+ python -m lidar_slam --no-model /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.027535379 Adjusted end_distance from 9.223372036854776e+18 to 4.997535379 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027535379 meters Centerline goodness [0,1] 0.934033468472354 Centerline is valid? [0, False] SLAMing on 0.057535379 meters Centerline goodness [0,1] 0.9271666775081854 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99997843e-01 -1.86583436e-03 -9.12957936e-04 2.94778637e-03] [ 1.86417090e-03 9.99996607e-01 -1.81952832e-03 5.33251731e-03] [ 9.16349776e-04 1.81782249e-03 9.99997928e-01 -5.83947587e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.087535379 meters Centerline goodness [0,1] 0.9209590133891032 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99998972 -0.00402042 -0.00209806 0.00668616] [ 0.00401229 0.99998447 -0.00386783 0.01143353] [ 0.00211358 0.00385937 0.99999032 -0.0012975 ] [ 0. 0. 0. 1. ]] SLAMing on 0.117535379 meters Centerline goodness [0,1] 0.9158089033659066 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999193 -0.00255849 -0.00309682 0.00973532] [ 0.0025544 0.99999586 -0.0013236 0.01434371] [ 0.0031002 0.00131568 0.99999433 -0.00144135] [ 0. 0. 0. 1. ]] SLAMing on 0.147535379 meters Centerline goodness [0,1] 0.906339994763941 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.00 [[ 9.99955642e-01 -5.77472530e-03 -7.44091750e-03 2.12958308e-02] [ 5.76903809e-03 9.99983050e-01 -7.85553707e-04 2.65643960e-02] [ 7.44532773e-03 7.42591925e-04 9.99972007e-01 2.63738941e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.177535379 meters Centerline goodness [0,1] 0.8995220484872077 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.00 [[ 0.99998527 -0.00448128 -0.00306268 0.04001984] [ 0.00447152 0.99998493 -0.00318488 0.03251587] [ 0.00307691 0.00317114 0.99999024 -0.00136226] [ 0. 0. 0. 1. ]] SLAMing on 0.207535379 meters Centerline goodness [0,1] 0.896025727385324 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.00 [[ 9.99988963e-01 -2.50141624e-03 -3.97712361e-03 4.24917479e-02] [ 2.49906237e-03 9.99996699e-01 -5.96711864e-04 3.68225546e-02] [ 3.97860310e-03 5.86766198e-04 9.99991913e-01 -8.67850688e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.237535379 meters Centerline goodness [0,1] 0.8835608980640666 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:0.00 [[ 9.99975546e-01 -2.53450615e-03 -6.51801189e-03 4.92733695e-02] [ 2.53216687e-03 9.99996727e-01 -3.67122426e-04 5.14826800e-02] [ 6.51892103e-03 3.50608754e-04 9.99978690e-01 2.51637842e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.267535379 meters Centerline goodness [0,1] 0.879367014213883 Centerline is valid? [False, False] Translation: X:0.05, Y:0.06, Z:0.00 [[ 9.99971830e-01 -6.73016721e-04 -7.47577059e-03 5.22186827e-02] [ 6.83571293e-04 9.99998773e-01 1.40937191e-03 5.81577297e-02] [ 7.47481288e-03 -1.41444243e-03 9.99971063e-01 3.64327908e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29753537900000004 meters Centerline goodness [0,1] 0.8766722408026756 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:0.00 [[ 9.99963431e-01 1.27884931e-03 -8.45579375e-03 5.50261045e-02] [-1.25187073e-03 9.99994112e-01 3.19506772e-03 6.50428755e-02] [ 8.45982998e-03 -3.18436532e-03 9.99959145e-01 5.50808076e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32753537899999996 meters Centerline goodness [0,1] 0.8706464408700579 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:0.00 [[ 9.99947803e-01 2.58709015e-03 -9.88420845e-03 5.95427163e-02] [-2.54210846e-03 9.99986369e-01 4.56072130e-03 7.24027010e-02] [ 9.89587272e-03 -4.53535652e-03 9.99940749e-01 1.28026749e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.357535379 meters Centerline goodness [0,1] 0.8597094136070993 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:0.00 [[ 0.99989299 0.00410113 -0.01404208 0.07064212] [-0.00400123 0.99996654 0.00713486 0.0873024 ] [ 0.01407087 -0.00707791 0.99987595 0.00152899] [ 0. 0. 0. 1. ]] SLAMing on 0.387535379 meters Centerline goodness [0,1] 0.8530999934942424 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:0.00 [[ 0.9998684 0.00547698 -0.01527064 0.07471495] [-0.00534585 0.9999486 0.00861478 0.09425863] [ 0.01531704 -0.00853202 0.99984628 0.00116497] [ 0. 0. 0. 1. ]] SLAMing on 0.41753537900000004 meters Centerline goodness [0,1] 0.846953194634666 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.00 [[ 9.99888197e-01 6.70919684e-03 -1.33633704e-02 9.95949852e-02] [-6.64150490e-03 9.99964922e-01 5.10343822e-03 1.10670389e-01] [ 1.33971416e-02 -5.01411475e-03 9.99897682e-01 -8.33684460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44753537899999996 meters Centerline goodness [0,1] 0.8441637630662021 Centerline is valid? [False, False] Translation: X:0.10, Y:0.12, Z:-0.00 [[ 0.9998861 0.00459984 -0.0143748 0.10323885] [-0.00456406 0.99998641 0.00252134 0.11937827] [ 0.0143862 -0.00245545 0.9998935 -0.0013023 ] [ 0. 0. 0. 1. ]] SLAMing on 0.477535379 meters Centerline goodness [0,1] 0.841870095902354 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:-0.00 [[ 9.99880893e-01 2.68365907e-03 -1.51986172e-02 1.06351454e-01] [-2.67959875e-03 9.99996369e-01 2.87508481e-04 1.27354752e-01] [ 1.51993336e-02 -2.46748041e-04 9.99884453e-01 -1.50858364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.507535379 meters Centerline goodness [0,1] 0.8369199877777292 Centerline is valid? [False, False] Translation: X:0.12, Y:0.14, Z:-0.00 [[ 9.99828201e-01 -1.49960090e-04 -1.85350179e-02 1.17572442e-01] [ 1.56605387e-04 9.99999924e-01 3.57075679e-04 1.39714465e-01] [ 1.85349629e-02 -3.59917018e-04 9.99828148e-01 -1.20216338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.537535379 meters Centerline goodness [0,1] 0.8355739851593191 Centerline is valid? [False, False] Translation: X:0.14, Y:0.15, Z:-0.00 [[ 9.99905957e-01 -1.36647545e-04 -1.37134267e-02 1.36147575e-01] [ 1.11149916e-04 9.99998264e-01 -1.86006347e-03 1.45989604e-01] [ 1.37136571e-02 1.85836430e-03 9.99904236e-01 -2.41227559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5675353790000001 meters Centerline goodness [0,1] 0.8360296854134285 Centerline is valid? [False, False] Translation: X:0.14, Y:0.15, Z:-0.00 [[ 0.99988887 -0.00200452 -0.01477266 0.13949738] [ 0.00195798 0.99999308 -0.00316383 0.15172349] [ 0.0147789 0.00313456 0.99988587 -0.00210379] [ 0. 0. 0. 1. ]] SLAMing on 0.597535379 meters Centerline goodness [0,1] 0.8368990410988962 Centerline is valid? [False, False] Translation: X:0.16, Y:0.16, Z:-0.00 [[ 0.99980485 -0.00824268 -0.01795308 0.15881233] [ 0.00826581 0.9999651 0.00121449 0.16089277] [ 0.01794244 -0.00136265 0.99983809 -0.00130017] [ 0. 0. 0. 1. ]] SLAMing on 0.627535379 meters Centerline goodness [0,1] 0.8394067981976464 Centerline is valid? [False, False] Translation: X:0.18, Y:0.17, Z:-0.00 [[ 0.9998638 -0.00911311 -0.01375979 0.17863105] [ 0.00909146 0.99995733 -0.0016351 0.16687526] [ 0.0137741 0.00150978 0.99990399 -0.00305061] [ 0. 0. 0. 