+ python -m lidar_slam --result /working/result.json --no-model /working/0fe68b0b-bf8b-43d7-91ca-c520b88df5f9 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/0fe68b0b-bf8b-43d7-91ca-c520b88df5f9 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.014647896 Adjusted end_distance from 9.223372036854776e+18 to 8.152807896 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.014647896 meters Centerline goodness : 0.943898 with order 1 Centerline is valid? [0, False] SLAMing on 0.07464789599999999 meters Centerline goodness : 0.966951 with order 1 Centerline is valid? [False, True] Translation: X:0.00, Y:0.01, Z:-0.01 [[ 9.99988039e-01 4.68447029e-03 -1.40614767e-03 4.62492290e-03] [-4.68415065e-03 9.99989003e-01 2.30526979e-04 1.34229389e-02] [ 1.40721210e-03 -2.23937614e-04 9.99998985e-01 -6.19370976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.134647896 meters Centerline goodness : 0.979911 with order 1 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.05, Z:-0.03 [[ 9.99859031e-01 -1.67312310e-02 -1.40827678e-03 -5.60154127e-02] [ 1.67312671e-02 9.99860022e-01 1.38369555e-05 4.88357066e-02] [ 1.40784814e-03 -3.73972599e-05 9.99999008e-01 -3.18598948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19464789599999996 meters Centerline goodness : 0.985902 with order 1 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.04, Z:-0.02 [[ 9.99982204e-01 5.79734653e-03 -1.40827132e-03 -1.16266986e-01] [-5.79733204e-03 9.99983195e-01 1.43719521e-05 4.15523790e-02] [ 1.40833097e-03 -6.20747988e-06 9.99999008e-01 -1.57929468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.254647896 meters Centerline goodness : 0.991737 with order 1 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.02, Z:0.02 [[ 9.99132640e-01 4.16171227e-02 -1.40827154e-03 -1.77307661e-01] [-4.16171438e-02 9.99133631e-01 1.43506700e-05 2.46491339e-02] [ 1.40764869e-03 4.42700163e-05 9.99999008e-01 2.47833729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3146478959999999 meters Centerline goodness : 0.996753 with order 1 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.02, Z:0.02 [[ 9.98553728e-01 5.37444806e-02 -1.40827097e-03 -2.38695359e-01] [-5.37445136e-02 9.98554719e-01 1.44063035e-05 2.49744588e-02] [ 1.40700988e-03 6.13013702e-05 9.99999008e-01 2.18334611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3746478959999999 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:-0.30, Y:0.01, Z:0.02 [[ 9.98214419e-01 5.97159134e-02 -1.40826980e-03 -2.99302427e-01] [-5.97159522e-02 9.98215410e-01 1.45195283e-05 1.08899971e-02] [ 1.40662366e-03 6.96025697e-05 9.99999008e-01 2.45496342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4346478959999999 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:-0.36, Y:-0.01, Z:0.03 [[ 9.98139101e-01 6.09618889e-02 -1.40826953e-03 -3.62055014e-01] [-6.09619289e-02 9.98140092e-01 1.45460023e-05 -1.33626088e-02] [ 1.40653703e-03 7.13318932e-05 9.99999008e-01 3.09583694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4946478959999999 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.02, Z:0.02 [[ 9.98675605e-01 5.14300840e-02 -1.40826425e-03 -4.24290910e-01] [-5.14301139e-02 9.98676596e-01 1.50400148e-05 -2.15537697e-02] [ 1.40717406e-03 5.74070951e-05 9.99999008e-01 2.00394846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.554647896 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.04, Z:0.02 [[ 9.99494643e-01 3.17564896e-02 -1.40826267e-03 -4.85644374e-01] [-3.17564997e-02 9.99495635e-01 1.51867943e-05 -3.85829511e-02] [ 1.40803467e-03 2.95423735e-05 9.99999008e-01 1.82990487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6146478959999999 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.06, Z:0.01 [[ 9.99853027e-01 1.70863128e-02 -1.40826230e-03 -5.46226946e-01] [-1.70863083e-02 9.99854018e-01 1.52211772e-05 -5.58488522e-02] [ 1.40831679e-03 8.84306366e-06 9.99999008e-01 1.39382824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.674647896 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.07, Z:0.01 [[ 9.99992518e-01 3.60283802e-03 -1.40825820e-03 -6.07065622e-01] [-3.60281964e-03 9.99993510e-01 1.55911402e-05 -6.98079183e-02] [ 1.40830523e-03 -1.05173233e-05 9.99999008e-01 6.43517932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7346478959999999 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.08, Z:0.01 [[ 9.99996719e-01 -2.13965841e-03 -1.40825788e-03 -6.67777178e-01] [ 2.13968252e-03 9.99997711e-01 1.56204081e-05 -8.46463592e-02] [ 1.40822123e-03 -1.86335816e-05 9.99999008e-01 5.75002076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.794647896 meters Centerline goodness : 0.988458 with order 1 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.10, Z:-0.01 [[ 9.99853477e-01 -1.70599590e-02 -1.40825325e-03 -7.27799512e-01] [ 1.70599985e-02 9.99854468e-01 1.60271558e-05 -9.52445526e-02] [ 1.40777488e-03 -4.00496057e-05 9.99999008e-01 -9.53928027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8546478959999999 meters Centerline goodness : 0.975101 with order 1 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.10, Z:-0.01 [[ 9.99655717e-01 -2.62004565e-02 -1.40825392e-03 -7.88061509e-01] [ 2.62005050e-02 9.99656708e-01 1.59682747e-05 -1.03364973e-01] [ 1.40735210e-03 -5.28597409e-05 9.99999008e-01 -7.56684041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.914647896 meters Centerline goodness : 0.968355 with order 1 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.12, Z:0.00 [[ 9.99468584e-01 -3.25663399e-02 -1.40825425e-03 -8.47803971e-01] [ 3.25663946e-02 9.99469574e-01 1.59385774e-05 -1.21097371e-01] [ 1.40698822e-03 -6.17918711e-05 9.99999008e-01 5.28751833e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9746478959999999 meters Centerline goodness : 0.978767 with order 1 