+ python -m lidar_slam --no-model /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.027535379 Adjusted end_distance from 9.223372036854776e+18 to 4.997535379 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027535379 meters 0.10104763631179353 Centerline is valid? [0, False] SLAMing on 0.087535379 meters 0.12433892664055313 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99997645e-01 1.75288709e-03 -1.27966429e-03 3.36785539e-03] [-1.75101356e-03 9.99997396e-01 1.46373552e-03 6.36452976e-03] [ 1.28222672e-03 -1.46149136e-03 9.99998110e-01 -8.30578844e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.147535379 meters 0.12829391267242016 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99993827e-01 1.92588178e-03 -2.93892428e-03 6.93055989e-03] [-1.92451043e-03 9.99998038e-01 4.69371068e-04 2.11715867e-02] [ 2.93982246e-03 -4.63712180e-04 9.99995571e-01 -1.10720076e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.207535379 meters 0.1551928774453713 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99985682e-01 3.62597267e-03 -3.93538843e-03 9.38373468e-03] [-3.62171157e-03 9.99992848e-01 1.08935145e-03 3.14792232e-02] [ 3.93931024e-03 -1.07508301e-03 9.99991663e-01 -5.95848659e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.267535379 meters 0.1542174960058664 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:0.00 [[ 9.99951774e-01 7.94534312e-03 -5.77250494e-03 1.30725677e-02] [-7.94985501e-03 9.99968111e-01 -7.59091464e-04 5.39675634e-02] [ 5.76628962e-03 8.04945433e-04 9.99983051e-01 1.27684332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32753537899999996 meters 0.1563083133973667 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.00 [[ 0.99988109 0.01387711 -0.00672614 0.01513989] [-0.01385173 0.99989682 0.00380487 0.06522008] [ 0.00677824 -0.00371125 0.99997014 0.00208171] [ 0. 0. 0. 1. ]] SLAMing on 0.387535379 meters 0.18362109447264097 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.00 [[ 9.99784037e-01 1.93932622e-02 -7.46870254e-03 1.75801061e-02] [-1.93977354e-02 9.99811707e-01 -5.26951096e-04 9.07050653e-02] [ 7.45707693e-03 6.71713210e-04 9.99971970e-01 1.83887770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44753537899999996 meters 0.17113432981370716 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:0.00 [[ 0.99965431 0.02450198 -0.00953487 0.02191178] [-0.02447631 0.99969649 0.00279995 0.10695682] [ 0.00960058 -0.0025656 0.99995062 0.00364335] [ 0. 0. 0. 1. ]] SLAMing on 0.507535379 meters 0.1898253951498823 Centerline is valid? [False, False] Translation: X:0.03, Y:0.12, Z:0.00 [[ 0.99950408 0.02952763 -0.01094107 0.02508631] [-0.02944952 0.9995401 0.00723276 0.11810852] [ 0.0111496 -0.00690697 0.99991399 0.00496954] [ 0. 0. 0. 1. ]] SLAMing on 0.5675353790000001 meters 0.1891771562245196 Centerline is valid? [False, False] Translation: X:0.03, Y:0.13, Z:0.01 [[ 0.99954447 0.02778519 -0.01178317 0.02692142] [-0.02773714 0.99960634 0.00422171 0.12848009] [ 0.01189583 -0.00389295 0.99992166 0.00551853] [ 0. 0. 0. 1. ]] SLAMing on 0.627535379 meters 0.18104672346032247 Centerline is valid? [False, False] Translation: X:0.03, Y:0.14, Z:0.01 [[ 0.99950549 0.02814645 -0.01401991 0.03218102] [-0.02807679 0.99959255 0.00514123 0.13894417] [ 0.01415891 -0.00474506 0.9998885 0.00655985] [ 0. 0. 0. 1. ]] SLAMing on 0.687535379 meters 0.20916695303505248 Centerline is valid? [False, False] Translation: X:0.03, Y:0.15, Z:0.01 [[ 0.99955389 0.02609601 -0.01452617 0.03416216] [-0.02607468 0.99965863 0.00165582 0.14953523] [ 0.01456442 -0.00127632 0.99989312 0.00590539] [ 0. 