+ python -m lidar_slam --no-model /working/4a665bff-49f1-4b37-a287-d6c71ea4170f Lidar SLAM 0.0.14 ===================================================== The recording path: /working/4a665bff-49f1-4b37-a287-d6c71ea4170f 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 0.028973797 Adjusted end_distance from 9.223372036854776e+18 to 7.558973797 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028973797 meters Centerline goodness : 0.152993 Centerline is valid? [0, False] SLAMing on 0.058973796999999994 meters Centerline goodness : 0.159508 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.01 [[ 9.99995197e-01 3.09141072e-03 -2.23343999e-04 -1.41715142e-03] [-3.09104386e-03 9.99993903e-01 1.62469631e-03 2.50865689e-03] [ 2.28365241e-04 -1.62399814e-03 9.99998655e-01 1.12740264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088973797 meters Centerline goodness : 0.158144 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.02 [[ 9.99993893e-01 3.43663456e-03 -6.34626069e-04 -8.16560362e-04] [-3.43557064e-03 9.99992704e-01 1.67001175e-03 2.55440034e-03] [ 6.40360659e-04 -1.66782124e-03 9.99998404e-01 1.52582571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11897379699999998 meters Centerline goodness : 0.150792 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:0.03 [[ 9.99991755e-01 4.05123118e-03 2.79480186e-04 -7.36533064e-03] [-4.05154727e-03 9.99991143e-01 1.13986371e-03 4.50067171e-04] [-2.74859859e-04 -1.14098663e-03 9.99999311e-01 3.03125913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148973797 meters Centerline goodness : 0.149022 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.03 [[ 9.99992222e-01 3.94402761e-03 1.55759983e-05 -7.52398230e-03] [-3.94404359e-03 9.99991488e-01 1.21166335e-03 -2.23797314e-03] [-1.07970320e-05 -1.21171536e-03 9.99999266e-01 3.42722880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17897379699999996 meters Centerline goodness : 0.148730 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.04 [[ 9.99992313e-01 3.90938850e-03 -3.00159021e-04 -7.31988759e-03] [-3.90897355e-03 9.99991420e-01 1.37079904e-03 -5.03008588e-03] [ 3.05515431e-04 -1.36961519e-03 9.99999015e-01 3.78736322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20897379699999996 meters SLAMing on 0.23897379699999996 meters Centerline goodness : 0.132882 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.08 [[ 0.99982621 0.01828771 0.00362055 0.00175284] [-0.01829338 0.99983148 0.00153808 -0.00560707] [-0.00359182 -0.00160405 0.99999226 0.07601674] [ 0. 0. 0. 1. ]] SLAMing on 0.26897379699999996 meters Centerline goodness : 0.136368 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.08 [[ 0.9998125 0.0190408 0.00352354 0.00216593] [-0.01904806 0.99981649 0.00203936 -0.00596182] [-0.00348406 -0.00210609 0.99999171 0.0802534 ] [ 0. 0. 0. 1. ]] SLAMing on 0.298973797 meters Centerline goodness : 0.146126 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.10 [[ 0.99977481 0.02102844 0.00285042 0.00494504] [-0.02105705 0.99972408 0.01040971 -0.01339533] [-0.00263073 -0.01046739 0.99994175 0.10462134] [ 0. 0. 0. 1. ]] SLAMing on 0.32897379699999996 meters Centerline goodness : 0.157772 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.12 [[ 0.9998734 0.01353828 0.00836083 0.00701455] [-0.01365063 0.99981528 0.01353052 -0.01839779] [-0.00817611 -0.01364294 0.9998735 0.12073139] [ 0. 0. 0. 1. ]] SLAMing on 0.358973797 meters Centerline goodness : 0.143472 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.14 [[ 0.99982545 0.01463988 0.01160754 -0.01183877] [-0.0148172 0.99977254 0.01534008 -0.02401377] [-0.01138032 -0.01550939 0.99981496 0.14376017] [ 0. 0. 0. 1. ]] SLAMing on 0.38897379699999995 meters Centerline goodness : 0.142684 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.15 [[ 0.99984012 0.0130568 0.0122169 -0.01776127] [-0.01323266 0.99980837 0.01442656 -0.02780259] [-0.01202619 -0.01458591 0.9998213 0.15177279] [ 0. 0. 0. 1. ]] SLAMing on 0.418973797 meters Centerline goodness : 0.145045 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.16 [[ 0.99985669 0.01104608 0.01282919 -0.02402995] [-0.01121244 0.99985304 0.01296879 -0.03222502] [-0.01268405 -0.01311078 0.9998336 0.16092203] [ 0. 0. 0. 1. ]] SLAMing on 0.44897379699999995 meters Centerline goodness : 0.143355 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.04, Z:0.18 [[ 0.99985101 0.00689295 0.0158254 -0.04261647] [-0.00704809 0.99992744 0.00976893 -0.04089233] [-0.01575692 -0.00987902 0.99982705 0.18418671] [ 0. 0. 0. 1. ]] SLAMing on 0.478973797 meters Centerline goodness : 0.141944 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:0.19 [[ 0.99985563 0.00505703 0.01622162 -0.04765208] [-0.00519536 0.9999504 0.00849707 -0.04415539] [-0.01617784 -0.00858012 0.99983232 0.19203123] [ 0. 0. 0. 1. ]] SLAMing on 0.5089737969999999 meters Centerline goodness : 0.144508 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:0.20 [[ 0.99985234 0.00364435 0.01679342 -0.05308489] [-0.00377116 0.99996457 0.00752529 -0.04593894] [-0.0167654 -0.00758751 0.99983066 0.20091416] [ 0. 0. 0. 1. ]] SLAMing on 0.5389737969999999 meters Centerline goodness : 0.144800 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.23 [[ 0.99990862 0.00549837 0.01234957 -0.03983741] [-0.00562611 0.99993079 0.01033255 -0.04867785] [-0.0122919 -0.01040109 0.99987035 0.22972334] [ 0. 0. 0. 1. ]] SLAMing on 0.568973797 meters Centerline goodness : 0.150688 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:0.24 [[ 0.99988545 0.00640095 0.0137156 -0.04871755] [-0.00655635 0.99991449 0.01131495 -0.04822852] [-0.013642 -0.01140358 0.99984191 0.24119708] [ 0. 0. 0. 1. ]] SLAMing on 0.598973797 meters Centerline goodness : 0.148318 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.26 [[ 0.99983251 0.00850448 0.01620594 -0.06289892] [-0.0087289 0.99986629 0.01382752 -0.04751168] [-0.01608617 -0.01396666 0.99977306 0.26159377] [ 0. 0. 0. 1. ]] SLAMing on 0.6289737969999999 meters Centerline goodness : 0.145173 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.27 [[ 0.99982686 0.0073764 0.0170833 -0.06903615] [-0.00759298 0.99989119 0.01264758 -0.04606227] [-0.01698815 -0.01277511 0.99977407 0.27064997] [ 0. 0. 0. 1. ]] SLAMing on 0.6589737969999999 meters Centerline goodness : 0.143550 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.28 [[ 0.99983075 0.00555577 0.01753853 -0.07447088] [-0.00574552 0.99992531 0.0107875 -0.0456659 ] [-0.01747729 -0.01088644 0.99978799 0.27944155] [ 0. 0. 0. 1. ]] SLAMing on 0.6889737969999999 meters Centerline goodness : 0.142576 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.05, Z:0.29 [[ 0.99983221 0.00346571 0.01798703 -0.08009947] [-0.00362204 0.99995589 0.00866566 -0.04601857] [-0.0179562 -0.00872936 0.99980067 0.28859816] [ 0. 0. 0. 1. ]] SLAMing on 0.718973797 meters Centerline goodness : 0.142396 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.32 [[ 0.9998809 -0.00440251 0.01479174 -0.07399942] [ 0.00436957 0.9999879 0.00225807 -0.04690584] [-0.0148015 -0.00219317 0.99988805 0.31916667] [ 0. 0. 0. 1. ]] SLAMing on 0.7489737969999999 meters Centerline goodness : 0.140315 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.05, Z:0.33 [[ 9.99861060e-01 -6.66613160e-03 1.52782184e-02 -7.96240897e-02] [ 6.67032837e-03 9.99977728e-01 -2.23747510e-04 -4.61081514e-02] [-1.52763866e-02 3.25627156e-04 9.99883256e-01 3.27404024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7789737969999999 meters Centerline goodness : 0.190483 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:0.36 [[ 0.99987095 -0.01074231 0.01194518 -0.07400663] [ 0.01078967 0.99993416 -0.00390698 -0.04306404] [-0.01190242 0.00403536 0.99992102 0.35799001] [ 0. 0. 0. 1. ]] SLAMing on 0.8089737969999999 meters Centerline goodness : 0.146352 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.37 [[ 0.99988206 -0.00915808 0.01232894 -0.07942517] [ 0.00919115 0.99995431 -0.00262766 -0.04039353] [-0.01230432 0.00274066 0.99992054 0.3675108 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8389737969999999 meters Centerline goodness : 0.149112 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.38 [[ 0.99987252 -0.0082482 0.01367137 -0.08742636] [ 0.00828084 0.99996299 -0.00233274 -0.03600902] [-0.01365163 0.00244565 0.99990382 0.3787149 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8689737969999999 meters Centerline goodness : 0.152342 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.40 [[ 9.99852548e-01 -5.55677792e-03 1.62482177e-02 -1.00892635e-01] [ 5.56434107e-03 9.99984431e-01 -4.20304240e-04 -2.68145629e-02] [-1.62456292e-02 5.10652891e-04 9.99867901e-01 3.99421448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8989737969999999 meters Centerline goodness : 0.161693 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.02, Z:0.41 [[ 9.99833934e-01 -4.42429508e-03 1.76785245e-02 -1.09805613e-01] [ 4.42444195e-03 9.99990212e-01 3.08046633e-05 -2.24037519e-02] [-1.76784877e-02 4.74180575e-05 9.99843722e-01 4.10887978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9289737969999999 meters Centerline goodness : 0.163988 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.42 [[ 9.99798925e-01 -4.40087265e-03 1.95637874e-02 -1.19253557e-01] [ 4.41487913e-03 9.99990028e-01 -6.72806207e-04 -1.89747926e-02] [-1.95606314e-02 7.59042679e-04 9.99808384e-01 4.22380429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9589737969999999 meters Centerline goodness : 0.160290 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.01, Z:0.44 [[ 0.99971305 -0.00994831 0.0217909 -0.13396942] [ 0.01010801 0.99992277 -0.00723089 -0.01475923] [-0.02171729 0.00744907 0.9997364 0.44243509] [ 0. 