+ python -m lidar_slam --no-model /working/999ba04f-bc86-438c-9dfe-66d678bdec10 Lidar SLAM 0.0.14 ===================================================== 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 : 0.908051 Centerline is valid? [0, False] SLAMing on 0.058779191999999994 meters Centerline goodness : 0.913783 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99998463e-01 -1.67450138e-03 -5.20386875e-04 1.42839176e-03] [ 1.67461996e-03 9.99998572e-01 2.27519146e-04 1.56525018e-03] [ 5.20005150e-04 -2.28390247e-04 9.99999839e-01 3.37216736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08877919199999999 meters Centerline goodness : 0.831680 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99997614 -0.00681517 -0.00112954 0.00730032] [ 0.0068178 0.99997402 0.00234119 0.00774373] [ 0.00111355 -0.00234883 0.99999662 0.01256797] [ 0. 0. 0. 1. ]] SLAMing on 0.11877919199999998 meters Centerline goodness : 0.918945 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999024 -0.0039757 -0.00192547 0.00958429] [ 0.00398607 0.99997742 0.00541101 0.01035182] [ 0.00190392 -0.00541863 0.99998351 0.01299156] [ 0. 0. 0. 1. ]] SLAMing on 0.14877919199999998 meters Centerline goodness : 0.885706 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.01 [[ 0.99998962 0.00110491 -0.0044212 0.0166051 ] [-0.00105541 0.99993691 0.01118278 0.01806196] [ 0.00443327 -0.011178 0.9999277 0.01308475] [ 0. 0. 0. 1. ]] SLAMing on 0.17877919199999998 meters Centerline goodness : 0.193488 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:0.01 [[ 0.99995079 0.00950497 -0.00284267 0.03570699] [-0.00947206 0.99989044 0.01137456 0.02249563] [ 0.00295048 -0.01134708 0.99993127 0.01044377] [ 0. 0. 0. 1. ]] SLAMing on 0.20877919199999997 meters Centerline goodness : 0.188138 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.01 [[ 0.99995251 0.00929228 -0.00293955 0.0374612 ] [-0.00926305 0.99990902 0.00980541 0.02615151] [ 0.00303039 -0.00977771 0.99994761 0.00894711] [ 0. 0. 0. 1. ]] SLAMing on 0.23877919199999997 meters Centerline goodness : 0.181101 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.01 [[ 0.99995318 0.00918919 -0.00303129 0.03894091] [-0.00916167 0.99991781 0.00896814 0.02806513] [ 0.00311345 -0.00893995 0.99995519 0.00808027] [ 0. 0. 0. 1. ]] SLAMing on 0.26877919199999994 meters Centerline goodness : 0.175536 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.01 [[ 0.99996925 0.00724197 -0.00300803 0.04384637] [-0.00722062 0.99994908 0.00704929 0.03088772] [ 0.00305893 -0.00702735 0.99997063 0.00508992] [ 0. 0. 0. 1. ]] SLAMing on 0.29877919199999997 meters Centerline goodness : 0.174081 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:0.00 [[ 9.99978323e-01 5.66649431e-03 -3.35320717e-03 5.18447996e-02] [-5.64292088e-03 9.99959590e-01 6.99830526e-03 3.10573306e-02] [ 3.39272752e-03 -6.97923168e-03 9.99969889e-01 5.29720946e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32877919199999994 meters Centerline goodness : 0.179183 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.00 [[ 0.99998377 0.00401429 -0.004043 0.05585378] [-0.00399133 0.99997595 0.00567127 0.03201863] [ 0.00406567 -0.00565504 0.99997575 -0.00164104] [ 0. 0. 0. 1. ]] SLAMing on 0.35877919199999997 meters Centerline goodness : 0.193633 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.00 [[ 0.99998728 0.00286896 -0.00414865 0.05825061] [-0.00284902 0.9999844 0.00480537 0.03343035] [ 0.00416237 -0.00479349 0.99997985 -0.00290027] [ 0. 0. 0. 1. ]] SLAMing on 0.38877919199999994 meters Centerline goodness : 0.226747 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.01 [[ 9.99981164e-01 3.20320695e-04 -6.12938961e-03 7.03647162e-02] [-2.85266495e-04 9.99983605e-01 5.71905589e-03 3.77761762e-02] [ 6.13112106e-03 -5.71719966e-03 9.99964861e-01 -6.64945384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41877919199999997 meters Centerline goodness : 0.200773 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.01 [[ 0.99997288 -0.00104125 -0.0072906 0.07475107] [ 0.00107289 0.99999002 0.00433687 0.04164254] [ 0.00728601 -0.00434457 0.99996402 -0.00876737] [ 0. 0. 0. 1. ]] SLAMing on 0.44877919199999994 meters Centerline goodness : 0.813348 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.01 [[ 9.99939546e-01 6.79395026e-04 -1.09746069e-02 8.84993011e-02] [-5.96870339e-04 9.99971538e-01 7.52112886e-03 4.88787960e-02] [ 1.09794043e-02 -7.51412377e-03 9.99911491e-01 -1.41044689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47877919199999996 meters Centerline goodness : 0.372829 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.02 [[ 0.99989933 0.00262709 -0.01394364 0.10159171] [-0.0024599 0.99992504 0.01199424 0.05655831] [ 0.01397411 -0.01195873 0.99983084 -0.01756384] [ 0. 0. 0. 1. ]] SLAMing on 0.5087791919999999 meters Centerline goodness : 0.377383 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.02 [[ 0.99989469 0.00165926 -0.01441753 0.10503871] [-0.00150234 0.99993959 0.01088828 0.06191143] [ 0.01443473 -0.01086547 0.99983678 -0.0191454 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5387791919999999 meters Centerline goodness : 0.220964 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.02 [[ 0.99987928 0.00346418 -0.01514688 0.10946557] [-0.00325982 0.99990362 0.01349554 0.0655965 ] [ 0.01519217 -0.01344454 0.9997942 -0.02036415] [ 0. 0. 0. 1. ]] SLAMing on 0.5687791919999999 meters Centerline goodness : 0.225132 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 0.9998925 0.00709039 -0.01283391 0.13414324] [-0.00689785 0.99986392 0.01498558 0.07105926] [ 0.01293842 -0.01489545 0.99980534 -0.02124439] [ 0. 0. 0. 1. ]] SLAMing on 0.598779192 meters Centerline goodness : 0.215673 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 0.99989875 0.00464014 -0.01345237 0.13882834] [-0.00446335 0.99990368 0.01314224 0.0754195 ] [ 0.01351205 -0.01308087 0.99982314 -0.02262829] [ 0. 0. 0. 1. ]] SLAMing on 0.6287791919999999 meters Centerline goodness : 0.204037 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-0.03 [[ 9.99870684e-01 -2.13536396e-04 -1.60800841e-02 1.55456238e-01] [ 4.27257629e-04 9.99911609e-01 1.32887897e-02 8.15754349e-02] [ 1.60758252e-02 -1.32939416e-02 9.99782396e-01 -2.68123310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6587791919999999 meters Centerline goodness : 0.199430 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-0.03 [[ 0.99984907 -0.00266232 -0.01716829 0.16117781] [ 0.00285987 0.99992987 0.01149223 0.0848445 ] [ 0.01713649 -0.0115396 0.99978657 -0.02951072] [ 0. 0. 0. 1. ]] SLAMing on 0.6887791919999999 meters Centerline goodness : 0.179263 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.03 [[ 0.99977009 -0.0074268 -0.02011498 0.17798076] [ 0.00765949 0.99990435 0.011516 0.08926784] [ 0.02002753 -0.01166742 0.99973135 -0.03483848] [ 0. 0. 0. 1. ]] SLAMing on 0.718779192 meters Centerline goodness : 0.172166 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 0.99986221 -0.00486925 -0.01586972 0.19351977] [ 0.00504391 0.99992695 0.01098391 0.08969546] [ 0.01581508 -0.01106245 0.99981374 -0.04049979] [ 0. 0. 0. 1. ]] SLAMing on 0.7487791919999999 meters Centerline goodness : 0.164762 Centerline is valid? [False, False] Translation: X:0.22, Y:0.09, Z:-0.05 [[ 0.99985271 -0.00571604 -0.01618302 0.22133978] [ 0.00582797 0.99995937 0.00687742 0.09228488] [ 0.01614305 -0.00697073 0.99984539 -0.04619013] [ 0. 0. 0. 1. ]] SLAMing on 0.7787791919999999 meters Centerline goodness : 0.166814 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.05 [[ 9.99896376e-01 -5.79912164e-03 -1.31760094e-02 2.37986911e-01] [ 5.79669228e-03 9.99983174e-01 -2.22560392e-04 9.32733587e-02] [ 1.31770783e-02 1.46160058e-04 9.99913168e-01 -4.94233774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8087791919999999 meters Centerline goodness : 0.162861 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:-0.05 [[ 0.99989534 -0.00668553 -0.01283004 0.2641274 ] [ 0.00664944 0.99997382 -0.00285414 0.09299701] [ 0.01284878 0.00276853 0.99991362 -0.05388783] [ 0. 0. 0. 1. ]] SLAMing on 0.8387791919999998 meters Centerline goodness : 0.162861 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:-0.05 [[ 0.99989534 -0.00668553 -0.01283004 0.2641274 ] [ 0.00664944 0.99997382 -0.00285414 0.09299701] [ 0.01284878 0.00276853 0.99991362 -0.05388783] [ 0. 0. 0. 1. ]] SLAMing on 0.8687791919999999 meters Centerline goodness : 0.170506 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.06 [[ 0.99985837 -0.00840197 -0.01458255 0.27180121] [ 0.00834702 0.99995785 -0.0038253 0.09455486] [ 0.01461407 0.00370304 0.99988635 -0.05615924] [ 0. 0. 0. 1. ]] SLAMing on 0.8987791919999999 meters Centerline goodness : 0.166857 Centerline is valid? [False, False] Translation: X:0.30, Y:0.10, Z:-0.06 [[ 0.99982529 -0.01027438 -0.01561483 0.30212489] [ 0.01012533 0.9999027 -0.00959514 0.09807385] [ 0.0157119 0.00943536 0.99983204 -0.0595746 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9287791919999999 meters Centerline goodness : 0.163696 Centerline is valid? [False, False] Translation: X:0.31, Y:0.10, Z:-0.06 [[ 0.99980126 -0.01004145 -0.01722235 0.31005394] [ 0.00992788 0.99992849 -0.00666717 0.09875141] [ 0.01728807 0.00649487 0.99982946 -0.06136018] [ 0. 0. 0. 1. ]] SLAMing on 0.9587791919999998 meters Centerline goodness : 0.166053 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:-0.06 [[ 0.99979543 -0.01175915 -0.01645641 0.34325884] [ 0.01166556 0.9999153 -0.00577176 0.10023513] [ 0.01652288 0.0055786 0.99984793 -0.06339087] [ 0. 0. 0. 1. ]] SLAMing on 0.9887791919999999 meters Centerline goodness : 0.169554 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:-0.06 [[ 0.99972783 -0.01433466 -0.01840627 0.3554131 ] [ 0.01429298 0.99989498 -0.00239432 0.10131229] [ 0.01843866 0.00213059 0.99982772 -0.06428691] [ 0. 0. 0. 1. ]] SLAMing on 1.0187791919999998 meters Centerline goodness : 0.167100 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:-0.06 [[ 9.99670311e-01 -1.89203882e-02 -1.73576389e-02 3.93313676e-01] [ 1.89313834e-02 9.99820675e-01 4.69343438e-04 1.03009454e-01] [ 1.73456461e-02 -7.97792818e-04 9.99849235e-01 -6.45528547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0487791919999998 meters Centerline goodness : 0.162455 Centerline is valid? [False, False] Translation: X:0.41, Y:0.11, Z:-0.07 [[ 0.99954222 -0.02325531 -0.01935301 0.40653976] [ 0.0233138 0.99972427 0.00280219 0.10500819] [ 0.01928251 -0.0032521 0.99980879 -0.06550661] [ 0. 