0. 0. 1. ]] SLAMing on 0.747535379 meters 0.19851034261621728 Centerline is valid? [False, False] Translation: X:0.04, Y:0.15, Z:0.01 [[ 9.99586197e-01 2.47394902e-02 -1.46762204e-02 3.50347228e-02] [-2.47499939e-02 9.99693529e-01 -5.34473271e-04 1.54624019e-01] [ 1.46584999e-02 8.97488469e-04 9.99892156e-01 5.38286105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.807535379 meters 0.17172554384082203 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:0.00 [[ 0.99962131 0.02340856 -0.01446648 0.03516389] [-0.02345916 0.99971922 -0.00333804 0.16168698] [ 0.01438428 0.00367615 0.99988978 0.00477588] [ 0. 0. 0. 1. ]] SLAMing on 0.867535379 meters 0.16804356823873423 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:0.00 [[ 9.99547597e-01 2.63028986e-02 -1.45862889e-02 3.70814289e-02] [-2.63183426e-02 9.99653236e-01 -8.67830120e-04 1.64332220e-01] [ 1.45584044e-02 1.25132446e-03 9.99893238e-01 3.05757755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9275353789999999 meters 0.13577578148427183 Centerline is valid? [False, False] Translation: X:0.04, Y:0.17, Z:0.00 [[ 0.99953626 0.02678082 -0.01449338 0.03709169] [-0.02681339 0.99963834 -0.00205761 0.16879548] [ 0.01443303 0.00244527 0.99989285 0.00249158] [ 0. 0. 0. 1. ]] SLAMing on 0.987535379 meters 0.11774135859330102 Centerline is valid? [False, False] Translation: X:0.04, Y:0.17, Z:0.00 [[ 0.99953148 0.02698444 -0.01444522 0.03732765] [-0.02702243 0.99963185 -0.00244153 0.1700204 ] [ 0.01437402 0.00283073 0.99989268 0.0019077 ] [ 0. 0. 0. 1. ]] SLAMing on 1.047535379 meters 0.12112938791065396 Centerline is valid? [False, False] Translation: X:0.04, Y:0.17, Z:0.00 [[ 0.99952381 0.02712185 -0.01471568 0.03846731] [-0.02715553 0.99962903 -0.00209411 0.16898077] [ 0.01465343 0.00249272 0.99988953 0.00100205] [ 0. 0. 0. 1. ]] SLAMing on 1.107535379 meters 0.11108219129176243 Centerline is valid? [False, False] Translation: X:0.04, Y:0.17, Z:-0.00 [[ 9.99511047e-01 2.73823442e-02 -1.50955267e-02 3.99013292e-02] [-2.74043632e-02 9.99623644e-01 -1.25368310e-03 1.66526143e-01] [ 1.50555166e-02 1.66675340e-03 9.99885270e-01 -1.59950100e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1675353789999998 meters 0.1013422780434543 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:-0.00 [[ 9.99496349e-01 2.77528711e-02 -1.53891957e-02 4.12092173e-02] [-2.77536121e-02 9.99614781e-01 1.65450068e-04 1.62289025e-01] [ 1.53878592e-02 2.61739031e-04 9.99881566e-01 -1.02414153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2275353789999999 meters 0.08915275375453578 Centerline is valid? [False, True] Translation: X:0.04, Y:0.16, Z:-0.00 [[ 0.99958416 0.02437754 -0.01540251 0.041328 ] [-0.02440489 0.99970089 -0.00159045 0.15577961] [ 0.01535913 0.00196569 0.99988011 -0.00119731] [ 0. 0. 0. 1. ]] SLAMing on 1.287535379 meters 0.0849600778576611 Centerline is valid? [True, True] Translation: X:0.10, Y:0.15, Z:-0.00 [[ 9.99549656e-01 2.50937653e-02 -1.64556490e-02 1.00316857e-01] [-2.50880412e-02 9.99685092e-01 5.54224609e-04 1.46983497e-01] [ 1.64643746e-02 -1.41135016e-04 9.99864443e-01 -7.65322055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3475353789999998 meters 0.08290242618706697 Centerline is valid? [True, True] Translation: X:0.16, Y:0.13, Z:-0.00 [[ 9.99464459e-01 2.62457731e-02 -1.95436581e-02 1.57608626e-01] [-2.62379589e-02 9.99655510e-01 6.56184493e-04 1.33977536e-01] [ 1.95541476e-02 -1.43047380e-04 9.99808789e-01 -6.92251097e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4075353789999998 meters 0.07918368591130913 Centerline is valid? [True, True] Translation: X:0.22, Y:0.12, Z:-0.00 [[ 9.99453038e-01 2.55755132e-02 -2.09646788e-02 2.15556612e-01] [-2.55664247e-02 9.99672879e-01 7.01472215e-04 1.18219220e-01] [ 2.09757614e-02 -1.65096654e-04 9.99779971e-01 -4.51095731e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4675353789999999 meters 0.07770898007678777 Centerline is valid? [True, True] Translation: X:0.27, Y:0.11, Z:0.00 [[ 9.99459714e-01 2.44842538e-02 -2.19271908e-02 2.74118730e-01] [-2.44741161e-02 9.99700197e-01 7.30613260e-04 1.05896611e-01] [ 2.19385055e-02 -1.93569906e-04 9.99759303e-01 3.26724627e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.527535379 meters 0.07295703748440449 Centerline is valid? [True, True] Translation: X:0.33, Y:0.09, Z:0.00 [[ 9.99502836e-01 2.10644521e-02 -2.34599540e-02 3.31972196e-01] [-2.10519581e-02 9.99778079e-01 7.79441750e-04 8.84112541e-02] [ 2.34711663e-02 -2.85176271e-04 9.99724474e-01 4.25743739e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.587535379 meters 0.07521637051105062 Centerline is valid? [True, True] Translation: X:0.39, Y:0.07, Z:0.00 [[ 9.99553979e-01 1.81819261e-02 -2.36909426e-02 3.90261281e-01] [-1.81684368e-02 9.99834633e-01 7.84525297e-04 7.11773846e-02] [ 2.37012891e-02 -3.53747989e-04 9.99719022e-01 6.25374684e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6475353789999998 meters 0.07379118585248311 Centerline is valid? [True, True] Translation: X:0.45, Y:0.06, Z:0.00 [[ 9.99594645e-01 1.74017929e-02 -2.25327096e-02 4.48640357e-01] [-1.73894346e-02 9.99848515e-01 7.44302549e-04 6.07370493e-02] [ 2.25422485e-02 -3.52169762e-04 9.99745829e-01 2.19496316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7075353789999999 meters 0.07093943373520505 Centerline is valid? [True, True] Translation: X:0.51, Y:0.05, Z:0.00 [[ 9.99603943e-01 1.91885445e-02 -2.05853745e-02 5.06928826e-01] [-1.91786421e-02 9.99815843e-01 6.78373935e-04 5.22777693e-02] [ 2.05946006e-02 -2.83305730e-04 9.99787869e-01 4.59628998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.767535379 meters 0.07154504657559003 Centerline is valid? [True, True] Translation: X:0.57, Y:0.05, Z:0.00 [[ 9.99413215e-01 2.53026546e-02 -2.30868427e-02 5.65130416e-01] [-2.52918834e-02 9.99679821e-01 7.58475253e-04 4.99467846e-02] [ 2.30986422e-02 -1.74120458e-04 9.99733176e-01 3.89075586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8275353789999997 meters 0.06970063709397713 Centerline is valid? [True, True] Translation: X:0.62, Y:0.05, Z:0.01 [[ 9.99327580e-01 2.95244381e-02 -2.17415663e-02 6.23825779e-01] [-2.95159339e-02 9.99564056e-01 7.12015366e-04 4.93533747e-02] [ 2.17531101e-02 -6.98139580e-05 9.99763371e-01 5.16829430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8875353789999998 meters 0.06756171307273713 Centerline is valid? [True, True] Translation: X:0.68, Y:0.05, Z:0.01 [[ 9.99180980e-01 3.41628246e-02 -2.16857435e-02 6.81953987e-01] [-3.41554964e-02 9.99416280e-01 7.08335415e-04 4.83752395e-02] [ 2.16972838e-02 3.29320589e-05 9.99764586e-01 6.52584537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9475353789999998 meters 0.06516769223685794 Centerline is valid? [True, True] Translation: X:0.74, Y:0.04, Z:0.01 [[ 9.99247593e-01 3.33358352e-02 -1.98234692e-02 7.39562915e-01] [-3.33295952e-02 9.99444206e-01 6.45174944e-04 4.48745809e-02] [ 1.98339589e-02 