+ python -m lidar_slam --no-model /working/3c07f40a-3ae8-4f9d-89b9-e1ac1cfacd69 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/3c07f40a-3ae8-4f9d-89b9-e1ac1cfacd69 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 0.020869431 Adjusted end_distance from 9.223372036854776e+18 to 3.251749431 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020869431 meters Centerline goodness [0,1] 0.9153180975911056 Centerline is valid? [0, False] SLAMing on 0.050869431 meters Centerline goodness [0,1] 0.9220763208186918 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99999017e-01 1.77855450e-06 -1.40219189e-03 -2.63245160e-03] [-1.23900722e-06 9.99999926e-01 3.84789248e-04 -3.12467290e-03] [ 1.40219247e-03 -3.84787133e-04 9.99998943e-01 1.71894373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08086943099999999 meters Centerline goodness [0,1] 0.9146028157435001 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.00 [[ 9.99944259e-01 -4.89139165e-03 -9.35703327e-03 -2.12685721e-02] [ 4.90797933e-03 9.99986423e-01 1.75060913e-03 -2.12910098e-03] [ 9.34834331e-03 -1.79643567e-03 9.99954690e-01 4.93096111e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11086943099999999 meters Centerline goodness [0,1] 0.9295684625059277 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:0.01 [[ 9.99941425e-01 -7.60484832e-03 -7.70153411e-03 -2.90093833e-02] [ 7.59937588e-03 9.99970851e-01 -7.39579096e-04 -2.91497112e-03] [ 7.70693401e-03 6.81008923e-04 9.99970069e-01 5.30584610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.140869431 meters Centerline goodness [0,1] 0.9216269434302826 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.01 [[ 9.99952326e-01 -8.19851989e-03 -5.30385681e-03 -3.89994949e-02] [ 8.19391927e-03 9.99966034e-01 -8.88560159e-04 -5.40709026e-03] [ 5.31096154e-03 8.45058423e-04 9.99985540e-01 1.12986622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.170869431 meters Centerline goodness [0,1] 0.9313086601909915 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:0.01 [[ 0.99995102 -0.00357816 -0.00922739 -0.05502965] [ 0.00356397 0.99999244 -0.0015538 -0.0151886 ] [ 0.00923288 0.00152084 0.99995622 0.01080073] [ 0. 0. 0. 1. ]] SLAMing on 0.200869431 meters Centerline goodness [0,1] 0.9335078965815843 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:0.01 [[ 0.99986237 -0.00281451 -0.01634994 -0.07696828] [ 0.00276989 0.99999238 -0.00275103 -0.02015951] [ 0.01635756 0.00270537 0.99986255 0.0100413 ] [ 0. 0. 0. 1. ]] SLAMing on 0.23086943099999999 meters Centerline goodness [0,1] 0.9300485745321883 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.02, Z:0.02 [[ 0.99986025 -0.00312395 -0.01642292 -0.09030195] [ 0.00304558 0.99998387 -0.00479471 -0.02011866] [ 0.01643763 0.00474402 0.99985364 0.01555182] [ 0. 0. 0. 1. ]] SLAMing on 0.260869431 meters Centerline goodness [0,1] 0.928895830336409 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.02 [[ 9.99923704e-01 7.05478954e-05 -1.23523415e-02 -1.15385898e-01] [-1.61740792e-04 9.99972741e-01 -7.38179722e-03 -2.19375468e-02] [ 1.23514840e-02 7.38323190e-03 9.99896459e-01 2.05148045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.290869431 meters Centerline goodness [0,1] 0.9342905716802196 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.03, Z:0.02 [[ 0.99991881 0.00594618 -0.01127013 -0.14145631] [-0.00603997 0.99994726 -0.00830593 -0.02972331] [ 0.01122015 0.00837333 0.99990199 0.02280713] [ 0. 0. 0. 1. ]] SLAMing on 0.320869431 meters Centerline goodness [0,1] 0.9357234209332068 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.02 [[ 0.99983929 0.00805969 -0.01601359 -0.17930861] [-0.00814587 0.99995265 -0.00532395 -0.02904142] [ 0.01596993 0.00545354 0.9998576 0.02191727] [ 0. 0. 0. 1. ]] SLAMing on 0.35086943099999995 meters Centerline goodness [0,1] 0.9226038140840419 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.03, Z:0.02 [[ 0.99977254 0.00770152 -0.01988877 -0.22203728] [-0.00781048 0.99995488 -0.00540632 -0.02629749] [ 0.01984624 0.00556043 0.99978758 0.02290785] [ 0. 0. 0. 1. ]] SLAMing on 0.380869431 meters Centerline goodness [0,1] 0.927197322766748 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.03, Z:0.03 [[ 0.99979952 0.00872822 -0.01802051 -0.2912922 ] [-0.00889329 0.99991905 -0.00910011 -0.02763364] [ 0.01793962 0.00925854 0.9997962 0.02777547] [ 0. 