0. 0. 1. ]] SLAMing on 1.0787791919999998 meters Centerline goodness : 0.151533 Centerline is valid? [False, False] Translation: X:0.42, Y:0.11, Z:-0.07 [[ 0.99939186 -0.02960991 -0.01841656 0.42105689] [ 0.0297175 0.99954267 0.00559596 0.10695844] [ 0.01824244 -0.00613986 0.99981474 -0.06715762] [ 0. 0. 0. 1. ]] SLAMing on 1.1087791919999999 meters Centerline goodness : 0.159449 Centerline is valid? [False, False] Translation: X:0.46, Y:0.11, Z:-0.07 [[ 0.99889182 -0.04466289 -0.01484477 0.45503091] [ 0.04483294 0.99893028 0.01132672 0.10606118] [ 0.014323 -0.0119797 0.99982565 -0.06784339] [ 0. 0. 0. 1. ]] SLAMing on 1.1387791919999999 meters Centerline goodness : 0.667689 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:-0.07 [[ 0.99800647 -0.06277283 -0.00653124 0.48891851] [ 0.06295483 0.99747259 0.03294105 0.10421757] [ 0.00444693 -0.03328655 0.99943596 -0.07204456] [ 0. 0. 0. 1. ]] SLAMing on 1.168779192 meters Centerline goodness : 0.739440 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:-0.08 [[ 0.99754208 -0.07005931 -0.00121781 0.50766666] [ 0.07005759 0.99689063 0.03606943 0.1010146 ] [-0.00131297 -0.03606609 0.99934854 -0.07523518] [ 0. 0. 0. 1. ]] SLAMing on 1.198779192 meters Centerline goodness : 0.720734 Centerline is valid? [False, False] Translation: X:0.53, Y:0.10, Z:-0.08 [[ 0.99704167 -0.07673118 0.00449922 0.52505778] [ 0.07650965 0.99636283 0.0375152 0.09618692] [-0.00736145 -0.03705998 0.99928593 -0.07887496] [ 0. 0. 0. 1. ]] SLAMing on 1.2287791919999997 meters Centerline goodness : 0.161750 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.08 [[ 0.99572078 -0.09163981 0.01192806 0.56209911] [ 0.0911586 0.99518383 0.03604512 0.08380222] [-0.01517378 -0.03480353 0.99927898 -0.080225 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2587791919999998 meters Centerline goodness : 0.159593 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:-0.08 [[ 0.99534182 -0.0945273 0.01895386 0.57489238] [ 0.09381381 0.99495522 0.03553993 0.07694805] [-0.02221774 -0.03359624 0.9991885 -0.08215216] [ 0. 0. 0. 1. ]] SLAMing on 1.2887791919999998 meters Centerline goodness : 0.300139 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.09 [[ 0.99493146 -0.09582783 0.03046994 0.60294107] [ 0.0946698 0.99480533 0.0374164 0.06724527] [-0.03389719 -0.03434217 0.99883512 -0.08548326] [ 0. 0. 0. 1. ]] SLAMing on 1.3187791919999998 meters Centerline goodness : 0.156657 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.09 [[ 0.99496084 -0.09275566 0.0380699 0.61380003] [ 0.09128936 0.99507593 0.03860236 0.06199989] [-0.04146303 -0.03493246 0.99852919 -0.08820056] [ 0. 0. 0. 1. ]] SLAMing on 1.3487791919999998 meters Centerline goodness : 0.157643 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.09 [[ 0.99571835 -0.08383426 0.03894585 0.64618343] [ 0.08259038 0.99605279 0.03252175 0.05563084] [-0.04151855 -0.02916595 0.99871195 -0.09100042] [ 0. 0. 0. 1. ]] SLAMing on 1.3787791919999999 meters Centerline goodness : 0.147732 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.10 [[ 0.99591975 -0.07925865 0.04314997 0.65798801] [ 0.07816503 0.99658896 0.02647038 0.05328169] [-0.04510079 -0.02298955 0.99871788 -0.0950558 ] [ 0. 0. 0. 1. ]] SLAMing on 1.408779192 meters Centerline goodness : 0.148369 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.10 [[ 0.99642724 -0.07229987 0.04365174 0.68856649] [ 0.0713936 0.99720608 0.02197713 0.04442844] [-0.04511873 -0.01878216 0.99880505 -0.09621646] [ 0. 0. 0. 1. ]] SLAMing on 1.4387791919999997 meters Centerline goodness : 0.137920 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.10 [[ 0.99706685 -0.06635818 0.0381352 0.70816567] [ 0.0655773 0.9976185 0.02137645 0.03981612] [-0.03946289 -0.01881295 0.99904392 -0.09706585] [ 0. 0. 0. 1. ]] SLAMing on 1.4687791919999997 meters Centerline goodness : 0.142419 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:-0.10 [[ 0.99713437 -0.06514224 0.0384648 0.73707382] [ 0.0641979 0.99761651 0.02529691 0.03484311] [-0.04002102 -0.02275506 0.9989397 -0.09848171] [ 0. 0. 0. 1. ]] SLAMing on 1.4987791919999998 meters Centerline goodness : 0.195860 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.10 [[ 0.99764941 -0.05941711 0.03413598 0.75754707] [ 0.05862047 0.99799461 0.02388312 0.03238314] [-0.03548659 -0.02182591 0.99913179 -0.10082401] [ 0. 0. 0. 1. ]] SLAMing on 1.5287791919999998 meters Centerline goodness : 0.202726 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.10 [[ 0.99801952 -0.0542635 0.03182009 0.79487768] [ 0.05358076 0.99832267 0.02193062 0.02410506] [-0.03295675 -0.02018224 0.99925299 -0.10011324] [ 0. 0. 0. 1. ]] SLAMing on 1.5587791919999998 meters Centerline goodness : 0.788973 Centerline is valid? [False, False] Translation: X:0.82, Y:0.02, Z:-0.10 [[ 0.99830561 -0.05110988 0.02781526 0.81580608] [ 0.05059886 0.99854254 0.01877617 0.0193767 ] [-0.02873437 -0.01733694 0.99943672 -0.10193869] [ 0. 0. 0. 1. ]] SLAMing on 1.5887791919999998 meters Centerline goodness : 0.801825 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.10 [[ 0.99858058 -0.04730825 0.02446942 0.85848076] [ 0.04683252 0.99870921 0.019663 0.00921176] [-0.02536806 -0.01848912 0.99950719 -0.10254703] [ 0. 0. 0. 1. ]] SLAMing on 1.6187791919999999 meters Centerline goodness : 0.812443 Centerline is valid? [False, False] Translation: X:0.88, Y:0.00, Z:-0.10 [[ 0.99883765 -0.04387634 0.01995532 0.88189975] [ 0.04349166 0.99886699 0.01931875 0.00360453] [-0.02078034 -0.0184284 0.99961421 -0.10366739] [ 0. 0. 0. 1. ]] SLAMing on 1.6487791919999997 meters Centerline goodness : 0.823435 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.01, Z:-0.10 [[ 0.99889075 -0.04305408 0.01906867 0.92126966] [ 0.04279512 0.99898874 0.01378683 -0.00886044] [-0.01964296 -0.01295549 0.99972312 -0.10332093] [ 0. 0. 0. 1. ]] SLAMing on 1.6787791919999997 meters SLAMing on 1.7087791919999997 meters Centerline goodness : 0.192270 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:-0.10 [[ 0.99895276 -0.04128527 0.01972077 0.96920216] [ 0.04095096 0.99901541 0.01706571 -0.02652122] [-0.02040591 -0.01624026 0.99965987 -0.10291972] [ 0. 0. 0. 1. ]] SLAMing on 1.7387791919999998 meters Centerline goodness : 0.843159 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.03, Z:-0.10 [[ 0.99920685 -0.03598531 0.01705048 0.99004308] [ 0.0357198 0.99923963 0.01562843 -0.03220146] [-0.01759991 -0.015007 0.99973248 -0.10471444] [ 0. 0. 0. 1. ]] SLAMing on 1.7687791919999998 meters Centerline goodness : 0.230278 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.10 [[ 0.99945374 -0.028113 0.01737478 1.02478104] [ 0.02788774 0.99952557 0.01307357 -0.04428758] [-0.01773408 -0.01258189 0.99976357 -0.10444327] [ 0. 0. 0. 1. ]] SLAMing on 1.7987791919999998 meters Centerline goodness : 0.209072 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.11 [[ 0.99961857 -0.02214834 0.01649755 1.04224243] [ 0.02198765 0.99970963 0.00985909 -0.04943417] [-0.01671113 -0.00949259 0.9998153 -0.10673226] [ 0. 0. 0. 1. ]] SLAMing on 1.8287791919999998 meters Centerline goodness : 0.820677 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.11 [[ 0.9996326 -0.01716114 0.02098003 1.06624545] [ 0.01686899 0.99975935 0.01402397 -0.0581018 ] [-0.02121565 -0.0136649 0.99968153 -0.10803558] [ 0. 0. 0. 1. ]] SLAMing on 1.8587791919999996 meters Centerline goodness : 0.198288 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.11 [[ 0.99986442 -0.01065529 0.01255432 1.078908 ] [ 0.01045896 0.99982359 0.01560134 -0.06400548] [-0.01271834 -0.01546792 0.99979947 -0.10546601] [ 0. 0. 0. 1. ]] SLAMing on 1.8887791919999997 meters Centerline goodness : 0.770893 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.11 [[ 0.99993616 -0.00719766 0.00871087 1.10466407] [ 0.00705357 0.99983964 0.01646009 -0.0747321 ] [-0.00882795 -0.01639759 0.99982658 -0.10781279] [ 0. 0. 0. 1. ]] SLAMing on 1.9187791919999997 meters Centerline goodness : 0.209909 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.08, Z:-0.11 [[ 0.99993722 -0.00859018 0.00719489 1.10927838] [ 0.00846778 0.99982179 0.01687288 -0.0802432 ] [-0.00733854 -0.0168109 0.99983176 -0.10900569] [ 0. 0. 0. 1. ]] SLAMing on 1.9487791919999997 meters Centerline goodness : 0.198810 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:-0.11 [[ 0.9999405 -0.01072723 0.00198244 1.13075911] [ 0.01070402 0.99987809 0.01136818 -0.09585134] [-0.00210415 -0.01134629 0.99993341 -0.10902213] [ 0. 0. 0. 1. ]] SLAMing on 1.9787791919999997 meters Centerline goodness : 0.206335 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.11 [[ 9.99911828e-01 -1.32774649e-02 2.13838925e-04 1.13605301e+00] [ 1.32744235e-02 9.99854827e-01 1.06824123e-02 -1.02433313e-01] [-3.55643236e-04 -1.06786318e-02 9.99942919e-01 -1.10672855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0087791919999995 meters Centerline goodness : 0.868342 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.12, Z:-0.11 [[ 0.99985831 -0.01568559 -0.00610939 1.16402815] [ 0.01573902 0.99983742 0.00879812 -0.11745119] [ 0.0059704 -0.00889303 0.99994263 -0.11263471] [ 0. 0. 0. 1. ]] SLAMing on 2.038779192 meters Centerline goodness : 0.843244 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.12, Z:-0.12 [[ 0.99979629 -0.01878228 -0.0073896 1.16943762] [ 0.01883766 0.99979444 0.007498 -0.12370746] [ 0.00724725 -0.00763567 0.99994459 -0.11515242] [ 0. 0. 0. 1. ]] SLAMing on 2.0687791919999996 meters Centerline goodness : 0.846248 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.14, Z:-0.11 [[ 0.9996938 -0.02386069 -0.006556 1.2001144 ] [ 0.02392957 0.99965706 0.01063645 -0.14147211] [ 0.00629996 -0.01079007 0.99992194 -0.11223994] [ 0. 0. 0. 1. ]] SLAMing on 2.098779192 meters Centerline goodness : 0.864851 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.15, Z:-0.11 [[ 0.99977198 -0.02112344 -0.00312972 1.22158207] [ 0.0211498 0.99973896 0.00864224 -0.14833452] [ 0.00294635 -0.00870646 0.99995776 -0.11454774] [ 0. 0. 0. 1. ]] SLAMing on 2.1287791919999997 meters Centerline goodness : 0.880677 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.15, Z:-0.12 [[ 0.99986486 -0.01633096 -0.00188694 1.2366469 ] [ 0.01633375 0.9998655 0.00147736 -0.1480505 ] [ 0.00186256 -0.00150798 0.99999713 -0.11861642] [ 0. 0. 0. 1. ]] SLAMing on 2.158779192 meters Centerline goodness : 0.803130 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.15, Z:-0.11 [[ 0.99982818 -0.01793069 0.00470115 1.25938034] [ 0.01784996 0.99970144 0.0166857 -0.14951605] [-0.00499893 -0.01659892 0.99984973 -0.11269094] [ 0. 