+ python -m lidar_slam --no-model /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 Lidar SLAM 0.0.14 ===================================================== 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 : 0.388920 Centerline is valid? [0, False] SLAMing on 0.057535379 meters Centerline goodness : 0.390642 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.00 [[ 0.99999573 -0.0016034 0.00244202 0.02054218] [ 0.00161973 0.99997624 -0.00670052 0.00709714] [-0.00243122 0.00670444 0.99997457 -0.00245044] [ 0. 0. 0. 1. ]] SLAMing on 0.087535379 meters Centerline goodness : 0.266294 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99998683 -0.0014167 0.00493382 0.04203391] [ 0.00146554 0.99994983 -0.00990868 0.01196289] [-0.00491953 0.00991578 0.99993874 -0.00462208] [ 0. 0. 0. 1. ]] SLAMing on 0.117535379 meters Centerline goodness : 0.384864 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.00 [[ 0.99998857 -0.00364498 0.00309271 0.04644195] [ 0.00368455 0.99991017 -0.0128867 0.01921899] [-0.00304546 0.01289795 0.99991218 -0.00404776] [ 0. 0. 0. 1. ]] SLAMing on 0.147535379 meters Centerline goodness : 0.384370 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:0.00 [[ 9.99923071e-01 -1.16595586e-02 -4.23159015e-03 6.49607037e-02] [ 1.15914066e-02 9.99808175e-01 -1.57877168e-02 3.62454101e-02] [ 4.41485624e-03 1.57374521e-02 9.99866412e-01 6.06262004e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.177535379 meters Centerline goodness : 0.386838 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.00 [[ 0.99996363 -0.00838336 0.00156802 0.08035238] [ 0.00839983 0.99990628 -0.01081125 0.03710599] [-0.00147723 0.01082402 0.99994033 -0.00114714] [ 0. 0. 0. 1. ]] SLAMing on 0.207535379 meters Centerline goodness : 0.401295 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.00 [[ 9.99975612e-01 -6.96264112e-03 5.45409559e-04 8.29065716e-02] [ 6.96736880e-03 9.99933336e-01 -9.20762331e-03 4.27450223e-02] [-4.81263823e-04 9.21119882e-03 9.99957460e-01 -2.59370333e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.237535379 meters Centerline goodness : 0.280634 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:0.00 [[ 0.99998507 -0.00454292 -0.00303827 0.0916831 ] [ 0.00452948 0.99997999 -0.00441527 0.05385518] [ 0.00305827 0.00440144 0.99998564 0.00185936] [ 0. 0. 0. 1. ]] SLAMing on 0.267535379 meters Centerline goodness : 0.284778 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:0.00 [[ 0.99998856 -0.00231998 -0.00418364 0.0946773 ] [ 0.00231157 0.9999953 -0.00201305 0.05985977] [ 0.00418829 0.00200335 0.99998922 0.00240705] [ 0. 0. 0. 1. ]] SLAMing on 0.29753537900000004 meters Centerline goodness : 0.112018 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.00 [[ 9.99986690e-01 -1.56441983e-04 -5.15713148e-03 9.74131766e-02] [ 1.57343887e-04 9.99999972e-01 1.74479459e-04 6.64106351e-02] [ 5.15710404e-03 -1.75288579e-04 9.99986687e-01 2.76789856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32753537899999996 meters Centerline goodness : 0.106251 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.00 [[ 0.99997867 0.00120215 -0.00641948 0.1015975 ] [-0.00119223 0.99999809 0.00154844 0.07380241] [ 0.00642133 -0.00154075 0.9999782 0.0023234 ] [ 0. 0. 0. 1. ]] SLAMing on 0.357535379 meters Centerline goodness : 0.279776 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:0.00 [[ 0.99994108 0.00283546 -0.01047864 0.11250669] [-0.00279106 0.99998708 0.00424945 0.08855561] [ 0.01049055 -0.00421995 0.99993607 0.00364115] [ 0. 0. 0. 1. ]] SLAMing on 0.387535379 meters Centerline goodness : 0.283109 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:0.00 [[ 0.99992252 0.00423208 -0.01170622 0.11653472] [-0.00416488 0.99997474 0.00575912 0.09549563] [ 0.0117303 -0.00570992 0.99991489 0.00331175] [ 0. 0. 0. 1. ]] SLAMing on 0.41753537900000004 meters Centerline goodness : 0.122764 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:0.00 [[ 0.99986359 0.00424842 -0.01596095 0.1286507 ] [-0.00412894 0.99996327 0.00751097 0.10984252] [ 0.01599228 -0.00744404 0.9998444 0.00424689] [ 0. 0. 0. 1. ]] SLAMing on 0.44753537899999996 meters Centerline goodness : 0.299172 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:0.00 [[ 0.99985473 0.00226626 -0.01689315 0.13194076] [-0.00217903 0.99998421 0.00518012 0.11839897] [ 0.01690462 -0.00514256 0.99984388 0.00405133] [ 0. 0. 0. 1. ]] SLAMing on 0.477535379 meters Centerline goodness : 0.304621 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:0.00 [[ 9.99841972e-01 4.99673927e-04 -1.77702213e-02 1.35132439e-01] [-4.40506789e-04 9.99994347e-01 3.33332513e-03 1.26198306e-01] [ 1.77717865e-02 -3.32497047e-03 9.99836541e-01 3.96348720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.507535379 meters Centerline goodness : 0.302305 Centerline is valid? [False, False] Translation: X:0.15, Y:0.14, Z:0.00 [[ 0.99977237 -0.00268852 -0.0211656 0.14661613] [ 0.00275288 0.99999167 0.00301224 0.13898974] [ 0.02115733 -0.00306982 0.99977145 0.00417831] [ 0. 0. 0. 1. ]] SLAMing on 0.537535379 meters Centerline goodness : 0.300611 Centerline is valid? [False, False] Translation: X:0.16, Y:0.14, Z:-0.00 [[ 9.99870960e-01 -5.62013993e-03 -1.50491362e-02 1.59376360e-01] [ 5.75091550e-03 9.99945958e-01 8.66077607e-03 1.42045101e-01] [ 1.49996481e-02 -8.74620480e-03 9.99849246e-01 -7.75377894e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5675353790000001 meters Centerline goodness : 0.088903 Centerline is valid? [False, False] Translation: X:0.16, Y:0.15, Z:-0.00 [[ 9.99841770e-01 -7.88366319e-03 -1.59462598e-02 1.62601997e-01] [ 7.99224730e-03 9.99945231e-01 6.75715044e-03 1.48500558e-01] [ 1.58921153e-02 -6.88352771e-03 9.99850018e-01 -7.77489085e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.597535379 meters Centerline goodness : 0.099357 Centerline is valid? [False, False] Translation: X:0.18, Y:0.16, Z:-0.00 [[ 9.99702223e-01 -1.39698836e-02 -2.00076900e-02 1.78609531e-01] [ 1.41250285e-02 9.99871094e-01 7.63404337e-03 1.59876798e-01] [ 1.98984642e-02 -7.91437932e-03 9.99770681e-01 -2.48066503e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.627535379 meters Centerline goodness : 0.095367 Centerline is valid? [False, False] Translation: X:0.20, Y:0.17, Z:-0.00 [[ 0.99977133 -0.01455566 -0.01566591 0.19836753] [ 0.01464084 0.99987858 0.00533656 0.16578415] [ 0.01558633 -0.0055647 0.99986304 -0.00213033] [ 0. 