0. 0. 1. ]] SLAMing on 0.9889737969999999 meters Centerline goodness : 0.158244 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.01, Z:0.45 [[ 0.99993108 -0.00762919 0.00892389 -0.12670563] [ 0.00773583 0.99989835 -0.01197712 -0.01372174] [-0.00883161 0.01204533 0.99988845 0.45495742] [ 0. 0. 0. 1. ]] SLAMing on 1.018973797 meters Centerline goodness : 0.157713 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.48 [[ 0.99985921 -0.01188587 0.01184455 -0.14506797] [ 0.01208292 0.99978742 -0.01670663 -0.01391823] [-0.01164346 0.01684739 0.99979028 0.47751724] [ 0. 0. 0. 1. ]] SLAMing on 1.0489737969999997 meters Centerline goodness : 0.159221 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.49 [[ 0.99983467 -0.01189818 0.01374987 -0.15446379] [ 0.01213099 0.99978233 -0.01697463 -0.01339747] [-0.01354491 0.01713862 0.99976137 0.48796092] [ 0. 0. 0. 1. ]] SLAMing on 1.0789737969999997 meters Centerline goodness : 0.168484 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.50 [[ 0.99984312 -0.00880584 0.01536874 -0.16422228] [ 0.00902429 0.99985841 -0.01420316 -0.01212602] [-0.01524149 0.01433963 0.99978101 0.49985988] [ 0. 0. 0. 1. ]] SLAMing on 1.1089737969999998 meters Centerline goodness : 0.168339 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.52 [[ 0.99983262 -0.00140922 0.01824127 -0.17939297] [ 0.00154623 0.99997068 -0.00749931 -0.00769355] [-0.01823016 0.00752626 0.99980549 0.52220142] [ 0. 0. 0. 1. ]] SLAMing on 1.1389737969999998 meters Centerline goodness : 0.176045 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.53 [[ 0.99982317 0.0015529 0.01874102 -0.18418538] [-0.00146376 0.99998755 -0.0047695 -0.00525102] [-0.0187482 0.00474123 0.999813 0.53077795] [ 0. 0. 0. 1. ]] SLAMing on 1.1689737969999998 meters Centerline goodness : 0.178207 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.00, Z:0.54 [[ 0.99980971 0.00411634 0.01906828 -0.18885606] [-0.00407297 0.99998903 -0.00231252 -0.00443153] [-0.01907759 0.00223441 0.99981551 0.53977805] [ 0. 0. 0. 1. ]] SLAMing on 1.1989737969999998 meters Centerline goodness : 0.178207 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.00, Z:0.54 [[ 0.99980971 0.00411634 0.01906828 -0.18885606] [-0.00407297 0.99998903 -0.00231252 -0.00443153] [-0.01907759 0.00223441 0.99981551 0.53977805] [ 0. 0. 0. 1. ]] SLAMing on 1.2289737969999996 meters Centerline goodness : 0.133937 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.57 [[ 0.99988746 0.00444176 0.01432958 -0.17735979] [-0.00441368 0.99998828 -0.00199016 -0.00726218] [-0.01433825 0.00192669 0.99989535 0.56659949] [ 0. 0. 0. 1. ]] SLAMing on 1.2589737969999997 meters Centerline goodness : 0.024059 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.57 [[ 0.99989458 0.00274332 0.01425858 -0.18081089] [-0.00269621 0.99999085 -0.00332191 -0.01015448] [-0.01426756 0.00328312 0.99989282 0.57411393] [ 0. 0. 0. 1. ]] SLAMing on 1.2889737969999997 meters SLAMing on 1.3189737969999997 meters Centerline goodness : 0.145029 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.61 [[ 0.99995408 -0.00388431 0.00876059 -0.17108453] [ 0.00397222 0.99994171 -0.0100401 -0.02233222] [-0.00872108 0.01007444 0.99991122 0.60762678] [ 0. 0. 0. 1. ]] SLAMing on 1.3489737969999998 meters Centerline goodness : 0.185858 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.62 [[ 0.99995157 -0.00273527 0.00945395 -0.17682742] [ 0.0028143 0.99996113 -0.00835595 -0.02751106] [-0.00943073 0.00838215 0.9999204 0.61604661] [ 0. 0. 0. 1. ]] SLAMing on 1.3789737969999998 meters Centerline goodness : 0.188117 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.64 [[ 9.99941342e-01 8.63340319e-04 1.07966295e-02 -1.89012003e-01] [-8.17189247e-04 9.99990514e-01 -4.27826270e-03 -3.29797294e-02] [-1.08002207e-02 4.26918886e-03 9.99932562e-01 6.35788205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4089737969999998 meters Centerline goodness : 0.155026 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.64 [[ 0.99993489 0.00355484 0.01084378 -0.19315211] [-0.00354066 0.99999285 -0.00132656 -0.03437576] [-0.01084842 0.00128808 0.99994032 0.64418648] [ 0. 0. 0. 1. ]] SLAMing on 1.4389737969999996 meters Centerline goodness : 0.188949 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.04, Z:0.65 [[ 0.99992123 0.00631755 0.0108457 -0.19695348] [-0.00633548 0.99997862 0.00162013 -0.03560222] [-0.01083523 -0.00168871 0.99993987 0.65290283] [ 0. 0. 0. 1. ]] SLAMing on 1.4689737969999996 meters Centerline goodness : 0.092531 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.04, Z:0.67 [[ 0.99982148 0.01302085 0.01369191 -0.20866992] [-0.01313012 0.99988242 0.0079208 -0.03975965] [-0.01358717 -0.00809916 0.99987489 0.67450271] [ 0. 0. 0. 1. ]] SLAMing on 1.4989737969999997 meters Centerline goodness : 0.014496 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.04, Z:0.69 [[ 0.99989047 0.0121891 0.00839532 -0.19280207] [-0.0122435 0.99990418 0.00645907 -0.04096596] [-0.00831578 -0.00656115 0.9999439 0.68978775] [ 0. 0. 0. 1. ]] SLAMing on 1.5289737969999997 meters Centerline goodness : 0.201527 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.04, Z:0.70 [[ 0.99990417 0.01092424 0.00850316 -0.19604403] [-0.01096739 0.99992713 0.00504454 -0.04287733] [-0.00844744 -0.00513731 0.99995112 0.6993873 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5589737969999997 meters Centerline goodness : 0.210261 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.73 [[ 0.99995289 0.00904484 0.00352293 -0.1848848 ] [-0.0090543 0.99995542 0.00267927 -0.04754241] [-0.00349854 -0.00271104 0.99999021 0.72570337] [ 0. 0. 0. 1. ]] SLAMing on 1.5889737969999997 meters Centerline goodness : 0.213209 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.73 [[ 0.99996415 0.00766643 0.00359549 -0.18954083] [-0.00767102 0.99996978 0.00126565 -0.04826477] [-0.00358568 -0.00129319 0.99999274 0.73497126] [ 0. 0. 0. 1. ]] SLAMing on 1.6189737969999998 meters Centerline goodness : 0.296103 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.76 [[ 0.99996575 0.00814333 -0.00147682 -0.18258978] [-0.00814104 0.99996566 0.0015479 -0.05040981] [ 0.00148938 -0.00153583 0.99999771 0.75792574] [ 0. 0. 0. 1. ]] SLAMing on 1.6489737969999996 meters Centerline goodness : 0.171059 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.77 [[ 9.99956253e-01 9.35221909e-03 -1.68300764e-04 -1.91866092e-01] [-9.35174385e-03 9.99952807e-01 2.63220121e-03 -5.08234840e-02] [ 1.92909744e-04 -2.63051216e-03 9.99996522e-01 7.68776659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6789737969999996 meters Centerline goodness : 0.175864 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.78 [[ 9.99995763e-01 2.43741256e-04 2.90075755e-03 -1.82288737e-01] [-2.53677625e-04 9.99994101e-01 3.42556444e-03 -5.18321444e-02] [-2.89990549e-03 -3.42628579e-03 9.99989926e-01 7.82386624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7089737969999996 meters Centerline goodness : 0.209237 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.05, Z:0.79 [[ 9.99987852e-01 6.36324702e-04 4.88774116e-03 -1.91144982e-01] [-6.53380038e-04 9.99993701e-01 3.48860665e-03 -5.12654556e-02] [-4.88549048e-03 -3.49175782e-03 9.99981970e-01 7.93009855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7389737969999997 meters Centerline goodness : 0.217221 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.82 [[ 0.99995843 0.0015463 0.00898546 -0.20921682] [-0.00157267 0.99999448 0.00292825 -0.04950744] [-0.00898088 -0.00294226 0.99995534 0.81845521] [ 0. 0. 0. 1. ]] SLAMing on 1.7689737969999997 meters Centerline goodness : 0.209973 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.05, Z:0.83 [[ 0.99993337 0.00201097 0.01136732 -0.21866038] [-0.00204453 0.99999359 0.00294083 -0.04837671] [-0.01136133 -0.00296387 0.99993107 0.83033244] [ 0. 0. 0. 1. ]] SLAMing on 1.7989737969999997 meters Centerline goodness : 0.117507 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.04, Z:0.86 [[ 0.99987851 0.00327189 0.01524029 -0.23718098] [-0.00331423 0.99999072 0.0027538 -0.04289247] [-0.01523114 -0.00280398 0.99988007 0.85546415] [ 0. 0. 0. 1. ]] SLAMing on 1.8289737969999997 meters Centerline goodness : 0.206446 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.04, Z:0.87 [[ 0.99985807 0.00559789 0.0158901 -0.24334225] [-0.00567103 0.99997351 0.00456194 -0.03997567] [-0.01586414 -0.00465141 0.99986334 0.86540186] [ 0. 0. 0. 1. ]] SLAMing on 1.8589737969999995 meters Centerline goodness : 0.175594 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.04, Z:0.88 [[ 0.99983126 0.00790912 0.01658 -0.24995387] [-0.00801502 0.99994784 0.00633099 -0.03651695] [-0.01652906 -0.00646281 0.9998425 0.87601712] [ 0. 0. 0. 1. ]] SLAMing on 1.8889737969999996 meters Centerline goodness : 0.170465 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.03, Z:0.90 [[ 0.99976431 0.00932841 0.01960392 -0.26826341] [-0.00945971 0.99993337 0.00661589 -0.02945626] [-0.01954089 -0.00679978 0.99978594 0.90137797] [ 0. 0. 0. 1. ]] SLAMing on 1.9189737969999996 meters Centerline goodness : 0.114569 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.01, Z:1.15 [[ 0.99990366 -0.0119209 0.00711069 -0.23261579] [ 0.01200313 0.99986026 -0.01163539 -0.01381246] [-0.00697099 0.01171962 0.99990702 1.14513983] [ 0. 0. 0. 1. ]] SLAMing on 1.9489737969999996 meters Centerline goodness : 0.084869 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.02, Z:1.16 [[ 0.99991004 -0.01029642 0.00859625 -0.24151037] [ 0.01037931 0.99989953 -0.0096545 -0.01604516] [-0.00849598 0.00974285 0.99991644 1.15692676] [ 0. 