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.08, Z:-0.03 [[ 9.97959060e-01 -6.38414549e-02 -1.40825943e-03 -9.06157193e-01] [ 6.38415399e-02 9.97960048e-01 1.54668374e-05 -8.34949260e-02] [ 1.40439923e-03 -1.05340721e-04 9.99999008e-01 -2.71796616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0346478959999998 meters Centerline goodness : 0.985366 with order 1 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.13, Z:-0.03 [[ 9.99834261e-01 -1.81512598e-02 -1.40826014e-03 -9.66906211e-01] [ 1.81512995e-02 9.99835251e-01 1.54021066e-05 -1.31052441e-01] [ 1.40774856e-03 -4.09613054e-05 9.99999008e-01 -2.66432606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.094647896 meters Centerline goodness : 0.991942 with order 1 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.17, Z:-0.01 [[ 9.99990457e-01 -4.13547049e-03 -1.40826065e-03 -1.02680578e+00] [ 4.13549622e-03 9.99991449e-01 1.53550638e-05 -1.67760848e-01] [ 1.40818511e-03 -2.11787738e-05 9.99999008e-01 -5.32477998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.154647896 meters Centerline goodness : 0.992161 with order 1 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.21, Z:-0.01 [[ 9.99973480e-01 -7.14536778e-03 -1.40826135e-03 -1.08634193e+00] [ 7.14539640e-03 9.99974471e-01 1.52913341e-05 -2.10369878e-01] [ 1.40811613e-03 -2.53535141e-05 9.99999008e-01 -9.52833168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2146478959999998 meters Centerline goodness : 0.995682 with order 1 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.27, Z:0.00 [[ 9.99869269e-01 -1.61078293e-02 -1.40826273e-03 -1.14678665e+00] [ 1.61078666e-02 9.99870260e-01 1.51629801e-05 -2.69723559e-01] [ 1.40783578e-03 -3.78451059e-05 9.99999008e-01 1.40739565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2746478959999998 meters Centerline goodness : 0.997818 with order 1 Centerline is valid? [True, True] Translation: X:-1.21, Y:-0.32, Z:0.00 [[ 9.99873648e-01 -1.58336679e-02 -1.40826287e-03 -1.20606815e+00] [ 1.58337049e-02 9.99874639e-01 1.51499038e-05 -3.22707274e-01] [ 1.40784645e-03 -3.74460083e-05 9.99999008e-01 2.03761722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.334647896 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:-1.26, Y:-0.36, Z:0.00 [[ 9.99733669e-01 -2.30349294e-02 -1.40826674e-03 -1.26490962e+00] [ 2.30349731e-02 9.99734660e-01 1.47809159e-05 -3.56817944e-01] [ 1.40755259e-03 -4.72163657e-05 9.99999008e-01 1.65540314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.394647896 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:-1.32, Y:-0.40, Z:0.01 [[ 9.99782963e-01 -2.07856703e-02 -1.40826817e-03 -1.32295279e+00] [ 2.07857116e-02 9.99783954e-01 1.46439849e-05 -3.99165241e-01] [ 1.40765953e-03 -4.39126625e-05 9.99999008e-01 9.81619113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4546478959999998 meters Centerline goodness : 0.998331 with order 1 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.43, Z:0.01 [[ 9.99913836e-01 -1.30513545e-02 -1.40826957e-03 -1.38283757e+00] [ 1.30513879e-02 9.99914827e-01 1.45071792e-05 -4.29106123e-01] [ 1.40796029e-03 -3.28858016e-05 9.99999008e-01 6.19628930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5146478959999998 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.46, Z:0.01 [[ 9.99867310e-01 -1.62289377e-02 -1.40827010e-03 -1.44310559e+00] [ 1.62289742e-02 9.99868301e-01 1.44555579e-05 -4.62287882e-01] [ 1.40785004e-03 -3.73084190e-05 9.99999008e-01 1.39977604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5746478959999999 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:-1.50, Y:-0.50, Z:0.02 [[ 9.99679810e-01 -2.52644685e-02 -1.40827010e-03 -1.50419433e+00] [ 2.52645139e-02 9.99680801e-01 1.44555579e-05 -5.00178811e-01] [ 1.40745537e-03 -5.00301890e-05 9.99999008e-01 2.03533725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6346478959999997 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:-1.56, Y:-0.53, Z:0.02 [[ 9.99623963e-01 -2.73852216e-02 -1.40827010e-03 -1.56234745e+00] [ 2.73852691e-02 9.99624953e-01 1.44555579e-05 -5.25775638e-01] [ 1.40734607e-03 -5.30159779e-05 9.99999008e-01 1.87191041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6946478959999998 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:-1.62, Y:-0.55, Z:0.03 [[ 9.99702024e-01 -2.43696693e-02 -1.40827143e-03 -1.62249420e+00] [ 2.43697137e-02 9.99703014e-01 1.43255085e-05 -5.48026055e-01] [ 1.40750408e-03 -4.86404113e-05 9.99999008e-01 2.58731496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7546478959999998 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:-1.68, Y:-0.56, Z:0.01 [[ 9.99839782e-01 -1.78445094e-02 -1.40827194e-03 -1.68101035e+00] [ 1.78445472e-02 9.99840773e-01 1.42747618e-05 -5.63555105e-01] [ 1.40779298e-03 -3.94024498e-05 9.99999008e-01 1.24488572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8146478959999999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:-1.74, Y:-0.58, Z:0.03 [[ 9.99787882e-01 -2.05477066e-02 -1.40827565e-03 -1.73989511e+00] [ 2.05477465e-02 9.99788873e-01 1.38991768e-05 -5.81372346e-01] [ 1.40769273e-03 -4.28331196e-05 9.99999008e-01 2.77593943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8746478959999997 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:-1.80, Y:-0.60, Z:0.02 [[ 9.99464735e-01 -3.26842397e-02 -1.40827643e-03 -1.79920351e+00] [ 3.26842915e-02 9.99465726e-01 1.38194406e-05 -5.99512022e-01] [ 1.40707235e-03 -5.98405610e-05 9.99999008e-01 1.72524025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9346478959999998 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:-1.86, Y:-0.60, Z:0.03 [[ 9.99091820e-01 -4.25858102e-02 -1.40827651e-03 -1.85802558e+00] [ 4.25858718e-02 9.99092810e-01 1.38112701e-05 -6.03806661e-01] [ 1.40641077e-03 -7.37714100e-05 9.99999008e-01 