+ python -m lidar_slam --no-model /working/999ba04f-bc86-438c-9dfe-66d678bdec10 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/999ba04f-bc86-438c-9dfe-66d678bdec10 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 0.028779192 Adjusted end_distance from 9.223372036854776e+18 to 7.768779192 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028779192 meters Centerline goodness [0,1] 0.9154172805269087 Centerline is valid? [0, False] SLAMing on 0.058779191999999994 meters Centerline goodness [0,1] 0.9083024944207463 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.01 [[ 9.99995846e-01 -2.44770126e-03 -1.52193430e-03 3.72015727e-03] [ 2.45042324e-03 9.99995397e-01 1.78921746e-03 8.77554638e-04] [ 1.51754782e-03 -1.79293941e-03 9.99997241e-01 5.52440936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08877919199999999 meters Centerline goodness [0,1] 0.903529609032222 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99996864 -0.00760571 -0.00220879 0.00973353] [ 0.00761432 0.99996334 0.0039156 0.00706358] [ 0.00217893 -0.0039323 0.99998989 0.01469977] [ 0. 0. 0. 1. ]] SLAMing on 0.11877919199999998 meters Centerline goodness [0,1] 0.9046889792281562 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99998324 -0.00494129 -0.00301861 0.01225768] [ 0.00496146 0.99996516 0.00671238 0.00979049] [ 0.00298534 -0.00672724 0.99997292 0.01478329] [ 0. 0. 0. 1. ]] SLAMing on 0.14877919199999998 meters Centerline goodness [0,1] 0.8887371640812759 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.01 [[ 9.99985605e-01 3.56249344e-05 -5.36548771e-03 1.91529745e-02] [ 2.94386516e-05 9.99926480e-01 1.21257464e-02 1.76808493e-02] [ 5.36552522e-03 -1.21257298e-02 9.99912085e-01 1.44750960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17877919199999998 meters Centerline goodness [0,1] 0.8591770886109704 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:0.01 [[ 0.99995748 0.00840134 -0.00380107 0.03840213] [-0.00835406 0.9998896 0.01228832 0.02212077] [ 0.00390389 -0.01225605 0.99991727 0.01174955] [ 0. 0. 0. 1. ]] SLAMing on 0.20877919199999997 meters Centerline goodness [0,1] 0.8161268825803012 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.01 [[ 0.99995845 0.00819642 -0.00398931 0.04027227] [-0.00815318 0.9999091 0.01073817 0.02571704] [ 0.00407697 -0.0107052 0.99993439 0.01023472] [ 0. 0. 0. 1. ]] SLAMing on 0.23877919199999997 meters Centerline goodness [0,1] 0.8398113860990489 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.01 [[ 0.99995836 0.00811308 -0.00417769 0.04189014] [-0.00807139 0.9999184 0.00990143 0.02757432] [ 0.00425768 -0.0098673 0.99994225 0.00930157] [ 0. 0. 0. 1. ]] SLAMing on 0.26877919199999994 meters Centerline goodness [0,1] 0.8265303384053887 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:0.01 [[ 0.99997031 0.00628019 -0.00446525 0.04714573] [-0.00624406 0.99994802 0.0080605 0.03020551] [ 0.00451564 -0.00803238 0.99995754 0.00626007] [ 0. 0. 0. 1. ]] SLAMing on 0.29877919199999997 meters Centerline goodness [0,1] 0.8179068842021489 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:0.00 [[ 9.99968876e-01 7.69391344e-03 -1.74689182e-03 6.74859753e-02] [-7.68968524e-03 9.99967519e-01 2.41436604e-03 2.89969944e-02] [ 1.76541101e-03 -2.40085784e-03 9.99995560e-01 5.90217775e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32877919199999994 meters Centerline goodness [0,1] 0.806707204717155 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.00 [[ 0.99997825 0.00607309 -0.00257148 0.07166515] [-0.00606988 0.99998079 0.00125461 0.02987612] [ 0.00257905 -0.00123898 0.99999591 -0.00139041] [ 0. 0. 0. 1. ]] SLAMing on 0.35877919199999997 meters Centerline goodness [0,1] 0.7916467018048235 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.00 [[ 9.99983052e-01 5.11988130e-03 -2.77163653e-03 7.39501687e-02] [-5.11822651e-03 9.99986719e-01 6.03809509e-04 3.10568104e-02] [ 2.77469115e-03 -5.89613413e-04 9.99995977e-01 -2.41275482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38877919199999994 meters Centerline goodness [0,1] 0.7885912252399968 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.01 [[ 0.99998583 0.00237784 -0.00476353 0.08626616] [-0.00237171 0.99999635 0.0012937 0.03549841] [ 0.00476659 -0.00128238 0.99998782 -0.00630427] [ 0. 0. 0. 1. ]] SLAMing on 0.41877919199999997 meters Centerline goodness [0,1] 0.7687256744949562 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.01 [[ 9.99982125e-01 1.12468723e-03 -5.87235898e-03 9.04563280e-02] [-1.12487294e-03 9.99999367e-01 -2.83210227e-05 3.93014013e-02] [ 5.87232341e-03 3.49261742e-05 9.99982757e-01 -8.36600723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44877919199999994 meters Centerline goodness [0,1] 0.6566214368360156 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:-0.01 [[ 0.99995111 0.00305143 -0.00940528 0.10381051] [-0.00302075 0.99999007 0.00327494 0.04642027] [ 0.00941518 -0.00324637 0.99995041 -0.01360299] [ 0. 0. 0. 1. ]] SLAMing on 0.47877919199999996 meters Centerline goodness [0,1] 0.6693743653831133 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.02 [[ 0.99991245 0.0050643 -0.01222494 0.11660578] [-0.00497278 0.99995948 0.00750448 0.05412225] [ 0.01226245 -0.00744303 0.99989711 -0.0173571 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5087791919999999 meters Centerline goodness [0,1] 0.7421416190205159 Centerline is valid? [False, False] Translation: X:0.12, Y:0.06, Z:-0.02 [[ 0.99991135 0.00386561 -0.01274202 0.12050408] [-0.00378654 0.99997346 0.00622413 0.0596446 ] [ 0.01276575 -0.00617533 0.99989945 -0.01930438] [ 0. 0. 0. 1. ]] SLAMing on 0.5387791919999999 meters Centerline goodness [0,1] 0.6635298931110316 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.02 [[ 0.9998921 0.00524715 -0.01372072 0.1257009 ] [-0.00513104 0.99995084 0.00848456 0.06348871] [ 0.01376457 -0.00841325 0.99986987 -0.02087796] [ 0. 0. 0. 1. ]] SLAMing on 0.5687791919999999 meters Centerline goodness [0,1] 0.6226352725793327 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.02 [[ 0.9998985 0.00835713 -0.01153913 0.149749 ] [-0.00826544 0.99993407 0.00797136 0.0696393 ] [ 0.01160498 -0.00787517 0.99990165 -0.02274561] [ 0. 0. 0. 1. ]] SLAMing on 0.598779192 meters Centerline goodness [0,1] 0.5567125798813555 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:-0.02 [[ 0.99990597 0.00558165 -0.0125255 0.15539033] [-0.00550642 0.99996664 0.00603316 0.07410455] [ 0.01255875 -0.00596362 0.99990335 -0.02430107] [ 0. 0. 0. 1. ]] SLAMing on 0.6287791919999999 meters Centerline goodness [0,1] 0.5372256050759863 Centerline is valid? [False, False] Translation: X:0.17, Y:0.08, Z:-0.03 [[ 9.99885779e-01 7.79719410e-04 -1.50937518e-02 1.71881859e-01] [-6.91531398e-04 9.99982667e-01 5.84702105e-03 8.04230263e-02] [ 1.50980492e-02 -5.83591539e-03 9.99868987e-01 -2.87871428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6587791919999999 meters Centerline goodness [0,1] 0.5097621127267122 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.03 [[ 0.9998681 -0.00164835 -0.01615727 0.17759253] [ 0.00171339 0.99999048 0.00401204 0.0836805 ] [ 0.01615051 -0.00403919 0.99986141 -0.03156015] [ 0. 0. 0. 1. ]] SLAMing on 0.6887791919999999 meters Centerline goodness [0,1] 0.48106646058732616 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 0.99979797 -0.00617115 -0.01912945 0.1939374 ] [ 0.00624551 0.99997316 0.00383016 0.08819197] [ 0.0191053 -0.00394886 0.99980968 -0.03682714] [ 0. 0. 0. 1. ]] SLAMing on 0.718779192 meters Centerline goodness [0,1] 0.46872178511543916 Centerline is valid? [False, False] Translation: X:0.20, Y:0.09, Z:-0.04 [[ 0.99975156 -0.00721329 -0.02109014 0.20295973] [ 0.00730973 0.99996316 0.00449907 0.09055699] [ 0.02105691 -0.00465212 0.99976746 -0.04061022] [ 0. 0. 0. 1. ]] SLAMing on 0.7487791919999999 meters Centerline goodness [0,1] 0.4501302519924686 Centerline is valid? [False, False] Translation: X:0.22, Y:0.10, Z:-0.05 [[ 0.99969844 -0.01285569 -0.02092289 0.22179063] [ 0.01296877 0.99990197 0.00527794 0.09514394] [ 0.02085299 -0.00554769 0.99976716 -0.04809286] [ 0. 0. 0. 1. ]] SLAMing on 0.7787791919999999 meters Centerline goodness [0,1] 0.4374675257196301 Centerline is valid? [False, False] Translation: X:0.23, Y:0.10, Z:-0.05 [[ 0.99963487 -0.0154558 -0.02216401 0.22792196] [ 0.01554217 0.99987226 0.00372972 0.09686912] [ 0.02210354 -0.00407284 0.99974739 -0.05088266] [ 0. 0. 0. 1. ]] SLAMing on 0.8087791919999999 meters Centerline goodness [0,1] 0.41305831102713486 Centerline is valid? [False, False] Translation: X:0.25, Y:0.10, Z:-0.05 [[ 9.99606566e-01 -1.74162156e-02 -2.19861001e-02 2.54384117e-01] [ 1.74042470e-02 9.99848264e-01 -7.35618686e-04 9.79819570e-02] [ 2.19955757e-02 3.52677752e-04 9.99758006e-01 -5.47145348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8387791919999998 meters Centerline goodness [0,1] 0.41305831102713486 Centerline is valid? [False, False] Translation: X:0.25, Y:0.10, Z:-0.05 [[ 9.99606566e-01 -1.74162156e-02 -2.19861001e-02 2.54384117e-01] [ 1.74042470e-02 9.99848264e-01 -7.35618686e-04 9.79819570e-02] [ 2.19955757e-02 3.52677752e-04 9.99758006e-01 -5.47145348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8687791919999999 meters Centerline goodness [0,1] 0.3994036781973139 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:-0.06 [[ 9.99565273e-01 -1.80293515e-02 -2.33282598e-02 2.62069098e-01] [ 1.80491161e-02 9.99836899e-01 6.36945355e-04 9.90980980e-02] [ 2.33129712e-02 -1.05772293e-03 9.99727656e-01 -5.76507859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8987791919999999 meters Centerline goodness [0,1] 0.3840138316265461 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:-0.06 [[ 0.9995817 -0.01880995 -0.02196844 0.28871153] [ 0.01876116 0.99982105 -0.00242455 0.10168417] [ 0.02201011 0.00201138 0.99975572 -0.06090015] [ 0. 0. 0. 1. ]] SLAMing on 0.9287791919999999 meters Centerline goodness [0,1] 0.3711147339444637 Centerline is valid? [False, False] Translation: X:0.30, Y:0.10, Z:-0.06 [[ 9.99473811e-01 -2.09386033e-02 -2.47724959e-02 3.00812542e-01] [ 2.09577892e-02 9.99780229e-01 5.15078703e-04 1.03191251e-01] [ 2.47562666e-02 -1.03398442e-03 9.99692982e-01 -6.19133889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9587791919999998 meters Centerline goodness [0,1] 0.33613761591183977 Centerline is valid? [False, False] Translation: X:0.33, Y:0.11, Z:-0.07 [[ 0.99946127 -0.02297259 -0.02344003 0.33107605] [ 0.02293338 0.99973511 -0.00194014 0.10636782] [ 0.02347839 0.00140153 0.99972336 -0.0651291 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9887791919999999 meters Centerline goodness [0,1] 0.32164887625382177 Centerline is valid? [False, False] Translation: X:0.35, Y:0.11, Z:-0.07 [[ 0.99957217 -0.02128671 -0.0200585 0.35047638] [ 0.02120563 0.99976612 -0.00424627 0.10665553] [ 0.0201442 0.0038191 0.99978979 -0.06678747] [ 0. 