0. 0. 1. ]] SLAMing on 0.657535379 meters Centerline goodness : 0.169404 Centerline is valid? [False, False] Translation: X:0.20, Y:0.17, Z:-0.00 [[ 0.99973592 -0.01563321 -0.01684326 0.20424253] [ 0.01573483 0.99985869 0.00591779 0.16987633] [ 0.01674837 -0.00618125 0.99984063 -0.00381739] [ 0. 0. 0. 1. ]] SLAMing on 0.687535379 meters Centerline goodness : 0.167416 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:-0.00 [[ 0.99965161 -0.02062303 -0.01647279 0.23580214] [ 0.02069703 0.9997764 0.00433386 0.17920539] [ 0.01637973 -0.00467329 0.99985492 -0.00472309] [ 0. 0. 0. 1. ]] SLAMing on 0.717535379 meters Centerline goodness : 0.169025 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:-0.01 [[ 0.99960103 -0.02239718 -0.01720864 0.23927119] [ 0.02245973 0.9997418 0.00344978 0.18263961] [ 0.01712693 -0.00383491 0.99984597 -0.00511705] [ 0. 0. 0. 1. ]] SLAMing on 0.747535379 meters Centerline goodness : 0.174965 Centerline is valid? [False, False] Translation: X:0.24, Y:0.19, Z:-0.01 [[ 0.99952182 -0.02477454 -0.01850299 0.24396376] [ 0.02482171 0.99968919 0.0023243 0.18624477] [ 0.01843966 -0.00278246 0.9998261 -0.00543665] [ 0. 0. 0. 1. ]] SLAMing on 0.777535379 meters Centerline goodness : 0.170724 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-0.01 [[ 9.99540038e-01 -2.67482581e-02 -1.42913680e-02 2.63280543e-01] [ 2.67376757e-02 9.99642051e-01 -9.31065662e-04 1.90858642e-01] [ 1.43111568e-02 5.48519443e-04 9.99897440e-01 -6.78657383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.807535379 meters Centerline goodness : 0.128582 Centerline is valid? [False, False] Translation: X:0.29, Y:0.20, Z:-0.01 [[ 0.99943517 -0.03118045 -0.01253512 0.29408311] [ 0.0311976 0.99951255 0.00117498 0.19628716] [ 0.01249237 -0.00156538 0.99992074 -0.00755296] [ 0. 0. 0. 1. ]] SLAMing on 0.837535379 meters Centerline goodness : 0.144099 Centerline is valid? [False, False] Translation: X:0.31, Y:0.20, Z:-0.01 [[ 0.99928148 -0.03412108 -0.01650086 0.30540112] [ 0.03418338 0.99940942 0.00350825 0.19953956] [ 0.01637141 -0.00406978 0.9998577 -0.00680577] [ 0. 0. 0. 1. ]] SLAMing on 0.867535379 meters Centerline goodness : 0.136607 Centerline is valid? [False, False] Translation: X:0.31, Y:0.20, Z:-0.01 [[ 0.99929863 -0.03314975 -0.01741661 0.31047006] [ 0.03325606 0.99942974 0.00585051 0.20100817] [ 0.01721273 -0.00642562 0.9998312 -0.00878278] [ 0. 0. 0. 1. ]] SLAMing on 0.897535379 meters SLAMing on 0.9275353789999999 meters SLAMing on 0.957535379 meters Centerline goodness : 0.170536 Centerline is valid? [False, False] Translation: X:0.38, Y:0.21, Z:-0.01 [[ 0.99928951 -0.0325284 -0.01903616 0.38120469] [ 0.03262618 0.99945586 0.00484857 0.20869766] [ 0.01886808 -0.0054662 0.99980704 -0.00761058] [ 0. 0. 0. 1. ]] SLAMing on 0.987535379 meters Centerline goodness : 0.122358 Centerline is valid? [False, False] Translation: X:0.40, Y:0.21, Z:-0.01 [[ 0.99927888 -0.0344559 -0.01595349 0.40410491] [ 0.034487 0.99940374 0.0016782 0.2128902 ] [ 0.01588615 -0.00222718 0.99987133 -0.00968315] [ 0. 0. 0. 1. ]] SLAMing on 1.017535379 meters Centerline goodness : 0.166285 Centerline is valid? [False, False] Translation: X:0.43, Y:0.22, Z:-0.01 [[ 0.9992563 -0.03604147 -0.01370587 0.42521829] [ 0.0360237 0.99934975 -0.00154086 0.21538732] [ 0.0137525 0.00104598 0.99990488 -0.01099309] [ 0. 0. 0. 1. ]] SLAMing on 1.047535379 meters SLAMing on 1.077535379 meters SLAMing on 1.107535379 meters SLAMing on 1.1375353789999998 meters Centerline goodness : 0.590793 Centerline is valid? [False, False] Translation: X:0.49, Y:0.21, Z:-0.01 [[ 0.99911161 -0.03962822 -0.01433858 0.49275444] [ 0.03968998 0.99920384 0.00404893 0.21126691] [ 0.01416671 -0.00461443 0.999889 -0.01154684] [ 0. 0. 0. 1. ]] SLAMing on 1.1675353789999998 meters Centerline goodness : 0.238798 Centerline is valid? [False, False] Translation: X:0.51, Y:0.21, Z:-0.02 [[ 0.99923624 -0.03766796 -0.01039502 0.50632364] [ 0.03763704 0.9992865 -0.00315459 0.21296685] [ 0.01050643 0.00276094 0.99994099 -0.01542727] [ 0. 0. 0. 1. ]] SLAMing on 1.1975353789999998 meters Centerline goodness : 0.659945 Centerline is valid? [False, False] Translation: X:0.51, Y:0.21, Z:-0.02 [[ 0.99914785 -0.03964629 -0.01147772 0.51331295] [ 0.03962322 0.9992122 -0.00223049 0.20854674] [ 0.01155711 0.00177381 0.99993164 -0.01780605] [ 0. 0. 0. 1. ]] SLAMing on 1.2275353789999999 meters Centerline goodness : 0.564643 Centerline is valid? [False, False] Translation: X:0.52, Y:0.21, Z:-0.02 [[ 0.99907541 -0.0411478 -0.01245766 0.51800497] [ 0.04111514 0.9991503 -0.00286716 0.20706497] [ 0.01256505 0.00235232 0.99991829 -0.01991889] [ 0. 0. 0. 1. ]] SLAMing on 1.257535379 meters Centerline goodness : 0.609215 Centerline is valid? [False, False] Translation: X:0.53, Y:0.21, Z:-0.02 [[ 0.99918245 -0.03820816 -0.01321254 0.53303321] [ 0.03810306 0.99924085 -0.00811713 0.20564078] [ 0.01351265 0.00760706 0.99987976 -0.02226087] [ 0. 0. 0. 1. ]] SLAMing on 1.287535379 meters Centerline goodness : 0.218003 Centerline is valid? [False, False] Translation: X:0.54, Y:0.20, Z:-0.02 [[ 0.99914571 -0.03886851 -0.01403889 0.53725482] [ 0.03876651 0.9992204 -0.00746635 0.20302834] [ 0.01431816 0.00691573 0.99987357 -0.02406001] [ 0. 0. 0. 1. ]] SLAMing on 1.317535379 meters Centerline goodness : 0.787241 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:-0.02 [[ 9.99149918e-01 -3.85500951e-02 -1.46058852e-02 5.64669842e-01] [ 3.85604617e-02 9.99256177e-01 4.28694362e-04 1.91836313e-01] [ 1.45784948e-02 -9.91539611e-04 9.99893236e-01 -2.44338650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3475353789999998 meters Centerline goodness : 0.821642 Centerline is valid? [False, False] Translation: X:0.57, Y:0.19, Z:-0.03 [[ 9.99077410e-01 -3.98823390e-02 -1.59288116e-02 5.69954561e-01] [ 3.98892831e-02 9.99204099e-01 1.18341617e-04 1.89302460e-01] [ 1.59114141e-02 -7.53621310e-04 9.99873121e-01 -2.66878327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3775353789999998 meters Centerline goodness : 0.202991 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:-0.03 [[ 9.98986322e-01 -4.15189352e-02 -1.73926893e-02 5.75520644e-01] [ 4.15169382e-02 9.99137687e-01 -4.76031304e-04 1.86815631e-01] [ 1.73974557e-02 -2.46542447e-04 9.99848622e-01 -2.88717712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4075353789999998 meters Centerline goodness : 0.745375 Centerline is valid? [False, False] Translation: X:0.60, Y:0.18, Z:-0.03 [[ 0.99884528 -0.04426993 -0.01866208 0.6025651 ] [ 0.04430373 0.99901712 0.00140135 0.17833318] [ 0.0185817 -0.00222653 0.99982487 -0.02949075] [ 0. 