2.74919531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9946478959999998 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:-1.92, Y:-0.61, Z:0.03 [[ 9.99280710e-01 -3.78956383e-02 -1.40827973e-03 -1.91776904e+00] [ 3.78956949e-02 9.99281700e-01 1.34746149e-05 -6.14041755e-01] [ 1.40675754e-03 -6.68326618e-05 9.99999008e-01 2.56221054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0546478959999996 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:-1.98, Y:-0.62, Z:0.02 [[ 9.99530990e-01 -3.05911370e-02 -1.40827998e-03 -1.97750755e+00] [ 3.05911863e-02 9.99531980e-01 1.34487405e-05 -6.17271123e-01] [ 1.40720946e-03 -5.65233881e-05 9.99999008e-01 1.50178720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1146478959999997 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:-2.04, Y:-0.62, Z:0.03 [[ 9.99631893e-01 -2.70942040e-02 -1.40828039e-03 -2.03807483e+00] [ 2.70942497e-02 9.99632883e-01 1.34052566e-05 -6.16017478e-01] [ 1.40740019e-03 -5.15566227e-05 9.99999008e-01 2.56931980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1746478959999997 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.62, Z:0.03 [[ 9.99602936e-01 -2.81422755e-02 -1.40828039e-03 -2.09615997e+00] [ 2.81423223e-02 9.99603926e-01 1.34052566e-05 -6.18323156e-01] [ 1.40734536e-03 -5.30322145e-05 9.99999008e-01 2.69301538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.234647896 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:-2.16, Y:-0.62, Z:0.02 [[ 9.99599646e-01 -2.82588762e-02 -1.40828404e-03 -2.15600941e+00] [ 2.82589225e-02 9.99600637e-01 1.30102596e-05 -6.20660782e-01] [ 1.40735397e-03 -5.28016405e-05 9.99999008e-01 2.36630458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.294647896 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:-2.22, Y:-0.63, Z:0.02 [[ 9.99702694e-01 -2.43421592e-02 -1.40828454e-03 -2.21568352e+00] [ 2.43422015e-02 9.99703685e-01 1.29564529e-05 -6.27873862e-01] [ 1.40755185e-03 -4.72333469e-05 9.99999008e-01 2.12687353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.354647896 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:-2.28, Y:-0.64, Z:0.02 [[ 9.99651283e-01 -2.63691093e-02 -1.40828478e-03 -2.27527137e+00] [ 2.63691536e-02 9.99652273e-01 1.29299721e-05 -6.35644400e-01] [ 1.40745413e-03 -5.00607409e-05 9.99999008e-01 2.07183533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4146478959999995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:-2.34, Y:-0.64, Z:0.02 [[ 9.99479729e-01 -3.22224853e-02 -1.40828779e-03 -2.33511759e+00] [ 3.22225350e-02 9.99480719e-01 1.25939332e-05 -6.37560861e-01] [ 1.40715068e-03 -5.79659834e-05 9.99999008e-01 2.34060576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4746478959999996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:-2.39, Y:-0.65, Z:0.02 [[ 9.99463852e-01 -3.27112328e-02 -1.40828801e-03 -2.39408988e+00] [ 3.27112829e-02 9.99464843e-01 1.25685788e-05 -6.45557603e-01] [ 1.40712322e-03 -5.86287477e-05 9.99999008e-01 2.43748524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5346478959999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:-2.45, Y:-0.65, Z:0.02 [[ 9.99694885e-01 -2.46607693e-02 -1.40829113e-03 -2.45377078e+00] [ 2.46608109e-02 9.99695876e-01 1.22085906e-05 -6.53126842e-01] [ 1.40756176e-03 -4.69344670e-05 9.99999008e-01 2.31711253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5946478959999997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:-2.51, Y:-0.66, Z:0.02 [[ 9.99819933e-01 -1.89239913e-02 -1.40829158e-03 -2.51270942e+00] [ 1.89240272e-02 9.99820924e-01 1.21572729e-05 -6.55976960e-01] [ 1.40780932e-03 -3.88056319e-05 9.99999008e-01 2.10486604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6546478959999997 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:-2.57, Y:-0.67, Z:0.02 [[ 9.99865164e-01 -1.63606268e-02 -1.40829459e-03 -2.57233596e+00] [ 1.63606596e-02 9.99866155e-01 1.17972007e-05 -6.65588213e-01] [ 1.40791309e-03 -3.48362384e-05 9.99999008e-01 2.44024365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.714647896 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:-2.63, Y:-0.67, Z:0.03 [[ 9.99781758e-01 -2.08435517e-02 -1.40829502e-03 -2.63140443e+00] [ 2.08435889e-02 9.99782749e-01 1.17456507e-05 -6.72584749e-01] [ 1.40774425e-03 -4.10970097e-05 9.99999008e-01 2.50132392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.774647896 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:-2.69, Y:-0.68, Z:0.03 [[ 9.99595175e-01 -2.84165990e-02 -1.40829587e-03 -2.69067538e+00] [ 2.84166435e-02 9.99596166e-01 1.16428230e-05 -6.78130514e-01] [ 1.40739630e-03 -5.16571515e-05 9.99999008e-01 2.59523068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8346478959999994 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:-2.75, Y:-0.69, Z:0.03 [[ 9.99499665e-01 -3.15980366e-02 -1.40829746e-03 -2.74968935e+00] [ 3.15980840e-02 9.99500656e-01 1.14476243e-05 -6.85720050e-01] [ 1.40723251e-03 -5.59413981e-05 9.99999008e-01 2.59334827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8946478959999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:-2.81, Y:-0.69, Z:0.03 [[ 9.99499879e-01 -3.15912598e-02 -1.40829829e-03 -2.80965610e+00] [ 3.15913071e-02 9.99500870e-01 1.13447965e-05 -6.88967259e-01] [ 1.40723697e-03 -5.58291064e-05 9.99999008e-01 2.87124741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9546478959999996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:-2.87, Y:-0.69, Z:0.02 [[ 9.99629062e-01 -2.71984324e-02 -1.40829870e-03 -2.86966395e+00] [ 2.71984753e-02 9.99630053e-01 1.12937896e-05 -6.93179819e-01] [ 1.40747053e-03 -4.95931777e-05 9.99999008e-01 2.10773577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0146478959999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:-2.93, Y:-0.70, Z:0.03 [[ 9.99779776e-01 -2.09384078e-02 -1.40829914e-03 -2.92896294e+00] [ 