0. 0. 1. ]] SLAMing on 1.0187791919999998 meters Centerline goodness [0,1] 0.3118873544543731 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:-0.07 [[ 0.99948335 -0.02592589 -0.01899691 0.38812802] [ 0.02590059 0.99966328 -0.00157655 0.10868444] [ 0.01903138 0.0010837 0.9998183 -0.06699602] [ 0. 0. 0. 1. ]] SLAMing on 1.0487791919999998 meters Centerline goodness [0,1] 0.29755398019373347 Centerline is valid? [False, False] Translation: X:0.41, Y:0.11, Z:-0.07 [[ 0.99954242 -0.02581185 -0.01576998 0.40865139] [ 0.02574552 0.99965887 -0.00439447 0.10963402] [ 0.01587803 0.00398645 0.99986599 -0.06835926] [ 0. 0. 0. 1. ]] SLAMing on 1.0787791919999998 meters Centerline goodness [0,1] 0.2729706343626629 Centerline is valid? [False, False] Translation: X:0.43, Y:0.11, Z:-0.07 [[ 0.99955056 -0.0269886 -0.01304984 0.43066187] [ 0.0268961 0.99961222 -0.00721207 0.11005262] [ 0.01323942 0.00685784 0.99988884 -0.06913475] [ 0. 0. 0. 1. ]] SLAMing on 1.1087791919999999 meters Centerline goodness [0,1] 0.25222991727074295 Centerline is valid? [False, False] Translation: X:0.47, Y:0.11, Z:-0.07 [[ 0.99916606 -0.03868076 -0.01307626 0.4726589 ] [ 0.03861839 0.99924157 -0.00498958 0.10795874] [ 0.01325934 0.00448043 0.99990205 -0.06715737] [ 0. 0. 0. 1. ]] SLAMing on 1.1387791919999999 meters Centerline goodness [0,1] 0.32953575240128063 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:-0.07 [[ 0.9984134 -0.05541038 -0.01001843 0.51041828] [ 0.05545634 0.99845155 0.00436898 0.10582647] [ 0.00976083 -0.00491763 0.99994027 -0.06763688] [ 0. 0. 0. 1. ]] SLAMing on 1.168779192 meters Centerline goodness [0,1] 0.7306829711112297 Centerline is valid? [False, False] Translation: X:0.54, Y:0.10, Z:-0.07 [[ 0.99806038 -0.06145335 -0.00994853 0.5374716 ] [ 0.06152361 0.99808166 0.00691724 0.10133586] [ 0.00950436 -0.00751589 0.99992659 -0.06559492] [ 0. 0. 0. 1. ]] SLAMing on 1.198779192 meters Centerline goodness [0,1] 0.7048874186319496 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:-0.06 [[ 0.99770336 -0.06704866 -0.00961722 0.56327166] [ 0.06712918 0.99770969 0.008309 0.09524241] [ 0.00903809 -0.00893551 0.99991923 -0.06414255] [ 0. 0. 0. 1. ]] SLAMing on 1.2287791919999997 meters Centerline goodness [0,1] 0.6085602058783692 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.06 [[ 0.99640192 -0.08421826 -0.00951332 0.60294556] [ 0.08429468 0.99640924 0.007939 0.08410824] [ 0.00881055 -0.00871236 0.99992323 -0.06036982] [ 0. 0. 0. 1. ]] SLAMing on 1.2587791919999998 meters Centerline goodness [0,1] 0.6301633305344132 Centerline is valid? [False, False] Translation: X:0.62, Y:0.08, Z:-0.06 [[ 0.9962071 -0.08671195 -0.00724303 0.62376673] [ 0.08676792 0.99619796 0.00780746 0.07676509] [ 0.00653849 -0.00840631 0.99994329 -0.05876775] [ 0. 0. 0. 1. ]] SLAMing on 1.2887791919999998 meters Centerline goodness [0,1] 0.6152394497169269 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:-0.06 [[ 0.99615366 -0.08741106 -0.00609862 0.66185605] [ 0.08744835 0.99615012 0.00614151 0.06720394] [ 0.00553831 -0.0066512 0.99996254 -0.05526238] [ 0. 0. 0. 1. ]] SLAMing on 1.3187791919999998 meters Centerline goodness [0,1] 0.6350543852402588 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.05 [[ 0.99650864 -0.08346262 -0.0021259 0.67761933] [ 0.08347519 0.99648707 0.00673916 0.0623721 ] [ 0.00155597 -0.00689309 0.99997503 -0.05463991] [ 0. 0. 0. 1. ]] SLAMing on 1.3487791919999998 meters Centerline goodness [0,1] 0.6470261256253473 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.05 [[ 0.99720112 -0.07471 -0.00288788 0.71081719] [ 0.07472378 0.99719173 0.00500142 0.05431632] [ 0.00250611 -0.00520322 0.99998332 -0.05294635] [ 0. 0. 0. 1. ]] SLAMing on 1.3787791919999999 meters Centerline goodness [0,1] 0.6487806223791657 Centerline is valid? [False, False] Translation: X:0.72, Y:0.05, Z:-0.06 [[ 9.97554400e-01 -6.98611076e-02 2.15517535e-03 7.22558280e-01] [ 6.98604095e-02 9.97556698e-01 3.97586699e-04 5.11534169e-02] [-2.17768545e-03 -2.46052928e-04 9.99997599e-01 -5.63743904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.408779192 meters Centerline goodness [0,1] 0.6649285492826742 Centerline is valid? [False, False] Translation: X:0.75, Y:0.04, Z:-0.06 [[ 0.99807248 -0.0620178 0.00226375 0.75367864] [ 0.06202485 0.99806951 -0.00318943 0.04084526] [-0.00206158 0.00332369 0.99999235 -0.05608536] [ 0. 0. 0. 1. ]] SLAMing on 1.4387791919999997 meters Centerline goodness [0,1] 0.6736905135296969 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.06 [[ 0.99838255 -0.05679924 -0.00247747 0.77186926] [ 0.05678462 0.99837065 -0.00561723 0.03590387] [ 0.00279248 0.00546746 0.99998115 -0.05684014] [ 0. 0. 0. 1. ]] SLAMing on 1.4687791919999997 meters Centerline goodness [0,1] 0.697299002179149 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.06 [[ 0.99848996 -0.05489591 -0.00205824 0.79971775] [ 0.05489346 0.99849146 -0.00122941 0.03009628] [ 0.00212262 0.00111457 0.99999713 -0.0569159 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4987791919999998 meters Centerline goodness [0,1] 0.7020672649597155 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.06 [[ 0.99879117 -0.04867825 -0.00682812 0.81960823] [ 0.04866623 0.99881326 -0.00191469 0.02677636] [ 0.00691322 0.00158008 0.99997486 -0.05806506] [ 0. 0. 0. 1. ]] SLAMing on 1.5287791919999998 meters Centerline goodness [0,1] 0.7346367101767356 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.06 [[ 0.99899066 -0.04402182 -0.00893027 0.85675714] [ 0.04397792 0.99901972 -0.00505403 0.01784809] [ 0.00914401 0.0046562 0.99994735 -0.05626462] [ 0. 0. 0. 1. ]] SLAMing on 1.5587791919999998 meters Centerline goodness [0,1] 0.757462903695083 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.06 [[ 0.99909984 -0.0421104 -0.00512003 0.8725461 ] [ 0.04207147 0.99908655 -0.00748667 0.01195625] [ 0.00543062 0.00726453 0.99995887 -0.05628788] [ 0. 0. 0. 1. ]] SLAMing on 1.5887791919999998 meters Centerline goodness [0,1] 0.7750689432611629 Centerline is valid? [False, False] Translation: X:0.91, Y:0.00, Z:-0.06 [[ 0.99896761 -0.04508523 -0.0055704 0.90776377] [ 0.04506824 0.99897898 -0.00313963 0.00318645] [ 0.00570626 0.00288534 0.99997956 -0.05715852] [ 0. 0. 0. 1. ]] SLAMing on 1.6187791919999999 meters Centerline goodness [0,1] 0.7730765833406943 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.00, Z:-0.06 [[ 0.99905988 -0.04325473 -0.00289616 0.92598687] [ 0.04324302 0.99905663 -0.00398757 -0.00291161] [ 0.00306591 0.00385858 0.99998786 -0.05676055] [ 0. 0. 0. 1. ]] SLAMing on 1.6487791919999997 meters Centerline goodness [0,1] 0.794379712131597 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.02, Z:-0.06 [[ 0.99910065 -0.04221783 -0.00394268 0.96542034] [ 0.04218324 0.99907392 -0.00847852 -0.01597885] [ 0.00429697 0.00830458 0.99995628 -0.05523842] [ 0. 0. 0. 1. ]] SLAMing on 1.6787791919999997 meters Centerline goodness [0,1] 0.8124432059126432 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:-0.05 [[ 0.99901691 -0.04421079 -0.00325727 0.99592583] [ 0.04419394 0.99901007 -0.00507749 -0.02750514] [ 0.00347853 0.00492855 0.9999818 -0.05404038] [ 0. 0. 0. 1. ]] SLAMing on 1.7087791919999997 meters Centerline goodness [0,1] 0.8118989653073646 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.03, Z:-0.05 [[ 0.99919993 -0.03916658 -0.00809173 1.01763045] [ 0.03912577 0.99922106 -0.00514265 -0.03374388] [ 0.00828685 0.00482194 0.99995404 -0.05459199] [ 0. 0. 0. 1. ]] SLAMing on 1.7387791919999998 meters Centerline goodness [0,1] 0.8127059685097034 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.04, Z:-0.05 [[ 0.99942298 -0.03375829 -0.00375337 1.03180804] [ 0.03373961 0.99941848 -0.00493436 -0.04063554] [ 0.00391776 0.00480488 0.99998078 -0.05462115] [ 0. 0. 0. 1. ]] SLAMing on 1.7687791919999998 meters Centerline goodness [0,1] 0.8391831721173039 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.05 [[ 9.99486906e-01 -3.20268152e-02 4.56810517e-04 1.05685965e+00] [ 3.20280593e-02 9.99482340e-01 -3.04223794e-03 -5.00359808e-02] [-3.59140853e-04 3.05530773e-03 9.99995268e-01 -5.42202680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7987791919999998 meters Centerline goodness [0,1] 0.8385049147998644 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.06 [[ 0.9996703 -0.02564749 -0.00122178 1.07527258] [ 0.02564105 0.99965859 -0.00502342 -0.0557519 ] [ 0.0013502 0.00499044 0.99998664 -0.05557258] [ 0. 0. 0. 1. ]] SLAMing on 1.8287791919999998 meters Centerline goodness [0,1] 0.8600343053173242 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:-0.06 [[ 9.99782174e-01 -2.06283567e-02 3.17415426e-03 1.09908227e+00] [ 2.06312435e-02 9.99786766e-01 -8.79420751e-04 -6.43163869e-02] [-3.15533642e-03 9.44715940e-04 9.99994576e-01 -5.64784921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8587791919999996 meters Centerline goodness [0,1] 0.8664806570944887 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.07, Z:-0.06 [[ 9.99831965e-01 -1.83025126e-02 1.02962940e-03 1.10519171e+00] [ 1.82987220e-02 9.99826163e-01 3.57781337e-03 -6.78829857e-02] [-1.09493339e-03 -3.55837127e-03 9.99993070e-01 -5.75678755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8887791919999997 meters Centerline goodness [0,1] 0.8655565736674145 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.08, Z:-0.06 [[ 0.99989046 -0.0144249 -0.00331373 1.13068162] [ 0.01444041 0.99988467 0.00470423 -0.07861502] [ 0.00324549 -0.00475156 0.99998344 -0.05946316] [ 0. 0. 0. 1. ]] SLAMing on 1.9187791919999997 meters Centerline goodness [0,1] 0.8696370685819614 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:-0.06 [[ 0.99986913 -0.01540733 -0.00493328 1.13515288] [ 0.0154356 0.99986436 0.0057452 -0.08438937] [ 0.00484409 -0.00582059 0.99997133 -0.060019 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9487791919999997 meters Centerline goodness [0,1] 0.8701008925106714 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.10, Z:-0.06 [[ 0.99979888 -0.01719748 -0.01031683 1.15679992] [ 0.01721095 0.99985114 0.00121887 -0.10026393] [ 0.01029434 -0.00139618 0.99994604 -0.05933661] [ 0. 