0. 0. 1. ]] SLAMing on 0.410869431 meters Centerline goodness [0,1] 0.9241122801249384 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.03, Z:0.03 [[ 0.99983213 0.00898989 -0.01596563 -0.3386891 ] [-0.009113 0.99992918 -0.00765494 -0.02760298] [ 0.01589568 0.00779915 0.99984324 0.03116452] [ 0. 0. 0. 1. ]] SLAMing on 0.440869431 meters Centerline goodness [0,1] 0.9166683804627249 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.03, Z:0.03 [[ 0.9997625 0.01156808 -0.01846962 -0.38772827] [-0.01168638 0.9999118 -0.00631033 -0.02896949] [ 0.018395 0.00652467 0.99980951 0.03101743] [ 0. 0. 0. 1. ]] SLAMing on 0.47086943099999995 meters Centerline goodness [0,1] 0.9004591973313016 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.03, Z:0.03 [[ 0.99960592 0.01361705 -0.0245476 -0.43719552] [-0.01379389 0.99988001 -0.00704898 -0.02865498] [ 0.02444867 0.00738481 0.99967381 0.02998634] [ 0. 0. 0. 1. ]] SLAMing on 0.500869431 meters Centerline goodness [0,1] 0.8773733195449844 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.03, Z:0.03 [[ 0.99948082 0.01316642 -0.02940645 -0.48184902] [-0.01340354 0.99987911 -0.00788095 -0.02684506] [ 0.02929914 0.00827101 0.99953647 0.03135965] [ 0. 0. 0. 1. ]] SLAMing on 0.5308694310000001 meters Centerline goodness [0,1] 0.8877687756406292 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.03, Z:0.03 [[ 0.99953614 0.01259643 -0.027728 -0.52496879] [-0.01279712 0.9998931 -0.00707215 -0.02685642] [ 0.02763595 0.00742371 0.99959049 0.0332616 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5608694310000001 meters Centerline goodness [0,1] 0.8741882109617374 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.03, Z:0.03 [[ 0.99961211 0.01647902 -0.02245161 -0.58567195] [-0.01663592 0.99983836 -0.00681977 -0.02845385] [ 0.02233559 0.00719063 0.99972467 0.03481655] [ 0. 0. 0. 1. ]] SLAMing on 0.590869431 meters Centerline goodness [0,1] 0.8950115530615613 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:0.04 [[ 0.99970988 0.01362531 -0.01986238 -0.6035026 ] [-0.01368713 0.99990189 -0.00297962 -0.01959702] [ 0.01981984 0.00325062 0.99979828 0.03539737] [ 0. 0. 0. 1. ]] SLAMing on 0.620869431 meters Centerline goodness [0,1] 0.8574254161859238 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.02, Z:0.04 [[ 0.99957352 0.01573042 -0.0246035 -0.65867531] [-0.01587459 0.99985788 -0.00567557 -0.01729814] [ 0.02451072 0.00606372 0.99968118 0.03527864] [ 0. 0. 0. 1. ]] SLAMing on 0.650869431 meters Centerline goodness [0,1] 0.8650144020556603 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:0.04 [[ 0.99954511 0.01483333 -0.02625906 -0.69357651] [-0.014919 0.99988399 -0.00306955 -0.01782846] [ 0.02621049 0.00345991 0.99965046 0.03578542] [ 0. 0. 0. 1. ]] SLAMing on 0.680869431 meters Centerline goodness [0,1] 0.8551309930620276 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.01, Z:0.04 [[ 9.99596174e-01 1.00681723e-02 -2.65729441e-02 -7.20355369e-01] [-1.00767949e-02 9.99949210e-01 -1.90594250e-04 -1.42074438e-02] [ 2.65696755e-02 4.58287389e-04 9.99646859e-01 3.87707167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.710869431 meters Centerline goodness [0,1] 0.8889373908705412 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:0.04 [[ 9.99716801e-01 4.28979922e-03 -2.34076105e-02 -7.44841339e-01] [-4.27684789e-03 9.99990672e-01 6.03330463e-04 -8.02669235e-03] [ 2.34099803e-02 -5.03048810e-04 9.99725822e-01 4.16771337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.740869431 meters Centerline goodness [0,1] 0.8598156013674505 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.01, Z:0.04 [[ 0.9997057 0.00624572 -0.02344145 -0.76635402] [-0.0063333 0.99997323 -0.00366376 -0.01324802] [ 0.02341794 0.00381114 0.9997185 0.04350147] [ 0. 0. 0. 1. ]] SLAMing on 0.770869431 meters Centerline goodness [0,1] 0.8609136209161228 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.01, Z:0.04 [[ 0.99962276 0.00530729 -0.02694773 -0.79708541] [-0.00535131 0.99998446 -0.00156157 -0.01350178] [ 0.02693902 0.00170518 0.99963562 0.04114758] [ 0. 0. 0. 1. ]] SLAMing on 0.8008694310000001 meters Centerline goodness [0,1] 0.8814486820669201 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.01, Z:0.04 [[ 0.99948243 0.00151463 -0.03213374 -0.82198392] [-0.00147777 0.99999822 0.00117057 -0.01043351] [ 0.03213545 -0.00112248 0.99948289 0.04218692] [ 0. 