+ python -m lidar_slam --no-model /working/999ba04f-bc86-438c-9dfe-66d678bdec10 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/999ba04f-bc86-438c-9dfe-66d678bdec10 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: 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 0.028779192 Adjusted end_distance from 9.223372036854776e+18 to 7.768779192 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028779192 meters Centerline goodness : 0.904036 Centerline is valid? [0, False] SLAMing on 0.058779191999999994 meters Centerline goodness : 0.913642 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99998463e-01 -1.67450138e-03 -5.20386875e-04 1.42839176e-03] [ 1.67461996e-03 9.99998572e-01 2.27519146e-04 1.56525018e-03] [ 5.20005150e-04 -2.28390247e-04 9.99999839e-01 3.37216736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08877919199999999 meters Centerline goodness : 0.841293 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99997614 -0.00681517 -0.00112954 0.00730032] [ 0.0068178 0.99997402 0.00234119 0.00774373] [ 0.00111355 -0.00234883 0.99999662 0.01256797] [ 0. 0. 0. 1. ]] SLAMing on 0.11877919199999998 meters Centerline goodness : 0.919335 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.01 [[ 0.99999024 -0.0039757 -0.00192547 0.00958429] [ 0.00398607 0.99997742 0.00541101 0.01035182] [ 0.00190392 -0.00541863 0.99998351 0.01299156] [ 0. 0. 0. 1. ]] SLAMing on 0.14877919199999998 meters Centerline goodness : 0.889065 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.01 [[ 0.99998962 0.00110491 -0.0044212 0.0166051 ] [-0.00105541 0.99993691 0.01118278 0.01806196] [ 0.00443327 -0.011178 0.9999277 0.01308475] [ 0. 0. 0. 1. ]] SLAMing on 0.17877919199999998 meters Centerline goodness : 0.194235 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:0.01 [[ 0.99995079 0.00950497 -0.00284267 0.03570699] [-0.00947206 0.99989044 0.01137456 0.02249563] [ 0.00295048 -0.01134708 0.99993127 0.01044377] [ 0. 0. 0. 1. ]] SLAMing on 0.20877919199999997 meters Centerline goodness : 0.178808 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.01 [[ 0.99995251 0.00929228 -0.00293955 0.0374612 ] [-0.00926305 0.99990902 0.00980541 0.02615151] [ 0.00303039 -0.00977771 0.99994761 0.00894711] [ 0. 0. 0. 1. ]] SLAMing on 0.23877919199999997 meters Centerline goodness : 0.172869 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.01 [[ 0.99995318 0.00918919 -0.00303129 0.03894091] [-0.00916167 0.99991781 0.00896814 0.02806513] [ 0.00311345 -0.00893995 0.99995519 0.00808027] [ 0. 0. 0. 1. ]] SLAMing on 0.26877919199999994 meters Centerline goodness : 0.168612 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:0.01 [[ 0.99996925 0.00724197 -0.00300803 0.04384637] [-0.00722062 0.99994908 0.00704929 0.03088772] [ 0.00305893 -0.00702735 0.99997063 0.00508992] [ 0. 0. 0. 1. ]] SLAMing on 0.29877919199999997 meters Centerline goodness : 0.166919 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:0.00 [[ 9.99978323e-01 5.66649431e-03 -3.35320717e-03 5.18447996e-02] [-5.64292088e-03 9.99959590e-01 6.99830526e-03 3.10573306e-02] [ 3.39272752e-03 -6.97923168e-03 9.99969889e-01 5.29720946e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32877919199999994 meters Centerline goodness : 0.168338 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.00 [[ 0.99998377 0.00401429 -0.004043 0.05585378] [-0.00399133 0.99997595 0.00567127 0.03201863] [ 0.00406567 -0.00565504 0.99997575 -0.00164104] [ 0. 0. 0. 1. ]] SLAMing on 0.35877919199999997 meters Centerline goodness : 0.172283 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.00 [[ 0.99998728 0.00286896 -0.00414865 0.05825061] [-0.00284902 0.9999844 0.00480537 0.03343035] [ 0.00416237 -0.00479349 0.99997985 -0.00290027] [ 0. 0. 0. 1. ]] SLAMing on 0.38877919199999994 meters Centerline goodness : 0.186893 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.01 [[ 9.99981164e-01 3.20320695e-04 -6.12938961e-03 7.03647162e-02] [-2.85266495e-04 9.99983605e-01 5.71905589e-03 3.77761762e-02] [ 6.13112106e-03 -5.71719966e-03 9.99964861e-01 -6.64945384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41877919199999997 meters Centerline goodness : 0.176838 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.01 [[ 0.99997288 -0.00104125 -0.0072906 0.07475107] [ 0.00107289 0.99999002 0.00433687 0.04164254] [ 0.00728601 -0.00434457 0.99996402 -0.00876737] [ 0. 0. 0. 1. ]] SLAMing on 0.44877919199999994 meters Centerline goodness : 0.877669 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.01 [[ 9.99939546e-01 6.79395026e-04 -1.09746069e-02 8.84993011e-02] [-5.96870339e-04 9.99971538e-01 7.52112886e-03 4.88787960e-02] [ 1.09794043e-02 -7.51412377e-03 9.99911491e-01 -1.41044689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47877919199999996 meters Centerline goodness : 0.203858 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.02 [[ 0.99989933 0.00262709 -0.01394364 0.10159171] [-0.0024599 0.99992504 0.01199424 0.05655831] [ 0.01397411 -0.01195873 0.99983084 -0.01756384] [ 0. 0. 0. 1. ]] SLAMing on 0.5087791919999999 meters Centerline goodness : 0.201252 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.02 [[ 0.99989469 0.00165926 -0.01441753 0.10503871] [-0.00150234 0.99993959 0.01088828 0.06191143] [ 0.01443473 -0.01086547 0.99983678 -0.0191454 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5387791919999999 meters Centerline goodness : 0.157188 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:-0.02 [[ 0.99987928 0.00346418 -0.01514688 0.10946557] [-0.00325982 0.99990362 0.01349554 0.0655965 ] [ 0.01519217 -0.01344454 0.9997942 -0.02036415] [ 0. 0. 0. 1. ]] SLAMing on 0.5687791919999999 meters Centerline goodness : 0.152207 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.02 [[ 0.9998925 0.00709039 -0.01283391 0.13414324] [-0.00689785 0.99986392 0.01498558 0.07105926] [ 0.01293842 -0.01489545 0.99980534 -0.02124439] [ 0. 0. 0. 1. ]] SLAMing on 0.598779192 meters Centerline goodness : 0.141813 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.02 [[ 0.99989875 0.00464014 -0.01345237 0.13882834] [-0.00446335 0.99990368 0.01314224 0.0754195 ] [ 0.01351205 -0.01308087 0.99982314 -0.02262829] [ 0. 0. 0. 1. ]] SLAMing on 0.6287791919999999 meters Centerline goodness : 0.136059 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-0.03 [[ 9.99870684e-01 -2.13536396e-04 -1.60800841e-02 1.55456238e-01] [ 4.27257629e-04 9.99911609e-01 1.32887897e-02 8.15754349e-02] [ 1.60758252e-02 -1.32939416e-02 9.99782396e-01 -2.68123310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6587791919999999 meters Centerline goodness : 0.135103 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-0.03 [[ 0.99984907 -0.00266232 -0.01716829 0.16117781] [ 0.00285987 0.99992987 0.01149223 0.0848445 ] [ 0.01713649 -0.0115396 0.99978657 -0.02951072] [ 0. 0. 0. 1. ]] SLAMing on 0.6887791919999999 meters Centerline goodness : 0.134827 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:-0.03 [[ 0.99977009 -0.0074268 -0.02011498 0.17798076] [ 0.00765949 0.99990435 0.011516 0.08926784] [ 0.02002753 -0.01166742 0.99973135 -0.03483848] [ 0. 0. 0. 1. ]] SLAMing on 0.718779192 meters Centerline goodness : 0.133961 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.04 [[ 0.99986221 -0.00486925 -0.01586972 0.19351977] [ 0.00504391 0.99992695 0.01098391 0.08969546] [ 0.01581508 -0.01106245 0.99981374 -0.04049979] [ 0. 0. 0. 1. ]] SLAMing on 0.7487791919999999 meters Centerline goodness : 0.135952 Centerline is valid? [False, False] Translation: X:0.22, Y:0.09, Z:-0.05 [[ 0.99985271 -0.00571604 -0.01618302 0.22133978] [ 0.00582797 0.99995937 0.00687742 0.09228488] [ 0.01614305 -0.00697073 0.99984539 -0.04619013] [ 0. 0. 0. 1. ]] SLAMing on 0.7787791919999999 meters Centerline goodness : 0.137509 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.05 [[ 9.99896376e-01 -5.79912164e-03 -1.31760094e-02 2.37986911e-01] [ 5.79669228e-03 9.99983174e-01 -2.22560392e-04 9.32733587e-02] [ 1.31770783e-02 1.46160058e-04 9.99913168e-01 -4.94233774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8087791919999999 meters Centerline goodness : 0.140240 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:-0.05 [[ 0.99989534 -0.00668553 -0.01283004 0.2641274 ] [ 0.00664944 0.99997382 -0.00285414 0.09299701] [ 0.01284878 0.00276853 0.99991362 -0.05388783] [ 0. 0. 0. 1. ]] SLAMing on 0.8387791919999998 meters Centerline goodness : 0.140240 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:-0.05 [[ 0.99989534 -0.00668553 -0.01283004 0.2641274 ] [ 0.00664944 0.99997382 -0.00285414 0.09299701] [ 0.01284878 0.00276853 0.99991362 -0.05388783] [ 0. 0. 0. 1. ]] SLAMing on 0.8687791919999999 meters Centerline goodness : 0.143434 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.06 [[ 0.99985837 -0.00840197 -0.01458255 0.27180121] [ 0.00834702 0.99995785 -0.0038253 0.09455486] [ 0.01461407 0.00370304 0.99988635 -0.05615924] [ 0. 0. 0. 1. ]] SLAMing on 0.8987791919999999 meters Centerline goodness : 0.144860 Centerline is valid? [False, False] Translation: X:0.30, Y:0.10, Z:-0.06 [[ 0.99982529 -0.01027438 -0.01561483 0.30212489] [ 0.01012533 0.9999027 -0.00959514 0.09807385] [ 0.0157119 0.00943536 0.99983204 -0.0595746 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9287791919999999 meters Centerline goodness : 0.143304 Centerline is valid? [False, False] Translation: X:0.31, Y:0.10, Z:-0.06 [[ 0.99980126 -0.01004145 -0.01722235 0.31005394] [ 0.00992788 0.99992849 -0.00666717 0.09875141] [ 0.01728807 0.00649487 0.99982946 -0.06136018] [ 0. 0. 0. 1. ]] SLAMing on 0.9587791919999998 meters Centerline goodness : 0.141997 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:-0.06 [[ 0.99979543 -0.01175915 -0.01645641 0.34325884] [ 0.01166556 0.9999153 -0.00577176 0.10023513] [ 0.01652288 0.0055786 0.99984793 -0.06339087] [ 0. 0. 0. 1. ]] SLAMing on 0.9887791919999999 meters Centerline goodness : 0.142252 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:-0.06 [[ 0.99972783 -0.01433466 -0.01840627 0.3554131 ] [ 0.01429298 0.99989498 -0.00239432 0.10131229] [ 0.01843866 0.00213059 0.99982772 -0.06428691] [ 0. 0. 0. 1. ]] SLAMing on 1.0187791919999998 meters Centerline goodness : 0.145085 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:-0.06 [[ 9.99670311e-01 -1.89203882e-02 -1.73576389e-02 3.93313676e-01] [ 1.89313834e-02 9.99820675e-01 4.69343438e-04 1.03009454e-01] [ 1.73456461e-02 -7.97792818e-04 9.99849235e-01 -6.45528547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0487791919999998 meters Centerline goodness : 0.141377 Centerline is valid? [False, False] Translation: X:0.41, Y:0.11, Z:-0.07 [[ 0.99954222 -0.02325531 -0.01935301 0.40653976] [ 0.0233138 0.99972427 0.00280219 0.10500819] [ 0.01928251 -0.0032521 0.99980879 -0.06550661] [ 0. 