 | -0.770216 0.821023 0.340922 
2681 | -0.700017 0.81621 0.340894 
2682 | -0.590357 0.81446 0.356182 
2683 | -0.641477 0.823748 0.363186 
2684 | -0.581099 0.805167 0.250669 
2685 | -0.772544 0.812815 0.221982 
2686 | -0.900097 0.857417 0.248065 
2687 | -0.917011 0.850139 0.215582 
2688 | -0.830457 0.822681 0.210645 
2689 | -0.957728 0.856592 0.253628 
2690 | -0.961793 0.855045 0.200669 
2691 | -0.952893 0.84574 0.156773 
2692 | -0.770401 0.799745 0.166396 
2693 | -0.572618 0.787716 0.173166 
2694 | -1.27617 1.10566 -0.42588 
2695 | -1.2373 1.11952 -0.424003 
2696 | -1.37216 1.01484 -0.424028 
2697 | -1.29468 1.0188 -0.419933 
2698 | -1.24188 1.02447 -0.412635 
2699 | -1.12494 1.04116 -0.401081 
2700 | -1.09514 1.03759 -0.393468 
2701 | -1.40749 0.918606 -0.388966 
2702 | -1.32204 0.923838 -0.385457 
2703 | -1.24532 0.914537 -0.363444 
2704 | -1.12531 0.953897 -0.370722 
2705 | -1.12589 0.919902 -0.340139 
2706 | -1.08507 0.979759 -0.381099 
2707 | -1.04355 0.982325 -0.367482 
2708 | -1.02595 0.91775 -0.32218 
2709 | -1.07335 0.922476 -0.345309 
2710 | -0.994203 0.872999 -0.265285 
2711 | -1.04773 0.900894 -0.264831 
2712 | -1.01146 0.874242 -0.219044 
2713 | -1.03652 0.85549 -0.155747 
2714 | -1.05142 0.848768 0.00212868 
2715 | -1.13508 0.830444 0.00212899 
2716 | -1.11932 0.82522 -0.1771 
2717 | -1.11216 0.868146 -0.265152 
2718 | -1.44766 0.845079 -0.315995 
2719 | -1.34105 0.830109 -0.289735 
2720 | -1.23981 0.83784 -0.287391 
2721 | -1.17183 0.796686 -0.174888 
2722 | -1.19514 0.79673 -0.213392 
2723 | -1.23534 0.804052 -0.242623 
2724 | -1.27904 0.780473 -0.219554 
2725 | -1.30116 0.777246 -0.194375 
2726 | -1.36332 0.777079 -0.205311 
2727 | -1.4201 0.768677 -0.215679 
2728 | -1.4291 0.784361 -0.249335 
2729 | -1.46478 0.795227 -0.266465 
2730 | -1.50864 0.790387 -0.259866 
2731 | -1.53189 0.78757 -0.249162 
2732 | -1.53605 0.774544 -0.222145 
2733 | -1.52505 0.769581 -0.195084 
2734 | -1.6166 0.818123 0.00213077 
2735 | -1.49403 0.763498 -0.176368 
2736 | -1.51288 0.786402 0.00213038 
2737 | -1.44542 0.761382 -0.188062 
2738 | -1.37673 0.77931 0.00212988 
2739 | -1.28818 0.764296 -0.157646 
2740 | -1.25098 0.772649 -0.133349 
2741 | -1.26429 0.792322 0.00212947 
2742 | -1.19967 0.777722 -0.14962 
2743 | -1.71744 0.850373 -0.188224 
2744 | -1.80294 0.898355 -0.191662 
2745 | -1.85902 0.949031 -0.177005 
2746 | -1.91006 1.01876 -0.164508 
2747 | -1.8995 1.01676 -0.248359 
2748 | -1.94608 1.10068 -0.145011 
2749 | -1.94238 1.09286 -0.220747 
2750 | -1.96677 1.18219 -0.139082 
2751 | -1.95855 1.17792 -0.202713 
2752 | -1.9624 1.28164 -0.143653 
2753 | -1.95763 1.27966 -0.194598 
2754 | -1.93596 1.44879 -0.147078 
2755 | -1.92686 1.45055 -0.185852 
2756 | -1.91552 1.57676 -0.149882 
2757 | -1.89765 1.57415 -0.190599 
2758 | -1.92146 1.5802 0.00213189 
2759 | -1.96107 1.28551 0.00213204 
2760 | -1.96336 1.19469 0.00213205 
2761 | -1.95092 1.09964 0.002132 
2762 | -1.89429 1.00082 0.00213179 
2763 | -1.84826 0.94449 0.00213162 
2764 | -1.78361 0.893854 0.00213138 
2765 | -1.71276 0.857518 0.00213112 
2766 | -1.63846 0.815328 -0.192959 
2767 | -1.94522 1.4462 0.00213198 
2768 | -1.89635 1.46327 -0.245092 
2769 | -1.9154 1.28058 -0.284144 
2770 | -1.90665 1.16911 -0.295517 
2771 | -1.88129 1.0828 -0.303033 
2772 | -1.85732 1.28521 -0.31884 
2773 | -1.82081 1.17603 -0.335622 
2774 | -1.19405 0.724697 -0.191343 
2775 | -1.21058 0.724728 -0.218651 
2776 | -1.23909 0.729921 -0.239378 