0. 0. 1. ]] SLAMing on 0.830869431 meters Centerline goodness [0,1] 0.8059391548125844 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.01, Z:0.05 [[ 9.99467047e-01 4.38060085e-04 -3.26409136e-02 -8.36294934e-01] [-4.88797892e-04 9.99998685e-01 -1.54646028e-03 -1.01353113e-02] [ 3.26401932e-02 1.56159090e-03 9.99465947e-01 4.83715748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.860869431 meters Centerline goodness [0,1] 0.8577570986436243 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.01, Z:0.05 [[ 9.99662901e-01 -7.87629695e-04 -2.59511818e-02 -8.75165407e-01] [ 7.63650203e-04 9.99999272e-01 -9.33920631e-04 -7.98648583e-03] [ 2.59518985e-02 9.13788182e-04 9.99662775e-01 4.95988892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.890869431 meters Centerline goodness [0,1] 0.8314311896034655 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.01, Z:0.05 [[ 0.99970027 0.00236278 -0.02436794 -0.89388386] [-0.00244385 0.99999158 -0.00329748 -0.01487794] [ 0.02435995 0.00335604 0.99969762 0.05001705] [ 0. 0. 0. 1. ]] SLAMing on 0.920869431 meters Centerline goodness [0,1] 0.8650420377923915 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.05 [[ 9.99653547e-01 7.78329468e-04 -2.63093286e-02 -9.22570234e-01] [-8.27694396e-04 9.99997917e-01 -1.86549006e-03 -1.65520781e-02] [ 2.63078218e-02 1.88661984e-03 9.99652109e-01 4.74278277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.950869431 meters Centerline goodness [0,1] 0.8869210093138583 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.05 [[ 9.99543098e-01 -4.91241449e-03 -2.98238699e-02 -9.44268596e-01] [ 4.92800242e-03 9.99987756e-01 4.49185996e-04 -1.31350202e-02] [ 2.98212982e-02 -5.95952865e-04 9.99555069e-01 4.86863760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.980869431 meters Centerline goodness [0,1] 0.8869210093138583 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.05 [[ 9.99543098e-01 -4.91241449e-03 -2.98238699e-02 -9.44268596e-01] [ 4.92800242e-03 9.99987756e-01 4.49185996e-04 -1.31350202e-02] [ 2.98212982e-02 -5.95952865e-04 9.99555069e-01 4.86863760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.010869431 meters Centerline goodness [0,1] 0.8623346173170323 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.05 [[ 0.99961209 -0.00254164 -0.02773447 -0.96462319] [ 0.00244982 0.99999141 -0.00334397 -0.01537663] [ 0.02774273 0.00327473 0.99960973 0.04974485] [ 0. 0. 0. 1. ]] SLAMing on 1.040869431 meters Centerline goodness [0,1] 0.9115419315582971 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.05 [[ 9.99686312e-01 -1.49357374e-04 -2.50450500e-02 -9.84693822e-01] [-3.22798814e-05 9.99973704e-01 -7.25186023e-03 -1.65802158e-02] [ 2.50454746e-02 7.25039386e-03 9.99660020e-01 5.10805493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.070869431 meters Centerline goodness [0,1] 0.8737333556653546 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.01, Z:0.05 [[ 0.99957799 -0.00490284 -0.02863222 -1.0059605 ] [ 0.00478727 0.99998012 -0.00410352 -0.01123923] [ 0.02865177 0.00396471 0.99958159 0.0533425 ] [ 0. 0. 0. 1. ]] SLAMing on 1.100869431 meters Centerline goodness [0,1] 0.9062434395599782 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.06 [[ 9.99386306e-01 -9.56543539e-03 -3.36973987e-02 -1.02699303e+00] [ 9.53487121e-03 9.99953972e-01 -1.06760180e-03 -6.69436773e-03] [ 3.37060598e-02 7.45646261e-04 9.99431511e-01 5.53095778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1308694309999998 meters Centerline goodness [0,1] 0.9045150185764362 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.01, Z:0.06 [[ 0.99944869 -0.01276568 -0.03064885 -1.0649438 ] [ 0.01271902 0.99991764 -0.00171685 -0.00617885] [ 0.03066824 0.00132608 0.99952874 0.05575085] [ 0. 0. 0. 1. ]] SLAMing on 1.1608694309999998 meters Centerline goodness [0,1] 0.9183870022193376 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.06 [[ 0.99956134 -0.01020538 -0.02780246 -1.0860172 ] [ 0.01009637 0.9999408 -0.0040583 -0.01113905] [ 0.02784223 0.00377581 0.9996052 0.05751552] [ 0. 0. 0. 1. ]] SLAMing on 1.1908694309999999 meters Centerline goodness [0,1] 0.9204792572766811 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:0.06 [[ 0.99955861 -0.0087659 -0.02838576 -1.09051114] [ 0.00869365 0.99995865 -0.00266777 -0.00999869] [ 0.02840797 0.00241982 0.99959348 0.06073569] [ 0. 