+ python -m lidar_slam --no-model /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: True The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.027535379 Adjusted end_distance from 9.223372036854776e+18 to 4.997535379 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027535379 meters Centerline goodness : 0.192832 Centerline is valid? [0, False] SLAMing on 0.057535379 meters Centerline goodness : 0.187363 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.00 [[ 0.99999573 -0.0016034 0.00244202 0.02054218] [ 0.00161973 0.99997624 -0.00670052 0.00709714] [-0.00243122 0.00670444 0.99997457 -0.00245044] [ 0. 0. 0. 1. ]] SLAMing on 0.087535379 meters Centerline goodness : 0.161790 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99998683 -0.0014167 0.00493382 0.04203391] [ 0.00146554 0.99994983 -0.00990868 0.01196289] [-0.00491953 0.00991578 0.99993874 -0.00462208] [ 0. 0. 0. 1. ]] SLAMing on 0.117535379 meters Centerline goodness : 0.182128 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.00 [[ 0.99998857 -0.00364498 0.00309271 0.04644195] [ 0.00368455 0.99991017 -0.0128867 0.01921899] [-0.00304546 0.01289795 0.99991218 -0.00404776] [ 0. 0. 0. 1. ]] SLAMing on 0.147535379 meters Centerline goodness : 0.176564 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:0.00 [[ 9.99923071e-01 -1.16595586e-02 -4.23159015e-03 6.49607037e-02] [ 1.15914066e-02 9.99808175e-01 -1.57877168e-02 3.62454101e-02] [ 4.41485624e-03 1.57374521e-02 9.99866412e-01 6.06262004e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.177535379 meters Centerline goodness : 0.162287 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.00 [[ 0.99996363 -0.00838336 0.00156802 0.08035238] [ 0.00839983 0.99990628 -0.01081125 0.03710599] [-0.00147723 0.01082402 0.99994033 -0.00114714] [ 0. 0. 0. 1. ]] SLAMing on 0.207535379 meters Centerline goodness : 0.157863 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.00 [[ 9.99975612e-01 -6.96264112e-03 5.45409559e-04 8.29065716e-02] [ 6.96736880e-03 9.99933336e-01 -9.20762331e-03 4.27450223e-02] [-4.81263823e-04 9.21119882e-03 9.99957460e-01 -2.59370333e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.237535379 meters Centerline goodness : 0.156508 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:0.00 [[ 0.99998507 -0.00454292 -0.00303827 0.0916831 ] [ 0.00452948 0.99997999 -0.00441527 0.05385518] [ 0.00305827 0.00440144 0.99998564 0.00185936] [ 0. 0. 0. 1. ]] SLAMing on 0.267535379 meters Centerline goodness : 0.158007 Centerline is valid? [False, False] Translation: X:0.09, Y:0.06, Z:0.00 [[ 0.99998856 -0.00231998 -0.00418364 0.0946773 ] [ 0.00231157 0.9999953 -0.00201305 0.05985977] [ 0.00418829 0.00200335 0.99998922 0.00240705] [ 0. 0. 0. 1. ]] SLAMing on 0.29753537900000004 meters Centerline goodness : 0.140820 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.00 [[ 9.99986690e-01 -1.56441983e-04 -5.15713148e-03 9.74131766e-02] [ 1.57343887e-04 9.99999972e-01 1.74479459e-04 6.64106351e-02] [ 5.15710404e-03 -1.75288579e-04 9.99986687e-01 2.76789856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32753537899999996 meters Centerline goodness : 0.135151 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.00 [[ 0.99997867 0.00120215 -0.00641948 0.1015975 ] [-0.00119223 0.99999809 0.00154844 0.07380241] [ 0.00642133 -0.00154075 0.9999782 0.0023234 ] [ 0. 0. 0. 1. ]] SLAMing on 0.357535379 meters Centerline goodness : 0.157430 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:0.00 [[ 0.99994108 0.00283546 -0.01047864 0.11250669] [-0.00279106 0.99998708 0.00424945 0.08855561] [ 0.01049055 -0.00421995 0.99993607 0.00364115] [ 0. 0. 0. 1. ]] SLAMing on 0.387535379 meters Centerline goodness : 0.156962 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:0.00 [[ 0.99992252 0.00423208 -0.01170622 0.11653472] [-0.00416488 0.99997474 0.00575912 0.09549563] [ 0.0117303 -0.00570992 0.99991489 0.00331175] [ 0. 0. 0. 1. ]] SLAMing on 0.41753537900000004 meters Centerline goodness : 0.126829 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:0.00 [[ 0.99986359 0.00424842 -0.01596095 0.1286507 ] [-0.00412894 0.99996327 0.00751097 0.10984252] [ 0.01599228 -0.00744404 0.9998444 0.00424689] [ 0. 0. 0. 1. ]] SLAMing on 0.44753537899999996 meters Centerline goodness : 0.163741 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:0.00 [[ 0.99985473 0.00226626 -0.01689315 0.13194076] [-0.00217903 0.99998421 0.00518012 0.11839897] [ 0.01690462 -0.00514256 0.99984388 0.00405133] [ 0. 0. 0. 1. ]] SLAMing on 0.477535379 meters Centerline goodness : 0.167393 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:0.00 [[ 9.99841972e-01 4.99673927e-04 -1.77702213e-02 1.35132439e-01] [-4.40506789e-04 9.99994347e-01 3.33332513e-03 1.26198306e-01] [ 1.77717865e-02 -3.32497047e-03 9.99836541e-01 3.96348720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.507535379 meters Centerline goodness : 0.164979 Centerline is valid? [False, False] Translation: X:0.15, Y:0.14, Z:0.00 [[ 0.99977237 -0.00268852 -0.0211656 0.14661613] [ 0.00275288 0.99999167 0.00301224 0.13898974] [ 0.02115733 -0.00306982 0.99977145 0.00417831] [ 0. 0. 0. 1. ]] SLAMing on 0.537535379 meters Centerline goodness : 0.163880 Centerline is valid? [False, False] Translation: X:0.16, Y:0.14, Z:-0.00 [[ 9.99870960e-01 -5.62013993e-03 -1.50491362e-02 1.59376360e-01] [ 5.75091550e-03 9.99945958e-01 8.66077607e-03 1.42045101e-01] [ 1.49996481e-02 -8.74620480e-03 9.99849246e-01 -7.75377894e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5675353790000001 meters Centerline goodness : 0.125550 Centerline is valid? [False, False] Translation: X:0.16, Y:0.15, Z:-0.00 [[ 9.99841770e-01 -7.88366319e-03 -1.59462598e-02 1.62601997e-01] [ 7.99224730e-03 9.99945231e-01 6.75715044e-03 1.48500558e-01] [ 1.58921153e-02 -6.88352771e-03 9.99850018e-01 -7.77489085e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.597535379 meters Centerline goodness : 0.122068 Centerline is valid? [False, False] Translation: X:0.18, Y:0.16, Z:-0.00 [[ 9.99702223e-01 -1.39698836e-02 -2.00076900e-02 1.78609531e-01] [ 1.41250285e-02 9.99871094e-01 7.63404337e-03 1.59876798e-01] [ 1.98984642e-02 -7.91437932e-03 9.99770681e-01 -2.48066503e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.627535379 meters Centerline goodness : 0.123759 Centerline is valid? [False, False] Translation: X:0.20, Y:0.17, Z:-0.00 [[ 0.99977133 -0.01455566 -0.01566591 0.19836753] [ 0.01464084 0.99987858 0.00533656 0.16578415] [ 0.01558633 -0.0055647 0.99986304 -0.00213033] [ 0. 0. 0. 