2777 | -1.27008 0.713201 -0.223019 
2778 | -1.28576 0.710913 -0.205166 
2779 | -1.27656 0.701727 -0.179118 
2780 | -1.25018 0.707651 -0.161887 
2781 | -1.21379 0.711248 -0.173428 
2782 | -1.44336 0.704835 -0.220272 
2783 | -1.44974 0.715956 -0.244138 
2784 | -1.47505 0.723661 -0.256287 
2785 | -1.50614 0.720227 -0.251605 
2786 | -1.52263 0.718231 -0.244018 
2787 | -1.52558 0.708996 -0.224856 
2788 | -1.51779 0.705474 -0.205667 
2789 | -1.49578 0.701163 -0.192391 
2790 | -1.46132 0.699659 -0.200687 
2791 | -1.25228 0.666687 -0.160406 
2792 | -1.21678 0.6702 -0.171665 
2793 | -1.27801 0.660912 -0.177214 
2794 | -1.28698 0.669869 -0.202622 
2795 | -1.27168 0.6721 -0.220039 
2796 | -1.24146 0.68841 -0.235997 
2797 | -1.21364 0.683345 -0.215777 
2798 | -1.19752 0.683314 -0.189139 
2799 | -1.46707 0.658893 -0.198254 
2800 | -1.44955 0.66394 -0.217359 
2801 | -1.50069 0.660357 -0.190165 
2802 | -1.52215 0.664566 -0.203111 
2803 | -1.52976 0.668 -0.221827 
2804 | -1.52688 0.67701 -0.240518 
2805 | -1.5108 0.678959 -0.247925 
2806 | -1.48046 0.682309 -0.252491 
2807 | -1.45578 0.674789 -0.240638 
2808 | -1.2448 0.648768 -0.196606 
2809 | -1.48927 0.64369 -0.222966 
2810 | -1.27616 1.10566 0.43014 
2811 | -1.23729 1.11952 0.428261 
2812 | -1.37215 1.01484 0.428288 
2813 | -1.29467 1.0188 0.424193 
2814 | -1.24187 1.02447 0.416892 
2815 | -1.09513 1.03759 0.397726 
2816 | -1.12493 1.04116 0.405339 
2817 | -1.40748 0.918606 0.393226 
2818 | -1.32203 0.923838 0.389717 
2819 | -1.1253 0.953897 0.37498 
2820 | -1.24531 0.914537 0.367702 
2821 | -1.08506 0.979759 0.385357 
2822 | -1.02594 0.91775 0.326438 
2823 | -1.04354 0.982325 0.37174 
2824 | -1.07334 0.922476 0.349567 
2825 | -1.12588 0.919902 0.344397 
2826 | -0.994201 0.872999 0.269542 
2827 | -1.04772 0.900894 0.269088 
2828 | -1.01145 0.874242 0.223301 
2829 | -1.03651 0.85549 0.160005 
2830 | -1.11215 0.868146 0.26941 
2831 | -1.11931 0.82522 0.181358 
2832 | -1.44765 0.845079 0.320254 
2833 | -1.34104 0.830109 0.293995 
2834 | -1.2398 0.83784 0.291649 
2835 | -1.17182 0.796686 0.179145 
2836 | -1.23533 0.804052 0.24688 
2837 | -1.19513 0.79673 0.21765 
2838 | -1.27903 0.780473 0.223814 
2839 | -1.30115 0.777246 0.198635 
2840 | -1.42909 0.784361 0.253595 
2841 | -1.42009 0.768677 0.219939 
2842 | -1.36331 0.777079 0.209571 
2843 | -1.46477 0.795227 0.270725 
2844 | -1.50863 0.790387 0.264126 
2845 | -1.53188 0.78757 0.253424 
2846 | -1.52504 0.769581 0.199345 
2847 | -1.53604 0.774544 0.226407 
2848 | -1.63845 0.815328 0.197221 
2849 | -1.49402 0.763498 0.180627 
2850 | -1.44541 0.761382 0.192322 
2851 | -1.28817 0.764296 0.161906 
2852 | -1.25097 0.772649 0.137609 
2853 | -1.19966 0.777722 0.153878 
2854 | -1.80293 0.898355 0.195926 
2855 | -1.71743 0.850373 0.192486 
2856 | -1.85901 0.949031 0.181269 
2857 | -1.91005 1.01876 0.168772 
2858 | -1.94607 1.10068 0.149275 
2859 | -1.89949 1.01676 0.252623 
2860 | -1.96676 1.18219 0.143346 
2861 | -1.94237 1.09286 0.22501 
2862 | -1.96239 1.28164 0.147917 
2863 | -1.95854 1.17792 0.206977 
2864 | -1.93595 1.44879 0.151342 
2865 | -1.95762 1.27966 0.198861 
2866 | -1.91551 1.57676 0.154146 
2867 | -1.92685 1.45055 0.190116 
2868 | -1.89764 1.57415 0.194863 
2869 | -1.89634 1.46327 0.249356 
2870 | -1.91539 1.28058 0.288408 
2871 | -1.90664 1.16911 0.299781 
2872 | -1.88128 1.0828 0.307297 
2873 | -1.85731 1.28521 0.323104 
2874 | -1.8208 1.17603 0.339886 
2875 | -1.21057 0.724728 0.222909 
