+ python -m lidar_slam --no-model /working/16cd461f-0763-4a9c-a119-aaabc505fa9a Lidar SLAM 0.0.13 ===================================================== The recording path: /working/16cd461f-0763-4a9c-a119-aaabc505fa9a The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.029111585 Adjusted end_distance from 9.223372036854776e+18 to 8.533031585 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029111585 meters Centerline goodness [0,1] 0.9168661680896592 Centerline is valid? [0, False] SLAMing on 0.059111584999999994 meters Centerline goodness [0,1] 0.9178622973087699 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999599e-01 -8.49512973e-04 2.83825879e-04 -3.22990651e-03] [ 8.49757032e-04 9.99999268e-01 -8.60877018e-04 5.41720123e-04] [-2.83094345e-04 8.61117855e-04 9.99999589e-01 2.11054883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.089111585 meters Centerline goodness [0,1] 0.9473606293883766 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:0.01 [[ 9.99996446e-01 -2.57350671e-03 6.96724270e-04 -9.29606447e-03] [ 2.57505011e-03 9.99994213e-01 -2.22346887e-03 1.12561091e-03] [-6.90998125e-04 2.22525506e-03 9.99997285e-01 6.33040430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11911158499999998 meters Centerline goodness [0,1] 0.9110757572585878 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.01 [[ 9.99988433e-01 -4.80775539e-03 1.42208680e-04 -1.58787054e-02] [ 4.80829602e-03 9.99980103e-01 -4.08327920e-03 1.22696133e-03] [-1.22574443e-04 4.08391575e-03 9.99991653e-01 1.11835734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.149111585 meters Centerline goodness [0,1] 0.9208990385635758 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.01 [[ 9.99998930e-01 -1.32188917e-04 1.45711734e-03 -3.28381899e-02] [ 1.46420792e-04 9.99952248e-01 -9.77136903e-03 -8.20862299e-03] [-1.45575609e-03 9.77157192e-03 9.99951197e-01 1.48726195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17911158499999996 meters Centerline goodness [0,1] 0.9398667935299715 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.02 [[ 0.99999634 -0.00229358 0.0014333 -0.04086518] [ 0.00230971 0.9999328 -0.01136023 -0.00761899] [-0.00140715 0.0113635 0.99993444 0.0208888 ] [ 0. 0. 0. 1. ]] SLAMing on 0.20911158499999996 meters Centerline goodness [0,1] 0.9492126482880905 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.02 [[ 0.99998107 -0.00463435 0.00404806 -0.06090844] [ 0.00466874 0.99995273 -0.0085284 -0.00339295] [-0.00400834 0.00854714 0.99995544 0.02262424] [ 0. 0. 0. 1. ]] SLAMing on 0.23911158499999996 meters Centerline goodness [0,1] 0.8852362038367279 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.00, Z:0.02 [[ 9.99998515e-01 -2.66092081e-04 1.70244226e-03 -9.64820636e-02] [ 2.81882061e-04 9.99956887e-01 -9.28139224e-03 -1.10636178e-03] [-1.69989916e-03 9.28185835e-03 9.99955478e-01 2.49140303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.269111585 meters Centerline goodness [0,1] 0.934876380852183 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.01, Z:0.02 [[ 0.99998374 0.00179315 0.00541366 -0.15458527] [-0.00175703 0.99997622 -0.00666902 0.00619507] [-0.00542549 0.0066594 0.99996311 0.02192766] [ 0. 0. 0. 1. ]] SLAMing on 0.29911158499999996 meters Centerline goodness [0,1] 0.9261835789651746 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.01, Z:0.03 [[ 0.99997253 -0.00351925 0.00652269 -0.1816956 ] [ 0.00357131 0.99996173 -0.00798666 0.01139393] [-0.00649433 0.00800974 0.99994683 0.02638216] [ 0. 0. 0. 1. ]] SLAMing on 0.32911158499999993 meters Centerline goodness [0,1] 0.9250026474637297 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.01, Z:0.03 [[ 0.99996039 -0.00616073 0.00642357 -0.19037199] [ 0.00622489 0.99993046 -0.01001668 0.01149574] [-0.00636141 0.01005627 0.9999292 0.03292217] [ 0. 0. 0. 1. ]] SLAMing on 0.35911158499999996 meters Centerline goodness [0,1] 0.9584761179506706 Centerline is valid? [False, True] Translation: X:-0.20, Y:0.01, Z:0.04 [[ 0.99994348 -0.00907224 0.00554428 -0.19941861] [ 0.00913892 0.99988475 -0.01212312 0.01032363] [-0.00543366 0.0121731 0.99991114 0.04095563] [ 0. 0. 0. 1. ]] SLAMing on 0.3891115849999999 meters Centerline goodness [0,1] 0.9475814140729284 Centerline is valid? [True, False] Translation: X:-0.21, Y:0.01, Z:0.05 [[ 0.9999236 -0.01131867 0.00496845 -0.20584434] [ 0.01138623 0.99984014 -0.01378607 0.01007681] [-0.00481162 0.01384159 0.99989262 0.04652495] [ 0. 0. 0. 1. ]] SLAMing on 0.41911158499999995 meters Centerline goodness [0,1] 0.8746524018764992 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.01, Z:0.05 [[ 0.99990745 -0.01282247 0.00454669 -0.21304141] [ 0.01288939 0.9998043 -0.01500774 0.01109093] [-0.00435337 0.01506495 0.99987704 0.05281427] [ 0. 0. 0. 1. ]] SLAMing on 0.4491115849999999 meters Centerline goodness [0,1] 0.9498457938955652 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.01, Z:0.06 [[ 0.99992403 -0.01011469 0.00704485 -0.2449043 ] [ 0.01025164 0.99975373 -0.01968195 0.00918968] [-0.00684404 0.01975267 0.99978147 0.0560168 ] [ 0. 0. 0. 1. ]] SLAMing on 0.47911158499999995 meters Centerline goodness [0,1] 0.9217594064652889 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.02, Z:0.05 [[ 0.99985937 -0.01416451 0.00897785 -0.26923503] [ 0.01430605 0.99977121 -0.01590201 0.01597343] [-0.00875055 0.01602822 0.99983325 0.05396608] [ 0. 0. 0. 1. ]] SLAMing on 0.509111585 meters Centerline goodness [0,1] 0.9499374217772215 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.02, Z:0.05 [[ 0.99972744 -0.0203969 0.0113581 -0.31572251] [ 0.02047782 0.99976542 -0.00705501 0.02481035] [-0.01121154 0.00728567 0.99991061 0.05022069] [ 0. 0. 0. 1. ]] SLAMing on 0.5391115849999999 meters Centerline goodness [0,1] 0.9713414246679799 Centerline is valid? [False, True] Translation: X:-0.34, Y:0.02, Z:0.06 [[ 0.99980382 -0.01668621 0.01067242 -0.33923037] [ 0.01682694 0.99977081 -0.01323557 0.01726703] [-0.01044912 0.01341256 0.99985545 0.05922771] [ 0. 0. 0. 1. ]] SLAMing on 0.5691115849999999 meters Centerline goodness [0,1] 0.9480656903411496 Centerline is valid? [True, False] Translation: X:-0.35, Y:0.02, Z:0.06 [[ 0.99984251 -0.01679421 0.00573692 -0.35191271] [ 0.0168366 0.9998307 -0.00742346 0.02417588] [-0.00561128 0.00751888 0.99995599 0.05765788] [ 0. 0. 0. 1. ]] SLAMing on 0.599111585 meters Centerline goodness [0,1] 0.9508990903321346 Centerline is valid? [False, True] Translation: X:-0.37, Y:0.02, Z:0.07 [[ 0.99988895 -0.01410654 0.00480554 -0.37381235] [ 0.01417569 0.99979186 -0.01467283 0.01660747] [-0.00459756 0.01473932 0.9998808 0.06574532] [ 0. 0. 0. 1. ]] SLAMing on 0.6291115849999999 meters Centerline goodness [0,1] 0.9525535070989617 Centerline is valid? [True, True] Translation: X:-0.41, Y:0.03, Z:0.05 [[ 9.99878037e-01 -1.52903671e-02 3.18058338e-03 -4.05063087e-01] [ 1.52891573e-02 9.99883032e-01 4.04319087e-04 3.04483736e-02] [-3.18639354e-03 -3.55641336e-04 9.99994860e-01 5.05296877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6591115849999999 meters Centerline goodness [0,1] 0.9346627960789263 Centerline is valid? [True, False] Translation: X:-0.42, Y:0.03, Z:0.05 [[ 0.99994332 -0.01035753 0.00246461 -0.42488742] [ 0.01037125 0.99993041 -0.00562207 0.02793419] [-0.00240621 0.00564732 0.99998116 0.05395051] [ 0. 0. 0. 1. ]] SLAMing on 0.6891115849999999 meters Centerline goodness [0,1] 0.9449152542372882 Centerline is valid? [False, False] Translation: X:-0.44, Y:0.02, Z:0.06 [[ 0.99998731 -0.00450042 0.00226339 -0.43963401] [ 0.0045254 0.99992754 -0.01115517 0.0223315 ] [-0.00221302 0.01116527 0.99993522 0.05525039] [ 0. 0. 0. 1. ]] SLAMing on 0.7191115849999999 meters Centerline goodness [0,1] 0.9289444197797087 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.03, Z:0.06 [[ 0.99996215 -0.00819145 0.00293358 -0.45545124] [ 0.00822474 0.99989983 -0.01151916 0.02530801] [-0.00283893 0.01154285 0.99992935 0.05900753] [ 0. 0. 0. 1. ]] SLAMing on 0.7491115849999999 meters Centerline goodness [0,1] 0.9736401229986216 Centerline is valid? [False, True] Translation: X:-0.46, Y:0.03, Z:0.06 [[ 0.99994666 -0.00992125 0.00287172 -0.45989781] [ 0.00995734 0.99986798 -0.01284005 0.0253336 ] [-0.00274395 0.01286796 0.99991344 0.06249787] [ 0. 0. 0. 1. ]] SLAMing on 0.7791115849999999 meters Centerline goodness [0,1] 0.8673426188561026 Centerline is valid? [True, False] Translation: X:-0.47, Y:0.02, Z:0.07 [[ 0.99991811 -0.0125304 0.0026009 -0.46814958] [ 0.01256739 0.99981252 -0.01473059 0.02467534] [-0.00241583 0.01476207 0.99988812 0.06971794] [ 0. 0. 0. 1. ]] SLAMing on 0.8091115849999999 meters Centerline goodness [0,1] 0.9216251138554089 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.02, Z:0.07 [[ 0.99990156 -0.01382118 0.00241701 -0.47222669] [ 0.0138575 0.99978045 -0.0157168 0.02478397] [-0.00219926 0.01574874 0.99987356 0.07352132] [ 0. 0. 0. 1. ]] SLAMing on 0.8391115849999998 meters Centerline goodness [0,1] 0.9651525510640117 Centerline is valid? [False, True] Translation: X:-0.49, Y:0.02, Z:0.08 [[ 0.9999422 -0.01065862 0.00140876 -0.48841809] [ 0.01068832 0.99967603 -0.02309955 0.01572333] [-0.00116209 0.02311327 0.99973218 0.07899724] [ 0. 0. 0. 1. ]] SLAMing on 0.8691115849999999 meters Centerline goodness [0,1] 0.9637361935772202 Centerline is valid? [True, True] Translation: X:-0.52, Y:0.04, Z:0.06 [[ 9.99933334e-01 -1.13731607e-02 -1.99462412e-03 -5.20745091e-01] [ 1.13727012e-02 9.99935300e-01 -2.41577379e-04 4.25062072e-02] [ 1.99724256e-03 2.18877010e-04 9.99997982e-01 5.76169810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8991115849999999 meters Centerline goodness [0,1] 0.9357880174523784 Centerline is valid? [True, False] Translation: X:-0.54, Y:0.04, Z:0.06 [[ 0.99997164 -0.00728592 -0.00190686 -0.53950112] [ 0.00727248 0.99994933 -0.00696032 0.0361957 ] [ 0.00195748 0.00694626 0.99997396 0.06165847] [ 0. 0. 0. 1. ]] SLAMing on 0.9291115849999999 meters Centerline goodness [0,1] 0.898395948551692 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.04, Z:0.07 [[ 0.99995854 -0.00873993 -0.00255576 -0.54458223] [ 0.00871769 0.99992513 -0.00858718 0.03882069] [ 0.00263062 0.00856455 0.99995986 0.06543129] [ 0. 0. 0. 1. ]] SLAMing on 0.9591115849999998 meters Centerline goodness [0,1] 0.9349545106708613 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.04, Z:0.07 [[ 0.99993805 -0.01067323 -0.00315919 -0.55242455] [ 0.01064054 0.99989146 -0.01019095 0.04029319] [ 0.00326762 0.01015671 0.99994308 0.07125773] [ 0. 0. 0. 1. ]] SLAMing on 0.9891115849999998 meters Centerline goodness [0,1] 0.9349545106708613 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.04, Z:0.07 [[ 0.99993805 -0.01067323 -0.00315919 -0.55242455] [ 0.01064054 0.99989146 -0.01019095 0.04029319] [ 0.00326762 0.01015671 0.99994308 0.07125773] [ 0. 0. 0. 1. ]] SLAMing on 1.0191115849999999 meters Centerline goodness [0,1] 0.8351272015655578 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.04, Z:0.08 [[ 0.99991639 -0.01248051 -0.00338291 -0.55806843] [ 0.01244055 0.9998555 -0.01158528 0.04112018] [ 0.00352701 0.01154223 0.99992717 0.07581608] [ 0. 0. 0. 1. ]] SLAMing on 1.049111585 meters Centerline goodness [0,1] 0.9414307924946222 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.04, Z:0.08 [[ 0.99989261 -0.0141806 -0.00369744 -0.56349157] [ 0.01413131 0.99981521 -0.01303261 0.0423844 ] [ 0.00388157 0.01297896 0.99990824 0.0803293 ] [ 0. 0. 0. 1. ]] SLAMing on 1.079111585 meters Centerline goodness [0,1] 0.9767663705933479 Centerline is valid? [False, True] Translation: X:-0.60, Y:0.05, Z:0.08 [[ 0.99982711 -0.01805253 -0.00445638 -0.59756939] [ 0.01802364 0.99981683 -0.00643895 0.0514379 ] [ 0.0045718 0.00635751 0.99996934 0.07785105] [ 0. 0. 0. 1. ]] SLAMing on 1.109111585 meters Centerline goodness [0,1] 0.9192264419300741 Centerline is valid? [True, False] Translation: X:-0.62, Y:0.04, Z:0.09 [[ 0.99989392 -0.01399019 -0.00405268 -0.61956971] [ 0.01393997 0.99982882 -0.01216597 0.0430726 ] [ 0.00422219 0.01210818 0.99991778 0.08618062] [ 0. 0. 0. 1. ]] SLAMing on 1.139111585 meters Centerline goodness [0,1] 0.9141775168070803 Centerline is valid? [False, False] Translation: X:-0.63, Y:0.05, Z:0.09 [[ 0.99990656 -0.01306956 -0.00400714 -0.62574935] [ 0.01302577 0.9998572 -0.01076585 0.04651936] [ 0.00414727 0.01071265 0.99993402 0.08934215] [ 0. 0. 0. 1. ]] SLAMing on 1.169111585 meters Centerline goodness [0,1] 0.9730359944036969 Centerline is valid? [False, True] Translation: X:-0.63, Y:0.05, Z:0.09 [[ 0.9998896 -0.01386998 -0.00532964 -0.62585189] [ 0.01380671 0.99983589 -0.01172926 0.04801263] [ 0.00549145 0.01165438 0.99991701 0.09032168] [ 0. 