0. 0. 1. ]] SLAMing on 1.9789737969999996 meters Centerline goodness : 0.146453 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.02, Z:1.18 [[ 0.99990705 -0.00564602 0.01241028 -0.26119763] [ 0.00569671 0.99997556 -0.00405334 -0.01905124] [-0.01238709 0.00412366 0.99991477 1.18224841] [ 0. 0. 0. 1. ]] SLAMing on 2.008973797 meters Centerline goodness : 0.149259 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.02, Z:1.19 [[ 0.99990568 -0.00339317 0.01330819 -0.26838671] [ 0.00341206 0.9999932 -0.00139722 -0.02109722] [-0.01330336 0.00144249 0.99991047 1.19284066] [ 0. 0. 0. 1. ]] SLAMing on 2.0389737969999997 meters Centerline goodness : 0.058257 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.03, Z:1.22 [[ 9.99849379e-01 2.33326555e-04 1.73541133e-02 -2.88640699e-01] [-2.92213776e-04 9.99994208e-01 3.39081334e-03 -2.79291688e-02] [-1.73532216e-02 -3.39537372e-03 9.99843656e-01 1.21708619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0689737969999995 meters Centerline goodness : 0.136244 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.03, Z:1.23 [[ 0.99983704 -0.00167967 0.01797433 -0.29461378] [ 0.00164391 0.99999664 0.00200399 -0.03181304] [-0.01797763 -0.00197411 0.99983644 1.22739022] [ 0. 0. 0. 1. ]] SLAMing on 2.0989737969999998 meters Centerline goodness : 0.126168 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.04, Z:1.24 [[ 9.99819442e-01 -3.84405232e-03 1.86093337e-02 -3.00809153e-01] [ 3.83590547e-03 9.99992531e-01 4.73458292e-04 -3.64120510e-02] [-1.86110147e-02 -4.01989160e-04 9.99826719e-01 1.23758041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1289737969999996 meters Centerline goodness : 0.107868 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.04, Z:1.25 [[ 9.99795193e-01 -6.08189152e-03 1.93023949e-02 -3.07151039e-01] [ 6.10545928e-03 9.99980686e-01 -1.16228012e-03 -4.12067430e-02] [-1.92949532e-02 1.27989207e-03 9.99813016e-01 1.24787534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.158973797 meters Centerline goodness : 0.146109 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.05, Z:1.27 [[ 0.99969595 -0.01033877 0.02238546 -0.32472241] [ 0.0104397 0.99993584 -0.0043962 -0.04982618] [-0.02233857 0.00462856 0.99973975 1.27168252] [ 0. 0. 0. 1. ]] SLAMing on 2.1889737969999996 meters Centerline goodness : 0.139780 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.05, Z:1.28 [[ 0.99966135 -0.00935467 0.02428314 -0.33503243] [ 0.00942839 0.99995128 -0.00292326 -0.05356891] [-0.02425461 0.00315122 0.99970085 1.2839802 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2189737969999994 meters Centerline goodness : 0.180731 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.06, Z:1.31 [[ 9.99568144e-01 -7.12872804e-03 2.85080283e-02 -3.57834275e-01] [ 7.12941184e-03 9.99974582e-01 7.76586736e-05 -5.78359287e-02] [-2.85078573e-02 1.25620338e-04 9.99593561e-01 1.31219949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2489737969999997 meters Centerline goodness : 0.181158 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.06, Z:1.33 [[ 0.99950873 -0.00515093 0.03091553 -0.36910224] [ 0.00508026 0.9999843 0.00236408 -0.059415 ] [-0.03092722 -0.00220586 0.9995192 1.3253194 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2789737969999995 meters Centerline goodness : 0.147656 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.06, Z:1.34 [[ 0.9994464 -0.00323798 0.03311203 -0.37943994] [ 0.00309029 0.99998505 0.00451067 -0.06047497] [-0.03312614 -0.00440585 0.99944147 1.33803335] [ 0. 0. 0. 1. ]] SLAMing on 2.3089737969999997 meters Centerline goodness : 0.187539 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.06, Z:1.36 [[ 0.99929388 -0.00265648 0.03747923 -0.39762644] [ 0.00245939 0.99998291 0.0053038 -0.0617402 ] [-0.03749268 -0.00520788 0.99928333 1.36394272] [ 0. 0. 0. 1. ]] SLAMing on 2.3389737969999995 meters Centerline goodness : 0.195974 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.06, Z:1.38 [[ 0.99925216 -0.00420179 0.0384378 -0.40404358] [ 0.00405972 0.99998464 0.00377337 -0.06266991] [-0.03845307 -0.0036145 0.99925387 1.37509036] [ 0. 0. 0. 1. ]] SLAMing on 2.3689737969999998 meters Centerline goodness : 0.198270 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.06, Z:1.39 [[ 0.99919366 -0.00558282 0.03976007 -0.4117471 ] [ 0.00549738 0.99998234 0.00225785 -0.06284344] [-0.03977197 -0.00203746 0.9992067 1.38707553] [ 0. 0. 0. 1. ]] SLAMing on 2.3989737969999996 meters Centerline goodness : 0.193550 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.06, Z:1.41 [[ 9.99054851e-01 -5.68647182e-03 4.30937182e-02 -4.29063883e-01] [ 5.62113507e-03 9.99982861e-01 1.63717826e-03 -6.23414110e-02] [-4.31022894e-02 -1.39339527e-03 9.99069693e-01 1.41274330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4289737969999994 meters Centerline goodness : 0.183099 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.06, Z:1.43 [[ 9.98981202e-01 -5.50369738e-03 4.47913687e-02 -4.39855905e-01] [ 5.44141130e-03 9.99984052e-01 1.51238955e-03 -6.14618362e-02] [-4.47989781e-02 -1.26712047e-03 9.98995218e-01 1.42749362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4589737969999996 meters Centerline goodness : 0.176779 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.06, Z:1.44 [[ 9.98905989e-01 -5.25138124e-03 4.64677169e-02 -4.50619218e-01] [ 5.19410138e-03 9.99985595e-01 1.35334009e-03 -5.99252332e-02] [-4.64741544e-02 -1.11050149e-03 9.98918875e-01 1.44238528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4889737969999994 meters Centerline goodness : 0.169824 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.06, Z:1.47 [[ 9.98790726e-01 -4.92591243e-03 4.89164754e-02 -4.65837128e-01] [ 4.89531140e-03 9.99987740e-01 7.45360458e-04 -5.63783684e-02] [-4.89195472e-02 -5.04997733e-04 9.98802595e-01 1.46748617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5189737969999997 meters Centerline goodness : 0.169326 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:1.48 [[ 9.98722394e-01 -4.18242459e-03 5.03595843e-02 -4.75031865e-01] [ 4.13871274e-03 9.99990963e-01 9.72241818e-04 -5.45155856e-02] [-5.03631955e-02 -7.62575823e-04 9.98730678e-01 1.48142003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5489737969999995 meters Centerline goodness : 0.134705 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:1.51 [[ 9.98637051e-01 -3.19212929e-03 5.20946350e-02 -4.86502792e-01] [ 3.18944201e-03 9.99994905e-01 1.34717633e-04 -4.91323059e-02] [-5.20947996e-02 3.16187968e-05 9.98642144e-01 1.50691638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5789737969999997 meters Centerline goodness : 0.139105 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:1.52 [[ 9.98576356e-01 -1.49490183e-03 5.33200303e-02 -4.93814693e-01] [ 1.43527809e-03 9.99998301e-01 1.15649824e-03 -4.65513467e-02] [-5.33216686e-02 -1.07832273e-03 9.98576806e-01 1.51965683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6089737969999995 meters Centerline goodness : 0.150572 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:1.53 [[ 9.98520152e-01 3.62517429e-04 5.43817554e-02 -5.00658907e-01] [-4.93487914e-04 9.99997010e-01 2.39494443e-03 -4.42017858e-02] [-5.43807246e-02 -2.41823701e-03 9.98517345e-01 1.53176134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6389737969999993 meters Centerline goodness : 0.164888 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.04, Z:1.54 [[ 9.98496140e-01 -2.46178297e-04 5.48215048e-02 -5.05556307e-01] [ 1.95220973e-04 9.99999544e-01 9.34866654e-04 -4.08077649e-02] [-5.48217100e-02 -9.22758438e-04 9.98495733e-01 1.54390416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6689737969999996 meters Centerline goodness : 0.212536 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.03, Z:1.57 [[ 9.98454805e-01 1.66909128e-03 5.55447324e-02 -5.14353624e-01] [-1.71123855e-03 9.99998283e-01 7.11245378e-04 -3.39065237e-02] [-5.55434499e-02 -8.05196653e-04 9.98455946e-01 1.56905610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6989737969999994 meters Centerline goodness : 0.176457 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.03, Z:1.58 [[ 0.99840245 0.00378943 0.05637539 -0.52023956] [-0.00392421 0.9999897 0.00228027 -0.0316085 ] [-0.05636617 -0.00249786 0.99840704 1.58076986] [ 0. 0. 0. 1. ]] SLAMing on 2.7289737969999996 meters Centerline goodness : 0.176451 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.03, Z:1.59 [[ 9.98387738e-01 3.62632293e-03 5.66460365e-02 -5.24301147e-01] [-3.71158897e-03 9.99992132e-01 1.40010710e-03 -2.84460599e-02] [-5.66405136e-02 -1.60809656e-03 9.98393342e-01 1.59143117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7589737969999995 meters Centerline goodness : 0.177671 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.02, Z:1.62 [[ 9.98490239e-01 6.09343618e-03 5.45904149e-02 -5.24263356e-01] [-6.07813624e-03 9.99981428e-01 -4.46292869e-04 -2.18561460e-02] [-5.45921206e-02 1.13811094e-04 9.98508732e-01 1.61696388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7889737969999997 meters Centerline goodness : 0.239984 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.02, Z:1.63 [[ 0.99848933 0.00487967 0.05472878 -0.52783116] [-0.00477489 0.99998651 -0.0020452 -0.02101965] [-0.05473802 0.00178078 0.99849916 1.62586415] [ 0. 0. 0. 1. ]] SLAMing on 2.8189737969999995 meters Centerline goodness : 0.103585 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.02, Z:1.65 [[ 0.99865309 0.0088253 0.05112838 -0.51176055] [-0.00844671 0.99993532 -0.00761595 -0.01886576] [-0.05119228 0.00717383 0.99866305 1.65089503] [ 0. 0. 0. 