2876 | -1.19404 0.724697 0.195601 
2877 | -1.23908 0.729921 0.243636 
2878 | -1.27007 0.713201 0.227278 
2879 | -1.28575 0.710913 0.209426 
2880 | -1.27655 0.701727 0.183378 
2881 | -1.25017 0.707651 0.166147 
2882 | -1.21378 0.711248 0.177686 
2883 | -1.44973 0.715956 0.248398 
2884 | -1.44335 0.704835 0.224532 
2885 | -1.47504 0.723661 0.260546 
2886 | -1.50613 0.720227 0.255865 
2887 | -1.52262 0.718231 0.24828 
2888 | -1.52557 0.708996 0.229118 
2889 | -1.51778 0.705474 0.209928 
2890 | -1.49577 0.701163 0.196651 
2891 | -1.46131 0.699659 0.204947 
2892 | -1.21677 0.6702 0.175923 
2893 | -1.25227 0.666687 0.164666 
2894 | -1.278 0.660912 0.181474 
2895 | -1.28697 0.669869 0.206882 
2896 | -1.27167 0.6721 0.224299 
2897 | -1.24145 0.68841 0.240255 
2898 | -1.21363 0.683345 0.220035 
2899 | -1.19751 0.683314 0.193397 
2900 | -1.44954 0.66394 0.221618 
2901 | -1.46706 0.658893 0.202514 
2902 | -1.50068 0.660357 0.194425 
2903 | -1.52214 0.664566 0.207372 
2904 | -1.52975 0.668 0.226089 
2905 | -1.52687 0.67701 0.24478 
2906 | -1.51079 0.678959 0.252184 
2907 | -1.48045 0.682309 0.256751 
2908 | -1.45577 0.674789 0.244898 
2909 | -1.24479 0.648768 0.200864 
2910 | -1.48926 0.64369 0.227226 
2911 | 


--------------------------------------------------------------------------------
/examples/point_cloud_io.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |         - /PointCloud21
 10 |         - /PointCloud21/Status1
 11 |         - /PointCloud21/Autocompute Value Bounds1
 12 |       Splitter Ratio: 0.5
 13 |     Tree Height: 565
 14 |   - Class: rviz/Selection
 15 |     Name: Selection
 16 |   - Class: rviz/Tool Properties
 17 |     Expanded:
 18 |       - /2D Pose Estimate1
 19 |       - /2D Nav Goal1
 20 |       - /Publish Point1
 21 |     Name: Tool Properties
 22 |     Splitter Ratio: 0.588679
 23 |   - Class: rviz/Views
 24 |     Expanded:
 25 |       - /Current View1
 26 |     Name: Views
 27 |     Splitter Ratio: 0.5
 28 |   - Class: rviz/Time
 29 |     Experimental: false
 30 |     Name: Time
 31 |     SyncMode: 0
 32 |     SyncSource: PointCloud2
 33 | Visualization Manager:
 34 |   Class: ""
 35 |   Displays:
 36 |     - Alpha: 1
 37 |       Autocompute Intensity Bounds: true
 38 |       Autocompute Value Bounds:
 39 |         Max Value: 2.30232
 40 |         Min Value: -2.30147
 41 |         Value: true
 42 |       Axis: X
 43 |       Channel Name: intensity
 44 |       Class: rviz/PointCloud2
 45 |       Color: 255; 255; 255
 46 |       Color Transformer: AxisColor
 47 |       Decay Time: 0
 48 |       Enabled: true
 49 |       Invert Rainbow: false
 50 |       Max Color: 255; 255; 255
 51 |       Max Intensity: 4096
 52 |       Min Color: 0; 0; 0
 53 |       Min Intensity: 0
 54 |       Name: PointCloud2
 55 |       Position Transformer: XYZ
 56 |       Queue Size: 10
 57 |       Selectable: true
 58 |       Size (Pixels): 3
 59 |       Size (m): 0.01
 60 |       Style: Points
 61 |       Topic: /point_cloud
 62 |       Use Fixed Frame: true
 63 |       Use rainbow: true
 64 |       Value: true
 65 |   Enabled: true
 66 |   Global Options:
 67 |     Background Color: 48; 48; 48
 68 |     Fixed Frame: map
 69 |     Frame Rate: 30
 70 |   Name: root
 71 |   Tools:
 72 |     - Class: rviz/Interact
 73 |       Hide Inactive Objects: true
 74 |     - Class: rviz/MoveCamera
 75 |     - Class: rviz/Select
 76 |     - Class: rviz/FocusCamera
 77 |     - Class: rviz/Measure