0. 0. 1. ]] SLAMing on 1.199111585 meters Centerline goodness [0,1] 0.9121057118499574 Centerline is valid? [True, False] Translation: X:-0.64, Y:0.04, Z:0.09 [[ 0.99993802 -0.00808642 -0.00765302 -0.63763919] [ 0.00795296 0.99981851 -0.01731156 0.04173868] [ 0.00779162 0.01724962 0.99982085 0.0917146 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2291115849999998 meters Centerline goodness [0,1] 0.8837714626560437 Centerline is valid? [False, False] Translation: X:-0.65, Y:0.05, Z:0.09 [[ 0.99985468 -0.00853138 -0.01475889 -0.64636338] [ 0.00832497 0.99986746 -0.01399112 0.05120411] [ 0.0148763 0.01386622 0.99979319 0.08650914] [ 0. 0. 0. 1. ]] SLAMing on 1.2591115849999999 meters Centerline goodness [0,1] 0.8897948673933568 Centerline is valid? [False, False] Translation: X:-0.66, Y:0.05, Z:0.09 [[ 0.99983585 -0.00514528 -0.01737216 -0.66085528] [ 0.00476417 0.99974863 -0.02190847 0.04687203] [ 0.01748052 0.02182211 0.99960904 0.0883579 ] [ 0. 0. 0. 1. ]] SLAMing on 1.289111585 meters Centerline goodness [0,1] 0.942786603692572 Centerline is valid? [False, False] Translation: X:-0.68, Y:0.06, Z:0.08 [[ 0.99982034 -0.00813382 -0.01712108 -0.6843514 ] [ 0.00785524 0.99983668 -0.01627614 0.0594476 ] [ 0.01725067 0.01613873 0.99972094 0.07847027] [ 0. 0. 0. 1. ]] SLAMing on 1.319111585 meters Centerline goodness [0,1] 0.9234188768388274 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:0.08 [[ 0.99991166 -0.00779998 -0.0107628 -0.75593007] [ 0.00766514 0.99989232 -0.01251361 0.06595459] [ 0.01085925 0.01243 0.99986378 0.07537554] [ 0. 0. 0. 1. ]] SLAMing on 1.349111585 meters Centerline goodness [0,1] 0.9347719155670566 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.08, Z:0.07 [[ 0.99988195 -0.0128836 -0.00837271 -0.78974214] [ 0.01281374 0.99988309 -0.00834405 0.076929 ] [ 0.00847923 0.00823578 0.99993013 0.07025318] [ 0. 0. 0. 1. ]] SLAMing on 1.379111585 meters Centerline goodness [0,1] 0.8456527292855318 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:0.07 [[ 0.99979722 -0.01768779 -0.00962621 -0.82090133] [ 0.01764813 0.99983548 -0.00418952 0.08390949] [ 0.00969873 0.00401879 0.99994489 0.06944514] [ 0. 0. 0. 1. ]] SLAMing on 1.409111585 meters Centerline goodness [0,1] 0.8508042151968941 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.08, Z:0.08 [[ 0.99984844 -0.01363814 -0.01082139 -0.84076319] [ 0.01352963 0.99985808 -0.01003855 0.07567047] [ 0.01095676 0.00989062 0.99989106 0.07767415] [ 0. 0. 0. 1. ]] SLAMing on 1.4391115849999998 meters Centerline goodness [0,1] 0.918979744936234 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.07, Z:0.08 [[ 0.99980779 -0.0159057 -0.01146303 -0.84776013] [ 0.01577461 0.99981016 -0.01143669 0.07412369] [ 0.01164276 0.01125367 0.99986889 0.0847769 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4691115849999998 meters Centerline goodness [0,1] 0.8677213705464702 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.07, Z:0.09 [[ 0.99972465 -0.01923282 -0.01344302 -0.85763262] [ 0.01904847 0.99972456 -0.01370994 0.0728089 ] [ 0.01370299 0.0134501 0.99981564 0.09483864] [ 0. 0. 0. 1. ]] SLAMing on 1.4991115849999999 meters Centerline goodness [0,1] 0.8341283142108203 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.06, Z:0.10 [[ 0.99981454 -0.01396547 -0.0132608 -0.87321518] [ 0.01371619 0.99973093 -0.01870658 0.06453829] [ 0.01351848 0.01852123 0.99973707 0.09898555] [ 0. 0. 0. 1. ]] SLAMing on 1.5291115849999999 meters Centerline goodness [0,1] 0.8442953599240676 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.06, Z:0.10 [[ 0.99976113 -0.01229532 -0.01806944 -0.89310677] [ 0.01179926 0.99955743 -0.02730803 0.06141004] [ 0.0183972 0.0270883 0.99946374 0.10460452] [ 0. 0. 0. 1. ]] SLAMing on 1.559111585 meters Centerline goodness [0,1] 0.8332471561530507 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.07, Z:0.10 [[ 0.99954103 -0.01281494 -0.02745003 -0.90142325] [ 0.01211428 0.99960037 -0.02554088 0.06946132] [ 0.02776637 0.02519662 0.99929683 0.09976329] [ 0. 0. 0. 1. ]] SLAMing on 1.589111585 meters Centerline goodness [0,1] 0.8632715314886529 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.08, Z:0.09 [[ 0.99931429 -0.01443383 -0.0340972 -0.90945008] [ 0.0136291 0.99962582 -0.0237166 0.0791751 ] [ 0.03442676 0.02323562 0.99913708 0.09282504] [ 0. 0. 0. 1. ]] SLAMing on 1.619111585 meters Centerline goodness [0,1] 0.7927922077922078 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.09, Z:0.08 [[ 0.99902889 -0.01693473 -0.04067551 -0.92796748] [ 0.01614029 0.99967405 -0.01978094 0.0900712 ] [ 0.04099724 0.01910522 0.99897658 0.08254012] [ 0. 0. 0. 1. ]] SLAMing on 1.6491115849999998 meters Centerline goodness [0,1] 0.8289218433418114 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.10, Z:0.08 [[ 0.99911486 -0.01767625 -0.0381714 -0.94040668] [ 0.0170462 0.99971408 -0.0167688 0.09579576] [ 0.0384569 0.01610328 0.9991305 0.07952126] [ 0. 0. 0. 1. ]] SLAMing on 1.6791115849999998 meters Centerline goodness [0,1] 0.859591312720659 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.10, Z:0.08 [[ 0.99928768 -0.01823628 -0.0330389 -0.95834766] [ 0.0178015 0.99975166 -0.01340632 0.10059967] [ 0.03327517 0.01280863 0.99936415 0.07898266] [ 0. 0. 0. 1. ]] SLAMing on 1.7091115849999998 meters Centerline goodness [0,1] 0.885556177597864 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:0.09 [[ 0.99958061 -0.01808819 -0.02261465 -0.98277073] [ 0.01779537 0.99975605 -0.01308294 0.0987727 ] [ 0.02284578 0.01267501 0.99965865 0.09308899] [ 0. 0. 0. 1. ]] SLAMing on 1.7391115849999998 meters Centerline goodness [0,1] 0.8926312629976632 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.10, Z:0.10 [[ 0.99967637 -0.0205461 -0.01500075 -1.02016859] [ 0.02044698 0.99976828 -0.00673114 0.10381741] [ 0.01513557 0.00642224 0.99986483 0.09711346] [ 0. 0. 0. 1. ]] SLAMing on 1.7691115849999999 meters Centerline goodness [0,1] 0.9102749330727065 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.10, Z:0.11 [[ 0.99976031 -0.01904612 -0.01079705 -1.07229761] [ 0.01896675 0.99979268 -0.00740684 0.10087169] [ 0.01093588 0.00720028 0.99991428 0.10517087] [ 0. 0. 0. 1. ]] SLAMing on 1.799111585 meters Centerline goodness [0,1] 0.9657614358930736 Centerline is valid? [False, True] Translation: X:-1.09, Y:0.09, Z:0.11 [[ 0.9997805 -0.01766148 -0.01127088 -1.09220357] [ 0.01747372 0.99971042 -0.01654525 0.09378844] [ 0.01155983 0.01634467 0.99979959 0.1117838 ] [ 0. 0. 0. 1. ]] SLAMing on 1.829111585 meters Centerline goodness [0,1] 0.9427976013269255 Centerline is valid? [True, False] Translation: X:-1.11, Y:0.09, Z:0.12 [[ 0.99979406 -0.01416818 -0.01452901 -1.11437992] [ 0.01383001 0.9996371 -0.02311712 0.08833476] [ 0.01485126 0.02291142 0.99962718 0.11935817] [ 0. 0. 0. 1. ]] SLAMing on 1.8591115849999997 meters Centerline goodness [0,1] 0.9593323930418429 Centerline is valid? [False, True] Translation: X:-1.16, Y:0.09, Z:0.12 [[ 0.99979214 -0.01416916 -0.01466012 -1.15535945] [ 0.01379849 0.99959012 -0.02508355 0.08870935] [ 0.01500952 0.02487605 0.99957786 0.11640032] [ 0. 0. 0. 1. ]] SLAMing on 1.8891115849999998 meters Centerline goodness [0,1] 0.971806920119607 Centerline is valid? [True, True] Translation: X:-1.19, Y:0.11, Z:0.09 [[ 0.99980018 -0.01517478 -0.01301274 -1.18900457] [ 0.01515481 0.99988383 -0.00163211 0.11186509] [ 0.01303599 0.00143458 0.999914 0.08944414] [ 0. 0. 0. 1. ]] SLAMing on 1.9191115849999998 meters Centerline goodness [0,1] 0.9769521032545774 Centerline is valid? [True, True] Translation: X:-1.22, Y:0.12, Z:0.09 [[ 9.99810560e-01 -1.76609823e-02 -8.18125422e-03 -1.21939127e+00] [ 1.76531728e-02 9.99843644e-01 -1.02580249e-03 1.16478734e-01] [ 8.19809172e-03 8.81183068e-04 9.99966007e-01 9.20491040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9491115849999998 meters Centerline goodness [0,1] 0.9764177069575221 Centerline is valid? [True, True] Translation: X:-1.25, Y:0.12, Z:0.09 [[ 9.99769922e-01 -1.94591359e-02 -9.02471335e-03 -1.24980979e+00] [ 1.94497019e-02 9.99810196e-01 -1.13195265e-03 1.17849303e-01] [ 9.04502724e-03 9.56164232e-04 9.99958636e-01 8.71114062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9791115849999998 meters Centerline goodness [0,1] 0.9776003074886294 Centerline is valid? [True, True] Translation: X:-1.28, Y:0.12, Z:0.09 [[ 9.99909120e-01 -1.30084463e-02 -3.54003009e-03 -1.27955057e+00] [ 1.30069560e-02 9.99915308e-01 -4.43694391e-04 1.18379070e-01] [ 3.54550205e-03 3.97609053e-04 9.99993636e-01 9.22565714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.009111585 meters Centerline goodness [0,1] 0.9702222127350737 Centerline is valid? [True, True] Translation: X:-1.31, Y:0.13, Z:0.09 [[ 9.99924617e-01 -1.18734775e-02 -3.12736617e-03 -1.31116109e+00] [ 1.18723106e-02 9.99929445e-01 -3.91414955e-04 1.30557826e-01] [ 3.13179297e-03 3.54256386e-04 9.99995033e-01 8.78882055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0391115849999997 meters Centerline goodness [0,1] 0.9895859953999488 Centerline is valid? [True, True] Translation: X:-1.34, Y:0.11, Z:0.09 [[ 9.99654957e-01 -2.59408143e-02 -4.12811922e-03 -1.33898159e+00] [ 2.59388959e-02 9.99663396e-01 -5.17563716e-04 1.10937853e-01] [ 4.14015570e-03 4.10306279e-04 9.99991345e-01 9.27864241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0691115849999995 meters Centerline goodness [0,1] 0.9791350774159103 Centerline is valid? [True, True] Translation: X:-1.37, Y:0.11, Z:0.10 [[ 9.99727066e-01 -2.32825392e-02 -1.92786389e-03 -1.36959763e+00] [ 2.32821166e-02 9.99728906e-01 -2.41348168e-04 1.11415011e-01] [ 1.93296045e-03 1.96397544e-04 9.99998113e-01 1.01949668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0991115849999997 meters Centerline goodness [0,1] 0.978068578526911 Centerline is valid? [True, True] Translation: X:-1.40, Y:0.11, Z:0.11 [[ 9.99784983e-01 -2.06905600e-02 1.37427208e-03 -1.39919475e+00] [ 2.06903416e-02 9.99785917e-01 1.72926480e-04 1.10854033e-01] [-1.37755582e-03 -1.44455139e-04 9.99999041e-01 1.05910078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1291115849999995 meters Centerline goodness [0,1] 0.9883169585647159 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.11, Z:0.11 [[ 9.99717060e-01 -2.23114250e-02 8.24617218e-03 -1.42872619e+00] [ 2.23036492e-02 9.99750708e-01 1.03372536e-03 1.11202280e-01] [-8.26718036e-03 -8.49513144e-04 9.99965465e-01 1.12598773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1591115849999998 meters Centerline goodness [0,1] 0.9921513425896303 Centerline is valid? [True, True] Translation: X:-1.46, Y:0.11, Z:0.11 [[ 9.99700432e-01 -2.08136142e-02 1.28778627e-02 -1.45701502e+00] [ 2.07945266e-02 9.99782467e-01 1.61434274e-03 1.12217659e-01] [-1.29086616e-02 -1.34607008e-03 9.99915774e-01 1.11498511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1891115849999996 meters Centerline goodness [0,1] 0.9946963107537603 Centerline is valid? [True, True] Translation: X:-1.49, Y:0.12, Z:0.10 [[ 9.99606851e-01 -2.45769760e-02 1.34950324e-02 -1.48699929e+00] [ 2.45563742e-02 9.99697018e-01 1.69023058e-03 1.15217109e-01] [-1.35324844e-02 -1.35817700e-03 9.99907509e-01 1.04553080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2191115849999994 meters Centerline goodness [0,1] 0.994927536231884 Centerline is valid? [True, True] Translation: X:-1.52, Y:0.11, Z:0.11 [[ 9.99484905e-01 -2.96089391e-02 1.23788044e-02 -1.51706846e+00] [ 2.95919871e-02 9.99560859e-01 1.55040907e-03 1.08013603e-01] [-1.24192743e-02 -1.18329704e-03 9.99922178e-01 1.09723213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2491115849999996 meters Centerline goodness [0,1] 0.988689776733255 Centerline is valid? [True, True] Translation: X:-1.55, Y:0.11, Z:0.11 [[ 9.99419816e-01 -3.13296212e-02 1.33598654e-02 -1.54832356e+00] [ 3.13100227e-02 9.99508320e-01 1.67366343e-03 1.14468156e-01] [-1.34057319e-02 -1.25439471e-03 9.99909352e-01 1.14060884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2791115849999994 meters Centerline goodness [0,1] 0.9833942070840058 Centerline is valid? [True, True] Translation: X:-1.58, Y:0.11, Z:0.12 [[ 9.99563670e-01 -2.76365070e-02 1.04256271e-02 -1.57656414e+00] [ 2.76243721e-02 9.99617521e-01 1.30619303e-03 1.09366524e-01] [-1.04577381e-02 -1.01762170e-03 9.99944799e-01 1.15528704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3091115849999997 meters Centerline goodness [0,1] 0.98614348065596 Centerline is valid? [True, True] Translation: X:-1.61, Y:0.11, Z:0.12 [[ 9.99584561e-01 -2.61865137e-02 1.20404658e-02 -1.60730792e+00] [ 2.61702347e-02 9.99656364e-01 1.50762067e-03 1.12409276e-01] [-1.20758076e-02 -1.19189253e-03 9.99926374e-01 1.18870578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3391115849999995 meters Centerline goodness [0,1] 0.9945935590983589 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.11, Z:0.11 [[ 9.99641904e-01 -2.50232920e-02 9.48149488e-03 -1.63615362e+00] [ 2.50131422e-02 9.99686417e-01 1.18758484e-03 1.07608780e-01] [-9.50823893e-03 -9.49997591e-04 9.99954344e-01 1.10753012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3691115849999997 meters Centerline goodness [0,1] 0.971700331302768 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.12, Z:0.11 [[ 9.99713035e-01 -2.14027999e-02 1.07595742e-02 -1.66878747e+00] [ 2.13895289e-02 9.99770310e-01 1.34699138e-03 1.24750220e-01] [-1.07859323e-02 -1.11646262e-03 9.99941207e-01 1.06921770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3991115849999995 meters Centerline goodness [0,1] 0.9875465943747882 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.12, Z:0.10 [[ 9.99610801e-01 -2.34369975e-02 1.51312401e-02 -1.69753126e+00] [ 2.34109854e-02 9.99724131e-01 1.89397060e-03 1.18325603e-01] [-1.51714549e-02 -1.53899622e-03 9.99883722e-01 1.03128160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4291115849999994 meters Centerline goodness [0,1] 0.9941817096822319 Centerline is valid? [True, True] Translation: X:-1.73, Y:0.11, Z:0.10 [[ 0.9994363 -0.02750702 0.01924699 -1.72657727] [ 0.02746568 0.99961984 0.00240922 0.11224143] [-0.01930594 -0.00187923 0.99981186 0.10391909] [ 0. 