0. 0. 1. ]] SLAMing on 1.9787791919999997 meters Centerline goodness [0,1] 0.8718624865709542 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:-0.06 [[ 0.9997644 -0.01819687 -0.01183259 1.16130331] [ 0.01822711 0.99983086 0.00245328 -0.10719921] [ 0.01178595 -0.00266838 0.99992698 -0.0601442 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0087791919999995 meters Centerline goodness [0,1] 0.8695923939862487 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.12, Z:-0.06 [[ 0.99962993 -0.02019224 -0.01822838 1.18933419] [ 0.02022075 0.99979459 0.00138131 -0.12240677] [ 0.01819674 -0.00174939 0.9998329 -0.06142488] [ 0. 0. 0. 1. ]] SLAMing on 2.038779192 meters Centerline goodness [0,1] 0.8848786351040032 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:-0.06 [[ 0.99957369 -0.02148136 -0.01977344 1.19460497] [ 0.02153646 0.99976474 0.00257789 -0.1293676 ] [ 0.01971341 -0.00300264 0.99980116 -0.06251832] [ 0. 0. 0. 1. ]] SLAMing on 2.0687791919999996 meters Centerline goodness [0,1] 0.8892658433980187 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.15, Z:-0.06 [[ 0.99946826 -0.0267856 -0.01859402 1.22520953] [ 0.02688748 0.99962468 0.00525088 -0.14686667] [ 0.01844639 -0.00574803 0.99981333 -0.05965409] [ 0. 0. 0. 1. ]] SLAMing on 2.098779192 meters Centerline goodness [0,1] 0.9016415821985597 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.06 [[ 0.99959462 -0.02414098 -0.015093 1.24679443] [ 0.02419513 0.99970142 0.00341498 -0.15370854] [ 0.01500605 -0.00377877 0.99988026 -0.06161382] [ 0. 0. 0. 1. ]] SLAMing on 2.1287791919999997 meters Centerline goodness [0,1] 0.9004399323181049 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.15, Z:-0.06 [[ 0.99972162 -0.01906457 -0.0139007 1.2629118 ] [ 0.01903852 0.99981674 -0.00200388 -0.15384128] [ 0.01393636 0.00173868 0.99990137 -0.06442169] [ 0. 0. 0. 1. ]] SLAMing on 2.158779192 meters Centerline goodness [0,1] 0.9082855300227419 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.16, Z:-0.06 [[ 0.99976481 -0.02048437 -0.00712146 1.28566518] [ 0.02057725 0.99970081 0.01322346 -0.15530127] [ 0.00684846 -0.01336689 0.99988721 -0.05828209] [ 0. 0. 0. 1. ]] SLAMing on 2.1887791919999997 meters Centerline goodness [0,1] 0.9085439634310298 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.15, Z:-0.06 [[ 0.99983412 -0.01795303 -0.003069 1.29978538] [ 0.01797152 0.99981984 0.00610898 -0.15257241] [ 0.00295877 -0.00616313 0.99997663 -0.06144628] [ 0. 0. 0. 1. ]] SLAMing on 2.2187791919999995 meters Centerline goodness [0,1] 0.9266578831796223 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.15, Z:-0.06 [[ 0.99978436 -0.02026242 -0.00454705 1.30566586] [ 0.02028599 0.9997807 0.00519972 -0.1503423 ] [ 0.0044407 -0.00529084 0.99997614 -0.06326997] [ 0. 0. 0. 1. ]] SLAMing on 2.2487791919999998 meters Centerline goodness [0,1] 0.9239801395598497 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.15, Z:-0.06 [[ 0.99961069 -0.02658579 -0.00846534 1.32704311] [ 0.02666196 0.99960385 0.00901556 -0.14601609] [ 0.0082223 -0.00923775 0.99992353 -0.06358046] [ 0. 0. 0. 1. ]] SLAMing on 2.2787791919999996 meters Centerline goodness [0,1] 0.9291605203164812 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.14, Z:-0.06 [[ 0.99949139 -0.02996745 -0.0109043 1.3352451 ] [ 0.03005903 0.99951339 0.00833351 -0.14482693] [ 0.01064926 -0.00865704 0.99990582 -0.06477904] [ 0. 0. 0. 1. ]] SLAMing on 2.308779192 meters Centerline goodness [0,1] 0.9305433977509932 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.14, Z:-0.06 [[ 0.99910487 -0.03932056 -0.01560004 1.35483013] [ 0.03944707 0.99919054 0.00788614 -0.14366481] [ 0.01527733 -0.00849445 0.99984721 -0.06477033] [ 0. 0. 0. 1. ]] SLAMing on 2.3387791919999996 meters Centerline goodness [0,1] 0.9343873785421675 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.14, Z:-0.06 [[ 0.99857288 -0.04948347 -0.02008933 1.37500845] [ 0.04965267 0.9987344 0.00801254 -0.14387472] [ 0.01966742 -0.00899859 0.99976608 -0.06266558] [ 0. 0. 0. 1. ]] SLAMing on 2.368779192 meters Centerline goodness [0,1] 0.9326524421073921 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.14, Z:-0.07 [[ 9.98637651e-01 -4.83002900e-02 -1.97464864e-02 1.39268694e+00] [ 4.83143424e-02 9.98832153e-01 2.34913483e-04 -1.43524052e-01] [ 1.97120791e-02 -1.18863195e-03 9.99804992e-01 -6.51833754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3987791919999997 meters Centerline goodness [0,1] 0.9327887114741924 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.06 [[ 0.99864077 -0.04701174 -0.02250554 1.39932781] [ 0.04712746 0.99887811 0.00463903 -0.14414824] [ 0.0222622 -0.00569336 0.99973596 -0.06344312] [ 0. 0. 0. 1. ]] SLAMing on 2.4287791919999995 meters Centerline goodness [0,1] 0.9247647849462366 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.14, Z:-0.06 [[ 0.99836838 -0.0502153 -0.02718453 1.41584729] [ 0.05046586 0.99868867 0.00861019 -0.14169684] [ 0.02671652 -0.00996804 0.99959335 -0.06203208] [ 0. 0. 0. 1. ]] SLAMing on 2.4587791919999997 meters Centerline goodness [0,1] 0.9241650426718635 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.14, Z:-0.06 [[ 0.9980438 -0.0539769 -0.03154458 1.43294282] [ 0.05437208 0.99845094 0.01180671 -0.1395177 ] [ 0.03085843 -0.01349875 0.99943261 -0.06300229] [ 0. 0. 0. 1. ]] SLAMing on 2.4887791919999995 meters Centerline goodness [0,1] 0.916193992280584 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.14, Z:-0.06 [[ 0.99799721 -0.05320715 -0.03421364 1.45582837] [ 0.05353304 0.99852835 0.00868 -0.14103484] [ 0.03370145 -0.01049417 0.99937685 -0.06332587] [ 0. 0. 0. 1. ]] SLAMing on 2.518779192 meters Centerline goodness [0,1] 0.8931848852901485 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.14, Z:-0.06 [[ 0.99744835 -0.05951313 -0.03943311 1.49092299] [ 0.0598097 0.99818939 0.00638307 -0.14367997] [ 0.03898184 -0.00872527 0.99920182 -0.06120301] [ 0. 0. 0. 1. ]] SLAMing on 2.5487791919999996 meters Centerline goodness [0,1] 0.8906825166323326 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.15, Z:-0.06 [[ 9.97479054e-01 -5.97087865e-02 -3.83457548e-02 1.50964355e+00] [ 5.97742486e-02 9.98211763e-01 5.61936987e-04 -1.45520264e-01] [ 3.82436310e-02 -2.85260906e-03 9.99264373e-01 -6.13870482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.578779192 meters Centerline goodness [0,1] 0.8724168304085642 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.15, Z:-0.06 [[ 9.97481019e-01 -5.95074422e-02 -3.86067396e-02 1.53355976e+00] [ 5.95312825e-02 9.98226298e-01 -5.32792297e-04 -1.48907260e-01] [ 3.85699678e-02 -1.76685852e-03 9.99254340e-01 -5.89104332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6087791919999996 meters Centerline goodness [0,1] 0.8652050345107593 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.15, Z:-0.06 [[ 0.99774232 -0.05624942 -0.03669141 1.54980153] [ 0.05611949 0.99841364 -0.00456237 -0.15027781] [ 0.03688983 0.00249296 0.99931623 -0.05947425] [ 0. 0. 0. 1. ]] SLAMing on 2.6387791919999994 meters Centerline goodness [0,1] 0.8644547845437993 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.15, Z:-0.06 [[ 9.98184741e-01 -4.91553412e-02 -3.47990653e-02 1.56868136e+00] [ 4.91287550e-02 9.98791141e-01 -1.61917331e-03 -1.52612911e-01] [ 3.48365891e-02 -9.34006665e-05 9.99393017e-01 -5.68688956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6687791919999997 meters Centerline goodness [0,1] 0.85750910808258 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.06 [[ 0.99857012 -0.04243751 -0.03250808 1.5835007 ] [ 0.04235215 0.99909726 -0.00331024 -0.15323339] [ 0.03261921 0.00192872 0.99946599 -0.05768655] [ 0. 0. 0. 1. ]] SLAMing on 2.6987791919999995 meters Centerline goodness [0,1] 0.8451976271412385 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.15, Z:-0.06 [[ 9.98936930e-01 -3.27539865e-02 -3.24374249e-02 1.60429508e+00] [ 3.27349459e-02 9.99463443e-01 -1.11802133e-03 -1.52472201e-01] [ 3.24566401e-02 5.49954458e-05 9.99473143e-01 -5.93588109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7287791919999997 meters Centerline goodness [0,1] 0.8391776700651847 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.15, Z:-0.06 [[ 0.99903752 -0.02849997 -0.03334353 1.6060843 ] [ 0.02863648 0.99958332 0.00362357 -0.15247348] [ 0.03322637 -0.00457493 0.99943738 -0.058651 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7587791919999995 meters Centerline goodness [0,1] 0.8391776700651847 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.15, Z:-0.06 [[ 0.99903752 -0.02849997 -0.03334353 1.6060843 ] [ 0.02863648 0.99958332 0.00362357 -0.15247348] [ 0.03322637 -0.00457493 0.99943738 -0.058651 ] [ 0. 0. 0. 1. ]] SLAMing on 2.788779192 meters Centerline goodness [0,1] 0.8410394982652789 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.06 [[ 0.9992885 -0.01893977 -0.0326157 1.62302693] [ 0.01907163 0.99981114 0.00373658 -0.15205844] [ 0.03253877 -0.00435595 0.99946098 -0.05910318] [ 0. 0. 0. 1. ]] SLAMing on 2.8187791919999996 meters Centerline goodness [0,1] 0.8434594234294284 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.15, Z:-0.06 [[ 9.99481798e-01 -1.21953358e-02 -2.97894225e-02 1.63615032e+00] [ 1.22157710e-02 9.99925258e-01 5.04089751e-04 -1.51883304e-01] [ 2.97810484e-02 -8.67729295e-04 9.99556070e-01 -6.04727979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8487791919999994 meters Centerline goodness [0,1] 0.918702138896224 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:-0.06 [[ 0.99960244 -0.00293445 -0.02804204 1.65280764] [ 0.00299133 0.99999355 0.00198667 -0.15195159] [ 0.02803603 -0.00206976 0.99960477 -0.05965026] [ 0. 0. 0. 1. ]] SLAMing on 2.8787791919999997 meters Centerline goodness [0,1] 0.9209514974821097 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.15, Z:-0.06 [[ 0.99960228 0.00251427 -0.02808846 1.65264706] [-0.00230907 0.99997043 0.00733559 -0.15259 ] [ 0.02810607 -0.00726781 0.99957852 -0.05742618] [ 0. 0. 0. 1. ]] SLAMing on 2.9087791919999995 meters Centerline goodness [0,1] 0.9231877886599626 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:-0.06 [[ 9.99682096e-01 6.83823678e-03 -2.42682028e-02 1.66402302e+00] [-6.82474157e-03 9.99976507e-01 6.38867577e-04 -1.52793766e-01] [ 2.42720014e-02 -4.73040266e-04 9.99705280e-01 -6.02263615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9387791919999997 meters Centerline goodness [0,1] 0.9185756481785363 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.16, Z:-0.06 [[ 0.99962447 0.01078326 -0.02519194 1.66547303] [-0.01060655 0.99991827 0.0071378 -0.15539254] [ 0.02526685 -0.00686792 0.99965715 -0.05611119] [ 0. 