1.60186926e-05 9.99803288e-01 7.72084973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.007535379 meters 0.0625601963730955 Centerline is valid? [True, True] Translation: X:0.80, Y:0.04, Z:0.01 [[ 9.99391296e-01 2.93181931e-02 -1.89071908e-02 7.97466029e-01] [-2.93118449e-02 9.99570128e-01 6.12856243e-04 3.80501186e-02] [ 1.89170310e-02 -5.82785511e-05 9.99821055e-01 9.02893553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.067535379 meters 0.06090588056789347 Centerline is valid? [True, True] Translation: X:0.86, Y:0.03, Z:0.01 [[ 9.99535379e-01 2.51652939e-02 -1.71969492e-02 8.55583252e-01] [-2.51594606e-02 9.99683296e-01 5.55505647e-04 3.09249697e-02] [ 1.72054823e-02 -1.22581582e-04 9.99851967e-01 1.08427116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1275353790000002 meters 0.05872438887277763 Centerline is valid? [True, True] Translation: X:0.91, Y:0.03, Z:0.01 [[ 9.99594941e-01 2.31930522e-02 -1.64935312e-02 9.14106265e-01] [-2.31874484e-02 9.99730994e-01 5.30938193e-04 2.67030796e-02] [ 1.65014084e-02 -1.48280230e-04 9.99863831e-01 1.24844251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1875353790000003 meters 0.05477518554125302 Centerline is valid? [True, True] Translation: X:0.97, Y:0.02, Z:0.02 [[ 9.99635303e-01 2.21248720e-02 -1.54838691e-02 9.72607247e-01] [-2.21198247e-02 9.99755203e-01 4.97180452e-04 2.33985212e-02] [ 1.54910787e-02 -1.54498662e-04 9.99879994e-01 1.53139963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.247535379 meters 0.04964479543545587 Centerline is valid? [True, True] Translation: X:1.03, Y:0.02, Z:0.02 [[ 9.99668009e-01 2.17364656e-02 -1.38346307e-02 1.03173995e+00] [-2.17324132e-02 9.99763725e-01 4.43203305e-04 2.19593952e-02] [ 1.38409956e-02 -1.42396254e-04 9.99904199e-01 1.74378935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.307535379 meters 0.04549457932377693 Centerline is valid? [True, True] Translation: X:1.09, Y:0.02, Z:0.02 [[ 9.99666803e-01 2.16881202e-02 -1.39967118e-02 1.09104453e+00] [-2.16839849e-02 9.99764775e-01 4.47155590e-04 2.12588457e-02] [ 1.40031174e-02 -1.43502112e-04 9.99901941e-01 1.89375251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.367535379 meters 0.04084849396175745 Centerline is valid? [True, True] Translation: X:1.15, Y:0.02, Z:0.02 [[ 9.99602298e-01 2.38219701e-02 -1.50917371e-02 1.15018817e+00] [-2.38174275e-02 9.99716209e-01 4.80689190e-04 2.43681023e-02] [ 1.50989052e-02 -1.21051665e-04 9.99885998e-01 2.00869574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.427535379 meters 0.03807014573883493 Centerline is valid? [True, True] Translation: X:1.21, Y:0.03, Z:0.02 [[ 9.99517245e-01 2.68303661e-02 -1.56655408e-02 1.20894469e+00] [-2.68258627e-02 9.99639998e-01 4.97572290e-04 2.82622065e-02] [ 1.56732513e-02 -7.70904368e-05 9.99877164e-01 2.17140760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.487535379 meters 0.03380671270190284 Centerline is valid? [True, True] Translation: X:1.27, Y:0.04, Z:0.02 [[ 9.99316547e-01 3.21707086e-02 -1.82066921e-02 1.26719192e+00] [-3.21655431e-02 9.99482389e-01 5.76559379e-04 3.51807425e-02] [ 1.82158165e-02 9.46281167e-06 9.99834078e-01 2.23472206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.547535379 meters 0.03096594205263808 Centerline is valid? [True, True] Translation: X:1.33, Y:0.04, Z:0.02 [[ 9.99165789e-01 3.59162647e-02 -1.94357441e-02 1.32541906e+00] [-3.59111281e-02 9.99354799e-01 6.13344136e-04 4.04786693e-02] [ 1.94452332e-02 8.51270200e-05 9.99810920e-01 