0. 0. 1. ]] SLAMing on 2.4591115849999996 meters Centerline goodness [0,1] 0.9918576148353405 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.12, Z:0.12 [[ 0.99940918 -0.02597074 0.02251237 -1.7572106 ] [ 0.0259138 0.99966021 0.00281747 0.11641589] [-0.02257789 -0.00223243 0.99974259 0.11614025] [ 0. 0. 0. 1. ]] SLAMing on 2.4891115849999994 meters Centerline goodness [0,1] 0.9930244884978268 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.11, Z:0.12 [[ 0.99935159 -0.02701202 0.02380666 -1.78676901] [ 0.02694865 0.99963238 0.00297845 0.11472806] [-0.02387837 -0.00233497 0.99971214 0.11769231] [ 0. 0. 0. 1. ]] SLAMing on 2.5191115849999997 meters Centerline goodness [0,1] 0.9968098366889908 Centerline is valid? [True, True] Translation: X:-1.81, Y:0.11, Z:0.11 [[ 0.99939841 -0.02598762 0.02296653 -1.81404336] [ 0.0259284 0.99965968 0.00287256 0.1073688 ] [-0.02303337 -0.00227535 0.99973211 0.11245102] [ 0. 0. 0. 1. ]] SLAMing on 2.5491115849999995 meters Centerline goodness [0,1] 0.9952104221214637 Centerline is valid? [True, True] Translation: X:-1.85, Y:0.11, Z:0.10 [[ 0.99949068 -0.02459612 0.02033275 -1.8450654 ] [ 0.02454944 0.99969539 0.00254191 0.1121364 ] [-0.02038907 -0.00204146 0.99979004 0.10321232] [ 0. 0. 0. 1. ]] SLAMing on 2.5791115849999997 meters Centerline goodness [0,1] 0.9938039764890615 Centerline is valid? [True, True] Translation: X:-1.87, Y:0.11, Z:0.10 [[ 0.99951804 -0.02461808 0.0189111 -1.87403756] [ 0.02457771 0.99969513 0.002364 0.11307167] [-0.01896353 -0.00189807 0.99981837 0.10429716] [ 0. 0. 0. 1. ]] SLAMing on 2.6091115849999995 meters Centerline goodness [0,1] 0.9896944610395152 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.12, Z:0.10 [[ 9.99519271e-01 -2.56507206e-02 1.74145839e-02 -1.90459402e+00] [ 2.56166669e-02 9.99669472e-01 2.17577047e-03 1.19863361e-01] [-1.74646380e-02 -1.72862092e-03 9.99845987e-01 1.01730782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6391115849999993 meters Centerline goodness [0,1] 0.9917657822506862 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.12, Z:0.10 [[ 9.99533860e-01 -2.51988751e-02 1.72360183e-02 -1.93194212e+00] [ 2.51654562e-02 9.99680981e-01 2.15308452e-03 1.16800457e-01] [-1.72847750e-02 -1.71832862e-03 9.99849131e-01 9.70847772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6691115849999996 meters Centerline goodness [0,1] 0.9953215379380742 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.11, Z:0.09 [[ 9.99570927e-01 -2.39528333e-02 1.68589519e-02 -1.96056006e+00] [ 2.39207101e-02 9.99711644e-01 2.10451611e-03 1.13192299e-01] [-1.69044997e-02 -1.70033502e-03 9.99855663e-01 9.20679732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6991115849999994 meters Centerline goodness [0,1] 0.9858511705328752 Centerline is valid? [True, True] Translation: X:-1.99, Y:0.12, Z:0.09 [[ 9.99610494e-01 -2.44713603e-02 1.34168553e-02 -1.99085436e+00] [ 2.44510645e-02 9.99699625e-01 1.67468904e-03 1.23297755e-01] [-1.34538071e-02 -1.34598034e-03 9.99908588e-01 8.60294760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7291115849999996 meters Centerline goodness [0,1] 0.9955874477883688 Centerline is valid? [True, True] Translation: X:-2.02, Y:0.11, Z:0.08 [[ 9.99655788e-01 -2.39195823e-02 1.07776948e-02 -2.01686641e+00] [ 2.39064573e-02 9.99713295e-01 1.34499585e-03 1.08453107e-01] [-1.08067765e-02 -1.08687639e-03 9.99941014e-01 8.46748294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7591115849999994 meters Centerline goodness [0,1] 0.9808116973608044 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.12, Z:0.08 [[ 9.99727080e-01 -2.27027025e-02 5.50936617e-03 -2.04890393e+00] [ 2.26992582e-02 9.99742103e-01 6.86897426e-04 1.22847003e-01] [-5.52353975e-03 -5.61651432e-04 9.99984587e-01 7.96568229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7891115849999997 meters Centerline goodness [0,1] 0.9701906779661017 Centerline is valid? [True, True] Translation: X:-2.08, Y:0.12, Z:0.08 [[ 9.99754379e-01 -2.17967564e-02 4.01048785e-03 -2.07903435e+00] [ 2.17949230e-02 9.99762337e-01 5.00310539e-04 1.23375749e-01] [-4.02043985e-03 -4.12779378e-04 9.99991833e-01 8.01461727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8191115849999995 meters Centerline goodness [0,1] 0.9905620088828152 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.11, Z:0.08 [[ 9.99749619e-01 -2.21044490e-02 3.47742894e-03 -2.10521760e+00] [ 2.21030602e-02 9.99755602e-01 4.37314686e-04 1.08025322e-01] [-3.48624567e-03 -3.60343370e-04 9.99993858e-01 8.07887619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8491115849999993 meters Centerline goodness [0,1] 0.9874176024735362 Centerline is valid? [True, True] Translation: X:-2.13, Y:0.11, Z:0.07 [[ 9.99750097e-01 -2.22213948e-02 -2.43972360e-03 -2.13427417e+00] [ 2.22207325e-02 9.99753045e-01 -2.98256877e-04 1.06584484e-01] [ 2.44574878e-03 2.43969896e-04 9.99996979e-01 7.44933236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8791115849999995 meters Centerline goodness [0,1] 0.9920718249801795 Centerline is valid? [True, True] Translation: X:-2.16, Y:0.10, Z:0.08 [[ 9.99690789e-01 -2.46079456e-02 -3.57438616e-03 -2.16307099e+00] [ 2.46065179e-02 9.99697116e-01 -4.42870651e-04 1.00118487e-01] [ 3.58420167e-03 3.54780514e-04 9.99993514e-01 7.74106930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9091115849999993 meters Centerline goodness [0,1] 0.9920718249801795 Centerline is valid? [True, True] Translation: X:-2.19, Y:0.10, Z:0.08 [[ 9.99697308e-01 -2.43415652e-02 -3.57511709e-03 -2.19013436e+00] [ 2.43401566e-02 9.99703639e-01 -4.36973556e-04 9.66472211e-02] [ 3.58469419e-03 3.49822377e-04 9.99993514e-01 7.79938757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9391115849999996 meters Centerline goodness [0,1] 0.9890937639245475 Centerline is valid? [True, True] Translation: X:-2.22, Y:0.10, Z:0.08 [[ 9.99770952e-01 -2.12324673e-02 -2.68809961e-03 -2.22052073e+00] [ 2.12316488e-02 9.99774528e-01 -3.32671716e-04 9.63138414e-02] [ 2.69455696e-03 2.75522731e-04 9.99996332e-01 8.07269894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9691115849999994 meters Centerline goodness [0,1] 0.9870334155258906 Centerline is valid? [True, True] Translation: X:-2.25, Y:0.10, Z:0.08 [[ 9.99720576e-01 -2.34197541e-02 -3.20703769e-03 -2.25081525e+00] [ 2.34186008e-02 9.99725668e-01 -3.96690722e-04 9.70743502e-02] [ 3.21544830e-03 3.21475542e-04 9.99994779e-01 8.38729318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9991115849999996 meters Centerline goodness [0,1] 0.9845592182970042 Centerline is valid? [True, True] Translation: X:-2.28, Y:0.10, Z:0.08 [[ 9.99706012e-01 -2.38606704e-02 -4.30789092e-03 -2.27909592e+00] [ 2.38586170e-02 9.99715204e-01 -5.27427816e-04 9.52370833e-02] [ 4.31924883e-03 4.24492439e-04 9.99990582e-01 8.21824653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0291115849999994 meters Centerline goodness [0,1] 0.9907089520212857 Centerline is valid? [True, True] Translation: X:-2.31, Y:0.09, Z:0.08 [[ 9.99684105e-01 -2.50041534e-02 -2.54603138e-03 -2.30772935e+00] [ 2.50034328e-02 9.99687316e-01 -3.14461995e-04 8.79356467e-02] [ 2.55309813e-03 2.50703133e-04 9.99996709e-01 8.37654738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0591115849999992 meters Centerline goodness [0,1] 0.9838171076290778 Centerline is valid? [True, True] Translation: X:-2.34, Y:0.09, Z:0.08 [[ 9.99636419e-01 -2.69629430e-02 1.69607823e-04 -2.33912235e+00] [ 2.69629398e-02 9.99636434e-01 2.10971072e-05 9.39458642e-02] [-1.70114999e-04 -1.65163112e-05 9.99999985e-01 8.16570459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0891115849999995 meters Centerline goodness [0,1] 0.9878883848326628 Centerline is valid? [True, True] Translation: X:-2.37, Y:0.09, Z:0.08 [[ 9.99536804e-01 -3.02337529e-02 3.47827249e-03 -2.36972165e+00] [ 3.02324389e-02 9.99542803e-01 4.29745786e-04 9.45178406e-02] [-3.48967506e-03 -3.24390069e-04 9.99993858e-01 8.07021629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1191115849999993 meters Centerline goodness [0,1] 0.9919931492185827 Centerline is valid? [True, True] Translation: X:-2.40, Y:0.09, Z:0.08 [[ 9.99538126e-01 -2.93984985e-02 7.69825292e-03 -2.39607659e+00] [ 2.93920183e-02 9.99567506e-01 9.53593913e-04 9.17731059e-02] [-7.72295770e-03 -7.26886282e-04 9.99969913e-01 7.53912132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1491115849999995 meters Centerline goodness [0,1] 0.9938284832640466 Centerline is valid? [True, True] Translation: X:-2.43, Y:0.10, Z:0.07 [[ 9.99562941e-01 -2.79079494e-02 9.75059183e-03 -2.42589204e+00] [ 2.78975239e-02 9.99610064e-01 1.20362176e-03 9.98288452e-02] [-9.78038033e-03 -9.31078339e-04 9.99951737e-01 6.67641354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1791115849999994 meters Centerline goodness [0,1] 0.9941589537655421 Centerline is valid? [True, True] Translation: X:-2.45, Y:0.10, Z:0.05 [[ 9.99581315e-01 -2.77801724e-02 8.09048247e-03 -2.45345219e+00] [ 2.77729695e-02 9.99613755e-01 1.00130352e-03 9.88735973e-02] [-8.11517395e-03 -7.76187566e-04 9.99966770e-01 5.40888770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2091115849999996 meters Centerline goodness [0,1] 0.9920137767732214 Centerline is valid? [True, True] Translation: X:-2.48, Y:0.10, Z:0.05 [[ 9.99464932e-01 -3.12940900e-02 9.51467425e-03 -2.48377623e+00] [ 3.12843490e-02 9.99509839e-01 1.17093462e-03 1.00334900e-01] [-9.54665387e-03 -8.72647698e-04 9.99954049e-01 5.48286493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2391115849999994 meters Centerline goodness [0,1] 0.9924936195766402 Centerline is valid? [True, True] Translation: X:-2.51, Y:0.10, Z:0.07 [[ 9.99400046e-01 -3.21606224e-02 1.28546635e-02 -2.51316471e+00] [ 3.21429089e-02 9.99482031e-01 1.58227256e-03 9.79816910e-02] [-1.28988921e-02 -1.16813699e-03 9.99916124e-01 6.51440891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.269111584999999 meters Centerline goodness [0,1] 0.9953616621067032 Centerline is valid? [True, True] Translation: X:-2.54, Y:0.09, Z:0.07 [[ 9.99306601e-01 -3.30569302e-02 1.71335114e-02 -2.54100672e+00] [ 3.30256028e-02 9.99452282e-01 2.10823624e-03 8.91943126e-02] [-1.71938189e-02 -1.54092985e-03 9.99850988e-01 7.21632752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2991115849999995 meters Centerline goodness [0,1] 0.9953625542281965 Centerline is valid? [True, True] Translation: X:-2.57, Y:0.08, Z:0.08 [[ 9.99318386e-01 -3.26556399e-02 1.72154974e-02 -2.56905397e+00] [ 3.26239552e-02 9.99465453e-01 2.11819351e-03 8.35154964e-02] [-1.72754659e-02 -1.55511210e-03 9.99849559e-01 7.92059551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3291115849999993 meters Centerline goodness [0,1] 0.9951989321391663 Centerline is valid? [True, True] Translation: X:-2.60, Y:0.08, Z:0.08 [[ 9.99426765e-01 -3.14310743e-02 1.25789092e-02 -2.59808621e+00] [ 3.14141035e-02 9.99505262e-01 1.54451702e-03 8.09892663e-02] [-1.26212318e-02 -1.14847649e-03 9.99919690e-01 7.66091372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3591115849999995 meters Centerline goodness [0,1] 0.993941729283069 Centerline is valid? [True, True] Translation: X:-2.63, Y:0.08, Z:0.08 [[ 9.99433141e-01 -3.07967547e-02 1.35999086e-02 -2.62674106e+00] [ 3.07768450e-02 9.99524884e-01 1.67088458e-03 8.36973989e-02] [-1.36449049e-02 -1.25137515e-03 9.99906121e-01 7.91166369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3891115849999993 meters Centerline goodness [0,1] 0.995376841199871 Centerline is valid? [True, True] Translation: X:-2.66, Y:0.08, Z:0.07 [[ 9.99498676e-01 -2.90556415e-02 1.25763840e-02 -2.65731115e+00] [ 2.90385349e-02 9.99577105e-01 1.54073272e-03 8.37318674e-02] [-1.26158325e-02 -1.17476055e-03 9.99919727e-01 7.03946274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4191115849999996 meters Centerline goodness [0,1] 0.9809444373155396 Centerline is valid? [True, True] Translation: X:-2.69, Y:0.10, Z:0.07 [[ 9.99485580e-01 -2.91832678e-02 1.33008136e-02 -2.68800015e+00] [ 2.91641256e-02 9.99573306e-01 1.63090979e-03 9.62054507e-02] [-1.33427335e-02 -1.24216422e-03 9.99910210e-01 6.78188503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4491115849999994 meters Centerline goodness [0,1] 0.9946618451074088 Centerline is valid? [True, True] Translation: X:-2.71, Y:0.08, Z:0.07 [[ 9.99496777e-01 -2.95704603e-02 1.14795570e-02 -2.71393866e+00] [ 2.95562641e-02 9.99562132e-01 1.40438058e-03 8.38074402e-02] [-1.15160587e-02 -1.06438104e-03 9.99933122e-01 6.61597511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.479111584999999 meters Centerline goodness [0,1] 0.9916440539260025 Centerline is valid? [True, True] Translation: X:-2.74, Y:0.09, Z:0.06 [[ 9.99412930e-01 -3.28363571e-02 9.77597496e-03 -2.74477994e+00] [ 3.28262340e-02 9.99460361e-01 1.19421464e-03 8.82793499e-02] [-9.80991312e-03 -8.72605115e-04 9.99951501e-01 6.05084089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5091115849999994 meters Centerline goodness [0,1] 0.9971001417708467 Centerline is valid? [True, True] Translation: X:-2.77, Y:0.08, Z:0.06 [[ 9.99338077e-01 -3.51919458e-02 9.21601732e-03 -2.77287917e+00] [ 3.51830463e-02 9.99380251e-01 1.12605853e-03 7.58733705e-02] [-9.24993389e-03 -8.01065606e-04 9.99956898e-01 6.07145744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5391115849999992 meters Centerline goodness [0,1] 0.9962550846910445 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.07, Z:0.06 [[ 9.99303911e-01 -3.63430301e-02 8.41886744e-03 -2.80059948e+00] [ 3.63356406e-02 9.99339113e-01 1.02907403e-03 7.11683594e-02] [-8.45070319e-03 -7.22452762e-04 9.99964031e-01 6.34044707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5691115849999995 meters Centerline goodness [0,1] 0.9967630603013998 Centerline is valid? [True, True] Translation: X:-2.83, Y:0.06, Z:0.07 [[ 9.99259004e-01 -3.76176183e-02 8.14600151e-03 -2.82850939e+00] [ 3.76107497e-02 9.99291970e-01 9.94792510e-04 6.24668420e-02] [-8.17765563e-03 -6.87678149e-04 9.99966326e-01 6.78824139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5991115849999993 meters Centerline goodness [0,1] 0.9975291134888917 Centerline is valid? [True, True] Translation: X:-2.86, Y:0.06, Z:0.07 [[ 9.99276730e-01 -3.69226021e-02 9.09611482e-03 -2.85728325e+00] [ 3.69139904e-02 9.99317827e-01 1.11287650e-03 5.96095903e-02] [-9.13099999e-03 -7.76297689e-04 9.99958010e-01 6.71902886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6291115849999995 meters Centerline goodness [0,1] 0.9968238191953676 Centerline is valid? [True, True] Translation: X:-2.89, Y:0.06, Z:0.07 [[ 9.99273601e-01 -3.69095272e-02 9.48462070e-03 -2.88572449e+00] [ 3.69001870e-02 9.99318285e-01 1.15795455e-03 5.70099874e-02] [-9.52089445e-03 -8.07129135e-04 9.99954350e-01 6.68260178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6591115849999993 meters Centerline goodness [0,1] 0.996703367736097 Centerline is valid? [True, True] Translation: X:-2.91, Y:0.05, Z:0.07 [[ 9.99267415e-01 -3.73283003e-02 8.43982591e-03 -2.91363541e+00] [ 3.73209479e-02 9.99302803e-01 1.02703013e-03 5.29595266e-02] [-8.47227898e-03 -7.11295439e-04 9.99963857e-01 7.10756913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.689111584999999 meters Centerline goodness [0,1] 0.9934431163470634 Centerline is valid? [True, True] Translation: X:-2.94, Y:0.06, Z:0.07 [[ 9.99264020e-01 -3.73915099e-02 8.56111045e-03 -2.94340085e+00] [ 3.73839372e-02 9.99300432e-01 1.04293036e-03 5.74633428e-02] [-8.59411811e-03 -7.22114766e-04 9.99962809e-01 6.89842401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7191115849999994 meters Centerline goodness [0,1] 0.9943128165507769 Centerline is valid? [True, True] Translation: X:-2.97, Y:0.05, Z:0.07 [[ 9.99324562e-01 -3.58786286e-02 7.94630814e-03 -2.97240842e+00] [ 3.58720901e-02 9.99355925e-01 9.63881735e-04 5.38472854e-02] [-7.97577287e-03 -6.78180011e-04 9.99967963e-01 6.79714180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.749111584999999 meters Centerline goodness [0,1] 0.994692259364371 Centerline is valid? [True, True] Translation: X:-3.00, Y:0.05, Z:0.07 [[ 9.99331291e-01 -3.56157371e-02 8.27585815e-03 -3.00012576e+00] [ 3.56086143e-02 9.99365305e-01 1.00647843e-03 5.03714072e-02] [-8.30645198e-03 -7.11113551e-04 9.99965248e-01 6.58948169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7791115849999994 meters Centerline goodness [0,1] 0.9934573444515715 Centerline is valid? [True, True] Translation: X:-3.03, Y:0.05, Z:0.07 [[ 9.99321336e-01 -3.58727710e-02 8.36725142e-03 -3.02818256e+00] [ 3.58655213e-02 9.99356110e-01 1.01493709e-03 4.85499186e-02] [-8.39827243e-03 -7.14152457e-04 9.99964479e-01 6.95094257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8091115849999992 meters Centerline goodness [0,1] 0.9929848575583883 Centerline is valid? [True, True] Translation: X:-3.06, Y:0.05, Z:0.07 [[ 9.99327070e-01 -3.59117692e-02 7.46667589e-03 -3.05685144e+00] [ 3.59060061e-02 9.99354762e-01 9.04511565e-04 4.63573224e-02] [-7.49434072e-03 -6.35804382e-04 9.99971715e-01 7.20754546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8391115849999995 meters Centerline goodness [0,1] 0.9954277826902754 Centerline is valid? [True, True] Translation: X:-3.08, Y:0.04, Z:0.07 [[ 9.99331331e-01 -3.57799440e-02 7.52904440e-03 -3.08303227e+00] [ 3.57741047e-02 9.99359489e-01 9.08870315e-04 3.80458191e-02] [-7.55674129e-03 -6.38917759e-04 9.99971243e-01 6.84591029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8691115849999993 meters Centerline goodness [0,1] 0.9949574399310419 Centerline is valid? [True, True] Translation: X:-3.11, Y:0.03, Z:0.07 [[ 9.99333238e-01 -3.55689152e-02 8.24202513e-03 -3.11175909e+00] [ 3.55619080e-02 9.99366980e-01 9.95236386e-04 3.41979983e-02] [-8.27220724e-03 -7.01470661e-04 9.99965539e-01 6.87129565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.899111584999999 meters Centerline goodness [0,1] 0.7460384299993351 Centerline is valid? [True, False] Translation: X:-3.01, Y:0.05, Z:-0.04 [[ 9.96565250e-01 1.19495714e-03 -8.28026202e-02 -3.01005114e+00] [-8.64438270e-03 9.95934363e-01 -8.96661544e-02 5.30680310e-02] [ 8.23588276e-02 9.00739511e-02 9.92523907e-01 -4.44505393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9291115849999994 meters Centerline goodness [0,1] 0.7147980871413391 Centerline is valid? [False, False] Translation: X:-3.03, Y:0.07, Z:-0.07 [[ 9.95430446e-01 -1.87088798e-03 -9.54710757e-02 -3.03062567e+00] [-5.91016096e-03 9.96684070e-01 -8.11537773e-02 6.59337905e-02] [ 9.53063298e-02 8.13471902e-02 9.92118611e-01 -7.29671374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.959111584999999 meters Centerline goodness [0,1] 0.7211944679147952 Centerline is valid? [False, False] Translation: X:-3.05, Y:0.08, Z:-0.10 [[ 9.94675937e-01 7.83620579e-04 -1.03049342e-01 -3.04962085e+00] [-7.92334545e-03 9.97592557e-01 -6.88934726e-02 7.80101128e-02] [ 1.02747270e-01 6.93431749e-02 9.92287520e-01 -9.56968018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9891115849999994 meters Centerline goodness [0,1] 0.6840214643664908 Centerline is valid? [False, False] Translation: X:-3.08, Y:0.09, Z:-0.12 [[ 0.99302682 0.00562202 -0.11775452 -3.08045069] [-0.01398181 0.99742874 -0.0702881 0.08543524] [ 0.11705658 0.07144439 0.9905521 -0.1229302 ] [ 0. 0. 0. 1. ]] SLAMing on 4.019111584999999 meters Centerline goodness [0,1] 0.6737958343587105 Centerline is valid? [False, False] Translation: X:-3.11, Y:0.09, Z:-0.15 [[ 9.92287042e-01 2.82196115e-03 -1.23929269e-01 -3.10601785e+00] [-1.08007017e-02 9.97907013e-01 -6.37568640e-02 9.31065822e-02] [ 1.23489967e-01 6.46036330e-02 9.90240677e-01 -1.45652962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0491115849999995 meters Centerline goodness [0,1] 0.6597396206156049 Centerline is valid? [False, False] Translation: X:-3.12, Y:0.10, Z:-0.16 [[ 9.91876839e-01 1.86990085e-03 -1.27188207e-01 -3.12371970e+00] [-8.98912895e-03 9.98422497e-01 -5.54230453e-02 1.00853758e-01] [ 1.26883931e-01 5.61161462e-02 9.90328959e-01 -1.60254044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.079111585 meters Centerline goodness [0,1] 0.6463284616409755 Centerline is valid? [False, False] Translation: X:-3.14, Y:0.11, Z:-0.17 [[ 9.91448310e-01 -1.41770474e-04 -1.30499918e-01 -3.14346620e+00] [-6.25543212e-03 9.98798270e-01 -4.86095150e-02 1.09020203e-01] [ 1.30349983e-01 4.90101549e-02 9.90255970e-01 -1.74705757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109111584999999 meters Centerline goodness [0,1] 0.6615287684795572 Centerline is valid? [False, False] Translation: X:-3.18, Y:0.11, Z:-0.17 [[ 0.98985859 0.00348069 -0.14201361 -3.17577711] [-0.01118089 0.99850741 -0.05345975 0.11129052] [ 0.14161557 0.05450544 0.98842005 -0.17392657] [ 0. 0. 0. 1. ]] SLAMing on 4.139111584999999 meters Centerline goodness [0,1] 0.629378327978611 Centerline is valid? [False, False] Translation: X:-3.19, Y:0.11, Z:-0.18 [[ 0.9887179 0.01048049 -0.14942248 -3.18944751] [-0.01913887 0.998212 -0.05662595 0.1143782 ] [ 0.14856184 0.05884687 0.98715066 -0.17877245] [ 0. 0. 0. 1. ]] SLAMing on 4.169111585 meters Centerline goodness [0,1] 0.6637076888590002 Centerline is valid? [False, False] Translation: X:-3.22, Y:0.13, Z:-0.20 [[ 9.90535207e-01 -7.88152066e-03 -1.37032428e-01 -3.22484308e+00] [ 9.56858542e-04 9.98722307e-01 -5.05256203e-02 1.25931422e-01] [ 1.37255561e-01 4.99162851e-02 9.89277148e-01 -1.95173964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.199111584999999 meters Centerline goodness [0,1] 0.6967623647258743 Centerline is valid? [False, False] Translation: X:-3.28, Y:0.14, Z:-0.20 [[ 0.99408705 -0.021794 -0.10637653 -3.27799059] [ 0.01850666 0.99932313 -0.03179292 0.13564784] [ 0.10699742 0.02963626 0.99381751 -0.19774022] [ 0. 0. 0. 1. ]] SLAMing on 4.229111584999999 meters Centerline goodness [0,1] 0.6961476939482805 Centerline is valid? [False, False] Translation: X:-3.35, Y:0.15, Z:-0.18 [[ 0.99574813 -0.02567042 -0.08846862 -3.35224269] [ 0.02469458 0.99962172 -0.01210745 0.14616292] [ 0.08874596 0.00987128 0.99600538 -0.1825435 ] [ 0. 0. 0. 1. ]] SLAMing on 4.259111584999999 meters Centerline goodness [0,1] 0.7453683281870314 Centerline is valid? [False, False] Translation: X:-3.43, Y:0.15, Z:-0.16 [[ 0.99736113 -0.03482055 -0.06370486 -3.42589087] [ 0.03518433 0.99937027 0.00459722 0.14714965] [ 0.06350466 -0.0068265 0.99795819 -0.15748622] [ 0. 0. 0. 1. ]] SLAMing on 4.289111585 meters Centerline goodness [0,1] 0.7857747671464861 Centerline is valid? [False, False] Translation: X:-3.45, Y:0.15, Z:-0.12 [[ 0.99783308 -0.04505406 -0.04795074 -3.45401317] [ 0.04609326 0.99872075 0.02079139 0.14790397] [ 0.04695266 -0.02295654 0.99863329 -0.11560173] [ 0. 0. 0. 1. ]] SLAMing on 4.319111584999999 meters Centerline goodness [0,1] 0.8471195972013339 Centerline is valid? [False, False] Translation: X:-3.48, Y:0.14, Z:-0.09 [[ 0.99808108 -0.04743107 -0.03980513 -3.48249118] [ 0.04822724 0.9986502 0.01928507 0.14205718] [ 0.03883669 -0.02116776 0.99902134 -0.08635266] [ 0. 0. 0. 1. ]] SLAMing on 4.349111584999999 meters Centerline goodness [0,1] 0.8388730058270225 Centerline is valid? [False, False] Translation: X:-3.52, Y:0.13, Z:-0.06 [[ 0.99853127 -0.0420537 -0.03415829 -3.51715282] [ 0.04255077 0.99899681 0.01395738 0.13096605] [ 0.03353706 -0.01539034 0.99931897 -0.06417182] [ 0. 