0. 0. 1. ]] SLAMing on 2.9687791919999995 meters Centerline goodness [0,1] 0.9222863205357735 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.16, Z:-0.05 [[ 0.99960283 0.0120634 -0.0254688 1.6658525 ] [-0.0118544 0.99989494 0.00834133 -0.15691706] [ 0.02556675 -0.0080361 0.99964082 -0.0548084 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9987791919999998 meters Centerline goodness [0,1] 0.9198406109912004 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.16, Z:-0.06 [[ 0.99958255 0.01159046 -0.02646478 1.66872163] [-0.01136715 0.99989864 0.00857289 -0.15824052] [ 0.02656146 -0.00826848 0.99961299 -0.05564774] [ 0. 0. 0. 1. ]] SLAMing on 3.0287791919999996 meters Centerline goodness [0,1] 0.9278746575800093 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.16, Z:-0.06 [[ 0.99955547 0.011309 -0.02758555 1.67323601] [-0.01106777 0.9998993 0.00888199 -0.16174353] [ 0.02768322 -0.00857273 0.99957999 -0.05852926] [ 0. 0. 0. 1. ]] SLAMing on 3.0587791919999994 meters Centerline goodness [0,1] 0.9244982055031238 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.16, Z:-0.06 [[ 0.99953329 0.01048665 -0.02869213 1.67707796] [-0.01022475 0.99990485 0.0092595 -0.16364532] [ 0.0287865 -0.00896181 0.99954541 -0.05989736] [ 0. 0. 0. 1. ]] SLAMing on 3.0887791919999996 meters Centerline goodness [0,1] 0.9163647342995169 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.17, Z:-0.06 [[ 0.99949278 0.00968333 -0.03033826 1.68272296] [-0.0093517 0.99989517 0.01105395 -0.17086265] [ 0.03044212 -0.01076463 0.99947856 -0.06091271] [ 0. 0. 0. 1. ]] SLAMing on 3.1187791919999994 meters Centerline goodness [0,1] 0.9172853671706264 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.18, Z:-0.06 [[ 0.99948397 0.01506899 -0.02836745 1.69758116] [-0.01488135 0.99986605 0.00681397 -0.17540226] [ 0.02846633 -0.00638831 0.99957434 -0.06269759] [ 0. 0. 0. 1. ]] SLAMing on 3.1487791919999997 meters Centerline goodness [0,1] 0.9239304812834225 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.18, Z:-0.06 [[ 9.99501735e-01 1.92773196e-02 -2.49933171e-02 1.70949777e+00] [-1.92807934e-02 9.99814103e-01 1.02007687e-04 -1.75044497e-01] [ 2.49906373e-02 3.79934123e-04 9.99687613e-01 -6.49738229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1787791919999995 meters Centerline goodness [0,1] 0.9211698036834649 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.18, Z:-0.07 [[ 9.99492814e-01 1.93055735e-02 -2.53260578e-02 1.71078254e+00] [-1.92974397e-02 9.99813627e-01 5.65549764e-04 -1.75386656e-01] [ 2.53322559e-02 -7.65348537e-05 9.99679084e-01 -6.50024200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2087791919999997 meters Centerline goodness [0,1] 0.9361924686192469 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.18, Z:-0.06 [[ 0.99941497 0.01939779 -0.0281683 1.7217013 ] [-0.01924833 0.99979923 0.00556741 -0.17754314] [ 0.02827064 -0.00502196 0.99958769 -0.06438201] [ 0. 0. 0. 1. ]] SLAMing on 3.2387791919999995 meters Centerline goodness [0,1] 0.9353300651400175 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.18, Z:-0.06 [[ 0.99932199 0.02103646 -0.0302165 1.72797448] [-0.02075637 0.99973892 0.00955343 -0.17841231] [ 0.03040958 -0.00891977 0.99949772 -0.06455217] [ 0. 0. 0. 1. ]] SLAMing on 3.2687791919999993 meters Centerline goodness [0,1] 0.9256304077029256 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.18, Z:-0.07 [[ 0.99924005 0.01920461 -0.03391915 1.74243107] [-0.01877017 0.99973826 0.01308024 -0.17858181] [ 0.03416147 -0.01243363 0.99933898 -0.06530507] [ 0. 0. 0. 1. ]] SLAMing on 3.2987791919999996 meters Centerline goodness [0,1] 0.896391979170189 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.18, Z:-0.07 [[ 0.99921545 0.01166751 -0.03784648 1.75920216] [-0.0112213 0.99986526 0.01198132 -0.18000751] [ 0.03798117 -0.01154723 0.99921174 -0.06745686] [ 0. 0. 0. 1. ]] SLAMing on 3.3287791919999994 meters Centerline goodness [0,1] 0.890976547874332 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.18, Z:-0.07 [[ 0.99913715 0.00816337 -0.04072251 1.76728865] [-0.0076466 0.99988846 0.0128295 -0.18323559] [ 0.0408227 -0.01250704 0.99908812 -0.0659771 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3587791919999996 meters Centerline goodness [0,1] 0.8771815532316132 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.19, Z:-0.06 [[ 0.99931001 -0.00563938 -0.03671118 1.79321087] [ 0.00628549 0.99982696 0.01750811 -0.19037878] [ 0.03660609 -0.01772678 0.99917254 -0.06069505] [ 0. 0. 0. 1. ]] SLAMing on 3.3887791919999994 meters Centerline goodness [0,1] 0.8465078228857756 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.19, Z:-0.06 [[ 0.99916751 -0.00980039 -0.03960101 1.8027003 ] [ 0.01057976 0.99975351 0.01951904 -0.19326576] [ 0.03939996 -0.01992176 0.99902491 -0.05783153] [ 0. 0. 0. 1. ]] SLAMing on 3.4187791919999997 meters Centerline goodness [0,1] 0.8685067718155324 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.20, Z:-0.06 [[ 0.99922565 -0.01785142 -0.03506311 1.82350697] [ 0.01876464 0.99948864 0.02589098 -0.1976029 ] [ 0.03458299 -0.02652888 0.99904967 -0.05584408] [ 0. 0. 0. 1. ]] SLAMing on 3.4487791919999995 meters Centerline goodness [0,1] 0.9447958201567441 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.20, Z:-0.06 [[ 0.999349 -0.01638975 -0.03213966 1.83778065] [ 0.01691754 0.99972533 0.01621923 -0.19679662] [ 0.03186501 -0.01675239 0.99935178 -0.06099519] [ 0. 0. 0. 1. ]] SLAMing on 3.4787791919999993 meters Centerline goodness [0,1] 0.9418736084946052 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.19, Z:-0.06 [[ 0.99951148 -0.00841477 -0.03009969 1.85465914] [ 0.0088793 0.99984302 0.01533291 -0.19465783] [ 0.02996595 -0.01559269 0.99942929 -0.06230973] [ 0. 0. 0. 1. ]] SLAMing on 3.5087791919999995 meters Centerline goodness [0,1] 0.9374322493224932 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.07 [[ 0.99964987 -0.0028326 -0.02630801 1.86653159] [ 0.00308102 0.99995101 0.00940698 -0.19306564] [ 0.02628008 -0.00948474 0.99960962 -0.06574876] [ 0. 0. 0. 1. ]] SLAMing on 3.5387791919999994 meters Centerline goodness [0,1] 0.9418581081081081 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.06 [[ 0.99965683 0.00285042 -0.02604028 1.8656918 ] [-0.00249851 0.99990525 0.01353681 -0.19072557] [ 0.02607639 -0.0134671 0.99956924 -0.0638068 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5687791919999996 meters Centerline goodness [0,1] 0.939034602887482 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.19, Z:-0.07 [[ 0.99966263 0.00955301 -0.0241529 1.88135265] [-0.00932145 0.99990969 0.00968154 -0.18872315] [ 0.02424321 -0.00945313 0.9996614 -0.06708902] [ 0. 0. 0. 1. ]] SLAMing on 3.5987791919999994 meters Centerline goodness [0,1] 0.9468109986301827 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.19, Z:-0.07 [[ 0.99964612 0.00892207 -0.02506039 1.88463633] [-0.00871241 0.99992623 0.008463 -0.1860277 ] [ 0.02513405 -0.00824167 0.99965012 -0.06975247] [ 0. 0. 0. 1. ]] SLAMing on 3.6287791919999997 meters Centerline goodness [0,1] 0.9447541309974119 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.19, Z:-0.07 [[ 0.99956037 0.01027793 -0.02781048 1.89298611] [-0.00997095 0.99988807 0.01115444 -0.18505493] [ 0.02792202 -0.01087224 0.99955098 -0.07270836] [ 0. 0. 0. 1. ]] SLAMing on 3.6587791919999995 meters Centerline goodness [0,1] 0.943421226977607 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.18, Z:-0.07 [[ 0.99954052 0.00954419 -0.0287691 1.89605788] [-0.00924009 0.99990022 0.01068466 -0.18498768] [ 0.02886821 -0.01041393 0.99952898 -0.07440876] [ 0. 0. 0. 1. ]] SLAMing on 3.6887791919999993 meters Centerline goodness [0,1] 0.9421936595223109 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.18, Z:-0.08 [[ 0.99950182 0.00904426 -0.03023751 1.90058697] [-0.00873742 0.99990914 0.01026448 -0.18461155] [ 0.03032759 -0.00999517 0.99949004 -0.07676641] [ 0. 0. 0. 1. ]] SLAMing on 3.7187791919999995 meters Centerline goodness [0,1] 0.9431081570201705 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.19, Z:-0.08 [[ 0.99942639 0.01195237 -0.03168657 1.90406027] [-0.01149139 0.99982606 0.01469032 -0.18598076] [ 0.03185664 -0.01431777 0.99938989 -0.0761082 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7487791919999993 meters Centerline goodness [0,1] 0.9431994968720002 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.19, Z:-0.08 [[ 0.99939069 0.01266401 -0.03252484 1.90618294] [-0.01218589 0.99981538 0.01485652 -0.18552049] [ 0.03270698 -0.01445113 0.9993605 -0.07656693] [ 0. 0. 0. 1. ]] SLAMing on 3.7787791919999996 meters Centerline goodness [0,1] 0.9431498925797389 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.19, Z:-0.08 [[ 0.999454 0.0166283 -0.02855159 1.91740474] [-0.01641063 0.99983459 0.00784146 -0.18579572] [ 0.02867726 -0.00736863 0.99956156 -0.07963789] [ 0. 0. 0. 1. ]] SLAMing on 3.8087791919999994 meters Centerline goodness [0,1] 0.9473318785955167 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.19, Z:-0.08 [[ 0.99939561 0.02313805 -0.02594324 1.93144967] [-0.0229941 0.99971858 0.00583329 -0.18738043] [ 0.02607091 -0.00523322 0.9996464 -0.07897466] [ 0. 0. 0. 1. ]] SLAMing on 3.8387791919999996 meters Centerline goodness [0,1] 0.9476650298256599 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.19, Z:-0.08 [[ 0.9992784 0.02691578 -0.0267995 1.93337829] [-0.02661111 0.99957785 0.01166097 -0.1897023 ] [ 0.02710205 -0.01093939 0.99957281 -0.0761346 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8687791919999994 meters Centerline goodness [0,1] 0.9422149302707137 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.19, Z:-0.07 [[ 0.99916434 0.02931878 -0.02847864 1.9385039 ] [-0.0287654 0.99939302 0.01965029 -0.19245884] [ 0.02903748 -0.01881467 0.99940124 -0.07011137] [ 0. 0. 0. 1. ]] SLAMing on 3.8987791919999992 meters Centerline goodness [0,1] 0.9507871454592766 Centerline is valid? [False, True] Translation: X:1.95, Y:-0.19, Z:-0.07 [[ 0.99903237 0.03563191 -0.02578171 1.95432706] [-0.03521466 0.9992442 0.016461 -0.1944387 ] [ 0.02634876 -0.01553718 0.99953206 -0.07334519] [ 0. 0. 0. 