 78 |     - Class: rviz/SetInitialPose
 79 |       Topic: /initialpose
 80 |     - Class: rviz/SetGoal
 81 |       Topic: /move_base_simple/goal
 82 |     - Class: rviz/PublishPoint
 83 |       Single click: true
 84 |       Topic: /clicked_point
 85 |   Value: true
 86 |   Views:
 87 |     Current:
 88 |       Class: rviz/Orbit
 89 |       Distance: 9.43795
 90 |       Enable Stereo Rendering:
 91 |         Stereo Eye Separation: 0.06
 92 |         Stereo Focal Distance: 1
 93 |         Swap Stereo Eyes: false
 94 |         Value: false
 95 |       Focal Point:
 96 |         X: -0.0283656
 97 |         Y: 1.65889
 98 |         Z: 0.111699
 99 |       Name: Current View
100 |       Near Clip Distance: 0.01
101 |       Pitch: 1.5698
102 |       Target Frame: <Fixed Frame>
103 |       Value: Orbit (rviz)
104 |       Yaw: 4.70358
105 |     Saved: ~
106 | Window Geometry:
107 |   Displays:
108 |     collapsed: false
109 |   Height: 846
110 |   Hide Left Dock: false
111 |   Hide Right Dock: false
112 |   QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
113 |   Selection:
114 |     collapsed: false
115 |   Time:
116 |     collapsed: false
117 |   Tool Properties:
118 |     collapsed: false
119 |   Views:
120 |     collapsed: false
121 |   Width: 1200
122 |   X: 3386
123 |   Y: 110
124 | 


--------------------------------------------------------------------------------
/examples/some_cows.bag:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/ANYbotics/point_cloud_io/0bbfa82af45b1ebadccd5deb8c8a79ddf68623e4/examples/some_cows.bag


--------------------------------------------------------------------------------
/include/point_cloud_io/Read.hpp:
--------------------------------------------------------------------------------
 1 | /*
 2 |  * Read.hpp
 3 |  *
 4 |  *  Created on: Aug 7, 2013
 5 |  *      Author: Péter Fankhauser
 6 |  *	 Institute: ETH Zurich, Autonomous Systems Lab
 7 |  */
 8 | 
 9 | #pragma once
10 | 
11 | // ROS
12 | #include <ros/ros.h>
13 | #include <sensor_msgs/PointCloud2.h>
14 | 
15 | namespace point_cloud_io {
16 | 
17 | class Read {
18 |  public:
19 |   /*!
20 |    * Constructor.
21 |    * @param nodeHandle the ROS node handle.
22 |    */
23 |   explicit Read(ros::NodeHandle nodeHandle);
24 | 
25 |   /*!
26 |    * Destructor.
27 |    */
28 |   virtual ~Read() = default;
29 | 
30 |  private:
31 |   /*!
32 |    * Reads and verifies the ROS parameters.
33 |    * @return true if successful.
34 |    */
35 |   bool readParameters();
36 | 
37 |   /*!
38 |    * Initializes node.
39 |    */
40 |   void initialize();
41 | 
42 |   /*!
43 |    * Read the point cloud from a .ply or .vtk file.
44 |    * @param filePath the path to the .ply or .vtk file.
45 |    * @param pointCloudFrameId the id of the frame of the point cloud data.
46 |    * @return true if successful.
47 |    */
48 |   bool readFile(const std::string& filePath, const std::string& pointCloudFrameId);
49 | 
50 |   /*!
51 |    * Timer callback function.
52 |    * @param timerEvent the timer event.
53 |    */
54 |   void timerCallback(const ros::TimerEvent& timerEvent);
55 | 
56 |   /*!
57 |    * Publish the point cloud as a PointCloud2.
58 |    * @return true if successful.
59 |    */
60 |   bool publish();
61 | 
62 |   //! ROS node handle.
63 |   ros::NodeHandle nodeHandle_;
64 | 
65 |   //! Point cloud message to publish.
66 |   sensor_msgs::PointCloud2::Ptr pointCloudMessage_;
67 | 
68 |   //! Point cloud publisher.