0. 0. 1. ]] SLAMing on 1.220869431 meters Centerline goodness [0,1] 0.9004064197735662 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:0.06 [[ 0.99942329 -0.01116994 -0.03206729 -1.13196802] [ 0.01108073 0.99993423 -0.00295861 -0.00897104] [ 0.03209823 0.00260158 0.99948133 0.06051271] [ 0. 0. 0. 1. ]] SLAMing on 1.250869431 meters Centerline goodness [0,1] 0.8964273940992253 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:0.06 [[ 0.99946173 -0.00835459 -0.03172451 -1.15562721] [ 0.00818361 0.9999513 -0.00551545 -0.0114318 ] [ 0.03176904 0.00525286 0.99948143 0.06269697] [ 0. 0. 0. 1. ]] SLAMing on 1.280869431 meters Centerline goodness [0,1] 0.9222338204592901 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.01, Z:0.07 [[ 0.99941169 -0.00501424 -0.03392827 -1.18190569] [ 0.00477766 0.99996373 -0.00705038 -0.01146856] [ 0.03396239 0.00688413 0.9993994 0.06509899] [ 0. 0. 0. 1. ]] SLAMing on 1.310869431 meters Centerline goodness [0,1] 0.922566371681416 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:0.06 [[ 0.99927169 -0.0054739 -0.03776404 -1.2157781 ] [ 0.0052306 0.99996494 -0.00653861 -0.00861866] [ 0.03779851 0.00633632 0.99926529 0.06308587] [ 0. 0. 0. 1. ]] SLAMing on 1.3408694309999998 meters Centerline goodness [0,1] 0.9138108545374319 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:0.06 [[ 0.99924169 -0.00594604 -0.03847963 -1.25082619] [ 0.00570945 0.99996413 -0.00625551 -0.00434933] [ 0.03851545 0.00603107 0.9992398 0.06136023] [ 0. 0. 0. 1. ]] SLAMing on 1.3708694309999998 meters Centerline goodness [0,1] 0.9270434260390565 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:0.07 [[ 0.99928234 -0.00401661 -0.03766532 -1.27827719] [ 0.00361471 0.99993588 -0.01073216 -0.00436007] [ 0.03770601 0.01058831 0.99923278 0.0660636 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4008694309999998 meters Centerline goodness [0,1] 0.9368655350307872 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.00, Z:0.07 [[ 9.99399279e-01 -4.37163560e-03 -3.43797966e-02 -1.31303702e+00] [ 4.06018544e-03 9.99950135e-01 -9.12370752e-03 -7.17469628e-04] [ 3.44179678e-02 8.97863836e-03 9.99367194e-01 6.65059982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4308694309999999 meters Centerline goodness [0,1] 0.9460851505711318 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:0.07 [[ 0.99925605 -0.00644905 -0.03802321 -1.33983821] [ 0.00636812 0.99997719 -0.00224939 0.00219043] [ 0.03803685 0.00200558 0.99927432 0.06952609] [ 0. 0. 0. 1. ]] SLAMing on 1.4608694309999999 meters Centerline goodness [0,1] 0.9450672182006205 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.00, Z:0.07 [[ 9.99241845e-01 -8.27429922e-03 -3.80430241e-02 -1.37292329e+00] [ 8.20958583e-03 9.99964577e-01 -1.85696138e-03 1.11061600e-03] [ 3.80570415e-02 1.54323604e-03 9.99274377e-01 6.67884880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.490869431 meters Centerline goodness [0,1] 0.9545520485772905 Centerline is valid? [False, True] Translation: X:-1.41, Y:0.00, Z:0.07 [[ 0.9992105 -0.00866435 -0.03877236 -1.40866927] [ 0.00833709 0.99992831 -0.00859418 0.00287637] [ 0.03884405 0.00826415 0.99921111 0.07182039] [ 0. 0. 0. 1. ]] SLAMing on 1.520869431 meters Centerline goodness [0,1] 0.9523799673155293 Centerline is valid? [True, True] Translation: X:-1.44, Y:0.02, Z:0.07 [[ 0.99921359 -0.00963113 -0.03846344 -1.4390409 ] [ 0.00953007 0.99995064 -0.00281 0.01596176] [ 0.03848861 0.00244123 0.99925606 0.06723849] [ 0. 0. 0. 1. ]] SLAMing on 1.550869431 meters Centerline goodness [0,1] 0.962051069130164 Centerline is valid? [True, True] Translation: X:-1.47, Y:-0.00, Z:0.07 [[ 0.99898878 -0.01282233 -0.04309294 -1.46567762] [ 0.0126985 0.99991442 -0.00314604 -0.00340203] [ 0.0431296 0.00259564 0.99906611 0.0654963 ] [ 0. 0. 0. 1. ]] SLAMing on 1.580869431 meters Centerline goodness [0,1] 0.9634406818323207 Centerline is valid? [True, True] Translation: X:-1.49, Y:-0.00, Z:0.07 [[ 0.99897718 -0.01363388 -0.0431127 -1.49494239] [ 0.01351097 0.99990379 -0.00314088 -0.00208214] [ 0.04315137 0.00255517 0.99906528 0.0653978 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6108694309999998 meters Centerline goodness [0,1] 0.9648511256354394 Centerline is valid? [True, True] Translation: X:-1.53, Y:0.00, Z:0.07 [[ 0.99906522 -0.01586686 -0.04021108 -1.52520497] [ 0.01576192 0.99987149 -0.00292541 0.00274859] [ 0.04025233 0.00228888 0.99918692 0.07303831] [ 0. 