0. 0. 1. ]] SLAMing on 4.3791115849999995 meters Centerline goodness [0,1] 0.925730724465819 Centerline is valid? [False, False] Translation: X:-3.53, Y:0.13, Z:-0.05 [[ 0.99859295 -0.04205656 -0.03230124 -3.53217962] [ 0.04255678 0.99898208 0.01495752 0.1281246 ] [ 0.03163929 -0.01631111 0.99936625 -0.04975758] [ 0. 0. 0. 1. ]] SLAMing on 4.409111584999999 meters Centerline goodness [0,1] 0.9011149978137298 Centerline is valid? [False, False] Translation: X:-3.54, Y:0.13, Z:-0.04 [[ 0.99848785 -0.04499674 -0.03158026 -3.54081856] [ 0.04542037 0.99888561 0.01282724 0.12705726] [ 0.03096789 -0.01424223 0.99941891 -0.04208215] [ 0. 0. 0. 1. ]] SLAMing on 4.439111584999999 meters Centerline goodness [0,1] 0.8699680373185902 Centerline is valid? [False, False] Translation: X:-3.57, Y:0.12, Z:-0.03 [[ 0.99879039 -0.04136682 -0.02658099 -3.57054931] [ 0.04152803 0.99912197 0.00554165 0.11924026] [ 0.02632841 -0.0066388 0.9996313 -0.02795415] [ 0. 0. 0. 1. ]] SLAMing on 4.469111584999999 meters Centerline goodness [0,1] 0.9049394018658994 Centerline is valid? [False, False] Translation: X:-3.60, Y:0.11, Z:-0.02 [[ 9.99005984e-01 -3.82746604e-02 -2.28493838e-02 -3.59627894e+00] [ 3.82070769e-02 9.99264102e-01 -3.38721333e-03 1.13504256e-01] [ 2.29622134e-02 2.51083822e-03 9.99733181e-01 -1.93217979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.499111585 meters Centerline goodness [0,1] 0.9100922243105031 Centerline is valid? [False, False] Translation: X:-3.62, Y:0.11, Z:-0.01 [[ 0.99912577 -0.03495754 -0.0229275 -3.61929803] [ 0.03469241 0.99932764 -0.01186186 0.10874281] [ 0.02332674 0.01105608 0.99966676 -0.01110229] [ 0. 0. 0. 1. ]] SLAMing on 4.529111584999999 meters Centerline goodness [0,1] 0.8981287621041613 Centerline is valid? [False, False] Translation: X:-3.64, Y:0.10, Z:-0.00 [[ 9.99303674e-01 -2.92557183e-02 -2.31575030e-02 -3.63808879e+00] [ 2.88475413e-02 9.99425890e-01 -1.77682453e-02 1.01547732e-01] [ 2.36640308e-02 1.70878358e-02 9.99573919e-01 -2.62882158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.559111584999999 meters Centerline goodness [0,1] 0.8915680954964731 Centerline is valid? [False, False] Translation: X:-3.65, Y:0.10, Z:0.00 [[ 9.99313160e-01 -2.87253076e-02 -2.34107701e-02 -3.64652843e+00] [ 2.83507967e-02 9.99467153e-01 -1.61753366e-02 1.02453774e-01] [ 2.38629373e-02 1.55005128e-02 9.99595065e-01 3.39171938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5891115849999995 meters Centerline goodness [0,1] 0.9168757499727282 Centerline is valid? [False, False] Translation: X:-3.67, Y:0.10, Z:0.00 [[ 0.99926631 -0.02777713 -0.0263682 -3.66667858] [ 0.02709152 0.99929447 -0.02601173 0.1019893 ] [ 0.02707213 0.02527829 0.99931382 0.00425371] [ 0. 0. 0. 1. ]] SLAMing on 4.619111584999999 meters Centerline goodness [0,1] 0.8788409733020872 Centerline is valid? [False, False] Translation: X:-3.68, Y:0.10, Z:0.01 [[ 0.99932239 -0.02334682 -0.02845499 -3.6768054 ] [ 0.02236189 0.99915609 -0.03445372 0.09585308] [ 0.02923536 0.03379407 0.99900113 0.00562507] [ 0. 0. 0. 1. ]] SLAMing on 4.649111584999999 meters Centerline goodness [0,1] 0.877292576419214 Centerline is valid? [False, False] Translation: X:-3.71, Y:0.10, Z:-0.02 [[ 0.99943463 -0.02189813 -0.02551269 -3.7125564 ] [ 0.0210393 0.99921863 -0.03345859 0.09769692] [ 0.02622543 0.0329029 0.99911442 -0.01633109] [ 0. 0. 0. 1. ]] SLAMing on 4.679111584999999 meters Centerline goodness [0,1] 0.89331523880401 Centerline is valid? [False, False] Translation: X:-3.74, Y:0.10, Z:-0.02 [[ 0.99947322 -0.02398843 -0.02185963 -3.7371665 ] [ 0.02336674 0.99932732 -0.02826479 0.10317816] [ 0.02252295 0.02773911 0.99936143 -0.02075238] [ 0. 0. 0. 1. ]] SLAMing on 4.709111585 meters Centerline goodness [0,1] 0.9002037998816645 Centerline is valid? [False, False] Translation: X:-3.76, Y:0.11, Z:-0.02 [[ 0.99961165 -0.02118823 -0.01809972 -3.75759626] [ 0.02078415 0.99953684 -0.02222892 0.10697326] [ 0.01856233 0.0218441 0.99958905 -0.01610901] [ 0. 0. 0. 1. ]] SLAMing on 4.739111584999999 meters Centerline goodness [0,1] 0.9650110641281248 Centerline is valid? [False, True] Translation: X:-3.78, Y:0.11, Z:-0.01 [[ 0.99970107 -0.02047405 -0.01336362 -3.78390159] [ 0.02025777 0.99966476 -0.01612408 0.11088801] [ 0.01368926 0.01584854 0.99978069 -0.01252915] [ 0. 0. 0. 1. ]] SLAMing on 4.769111584999999 meters Centerline goodness [0,1] 0.9596942473696927 Centerline is valid? [True, True] Translation: X:-3.82, Y:0.12, Z:-0.02 [[ 9.99576726e-01 -2.46806543e-02 -1.54023784e-02 -3.81615799e+00] [ 2.46536415e-02 9.99694168e-01 -1.94125471e-03 1.21393196e-01] [ 1.54455793e-02 1.56070831e-03 9.99879492e-01 -2.28538632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7991115849999995 meters Centerline goodness [0,1] 0.9596942473696927 Centerline is valid? [True, True] Translation: X:-3.84, Y:0.12, Z:-0.02 [[ 9.99583007e-01 -2.44244170e-02 -1.54032615e-02 -3.84317841e+00] [ 2.43974810e-02 9.99700466e-01 -1.93424001e-03 1.17857833e-01] [ 1.54458904e-02 1.55763266e-03 9.99879492e-01 -2.25272694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.829111584999999 meters Centerline goodness [0,1] 0.9583596902606609 Centerline is valid? [True, True] Translation: X:-3.87, Y:0.11, Z:-0.01 [[ 9.99456706e-01 -2.77922543e-02 -1.77167613e-02 -3.87320519e+00] [ 2.77570821e-02 9.99612215e-01 -2.22811831e-03 1.11507919e-01] [ 1.77718154e-02 1.73514219e-03 9.99840563e-01 -1.21297447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859111584999999 meters Centerline goodness [0,1] 0.9705875887538195 Centerline is valid? [True, True] Translation: X:-3.90, Y:0.11, Z:-0.01 [[ 9.99271394e-01 -3.11048498e-02 -2.21171902e-02 -3.90186335e+00] [ 3.10508573e-02 9.99513938e-01 -2.78052756e-03 1.05024032e-01] [ 2.21929278e-02 2.09174393e-03 9.99751518e-01 -1.29569519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.889111584999999 meters Centerline goodness [0,1] 0.9581339451545942 Centerline is valid? [True, True] Translation: X:-3.93, Y:0.11, Z:-0.03 [[ 9.99218947e-01 -2.92294525e-02 -2.65919929e-02 -3.93282381e+00] [ 2.91507503e-02 9.99569438e-01 -3.34256048e-03 1.12705504e-01] [ 2.66782446e-02 2.56477323e-03 9.99640782e-01 -2.81537272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.919111585 meters Centerline goodness [0,1] 0.9026155546406051 Centerline is valid? [True, False] Translation: X:-3.95, Y:0.11, Z:-0.03 [[ 0.99917386 -0.02638128 -0.03091333 -3.95050233] [ 0.02603481 0.99959423 -0.01155728 0.11152969] [ 0.03120568 0.01074291 0.99945525 -0.02783361] [ 0. 0. 0. 1. ]] SLAMing on 4.949111584999999 meters Centerline goodness [0,1] 0.9018824871648602 Centerline is valid? [False, False] Translation: X:-3.98, Y:0.11, Z:-0.02 [[ 0.99921346 -0.02296908 -0.03232462 -3.97655899] [ 0.02235577 0.99956553 -0.01920887 0.10699072] [ 0.03275178 0.01847112 0.99929282 -0.01899981] [ 0. 0. 0. 1. ]] SLAMing on 4.979111584999999 meters Centerline goodness [0,1] 0.9394655119625596 Centerline is valid? [False, False] Translation: X:-4.04, Y:0.11, Z:-0.02 [[ 0.99965082 -0.01867681 -0.01869255 -4.04493112] [ 0.01840789 0.99972604 -0.01445663 0.10549001] [ 0.01895743 0.01410749 0.99972076 -0.01629086] [ 0. 0. 0. 1. ]] SLAMing on 5.009111584999999 meters Centerline goodness [0,1] 0.9827343509435622 Centerline is valid? [False, True] Translation: X:-4.08, Y:0.10, Z:-0.00 [[ 9.99825986e-01 -1.39942225e-02 -1.23352750e-02 -4.07985628e+00] [ 1.37312219e-02 9.99681933e-01 -2.11538802e-02 1.01124170e-01] [ 1.26273836e-02 2.09808208e-02 9.99700132e-01 -2.49959542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.039111584999999 meters Centerline goodness [0,1] 0.9828616978876046 Centerline is valid? [True, True] Translation: X:-4.11, Y:0.11, Z:-0.03 [[ 9.99796851e-01 -1.58311768e-02 -1.24751938e-02 -4.11218718e+00] [ 1.58146716e-02 9.99873931e-01 -1.42058373e-03 1.14273589e-01] [ 1.24961106e-02 1.22300405e-03 9.99921173e-01 -3.23186986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.069111584999999 meters Centerline goodness [0,1] 0.9748877359724463 Centerline is valid? [True, True] Translation: X:-4.14, Y:0.12, Z:-0.02 [[ 9.99814605e-01 -1.39740880e-02 -1.32469095e-02 -4.14254613e+00] [ 1.39553189e-02 9.99901482e-01 -1.50824943e-03 1.17492057e-01] [ 1.32666809e-02 1.32310496e-03 9.99911118e-01 -2.27198548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.099111584999999 meters Centerline goodness [0,1] 0.8748143056694974 Centerline is valid? [True, False] Translation: X:-4.18, Y:0.11, Z:-0.00 [[ 9.99807763e-01 -1.29685337e-02 -1.47056100e-02 -4.18219382e+00] [ 1.28069078e-02 9.99857127e-01 -1.10321896e-02 1.10984141e-01] [ 1.48465803e-02 1.08417354e-02 9.99831004e-01 -5.03845509e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1291115849999995 meters Centerline goodness [0,1] 0.970759849083092 Centerline is valid? [False, True] Translation: X:-4.21, Y:0.12, Z:-0.01 [[ 9.99763659e-01 -1.58618008e-02 -1.48670345e-02 -4.20860599e+00] [ 1.58122142e-02 9.99869038e-01 -3.44697643e-03 1.19756482e-01] [ 1.49197627e-02 3.21108103e-03 9.99883538e-01 -1.43292843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.159111584999999 meters Centerline goodness [0,1] 0.9015437620088783 Centerline is valid? [True, False] Translation: X:-4.23, Y:0.11, Z:-0.01 [[ 0.99977603 -0.01538947 -0.01452788 -4.22953942] [ 0.01517306 0.99977399 -0.01489097 0.11369205] [ 0.01475376 0.01466721 0.99978358 -0.00817042] [ 0. 0. 0. 1. ]] SLAMing on 5.189111584999999 meters Centerline goodness [0,1] 0.9855726677288016 Centerline is valid? [False, True] Translation: X:-4.28, Y:0.11, Z:-0.02 [[ 0.99980638 -0.01489787 -0.01285507 -4.28187142] [ 0.01471961 0.99979571 -0.01385167 0.1133786 ] [ 0.01305881 0.01365976 0.99982142 -0.01534944] [ 0. 0. 0. 1. ]] SLAMing on 5.219111584999999 meters Centerline goodness [0,1] 0.9846266471449487 Centerline is valid? [True, True] Translation: X:-4.31, Y:0.12, Z:-0.03 [[ 9.99806152e-01 -1.43268338e-02 -1.35055930e-02 -4.31210132e+00] [ 1.43082236e-02 9.99896546e-01 -1.47358651e-03 1.23283695e-01] [ 1.35253076e-02 1.28005981e-03 9.99907709e-01 -3.31498267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.249111584999999 meters Centerline goodness [0,1] 0.977968988475746 Centerline is valid? [True, True] Translation: X:-4.34, Y:0.13, Z:-0.04 [[ 9.99873552e-01 -1.02048991e-02 -1.21959312e-02 -4.34301319e+00] [ 1.01894097e-02 9.99947200e-01 -1.33151532e-03 1.28504324e-01] [ 1.22088752e-02 1.20707761e-03 9.99924740e-01 -3.65406906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.279111584999999 meters Centerline goodness [0,1] 0.9314700528348799 Centerline is valid? [True, False] Translation: X:-4.37, Y:0.12, Z:-0.03 [[ 0.99987768 -0.00822997 -0.01330038 -4.36806656] [ 0.00809028 0.99991191 -0.0105222 0.12490057] [ 0.0133858 0.01041331 0.99985618 -0.02757941] [ 0. 0. 0. 1. ]] SLAMing on 5.309111584999999 meters Centerline goodness [0,1] 0.9608113211738831 Centerline is valid? [False, True] Translation: X:-4.40, Y:0.12, Z:-0.02 [[ 0.99991029 -0.00959525 -0.00934582 -4.39782545] [ 0.00954496 0.9999398 -0.00541115 0.12356561] [ 0.00939718 0.00532146 0.99994169 -0.017954 ] [ 0. 0. 0. 