1. ]] SLAMing on 0.657535379 meters Centerline goodness : 0.114681 Centerline is valid? [False, False] Translation: X:0.20, Y:0.17, Z:-0.00 [[ 0.99973592 -0.01563321 -0.01684326 0.20424253] [ 0.01573483 0.99985869 0.00591779 0.16987633] [ 0.01674837 -0.00618125 0.99984063 -0.00381739] [ 0. 0. 0. 1. ]] SLAMing on 0.687535379 meters Centerline goodness : 0.113181 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:-0.00 [[ 0.99965161 -0.02062303 -0.01647279 0.23580214] [ 0.02069703 0.9997764 0.00433386 0.17920539] [ 0.01637973 -0.00467329 0.99985492 -0.00472309] [ 0. 0. 0. 1. ]] SLAMing on 0.717535379 meters Centerline goodness : 0.111903 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:-0.01 [[ 0.99960103 -0.02239718 -0.01720864 0.23927119] [ 0.02245973 0.9997418 0.00344978 0.18263961] [ 0.01712693 -0.00383491 0.99984597 -0.00511705] [ 0. 0. 0. 1. ]] SLAMing on 0.747535379 meters Centerline goodness : 0.112980 Centerline is valid? [False, False] Translation: X:0.24, Y:0.19, Z:-0.01 [[ 0.99952182 -0.02477454 -0.01850299 0.24396376] [ 0.02482171 0.99968919 0.0023243 0.18624477] [ 0.01843966 -0.00278246 0.9998261 -0.00543665] [ 0. 0. 0. 1. ]] SLAMing on 0.777535379 meters Centerline goodness : 0.113385 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-0.01 [[ 9.99540038e-01 -2.67482581e-02 -1.42913680e-02 2.63280543e-01] [ 2.67376757e-02 9.99642051e-01 -9.31065662e-04 1.90858642e-01] [ 1.43111568e-02 5.48519443e-04 9.99897440e-01 -6.78657383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.807535379 meters Centerline goodness : 0.115557 Centerline is valid? [False, False] Translation: X:0.29, Y:0.20, Z:-0.01 [[ 0.99943517 -0.03118045 -0.01253512 0.29408311] [ 0.0311976 0.99951255 0.00117498 0.19628716] [ 0.01249237 -0.00156538 0.99992074 -0.00755296] [ 0. 0. 0. 1. ]] SLAMing on 0.837535379 meters Centerline goodness : 0.108430 Centerline is valid? [False, False] Translation: X:0.31, Y:0.20, Z:-0.01 [[ 0.99928148 -0.03412108 -0.01650086 0.30540112] [ 0.03418338 0.99940942 0.00350825 0.19953956] [ 0.01637141 -0.00406978 0.9998577 -0.00680577] [ 0. 0. 0. 1. ]] SLAMing on 0.867535379 meters Centerline goodness : 0.109220 Centerline is valid? [False, False] Translation: X:0.31, Y:0.20, Z:-0.01 [[ 0.99929863 -0.03314975 -0.01741661 0.31047006] [ 0.03325606 0.99942974 0.00585051 0.20100817] [ 0.01721273 -0.00642562 0.9998312 -0.00878278] [ 0. 0. 0. 1. ]] SLAMing on 0.897535379 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.9275353789999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.957535379 meters Centerline goodness : 0.114203 Centerline is valid? [False, False] Translation: X:0.38, Y:0.21, Z:-0.01 [[ 0.99928951 -0.0325284 -0.01903616 0.38120469] [ 0.03262618 0.99945586 0.00484857 0.20869766] [ 0.01886808 -0.0054662 0.99980704 -0.00761058] [ 0. 0. 0. 1. ]] SLAMing on 0.987535379 meters Centerline goodness : 0.113791 Centerline is valid? [False, False] Translation: X:0.40, Y:0.21, Z:-0.01 [[ 0.99927888 -0.0344559 -0.01595349 0.40410491] [ 0.034487 0.99940374 0.0016782 0.2128902 ] [ 0.01588615 -0.00222718 0.99987133 -0.00968315] [ 0. 0. 0. 1. ]] SLAMing on 1.017535379 meters Centerline goodness : 0.116276 Centerline is valid? [False, False] Translation: X:0.43, Y:0.22, Z:-0.01 [[ 0.9992563 -0.03604147 -0.01370587 0.42521829] [ 0.0360237 0.99934975 -0.00154086 0.21538732] [ 0.0137525 0.00104598 0.99990488 -0.01099309] [ 0. 0. 0. 1. ]] SLAMing on 1.047535379 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.077535379 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.107535379 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.1375353789999998 meters Centerline goodness : 0.457587 Centerline is valid? [False, False] Translation: X:0.49, Y:0.21, Z:-0.01 [[ 0.99911161 -0.03962822 -0.01433858 0.49275444] [ 0.03968998 0.99920384 0.00404893 0.21126691] [ 0.01416671 -0.00461443 0.999889 -0.01154684] [ 0. 0. 0. 1. ]] SLAMing on 1.1675353789999998 meters Centerline goodness : 0.205061 Centerline is valid? [False, False] Translation: X:0.51, Y:0.21, Z:-0.02 [[ 0.99923624 -0.03766796 -0.01039502 0.50632364] [ 0.03763704 0.9992865 -0.00315459 0.21296685] [ 0.01050643 0.00276094 0.99994099 -0.01542727] [ 0. 0. 0. 1. ]] SLAMing on 1.1975353789999998 meters Centerline goodness : 0.531472 Centerline is valid? [False, False] Translation: X:0.51, Y:0.21, Z:-0.02 [[ 0.99914785 -0.03964629 -0.01147772 0.51331295] [ 0.03962322 0.9992122 -0.00223049 0.20854674] [ 0.01155711 0.00177381 0.99993164 -0.01780605] [ 0. 0. 0. 1. ]] SLAMing on 1.2275353789999999 meters Centerline goodness : 0.489968 Centerline is valid? [False, False] Translation: X:0.52, Y:0.21, Z:-0.02 [[ 0.99907541 -0.0411478 -0.01245766 0.51800497] [ 0.04111514 0.9991503 -0.00286716 0.20706497] [ 0.01256505 0.00235232 0.99991829 -0.01991889] [ 0. 0. 0. 1. ]] SLAMing on 1.257535379 meters Centerline goodness : 0.513287 Centerline is valid? [False, False] Translation: X:0.53, Y:0.21, Z:-0.02 [[ 0.99918245 -0.03820816 -0.01321254 0.53303321] [ 0.03810306 0.99924085 -0.00811713 0.20564078] [ 0.01351265 0.00760706 0.99987976 -0.02226087] [ 0. 0. 0. 1. ]] SLAMing on 1.287535379 meters Centerline goodness : 0.120950 Centerline is valid? [False, False] Translation: X:0.54, Y:0.20, Z:-0.02 [[ 0.99914571 -0.03886851 -0.01403889 0.53725482] [ 0.03876651 0.9992204 -0.00746635 0.20302834] [ 0.01431816 0.00691573 0.99987357 -0.02406001] [ 0. 0. 0. 1. ]] SLAMing on 1.317535379 meters Centerline goodness : 0.779159 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:-0.02 [[ 9.99149918e-01 -3.85500951e-02 -1.46058852e-02 5.64669842e-01] [ 3.85604617e-02 9.99256177e-01 4.28694362e-04 1.91836313e-01] [ 1.45784948e-02 -9.91539611e-04 9.99893236e-01 -2.44338650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3475353789999998 meters Centerline goodness : 0.876040 Centerline is valid? [False, False] Translation: X:0.57, Y:0.19, Z:-0.03 [[ 9.99077410e-01 -3.98823390e-02 -1.59288116e-02 5.69954561e-01] [ 3.98892831e-02 9.99204099e-01 1.18341617e-04 1.89302460e-01] [ 1.59114141e-02 -7.53621310e-04 9.99873121e-01 -2.66878327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3775353789999998 meters Centerline goodness : 0.166801 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:-0.03 [[ 9.98986322e-01 -4.15189352e-02 -1.73926893e-02 5.75520644e-01] [ 4.15169382e-02 9.99137687e-01 -4.76031304e-04 1.86815631e-01] [ 1.73974557e-02 -2.46542447e-04 9.99848622e-01 -2.88717712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4075353789999998 meters Centerline goodness : 0.739070 Centerline is valid? [False, False] Translation: X:0.60, Y:0.18, Z:-0.03 [[ 0.99884528 -0.04426993 -0.01866208 0.6025651 ] [ 0.04430373 0.99901712 0.00140135 0.17833318] [ 0.0185817 -0.00222653 0.99982487 -0.02949075] [ 0. 