2.38383439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.607535379 meters 0.02653593982555251 Centerline is valid? [True, True] Translation: X:1.38, Y:0.04, Z:0.03 [[ 9.99163267e-01 3.53740853e-02 -2.05289815e-02 1.38437522e+00] [-3.53682851e-02 9.99374138e-01 6.45661400e-04 4.10487011e-02] [ 2.05389729e-02 8.09537150e-05 9.99789050e-01 2.56445833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.667535379 meters 0.026823783127899046 Centerline is valid? [True, True] Translation: X:1.44, Y:0.04, Z:0.03 [[ 9.99202394e-01 3.40703636e-02 -2.08275288e-02 1.44188289e+00] [-3.40641470e-02 9.99419435e-01 6.53283802e-04 4.13808362e-02] [ 2.08376946e-02 5.67092621e-05 9.99782870e-01 2.73585680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.727535379 meters 0.025398937535972072 Centerline is valid? [True, True] Translation: X:1.50, Y:0.04, Z:0.03 [[ 9.99307116e-01 3.01894899e-02 -2.17688387e-02 1.49983615e+00] [-3.01818298e-02 9.99544193e-01 6.80421016e-04 3.89602433e-02] [ 2.17794579e-02 -2.29261794e-05 9.99762799e-01 2.90774309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.787535379 meters 0.02512884031715792 Centerline is valid? [True, True] Translation: X:1.56, Y:0.04, Z:0.03 [[ 9.99406807e-01 2.66712728e-02 -2.17870867e-02 1.55855864e+00] [-2.66628093e-02 9.99644254e-01 6.78913856e-04 3.50749557e-02] [ 2.17974435e-02 -9.76061920e-05 9.99762403e-01 3.09910899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.847535379 meters 0.025133012102956404 Centerline is valid? [True, True] Translation: X:1.62, Y:0.03, Z:0.03 [[ 9.99500059e-01 2.11382411e-02 -2.35118388e-02 1.61688125e+00] [-2.11268984e-02 9.99776535e-01 7.30746087e-04 3.18993536e-02] [ 2.35220314e-02 -2.33648526e-04 9.99723291e-01 3.17017948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.907535379 meters 0.02553212651198472 Centerline is valid? [True, True] Translation: X:1.68, Y:0.03, Z:0.03 [[ 9.99539363e-01 1.74851920e-02 -2.48058393e-02 1.67557825e+00] [-1.74715045e-02 9.99847066e-01 7.68424082e-04 3.09536201e-02] [ 2.48154817e-02 -3.34674785e-04 9.99691992e-01 3.23428219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.967535379 meters 0.025712215487105415 Centerline is valid? [True, True] Translation: X:1.73, Y:0.03, Z:0.03 [[ 9.99549929e-01 1.59598554e-02 -2.54012111e-02 1.73477571e+00] [-1.59450633e-02 9.99872561e-01 7.84791971e-04 2.93382484e-02] [ 2.54104991e-02 -3.79414841e-04 9.99677029e-01 3.39010454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.027535379 meters 0.026193772397770453 Centerline is valid? [True, True] Translation: X:1.79, Y:0.03, Z:0.04 [[ 9.99583791e-01 1.47787168e-02 -2.47756679e-02 1.79393516e+00] [-1.47643291e-02 9.99890710e-01 7.63552050e-04 2.75088632e-02] [ 2.47842444e-02 -3.97438139e-04 9.99692744e-01 3.60876066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.087535379 meters 0.024620131156417834 Centerline is valid? [True, True] Translation: X:1.85, Y:0.03, Z:0.04 [[ 9.99578167e-01 1.43748329e-02 -2.52359170e-02 1.85256828e+00] [-1.43598282e-02 9.99896591e-01 7.75707492e-04 3.19988347e-02] [ 2.52444580e-02 -4.12996841e-04 9.99681223e-01 3.83638732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1475353790000002 meters 0.024330017265795003 Centerline is valid? [True, True] Translation: X:1.91, Y:0.04, Z:0.04 [[ 9.99537458e-01 1.47346112e-02 -2.66038012e-02 1.91024630e+00] [-1.47181288e-02 9.99891350e-01 8.15270285e-04 3.63578687e-02] [ 2.66129234e-02 -4.23335016e-04 9.99645724e-01 3.86982550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.207535379 