0. 0. 1. ]] SLAMing on 1.6408694309999998 meters Centerline goodness [0,1] 0.9711643202137499 Centerline is valid? [True, True] Translation: X:-1.55, Y:-0.00, Z:0.08 [[ 0.99901576 -0.01781383 -0.04062245 -1.55382402] [ 0.01770839 0.99983883 -0.002954 -0.00300089] [ 0.04066853 0.00223174 0.9991702 0.07512245] [ 0. 0. 0. 1. ]] SLAMing on 1.6708694309999998 meters Centerline goodness [0,1] 0.9744880070946852 Centerline is valid? [True, True] Translation: X:-1.58, Y:-0.00, Z:0.08 [[ 0.99889529 -0.01904841 -0.04295768 -1.58324792] [ 0.0189319 0.99981592 -0.00311747 -0.00189374] [ 0.04300916 0.00230075 0.99907203 0.07655597] [ 0. 0. 0. 1. ]] SLAMing on 1.7008694309999999 meters Centerline goodness [0,1] 0.9759428230108546 Centerline is valid? [True, True] Translation: X:-1.61, Y:0.00, Z:0.07 [[ 0.99890627 -0.02029776 -0.04212199 -1.61290109] [ 0.02018706 0.99979156 -0.00305177 0.00408034] [ 0.04217515 0.00219811 0.99910781 0.07482517] [ 0. 0. 0. 1. ]] SLAMing on 1.730869431 meters Centerline goodness [0,1] 0.9797855293972636 Centerline is valid? [True, True] Translation: X:-1.64, Y:-0.00, Z:0.08 [[ 0.99890089 -0.02172565 -0.04153323 -1.64081825] [ 0.02161934 0.99976175 -0.00300717 -0.00439732] [ 0.04158867 0.00210595 0.9991326 0.07626039] [ 0. 0. 0. 1. ]] SLAMing on 1.760869431 meters Centerline goodness [0,1] 0.9795772198006835 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.00, Z:0.08 [[ 9.98811675e-01 -2.11307298e-02 -4.39173023e-02 -1.66962964e+00] [ 2.10113900e-02 9.99774188e-01 -3.17725739e-03 2.82157686e-04] [ 4.39745230e-02 2.25071821e-03 9.99030117e-01 8.03558993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.790869431 meters Centerline goodness [0,1] 0.9849141489186066 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.01, Z:0.08 [[ 0.99871506 -0.0184748 -0.04719026 -1.70059574] [ 0.01833412 0.99982609 -0.00341219 0.01344188] [ 0.04724509 0.00254261 0.99888009 0.07844408] [ 0. 0. 0. 1. ]] SLAMing on 1.8208694309999998 meters Centerline goodness [0,1] 0.9834281474152857 Centerline is valid? [True, True] Translation: X:-1.73, Y:0.01, Z:0.07 [[ 0.99868196 -0.0177648 -0.04815345 -1.7286765 ] [ 0.01761784 0.99983876 -0.0034748 0.00630355] [ 0.04820741 0.00262186 0.99883391 0.07233336] [ 0. 0. 0. 1. ]] SLAMing on 1.8508694309999998 meters Centerline goodness [0,1] 0.9848161084857202 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.00, Z:0.07 [[ 9.98646873e-01 -1.89076892e-02 -4.84450419e-02 -1.75754038e+00] [ 1.87607959e-02 9.99817927e-01 -3.48511305e-03 1.59714324e-03] [ 4.85021168e-02 2.57152971e-03 9.98819769e-01 7.19131922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8808694309999998 meters Centerline goodness [0,1] 0.9859396646196472 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.01, Z:0.08 [[ 0.9986021 -0.0220625 -0.04803227 -1.78758744] [ 0.02192196 0.99975373 -0.00345084 0.00681126] [ 0.04809658 0.00239305 0.99883982 0.0765951 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9108694309999998 meters Centerline goodness [0,1] 0.9847249670619236 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.01, Z:0.07 [[ 0.99855894 -0.02367564 -0.04816136 -1.81696755] [ 0.02353632 0.999717 -0.00345776 0.0106613 ] [ 0.0482296 0.00231923 0.99883358 0.07159223] [ 0. 0. 0. 1. ]] SLAMing on 1.9408694309999999 meters Centerline goodness [0,1] 0.9815949662847656 Centerline is valid? [True, True] Translation: X:-1.85, Y:0.02, Z:0.07 [[ 0.99857719 -0.02384111 -0.04769899 -1.84659465] [ 0.02370502 0.99971316 -0.00341685 0.01745373] [ 0.04776677 0.00228128 0.99885591 0.065718 ] [ 0. 0. 0. 1. ]] SLAMing on 1.970869431 meters Centerline goodness [0,1] 0.9823130932526201 Centerline is valid? [True, True] Translation: X:-1.87, Y:0.01, Z:0.07 [[ 0.99861153 -0.0248083 -0.04647106 -1.87437255] [ 0.02468042 0.99968987 -0.00332363 0.00601608] [ 0.0465391 0.00217209 0.99891411 0.06927098] [ 0. 0. 0. 1. ]] SLAMing on 2.000869431 meters Centerline goodness [0,1] 0.9801722370309617 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.01, Z:0.07 [[ 0.99869801 -0.02228177 -0.04588914 -1.90326559] [ 0.02215454 0.99974918 -0.00327944 0.00676803] [ 0.04595071 0.00225851 0.99894116 0.06696766] [ 0. 