1. ]] SLAMing on 3.9287791919999995 meters Centerline goodness [0,1] 0.9495465787304205 Centerline is valid? [True, False] Translation: X:1.95, Y:-0.20, Z:-0.07 [[ 0.99895701 0.03757099 -0.02594829 1.9549759 ] [-0.03712723 0.99915946 0.01737675 -0.19609816] [ 0.02657934 -0.01639524 0.99951225 -0.07355938] [ 0. 0. 0. 1. ]] SLAMing on 3.9587791919999993 meters Centerline goodness [0,1] 0.9484627805054865 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.20, Z:-0.07 [[ 0.99891481 0.03820523 -0.0266378 1.95616654] [-0.03773026 0.99912382 0.0181111 -0.19756491] [ 0.0273064 -0.0170864 0.99948107 -0.07333433] [ 0. 0. 0. 1. ]] SLAMing on 3.9887791919999995 meters Centerline goodness [0,1] 0.9505280528052805 Centerline is valid? [False, True] Translation: X:1.97, Y:-0.20, Z:-0.08 [[ 0.9986875 0.04499537 -0.02446826 1.97137079] [-0.04465033 0.99889787 0.01447014 -0.20256725] [ 0.02509239 -0.01335863 0.99959588 -0.07797925] [ 0. 0. 0. 1. ]] SLAMing on 4.018779191999999 meters Centerline goodness [0,1] 0.9497089791380551 Centerline is valid? [True, False] Translation: X:1.97, Y:-0.21, Z:-0.08 [[ 0.99849076 0.04869862 -0.02539005 1.97395465] [-0.04820648 0.99864412 0.01964824 -0.20663743] [ 0.02631247 -0.01839462 0.99948451 -0.07764944] [ 0. 0. 0. 1. ]] SLAMing on 4.048779192 meters Centerline goodness [0,1] 0.9514749751408684 Centerline is valid? [False, True] Translation: X:1.98, Y:-0.21, Z:-0.08 [[ 0.99817353 0.05440167 -0.0262692 1.97689075] [-0.05371108 0.99820969 0.02631591 -0.21488056] [ 0.0276538 -0.0248569 0.99930846 -0.07859999] [ 0. 0. 0. 1. ]] SLAMing on 4.078779192 meters Centerline goodness [0,1] 0.9504999833892561 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.21, Z:-0.10 [[ 9.97922580e-01 5.79380535e-02 -2.81728049e-02 2.00699266e+00] [-5.78753599e-02 9.98319199e-01 3.03635473e-03 -2.14835146e-01] [ 2.83013725e-02 -1.39953572e-03 9.99598456e-01 -9.64345455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108779191999999 meters Centerline goodness [0,1] 0.9485689620824755 Centerline is valid? [True, False] Translation: X:2.02, Y:-0.22, Z:-0.10 [[ 9.97622702e-01 6.42847604e-02 -2.48276698e-02 2.02057912e+00] [-6.42791855e-02 9.97931430e-01 1.02337729e-03 -2.24082441e-01] [ 2.48420996e-02 5.74957979e-04 9.99691222e-01 -9.89297389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138779191999999 meters Centerline goodness [0,1] 0.9530981502072172 Centerline is valid? [False, True] Translation: X:2.03, Y:-0.24, Z:-0.10 [[ 9.97329621e-01 6.94831900e-02 -2.24880645e-02 2.03424184e+00] [-6.94886056e-02 9.97582598e-01 5.41466248e-04 -2.38027456e-01] [ 2.24713246e-02 1.02264391e-03 9.99746965e-01 -9.69167359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168779192 meters Centerline goodness [0,1] 0.9522759649955905 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.25, Z:-0.10 [[ 9.97219256e-01 7.10789166e-02 -2.23951559e-02 2.06367322e+00] [-7.10412201e-02 9.97470309e-01 2.47537122e-03 -2.51038771e-01] [ 2.25144498e-02 -8.77508645e-04 9.99746133e-01 -9.76792732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198779191999999 meters Centerline goodness [0,1] 0.9556051839068792 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.25, Z:-0.09 [[ 9.96606642e-01 7.93880142e-02 -2.17426710e-02 2.09501997e+00] [-7.93544599e-02 9.96843566e-01 2.40307972e-03 -2.51575511e-01] [ 2.18648174e-02 -6.69547297e-04 9.99760712e-01 -9.03606058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228779191999999 meters Centerline goodness [0,1] 0.9555977358234756 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.25, Z:-0.09 [[ 9.96574542e-01 8.02269153e-02 -2.00704786e-02 2.12697351e+00] [-8.01983696e-02 9.96776441e-01 2.22444580e-03 -2.54069190e-01] [ 2.01842407e-02 -6.07206390e-04 9.99796093e-01 -8.80167806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2587791919999995 meters Centerline goodness [0,1] 0.9554011200323865 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.25, Z:-0.09 [[ 9.96604207e-01 7.96748008e-02 -2.07841542e-02 2.15940445e+00] [-7.96439382e-02 9.96820700e-01 2.30978416e-03 -2.50311623e-01] [ 2.09021067e-02 -6.46608713e-04 9.99781318e-01 -9.29923656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288779192 meters Centerline goodness [0,1] 0.9527079076933382 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.25, Z:-0.10 [[ 9.96530625e-01 8.04556543e-02 -2.12979358e-02 2.19071836e+00] [-8.04232787e-02 9.96757976e-01 2.37370136e-03 -2.53014427e-01] [ 2.14198651e-02 -6.52616267e-04 9.99770355e-01 -9.71550519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318779191999999 meters Centerline goodness [0,1] 0.9523329976502182 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.25, Z:-0.10 [[ 9.97016988e-01 7.45133532e-02 -2.01217831e-02 2.22225084e+00] [-7.44832376e-02 9.97219743e-01 2.24302916e-03 -2.54956955e-01] [ 2.02329750e-02 -7.37602619e-04 9.99795020e-01 -9.70235462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348779191999999 meters Centerline goodness [0,1] 0.9534742795583087 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.26, Z:-0.10 [[ 9.97328006e-01 7.03123495e-02 -1.98247688e-02 2.25309424e+00] [-7.02822709e-02 9.97524694e-01 2.21075675e-03 -2.60419320e-01] [ 1.99311399e-02 -8.11519854e-04 9.99801026e-01 -9.51978124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378779192 meters Centerline goodness [0,1] 0.9503958142221316 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.27, Z:-0.09 [[ 9.97899351e-01 6.18158602e-02 -1.93826120e-02 2.28224892e+00] [-6.17854928e-02 9.98087109e-01 2.16224993e-03 -2.71045626e-01] [ 1.94791965e-02 -9.60143567e-04 9.99809801e-01 -9.20811823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408779191999999 meters Centerline goodness [0,1] 0.9481881107491856 Centerline is valid? [True, False] Translation: X:2.31, Y:-0.28, Z:-0.09 [[ 0.99857343 0.05107141 -0.01558256 2.30661489] [-0.05097182 0.99867746 0.00672277 -0.27596021] [ 0.01590529 -0.00591891 0.99985598 -0.08977814] [ 0. 0. 0. 1. ]] SLAMing on 4.438779191999999 meters Centerline goodness [0,1] 0.94475741746048 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.28, Z:-0.09 [[ 0.99864396 0.04915029 -0.0171606 2.31186327] [-0.04904536 0.99877551 0.00648322 -0.27794783] [ 0.01745824 -0.00563279 0.99983173 -0.09172738] [ 0. 0. 0. 1. ]] SLAMing on 4.4687791919999995 meters Centerline goodness [0,1] 0.9489313988651422 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.28, Z:-0.09 [[ 0.9986254 0.04817376 -0.02065422 2.32584807] [-0.04797726 0.9987993 0.00990647 -0.27662756] [ 0.02110665 -0.00890192 0.9997376 -0.09314174] [ 0. 0. 0. 1. ]] SLAMing on 4.498779192 meters Centerline goodness [0,1] 0.9476566219985035 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.28, Z:-0.09 [[ 0.99866764 0.04643804 -0.02250444 2.33131462] [-0.04623893 0.99888722 0.00928926 -0.27653452] [ 0.02291077 -0.00823631 0.99970359 -0.09481056] [ 0. 0. 0. 1. ]] SLAMing on 4.528779191999999 meters Centerline goodness [0,1] 0.945429833503228 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.28, Z:-0.10 [[ 0.99870767 0.04459008 -0.02438665 2.33685089] [-0.04438037 0.99897349 0.00907446 -0.2772783 ] [ 0.02476625 -0.00798045 0.99966142 -0.0958067 ] [ 0. 0. 0. 1. ]] SLAMing on 4.558779191999999 meters Centerline goodness [0,1] 0.9456425305398212 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.28, Z:-0.10 [[ 0.9990502 0.035788 -0.02485783 2.35498875] [-0.03554382 0.9993161 0.01019677 -0.28019376] [ 0.02520576 -0.00930354 0.99963899 -0.09562142] [ 0. 0. 0. 1. ]] SLAMing on 4.588779192 meters Centerline goodness [0,1] 0.9424219657127245 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.28, Z:-0.09 [[ 0.99930148 0.02748007 -0.02532584 2.37214151] [-0.02718935 0.99956121 0.01175301 -0.28328703] [ 0.0256377 -0.0110562 0.99961016 -0.09409277] [ 0. 0. 0. 1. ]] SLAMing on 4.618779191999999 meters Centerline goodness [0,1] 0.942509242614388 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.28, Z:-0.09 [[ 0.99929293 0.02632506 -0.02684442 2.37606015] [-0.02601249 0.99959046 0.01192752 -0.28329608] [ 0.02714742 -0.0112208 0.99956846 -0.09353831] [ 0. 0. 0. 1. ]] SLAMing on 4.648779191999999 meters Centerline goodness [0,1] 0.942509242614388 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.28, Z:-0.09 [[ 0.99929293 0.02632506 -0.02684442 2.37606015] [-0.02601249 0.99959046 0.01192752 -0.28329608] [ 0.02714742 -0.0112208 0.99956846 -0.09353831] [ 0. 0. 0. 1. ]] SLAMing on 4.6787791919999995 meters Centerline goodness [0,1] 0.9404939106901218 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.28, Z:-0.09 [[ 0.99945876 0.01852795 -0.02718261 2.39300535] [-0.01815709 0.99973953 0.01382732 -0.28338297] [ 0.02743172 -0.01332628 0.99953485 -0.09274389] [ 0. 0. 0. 1. ]] SLAMing on 4.708779192 meters Centerline goodness [0,1] 0.9469315553136481 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.28, Z:-0.10 [[ 0.999525 0.0140705 -0.02741899 2.39612697] [-0.01380943 0.99985771 0.00968785 -0.28180989] [ 0.0275514 -0.00930461 0.99957708 -0.09562826] [ 0. 0. 0. 1. ]] SLAMing on 4.738779191999999 meters Centerline goodness [0,1] 0.9435045626986568 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.28, Z:-0.10 [[ 0.99949906 0.01005751 -0.03000803 2.40526481] [-0.00978955 0.99991101 0.0090631 -0.28329662] [ 0.03009651 -0.00876479 0.99950857 -0.0967357 ] [ 0. 0. 0. 1. ]] SLAMing on 4.768779191999999 meters Centerline goodness [0,1] 0.9604644827351358 Centerline is valid? [False, True] Translation: X:2.41, Y:-0.28, Z:-0.10 [[ 0.99946501 0.00884648 -0.03148716 2.40912057] [-0.00856187 0.99992137 0.0091621 -0.28408311] [ 0.03156574 -0.00888761 0.99946216 -0.09694029] [ 0. 0. 0. 1. ]] SLAMing on 4.798779192 meters Centerline goodness [0,1] 0.9577603476961734 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.29, Z:-0.10 [[ 0.99947678 0.00686025 -0.03160867 2.43832211] [-0.00673819 0.99996943 0.00396643 -0.28715663] [ 0.03163492 -0.00375137 0.99949245 -0.09746806] [ 0. 0. 0. 1. ]] SLAMing on 4.828779191999999 meters Centerline goodness [0,1] 0.9551574080369892 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.29, Z:-0.10 [[ 0.99945279 0.00684628 -0.03236124 2.46631559] [-0.0067184 0.99996919 0.00405876 -0.29239536] [ 0.03238803 -0.00383912 0.999468 -0.09626248] [ 0. 0. 0. 1. ]] SLAMing on 4.858779191999999 meters Centerline goodness [0,1] 0.9532662977459846 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.29, Z:-0.10 [[ 0.9994434 0.00693212 -0.03263197 2.49404946] [-0.00680225 0.9999685 0.00408933 -0.29218831] [ 0.03265929 -0.00386508 0.99945907 -0.09610302] [ 0. 