1. ]] SLAMing on 2.8489737969999993 meters Centerline goodness : 0.077961 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.02, Z:1.67 [[ 0.99863914 0.00724054 0.0516473 -0.51718101] [-0.00678771 0.99993702 -0.00893787 -0.01961567] [-0.05170876 0.00857514 0.99862539 1.66504964] [ 0. 0. 0. 1. ]] SLAMing on 2.8789737969999996 meters Centerline goodness : 0.147248 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.02, Z:1.67 [[ 0.99861743 0.00779101 0.05198582 -0.52084306] [-0.00738821 0.99994122 -0.00793592 -0.02138075] [-0.0520446 0.00754087 0.99861629 1.67481354] [ 0. 0. 0. 1. ]] SLAMing on 2.9089737969999994 meters Centerline goodness : 0.139168 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.02, Z:1.70 [[ 0.9985821 0.01045304 0.05219702 -0.52811606] [-0.01022964 0.99993735 -0.00454531 -0.02343226] [-0.05224126 0.00400491 0.99862646 1.69910011] [ 0. 0. 0. 1. ]] SLAMing on 2.9389737969999996 meters SLAMing on 2.9689737969999994 meters Centerline goodness : 0.085077 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:1.72 [[ 9.98937576e-01 5.67674649e-03 4.57328557e-02 -5.04360434e-01] [-5.69356804e-03 9.99983763e-01 2.37569663e-04 -2.73088965e-02] [-4.57307645e-02 -4.97700389e-04 9.98953677e-01 1.72231340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9989737969999997 meters Centerline goodness : 0.019582 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.03, Z:1.73 [[ 0.99886614 0.00785768 0.04695417 -0.51111091] [-0.00799578 0.99996424 0.00275397 -0.02942736] [-0.04693085 -0.00312628 0.99889325 1.73392734] [ 0. 0. 0. 1. ]] SLAMing on 3.0289737969999995 meters Centerline goodness : 0.231034 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:1.76 [[ 9.98987782e-01 1.71908464e-03 4.49494860e-02 -4.97456812e-01] [-1.98759324e-03 9.99980445e-01 5.92955267e-03 -3.21593163e-02] [-4.49384136e-02 -6.01289197e-03 9.98971663e-01 1.76106315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0589737969999993 meters Centerline goodness : 0.235382 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:1.77 [[ 9.98945698e-01 3.72409801e-04 4.59059265e-02 -5.03973730e-01] [-5.96567941e-04 9.99987967e-01 4.86938562e-03 -3.48857560e-02] [-4.59035607e-02 -4.89163782e-03 9.98933899e-01 1.77303332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0889737969999995 meters Centerline goodness : 0.235382 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:1.77 [[ 9.98945649e-01 3.71621806e-04 4.59069990e-02 -5.03977384e-01] [-5.95766424e-04 9.99987969e-01 4.86899486e-03 -3.48867629e-02] [-4.59046372e-02 -4.89121108e-03 9.98933852e-01 1.77303513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1189737969999993 meters Centerline goodness : 0.230765 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.04, Z:1.80 [[ 0.99899328 0.00666847 0.04436168 -0.49411206] [-0.00679964 0.99997294 0.00280656 -0.03922096] [-0.04434176 -0.00310538 0.99901159 1.80104323] [ 0. 0. 0. 1. ]] SLAMing on 3.1489737969999996 meters Centerline goodness : 0.228832 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:1.81 [[ 0.99894487 0.00498243 0.04565435 -0.50156952] [-0.00508731 0.99998468 0.00218134 -0.04310405] [-0.04564278 -0.00241129 0.99895491 1.81439347] [ 0. 0. 0. 1. ]] SLAMing on 3.1789737969999994 meters Centerline goodness : 0.225034 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.05, Z:1.83 [[ 9.98874694e-01 3.54360852e-03 4.72947004e-02 -5.10099328e-01] [-3.62690078e-03 9.99992019e-01 1.67543437e-03 -4.64005888e-02] [-4.72883859e-02 -1.84508218e-03 9.98879574e-01 1.82822481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2089737969999996 meters Centerline goodness : 0.221682 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.05, Z:1.84 [[ 0.99882353 0.00450717 0.04828298 -0.51662708] [-0.00468306 0.9999828 0.00353039 -0.0493824 ] [-0.04826624 -0.00375235 0.99882746 1.84092568] [ 0. 0. 0. 1. ]] SLAMing on 3.2389737969999994 meters Centerline goodness : 0.216914 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.05, Z:1.87 [[ 9.99027975e-01 -1.97724526e-03 4.40363045e-02 -5.01703434e-01] [ 1.69314646e-03 9.99977520e-01 6.48783155e-03 -5.28486356e-02] [-4.40481426e-02 -6.40696530e-03 9.99008865e-01 1.86649561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2689737969999992 meters Centerline goodness : 0.218799 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.05, Z:1.88 [[ 9.98952508e-01 -1.38635554e-04 4.57588063e-02 -5.09911552e-01] [-2.53430730e-04 9.99963312e-01 8.56219300e-03 -5.44435122e-02] [-4.57583145e-02 -8.56482086e-03 9.98915823e-01 1.87875686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2989737969999995 meters Centerline goodness : 0.214147 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.06, Z:1.91 [[ 0.99887574 0.00912224 0.04651925 -0.50683819] [-0.00957835 0.99990813 0.00959134 -0.05515363] [-0.04642748 -0.01002614 0.99887135 1.90981315] [ 0. 0. 0. 1. ]] SLAMing on 3.3289737969999993 meters Centerline goodness : 0.215161 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.06, Z:1.92 [[ 9.99136018e-01 1.14426374e-03 4.15440467e-02 -4.87959356e-01] [-1.55046532e-03 9.99951298e-01 9.74670893e-03 -5.59794097e-02] [-4.15308706e-02 -9.80270056e-03 9.99089132e-01 1.92243196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3589737969999995 meters Centerline goodness : 0.209539 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.06, Z:1.95 [[ 0.99916169 0.00662337 0.04039863 -0.48209456] [-0.00691199 0.99995155 0.00700884 -0.0568157 ] [-0.04035025 -0.0072822 0.99915906 1.95073254] [ 0. 0. 0. 1. ]] SLAMing on 3.3889737969999993 meters Centerline goodness : 0.209910 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.06, Z:1.96 [[ 0.99910144 0.004612 0.04213125 -0.49005486] [-0.00485011 0.99997283 0.00555098 -0.05842833] [-0.04210451 -0.00575033 0.99909666 1.96377819] [ 0. 0. 0. 1. ]] SLAMing on 3.4189737969999996 meters Centerline goodness : 0.210278 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.06, Z:1.98 [[ 0.99903484 0.0026348 0.04384576 -0.49822777] [-0.00282123 0.99998724 0.00419063 -0.06026876] [-0.04383416 -0.00431028 0.99902952 1.97712707] [ 0. 0. 0. 1. ]] SLAMing on 3.4489737969999994 meters Centerline goodness : 0.201001 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.06, Z:2.01 [[ 9.99062446e-01 7.33677488e-03 4.26661594e-02 -4.94188777e-01] [-7.37139195e-03 9.99972617e-01 6.54075686e-04 -5.98255953e-02] [-4.26601923e-02 -9.67971439e-04 9.99089171e-01 2.00713440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.478973796999999 meters Centerline goodness : 0.202061 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.06, Z:2.02 [[ 9.99281022e-01 -6.29803445e-04 3.79083356e-02 -4.77812426e-01] [ 6.06380598e-04 9.99999618e-01 6.29375562e-04 -6.00749985e-02] [-3.79087176e-02 -6.05936176e-04 9.99281023e-01 2.02342079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5089737969999995 meters Centerline goodness : 0.200274 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.06, Z:2.04 [[ 9.99197645e-01 -2.20352260e-03 3.99901212e-02 -4.87118128e-01] [ 2.24444499e-03 9.99997003e-01 -9.78445647e-04 -6.03932043e-02] [-3.99878454e-02 1.06741621e-03 9.99199596e-01 2.03608050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5389737969999993 meters Centerline goodness : 0.193656 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.06, Z:2.05 [[ 0.99911274 -0.00377531 0.04194618 -0.49593802] [ 0.00387712 0.99998973 -0.00234621 -0.06151226] [-0.04193689 0.00250676 0.99911712 2.04811648] [ 0. 0. 0. 1. ]] SLAMing on 3.5689737969999995 meters Centerline goodness : 0.188627 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.06, Z:2.08 [[ 9.99182182e-01 1.25865761e-03 4.04151296e-02 -4.91272019e-01] [-1.06126637e-03 9.99987406e-01 -4.90517567e-03 -6.23361843e-02] [-4.04207946e-02 4.85827291e-03 9.99170935e-01 2.07624047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5989737969999993 meters Centerline goodness : 0.188437 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.06, Z:2.09 [[ 9.99095386e-01 1.09788650e-05 4.25253906e-02 -5.00176540e-01] [ 2.43406195e-04 9.99982109e-01 -5.97677461e-03 -6.36987589e-02] [-4.25246954e-02 5.98171888e-03 9.99077509e-01 2.08893513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6289737969999996 meters Centerline goodness : 0.188466 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.06, Z:2.11 [[ 9.98885405e-01 3.06394719e-04 4.72001538e-02 -5.15048223e-01] [-5.23195169e-05 9.99985504e-01 -5.38407305e-03 -6.45136965e-02] [-4.72011192e-02 5.37560250e-03 9.98870941e-01 2.10566588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6589737969999994 meters Centerline goodness : 0.194114 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.07, Z:2.14 [[ 9.98652708e-01 -5.86478498e-03 5.15594056e-02 -5.14083053e-01] [ 5.96956698e-03 9.99980418e-01 -1.87849526e-03 -6.56615695e-02] [-5.15473790e-02 2.18375171e-03 9.98668163e-01 2.13756223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.688973796999999 meters Centerline goodness : 0.188521 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:2.15 [[ 9.98539559e-01 -4.17641048e-03 5.38637758e-02 -5.22981226e-01] [ 4.18542168e-03 9.99991240e-01 -5.44934220e-05 -6.55646870e-02] [-5.38630763e-02 2.79856453e-04 9.98548292e-01 2.15034549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7189737969999994 meters Centerline goodness : 0.101765 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.07, Z:2.17 [[ 9.98752156e-01 1.47506598e-03 4.99194846e-02 -5.14537341e-01] [-1.40455551e-03 9.99997966e-01 -1.44753363e-03 -6.57829877e-02] [-4.99215183e-02 1.37561265e-03 9.98752196e-01 2.17453742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748973796999999 meters Centerline goodness : 0.055120 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:2.19 [[ 9.98686390e-01 -5.40254613e-04 5.12367379e-02 -5.21830599e-01] [ 7.11289558e-04 9.99994236e-01 -3.31995574e-03 -6.76804755e-02] [-5.12346489e-02 3.35203877e-03 9.98681017e-01 2.18638059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7789737969999995 meters Centerline goodness : 0.249160 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:2.20 [[ 0.99860003 -0.0028105 0.05282122 -0.52960336] [ 0.00310531 0.99998005 -0.00549994 -0.06962362] [-0.0528047 0.00565627 0.99858884 2.19829882] [ 0. 