512, 512 obstacle csv -1,-1,1,1 lat,long,nr -0.5,0.5,0 0.5,-0.5,1 0.5,0.5,2 -0.5,-0.5,3 0.08,0,4 -0.08,0,5 points csv lat,long,nr,ref -0.45,-0.45,0,first 0.45,-0.45,1,second 0.45,0.45,2,third -0.45,0.45,3,fourth 0,0,4,fifth