1. ]] SLAMing on 5.3391115849999995 meters Centerline goodness [0,1] 0.9568012682196486 Centerline is valid? [True, True] Translation: X:-4.43, Y:0.13, Z:-0.01 [[ 9.99931250e-01 -8.13032696e-03 -8.44939341e-03 -4.42814471e+00] [ 8.12337599e-03 9.99966638e-01 -8.56654048e-04 1.25638005e-01] [ 8.45607640e-03 7.87957554e-04 9.99963936e-01 -1.24534600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.369111584999999 meters Centerline goodness [0,1] 0.9810076146626527 Centerline is valid? [True, True] Translation: X:-4.46, Y:0.12, Z:-0.00 [[ 9.99927095e-01 -1.16886284e-02 -3.02999241e-03 -4.45706246e+00] [ 1.16877509e-02 9.99931649e-01 -3.07144350e-04 1.17953437e-01] [ 3.03337540e-03 2.71708161e-04 9.99995362e-01 -3.27684929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.399111584999999 meters Centerline goodness [0,1] 0.96875 Centerline is valid? [True, True] Translation: X:-4.49, Y:0.13, Z:-0.01 [[ 9.99947388e-01 -9.24266418e-03 -4.44911752e-03 -4.48864619e+00] [ 9.24074817e-03 9.99957202e-01 -4.51014413e-04 1.25931734e-01] [ 4.45309568e-03 4.09877509e-04 9.99990001e-01 -9.86764383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.429111584999999 meters Centerline goodness [0,1] 0.9794100661898627 Centerline is valid? [True, True] Translation: X:-4.51, Y:0.12, Z:-0.02 [[ 9.99941378e-01 -9.17986263e-03 -5.74200254e-03 -4.51476235e+00] [ 9.17667796e-03 9.99957725e-01 -5.80727425e-04 1.19379672e-01] [ 5.74709079e-03 5.28000873e-04 9.99983346e-01 -2.28510494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.459111584999999 meters Centerline goodness [0,1] 0.966849121567935 Centerline is valid? [True, True] Translation: X:-4.54, Y:0.12, Z:-0.01 [[ 9.99908770e-01 -1.08121340e-02 -8.09620095e-03 -4.54496233e+00] [ 1.08058539e-02 9.99941280e-01 -8.19032257e-04 1.22775872e-01] [ 8.10458102e-03 7.31471173e-04 9.99966890e-01 -1.45918229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.489111584999999 meters Centerline goodness [0,1] 0.9634924516975343 Centerline is valid? [True, True] Translation: X:-4.57, Y:0.12, Z:-0.00 [[ 9.99873965e-01 -1.24166113e-02 -9.89349596e-03 -4.57364418e+00] [ 1.24073159e-02 9.99922526e-01 -1.00038120e-03 1.17508894e-01] [ 9.90515082e-03 8.77503391e-04 9.99950558e-01 -1.59790590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.519111584999999 meters Centerline goodness [0,1] 0.9621332626369742 Centerline is valid? [True, True] Translation: X:-4.60, Y:0.12, Z:-0.01 [[ 9.99851374e-01 -1.10126045e-02 -1.32647332e-02 -4.60294622e+00] [ 1.09957760e-02 9.99938646e-01 -1.34092901e-03 1.16907297e-01] [ 1.32786865e-02 1.19487368e-03 9.99911120e-01 -7.01458249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5491115849999995 meters Centerline goodness [0,1] 0.979899831575215 Centerline is valid? [True, True] Translation: X:-4.63, Y:0.11, Z:-0.02 [[ 9.99833753e-01 -1.07678340e-02 -1.47146553e-02 -4.63020307e+00] [ 1.07471174e-02 9.99941144e-01 -1.48623755e-03 1.11464685e-01] [ 1.47297929e-02 1.32785034e-03 9.99890629e-01 -1.50450793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.579111584999999 meters Centerline goodness [0,1] 0.9562676429075512 Centerline is valid? [True, True] Translation: X:-4.66, Y:0.12, Z:-0.01 [[ 9.99858640e-01 -7.20293203e-03 -1.51926663e-02 -4.66083327e+00] [ 7.18044337e-03 9.99973043e-01 -1.53426115e-03 1.20715588e-01] [ 1.52033080e-02 1.42495419e-03 9.99883408e-01 -1.23196299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.609111584999999 meters Centerline goodness [0,1] 0.8369096815539988 Centerline is valid? [True, False] Translation: X:-4.68, Y:0.12, Z:-0.00 [[ 9.99827494e-01 -1.14807290e-02 -1.46005141e-02 -4.67623846e+00] [ 1.14263462e-02 9.99927486e-01 -3.80270401e-03 1.22343228e-01] [ 1.46431132e-02 3.63521749e-03 9.99886176e-01 -4.33839313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.639111584999999 meters Centerline goodness [0,1] 0.8462018684087311 Centerline is valid? [False, False] Translation: X:-4.73, Y:0.12, Z:-0.00 [[ 9.99811779e-01 -1.28396681e-02 -1.45447306e-02 -4.72688356e+00] [ 1.27258395e-02 9.99887880e-01 -7.89181111e-03 1.21275089e-01] [ 1.46444281e-02 7.70523180e-03 9.99863076e-01 -3.32686256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.669111584999999 meters Centerline goodness [0,1] 0.8132785611191296 Centerline is valid? [False, False] Translation: X:-4.76, Y:0.13, Z:-0.02 [[ 9.99698026e-01 -1.67472539e-02 -1.79829377e-02 -4.76011893e+00] [ 1.67247211e-02 9.99859148e-01 -1.40268358e-03 1.28786911e-01] [ 1.80038958e-02 1.10150039e-03 9.99837310e-01 -1.68232368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.699111584999999 meters Centerline goodness [0,1] 0.832050261038846 Centerline is valid? [False, False] Translation: X:-4.79, Y:0.12, Z:-0.01 [[ 0.99970177 -0.01462337 -0.01955832 -4.78936927] [ 0.01445397 0.99985703 -0.00877483 0.12324896] [ 0.01968384 0.00848952 0.99977021 -0.00698568] [ 0. 0. 0. 1. ]] SLAMing on 5.729111584999999 meters Centerline goodness [0,1] 0.8481808453718567 Centerline is valid? [False, False] Translation: X:-4.82, Y:0.11, Z:0.01 [[ 0.9997821 -0.01004941 -0.01829633 -4.81776978] [ 0.00976284 0.99982931 -0.01568537 0.11436082] [ 0.01845084 0.01550333 0.99970956 0.01062513] [ 0. 0. 0. 1. ]] SLAMing on 5.759111584999999 meters Centerline goodness [0,1] 0.8719584536520941 Centerline is valid? [False, False] Translation: X:-4.83, Y:0.12, Z:0.02 [[ 0.99980278 -0.01059825 -0.01679534 -4.83230237] [ 0.0103614 0.99984652 -0.0141274 0.1152286 ] [ 0.01694249 0.0139506 0.99975914 0.01834734] [ 0. 0. 0. 1. ]] SLAMing on 5.789111584999999 meters Centerline goodness [0,1] 0.9051175098672408 Centerline is valid? [False, False] Translation: X:-4.85, Y:0.11, Z:0.03 [[ 0.99970918 -0.01664081 -0.017454 -4.85372997] [ 0.01635009 0.99972737 -0.01666917 0.11410659] [ 0.01772663 0.01637895 0.99970871 0.03139185] [ 0. 0. 0. 1. ]] SLAMing on 5.819111584999999 meters Centerline goodness [0,1] 0.9161064016369482 Centerline is valid? [False, False] Translation: X:-4.89, Y:0.12, Z:0.02 [[ 0.9996096 -0.021397 -0.01796699 -4.8852785 ] [ 0.0212184 0.99972412 -0.01007293 0.1189016 ] [ 0.01817756 0.00968777 0.99978784 0.02361885] [ 0. 0. 0. 1. ]] SLAMing on 5.849111584999999 meters Centerline goodness [0,1] 0.9135217313539618 Centerline is valid? [False, False] Translation: X:-4.92, Y:0.13, Z:0.01 [[ 9.99489124e-01 -2.54494430e-02 -1.93343479e-02 -4.91813404e+00] [ 2.54184775e-02 9.99675194e-01 -1.84568046e-03 1.26559275e-01] [ 1.93750395e-02 1.35328786e-03 9.99811370e-01 1.05763549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.879111584999999 meters Centerline goodness [0,1] 0.9344689648972988 Centerline is valid? [False, False] Translation: X:-4.98, Y:0.12, Z:0.02 [[ 9.99573160e-01 -2.30812433e-02 -1.79096104e-02 -4.97527726e+00] [ 2.30510794e-02 9.99732504e-01 -1.88887179e-03 1.21290286e-01] [ 1.79484172e-02 1.47522969e-03 9.99837826e-01 2.06622052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.909111584999999 meters Centerline goodness [0,1] 0.9121695973410586 Centerline is valid? [False, False] Translation: X:-5.01, Y:0.12, Z:0.04 [[ 9.99730528e-01 -1.48696775e-02 -1.78259335e-02 -5.00580186e+00] [ 1.47864942e-02 9.99879204e-01 -4.78918231e-03 1.17122570e-01] [ 1.78949938e-02 4.52430870e-03 9.99829635e-01 3.55050095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.939111584999999 meters Centerline goodness [0,1] 0.8978769390098386 Centerline is valid? [False, False] Translation: X:-5.03, Y:0.12, Z:0.04 [[ 0.99975302 -0.00999889 -0.01984752 -5.03154786] [ 0.00978348 0.9998925 -0.01092123 0.11700359] [ 0.01995459 0.01072436 0.99974337 0.04167581] [ 0. 0. 0. 1. ]] SLAMing on 5.969111584999999 meters Centerline goodness [0,1] 0.8998585445809103 Centerline is valid? [False, False] Translation: X:-5.07, Y:0.12, Z:0.03 [[ 0.99976265 -0.00992525 -0.01939421 -5.07182692] [ 0.00970269 0.99988638 -0.01153649 0.11836699] [ 0.01950651 0.01134558 0.99974535 0.02675 ] [ 0. 0. 0. 1. ]] SLAMing on 5.999111584999999 meters Centerline goodness [0,1] 0.8969427235926911 Centerline is valid? [False, False] Translation: X:-5.10, Y:0.12, Z:0.01 [[ 9.99747189e-01 -1.43583771e-02 -1.73030411e-02 -5.10141557e+00] [ 1.42909313e-02 9.99889817e-01 -4.01528784e-03 1.24923492e-01] [ 1.73587876e-02 3.76699616e-03 9.99842229e-01 1.08261693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029111584999999 meters Centerline goodness [0,1] 0.9094154896368984 Centerline is valid? [False, False] Translation: X:-5.13, Y:0.12, Z:0.02 [[ 0.99985377 -0.00909959 -0.0144789 -5.12783626] [ 0.00895172 0.99990745 -0.01024533 0.11796997] [ 0.01457078 0.01011422 0.99984268 0.02211663] [ 0. 0. 0. 1. ]] SLAMing on 6.059111584999999 meters Centerline goodness [0,1] 0.9139727491317126 Centerline is valid? [False, False] Translation: X:-5.16, Y:0.12, Z:0.02 [[ 9.99891417e-01 -1.21199907e-02 -8.38214092e-03 -5.16112735e+00] [ 1.20935067e-02 9.99921741e-01 -3.20308129e-03 1.23586831e-01] [ 8.42030626e-03 3.10136401e-03 9.99959739e-01 1.53323092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.089111584999999 meters Centerline goodness [0,1] 0.9360817366809006 Centerline is valid? [False, False] Translation: X:-5.19, Y:0.12, Z:0.03 [[ 0.99993229 -0.00932978 -0.00695478 -5.19366243] [ 0.00926008 0.99990724 -0.00998805 0.11830255] [ 0.00704732 0.00992297 0.99992593 0.02525044] [ 0. 0. 0. 1. ]] SLAMing on 6.119111584999999 meters Centerline goodness [0,1] 0.9678694234805519 Centerline is valid? [False, True] Translation: X:-5.26, Y:0.12, Z:0.02 [[ 9.99811789e-01 -1.84449101e-02 -6.01434991e-03 -5.26411540e+00] [ 1.84328777e-02 9.99827999e-01 -2.04994025e-03 1.24745995e-01] [ 6.05112640e-03 1.93869265e-03 9.99979812e-01 2.39490197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.149111584999999 meters Centerline goodness [0,1] 0.9674165146704496 Centerline is valid? [True, True] Translation: X:-5.29, Y:0.12, Z:0.02 [[ 9.99803398e-01 -1.82574893e-02 -7.73495708e-03 -5.29141970e+00] [ 1.82519091e-02 9.99833107e-01 -7.91401196e-04 1.22035426e-01] [ 7.74811517e-03 6.50067871e-04 9.99969772e-01 2.16360537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.179111584999999 meters Centerline goodness [0,1] 0.9620602282664753 Centerline is valid? [True, True] Translation: X:-5.32, Y:0.12, Z:0.02 [[ 9.99775783e-01 -1.70155458e-02 -1.26038052e-02 -5.32206744e+00] [ 1.70006380e-02 9.99854648e-01 -1.28900265e-03 1.24059166e-01] [ 1.26239063e-02 1.07444090e-03 9.99919738e-01 2.37778218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209111584999999 meters Centerline goodness [0,1] 0.969255590911128 Centerline is valid? [True, True] Translation: X:-5.35, Y:0.12, Z:0.02 [[ 9.99746065e-01 -1.89505468e-02 -1.21935348e-02 -5.35063619e+00] [ 1.89367413e-02 9.99819907e-01 -1.24666788e-03 1.18269328e-01] [ 1.22149638e-02 1.01544549e-03 9.99924879e-01 2.22469911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.239111584999999 meters Centerline goodness [0,1] 0.9690744870148884 Centerline is valid? [True, True] Translation: X:-5.38, Y:0.11, Z:0.03 [[ 9.99723474e-01 -2.01367279e-02 -1.21444160e-02 -5.37919534e+00] [ 2.01231270e-02 9.99796739e-01 -1.24110162e-03 1.12758938e-01] [ 1.21669393e-02 9.96374793e-04 9.99925484e-01 2.56515225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.269111584999999 meters Centerline goodness [0,1] 0.9707790744829451 Centerline is valid? [True, True] Translation: X:-5.41, Y:0.10, Z:0.05 [[ 9.99727869e-01 -2.02566840e-02 -1.15695931e-02 -5.40597073e+00] [ 2.02443583e-02 9.99794364e-01 -1.18149356e-03 1.02737064e-01] [ 1.15911472e-02 9.46953052e-04 9.99932372e-01 4.62855436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.299111584999999 meters Centerline goodness [0,1] 0.974335700832785 Centerline is valid? [True, True] Translation: X:-5.43, Y:0.09, Z:0.05 [[ 9.99718367e-01 -2.03071134e-02 -1.22803526e-02 -5.43409943e+00] [ 2.02932616e-02 9.99793287e-01 -1.25153567e-03 9.41438422e-02] [ 1.23032292e-02 1.00197479e-03 9.99923810e-01 4.78554795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.329111584999999 meters Centerline goodness [0,1] 0.9743083900226758 Centerline is valid? [True, True] Translation: X:-5.46, Y:0.09, Z:0.05 [[ 9.99698757e-01 -2.12381386e-02 -1.23018628e-02 -5.46226266e+00] [ 2.12243197e-02 9.99773954e-01 -1.25280218e-03 9.36914440e-02] [ 1.23256892e-02 9.91326116e-04 9.99923544e-01 4.94642816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359111584999999 meters Centerline goodness [0,1] 0.9800027269008772 Centerline is valid? [True, True] Translation: X:-5.49, Y:0.09, Z:0.03 [[ 9.99598987e-01 -2.49751503e-02 -1.33456414e-02 -5.49183775e+00] [ 2.49592192e-02 9.99687546e-01 -1.35898028e-03 9.26706341e-02] [ 1.33754122e-02 1.02533853e-03 9.99910019e-01 3.46934557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.389111584999999 meters Centerline goodness [0,1] 0.974493281712594 Centerline is valid? [True, True] Translation: X:-5.52, Y:0.10, Z:0.03 [[ 9.99575407e-01 -2.19388720e-02 -1.91753117e-02 -5.52215438e+00] [ 2.19054336e-02 9.99758141e-01 -1.95215571e-03 9.68681373e-02] [ 1.92135021e-02 1.53128332e-03 9.99814231e-01 3.13943968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.419111584999999 meters Centerline goodness [0,1] 0.9644581056466303 Centerline is valid? [True, True] Translation: X:-5.55, Y:0.10, Z:0.03 [[ 9.99603375e-01 -1.55421778e-02 -2.34847651e-02 -5.55257079e+00] [ 1.54902756e-02 9.99877161e-01 -2.39034994e-03 1.00118550e-01] [ 2.35190315e-02 2.02561638e-03 9.99721337e-01 2.94940824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.449111584999999 meters Centerline goodness [0,1] 0.9632487216946677 Centerline is valid? [True, True] Translation: X:-5.58, Y:0.10, Z:0.03 [[ 9.99663703e-01 -1.09791552e-02 -2.34933647e-02 -5.58196617e+00] [ 1.09259790e-02 9.99937452e-01 -2.39062422e-03 9.93661601e-02] [ 2.35181423e-02 2.13313225e-03 9.99721134e-01 3.31433322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.479111584999999 meters Centerline goodness [0,1] 0.9449568311087947 Centerline is valid? [True, False] Translation: X:-5.62, Y:0.11, Z:0.02 [[ 9.99505140e-01 -1.58954946e-02 -2.71442030e-02 -5.62437942e+00] [ 1.59299497e-02 9.99872555e-01 1.05355027e-03 1.07052047e-01] [ 2.71239969e-02 -1.48543469e-03 9.99630973e-01 2.31030520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5091115849999985 meters Centerline goodness [0,1] 0.9388816644993498 Centerline is valid? [False, False] Translation: X:-5.64, Y:0.10, Z:0.03 [[ 0.9995631 -0.00992766 -0.0278398 -5.63788737] [ 0.00976114 0.99993369 -0.00611095 0.09932288] [ 0.02789862 0.00583653 0.99959372 0.02937218] [ 0. 