1. ]] SLAMing on 0.657535379 meters Centerline goodness [0,1] 0.8399465685630447 Centerline is valid? [False, False] Translation: X:0.18, Y:0.17, Z:-0.00 [[ 9.99836285e-01 -9.94779471e-03 -1.51143635e-02 1.84826559e-01] [ 9.93695982e-03 9.99950314e-01 -7.91793514e-04 1.70608752e-01] [ 1.51214891e-02 6.41473063e-04 9.99885458e-01 -4.73195873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.687535379 meters Centerline goodness [0,1] 0.8432305074392425 Centerline is valid? [False, False] Translation: X:0.20, Y:0.18, Z:-0.00 [[ 9.99689677e-01 -1.57381809e-02 -1.93095884e-02 2.00131747e-01] [ 1.57407338e-02 9.99876107e-01 -1.97804259e-05 1.79104482e-01] [ 1.93075074e-02 -2.84172803e-04 9.99813552e-01 -4.55875938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.717535379 meters Centerline goodness [0,1] 0.8457803923283836 Centerline is valid? [False, False] Translation: X:0.20, Y:0.18, Z:-0.01 [[ 9.99638738e-01 -1.76904178e-02 -2.02346691e-02 2.04266364e-01] [ 1.76741026e-02 9.99843316e-01 -9.84859627e-04 1.82705071e-01] [ 2.02489213e-02 6.26874216e-04 9.99794773e-01 -5.18351303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.747535379 meters Centerline goodness [0,1] 0.8489427969819267 Centerline is valid? [False, False] Translation: X:0.21, Y:0.19, Z:-0.01 [[ 0.99957813 -0.01989941 -0.02115616 0.20854371] [ 0.01985731 0.99980041 -0.00219827 0.18633154] [ 0.02119569 0.00177724 0.99977377 -0.00597776] [ 0. 0. 0. 1. ]] SLAMing on 0.777535379 meters Centerline goodness [0,1] 0.8539032887097128 Centerline is valid? [False, False] Translation: X:0.23, Y:0.19, Z:-0.01 [[ 0.9996646 -0.02018272 -0.01622773 0.22761546] [ 0.0201585 0.99979543 -0.00165457 0.18781118] [ 0.0162578 0.00132689 0.99986695 -0.00666446] [ 0. 0. 0. 1. ]] SLAMing on 0.807535379 meters Centerline goodness [0,1] 0.8605389313311298 Centerline is valid? [False, False] Translation: X:0.24, Y:0.19, Z:-0.01 [[ 9.99483677e-01 -2.53038385e-02 -1.98013727e-02 2.42114802e-01] [ 2.53199342e-02 9.99679241e-01 5.62533923e-04 1.93849653e-01] [ 1.97807869e-02 -1.06361293e-03 9.99803775e-01 -6.25961252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.837535379 meters Centerline goodness [0,1] 0.863499014670462 Centerline is valid? [False, False] Translation: X:0.26, Y:0.20, Z:-0.01 [[ 0.99959296 -0.02241732 -0.01764589 0.25711644] [ 0.02232817 0.999737 -0.00523281 0.19854562] [ 0.01775855 0.00483668 0.99983061 -0.00846831] [ 0. 0. 0. 1. ]] SLAMing on 0.867535379 meters Centerline goodness [0,1] 0.8661270917641912 Centerline is valid? [False, False] Translation: X:0.26, Y:0.20, Z:-0.01 [[ 0.99959823 -0.02141786 -0.01856482 0.26232924] [ 0.02136826 0.99976757 -0.00286584 0.19991046] [ 0.01862188 0.00246799 0.99982355 -0.01044213] [ 0. 0. 0. 1. ]] SLAMing on 0.897535379 meters Centerline goodness [0,1] 0.8739464360379393 Centerline is valid? [False, False] Translation: X:0.28, Y:0.20, Z:-0.01 [[ 9.99438834e-01 -2.44458463e-02 -2.29001636e-02 2.76840785e-01] [ 2.44604378e-02 9.99700735e-01 3.57244153e-04 2.04452204e-01] [ 2.28845772e-02 -9.17191707e-04 9.99737693e-01 -9.81583456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9275353789999999 meters Centerline goodness [0,1] 0.8773217857692392 Centerline is valid? [False, False] Translation: X:0.29, Y:0.21, Z:-0.01 [[ 0.99959757 -0.02132067 -0.01871179 0.28999084] [ 0.0212104 0.9997566 -0.00607146 0.20822505] [ 0.01883669 0.00567213 0.99980648 -0.01328302] [ 0. 0. 0. 1. ]] SLAMing on 0.957535379 meters Centerline goodness [0,1] 0.8799991215162629 Centerline is valid? [False, False] Translation: X:0.31, Y:0.21, Z:-0.01 [[ 0.99969768 -0.01999756 -0.01430561 0.30902999] [ 0.01994041 0.99979266 -0.00412617 0.20765869] [ 0.01438516 0.00383967 0.99988916 -0.01416639] [ 0. 0. 0. 1. ]] SLAMing on 0.987535379 meters Centerline goodness [0,1] 0.8856596810333465 Centerline is valid? [False, False] Translation: X:0.32, Y:0.21, Z:-0.01 [[ 9.99555199e-01 -2.38948792e-02 -1.78448781e-02 3.22827590e-01] [ 2.38897887e-02 9.99714474e-01 -4.98412729e-04 2.09134426e-01] [ 1.78516924e-02 7.18806681e-05 9.99840643e-01 -1.35466131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.017535379 meters Centerline goodness [0,1] 0.8866226493212177 Centerline is valid? [False, False] Translation: X:0.34, Y:0.21, Z:-0.02 [[ 0.99967765 -0.02238926 -0.01197166 0.33654563] [ 0.0223138 0.99973053 -0.00640031 0.21236779] [ 0.01211173 0.00613111 0.99990785 -0.01766756] [ 0. 0. 0. 1. ]] SLAMing on 1.047535379 meters Centerline goodness [0,1] 0.8892742621556181 Centerline is valid? [False, False] Translation: X:0.34, Y:0.21, Z:-0.02 [[ 0.99966795 -0.02257944 -0.01241617 0.34038672] [ 0.02251254 0.99973142 -0.00550193 0.21181461] [ 0.01253707 0.00522058 0.99990778 -0.01937589] [ 0. 0. 0. 1. ]] SLAMing on 1.077535379 meters Centerline goodness [0,1] 0.8951928938430723 Centerline is valid? [False, False] Translation: X:0.36, Y:0.21, Z:-0.02 [[ 0.99948118 -0.0280114 -0.01589752 0.35545691] [ 0.02797142 0.99960499 -0.00273168 0.21185543] [ 0.01596776 0.00228559 0.99986989 -0.01988571] [ 0. 0. 0. 1. ]] SLAMing on 1.107535379 meters Centerline goodness [0,1] 0.8951928938430723 Centerline is valid? [False, False] Translation: X:0.36, Y:0.21, Z:-0.02 [[ 0.99948118 -0.0280114 -0.01589752 0.35545691] [ 0.02797142 0.99960499 -0.00273168 0.21185543] [ 0.01596776 0.00228559 0.99986989 -0.01988571] [ 0. 0. 0. 1. ]] SLAMing on 1.1375353789999998 meters Centerline goodness [0,1] 0.8999473407056345 Centerline is valid? [False, False] Translation: X:0.36, Y:0.21, Z:-0.02 [[ 0.99946368 -0.02847109 -0.01617845 0.35798447] [ 0.02844259 0.99959345 -0.00198867 0.2103347 ] [ 0.01622849 0.00152745 0.99986714 -0.02063249] [ 0. 0. 0. 1. ]] SLAMing on 1.1675353789999998 meters Centerline goodness [0,1] 0.9001394821724349 Centerline is valid? [False, False] Translation: X:0.37, Y:0.21, Z:-0.02 [[ 0.99957086 -0.0265583 -0.01235898 0.3715673 ] [ 0.02644341 0.99960641 -0.00936867 0.21200393] [ 0.01260293 0.00903783 0.99987973 -0.02443955] [ 0. 0. 0. 1. ]] SLAMing on 1.1975353789999998 meters Centerline goodness [0,1] 0.9024849480021894 Centerline is valid? [False, False] Translation: X:0.38, Y:0.21, Z:-0.03 [[ 0.99947744 -0.0289148 -0.01444911 0.38011162] [ 0.02880851 0.99955673 -0.0075109 0.20703806] [ 0.01465988 0.00709072 0.9998674 -0.02559617] [ 0. 0. 0. 1. ]] SLAMing on 1.2275353789999999 meters Centerline goodness [0,1] 0.9045837435729133 Centerline is valid? [False, False] Translation: X:0.38, Y:0.20, Z:-0.03 [[ 0.99945531 -0.02930178 -0.01518165 0.3834609 ] [ 0.02920654 0.99955254 -0.00645762 0.20401497] [ 0.01536407 0.00601069 0.9998639 -0.02657387] [ 0. 0. 0. 1. ]] SLAMing on 1.257535379 meters Centerline goodness [0,1] 0.904749426793318 Centerline is valid? [False, False] Translation: X:0.39, Y:0.20, Z:-0.03 [[ 0.99943785 -0.02959879 -0.01574474 0.38669639] [ 0.02951826 0.99955007 -0.00532276 0.20084169] [ 0.0158952 0.00485501 0.99986188 -0.02780864] [ 0. 0. 0. 1. ]] SLAMing on 1.287535379 meters Centerline goodness [0,1] 0.9060737242555424 Centerline is valid? [False, False] Translation: X:0.39, Y:0.20, Z:-0.03 [[ 0.99941611 -0.02987094 -0.01658824 0.39036157] [ 0.02980574 0.99954704 -0.00416419 0.19771335] [ 0.01670511 0.00366733 0.99985373 -0.02898628] [ 0. 0. 0. 