0. 0. 1. ]] SLAMing on 4.888779191999999 meters Centerline goodness [0,1] 0.9537274197897008 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.29, Z:-0.10 [[ 0.9993984 0.0041569 -0.03443198 2.52505349] [-0.00401073 0.99998265 0.00431333 -0.29034134] [ 0.03444931 -0.00417264 0.99939774 -0.09728467] [ 0. 0. 0. 1. ]] SLAMing on 4.918779192 meters Centerline goodness [0,1] 0.9497574845291855 Centerline is valid? [True, False] Translation: X:2.53, Y:-0.29, Z:-0.10 [[ 0.99928463 0.00510354 -0.03747237 2.53265514] [-0.00477727 0.99994994 0.00879143 -0.29049638] [ 0.03751537 -0.00860613 0.99925899 -0.09548263] [ 0. 0. 0. 1. ]] SLAMing on 4.948779191999999 meters Centerline goodness [0,1] 0.9417572554103919 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.29, Z:-0.09 [[ 0.99914527 0.00428013 -0.04111459 2.5455993 ] [-0.0037516 0.99990945 0.0129235 -0.28561632] [ 0.04116618 -0.01275821 0.99907086 -0.09341821] [ 0. 0. 0. 1. ]] SLAMing on 4.978779191999999 meters Centerline goodness [0,1] 0.9375532682095326 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.28, Z:-0.10 [[ 0.99920222 0.00866361 -0.03898536 2.56070554] [-0.00838516 0.9999382 0.00730026 -0.28285121] [ 0.0390462 -0.00696754 0.99921311 -0.0957922 ] [ 0. 0. 0. 1. ]] SLAMing on 5.0087791919999995 meters Centerline goodness [0,1] 0.931336195680458 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.27, Z:-0.09 [[ 0.9990821 0.01324257 -0.04073798 2.56403018] [-0.01284028 0.99986634 0.01012084 -0.27389561] [ 0.04086656 -0.00958846 0.9991186 -0.09463662] [ 0. 0. 0. 1. ]] SLAMing on 5.038779191999999 meters Centerline goodness [0,1] 0.9467199896794168 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.27, Z:-0.10 [[ 0.99897111 0.01607738 -0.04240566 2.56818724] [-0.01555555 0.99979952 0.01260705 -0.26845609] [ 0.04259985 -0.01193444 0.99902093 -0.09501128] [ 0. 0. 0. 1. ]] SLAMing on 5.068779191999999 meters Centerline goodness [0,1] 0.9438598702035158 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.26, Z:-0.09 [[ 0.99863502 0.02491083 -0.04590804 2.57631137] [-0.02393089 0.99947649 0.02177304 -0.25837943] [ 0.04642639 -0.0206447 0.99870836 -0.09322424] [ 0. 0. 0. 1. ]] SLAMing on 5.098779191999999 meters Centerline goodness [0,1] 0.9397744267198405 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.25, Z:-0.09 [[ 0.99849496 0.0276087 -0.04738744 2.58000935] [-0.02647428 0.99935161 0.02440236 -0.25403705] [ 0.04803043 -0.02311108 0.99857847 -0.09345847] [ 0. 0. 0. 1. ]] SLAMing on 5.128779192 meters Centerline goodness [0,1] 0.9379832972471389 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.25, Z:-0.09 [[ 0.99833004 0.02993265 -0.0494081 2.58459608] [-0.02866555 0.99924674 0.02615809 -0.24665928] [ 0.05015387 -0.0246981 0.99843607 -0.09316735] [ 0. 0. 0. 1. ]] SLAMing on 5.158779191999999 meters Centerline goodness [0,1] 0.9339241053509124 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.24, Z:-0.09 [[ 0.99829838 0.02869248 -0.05076495 2.58776288] [-0.02745921 0.99931457 0.02482692 -0.24319111] [ 0.0514425 -0.0233907 0.998402 -0.09380965] [ 0. 0. 0. 1. ]] SLAMing on 5.188779191999999 meters Centerline goodness [0,1] 0.9368734095716957 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.24, Z:-0.10 [[ 0.99821997 0.0259942 -0.05367673 2.5953073 ] [-0.02481502 0.9994384 0.022519 -0.23812679] [ 0.05423195 -0.02114693 0.99830441 -0.09593912] [ 0. 0. 0. 1. ]] SLAMing on 5.2187791919999995 meters Centerline goodness [0,1] 0.9225612928897187 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.24, Z:-0.10 [[ 0.99816859 0.02471127 -0.05521602 2.5993052 ] [-0.02355849 0.9994927 0.02143212 -0.23627403] [ 0.05571763 -0.02009206 0.99824439 -0.09741901] [ 0. 0. 0. 1. ]] SLAMing on 5.248779191999999 meters Centerline goodness [0,1] 0.924848410608195 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.23, Z:-0.10 [[ 0.99805006 0.02359603 -0.05778665 2.60510313] [-0.02247057 0.99954645 0.02004918 -0.23305021] [ 0.05823352 -0.01871158 0.99812761 -0.09920022] [ 0. 0. 0. 1. ]] SLAMing on 5.278779191999999 meters Centerline goodness [0,1] 0.937883084804684 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.23, Z:-0.10 [[ 0.99788317 0.02688345 -0.05921541 2.60818594] [-0.02549066 0.99938327 0.02415192 -0.2336273 ] [ 0.05982818 -0.02259136 0.99795301 -0.09882685] [ 0. 0. 0. 1. ]] SLAMing on 5.308779191999999 meters Centerline goodness [0,1] 0.934578590457738 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.23, Z:-0.10 [[ 0.99777273 0.03401939 -0.05737817 2.62327652] [-0.03281606 0.99922395 0.02178559 -0.2334397 ] [ 0.05807477 -0.01985414 0.99811479 -0.09975672] [ 0. 0. 0. 1. ]] SLAMing on 5.338779192 meters Centerline goodness [0,1] 0.9195270555589069 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.23, Z:-0.10 [[ 0.99782184 0.03833046 -0.0536876 2.63420201] [-0.03760794 0.99918875 0.01440441 -0.23312954] [ 0.05419617 -0.01235396 0.99845388 -0.10285297] [ 0. 0. 0. 1. ]] SLAMing on 5.368779191999999 meters Centerline goodness [0,1] 0.9200748543660017 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.23, Z:-0.10 [[ 0.99758259 0.04590434 -0.05217057 2.64909545] [-0.04531654 0.99889578 0.01239517 -0.23346691] [ 0.05268196 -0.01000102 0.99856126 -0.10268786] [ 0. 0. 0. 1. ]] SLAMing on 5.398779191999999 meters Centerline goodness [0,1] 0.9169720636827876 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.23, Z:-0.10 [[ 0.99732868 0.04962645 -0.05359769 2.65185478] [-0.04878598 0.99866664 0.01687799 -0.23393383] [ 0.05436382 -0.01421809 0.99841996 -0.10135053] [ 0. 0. 0. 1. ]] SLAMing on 5.4287791919999995 meters Centerline goodness [0,1] 0.9150067598017124 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.23, Z:-0.10 [[ 0.99716209 0.0545461 -0.05188926 2.66750576] [-0.05391383 0.99845421 0.01350861 -0.2346915 ] [ 0.05254589 -0.01067273 0.99856148 -0.10056761] [ 0. 0. 0. 1. ]] SLAMing on 5.458779191999999 meters Centerline goodness [0,1] 0.9307125753947807 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.24, Z:-0.09 [[ 0.99714523 0.0528997 -0.05387961 2.67956072] [-0.05175753 0.99840891 0.02237865 -0.23800287] [ 0.05497771 -0.01952609 0.99829664 -0.09123872] [ 0. 0. 0. 1. ]] SLAMing on 5.488779191999999 meters Centerline goodness [0,1] 0.9301380251782193 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.24, Z:-0.09 [[ 0.99710451 0.05171581 -0.05575006 2.68338782] [-0.0505408 0.99847333 0.02228513 -0.23868191] [ 0.05681744 -0.01940295 0.99819602 -0.09084219] [ 0. 0. 0. 1. ]] SLAMing on 5.518779191999999 meters Centerline goodness [0,1] 0.9281798413524853 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.24, Z:-0.09 [[ 0.99709242 0.04815923 -0.05905418 2.69209426] [-0.04693816 0.99865784 0.02189356 -0.23968718] [ 0.0600293 -0.01905801 0.99801467 -0.09025599] [ 0. 0. 0. 1. ]] SLAMing on 5.548779192 meters Centerline goodness [0,1] 0.9275508952661271 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.24, Z:-0.09 [[ 0.99705394 0.04685858 -0.06072664 2.69604545] [-0.04561033 0.99872181 0.02178156 -0.24084581] [ 0.06166967 -0.01894763 0.99791675 -0.09056638] [ 0. 0. 0. 1. ]] SLAMing on 5.578779191999999 meters Centerline goodness [0,1] 0.9252790057810616 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.24, Z:-0.09 [[ 0.99704203 0.04246149 -0.06406415 2.70591732] [-0.0411895 0.99892964 0.02104734 -0.24300914] [ 0.06488928 -0.01834631 0.99772381 -0.09105359] [ 0. 0. 0. 1. ]] SLAMing on 5.608779191999999 meters Centerline goodness [0,1] 0.9254679558695922 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.25, Z:-0.09 [[ 0.99698335 0.04086362 -0.0659876 2.71046191] [-0.0395509 0.99899519 0.02107937 -0.24502772] [ 0.06678267 -0.01840591 0.99759776 -0.09127083] [ 0. 0. 0. 1. ]] SLAMing on 5.638779191999999 meters Centerline goodness [0,1] 0.9222430490471728 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.25, Z:-0.09 [[ 0.99689627 0.03715367 -0.06940768 2.71968329] [-0.03580328 0.99914652 0.02060012 -0.24879786] [ 0.07011381 -0.01805116 0.99737566 -0.09210755] [ 0. 0. 0. 1. ]] SLAMing on 5.668779191999999 meters Centerline goodness [0,1] 0.9280537165448213 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.25, Z:-0.09 [[ 0.99682199 0.0360102 -0.07105765 2.7236427 ] [-0.03462745 0.99918803 0.02059675 -0.25025829] [ 0.07174165 -0.01807075 0.99725954 -0.09269869] [ 0. 0. 0. 1. ]] SLAMing on 5.698779191999999 meters Centerline goodness [0,1] 0.9177099716892104 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.25, Z:-0.09 [[ 0.99659567 0.03794432 -0.07319358 2.72985183] [-0.03620547 0.99903312 0.02493959 -0.25313847] [ 0.07406912 -0.02220468 0.99700588 -0.09236894] [ 0. 0. 0. 1. ]] SLAMing on 5.728779191999999 meters Centerline goodness [0,1] 0.9284887902191926 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.25, Z:-0.10 [[ 0.9967354 0.04107974 -0.06950537 2.74180167] [-0.03993566 0.99904421 0.01777114 -0.25471884] [ 0.07016897 -0.01493738 0.99742328 -0.09575706] [ 0. 0. 0. 1. ]] SLAMing on 5.7587791919999995 meters Centerline goodness [0,1] 0.9170265464244888 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.26, Z:-0.09 [[ 0.99662261 0.04193061 -0.07060591 2.74286463] [-0.04068305 0.99899113 0.01901633 -0.25773338] [ 0.07133204 -0.01607964 0.99732301 -0.09397363] [ 0. 0. 0. 1. ]] SLAMing on 5.788779191999999 meters Centerline goodness [0,1] 0.9245947403483171 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.26, Z:-0.09 [[ 0.996549 0.04196609 -0.07161663 2.74460414] [-0.04067518 0.99898426 0.01939017 -0.2589439 ] [ 0.07235761 -0.01641023 0.99724374 -0.09375725] [ 0. 0. 0. 1. ]] SLAMing on 5.818779191999999 meters Centerline goodness [0,1] 0.9253674847012807 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.26, Z:-0.09 [[ 0.99627364 0.04567848 -0.07315955 2.74871717] [-0.04402349 0.99874031 0.02407754 -0.26126933] [ 0.07416722 -0.02076708 0.99702956 -0.09364301] [ 0. 0. 0. 1. ]] SLAMing on 5.848779191999999 meters Centerline goodness [0,1] 0.931565712830633 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.26, Z:-0.10 [[ 0.99619093 0.05243522 -0.06967194 2.75954463] [-0.05120762 0.99850168 0.0192916 -0.26401026] [ 0.07057911 -0.01565039 0.9973834 -0.09624167] [ 0. 0. 0. 1. ]] SLAMing on 5.878779191999999 meters Centerline goodness [0,1] 0.9232918864606883 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.27, Z:-0.10 [[ 0.99626694 0.05686114 -0.06495382 2.76879548] [-0.05614263 0.99834025 0.01283553 -0.26589948] [ 0.06557586 -0.00914094 0.99780572 -0.09832468] [ 0. 