0. 0. 1. ]] SLAMing on 6.539111584999999 meters Centerline goodness [0,1] 0.9304851721395296 Centerline is valid? [False, False] Translation: X:-5.67, Y:0.10, Z:0.02 [[ 9.99369600e-01 -1.08442928e-02 -3.38053806e-02 -5.67452951e+00] [ 1.08613521e-02 9.99940962e-01 3.21030233e-04 1.04786867e-01] [ 3.37999035e-02 -6.87999997e-04 9.99428383e-01 2.34343507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569111584999999 meters Centerline goodness [0,1] 0.9352736750651607 Centerline is valid? [False, False] Translation: X:-5.69, Y:0.10, Z:0.04 [[ 9.99376155e-01 -2.82868729e-03 -3.52036713e-02 -5.69383446e+00] [ 2.64016448e-03 9.99981932e-01 -5.40053772e-03 9.92762337e-02] [ 3.52183117e-02 5.30422514e-03 9.99365567e-01 3.59021748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.599111584999999 meters Centerline goodness [0,1] 0.9115349474645957 Centerline is valid? [False, False] Translation: X:-5.70, Y:0.11, Z:0.03 [[ 0.99940894 -0.00672087 -0.03371349 -5.70414362] [ 0.00643108 0.9999415 -0.00869655 0.10530388] [ 0.03376996 0.0084746 0.9993937 0.03444488] [ 0. 0. 0. 1. ]] SLAMing on 6.629111584999999 meters Centerline goodness [0,1] 0.909109593733586 Centerline is valid? [False, False] Translation: X:-5.73, Y:0.11, Z:0.01 [[ 0.99943983 -0.01041025 -0.03180652 -5.73393601] [ 0.00992761 0.99983375 -0.01529446 0.107608 ] [ 0.03196045 0.01497013 0.99937702 0.00995227] [ 0. 0. 0. 1. ]] SLAMing on 6.659111584999999 meters Centerline goodness [0,1] 0.9179744043379363 Centerline is valid? [False, False] Translation: X:-5.76, Y:0.10, Z:0.01 [[ 0.99936881 -0.00979173 -0.03414822 -5.75579916] [ 0.00894826 0.99965322 -0.02476613 0.10177862] [ 0.03437889 0.02444493 0.99910987 0.0137917 ] [ 0. 0. 0. 1. ]] SLAMing on 6.689111584999999 meters Centerline goodness [0,1] 0.8868245542398258 Centerline is valid? [False, False] Translation: X:-5.81, Y:0.11, Z:0.01 [[ 0.99928745 -0.00930941 -0.03657768 -5.80537744] [ 0.00895666 0.99991191 -0.00979588 0.10652191] [ 0.03666565 0.00946128 0.9992828 0.01205195] [ 0. 0. 0. 1. ]] SLAMing on 6.7191115849999985 meters Centerline goodness [0,1] 0.8868245542398258 Centerline is valid? [False, False] Translation: X:-5.81, Y:0.11, Z:0.01 [[ 0.99928745 -0.00930941 -0.03657768 -5.80537744] [ 0.00895666 0.99991191 -0.00979588 0.10652191] [ 0.03666565 0.00946128 0.9992828 0.01205195] [ 0. 0. 0. 1. ]] SLAMing on 6.749111584999999 meters Centerline goodness [0,1] 0.9151246613710455 Centerline is valid? [False, False] Translation: X:-5.83, Y:0.11, Z:0.03 [[ 0.99927437 -0.01239819 -0.03601424 -5.83242207] [ 0.01206873 0.99988344 -0.00935116 0.10597827] [ 0.03612598 0.00890973 0.99930753 0.02819902] [ 0. 0. 0. 1. ]] SLAMing on 6.779111584999999 meters Centerline goodness [0,1] 0.9392286627110908 Centerline is valid? [False, False] Translation: X:-5.87, Y:0.11, Z:0.02 [[ 9.99388038e-01 -1.58783925e-02 -3.11677087e-02 -5.87419147e+00] [ 1.58821164e-02 9.99873863e-01 -1.28095689e-04 1.08913428e-01] [ 3.11658112e-02 -3.66991879e-04 9.99514161e-01 2.20410274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.809111584999999 meters Centerline goodness [0,1] 0.9069192185245414 Centerline is valid? [False, False] Translation: X:-5.92, Y:0.11, Z:0.02 [[ 0.99944352 -0.01903459 -0.02739225 -5.91988097] [ 0.01927433 0.99977798 0.00851469 0.1107082 ] [ 0.02722409 -0.00903792 0.9995885 0.02263015] [ 0. 0. 0. 1. ]] SLAMing on 6.839111584999999 meters Centerline goodness [0,1] 0.8944390334400074 Centerline is valid? [False, False] Translation: X:-5.98, Y:0.11, Z:0.03 [[ 0.99953768 -0.01434971 -0.02680491 -5.98072926] [ 0.0146568 0.99982878 0.01129542 0.11152136] [ 0.02663823 -0.01168307 0.99957687 0.02815171] [ 0. 0. 0. 1. ]] SLAMing on 6.869111584999999 meters Centerline goodness [0,1] 0.9155099434841212 Centerline is valid? [False, False] Translation: X:-6.01, Y:0.11, Z:0.05 [[ 9.99452048e-01 -1.43716731e-02 -2.98170956e-02 -6.01483837e+00] [ 1.43711795e-02 9.99896703e-01 -2.30866940e-04 1.06860971e-01] [ 2.98173335e-02 -1.97766396e-04 9.99555345e-01 4.51027439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.899111584999999 meters Centerline goodness [0,1] 0.8863770580870716 Centerline is valid? [False, False] Translation: X:-6.05, Y:0.11, Z:0.03 [[ 9.99242185e-01 -2.01129604e-02 -3.33245421e-02 -6.05039023e+00] [ 2.02290941e-02 9.99790404e-01 3.15141122e-03 1.14533264e-01] [ 3.32541732e-02 -3.82314833e-03 9.99439615e-01 3.46515651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9291115849999985 meters Centerline goodness [0,1] 0.8830904135561085 Centerline is valid? [False, False] Translation: X:-6.10, Y:0.11, Z:0.03 [[ 9.99288531e-01 -2.01382520e-02 -3.18886103e-02 -6.09637163e+00] [ 2.01925121e-02 9.99795158e-01 1.38039517e-03 1.11810254e-01] [ 3.18542794e-02 -2.02332421e-03 9.99490476e-01 2.84215985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.959111584999999 meters Centerline goodness [0,1] 0.8866978767673902 Centerline is valid? [False, False] Translation: X:-6.12, Y:0.11, Z:0.03 [[ 9.99202616e-01 -2.44509703e-02 -3.15639538e-02 -6.11738765e+00] [ 2.45038111e-02 9.99698906e-01 1.28830323e-03 1.13443517e-01] [ 3.15229499e-02 -2.06071312e-03 9.99500904e-01 3.36516144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989111584999999 meters Centerline goodness [0,1] 0.887495804765786 Centerline is valid? [False, False] Translation: X:-6.14, Y:0.11, Z:0.04 [[ 9.99314425e-01 -1.57712549e-02 -3.34954708e-02 -6.13514731e+00] [ 1.56993296e-02 9.99873855e-01 -2.40924558e-03 1.06076968e-01] [ 3.35292424e-02 1.88173743e-03 9.99435965e-01 4.27560448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.019111584999999 meters Centerline goodness [0,1] 0.9067815010494319 Centerline is valid? [False, False] Translation: X:-6.17, Y:0.11, Z:0.03 [[ 9.99292722e-01 -2.24299509e-02 -3.01819873e-02 -6.16733723e+00] [ 2.24744112e-02 9.99746775e-01 1.13460195e-03 1.11431776e-01] [ 3.01488954e-02 -1.81212187e-03 9.99543776e-01 3.36966462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.049111584999999 meters Centerline goodness [0,1] 0.8960857857280247 Centerline is valid? [False, False] Translation: X:-6.19, Y:0.10, Z:0.04 [[ 0.99936548 -0.01896026 -0.03015195 -6.18619796] [ 0.0187483 0.99979761 -0.00729703 0.10340633] [ 0.0302842 0.00672711 0.99951869 0.04130622] [ 0. 0. 0. 1. ]] SLAMing on 7.079111584999999 meters Centerline goodness [0,1] 0.8776183087664856 Centerline is valid? [False, False] Translation: X:-6.20, Y:0.09, Z:0.05 [[ 0.99942579 -0.01304573 -0.03127131 -6.20499349] [ 0.01263811 0.99983304 -0.01319713 0.09417664] [ 0.03143825 0.01279434 0.9994238 0.05105694] [ 0. 0. 0. 1. ]] SLAMing on 7.109111584999999 meters Centerline goodness [0,1] 0.8816328521264144 Centerline is valid? [False, False] Translation: X:-6.24, Y:0.10, Z:0.04 [[ 9.99394496e-01 -1.50713599e-02 -3.13607445e-02 -6.23613389e+00] [ 1.49738765e-02 9.99882303e-01 -3.34100137e-03 9.70926274e-02] [ 3.14074069e-02 2.86938647e-03 9.99502547e-01 4.22821150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.139111584999998 meters Centerline goodness [0,1] 0.8709550506540769 Centerline is valid? [False, False] Translation: X:-6.29, Y:0.10, Z:0.03 [[ 9.99378992e-01 -1.64470352e-02 -3.11628961e-02 -6.28755623e+00] [ 1.62999062e-02 9.99854798e-01 -4.96947342e-03 9.81734159e-02] [ 3.12401043e-02 4.45843505e-03 9.99501965e-01 3.41706971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.169111584999999 meters Centerline goodness [0,1] 0.8728284041067359 Centerline is valid? [False, False] Translation: X:-6.31, Y:0.10, Z:0.04 [[ 0.99945087 -0.01207631 -0.03085637 -6.31369707] [ 0.01174287 0.99987093 -0.01096473 0.0955938 ] [ 0.0309848 0.01059637 0.99946369 0.03609823] [ 0. 0. 0. 1. ]] SLAMing on 7.199111584999999 meters Centerline goodness [0,1] 0.8698826790752933 Centerline is valid? [False, False] Translation: X:-6.34, Y:0.09, Z:0.05 [[ 9.99442256e-01 -3.00912798e-03 -3.32584184e-02 -6.34085488e+00] [ 2.56719269e-03 9.99907954e-01 -1.33226462e-02 8.80492685e-02] [ 3.32954466e-02 1.32298348e-02 9.99357986e-01 4.95121698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229111584999999 meters Centerline goodness [0,1] 0.8285876151534558 Centerline is valid? [False, False] Translation: X:-6.37, Y:0.10, Z:0.04 [[ 9.99290566e-01 -3.67802707e-03 -3.74811414e-02 -6.37492057e+00] [ 3.56565315e-03 9.99988947e-01 -3.06455088e-03 9.78752131e-02] [ 3.74919986e-02 2.92873203e-03 9.99292636e-01 3.78540630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2591115849999985 meters Centerline goodness [0,1] 0.8682083799577271 Centerline is valid? [False, False] Translation: X:-6.42, Y:0.10, Z:0.03 [[ 0.99927574 -0.00766416 -0.03727278 -6.4203669 ] [ 0.0072789 0.99991879 -0.0104612 0.0986001 ] [ 0.03734993 0.01018231 0.99925037 0.03148197] [ 0. 0. 0. 1. ]] SLAMing on 7.289111584999999 meters Centerline goodness [0,1] 0.8364228766075087 Centerline is valid? [False, False] Translation: X:-6.45, Y:0.10, Z:0.03 [[ 9.99339305e-01 -1.09096702e-02 -3.46689128e-02 -6.44878246e+00] [ 1.07290336e-02 9.99927904e-01 -5.39211235e-03 1.01153874e-01] [ 3.47252395e-02 5.01658587e-03 9.99384306e-01 2.70610106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319111584999999 meters Centerline goodness [0,1] 0.874239299904441 Centerline is valid? [False, False] Translation: X:-6.47, Y:0.10, Z:0.04 [[ 9.99335435e-01 -1.27220334e-02 -3.41590061e-02 -6.47168349e+00] [ 1.26226710e-02 9.99915454e-01 -3.12290649e-03 1.00332801e-01] [ 3.41958478e-02 2.68965323e-03 9.99411532e-01 3.66357147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349111584999998 meters Centerline goodness [0,1] 0.8587701050281598 Centerline is valid? [False, False] Translation: X:-6.50, Y:0.10, Z:0.04 [[ 9.99374165e-01 -1.70060655e-02 -3.10172883e-02 -6.50001890e+00] [ 1.70295052e-02 9.99854867e-01 4.91669853e-04 1.02215057e-01] [ 3.10044253e-02 -1.01957122e-03 9.99518727e-01 3.56242050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.379111584999999 meters Centerline goodness [0,1] 0.741337174902889 Centerline is valid? [False, False] Translation: X:-6.54, Y:0.10, Z:0.04 [[ 9.99431013e-01 -1.79107302e-02 -2.85807043e-02 -6.54495954e+00] [ 1.77887985e-02 9.99831573e-01 -4.51481419e-03 9.50020949e-02] [ 2.86567541e-02 4.00382893e-03 9.99581292e-01 3.88713648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409111584999999 meters Centerline goodness [0,1] 0.8896014539789693 Centerline is valid? [False, False] Translation: X:-6.57, Y:0.09, Z:0.04 [[ 0.99948841 -0.01431305 -0.02860181 -6.57157068] [ 0.01400701 0.99984279 -0.0108719 0.08774339] [ 0.02875293 0.01046571 0.99953176 0.04486003] [ 0. 0. 0. 1. ]] SLAMing on 7.439111584999999 meters Centerline goodness [0,1] 0.8998914392059554 Centerline is valid? [False, False] Translation: X:-6.62, Y:0.09, Z:0.04 [[ 9.99298693e-01 -1.83491932e-02 -3.26409238e-02 -6.61972397e+00] [ 1.82018423e-02 9.99822783e-01 -4.80575148e-03 9.47916887e-02] [ 3.27233209e-02 4.20825622e-03 9.99455589e-01 3.70011232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4691115849999985 meters Centerline goodness [0,1] 0.789264774555077 Centerline is valid? [False, False] Translation: X:-6.65, Y:0.10, Z:0.03 [[ 9.99255340e-01 -2.20749490e-02 -3.16458980e-02 -6.65057826e+00] [ 2.20553998e-02 9.99756283e-01 -9.66727170e-04 1.00978915e-01] [ 3.16595258e-02 2.68044354e-04 9.99498676e-01 3.45389813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.499111584999999 meters Centerline goodness [0,1] 0.7535362081273299 Centerline is valid? [False, False] Translation: X:-6.68, Y:0.10, Z:0.04 [[ 9.99381875e-01 -1.34856110e-02 -3.24654732e-02 -6.67560583e+00] [ 1.33750178e-02 9.99903993e-01 -3.62126204e-03 9.60590722e-02] [ 3.25111912e-02 3.18479737e-03 9.99466297e-01 4.07027341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529111584999999 meters Centerline goodness [0,1] 0.8695709992287028 Centerline is valid? [False, False] Translation: X:-6.71, Y:0.10, Z:0.04 [[ 9.99221191e-01 -1.71663188e-02 -3.55292719e-02 -6.70876469e+00] [ 1.72195701e-02 9.99851020e-01 1.19332704e-03 1.00737790e-01] [ 3.55034937e-02 -1.80419646e-03 9.99367924e-01 3.77157245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.559111584999998 meters Centerline goodness [0,1] 0.7446022955293362 Centerline is valid? [False, False] Translation: X:-6.75, Y:0.11, Z:0.03 [[ 0.99914215 -0.02246879 -0.03478682 -6.75341375] [ 0.02272707 0.99971687 0.00704711 0.10768258] [ 0.03461863 -0.00783167 0.99936991 0.03458979] [ 0. 