0. 0. 1. ]] SLAMing on 1.4375353789999998 meters Centerline goodness : 0.801617 Centerline is valid? [False, False] Translation: X:0.61, Y:0.18, Z:-0.03 [[ 9.98710416e-01 -4.65047184e-02 -2.03670221e-02 6.08531108e-01] [ 4.65200226e-02 9.98917319e-01 2.78021088e-04 1.75693838e-01] [ 2.03320419e-02 -1.22513689e-03 9.99792532e-01 -3.16182529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4675353789999999 meters Centerline goodness : 0.866146 Centerline is valid? [False, False] Translation: X:0.63, Y:0.17, Z:-0.03 [[ 0.99876683 -0.04617232 -0.01824657 0.62918126] [ 0.04623084 0.99892686 0.00279817 0.16982398] [ 0.01809779 -0.00363827 0.9998296 -0.03219016] [ 0. 0. 0. 1. ]] SLAMing on 1.4975353789999999 meters Centerline goodness : 0.852169 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.03 [[ 0.99858022 -0.04922419 -0.02035976 0.65737727] [ 0.04932762 0.99877201 0.00460957 0.16176239] [ 0.02010786 -0.00560733 0.99978209 -0.0324412 ] [ 0. 0. 0. 1. ]] SLAMing on 1.527535379 meters Centerline goodness : 0.888387 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.03 [[ 0.99849931 -0.05011103 -0.02209114 0.66212597] [ 0.0502441 0.99872177 0.00551002 0.15807698] [ 0.02178679 -0.0066117 0.99974078 -0.03321454] [ 0. 0. 0. 1. ]] SLAMing on 1.557535379 meters Centerline goodness : 0.860342 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.03 [[ 0.99848631 -0.05113217 -0.02026284 0.68370452] [ 0.05124481 0.99867321 0.00507912 0.15491585] [ 0.01997625 -0.0061098 0.99978179 -0.03412385] [ 0. 0. 0. 1. ]] SLAMing on 1.587535379 meters Centerline goodness : 0.900249 Centerline is valid? [False, False] Translation: X:0.71, Y:0.15, Z:-0.04 [[ 0.99831669 -0.05394644 -0.02129704 0.71095276] [ 0.05409564 0.99851465 0.00649246 0.14695619] [ 0.02091517 -0.0076336 0.99975211 -0.03507075] [ 0. 0. 0. 1. ]] SLAMing on 1.6175353789999998 meters Centerline goodness : 0.901165 Centerline is valid? [False, False] Translation: X:0.72, Y:0.15, Z:-0.04 [[ 0.99806873 -0.05658098 -0.02563977 0.72003859] [ 0.05667708 0.99838795 0.00303629 0.14618247] [ 0.02542664 -0.00448361 0.99966664 -0.03513978] [ 0. 0. 0. 1. ]] SLAMing on 1.6475353789999998 meters Centerline goodness : 0.910181 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:-0.04 [[ 0.99825266 -0.05551493 -0.02024145 0.7337496 ] [ 0.0554377 0.99845264 -0.00435683 0.14712513] [ 0.02045199 0.00322708 0.99978563 -0.0396661 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6775353789999998 meters Centerline goodness : 0.935459 Centerline is valid? [False, False] Translation: X:0.76, Y:0.14, Z:-0.04 [[ 0.99828146 -0.05456994 -0.02135976 0.76082883] [ 0.05460815 0.99850713 0.00120922 0.13861783] [ 0.02126189 -0.00237356 0.99977112 -0.03929418] [ 0. 0. 0. 1. ]] SLAMing on 1.7075353789999999 meters Centerline goodness : 0.940254 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:-0.04 [[ 0.99822021 -0.05501192 -0.02302378 0.76515252] [ 0.05506227 0.99848171 0.00155848 0.13705679] [ 0.02290309 -0.00282345 0.9997337 -0.04032616] [ 0. 0. 0. 1. ]] SLAMing on 1.7375353789999999 meters Centerline goodness : 0.940308 Centerline is valid? [False, False] Translation: X:0.78, Y:0.14, Z:-0.04 [[ 0.99851294 -0.05107707 -0.0190536 0.77902352] [ 0.0510087 0.99868997 -0.00405711 0.13835519] [ 0.01923587 0.00307918 0.99981023 -0.04439054] [ 0. 0. 0. 1. ]] SLAMing on 1.767535379 meters Centerline goodness : 0.942394 Centerline is valid? [False, False] Translation: X:0.80, Y:0.13, Z:-0.05 [[ 9.98682707e-01 -4.79036086e-02 -1.83873871e-02 8.03440412e-01] [ 4.79147872e-02 9.98851413e-01 1.67628961e-04 1.34257277e-01] [ 1.83582376e-02 -1.04843589e-03 9.99830924e-01 -4.58163789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.797535379 meters Centerline goodness : 0.938260 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:-0.05 [[ 9.98648340e-01 -4.80652786e-02 -1.97793472e-02 8.06907361e-01] [ 4.80787531e-02 9.98843527e-01 2.06001193e-04 1.34054694e-01] [ 1.97465714e-02 -1.15668910e-03 9.99804348e-01 -4.66522810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8275353789999997 meters Centerline goodness : 0.938759 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:-0.05 [[ 0.99891662 -0.04403112 -0.01506143 0.82005832] [ 0.04394993 0.99901759 -0.00567998 0.13625075] [ 0.01529673 0.00501187 0.99987044 -0.05099691] [ 0. 0. 0. 1. ]] SLAMing on 1.8575353789999998 meters Centerline goodness : 0.939515 Centerline is valid? [False, False] Translation: X:0.83, Y:0.14, Z:-0.06 [[ 0.99915033 -0.03995826 -0.01009773 0.83294115] [ 0.03984211 0.99914034 -0.01145405 0.13840422] [ 0.01054673 0.011042 0.99988341 -0.05536204] [ 0. 0. 0. 1. ]] SLAMing on 1.8875353789999998 meters Centerline goodness : 0.944694 Centerline is valid? [False, False] Translation: X:0.86, Y:0.14, Z:-0.06 [[ 0.99924666 -0.03767972 -0.00929218 0.85699304] [ 0.03760288 0.9992582 -0.00831064 0.13577171] [ 0.00959843 0.00795497 0.99992229 -0.0559956 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9175353789999998 meters Centerline goodness : 0.946899 Centerline is valid? [False, False] Translation: X:0.86, Y:0.14, Z:-0.06 [[ 0.99921156 -0.03826899 -0.01057073 0.8603368 ] [ 0.03817921 0.99923417 -0.00856835 0.136029 ] [ 0.01089053 0.00815801 0.99990742 -0.05693653] [ 0. 0. 0. 1. ]] SLAMing on 1.9475353789999998 meters Centerline goodness : 0.952335 Centerline is valid? [False, True] Translation: X:0.86, Y:0.14, Z:-0.06 [[ 0.99918643 -0.03860865 -0.01165546 0.86316063] [ 0.03851033 0.99922166 -0.00854582 0.13583769] [ 0.01197633 0.00809001 0.99989555 -0.05765857] [ 0. 0. 0. 1. ]] SLAMing on 1.9775353789999999 meters Centerline goodness : 0.958924 Centerline is valid? [True, True] Translation: X:0.88, Y:0.13, Z:-0.05 [[ 9.99052859e-01 -4.16766968e-02 -1.25074804e-02 8.84651357e-01] [ 4.16862354e-02 9.99130625e-01 5.02790487e-04 1.30263495e-01] [ 1.24756521e-02 -1.02370405e-03 9.99921652e-01 -5.49855394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.007535379 meters Centerline goodness : 0.960709 Centerline is valid? [True, True] Translation: X:0.92, Y:0.12, Z:-0.05 [[ 0.99888897 -0.04564301 -0.01172809 0.91960061] [ 0.0458718 0.99874627 0.02004163 0.11924742] [ 0.01079862 -0.02055735 0.99973036 -0.0524573 ] [ 0. 