69 |   ros::Publisher pointCloudPublisher_;
70 | 
71 |   //! Timer for publishing the point cloud.
72 |   ros::Timer timer_;
73 | 
74 |   //! Path to the point cloud file.
75 |   std::string filePath_;
76 | 
77 |   //! Point cloud topic to be published at.
78 |   std::string pointCloudTopic_;
79 | 
80 |   //! Point cloud frame id.
81 |   std::string pointCloudFrameId_;
82 | 
83 |   /*!
84 |    * If true, continuous publishing is used.
85 |    * If false, point cloud is only published once.
86 |    */
87 |   bool isContinuouslyPublishing_ = false;
88 | 
89 |   //! Duration between publishing steps.
90 |   ros::Duration updateDuration_;
91 | };
92 | 
93 | }  // namespace point_cloud_io
94 | 


--------------------------------------------------------------------------------
/include/point_cloud_io/Write.hpp:
--------------------------------------------------------------------------------
 1 | /*
 2 |  * Write.hpp
 3 |  *
 4 |  *  Created on: Nov 13, 2015
 5 |  *      Author: Remo Diethelm
 6 |  *	 Institute: ETH Zurich, Autonomous Systems Lab
 7 |  */
 8 | 
 9 | #pragma once
10 | 
11 | // ROS
12 | #include <ros/ros.h>
13 | #include <sensor_msgs/PointCloud2.h>
14 | 
15 | namespace point_cloud_io {
16 | 
17 | class Write {
18 |  public:
19 |   /*!
20 |    * Constructor.
21 |    * @param nodeHandle the ROS node handle.
22 |    */
23 |   explicit Write(ros::NodeHandle nodeHandle);
24 | 
25 |   /*!
26 |    * Destructor.
27 |    */
28 |   virtual ~Write() = default;
29 | 
30 |  private:
31 |   /*!
32 |    * Reads and verifies the ROS parameters.
33 |    * @return true if successful.
34 |    */
35 |   bool readParameters();
36 | 
37 |   /*!
38 |    * Point cloud callback function
39 |    * @param cloud point cloud message.
40 |    */
41 |   void pointCloudCallback(const sensor_msgs::PointCloud2ConstPtr& cloud);
42 | 
43 |   //! ROS node handle.
44 |   ros::NodeHandle nodeHandle_;
45 | 
46 |   //! Point cloud subscriber.
47 |   ros::Subscriber pointCloudSubscriber_;
48 | 
49 |   //! Point cloud topic to subscribe to.
50 |   std::string pointCloudTopic_;
51 | 
52 |   //! Path to the point cloud folder.
53 |   std::string folderPath_;
54 | 
55 |   //! Point cloud file prefix.
56 |   std::string filePrefix_;
57 | 
58 |   //! Point cloud file ending.
59 |   std::string fileEnding_;
60 | 
61 |   //! Point cloud counter.
62 |   unsigned int counter_ = 0;
63 | 
64 |   //! Settings for generating file name.
65 |   bool addCounterToPath_ = true;
66 |   bool addFrameIdToPath_ = false;
67 |   bool addStampSecToPath_ = false;
68 |   bool addStampNSecToPath_ = false;
69 | };
70 | 
71 | }  // namespace point_cloud_io
72 | 


--------------------------------------------------------------------------------
/launch/example_read.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 |   
 3 |   <!-- Publish point cloud from file -->
 4 |   <node pkg="point_cloud_io" type="read" name="read" output="screen">
 5 |     <param name="file_path" value="$(find point_cloud_io)/examples/cow.ply" />
 6 |     <param name="topic"     value="/point_cloud" />
 7 |     <param name="frame"     value="map" />
 8 |     <param name="rate"      value="1.0" />
 9 |   </node>
10 |     
11 |   <!-- Visualize the point cloud in rviz -->
12 |   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find point_cloud_io)/examples/point_cloud_io.rviz" />
13 |     
14 | </launch>
15 | 


--------------------------------------------------------------------------------
/launch/example_write.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |   <!-- Play bag file containing point clouds -->
 4 |   <node pkg="rosbag" type="play" name="bag_player" output="screen" args="--clock $(find point_cloud_io)/examples/some_cows.bag"/>
 5 |   
 6 |   <!-- Write point clouds to file -->
 7 |   <node pkg="point_cloud_io" type="write" name="write" output="screen">
 8 |     <param name="topic"                  value="/point_cloud" />
 9 |     <param name="folder_path"            value="$(find point_cloud_io)/examples" />
10 |     <param name="file_prefix"            value="received_cloud" />
11 |     <param name="file_ending"            value="ply" />