2.09384443e-02 9.99780767e-01 1.12380919e-05 -6.99344101e-01] [ 1.40775509e-03 -4.07232102e-05 9.99999008e-01 2.86889095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0746478959999997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:-2.99, Y:-0.71, Z:0.02 [[ 9.99933697e-01 -1.14288328e-02 -1.40829975e-03 -2.98830937e+00] [ 1.14288598e-02 9.99934688e-01 1.11611023e-05 -7.05285844e-01] [ 1.40808021e-03 -2.72556228e-05 9.99999008e-01 2.33594457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1346478959999997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:-3.05, Y:-0.71, Z:0.03 [[ 9.99989061e-01 -4.46034244e-03 -1.40830251e-03 -3.04711014e+00] [ 4.46036207e-03 9.99990052e-01 1.08008616e-05 -7.11246825e-01] [ 1.40824033e-03 -1.70822825e-05 9.99999008e-01 2.66851732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1946478959999998 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.72, Z:0.03 [[ 9.99994247e-01 -3.08597879e-03 -1.40830503e-03 -3.10629585e+00] [ 3.08599659e-03 9.99995238e-01 1.04618930e-05 -7.18854459e-01] [ 1.40826604e-03 -1.48078573e-05 9.99999008e-01 2.52857989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2546478959999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.73, Z:0.02 [[ 9.99987840e-01 -4.72608203e-03 -1.40830582e-03 -3.16558048e+00] [ 4.72610130e-03 9.99988832e-01 1.03549340e-05 -7.26942572e-01] [ 1.40824115e-03 -1.70106041e-05 9.99999008e-01 2.34411247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3146478959999994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:-3.22, Y:-0.74, Z:0.03 [[ 9.99940365e-01 -1.08297014e-02 -1.40830706e-03 -3.22426256e+00] [ 1.08297265e-02 9.99941357e-01 1.01834493e-05 -7.41954871e-01] [ 1.40811419e-03 -2.54344223e-05 9.99999008e-01 2.60271220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3746478959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.28, Y:-0.75, Z:0.02 [[ 9.99872957e-01 -1.58772142e-02 -1.40830781e-03 -3.28368796e+00] [ 1.58772442e-02 9.99873949e-01 1.00784238e-05 -7.46181505e-01] [ 1.40797027e-03 -3.24371904e-05 9.99999008e-01 2.21572590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4346478959999995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:-3.34, Y:-0.76, Z:0.03 [[ 9.99846978e-01 -1.74366732e-02 -1.40830836e-03 -3.34381206e+00] [ 1.74367045e-02 9.99847969e-01 1.00006015e-05 -7.59577545e-01] [ 1.40791988e-03 -3.45553280e-05 9.99999008e-01 3.10443371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4946478959999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.40, Y:-0.77, Z:0.03 [[ 9.99811139e-01 -1.93830596e-02 -1.40830837e-03 -3.40406722e+00] [ 1.93830929e-02 9.99812130e-01 9.99919496e-06 -7.70245288e-01] [ 1.40784998e-03 -3.72946785e-05 9.99999008e-01 2.52434192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5546478959999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.46, Y:-0.78, Z:0.03 [[ 9.99812735e-01 -1.93005686e-02 -1.40830856e-03 -3.46276815e+00] [ 1.93006018e-02 9.99813726e-01 9.97323142e-06 -7.80396208e-01] [ 1.40785374e-03 -3.71525664e-05 9.99999008e-01 2.84708202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6146478959999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.52, Y:-0.79, Z:0.02 [[ 9.99794792e-01 -2.02086600e-02 -1.40830928e-03 -3.52230732e+00] [ 2.02086939e-02 9.99795783e-01 9.86971930e-06 -7.87717532e-01] [ 1.40782223e-03 -3.83277852e-05 9.99999008e-01 1.63471938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6746478959999993 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:-3.58, Y:-0.80, Z:0.03 [[ 9.99657135e-01 -2.61463094e-02 -1.40830964e-03 -3.58146467e+00] [ 2.61463492e-02 9.99658126e-01 9.81773261e-06 -7.98393529e-01] [ 1.40757148e-03 -4.66365221e-05 9.99999008e-01 2.50417322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7346478959999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.64, Y:-0.81, Z:0.02 [[ 9.99485563e-01 -3.20409922e-02 -1.40830999e-03 -3.64168337e+00] [ 3.20410378e-02 9.99486554e-01 9.76803186e-06 -8.06218093e-01] [ 1.40727392e-03 -5.48867204e-05 9.99999008e-01 1.97398082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7946478959999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.81, Z:0.03 [[ 9.99229544e-01 -3.92216193e-02 -1.40831016e-03 -3.70200156e+00] [ 3.92216719e-02 9.99230534e-01 9.74277965e-06 -8.09299517e-01] [ 1.40684439e-03 -6.49715524e-05 9.99999008e-01 2.56122946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8546478959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.76, Y:-0.82, Z:0.02 [[ 9.99202438e-01 -3.99061890e-02 -1.40831034e-03 -3.76206127e+00] [ 3.99062422e-02 9.99203429e-01 9.71742487e-06 -8.15799021e-01] [ 1.40680073e-03 -6.59100481e-05 9.99999008e-01 2.35940075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9146478959999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.82, Y:-0.82, Z:0.03 [[ 9.99263791e-01 -3.83391663e-02 -1.40831051e-03 -3.82268352e+00] [ 3.83392180e-02 9.99264782e-01 9.69198507e-06 -8.15227927e-01] [ 1.40690352e-03 -6.36783735e-05 9.99999008e-01 2.66741674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9746478959999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:-3.88, Y:-0.82, Z:0.02 [[ 9.99603172e-01 -2.81338832e-02 -1.40831051e-03 -3.88299713e+00] [ 2.81339247e-02 9.99604163e-01 9.69198507e-06 -8.16817586e-01] [ 1.40748038e-03 -4.93094410e-05 9.99999008e-01 2.39498540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.034647895999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.82, Z:0.03 [[ 9.99786107e-01 -2.06338753e-02 -1.40831069e-03 -3.94228894e+00] [ 2.06339094e-02 9.99787098e-01 9.66622796e-06 -8.18144723e-01] [ 1.40781141e-03 -3.87231156e-05 9.99999008e-01 2.64498075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.094647895999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-4.00, Y:-0.82, Z:0.02 [[ 9.99891051e-01 -1.46936140e-02 -1.40831141e-03 -4.00117790e+00] [ 1.46936420e-02 9.99892043e-01 9.56080786e-06 -8.24032892e-01] [ 1.40801889e-03 -3.02529899e-05 9.99999008e-01 2.46565619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.154647895999999 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:-4.06, Y:-0.83, Z:0.03 [[ 9.99861928e-01 -1.65571918e-02 -1.40831212e-03 -4.06116592e+00] [ 1.65572215e-02 9.99862920e-01 9.45473559e-06 -8.30663175e-01] [ 1.40796252e-03 -3.27711659e-05 9.99999008e-01 2.75930370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.214647895999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-4.12, Y:-0.84, Z:0.03 [[ 9.99830459e-01 -1.83594791e-02 -1.40831248e-03 -4.12069186e+00] [ 1.83595105e-02 9.99831450e-01 9.40108439e-06 -8.37812015e-01] [ 1.40790251e-03 -3.52554183e-05 9.99999008e-01 2.52539043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.274647895999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:-4.18, Y:-0.85, Z:0.03 [[ 9.99703731e-01 -2.42995126e-02 -1.40831284e-03 -4.17986525e+00] [ 2.42995499e-02 9.99704722e-01 9.34655439e-06 -8.47508414e-01] [ 1.40766988e-03 -4.35651533e-05 9.99999008e-01 2.82328503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.334647895999999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:-4.24, Y:-0.86, Z:0.03 [[ 9.99640363e-01 -2.67798505e-02 -1.40831338e-03 -4.23980934e+00] [ 2.67798901e-02 9.99641354e-01 9.26438709e-06 -8.60985583e-01] [ 1.40756019e-03 -4.69755327e-05 9.99999008e-01 2.54202486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.394647895999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-4.30, Y:-0.87, Z:0.02 [[ 9.99630155e-01 -2.71582282e-02 -1.40831374e-03 -4.29916248e+00] [ 2.71582681e-02 9.99631146e-01 9.20920408e-06 -8.67294554e-01] [ 1.40754417e-03 -4.74531602e-05 9.99999008e-01 2.27273554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.454647895999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-4.36, Y:-0.88, Z:0.03 [[ 9.99688352e-01 -2.49241920e-02 -1.40831446e-03 -4.35785277e+00] [ 2.49242295e-02 9.99689343e-01 9.09822783e-06 -8.81101308e-01] [ 1.40765019e-03 -4.41965451e-05 9.99999008e-01 2.66571842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.514647895999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-4.42, Y:-0.89, Z:0.03 [[ 9.99559533e-01 -2.96438356e-02 -1.40831499e-03 -4.41736070e+00] [ 2.96438777e-02 9.99560524e-01 9.01529888e-06 -8.90127427e-01] [ 1.40742882e-03 -5.07592451e-05 9.99999008e-01 2.71985310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.574647895999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:-4.48, Y:-0.90, Z:0.03 [[ 9.99324137e-01 -3.67326329e-02 -1.40831535e-03 -4.47591917e+00] [ 3.67326820e-02 9.99325127e-01 8.95878445e-06 -9.02710336e-01] [ 1.40703583e-03 -6.06839293e-05 9.99999008e-01 2.77229172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.634647895999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:-4.54, Y:-0.91, Z:0.02 [[ 9.99188359e-01 -4.02571602e-02 -1.40831664e-03 -4.53515014e+00] [ 4.02572125e-02 9.99189350e-01 8.75143924e-06 -9.09452524e-01] [ 1.40682268e-03 -6.54392382e-05 9.99999008e-01 2.29645787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.694647895999999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:-4.60, Y:-0.92, Z:0.02 [[ 9.98863556e-01 -4.76404667e-02 -1.40831733e-03 -4.59508785e+00] [ 4.76405261e-02 9.98864545e-01 8.63842583e-06 -9.16925576e-01] [ 1.40630671e-03 -7.57215872e-05 9.99999008e-01 2.19975030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.754647895999999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:-4.65, Y:-0.92, Z:0.02 [[ 9.98932327e-01 -4.61759945e-02 -1.40831749e-03 -4.65423678e+00] [ 4.61760525e-02 9.98933317e-01 8.61204187e-06 -9.17284292e-01] [ 1.40641759e-03 -7.36333893e-05 9.99999008e-01 2.45799055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8146478959999985 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:-4.71, Y:-0.92, Z:0.03 [[ 9.99020923e-01 -4.42177821e-02 -1.40831816e-03 -4.71320704e+00] [ 4.42178379e-02 9.99021913e-01 8.50071582e-06 -9.18428270e-01] [ 1.40656482e-03 -7.07651771e-05 9.99999008e-01 2.95724832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.874647895999999 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:-4.77, Y:-0.91, Z:0.02 [[ 9.99122945e-01 -4.18492332e-02 -1.40832012e-03 -4.77350033e+00] [ 4.18492862e-02 9.99123935e-01 8.16207441e-06 -9.14874004e-01] [ 1.40674477e-03 -6.70921077e-05 9.99999008e-01 2.01883158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.934647895999999 meters Centerline goodness : 0.997999 with order 1 Centerline is valid? [True, True] Translation: X:-4.83, Y:-0.92, Z:0.03 [[ 9.99157051e-01 -4.10268635e-02 -1.40832016e-03 -4.83412031e+00] [ 4.10269157e-02 9.99158042e-01 8.15605891e-06 -9.16434806e-01] [ 1.40679980e-03 -6.59282162e-05 9.99999008e-01 2.85106106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.994647895999999 meters Centerline goodness : 0.996212 with order 1 Centerline is valid? [True, True] Translation: X:-4.89, Y:-0.92, Z:0.02 [[ 9.99074169e-01 -4.29979275e-02 -1.40832001e-03 -4.89472824e+00] [ 4.29979817e-02 9.99075159e-01 8.18164642e-06 -9.15413111e-01] [ 1.40666575e-03 -6.87289896e-05 9.99999008e-01 2.23551590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.054647895999999 meters Centerline goodness : 0.987812 with order 1 Centerline is valid? [True, True] Translation: X:-4.95, Y:-0.92, Z:-0.02 [[ 9.98948006e-01 -4.58355443e-02 -1.40832004e-03 -4.95493424e+00] [ 4.58356013e-02 9.98948996e-01 8.17640845e-06 -9.15455359e-01] [ 1.40646512e-03 -7.27190028e-05 9.99999008e-01 -1.93196481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.114647895999999 meters Centerline goodness : 0.976150 with order 1 Centerline is