1. ]] SLAMing on 1.317535379 meters Centerline goodness [0,1] 0.9069833130540588 Centerline is valid? [False, False] Translation: X:0.42, Y:0.19, Z:-0.03 [[ 0.99941107 -0.03008531 -0.0165039 0.41646663] [ 0.03011251 0.99954553 0.00140223 0.18785726] [ 0.01645422 -0.00189838 0.99986282 -0.02986644] [ 0. 0. 0. 1. ]] SLAMing on 1.3475353789999998 meters Centerline goodness [0,1] 0.9077382249139471 Centerline is valid? [False, False] Translation: X:0.42, Y:0.18, Z:-0.03 [[ 0.99938114 -0.03043008 -0.01764493 0.42065533] [ 0.03048141 0.99953183 0.00264723 0.18397466] [ 0.01755611 -0.00318343 0.99984081 -0.03112617] [ 0. 0. 0. 1. ]] SLAMing on 1.3775353789999998 meters Centerline goodness [0,1] 0.9085656979659464 Centerline is valid? [False, False] Translation: X:0.43, Y:0.18, Z:-0.03 [[ 0.99929214 -0.03239301 -0.01912884 0.4262174 ] [ 0.03242937 0.99947276 0.00159337 0.1817972 ] [ 0.01906714 -0.00221258 0.99981576 -0.03331359] [ 0. 0. 0. 1. ]] SLAMing on 1.4075353789999998 meters Centerline goodness [0,1] 0.9128483548238797 Centerline is valid? [False, False] Translation: X:0.45, Y:0.17, Z:-0.03 [[ 0.99915663 -0.03552837 -0.02058532 0.45329728] [ 0.03558796 0.99936333 0.0025354 0.17378226] [ 0.02048214 -0.00326585 0.99978489 -0.03391017] [ 0. 0. 0. 1. ]] SLAMing on 1.4375353789999998 meters Centerline goodness [0,1] 0.9149537625454705 Centerline is valid? [False, False] Translation: X:0.46, Y:0.17, Z:-0.04 [[ 9.99010954e-01 -3.84243318e-02 -2.23759629e-02 4.59214541e-01] [ 3.84448933e-02 9.99260602e-01 4.89304045e-04 1.71751268e-01] [ 2.23406170e-02 -1.34906161e-03 9.99749507e-01 -3.59063713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4675353789999999 meters Centerline goodness [0,1] 0.9163250174459177 Centerline is valid? [False, False] Translation: X:0.48, Y:0.17, Z:-0.04 [[ 0.99907413 -0.03826427 -0.01966559 0.47921185] [ 0.03832099 0.99926232 0.00251532 0.1660355 ] [ 0.01955484 -0.0032666 0.99980345 -0.03639604] [ 0. 0. 0. 1. ]] SLAMing on 1.4975353789999999 meters Centerline goodness [0,1] 0.9204927700843126 Centerline is valid? [False, False] Translation: X:0.51, Y:0.16, Z:-0.04 [[ 0.99890497 -0.04142257 -0.02174918 0.5072566 ] [ 0.04151836 0.99912985 0.00397099 0.15799977] [ 0.02156577 -0.00486963 0.99975557 -0.03670544] [ 0. 0. 0. 1. ]] SLAMing on 1.527535379 meters Centerline goodness [0,1] 0.9249203398831651 Centerline is valid? [False, False] Translation: X:0.51, Y:0.15, Z:-0.04 [[ 0.99882542 -0.04240536 -0.02344296 0.51201056] [ 0.04252719 0.99908415 0.00472278 0.15441769] [ 0.02322121 -0.0057142 0.99971402 -0.03756034] [ 0. 0. 0. 1. ]] SLAMing on 1.557535379 meters Centerline goodness [0,1] 0.9252238250552722 Centerline is valid? [False, False] Translation: X:0.53, Y:0.15, Z:-0.04 [[ 0.99886496 -0.04289367 -0.02071034 0.53240979] [ 0.04301014 0.99906105 0.00521092 0.15029061] [ 0.02046738 -0.00609576 0.99977194 -0.03813648] [ 0. 0. 0. 1. ]] SLAMing on 1.587535379 meters Centerline goodness [0,1] 0.9291983232905423 Centerline is valid? [False, False] Translation: X:0.56, Y:0.14, Z:-0.04 [[ 0.99871905 -0.04581142 -0.02148434 0.55929994] [ 0.04595518 0.99892398 0.00624548 0.14235935] [ 0.02117511 -0.0072248 0.99974968 -0.0391967 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6175353789999998 meters Centerline goodness [0,1] 0.9309997371418558 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:-0.04 [[ 0.99854604 -0.04859587 -0.02332913 0.56508426] [ 0.04870411 0.99880486 0.004094 0.14081692] [ 0.02310229 -0.00522427 0.99971946 -0.04106509] [ 0. 0. 0. 1. ]] SLAMing on 1.6475353789999998 meters Centerline goodness [0,1] 0.9333113673805601 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:-0.04 [[ 0.99841916 -0.05036198 -0.0249569 0.57046283] [ 0.05045532 0.99872143 0.00312406 0.13913256] [ 0.02476766 -0.00437832 0.99968365 -0.04302963] [ 0. 0. 0. 1. ]] SLAMing on 1.6775353789999998 meters Centerline goodness [0,1] 0.9355028810895757 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.04 [[ 0.99844504 -0.04998752 -0.02467277 0.59553913] [ 0.0501595 0.99872071 0.00640127 0.13200265] [ 0.02432123 -0.00762889 0.99967509 -0.04332421] [ 0. 0. 0. 1. ]] SLAMing on 1.7075353789999999 meters Centerline goodness [0,1] 0.9403205864170273 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.04 [[ 0.99837928 -0.05048882 -0.0262619 0.59964129] [ 0.05067776 0.99869339 0.00657872 0.13058195] [ 0.02589544 -0.00789895 0.99963345 -0.04423927] [ 0. 0. 0. 1. ]] SLAMing on 1.7375353789999999 meters Centerline goodness [0,1] 0.9415144404727966 Centerline is valid? [False, False] Translation: X:0.61, Y:0.13, Z:-0.05 [[ 9.98670937e-01 -4.64852459e-02 -2.22594235e-02 6.13365084e-01] [ 4.65187382e-02 9.98916928e-01 9.88918940e-04 1.31706660e-01] [ 2.21893448e-02 -2.02308490e-03 9.99751739e-01 -4.81833149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.767535379 meters Centerline goodness [0,1] 0.9432021662226493 Centerline is valid? [False, False] Translation: X:0.64, Y:0.13, Z:-0.05 [[ 0.9987986 -0.04467865 -0.02012904 0.63613303] [ 0.044735 0.99899611 0.00235742 0.12967237] [ 0.02000351 -0.00325506 0.99979461 -0.04982032] [ 0. 0. 0. 1. ]] SLAMing on 1.797535379 meters Centerline goodness [0,1] 0.946092587730813 Centerline is valid? [False, False] Translation: X:0.64, Y:0.13, Z:-0.05 [[ 0.99876608 -0.04479648 -0.02143801 0.63937587] [ 0.04485798 0.9989905 0.00239631 0.12947112] [ 0.02130903 -0.00335502 0.99976731 -0.05055863] [ 0. 0. 0. 1. ]] SLAMing on 1.8275353789999997 meters Centerline goodness [0,1] 0.9469903718097068 Centerline is valid? [False, False] Translation: X:0.65, Y:0.13, Z:-0.05 [[ 0.99902564 -0.0408134 -0.01679387 0.65233209] [ 0.04075445 0.99916182 -0.00383736 0.13173635] [ 0.01693641 0.00314919 0.99985161 -0.05470888] [ 0. 0. 0. 1. ]] SLAMing on 1.8575353789999998 meters Centerline goodness [0,1] 0.9478264653409338 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:-0.06 [[ 0.99925006 -0.0366774 -0.01241335 0.66488185] [ 0.03655028 0.99927855 -0.0103176 0.13394525] [ 0.01278282 0.00985615 0.99986972 -0.0585558 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8875353789999998 meters Centerline goodness [0,1] 0.9509376693766938 Centerline is valid? [False, True] Translation: X:0.69, Y:0.13, Z:-0.06 [[ 0.99935565 -0.03379544 -0.01208978 0.68916108] [ 0.03372261 0.99941213 -0.00617858 0.13047254] [ 0.01229148 0.0057669 0.99990783 -0.05880842] [ 0. 0. 0. 