0. 0. 1. ]] SLAMing on 2.1887791919999997 meters Centerline goodness : 0.813424 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.15, Z:-0.12 [[ 0.99985022 -0.01564428 0.00740235 1.27456109] [ 0.01558259 0.99984397 0.00832016 -0.14634522] [-0.00753136 -0.00820357 0.99993799 -0.11671685] [ 0. 0. 0. 1. ]] SLAMing on 2.2187791919999995 meters Centerline goodness : 0.861593 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.14, Z:-0.12 [[ 0.99982271 -0.01787071 0.00593224 1.28032453] [ 0.01782662 0.99981368 0.00740342 -0.14413154] [-0.00606344 -0.00729636 0.999955 -0.11862873] [ 0. 0. 0. 1. ]] SLAMing on 2.2487791919999998 meters Centerline goodness : 0.838768 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.14, Z:-0.12 [[ 0.9997008 -0.02437663 0.0020248 1.30195244] [ 0.02435257 0.9996411 0.01116379 -0.13977749] [-0.00229621 -0.01111114 0.99993563 -0.11927256] [ 0. 0. 0. 1. ]] SLAMing on 2.2787791919999996 meters Centerline goodness : 0.893758 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.14, Z:-0.12 [[ 9.99617585e-01 -2.76504110e-02 -3.72621749e-04 1.30996212e+00] [ 2.76527982e-02 9.99562629e-01 1.04820271e-02 -1.38635344e-01] [ 8.26264160e-05 -1.04883227e-02 9.99944993e-01 -1.20583827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308779192 meters Centerline goodness : 0.907649 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.14, Z:-0.12 [[ 0.99929875 -0.03709754 -0.00507746 1.32973757] [ 0.03714703 0.99925951 0.01002603 -0.13747461] [ 0.00470176 -0.01020761 0.99993685 -0.12081587] [ 0. 0. 0. 1. ]] SLAMing on 2.3387791919999996 meters Centerline goodness : 0.912144 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.14, Z:-0.12 [[ 0.99883372 -0.04732106 -0.00958786 1.35013064] [ 0.04741855 0.99882293 0.01020929 -0.13769731] [ 0.00909346 -0.01065203 0.99990192 -0.11887705] [ 0. 0. 0. 1. ]] SLAMing on 2.368779192 meters Centerline goodness : 0.910709 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.14, Z:-0.12 [[ 0.99868096 -0.04998318 -0.01174799 1.35687661] [ 0.0500998 0.99869563 0.00985169 -0.13683294] [ 0.01124025 -0.01042726 0.99988246 -0.1190837 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3987791919999997 meters Centerline goodness : 0.920872 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.14, Z:-0.12 [[ 0.99855838 -0.05194364 -0.01352876 1.36206051] [ 0.05207107 0.9986006 0.00924367 -0.13517888] [ 0.01302968 -0.0099348 0.99986575 -0.119438 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4287791919999995 meters Centerline goodness : 0.933602 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.13, Z:-0.12 [[ 0.99831346 -0.05513828 -0.01816602 1.37843484] [ 0.05538128 0.9983786 0.01315612 -0.13264042] [ 0.01741116 -0.01413999 0.99974842 -0.11824868] [ 0. 0. 0. 1. ]] SLAMing on 2.4587791919999997 meters Centerline goodness : 0.951952 Centerline is valid? [False, True] Translation: X:1.40, Y:-0.13, Z:-0.12 [[ 0.99799905 -0.05908804 -0.02250547 1.39563877] [ 0.05945614 0.99810182 0.01605385 -0.13025793] [ 0.02151416 -0.01735982 0.99961782 -0.11970039] [ 0. 0. 0. 1. ]] SLAMing on 2.4887791919999995 meters Centerline goodness : 0.955597 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.12, Z:-0.13 [[ 9.97575352e-01 -6.57031139e-02 -2.29459764e-02 1.42380495e+00] [ 6.57429854e-02 9.97836102e-01 9.86787347e-04 -1.24175387e-01] [ 2.28314887e-02 -2.49293173e-03 9.99736219e-01 -1.31746046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.518779192 meters Centerline goodness : 0.952901 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.12, Z:-0.13 [[ 9.96759783e-01 -7.65297311e-02 -2.47615589e-02 1.45128957e+00] [ 7.65793546e-02 9.97062926e-01 1.06064540e-03 -1.24759933e-01] [ 2.46076615e-02 -2.95343287e-03 9.99692823e-01 -1.31618414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5487791919999996 meters Centerline goodness : 0.953767 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.13, Z:-0.13 [[ 9.96407099e-01 -8.13763787e-02 -2.34686540e-02 1.47912675e+00] [ 8.14221229e-02 9.96679206e-01 9.98638982e-04 -1.26279400e-01] [ 2.33094538e-02 -2.90591860e-03 9.99724074e-01 -1.31527721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.578779192 meters Centerline goodness : 0.954841 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.13, Z:-0.13 [[ 9.96083740e-01 -8.58054229e-02 -2.13216570e-02 1.50639474e+00] [ 8.58441330e-02 9.96308168e-01 9.05245971e-04 -1.27559431e-01] [ 2.11652660e-02 -2.73203995e-03 9.99772258e-01 -1.30989891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6087791919999996 meters Centerline goodness : 0.955677 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.13, Z:-0.13 [[ 9.96042322e-01 -8.68682765e-02 -1.88041260e-02 1.53420571e+00] [ 8.68984663e-02 9.96216858e-01 7.92841511e-04 -1.28607652e-01] [ 1.86641145e-02 -2.42375341e-03 9.99822872e-01 -1.31591224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6387791919999994 meters Centerline goodness : 0.957583 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.13, Z:-0.13 [[ 9.96351164e-01 -8.35868933e-02 -1.72507681e-02 1.56125136e+00] [ 8.36117902e-02 9.96498139e-01 7.25810453e-04 -1.27954874e-01] [ 1.71296901e-02 -2.16552969e-03 9.99850931e-01 -1.31801402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6687791919999997 meters Centerline goodness : 0.962589 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.13, Z:-0.13 [[ 9.96644969e-01 -8.06703271e-02 -1.38240666e-02 1.58939479e+00] [ 8.06859807e-02 9.96739404e-01 5.77462272e-04 -1.27487185e-01] [ 1.37324078e-02 -1.69093324e-03 9.99904276e-01 -1.33473183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6987791919999995 meters Centerline goodness : 0.960941 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.13, Z:-0.14 [[ 9.97211879e-01 -7.31920406e-02 -1.45393478e-02 1.61677260e+00] [ 7.32085181e-02 9.97316474e-01 6.03610042e-04 -1.25099939e-01] [ 1.44561516e-02 -1.66633121e-03 9.99894116e-01 -1.35268061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7287791919999997 meters Centerline goodness : 0.961758 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.13, Z:-0.14 [[ 9.97473385e-01 -6.95008968e-02 -1.47129559e-02 1.64508659e+00] [ 6.95173221e-02 9.97580560e-01 6.07294969e-04 -1.25214987e-01] [ 1.46351513e-02 -1.62856587e-03 9.99891574e-01 -1.36433280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7587791919999995 meters Centerline goodness : 0.961758 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.13, Z:-0.14 [[ 9.97456305e-01 -6.97455625e-02 -1.47131048e-02 1.67370634e+00] [ 6.97619614e-02 9.97563484e-01 6.03680203e-04 -1.26317493e-01] [ 1.46351521e-02 -1.62855967e-03 9.99891574e-01 -1.36530723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788779192 meters Centerline goodness : 0.960168 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.13, Z:-0.13 [[ 9.97984044e-01 -6.12718131e-02 -1.65412596e-02 1.70123615e+00] [ 6.12913199e-02 9.98119692e-01 6.74438483e-04 -1.25512161e-01] [ 1.64688329e-02 -1.68691448e-03 9.99862957e-01 -1.34816286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8187791919999996 meters Centerline goodness : 0.962706 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.12, Z:-0.13 [[ 9.98221778e-01 -5.75352631e-02 -1.55876481e-02 1.72915620e+00] [ 5.75520703e-02 9.98342306e-01 6.31443270e-04 -1.24529660e-01] [ 1.55254783e-02 -1.52742184e-03 9.99878306e-01 -1.34800922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8487791919999994 meters Centerline goodness : 0.963593 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.12, Z:-0.13 [[ 9.98603627e-01 -5.10033388e-02 -1.37642526e-02 1.75743448e+00] [ 5.10157765e-02 9.98697694e-01 5.53792878e-04 -1.22470550e-01] [ 1.37180821e-02 -1.25521361e-03 9.99905115e-01 -1.34985203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8787791919999997 meters Centerline goodness : 0.966340 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.12, Z:-0.13 [[ 9.98894824e-01 -4.52093516e-02 -1.28547624e-02 1.78532069e+00] [ 4.52196782e-02 9.98976935e-01 5.13660058e-04 -1.23144952e-01] [ 1.28183889e-02 -1.09438059e-03 9.99917242e-01 -1.33867537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9087791919999995 meters Centerline goodness : 0.964231 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.13, Z:-0.13 [[ 9.99062195e-01 -4.16536581e-02 -1.18196373e-02 1.81362846e+00] [ 4.16620994e-02 9.99131648e-01 4.68744883e-04 -1.25338498e-01] [ 1.17898488e-02 -9.60736196e-04 9.99930036e-01 -1.32409784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9387791919999997 meters Centerline goodness : 0.965671 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.13, Z:-0.13 [[ 9.99145102e-01 -4.00176588e-02 -1.03755361e-02 1.84151670e+00] [ 4.00240435e-02 9.99198633e-01 4.08362969e-04 -1.26203534e-01] [ 1.03508797e-02 -8.23284768e-04 9.99946089e-01 -1.31849424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9687791919999995 meters Centerline goodness : 0.964823 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.13, Z:-0.13 [[ 9.99302096e-01 -3.62000110e-02 -9.21299084e-03 1.86859733e+00] [ 3.62048771e-02 9.99344323e-01 3.61896944e-04 -1.29605782e-01] [ 9.19384942e-03 -6.95199576e-04 9.99957494e-01 -1.30178510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9987791919999998 meters Centerline goodness : 0.965200 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.13, Z:-0.13 [[ 9.99326956e-01 -3.52243354e-02 -1.02411474e-02 1.89654041e+00] [ 3.52302621e-02 9.99379142e-01 3.98826348e-04 -1.31992543e-01] [ 1.02207407e-02 -7.59356226e-04 9.99947479e-01 -1.30348674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0287791919999996 meters Centerline goodness : 0.965858 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.14, Z:-0.13 [[ 9.99323462e-01 -3.44511461e-02 -1.28738550e-02 1.92320242e+00] [ 3.44604377e-02 9.99405937e-01 5.00548743e-04 -1.36747164e-01] [ 1.28489626e-02 -9.43848780e-04 9.99917003e-01 -1.31527032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0587791919999994 meters Centerline goodness : 0.966237 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.14, Z:-0.13 [[ 9.99335175e-01 -3.38555586e-02 -1.35280758e-02 1.95090236e+00] [ 3.38657070e-02 9.99426256e-01 5.21731181e-04 -1.40176728e-01] [ 1.35026506e-02 -9.79522172e-04 9.99908355e-01 -1.32335534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0887791919999996 meters Centerline goodness : 0.966150 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.15, Z:-0.13 [[ 9.99241422e-01 -3.62778491e-02 -1.41597605e-02 1.97730704e+00] [ 3.62891763e-02 9.99341183e-01 5.43759858e-04 -1.46686163e-01] [ 1.41307053e-02 -1.05719342e-03 9.99899598e-01 -1.34181650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1187791919999994 meters Centerline goodness : 0.966759 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.15, Z:-0.13 [[ 9.99399026e-01 -3.19818347e-02 -1.33696985e-02 2.00488197e+00] [ 3.19914974e-02 9.99488011e-01 5.09435028e-04 -1.52231816e-01] [ 1.33465607e-02 -9.36845544e-04 9.99910492e-01 -1.31290001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1487791919999997 meters Centerline goodness : 0.967213 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.15, Z:-0.13 [[ 9.99497554e-01 -2.88236927e-02 -1.31846031e-02 2.03334901e+00] [ 2.88327682e-02 9.99584125e-01 4.98743158e-04 -1.53094122e-01] [ 1.31647443e-02 -8.78641172e-04 9.99912955e-01 -1.30174142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1787791919999995 meters Centerline goodness : 0.966640 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.15, Z:-0.13 [[ 9.99495928e-01 -2.81958182e-02 -1.45905927e-02 2.06005841e+00] [ 2.82068502e-02 9.99601956e-01 5.50824736e-04 -1.54265022e-01] [ 1.45692541e-02 -9.62101743e-04 9.99893400e-01 -1.28852725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2087791919999997 meters Centerline goodness : 0.964503 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.15, Z:-0.13 [[ 9.99434866e-01 -2.99858356e-02 -1.51920642e-02 2.08836327e+00] [ 2.99979268e-02 9.99549799e-01 5.68590113e-04 -1.54755861e-01] [ 1.51681751e-02 -1.02399921e-03 9.99884432e-01 -1.29246539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2387791919999995 meters Centerline goodness : 0.966893 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.15, Z:-0.13 [[ 9.99380956e-01 -3.16139034e-02 -1.54358537e-02 2.11564836e+00] [ 3.16265378e-02 9.99499591e-01 5.75029157e-04 -1.53763524e-01] [ 1.54099506e-02 -1.06285580e-03 9.99880695e-01 -1.30259192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2687791919999993 meters Centerline goodness : 0.963404 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.15, Z:-0.13 [[ 9.99209373e-01 -3.52333717e-02 -1.84184226e-02 2.14261926e+00] [ 3.52519105e-02 9.99378225e-01 6.82733623e-04 -1.52096985e-01] [ 1.83829155e-02 -1.33147842e-03 9.99830133e-01 -1.31255278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2987791919999996 meters Centerline goodness : 0.963582 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.15, Z:-0.13 [[ 9.98742311e-01 -4.52263289e-02 -2.16419788e-02 2.16925318e+00] [ 4.52542086e-02 9.98975183e-01 7.99960042e-04 -1.51963192e-01] [ 2.15836205e-02 -1.77834457e-03 9.99765465e-01 -1.31717980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3287791919999994 meters Centerline goodness : 0.963239 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.15, Z:-0.13 [[ 9.98361473e-01 -5.25625941e-02 -2.26173118e-02 2.19687018e+00] [ 5.25947590e-02 9.98615594e-01 8.29229808e-04 -1.54162754e-01] [ 2.25424138e-02 -2.01742316e-03 9.99743852e-01 -1.30222104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3587791919999996 meters Centerline goodness : 0.961358 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.16, Z:-0.13 [[ 9.97524065e-01 -6.74667344e-02 -1.98489112e-02 2.22337444e+00] [ 6.74943875e-02 9.97719390e-01 7.25815611e-04 -1.57842904e-01] [ 1.97546751e-02 -2.06370864e-03 9.99802728e-01 -1.28074926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3887791919999994 meters Centerline goodness : 0.959403 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.16, Z:-0.13 [[ 9.97018354e-01 -7.48470621e-02 -1.87701454e-02 2.24997326e+00] [ 7.48730162e-02 9.97192843e-01 6.82827693e-04 -1.59181028e-01] [ 1.86663470e-02 -2.08616914e-03 9.99823592e-01 -1.28412389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4187791919999997 meters Centerline goodness : 0.958958 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.16, Z:-0.13 [[ 9.96299840e-01 -8.46112519e-02 -1.50852611e-02 2.27848437e+00] [ 8.46290519e-02 9.96412378e-01 5.44378107e-04 -1.59369263e-01] [ 1.49850804e-02 -1.81901517e-03 9.99886063e-01 -1.30215792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4487791919999995 meters Centerline goodness : 0.959920 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.16, Z:-0.13 [[ 9.96229218e-01 -8.53260365e-02 -1.57102725e-02 2.30679606e+00] [ 8.53453574e-02 9.96351270e-01 5.62296091e-04 -1.59456148e-01] [ 1.56049714e-02 -1.90097462e-03 9.99876428e-01 -1.29404434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4787791919999993 meters Centerline goodness : 0.960062 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.16, Z:-0.13 [[ 9.96657724e-01 -8.03980302e-02 -1.44754378e-02 2.33402306e+00] [ 8.04138823e-02 9.96761427e-01 5.15466777e-04 -1.55301672e-01] [ 1.43871155e-02 -1.67777010e-03 9.99895092e-01 -1.28653486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5087791919999995 meters Centerline goodness : 0.958909 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.15, Z:-0.13 [[ 9.97012274e-01 -7.60523413e-02 -1.35117366e-02 2.36154469e+00] [ 7.60657386e-02 9.97102689e-01 4.79651214e-04 -1.53525754e-01] [ 1.34361103e-02 -1.50599837e-03 9.99908597e-01 -1.28537066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5387791919999994 meters Centerline goodness : 0.961959 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.15, Z:-0.13 [[ 9.97445283e-01 -7.02930242e-02 -1.27199538e-02 2.38988963e+00] [ 7.03043807e-02 9.97525485e-01 4.47316480e-04 -1.51027532e-01] [ 1.26570349e-02 -1.34044219e-03 9.99918998e-01 -1.26375342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5687791919999996 meters Centerline goodness : 0.961712 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.15, Z:-0.13 [[ 9.97770534e-01 -6.53443146e-02 -1.35676763e-02 2.41758831e+00] [ 6.53567520e-02 9.97861849e-01 4.74866191e-04 -1.48005494e-01] [ 1.35076367e-02 -1.36054675e-03 9.99907842e-01 -1.25985946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5987791919999994 meters Centerline goodness : 0.960676 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.15, Z:-0.13 [[ 9.97856607e-01 -6.35474750e-02 -1.56176432e-02 2.44628755e+00] [ 6.35636666e-02 9.97977638e-01 5.42051874e-04 -1.46412671e-01] [ 1.55516127e-02 -1.53360471e-03 9.99877890e-01 -1.27216817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6287791919999997 meters Centerline goodness : 0.958823 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.15, Z:-0.13 [[ 9.97834555e-01 -6.23392417e-02 -2.09766344e-02 2.47333255e+00] [ 6.23681510e-02 9.98052948e-01 7.26153571e-04 -1.45072520e-01] [ 2.08905239e-02 -2.03285503e-03 9.99779702e-01 -1.28135606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6587791919999995 meters Centerline goodness : 0.956705 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.15, Z:-0.13 [[ 9.97831240e-01 -6.19807791e-02 -2.21630250e-02 2.50164665e+00] [ 6.20128193e-02 9.98075063e-01 7.60651513e-04 -1.46134952e-01] [ 2.20732168e-02 -2.13339351e-03 9.99754081e-01 -1.28664004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6887791919999993 meters Centerline goodness : 0.957697 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.15, Z:-0.13 [[ 9.97767634e-01 -6.14869230e-02 -2.60596959e-02 2.52920582e+00] [ 6.15309890e-02 9.98104775e-01 8.91712951e-04 -1.46205804e-01] [ 2.59554783e-02 -2.49320118e-03 9.99659991e-01 -1.28601482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7187791919999995 meters Centerline goodness : 0.960087 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.15, Z:-0.13 [[ 9.97797172e-01 -6.09519245e-02 -2.61852400e-02 2.55691181e+00] [ 6.09960200e-02 9.98137614e-01 8.87820551e-04 -1.46245720e-01] [ 2.60823586e-02 -2.48306026e-03 9.99656714e-01 -1.28826797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7487791919999993 meters Centerline goodness : 0.957797 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.15, Z:-0.13 [[ 9.97873448e-01 -5.86695914e-02 -2.83982405e-02 2.58528691e+00] [ 5.87203115e-02 9.98274017e-01 9.54672730e-04 -1.46731484e-01] [ 2.82932154e-02 -2.62019610e-03 9.99596233e-01 -1.27884373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7787791919999996 meters Centerline goodness : 0.957792 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.15, Z:-0.13 [[ 9.98009434e-01 -5.64389033e-02 -2.81392893e-02 2.61378540e+00] [ 5.64875912e-02 9.98402861e-01 9.37706023e-04 -1.48005865e-01] [ 2.80414238e-02 -2.52536013e-03 9.99603572e-01 -1.26773995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8087791919999994 meters Centerline goodness : 0.960226 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.15, Z:-0.13 [[ 9.98250723e-01 -5.35100551e-02 -2.51429625e-02 2.64185157e+00] [ 5.35478059e-02 9.98564942e-01 8.30085653e-04 -1.47630784e-01] [ 2.50624630e-02 -2.17498408e-03 9.99683521e-01 -1.25844212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8387791919999996 meters Centerline goodness : 0.960979 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.15, Z:-0.13 [[ 9.98412251e-01 -5.15048132e-02 -2.28085939e-02 2.66911870e+00] [ 5.15353004e-02 9.98670892e-01 7.50486655e-04 -1.48226071e-01] [ 2.27396252e-02 -1.92474281e-03 9.99739568e-01 -1.25923647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8687791919999994 meters Centerline goodness : 0.963577 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.15, Z:-0.13 [[ 9.98530530e-01 -5.00235460e-02 -2.08428795e-02 2.69639727e+00] [ 5.00486261e-02 9.98746549e-01 6.83073528e-04 -1.48725908e-01] [ 2.07825842e-02 -1.72522725e-03 9.99782530e-01 -1.26297829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8987791919999992 meters Centerline goodness : 0.966693 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.15, Z:-0.13 [[ 9.98765828e-01 -4.55176926e-02 -1.98736226e-02 2.72449609e+00] [ 4.55394774e-02 9.98962332e-01 6.44753081e-04 -1.49306738e-01] [ 1.98236527e-02 -1.54899173e-03 9.99802292e-01 -1.26274139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9287791919999995 meters Centerline goodness : 0.963166 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.15, Z:-0.13 [[ 9.99005549e-01 -4.02139848e-02 -1.92548388e-02 2.75181820e+00] [ 4.02333429e-02 9.99190120e-01 6.18884619e-04 -1.52460493e-01] [ 1.92143568e-02 -1.39295570e-03 9.99814417e-01 -1.25403704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9587791919999993 