0. 0. 1. ]] SLAMing on 1.0787791919999998 meters Centerline goodness : 0.125439 Centerline is valid? [False, False] Translation: X:0.42, Y:0.11, Z:-0.07 [[ 0.99939186 -0.02960991 -0.01841656 0.42105689] [ 0.0297175 0.99954267 0.00559596 0.10695844] [ 0.01824244 -0.00613986 0.99981474 -0.06715762] [ 0. 0. 0. 1. ]] SLAMing on 1.1087791919999999 meters Centerline goodness : 0.139454 Centerline is valid? [False, False] Translation: X:0.46, Y:0.11, Z:-0.07 [[ 0.99889182 -0.04466289 -0.01484477 0.45503091] [ 0.04483294 0.99893028 0.01132672 0.10606118] [ 0.014323 -0.0119797 0.99982565 -0.06784339] [ 0. 0. 0. 1. ]] SLAMing on 1.1387791919999999 meters Centerline goodness : 0.242022 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:-0.07 [[ 0.99800647 -0.06277283 -0.00653124 0.48891851] [ 0.06295483 0.99747259 0.03294105 0.10421757] [ 0.00444693 -0.03328655 0.99943596 -0.07204456] [ 0. 0. 0. 1. ]] SLAMing on 1.168779192 meters Centerline goodness : 0.728761 Centerline is valid? [False, False] Translation: X:0.51, Y:0.10, Z:-0.08 [[ 0.99754208 -0.07005931 -0.00121781 0.50766666] [ 0.07005759 0.99689063 0.03606943 0.1010146 ] [-0.00131297 -0.03606609 0.99934854 -0.07523518] [ 0. 0. 0. 1. ]] SLAMing on 1.198779192 meters Centerline goodness : 0.709289 Centerline is valid? [False, False] Translation: X:0.53, Y:0.10, Z:-0.08 [[ 0.99704167 -0.07673118 0.00449922 0.52505778] [ 0.07650965 0.99636283 0.0375152 0.09618692] [-0.00736145 -0.03705998 0.99928593 -0.07887496] [ 0. 0. 0. 1. ]] SLAMing on 1.2287791919999997 meters Centerline goodness : 0.151998 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.08 [[ 0.99572078 -0.09163981 0.01192806 0.56209911] [ 0.0911586 0.99518383 0.03604512 0.08380222] [-0.01517378 -0.03480353 0.99927898 -0.080225 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2587791919999998 meters Centerline goodness : 0.151169 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:-0.08 [[ 0.99534182 -0.0945273 0.01895386 0.57489238] [ 0.09381381 0.99495522 0.03553993 0.07694805] [-0.02221774 -0.03359624 0.9991885 -0.08215216] [ 0. 0. 0. 1. ]] SLAMing on 1.2887791919999998 meters Centerline goodness : 0.186199 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.09 [[ 0.99493146 -0.09582783 0.03046994 0.60294107] [ 0.0946698 0.99480533 0.0374164 0.06724527] [-0.03389719 -0.03434217 0.99883512 -0.08548326] [ 0. 0. 0. 1. ]] SLAMing on 1.3187791919999998 meters Centerline goodness : 0.146799 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.09 [[ 0.99496084 -0.09275566 0.0380699 0.61380003] [ 0.09128936 0.99507593 0.03860236 0.06199989] [-0.04146303 -0.03493246 0.99852919 -0.08820056] [ 0. 0. 0. 1. ]] SLAMing on 1.3487791919999998 meters Centerline goodness : 0.148027 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.09 [[ 0.99571835 -0.08383426 0.03894585 0.64618343] [ 0.08259038 0.99605279 0.03252175 0.05563084] [-0.04151855 -0.02916595 0.99871195 -0.09100042] [ 0. 0. 0. 1. ]] SLAMing on 1.3787791919999999 meters Centerline goodness : 0.146243 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.10 [[ 0.99591975 -0.07925865 0.04314997 0.65798801] [ 0.07816503 0.99658896 0.02647038 0.05328169] [-0.04510079 -0.02298955 0.99871788 -0.0950558 ] [ 0. 0. 0. 1. ]] SLAMing on 1.408779192 meters Centerline goodness : 0.146707 Centerline is valid? [False, False] Translation: X:0.69, Y:0.04, Z:-0.10 [[ 0.99642724 -0.07229987 0.04365174 0.68856649] [ 0.0713936 0.99720608 0.02197713 0.04442844] [-0.04511873 -0.01878216 0.99880505 -0.09621646] [ 0. 0. 0. 1. ]] SLAMing on 1.4387791919999997 meters Centerline goodness : 0.144821 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.10 [[ 0.99706685 -0.06635818 0.0381352 0.70816567] [ 0.0655773 0.9976185 0.02137645 0.03981612] [-0.03946289 -0.01881295 0.99904392 -0.09706585] [ 0. 0. 0. 1. ]] SLAMing on 1.4687791919999997 meters Centerline goodness : 0.148584 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:-0.10 [[ 0.99713437 -0.06514224 0.0384648 0.73707382] [ 0.0641979 0.99761651 0.02529691 0.03484311] [-0.04002102 -0.02275506 0.9989397 -0.09848171] [ 0. 0. 0. 1. ]] SLAMing on 1.4987791919999998 meters Centerline goodness : 0.140408 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.10 [[ 0.99764941 -0.05941711 0.03413598 0.75754707] [ 0.05862047 0.99799461 0.02388312 0.03238314] [-0.03548659 -0.02182591 0.99913179 -0.10082401] [ 0. 0. 0. 1. ]] SLAMing on 1.5287791919999998 meters Centerline goodness : 0.146962 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.10 [[ 0.99801952 -0.0542635 0.03182009 0.79487768] [ 0.05358076 0.99832267 0.02193062 0.02410506] [-0.03295675 -0.02018224 0.99925299 -0.10011324] [ 0. 0. 0. 1. ]] SLAMing on 1.5587791919999998 meters Centerline goodness : 0.806168 Centerline is valid? [False, False] Translation: X:0.82, Y:0.02, Z:-0.10 [[ 0.99830561 -0.05110988 0.02781526 0.81580608] [ 0.05059886 0.99854254 0.01877617 0.0193767 ] [-0.02873437 -0.01733694 0.99943672 -0.10193869] [ 0. 0. 0. 1. ]] SLAMing on 1.5887791919999998 meters Centerline goodness : 0.834918 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.10 [[ 0.99858058 -0.04730825 0.02446942 0.85848076] [ 0.04683252 0.99870921 0.019663 0.00921176] [-0.02536806 -0.01848912 0.99950719 -0.10254703] [ 0. 0. 0. 1. ]] SLAMing on 1.6187791919999999 meters Centerline goodness : 0.852251 Centerline is valid? [False, False] Translation: X:0.88, Y:0.00, Z:-0.10 [[ 0.99883765 -0.04387634 0.01995532 0.88189975] [ 0.04349166 0.99886699 0.01931875 0.00360453] [-0.02078034 -0.0184284 0.99961421 -0.10366739] [ 0. 0. 0. 1. ]] SLAMing on 1.6487791919999997 meters Centerline goodness : 0.878058 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.01, Z:-0.10 [[ 0.99889075 -0.04305408 0.01906867 0.92126966] [ 0.04279512 0.99898874 0.01378683 -0.00886044] [-0.01964296 -0.01295549 0.99972312 -0.10332093] [ 0. 0. 0. 1. ]] SLAMing on 1.6787791919999997 meters /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 1.7087791919999997 meters Centerline goodness : 0.223189 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.03, Z:-0.10 [[ 0.99895276 -0.04128527 0.01972077 0.96920216] [ 0.04095096 0.99901541 0.01706571 -0.02652122] [-0.02040591 -0.01624026 0.99965987 -0.10291972] [ 0. 0. 0. 1. ]] SLAMing on 1.7387791919999998 meters Centerline goodness : 0.891920 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.03, Z:-0.10 [[ 0.99920685 -0.03598531 0.01705048 0.99004308] [ 0.0357198 0.99923963 0.01562843 -0.03220146] [-0.01759991 -0.015007 0.99973248 -0.10471444] [ 0. 0. 0. 1. ]] SLAMing on 1.7687791919999998 meters Centerline goodness : 0.274559 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.10 [[ 0.99945374 -0.028113 0.01737478 1.02478104] [ 0.02788774 0.99952557 0.01307357 -0.04428758] [-0.01773408 -0.01258189 0.99976357 -0.10444327] [ 0. 0. 0. 1. ]] SLAMing on 1.7987791919999998 meters Centerline goodness : 0.218685 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.11 [[ 0.99961857 -0.02214834 0.01649755 1.04224243] [ 0.02198765 0.99970963 0.00985909 -0.04943417] [-0.01671113 -0.00949259 0.9998153 -0.10673226] [ 0. 0. 0. 1. ]] SLAMing on 1.8287791919999998 meters Centerline goodness : 0.896117 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.11 [[ 0.9996326 -0.01716114 0.02098003 1.06624545] [ 0.01686899 0.99975935 0.01402397 -0.0581018 ] [-0.02121565 -0.0136649 0.99968153 -0.10803558] [ 0. 0. 0. 1. ]] SLAMing on 1.8587791919999996 meters Centerline goodness : 0.238040 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.11 [[ 0.99986442 -0.01065529 0.01255432 1.078908 ] [ 0.01045896 0.99982359 0.01560134 -0.06400548] [-0.01271834 -0.01546792 0.99979947 -0.10546601] [ 0. 0. 0. 1. ]] SLAMing on 1.8887791919999997 meters Centerline goodness : 0.833707 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.07, Z:-0.11 [[ 0.99993616 -0.00719766 0.00871087 1.10466407] [ 0.00705357 0.99983964 0.01646009 -0.0747321 ] [-0.00882795 -0.01639759 0.99982658 -0.10781279] [ 0. 0. 0. 1. ]] SLAMing on 1.9187791919999997 meters Centerline goodness : 0.212007 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.08, Z:-0.11 [[ 0.99993722 -0.00859018 0.00719489 1.10927838] [ 0.00846778 0.99982179 0.01687288 -0.0802432 ] [-0.00733854 -0.0168109 0.99983176 -0.10900569] [ 0. 0. 0. 1. ]] SLAMing on 1.9487791919999997 meters Centerline goodness : 0.199651 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:-0.11 [[ 0.9999405 -0.01072723 0.00198244 1.13075911] [ 0.01070402 0.99987809 0.01136818 -0.09585134] [-0.00210415 -0.01134629 0.99993341 -0.10902213] [ 0. 0. 0. 1. ]] SLAMing on 1.9787791919999997 meters Centerline goodness : 0.191067 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.11 [[ 9.99911828e-01 -1.32774649e-02 2.13838925e-04 1.13605301e+00] [ 1.32744235e-02 9.99854827e-01 1.06824123e-02 -1.02433313e-01] [-3.55643236e-04 -1.06786318e-02 9.99942919e-01 -1.10672855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0087791919999995 meters Centerline goodness : 0.917689 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.12, Z:-0.11 [[ 0.99985831 -0.01568559 -0.00610939 1.16402815] [ 0.01573902 0.99983742 0.00879812 -0.11745119] [ 0.0059704 -0.00889303 0.99994263 -0.11263471] [ 0. 0. 0. 1. ]] SLAMing on 2.038779192 meters Centerline goodness : 0.927214 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.12, Z:-0.12 [[ 0.99979629 -0.01878228 -0.0073896 1.16943762] [ 0.01883766 0.99979444 0.007498 -0.12370746] [ 0.00724725 -0.00763567 0.99994459 -0.11515242] [ 0. 0. 0. 1. ]] SLAMing on 2.0687791919999996 meters Centerline goodness : 0.931571 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.14, Z:-0.11 [[ 0.9996938 -0.02386069 -0.006556 1.2001144 ] [ 0.02392957 0.99965706 0.01063645 -0.14147211] [ 0.00629996 -0.01079007 0.99992194 -0.11223994] [ 0. 0. 0. 1. ]] SLAMing on 2.098779192 meters Centerline goodness : 0.936453 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.15, Z:-0.11 [[ 0.99977198 -0.02112344 -0.00312972 1.22158207] [ 0.0211498 0.99973896 0.00864224 -0.14833452] [ 0.00294635 -0.00870646 0.99995776 -0.11454774] [ 0. 0. 0. 