1. ]] SLAMing on 1.9175353789999998 meters Centerline goodness [0,1] 0.9530553198894908 Centerline is valid? [True, True] Translation: X:0.72, Y:0.13, Z:-0.06 [[ 9.99344030e-01 -3.42406645e-02 -1.17934784e-02 7.17534899e-01] [ 3.42381273e-02 9.99413616e-01 -4.17029625e-04 1.27539650e-01] [ 1.18008423e-02 1.29694499e-05 9.99930368e-01 -5.79274998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9475353789999998 meters Centerline goodness [0,1] 0.9564400969453482 Centerline is valid? [True, True] Translation: X:0.75, Y:0.13, Z:-0.06 [[ 9.99328426e-01 -3.51268808e-02 -1.04307264e-02 7.45528909e-01] [ 3.51249115e-02 9.99382861e-01 -3.71992010e-04 1.27752241e-01] [ 1.04373562e-02 5.36384645e-06 9.99945529e-01 -5.74809675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9775353789999999 meters Centerline goodness [0,1] 0.961022210563134 Centerline is valid? [True, True] Translation: X:0.77, Y:0.13, Z:-0.06 [[ 9.99222907e-01 -3.80175878e-02 -1.04041093e-02 7.72168729e-01] [ 3.80157431e-02 9.99277070e-01 -3.75080981e-04 1.25538186e-01] [ 1.04108476e-02 -2.07304393e-05 9.99945805e-01 -5.74123819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.007535379 meters Centerline goodness [0,1] 0.9626475584788954 Centerline is valid? [True, True] Translation: X:0.80, Y:0.12, Z:-0.06 [[ 9.99179348e-01 -3.93714642e-02 -9.51411122e-03 8.00288497e-01] [ 3.93699585e-02 9.99224643e-01 -3.45575794e-04 1.24968080e-01] [ 9.52034021e-03 -2.92779671e-05 9.99954680e-01 -5.67645292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.037535379 meters Centerline goodness [0,1] 0.9648009357535849 Centerline is valid? [True, True] Translation: X:0.83, Y:0.12, Z:-0.06 [[ 9.99067452e-01 -4.22359822e-02 -8.96366344e-03 8.29154478e-01] [ 4.22347607e-02 9.99107661e-01 -3.25599434e-04 1.22891273e-01] [ 8.96941682e-03 -5.32823839e-05 9.99959773e-01 -5.62126321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.067535379 meters Centerline goodness [0,1] 0.9682584575220277 Centerline is valid? [True, True] Translation: X:0.86, Y:0.12, Z:-0.06 [[ 9.98999871e-01 -4.40268095e-02 -7.80375210e-03 8.58140112e-01] [ 4.40259234e-02 9.99030348e-01 -2.85377303e-04 1.22074391e-01] [ 7.80874943e-03 -5.84755037e-05 9.99969510e-01 -5.55072945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.097535379 meters Centerline goodness [0,1] 0.9680306076129953 Centerline is valid? [True, True] Translation: X:0.89, Y:0.12, Z:-0.06 [[ 9.98955625e-01 -4.49669941e-02 -8.10119410e-03 8.86084885e-01] [ 4.49660504e-02 9.98988471e-01 -2.98675123e-04 1.22288387e-01] [ 8.10643003e-03 -6.59155084e-05 9.99967140e-01 -5.51771317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1275353790000002 meters Centerline goodness [0,1] 0.9707806272743026 Centerline is valid? [True, True] Translation: X:0.92, Y:0.12, Z:-0.05 [[ 9.98889999e-01 -4.65656279e-02 -7.10013813e-03 9.15368117e-01] [ 4.65649280e-02 9.98915231e-01 -2.63944175e-04 1.22166835e-01] [ 7.10472684e-03 -6.69662234e-05 9.99974759e-01 -5.44361945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.157535379 meters Centerline goodness [0,1] 0.9732984519588342 Centerline is valid? [True, True] Translation: X:0.94, Y:0.12, Z:-0.05 [[ 9.98835332e-01 -4.78146711e-02 -6.46040324e-03 9.44563814e-01] [ 4.78141071e-02 9.98856222e-01 -2.41806313e-04 1.22065624e-01] [ 6.46457587e-03 -6.73737232e-05 9.99979102e-01 -5.30745350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1875353790000003 meters Centerline goodness [0,1] 0.9740931525745199 Centerline is valid? [True, True] Translation: X:0.97, Y:0.12, Z:-0.05 [[ 9.98819218e-01 -4.81983026e-02 -6.09039442e-03 9.72521759e-01] [ 4.81978004e-02 9.98837784e-01 -2.29288814e-04 1.23204442e-01] [ 6.09436740e-03 -6.45255410e-05 9.99981427e-01 -5.21767970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.217535379 meters Centerline goodness [0,1] 0.9773554823002176 Centerline is valid? [True, True] Translation: X:1.00, Y:0.12, Z:-0.05 [[ 9.98793176e-01 -4.88798044e-02 -4.79124769e-03 1.00067885e+00] [ 4.88794886e-02 9.98804667e-01 -1.83057867e-04 1.24140306e-01] [ 4.79446839e-03 -5.13567889e-05 9.99988505e-01 -5.11219079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.247535379 meters Centerline goodness [0,1] 0.9777882696310921 Centerline is valid? [True, True] Translation: X:1.03, Y:0.13, Z:-0.05 [[ 9.98791310e-01 -4.89509468e-02 -4.44125478e-03 1.02915271e+00] [ 4.89506835e-02 9.98801183e-01 -1.68052430e-04 1.26069503e-01] [ 4.44415685e-03 -4.95531505e-05 9.99990123e-01 -5.06413139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.277535379 meters Centerline goodness [0,1] 0.980110497237569 Centerline is valid? [True, True] Translation: X:1.06, Y:0.13, Z:-0.05 [[ 9.98755510e-01 -4.96939024e-02 -4.23631573e-03 1.05720885e+00] [ 4.96936640e-02 9.98764494e-01 -1.61560363e-04 1.27871777e-01] [ 4.23911030e-03 -4.91587474e-05 9.99991014e-01 -5.01298566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.307535379 meters Centerline goodness [0,1] 0.9811194689311808 Centerline is valid? [True, True] Translation: X:1.08, Y:0.13, Z:-0.05 [[ 9.98770329e-01 -4.93623468e-02 -4.60307085e-03 1.08489603e+00] [ 4.93620438e-02 9.98780935e-01 -1.79489317e-04 1.29674557e-01] [ 4.60631943e-03 -4.79483812e-05 9.99989390e-01 -4.97448188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.337535379 meters Centerline goodness [0,1] 0.981641491951992 Centerline is valid? [True, True] Translation: X:1.11, Y:0.13, Z:-0.05 [[ 9.98764616e-01 -4.94965349e-02 -4.39717980e-03 1.11294286e+00] [ 4.94962666e-02 9.98774294e-01 -1.69886335e-04 1.31940968e-01] [ 4.40019894e-03 -4.79675232e-05 9.99990318e-01 -4.92199239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.367535379 meters Centerline goodness [0,1] 0.9835691366798027 Centerline is valid? [True, True] Translation: X:1.14, Y:0.14, Z:-0.05 [[ 9.98848354e-01 -4.76392903e-02 -5.69777965e-03 1.14020426e+00] [ 4.76387837e-02 9.98864603e-01 -2.24671770e-04 1.37108674e-01] [ 5.70201362e-03 -4.70222654e-05 9.99983742e-01 -4.91953874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3975353790000002 meters Centerline goodness [0,1] 0.9839857268760345 Centerline is valid? [True, True] Translation: X:1.17, Y:0.14, Z:-0.05 [[ 9.98911996e-01 -4.62230708e-02 -6.18481075e-03 1.16857110e+00] [ 4.62224453e-02 9.98931142e-01 -2.44117495e-04 1.41289726e-01] [ 6.18948392e-03 -4.20251820e-05 9.99980844e-01 -4.90148793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.427535379 meters Centerline goodness [0,1] 0.98495238504697 Centerline is valid? [True, True] Translation: X:1.20, Y:0.15, Z:-0.05 [[ 9.98959761e-01 -4.51670938e-02 -6.27136941e-03 1.19607456e+00] [ 4.51664198e-02 9.98979445e-01 -2.49123503e-04 1.45419571e-01] [ 6.27622132e-03 -3.43909487e-05 9.99980304e-01 -4.81513930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.457535379 meters Centerline goodness [0,1] 0.9849593582659527 Centerline is valid? [True, True] Translation: X:1.22, Y:0.15, Z:-0.05 [[ 9.99108014e-01 -4.14205515e-02 -8.21675336e-03 1.22368847e+00] [ 4.14192259e-02 9.99141801e-01 -3.31507512e-04 1.52795428e-01] [ 8.22343298e-03 -9.11975204e-06 9.99966187e-01 -4.87102361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.487535379 meters Centerline goodness [0,1] 0.9865050418365158 Centerline is valid? [True, True] Translation: X:1.25, Y:0.16, Z:-0.05 [[ 9.99154801e-01 -4.01501661e-02 -8.81181301e-03 1.25119059e+00] [ 4.01485914e-02 9.99193657e-01 -3.55598348e-04 1.56652952e-01] [ 8.81898500e-03 1.51591632e-06 9.99961112e-01 -4.80958590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.517535379 meters Centerline goodness [0,1] 0.9880191865092168 Centerline is valid? [True, True] Translation: X:1.28, Y:0.16, Z:-0.05 [[ 9.99197784e-01 -3.90870607e-02 -8.71726226e-03 1.27947198e+00] [ 3.90854549e-02 9.99235809e-01 -3.54563640e-04 1.60379541e-01] [ 8.72445945e-03 1.35610427e-05 9.99961941e-01 -4.76853111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.547535379 meters Centerline goodness [0,1] 0.987426476856193 Centerline is valid? [True, True] Translation: X:1.31, Y:0.17, Z:-0.05 [[ 9.99273646e-01 -3.67610293e-02 -1.00402685e-02 1.30657231e+00] [ 3.67587379e-02 9.99324084e-01 -4.12719565e-04 1.66349011e-01] [ 1.00486541e-02 4.33521875e-05 9.99949510e-01 -4.71807468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.577535379 meters Centerline goodness [0,1] 0.9874442319949012 Centerline is valid? [True, True] Translation: X:1.33, Y:0.17, Z:-0.05 [[ 9.99294067e-01 -3.62425258e-02 -9.89178568e-03 1.33486992e+00] [ 3.62402683e-02 9.99343023e-01 -4.07426820e-04 1.69795155e-01] [ 9.90005318e-03 4.86582368e-05 9.99950992e-01 -4.63607572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.607535379 meters Centerline goodness [0,1] 0.9903056618374103 Centerline is valid? [True, True] Translation: X:1.36, Y:0.17, Z:-0.05 [[ 9.99220825e-01 -3.78655243e-02 -1.11330157e-02 1.36303145e+00] [ 3.78627218e-02 9.99282843e-01 -4.62470892e-04 1.71482391e-01] [ 1.11425433e-02 4.05842714e-05 9.99937919e-01 -4.59583522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.637535379 meters Centerline goodness [0,1] 0.9899321701292607 Centerline is valid? [True, True] Translation: X:1.39, Y:0.17, Z:-0.05 [[ 9.99211079e-01 -3.81463800e-02 -1.10487116e-02 1.38960308e+00] [ 3.81435920e-02 9.99272161e-01 -4.63026199e-04 1.74338705e-01] [ 1.10583326e-02 4.12233620e-05 9.99938854e-01 -4.51651285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.667535379 meters Centerline goodness [0,1] 0.990401023890785 Centerline is valid? [True, True] Translation: X:1.42, Y:0.18, Z:-0.04 [[ 9.99153541e-01 -3.95161846e-02 -1.14312040e-02 1.41804923e+00] [ 3.95132727e-02 9.99218930e-01 -4.80557736e-04 1.76225876e-01] [ 1.14412652e-02 2.84666833e-05 9.99934546e-01 -4.48149331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.697535379 meters Centerline goodness [0,1] 0.9906689055625226 Centerline is valid? [True, True] Translation: X:1.44, Y:0.18, Z:-0.04 [[ 9.99055308e-01 -4.18699984e-02 -1.16358875e-02 1.44459013e+00] [ 4.18670960e-02 9.99123067e-01 -4.93017322e-04 1.77600345e-01] [ 1.16463262e-02 5.39075532e-06 9.99932179e-01 -4.39850095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.727535379 meters Centerline goodness [0,1] 0.9918050279568057 Centerline is valid? [True, True] Translation: X:1.47, Y:0.18, Z:-0.04 [[ 9.98966612e-01 -4.37337682e-02 -1.23719744e-02 1.47271213e+00] [ 4.37306093e-02 9.99043221e-01 -5.25863641e-04 1.78243921e-01] [ 1.23831352e-02 -1.57137598e-05 9.99923326e-01 -4.36844663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.757535379 meters Centerline goodness [0,1] 0.9921112106093557 Centerline is valid? [True, True] Translation: X:1.50, Y:0.18, Z:-0.04 [[ 9.98883566e-01 -4.55918576e-02 -1.23694468e-02 1.50050413e+00] [ 4.55887965e-02 9.98960150e-01 -5.29473163e-04 1.78763343e-01] [ 1.23807241e-02 -3.50261502e-05 9.99923355e-01 -4.31762068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.787535379 meters Centerline goodness [0,1] 0.9922873700357934 Centerline is valid? [True, True] Translation: X:1.53, Y:0.18, Z:-0.04 [[ 9.98781549e-01 -4.77693400e-02 -1.23898345e-02 1.52825634e+00] [ 4.77663903e-02 9.98858392e-01 -5.34054221e-04 1.78983465e-01] [ 1.24012015e-02 -5.84141662e-05 9.99923100e-01 -4.23669979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.817535379 meters Centerline goodness [0,1] 0.9928007283968916 Centerline is valid? [True, True] Translation: X:1.56, Y:0.18, Z:-0.04 [[ 9.98589923e-01 -5.14143378e-02 -1.32186415e-02 1.55574102e+00] [ 5.14112451e-02 9.98677403e-01 -5.73895227e-04 1.78343538e-01] [ 1.32306650e-02 -1.06500828e-04 9.99912465e-01 -4.21954580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.847535379 meters Centerline goodness [0,1] 0.9934658607185425 Centerline is valid? [True, True] Translation: X:1.59, Y:0.18, Z:-0.04 [[ 9.98464542e-01 -5.35663931e-02 -1.41137951e-02 1.58500239e+00] [ 5.35630597e-02 9.98564280e-01 -6.14352323e-04 1.80286134e-01] [ 1.41264402e-02 -1.42569036e-04 9.99900207e-01 -4.22267753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8775353790000002 meters Centerline goodness [0,1] 0.993601462522852 Centerline is valid? [True, True] Translation: X:1.61, Y:0.18, Z:-0.04 [[ 9.98367182e-01 -5.52209396e-02 -1.46156449e-02 1.61407989e+00] [ 5.52174810e-02 9.98474146e-01 -6.40374414e-04 1.81607258e-01] [ 1.46287056e-02 -1.67710296e-04 9.99892981e-01 -4.21328950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.907535379 meters Centerline goodness [0,1] 0.9943823811043728 Centerline is valid? [True, True] Translation: X:1.64, Y:0.18, Z:-0.04 [[ 9.98215731e-01 -5.76886482e-02 -1.54069653e-02 1.64295699e+00] [ 5.76850302e-02 9.98334601e-01 -6.79501884e-04 1.83996955e-01] [ 1.54205061e-02 -2.10461787e-04 9.99881075e-01 -4.21462254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.937535379 meters Centerline goodness [0,1] 0.9948719035409295 Centerline is valid? [True, True] Translation: X:1.67, Y:0.19, Z:-0.04 [[ 9.98157696e-01 -5.86511932e-02 -1.55322857e-02 1.67044080e+00] [ 5.86475720e-02 9.98278512e-01 -6.88923256e-04 1.85280170e-01] [ 1.55459532e-02 -2.23276796e-04 9.99879129e-01 -4.17889018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.967535379 meters Centerline goodness [0,1] 0.9951832282980033 Centerline is valid? [True, True] Translation: X:1.70, Y:0.19, Z:-0.04 [[ 9.98099679e-01 -5.95060662e-02 -1.60018208e-02 1.69946363e+00] [ 5.95022979e-02 9.98227915e-01 -7.11913148e-04 1.86932058e-01] [ 1.60158273e-02 -2.41584822e-04 9.99871709e-01 -4.11792214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.997535379 meters Centerline goodness [0,1] 0.9951832282980033 Centerline is valid? [True, True] Translation: X:1.73, Y:0.19, Z:-0.04 [[ 9.98080967e-01 -5.98191512e-02 -1.60016186e-02 1.72694399e+00] [ 5.98153507e-02 9.98209202e-01 -7.16430844e-04 1.88417500e-01] [ 1.60158192e-02 -2.42086441e-04 9.99871709e-01 -4.08234819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.027535379 meters Centerline goodness [0,1] 0.9953226523312663 Centerline is valid? [True, True] Translation: X:1.76, Y:0.19, Z:-0.04 [[ 9.98007568e-01 -6.11920968e-02 -1.53760188e-02 1.75612525e+00] [ 6.11886802e-02 9.98125977e-01 -6.92994036e-04 1.89822461e-01] [ 1.53896096e-02 -2.49225007e-04 9.99881542e-01 -3.95816070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.057535379 meters Centerline goodness [0,1] 0.9957329052155728 Centerline is valid? [True, True] Translation: X:1.78, Y:0.20, Z:-0.04 [[ 9.97978107e-01 -6.17366447e-02 -1.51090755e-02 1.78391244e+00] [ 6.17333446e-02 9.98092443e-01 -6.85157183e-04 1.95720383e-01] [ 1.51225534e-02 -2.48961894e-04 9.99885617e-01 -3.78373042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.087535379 meters Centerline goodness [0,1] 0.9962590051091301 Centerline is valid? [True, True] Translation: X:1.81, Y:0.20, Z:-0.04 [[ 9.97939733e-01 -6.21733363e-02 -1.58355973e-02 1.81194933e+00] [ 6.21696796e-02 9.98065332e-01 -7.23567726e-04 1.99046184e-01] [ 1.58499473e-02 -2.62417026e-04 9.99874347e-01 -3.78853248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.117535379 meters Centerline goodness [0,1] 0.9964709656721207 Centerline is valid? [True, True] Translation: X:1.84, Y:0.20, Z:-0.04 [[ 9.97922613e-01 -6.20881603e-02 -1.71906462e-02 1.84003714e+00] [ 6.20837342e-02 9.98070630e-01 -7.91535040e-04 2.04565649e-01] [ 1.72066241e-02 -2.77368795e-04 