+ python -m lidar_slam --result /working/result.json --no-model /working/f6ff7049-3691-46cb-9346-0bb2680f4f62 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/f6ff7049-3691-46cb-9346-0bb2680f4f62 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 0.000418555 Adjusted end_distance from 9.223372036854776e+18 to 15.850018555 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000418555 meters Centerline goodness : 0.876738 with order 1 Centerline is valid? [0, False] SLAMing on 0.060418555 meters Centerline goodness : 0.870702 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.00 [[ 9.99987816e-01 4.92565294e-03 -3.25990591e-04 -5.34057151e-02] [-4.92827582e-03 9.99950836e-01 -8.60451928e-03 -2.32441247e-02] [ 2.83591688e-04 8.60602101e-03 9.99962927e-01 -1.97229537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120418555 meters Centerline goodness : 0.891039 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.00 [[ 9.99627446e-01 -2.71659884e-02 2.64168863e-03 -1.93289413e-02] [ 2.71879385e-02 9.99592808e-01 -8.66224602e-03 1.45940964e-05] [-2.40529448e-03 8.73084093e-03 9.99958993e-01 2.59925347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18041855499999998 meters Centerline goodness : 0.921175 with order 1 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:0.01 [[ 0.99938008 -0.03447191 0.00715194 -0.06578042] [ 0.03456842 0.99930648 -0.01384129 -0.03432987] [-0.00666985 0.01407995 0.99987863 0.01075678] [ 0. 0. 0. 1. ]] SLAMing on 0.24041855499999998 meters Centerline goodness : 0.898191 with order 1 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.04, Z:0.02 [[ 0.9992665 -0.03805897 -0.00424085 -0.12337986] [ 0.0379959 0.99917878 -0.01407412 -0.04437001] [ 0.00477301 0.01390266 0.99989196 0.01751013] [ 0. 0. 0. 1. ]] SLAMing on 0.300418555 meters Centerline goodness : 0.921729 with order 1 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.02 [[ 9.99991451e-01 -7.56844984e-04 4.06502352e-03 -1.74060112e-01] [ 8.36728649e-04 9.99805865e-01 -1.96858499e-02 -5.26211857e-02] [-4.04933522e-03 1.96890830e-02 9.99797951e-01 2.07562593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.360418555 meters Centerline goodness : 0.920551 with order 1 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.02 [[ 0.99968131 0.02500878 0.00344123 -0.22865933] [-0.0249598 0.99959581 -0.0136094 -0.05141589] [-0.00378019 0.01351917 0.99990147 0.02497154] [ 0. 0. 0. 1. ]] SLAMing on 0.42041855499999997 meters Centerline goodness : 0.917216 with order 1 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.07, Z:0.03 [[ 0.999941 0.01042873 -0.00303917 -0.28749659] [-0.01045804 0.99989734 -0.00979469 -0.06758311] [ 0.00293671 0.0098259 0.99994741 0.02971029] [ 0. 0. 0. 1. ]] SLAMing on 0.48041855499999997 meters Centerline goodness : 0.926414 with order 1 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.08, Z:0.05 [[ 0.99997278 -0.00567093 -0.00472075 -0.33597261] [ 0.00561203 0.99990741 -0.01239694 -0.08487042] [ 0.00479062 0.01237011 0.99991201 0.04602359] [ 0. 0. 0. 1. ]] SLAMing on 0.540418555 meters Centerline goodness : 0.947066 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.10, Z:0.04 [[ 0.99999517 0.00220858 0.00218703 -0.38951434] [-0.00217037 0.99984762 -0.01732108 -0.10186081] [-0.00222495 0.01731625 0.99984759 0.04454926] [ 0. 0. 0. 1. ]] SLAMing on 0.600418555 meters Centerline goodness : 0.948725 with order 1 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.05, Z:0.04 [[ 0.99994063 0.00612393 0.00901315 -0.3681621 ] [-0.00592111 0.99973245 -0.02235982 -0.04636966] [-0.00914767 0.02230513 0.99970936 0.03797571] [ 0. 