1. ]] SLAMing on 2.1287791919999997 meters Centerline goodness : 0.932115 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.15, Z:-0.12 [[ 0.99986486 -0.01633096 -0.00188694 1.2366469 ] [ 0.01633375 0.9998655 0.00147736 -0.1480505 ] [ 0.00186256 -0.00150798 0.99999713 -0.11861642] [ 0. 0. 0. 1. ]] SLAMing on 2.158779192 meters Centerline goodness : 0.937273 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.15, Z:-0.11 [[ 0.99982818 -0.01793069 0.00470115 1.25938034] [ 0.01784996 0.99970144 0.0166857 -0.14951605] [-0.00499893 -0.01659892 0.99984973 -0.11269094] [ 0. 0. 0. 1. ]] SLAMing on 2.1887791919999997 meters Centerline goodness : 0.943500 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.15, Z:-0.12 [[ 0.99985022 -0.01564428 0.00740235 1.27456109] [ 0.01558259 0.99984397 0.00832016 -0.14634522] [-0.00753136 -0.00820357 0.99993799 -0.11671685] [ 0. 0. 0. 1. ]] SLAMing on 2.2187791919999995 meters Centerline goodness : 0.952738 Centerline is valid? [False, True] Translation: X:1.28, Y:-0.14, Z:-0.12 [[ 0.99982271 -0.01787071 0.00593224 1.28032453] [ 0.01782662 0.99981368 0.00740342 -0.14413154] [-0.00606344 -0.00729636 0.999955 -0.11862873] [ 0. 0. 0. 1. ]] SLAMing on 2.2487791919999998 meters Centerline goodness : 0.945183 Centerline is valid? [True, False] Translation: X:1.30, Y:-0.14, Z:-0.12 [[ 0.9997008 -0.02437663 0.0020248 1.30195244] [ 0.02435257 0.9996411 0.01116379 -0.13977749] [-0.00229621 -0.01111114 0.99993563 -0.11927256] [ 0. 0. 0. 1. ]] SLAMing on 2.2787791919999996 meters Centerline goodness : 0.952863 Centerline is valid? [False, True] Translation: X:1.31, Y:-0.14, Z:-0.12 [[ 9.99617585e-01 -2.76504110e-02 -3.72621749e-04 1.30996212e+00] [ 2.76527982e-02 9.99562629e-01 1.04820271e-02 -1.38635344e-01] [ 8.26264160e-05 -1.04883227e-02 9.99944993e-01 -1.20583827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308779192 meters Centerline goodness : 0.952326 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.14, Z:-0.13 [[ 9.99188011e-01 -4.02844097e-02 -6.95862088e-04 1.34317393e+00] [ 4.02848966e-02 9.99187989e-01 7.00472081e-04 -1.35125684e-01] [ 6.67078936e-04 -7.27936038e-04 9.99999513e-01 -1.28945459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3387791919999996 meters Centerline goodness : 0.953990 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.14, Z:-0.13 [[ 9.98789910e-01 -4.91751947e-02 -7.18756871e-04 1.37174231e+00] [ 4.91752287e-02 9.98790166e-01 2.97179263e-05 -1.36939126e-01] [ 7.16425910e-04 -6.50269984e-05 9.99999741e-01 -1.27797003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368779192 meters Centerline goodness : 0.950753 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.14, Z:-0.13 [[ 9.98747734e-01 -5.00244555e-02 -7.19997973e-04 1.39980771e+00] [ 5.00244642e-02 9.98747993e-01 -5.87709037e-06 -1.38309195e-01] [ 7.19390529e-04 -3.01477822e-05 9.99999741e-01 -1.25623314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3987791919999997 meters Centerline goodness : 0.953550 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.14, Z:-0.13 [[ 9.98529736e-01 -5.42019223e-02 -7.20084588e-04 1.43709458e+00] [ 5.42019304e-02 9.98529995e-01 -8.24295075e-06 -1.38096923e-01] [ 7.19472844e-04 -3.07991433e-05 9.99999741e-01 -1.27107738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4287791919999995 meters Centerline goodness : 0.956821 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.14, Z:-0.13 [[ 9.98158730e-01 -6.06517307e-02 -7.19450958e-04 1.47354399e+00] [ 6.06517524e-02 9.98158988e-01 8.38089389e-06 -1.35501973e-01] [ 7.17618124e-04 -5.20014238e-05 9.99999741e-01 -1.31020835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4587791919999997 meters Centerline goodness : 0.949499 Centerline is valid? [True, False] Translation: X:1.49, Y:-0.13, Z:-0.13 [[ 0.997902 -0.06453017 -0.0052389 1.49093808] [ 0.06454924 0.99790819 0.00355481 -0.13319827] [ 0.00499855 -0.00388552 0.99997996 -0.13194906] [ 0. 0. 0. 1. ]] SLAMing on 2.4887791919999995 meters Centerline goodness : 0.952240 Centerline is valid? [False, True] Translation: X:1.50, Y:-0.13, Z:-0.13 [[ 0.99784546 -0.06506299 -0.00844114 1.50061057] [ 0.0651279 0.99784755 0.00765689 -0.13455507] [ 0.0079248 -0.00819015 0.99993506 -0.13170256] [ 0. 0. 0. 1. ]] SLAMing on 2.518779192 meters Centerline goodness : 0.949629 Centerline is valid? [True, False] Translation: X:1.52, Y:-0.14, Z:-0.13 [[ 0.9972809 -0.07259905 -0.01265615 1.51706791] [ 0.07270638 0.99731938 0.00823665 -0.13557764] [ 0.01202425 -0.00913443 0.99988598 -0.13103525] [ 0. 0. 0. 1. ]] SLAMing on 2.5487791919999996 meters Centerline goodness : 0.950694 Centerline is valid? [False, True] Translation: X:1.52, Y:-0.14, Z:-0.13 [[ 0.99709899 -0.07467073 -0.01476084 1.52255298] [ 0.07480384 0.99716049 0.00868039 -0.13717277] [ 0.01407076 -0.00975938 0.99985337 -0.13024241] [ 0. 0. 0. 1. ]] SLAMing on 2.578779192 meters Centerline goodness : 0.953418 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.14, Z:-0.13 [[ 9.96745049e-01 -7.91815923e-02 -1.51519575e-02 1.55062100e+00] [ 7.92019299e-02 9.96858314e-01 7.45977228e-04 -1.35841832e-01] [ 1.50452872e-02 -1.94361339e-03 9.99884924e-01 -1.33799894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6087791919999996 meters Centerline goodness : 0.955035 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.14, Z:-0.13 [[ 9.96671728e-01 -8.00992095e-02 -1.51520191e-02 1.57907283e+00] [ 8.01196327e-02 9.96784977e-01 7.44724539e-04 -1.37114311e-01] [ 1.50436532e-02 -1.95622010e-03 9.99884924e-01 -1.32766324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6387791919999994 meters Centerline goodness : 0.958224 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.14, Z:-0.13 [[ 9.96931683e-01 -7.67960521e-02 -1.51521110e-02 1.60649790e+00] [ 7.68160718e-02 9.97045004e-01 7.42849344e-04 -1.36692292e-01] [ 1.50502887e-02 -1.90449570e-03 9.99884924e-01 -1.31986971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6687791919999997 meters Centerline goodness : 0.959351 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.14, Z:-0.13 [[ 9.97155082e-01 -7.38387002e-02 -1.51521836e-02 1.63567952e+00] [ 7.38583616e-02 9.97268466e-01 7.41365493e-04 -1.36491963e-01] [ 1.50560535e-02 -1.85837183e-03 9.99884924e-01 -1.31652250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6987791919999995 meters Centerline goodness : 0.957942 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.13, Z:-0.13 [[ 9.97682986e-01 -6.63254594e-02 -1.51523512e-02 1.66363290e+00] [ 6.63442146e-02 9.97796523e-01 7.37924585e-04 -1.34349535e-01] [ 1.50700202e-02 -1.74148564e-03 9.99884924e-01 -1.33997584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7287791919999997 meters Centerline goodness : 0.958850 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.13, Z:-0.14 [[ 9.97921599e-01 -6.26329249e-02 -1.51525178e-02 1.69188163e+00] [ 6.26512082e-02 9.98035213e-01 7.34487192e-04 -1.34656576e-01] [ 1.50767433e-02 -1.68228418e-03 9.99884924e-01 -1.35122660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7587791919999995 meters Centerline goodness : 0.958850 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.14, Z:-0.13 [[ 9.97905169e-01 -6.28941152e-02 -1.51526958e-02 1.72049476e+00] [ 6.29123729e-02 9.98018787e-01 7.30798068e-04 -1.35957254e-01] [ 1.50767121e-02 -1.68255922e-03 9.99884924e-01 -1.34690453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788779192 meters Centerline goodness : 0.956332 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.14, Z:-0.13 [[ 9.98404942e-01 -5.43871495e-02 -1.51528860e-02 1.74818366e+00] [ 5.44043787e-02 9.98518721e-01 7.26832394e-04 -1.35381799e-01] [ 1.50909100e-02 -1.55005640e-03 9.99884924e-01 -1.34225289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8187791919999996 meters Centerline goodness : 0.959207 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.13, Z:-0.13 [[ 9.98603280e-01 -5.06149510e-02 -1.51530504e-02 1.77726248e+00] [ 5.06316985e-02 9.98717131e-01 7.23389206e-04 -1.34677819e-01] [ 1.50969967e-02 -1.48960351e-03 9.99884924e-01 -1.33421264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8487791919999994 meters Centerline goodness : 0.959401 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.13, Z:-0.13 [[ 9.98914723e-01 -4.40426683e-02 -1.51532141e-02 1.80597625e+00] [ 4.40586144e-02 9.99028688e-01 7.19942416e-04 -1.32862059e-01] [ 1.51067874e-02 -1.38679070e-03 9.99884924e-01 -1.29822254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8787791919999997 meters Centerline goodness : 0.964584 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.13, Z:-0.13 [[ 9.99154832e-01 -3.82099020e-02 -1.51533790e-02 1.83498679e+00] [ 3.82251300e-02 9.99268896e-01 7.16455915e-04 -1.33813387e-01] [ 1.51149245e-02 -1.29509027e-03 9.99884924e-01 -1.28013104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9087791919999995 meters Centerline goodness : 0.962364 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.14, Z:-0.13 [[ 9.99285795e-01 -3.46160461e-02 -1.51535452e-02 1.86344894e+00] [ 3.46308105e-02 9.99399919e-01 7.12921592e-04 -1.36243434e-01] [ 1.51197734e-02 -1.23719197e-03 9.99884924e-01 -1.25702645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9387791919999997 meters Centerline goodness : 0.964785 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.14, Z:-0.12 [[ 9.99342369e-01 -3.29422881e-02 -1.51537240e-02 1.89264400e+00] [ 3.29568037e-02 9.99456525e-01 7.09101715e-04 -1.37396317e-01] [ 1.51221289e-02 -1.20805369e-03 9.99884924e-01 -1.24044520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9687791919999995 meters Centerline goodness : 0.964956 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.14, Z:-0.12 [[ 9.99461998e-01 -2.90873332e-02 -1.51539016e-02 1.91990821e+00] [ 2.91013509e-02 9.99576217e-01 7.05286171e-04 -1.41030271e-01] [ 1.51269647e-02 -1.14590573e-03 9.99884924e-01 -1.21539702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9987791919999998 meters Centerline goodness : 0.965565 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.14, Z:-0.12 [[ 9.99491420e-01 -2.80581388e-02 -1.51539646e-02 1.94927029e+00] [ 2.80720185e-02 9.99605655e-01 7.03929441e-04 -1.43717018e-01] [ 1.51282378e-02 -1.12897381e-03 9.99884924e-01 -1.21972681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0287791919999996 meters Centerline goodness : 0.965257 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.15, Z:-0.12 [[ 9.99513740e-01 -2.72513547e-02 -1.51541281e-02 1.97677100e+00] [ 2.72650888e-02 9.99627993e-01 7.00390882e-04 -1.48738227e-01] [ 1.51294041e-02 -1.11322896e-03 