9.99851917e-01 -3.81280319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1475353790000002 meters Centerline goodness [0,1] 0.9964237057220708 Centerline is valid? [True, True] Translation: X:1.87, Y:0.21, Z:-0.04 [[ 9.97906456e-01 -6.23440845e-02 -1.72023589e-02 1.86763510e+00] [ 6.23395931e-02 9.98054677e-01 -7.97723715e-04 2.08091336e-01] [ 1.72186281e-02 -2.76334410e-04 9.99851710e-01 -3.81112452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.177535379 meters Centerline goodness [0,1] 0.9970844231016593 Centerline is valid? [True, True] Translation: X:1.90, Y:0.21, Z:-0.04 [[ 9.97897441e-01 -6.20938086e-02 -1.85756725e-02 1.89536279e+00] [ 6.20884093e-02 9.98070276e-01 -8.67794227e-04 2.12062749e-01] [ 1.85937112e-02 -2.87364317e-04 9.99827081e-01 -3.90200514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.207535379 meters Centerline goodness [0,1] 0.9974151226187632 Centerline is valid? [True, True] Translation: X:1.92, Y:0.22, Z:-0.04 [[ 9.97952395e-01 -6.07738001e-02 -1.99389622e-02 1.92312039e+00] [ 6.07672119e-02 9.98151526e-01 -9.36688318e-04 2.17735566e-01] [ 1.99590316e-02 -2.76864790e-04 9.99800760e-01 -4.04559608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.237535379 meters Centerline goodness [0,1] 0.9971729027007347 Centerline is valid? [True, True] Translation: X:1.95, Y:0.22, Z:-0.04 [[ 9.97909159e-01 -6.11366560e-02 -2.09671247e-02 1.95222920e+00] [ 6.11293753e-02 9.98129361e-01 -9.88590329e-04 2.21094429e-01] [ 2.09883419e-02 -2.95183890e-04 9.99779677e-01 -4.11488446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.267535379 meters Centerline goodness [0,1] 0.9974232338415289 Centerline is valid? [True, True] Translation: X:1.98, Y:0.23, Z:-0.04 [[ 9.97920945e-01 -6.06981683e-02 -2.16683903e-02 1.97997068e+00] [ 6.06901485e-02 9.98156124e-01 -1.02813417e-03 2.25485664e-01] [ 2.16908424e-02 -2.89061207e-04 9.99764684e-01 -4.12164083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.297535379 meters Centerline goodness [0,1] 0.9977138420394255 Centerline is valid? [True, True] Translation: X:2.01, Y:0.23, Z:-0.04 [[ 9.98017895e-01 -5.87341268e-02 -2.25961173e-02 2.00744154e+00] [ 5.87247845e-02 9.98273629e-01 -1.07735890e-03 2.33794811e-01] [ 2.26203858e-02 -2.51728658e-04 9.99744095e-01 -4.17387341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.327535379 meters Centerline goodness [0,1] 0.9977819888884103 Centerline is valid? [True, True] Translation: X:2.04, Y:0.24, Z:-0.04 [[ 9.98066200e-01 -5.79706902e-02 -2.24334257e-02 2.03651949e+00] [ 5.79612031e-02 9.98318259e-01 -1.07343097e-03 2.38698147e-01] [ 2.24579260e-02 -2.28913173e-04 9.99747763e-01 -4.11744592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.357535379 meters Centerline goodness [0,1] 0.99802069662873 Centerline is valid? [True, True] Translation: X:2.06, Y:0.24, Z:-0.04 [[ 9.98156129e-01 -5.65180437e-02 -2.21371536e-02 2.06476238e+00] [ 5.65083168e-02 9.98401560e-01 -1.06518791e-03 2.43839294e-01] [ 2.21619711e-02 -1.87709446e-04 9.99754376e-01 -3.98578941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.387535379 meters Centerline goodness [0,1] 0.9979122723946451 Centerline is valid? [True, True] Translation: X:2.09, Y:0.25, Z:-0.04 [[ 9.98218375e-01 -5.55586104e-02 -2.17558561e-02 2.09358825e+00] [ 5.55488619e-02 9.98455415e-01 -1.05262192e-03 2.48439627e-01] [ 2.17807346e-02 -1.57766510e-04 9.99762759e-01 -3.90828296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.417535379 meters Centerline goodness [0,1] 0.9980628914573513 Centerline is valid? [True, True] Translation: X:2.12, Y:0.26, Z:-0.04 [[ 9.98363565e-01 -5.32503628e-02 -2.08468606e-02 2.12198584e+00] [ 5.32407956e-02 9.98581188e-01 -1.01406345e-03 2.55913659e-01] [ 2.08712821e-02 -9.74994432e-05 9.99782166e-01 -3.76635816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.447535379 meters Centerline goodness [0,1] 0.9984710467945819 Centerline is valid? [True, True] Translation: X:2.15, Y:0.26, Z:-0.04 [[ 9.98395352e-01 -5.28679476e-02 -2.02904349e-02 2.14961938e+00] [ 5.28586924e-02 9.98601509e-01 -9.92558839e-04 2.59929791e-01] [ 2.03145334e-02 -8.15597233e-05 9.99793635e-01 -3.64995690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.477535379 meters Centerline goodness [0,1] 0.9984725269996988 Centerline is valid? [True, True] Translation: X:2.18, Y:0.26, Z:-0.04 [[ 9.98442651e-01 -5.23081227e-02 -1.93941690e-02 2.17743008e+00] [ 5.22994516e-02 9.98630991e-01 -9.54377656e-04 2.64078801e-01] [ 1.94175399e-02 -6.14130448e-05 9.99811460e-01 -3.52535407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.507535379 meters Centerline goodness [0,1] 0.9987753523547611 Centerline is valid? [True, True] Translation: X:2.21, Y:0.27, Z:-0.03 [[ 9.98503858e-01 -5.15904278e-02 -1.81238339e-02 2.20552718e+00] [ 5.15826431e-02 9.98668326e-01 -8.97052792e-04 2.70350718e-01] [ 1.81459782e-02 -3.91645813e-05 9.99835347e-01 -3.25333178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.537535379 meters Centerline goodness [0,1] 0.9988610233597662 Centerline is valid? [True, True] Translation: X:2.23, Y:0.27, Z:-0.03 [[ 9.98558295e-01 -5.09081674e-02 -1.70202966e-02 2.23375954e+00] [ 5.09011195e-02 9.98703338e-01 -8.47317081e-04 2.74862266e-01] [ 1.70413624e-02 -2.02566532e-05 9.99854785e-01 -3.10711899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.567535379 meters Centerline goodness [0,1] 0.999217101972468 Centerline is valid? [True, True] Translation: X:2.26, Y:0.28, Z:-0.03 [[ 9.98621018e-01 -4.99950589e-02 -1.60173545e-02 2.26174760e+00] [ 4.99886265e-02 9.98749465e-01 -8.01954496e-04 2.79916944e-01] [ 1.60374180e-02 1.63063203e-07 9.99871392e-01 -2.93496691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.597535379 meters Centerline goodness [0,1] 0.9991613804967208 Centerline is valid? [True, True] Translation: X:2.29, Y:0.29, Z:-0.03 [[ 9.98587372e-01 -5.03436224e-02 -1.69935469e-02 2.28896590e+00] [ 5.03363566e-02 9.98731956e-01 -8.55294513e-04 2.86438164e-01] [ 1.70150569e-02 -1.30693446e-06 9.99855233e-01 -3.11433364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.627535379 meters Centerline goodness [0,1] 0.9993538938662991 Centerline is valid? [True, True] Translation: X:2.32, Y:0.29, Z:-0.03 [[ 9.98628105e-01 -4.97178425e-02 -1.64330064e-02 2.31641515e+00] [ 4.97109275e-02 9.98763303e-01 -8.29260183e-04 2.90563304e-01] [ 1.64539128e-02 1.12225342e-05 9.99864625e-01 -3.04063120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.657535379 meters Centerline goodness [0,1] 0.9993534343412573 Centerline is valid? [True, True] Translation: X:2.34, Y:0.29, Z:-0.03 [[ 9.98598492e-01 -5.05040864e-02 -1.58236587e-02 2.34388825e+00] [ 5.04977025e-02 9.98723854e-01 -8.02987869e-04 2.92844984e-01] [ 1.58440196e-02 2.80406522e-06 9.99874476e-01 -2.99035914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.687535379 meters Centerline goodness [0,1] 0.9996330196010708 Centerline is valid? [True, True] Translation: X:2.37, Y:0.30, Z:-0.03 [[ 9.98550703e-01 -5.16262396e-02 -1.52060979e-02 2.37090053e+00] [ 5.16204152e-02 9.98666476e-01 -7.75540337e-04 2.95732228e-01] [ 1.52258584e-02 -1.05287379e-05 9.99884080e-01 -2.86621358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.717535379 