0. 0. 1. ]] SLAMing on 3.8089737969999993 meters Centerline goodness : 0.167848 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:2.22 [[ 9.98799040e-01 -1.68135282e-03 4.89658194e-02 -5.21293830e-01] [ 2.25868629e-03 9.99928561e-01 -1.17375957e-02 -7.31364240e-02] [-4.89425863e-02 1.18340978e-02 9.98731484e-01 2.22491829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8389737969999995 meters Centerline goodness : 0.263640 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:2.24 [[ 0.99872323 -0.00357368 0.05038996 -0.52827562] [ 0.0042605 0.9998994 -0.0135293 -0.0749362 ] [-0.05033655 0.01372672 0.99863798 2.23746234] [ 0. 0. 0. 1. ]] SLAMing on 3.8689737969999993 meters Centerline goodness : 0.350375 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:2.25 [[ 0.99881934 0.00404792 0.04841002 -0.51542038] [-0.00335983 0.99989229 -0.01428676 -0.07487713] [-0.04846264 0.01410724 0.99872537 2.25428588] [ 0. 0. 0. 1. ]] SLAMing on 3.898973796999999 meters Centerline goodness : 0.250526 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:2.27 [[ 0.99863346 0.0056991 0.05194928 -0.52549087] [-0.00505643 0.99990916 -0.01249415 -0.07582058] [-0.05201577 0.0122144 0.99857156 2.26899275] [ 0. 0. 0. 1. ]] SLAMing on 3.9289737969999994 meters Centerline goodness : 0.255050 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:2.30 [[ 0.99839536 0.00378622 0.05650105 -0.52356291] [-0.00351999 0.99998223 -0.00481078 -0.07503556] [-0.05651826 0.00460417 0.99839095 2.29930814] [ 0. 0. 0. 1. ]] SLAMing on 3.958973796999999 meters Centerline goodness : 0.367027 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.07, Z:2.31 [[ 9.98479120e-01 -9.88545026e-04 5.51223236e-02 -5.08219998e-01] [ 9.75759709e-04 9.99999490e-01 2.58857496e-04 -7.46404343e-02] [-5.51225514e-02 -2.04677662e-04 9.98479575e-01 2.31352728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9889737969999994 meters Centerline goodness : 0.179599 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.07, Z:2.34 [[ 0.99867716 -0.00336743 0.05130872 -0.49726632] [ 0.00301981 0.99997197 0.00685111 -0.07327262] [-0.05133035 -0.0066871 0.99865934 2.33899633] [ 0. 0. 0. 1. ]] SLAMing on 4.018973796999999 meters Centerline goodness : 0.174743 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.07, Z:2.35 [[ 0.99861949 -0.00465701 0.05232049 -0.50371004] [ 0.00438953 0.99997671 0.00522599 -0.07206021] [-0.05234361 -0.00498911 0.99861667 2.35039198] [ 0. 0. 0. 1. ]] SLAMing on 4.0489737969999995 meters Centerline goodness : 0.111631 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.07, Z:2.36 [[ 9.98558642e-01 -6.76841595e-03 5.32430974e-02 -5.09848352e-01] [ 6.64160771e-03 9.99974672e-01 2.55826102e-03 -7.11304168e-02] [-5.32590642e-02 -2.20095388e-03 9.98578303e-01 2.36168441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078973797 meters Centerline goodness : 0.224626 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.07, Z:2.39 [[ 0.99885494 -0.00876617 0.04703145 -0.49691154] [ 0.00918607 0.99991979 -0.00871942 -0.06847823] [-0.04695124 0.00914147 0.99885535 2.38654231] [ 0. 0. 0. 1. ]] SLAMing on 4.108973796999999 meters Centerline goodness : 0.212575 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.07, Z:2.40 [[ 0.99911777 -0.00606633 0.0415558 -0.48229407] [ 0.00665525 0.99987917 -0.01404801 -0.06660897] [-0.04146556 0.01431218 0.99903742 2.4006543 ] [ 0. 0. 0. 1. ]] SLAMing on 4.138973796999999 meters Centerline goodness : 0.229352 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.06, Z:2.43 [[ 9.99197208e-01 -8.05952593e-04 4.00535942e-02 -4.79108799e-01] [ 1.54002035e-03 9.99831361e-01 -1.82996650e-02 -6.07046038e-02] [-4.00320910e-02 1.83466575e-02 9.99029945e-01 2.43174746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168973797 meters Centerline goodness : 0.382350 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.06, Z:2.45 [[ 9.99081597e-01 1.73371131e-03 4.28130471e-02 -4.88902455e-01] [-1.02543421e-03 9.99862349e-01 -1.65599101e-02 -5.75085632e-02] [-4.28358640e-02 1.65007995e-02 9.98945851e-01 2.44580844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198973796999999 meters Centerline goodness : 0.105280 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:2.46 [[ 0.9990931 -0.00316234 0.04246147 -0.47643003] [ 0.00368488 0.99991838 -0.01223376 -0.05492794] [-0.04241931 0.01237913 0.9990232 2.46079979] [ 0. 0. 0. 1. ]] SLAMing on 4.228973796999999 meters Centerline goodness : 0.216834 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:2.48 [[ 9.98894854e-01 1.57092595e-03 4.69744866e-02 -4.90492531e-01] [-1.18831993e-03 9.99965904e-01 -8.17179176e-03 -5.06999898e-02] [-4.69857223e-02 8.10694002e-03 9.98862663e-01 2.47696387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2589737969999995 meters Centerline goodness : 0.232295 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:2.49 [[ 0.99889744 -0.00355672 0.04681093 -0.47826805] [ 0.00375292 0.99998454 -0.00410424 -0.04720977] [-0.04679561 0.00427539 0.99889534 2.49186245] [ 0. 0. 0. 1. ]] SLAMing on 4.288973797 meters Centerline goodness : 0.267673 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:2.52 [[ 9.98559316e-01 -8.94873653e-04 5.36515786e-02 -5.00847841e-01] [ 1.06120423e-03 9.99994719e-01 -3.07179105e-03 -4.08068595e-02] [-5.36485464e-02 3.12430085e-03 9.98554992e-01 2.52104228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318973796999999 meters Centerline goodness : 0.410733 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:2.55 [[ 9.98719023e-01 -3.81024364e-05 5.05995200e-02 -4.97051032e-01] [ 5.87206115e-04 9.99941104e-01 -1.08371330e-02 -3.62895204e-02] [-5.05961269e-02 1.08529632e-02 9.98660225e-01 2.54857619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348973796999999 meters Centerline goodness : 0.397595 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.04, Z:2.56 [[ 0.99852897 -0.00339976 0.05411406 -0.50918192] [ 0.00421218 0.99988002 -0.01490616 -0.03548212] [-0.05405689 0.01511217 0.99842349 2.56408268] [ 0. 0. 0. 1. ]] SLAMing on 4.378973797 meters Centerline goodness : 0.406179 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.03, Z:2.58 [[ 0.9983779 -0.00571336 0.05664733 -0.51889789] [ 0.0067361 0.99981745 -0.01788015 -0.03464693] [-0.05653483 0.01823273 0.99823413 2.57792253] [ 0. 0. 0. 1. ]] SLAMing on 4.408973796999999 meters Centerline goodness : 0.412800 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.03, Z:2.59 [[ 0.99820387 -0.00763793 0.0594197 -0.52948659] [ 0.00886197 0.99975336 -0.02036367 -0.03385528] [-0.05924951 0.02085367 0.99802536 2.59241691] [ 0. 0. 0. 1. ]] SLAMing on 4.438973796999999 meters Centerline goodness : 0.255189 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.03, Z:2.62 [[ 0.99780349 -0.00841185 0.06570716 -0.55216892] [ 0.00985665 0.99971604 -0.02169539 -0.03379223] [-0.065506 0.02229539 0.99760307 2.62172644] [ 0. 0. 0. 1. ]] SLAMing on 4.468973796999999 meters Centerline goodness : 0.312407 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.03, Z:2.64 [[ 0.99746721 -0.00770789 0.07070898 -0.56618263] [ 0.00921261 0.99973747 -0.02097911 -0.0345043 ] [-0.07052871 0.02157739 0.99727635 2.63752047] [ 0. 0. 0. 1. ]] SLAMing on 4.498973797 meters Centerline goodness : 0.281467 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.04, Z:2.65 [[ 0.99712974 -0.00681978 0.075404 -0.57881666] [ 0.00833721 0.99976865 -0.01982753 -0.03669417] [-0.07525133 0.02039928 0.99695592 2.65248283] [ 0. 0. 0. 1. ]] SLAMing on 4.528973796999999 meters Centerline goodness : 0.296158 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.04, Z:2.69 [[ 0.99660483 -0.00638622 0.08208554 -0.56822942] [ 0.00783611 0.99981871 -0.0173532 -0.04346757] [-0.08195983 0.01793752 0.9964742 2.68913144] [ 0. 0. 0. 1. ]] SLAMing on 4.558973796999999 meters Centerline goodness : 0.036128 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.05, Z:2.71 [[ 9.96506416e-01 8.83844924e-04 8.35115685e-02 -5.62069183e-01] [ 5.96114288e-04 9.99843253e-01 -1.76950107e-02 -4.62178201e-02] [-8.35141180e-02 1.76829741e-02 9.96349690e-01 2.70769324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5889737969999995 meters Centerline goodness : 0.320741 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.06, Z:2.74 [[ 9.97148941e-01 2.27504673e-03 7.54242241e-02 -5.44388231e-01] [-1.18551489e-03 9.99894355e-01 -1.44870097e-02 -5.77488235e-02] [-7.54492146e-02 1.43562898e-02 9.97046294e-01 2.74195896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.618973796999999 meters Centerline goodness : 0.232066 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:2.76 [[ 0.99757385 -0.00361183 0.0695224 -0.53472136] [ 0.00443606 0.99992166 -0.01170482 -0.06709916] [-0.06947468 0.01198483 0.99751172 2.75693166] [ 0. 0. 0. 1. ]] SLAMing on 4.648973796999999 meters Centerline goodness : 0.349547 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.07, Z:2.77 [[ 0.99729398 -0.00302201 0.07345461 -0.54655969] [ 0.0037618 0.99994357 -0.00993513 -0.07382182] [-0.07342044 0.01018456 0.99724907 2.77117826] [ 0. 