dt=(lidar.ranges(2) - lidar.ranges(1)) / .3;
t=[-150:dt:150];
sig=180/2/sqrt(2);
nearly=ceil(72/(lidar.ranges(2) - lidar.ranges(1)));
R=exp(-(t'/sig).^2);
P=lidar.SNR(ja,:)';
Pnew=P;for j=1:5
%         B=imfilter(P,R,'replicate','conv');
%         BB=imfilter(P./B,R,'replicate','conv');
B=ConvolutionDft( Pnew,R,2 );
BB=ConvolutionDft(Pnew./B,R,2);
pp=Pnew.*BB;
Pnew=pp;
err=sqrt(sum((Pnew-P).^2))
end