meters Centerline goodness : 0.964478 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.16, Z:-0.12 [[ 9.99085156e-01 -3.75901514e-02 -2.03919447e-02 2.78006974e+00] [ 3.76111965e-02 9.99292238e-01 6.49352635e-04 -1.55435918e-01] [ 2.03531027e-02 -1.41572402e-03 9.99791852e-01 -1.24016535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9887791919999995 meters Centerline goodness : 0.964752 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.16, Z:-0.13 [[ 9.99284543e-01 -3.17358769e-02 -2.05727037e-02 2.80794308e+00] [ 3.17559349e-02 9.99495442e-01 6.48943984e-04 -1.60205478e-01] [ 2.05417288e-02 -1.30178513e-03 9.99788149e-01 -1.25114660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018779191999999 meters Centerline goodness : 0.963344 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.16, Z:-0.13 [[ 9.99385376e-01 -2.85662756e-02 -2.03184266e-02 2.83541376e+00] [ 2.85851102e-02 9.99591159e-01 6.37081944e-04 -1.63527817e-01] [ 2.02919205e-02 -1.21749484e-03 9.99793356e-01 -1.25935794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048779192 meters Centerline goodness : 0.961816 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.17, Z:-0.13 [[ 9.99497114e-01 -2.19624452e-02 -2.28729268e-02 2.86322749e+00] [ 2.19844302e-02 9.99758061e-01 7.10136300e-04 -1.70838290e-01] [ 2.28517966e-02 -1.21262745e-03 9.99738128e-01 -1.28011001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078779192 meters Centerline goodness : 0.963257 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.17, Z:-0.13 [[ 9.99576953e-01 -1.87132273e-02 -2.22650128e-02 2.89043391e+00] [ 1.87330949e-02 9.99824286e-01 6.84064623e-04 -1.74872998e-01] [ 2.22482995e-02 -1.10086783e-03 9.99751870e-01 -1.29203033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108779191999999 meters Centerline goodness : 0.962149 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.18, Z:-0.13 [[ 9.99685848e-01 -1.33653403e-02 -2.12031451e-02 2.91685008e+00] [ 1.33821074e-02 9.99910245e-01 6.49089224e-04 -1.83839037e-01] [ 2.11925667e-02 -9.32628076e-04 9.99774977e-01 -1.30128101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138779191999999 meters Centerline goodness : 0.965868 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.20, Z:-0.13 [[ 9.99737308e-01 -9.99063247e-03 -2.06276873e-02 2.94464738e+00] [ 1.00056438e-02 9.99949747e-01 6.24643938e-04 -1.96848547e-01] [ 2.06204101e-02 -8.30873140e-04 9.99787031e-01 -1.28554993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168779192 meters Centerline goodness : 0.967336 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.20, Z:-0.13 [[ 9.99746155e-01 -8.78747146e-03 -2.07462041e-02 2.97118733e+00] [ 8.80234806e-03 9.99961063e-01 6.25865112e-04 -2.02926971e-01] [ 2.07398965e-02 -8.08321549e-04 9.99784578e-01 -1.27992557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198779191999999 meters Centerline goodness : 0.967618 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.21, Z:-0.12 [[ 9.99798034e-01 -7.67815669e-04 -2.00823477e-02 2.99901374e+00] [ 7.79997158e-04 9.99999517e-01 5.98751053e-04 -2.07583254e-01] [ 2.00818783e-02 -6.14294300e-04 9.99798150e-01 -1.22548537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228779191999999 meters Centerline goodness : 0.967868 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.21, Z:-0.12 [[ 9.99830583e-01 -5.29805699e-04 -1.83990637e-02 3.02723706e+00] [ 5.39878701e-04 9.99999707e-01 5.42510915e-04 -2.07357880e-01] [ 1.83987709e-02 -5.52352267e-04 9.99830576e-01 -1.21035668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2587791919999995 meters Centerline goodness : 0.967512 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.20, Z:-0.13 [[ 9.99816077e-01 -1.50888102e-03 -1.91190006e-02 3.05529265e+00] [ 1.51990394e-03 9.99998687e-01 5.62025095e-04 -2.02578130e-01] [ 1.91181275e-02 -5.90980769e-04 9.99817057e-01 -1.27353100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288779192 meters Centerline goodness : 0.965100 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.20, Z:-0.13 [[ 9.99806473e-01 -1.18725013e-03 -1.96369009e-02 3.08208765e+00] [ 1.19875872e-03 9.99999117e-01 5.74309138e-04 -1.99638072e-01] [ 1.96362017e-02 -5.97737899e-04 9.99807013e-01 -1.29060826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318779191999999 meters Centerline goodness : 0.962907 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.20, Z:-0.13 [[ 9.99802849e-01 -7.32142462e-03 -1.84569863e-02 3.11052735e+00] [ 7.33259474e-03 9.99972972e-01 5.37594592e-04 -1.97575025e-01] [ 1.84525515e-02 -6.72826205e-04 9.99829511e-01 -1.30937889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348779191999999 meters Centerline goodness : 0.965426 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.20, Z:-0.13 [[ 9.99766492e-01 -1.17098446e-02 -1.81615397e-02 3.13855625e+00] [ 1.17213415e-02 9.99931164e-01 5.26709981e-04 -1.99506174e-01] [ 1.81541219e-02 -7.39464598e-04 9.99834927e-01 -1.30029072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378779192 meters Centerline goodness : 0.964326 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.20, Z:-0.13 [[ 9.99634028e-01 -2.04365898e-02 -1.77244468e-02 3.16553227e+00] [ 2.04488618e-02 9.99790769e-01 5.11399602e-04 -2.01387989e-01] [ 1.77102870e-02 -8.73657207e-04 9.99842779e-01 -1.26263986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408779191999999 meters Centerline goodness : 0.965527 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.20, Z:-0.12 [[ 9.99403908e-01 -3.07192164e-02 -1.57530538e-02 3.19228952e+00] [ 3.07301471e-02 9.99527615e-01 4.52232270e-04 -2.03264829e-01] [ 1.57317201e-02 -9.36056360e-04 9.99875811e-01 -1.24922127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438779191999999 meters Centerline goodness : 0.964185 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.20, Z:-0.13 [[ 9.99186001e-01 -3.73779060e-02 -1.51732314e-02 3.22059383e+00] [ 3.73887296e-02 9.99300704e-01 4.30194662e-04 -2.02999032e-01] [ 1.51465411e-02 -9.97152331e-04 9.99884787e-01 -1.27481220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4687791919999995 meters Centerline goodness : 0.962862 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.20, Z:-0.13 [[ 9.99050785e-01 -3.92386407e-02 -1.89171148e-02 3.24867673e+00] [ 3.92556846e-02 9.99229058e-01 5.30339975e-04 -1.99186088e-01] [ 1.88817209e-02 -1.27244086e-03 9.99820915e-01 -1.27543310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498779192 meters Centerline goodness : 0.964254 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.20, Z:-0.13 [[ 9.98944211e-01 -4.20593636e-02 -1.84790080e-02 3.27538055e+00] [ 4.20760709e-02 9.99114277e-01 5.16085912e-04 -1.98419873e-01] [ 1.84409345e-02 -1.29306509e-03 9.99829115e-01 -1.29062685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528779191999999 meters Centerline goodness : 0.963269 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.20, Z:-0.13 [[ 9.98778071e-01 -4.52775946e-02 -1.98066959e-02 3.30399430e+00] [ 4.52972831e-02 9.98973402e-01 5.46292402e-04 -1.98492008e-01] [ 1.97616276e-02 -1.44281438e-03 9.99803679e-01 -1.28558474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558779191999999 meters Centerline goodness : 0.964785 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.20, Z:-0.13 [[ 9.98347830e-01 -5.40952786e-02 -1.93729429e-02 3.33176178e+00] [ 5.41156452e-02 9.98534535e-01 5.28212730e-04 -1.99418155e-01] [ 1.93159788e-02 -1.57571934e-03 9.99812187e-01 -1.28318122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588779192 meters Centerline goodness : 0.965883 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.20, Z:-0.13 [[ 9.97924094e-01 -6.14128551e-02 -1.93897711e-02 3.35881260e+00] [ 6.14345896e-02 9.98110973e-01 5.26702376e-04 -2.00613759e-01] [ 1.93207970e-02 -1.71681162e-03 9.99811862e-01 -1.25724215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.618779191999999 meters Centerline goodness : 0.965099 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.20, Z:-0.12 [[ 9.97821295e-01 -6.33196332e-02 -1.85280395e-02 3.38600958e+00] [ 6.33397294e-02 9.97991898e-01 4.99231781e-04 -1.99841790e-01] [ 1.84592221e-02 -1.67170511e-03 9.99828217e-01 -1.24344273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648779191999999 meters Centerline goodness : 0.965099 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.20, Z:-0.12 [[ 9.97803696e-01 -6.35963178e-02 -1.85281839e-02 3.41466789e+00] [ 6.36163621e-02 9.97974306e-01 4.93847451e-04 -2.00555238e-01] [ 1.84592446e-02 -1.67145847e-03 9.99828217e-01 -1.24441877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6787791919999995 meters Centerline goodness : 0.964885 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.20, Z:-0.13 [[ 9.97231352e-01 -7.27890873e-02 -1.52111553e-02 3.44168506e+00] [ 7.28036309e-02 9.97346213e-01 4.03826686e-04 -1.97522944e-01] [ 1.51413940e-02 -1.51013597e-03 9.99884222e-01 -1.26158055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708779192 meters Centerline goodness : 0.966288 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.20, Z:-0.13 [[ 9.96792259e-01 -7.86690853e-02 -1.47094042e-02 3.46995420e+00] [ 7.86832463e-02 9.96899593e-01 3.85587376e-04 -1.96096901e-01] [ 1.46334652e-02 -1.54173418e-03 9.99891737e-01 -1.27086433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738779191999999 meters Centerline goodness : 0.966916 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.19, Z:-0.13 [[ 9.96050779e-01 -8.77564120e-02 -1.34780668e-02 3.49666329e+00] [ 8.77690896e-02 9.96140785e-01 3.50852155e-04 -1.94180830e-01] [ 1.33952625e-02 -1.53242421e-03 9.99909105e-01 -1.29345731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768779191999999 meters Centerline goodness : 0.968910 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.19, Z:-0.13 [[ 9.95762973e-01 -9.10333538e-02 -1.30011687e-02 3.52445069e+00] [ 9.10453693e-02 9.95846690e-01 3.34085033e-04 -1.94041744e-01] [ 1.29167579e-02 -1.51636571e-03 9.99915425e-01 -1.29648560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.798779192 meters Centerline goodness : 0.970018 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.19, Z:-0.13 [[ 9.95573244e-01 -9.31574277e-02 -1.24743296e-02 3.55143827e+00] [ 9.31686258e-02 9.95650293e-01 3.18319933e-04 -1.92911990e-01] [ 1.23904160e-02 -1.47912695e-03 9.99922142e-01 -1.27017074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.828779191999999 meters Centerline goodness : 