meters 0.02279063351622889 Centerline is valid? [True, True] Translation: X:1.97, Y:0.04, Z:0.04 [[ 9.99430727e-01 1.66511667e-02 -2.93421333e-02 1.96880510e+00] [-1.66320464e-02 9.99861277e-01 8.95592041e-04 4.13514087e-02] [ 2.93529755e-02 -4.07062482e-04 9.99569026e-01 3.69347787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.267535379 meters 0.02286172092511046 Centerline is valid? [True, True] Translation: X:2.03, Y:0.04, Z:0.04 [[ 9.99368423e-01 1.72405010e-02 -3.10728081e-02 2.02755968e+00] [-1.72194232e-02 9.99851287e-01 9.45820215e-04 4.42692143e-02] [ 3.10844936e-02 -4.10167025e-04 9.99516676e-01 3.67448339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.327535379 meters 0.021357008806647308 Centerline is valid? [True, True] Translation: X:2.09, Y:0.05, Z:0.04 [[ 9.99288028e-01 2.02419203e-02 -3.18386687e-02 2.08561689e+00] [-2.02214004e-02 9.99795060e-01 9.66387988e-04 5.28074427e-02] [ 3.18517053e-02 -3.21877477e-04 9.99492554e-01 3.73385666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.387535379 meters 0.020009257296341662 Centerline is valid? [True, True] Translation: X:2.14, Y:0.06, Z:0.04 [[ 9.99251465e-01 2.29231220e-02 -3.11615019e-02 2.14490593e+00] [-2.29049099e-02 9.99737205e-01 9.41325375e-04 5.77958705e-02] [ 3.11748909e-02 -2.26869367e-04 9.99513919e-01 4.00076809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.447535379 meters 0.01847918584185864 Centerline is valid? [True, True] Translation: X:2.20, Y:0.06, Z:0.04 [[ 9.99218016e-01 2.61055229e-02 -2.96961060e-02 2.20412280e+00] [-2.60905758e-02 9.99659186e-01 8.90771373e-04 6.44091508e-02] [ 2.97092392e-02 -1.15286299e-04 9.99558576e-01 4.31778049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.507535379 meters 0.01775345182857816 Centerline is valid? [True, True] Translation: X:2.26, Y:0.07, Z:0.05 [[ 9.99231367e-01 2.79075444e-02 -2.75289518e-02 2.26295831e+00] [-2.78954377e-02 9.99610507e-01 8.23796643e-04 6.98843844e-02] [ 2.75412196e-02 -5.52312876e-05 9.99620667e-01 4.77259303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.567535379 meters 0.016937998975331426 Centerline is valid? [True, True] Translation: X:2.32, Y:0.07, Z:0.05 [[ 9.99225811e-01 3.00251846e-02 -2.54217792e-02 2.32205102e+00] [-3.00155915e-02 9.99549142e-01 7.58944784e-04 7.44516555e-02] [ 2.54331050e-02 4.69252236e-06 9.99676526e-01 5.14940940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.627535379 meters 0.016910084686161057 Centerline is valid? [True, True] Translation: X:2.38, Y:0.08, Z:0.05 [[ 9.99199012e-01 3.05569642e-02 -2.58380750e-02 2.37906565e+00] [-3.05472877e-02 9.99533027e-01 7.69221990e-04 8.04264927e-02] [ 2.58495144e-02 2.06772581e-05 9.99665845e-01 5.09930966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.687535379 meters 0.016422162843489244 Centerline is valid? [True, True] Translation: X:2.44, Y:0.08, Z:0.05 [[ 9.99276690e-01 2.89896862e-02 -2.46108883e-02 2.43809741e+00] [-2.89805035e-02 9.99579711e-01 7.29780335e-04 8.07357761e-02] [ 2.46217008e-02 -1.60165412e-05 9.99696840e-01 5.33481370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.747535379 meters 0.01620737475467405 Centerline is valid? [True, True] Translation: X:2.49, Y:0.08, Z:0.06 [[ 9.99347915e-01 2.72117999e-02 -2.37331562e-02 2.49478382e+00] [-2.72028004e-02 9.99629689e-01 7.02022322e-04 8.17924711e-02] [ 2.37434708e-02 -5.59562345e-05 9.99718082e-01 5.55712609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.807535379 meters 0.016331423575048288 