12 |     <param name="add_counter_to_path"    value="true" />
13 |     <param name="add_frame_id_to_path"   value="true" />
14 |     <param name="add_stamp_sec_to_path"  value="true" />
15 |     <param name="add_stamp_nsec_to_path" value="true" />
16 |   </node>
17 |     
18 |   <!-- Visualize the point cloud in rviz -->
19 |   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find point_cloud_io)/examples/point_cloud_io.rviz" />
20 |     
21 | </launch>
22 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <package format="2">
 4 | 
 5 |   <name>point_cloud_io</name>
 6 |   <version>0.3.22</version>
 7 |   <description>Tools to either read and publish or subscribe and write PointCloud2 messages.</description>
 8 | 
 9 |   <license>BSD</license>
10 |   <author email="pfankhauser@anybotics.com">Peter Fankhauser</author>
11 |   <author email="rdiethelm@anybotics.com">Remo Diethelm</author>
12 |   <maintainer email="rdiethelm@anybotics.com">Remo Diethelm</maintainer>
13 |   <maintainer email="ynava@anybotics.com">Yoshua Nava</maintainer>
14 | 
15 |   <url type="website">http://github.com/anybotics/point_cloud_io</url>
16 |   <url type="bugtracker">http://github.com/anybotics/point_cloud_io/issues</url>
17 | 
18 |   <buildtool_depend>catkin</buildtool_depend>
19 | 
20 | <!--   <build_depend>cmake_clang_tools</build_depend> -->
21 | 
22 |   <depend>roscpp</depend>
23 |   <depend>pcl_ros</depend>
24 |   <depend>sensor_msgs</depend>
25 | 
26 | <!--   <test_depend>cmake_code_coverage</test_depend> -->
27 |   <test_depend>gtest</test_depend>
28 | 
29 | </package>
30 | 


--------------------------------------------------------------------------------
/src/Read.cpp:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Read.cpp
  3 |  *
  4 |  *  Created on: Aug 7, 2013
  5 |  *      Author: Péter Fankhauser
  6 |  *   Institute: ETH Zurich, Autonomous Systems Lab
  7 |  */
  8 | 
  9 | #include "point_cloud_io/Read.hpp"
 10 | 
 11 | #include <filesystem>
 12 | 
 13 | // PCL
 14 | #include <pcl/io/ply_io.h>
 15 | #include <pcl/point_cloud.h>
 16 | #include <pcl/point_types.h>
 17 | #include <pcl_conversions/pcl_conversions.h>
 18 | 
 19 | #ifdef HAVE_VTK
 20 | #include <pcl/io/vtk_lib_io.h>
 21 | #endif
 22 | 
 23 | namespace point_cloud_io {
 24 | 
 25 | Read::Read(ros::NodeHandle nodeHandle) : nodeHandle_(nodeHandle), pointCloudMessage_(new sensor_msgs::PointCloud2()) {
 26 |   if (!readParameters()) {
 27 |     ros::requestShutdown();
 28 |   }
 29 |   pointCloudPublisher_ = nodeHandle_.advertise<sensor_msgs::PointCloud2>(pointCloudTopic_, 1, true);
 30 |   initialize();
 31 | }
 32 | 
 33 | bool Read::readParameters() {
 34 |   bool allParametersRead = true;
 35 |   allParametersRead = nodeHandle_.getParam("file_path", filePath_) && allParametersRead;
 36 |   allParametersRead = nodeHandle_.getParam("topic", pointCloudTopic_) && allParametersRead;
 37 |   allParametersRead = nodeHandle_.getParam("frame", pointCloudFrameId_) && allParametersRead;
 38 | 
 39 |   double updateRate;
 40 |   nodeHandle_.param("rate", updateRate, 0.0);
 41 |   if (updateRate == 0.0) {
 42 |     isContinuouslyPublishing_ = false;
 43 |   } else {
 44 |     isContinuouslyPublishing_ = true;
 45 |     updateDuration_.fromSec(1.0 / updateRate);
 46 |   }
 47 | 
 48 |   if (!allParametersRead) {
 49 |     ROS_WARN(
 50 |         "Could not read all parameters. Typical command-line usage:\n"
 51 |         "rosrun point_cloud_io read"
 52 |         " _file_path:=/home/user/my_point_cloud.ply"
 53 |         " _topic:=/my_topic"
 54 |         " _frame:=sensor_frame"
 55 |         " (optional: _rate:=publishing_rate)");
 56 |     return false;
 57 |   }
 58 | 
 59 |   return true;
 60 | }
 61 | 
 62 | void Read::initialize() {
 63 |   if (!readFile(filePath_, pointCloudFrameId_)) {
 64 |     ros::requestShutdown();
 65 |   }
 66 | 
 67 |   if (isContinuouslyPublishing_) {
 68 |     timer_ = nodeHandle_.createTimer(updateDuration_, &Read::timerCallback, this);
 69 |   } else {
 70 |     ros::Duration(1.0).sleep();  // Need this to get things ready before publishing.