0. 0. 1. ]] SLAMing on 5.908779191999999 meters Centerline goodness [0,1] 0.9368447564776627 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.27, Z:-0.10 [[ 0.99608835 0.06448756 -0.0604098 2.77843964] [-0.06398519 0.99789856 0.01021589 -0.27039461] [ 0.06094165 -0.0063106 0.99812138 -0.09926035] [ 0. 0. 0. 1. ]] SLAMing on 5.938779191999999 meters Centerline goodness [0,1] 0.9361100521031898 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.27, Z:-0.10 [[ 0.99604036 0.06536715 -0.06025552 2.77825866] [-0.06483906 0.99783858 0.01068024 -0.27134676] [ 0.06082341 -0.00673104 0.99812585 -0.09995517] [ 0. 0. 0. 1. ]] SLAMing on 5.9687791919999995 meters Centerline goodness [0,1] 0.9338595709465911 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.28, Z:-0.10 [[ 0.99573357 0.0696637 -0.06051141 2.77971676] [-0.06881425 0.99750097 0.01601269 -0.27811555] [ 0.0614757 -0.01178033 0.99803906 -0.10004312] [ 0. 0. 0. 1. ]] SLAMing on 5.998779191999999 meters Centerline goodness [0,1] 0.9309325709145813 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.28, Z:-0.10 [[ 0.99568239 0.07029613 -0.060622 2.77966753] [-0.06938917 0.99744581 0.01694122 -0.28146864] [ 0.06165806 -0.01266156 0.99801702 -0.09984928] [ 0. 0. 0. 1. ]] SLAMing on 6.028779191999999 meters Centerline goodness [0,1] 0.9245723172628305 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.29, Z:-0.10 [[ 0.99557354 0.07518247 -0.05639962 2.78985441] [-0.07463096 0.99714111 0.01182494 -0.28993619] [ 0.0571274 -0.00756344 0.99833825 -0.10217483] [ 0. 0. 0. 1. ]] SLAMing on 6.058779191999999 meters Centerline goodness [0,1] 0.9228379078197825 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.29, Z:-0.10 [[ 0.99551426 0.07582963 -0.05657941 2.78996487] [-0.07521234 0.99708326 0.01296405 -0.29392778] [ 0.05739744 -0.00865043 0.99831393 -0.10191654] [ 0. 0. 0. 1. ]] SLAMing on 6.088779191999999 meters Centerline goodness [0,1] 0.911620835536753 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.30, Z:-0.10 [[ 0.99552761 0.07543006 -0.05687778 2.79166186] [-0.07480522 0.99711291 0.01303902 -0.30271612] [ 0.05769711 -0.00872595 0.998296 -0.10385469] [ 0. 0. 0. 1. ]] SLAMing on 6.118779191999999 meters Centerline goodness [0,1] 0.90467382328654 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.31, Z:-0.11 [[ 0.9954659 0.0753768 -0.05801702 2.79712047] [-0.07464823 0.99710264 0.01462736 -0.31322989] [ 0.05895148 -0.01023017 0.99820843 -0.10738827] [ 0. 0. 0. 1. ]] SLAMing on 6.148779191999999 meters Centerline goodness [0,1] 0.8939895412722579 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.32, Z:-0.11 [[ 0.9954679 0.07484466 -0.05866794 2.79981243] [-0.07408756 0.99713925 0.01497853 -0.31797946] [ 0.05962117 -0.01056408 0.99816517 -0.10926319] [ 0. 0. 0. 1. ]] SLAMing on 6.1787791919999995 meters Centerline goodness [0,1] 0.8677430205179952 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.33, Z:-0.11 [[ 0.99562667 0.07248675 -0.0589339 2.80368996] [-0.07181515 0.99732743 0.01343787 -0.32697518] [ 0.05975047 -0.00914675 0.99817144 -0.11329519] [ 0. 0. 0. 1. ]] SLAMing on 6.208779191999999 meters Centerline goodness [0,1] 0.8292592467716376 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.33, Z:-0.12 [[ 0.99589433 0.06866787 -0.05898479 2.80466823] [-0.06820873 0.99762328 0.00976491 -0.3302766 ] [ 0.05951514 -0.00570154 0.99821112 -0.11535234] [ 0. 0. 0. 1. ]] SLAMing on 6.238779191999999 meters Centerline goodness [0,1] 0.7862266363197462 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.34, Z:-0.12 [[ 0.99679171 0.06228189 -0.05027172 2.81306766] [-0.0620474 0.99805386 0.00621318 -0.34157928] [ 0.05056085 -0.00307402 0.99871625 -0.11864676] [ 0. 0. 0. 1. ]] SLAMing on 6.268779191999999 meters Centerline goodness [0,1] 0.7502703079767012 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.35, Z:-0.12 [[ 9.97025463e-01 5.90270122e-02 -4.95584302e-02 2.81194347e+00] [-5.89418361e-02 9.98256355e-01 3.17965218e-03 -3.45914252e-01] [ 4.96597032e-02 -2.49129318e-04 9.98766165e-01 -1.19169920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.298779191999999 meters Centerline goodness [0,1] 0.6297990297990298 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.36, Z:-0.12 [[ 9.97314775e-01 5.58578859e-02 -4.73617574e-02 2.83282694e+00] [-5.59383357e-02 9.98434155e-01 -3.73879055e-04 -3.57082720e-01] [ 4.72667122e-02 3.02221299e-03 9.98877732e-01 -1.17470788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328779191999999 meters Centerline goodness [0,1] 0.6301167013362479 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.36, Z:-0.12 [[ 9.97342513e-01 5.55913271e-02 -4.70905066e-02 2.83380862e+00] [-5.56406493e-02 9.98450824e-01 2.63776223e-04 -3.61698316e-01] [ 4.70322188e-02 2.35707112e-03 9.98890592e-01 -1.18602301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358779191999999 meters Centerline goodness [0,1] 0.6009826099250671 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.13 [[ 0.99787008 0.052995 -0.03803737 2.84397494] [-0.05315147 0.99858161 -0.00311349 -0.36923058] [ 0.03781842 0.0051286 0.99927147 -0.12700759] [ 0. 0. 0. 1. ]] SLAMing on 6.388779191999999 meters Centerline goodness [0,1] 0.5818716521373806 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.13 [[ 9.97855070e-01 5.38855043e-02 -3.71700322e-02 2.84344051e+00] [-5.40118620e-02 9.98537403e-01 -2.40297960e-03 -3.73986436e-01] [ 3.69861816e-02 4.40544803e-03 9.99306066e-01 -1.28292892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418779191999999 meters Centerline goodness [0,1] 0.5722559885591705 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.38, Z:-0.13 [[ 0.99785301 0.05557514 -0.03465229 2.85991242] [-0.05593448 0.99838936 -0.00948744 -0.38150803] [ 0.03406921 0.01140533 0.9993544 -0.13317752] [ 0. 0. 0. 1. ]] SLAMing on 6.448779191999999 meters Centerline goodness [0,1] 0.5595414602393953 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.38, Z:-0.14 [[ 0.99782552 0.05619786 -0.03443881 2.86077998] [-0.05654299 0.99835842 -0.00913017 -0.38496399] [ 0.03386918 0.01105759 0.9993651 -0.13528517] [ 0. 0. 0. 1. ]] SLAMing on 6.478779191999999 meters Centerline goodness [0,1] 0.5358877303242394 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.39, Z:-0.14 [[ 0.9974783 0.0612695 -0.03582011 2.8814432 ] [-0.06173658 0.99801935 -0.01208147 -0.39301685] [ 0.03500894 0.01426241 0.99928522 -0.1402033 ] [ 0. 0. 0. 1. ]] SLAMing on 6.508779191999999 meters Centerline goodness [0,1] 0.5363365761579788 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.40, Z:-0.14 [[ 0.99742534 0.06270375 -0.03479834 2.88083982] [-0.0631529 0.99793219 -0.01196097 -0.39509155] [ 0.03397639 0.01412779 0.99932278 -0.14337761] [ 0. 0. 0. 1. ]] SLAMing on 6.538779191999999 meters Centerline goodness [0,1] 0.4906995116345878 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.40, Z:-0.15 [[ 0.99688833 0.07213091 -0.03179297 2.89730445] [-0.07261316 0.99725791 -0.01428268 -0.39675406] [ 0.03067557 0.01654682 0.99939242 -0.14986762] [ 0. 0. 0. 1. ]] SLAMing on 6.568779191999999 meters Centerline goodness [0,1] 0.4906995116345878 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.40, Z:-0.15 [[ 0.99688833 0.07213091 -0.03179297 2.89730445] [-0.07261316 0.99725791 -0.01428268 -0.39675406] [ 0.03067557 0.01654682 0.99939242 -0.14986762] [ 0. 0. 0. 1. ]] SLAMing on 6.598779191999999 meters Centerline goodness [0,1] 0.46015752501241747 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.40, Z:-0.16 [[ 0.99650674 0.07860553 -0.02820431 2.91228401] [-0.07916991 0.99667072 -0.01948332 -0.39838346] [ 0.02657892 0.02164819 0.99941229 -0.15517649] [ 0. 0. 0. 1. ]] SLAMing on 6.628779191999999 meters Centerline goodness [0,1] 0.44403927068723703 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.40, Z:-0.16 [[ 0.99636727 0.08136122 -0.0251517 2.92785029] [-0.08201882 0.99628311 -0.02632275 -0.39754974] [ 0.02291656 0.02829004 0.99933703 -0.15818827] [ 0. 0. 0. 1. ]] SLAMing on 6.658779191999999 meters Centerline goodness [0,1] 0.45126812233235736 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.40, Z:-0.16 [[ 0.99591947 0.0875649 -0.02183565 2.94577107] [-0.08819205 0.99566257 -0.02963471 -0.39840684] [ 0.01914598 0.03143952 0.99932226 -0.16261818] [ 0. 0. 0. 1. ]] SLAMing on 6.688779191999999 meters Centerline goodness [0,1] 0.43806784298593326 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.40, Z:-0.16 [[ 0.9955356 0.09194079 -0.02134838 2.94636313] [-0.09247207 0.99539134 -0.02539661 -0.40125915] [ 0.01891501 0.02725736 0.99944948 -0.1631468 ] [ 0. 0. 0. 1. ]] SLAMing on 6.718779191999999 meters Centerline goodness [0,1] 0.4232608848561581 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.40, Z:-0.17 [[ 0.99527222 0.09543498 -0.01803786 2.96541008] [-0.09593935 0.99494872 -0.02954139 -0.40409891] [ 0.01512746 0.03113227 0.99940079 -0.16545672] [ 0. 0. 0. 1. ]] SLAMing on 6.748779191999999 meters Centerline goodness [0,1] 0.39751274631390376 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.41, Z:-0.17 [[ 0.99504495 0.09832997 -0.01472291 2.985994 ] [-0.09877621 0.99454589 -0.03349226 -0.40685315] [ 0.01134932 0.03478058 0.99933053 -0.16823685] [ 0. 0. 0. 1. ]] SLAMing on 6.778779191999999 meters Centerline goodness [0,1] 0.405401603601069 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.41, Z:-0.17 [[ 0.99470828 0.1016925 -0.01463091 2.98860465] [-0.10208141 0.99435659 -0.02888525 -0.41064605] [ 0.01161093 0.03022595 0.99947565 -0.16896759] [ 0. 0. 0. 1. ]] SLAMing on 6.808779191999999 meters Centerline goodness [0,1] 0.39724728766546114 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.41, Z:-0.17 [[ 0.99472338 0.10155338 -0.01457077 2.99107799] [-0.10194015 0.99437199 -0.02885388 -0.41236527] [ 0.01155856 0.03018698 0.99947744 -0.17137056] [ 0. 0. 0. 1. ]] SLAMing on 6.838779191999999 meters Centerline goodness [0,1] 0.3788787392789903 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.42, Z:-0.17 [[ 0.99450309 0.10355968 -0.01545939 3.02026305] [-0.10398129 0.99414006 -0.02955399 -0.41892842] [ 0.0123082 0.03099902 0.99944363 -0.17346307] [ 0. 0. 0. 1. ]] SLAMing on 6.868779191999999 meters Centerline goodness [0,1] 0.37773652317068895 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.42, Z:-0.18 [[ 0.99451063 0.10347172 -0.01556292 3.02237041] [-0.10389742 0.99414678 -0.02962286 -0.42169451] [ 0.0124067 0.0310772 0.99943998 -0.17560265] [ 0. 