Centerline is valid? [True, True] Translation: X:2.55, Y:0.08, Z:0.06 [[ 9.99370614e-01 2.62626225e-02 -2.38463903e-02 2.55402057e+00] [-2.62533360e-02 9.99655075e-01 7.02470420e-04 8.16491317e-02] [ 2.38566138e-02 -7.59809980e-05 9.99715388e-01 5.63556377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.867535379 meters 0.01688602379067925 Centerline is valid? [True, True] Translation: X:2.61, Y:0.08, Z:0.06 [[ 9.99424994e-01 2.37766782e-02 -2.41733398e-02 2.61201804e+00] [-2.37664523e-02 9.99717286e-01 7.10277610e-04 7.99921929e-02] [ 2.41833937e-02 -1.35354669e-04 9.99707530e-01 5.66534764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.927535379 meters 0.017317816135532297 Centerline is valid? [True, True] Translation: X:2.67, Y:0.08, Z:0.06 [[ 9.99500275e-01 2.17076815e-02 -2.29777629e-02 2.67032648e+00] [-2.16979579e-02 9.99764345e-01 6.72436303e-04 7.77315036e-02] [ 2.29869451e-02 -1.73529737e-04 9.99735750e-01 5.94579720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.987535379 meters 0.01816569444247493 Centerline is valid? [True, True] Translation: X:2.73, Y:0.08, Z:0.06 [[ 9.99627269e-01 1.65877007e-02 -2.16834242e-02 2.72912779e+00] [-1.65778680e-02 9.99862377e-01 6.33156065e-04 7.59965816e-02] [ 2.16909427e-02 -2.73455125e-04 9.99764686e-01 6.19703644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.047535378999999 meters 0.020134526649285684 Centerline is valid? [True, True] Translation: X:2.79, Y:0.07, Z:0.06 [[ 9.99704657e-01 1.27313861e-02 -2.07004873e-02 2.78775445e+00] [-1.27216318e-02 9.99918895e-01 6.02834779e-04 7.25987157e-02] [ 2.07064833e-02 -3.39312758e-04 9.99785540e-01 6.40556138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.107535379 meters 0.022086521859920636 Centerline is valid? [True, True] Translation: X:2.85, Y:0.07, Z:0.07 [[ 9.99794631e-01 9.65488575e-03 -1.78179302e-02 2.84581185e+00] [-9.64719055e-03 9.99953331e-01 5.17784498e-04 7.07616892e-02] [ 1.78220978e-02 -3.45785194e-04 9.99841114e-01 6.73077123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.167535378999999 meters 0.023227982848798026 Centerline is valid? [True, True] Translation: X:2.90, Y:0.07, Z:0.07 [[ 9.99837967e-01 8.38234114e-03 -1.59303594e-02 2.90354561e+00] [-8.37605046e-03 9.99964814e-01 4.61567679e-04 7.08588914e-02] [ 1.59336679e-02 -3.28059396e-04 9.99872997e-01 7.02095971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.227535379 meters 0.02326935423406504 Centerline is valid? [True, True] Translation: X:2.96, Y:0.07, Z:0.07 [[ 9.99857340e-01 8.80027609e-03 -1.44171716e-02 2.96149139e+00] [-8.79518241e-03 9.99961235e-01 4.16673536e-04 7.16637923e-02] [ 1.44202796e-02 -2.89812439e-04 9.99895980e-01 7.26512464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2875353789999995 meters 0.02091736569332882 Centerline is valid? [True, True] Translation: X:3.02, Y:0.08, Z:0.08 [[ 9.99833685e-01 1.30408886e-02 -1.27490245e-02 3.01964581e+00] [-1.30372621e-02 9.99914944e-01 3.67524094e-04 7.76676529e-02] [ 1.27527329e-02 -2.01250596e-04 9.99918660e-01 7.56700522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.347535379 meters 0.016679742137207108 Centerline is valid? [True, True] Translation: X:3.08, Y:0.09, Z:0.07 [[ 9.99772957e-01 1.79926240e-02 -1.14149139e-02 3.07860139e+00] [-1.79900595e-02 9.99838112e-01 3.27311001e-04 8.71931074e-02] [ 1.14189552e-02 -1.21881707e-04 9.99934794e-01 7.49976302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.407535379 meters 0.017337366036734463 Centerline is