0. 0. 1. ]] SLAMing on 2.037535379 meters Centerline goodness : 0.962332 Centerline is valid? [True, True] Translation: X:0.95, Y:0.14, Z:-0.05 [[ 0.99897553 -0.04318761 -0.01351715 0.94992301] [ 0.04298903 0.9989681 -0.01465177 0.13701305] [ 0.01413598 0.01405567 0.99980129 -0.0511338 ] [ 0. 0. 0. 1. ]] SLAMing on 2.067535379 meters Centerline goodness : 0.967453 Centerline is valid? [True, True] Translation: X:0.99, Y:0.13, Z:-0.05 [[ 0.99858113 -0.05183354 -0.01220736 0.98842597] [ 0.05192922 0.99862142 0.00765559 0.12784741] [ 0.01179371 -0.00827864 0.99989618 -0.04796739] [ 0. 0. 0. 1. ]] SLAMing on 2.097535379 meters Centerline goodness : 0.967101 Centerline is valid? [True, True] Translation: X:1.02, Y:0.13, Z:-0.05 [[ 9.98664019e-01 -5.01576546e-02 -1.24252279e-02 1.01733450e+00] [ 5.01663442e-02 9.98740801e-01 3.88464866e-04 1.32592576e-01] [ 1.23900976e-02 -1.01127415e-03 9.99922728e-01 -5.12464043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1275353790000002 meters Centerline goodness : 0.970196 Centerline is valid? [True, True] Translation: X:1.05, Y:0.13, Z:-0.05 [[ 9.98542679e-01 -5.16851868e-02 -1.55293169e-02 1.04926232e+00] [ 5.16848563e-02 9.98663355e-01 -4.22888475e-04 1.32531871e-01] [ 1.55304168e-02 -3.80358321e-04 9.99879323e-01 -4.50237913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.157535379 meters Centerline goodness : 0.973061 Centerline is valid? [True, True] Translation: X:1.08, Y:0.14, Z:-0.04 [[ 9.98324157e-01 -5.60888525e-02 -1.42449458e-02 1.08481993e+00] [ 5.60884767e-02 9.98425711e-01 -4.26205703e-04 1.35342992e-01] [ 1.42464255e-02 -3.73485860e-04 9.99898445e-01 -4.26522756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1875353790000003 meters Centerline goodness : 0.973511 Centerline is valid? [True, True] Translation: X:1.11, Y:0.14, Z:-0.04 [[ 9.98385011e-01 -5.43447995e-02 -1.65533245e-02 1.11160900e+00] [ 5.43300114e-02 9.98522132e-01 -1.34208682e-03 1.35688399e-01] [ 1.66017963e-02 4.40577052e-04 9.99862084e-01 -4.00606790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.217535379 meters Centerline goodness : 0.975115 Centerline is valid? [True, True] Translation: X:1.14, Y:0.11, Z:-0.03 [[ 0.99817952 -0.05688739 -0.02003654 1.14203453] [ 0.05778557 0.99719664 0.04753623 0.11190943] [ 0.01727615 -0.04860751 0.99866854 -0.03249206] [ 0. 0. 0. 1. ]] SLAMing on 2.247535379 meters Centerline goodness : 0.976522 Centerline is valid? [True, True] Translation: X:1.17, Y:0.14, Z:-0.04 [[ 0.99814021 -0.05837747 -0.01755534 1.17069787] [ 0.05831139 0.99828938 -0.00425271 0.14496146] [ 0.01777357 0.00322112 0.99983685 -0.03981184] [ 0. 0. 0. 1. ]] SLAMing on 2.277535379 meters Centerline goodness : 0.979634 Centerline is valid? [True, True] Translation: X:1.21, Y:0.09, Z:-0.03 [[ 0.99865415 -0.05021639 0.01296914 1.20696855] [ 0.04887079 0.99484427 0.08886243 0.08994459] [-0.01736462 -0.08810903 0.99595947 -0.03358967] [ 0. 0. 0. 1. ]] SLAMing on 2.307535379 meters Centerline goodness : 0.980581 Centerline is valid? [True, True] Translation: X:1.24, Y:0.14, Z:-0.05 [[ 0.99866737 -0.04893047 0.01641017 1.23708382] [ 0.04872812 0.9987337 0.01251263 0.13603016] [-0.01700164 -0.01169632 0.99978705 -0.04505575] [ 0. 0. 0. 1. ]] SLAMing on 2.337535379 meters Centerline goodness : 0.981254 Centerline is valid? [True, True] Translation: X:1.27, Y:0.15, Z:-0.05 [[ 0.99866177 -0.04879823 0.01712872 1.26680078] [ 0.04889934 0.99878838 -0.00553454 0.14904783] [-0.0168379 0.00636471 0.99983797 -0.04875862] [ 0. 0. 0. 1. ]] SLAMing on 2.367535379 meters Centerline goodness : 0.983225 Centerline is valid? [True, True] Translation: X:1.30, Y:0.15, Z:-0.05 [[ 0.99873306 -0.04725119 0.01730902 1.29806206] [ 0.04730731 0.99887633 -0.00284686 0.15110756] [-0.01715505 0.00366209 0.99984613 -0.04945536] [ 0. 0. 0. 1. ]] SLAMing on 2.3975353790000002 meters Centerline goodness : 0.984265 Centerline is valid? [True, True] Translation: X:1.34, Y:0.21, Z:-0.05 [[ 0.99793439 -0.06218494 -0.01612424 1.33625031] [ 0.06028053 0.99319951 -0.09960419 0.21442478] [ 0.02220846 0.09842647 0.99489648 -0.04576047] [ 0. 0. 0. 1. ]] SLAMing on 2.427535379 meters Centerline goodness : 0.984716 Centerline is valid? [True, True] Translation: X:1.35, Y:0.17, Z:-0.03 [[ 0.99845302 -0.05076714 -0.0226772 1.35498927] [ 0.05029797 0.9985176 -0.02080174 0.16563738] [ 0.02369963 0.01962894 0.9995264 -0.03306558] [ 0. 0. 0. 1. ]] SLAMing on 2.457535379 meters Centerline goodness : 0.985109 Centerline is valid? [True, True] Translation: X:1.39, Y:0.08, Z:-0.03 [[ 0.99915333 -0.04034448 0.00805881 1.38643346] [ 0.03889298 0.99011861 0.13473111 0.07999909] [-0.01341483 -0.13430361 0.99084942 -0.02539492] [ 0. 0. 0. 1. ]] SLAMing on 2.487535379 meters Centerline goodness : 0.986677 Centerline is valid? [True, True] Translation: X:1.41, Y:0.16, Z:-0.05 [[ 9.99209375e-01 -3.76655825e-02 1.27251012e-02 1.41495567e+00] [ 3.76623932e-02 9.99290400e-01 4.90264560e-04 1.60099235e-01] [-1.27345375e-02 -1.06191811e-05 9.99918912e-01 -4.62115072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.517535379 meters Centerline goodness : 0.988299 Centerline is valid? [True, True] Translation: X:1.45, Y:0.16, Z:-0.05 [[ 9.99260703e-01 -3.62450650e-02 1.28196515e-02 1.44661655e+00] [ 3.62417446e-02 9.99342931e-01 4.91301700e-04 1.62225506e-01] [-1.28290354e-02 -2.63319467e-05 9.99917704e-01 -4.65863950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.547535379 meters Centerline goodness : 0.987831 Centerline is valid? [True, True] Translation: X:1.48, Y:0.17, Z:-0.05 [[ 9.99363793e-01 -3.37615495e-02 1.14963931e-02 1.47717256e+00] [ 3.37587191e-02 9.99429915e-01 4.40225732e-04 1.65504892e-01] [-1.15047019e-02 -5.18421526e-05 9.99933817e-01 -4.54647878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.577535379 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:1.51, Y:0.17, Z:-0.05 [[ 9.99391005e-01 -3.28939989e-02 1.16448834e-02 1.50884381e+00] [ 3.28910394e-02 9.99458844e-01 4.45622539e-04 1.67789442e-01] [-1.16532401e-02 -6.23388374e-05 9.99932097e-01 -4.54778372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.607535379 