valid? [True, True] Translation: X:-5.02, Y:-0.92, Z:-0.04 [[ 9.99062230e-01 -4.32744505e-02 -1.40832008e-03 -5.01517586e+00] [ 4.32745049e-02 9.99063220e-01 8.16982549e-06 -9.18834345e-01] [ 1.40664725e-03 -6.91065182e-05 9.99999008e-01 -4.05477450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.174647895999999 meters Centerline goodness : 0.963308 with order 1 Centerline is valid? [True, True] Translation: X:-5.07, Y:-0.91, Z:-0.04 [[ 9.99229975e-01 -3.92106448e-02 -1.40832012e-03 -5.07408559e+00] [ 3.92106952e-02 9.99230965e-01 8.16224537e-06 -9.14529417e-01] [ 1.40691703e-03 -6.33771713e-05 9.99999008e-01 -4.35013590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2346478959999985 meters Centerline goodness : 0.955696 with order 1 Centerline is valid? [True, True] Translation: X:-5.13, Y:-0.91, Z:-0.07 [[ 9.99257567e-01 -3.85010676e-02 -1.40832052e-03 -5.13488828e+00] [ 3.85011172e-02 9.99258557e-01 8.09281864e-06 -9.12769696e-01] [ 1.40696475e-03 -6.23087237e-05 9.99999008e-01 -6.58325183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.294647895999999 meters Centerline goodness : 0.944580 with order 3 Centerline is valid? [True, False] Translation: X:-5.15, Y:-0.91, Z:-0.07 [[ 9.99542698e-01 -2.94884013e-02 -6.69546036e-03 -5.14575902e+00] [ 2.94822475e-02 9.99564788e-01 -1.01596069e-03 -9.10494657e-01] [ 6.72250547e-03 8.18098867e-04 9.99977069e-01 -6.78807852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.354647895999999 meters Centerline goodness : 0.933936 with order 2 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.91, Z:-0.07 [[ 9.99645842e-01 -2.45369189e-02 -1.03019665e-02 -5.16047702e+00] [ 2.44887795e-02 9.99688709e-01 -4.77328314e-03 -9.14633516e-01] [ 1.04158812e-02 4.51931005e-03 9.99935541e-01 -6.66566074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.414647895999999 meters Centerline goodness : 0.923516 with order 2 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.92, Z:-0.06 [[ 0.9996914 -0.02210324 -0.01133774 -5.17876575] [ 0.02197835 0.99969766 -0.0110244 -0.91974497] [ 0.01157799 0.01077182 0.99987495 -0.06400675] [ 0. 0. 0. 1. ]] SLAMing on 5.474647895999999 meters Centerline goodness : 0.902032 with order 2 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.92, Z:-0.07 [[ 0.99961213 -0.02110937 -0.01816545 -5.17152176] [ 0.02094936 0.99974044 -0.00895445 -0.91944424] [ 0.01834976 0.00857042 0.9997949 -0.06685742] [ 0. 0. 0. 1. ]] SLAMing on 5.534647895999999 meters Centerline goodness : 0.880521 with order 2 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.92, Z:-0.07 [[ 0.99937705 -0.02053157 -0.02870482 -5.1612305 ] [ 0.02036335 0.99977379 -0.00614069 -0.92375189] [ 0.02882441 0.00555234 0.99956907 -0.07013071] [ 0. 0. 0. 1. ]] SLAMing on 5.594647895999999 meters Centerline goodness : 0.852689 with order 2 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.92, Z:-0.07 [[ 9.98663358e-01 -2.51843344e-02 -4.51358694e-02 -5.17266412e+00] [ 2.49477642e-02 9.99671948e-01 -5.79704411e-03 -9.22479728e-01] [ 4.52670572e-02 4.66325651e-03 9.98964037e-01 -7.05537132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.654647895999998 meters Centerline goodness : 0.812348 with order 2 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.92, Z:-0.07 [[ 9.97383149e-01 -2.77708275e-02 -6.67505390e-02 -5.18053794e+00] [ 2.73827988e-02 9.99602425e-01 -6.72120915e-03 -9.23631041e-01] [ 6.69106542e-02 4.87580416e-03 9.97747058e-01 -7.30405099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.714647895999999 meters Centerline goodness : 0.773337 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.92, Z:-0.08 [[ 9.95526040e-01 -2.92602104e-02 -8.98428810e-02 -5.18812610e+00] [ 2.90826641e-02 9.99571612e-01 -3.28491605e-03 -9.23900621e-01] [ 8.99005107e-02 6.57349142e-04 9.95950534e-01 -7.69797860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7746478959999985 meters Centerline goodness : 0.450757 with order 3 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.92, Z:-0.08 [[ 9.93783263e-01 -3.20263603e-02 -1.06626164e-01 -5.21230496e+00] [ 3.19064190e-02 9.99486851e-01 -2.83102024e-03 -9.21870025e-01] [ 1.06662117e-01 -5.88638550e-04 9.94295151e-01 -7.99377599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.834647895999999 meters Centerline goodness : 0.298536 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.92, Z:-0.09 [[ 9.91576518e-01 -3.26212179e-02 -1.25346979e-01 -5.22574946e+00] [ 3.24260421e-02 9.99467663e-01 -3.59761764e-03 -9.22346473e-01] [ 1.25397611e-01 -4.97193233e-04 9.92106442e-01 -8.55889089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.894647895999999 meters Centerline goodness : 0.169359 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.93, Z:-0.09 [[ 9.90084999e-01 -3.12503852e-02 -1.36949293e-01 -5.26632356e+00] [ 3.07932167e-02 9.99510885e-01 -5.45602123e-03 -9.27116152e-01] [ 1.37052812e-01 1.18481551e-03 9.90563033e-01 -9.01372055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.954647895999999 meters Centerline goodness : 0.188393 with order 2 Centerline is valid? [False, False] Translation: X:-5.29, Y:-0.93, Z:-0.10 [[ 9.88855916e-01 -3.10727887e-02 -1.45596906e-01 -5.29434942e+00] [ 3.02861582e-02 9.99512247e-01 -7.61682502e-03 -9.26651348e-01] [ 1.45762567e-01 3.12237155e-03 9.89314674e-01 -9.67887661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.014647895999999 meters Centerline goodness : 0.162914 with order 1 Centerline is valid? [False, False] Translation: X:-5.33, Y:-0.93, Z:-0.10 [[ 9.88264472e-01 -2.91882202e-02 -1.49937923e-01 -5.32562450e+00] [ 2.84550321e-02 9.99570329e-01 -7.03345478e-03 -9.30352958e-01] [ 1.50078793e-01 2.68442507e-03 9.88670395e-01 -1.03307988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.074647895999998 meters Centerline goodness : 0.156034 