9.99884924e-01 -1.23774924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0587791919999994 meters Centerline goodness : 0.966204 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.15, Z:-0.12 [[ 9.99530712e-01 -2.66215226e-02 -1.51541906e-02 2.00602208e+00] [ 2.66351642e-02 9.99644977e-01 6.99035985e-04 -1.52473366e-01] [ 1.51302011e-02 -1.10234229e-03 9.99884924e-01 -1.24731798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0887791919999996 meters Centerline goodness : 0.965278 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.16, Z:-0.13 [[ 9.99464944e-01 -2.89856976e-02 -1.51543592e-02 2.03394703e+00] [ 2.89995541e-02 9.99579183e-01 6.95361671e-04 -1.59277743e-01] [ 1.51278265e-02 -1.13445927e-03 9.99884924e-01 -1.26643282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1187791919999994 meters Centerline goodness : 0.966793 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.17, Z:-0.12 [[ 9.99581181e-01 -2.46536917e-02 -1.51544491e-02 2.06256729e+00] [ 2.46670233e-02 9.99695482e-01 6.93397034e-04 -1.65106671e-01] [ 1.51327395e-02 -1.06692178e-03 9.99884924e-01 -1.23201355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1487791919999997 meters Centerline goodness : 0.966511 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.17, Z:-0.12 [[ 9.99654094e-01 -2.14948754e-02 -1.51546140e-02 2.09108499e+00] [ 2.15077911e-02 9.99768443e-01 6.89774582e-04 -1.66179993e-01] [ 1.51362782e-02 -1.01547826e-03 9.99884924e-01 -1.21552968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1787791919999995 meters Centerline goodness : 0.963907 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.17, Z:-0.12 [[ 9.99668077e-01 -2.08342992e-02 -1.51548021e-02 2.11909636e+00] [ 2.08470765e-02 9.99782441e-01 6.85616153e-04 -1.67640227e-01] [ 1.51372207e-02 -1.00132190e-03 9.99884924e-01 -1.21033975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2087791919999997 meters Centerline goodness : 0.963760 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.17, Z:-0.12 [[ 9.99629150e-01 -2.26250642e-02 -1.51548602e-02 2.14715349e+00] [ 2.26380269e-02 9.99743493e-01 6.84329728e-04 -1.68330561e-01] [ 1.51354899e-02 -1.02715208e-03 9.99884924e-01 -1.19410660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2387791919999995 meters Centerline goodness : 0.964240 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.17, Z:-0.12 [[ 9.99590956e-01 -2.42537568e-02 -1.51550559e-02 2.17435205e+00] [ 2.42668401e-02 9.99705286e-01 6.79969012e-04 -1.67534661e-01] [ 1.51340977e-02 -1.04745619e-03 9.99884924e-01 -1.20109142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2687791919999993 meters Centerline goodness : 0.961250 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.17, Z:-0.12 [[ 9.99498231e-01 -2.78137812e-02 -1.51551881e-02 2.20206198e+00] [ 2.78272269e-02 9.99612518e-01 6.77009648e-04 -1.66133647e-01] [ 1.51304855e-02 -1.09839680e-03 9.99884924e-01 -1.22711372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2987791919999996 meters Centerline goodness : 0.958645 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.17, Z:-0.13 [[ 9.99171777e-01 -3.77634542e-02 -1.51552746e-02 2.23033558e+00] [ 3.77780078e-02 9.99285928e-01 6.75066367e-04 -1.66307166e-01] [ 1.51189598e-02 -1.24704335e-03 9.99884924e-01 -1.25373723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3287791919999994 meters Centerline goodness : 0.959903 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.17, Z:-0.12 [[ 9.98868852e-01 -4.50703121e-02 -1.51553212e-02 2.25938093e+00] [ 4.50856845e-02 9.98982896e-01 6.74018669e-04 -1.68814119e-01] [ 1.51095285e-02 -1.35654429e-03 9.99884924e-01 -1.23307430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3587791919999996 meters Centerline goodness : 0.960158 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.17, Z:-0.12 [[ 9.98085722e-01 -5.99600054e-02 -1.51554835e-02 2.28666308e+00] [ 5.99770216e-02 9.98199533e-01 6.70349741e-04 -1.72756537e-01] [ 1.50880024e-02 -1.57804727e-03 9.99884924e-01 -1.18372024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3887791919999994 meters Centerline goodness : 0.961346 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.17, Z:-0.12 [[ 9.97618598e-01 -6.72862757e-02 -1.51555511e-02 2.31442964e+00] [ 6.73041040e-02 9.97732284e-01 6.68817809e-04 -1.74373638e-01] [ 1.50761804e-02 -1.68725587e-03 9.99884924e-01 -1.18118984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4187791919999997 meters Centerline goodness : 0.958718 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.17, Z:-0.12 [[ 9.96922838e-01 -7.69100870e-02 -1.51556314e-02 2.34296213e+00] [ 7.69289842e-02 9.97036352e-01 6.66994254e-04 -1.74792654e-01] [ 1.50594168e-02 -1.83084913e-03 9.99884924e-01 -1.16050828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4487791919999995 meters Centerline goodness : 0.962498 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.18, Z:-0.11 [[ 9.96870150e-01 -7.75900020e-02 -1.51557140e-02 2.37179625e+00] [ 7.76089484e-02 9.96983655e-01 6.65112361e-04 -1.75145940e-01] [ 1.50583930e-02 -1.83924968e-03 9.99884924e-01 -1.11087815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4787791919999993 meters Centerline goodness : 0.963144 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.17, Z:-0.11 [[ 9.97246432e-01 -7.25937585e-02 -1.51558823e-02 2.40028051e+00] [ 7.26120780e-02 9.97360040e-01 6.61253911e-04 -1.71271006e-01] [ 1.50678685e-02 -1.75993321e-03 9.99884924e-01 -1.09838329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5087791919999995 meters Centerline goodness : 0.962805 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.17, Z:-0.11 [[ 9.97555979e-01 -6.82082469e-02 -1.51559713e-02 2.42796614e+00] [ 6.82260361e-02 9.97669672e-01 6.59208002e-04 -1.69740459e-01] [ 1.50756895e-02 -1.69162873e-03 9.99884924e-01 -1.09577063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5387791919999994 meters Centerline goodness : 0.964865 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.17, Z:-0.11 [[ 9.97935583e-01 -6.24088700e-02 -1.51560304e-02 2.45739679e+00] [ 6.24259776e-02 9.98049380e-01 6.57846649e-04 -1.67536068e-01] [ 1.50854113e-02 -1.60261859e-03 9.99884924e-01 -1.06156243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5687791919999996 meters Centerline goodness : 0.963856 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.16, Z:-0.11 [[ 9.98236355e-01 -5.73974682e-02 -1.51561943e-02 2.48561909e+00] [ 5.74139471e-02 9.98350245e-01 6.54047054e-04 -1.64773490e-01] [ 1.50936497e-02 -1.52307049e-03 9.99884924e-01 -1.05956791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5987791919999994 meters Centerline goodness : 0.962013 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.16, Z:-0.11 [[ 9.98340014e-01 -5.55653133e-02 -1.51562810e-02 2.51440616e+00] [ 5.55815529e-02 9.98453938e-01 6.52032485e-04 -1.63438508e-01] [ 1.50966181e-02 -1.49335975e-03 9.99884924e-01 -1.06305172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6287791919999997 meters Centerline goodness : 0.958159 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.16, Z:-0.11 [[ 9.98408060e-01 -5.43288848e-02 -1.51564380e-02 2.54237541e+00] [ 5.43449281e-02 9.98522012e-01 6.48362457e-04 -1.62384082e-01] [ 1.50988122e-02 -1.47100584e-03 9.99884924e-01 -1.08355279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6587791919999995 meters Centerline goodness : 0.954154 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.16, Z:-0.11 [[ 9.98429370e-01 -5.39358229e-02 -1.51564982e-02 2.57106184e+00] [ 5.39518001e-02 9.98543331e-01 6.46952078e-04 -1.63716930e-01] [ 1.50995263e-02 -1.46365632e-03 9.99884924e-01 -1.09107666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6887791919999993 meters Centerline goodness : 0.950707 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.16, Z:-0.11 [[ 9.98457413e-01 -5.34141332e-02 -1.51566514e-02 2.59903746e+00] [ 5.34299966e-02 9.98571390e-01 6.43342831e-04 -1.64058261e-01] [ 1.51006349e-02 -1.45217025e-03 9.99884924e-01 -1.10272593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7187791919999995 meters Centerline goodness : 0.951071 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.16, Z:-0.11 [[ 9.98485893e-01 -5.28790737e-02 -1.51567102e-02 2.62768083e+00] [ 5.28948552e-02 9.98599881e-01 6.41955492e-04 -1.64364914e-01] [ 1.51015430e-02 -1.44269549e-03 9.99884924e-01 -1.10088340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7487791919999993 meters Centerline goodness : 0.947072 Centerline is valid? [True, False] Translation: X:2.64, Y:-0.17, Z:-0.10 [[ 0.99867254 -0.04513764 -0.0248142 2.63873086] [ 0.0452371 0.99897028 0.00346109 -0.16780807] [ 0.02463242 -0.00457902 0.99968609 -0.10387647] [ 0. 0. 0. 1. ]] SLAMing on 3.7787791919999996 meters Centerline goodness : 0.948967 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.17, Z:-0.10 [[ 0.99867764 -0.04471924 -0.0253605 2.63976297] [ 0.04483631 0.99898607 0.00406653 -0.16767355] [ 0.02515294 -0.00519822 0.9996701 -0.10331139] [ 0. 0. 0. 1. ]] SLAMing on 3.8087791919999994 meters Centerline goodness : 0.953118 Centerline is valid? [False, True] Translation: X:2.65, Y:-0.17, Z:-0.10 [[ 0.99909935 -0.03616082 -0.02220102 2.65333504] [ 0.03632194 0.99931634 0.00689752 -0.17039901] [ 0.02193642 -0.00769769 0.99972973 -0.09924464] [ 0. 0. 0. 