0. 0. 1. ]] SLAMing on 6.898779191999999 meters Centerline goodness [0,1] 0.3548691758779907 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.43, Z:-0.18 [[ 0.99450207 0.10385056 -0.01344238 3.04437054] [-0.10427889 0.99387757 -0.03651415 -0.42661344] [ 0.00956806 0.03771515 0.99924272 -0.17917904] [ 0. 0. 0. 1. ]] SLAMing on 6.928779191999999 meters Centerline goodness [0,1] 0.3323669496790226 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.43, Z:-0.18 [[ 0.99455969 0.10330801 -0.01335927 3.04764482] [-0.10373224 0.99393985 -0.03637578 -0.42837358] [ 0.0095204 0.03756367 0.99924888 -0.1811448 ] [ 0. 0. 0. 1. ]] SLAMing on 6.958779191999999 meters Centerline goodness [0,1] 0.30113228201005715 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.18 [[ 0.99425771 0.10629327 -0.01238366 3.07646726] [-0.10667128 0.9936616 -0.03546631 -0.43270156] [ 0.00853534 0.03658363 0.99929414 -0.18193345] [ 0. 0. 0. 1. ]] SLAMing on 6.988779191999999 meters Centerline goodness [0,1] 0.2939750692520776 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.18 [[ 0.99427409 0.10614414 -0.01234739 3.07883856] [-0.10652563 0.99365721 -0.03602263 -0.43272245] [ 0.00844549 0.03713169 0.99927469 -0.1846434 ] [ 0. 0. 0. 1. ]] SLAMing on 7.018779191999999 meters Centerline goodness [0,1] 0.2758561993599782 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.44, Z:-0.19 [[ 0.99385881 0.11003321 -0.01171978 3.1071946 ] [-0.11039252 0.99321816 -0.03648533 -0.43502925] [ 0.0076257 0.03755504 0.99926546 -0.18685323] [ 0. 0. 0. 1. ]] SLAMing on 7.048779191999999 meters Centerline goodness [0,1] 0.2104221410777054 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.19 [[ 0.99353824 0.11293041 -0.01133524 3.13697031] [-0.11328132 0.99285112 -0.03760327 -0.43852037] [ 0.00700765 0.03864436 0.99922846 -0.18897754] [ 0. 0. 0. 1. ]] SLAMing on 7.078779191999999 meters Centerline goodness [0,1] 0.22188305521638851 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.19 [[ 0.99363635 0.11203031 -0.0116624 3.14174081] [-0.11239669 0.99294025 -0.03790299 -0.43889607] [ 0.00733379 0.03897261 0.99921337 -0.19087128] [ 0. 0. 0. 1. ]] SLAMing on 7.108779191999999 meters Centerline goodness [0,1] 0.19061384118347224 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.44, Z:-0.19 [[ 0.99335948 0.11452272 -0.01102218 3.17355753] [-0.11486382 0.99264971 -0.03811628 -0.4430377 ] [ 0.00657599 0.03912922 0.99921252 -0.19220959] [ 0. 0. 0. 1. ]] SLAMing on 7.1387791919999986 meters Centerline goodness [0,1] 0.17652757825810983 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.44, Z:-0.20 [[ 9.93787020e-01 1.11236506e-01 -3.71459500e-03 3.18464010e+00] [-1.11296797e-01 9.93032875e-01 -3.87134650e-02 -4.42942617e-01] [-6.17635627e-04 3.88863616e-02 9.99243449e-01 -1.98460948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168779191999999 meters Centerline goodness [0,1] 0.1717968776572225 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.45, Z:-0.20 [[ 9.93679486e-01 1.12236967e-01 -1.98565344e-03 3.21503277e+00] [-1.12226500e-01 9.92880657e-01 -3.99150815e-02 -4.47900816e-01] [-2.50843078e-03 3.98856406e-02 9.99201103e-01 -1.97997017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.198779191999999 meters Centerline goodness [0,1] 0.1757481169844609 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.45, Z:-0.20 [[ 9.93880061e-01 1.10435208e-01 -2.54719998e-03 3.22171912e+00] [-1.10448768e-01 9.93083434e-01 -3.98291671e-02 -4.49179444e-01] [-1.86896025e-03 3.98667501e-02 9.99203257e-01 -1.99105635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228779191999999 meters Centerline goodness [0,1] 0.16909483340078246 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.45, Z:-0.20 [[ 9.93748556e-01 1.11611279e-01 -2.59420645e-03 3.25548639e+00] [-1.11625303e-01 9.92941906e-01 -4.00769632e-02 -4.54826164e-01] [-1.89714481e-03 4.01160034e-02 9.99193228e-01 -2.00098513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.258779191999999 meters Centerline goodness [0,1] 0.1655344050581825 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.46, Z:-0.20 [[ 9.93916910e-01 1.10078885e-01 -3.43746362e-03 3.26203436e+00] [-1.10127797e-01 9.93100102e-01 -4.02995798e-02 -4.55163322e-01] [-1.02238733e-03 4.04329941e-02 9.99181729e-01 -2.01822824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288779191999999 meters Centerline goodness [0,1] 0.16258747112197414 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.46, Z:-0.20 [[ 9.93655236e-01 1.12388880e-01 -4.24399167e-03 3.29578490e+00] [-1.12468696e-01 9.92860056e-01 -3.97454471e-02 -4.60651931e-01] [-2.53256465e-04 3.99705878e-02 9.99200825e-01 -2.03644079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318779191999999 meters Centerline goodness [0,1] 0.1616692323137675 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.46, Z:-0.21 [[ 9.93829262e-01 1.10693988e-01 -7.08796381e-03 3.30636712e+00] [-1.10887390e-01 9.93065962e-01 -3.90382024e-02 -4.62506701e-01] [ 2.71752130e-03 3.95832737e-02 9.99212580e-01 -2.06194174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3487791919999985 meters Centerline goodness [0,1] 0.16112677947891485 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.46, Z:-0.22 [[ 9.94499364e-01 1.04702050e-01 -2.91464378e-03 3.32572384e+00] [-1.04734242e-01 9.93683083e-01 -4.03071731e-02 -4.63472348e-01] [-1.32401145e-03 4.03907210e-02 9.99183085e-01 -2.15394781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378779191999999 meters Centerline goodness [0,1] 0.16181448882870686 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.47, Z:-0.22 [[ 9.94722098e-01 1.02476013e-01 -5.15894953e-03 3.33439185e+00] [-1.02600305e-01 9.93930735e-01 -3.96846498e-02 -4.66292610e-01] [ 1.06091379e-03 4.00045079e-02 9.99198936e-01 -2.16696571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408779191999999 meters Centerline goodness [0,1] 0.16050133441437786 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.47, Z:-0.22 [[ 9.94703059e-01 1.02686909e-01 -4.60679218e-03 3.36343662e+00] [-1.02790076e-01 9.93770319e-01 -4.30668475e-02 -4.72042824e-01] [ 1.55691879e-04 4.33122575e-02 9.99061572e-01 -2.17804884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438779191999999 meters Centerline goodness [0,1] 0.1631783725766418 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.48, Z:-0.22 [[ 9.95131953e-01 9.85395387e-02 1.53466337e-03 3.38199738e+00] [-9.83905093e-02 9.94275680e-01 -4.16554860e-02 -4.76124007e-01] [-5.63059084e-03 4.13017088e-02 9.99130855e-01 -2.24024852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468779191999999 meters Centerline goodness [0,1] 0.16361424613097253 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.48, Z:-0.23 [[ 9.95326548e-01 9.65626918e-02 -8.42125363e-04 3.39142893e+00] [-9.65165598e-02 9.94495334e-01 -4.07870582e-02 -4.78438113e-01] [-3.10101838e-03 4.06777209e-02 9.99167507e-01 -2.25413448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498779191999999 meters Centerline goodness [0,1] 0.16519845921956122 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.48, Z:-0.23 [[ 9.95012825e-01 9.97470359e-02 8.46430987e-05 3.42047027e+00] [-9.96529813e-02 9.94110729e-01 -4.25809983e-02 -4.81759666e-01] [-4.33147297e-03 4.23602044e-02 9.99093014e-01 -2.27510488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528779191999999 meters Centerline goodness [0,1] 0.16533891439373483 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.48, Z:-0.23 [[ 9.95165963e-01 9.81931078e-02 -1.67898016e-03 3.42782650e+00] [-9.81758140e-02 9.94265891e-01 -4.23892470e-02 -4.82652816e-01] [-2.49297920e-03 4.23491711e-02 9.99099761e-01 -2.28647330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5587791919999985 meters Centerline goodness [0,1] 0.1674143010176754 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.48, Z:-0.23 [[ 9.95348273e-01 9.62692186e-02 -3.74876992e-03 3.43670617e+00] [-9.63417182e-02 9.94469181e-01 -4.18248850e-02 -4.83828781e-01] [-2.98412841e-04 4.19914900e-02 9.99117924e-01 -2.29258756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588779191999999 meters Centerline goodness [0,1] 0.17076187610737803 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.49, Z:-0.23 [[ 9.95057814e-01 9.92545922e-02 -2.91095646e-03 3.46652868e+00] [-9.92861598e-02 9.94080345e-01 -4.41194467e-02 -4.86243166e-01] [-1.48533309e-03 4.41904178e-02 9.99022022e-01 -2.31490731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.618779191999999 meters Centerline goodness [0,1] 0.17859053222786836 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.49, Z:-0.23 [[ 9.94928947e-01 1.00543217e-01 -2.72987312e-03 3.49934556e+00] [-1.00564501e-01 9.93925910e-01 -4.46997475e-02 -4.92000528e-01] [-1.78096477e-03 4.47476010e-02 9.98996737e-01 -2.30912502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648779191999999 meters Centerline goodness [0,1] 0.17891886470765217 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.49, Z:-0.23 [[ 9.95746795e-01 9.21284494e-02 -8.18540963e-04 3.51660682e+00] [-9.20754419e-02 9.94783831e-01 -4.39003610e-02 -4.91539572e-01] [-3.23020087e-03 4.37890113e-02 9.99035579e-01 -2.31346510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678779191999999 meters Centerline goodness [0,1] 0.18235707826785896 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.50, Z:-0.23 [[ 9.95724548e-01 9.23636165e-02 -1.26009309e-03 3.55081304e+00] [-9.23238254e-02 9.94668889e-01 -4.59359715e-02 -4.96706821e-01] [-2.98943706e-03 4.58559110e-02 9.98943591e-01 -2.31549795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708779191999999 meters Centerline goodness [0,1] 0.17687052046352736 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.50, Z:-0.23 [[ 9.95956312e-01 8.96664160e-02 -5.56400351e-03 3.56520620e+00] [-8.98260360e-02 9.94949475e-01 -4.47976007e-02 -4.98853392e-01] [ 1.51906207e-03 4.51162456e-02 9.98980589e-01 -2.32242843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738779191999999 meters Centerline goodness [0,1] 0.18396959180300776 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.50, Z:-0.23 [[ 9.95780995e-01 9.15991804e-02 -5.45897055e-03 3.59812687e+00] [-9.17544069e-02 9.94688496e-01 -4.66468062e-02 -5.01717029e-01] [ 1.15716599e-03 4.69508877e-02 9.98896529e-01 -2.34842441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 287.84 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%| | 0/258 [00:00