 71 |     if (!publish()) {
 72 |       ROS_ERROR("Something went wrong when trying to read and publish the point cloud file.");
 73 |     }
 74 |     ros::requestShutdown();
 75 |   }
 76 | }
 77 | 
 78 | bool Read::readFile(const std::string& filePath, const std::string& pointCloudFrameId) {
 79 |   if (std::filesystem::path(filePath).extension() == ".ply") {
 80 |     // Load .ply file.
 81 |     pcl::PointCloud<pcl::PointXYZRGBNormal> pointCloud;
 82 |     if (pcl::io::loadPLYFile(filePath, pointCloud) != 0) {
 83 |       return false;
 84 |     }
 85 | 
 86 |     // Define PointCloud2 message.
 87 |     pcl::toROSMsg(pointCloud, *pointCloudMessage_);
 88 |   }
 89 | #ifdef HAVE_VTK
 90 |   else if (std::filesystem::path(filePath).extension() == ".vtk") {
 91 |     // Load .vtk file.
 92 |     pcl::PolygonMesh polygonMesh;
 93 |     pcl::io::loadPolygonFileVTK(filePath, polygonMesh);
 94 | 
 95 |     // Define PointCloud2 message.
 96 |     pcl_conversions::moveFromPCL(polygonMesh.cloud, *pointCloudMessage_);
 97 |   }
 98 | #endif
 99 |   else {
100 |     ROS_ERROR_STREAM("Data format not supported.");
101 |     return false;
102 |   }
103 | 
104 |   pointCloudMessage_->header.frame_id = pointCloudFrameId;
105 | 
106 |   ROS_INFO_STREAM("Loaded point cloud with " << pointCloudMessage_->height * pointCloudMessage_->width << " points.");
107 |   return true;
108 | }
109 | 
110 | void Read::timerCallback(const ros::TimerEvent& /*timerEvent*/) {
111 |   if (!publish()) {
112 |     ROS_ERROR("Something went wrong when trying to read and publish the point cloud file.");
113 |   }
114 | }
115 | 
116 | bool Read::publish() {
117 |   pointCloudMessage_->header.stamp = ros::Time::now();
118 |   if (pointCloudPublisher_.getNumSubscribers() > 0u) {
119 |     pointCloudPublisher_.publish(pointCloudMessage_);
120 |     ROS_INFO_STREAM("Point cloud published to topic \"" << pointCloudTopic_ << "\".");
121 |   }
122 |   return true;
123 | }
124 | 
125 | }  // namespace point_cloud_io
126 | 


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/src/Write.cpp:
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  1 | /*
  2 |  * Write.cpp
  3 |  *
  4 |  *  Created on: Nov 13, 2015
  5 |  *      Author: Remo Diethelm
  6 |  *   Institute: ETH Zurich, Autonomous Systems Lab
  7 |  */
  8 | 
  9 | #include "point_cloud_io/Write.hpp"
 10 | 
 11 | // PCL
 12 | #include <pcl/io/pcd_io.h>
 13 | #include <pcl/io/ply_io.h>
 14 | #include <pcl/point_cloud.h>
 15 | #include <pcl/point_types.h>
 16 | #include <pcl_conversions/pcl_conversions.h>
 17 | 
 18 | namespace point_cloud_io {
 19 | 
 20 | Write::Write(ros::NodeHandle nodeHandle) : nodeHandle_(std::move(nodeHandle)), filePrefix_("point_cloud"), fileEnding_("ply") {
 21 |   if (!readParameters()) {
 22 |     ros::requestShutdown();
 23 |   }
 24 |   pointCloudSubscriber_ = nodeHandle_.subscribe(pointCloudTopic_, 1, &Write::pointCloudCallback, this);
 25 |   ROS_INFO_STREAM("Subscribed to topic \"" << pointCloudTopic_ << "\".");
 26 | }
 27 | 
 28 | bool Write::readParameters() {
 29 |   bool allParametersRead = true;
 30 |   allParametersRead = nodeHandle_.getParam("topic", pointCloudTopic_) && allParametersRead;
 31 |   allParametersRead = nodeHandle_.getParam("folder_path", folderPath_) && allParametersRead;
 32 | 
 33 |   nodeHandle_.getParam("file_prefix", filePrefix_);
 34 |   nodeHandle_.getParam("file_ending", fileEnding_);
 35 |   nodeHandle_.getParam("add_counter_to_path", addCounterToPath_);
 36 |   nodeHandle_.getParam("add_frame_id_to_path", addFrameIdToPath_);
 37 |   nodeHandle_.getParam("add_stamp_sec_to_path", addStampSecToPath_);
 38 |   nodeHandle_.getParam("add_stamp_nsec_to_path", addStampNSecToPath_);
 39 | 
 40 |   if (!allParametersRead) {
 41 |     ROS_WARN(
 42 |         "Could not read all parameters. Typical command-line usage:\n"