1. ]] SLAMing on 3.8387791919999996 meters Centerline goodness : 0.956827 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.17, Z:-0.10 [[ 9.99160526e-01 -3.42399282e-02 -2.24915752e-02 2.68139350e+00] [ 3.42740220e-02 9.99411832e-01 1.13200257e-03 -1.69522385e-01] [ 2.24395867e-02 -1.90192902e-03 9.99746392e-01 -1.02154303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8687791919999994 meters Centerline goodness : 0.959639 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.17, Z:-0.10 [[ 9.99211549e-01 -3.27170282e-02 -2.24916819e-02 2.70919142e+00] [ 3.27506915e-02 9.99462914e-01 1.12987796e-03 -1.70542478e-01] [ 2.24426357e-02 -1.86560525e-03 9.99746392e-01 -1.03454782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8987791919999992 meters Centerline goodness : 0.965522 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.17, Z:-0.10 [[ 9.99350099e-01 -2.81691036e-02 -2.24917863e-02 2.73836913e+00] [ 2.82015760e-02 9.99601620e-01 1.12779564e-03 -1.71690059e-01] [ 2.24510571e-02 -1.76136651e-03 9.99746392e-01 -1.00698811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9287791919999995 meters Centerline goodness : 0.961154 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.18, Z:-0.10 [[ 9.99486450e-01 -2.28241769e-02 -2.24920800e-02 2.76665943e+00] [ 2.28551719e-02 9.99738157e-01 1.12190929e-03 -1.75394105e-01] [ 2.24605839e-02 -1.63539349e-03 9.99746392e-01 -9.97902569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9587791919999993 meters Centerline goodness : 0.961281 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.18, Z:-0.10 [[ 9.99543669e-01 -2.01629956e-02 -2.24923718e-02 2.79525790e+00] [ 2.01931886e-02 9.99795474e-01 1.11602843e-03 -1.78909210e-01] [ 2.24652690e-02 -1.56971186e-03 9.99746392e-01 -9.83663844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9887791919999995 meters Centerline goodness : 0.962013 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.18, Z:-0.10 [[ 9.99644637e-01 -1.43066370e-02 -2.24926635e-02 2.82297840e+00] [ 1.43352218e-02 9.99896629e-01 1.11011661e-03 -1.84160962e-01] [ 2.24744564e-02 -1.43215943e-03 9.99746392e-01 -9.92487244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018779191999999 meters Centerline goodness : 0.957262 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.19, Z:-0.10 [[ 9.99684654e-01 -1.11650647e-02 -2.24929945e-02 2.84949426e+00] [ 1.11927062e-02 9.99936751e-01 1.10336916e-03 -1.87920267e-01] [ 2.24792527e-02 -1.35477870e-03 9.99746392e-01 -9.98713957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048779192 meters Centerline goodness : 0.956679 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.20, Z:-0.10 [[ 9.99736765e-01 -4.52271650e-03 -2.24932511e-02 2.87805038e+00] [ 4.54856446e-03 9.99989052e-01 1.09811309e-03 -1.95787630e-01] [ 2.24880384e-02 -1.20013603e-03 9.99746392e-01 -1.00909634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078779192 meters Centerline goodness : 0.957775 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.20, Z:-0.10 [[ 9.99746229e-01 -1.23214146e-03 -2.24935325e-02 2.90621723e+00] [ 1.25702884e-03 9.99998613e-01 1.09231809e-03 -2.00374714e-01] [ 2.24921554e-02 -1.12031591e-03 9.99746392e-01 -1.02527738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108779191999999 meters Centerline goodness : 0.957202 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.21, Z:-0.11 [[ 9.99738341e-01 4.15659265e-03 -2.24938350e-02 2.93370559e+00] [-4.13320670e-03 9.99990869e-01 1.08605253e-03 -2.09888221e-01] [ 2.24981439e-02 -9.92796685e-04 9.99746392e-01 -1.05287588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138779191999999 meters Centerline goodness : 0.957175 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.22, Z:-0.10 [[ 9.99718300e-01 7.57247159e-03 -2.24939415e-02 2.96221614e+00] [-7.54999825e-03 9.99970911e-01 1.08384284e-03 -2.23460721e-01] [ 2.25014946e-02 -9.13708305e-04 9.99746392e-01 -1.00782839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168779192 meters Centerline goodness : 0.958042 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.23, Z:-0.10 [[ 9.99708104e-01 8.81566994e-03 -2.24942242e-02 2.98945228e+00] [-8.79364325e-03 9.99960754e-01 1.07794467e-03 -2.30074659e-01] [ 2.25028442e-02 -8.79823841e-04 9.99746392e-01 -1.02189172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198779191999999 meters Centerline goodness : 0.958278 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.24, Z:-0.09 [[ 9.99604537e-01 1.68752644e-02 -2.24943325e-02 3.01816271e+00] [-1.68553263e-02 9.99857360e-01 1.07567925e-03 -2.35300404e-01] [ 2.25092763e-02 -6.96104544e-04 9.99746392e-01 -9.40048858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228779191999999 meters Centerline goodness : 0.960682 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.24, Z:-0.09 [[ 9.99589925e-01 1.77192772e-02 -2.24946328e-02 3.04971732e+00] [-1.76996946e-02 9.99842776e-01 1.06936229e-03 -2.35905239e-01] [ 2.25100444e-02 -6.70775641e-04 9.99746392e-01 -9.08422377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2587791919999995 meters Centerline goodness : 0.960327 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.23, Z:-0.10 [[ 9.99599635e-01 1.71631660e-02 -2.24943293e-02 3.08247116e+00] [-1.71433001e-02 9.99852464e-01 1.07570928e-03 -2.32016553e-01] [ 2.25094731e-02 -6.89651567e-04 9.99746392e-01 -9.50582219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288779192 meters Centerline goodness : 0.956560 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.23, Z:-0.10 [[ 9.99586653e-01 1.79036915e-02 -2.24940086e-02 3.11407176e+00] [-1.78838630e-02 9.99839485e-01 1.08237424e-03 -2.29968263e-01] [ 2.25097764e-02 -6.79647075e-04 9.99746392e-01 -9.84647671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318779191999999 meters Centerline goodness : 0.956764 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.23, Z:-0.10 [[ 9.99672798e-01 1.21790636e-02 -2.24937119e-02 3.14582352e+00] [-1.21576497e-02 9.99925501e-01 1.08850569e-03 -2.28772488e-01] [ 2.25052931e-02 -8.14678857e-04 9.99746392e-01 -9.76209874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348779191999999 meters Centerline goodness : 0.958086 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.23, Z:-0.10 [[ 9.99715652e-01 7.91596992e-03 -2.24933993e-02 3.17629304e+00] [-7.89333440e-03 9.99968248e-01 1.09492657e-03 -2.31469838e-01] [ 2.25013525e-02 -9.17067311e-04 9.99746392e-01 -9.51090465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378779192 meters Centerline goodness : 0.958686 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.23, Z:-0.09 [[ 9.99746726e-01 -7.28318695e-04 -2.24933993e-02 3.20497958e+00] [ 7.53137423e-04 9.99999117e-01 1.09492657e-03 -2.34031589e-01] [ 2.24925820e-02 -1.11158988e-03 9.99746392e-01 -9.14106626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408779191999999 meters Centerline goodness : 0.961319 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.24, Z:-0.09 [[ 9.99686796e-01 -1.09706177e-02 -2.24934669e-02 3.23314279e+00] [ 1.09979897e-02 9.99938922e-01 1.09353683e-03 -2.36538136e-01] [ 2.24800962e-02 -1.34057725e-03 9.99746392e-01 -8.78478394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438779191999999 meters Centerline goodness : 0.961317 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.24, Z:-0.09 [[ 9.99592207e-01 -1.75914521e-02 -2.24935776e-02 3.26245679e+00] [ 1.76204422e-02 9.99844152e-01 1.09125419e-03 -2.36913028e-01] [ 2.24708753e-02 -1.48715597e-03 9.99746392e-01 -8.94057750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4687791919999995 meters Centerline goodness : 0.956339 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.23, Z:-0.09 [[ 9.99558821e-01 -1.93955846e-02 -2.24938764e-02 3.29205936e+00] [ 1.94248906e-02 9.99810730e-01 1.08505926e-03 -2.33758860e-01] [ 2.24685737e-02 -1.52152164e-03 9.99746392e-01 -8.85697089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498779192 meters Centerline goodness : 0.957520 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.23, Z:-0.09 [[ 9.99500964e-01 -2.21773446e-02 -2.24941644e-02 3.31973210e+00] [ 2.22072171e-02 9.99752807e-01 1.07905652e-03 -2.33596208e-01] [ 2.24646734e-02 -1.57805082e-03 9.99746392e-01 -8.96093261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528779191999999 meters Centerline goodness : 0.957390 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.23, Z:-0.09 [[ 9.99425290e-01 -2.53593664e-02 -2.24942722e-02 3.34866847e+00] [ 2.53899902e-02 9.99677042e-01 1.07680521e-03 -2.34286207e-01] [ 2.24597004e-02 -1.64731571e-03 9.99746392e-01 -8.89648084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558779191999999 meters Centerline goodness : 0.958882 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.24, Z:-0.09 [[ 9.99163762e-01 -3.41433790e-02 -2.24945697e-02 3.37733788e+00] [ 3.41760748e-02 9.99415254e-01 1.07055373e-03 -2.35838237e-01] [ 2.24448638e-02 -1.83843459e-03 9.99746392e-01 -8.71098220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588779192 meters Centerline goodness : 0.960214 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.24, Z:-0.08 [[ 9.98886589e-01 -4.14676132e-02 -2.24948627e-02 3.40433991e+00] [ 4.15020135e-02 9.99137853e-01 1.06436160e-03 -2.37571283e-01] [ 2.24313323e-02 -1.99675863e-03 9.99746392e-01 -8.41905554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.618779191999999 meters Centerline goodness : 0.959841 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.24, Z:-0.08 [[ 9.98808415e-01 -4.33096336e-02 -2.24950044e-02 3.43261693e+00] [ 4.33444301e-02 9.99059625e-01 1.06135792e-03 -2.37416775e-01] [ 2.24278836e-02 -2.03512636e-03 9.99746392e-01 -8.18067997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648779191999999 meters Centerline goodness : 0.959841 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.24, Z:-0.08 [[ 9.98795553e-01 -4.36051723e-02 -2.24951521e-02 3.46125237e+00] [ 4.36399729e-02 9.99046762e-01 1.05821723e-03 -2.38707309e-01] [ 2.24275652e-02 -2.03863049e-03 9.99746392e-01 -8.11631828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6787791919999995 meters Centerline goodness : 0.962246 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.24, Z:-0.08 [[ 9.98353499e-01 -5.27659538e-02 -2.24954633e-02 3.48925951e+00] [ 5.28029090e-02 9.98604400e-01 1.05156087e-03 -2.36282467e-01] [ 2.24085820e-02 -2.23765538e-03 9.99746392e-01 -8.05082437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708779192 meters Centerline goodness : 0.963328 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.24, Z:-0.08 [[ 9.98027158e-01 -5.86151922e-02 -2.24955593e-02 3.51850255e+00] [ 5.86535711e-02 9.98277846e-01 1.04950239e-03 -2.35493606e-01] [ 2.23953017e-02 -2.36687678e-03 9.99746392e-01 -7.94705908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738779191999999 meters Centerline goodness : 0.964421 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.23, Z:-0.08 [[ 9.97455525e-01 -6.76491985e-02 -2.24958281e-02 3.54647416e+00] [ 6.76897167e-02 9.97705875e-01 1.04370880e-03 -2.34189006e-01] [ 2.23736138e-02 -2.56378934e-03 9.99746392e-01 -8.08716145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768779191999999 meters Centerline goodness : 0.966560 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.23, Z:-0.08 [[ 9.97227578e-01 -7.09301736e-02 -2.24959699e-02 3.57436730e+00] [ 7.09714470e-02 9.97477805e-01 1.04064353e-03 -2.34614800e-01] [ 2.23654177e-02 -2.63432996e-03 9.99746392e-01 -7.82530904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.798779192 meters Centerline goodness : 0.969271 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.23, Z:-0.08 [[ 