valid? [True, True] Translation: X:3.14, Y:0.09, Z:0.08 [[ 9.99724939e-01 2.07675638e-02 -1.08974590e-02 3.13617407e+00] [-2.07653971e-02 9.99784327e-01 3.11956332e-04 8.70779749e-02] [ 1.09015873e-02 -8.55804625e-05 9.99940572e-01 8.01560291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.467535378999999 meters 0.01691161010751155 Centerline is valid? [True, True] Translation: X:3.19, Y:0.09, Z:0.08 [[ 9.99685781e-01 2.28076244e-02 -1.03995731e-02 3.19389798e+00] [-2.28057770e-02 9.99739871e-01 2.96214053e-04 8.59170220e-02] [ 1.04036238e-02 -5.89506313e-05 9.99945879e-01 8.26232929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.527535379 meters 0.015379705046960084 Centerline is valid? [True, True] Translation: X:3.25, Y:0.09, Z:0.08 [[ 9.99681282e-01 2.36703211e-02 -8.77787552e-03 3.25274996e+00] [-2.36690419e-02 9.99719818e-01 2.49599562e-04 8.65139948e-02] [ 8.78132422e-03 -4.17561064e-05 9.99961443e-01 7.92454264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587535378999999 meters 0.015312603264665027 Centerline is valid? [True, True] Translation: X:3.31, Y:0.08, Z:0.08 [[ 9.99640575e-01 2.50243427e-02 -9.61786911e-03 3.31014998e+00] [-2.50228775e-02 9.99686842e-01 2.72657155e-04 8.43675830e-02] [ 9.62168026e-03 -3.18923941e-05 9.99953710e-01 8.06878448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.647535379 meters 0.015343097961094121 Centerline is valid? [True, True] Translation: X:3.37, Y:0.08, Z:0.08 [[ 9.99681493e-01 2.34173015e-02 -9.40974377e-03 3.36832841e+00] [-2.34158376e-02 9.99725776e-01 2.65738559e-04 7.78187488e-02] [ 9.41338628e-03 -4.53168881e-05 9.99955692e-01 8.12283223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.707535378999999 meters 0.018069962280040732 Centerline is valid? [True, True] Translation: X:3.43, Y:0.07, Z:0.09 [[ 9.99739678e-01 2.01529117e-02 -1.06975150e-02 3.42611316e+00] [-2.01508495e-02 9.99796906e-01 3.00535134e-04 6.62409651e-02] [ 1.07013991e-02 -8.48928832e-05 9.99942735e-01 8.68380918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.767535379 meters 0.016535188461179337 Centerline is valid? [True, True] Translation: X:3.49, Y:0.06, Z:0.08 [[ 9.99795642e-01 1.68748902e-02 -1.11315896e-02 3.48540800e+00] [-1.68724717e-02 9.99857601e-01 3.11151216e-04 6.30988867e-02] [ 1.11352551e-02 -1.23270200e-04 9.99937994e-01 8.23909630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8275353789999995 meters 0.01876749319613283 Centerline is valid? [True, True] Translation: X:3.54, Y:0.05, Z:0.08 [[ 9.99879343e-01 1.13334495e-02 -1.06231933e-02 3.54334335e+00] [-1.13309404e-02 9.99935759e-01 2.96344912e-04 5.18550530e-02] [ 1.06258695e-02 -1.75938385e-04 9.99943528e-01 8.45354036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.887535378999999 meters 0.02054713919585249 Centerline is valid? [True, True] Translation: X:3.60, Y:0.04, Z:0.08 [[ 9.99919638e-01 6.29445671e-03 -1.10044492e-02 3.60233202e+00] [-6.29147593e-03 9.99980162e-01 3.05467717e-04 4.25717162e-02] [ 1.10061537e-02 -2.36208941e-04 9.99939403e-01 8.49202126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.947535379 meters 0.019997852332805405 Centerline is valid? [True, True] Translation: X:3.66, Y:0.04, Z:0.08 [[ 9.99929190e-01 5.06843215e-03 -1.07668881e-02 3.66124432e+00] [-5.06551686e-03 9.99987126e-01 2.98018604e-04 4.05391605e-02] [ 1.07682600e-02 -2.43457648e-04 9.99941991e-01 8.49168141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 77.42 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/166 [00:00