0. 0. 1. ]] SLAMing on 4.678973796999999 meters Centerline goodness : 0.045529 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.09, Z:2.79 [[ 9.97936219e-01 -5.36762916e-04 6.42107004e-02 -5.60101688e-01] [ 9.87819263e-04 9.99975060e-01 -6.99308820e-03 -8.61394637e-02] [-6.42053453e-02 7.04208457e-03 9.97911861e-01 2.79392921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708973797 meters Centerline goodness : 0.313446 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.09, Z:2.81 [[ 9.98489330e-01 -1.14890817e-03 5.49339385e-02 -5.62133909e-01] [ 1.54754189e-03 9.99972777e-01 -7.21461416e-03 -9.44041936e-02] [-5.49241541e-02 7.28872783e-03 9.98463926e-01 2.80556237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738973796999999 meters SLAMing on 4.768973796999999 meters Centerline goodness : 0.310180 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.11, Z:2.84 [[ 0.99853486 0.00439707 0.05393323 -0.56170906] [-0.00402842 0.99996779 -0.00694215 -0.10917675] [-0.05396202 0.00671472 0.99852041 2.84447876] [ 0. 0. 0. 1. ]] SLAMing on 4.7989737969999995 meters SLAMing on 4.828973796999999 meters Centerline goodness : 0.044375 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.11, Z:2.88 [[ 9.98398516e-01 7.21433145e-03 5.61102175e-02 -5.41693085e-01] [-7.06336201e-03 9.99970882e-01 -2.88844433e-03 -1.14462547e-01] [-5.61294219e-02 2.48749175e-03 9.98420403e-01 2.87543972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858973796999999 meters Centerline goodness : 0.359833 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.12, Z:2.89 [[ 9.98350022e-01 1.91414085e-03 5.73896282e-02 -5.31451725e-01] [-2.00584461e-03 9.99996802e-01 1.54035296e-03 -1.16530259e-01] [-5.73864962e-02 -1.65292608e-03 9.98350669e-01 2.89095369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888973796999999 meters SLAMing on 4.918973797 meters SLAMing on 4.948973796999999 meters SLAMing on 4.978973796999999 meters SLAMing on 5.0089737969999995 meters SLAMing on 5.038973796999999 meters SLAMing on 5.068973796999999 meters Centerline goodness : 0.145410 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:3.00 [[ 0.99970246 0.01995697 0.01402514 -0.47139608] [-0.01967622 0.99960878 -0.01987789 -0.11021082] [-0.01441635 0.01959602 0.99970404 2.99932119] [ 0. 0. 0. 1. ]] SLAMing on 5.098973796999999 meters Centerline goodness : 0.120754 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.11, Z:3.01 [[ 0.99984252 0.01246315 0.01263371 -0.4628092 ] [-0.01222187 0.99974482 -0.01899799 -0.10902356] [-0.01286726 0.01884059 0.9997397 3.01351868] [ 0. 0. 0. 1. ]] SLAMing on 5.128973797 meters Centerline goodness : 0.119002 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.11, Z:3.03 [[ 0.99987619 0.00790856 0.01360338 -0.45538001] [-0.00770285 0.99985619 -0.01510844 -0.10753567] [-0.01372091 0.01500178 0.99979332 3.02920738] [ 0. 0. 0. 1. ]] SLAMing on 5.158973796999999 meters Centerline goodness : 0.113485 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.10, Z:3.06 [[ 0.99976567 0.00392614 0.02128827 -0.44629886] [-0.0038005 0.99997514 -0.00593884 -0.10249965] [-0.02131105 0.00585654 0.99975574 3.06278144] [ 0. 0. 0. 1. ]] SLAMing on 5.188973796999999 meters Centerline goodness : 0.111595 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.10, Z:3.08 [[ 9.99734342e-01 2.20454930e-04 2.30476891e-02 -4.41196317e-01] [-1.90314645e-04 9.99999124e-01 -1.30992092e-03 -1.00177839e-01] [-2.30479577e-02 1.30518662e-03 9.99733509e-01 3.07924105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218973796999999 meters Centerline goodness : 0.132540 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.10, Z:3.10 [[ 9.99700095e-01 -7.31188570e-03 2.33721196e-02 -4.35903770e-01] [ 7.29608426e-03 9.99973093e-01 7.61284566e-04 -1.00581042e-01] [-2.33770571e-02 -5.90531299e-04 9.99726545e-01 3.09605236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248973796999999 meters Centerline goodness : 0.116520 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.10, Z:3.11 [[ 9.99642982e-01 -8.36080833e-03 2.53772648e-02 -4.43018709e-01] [ 8.37617779e-03 9.99964795e-01 -4.99398234e-04 -1.00233010e-01] [-2.53721960e-02 7.11784422e-04 9.99677821e-01 3.10829795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278973796999999 meters Centerline goodness : 0.122906 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.10, Z:3.14 [[ 0.99968697 -0.00814906 0.02365491 -0.44669735] [ 0.00834849 0.99993033 -0.00834461 -0.09878756] [-0.02358526 0.00853948 0.99968536 3.13789612] [ 0. 0. 0. 1. ]] SLAMing on 5.308973796999999 meters Centerline goodness : 0.132767 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.10, Z:3.15 [[ 0.99956703 -0.01091511 0.02732415 -0.45798963] [ 0.01121562 0.99987803 -0.01086893 -0.10118386] [-0.02720218 0.01117068 0.99956754 3.14992888] [ 0. 0. 0. 1. ]] SLAMing on 5.3389737969999995 meters Centerline goodness : 0.151227 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.10, Z:3.18 [[ 0.99985485 -0.00370906 0.01662869 -0.46896809] [ 0.00396689 0.99987202 -0.0154989 -0.09972724] [-0.01656907 0.01556262 0.9997416 3.17615396] [ 0. 0. 0. 1. ]] SLAMing on 5.368973796999999 meters Centerline goodness : 0.130309 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.10, Z:3.19 [[ 0.99976646 -0.00329061 0.02135885 -0.48165841] [ 0.00361458 0.99987875 -0.01514682 -0.09960925] [-0.02130642 0.01522049 0.99965713 3.18963142] [ 0. 0. 0. 1. ]] SLAMing on 5.398973796999999 meters Centerline goodness : 0.139207 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.10, Z:3.20 [[ 9.99664551e-01 -2.89607953e-03 2.57370919e-02 -4.93192700e-01] [ 3.27320433e-03 9.99887722e-01 -1.46229410e-02 -1.00171957e-01] [-2.56918530e-02 1.47022785e-02 9.99561790e-01 3.20231981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428973796999999 meters Centerline goodness : 0.256715 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.10, Z:3.23 [[ 0.99944606 -0.00832005 0.03222351 -0.50200953] [ 0.00865917 0.99990844 -0.01039857 -0.10322167] [-0.03213404 0.01067184 0.99942659 3.23332252] [ 0. 0. 0. 1. ]] SLAMing on 5.458973796999999 meters Centerline goodness : 0.212446 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.10, Z:3.25 [[ 9.99307698e-01 1.38687543e-03 3.71779720e-02 -5.02744479e-01] [-1.00895098e-03 9.99947652e-01 -1.01821139e-02 -1.01531275e-01] [-3.71901471e-02 1.01375541e-02 9.99256785e-01 3.25185965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488973796999999 meters Centerline goodness : 0.341222 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.10, Z:3.27 [[ 0.99908131 -0.00569596 0.04247449 -0.50278291] [ 0.00606372 0.99994519 -0.0085347 -0.10294728] [-0.04242355 0.00878441 0.9990611 3.26988268] [ 0. 0. 0. 1. ]] SLAMing on 5.518973796999999 meters Centerline goodness : 0.264873 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.11, Z:3.30 [[ 0.9984974 -0.00827617 0.0541706 -0.50597209] [ 0.00860251 0.99994621 -0.00579383 -0.10855958] [-0.05411974 0.00625113 0.99851489 3.30023525] [ 0. 0. 0. 1. ]] SLAMing on 5.5489737969999995 meters Centerline goodness : 0.065946 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.11, Z:3.31 [[ 0.99839962 -0.00896271 0.05583789 -0.51250909] [ 0.00931318 0.99993851 -0.00601961 -0.11009993] [-0.0557805 0.00653 0.9984217 3.31124535] [ 0. 0. 0. 1. ]] SLAMing on 5.578973796999999 meters Centerline goodness : 0.071015 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.11, Z:3.32 [[ 0.9983097 -0.0088669 0.05743799 -0.51915791] [ 0.0091963 0.99994273 -0.00547315 -0.11149466] [-0.05738617 0.00599212 0.99833407 3.32192183] [ 0. 0. 0. 1. ]] SLAMing on 5.608973796999999 meters Centerline goodness : 0.638992 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.12, Z:3.34 [[ 0.99878474 -0.00997985 0.04826427 -0.52543934] [ 0.01025156 0.99993295 -0.00538533 -0.11500014] [-0.04820729 0.00587357 0.99882008 3.34322012] [ 0. 0. 0. 1. ]] SLAMing on 5.638973796999999 meters Centerline goodness : 0.128908 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.12, Z:3.35 [[ 0.99876279 -0.01098199 0.04850031 -0.53058851] [ 0.01126911 0.99992054 -0.00565051 -0.11721556] [-0.0484344 0.00619008 0.99880718 3.35281704] [ 0. 0. 0. 1. ]] SLAMing on 5.668973796999999 meters Centerline goodness : 0.191866 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.12, Z:3.38 [[ 0.99920745 -0.00912854 0.0387446 -0.52349104] [ 0.00948558 0.99991413 -0.00904158 -0.1160642 ] [-0.03865874 0.00940193 0.99920824 3.37570854] [ 0. 0. 0. 1. ]] SLAMing on 5.698973796999999 meters Centerline goodness : 0.253807 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.11, Z:3.39 [[ 0.99945544 -0.00560679 0.03251745 -0.51621427] [ 0.00597928 0.99991749 -0.01136942 -0.11267192] [-0.03245102 0.01155766 0.9994065 3.38949994] [ 0. 0. 0. 1. ]] SLAMing on 5.728973796999999 meters Centerline goodness : 0.079648 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.11, Z:3.40 [[ 9.99652106e-01 -2.72552508e-03 2.62343008e-02 -5.08676385e-01] [ 3.07419769e-03 9.99907362e-01 -1.32595721e-02 -1.10275155e-01] [-2.61957312e-02 1.33356086e-02 9.99567879e-01 3.40432723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7589737969999995 meters Centerline goodness : 0.734849 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.11, Z:3.42 [[ 9.99876422e-01 -1.57030774e-03 1.56420590e-02 -4.95704430e-01] [ 1.77592615e-03 9.99912089e-01 -1.31400213e-02 -1.09477466e-01] [-1.56200500e-02 1.31661767e-02 9.99791311e-01 3.42125943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788973796999999 meters Centerline goodness : 0.619151 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.11, Z:3.45 [[ 9.99884045e-01 -1.38171013e-03 1.51653348e-02 -4.80885057e-01] [ 1.52288468e-03 9.99955581e-01 -9.30143207e-03 -1.09818094e-01] [-1.51518093e-02 9.32344858e-03 9.99841735e-01 3.45143493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818973796999999 meters SLAMing on 5.848973796999999 meters Centerline goodness : 0.193464 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:3.49 [[ 0.99997328 -0.00609387 0.00403699 -0.46780099] [ 0.006114 0.99996884 -0.00499294 -0.10852836] [-0.00400644 0.00501749 0.99997939 3.49110703] [ 0. 