9.97078675e-01 -7.29933769e-02 -2.24962854e-02 3.60231739e+00] [ 7.30350152e-02 9.97328841e-01 1.03377894e-03 -2.34084506e-01] [ 2.23607352e-02 -2.67377548e-03 9.99746392e-01 -7.51237838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.828779191999999 meters Centerline goodness : 0.969606 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.23, Z:-0.07 [[ 9.97066743e-01 -7.31561407e-02 -2.24964291e-02 3.63106428e+00] [ 7.31977500e-02 9.97316914e-01 1.03064117e-03 -2.34724707e-01] [ 2.23606715e-02 -2.67430603e-03 9.99746392e-01 -7.37936070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858779191999999 meters Centerline goodness : 0.968113 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.23, Z:-0.07 [[ 9.97070536e-01 -7.31043381e-02 -2.24966938e-02 3.65878544e+00] [ 7.31458052e-02 9.97320731e-01 1.02483102e-03 -2.31300100e-01] [ 2.23614995e-02 -2.66736760e-03 9.99746392e-01 -7.34766056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888779191999999 meters Centerline goodness : 0.967815 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.23, Z:-0.07 [[ 9.96838855e-01 -7.61983559e-02 -2.24968253e-02 3.68830235e+00] [ 7.62405350e-02 9.97088931e-01 1.02193673e-03 -2.26112631e-01] [ 2.23534656e-02 -2.73387623e-03 9.99746392e-01 -7.46700142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918779192 meters Centerline goodness : 0.968557 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.22, Z:-0.07 [[ 9.96661460e-01 -7.84844974e-02 -2.24970831e-02 3.71695098e+00] [ 7.85271231e-02 9.96911460e-01 1.01622969e-03 -2.23893734e-01] [ 2.23478416e-02 -2.77946818e-03 9.99746392e-01 -7.42250555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948779191999999 meters Centerline goodness : 0.968884 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.22, Z:-0.07 [[ 9.96480236e-01 -8.07527523e-02 -2.24973732e-02 3.74514714e+00] [ 8.07958032e-02 9.96730163e-01 1.00976617e-03 -2.16200385e-01] [ 2.23422691e-02 -2.82390537e-03 9.99746392e-01 -7.30428356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978779191999999 meters Centerline goodness : 0.967285 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.21, Z:-0.07 [[ 9.96574779e-01 -7.95774761e-02 -2.24974629e-02 3.77351490e+00] [ 7.96201877e-02 9.96824764e-01 1.00776266e-03 -2.12338133e-01] [ 2.23458330e-02 -2.79556307e-03 9.99746392e-01 -7.22013842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0087791919999995 meters Centerline goodness : 0.962985 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.20, Z:-0.07 [[ 9.96953646e-01 -7.46812432e-02 -2.24975514e-02 3.80335132e+00] [ 7.47226823e-02 9.97203845e-01 1.00578420e-03 -2.02328573e-01] [ 2.23595315e-02 -2.68379761e-03 9.99746392e-01 -7.02645095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038779191999999 meters Centerline goodness : 0.960846 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.20, Z:-0.07 [[ 9.97179521e-01 -7.16020460e-02 -2.24977763e-02 3.83227465e+00] [ 7.16425997e-02 9.97429865e-01 1.00072659e-03 -1.96390585e-01] [ 2.23683000e-02 -2.60970325e-03 9.99746392e-01 -6.69685874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068779191999999 meters Centerline goodness : 0.956997 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.18, Z:-0.07 [[ 9.97584194e-01 -6.57237747e-02 -2.24980296e-02 3.86157891e+00] [ 6.57627246e-02 9.97834793e-01 9.94999473e-04 -1.81907657e-01] [ 2.23839216e-02 -2.47212747e-03 9.99746392e-01 -6.89186875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098779191999999 meters Centerline goodness : 0.958562 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.18, Z:-0.07 [[ 9.97717729e-01 -6.36644454e-02 -2.24982798e-02 3.88977455e+00] [ 6.37027512e-02 9.97968427e-01 9.89310484e-04 -1.76794029e-01] [ 2.23895890e-02 -2.42025493e-03 9.99746392e-01 -6.89308572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128779192 meters Centerline goodness : 0.955923 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.17, Z:-0.07 [[ 9.97820903e-01 -6.20263356e-02 -2.24984107e-02 3.91931747e+00] [ 6.20641632e-02 9.98071674e-01 9.86325274e-04 -1.68345088e-01] [ 2.23938483e-02 -2.38052101e-03 9.99746392e-01 -6.78306466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.158779191999999 meters Centerline goodness : 0.954951 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.17, Z:-0.07 [[ 9.97761304e-01 -6.29777022e-02 -2.24986556e-02 3.94880035e+00] [ 6.30156436e-02 9.98012057e-01 9.80707227e-04 -1.66119405e-01] [ 2.23921668e-02 -2.39627898e-03 9.99746392e-01 -6.67903555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188779191999999 meters Centerline goodness : 0.950946 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.16, Z:-0.07 [[ 9.97631581e-01 -6.50002221e-02 -2.24988994e-02 3.97763827e+00] [ 6.50385463e-02 9.97882276e-01 9.75081456e-04 -1.61102406e-01] [ 2.23878724e-02 -2.43606776e-03 9.99746392e-01 -6.64192180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2187791919999995 meters Centerline goodness : 0.949956 Centerline is valid? [True, False] Translation: X:3.98, Y:-0.16, Z:-0.07 [[ 0.99780322 -0.06180623 -0.02384803 3.98012155] [ 0.06194644 0.99806601 0.00518535 -0.1616238 ] [ 0.02348143 -0.00665126 0.99970215 -0.06601979] [ 0. 0. 0. 1. ]] SLAMing on 5.248779191999999 meters Centerline goodness : 0.946530 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:-0.07 [[ 0.99787324 -0.05929834 -0.02706856 3.98625279] [ 0.05955189 0.99818766 0.00865824 -0.16025403] [ 0.02650608 -0.01025181 0.99959608 -0.06605192] [ 0. 0. 0. 1. ]] SLAMing on 5.278779191999999 meters Centerline goodness : 0.939743 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.16, Z:-0.07 [[ 0.99833772 -0.05249911 -0.02378305 3.9991999 ] [ 0.05269907 0.99857951 0.00785998 -0.16124149] [ 0.02333662 -0.00910026 0.99968624 -0.06643976] [ 0. 0. 0. 1. ]] SLAMing on 5.308779191999999 meters Centerline goodness : 0.942783 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.16, Z:-0.07 [[ 0.99883923 -0.04302984 -0.02164754 4.01365788] [ 0.04324181 0.99902021 0.00942106 -0.16173277] [ 0.02122094 -0.0103462 0.99972128 -0.06565395] [ 0. 0. 0. 1. ]] SLAMing on 5.338779192 meters Centerline goodness : 0.945829 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.16, Z:-0.06 [[ 0.99920682 -0.03552401 -0.01799384 4.02550355] [ 0.03569617 0.99931905 0.00933877 -0.16340779] [ 0.01764984 -0.00997367 0.99979448 -0.06431851] [ 0. 0. 0. 1. ]] SLAMing on 5.368779191999999 meters Centerline goodness : 0.946123 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-0.06 [[ 0.99950117 -0.0270631 -0.0162787 4.03990031] [ 0.02720427 0.99959364 0.00851358 -0.16320701] [ 0.01604168 -0.00895218 0.99983125 -0.06403004] [ 0. 0. 0. 1. ]] SLAMing on 5.398779191999999 meters Centerline goodness : 0.944788 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.16, Z:-0.07 [[ 0.99972954 -0.01975089 -0.01227801 4.05185437] [ 0.01983383 0.99978104 0.00666995 -0.16396343] [ 0.01214358 -0.00691167 0.99990238 -0.0655435 ] [ 0. 0. 0. 1. ]] SLAMing on 5.4287791919999995 meters Centerline goodness : 0.937630 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-0.06 [[ 0.99986321 -0.01321337 -0.00994833 4.06658971] [ 0.01327231 0.99989462 0.0058821 -0.16481396] [ 0.00986956 -0.00601333 0.99993321 -0.0638719 ] [ 0. 0. 0. 1. ]] SLAMing on 5.458779191999999 meters Centerline goodness : 0.923984 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.17, Z:-0.06 [[ 9.99904846e-01 -1.09711125e-02 -8.36260982e-03 4.08197872e+00] [ 1.09770153e-02 9.99939533e-01 6.60280217e-04 -1.66218972e-01] [ 8.35486014e-03 -7.52013885e-04 9.99964815e-01 -6.21834350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488779191999999 meters Centerline goodness : 0.919308 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.17, Z:-0.06 [[ 0.99990931 -0.0085591 -0.01039743 4.08613989] [ 0.00862021 0.99994576 0.00584618 -0.16918358] [ 0.01034683 -0.00593528 0.99992886 -0.05995351] [ 0. 0. 0. 1. ]] SLAMing on 5.518779191999999 meters Centerline goodness : 0.914336 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.17, Z:-0.06 [[ 0.99987475 -0.00977153 -0.01245033 4.09065346] [ 0.00985268 0.99993051 0.00647313 -0.17075159] [ 0.01238622 -0.00659498 0.99990154 -0.05869749] [ 0. 0. 0. 1. ]] SLAMing on 5.548779192 meters Centerline goodness : 0.912374 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.17, Z:-0.06 [[ 0.9998486 -0.01058892 -0.01380779 4.09381739] [ 0.01068106 0.99992107 0.0066165 -0.17193145] [ 0.01373664 -0.00676298 0.99988278 -0.05893506] [ 0. 0. 0. 1. ]] SLAMing on 5.578779191999999 meters Centerline goodness : 0.908616 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.17, Z:-0.06 [[ 0.99980553 -0.01201563 -0.01563748 4.09843561] [ 0.01213049 0.99989998 0.00727133 -0.17492384] [ 0.01554855 -0.0074596 0.99985129 -0.05851256] [ 0. 0. 0. 1. ]] SLAMing on 5.608779191999999 meters Centerline goodness : 0.908516 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-0.06 [[ 9.99854537e-01 -1.05026236e-02 -1.34387035e-02 4.11418701e+00] [ 1.05179721e-02 9.99944110e-01 1.07194478e-03 -1.77091652e-01] [ 1.34266942e-02 -1.21313676e-03 9.99909122e-01 -6.14328181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638779191999999 meters Centerline goodness : 0.903874 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.18, Z:-0.06 [[ 9.99805277e-01 -1.16659812e-02 -1.59158183e-02 4.11968052e+00] [ 1.17040913e-02 9.99928852e-01 2.30343435e-03 -1.81758829e-01] [ 1.58878141e-02 -2.48926601e-03 9.99870682e-01 -6.12128902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668779191999999 meters Centerline goodness : 0.899281 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.18, Z:-0.06 [[ 9.99782180e-01 -1.19949885e-02 -1.70796043e-02 4.12218481e+00] [ 1.20452905e-02 9.99923405e-01 2.84532553e-03 -1.83458423e-01] [ 1.70441664e-02 -3.05043455e-03 9.99850084e-01 -6.14093578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.698779191999999 meters Centerline goodness : 0.903869 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.06 [[ 9.99829688e-01 -8.29354629e-03 -1.64867051e-02 4.14082789e+00] [ 8.28968555e-03 9.99965594e-01 -3.02499495e-04 -1.86212481e-01] [ 1.64886466e-02 1.65778375e-04 9.99864039e-01 -6.41175965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728779191999999 meters Centerline goodness : 0.901973 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.19, Z:-0.07 [[ 9.99910224e-01 -3.67715303e-03 -1.28849628e-02 4.15360978e+00] [ 3.61917273e-03 9.99983234e-01 -4.52027437e-03 -1.88343142e-01] [ 1.29013686e-02 4.47323565e-03 9.99906768e-01 -6.64361919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7587791919999995 meters Centerline goodness : 0.903690 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.19, Z:-0.06 [[ 9.99908387e-01 -1.86307731e-03 -1.34069717e-02 4.15292855e+00] [ 1.83019341e-03 9.99995288e-01 -2.46459780e-03 -1.91924105e-01] [ 1.34115003e-02 2.43983466e-03 9.99907085e-01 -6.38660556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788779191999999 meters Centerline goodness : 0.901659 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.20, Z:-0.06 [[ 9.99890048e-01 1.64308806e-03 -1.47374298e-02 4.15523802e+00] [-1.60103710e-03 9.99994615e-01 2.86468878e-03 -1.95385536e-01] [ 1.47420574e-02 -2.84077864e-03 9.99887295e-01 -6.21835227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818779191999999 meters Centerline goodness : 0.901047 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.20, Z:-0.06 [[ 0.9998494 0.00523156 -0.01654702 4.15950898] [-0.00510447 0.99995722 0.00771336 -0.19764119] [ 0.01658667 -0.00762773 0.99983334 -0.06215236] [ 0. 