meters Centerline goodness : 0.990650 Centerline is valid? [True, True] Translation: X:1.54, Y:0.17, Z:-0.04 [[ 9.99364417e-01 -3.40959475e-02 1.04033315e-02 1.54111025e+00] [ 3.40936552e-02 9.99418563e-01 3.97661621e-04 1.71046713e-01] [-1.04108413e-02 -4.27212747e-05 9.99945805e-01 -4.42185191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.637535379 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:1.57, Y:0.17, Z:-0.04 [[ 9.99359648e-01 -3.42097394e-02 1.04875071e-02 1.57104583e+00] [ 3.42074243e-02 9.99414675e-01 4.00107106e-04 1.73265586e-01] [-1.04950560e-02 -4.11002934e-05 9.99944925e-01 -4.43862532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.667535379 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:1.60, Y:0.18, Z:-0.04 [[ 9.99327915e-01 -3.52364910e-02 1.01048891e-02 1.60278851e+00] [ 3.52343965e-02 9.99379002e-01 3.85279366e-04 1.75943994e-01] [-1.01121899e-02 -2.89807563e-05 9.99948870e-01 -4.42983576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.697535379 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:1.63, Y:0.18, Z:-0.04 [[ 9.99249861e-01 -3.74393461e-02 9.90001390e-03 1.63259234e+00] [ 3.74374472e-02 9.99298902e-01 3.77121767e-04 1.79452094e-01] [-9.90719221e-03 -6.20762582e-06 9.99950923e-01 -4.39003665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.727535379 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:1.66, Y:0.18, Z:-0.04 [[ 9.99197042e-01 -3.90038252e-02 9.16371523e-03 1.66315076e+00] [ 3.90022654e-02 9.99239061e-01 3.48922882e-04 1.81529893e-01] [-9.17035153e-03 8.76294245e-06 9.99957951e-01 -4.34229848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.757535379 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:1.69, Y:0.18, Z:-0.04 [[ 9.99133372e-01 -4.06015850e-02 9.16608527e-03 1.69254027e+00] [ 4.06000915e-02 9.99175415e-01 3.49033927e-04 1.83519513e-01] [-9.17269839e-03 2.34124558e-05 9.99957930e-01 -4.35355797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.787535379 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:1.72, Y:0.19, Z:-0.04 [[ 9.99053719e-01 -4.25208773e-02 9.14552389e-03 1.72187648e+00] [ 4.25194678e-02 9.99095578e-01 3.48590510e-04 1.85603235e-01] [-9.15207485e-03 4.06021624e-05 9.99958118e-01 -4.33217735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.817535379 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:1.75, Y:0.19, Z:-0.04 [[ 9.98900796e-01 -4.61306701e-02 8.31630947e-03 1.75001719e+00] [ 4.61296274e-02 9.98935412e-01 3.17257568e-04 1.88988683e-01] [-8.32209133e-03 6.67194198e-05 9.99965369e-01 -4.28082512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.847535379 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:1.78, Y:0.19, Z:-0.04 [[ 9.98806090e-01 -4.82838148e-02 7.42078612e-03 1.77923953e+00] [ 4.82830433e-02 9.98833654e-01 2.83187697e-04 1.91660480e-01] [-7.42580429e-03 7.54485414e-05 9.99972425e-01 -4.25950338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8775353790000002 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:1.81, Y:0.19, Z:-0.04 [[ 9.98728294e-01 -4.99392621e-02 6.91848689e-03 1.80825040e+00] [ 4.99386191e-02 9.98752253e-01 2.65776380e-04 1.94338138e-01] [-6.92312705e-03 8.00612907e-05 9.99976032e-01 -4.25991325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.907535379 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:1.84, Y:0.21, Z:-0.05 [[ 0.99856517 -0.05310549 0.00688595 1.83700316] [ 0.05321229 0.99844881 -0.01638376 0.20885186] [-0.0060052 0.01672667 0.99984207 -0.04746177] [ 0. 0. 0. 1. ]] SLAMing on 2.937535379 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:1.86, Y:0.19, Z:-0.04 [[ 0.99855012 -0.05355981 0.00538618 1.86401458] [ 0.05346304 0.99842948 0.01674142 0.19153178] [-0.00627439 -0.01642919 0.99984534 -0.04086881] [ 0. 0. 0. 1. ]] SLAMing on 2.967535379 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:1.89, Y:0.20, Z:-0.04 [[ 9.98508211e-01 -5.43174954e-02 5.56432219e-03 1.89179536e+00] [ 5.43171289e-02 9.98523711e-01 2.17083225e-04 2.03280311e-01] [-5.56789907e-03 8.54786231e-05 9.99984495e-01 -4.20345545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.997535379 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:1.92, Y:0.20, Z:-0.04 [[ 9.98497575e-01 -5.45126827e-02 5.56423870e-03 1.92027341e+00] [ 5.45123074e-02 9.98513075e-01 2.19198463e-04 2.04600098e-01] [-5.56791419e-03 8.44503563e-05 9.99984495e-01 -4.22808075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.027535379 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:1.95, Y:0.21, Z:-0.04 [[ 9.98415759e-01 -5.59254619e-02 6.18983105e-03 1.94857197e+00] [ 5.59250177e-02 9.98434941e-01 2.44959733e-04 2.07198736e-01] [-6.19384309e-03 1.01594753e-04 9.99980813e-01 -4.22898044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.057535379 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:1.98, Y:0.21, Z:-0.04 [[ 9.98383409e-01 -5.64701736e-02 6.45661768e-03 1.97645953e+00] [ 5.64696882e-02 9.98404281e-01 2.57606989e-04 2.11601559e-01] [-6.46086184e-03 1.07412643e-04 9.99979123e-01 -4.16450786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.087535379 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:2.00, Y:0.22, Z:-0.04 [[ 9.98363025e-01 -5.69073251e-02 5.72943371e-03 2.00449035e+00] [ 5.69069410e-02 9.98379460e-01 2.30175685e-04 2.15030087e-01] [-5.73324762e-03 9.62456532e-05 9.99983560e-01 -4.15735757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.117535379 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:2.03, Y:0.24, Z:-0.05 [[ 0.9983233 -0.05731894 0.00807046 2.03299577] [ 0.05752378 0.99795211 -0.02797498 0.23712431] [-0.00645043 0.02839232 0.99957604 -0.05067181] [ 0. 0. 0. 1. ]] SLAMing on 3.1475353790000002 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:2.06, Y:0.21, Z:-0.04 [[ 0.99837597 -0.05689892 0.00281817 2.06282168] [ 0.05679489 0.99797287 0.02871406 0.20706972] [-0.00444626 -0.02850737 0.99958369 -0.03838644] [ 0. 0. 0. 1. ]] SLAMing on 3.177535379 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:2.09, Y:0.23, Z:-0.04 [[ 9.98403170e-01 -5.64293162e-02 2.61583565e-03 2.08987178e+00] [ 5.64292341e-02 9.98406596e-01 1.05228148e-04 2.26932751e-01] [-2.61760552e-03 4.25494852e-05 9.99996573e-01 -4.10581014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.207535379 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:2.12, Y:0.25, Z:-0.05 [[ 0.99813525 -0.06063178 0.00705756 2.1220625 ] [ 0.06082488 0.99765271 -0.03145478 0.25350322] [-0.00513383 0.0318254 0.99948026 -0.05221611] [ 0. 