 43 |         "rosrun point_cloud_io write"
 44 |         " _topic:=/my_topic"
 45 |         " _folder_path:=/home/user/my_point_clouds"
 46 |         " (optional: _file_prefix:=my_prefix"
 47 |         " _file_ending:=my_ending"
 48 |         " _add_counter_to_path:=true/false"
 49 |         " _add_frame_id_to_path:=true/false"
 50 |         " _add_stamp_sec_to_path:=true/false"
 51 |         " _add_stamp_nsec_to_path:=true/false)");
 52 |     return false;
 53 |   }
 54 | 
 55 |   return true;
 56 | }
 57 | 
 58 | void Write::pointCloudCallback(const sensor_msgs::PointCloud2ConstPtr& cloud) {
 59 |   ROS_INFO_STREAM("Received point cloud with " << cloud->height * cloud->width << " points.");
 60 |   std::cout << folderPath_ << std::endl;
 61 |   std::stringstream filePath;
 62 |   filePath << folderPath_ << "/";
 63 |   if (!filePrefix_.empty()) {
 64 |     filePath << filePrefix_;
 65 |   }
 66 |   if (addCounterToPath_) {
 67 |     filePath << "_" << counter_;
 68 |     counter_++;
 69 |   }
 70 |   if (addFrameIdToPath_) {
 71 |     filePath << "_" << cloud->header.frame_id;
 72 |   }
 73 |   if (addStampSecToPath_) {
 74 |     filePath << "_" << cloud->header.stamp.sec;
 75 |   }
 76 |   if (addStampNSecToPath_) {
 77 |     filePath << "_" << cloud->header.stamp.nsec;
 78 |   }
 79 |   filePath << ".";
 80 |   filePath << fileEnding_;
 81 | 
 82 |   if (fileEnding_ == "ply") {
 83 |     // Write .ply file.
 84 |     pcl::PointCloud<pcl::PointXYZRGBNormal> pclCloud;
 85 |     pcl::fromROSMsg(*cloud, pclCloud);
 86 | 
 87 |     pcl::PLYWriter writer;
 88 |     bool binary = false;
 89 |     bool use_camera = false;
 90 |     if (writer.write(filePath.str(), pclCloud, binary, use_camera) != 0) {
 91 |       ROS_ERROR("Something went wrong when trying to write the point cloud file.");
 92 |       return;
 93 |     }
 94 |   } else if (fileEnding_ == "pcd") {
 95 |     // Write pcd file
 96 |     pcl::PointCloud<pcl::PointXYZRGBNormal> pclCloud;
 97 |     pcl::fromROSMsg(*cloud, pclCloud);
 98 |     pcl::io::savePCDFile(filePath.str(), pclCloud);
 99 |   } else {
100 |     ROS_ERROR_STREAM("Data format not supported.");
101 |     return;
102 |   }
103 | 
104 |   ROS_INFO_STREAM("Saved point cloud to " << filePath.str() << ".");
105 | }
106 | 
107 | }  // namespace point_cloud_io
108 | 


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/src/read_node.cpp:
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 1 | /*
 2 |  * read_node.cpp
 3 |  *
 4 |  *  Created on: Aug 7, 2014
 5 |  *      Author: Péter Fankhauser
 6 |  *   Institute: ETH Zurich, Autonomous Systems Lab
 7 |  */
 8 | 
 9 | #include <ros/ros.h>
10 | #include "point_cloud_io/Read.hpp"
11 | 
12 | int main(int argc, char** argv) {
13 |   ros::init(argc, argv, "read");
14 |   ros::NodeHandle nodeHandle("~");
15 | 
16 |   point_cloud_io::Read read(nodeHandle);
17 | 
18 |   ros::spin();
19 |   return 0;
20 | }
21 | 


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/src/write_node.cpp:
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 1 | /*
 2 |  * write_node.cpp
 3 |  *
 4 |  *  Created on: Nov 13, 2015
 5 |  *      Author: Remo Diethelm
 6 |  *   Institute: ETH Zurich, Autonomous Systems Lab
 7 |  */
 8 | 
 9 | #include <ros/ros.h>
10 | #include "point_cloud_io/Write.hpp"
11 | 
12 | int main(int argc, char** argv) {
13 |   ros::init(argc, argv, "write");
14 |   ros::NodeHandle nodeHandle("~");
15 | 
16 |   point_cloud_io::Write write(nodeHandle);
17 | 
18 |   ros::spin();
19 |   return 0;
20 | }
21 | 


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/test/empty_test.cpp:
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1 | #include <gtest/gtest.h>
2 | 
3 | TEST(Placeholder, emptyTest) {  // NOLINT
4 |   ASSERT_TRUE(true);
5 | }
6 | 


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