0. 0. 1. ]] SLAMing on 5.848779191999999 meters Centerline goodness : 0.901518 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.20, Z:-0.06 [[ 0.99983741 0.0075224 -0.01638803 4.15842873] [-0.00737994 0.9999346 0.00873649 -0.198518 ] [ 0.01645268 -0.00861412 0.99982754 -0.06125497] [ 0. 0. 0. 1. ]] SLAMing on 5.878779191999999 meters Centerline goodness : 0.900151 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.20, Z:-0.06 [[ 9.99859618e-01 1.20531217e-02 -1.16389689e-02 4.16878858e+00] [-1.20188343e-02 9.99923237e-01 3.01138440e-03 -1.99953069e-01] [ 1.16743720e-02 -2.87107482e-03 9.99927730e-01 -6.35901535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908779191999999 meters Centerline goodness : 0.906054 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.20, Z:-0.06 [[ 0.99983109 0.01460126 -0.01116184 4.16712803] [-0.01454942 0.99988305 0.00471201 -0.20232977] [ 0.01122934 -0.00454882 0.9999266 -0.06223286] [ 0. 0. 0. 1. ]] SLAMing on 5.938779191999999 meters Centerline goodness : 0.908120 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.20, Z:-0.06 [[ 0.9998202 0.01535646 -0.01112397 4.16718751] [-0.01530058 0.99986998 0.00509163 -0.20322083] [ 0.01120071 -0.00492051 0.99992516 -0.06300831] [ 0. 0. 0. 1. ]] SLAMing on 5.9687791919999995 meters Centerline goodness : 0.910338 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.21, Z:-0.06 [[ 0.99974319 0.01941578 -0.0116869 4.169138 ] [-0.0192934 0.99975878 0.01049491 -0.20991137] [ 0.01188785 -0.01026674 0.99987663 -0.06317914] [ 0. 0. 0. 1. ]] SLAMing on 5.998779191999999 meters Centerline goodness : 0.909570 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.21, Z:-0.06 [[ 0.99979265 0.01684067 -0.01144777 4.16839944] [-0.01676337 0.99983626 0.0068153 -0.21112285] [ 0.01156067 -0.00662198 0.99991125 -0.06426848] [ 0. 0. 0. 1. ]] SLAMing on 6.028779191999999 meters Centerline goodness : 0.402411 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.22, Z:-0.06 [[ 0.9997271 0.02209726 -0.00757924 4.18229506] [-0.02205449 0.99974062 0.00568178 -0.22017961] [ 0.00770282 -0.00551307 0.99995514 -0.06474513] [ 0. 0. 0. 1. ]] SLAMing on 6.058779191999999 meters Centerline goodness : 0.270164 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.23, Z:-0.06 [[ 0.99963764 0.0256924 -0.00803023 4.183661 ] [-0.02559915 0.99960606 0.01150723 -0.22637698] [ 0.00832272 -0.01129749 0.99990154 -0.06305543] [ 0. 0. 0. 1. ]] SLAMing on 6.088779191999999 meters Centerline goodness : 0.133593 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.24, Z:-0.06 [[ 0.99964066 0.02548183 -0.0083199 4.18564472] [-0.02538254 0.99960783 0.01182881 -0.23519336] [ 0.00861806 -0.01161338 0.99989542 -0.0649115 ] [ 0. 0. 0. 1. ]] SLAMing on 6.118779191999999 meters Centerline goodness : 0.127927 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.25, Z:-0.07 [[ 0.99962741 0.02549154 -0.0097582 4.19270354] [-0.02535034 0.9995759 0.01433077 -0.24565771] [ 0.01011938 -0.01407806 0.99984969 -0.06831552] [ 0. 0. 0. 1. ]] SLAMing on 6.148779191999999 meters Centerline goodness : 0.127226 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.25, Z:-0.07 [[ 0.99963443 0.02498303 -0.01033714 4.19551448] [-0.0248302 0.99958421 0.01465812 -0.25032796] [ 0.01069904 -0.01439609 0.99983913 -0.07040979] [ 0. 0. 0. 1. ]] SLAMing on 6.1787791919999995 meters Centerline goodness : 0.129129 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.26, Z:-0.07 [[ 0.99968064 0.02289569 -0.01069615 4.2002499 ] [-0.022748 0.99964693 0.0137309 -0.25927526] [ 0.01100675 -0.0134832 0.99984852 -0.07417398] [ 0. 0. 0. 1. ]] SLAMing on 6.208779191999999 meters Centerline goodness : 0.128966 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.26, Z:-0.08 [[ 0.9997412 0.02014763 -0.01056436 4.20178889] [-0.02002851 0.99973597 0.01126265 -0.26359572] [ 0.01078849 -0.01104814 0.99988077 -0.07636771] [ 0. 0. 0. 1. ]] SLAMing on 6.238779191999999 meters Centerline goodness : 0.131044 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.27, Z:-0.08 [[ 9.99898532e-01 1.41182062e-02 -1.89784769e-03 4.21029142e+00] [-1.40985469e-02 9.99850593e-01 1.00010860e-02 -2.74914908e-01] [ 2.03876154e-03 -9.97331430e-03 9.99948187e-01 -7.91155773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268779191999999 meters Centerline goodness : 0.134945 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.28, Z:-0.08 [[ 9.99938584e-01 1.10453412e-02 -9.10508706e-04 4.20933283e+00] [-1.10386252e-02 9.99914023e-01 7.07778331e-03 -2.79364269e-01] [ 9.88606956e-04 -7.06729786e-03 9.99974538e-01 -7.95050364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.298779191999999 meters Centerline goodness : 0.127062 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.29, Z:-0.08 [[ 9.99967352e-01 7.96174440e-03 1.38029846e-03 4.23056661e+00] [-7.96563396e-03 9.99964253e-01 2.83569268e-03 -2.89208487e-01] [-1.35767206e-03 -2.84659505e-03 9.99995027e-01 -7.91502225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328779191999999 meters Centerline goodness : 0.131368 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.29, Z:-0.08 [[ 9.99968810e-01 7.71903217e-03 1.67180027e-03 4.23168693e+00] [-7.72505906e-03 9.99963576e-01 3.62908797e-03 -2.93857300e-01] [-1.64372633e-03 -3.64188953e-03 9.99992017e-01 -8.01839680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358779191999999 meters Centerline goodness : 0.127669 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.30, Z:-0.08 [[ 9.99961318e-01 8.28738626e-03 2.94637420e-03 4.23309505e+00] [-8.29864478e-03 9.99958232e-01 3.82967731e-03 -3.01779995e-01] [-2.91451312e-03 -3.85398008e-03 9.99988326e-01 -8.31584804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388779191999999 meters Centerline goodness : 0.152260 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.31, Z:-0.08 [[ 9.99950496e-01 9.19502036e-03 3.80225545e-03 4.23262545e+00] [-9.21266046e-03 9.99946759e-01 4.64818534e-03 -3.06583174e-01] [-3.75931286e-03 -4.68298413e-03 9.99981968e-01 -8.42939860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418779191999999 meters Centerline goodness : 0.180443 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.31, Z:-0.09 [[ 9.99930897e-01 1.09497002e-02 4.27856363e-03 4.23395207e+00] [-1.09699909e-02 9.99928555e-01 4.74808184e-03 -3.14261024e-01] [-4.22626787e-03 -4.79468954e-03 9.99979575e-01 -8.68471502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448779191999999 meters Centerline goodness : 0.180451 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:-0.09 [[ 0.99992297 0.01155974 0.00451905 4.23475754] [-0.01158244 0.99992028 0.00502859 -0.31768054] [-0.00446056 -0.00508055 0.99997715 -0.08898784] [ 0. 0. 0. 1. ]] SLAMing on 6.478779191999999 meters Centerline goodness : 0.188402 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.32, Z:-0.09 [[ 9.99860664e-01 1.63212188e-02 3.50289306e-03 4.23863018e+00] [-1.63443643e-02 9.99844082e-01 6.68387660e-03 -3.24534039e-01] [-3.39325789e-03 -6.74019785e-03 9.99971527e-01 -9.33649482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508779191999999 meters Centerline goodness : 0.143713 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:-0.10 [[ 9.99845511e-01 1.70964768e-02 4.08230222e-03 4.23917255e+00] [-1.71213807e-02 9.99834532e-01 6.14548715e-03 -3.26178650e-01] [-3.97656055e-03 -6.21443239e-03 9.99972784e-01 -9.70723047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538779191999999 meters Centerline goodness : 0.142703 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.10 [[ 9.99618914e-01 2.66516700e-02 7.19137409e-03 4.25544285e+00] [-2.66801767e-02 9.99636422e-01 3.89762495e-03 -3.27211635e-01] [-7.08488126e-03 -4.08800675e-03 9.99966546e-01 -1.04294806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568779191999999 meters Centerline goodness : 0.142703 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.10 [[ 9.99618914e-01 2.66516700e-02 7.19137409e-03 4.25544285e+00] [-2.66801767e-02 9.99636422e-01 3.89762495e-03 -3.27211635e-01] [-7.08488126e-03 -4.08800675e-03 9.99966546e-01 -1.04294806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598779191999999 meters Centerline goodness : 0.778259 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.11 [[ 9.99390475e-01 3.31776734e-02 1.08591146e-02 4.27062328e+00] [-3.31641366e-02 9.99448904e-01 -1.42433583e-03 -3.28167115e-01] [-1.09003864e-02 1.06333450e-03 9.99940024e-01 -1.10436915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628779191999999 meters Centerline goodness : 0.767216 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.11 [[ 9.99320345e-01 3.48283648e-02 1.20761743e-02 4.26922597e+00] [-3.48045053e-02 9.99391761e-01 -2.18037836e-03 -3.27868727e-01] [-1.21447681e-02 1.75859119e-03 9.99924703e-01 -1.12826026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658779191999999 meters Centerline goodness : 0.735264 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.12 [[ 9.99082360e-01 4.08230207e-02 1.29583770e-02 4.26974379e+00] [-4.08158790e-02 9.99166352e-01 -8.15224454e-04 -3.28427980e-01] [-1.29808542e-02 2.85568826e-04 9.99915704e-01 -1.16989890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688779191999999 meters Centerline goodness : 0.755253 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.12 [[ 9.99026587e-01 4.19079224e-02 1.37697199e-02 4.26935666e+00] [-4.18948209e-02 9.99121259e-01 -1.23867791e-03 -3.28896696e-01] [-1.38095303e-02 6.60592213e-04 9.99904426e-01 -1.19222624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718779191999999 meters Centerline goodness : 0.655905 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.33, Z:-0.12 [[ 0.99884331 0.04496481 0.01703545 4.28838924] [-0.0448525 0.99896966 -0.00691866 -0.33014307] [-0.01732899 0.00614657 0.99983095 -0.12353598] [ 0. 