0.969742 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.19, Z:-0.13 [[ 9.95544808e-01 -9.33556977e-02 -1.32381546e-02 3.57965702e+00] [ 9.33682715e-02 9.95631586e-01 3.33625728e-04 -1.92933459e-01] [ 1.31491790e-02 -1.56816297e-03 9.99912316e-01 -1.25850497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858779191999999 meters Centerline goodness : 0.969564 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.19, Z:-0.13 [[ 9.95546025e-01 -9.33034243e-02 -1.35123144e-02 3.60640328e+00] [ 9.33165042e-02 9.95636437e-01 3.39387291e-04 -1.88926918e-01] [ 1.34216866e-02 -1.59879761e-03 9.99908647e-01 -1.26008041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888779191999999 meters Centerline goodness : 0.969365 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.18, Z:-0.13 [[ 9.95221882e-01 -9.64255926e-02 -1.53463755e-02 3.63462465e+00] [ 9.64427551e-02 9.95338460e-01 3.80507333e-04 -1.83086947e-01] [ 1.52381471e-02 -1.85873596e-03 9.99882165e-01 -1.27299859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918779192 meters Centerline goodness : 0.967453 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.18, Z:-0.13 [[ 9.94999126e-01 -9.87080060e-02 -1.52796907e-02 3.66320567e+00] [ 9.87252182e-02 9.95114662e-01 3.74467667e-04 -1.80287500e-01] [ 1.51680813e-02 -1.88108580e-03 9.99883189e-01 -1.27334982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948779191999999 meters Centerline goodness : 0.967255 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.17, Z:-0.13 [[ 9.94748398e-01 -1.01005216e-01 -1.65399701e-02 3.69087028e+00] [ 1.01025674e-01 9.94883737e-01 4.03928345e-04 -1.71990634e-01] [ 1.64145484e-02 -2.07276871e-03 9.99863124e-01 -1.25978053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978779191999999 meters Centerline goodness : 0.965581 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.17, Z:-0.13 [[ 9.94839821e-01 -9.98639947e-02 -1.79140737e-02 3.71782237e+00] [ 9.98877736e-02 9.94998615e-01 4.35320189e-04 -1.67493581e-01] [ 1.77810057e-02 -2.22247079e-03 9.99839435e-01 -1.25042380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0087791919999995 meters Centerline goodness : 0.962692 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.16, Z:-0.12 [[ 9.95262243e-01 -9.50217551e-02 -2.05896550e-02 3.74657396e+00] [ 9.50520222e-02 9.95472184e-01 4.94171668e-04 -1.56831749e-01] [ 2.04494717e-02 -2.44891875e-03 9.99787888e-01 -1.22511705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038779191999999 meters Centerline goodness : 0.961459 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.15, Z:-0.12 [[ 9.95533229e-01 -9.19823774e-02 -2.12798408e-02 3.77485597e+00] [ 9.20138921e-02 9.95757596e-01 5.04522284e-04 -1.50268400e-01] [ 2.11431559e-02 -2.46030967e-03 9.99773431e-01 -1.21819893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068779191999999 meters Centerline goodness : 0.956304 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.14, Z:-0.12 [[ 9.96042961e-01 -8.61482711e-02 -2.18379184e-02 3.80324373e+00] [ 8.61799396e-02 9.96279457e-01 5.11468729e-04 -1.35150911e-01] [ 2.17126074e-02 -2.39143532e-03 9.99761393e-01 -1.24085935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098779191999999 meters Centerline goodness : 0.955384 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.13, Z:-0.12 [[ 9.96184533e-01 -8.41522163e-02 -2.31253100e-02 3.83097133e+00] [ 8.41871027e-02 9.96449820e-01 5.37457037e-04 -1.29435458e-01] [ 2.29979828e-02 -2.48225924e-03 9.99732430e-01 -1.23706700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128779192 meters Centerline goodness : 0.953789 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.12, Z:-0.12 [[ 9.96294920e-01 -8.25497566e-02 -2.41240704e-02 3.85887722e+00] [ 8.25870862e-02 9.96583698e-01 5.53504132e-04 -1.20320946e-01] [ 2.39959636e-02 -2.54379004e-03 9.99708819e-01 -1.22874098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.158779191999999 meters Centerline goodness : 0.952944 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.12, Z:-0.12 [[ 9.96186470e-01 -8.35324951e-02 -2.51960344e-02 3.88687336e+00] [ 8.35733486e-02 9.96501465e-01 5.70936499e-04 -1.17429782e-01] [ 2.50601935e-02 -2.67447619e-03 9.99682366e-01 -1.21977129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188779191999999 meters Centerline goodness : 0.949903 Centerline is valid? [True, False] Translation: X:3.91, Y:-0.11, Z:-0.12 [[ 9.96468336e-01 -8.03256252e-02 -2.44673110e-02 3.90791804e+00] [ 8.03290339e-02 9.96768043e-01 -8.45107302e-04 -1.13764425e-01] [ 2.44561175e-02 -1.12331279e-03 9.99700273e-01 -1.22781588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2187791919999995 meters Centerline goodness : 0.949894 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.11, Z:-0.12 [[ 9.96685845e-01 -7.71170714e-02 -2.58898247e-02 3.91042161e+00] [ 7.72293153e-02 9.97007687e-01 3.36242284e-03 -1.14255270e-01] [ 2.55530540e-02 -5.35073269e-03 9.99659147e-01 -1.22367464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248779191999999 meters Centerline goodness : 0.945489 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.12, Z:-0.12 [[ 0.99700411 -0.07129916 -0.02998728 3.91708988] [ 0.07167552 0.99735976 0.01166725 -0.11529745] [ 0.02907624 -0.01378165 0.99948219 -0.12026452] [ 0. 0. 0. 1. ]] SLAMing on 5.278779191999999 meters Centerline goodness : 0.942915 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.12, Z:-0.12 [[ 0.9975649 -0.0644682 -0.02661056 3.9298607 ] [ 0.0647753 0.99784096 0.01084379 -0.11613392] [ 0.02585403 -0.01254109 0.99958706 -0.12067509] [ 0. 0. 0. 1. ]] SLAMing on 5.308779191999999 meters Centerline goodness : 0.944115 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.12, Z:-0.12 [[ 0.99814641 -0.05566211 -0.02460625 3.94454359] [ 0.05595357 0.99836921 0.01131904 -0.11589779] [ 0.02393608 -0.01267487 0.99963314 -0.12046457] [ 0. 0. 0. 1. ]] SLAMing on 5.338779192 meters Centerline goodness : 0.944109 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.12, Z:-0.12 [[ 0.99862304 -0.04814269 -0.02084003 3.95613956] [ 0.04837723 0.99876966 0.01089986 -0.11729466] [ 0.02028964 -0.01189303 0.9997234 -0.11950583] [ 0. 0. 0. 1. ]] SLAMing on 5.368779191999999 meters Centerline goodness : 0.941082 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.12, Z:-0.12 [[ 0.99896424 -0.0367942 -0.02677002 3.97748532] [ 0.03698097 0.99929473 0.0065153 -0.1180995 ] [ 0.02651142 -0.00749853 0.99962039 -0.11609543] [ 0. 0. 0. 1. ]] SLAMing on 5.398779191999999 meters Centerline goodness : 0.940883 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.12, Z:-0.12 [[ 0.99929551 -0.02954599 -0.02314115 3.99024146] [ 0.02968266 0.99954377 0.0055846 -0.11898069] [ 0.02296559 -0.00626755 0.99971661 -0.11652197] [ 0. 0. 0. 1. ]] SLAMing on 5.4287791919999995 meters Centerline goodness : 0.938411 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.12, Z:-0.11 [[ 0.99953662 -0.02247395 -0.02052957 4.00457862] [ 0.02260366 0.99972584 0.00610824 -0.1202697 ] [ 0.02038667 -0.00656946 0.99977059 -0.11379354] [ 0. 0. 0. 1. ]] SLAMing on 5.458779191999999 meters Centerline goodness : 0.939048 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-0.11 [[ 0.9996514 -0.01890459 -0.018431 4.01941471] [ 0.01898222 0.99981163 0.00404651 -0.12297456] [ 0.01835103 -0.00439496 0.99982195 -0.1098628 ] [ 0. 0. 0. 1. ]] SLAMing on 5.488779191999999 meters Centerline goodness : 0.938359 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.12, Z:-0.11 [[ 9.99759188e-01 -1.54539759e-02 -1.55801213e-02 4.03426189e+00] [ 1.54679845e-02 9.99880060e-01 7.79025023e-04 -1.24847967e-01] [ 1.55662136e-02 -1.01983050e-03 9.99878319e-01 -1.10073360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518779191999999 meters Centerline goodness : 0.938501 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:-0.10 [[ 0.99968748 -0.01605185 -0.0191648 4.044434 ] [ 0.01620401 0.9998382 0.00781099 -0.12850223] [ 0.01903632 -0.00811909 0.99978583 -0.10463766] [ 0. 0. 0. 1. ]] SLAMing on 5.548779192 meters Centerline goodness : 0.939140 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.13, Z:-0.11 [[ 9.99784900e-01 -1.38182889e-02 -1.54663961e-02 4.05791805e+00] [ 1.38324610e-02 9.99903999e-01 8.09712374e-04 -1.29617416e-01] [ 1.54537225e-02 -1.02347653e-03 9.99880060e-01 -1.08739584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578779191999999 meters Centerline goodness : 0.938356 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.13, Z:-0.11 [[ 9.99732391e-01 -1.51998272e-02 -1.74387976e-02 4.06269939e+00] [ 1.52320714e-02 9.99882510e-01 1.71765210e-03 -1.32674467e-01] [ 1.74106407e-02 -1.98282145e-03 9.99846457e-01 -1.08048287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608779191999999 meters Centerline goodness : 0.940684 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.14, Z:-0.10 [[ 0.99964735 -0.01622364 -0.02102293 4.07305775] [ 0.01639703 0.99983274 0.00810176 -0.13630381] [ 0.02088798 -0.00844362 0.99974617 -0.10411141] [ 0. 0. 0. 1. ]] SLAMing on 5.638779191999999 meters Centerline goodness : 0.940925 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.14, Z:-0.10 [[ 0.99943278 -0.01503028 -0.03013656 4.09333002] [ 0.01516942 0.99987529 0.00439349 -0.14286717] [ 0.03006676 -0.00484816 0.99953614 -0.10292487] [ 0. 0. 0. 1. ]] SLAMing on 5.668779191999999 meters Centerline goodness : 0.942173 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:-0.10 [[ 0.99937874 -0.01561378 -0.03159656 4.09660979] [ 0.01577295 0.9998641 0.00479476 -0.14443206] [ 0.0315174 -0.00529016 0.9994892 -0.10330581] [ 0. 0. 0. 