0. 0. 1. ]] SLAMing on 3.237535379 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:2.15, Y:0.24, Z:-0.05 [[ 9.98109650e-01 -6.12768938e-02 4.71899199e-03 2.15158298e+00] [ 6.12839727e-02 9.98119430e-01 -1.37025018e-03 2.39601470e-01] [-4.62615293e-03 1.65685851e-03 9.99987927e-01 -5.05798738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.267535379 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:2.18, Y:0.24, Z:-0.05 [[ 9.98441296e-01 -5.58082558e-02 6.45370245e-04 2.17517186e+00] [ 5.58071315e-02 9.98440212e-01 1.64556294e-03 2.37987081e-01] [-7.36199601e-04 -1.60698173e-03 9.99998438e-01 -4.90387543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.297535379 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:2.20, Y:0.23, Z:-0.04 [[ 9.98581473e-01 -5.31687505e-02 -2.85052091e-03 2.20276365e+00] [ 5.32336525e-02 9.98045356e-01 3.27359905e-02 2.25559815e-01] [ 1.10441745e-03 -3.28412972e-02 9.99459969e-01 -3.88080489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.327535379 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:2.23, Y:0.25, Z:-0.04 [[ 9.98635962e-01 -5.21967590e-02 -1.30908420e-03 2.23027271e+00] [ 5.21967280e-02 9.98636820e-01 -5.77945582e-05 2.48218340e-01] [ 1.31031637e-03 -1.06141875e-05 9.99999141e-01 -4.14989777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.357535379 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:2.26, Y:0.25, Z:-0.04 [[ 9.98709281e-01 -5.07813600e-02 -1.01273565e-03 2.25781209e+00] [ 5.07813399e-02 9.98709794e-01 -4.55784324e-05 2.51479641e-01] [ 1.01374355e-03 -5.90846978e-06 9.99999486e-01 -4.09593956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.387535379 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:2.29, Y:0.25, Z:-0.04 [[ 9.98756045e-01 -4.98594480e-02 -6.31376889e-04 2.28589593e+00] [ 4.98594393e-02 9.98756244e-01 -2.95478906e-05 2.54680121e-01] [ 6.32064852e-04 -1.96896337e-06 9.99999800e-01 -4.10938407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.417535379 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:2.31, Y:0.26, Z:-0.04 [[ 9.98867032e-01 -4.75875546e-02 2.78025762e-04 2.31365312e+00] [ 4.75875538e-02 9.98867071e-01 9.49876368e-06 2.59196334e-01] [-2.78162801e-04 3.74256403e-06 9.99999961e-01 -4.12194737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.447535379 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:2.34, Y:0.26, Z:-0.04 [[ 9.98884885e-01 -4.72047721e-02 8.34502950e-04 2.34135693e+00] [ 4.72047603e-02 9.98885233e-01 3.37688829e-05 2.62334291e-01] [-8.35166726e-04 5.66128499e-06 9.99999651e-01 -4.11827266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.477535379 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:2.37, Y:0.27, Z:-0.04 [[ 9.98910058e-01 -4.66444059e-02 1.73096135e-03 2.36924918e+00] [ 4.66443490e-02 9.98911557e-01 7.32302058e-05 2.65387898e-01] [-1.73249308e-03 7.58917641e-06 9.99998499e-01 -4.14687559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.507535379 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:2.40, Y:0.27, Z:-0.04 [[ 9.98940325e-01 -4.59262080e-02 3.00162930e-03 2.39747826e+00] [ 4.59260257e-02 9.98944835e-01 1.29681750e-04 2.70321848e-01] [-3.00441788e-03 8.30857463e-06 9.99995487e-01 -4.08486855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.537535379 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:2.43, Y:0.27, Z:-0.04 [[ 9.98967551e-01 -4.52435438e-02 4.10535906e-03 2.42580320e+00] [ 4.52431881e-02 9.98975987e-01 1.79518857e-04 2.73578868e-01] [-4.10927718e-03 6.40601919e-06 9.99991557e-01 -4.11791421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.567535379 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:2.45, Y:0.28, Z:-0.04 [[ 9.99005538e-01 -4.42926485e-02 5.10840518e-03 2.45473961e+00] [ 4.42920738e-02 9.99018599e-01 2.25630226e-04 2.77074810e-01] [-5.11338555e-03 8.56014087e-07 9.99986927e-01 -4.11670003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.597535379 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:2.48, Y:0.28, Z:-0.04 [[ 9.98996179e-01 -4.46045468e-02 4.13150917e-03 2.48277962e+00] [ 4.46041673e-02 9.99004722e-01 1.83985683e-04 2.83713238e-01] [-4.13560377e-03 4.81532008e-07 9.99991448e-01 -4.23380466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.627535379 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:2.51, Y:0.29, Z:-0.04 [[ 9.99023070e-01 -4.39418765e-02 4.69219457e-03 2.51114141e+00] [ 4.39413816e-02 9.99034089e-01 2.08573474e-04 2.86577779e-01] [-4.69682744e-03 -2.18819995e-06 9.99988970e-01 -4.28062771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.657535379 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:2.54, Y:0.29, Z:-0.04 [[ 9.98996419e-01 -4.44752738e-02 5.30147045e-03 2.54028074e+00] [ 4.44746374e-02 9.99010485e-01 2.37917213e-04 2.89140634e-01] [-5.30680600e-03 -1.89746800e-06 9.99985919e-01 -4.35928323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.687535379 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:2.57, Y:0.29, Z:-0.04 [[ 9.98947233e-01 -4.54905516e-02 5.91906410e-03 2.56977767e+00] [ 4.54897745e-02 9.98964769e-01 2.65923559e-04 2.93012942e-01] [-5.92503351e-03 3.61328801e-06 9.99982447e-01 -4.36360272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.717535379 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:2.60, Y:0.30, Z:-0.04 [[ 9.98918963e-01 -4.59506788e-02 7.03142600e-03 2.59956077e+00] [ 4.59495926e-02 9.98943710e-01 3.16031088e-04 2.95748996e-01] [-7.03852062e-03 7.40171374e-06 9.99975229e-01 -4.41240164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.747535379 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.63, Y:0.30, Z:-0.04 [[ 9.98862496e-01 -4.71966225e-02 6.79657128e-03 2.62883645e+00] [ 4.71956347e-02 9.98885618e-01 3.05733991e-04 3.00374324e-01] [-6.80342691e-03 1.53822780e-05 9.99976856e-01 -4.41831641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.777535379 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:2.66, Y:0.30, Z:-0.04 [[ 9.98842382e-01 -4.76870801e-02 6.31172932e-03 2.65965920e+00] [ 4.76862372e-02 9.98862324e-01 2.84058833e-04 3.03267017e-01] [-6.31809456e-03 