0. 0. 1. ]] SLAMing on 6.748779191999999 meters Centerline goodness : 0.260232 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.33, Z:-0.13 [[ 0.99867512 0.04733992 0.02017254 4.31019612] [-0.04711753 0.99882474 -0.01136093 -0.33149843] [-0.02068666 0.0103954 0.99973196 -0.12761036] [ 0. 0. 0. 1. ]] SLAMing on 6.778779191999999 meters Centerline goodness : 0.281158 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.33, Z:-0.13 [[ 0.99866627 0.04738199 0.02050902 4.31183907] [-0.04715428 0.99882202 -0.01144784 -0.33272327] [-0.02102728 0.01046548 0.99972413 -0.12998229] [ 0. 0. 0. 1. ]] SLAMing on 6.808779191999999 meters Centerline goodness : 0.610477 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.33, Z:-0.13 [[ 0.9986704 0.04727608 0.02055231 4.31423267] [-0.04704872 0.99882744 -0.01140881 -0.33436342] [-0.02106757 0.01042668 0.99972368 -0.13238173] [ 0. 0. 0. 1. ]] SLAMing on 6.838779191999999 meters Centerline goodness : 0.581619 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.34, Z:-0.13 [[ 0.99856428 0.04980107 0.01972879 4.34361687] [-0.04958427 0.99870567 -0.01133039 -0.33973045] [-0.02026752 0.01033588 0.99974117 -0.13490792] [ 0. 0. 0. 1. ]] SLAMing on 6.868779191999999 meters Centerline goodness : 0.557778 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:-0.14 [[ 0.99857119 0.04971306 0.01960052 4.34589095] [-0.04949798 0.99871019 -0.01130999 -0.34244471] [-0.02013749 0.01032364 0.99974392 -0.1369529 ] [ 0. 0. 0. 1. ]] SLAMing on 6.898779191999999 meters Centerline goodness : 0.556702 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:-0.14 [[ 0.99849721 0.05053687 0.02119762 4.37029547] [-0.05018364 0.9985974 -0.01687727 -0.34680516] [-0.02202081 0.01578813 0.99963284 -0.14059083] [ 0. 0. 0. 1. ]] SLAMing on 6.928779191999999 meters Centerline goodness : 0.443018 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:-0.14 [[ 0.99849419 0.0510247 0.02014541 4.37599767] [-0.05071751 0.99859312 -0.01547599 -0.34966147] [-0.02090672 0.01443096 0.99967728 -0.14294276] [ 0. 0. 0. 1. ]] SLAMing on 6.958779191999999 meters Centerline goodness : 0.544898 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.35, Z:-0.15 [[ 0.99834565 0.05071644 0.0270888 4.39328177] [-0.05037581 0.99864425 -0.01311259 -0.35171586] [-0.0277171 0.01172628 0.99954703 -0.1501049 ] [ 0. 0. 0. 1. ]] SLAMing on 6.988779191999999 meters Centerline goodness : 0.521711 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:-0.15 [[ 0.99835113 0.05071345 0.02689186 4.39587701] [-0.05036607 0.99864037 -0.01344154 -0.35188907] [-0.02753696 0.01206494 0.99954797 -0.15274311] [ 0. 0. 0. 1. ]] SLAMing on 7.018779191999999 meters Centerline goodness : 0.392013 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.35, Z:-0.16 [[ 0.99809997 0.05514372 0.0274884 4.42424137] [-0.05480345 0.99841276 -0.01298241 -0.35312291] [-0.02816067 0.01145128 0.99953782 -0.15544173] [ 0. 0. 0. 1. ]] SLAMing on 7.048779191999999 meters Centerline goodness : 0.305327 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:-0.16 [[ 0.99791449 0.05819023 0.02793859 4.45398839] [-0.0578164 0.99822896 -0.01400728 -0.35507534] [-0.0287042 0.01236276 0.9995115 -0.15860626] [ 0. 0. 0. 1. ]] SLAMing on 7.078779191999999 meters Centerline goodness : 0.433693 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:-0.16 [[ 0.9979783 0.0573125 0.02746974 4.45901397] [-0.0569372 0.99827598 -0.0142559 -0.35531087] [-0.02823943 0.01266303 0.99952098 -0.16068376] [ 0. 0. 0. 1. ]] SLAMing on 7.108779191999999 meters Centerline goodness : 0.193402 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:-0.16 [[ 0.99782049 0.05969656 0.02811759 4.49089291] [-0.05930359 0.99813309 -0.01460904 -0.35763734] [-0.02893721 0.01290972 0.99949786 -0.16326681] [ 0. 0. 0. 1. ]] SLAMing on 7.1387791919999986 meters Centerline goodness : 0.289413 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:-0.16 [[ 0.99772626 0.0614786 0.0276168 4.49758989] [-0.0612203 0.99807314 -0.01010395 -0.36035976] [-0.02818476 0.00839027 0.99956752 -0.1634514 ] [ 0. 0. 0. 1. ]] SLAMing on 7.168779191999999 meters Centerline goodness : 0.272848 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.36, Z:-0.16 [[ 0.99763703 0.06194713 0.02971372 4.52749358] [-0.06160957 0.99802643 -0.01214528 -0.36313835] [-0.03040744 0.01028594 0.99948466 -0.16431672] [ 0. 0. 0. 1. ]] SLAMing on 7.198779191999999 meters Centerline goodness : 0.257345 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.36, Z:-0.17 [[ 0.99775633 0.06025558 0.02918169 4.53384188] [-0.05992647 0.99813036 -0.01202486 -0.3641813 ] [-0.0298517 0.01024913 0.99950179 -0.16548792] [ 0. 0. 0. 1. ]] SLAMing on 7.228779191999999 meters Centerline goodness : 0.260455 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:-0.17 [[ 0.99768595 0.06151073 0.02896843 4.56813697] [-0.06117967 0.99805245 -0.01217995 -0.36817981] [-0.02966121 0.01037948 0.99950612 -0.16735303] [ 0. 0. 0. 1. ]] SLAMing on 7.258779191999999 meters Centerline goodness : 0.263436 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:-0.17 [[ 0.9978041 0.06002694 0.02799559 4.57477158] [-0.05970047 0.99813986 -0.01235601 -0.36829556] [-0.0286852 0.01065752 0.99953168 -0.16915803] [ 0. 0. 0. 1. ]] SLAMing on 7.288779191999999 meters Centerline goodness : 0.274684 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.37, Z:-0.18 [[ 0.99773914 0.05834124 0.03336022 4.59693599] [-0.05800318 0.99825564 -0.01101373 -0.37030151] [-0.03394458 0.00905383 0.99938271 -0.17735557] [ 0. 0. 0. 1. ]] SLAMing on 7.318779191999999 meters Centerline goodness : 0.178034 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.37, Z:-0.18 [[ 0.99794345 0.05651922 0.03023997 4.60809811] [-0.05622664 0.99836344 -0.01044041 -0.37161287] [-0.03078057 0.00871864 0.99948814 -0.1801847 ] [ 0. 0. 0. 1. ]] SLAMing on 7.3487791919999985 meters Centerline goodness : 0.178754 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.37, Z:-0.19 [[ 0.99819013 0.04999845 0.03341598 4.62811196] [-0.04965429 0.99870532 -0.01105155 -0.37164749] [-0.03392528 0.0093723 0.99938043 -0.18921133] [ 0. 0. 0. 1. ]] SLAMing on 7.378779191999999 meters Centerline goodness : 0.177420 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.37, Z:-0.19 [[ 0.99837082 0.04781264 0.03113925 4.63677332] [-0.04750654 0.99881577 -0.01049731 -0.37406935] [-0.03160428 0.00900089 0.99945993 -0.19066764] [ 0. 0. 0. 1. ]] SLAMing on 7.408779191999999 meters Centerline goodness : 0.171143 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.38, Z:-0.19 [[ 0.99834452 0.04807903 0.03156948 4.66690584] [-0.0476619 0.9987677 -0.01383558 -0.37825603] [-0.03219578 0.01230801 0.9994058 -0.1926653 ] [ 0. 0. 0. 1. ]] SLAMing on 7.438779191999999 meters Centerline goodness : 0.163749 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.38, Z:-0.20 [[ 0.99833385 0.04392586 0.03741716 4.68584421] [-0.04352441 0.99898644 -0.01147729 -0.38177698] [-0.03788339 0.00982961 0.99923382 -0.19903597] [ 0. 0. 0. 1. ]] SLAMing on 7.468779191999999 meters Centerline goodness : 0.164290 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.38, Z:-0.20 [[ 0.9985372 0.04237667 0.03358083 4.69813755] [-0.04205411 0.99906271 -0.01025477 -0.38405991] [-0.03398391 0.00882756 0.99938339 -0.2009501 ] [ 0. 0. 0. 1. ]] SLAMing on 7.498779191999999 meters Centerline goodness : 0.158734 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.39, Z:-0.20 [[ 0.99834858 0.04584055 0.03462306 4.72733025] [-0.04545373 0.99889582 -0.01187841 -0.38605118] [-0.03512934 0.01028504 0.99932985 -0.20399116] [ 0. 0. 0. 1. ]] SLAMing on 7.528779191999999 meters Centerline goodness : 0.156967 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.39, Z:-0.21 [[ 0.99848841 0.04429411 0.03254119 4.73523692] [-0.04393413 0.99896597 -0.01169551 -0.38662979] [-0.03302558 0.01024816 0.99940196 -0.20535132] [ 0. 0. 0. 1. ]] SLAMing on 7.5587791919999985 meters Centerline goodness : 0.153254 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.39, Z:-0.21 [[ 0.99866676 0.04293435 0.02865923 4.74758222] [-0.04264548 0.99903386 -0.0106161 -0.38803033] [-0.02908734 0.00937976 0.99953286 -0.20661175] [ 0. 0. 0. 1. ]] SLAMing on 7.588779191999999 meters Centerline goodness : 0.147595 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.39, Z:-0.21 [[ 0.9984969 0.04610996 0.02962786 4.77761161] [-0.04574606 0.99887051 -0.01284556 -0.38897804] [-0.0301867 0.01147089 0.99947845 -0.2098529 ] [ 0. 0. 0. 1. ]] SLAMing on 7.618779191999999 meters Centerline goodness : 0.141248 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.39, Z:-0.21 [[ 0.9984011 0.04775775 0.03023988 4.80999943] [-0.04737499 0.99878929 -0.01325017 -0.39315001] [-0.03083606 0.01179637 0.99945484 -0.21021459] [ 0. 0. 0. 1. ]] SLAMing on 7.648779191999999 meters Centerline goodness : 0.138067 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.39, Z:-0.21 [[ 0.998756 0.03948975 0.03044692 4.8282548 ] [-0.03912879 0.99915771 -0.01236155 -0.3919265 ] [-0.03090943 0.01115482 0.99945994 -0.21064263] [ 0. 0. 0. 1. ]] SLAMing on 7.678779191999999 meters Centerline goodness : 0.131451 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.40, Z:-0.21 [[ 0.99874948 0.03987746 0.03015404 4.86288639] [-0.03945926 0.99911829 -0.01433919 -0.39534887] [-0.03069926 0.0131314 0.99944241 -0.21182605] [ 0. 0. 0. 1. ]] SLAMing on 7.708779191999999 meters Centerline goodness : 0.168163 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.40, Z:-0.21 [[ 0.99898337 0.03721536 0.02544114 4.87799408] [-0.03688398 0.99923007 -0.01337322 -0.39676621] [-0.02591924 0.01242125 0.99958687 -0.21286543] [ 0. 0. 0. 1. ]] SLAMing on 7.738779191999999 meters Centerline goodness : 0.156040 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.40, Z:-0.22 [[ 0.99893437 0.03861946 0.02527165 4.91219996] [-0.03822737 0.99914386 -0.01581837 -0.39766745] [-0.02586091 0.01483544 0.99955546 -0.21670231] [ 0. 0. 0. 1. ]] Total time of SLAM: 310.88 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/257 [00:00