0. 0. 1. ]] SLAMing on 7.589111584999999 meters Centerline goodness [0,1] 0.7251552373979772 Centerline is valid? [False, False] Translation: X:-6.77, Y:0.10, Z:0.04 [[ 9.99332022e-01 -1.42618760e-02 -3.36468352e-02 -6.77296786e+00] [ 1.43333823e-02 9.99895495e-01 1.88494100e-03 1.02292054e-01] [ 3.36164362e-02 -2.36595485e-03 9.99432007e-01 4.30696474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.619111584999999 meters Centerline goodness [0,1] 0.7250598998039643 Centerline is valid? [False, False] Translation: X:-6.79, Y:0.10, Z:0.05 [[ 9.99369927e-01 -6.78731794e-03 -3.48379319e-02 -6.79116979e+00] [ 6.67819036e-03 9.99972426e-01 -3.24784421e-03 9.77959777e-02] [ 3.48590154e-02 3.01314349e-03 9.99387698e-01 4.79748074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649111584999999 meters Centerline goodness [0,1] 0.7183881799865681 Centerline is valid? [False, False] Translation: X:-6.83, Y:0.10, Z:0.04 [[ 0.99916219 -0.00939622 -0.03983244 -6.83301309] [ 0.00907234 0.99992437 -0.00830399 0.09844075] [ 0.03990745 0.00793566 0.99917187 0.03914577] [ 0. 0. 0. 1. ]] SLAMing on 7.6791115849999985 meters Centerline goodness [0,1] 0.7200192005120136 Centerline is valid? [False, False] Translation: X:-6.85, Y:0.09, Z:0.04 [[ 9.99149246e-01 -3.78639151e-03 -4.10663906e-02 -6.85191135e+00] [ 3.15576357e-03 9.99876275e-01 -1.54102720e-02 9.25277440e-02] [ 4.11196590e-02 1.52675658e-02 9.99037574e-01 4.42375413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709111584999999 meters Centerline goodness [0,1] 0.7213650733605339 Centerline is valid? [False, False] Translation: X:-6.87, Y:0.09, Z:0.05 [[ 9.99211258e-01 -5.38049275e-03 -3.93435129e-02 -6.87128028e+00] [ 4.84479297e-03 9.99894432e-01 -1.36986514e-02 9.30389710e-02] [ 3.94130650e-02 1.34972355e-02 9.99131841e-01 4.95188854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739111584999999 meters Centerline goodness [0,1] 0.7265073329712113 Centerline is valid? [False, False] Translation: X:-6.91, Y:0.10, Z:0.05 [[ 0.99908751 -0.01147618 -0.04113942 -6.913082 ] [ 0.01113059 0.9999009 -0.00861956 0.09598081] [ 0.04123426 0.00815379 0.99911624 0.04637424] [ 0. 0. 0. 1. ]] SLAMing on 7.769111584999998 meters Centerline goodness [0,1] 0.7350221693522223 Centerline is valid? [False, False] Translation: X:-6.95, Y:0.10, Z:0.04 [[ 9.98975409e-01 -2.02483452e-02 -4.04739008e-02 -6.94511224e+00] [ 1.99790227e-02 9.99775559e-01 -7.04770759e-03 9.90404359e-02] [ 4.06075213e-02 6.23185759e-03 9.99155740e-01 3.95568467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.799111584999999 meters Centerline goodness [0,1] 0.7298261739342002 Centerline is valid? [False, False] Translation: X:-6.98, Y:0.10, Z:0.03 [[ 9.98889214e-01 -2.53583093e-02 -3.97151710e-02 -6.97726473e+00] [ 2.53022370e-02 9.99678015e-01 -1.91394417e-03 1.00272733e-01] [ 3.97509177e-02 9.06935512e-04 9.99209208e-01 3.32086568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829111584999999 meters Centerline goodness [0,1] 0.7373672621867945 Centerline is valid? [False, False] Translation: X:-7.03, Y:0.09, Z:0.04 [[ 9.99089799e-01 -1.94493233e-02 -3.79644245e-02 -7.02711336e+00] [ 1.94673085e-02 9.99810489e-01 1.04094467e-04 9.34135575e-02] [ 3.79552052e-02 -8.43064883e-04 9.99279086e-01 3.69138453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859111584999999 meters Centerline goodness [0,1] 0.7392741106884008 Centerline is valid? [False, False] Translation: X:-7.06, Y:0.09, Z:0.04 [[ 9.99119237e-01 -1.60014101e-02 -3.87905347e-02 -7.05978981e+00] [ 1.58381215e-02 9.99864383e-01 -4.51316981e-03 9.04184221e-02] [ 3.88574911e-02 3.89482558e-03 9.99237172e-01 3.90972514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889111584999998 meters Centerline goodness [0,1] 0.7442384142781685 Centerline is valid? [False, False] Translation: X:-7.11, Y:0.10, Z:0.04 [[ 9.98770271e-01 -2.26073671e-02 -4.41231553e-02 -7.11408640e+00] [ 2.25217467e-02 9.99743384e-01 -2.43669477e-03 9.60171265e-02] [ 4.41669199e-02 1.43996777e-03 9.99023128e-01 3.56380047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.919111584999999 meters Centerline goodness [0,1] 0.7414722742493899 Centerline is valid? [False, False] Translation: X:-7.15, Y:0.09, Z:0.04 [[ 9.99021287e-01 -1.36474948e-02 -4.20739169e-02 -7.14653511e+00] [ 1.35146689e-02 9.99902756e-01 -3.43979709e-03 8.98286814e-02] [ 4.21167701e-02 2.86781546e-03 9.99108579e-01 4.26366059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949111584999999 meters Centerline goodness [0,1] 0.7458019360483166 Centerline is valid? [False, False] Translation: X:-7.18, Y:0.09, Z:0.05 [[ 9.99108382e-01 -7.15440219e-03 -4.16083609e-02 -7.17822662e+00] [ 6.87953655e-03 9.99953584e-01 -6.74545886e-03 8.67665865e-02] [ 4.16546893e-02 6.45319825e-03 9.99111227e-01 4.77048953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.979111584999998 meters Centerline goodness [0,1] 0.7443988103668036 Centerline is valid? [False, False] Translation: X:-7.23, Y:0.08, Z:0.05 [[ 9.99015150e-01 -7.36948566e-03 -4.37540955e-02 -7.22643397e+00] [ 6.82526202e-03 9.99897642e-01 -1.25746213e-02 8.29148228e-02] [ 4.38422854e-02 1.22636040e-02 9.98963192e-01 5.40221250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009111585 meters Centerline goodness [0,1] 0.73515968852274 Centerline is valid? [False, False] Translation: X:-7.26, Y:0.09, Z:0.04 [[ 9.99043118e-01 -8.78630117e-03 -4.28444672e-02 -7.25698139e+00] [ 8.64171554e-03 9.99956327e-01 -3.55870925e-03 8.60160511e-02] [ 4.28738640e-02 3.18505429e-03 9.99075416e-01 4.34526582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.039111584999999 meters Centerline goodness [0,1] 0.7537154989384289 Centerline is valid? [False, False] Translation: X:-7.28, Y:0.09, Z:0.05 [[ 9.99112764e-01 -9.84070534e-03 -4.09493123e-02 -7.27631638e+00] [ 9.78940338e-03 9.99951027e-01 -1.45315143e-03 8.54115525e-02] [ 4.09616069e-02 1.05099281e-03 9.99160168e-01 5.00541327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069111585 meters Centerline goodness [0,1] 0.7674850128461319 Centerline is valid? [False, False] Translation: X:-7.30, Y:0.08, Z:0.06 [[ 9.99178981e-01 -4.92339524e-03 -4.02134753e-02 -7.29611941e+00] [ 4.55510334e-03 9.99946890e-01 -9.24491713e-03 7.68246805e-02] [ 4.02568559e-02 9.05415034e-03 9.99148341e-01 5.81310259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.099111585 meters Centerline goodness [0,1] 0.7235313920215451 Centerline is valid? [False, False] Translation: X:-7.33, Y:0.08, Z:0.06 [[ 0.99887435 -0.01306503 -0.04559984 -7.3309271 ] [ 0.01255941 0.99985663 -0.01135733 0.07895919] [ 0.04574168 0.01077184 0.99889522 0.05522887] [ 0. 0. 0. 1. ]] SLAMing on 8.129111585 meters Centerline goodness [0,1] 0.7255173583625467 Centerline is valid? [False, False] Translation: X:-7.35, Y:0.07, Z:0.06 [[ 9.98901172e-01 -4.26424402e-03 -4.66718885e-02 -7.34702832e+00] [ 3.51881727e-03 9.99865124e-01 -1.60421660e-02 7.11609012e-02] [ 4.67340013e-02 1.58603085e-02 9.98781449e-01 6.21117282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.159111585 meters Centerline goodness [0,1] 0.7258555457571189 Centerline is valid? [False, False] Translation: X:-7.36, Y:0.07, Z:0.07 [[ 9.98864370e-01 -7.78329168e-03 -4.70041503e-02 -7.36318620e+00] [ 6.97317558e-03 9.99824736e-01 -1.73744427e-02 7.49829454e-02] [ 4.71311426e-02 1.70269436e-02 9.98743580e-01 6.68050443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189111585 meters Centerline goodness [0,1] 0.7155663062037564 Centerline is valid? [False, False] Translation: X:-7.39, Y:0.08, Z:0.06 [[ 0.99877204 -0.01200775 -0.04806492 -7.38534687] [ 0.01124083 0.99980567 -0.01619441 0.08074842] [ 0.04825003 0.01563423 0.99871292 0.06388232] [ 0. 0. 0. 1. ]] SLAMing on 8.219111585 meters Centerline goodness [0,1] 0.7496573386636207 Centerline is valid? [False, False] Translation: X:-7.41, Y:0.07, Z:0.07 [[ 9.98992017e-01 -1.94678208e-03 -4.48459495e-02 -7.41295574e+00] [ 1.13383950e-03 9.99834709e-01 -1.81457568e-02 7.28324610e-02] [ 4.48738627e-02 1.80766181e-02 9.98829101e-01 7.13280204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249111585 meters Centerline goodness [0,1] 0.735909594253102 Centerline is valid? [False, False] Translation: X:-7.42, Y:0.07, Z:0.08 [[ 9.99041693e-01 -2.85887508e-03 -4.36751935e-02 -7.42321613e+00] [ 2.07475076e-03 9.99836044e-01 -1.79883310e-02 7.48816625e-02] [ 4.37194591e-02 1.78804775e-02 9.98883826e-01 7.54316017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.279111584999999 meters Centerline goodness [0,1] 0.7295862166360684 Centerline is valid? [False, False] Translation: X:-7.43, Y:0.08, Z:0.08 [[ 9.98799073e-01 -8.44203620e-03 -4.82611948e-02 -7.43427690e+00] [ 7.33452896e-03 9.99706730e-01 -2.30794054e-02 7.51606961e-02] [ 4.84418784e-02 2.26977156e-02 9.98568074e-01 8.36536469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309111585 meters Centerline goodness [0,1] 0.7166619994399328 Centerline is valid? [False, False] Translation: X:-7.43, Y:0.08, Z:0.08 [[ 9.98858339e-01 -5.48162521e-03 -4.74549208e-02 -7.43489285e+00] [ 4.52585468e-03 9.99785217e-01 -2.02246708e-02 7.68364651e-02] [ 4.75555924e-02 1.99868070e-02 9.98668610e-01 8.14910736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.339111585 meters Centerline goodness [0,1] 0.7332190722373634 Centerline is valid? [False, False] Translation: X:-7.44, Y:0.08, Z:0.08 [[ 9.98933392e-01 -1.58007575e-03 -4.61473993e-02 -7.43649333e+00] [ 8.26682531e-04 9.99866146e-01 -1.63403241e-02 7.70726411e-02] [ 4.61670413e-02 1.62847462e-02 9.98800987e-01 8.02834471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369111584999999 meters Centerline goodness [0,1] 0.7391833729754219 Centerline is valid? [False, False] Translation: X:-7.44, Y:0.08, Z:0.08 [[ 9.98950563e-01 -2.34206341e-03 -4.57415191e-02 -7.43818917e+00] [ 1.57265139e-03 9.99856798e-01 -1.68496158e-02 7.69726736e-02] [ 4.57744317e-02 1.67599977e-02 9.98811195e-01 8.07307641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.399111585 meters Centerline goodness [0,1] 0.738387195888383 Centerline is valid? [False, False] Translation: X:-7.44, Y:0.07, Z:0.08 [[ 9.98931730e-01 -7.07559781e-03 -4.56654657e-02 -7.43895217e+00] [ 6.14442178e-03 9.99770982e-01 -2.04995061e-02 7.32093115e-02] [ 4.58000538e-02 2.01970192e-02 9.98746432e-01 8.12107524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429111585 meters Centerline goodness [0,1] 0.7357609185051779 Centerline is valid? [False, False] Translation: X:-7.44, Y:0.07, Z:0.08 [[ 9.98978489e-01 -7.45932977e-03 -4.45683451e-02 -7.44191312e+00] [ 6.58566272e-03 9.99783899e-01 -1.97176360e-02 6.96368979e-02] [ 4.47057942e-02 1.94039822e-02 9.98811733e-01 8.25754387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459111584999999 meters Centerline goodness [0,1] 0.7596573779267983 Centerline is valid? [False, False] Translation: X:-7.44, Y:0.07, Z:0.08 [[ 9.98959376e-01 -8.01770238e-03 -4.48985590e-02 -7.44408735e+00] [ 7.16065312e-03 9.99789694e-01 -1.92169784e-02 6.69320615e-02] [ 4.50431926e-02 1.88754777e-02 9.98806702e-01 8.47803620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489111585 meters Centerline goodness [0,1] 0.7674808769585122 Centerline is valid? [False, False] Translation: X:-7.45, Y:0.06, Z:0.09 [[ 0.99887325 -0.01446739 -0.04519878 -7.44875977] [ 0.01338789 0.99962002 -0.02409539 0.06291693] [ 0.0455302 0.02346312 0.99868738 0.08935231] [ 0. 0. 0. 1. ]] SLAMing on 8.519111585 meters Centerline goodness [0,1] 0.7177871837779308 Centerline is valid? [False, False] Translation: X:-7.84, Y:-1.65, Z:0.07 [[ 9.99100934e-01 -4.22841183e-02 -3.06216870e-03 -7.83709069e+00] [ 4.23859007e-02 9.97765152e-01 5.16540037e-02 -1.65114078e+00] [ 8.71181217e-04 -5.17373561e-02 9.98660346e-01 6.94519802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 468.87 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 ... 0%| | 0/284 [00:00