1.72526203e-05 9.99980040e-01 -4.45049073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.807535379 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:2.69, Y:0.31, Z:-0.05 [[ 9.98821364e-01 -4.80750822e-02 6.68344730e-03 2.69053374e+00] [ 4.80741458e-02 9.98843725e-01 3.00787969e-04 3.05784749e-01] [-6.69017980e-03 2.08675708e-05 9.99977620e-01 -4.50651444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.837535379 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:2.72, Y:0.31, Z:-0.05 [[ 9.98821565e-01 -4.81324784e-02 6.22453830e-03 2.72127384e+00] [ 4.81316673e-02 9.98840960e-01 2.80134809e-04 3.07984643e-01] [-6.23080740e-03 1.97927183e-05 9.99980588e-01 -4.52408602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.867535379 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.75, Y:0.31, Z:-0.05 [[ 9.98706296e-01 -5.04512477e-02 6.35663261e-03 2.75100230e+00] [ 5.04504490e-02 9.98726524e-01 2.86048026e-04 3.11519068e-01] [-6.36296908e-03 3.50170048e-05 9.99979755e-01 -4.61073417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.897535379 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.78, Y:0.33, Z:-0.05 [[ 0.99875823 -0.04917838 0.00796804 2.77936882] [ 0.04938122 0.99839709 -0.02765396 0.33018418] [-0.00659529 0.02801309 0.9995858 -0.05420738] [ 0. 0. 0. 1. ]] SLAMing on 3.927535379 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.81, Y:0.30, Z:-0.04 [[ 0.99859608 -0.05264964 0.00582048 2.8121608 ] [ 0.05246439 0.99821955 0.02837641 0.29983141] [-0.00730412 -0.02803121 0.99958036 -0.04493877] [ 0. 0. 0. 1. ]] SLAMing on 3.957535379 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.84, Y:0.32, Z:-0.05 [[ 9.98515064e-01 -5.39477152e-02 7.57041356e-03 2.84040984e+00] [ 5.39466815e-02 9.98543759e-01 3.40840216e-04 3.18079000e-01] [-7.57777677e-03 6.80645989e-05 9.99971286e-01 -4.61565151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.987535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.87, Y:0.32, Z:-0.05 [[ 9.98311443e-01 -5.74806528e-02 8.38072945e-03 2.87075188e+00] [ 5.74795105e-02 9.98346615e-01 3.77304352e-04 3.21191605e-01] [-8.38856058e-03 1.05052975e-04 9.99964810e-01 -4.66228698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.017535379 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.90, Y:0.32, Z:-0.05 [[ 9.98176894e-01 -5.96883671e-02 8.95475726e-03 2.90011990e+00] [ 5.96871516e-02 9.98217051e-01 4.03171837e-04 3.23696637e-01] [-8.96285605e-03 1.32047142e-04 9.99959824e-01 -4.70988073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.047535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.93, Y:0.33, Z:-0.05 [[ 9.98077215e-01 -6.12715076e-02 9.36347851e-03 2.93094535e+00] [ 6.12702466e-02 9.98121124e-01 4.21736528e-04 3.26154872e-01] [-9.37172613e-03 1.52777018e-04 9.99956073e-01 -4.73090991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0775353789999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:0.33, Z:-0.05 [[ 9.97906869e-01 -6.36890216e-02 1.12066539e-02 2.95987665e+00] [ 6.36873670e-02 9.97969771e-01 5.04823155e-04 3.29797430e-01] [-1.12160536e-02 2.09955788e-04 9.99937076e-01 -4.81283019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.107535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:0.33, Z:-0.05 [[ 9.97857840e-01 -6.42633807e-02 1.22453897e-02 2.99048810e+00] [ 6.42614463e-02 9.97932945e-01 5.51782801e-04 3.32194393e-01] [-1.22555372e-02 2.36305658e-04 9.99924870e-01 -4.88383498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.137535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:0.33, Z:-0.05 [[ 9.97811610e-01 -6.48104553e-02 1.30994252e-02 3.02130677e+00] [ 6.48082914e-02 9.97897558e-01 5.90058983e-04 3.34669295e-01] [-1.31101264e-02 2.60183663e-04 9.99914025e-01 -4.95169034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.167535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.05, Y:0.34, Z:-0.05 [[ 9.97760391e-01 -6.53794486e-02 1.41326020e-02 3.05132774e+00] [ 6.53769933e-02 9.97860433e-01 6.36153076e-04 3.38353148e-01] [-1.41439557e-02 2.89218687e-04 9.99899927e-01 -4.98442320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.197535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:0.34, Z:-0.05 [[ 9.97771591e-01 -6.51640902e-02 1.43350199e-02 3.08276026e+00] [ 6.51615476e-02 9.97874520e-01 6.44865478e-04 3.40904936e-01] [-1.43465731e-02 2.90663625e-04 9.99897040e-01 -5.00971661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.227535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:0.34, Z:-0.05 [[ 9.97777359e-01 -6.47731852e-02 1.56453254e-02 3.11425395e+00] [ 6.47701181e-02 9.97899964e-01 7.03194145e-04 3.43348653e-01] [-1.56580178e-02 3.11718378e-04 9.99877357e-01 -5.09941326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.257535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:0.35, Z:-0.05 [[ 9.97946958e-01 -6.20502146e-02 1.58631791e-02 3.14480913e+00] [ 6.20467296e-02 9.98072991e-01 7.12233611e-04 3.47087430e-01] [-1.58768049e-02 2.73487020e-04 9.99873918e-01 -5.10722567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2875353789999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:0.35, Z:-0.05 [[ 9.98031817e-01 -6.02725238e-02 1.73123095e-02 3.17710278e+00] [ 6.02681261e-02 9.98181923e-01 7.76113427e-04 3.49266507e-01] [-1.73276127e-02 2.68794557e-04 9.99849830e-01 -5.18873757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.317535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:0.35, Z:-0.05 [[ 9.98195224e-01 -5.68830555e-02 1.92512923e-02 3.20939036e+00] [ 5.68770160e-02 9.98380821e-01 8.61547617e-04 3.52316877e-01] [-1.92691284e-02 2.34963342e-04 9.99814305e-01 -5.27001250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.347535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:0.35, Z:-0.05 [[ 9.98308003e-01 -5.50770469e-02 1.86453543e-02 3.24157758e+00] [ 5.50710950e-02 9.98482088e-01 8.32913415e-04 3.54547717e-01] [-1.86629267e-02 1.95315949e-04 9.99825813e-01 -5.28754330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.377535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.27, Y:0.36, Z:-0.05 [[ 9.98417613e-01 -5.32175714e-02 1.81702928e-02 3.27385111e+00] [ 5.32116439e-02 9.98582928e-01 8.09881807e-04 3.56924622e-01] [-1.81876442e-02 1.58270891e-04 9.99834579e-01 -5.27639196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.407535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:0.36, Z:-0.05 [[ 9.98462975e-01 -5.20046845e-02 1.91624479e-02 3.30595331e+00] [ 5.19979016e-02 9.98646830e-01 8.52385774e-04 3.58722742e-01] [-1.91808459e-02 1.45331442e-04 9.99816020e-01 -5.38246977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.437535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:0.36, Z:-0.05 [[ 9.98529468e-01 -5.08177767e-02 1.88799972e-02 3.33770719e+00] [ 5.08110056e-02 9.98707935e-01 8.38474825e-04 3.59900380e-01] [-1.88982124e-02 1.22069819e-04 9.99821405e-01 -5.40046638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.467535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:0.36, Z:-0.05 [[ 9.98568019e-01 -4.97533178e-02 1.96600883e-02 3.36877301e+00] [ 4.97457931e-02 9.98761531e-01 8.71906256e-04 3.59349969e-01] [-1.96791202e-02 1.07348984e-04 9.99806342e-01 -5.41845639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4975353789999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:0.36, Z:-0.05 [[ 9.98590070e-01 -4.90499936e-02 2.02970681e-02 3.40152010e+00] [ 4.90418716e-02 9.98796320e-01 8.98020273e-04 3.60080567e-01] [-2.03166848e-02 9.86520794e-05 9.99793590e-01 -5.44535442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.527535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:0.36, Z:-0.06 [[ 9.98595189e-01 -4.85258609e-02 2.12811818e-02 3.43414567e+00] [ 4.85168764e-02 9.98821922e-01 9.38590128e-04 3.61009939e-01] [-2.13016568e-02 9.52248788e-05 9.99773089e-01 -5.55505103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.557535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.47, Y:0.36, Z:-0.06 [[ 9.98683226e-01 -4.70850025e-02 2.03670515e-02 3.46569797e+00] [ 4.70765240e-02 9.98890884e-01 8.95808677e-04 3.61361491e-01] [-2.03866412e-02 6.41808870e-05 9.99792169e-01 -5.56391972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:0.36, Z:-0.06 [[ 9.98694385e-01 -4.68151746e-02 2.04417599e-02 3.49829889e+00] [ 4.68066296e-02 9.98903567e-01 8.96535618e-04 3.61989246e-01] [-2.04613184e-02 6.14447990e-05 9.99790643e-01 -5.62240448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6175353789999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:0.36, Z:-0.06 [[ 9.98704038e-01 -4.66947307e-02 2.02446868e-02 3.53103792e+00] [ 4.66863805e-02 9.98909204e-01 8.85146961e-04 3.62210548e-01] [-2.02639357e-02 6.11513090e-05 9.99794664e-01 -5.66036639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.647535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:0.36, Z:-0.06 [[ 9.98631164e-01 -4.80559031e-02 2.06501231e-02 3.56341865e+00] [ 4.80475593e-02 9.98844643e-01 9.00297927e-04 3.60704233e-01] [-2.06695295e-02 9.31224495e-05 9.99786358e-01 -5.72944492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.677535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:0.36, Z:-0.06 [[ 9.98629151e-01 -4.87012693e-02 1.91834428e-02 3.59550209e+00] [ 4.86942281e-02 9.98813384e-01 8.34256201e-04 3.60603818e-01] [-1.92013088e-02 1.01010377e-04 9.99815633e-01 -5.71041690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.707535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:0.36, Z:-0.06 [[ 9.98511701e-01 -5.09847236e-02 1.93634040e-02 3.62655963e+00] [ 5.09780210e-02 9.98699422e-01 8.39912632e-04 3.59583503e-01] [-1.93810431e-02 1.48445426e-04 9.99812159e-01 -5.81588419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.737535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.66, Y:0.36, Z:-0.06 [[ 9.98424503e-01 -5.27015560e-02 1.92628638e-02 3.66000001e+00] [ 5.26952885e-02 9.98610291e-01 8.33154071e-04 3.59862705e-01] [-1.92800026e-02 1.83220728e-04 9.99814107e-01 -5.84054514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.767535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.69, Y:0.36, Z:-0.06 [[ 9.98365348e-01 -5.39285111e-02 1.89300972e-02 3.69252131e+00] [ 5.39227215e-02 9.98544778e-01 8.16509183e-04 3.59660361e-01] [-1.89465828e-02 2.05587882e-04 9.99820476e-01 -5.85373596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.797535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.73, Y:0.36, Z:-0.06 [[ 9.98158911e-01 -5.74779587e-02 1.93667875e-02 3.72511857e+00] [ 5.74726032e-02 9.98346736e-01 8.33455577e-04 3.57629482e-01] [-1.93826744e-02 2.81138585e-04 9.99812099e-01 -5.88112735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8275353789999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:0.36, Z:-0.06 [[ 9.98057958e-01 -5.91812860e-02 1.94393221e-02 3.75689533e+00] [ 5.91762462e-02 9.98247201e-01 8.34887341e-04 3.57392086e-01] [-1.94546586e-02 3.17080156e-04 9.99810690e-01 -5.87778087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.857535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:0.36, Z:-0.06 [[ 9.97932101e-01 -6.10528095e-02 2.01016494e-02 3.78876466e+00] [ 6.10478352e-02 9.98134470e-01 8.61582976e-04 3.57368879e-01] [-2.01167513e-02 3.67360873e-04 9.99797570e-01 -5.92358558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.887535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:0.36, Z:-0.06 [[ 9.97770879e-01 -6.39531957e-02 1.90594270e-02 3.82119851e+00] [ 6.39492834e-02 9.97952817e-01 8.15295580e-04 3.55709198e-01] [-1.90725496e-02 4.05358509e-04 9.99818020e-01 -5.94336358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.917535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:0.36, Z:-0.06 [[ 9.97777796e-01 -6.38451697e-02 1.90595081e-02 3.85384031e+00] [ 6.38412740e-02 9.97959734e-01 8.13395461e-04 3.57002525e-01] [-1.90725530e-02 4.05195351e-04 9.99818020e-01 -5.96866836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.947535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:0.36, Z:-0.06 [[ 9.97706132e-01 -6.48851619e-02 1.92974067e-02 3.88610451e+00] [ 6.48813997e-02 9.97892644e-01 8.21634050e-04 3.56911683e-01] [-1.93100520e-02 4.32293427e-04 9.99813450e-01 -6.05162257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.977535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:0.36, Z:-0.06 [[ 9.97699043e-01 -6.54065628e-02 1.78493837e-02 3.91824098e+00] [ 6.54034556e-02 9.97858614e-01 7.58397692e-04 3.56922372e-01] [-1.78607655e-02 4.10758726e-04 9.99840399e-01 -6.03960181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 249.60 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%| | 0/161 [00:00