1. ]] SLAMing on 5.698779191999999 meters Centerline goodness : 0.942623 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.15, Z:-0.10 [[ 9.99454311e-01 -1.17672750e-02 -3.08643926e-02 4.11606739e+00] [ 1.18686887e-02 9.99924745e-01 3.10463316e-03 -1.47500384e-01] [ 3.08255368e-02 -3.46925886e-03 9.99518759e-01 -1.04905035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728779191999999 meters Centerline goodness : 0.943373 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.15, Z:-0.11 [[ 9.99605190e-01 -7.36030572e-03 -2.71162135e-02 4.12863172e+00] [ 7.32054699e-03 9.99971979e-01 -1.56521510e-03 -1.49414265e-01] [ 2.71269741e-02 1.36609162e-03 9.99631062e-01 -1.07366879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7587791919999995 meters Centerline goodness : 0.946971 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.15, Z:-0.10 [[ 9.99601912e-01 -5.54246701e-03 -2.76640283e-02 4.12797867e+00] [ 5.55792644e-03 9.99984438e-01 4.81966496e-04 -1.52976547e-01] [ 2.76609265e-02 -6.35529265e-04 9.99617161e-01 -1.04798458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788779191999999 meters Centerline goodness : 0.945278 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.16, Z:-0.10 [[ 9.99577316e-01 -1.96432548e-03 -2.90056946e-02 4.13027192e+00] [ 2.13281318e-03 9.99981027e-01 5.77898461e-03 -1.56415157e-01] [ 2.89937925e-02 -5.83840566e-03 9.99562541e-01 -1.03111342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818779191999999 meters Centerline goodness : 0.945461 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.16, Z:-0.11 [[ 9.99613362e-01 5.05473526e-03 -2.73418232e-02 4.14645025e+00] [-4.94236480e-03 9.99979067e-01 4.17585735e-03 -1.59423930e-01] [ 2.73623587e-02 -4.03910954e-03 9.99617420e-01 -1.06254981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848779191999999 meters Centerline goodness : 0.944934 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.16, Z:-0.11 [[ 0.99960559 0.00771395 -0.02700288 4.14481519] [-0.00756678 0.99995598 0.00554827 -0.16050879] [ 0.02704449 -0.00534176 0.99961996 -0.10508878] [ 0. 0. 0. 1. ]] SLAMing on 5.878779191999999 meters Centerline goodness : 0.947344 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.16, Z:-0.11 [[ 9.99663196e-01 1.28884451e-02 -2.25251532e-02 4.15546055e+00] [-1.28543302e-02 9.99916004e-01 1.65866531e-03 -1.62829242e-01] [ 2.25446388e-02 -1.36856091e-03 9.99744901e-01 -1.05629663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908779191999999 meters Centerline goodness : 0.951327 Centerline is valid? [False, True] Translation: X:4.17, Y:-0.17, Z:-0.10 [[ 9.99612552e-01 2.14866305e-02 -1.76938194e-02 4.16591858e+00] [-2.14440844e-02 9.99766692e-01 2.59082062e-03 -1.68157752e-01] [ 1.77453593e-02 -2.21038906e-03 9.99840095e-01 -1.04433649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938779191999999 meters Centerline goodness : 0.950248 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.17, Z:-0.11 [[ 9.99543437e-01 2.45615235e-02 -1.75968485e-02 4.19805316e+00] [-2.45405639e-02 9.99697846e-01 1.40607547e-03 -1.71812042e-01] [ 1.76260669e-02 -9.73596927e-04 9.99844175e-01 -1.09607252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9687791919999995 meters Centerline goodness : 0.947323 Centerline is valid? [True, False] Translation: X:4.20, Y:-0.18, Z:-0.11 [[ 0.99942549 0.02853494 -0.01828791 4.20045493] [-0.02841154 0.99957199 0.00697224 -0.17846005] [ 0.01847903 -0.00644864 0.99980845 -0.10971091] [ 0. 0. 0. 1. ]] SLAMing on 5.998779191999999 meters Centerline goodness : 0.947348 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.18, Z:-0.11 [[ 9.99486929e-01 2.64570949e-02 -1.80527185e-02 4.19958378e+00] [-2.63890221e-02 9.99643752e-01 3.99867681e-03 -1.80054331e-01] [ 1.81520806e-02 -3.52023162e-03 9.99829040e-01 -1.10468783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028779191999999 meters Centerline goodness : 0.262182 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.19, Z:-0.11 [[ 9.99382573e-01 3.19811057e-02 -1.45492800e-02 4.21416350e+00] [-3.19205540e-02 9.99480833e-01 4.37525228e-03 -1.89797533e-01] [ 1.46816519e-02 -3.90812980e-03 9.99884581e-01 -1.09614976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058779191999999 meters Centerline goodness : 0.242815 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.20, Z:-0.11 [[ 0.99925241 0.03561697 -0.01503473 4.21563641] [-0.03546067 0.99931552 0.0105372 -0.19610206] [ 0.01539974 -0.00999618 0.99983145 -0.10753152] [ 0. 0. 0. 1. ]] SLAMing on 6.088779191999999 meters Centerline goodness : 0.141294 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.20, Z:-0.11 [[ 0.9992563 0.03537329 -0.01534878 4.21764681] [-0.03520891 0.99932106 0.0108511 -0.20491573] [ 0.0157222 -0.01030262 0.99982332 -0.10941736] [ 0. 0. 0. 1. ]] SLAMing on 6.118779191999999 meters Centerline goodness : 0.132519 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.21, Z:-0.11 [[ 0.9992806 0.03397647 -0.01684885 4.2276999 ] [-0.03375217 0.99934009 0.01342267 -0.21482455] [ 0.01729379 -0.01284433 0.99976795 -0.11311945] [ 0. 0. 0. 1. ]] SLAMing on 6.148779191999999 meters Centerline goodness : 0.131992 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.22, Z:-0.12 [[ 0.99928718 0.03348886 -0.01742507 4.2304602 ] [-0.03325059 0.99935192 0.01378874 -0.21952554] [ 0.01787555 -0.01319952 0.99975309 -0.11515248] [ 0. 0. 0. 1. ]] SLAMing on 6.1787791919999995 meters Centerline goodness : 0.132560 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.23, Z:-0.12 [[ 0.9993452 0.03148248 -0.01783337 4.23515568] [-0.03125268 0.9994267 0.01302117 -0.22857435] [ 0.01823308 -0.01245531 0.99975618 -0.11874713] [ 0. 0. 0. 1. ]] SLAMing on 6.208779191999999 meters Centerline goodness : 0.131933 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.23, Z:-0.12 [[ 0.99935682 0.03100741 -0.01801336 4.23692102] [-0.0307595 0.99943044 0.01388008 -0.23416468] [ 0.01843348 -0.01331707 0.9997414 -0.11937409] [ 0. 0. 0. 1. ]] SLAMing on 6.238779191999999 meters Centerline goodness : 0.133113 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.25, Z:-0.12 [[ 0.99964868 0.02490113 -0.00908019 4.24573973] [-0.02479781 0.99962841 0.01131886 -0.24540525] [ 0.00935867 -0.01108972 0.99989471 -0.12259964] [ 0. 0. 0. 1. ]] SLAMing on 6.268779191999999 meters Centerline goodness : 0.135468 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.25, Z:-0.12 [[ 0.99973041 0.0217205 -0.00820514 4.24496875] [-0.02165199 0.99973071 0.00834822 -0.24980429] [ 0.00838426 -0.00816832 0.99993149 -0.12303523] [ 0. 0. 0. 1. ]] SLAMing on 6.298779191999999 meters Centerline goodness : 0.127235 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.26, Z:-0.12 [[ 9.99814110e-01 1.83055303e-02 -6.05418294e-03 4.26618661e+00] [-1.82856792e-02 9.99827297e-01 3.31815750e-03 -2.59541501e-01] [ 6.11387800e-03 -3.20683584e-03 9.99976168e-01 -1.22998753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328779191999999 meters Centerline goodness : 0.131650 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.26, Z:-0.12 [[ 9.99820088e-01 1.80667927e-02 -5.77784378e-03 4.26731030e+00] [-1.80430980e-02 9.99828692e-01 4.12713322e-03 -2.64204301e-01] [ 5.85141805e-03 -4.02214050e-03 9.99974791e-01 -1.23998627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358779191999999 meters Centerline goodness : 0.126467 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.27, Z:-0.13 [[ 9.99861374e-01 1.64854034e-02 2.33777478e-03 4.28000359e+00] [-1.64977341e-02 9.99849551e-01 5.35717885e-03 -2.73183033e-01] [-2.24910781e-03 -5.39500419e-03 9.99982918e-01 -1.29122117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388779191999999 meters Centerline goodness : 0.145573 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.28, Z:-0.13 [[ 9.99843370e-01 1.74049336e-02 3.20991437e-03 4.27946112e+00] [-1.74244718e-02 9.99829189e-01 6.16276611e-03 -2.77987565e-01] [-3.10210355e-03 -6.21773190e-03 9.99975858e-01 -1.30256732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418779191999999 meters Centerline goodness : 0.192563 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.29, Z:-0.13 [[ 9.99808594e-01 1.91957875e-02 3.78123210e-03 4.28044609e+00] [-1.92187549e-02 9.99796484e-01 6.13437145e-03 -2.85637918e-01] [-3.66270846e-03 -6.20586787e-03 9.99974036e-01 -1.32875470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448779191999999 meters Centerline goodness : 0.193831 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.29, Z:-0.14 [[ 9.99795231e-01 1.98252392e-02 4.05647553e-03 4.28114986e+00] [-1.98509230e-02 9.99782515e-01 6.39241430e-03 -2.89065262e-01] [-3.92886217e-03 -6.47163011e-03 9.99971341e-01 -1.35043335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478779191999999 meters Centerline goodness : 0.206506 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.30, Z:-0.14 [[ 9.99692290e-01 2.46185633e-02 3.04162002e-03 4.28495999e+00] [-2.46425533e-02 9.99663356e-01 8.11900735e-03 -2.95984263e-01] [-2.84071778e-03 -8.19146233e-03 9.99962414e-01 -1.39331054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508779191999999 meters Centerline goodness : 0.129193 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.30, Z:-0.14 [[ 9.99668499e-01 2.54813643e-02 3.68678046e-03 4.28530407e+00] [-2.55089245e-02 9.99645460e-01 7.63217087e-03 -2.97704412e-01] [-3.49099522e-03 -7.72368660e-03 9.99964078e-01 -1.43019804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538779191999999 meters Centerline goodness : 0.128914 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.30, Z:-0.15 [[ 0.9993657 0.03496598 0.00675115 4.3016817 ] [-0.03500208 0.99937316 0.00530509 -0.29884346] [-0.00656142 -0.00553803 0.99996314 -0.15028171] [ 0. 0. 0. 1. ]] SLAMing on 6.568779191999999 meters Centerline goodness : 0.128914 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.30, Z:-0.15 [[ 0.9993657 0.03496598 0.00675115 4.3016817 ] [-0.03500208 0.99937316 0.00530509 -0.29884346] [-0.00656142 -0.00553803 0.99996314 -0.15028171] [ 0. 0. 0. 1. ]] SLAMing on 6.598779191999999 meters Centerline goodness : 0.758710 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.30, Z:-0.16 [[ 9.99087576e-01 4.14430605e-02 1.03193042e-02 4.31705636e+00] [-4.14451804e-02 9.99140779e-01 -8.42115594e-06 -2.99939008e-01] [-1.03107867e-02 -4.19271953e-04 9.99946755e-01 -1.56388116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628779191999999 meters Centerline goodness : 0.754102 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.30, Z:-0.16 [[ 9.99004817e-01 4.30852702e-02 1.15341170e-02 4.31566378e+00] [-4.30790141e-02 9.99071356e-01 -7.90416849e-04 -2.99626636e-01] [-1.15574612e-02 2.92751853e-04 9.99933167e-01 -1.58803724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658779191999999 meters Centerline goodness : 0.726163 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.30, Z:-0.16 [[ 9.98715934e-01 4.91012222e-02 1.24720694e-02 4.31609970e+00] [-4.91128761e-02 9.98793036e-01 6.29656375e-04 -3.00220441e-01] [-1.24260992e-02 -1.24138705e-03 9.99922022e-01 -1.62908915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688779191999999 meters Centerline goodness : 0.768969 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.30, Z:-0.17 [[ 9.98650844e-01 5.01971748e-02 1.32941624e-02 4.31567202e+00] [-5.02043317e-02 9.98738946e-01 2.04957297e-04 -3.00700346e-01] [-1.32671094e-02 -8.72105315e-04 9.99911608e-01 -1.65139534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718779191999999 meters Centerline goodness : 0.645811 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.30, Z:-0.17 [[ 0.99844861 0.05320513 0.01641913 4.33497086] [-0.05312153 0.99857298 -0.00548637 -0.30211512] [-0.0166876 0.00460565 0.99985014 -0.16946852] [ 0. 