0. 0. 1. ]] SLAMing on 1.4375353789999998 meters Centerline goodness : 0.802998 Centerline is valid? [False, False] Translation: X:0.61, Y:0.18, Z:-0.03 [[ 9.98710416e-01 -4.65047184e-02 -2.03670221e-02 6.08531108e-01] [ 4.65200226e-02 9.98917319e-01 2.78021088e-04 1.75693838e-01] [ 2.03320419e-02 -1.22513689e-03 9.99792532e-01 -3.16182529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4675353789999999 meters Centerline goodness : 0.884573 Centerline is valid? [False, False] Translation: X:0.63, Y:0.17, Z:-0.03 [[ 0.99876683 -0.04617232 -0.01824657 0.62918126] [ 0.04623084 0.99892686 0.00279817 0.16982398] [ 0.01809779 -0.00363827 0.9998296 -0.03219016] [ 0. 0. 0. 1. ]] SLAMing on 1.4975353789999999 meters Centerline goodness : 0.845179 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.03 [[ 0.99858022 -0.04922419 -0.02035976 0.65737727] [ 0.04932762 0.99877201 0.00460957 0.16176239] [ 0.02010786 -0.00560733 0.99978209 -0.0324412 ] [ 0. 0. 0. 1. ]] SLAMing on 1.527535379 meters Centerline goodness : 0.903567 Centerline is valid? [False, False] Translation: X:0.66, Y:0.16, Z:-0.03 [[ 0.99849931 -0.05011103 -0.02209114 0.66212597] [ 0.0502441 0.99872177 0.00551002 0.15807698] [ 0.02178679 -0.0066117 0.99974078 -0.03321454] [ 0. 0. 0. 1. ]] SLAMing on 1.557535379 meters Centerline goodness : 0.848521 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.03 [[ 0.99848631 -0.05113217 -0.02026284 0.68370452] [ 0.05124481 0.99867321 0.00507912 0.15491585] [ 0.01997625 -0.0061098 0.99978179 -0.03412385] [ 0. 0. 0. 1. ]] SLAMing on 1.587535379 meters Centerline goodness : 0.895773 Centerline is valid? [False, False] Translation: X:0.71, Y:0.15, Z:-0.04 [[ 0.99831669 -0.05394644 -0.02129704 0.71095276] [ 0.05409564 0.99851465 0.00649246 0.14695619] [ 0.02091517 -0.0076336 0.99975211 -0.03507075] [ 0. 0. 0. 1. ]] SLAMing on 1.6175353789999998 meters Centerline goodness : 0.896478 Centerline is valid? [False, False] Translation: X:0.72, Y:0.15, Z:-0.04 [[ 0.99806873 -0.05658098 -0.02563977 0.72003859] [ 0.05667708 0.99838795 0.00303629 0.14618247] [ 0.02542664 -0.00448361 0.99966664 -0.03513978] [ 0. 0. 0. 1. ]] SLAMing on 1.6475353789999998 meters Centerline goodness : 0.908841 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:-0.04 [[ 0.99825266 -0.05551493 -0.02024145 0.7337496 ] [ 0.0554377 0.99845264 -0.00435683 0.14712513] [ 0.02045199 0.00322708 0.99978563 -0.0396661 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6775353789999998 meters Centerline goodness : 0.939541 Centerline is valid? [False, False] Translation: X:0.76, Y:0.14, Z:-0.04 [[ 0.99828146 -0.05456994 -0.02135976 0.76082883] [ 0.05460815 0.99850713 0.00120922 0.13861783] [ 0.02126189 -0.00237356 0.99977112 -0.03929418] [ 0. 0. 0. 1. ]] SLAMing on 1.7075353789999999 meters Centerline goodness : 0.941689 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:-0.04 [[ 0.99822021 -0.05501192 -0.02302378 0.76515252] [ 0.05506227 0.99848171 0.00155848 0.13705679] [ 0.02290309 -0.00282345 0.9997337 -0.04032616] [ 0. 0. 0. 1. ]] SLAMing on 1.7375353789999999 meters Centerline goodness : 0.942721 Centerline is valid? [False, False] Translation: X:0.78, Y:0.14, Z:-0.04 [[ 0.99851294 -0.05107707 -0.0190536 0.77902352] [ 0.0510087 0.99868997 -0.00405711 0.13835519] [ 0.01923587 0.00307918 0.99981023 -0.04439054] [ 0. 0. 0. 1. ]] SLAMing on 1.767535379 meters Centerline goodness : 0.944796 Centerline is valid? [False, False] Translation: X:0.80, Y:0.13, Z:-0.05 [[ 9.98682707e-01 -4.79036086e-02 -1.83873871e-02 8.03440412e-01] [ 4.79147872e-02 9.98851413e-01 1.67628961e-04 1.34257277e-01] [ 1.83582376e-02 -1.04843589e-03 9.99830924e-01 -4.58163789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.797535379 meters Centerline goodness : 0.948193 Centerline is valid? [False, False] Translation: X:0.81, Y:0.13, Z:-0.05 [[ 9.98648340e-01 -4.80652786e-02 -1.97793472e-02 8.06907361e-01] [ 4.80787531e-02 9.98843527e-01 2.06001193e-04 1.34054694e-01] [ 1.97465714e-02 -1.15668910e-03 9.99804348e-01 -4.66522810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8275353789999997 meters Centerline goodness : 0.949457 Centerline is valid? [False, False] Translation: X:0.82, Y:0.14, Z:-0.05 [[ 0.99891662 -0.04403112 -0.01506143 0.82005832] [ 0.04394993 0.99901759 -0.00567998 0.13625075] [ 0.01529673 0.00501187 0.99987044 -0.05099691] [ 0. 0. 0. 1. ]] SLAMing on 1.8575353789999998 meters Centerline goodness : 0.950285 Centerline is valid? [False, True] Translation: X:0.83, Y:0.14, Z:-0.06 [[ 0.99915033 -0.03995826 -0.01009773 0.83294115] [ 0.03984211 0.99914034 -0.01145405 0.13840422] [ 0.01054673 0.011042 0.99988341 -0.05536204] [ 0. 0. 0. 1. ]] SLAMing on 1.8875353789999998 meters Centerline goodness : 0.953973 Centerline is valid? [True, True] Translation: X:0.87, Y:0.13, Z:-0.06 [[ 0.99909828 -0.04112524 -0.01055175 0.86637502] [ 0.04110114 0.99915188 -0.00249174 0.13268964] [ 0.01064528 0.0020558 0.99994122 -0.0574735 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9175353789999998 meters Centerline goodness : 0.956231 Centerline is valid? [True, True] Translation: X:0.88, Y:0.13, Z:-0.06 [[ 9.99358464e-01 -3.42078147e-02 -1.06059107e-02 8.83273351e-01] [ 3.41952845e-02 9.99414244e-01 -1.36058240e-03 1.30395608e-01] [ 1.06462408e-02 9.97037408e-04 9.99942830e-01 -5.67291837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9475353789999998 meters Centerline goodness : 0.959104 Centerline is valid? [True, True] Translation: X:0.93, Y:0.13, Z:-0.05 [[ 0.99914851 -0.03987575 -0.01059151 0.93116856] [ 0.03986028 0.99920387 -0.00166773 0.13188481] [ 0.01064958 0.00124413 0.99994252 -0.05239331] [ 0. 0. 0. 