0. 0. 1. ]] SLAMing on 2.0308694309999997 meters Centerline goodness [0,1] 0.982274496811066 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.01, Z:0.07 [[ 0.99875998 -0.02035408 -0.04543353 -1.93328878] [ 0.02022768 0.99979015 -0.00324016 0.01309963] [ 0.04548995 0.00231713 0.99896211 0.07410399] [ 0. 0. 0. 1. ]] SLAMing on 2.060869431 meters Centerline goodness [0,1] 0.9791585147352596 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.02, Z:0.07 [[ 0.99885808 -0.01763082 -0.04440383 -1.96427433] [ 0.01750759 0.99984173 -0.00316266 0.02302454] [ 0.04445256 0.00238164 0.99900866 0.07320428] [ 0. 0. 0. 1. ]] SLAMing on 2.090869431 meters Centerline goodness [0,1] 0.9780002878467011 Centerline is valid? [True, True] Translation: X:-1.99, Y:0.03, Z:0.06 [[ 0.99887171 -0.01470297 -0.04515665 -1.99346212] [ 0.01457259 0.99988865 -0.00321514 0.02776676] [ 0.0451989 0.00255346 0.99897474 0.06485962] [ 0. 0. 0. 1. ]] SLAMing on 2.120869431 meters Centerline goodness [0,1] 0.9764786056500908 Centerline is valid? [True, True] Translation: X:-2.02, Y:0.04, Z:0.06 [[ 0.99871485 -0.01131489 -0.04940272 -2.0242337 ] [ 0.01115472 0.9999316 -0.00351657 0.03501653] [ 0.04943913 0.00296097 0.99877275 0.06226578] [ 0. 0. 0. 1. ]] SLAMing on 2.150869431 meters Centerline goodness [0,1] 0.9757898210014023 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.04, Z:0.06 [[ 0.99872295 -0.01059718 -0.04939815 -2.05313142] [ 0.01043652 0.99993938 -0.00350924 0.03928777] [ 0.04943235 0.00298921 0.998773 0.06001702] [ 0. 0. 0. 1. ]] SLAMing on 2.180869431 meters Centerline goodness [0,1] 0.977386312006939 Centerline is valid? [True, True] Translation: X:-2.08, Y:0.05, Z:0.06 [[ 0.99872657 -0.01292062 -0.04876775 -2.08364281] [ 0.01276701 0.99991251 -0.00346003 0.04528822] [ 0.04880819 0.002833 0.99880415 0.06081501] [ 0. 0. 0. 1. ]] SLAMing on 2.210869431 meters Centerline goodness [0,1] 0.9797406471392468 Centerline is valid? [True, True] Translation: X:-2.11, Y:0.05, Z:0.07 [[ 0.99877465 -0.01513013 -0.04711973 -2.11444053] [ 0.01498922 0.99988207 -0.00334224 0.05249752] [ 0.04716474 0.00263186 0.99888366 0.06756887] [ 0. 0. 0. 1. ]] SLAMing on 2.2408694309999997 meters Centerline goodness [0,1] 0.9772120166029672 Centerline is valid? [True, True] Translation: X:-2.14, Y:0.06, Z:0.06 [[ 0.99866803 -0.01797417 -0.04836421 -2.14473519] [ 0.0178291 0.99983517 -0.00342918 0.06468313] [ 0.04841787 0.00256232 0.99882388 0.056056 ] [ 0. 0. 0. 1. ]] SLAMing on 2.270869431 meters Centerline goodness [0,1] 0.9822438944098101 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.06, Z:0.05 [[ 0.99842427 -0.01888629 -0.0528421 -2.17259149] [ 0.0187145 0.99981786 -0.00374392 0.05662283] [ 0.05290318 0.0027491 0.99859586 0.05453166] [ 0. 0. 0. 1. ]] SLAMing on 2.3008694309999997 meters Centerline goodness [0,1] 0.984181141439206 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.06, Z:0.05 [[ 0.9982188 -0.02292595 -0.05507842 -2.20217855] [ 0.02274558 0.99973368 -0.00389948 0.06038817] [ 0.05515315 0.00263974 0.99847442 0.0514673 ] [ 0. 0. 0. 1. ]] SLAMing on 2.330869431 meters Centerline goodness [0,1] 0.9838324339910203 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.07, Z:0.06 [[ 0.99833208 -0.02394201 -0.05253424 -2.23309601] [ 0.02377944 0.99971032 -0.00371761 0.07111498] [ 0.05260803 0.00246217 0.9986122 0.05586965] [ 0. 0. 0. 1. ]] SLAMing on 2.360869431 meters Centerline goodness [0,1] 0.9844232272933042 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.08, Z:0.06 [[ 0.9984878 -0.02239017 -0.05020759 -2.26250302] [ 0.02224011 0.99974637 -0.00354555 0.08183705] [ 0.05027424 0.00242356 0.99873251 0.06002236] [ 0. 0. 0. 1. ]] SLAMing on 2.390869431 meters Centerline goodness [0,1] 0.9850651348856293 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.11, Z:0.05 [[ 0.99823158 -0.01670642 -0.0570492 -2.29401861] [ 0.01650366 0.99985571 -0.00402338 0.10804885] [ 0.05710818 0.00307474 0.99836326 0.04982136] [ 0. 0. 0. 1. ]] SLAMing on 2.420869431 meters Centerline goodness [0,1] 0.9860037816507727 Centerline is valid? [True, True] Translation: X:-2.32, Y:0.12, Z:0.05 [[ 0.99828455 -0.01523784 -0.05653108 -2.32416887] [ 0.01503691 0.99987903 -0.00397813 0.12438317] [ 0.05658486 0.00312125 0.99839291 0.05301672] [ 0. 