meters Centerline goodness [0,1] 0.9997836715268463 Centerline is valid? [True, True] Translation: X:2.40, Y:0.30, Z:-0.03 [[ 9.98530057e-01 -5.23362420e-02 -1.40940608e-02 2.39899722e+00] [ 5.23312831e-02 9.98629520e-01 -7.20664786e-04 2.98266425e-01] [ 1.41124620e-02 -1.79548338e-05 9.99900414e-01 -2.71933645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.747535379 meters Centerline goodness [0,1] 0.9998485504110775 Centerline is valid? [True, True] Translation: X:2.43, Y:0.30, Z:-0.03 [[ 9.98454978e-01 -5.36874974e-02 -1.43286105e-02 2.42581761e+00] [ 5.36824546e-02 9.98557786e-01 -7.36600495e-04 3.01555332e-01] [ 1.43474918e-02 -3.37325499e-05 9.99897069e-01 -2.69909242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.777535379 meters Centerline goodness [0,1] 0.9996983278745044 Centerline is valid? [True, True] Translation: X:2.45, Y:0.30, Z:-0.03 [[ 9.98406204e-01 -5.44575406e-02 -1.48131375e-02 2.45414687e+00] [ 5.44522033e-02 9.98516086e-01 -7.63695743e-04 3.04151516e-01] [ 1.48327451e-02 -4.41294083e-05 9.99889988e-01 -2.73206349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.807535379 meters Centerline goodness [0,1] 0.9997187303922629 Centerline is valid? [True, True] Translation: X:2.48, Y:0.31, Z:-0.03 [[ 9.98375041e-01 -5.51246222e-02 -1.44413651e-02 2.48251129e+00] [ 5.51195619e-02 9.98479481e-01 -7.48495077e-04 3.06533081e-01] [ 1.44606673e-02 -4.87229156e-05 9.99895438e-01 -2.67934979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.837535379 meters Centerline goodness [0,1] 0.999827945888982 Centerline is valid? [True, True] Translation: X:2.51, Y:0.31, Z:-0.03 [[ 9.98349811e-01 -5.54585296e-02 -1.48998554e-02 2.51072846e+00] [ 5.54531161e-02 9.98460990e-01 -7.76546460e-04 3.08991613e-01] [ 1.49199905e-02 -5.09784012e-05 9.99888689e-01 -2.69524302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.867535379 meters Centerline goodness [0,1] 0.9998061723343312 Centerline is valid? [True, True] Translation: X:2.54, Y:0.31, Z:-0.03 [[ 9.98216372e-01 -5.78445520e-02 -1.47676090e-02 2.53893459e+00] [ 5.78394403e-02 9.98325599e-01 -7.73369886e-04 3.09780286e-01] [ 1.47876173e-02 -8.21597540e-05 9.99890654e-01 -2.70606122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.897535379 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:2.57, Y:0.31, Z:-0.03 [[ 9.98180248e-01 -5.87072900e-02 -1.37712450e-02 2.56688691e+00] [ 5.87029093e-02 9.98275236e-01 -7.22459524e-04 3.11609048e-01] [ 1.37899065e-02 -8.72673199e-05 9.99904911e-01 -2.54704221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.927535379 meters Centerline goodness [0,1] 0.9999783596624108 Centerline is valid? [True, True] Translation: X:2.60, Y:0.31, Z:-0.02 [[ 9.98084659e-01 -6.03555894e-02 -1.35726034e-02 2.59572650e+00] [ 6.03514368e-02 9.98176934e-01 -7.15703832e-04 3.12596645e-01] [ 1.35910564e-02 -1.04793100e-04 9.99907632e-01 -2.48242199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.957535379 meters Centerline goodness [0,1] 0.9999567408560984 Centerline is valid? [True, True] Translation: X:2.62, Y:0.31, Z:-0.02 [[ 9.97991449e-01 -6.19818099e-02 -1.30890061e-02 2.62313534e+00] [ 6.19780482e-02 9.98077272e-01 -6.93222438e-04 3.12828226e-01] [ 1.31068067e-02 -1.19400983e-04 9.99914095e-01 -2.38839491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.987535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.65, Y:0.32, Z:-0.02 [[ 9.97757480e-01 -6.57969341e-02 -1.22790299e-02 2.65181468e+00] [ 6.57938955e-02 9.97833021e-01 -6.51690524e-04 3.15792243e-01] [ 1.22953007e-02 -1.57656115e-04 9.99924398e-01 -2.28994280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.017535379 meters Centerline goodness [0,1] 0.9999783352831578 Centerline is valid? [True, True] Translation: X:2.68, Y:0.31, Z:-0.02 [[ 9.97610986e-01 -6.80831161e-02 -1.17051480e-02 2.67989217e+00] [ 6.80804724e-02 9.97679638e-01 -6.24632468e-04 3.11251433e-01] [ 1.17205147e-02 -1.73751792e-04 9.99931297e-01 -2.17998638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.047535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.71, Y:0.32, Z:-0.02 [[ 9.97486926e-01 -6.99443913e-02 -1.12966395e-02 2.70885899e+00] [ 6.99420392e-02 9.97550874e-01 -6.03631680e-04 3.17347603e-01] [ 1.13111932e-02 -1.87995292e-04 9.99936009e-01 -2.13876646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0775353789999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.74, Y:0.32, Z:-0.02 [[ 9.97328024e-01 -7.24391201e-02 -9.45448722e-03 2.73625905e+00] [ 7.24375591e-02 9.97372820e-01 -5.07891146e-04 3.18418958e-01] [ 9.46643977e-03 -1.78325904e-04 9.99955176e-01 -1.97083375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.107535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.77, Y:0.32, Z:-0.02 [[ 9.97275478e-01 -7.32856403e-02 -8.41641841e-03 2.76521809e+00] [ 7.32844342e-02 9.97310978e-01 -4.52035919e-04 3.20422940e-01] [ 8.42691422e-03 -1.65988124e-04 9.99964479e-01 -1.87033275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.137535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.79, Y:0.32, Z:-0.02 [[ 9.97219134e-01 -7.41404230e-02 -7.56287286e-03 2.79355877e+00] [ 7.41394605e-02 9.97247800e-01 -4.07921577e-04 3.22385175e-01] [ 7.57230179e-03 -1.53920112e-04 9.99971318e-01 -1.78145429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.167535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.82, Y:0.33, Z:-0.02 [[ 9.97175402e-01 -7.48236053e-02 -6.53030172e-03 2.82108890e+00] [ 7.48228866e-02 9.97196776e-01 -3.54639682e-04 3.25419572e-01] [ 6.53853124e-03 -1.34978058e-04 9.99978614e-01 -1.63656949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.197535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:0.33, Z:-0.02 [[ 9.97167448e-01 -7.49468935e-02 -6.32805323e-03 2.84915744e+00] [ 7.49462262e-02 9.97187518e-01 -3.42863230e-04 3.28172610e-01] [ 6.33595223e-03 -1.32371657e-04 9.99979919e-01 -1.56637837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.227535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.88, Y:0.33, Z:-0.01 [[ 9.97178806e-01 -7.48948867e-02 -5.01852282e-03 2.87725952e+00] [ 7.48944628e-02 9.97191429e-01 -2.72622752e-04 3.31311306e-01] [ 5.02484599e-03 -1.04005940e-04 9.99987370e-01 -1.44879120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.257535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.91, Y:0.34, Z:-0.01 [[ 9.97357498e-01 -7.24912297e-02 -4.80035221e-03 2.90525002e+00] [ 7.24908062e-02 9.97369046e-01 -2.62382852e-04 3.37868260e-01] [ 4.80674316e-03 -8.62918973e-05 9.99988444e-01 -1.34648238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2875353789999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.93, Y:0.34, Z:-0.01 [[ 9.97467322e-01 -7.10472115e-02 -3.35191458e-03 2.93404117e+00] [ 7.10469973e-02 9.97472952e-01 -1.83092518e-04 3.42394280e-01] [ 3.35645234e-03 -5.55146623e-05 9.99994366e-01 -1.20228215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.317535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.96, Y:0.35, Z:-0.01 [[ 9.97684814e-01 -6.79927480e-02 -1.41373592e-03 2.96270110e+00] [ 6.79927091e-02 9.97685815e-01 -7.56515368e-05 3.49554740e-01] [ 1.41560803e-03 -2.06473456e-05 9.99998998e-01 -9.97485040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.347535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.99, Y:0.36, Z:-0.01 [[ 9.97778868e-01 -6.65826864e-02 -2.01913963e-03 2.99126996e+00] [ 6.65826012e-02 9.97780910e-01 -1.09471102e-04 3.57086365e-01] [ 2.02194786e-03 -2.52116164e-05 9.99997956e-01 -1.32555103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.377535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.02, Y:0.36, Z:-0.01 [[ 9.97882463e-01 -6.49951723e-02 -2.49367409e-03 3.01935021e+00] [ 6.49950293e-02 9.97885578e-01 -1.38430701e-04 3.58502306e-01] [ 2.49739874e-03 -2.39388519e-05 9.99996881e-01 -9.53935906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.407535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.05, Y:0.36, Z:-0.01 [[ 9.97939687e-01 -6.41414471e-02 -1.50218929e-03 3.04716523e+00] [ 6.41413973e-02 9.97940817e-01 -8.13636318e-05 3.62035619e-01] [ 1.50431479e-03 -1.51565231e-05 9.99998868e-01 -8.65784350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.437535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.08, Y:0.36, Z:-0.01 [[ 9.97994467e-01 -6.32760592e-02 -1.78437532e-03 3.07546263e+00] [ 6.32759846e-02 9.97996062e-01 -9.82774884e-05 3.64990690e-01] [ 1.78701816e-03 -1.48277158e-05 9.99998403e-01 -8.45793727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.467535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.10, Y:0.37, Z:-0.01 [[ 9.98051407e-01 -6.23889436e-02 -1.00468566e-03 3.10227639e+00] [ 6.23889192e-02 9.98051912e-01 -5.56795780e-05 3.65906380e-01] [ 1.00620223e-03 -7.11017115e-06 9.99999494e-01 -6.76581779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4975353789999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.13, Y:0.37, Z:-0.01 [[ 9.98064800e-01 -6.21813470e-02 -3.68364276e-04 3.12988581e+00] [ 6.21813451e-02 9.98064868e-01 -1.64647719e-05 3.69828097e-01] [ 3.68675244e-04 -6.47247688e-06 9.99999932e-01 -1.07747907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.527535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.16, Y:0.37, Z:-0.01 [[ 9.98068917e-01 -6.21132747e-02 6.14956489e-04 3.15829604e+00] [ 6.21132621e-02 9.98069106e-01 3.96153833e-05 3.71663679e-01] [-6.16229715e-04 -1.34192910e-06 9.99999810e-01 -1.07288907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.557535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.19, Y:0.37, Z:-0.01 [[ 9.98143828e-01 -6.08999897e-02 -2.98385288e-04 3.18560771e+00] [ 6.08999877e-02 9.98143873e-01 -1.57857595e-05 3.71998903e-01] [ 2.98792800e-04 -2.41520192e-06 9.99999955e-01 -5.01869150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.21, Y:0.37, Z:-0.01 [[ 9.98131065e-01 -6.11091347e-02 -2.24010659e-04 3.21315880e+00] [ 6.11091343e-02 9.98131090e-01 -8.51274437e-06 3.74528439e-01] [ 2.24112210e-04 -5.19226285e-06 9.99999975e-01 -9.85886290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6175353789999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.24, Y:0.38, Z:-0.01 [[ 9.98107342e-01 -6.14943596e-02 -4.21060298e-04 3.24086541e+00] [ 6.14943567e-02 9.98107431e-01 -1.98761630e-05 3.75516785e-01] [ 4.21485685e-04 -6.05428798e-06 9.99999911e-01 -1.07912271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.647535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.27, Y:0.37, Z:-0.01 [[ 9.98008362e-01 -6.30817597e-02 -1.59375336e-05 3.26916839e+00] [ 6.30817597e-02 9.98008362e-01 5.32869325e-07 3.73091065e-01] [ 1.58721775e-05 -1.53717571e-06 1.00000000e+00 -9.89924983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.677535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.30, Y:0.37, Z:-0.00 [[ 9.97952176e-01 -6.39473213e-02 -1.48156368e-03 3.29718590e+00] [ 6.39472647e-02 9.97953275e-01 -8.56205617e-05 3.70260178e-01] [ 1.48400654e-03 -9.29671911e-06 9.99998899e-01 -4.77635111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.707535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.33, Y:0.37, Z:-0.00 [[ 9.97787871e-01 -6.64655530e-02 -1.30202498e-03 3.32512164e+00] [ 6.64655117e-02 9.97788720e-01 -7.50354034e-05 3.66549885e-01] [ 1.30413311e-03 -1.16703414e-05 9.99999150e-01 -4.87006313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.737535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.35, Y:0.37, Z:-0.01 [[ 9.97641781e-01 -6.86214878e-02 -1.40288311e-03 3.35431765e+00] [ 6.86214445e-02 9.97642767e-01 -7.90346032e-05 3.69647516e-01] [ 1.40499966e-03 -1.74196430e-05 9.99999013e-01 -1.02983531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.767535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.38, Y:0.37, Z:-0.01 [[ 9.97540812e-01 -7.00665218e-02 -1.73544621e-03 3.38274032e+00] [ 7.00664512e-02 9.97542321e-01 -1.01491835e-04 3.68639773e-01] [ 1.73829222e-03 -2.03543096e-05 9.99998489e-01 -9.89657464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.797535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.41, Y:0.36, Z:-0.01 [[ 9.97257257e-01 -7.40018516e-02 -1.29989317e-03 3.41222819e+00] [ 7.40018186e-02 9.97258104e-01 -7.35377639e-05 3.64021388e-01] [ 1.30177092e-03 -2.28583896e-05 9.99999152e-01 -9.12503196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8275353789999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.44, Y:0.36, Z:-0.01 [[ 9.97100193e-01 -7.60900621e-02 -1.22780144e-03 3.44076424e+00] [ 7.60900340e-02 9.97100949e-01 -6.96408397e-05 3.62688871e-01] [ 1.22954096e-03 -2.39845588e-05 9.99999244e-01 -8.30824977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.857535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.47, Y:0.36, Z:-0.01 [[ 9.96926412e-01 -7.83416136e-02 -5.66634428e-04 3.46940851e+00] [ 7.83416090e-02 9.96926573e-01 -3.02454874e-05 3.61459824e-01] [ 5.67262398e-04 -1.42385276e-05 9.99999839e-01 -7.49530557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.887535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.50, Y:0.36, Z:-0.01 [[ 9.96661620e-01 -8.16273720e-02 -1.60844808e-03 3.49865986e+00] [ 8.16273275e-02 9.96662917e-01 -9.33821052e-05 3.58756057e-01] [ 1.61070309e-03 -3.82229580e-05 9.99998702e-01 -8.50181974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.917535378999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.53, Y:0.36, Z:-0.01 [[ 9.96633262e-01 -8.19728904e-02 -1.60844787e-03 3.52610205e+00] [ 8.19728464e-02 9.96634559e-01 -9.33968189e-05 3.60633361e-01] [ 1.61069074e-03 -3.87666741e-05 9.99998702e-01 -8.14605020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.947535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.56, Y:0.36, Z:-0.01 [[ 9.96513319e-01 -8.34225665e-02 -1.37115053e-03 3.55500602e+00] [ 8.34225357e-02 9.96514262e-01 -7.97270648e-05 3.62046201e-01] [ 1.37302209e-03 -3.49357718e-05 9.99999057e-01 -9.09183909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.977535379 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.58, Y:0.36, Z:-0.01 [[ 9.96428241e-01 -8.43968098e-02 -2.81758822e-03 3.58302295e+00] [ 8.43966700e-02 9.96432222e-01 -1.68691955e-04 3.61859685e-01] [ 2.82177276e-03 -6.97056351e-05 9.99996016e-01 -9.29271346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 152.73 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%| | 0/166 [00:00