1. ]] SLAMing on 1.9775353789999999 meters Centerline goodness : 0.963755 Centerline is valid? [True, True] Translation: X:0.96, Y:0.13, Z:-0.05 [[ 9.99045381e-01 -4.23735255e-02 -1.06212941e-02 9.56039250e-01] [ 4.23652704e-02 9.99101687e-01 -1.00111634e-03 1.31196676e-01] [ 1.06541736e-02 5.50186664e-04 9.99943091e-01 -5.41202481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.007535379 meters Centerline goodness : 0.965109 Centerline is valid? [True, True] Translation: X:0.99, Y:0.13, Z:-0.05 [[ 9.98892550e-01 -4.58370404e-02 -1.06131198e-02 9.89369000e-01] [ 4.58271376e-02 9.98948694e-01 -1.17451355e-03 1.31654186e-01] [ 1.06557984e-02 6.86843934e-04 9.99942989e-01 -5.41086353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.037535379 meters Centerline goodness : 0.966599 Centerline is valid? [True, True] Translation: X:1.02, Y:0.13, Z:-0.05 [[ 9.98954869e-01 -4.44563305e-02 -1.06209369e-02 1.01505662e+00] [ 4.44482438e-02 9.99011192e-01 -9.96343244e-04 1.29116596e-01] [ 1.06547286e-02 5.23219940e-04 9.99943100e-01 -4.75521706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.067535379 meters Centerline goodness : 0.970369 Centerline is valid? [True, True] Translation: X:1.05, Y:0.13, Z:-0.05 [[ 9.98549276e-01 -5.27888267e-02 -1.06152043e-02 1.05224539e+00] [ 5.27798214e-02 9.98605538e-01 -1.12689450e-03 1.33090431e-01] [ 1.06598893e-02 5.64991101e-04 9.99943022e-01 -4.68630757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.097535379 meters Centerline goodness : 0.969825 Centerline is valid? [True, True] Translation: X:1.08, Y:0.13, Z:-0.05 [[ 9.98632667e-01 -5.11845198e-02 -1.06273666e-02 1.08008354e+00] [ 5.11784342e-02 9.98689169e-01 -8.43981522e-04 1.33420108e-01] [ 1.06566347e-02 2.98935537e-04 9.99943172e-01 -4.96514431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1275353790000002 meters Centerline goodness : 0.972405 Centerline is valid? [True, True] Translation: X:1.11, Y:0.13, Z:-0.05 [[ 9.98553829e-01 -5.27002978e-02 -1.06267689e-02 1.11009541e+00] [ 5.26941477e-02 9.98610330e-01 -8.58089537e-04 1.32893443e-01] [ 1.06572227e-02 2.96880064e-04 9.99943166e-01 -4.51960275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.157535379 meters Centerline goodness : 0.974877 Centerline is valid? [True, True] Translation: X:1.14, Y:0.14, Z:-0.04 [[ 9.98297571e-01 -5.73498896e-02 -1.06277653e-02 1.14446512e+00] [ 5.73442552e-02 9.98354116e-01 -8.34385833e-04 1.35763663e-01] [ 1.06581251e-02 2.23524067e-04 9.99943176e-01 -4.28146883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1875353790000003 meters Centerline goodness : 0.975645 Centerline is valid? [True, True] Translation: X:1.17, Y:0.14, Z:-0.04 [[ 9.98387574e-01 -5.57595479e-02 -1.06360615e-02 1.17002283e+00] [ 5.57559491e-02 9.98444225e-01 -6.34802657e-04 1.35580639e-01] [ 1.06549105e-02 4.07553788e-05 9.99943234e-01 -4.23935972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.217535379 meters Centerline goodness : 0.978605 Centerline is valid? [True, True] Translation: X:1.20, Y:0.14, Z:-0.04 [[ 9.98285075e-01 -5.75661260e-02 -1.06324984e-02 1.19977209e+00] [ 5.75617240e-02 9.98341690e-01 -7.19832843e-04 1.40118298e-01] [ 1.06563045e-02 1.06573443e-04 9.99943214e-01 -4.34057021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.247535379 meters Centerline goodness : 0.979376 Centerline is valid? [True, True] Translation: X:1.23, Y:0.14, Z:-0.04 [[ 9.98150782e-01 -5.98490028e-02 -1.06354454e-02 1.23187422e+00] [ 5.98454826e-02 9.98207442e-01 -6.49217817e-04 1.43334654e-01] [ 1.06552358e-02 1.15339107e-05 9.99943231e-01 -4.36473337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.277535379 meters Centerline goodness : 0.979699 Centerline is valid? [True, True] Translation: X:1.26, Y:0.14, Z:-0.03 [[ 9.98635876e-01 -5.11192179e-02 -1.06401342e-02 1.26424618e+00] [ 5.11164258e-02 9.98692558e-01 -5.34377566e-04 1.41945416e-01] [ 1.06535398e-02 -1.02370196e-05 9.99943249e-01 -3.05036544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.307535379 meters Centerline goodness : 0.980796 Centerline is valid? [True, True] Translation: X:1.29, Y:0.14, Z:-0.03 [[ 9.98653066e-01 -5.07814261e-02 -1.06442497e-02 1.29398425e+00] [ 5.07796922e-02 9.98709785e-01 -4.33270972e-04 1.43542778e-01] [ 1.06525185e-02 -1.07824340e-04 9.99943255e-01 -3.18851766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.337535379 meters Centerline goodness : 0.981555 Centerline is valid? [True, True] Translation: X:1.32, Y:0.15, Z:-0.03 [[ 9.98643185e-01 -5.09750595e-02 -1.06457662e-02 1.32082295e+00] [ 5.09737319e-02 9.98699916e-01 -3.96182766e-04 1.46008229e-01] [ 1.06521212e-02 -1.47009212e-04 9.99943254e-01 -3.08276894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.367535379 meters Centerline goodness : 0.983418 Centerline is valid? [True, True] Translation: X:1.35, Y:0.15, Z:-0.03 [[ 9.98716113e-01 -4.95258588e-02 -1.06449839e-02 1.34969134e+00] [ 4.95242462e-02 9.98772835e-01 -4.15203294e-04 1.49776745e-01] [ 1.06524841e-02 -1.12514585e-04 9.99943254e-01 -2.99610011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3975353790000002 meters Centerline goodness : 0.985641 Centerline is valid? [True, True] Translation: X:1.39, Y:0.16, Z:-0.04 [[ 9.97786191e-01 -6.56459864e-02 -1.06452520e-02 1.39139698e+00] [ 6.56453591e-02 9.97842933e-01 -4.08710655e-04 1.57815021e-01] [ 1.06491197e-02 -2.91005541e-04 9.99943254e-01 -3.83889809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.427535379 meters Centerline goodness : 0.986027 Centerline is valid? [True, True] Translation: X:1.40, Y:0.15, Z:-0.04 [[ 9.98522155e-01 -5.32897021e-02 -1.06636966e-02 1.40448742e+00] [ 5.32934384e-02 9.98578893e-01 6.63159796e-05 1.54894016e-01] [ 1.06450084e-02 -6.34523034e-04 9.99943139e-01 -3.59063127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.457535379 meters Centerline goodness : 0.985173 Centerline is valid? [True, True] Translation: X:1.43, Y:0.16, Z:-0.03 [[ 9.99066999e-01 -4.18550099e-02 -1.06437406e-02 1.43371392e+00] [ 4.18528799e-02 9.99123695e-01 -4.22877034e-04 1.59113237e-01] [ 1.06521130e-02 -2.29887095e-05 9.99943264e-01 -2.93129693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.487535379 meters Centerline goodness : 0.986741 Centerline is valid? [True, True] Translation: X:1.46, Y:0.16, Z:-0.03 [[ 9.99119407e-01 -4.05848831e-02 -1.06432139e-02 1.46192827e+00] [ 4.05825440e-02 9.99176094e-01 -4.35743982e-04 1.61465227e-01] [ 1.06521295e-02 3.43157469e-06 9.99943264e-01 -2.87559715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.517535379 meters Centerline goodness : 0.988320 Centerline is valid? [True, True] Translation: X:1.49, Y:0.16, Z:-0.03 [[ 9.99162025e-01 -3.95217971e-02 -1.06430725e-02 1.49031973e+00] [ 3.95193612e-02 9.99218708e-01 -4.39169296e-04 1.63838565e-01] [ 1.06521139e-02 1.81938564e-05 9.99943264e-01 -2.84103282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.547535379 meters Centerline goodness : 0.987810 Centerline is valid? [True, True] Translation: X:1.52, Y:0.17, Z:-0.03 [[ 9.99252784e-01 -3.71564562e-02 -1.06429318e-02 1.51757603e+00] [ 3.71538501e-02 9.99309459e-01 -4.42552969e-04 1.67235890e-01] [ 1.06520261e-02 4.67963932e-05 9.99943264e-01 -2.79673441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.577535379 meters Centerline goodness : 0.987869 Centerline is valid? [True, True] Translation: X:1.55, Y:0.17, Z:-0.03 [[ 9.99271930e-01 -3.66379340e-02 -1.06428882e-02 1.54599619e+00] [ 3.66352874e-02 9.99328604e-01 -4.43598866e-04 1.69786649e-01] [ 1.06519952e-02 5.33706266e-05 9.99943264e-01 -2.72113276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.607535379 meters Centerline goodness : 0.990650 Centerline is valid? [True, True] Translation: X:1.57, Y:0.17, Z:-0.03 [[ 9.99211103e-01 -3.82609982e-02 -1.06427495e-02 1.57435623e+00] [ 3.82584084e-02 9.99267779e-01 -4.46903556e-04 1.73326749e-01] [ 1.06520556e-02 3.93763407e-05 9.99943264e-01 -2.68684578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.637535379 meters Centerline goodness : 0.990188 Centerline is valid? [True, True] Translation: X:1.60, Y:0.18, Z:-0.03 [[ 9.99200314e-01 -3.85417705e-02 -1.06425975e-02 1.60099750e+00] [ 3.85391584e-02 9.99256989e-01 -4.50492129e-04 1.75731333e-01] [ 1.06520527e-02 3.99751241e-05 9.99943264e-01 -2.61354888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.667535379 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:1.63, Y:0.18, Z:-0.03 [[ 9.99146537e-01 -3.99115688e-02 -1.06425315e-02 1.62917749e+00] [ 3.99090178e-02 9.99203216e-01 -4.52048248e-04 1.78696238e-01] [ 1.06520936e-02 2.69294650e-05 9.99943264e-01 -2.58516946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.697535379 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:1.66, Y:0.18, Z:-0.03 [[ 9.99049738e-01 -4.22653634e-02 -1.06423924e-02 1.65650139e+00] [ 4.22629113e-02 9.99106420e-01 -4.55298534e-04 1.82448928e-01] [ 1.06521259e-02 5.08739452e-06 9.99943264e-01 -2.50730112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.727535379 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:1.68, Y:0.18, Z:-0.02 [[ 9.98969149e-01 -4.41291294e-02 -1.06423319e-02 1.68411973e+00] [ 4.41267680e-02 9.99025835e-01 -4.56709016e-04 1.84805212e-01] [ 1.06521187e-02 -1.33734921e-05 9.99943264e-01 -2.48409290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.757535379 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:1.71, Y:0.19, Z:-0.02 [[ 9.98885339e-01 -4.59872165e-02 -1.06421939e-02 1.71183568e+00] [ 4.59849266e-02 9.98942028e-01 -4.59900830e-04 1.87078935e-01] [ 1.06520844e-02 -2.99923109e-05 9.99943264e-01 -2.43961340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.787535379 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:1.74, Y:0.19, Z:-0.02 [[ 9.98782712e-01 -4.81647238e-02 -1.06420559e-02 1.73947744e+00] [ 4.81625237e-02 9.98839405e-01 -4.63073595e-04 1.89454516e-01] [ 1.06520086e-02 -5.00383668e-05 9.99943264e-01 -2.36504954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.817535379 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:1.77, Y:0.19, Z:-0.02 [[ 9.98598361e-01 -5.18465327e-02 -1.06419179e-02 1.76644332e+00] [ 5.18445080e-02 9.98655060e-01 -4.66222709e-04 1.93056744e-01] [ 1.06517772e-02 -8.61557658e-05 9.99943265e-01 -2.35457453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.847535379 meters Centerline goodness : 0.992934 Centerline is valid? [True, True] Translation: X:1.79, Y:0.20, Z:-0.02 [[ 9.98482132e-01 -5.40387098e-02 -1.06418580e-02 1.79429522e+00] [ 5.40367951e-02 9.98538836e-01 -4.67585221e-04 1.95889030e-01] [ 1.06515762e-02 -1.08176413e-04 9.99943265e-01 -2.36602811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8775353790000002 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:1.82, Y:0.20, Z:-0.02 [[ 9.98388985e-01 -5.57331846e-02 -1.06417090e-02 1.82216497e+00] [ 5.57313302e-02 9.98445691e-01 -4.70953168e-04 1.98739294e-01] [ 1.06514162e-02 -1.22882143e-04 9.99943265e-01 -2.36467616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.907535379 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:1.85, Y:0.20, Z:-0.03 [[ 9.98197847e-01 -5.90577289e-02 -1.06415594e-02 1.85092661e+00] [ 5.90560276e-02 9.98254557e-01 -4.74309066e-04 2.03670301e-01] [ 1.06509968e-02 -1.54993938e-04 9.99943265e-01 -2.56631630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.937535379 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:1.88, Y:0.21, Z:-0.02 [[ 9.98187523e-01 -5.92317270e-02 -1.06429205e-02 1.87713466e+00] [ 5.92303602e-02 9.98244242e-01 -4.43850996e-04 2.05849056e-01] [ 1.06505242e-02 -1.87337489e-04 9.99943264e-01 -2.34455358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.967535379 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:1.91, Y:0.21, Z:-0.02 [[ 9.98134027e-01 -6.01267555e-02 -1.06413362e-02 1.90500931e+00] [ 6.01250645e-02 9.98190737e-01 -4.79043497e-04 2.08182194e-01] [ 1.06508866e-02 -1.61661413e-04 9.99943265e-01 -2.29193432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.997535379 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:1.93, Y:0.21, Z:-0.02 [[ 9.98115112e-01 -6.04399523e-02 -1.06411846e-02 1.93347978e+00] [ 6.04382434e-02 9.98171822e-01 -4.82389202e-04 2.09729060e-01] [ 1.06508862e-02 -1.61654551e-04 9.99943265e-01 -2.26159368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.027535379 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:1.96, Y:0.21, Z:-0.02 [[ 9.98028595e-01 -6.18521860e-02 -1.06410322e-02 1.96111759e+00] [ 6.18505218e-02 9.98085305e-01 -4.85728010e-04 2.12468561e-01] [ 1.06507012e-02 -1.73382949e-04 9.99943265e-01 -2.14542964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.057535379 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:1.99, Y:0.22, Z:-0.02 [[ 9.97994699e-01 -6.23967311e-02 -1.06408797e-02 1.98911300e+00] [ 6.23950624e-02 9.98051410e-01 -4.89044658e-04 2.17046190e-01] [ 1.06506598e-02 -1.75874380e-04 9.99943265e-01 -1.97712960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.087535379 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:2.02, Y:0.22, Z:-0.02 [[ 9.97967287e-01 -6.28336579e-02 -1.06407164e-02 2.01670105e+00] [ 6.28319765e-02 9.98023998e-01 -4.92572205e-04 2.20624625e-01] [ 1.06506405e-02 -1.77006298e-04 9.99943265e-01 -1.98902524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.117535379 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:2.05, Y:0.23, Z:-0.02 [[ 9.97922697e-01 -6.35379416e-02 -1.06405524e-02 2.04564261e+00] [ 6.35362627e-02 9.97979407e-01 -4.96090050e-04 2.26302188e-01] [ 1.06505728e-02 -1.81001413e-04 9.99943265e-01 -2.29074125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1475353790000002 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:2.07, Y:0.23, Z:-0.02 [[ 9.97969924e-01 -6.27915772e-02 -1.06418560e-02 2.07339894e+00] [ 6.27901529e-02 9.98026642e-01 -4.68225861e-04 2.29567119e-01] [ 1.06502565e-02 -2.00928441e-04 9.99943264e-01 -2.02362848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.177535379 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:2.10, Y:0.23, Z:-0.02 [[ 9.97985617e-01 -6.25419145e-02 -1.06403240e-02 2.10133066e+00] [ 6.25401290e-02 9.98042324e-01 -5.00777245e-04 2.33131270e-01] [ 1.06508133e-02 -1.65678750e-04 9.99943265e-01 -2.12138580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.207535379 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:2.13, Y:0.24, Z:-0.02 [[ 9.97693138e-01 -6.70461669e-02 -1.06401608e-02 2.13417132e+00] [ 6.70446007e-02 9.97749852e-01 -5.04222801e-04 2.41239211e-01] [ 1.06500250e-02 -2.10305701e-04 9.99943265e-01 -2.39079433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.237535379 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:2.16, Y:0.25, Z:-0.02 [[ 9.97658649e-01 -6.75561562e-02 -1.06482934e-02 2.16322886e+00] [ 6.75564582e-02 9.97715398e-01 -3.31740996e-04 2.45236980e-01] [ 1.06463774e-02 -3.88396712e-04 9.99943250e-01 -2.47413364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.267535379 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:2.19, Y:0.25, Z:-0.03 [[ 9.98013219e-01 -6.20984654e-02 -1.06487585e-02 2.18556467e+00] [ 6.20985617e-02 9.98069970e-01 -3.21920299e-04 2.45628747e-01] [ 1.06481968e-02 -3.39991872e-04 9.99943249e-01 -2.64151220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.297535379 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:2.21, Y:0.25, Z:-0.02 [[ 9.98185965e-01 -5.92584339e-02 -1.06403610e-02 2.21215297e+00] [ 5.92565050e-02 9.98242666e-01 -4.96734245e-04 2.51504347e-01] [ 1.06510981e-02 -1.34677454e-04 9.99943266e-01 -2.42263262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.327535379 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:2.24, Y:0.26, Z:-0.02 [[ 9.98228750e-01 -5.85334328e-02 -1.06395547e-02 2.23954507e+00] [ 5.85312846e-02 9.98285443e-01 -5.13443117e-04 2.55375232e-01] [ 1.06513662e-02 -1.10213123e-04 9.99943267e-01 -2.37467082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.357535379 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:2.27, Y:0.26, Z:-0.02 [[ 9.98310706e-01 -5.71186261e-02 -1.06393950e-02 2.26722703e+00] [ 5.71163625e-02 9.98367394e-01 -5.16732138e-04 2.58821138e-01] [ 1.06515400e-02 -9.18243137e-05 9.99943267e-01 -2.24990513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.387535379 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:2.30, Y:0.26, Z:-0.02 [[ 9.98363006e-01 -5.61971013e-02 -1.06392354e-02 2.29550879e+00] [ 5.61947506e-02 9.98419691e-01 -5.19997013e-04 2.62212500e-01] [ 1.06516444e-02 -7.87233975e-05 9.99943267e-01 -2.17897782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.417535379 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:2.32, Y:0.27, Z:-0.02 [[ 9.98488250e-01 -5.39261090e-02 -1.06390755e-02 2.32375947e+00] [ 5.39235948e-02 9.98544927e-01 -5.23248421e-04 2.66932913e-01] [ 1.06518116e-02 -5.12397946e-05 9.99943267e-01 -2.04347174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.447535379 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:2.35, Y:0.27, Z:-0.02 [[ 9.98508842e-01 -5.35434964e-02 -1.06389159e-02 2.35175956e+00] [ 5.35409260e-02 9.98565517e-01 -5.26473270e-04 2.70264613e-01] [ 1.06518438e-02 -4.39291934e-05 9.99943267e-01 -1.93253644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.477535379 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:2.38, Y:0.27, Z:-0.02 [[ 9.98538728e-01 -5.29832536e-02 -1.06387567e-02 2.37914889e+00] [ 5.29806174e-02 9.98595400e-01 -5.29671149e-04 2.73473513e-01] [ 1.06518772e-02 -3.47507414e-05 9.99943267e-01 -1.81467519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.507535379 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:2.41, Y:0.28, Z:-0.02 [[ 9.98576568e-01 -5.22652714e-02 -1.06385974e-02 2.40706193e+00] [ 5.22625606e-02 9.98633236e-01 -5.32850727e-04 2.78574840e-01] [ 1.06519066e-02 -2.39080917e-05 9.99943267e-01 -1.54878377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.537535379 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:2.43, Y:0.28, Z:-0.01 [[ 9.98612056e-01 -5.15828026e-02 -1.06384363e-02 2.43499761e+00] [ 5.15800190e-02 9.98668721e-01 -5.36047670e-04 2.81995641e-01] [ 1.06519244e-02 -1.34270825e-05 9.99943267e-01 -1.40911641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.567535379 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:2.46, Y:0.29, Z:-0.01 [[ 9.98658814e-01 -5.06695275e-02 -1.06382752e-02 2.46264413e+00] [ 5.06666582e-02 9.98715474e-01 -5.39226321e-04 2.85668055e-01] [ 1.06519324e-02 -5.02736161e-07 9.99943267e-01 -1.24347609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.597535379 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:2.49, Y:0.29, Z:-0.01 [[ 9.98639191e-01 -5.10548394e-02 -1.06381139e-02 2.48942796e+00] [ 5.10519583e-02 9.98695851e-01 -5.42389730e-04 2.92535066e-01] [ 1.06519319e-02 -1.44490754e-06 9.99943267e-01 -1.42988132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.627535379 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:2.52, Y:0.30, Z:-0.01 [[ 9.98670990e-01 -5.04290108e-02 -1.06380439e-02 2.51725838e+00] [ 5.04260796e-02 9.98727648e-01 -5.43760004e-04 2.95611954e-01] [ 1.06519298e-02 6.60249381e-06 9.99943267e-01 -1.36192969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.657535379 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:2.55, Y:0.30, Z:-0.01 [[ 9.98630979e-01 -5.12152659e-02 -1.06378845e-02 2.54505572e+00] [ 5.12123462e-02 9.98687637e-01 -5.46859748e-04 2.98514845e-01] [ 1.06519313e-02 1.32005911e-06 9.99943267e-01 -1.31749066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.687535379 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:2.57, Y:0.30, Z:-0.01 [[ 9.98571857e-01 -5.23553716e-02 -1.06377253e-02 2.57136778e+00] [ 5.23524838e-02 9.98628517e-01 -5.49939167e-04 3.02599901e-01] [ 1.06519282e-02 -7.75756799e-06 9.99943267e-01 -1.20011617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.717535379 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:2.60, Y:0.31, Z:-0.01 [[ 9.98534384e-01 -5.30652866e-02 -1.06376463e-02 2.59908620e+00] [ 5.30624229e-02 9.98591045e-01 -5.51463037e-04 3.05654657e-01] [ 1.06519219e-02 -1.38044852e-05 9.99943267e-01 -1.05996862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.747535379 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.63, Y:0.31, Z:-0.01 [[ 9.98461659e-01 -5.44165438e-02 -1.06374878e-02 2.62568478e+00] [ 5.44137244e-02 9.98518322e-01 -5.54505313e-04 3.10517579e-01] [ 1.06519007e-02 -2.51730318e-05 9.99943267e-01 -1.04604412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.777535379 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:2.65, Y:0.31, Z:-0.01 [[ 9.98419393e-01 -5.51866065e-02 -1.06374191e-02 2.65369319e+00] [ 5.51838168e-02 9.98476058e-01 -5.55820060e-04 3.13765462e-01] [ 1.06518821e-02 -3.20718579e-05 9.99943267e-01 -1.08593742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.807535379 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:2.68, Y:0.32, Z:-0.01 [[ 9.98382304e-01 -5.58535927e-02 -1.06372625e-02 2.68124573e+00] [ 5.58508091e-02 9.98438969e-01 -5.58801209e-04 3.16622149e-01] [ 1.06518684e-02 -3.62024761e-05 9.99943267e-01 -1.04046735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.837535379 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:2.71, Y:0.32, Z:-0.01 [[ 9.98363569e-01 -5.61875065e-02 -1.06371054e-02 2.70918647e+00] [ 5.61847101e-02 9.98420234e-01 -5.61775084e-04 3.19194547e-01] [ 1.06518660e-02 -3.67869051e-05 9.99943267e-01 -1.06322818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.867535379 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.74, Y:0.32, Z:-0.01 [[ 9.98224415e-01 -5.86077921e-02 -1.06369490e-02 2.73646264e+00] [ 5.86051017e-02 9.98281084e-01 -5.64721385e-04 3.23008771e-01] [ 1.06517620e-02 -5.96608022e-05 9.99943267e-01 -1.08129563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.897535379 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.76, Y:0.33, Z:-0.01 [[ 9.98275979e-01 -5.77228505e-02 -1.06368811e-02 2.76234071e+00] [ 5.77200963e-02 9.98332645e-01 -5.65996505e-04 3.25543332e-01] [ 1.06518166e-02 -4.89410880e-05 9.99943267e-01 -1.47139789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.927535379 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.79, Y:0.33, Z:-0.01 [[ 9.98089110e-01 -6.08691286e-02 -1.06338168e-02 2.79281626e+00] [ 6.08659431e-02 9.98145755e-01 -6.23238713e-04 3.28168087e-01] [ 1.06520351e-02 -2.51895156e-05 9.99943265e-01 -8.70989703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.957535379 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.82, Y:0.33, Z:-0.01 [[ 9.97984792e-01 -6.25556997e-02 -1.06367278e-02 2.81954522e+00] [ 6.25531899e-02 9.98041470e-01 -5.68803265e-04 3.30509067e-01] [ 1.06514773e-02 -9.77042452e-05 9.99943267e-01 -7.83650358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.987535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:0.33, Z:-0.01 [[ 9.97735576e-01 -6.64122182e-02 -1.06366202e-02 2.84780435e+00] [ 6.64099061e-02 9.97792262e-01 -5.70808272e-04 3.34018271e-01] [ 1.06510460e-02 -1.36861227e-04 9.99943267e-01 -6.92163082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.017535379 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.87, Y:0.34, Z:-0.01 [[ 9.97577981e-01 -6.87389143e-02 -1.06364329e-02 2.87496648e+00] [ 6.87366975e-02 9.97634671e-01 -5.74277475e-04 3.36823832e-01] [ 1.06507494e-02 -1.58226705e-04 9.99943267e-01 -5.89100528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.047535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.90, Y:0.34, Z:-0.01 [[ 9.97445123e-01 -7.06406049e-02 -1.06363520e-02 2.90248557e+00] [ 7.06384803e-02 9.97501816e-01 -5.75772319e-04 3.39627779e-01] [ 1.06504533e-02 -1.77034447e-04 9.99943267e-01 -5.56290257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0775353789999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.93, Y:0.34, Z:-0.00 [[ 9.97265255e-01 -7.31360538e-02 -1.06361665e-02 2.92976353e+00] [ 7.31340347e-02 9.97321953e-01 -5.79178748e-04 3.43558706e-01] [ 1.06500412e-02 -2.00270925e-04 9.99943267e-01 -3.94637237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.107535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:0.35, Z:-0.00 [[ 9.97199899e-01 -7.40218468e-02 -1.06361089e-02 2.95742647e+00] [ 7.40198668e-02 9.97256598e-01 -5.80233362e-04 3.46334414e-01] [ 1.06498798e-02 -2.08674716e-04 9.99943267e-01 -3.02335174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.137535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:0.35, Z:-0.00 [[ 9.97133159e-01 -7.49155553e-02 -1.06359266e-02 2.98535095e+00] [ 7.49135907e-02 9.97189858e-01 -5.83556545e-04 3.49253697e-01] [ 1.06497556e-02 -2.14891871e-04 9.99943267e-01 -2.20335795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.167535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.01, Y:0.35, Z:-0.00 [[ 9.97081576e-01 -7.55990156e-02 -1.06357451e-02 3.01340380e+00] [ 7.55970547e-02 9.97138276e-01 -5.86845326e-04 3.53292700e-01] [ 1.06496735e-02 -2.18898344e-04 9.99943267e-01 -8.14755691e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.197535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.04, Y:0.36, Z:-0.00 [[ 9.97072236e-01 -7.57221125e-02 -1.06356889e-02 3.04156065e+00] [ 7.57201478e-02 9.97128935e-01 -5.87863469e-04 3.56288282e-01] [ 1.06496674e-02 -2.19193588e-04 9.99943267e-01 -1.77431228e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.227535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.07, Y:0.36, Z:0.00 [[ 9.97076211e-01 -7.56697746e-02 -1.06355106e-02 3.06941662e+00] [ 7.56677728e-02 9.97132909e-01 -5.91071655e-04 3.59170889e-01] [ 1.06497438e-02 -2.15421910e-04 9.99943267e-01 9.27356637e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.257535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.10, Y:0.36, Z:0.00 [[ 9.97265364e-01 -7.31346952e-02 -1.06353315e-02 3.09585955e+00] [ 7.31325150e-02 9.97322055e-01 -5.94276017e-04 3.63279973e-01] [ 1.06503129e-02 -1.85137653e-04 9.99943267e-01 1.86396801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2875353789999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.12, Y:0.37, Z:0.00 [[ 9.97370261e-01 -7.16899807e-02 -1.06352539e-02 3.12458761e+00] [ 7.16877036e-02 9.97426949e-01 -5.95662122e-04 3.65926813e-01] [ 1.06505918e-02 -1.68321242e-04 9.99943267e-01 3.23112061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.317535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:0.37, Z:0.01 [[ 9.97585165e-01 -6.86347759e-02 -1.06350993e-02 3.15356697e+00] [ 6.86322959e-02 9.97641844e-01 -5.98409555e-04 3.69470756e-01] [ 1.06510918e-02 -1.32946787e-04 9.99943267e-01 5.20180734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.347535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:0.37, Z:0.00 [[ 9.97678234e-01 -6.72684127e-02 -1.06349439e-02 3.18121924e+00] [ 6.72658258e-02 9.97734908e-01 -6.01158256e-04 3.72147372e-01] [ 1.06512938e-02 -1.15605777e-04 9.99943267e-01 1.84415148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.377535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:0.37, Z:0.01 [[ 9.97787508e-01 -6.56276736e-02 -1.06347312e-02 3.20896221e+00] [ 6.56249537e-02 9.97844176e-01 -6.04898536e-04 3.74908989e-01] [ 1.06515026e-02 -9.43435371e-05 9.99943267e-01 5.49885720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.407535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:0.38, Z:0.01 [[ 9.97843300e-01 -6.47738564e-02 -1.06346654e-02 3.23640972e+00] [ 6.47710757e-02 9.97899965e-01 -6.06052672e-04 3.77213483e-01] [ 1.06515886e-02 -8.40731192e-05 9.99943267e-01 6.30303990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.437535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:0.38, Z:0.01 [[ 9.97896809e-01 -6.39442435e-02 -1.06344905e-02 3.26478265e+00] [ 6.39413831e-02 9.97953470e-01 -6.09105835e-04 3.78980697e-01] [ 1.06516755e-02 -7.21592633e-05 9.99943267e-01 6.43846919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.467535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:0.38, Z:0.01 [[ 9.97955490e-01 -6.30218293e-02 -1.06343156e-02 3.29292757e+00] [ 6.30188841e-02 9.98012147e-01 -6.12145336e-04 3.78887918e-01] [ 1.06517546e-02 -5.92689009e-05 9.99943267e-01 8.08066273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4975353789999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:0.38, Z:0.00 [[ 9.97968578e-01 -6.28142445e-02 -1.06342614e-02 3.32103657e+00] [ 6.28112776e-02 9.98025234e-01 -6.13084610e-04 3.80154536e-01] [ 1.06517717e-02 -5.61123684e-05 9.99943267e-01 4.00593469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.527535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:0.38, Z:0.00 [[ 9.97969977e-01 -6.27920516e-02 -1.06340391e-02 3.34919341e+00] [ 6.27890425e-02 9.98026631e-01 -6.16917105e-04 3.81632319e-01] [ 1.06517917e-02 -5.20363821e-05 9.99943267e-01 3.97581480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.557535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:0.38, Z:0.01 [[ 9.98045583e-01 -6.15786934e-02 -1.06338125e-02 3.37696898e+00] [ 6.15755741e-02 9.98102231e-01 -6.20797482e-04 3.82457426e-01] [ 1.06518599e-02 -3.51989268e-05 9.99943267e-01 9.63670755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:0.38, Z:0.00 [[ 9.98032659e-01 -6.17878305e-02 -1.06337423e-02 3.40462705e+00] [ 6.17847103e-02 9.98089306e-01 -6.21998707e-04 3.83646175e-01] [ 1.06518564e-02 -3.62276627e-05 9.99943267e-01 4.73486852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6175353789999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:0.38, Z:0.00 [[ 9.98008739e-01 -6.21730236e-02 -1.06335243e-02 3.43222933e+00] [ 6.21698858e-02 9.98065386e-01 -6.25703513e-04 3.84421688e-01] [ 1.06518544e-02 -3.66274160e-05 9.99943267e-01 3.73752768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.647535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:0.38, Z:0.00 [[ 9.97908584e-01 -6.37604267e-02 -1.06332926e-02 3.45968140e+00] [ 6.37573374e-02 9.97965233e-01 -6.29615282e-04 3.83366967e-01] [ 1.06518009e-02 -4.96519329e-05 9.99943267e-01 4.55386468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.677535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:0.38, Z:0.01 [[ 9.97852908e-01 -6.46259064e-02 -1.06332212e-02 3.48767995e+00] [ 6.46228533e-02 9.97909559e-01 -6.30819167e-04 3.83776972e-01] [ 1.06517604e-02 -5.76843554e-05 9.99943267e-01 9.62601911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.707535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:0.38, Z:0.01 [[ 9.97682670e-01 -6.72028694e-02 -1.06331517e-02 3.51467410e+00] [ 6.71999502e-02 9.97739328e-01 -6.31989405e-04 3.83378664e-01] [ 1.06515851e-02 -8.40223861e-05 9.99943267e-01 9.46353990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.737535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:0.38, Z:0.00 [[ 9.97532018e-01 -6.94032516e-02 -1.06330348e-02 3.54307956e+00] [ 6.94004365e-02 9.97588682e-01 -6.33949383e-04 3.84270966e-01] [ 1.06513933e-02 -1.05552450e-04 9.99943267e-01 3.95462215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.767535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:0.38, Z:0.00 [[ 9.97430427e-01 -7.08483302e-02 -1.06328096e-02 3.57122332e+00] [ 7.08455572e-02 9.97487093e-01 -6.37703906e-04 3.84598735e-01] [ 1.06512706e-02 -1.17222043e-04 9.99943267e-01 4.29272386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.797535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:0.38, Z:0.00 [[ 9.97139779e-01 -7.48278485e-02 -1.06327398e-02 3.59890584e+00] [ 7.48252892e-02 9.97196454e-01 -6.38866880e-04 3.83147579e-01] [ 1.06507354e-02 -1.58558249e-04 9.99943267e-01 4.98068271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8275353789999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:0.38, Z:0.01 [[ 9.96977506e-01 -7.69597493e-02 -1.06325164e-02 3.62652193e+00] [ 7.69572718e-02 9.97034185e-01 -6.42562934e-04 3.83542506e-01] [ 1.06504338e-02 -1.77628663e-04 9.99943267e-01 5.72303940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.857535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:0.38, Z:0.01 [[ 9.96797680e-01 -7.92549013e-02 -1.06322933e-02 3.65457195e+00] [ 7.92525152e-02 9.96854363e-01 -6.46232917e-04 3.84184421e-01] [ 1.06500651e-02 -1.98472516e-04 9.99943267e-01 6.46270363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.887535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:0.38, Z:0.01 [[ 9.96530879e-01 -8.25419059e-02 -1.06320715e-02 3.68309497e+00] [ 8.25396679e-02 9.96587568e-01 -6.49862549e-04 3.83147088e-01] [ 1.06494312e-02 -2.29959553e-04 9.99943267e-01 5.39320933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.917535378999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:0.39, Z:0.01 [[ 9.96502205e-01 -8.28873911e-02 -1.06318726e-02 3.71151815e+00] [ 8.28851383e-02 9.96558893e-01 -6.53100622e-04 3.85111692e-01] [ 1.06494210e-02 -2.30408019e-04 9.99943267e-01 5.69660927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.947535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:0.39, Z:0.00 [[ 9.96376607e-01 -8.43838011e-02 -1.06316449e-02 3.73975330e+00] [ 8.43815942e-02 9.96433297e-01 -6.56786379e-04 3.85684574e-01] [ 1.06491471e-02 -2.42708560e-04 9.99943267e-01 4.68058755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.977535379 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.77, Y:0.39, Z:0.00 [[ 9.96297520e-01 -8.53125186e-02 -1.06314022e-02 3.76869887e+00] [ 8.53103228e-02 9.96354210e-01 -6.60691848e-04 3.86382150e-01] [ 1.06490076e-02 -2.48722701e-04 9.99943267e-01 4.43020246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 239.77 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/161 [00:00