0. 0. 1. ]] SLAMing on 5.878973796999999 meters Centerline goodness : 0.789551 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:3.50 [[ 9.99975454e-01 -6.46521965e-03 2.70035590e-03 -4.71152704e-01] [ 6.48038258e-03 9.99963070e-01 -5.64467132e-03 -1.08168099e-01] [-2.66376214e-03 5.66203210e-03 9.99980423e-01 3.50028168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908973796999999 meters Centerline goodness : 0.333324 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:3.51 [[ 9.99967768e-01 -7.83308639e-03 1.76234991e-03 -4.74898251e-01] [ 7.84583316e-03 9.99942237e-01 -7.34607015e-03 -1.07753076e-01] [-1.70470571e-03 7.35966047e-03 9.99971464e-01 3.50910753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938973796999999 meters Centerline goodness : 0.080099 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.10, Z:3.53 [[ 9.99956951e-01 -8.76268356e-03 -3.05137806e-03 -4.77120481e-01] [ 8.71480644e-03 9.99843969e-01 -1.53652000e-02 -1.04910847e-01] [ 3.18554234e-03 1.53379464e-02 9.99877292e-01 3.53258689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968973796999999 meters Centerline goodness : 0.660036 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.10, Z:3.54 [[ 9.99949210e-01 -9.45394566e-03 -3.49286892e-03 -4.81822634e-01] [ 9.39404277e-03 9.99814976e-01 -1.67858599e-02 -1.03533633e-01] [ 3.65091527e-03 1.67521952e-02 9.99853007e-01 3.54330937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998973796999999 meters Centerline goodness : 0.712145 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.10, Z:3.57 [[ 9.99934749e-01 -1.13449216e-02 1.33820750e-03 -4.82551365e-01] [ 1.13677587e-02 9.99764017e-01 -1.85117444e-02 -1.01125414e-01] [-1.12787741e-03 1.85257489e-02 9.99827747e-01 3.57388515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028973796999999 meters Centerline goodness : 0.686537 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.10, Z:3.59 [[ 9.99953398e-01 -9.12128810e-03 3.16289750e-03 -4.89453158e-01] [ 9.17299992e-03 9.99817801e-01 -1.67397888e-02 -9.90599184e-02] [-3.00963279e-03 1.67680220e-02 9.99854877e-01 3.58825756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058973796999999 meters Centerline goodness : 0.265519 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.10, Z:3.60 [[ 0.99988432 -0.01391652 0.00613805 -0.49157158] [ 0.01399338 0.99982192 -0.01266133 -0.09930658] [-0.00596075 0.01274575 0.999901 3.60483571] [ 0. 0. 0. 1. ]] SLAMing on 6.088973796999999 meters Centerline goodness : 0.592642 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.10, Z:3.62 [[ 0.99990157 -0.01119045 0.0084631 -0.49944515] [ 0.01127663 0.99988434 -0.01020513 -0.0972508 ] [-0.00834793 0.01029956 0.99991211 3.61940785] [ 0. 0. 0. 1. ]] SLAMing on 6.118973796999999 meters Centerline goodness : 0.391690 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.09, Z:3.65 [[ 0.99974497 -0.01443884 0.01736421 -0.51139222] [ 0.01454732 0.99987535 -0.0061373 -0.09494669] [-0.01727343 0.00638834 0.99983039 3.65136124] [ 0. 0. 0. 1. ]] SLAMing on 6.148973796999999 meters Centerline goodness : 0.615859 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.09, Z:3.66 [[ 0.99972531 -0.0133034 0.0192957 -0.51899321] [ 0.01341079 0.99989524 -0.00544659 -0.09414214] [-0.01922122 0.00570387 0.99979899 3.66484525] [ 0. 0. 0. 1. ]] SLAMing on 6.178973796999999 meters Centerline goodness : 0.620730 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.09, Z:3.68 [[ 0.99969009 -0.01413416 0.02049269 -0.52625705] [ 0.01427474 0.99987546 -0.00673031 -0.09386369] [-0.02039501 0.00702075 0.99976735 3.67747921] [ 0. 0. 0. 1. ]] SLAMing on 6.208973796999999 meters Centerline goodness : 0.629114 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.09, Z:3.70 [[ 0.99976647 -0.01337564 0.01697317 -0.53451097] [ 0.01357403 0.99984026 -0.01162744 -0.09202456] [-0.01681493 0.01185512 0.99978833 3.70217038] [ 0. 0. 0. 1. ]] SLAMing on 6.238973796999999 meters Centerline goodness : 0.428283 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.09, Z:3.71 [[ 0.99975047 -0.01366273 0.01767255 -0.54137213] [ 0.01387563 0.99983194 -0.01198119 -0.09251483] [-0.01750588 0.01222342 0.99977204 3.71285033] [ 0. 0. 0. 1. ]] SLAMing on 6.268973796999999 meters Centerline goodness : 0.421796 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.09, Z:3.72 [[ 0.99972873 -0.01408309 0.01855059 -0.54779159] [ 0.0143178 0.99981834 -0.01258122 -0.09285518] [-0.01837004 0.01284341 0.99974876 3.72241049] [ 0. 0. 0. 1. ]] SLAMing on 6.298973796999999 meters Centerline goodness : 0.264796 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.09, Z:3.75 [[ 0.99985305 -0.00820765 0.01505064 -0.55298856] [ 0.00841647 0.99986847 -0.01386416 -0.09120788] [-0.01493486 0.0139888 0.99979061 3.7482339 ] [ 0. 0. 0. 1. ]] SLAMing on 6.328973796999999 meters Centerline goodness : 0.243588 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.09, Z:3.76 [[ 0.99989272 -0.00986397 0.01082793 -0.55298565] [ 0.00996962 0.9999028 -0.00974693 -0.09407366] [-0.01073074 0.00985383 0.99989387 3.76376941] [ 0. 0. 0. 1. ]] SLAMing on 6.358973796999999 meters Centerline goodness : 0.247685 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.09, Z:3.78 [[ 9.99965199e-01 -2.69347175e-03 7.89594534e-03 -5.51658521e-01] [ 2.76602401e-03 9.99953926e-01 -9.19207134e-03 -9.17622520e-02] [-7.87082296e-03 9.21359182e-03 9.99926577e-01 3.77926356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388973796999999 meters Centerline goodness : 0.200903 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.09, Z:3.81 [[ 9.99882303e-01 -8.92006539e-05 1.53418670e-02 -5.48238905e-01] [ 1.73400154e-04 9.99984931e-01 -5.48697468e-03 -9.10861472e-02] [-1.53411464e-02 5.48898916e-03 9.99867251e-01 3.80936971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418973796999999 meters Centerline goodness : 0.660651 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.09, Z:3.83 [[ 9.99810637e-01 -4.94243905e-03 1.88218832e-02 -5.45991365e-01] [ 5.00203907e-03 9.99982620e-01 -3.12076690e-03 -9.07702286e-02] [-1.88061319e-02 3.21432373e-03 9.99817982e-01 3.82506446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448973796999999 meters Centerline goodness : 0.704582 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.09, Z:3.84 [[ 9.99803039e-01 -4.11845146e-03 1.94144734e-02 -5.38053289e-01] [ 4.15455244e-03 9.99989714e-01 -1.81952171e-03 -9.06043882e-02] [-1.94067801e-02 1.89982179e-03 9.99809866e-01 3.84283160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478973796999999 meters Centerline goodness : 0.698909 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.09, Z:3.86 [[ 9.99868463e-01 1.71562963e-03 1.61280093e-02 -5.34328980e-01] [-1.65656584e-03 9.99991876e-01 -3.67483383e-03 -8.93322504e-02] [-1.61341829e-02 3.64763334e-03 9.99863182e-01 3.85754276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508973796999999 meters Centerline goodness : 0.152063 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.09, Z:3.88 [[ 9.99934852e-01 2.07879181e-03 1.12236361e-02 -5.26253515e-01] [-2.04198221e-03 9.99992503e-01 -3.29011433e-03 -8.92917019e-02] [-1.12303914e-02 3.26698152e-03 9.99931600e-01 3.88361914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538973796999999 meters Centerline goodness : 0.068865 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.09, Z:3.89 [[ 9.99986536e-01 2.58532206e-03 4.49927561e-03 -5.24997412e-01] [-2.56938033e-03 9.99990414e-01 -3.54535599e-03 -8.86095892e-02] [-4.50839837e-03 3.53374791e-03 9.99983593e-01 3.89244625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568973796999999 meters Centerline goodness : 0.453689 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.09, Z:3.91 [[ 9.99850118e-01 2.35637055e-03 -1.71519585e-02 -5.14493526e-01] [-2.46267886e-03 9.99977874e-01 -6.17954706e-03 -8.82298806e-02] [ 1.71370177e-02 6.22086062e-03 9.99833798e-01 3.91201455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598973796999999 meters Centerline goodness : 0.456706 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.09, Z:3.92 [[ 9.99721309e-01 1.09460654e-03 -2.35819204e-02 -5.13477651e-01] [-1.27951366e-03 9.99968547e-01 -7.82739341e-03 -8.79673225e-02] [ 2.35726107e-02 7.85538537e-03 9.99691265e-01 3.91916090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628973796999999 meters Centerline goodness : 0.460269 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.09, Z:3.93 [[ 9.99444915e-01 3.51912907e-03 -3.31281971e-02 -5.09124801e-01] [-3.89966286e-03 9.99927081e-01 -1.14291082e-02 -8.50719599e-02] [ 3.30855610e-02 1.15519529e-02 9.99385760e-01 3.92984567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658973796999999 meters Centerline goodness : 0.465407 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.09, Z:3.94 [[ 9.99114051e-01 1.69665716e-04 -4.20842449e-02 -5.05905050e-01] [-5.71898006e-04 9.99954273e-01 -9.54593285e-03 -8.67843110e-02] [ 4.20807009e-02 9.56154354e-03 9.99068462e-01 3.94188292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688973796999999 