0. 0. 1. ]] SLAMing on 2.4508694309999997 meters Centerline goodness [0,1] 0.9872893576696469 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.13, Z:0.06 [[ 0.99846116 -0.01289073 -0.05393639 -2.35317226] [ 0.01270478 0.99991211 -0.00378896 0.13366727] [ 0.05398049 0.00309788 0.99853719 0.05540256] [ 0. 0. 0. 1. ]] SLAMing on 2.480869431 meters Centerline goodness [0,1] 0.9875353406112636 Centerline is valid? [True, True] Translation: X:-2.38, Y:0.14, Z:0.06 [[ 0.99834286 -0.01337536 -0.05596992 -2.3823161 ] [ 0.01317643 0.9999055 -0.00392187 0.14415934] [ 0.05601708 0.00317789 0.99842475 0.05531223] [ 0. 0. 0. 1. ]] SLAMing on 2.5108694309999997 meters Centerline goodness [0,1] 0.9871945561398082 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.16, Z:0.05 [[ 0.99815766 -0.01466676 -0.05887412 -2.4127892 ] [ 0.01444961 0.99988714 -0.00411254 0.16167395] [ 0.05892779 0.00325425 0.99825694 0.04982657] [ 0. 0. 0. 1. ]] SLAMing on 2.540869431 meters Centerline goodness [0,1] 0.9896879795396419 Centerline is valid? [True, True] Translation: X:-2.44, Y:0.18, Z:0.05 [[ 0.99827479 -0.01414543 -0.05698555 -2.44318082] [ 0.01394185 0.99989493 -0.00396836 0.18432051] [ 0.0570357 0.00316703 0.99836712 0.04663737] [ 0. 0. 0. 1. ]] SLAMing on 2.5708694309999998 meters Centerline goodness [0,1] 0.9918026033942989 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.20, Z:0.06 [[ 0.99851274 -0.01082189 -0.05343394 -2.47209546] [ 0.01063855 0.99993651 -0.0037145 0.20023555] [ 0.05347074 0.00314052 0.99856448 0.0593677 ] [ 0. 0. 0. 1. ]] SLAMing on 2.600869431 meters Centerline goodness [0,1] 0.9882641696229684 Centerline is valid? [True, True] Translation: X:-2.50, Y:0.22, Z:0.07 [[ 0.99852542 -0.00615815 -0.05393575 -2.50362533] [ 0.00596469 0.99997519 -0.00374708 0.22399549] [ 0.05395748 0.00341985 0.99853738 0.0654213 ] [ 0. 0. 0. 1. ]] SLAMing on 2.630869431 meters Centerline goodness [0,1] 0.9894036471168063 Centerline is valid? [True, True] Translation: X:-2.53, Y:0.24, Z:0.05 [[ 0.99848716 -0.0039587 -0.05484271 -2.53456808] [ 0.00375543 0.99998569 -0.00380907 0.23604413] [ 0.054857 0.00359735 0.99848774 0.0527426 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6608694309999996 meters Centerline goodness [0,1] 0.9879943065783774 Centerline is valid? [True, True] Translation: X:-2.56, Y:0.25, Z:0.04 [[ 0.99836361 -0.00361781 -0.0570703 -2.5641991 ] [ 0.00339758 0.9999864 -0.00395557 0.24597263] [ 0.05708383 0.00375519 0.99836233 0.0402663 ] [ 0. 0. 0. 1. ]] SLAMing on 2.690869431 meters Centerline goodness [0,1] 0.9872443187681892 Centerline is valid? [True, True] Translation: X:-2.59, Y:0.26, Z:0.04 [[ 0.9983653 -0.00522561 -0.05691598 -2.59478806] [ 0.00500945 0.99997969 -0.00393997 0.26144491] [ 0.05693542 0.00364841 0.9983712 0.03879926] [ 0. 0. 0. 1. ]] SLAMing on 2.7208694309999997 meters Centerline goodness [0,1] 0.9914691943127962 Centerline is valid? [True, True] Translation: X:-2.62, Y:0.28, Z:0.04 [[ 0.99851555 -0.00411681 -0.05431151 -2.62413578] [ 0.00391856 0.99998527 -0.00375632 0.27675703] [ 0.05432618 0.00353792 0.99851698 0.0412171 ] [ 0. 0. 0. 1. ]] SLAMing on 2.750869431 meters Centerline goodness [0,1] 0.9923945752092007 Centerline is valid? [True, True] Translation: X:-2.65, Y:0.28, Z:0.04 [[ 0.99855983 -0.00458187 -0.05345343 -2.65176466] [ 0.00439072 0.99998354 -0.0036928 0.27790139] [ 0.05346947 0.00345278 0.99856352 0.04129968] [ 0. 0. 0. 1. ]] SLAMing on 2.7808694309999997 meters Centerline goodness [0,1] 0.9904859967051071 Centerline is valid? [True, True] Translation: X:-2.68, Y:0.30, Z:0.03 [[ 0.99850115 -0.00352984 -0.0546167 -2.68236438] [ 0.0033292 0.99998737 -0.00376415 0.2968699 ] [ 0.0546293 0.00357668 0.9985003 0.03428099] [ 0. 0. 0. 1. ]] SLAMing on 2.810869431 meters Centerline goodness [0,1] 0.9945939253879168 Centerline is valid? [True, True] Translation: X:-2.71, Y:0.30, Z:0.04 [[ 0.99843678 -0.00463581 -0.05570008 -2.71067102] [ 0.00442922 0.99998285 -0.00383191 0.29695946] [ 0.05571689 0.00357921 0.99844019 0.03567672] [ 0. 0. 0. 1. ]] SLAMing on 2.840869431 meters Centerline goodness [0,1] 0.9934435634232794 Centerline is valid? [True, True] Translation: X:-2.74, Y:0.31, Z:0.03 [[ 0.99854189 -0.00538458 -0.05371315 -2.74025081] [ 0.00519377 0.9999797 -0.00369127 0.30546253] [ 0.05373194 0.00340691 0.99854958 0.03268281] [ 0. 