0. 0. 1. ]] SLAMing on 6.748779191999999 meters Centerline goodness : 0.221028 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.30, Z:-0.17 [[ 0.99826233 0.0555875 0.01955362 4.35658173] [-0.05539895 0.99841366 -0.01005602 -0.30361422] [-0.0200816 0.0089553 0.99975824 -0.17356692] [ 0. 0. 0. 1. ]] SLAMing on 6.778779191999999 meters Centerline goodness : 0.256436 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.30, Z:-0.18 [[ 0.99825904 0.05554791 0.01983244 4.35840747] [-0.05535398 0.99841472 -0.01019756 -0.30482557] [-0.02036745 0.00908201 0.99975131 -0.17601201] [ 0. 0. 0. 1. ]] SLAMing on 6.808779191999999 meters Centerline goodness : 0.596959 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.31, Z:-0.18 [[ 0.99826135 0.05547874 0.01990934 4.36067358] [-0.05528523 0.99841909 -0.01014197 -0.30650598] [-0.02044053 0.00902364 0.99975035 -0.17837449] [ 0. 0. 0. 1. ]] SLAMing on 6.838779191999999 meters Centerline goodness : 0.583083 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.31, Z:-0.18 [[ 0.99813568 0.05794147 0.01918187 4.38967069] [-0.05774992 0.99827697 -0.01039429 -0.31199784] [-0.01975108 0.00926716 0.99976198 -0.18109343] [ 0. 0. 0. 1. ]] SLAMing on 6.868779191999999 meters Centerline goodness : 0.595783 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.31, Z:-0.18 [[ 0.99814076 0.05788697 0.01908212 4.39182107] [-0.05769699 0.99828038 -0.01036075 -0.31474445] [-0.01964906 0.0092405 0.99976424 -0.18310991] [ 0. 0. 0. 1. ]] SLAMing on 6.898779191999999 meters Centerline goodness : 0.458409 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.32, Z:-0.19 [[ 0.99808335 0.05822903 0.02095261 4.41556502] [-0.0578796 0.99818026 -0.01691488 -0.31878375] [-0.02189942 0.01566973 0.99963737 -0.18728942] [ 0. 0. 0. 1. ]] SLAMing on 6.928779191999999 meters Centerline goodness : 0.507248 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.32, Z:-0.19 [[ 0.99811614 0.05762666 0.02105574 4.41880553] [-0.05727673 0.99821595 -0.01686117 -0.32036236] [-0.02198983 0.01562341 0.99963611 -0.18938523] [ 0. 0. 0. 1. ]] SLAMing on 6.958779191999999 meters Centerline goodness : 0.551466 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.32, Z:-0.20 [[ 0.99795581 0.05746374 0.02796658 4.43642483] [-0.05706959 0.99826207 -0.01469379 -0.32255622] [-0.02876233 0.01306771 0.99950086 -0.19639405] [ 0. 0. 0. 1. ]] SLAMing on 6.988779191999999 meters Centerline goodness : 0.424515 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.32, Z:-0.20 [[ 0.99796636 0.05737566 0.02777005 4.43908425] [-0.05697241 0.99826153 -0.01510159 -0.32266138] [-0.02858823 0.01348876 0.99950026 -0.19908536] [ 0. 0. 0. 1. ]] SLAMing on 7.018779191999999 meters Centerline goodness : 0.505277 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.32, Z:-0.20 [[ 0.99768683 0.06176926 0.02838225 4.4674032 ] [-0.06136978 0.99800629 -0.01473768 -0.32403459] [-0.029236 0.01296178 0.99948849 -0.20188543] [ 0. 0. 0. 1. ]] SLAMing on 7.048779191999999 meters Centerline goodness : 0.455243 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:-0.21 [[ 0.99748323 0.0647854 0.02881076 4.49718818] [-0.06435007 0.99780246 -0.01578963 -0.32617104] [-0.02977039 0.01389592 0.99946017 -0.20510882] [ 0. 0. 0. 1. ]] SLAMing on 7.078779191999999 meters Centerline goodness : 0.520079 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:-0.21 [[ 0.99754662 0.06397059 0.02843439 4.50194472] [-0.06353333 0.99785105 -0.01602489 -0.32644103] [-0.02939841 0.01417904 0.9994672 -0.20715051] [ 0. 0. 0. 1. ]] SLAMing on 7.108779191999999 meters Centerline goodness : 0.206359 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.33, Z:-0.21 [[ 0.99737222 0.06638076 0.02902147 4.53393494] [-0.06592782 0.99769132 -0.01629596 -0.32902743] [-0.0300362 0.01433981 0.99944594 -0.20973512] [ 0. 0. 0. 1. ]] SLAMing on 7.1387791919999986 meters Centerline goodness : 0.239969 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.33, Z:-0.21 [[ 0.99726861 0.06813176 0.02851993 4.54070416] [-0.06781976 0.99762818 -0.01176861 -0.33180757] [-0.02925411 0.00980225 0.99952394 -0.20989377] [ 0. 0. 0. 1. ]] SLAMing on 7.168779191999999 meters Centerline goodness : 0.237543 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.21 [[ 0.99717151 0.06866485 0.03056328 4.57068142] [-0.06827282 0.99757273 -0.0136919 -0.33486994] [-0.03142924 0.01156653 0.99943905 -0.21073656] [ 0. 0. 0. 1. ]] SLAMing on 7.198779191999999 meters Centerline goodness : 0.233867 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:-0.21 [[ 0.99731263 0.06686662 0.0299394 4.57731582] [-0.06648392 0.99769479 -0.01360157 -0.33591284] [-0.03077987 0.01157453 0.99945917 -0.21195114] [ 0. 0. 0. 1. ]] SLAMing on 7.228779191999999 meters Centerline goodness : 0.229462 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.34, Z:-0.21 [[ 0.99723311 0.06813895 0.02971865 4.61159073] [-0.06775552 0.99760755 -0.01372491 -0.34015449] [-0.03058275 0.01167334 0.99946407 -0.21383122] [ 0. 0. 0. 1. ]] SLAMing on 7.258779191999999 meters Centerline goodness : 0.226340 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.34, Z:-0.22 [[ 0.99736852 0.06658041 0.02868938 4.61840873] [-0.0662028 0.99770912 -0.01391784 -0.34029443] [-0.02955031 0.01198189 0.99949148 -0.21567485] [ 0. 0. 0. 1. ]] SLAMing on 7.288779191999999 meters Centerline goodness : 0.222620 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.34, Z:-0.22 [[ 0.99730412 0.06501542 0.03402174 4.64064267] [-0.06462151 0.99783088 -0.01255363 -0.34250301] [-0.03476413 0.01032125 0.99934225 -0.22376516] [ 0. 0. 0. 1. ]] SLAMing on 7.318779191999999 meters Centerline goodness : 0.237166 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.34, Z:-0.23 [[ 0.99751853 0.06324308 0.0309369 4.65167906] [-0.06290007 0.99794842 -0.01193852 -0.34391025] [-0.03162845 0.00996296 0.99945004 -0.22658951] [ 0. 0. 0. 1. ]] SLAMing on 7.3487791919999985 meters Centerline goodness : 0.236335 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.34, Z:-0.24 [[ 0.99780988 0.05668343 0.03409436 4.67167574] [-0.05628117 0.99833487 -0.01264551 -0.34403886] [-0.03475438 0.01069895 0.99933861 -0.23568672] [ 0. 0. 0. 1. ]] SLAMing on 7.378779191999999 meters Centerline goodness : 0.233378 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.35, Z:-0.24 [[ 0.99800427 0.05453019 0.03184233 4.68024953] [-0.05417041 0.99845894 -0.0120549 -0.34653071] [-0.03245062 0.01030593 0.9994202 -0.23712294] [ 0. 0. 0. 1. ]] SLAMing on 7.408779191999999 meters Centerline goodness : 0.228472 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.35, Z:-0.24 [[ 0.99797401 0.05481666 0.03229572 4.71023387] [-0.05434128 0.99840337 -0.01541844 -0.35091616] [-0.03308934 0.01363222 0.99935942 -0.23917497] [ 0. 0. 0. 1. ]] SLAMing on 7.438779191999999 meters Centerline goodness : 0.219226 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.35, Z:-0.25 [[ 0.99798931 0.05061858 0.03814582 4.72914806] [-0.05014986 0.99865518 -0.01314639 -0.35450754] [-0.03875998 0.01120695 0.9991857 -0.24557496] [ 0. 0. 0. 1. ]] SLAMing on 7.468779191999999 meters Centerline goodness : 0.218828 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.36, Z:-0.25 [[ 0.99819802 0.04895292 0.03470337 4.74068649] [-0.04856194 0.99874783 -0.01202154 -0.35679462] [-0.03524841 0.01031462 0.99932535 -0.24748645] [ 0. 0. 0. 1. ]] SLAMing on 7.498779191999999 meters Centerline goodness : 0.212561 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.36, Z:-0.25 [[ 0.99798333 0.05245498 0.03574551 4.76983544] [-0.05199823 0.9985547 -0.0135905 -0.35901103] [-0.03640674 0.01170439 0.99926851 -0.25052754] [ 0. 0. 0. 1. ]] SLAMing on 7.528779191999999 meters Centerline goodness : 0.208345 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.36, Z:-0.25 [[ 0.99813539 0.05088561 0.03371042 4.77765087] [-0.05045777 0.99863598 -0.01342357 -0.35960939] [-0.03434751 0.01169759 0.99934149 -0.2519028 ] [ 0. 0. 0. 1. ]] SLAMing on 7.5587791919999985 meters Centerline goodness : 0.206448 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.36, Z:-0.25 [[ 0.99832612 0.04943577 0.03001772 4.78967421] [-0.04908321 0.99871808 -0.01237097 -0.36108379] [-0.03059081 0.0108769 0.99947281 -0.25311605] [ 0. 0. 0. 1. ]] SLAMing on 7.588779191999999 meters Centerline goodness : 0.205730 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.36, Z:-0.26 [[ 0.99813206 0.05265463 0.03098199 4.81966245] [-0.0522237 0.99852929 -0.01455827 -0.36225186] [-0.03170299 0.01291308 0.99941391 -0.25638215] [ 0. 0. 0. 1. ]] SLAMing on 7.618779191999999 meters Centerline goodness : 0.204500 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.37, Z:-0.26 [[ 0.99802543 0.05432038 0.03153629 4.85212175] [-0.05387075 0.99843619 -0.0149369 -0.36665311] [-0.03229835 0.01320853 0.99939099 -0.25679277] [ 0. 0. 0. 1. ]] SLAMing on 7.648779191999999 meters Centerline goodness : 0.207301 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-0.26 [[ 0.99843038 0.04597882 0.03197996 4.87033085] [-0.04554709 0.99886268 -0.01410016 -0.36550699] [-0.03259189 0.01262144 0.99938905 -0.25739523] [ 0. 0. 0. 1. ]] SLAMing on 7.678779191999999 meters Centerline goodness : 0.207073 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.37, Z:-0.26 [[ 0.99842226 0.04634962 0.03169701 4.90490043] [-0.04585661 0.99881815 -0.01610822 -0.36913459] [-0.03240616 0.01462929 0.99936771 -0.25866348] [ 0. 0. 0. 1. ]] SLAMing on 7.708779191999999 meters Centerline goodness : 0.209056 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.37, Z:-0.26 [[ 0.99867585 0.04373552 0.02708796 4.9197446 ] [-0.04333739 0.99894616 -0.01511444 -0.37066196] [-0.02772045 0.01392051 0.99951878 -0.25974565] [ 0. 0. 0. 1. ]] SLAMing on 7.738779191999999 meters Centerline goodness : 0.215898 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.37, Z:-0.26 [[ 0.99861774 0.04514832 0.02691186 4.95391383] [-0.04468564 0.99884688 -0.01755292 -0.37178354] [-0.02767331 0.01632608 0.99948369 -0.26363712] [ 0. 0. 0. 1. ]] Total time of SLAM: 337.33 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%| | 0/257 [00:00