meters Centerline goodness : 0.485706 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:3.97 [[ 9.98966985e-01 1.87985179e-03 -4.54029731e-02 -5.01432553e-01] [-2.27344900e-03 9.99960272e-01 -8.61889348e-03 -8.43791071e-02] [ 4.53849671e-02 8.71321138e-03 9.98931572e-01 3.96958130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7189737969999985 meters Centerline goodness : 0.405857 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:3.99 [[ 9.98913851e-01 3.45964465e-03 -4.64666436e-02 -4.97174999e-01] [-3.77385077e-03 9.99970594e-01 -6.67594769e-03 -8.10835977e-02] [ 4.64421808e-02 6.84405480e-03 9.98897534e-01 3.98705945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748973796999999 meters Centerline goodness : 0.143338 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:4.00 [[ 9.99007233e-01 9.76280951e-04 -4.45375622e-02 -4.97821736e-01] [-1.07947225e-03 9.99996789e-01 -2.29295821e-03 -7.97739708e-02] [ 4.45351806e-02 2.33875890e-03 9.99005079e-01 4.00277451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778973796999999 meters Centerline goodness : 0.610318 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:4.02 [[ 9.99074980e-01 -1.09334668e-03 -4.29882347e-02 -4.99228132e-01] [ 1.19299830e-03 9.99996661e-01 2.29252800e-03 -7.78763851e-02] [ 4.29855846e-02 -2.34169226e-03 9.99072948e-01 4.01861325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808973796999999 meters Centerline goodness : 0.478089 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:4.05 [[ 9.99419883e-01 2.73230565e-03 -3.39475004e-02 -5.02098566e-01] [-2.56438852e-03 9.99984267e-01 4.98893245e-03 -7.50330559e-02] [ 3.39605976e-02 -4.89898371e-03 9.99411166e-01 4.04851907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.838973796999999 meters Centerline goodness : 0.525517 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.07, Z:4.06 [[ 9.99335265e-01 9.11505865e-03 -3.52979226e-02 -5.05120476e-01] [-8.97901934e-03 9.99951645e-01 4.01063876e-03 -7.25453098e-02] [ 3.53327730e-02 -3.69103202e-03 9.99368787e-01 4.06345028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868973796999999 meters Centerline goodness : 0.587491 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.07, Z:4.08 [[ 9.99143099e-01 1.48334786e-02 -3.86398148e-02 -5.07989486e-01] [-1.47333282e-02 9.99887324e-01 2.87537707e-03 -7.00408616e-02] [ 3.86781128e-02 -2.30362008e-03 9.99249067e-01 4.07784921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898973796999999 meters Centerline goodness : 0.587491 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.07, Z:4.08 [[ 9.99143099e-01 1.48334786e-02 -3.86398148e-02 -5.07989486e-01] [-1.47333282e-02 9.99887324e-01 2.87537707e-03 -7.00408616e-02] [ 3.86781128e-02 -2.30362008e-03 9.99249067e-01 4.07784921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9289737969999985 meters Centerline goodness : 0.616037 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:4.08 [[ 9.99218368e-01 1.52254921e-02 -3.64806575e-02 -5.15428673e-01] [-1.51552287e-02 9.99882729e-01 2.20181425e-03 -6.87026508e-02] [ 3.65099031e-02 -1.64722053e-03 9.99331934e-01 4.08426638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958973796999999 meters Centerline goodness : 0.591069 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:4.08 [[ 9.99273732e-01 1.56796729e-02 -3.47297688e-02 -5.17483933e-01] [-1.56142767e-02 9.99875771e-01 2.15343920e-03 -6.82018884e-02] [ 3.47592195e-02 -1.60959501e-03 9.99394420e-01 4.08399851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988973796999999 meters Centerline goodness : 0.554162 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:4.08 [[ 9.99320921e-01 1.58733280e-02 -3.32525834e-02 -5.18883278e-01] [-1.58303644e-02 9.99873483e-01 1.55493069e-03 -6.74979775e-02] [ 3.32730583e-02 -1.02747425e-03 9.99445770e-01 4.08249674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018973796999999 meters Centerline goodness : 0.049996 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:4.08 [[ 9.99398073e-01 1.64407565e-02 -3.05481994e-02 -5.22195130e-01] [-1.64195504e-02 9.99864744e-01 9.44927233e-04 -6.79915536e-02] [ 3.05596029e-02 -4.42770758e-04 9.99532848e-01 4.08147313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048973796999999 meters Centerline goodness : 0.051215 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:4.08 [[ 9.99443315e-01 1.71591485e-02 -2.86115989e-02 -5.24036775e-01] [-1.71252497e-02 9.99852330e-01 1.42943232e-03 -6.80334339e-02] [ 2.86319017e-02 -9.38655805e-04 9.99589582e-01 4.08117614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.078973796999999 meters Centerline goodness : 0.052372 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:4.08 [[ 0.99941897 0.02254009 -0.02556672 -0.52766169] [-0.02238273 0.99972883 0.00642458 -0.06712786] [ 0.0257046 -0.00584859 0.99965247 4.08248947] [ 0. 0. 0. 1. ]] SLAMing on 7.108973796999999 meters Centerline goodness : 0.048121 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:4.08 [[ 0.9993805 0.0247943 -0.02497725 -0.52880356] [-0.0245784 0.99965816 0.00891426 -0.06703577] [ 0.02518973 -0.00829484 0.99964827 4.08471861] [ 0. 0. 0. 1. ]] SLAMing on 7.1389737969999985 meters Centerline goodness : 0.052884 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:4.09 [[ 0.9994613 0.02238811 -0.02399735 -0.52547518] [-0.02206145 0.99966148 0.01379164 -0.0670471 ] [ 0.02429799 -0.01325479 0.99961689 4.09007992] [ 0. 0. 0. 1. ]] SLAMing on 7.168973796999999 meters Centerline goodness : 0.243612 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.07, Z:4.10 [[ 0.99955624 0.01979847 -0.02225633 -0.52171622] [-0.01940045 0.99965049 0.01795903 -0.06653553] [ 0.02260412 -0.01751928 0.99959098 4.09557581] [ 0. 0. 0. 1. ]] SLAMing on 7.198973796999999 meters Centerline goodness : 0.101791 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.06, Z:4.10 [[ 0.99954568 0.02080977 -0.0218036 -0.52048626] [-0.02041133 0.99962345 0.01833965 -0.06445646] [ 0.02217704 -0.01788628 0.99959405 4.09767624] [ 0. 0. 0. 1. ]] SLAMing on 7.228973796999999 meters Centerline goodness : 0.597472 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.06, Z:4.10 [[ 0.9996014 0.01666064 -0.02279169 -0.51191313] [-0.01619062 0.99965558 0.02065388 -0.06422084] [ 0.02312795 -0.02027663 0.99952687 4.10101782] [ 0. 0. 0. 1. ]] SLAMing on 7.258973796999999 meters Centerline goodness : 0.556032 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.06, Z:4.10 [[ 0.9995275 0.01735919 -0.02536597 -0.50869462] [-0.01683355 0.99964211 0.02079119 -0.06272899] [ 0.02571781 -0.02035437 0.999462 4.09955442] [ 0. 0. 0. 1. ]] SLAMing on 7.288973796999999 meters Centerline goodness : 0.596475 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.06, Z:4.09 [[ 0.99925377 0.01847235 -0.03392157 -0.50006761] [-0.01784016 0.99966323 0.01884573 -0.05944849] [ 0.03425827 -0.0182265 0.9992468 4.09241451] [ 0. 0. 0. 1. ]] SLAMing on 7.318973796999999 meters Centerline goodness : 0.379554 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.06, Z:4.09 [[ 0.99913365 0.01800402 -0.03752071 -0.4952173 ] [-0.01736274 0.99969875 0.01734794 -0.05735262] [ 0.03782174 -0.01668145 0.99914526 4.08828286] [ 0. 0. 0. 1. ]] SLAMing on 7.348973796999998 meters Centerline goodness : 0.577851 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.05, Z:4.08 [[ 0.9989691 0.01909177 -0.04118535 -0.49046301] [-0.01840105 0.9996847 0.01708528 -0.05468755] [ 0.04149856 -0.01630981 0.99900544 4.08436012] [ 0. 0. 0. 1. ]] SLAMing on 7.378973796999999 meters Centerline goodness : 0.504054 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:4.08 [[ 0.99872073 0.01947829 -0.04666374 -0.4831025 ] [-0.01873101 0.99969007 0.01639842 -0.05322016] [ 0.04696869 -0.01550338 0.99877604 4.07908156] [ 0. 0. 0. 1. ]] SLAMing on 7.408973796999999 meters Centerline goodness : 0.605916 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:4.08 [[ 0.99859973 0.02014586 -0.04891541 -0.48055293] [-0.01935283 0.99967437 0.0166322 -0.05162824] [ 0.04923456 -0.01566226 0.99866443 4.07840287] [ 0. 0. 0. 1. ]] SLAMing on 7.438973796999999 meters Centerline goodness : 0.044525 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.05, Z:4.08 [[ 0.99849978 0.02060626 -0.05073031 -0.47831551] [-0.0198046 0.99967173 0.01625468 -0.04980513] [ 0.05104861 -0.0152256 0.9985801 4.07837512] [ 0. 0. 0. 1. ]] SLAMing on 7.4689737969999985 meters Centerline goodness : 0.049776 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.05, Z:4.08 [[ 0.99895453 0.02556615 -0.03789748 -0.4688209 ] [-0.02508511 0.99959929 0.01311488 -0.0503672 ] [ 0.03821759 -0.01215051 0.99919557 4.08245592] [ 0. 0. 0. 1. ]] SLAMing on 7.498973796999999 meters Centerline goodness : 0.048507 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.05, Z:4.09 [[ 0.99893638 0.02575445 -0.03824691 -0.4678188 ] [-0.02528214 0.99959864 0.01278164 -0.05054717] [ 0.03856074 -0.01180109 0.99918657 4.08531696] [ 0. 0. 0. 1. ]] SLAMing on 7.528973796999999 meters Centerline goodness : 0.272109 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.05, Z:4.09 [[ 0.99889355 0.02620579 -0.03905032 -0.46718411] [-0.02571297 0.99958393 0.01306943 -0.05071296] [ 0.03937656 -0.01205087 0.99915177 4.08771806] [ 0. 0. 0. 1. ]] SLAMing on 7.558973796999998 meters Centerline goodness : 0.037264 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.05, Z:4.09 [[ 0.99873399 0.0308752 -0.03971317 -0.4671654 ] [-0.03017682 0.99938129 0.01806656 -0.05244539] [ 0.04024641 -0.01684527 0.99904778 4.08973585] [ 0. 0. 0. 1. ]] Total time of SLAM: 555.32 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%| | 0/240 [00:00