0. 0. 1. ]] SLAMing on 2.870869431 meters Centerline goodness [0,1] 0.9951626183614656 Centerline is valid? [True, True] Translation: X:-2.77, Y:0.31, Z:0.03 [[ 0.99872062 -0.00738569 -0.05002581 -2.77108221] [ 0.0072228 0.99996801 -0.0034361 0.31305674] [ 0.05004959 0.00307037 0.99874201 0.03344912] [ 0. 0. 0. 1. ]] SLAMing on 2.900869431 meters Centerline goodness [0,1] 0.9951626183614656 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.31, Z:0.03 [[ 0.99872242 -0.00713299 -0.05002639 -2.79848102] [ 0.00697021 0.99996983 -0.00342773 0.31101159] [ 0.05004933 0.00307466 0.99874201 0.03294714] [ 0. 0. 0. 1. ]] SLAMing on 2.9308694309999996 meters Centerline goodness [0,1] 0.9943304813936708 Centerline is valid? [True, True] Translation: X:-2.83, Y:0.32, Z:0.03 [[ 0.99867162 -0.00612987 -0.05116066 -2.82823163] [ 0.00595865 0.99997613 -0.00349864 0.32458987] [ 0.05118088 0.00318914 0.99868431 0.02971067] [ 0. 0. 0. 1. ]] SLAMing on 2.960869431 meters Centerline goodness [0,1] 0.9915652711899361 Centerline is valid? [True, True] Translation: X:-2.86, Y:0.34, Z:0.03 [[ 0.9986193 -0.00374506 -0.05239728 -2.85924514] [ 0.00356227 0.99998724 -0.00358151 0.33510233] [ 0.05241003 0.00338991 0.9986199 0.02585551] [ 0. 0. 0. 1. ]] SLAMing on 2.9908694309999997 meters Centerline goodness [0,1] 0.992678512668641 Centerline is valid? [True, True] Translation: X:-2.89, Y:0.34, Z:0.03 [[ 9.98632258e-01 -3.31056475e-04 -5.22829149e-02 -2.88816534e+00] [ 1.44504074e-04 9.99993610e-01 -3.57187295e-03 3.38450046e-01] [ 5.22837633e-02 3.55943245e-03 9.98625925e-01 2.50167308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.020869431 meters Centerline goodness [0,1] 0.9926849371522769 Centerline is valid? [True, True] Translation: X:-2.92, Y:0.34, Z:0.03 [[ 9.98725066e-01 2.68220484e-03 -5.04088175e-02 -2.91715999e+00] [-2.85930539e-03 9.99989990e-01 -3.44150041e-03 3.40199208e-01] [ 5.03990821e-02 3.58124693e-03 9.98722738e-01 2.59540217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0508694309999997 meters Centerline goodness [0,1] 0.9852886482912517 Centerline is valid? [True, True] Translation: X:-2.95, Y:0.35, Z:0.02 [[ 0.99868783 0.00646901 -0.05080127 -2.94776443] [-0.00665367 0.99997185 -0.0034667 0.35478107] [ 0.05077741 0.00380017 0.99870277 0.02190226] [ 0. 0. 0. 1. ]] SLAMing on 3.080869431 meters Centerline goodness [0,1] 0.9840811017281605 Centerline is valid? [True, True] Translation: X:-2.98, Y:0.37, Z:0.02 [[ 0.99858537 0.00886101 -0.05242849 -2.97791238] [-0.00906091 0.99995255 -0.00357633 0.36680804] [ 0.05239431 0.00404632 0.99861828 0.0199454 ] [ 0. 0. 0. 1. ]] SLAMing on 3.110869431 meters Centerline goodness [0,1] 0.9776958563308344 Centerline is valid? [True, True] Translation: X:-3.01, Y:0.38, Z:0.01 [[ 0.99862224 0.01043622 -0.05142672 -3.00774595] [-0.01063041 0.99993736 -0.0035039 0.37661247] [ 0.05138693 0.00404576 0.99867062 0.01332124] [ 0. 0. 0. 1. ]] SLAMing on 3.140869431 meters Centerline goodness [0,1] 0.9815843980066854 Centerline is valid? [True, True] Translation: X:-3.04, Y:0.37, Z:0.01 [[ 0.99867003 0.01150525 -0.05025734 -3.03565581] [-0.01169182 0.9999258 -0.00341985 0.3723 ] [ 0.05021427 0.0040029 0.99873045 0.01480467] [ 0. 0. 0. 1. ]] SLAMing on 3.170869431 meters Centerline goodness [0,1] 0.9806119295353868 Centerline is valid? [True, True] Translation: X:-3.06, Y:0.37, Z:0.01 [[ 0.99852027 0.01096134 -0.05326464 -3.06479059] [-0.01116968 0.99993108 -0.00361545 0.37393802] [ 0.05322134 0.00420504 0.99857389 0.01017858] [ 0. 0. 0. 1. ]] SLAMing on 3.2008694309999997 meters Centerline goodness [0,1] 0.983833480737983 Centerline is valid? [True, True] Translation: X:-3.09, Y:0.38, Z:0.00 [[ 0.99847888 0.01049178 -0.05412815 -3.09358225] [-0.01070562 0.99993599 -0.00366228 0.37722453] [ 0.05408626 0.00423618 0.99852728 0.00483025] [ 0. 0. 0. 1. ]] SLAMing on 3.230869431 meters Centerline goodness [0,1] 0.9877011968633925 Centerline is valid? [True, True] Translation: X:-3.12, Y:0.37, Z:0.01 [[ 0.99863619 0.00683769 -0.05175902 -3.12252565] [-0.0070281 0.99996919 -0.00349768 0.37392082] [ 0.05173351 0.00385668 0.99865348 0.00557867] [ 0. 0. 0. 1. ]] Total time of SLAM: 131.89 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%| | 0/108 [00:00