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.93, Z:-0.11 [[ 9.87502981e-01 -2.91816341e-02 -1.54875097e-01 -5.36730623e+00] [ 2.88728216e-02 9.99574086e-01 -4.24346984e-03 -9.30374957e-01] [ 1.54932965e-01 -2.81241934e-04 9.87924945e-01 -1.13289902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.134647895999999 meters Centerline goodness : 0.126599 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.93, Z:-0.12 [[ 9.86745540e-01 -2.89791714e-02 -1.59666677e-01 -5.39669575e+00] [ 2.84497541e-02 9.99579531e-01 -5.60116040e-03 -9.31088443e-01] [ 1.59761859e-01 9.84442332e-04 9.87155094e-01 -1.21329201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.194647895999998 meters Centerline goodness : 0.132185 with order 1 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.93, Z:-0.13 [[ 9.86555058e-01 -2.93355027e-02 -1.60774827e-01 -5.43946764e+00] [ 2.92234860e-02 9.99568213e-01 -3.06178584e-03 -9.32443746e-01] [ 1.60795226e-01 -1.67778059e-03 9.86986363e-01 -1.31064121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.254647895999999 meters Centerline goodness : 0.130309 with order 3 Centerline is valid? [False, False] Translation: X:-5.48, Y:-0.93, Z:-0.14 [[ 9.86111120e-01 -2.88998292e-02 -1.63553228e-01 -5.47589525e+00] [ 2.86300487e-02 9.99582045e-01 -4.00689719e-03 -9.33348510e-01] [ 1.63600669e-01 -7.31291007e-04 9.86526374e-01 -1.35613646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3146478959999985 meters Centerline goodness : 0.094848 with order 3 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.94, Z:-0.14 [[ 9.85533633e-01 -2.75890026e-02 -1.67219334e-01 -5.51041042e+00] [ 2.73913233e-02 9.99618699e-01 -3.48890582e-03 -9.37942629e-01] [ 1.67251829e-01 -1.14192482e-03 9.85913547e-01 -1.41754255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.374647895999999 meters Centerline goodness : 0.135951 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.94, Z:-0.15 [[ 9.85355838e-01 -2.93749072e-02 -1.67961269e-01 -5.54869373e+00] [ 2.86130333e-02 9.99566368e-01 -6.95487660e-03 -9.37577101e-01] [ 1.68092735e-01 2.04714687e-03 9.85769061e-01 -1.45024674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.434647895999999 meters Centerline goodness : 0.129049 with order 2 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.94, Z:-0.16 [[ 9.84939200e-01 -2.25393555e-02 -1.71425636e-01 -5.56651642e+00] [ 2.25428947e-02 9.99744021e-01 -1.92622995e-03 -9.43474867e-01] [ 1.71425171e-01 -1.96721069e-03 9.85195179e-01 -1.61319113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.494647895999998 meters Centerline goodness : 0.154415 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.94, Z:-0.17 [[ 9.84387541e-01 -2.21092041e-02 -1.74620595e-01 -5.61876201e+00] [ 2.28972215e-02 9.99734701e-01 2.49913816e-03 -9.40593840e-01] [ 1.74519014e-01 -6.45844690e-03 9.84632623e-01 -1.74135743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.554647895999999 meters Centerline goodness : 0.239779 with order 2 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.94, Z:-0.19 [[ 9.83826534e-01 -1.95308034e-02 -1.78055888e-01 -5.63681269e+00] [ 2.03529945e-02 9.99788958e-01 2.79201374e-03 -9.44578320e-01] [ 1.77963780e-01 -6.37082771e-03 9.84016415e-01 -1.93847979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.614647895999998 meters Centerline goodness : 0.123220 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.94, Z:-0.21 [[ 0.98379541 -0.01942502 -0.17823935 -5.70063422] [ 0.02179781 0.99969782 0.01136354 -0.94320246] [ 0.17796475 -0.01506463 0.98392154 -0.20809463] [ 0. 0. 0. 1. ]] SLAMing on 6.674647895999999 meters Centerline goodness : 0.231921 with order 2 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.94, Z:-0.22 [[ 0.98353451 -0.02386489 -0.17913773 -5.72482248] [ 0.02765908 0.99944226 0.0187123 -0.93739018] [ 0.17859125 -0.02335898 0.98364604 -0.22251251] [ 0. 0. 0. 1. ]] SLAMing on 6.7346478959999985 meters Centerline goodness : 0.259438 with order 2 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.94, Z:-0.23 [[ 0.98401096 -0.02381009 -0.17650922 -5.73452423] [ 0.02879405 0.99925419 0.02572856 -0.93638359] [ 0.17576498 -0.0303996 0.98396267 -0.23418564] [ 0. 0. 0. 1. ]] SLAMing on 6.794647895999999 meters Centerline goodness : 0.200005 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.94, Z:-0.24 [[ 0.98326837 -0.02326538 -0.18067106 -5.75265154] [ 0.02955623 0.99904417 0.03220529 -0.93865209] [ 0.1797491 -0.0370064 0.98301617 -0.23848328] [ 0. 0. 0. 1. ]] SLAMing on 6.854647895999999 meters Centerline goodness : 0.227552 with order 2 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.94, Z:-0.26 [[ 0.98423229 -0.02801231 -0.17464852 -5.76755589] [ 0.03532305 0.99861889 0.0388922 -0.93736481] [ 0.17331785 -0.04444807 0.98386244 -0.26019051] [ 0. 0. 0. 1. ]] SLAMing on 6.914647895999998 meters Centerline goodness : 0.240754 with order 2 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.95, Z:-0.27 [[ 0.98424937 -0.02342639 -0.17522667 -5.79485723] [ 0.03132861 0.99860655 0.04246739 -0.94527234] [ 0.17398764 -0.04728811 0.98361178 -0.27182731] [ 0. 0. 0. 1. ]] SLAMing on 6.974647895999999 meters Centerline goodness : 0.102720 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.94, Z:-0.29 [[ 0.98408313 -0.03305772 -0.17460693 -5.83634564] [ 0.04246345 0.99782554 0.05040886 -0.93769479] [ 0.17256085 -0.05702092 0.98334702 -0.29494835] [ 0. 0. 0. 1. ]] SLAMing on 7.034647895999998 meters Centerline goodness : 0.135867 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.95, Z:-0.33 [[ 0.98629472 -0.02570927 -0.16297778 -5.87973287] [ 0.03531239 0.99778911 0.05630214 -0.95136939] [ 0.16116997 -0.06128564 0.98502198 -0.33045523] [ 0. 0. 0. 1. ]] SLAMing on 7.094647895999999 meters Centerline goodness : 0.090698 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.96, Z:-0.36 [[ 0.98632745 -0.02728921 -0.16252217 -5.95822274] [ 0.03692767 0.99771477 0.05658259 -0.95581723] [ 0.16060668 -0.06181053 0.98508119 -0.36324928] [ 0. 0. 0. 1. ]] SLAMing on 7.154647895999998 meters Centerline goodness : 0.096605 with order 1 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.97, Z:-0.40 [[ 0.9879033 -0.02108577 -0.15363093 -6.05221337] [ 0.03058168 0.99774713 0.05971112 -0.96696915] [ 0.15202577 -0.0636871 0.98632252 -0.39858453] [ 0. 0. 0. 1. ]] SLAMing on 7.214647895999999 meters Centerline goodness : 0.094712 with order 1 Centerline is valid? [False, False] Translation: X:-6.12, Y:-0.97, Z:-0.45 [[ 0.99084132 -0.0243959 -0.13280932 -6.11593561] [ 0.03246234 0.99773508 0.05891438 -0.96777172] [ 0.13107124 -0.06268611 0.98938909 -0.45090567] [ 0. 0. 0. 1. ]] SLAMing on 7.2746478959999985 meters Centerline goodness : 0.136404 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.97, Z:-0.48 [[ 0.99173541 -0.0203189 -0.12668077 -6.17825275] [ 0.0281666 0.99777263 0.0604683 -0.97345011] [ 0.12516996 -0.06353672 0.99009877 -0.4806143 ] [ 0. 0. 0. 1. ]] SLAMing on 7.334647895999998 meters Centerline goodness : 0.146072 with order 1 Centerline is valid? [False, False] Translation: X:-6.24, Y:-0.98, Z:-0.52 [[ 0.99423948 -0.01492438 -0.10613723 -6.24169586] [ 0.02202252 0.99757507 0.0660227 -0.97930135] [ 0.1048945 -0.06797978 0.99215719 -0.51652604] [ 0. 0. 0. 1. ]] SLAMing on 7.394647895999999 meters Centerline goodness : 0.202604 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.98, Z:-0.55 [[ 0.99586147 -0.0127575 -0.08998433 -6.29123817] [ 0.01861967 0.9977368 0.06461107 -0.98423278] [ 0.0889564 -0.06601916 0.99384517 -0.54695725] [ 0. 0. 0. 1. ]] SLAMing on 7.454647895999998 meters Centerline goodness : 0.226270 with order 3 Centerline is valid? [False, False] Translation: X:-6.33, Y:-0.98, Z:-0.58 [[ 0.99690896 -0.02010121 -0.07595042 -6.32713282] [ 0.02542233 0.99724008 0.06975624 -0.97697809] [ 0.07433862 -0.07147145 0.99466859 -0.57942959] [ 0. 0. 0. 1. ]] SLAMing on 7.514647895999999 meters Centerline goodness : 0.093620 with order 1 Centerline is valid? [False, False] Translation: X:-6.38, Y:-0.98, Z:-0.61 [[ 0.99808109 -0.01837302 -0.05913181 -6.37782425] [ 0.02249847 0.99730199 0.06987527 -0.97977632] [ 0.05768845 -0.07107156 0.99580162 -0.60717688] [ 0. 0. 0. 1. ]] SLAMing on 7.574647895999998 meters Centerline goodness : 0.112449 with order 1 Centerline is valid? [False, False] Translation: X:-6.41, Y:-0.98, Z:-0.63 [[ 0.9987025 -0.01815426 -0.04757886 -6.40810828] [ 0.02135557 0.99747961 0.06766358 -0.97983043] [ 0.04623056 -0.06859186 0.99657307 -0.62955359] [ 0. 0. 0. 1. ]] SLAMing on 7.634647895999999 meters Centerline goodness : 0.136404 with order 2 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.99, Z:-0.65 [[ 0.9994331 -0.01526883 -0.03000566 -6.46092952] [ 0.01732477 0.99743165 0.06949791 -0.98543257] [ 0.02886745 -0.06997835 0.99713073 -0.65493143] [ 0. 0. 0. 1. ]] SLAMing on 7.694647895999998 meters Centerline goodness : 0.131179 with order 2 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.97, Z:-0.68 [[ 0.99904724 -0.03772093 -0.02194869 -6.46224575] [ 0.03915426 0.99684634 0.06902405 -0.9696518 ] [ 0.01927582 -0.06981768 0.99737352 -0.68121908] [ 0. 0. 0. 1. ]] SLAMing on 7.754647895999998 meters Centerline goodness : 0.152743 with order 2 Centerline is valid? [False, False] Translation: X:-6.47, Y:-0.98, Z:-0.70 [[ 9.99191950e-01 -3.94678322e-02 -7.59855020e-03 -6.46659987e+00] [ 3.99004520e-02 9.96794878e-01 6.93391994e-02 -9.76301099e-01] [ 4.83752804e-03 -6.95863554e-02 9.97564202e-01 -7.01372516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8146478959999985 meters Centerline goodness : 0.096407 with order 1 Centerline is valid? [False, False] Translation: X:-6.45, Y:-0.97, Z:-0.71 [[ 9.98892367e-01 -4.69888466e-02 -2.46707802e-03 -6.44779831e+00] [ 4.70447120e-02 9.96313546e-01 7.17364187e-02 -9.70101739e-01] [-9.12828325e-04 -7.17730241e-02 9.97420573e-01 -7.11072297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.874647895999998 meters Centerline goodness : 0.095392 with order 1 Centerline is valid? [False, False] Translation: X:-6.44, Y:-0.97, Z:-0.72 [[ 9.98802098e-01 -4.88627570e-02 -2.60781689e-03 -6.44316121e+00] [ 4.89256883e-02 9.96372022e-01 6.96352705e-02 -9.68167514e-01] [-8.04215516e-04 -6.96794435e-02 9.97569110e-01 -7.19812226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.934647895999999 meters Centerline goodness : 0.125403 with order 1 Centerline is valid? [False, False] Translation: X:-6.44, Y:-0.96, Z:-0.74 [[ 0.99854848 -0.05313381 0.00881659 -6.43853472] [ 0.05238732 0.99615986 0.07015063 -0.96454227] [-0.0125101 -0.06958693 0.99749745 -0.73844353] [ 0. 0. 0. 1. ]] SLAMing on 7.994647895999998 meters Centerline goodness : 0.098174 with order 1 Centerline is valid? [False, False] Translation: X:-6.45, Y:-0.95, Z:-0.75 [[ 0.99735319 -0.07127458 0.01437173 -6.44665683] [ 0.07006676 0.99494831 0.0718924 -0.95214679] [-0.01942322 -0.07069514 0.99730885 -0.75497283] [ 0. 0. 0. 1. ]] SLAMing on 8.054647895999999 meters Centerline goodness : 0.125671 with order 1 Centerline is valid? [False, False] Translation: X:-6.49, Y:-0.96, Z:-0.77 [[ 0.99702631 -0.07145276 0.02886257 -6.49178797] [ 0.06915236 0.9948517 0.07408129 -0.96069666] [-0.03400729 -0.07186508 0.99683445 -0.77356422] [ 0. 0. 0. 1. ]] SLAMing on 8.114647896 meters Centerline goodness : 0.351514 with order 3 Centerline is valid? [False, False] Translation: X:-6.51, Y:-0.95, Z:-0.79 [[ 0.99608798 -0.08083584 0.03569751 -6.51094339] [ 0.07812826 0.99436525 0.07165002 -0.95303972] [-0.04128826 -0.06858074 0.99679083 -0.78702364] [ 0. 0. 0. 1. ]] Total time of SLAM: 284.52 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 ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/272 [00:00