0. 0. 1. ]] SLAMing on 0.6604185549999999 meters Centerline goodness : 0.931325 with order 1 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.01, Z:0.04 [[ 0.99971787 -0.02358418 -0.00282386 -0.32533228] [ 0.02350567 0.99940624 -0.02519237 0.01083412] [ 0.00341633 0.02511889 0.99967863 0.0350648 ] [ 0. 0. 0. 1. ]] SLAMing on 0.720418555 meters Centerline goodness : 0.949964 with order 1 Centerline is valid? [False, False] Translation: X:-0.38, Y:0.02, Z:0.04 [[ 9.98463291e-01 -5.54165667e-02 2.47041322e-04 -3.81383047e-01] [ 5.54114697e-02 9.98287976e-01 -1.87266083e-02 1.77681257e-02] [ 7.91145959e-04 1.87115199e-02 9.99824611e-01 4.31598798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.780418555 meters Centerline goodness : 0.965775 with order 1 Centerline is valid? [False, True] Translation: X:-0.38, Y:0.02, Z:0.05 [[ 0.99955846 -0.0269188 0.01258019 -0.37725205] [ 0.02713719 0.99947811 -0.01752381 0.0197094 ] [-0.01210191 0.01785746 0.9997673 0.04678357] [ 0. 0. 0. 1. ]] SLAMing on 0.840418555 meters Centerline goodness : 0.958019 with order 1 Centerline is valid? [True, True] Translation: X:-0.44, Y:0.01, Z:0.06 [[ 0.9999306 0.01116411 0.00376335 -0.43753488] [-0.01117066 0.99993612 0.00172407 0.00804393] [-0.00374386 -0.00176599 0.99999143 0.055783 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9004185549999999 meters Centerline goodness : 0.951942 with order 1 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.01, Z:0.07 [[ 0.99925573 0.0383903 0.00376334 -0.49298267] [-0.038397 0.99926108 0.00172409 -0.01307594] [-0.00369437 -0.00186731 0.99999143 0.07186526] [ 0. 0. 0. 1. ]] SLAMing on 0.960418555 meters Centerline goodness : 0.959194 with order 1 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.03, Z:0.07 [[ 0.99918735 0.04013076 0.0037633 -0.54920247] [-0.04013747 0.99919268 0.00172417 -0.03269504] [-0.00369107 -0.00187382 0.99999143 0.07396049] [ 0. 0. 0. 1. ]] SLAMing on 1.020418555 meters Centerline goodness : 0.982200 with order 1 Centerline is valid? [True, True] Translation: X:-0.62, Y:-0.03, Z:0.09 [[ 0.99980879 0.01918901 0.00376322 -0.61864947] [-0.01919561 0.99981426 0.00172434 -0.02598982] [-0.00372944 -0.00179625 0.99999143 0.08666948] [ 0. 0. 0. 1. ]] SLAMing on 1.080418555 meters Centerline goodness : 0.969591 with order 1 Centerline is valid? [True, True] Translation: X:-0.68, Y:-0.04, Z:0.07 [[ 0.99983387 -0.0178344 0.00376324 -0.67945708] [ 0.01782801 0.99983958 0.0017243 -0.03785838] [-0.00379339 -0.00165692 0.99999143 0.07102149] [ 0. 0. 0. 1. ]] SLAMing on 1.140418555 meters Centerline goodness : 0.971976 with order 1 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.07, Z:0.07 [[ 0.99976572 -0.02131538 0.0037632 -0.73368379] [ 0.02130901 0.99977145 0.00172439 -0.06525787] [-0.0037991 -0.00164379 0.99999143 0.06721617] [ 0. 0. 0. 1. ]] SLAMing on 1.200418555 meters Centerline goodness : 0.970463 with order 1 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.09, Z:0.07 [[ 0.99993317 -0.0109312 0.00376322 -0.79153037] [ 0.01092477 0.99993884 0.00172434 -0.08767145] [-0.00378184 -0.00168312 0.99999143 0.07384884] [ 0. 0. 0. 1. ]] SLAMing on 1.260418555 meters Centerline goodness : 0.956914 with order 1 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.11, Z:0.07 [[ 0.99998634 0.00362702 0.00376331 -0.8466676 ] [-0.00363353 0.99999191 0.00172415 -0.11238321] [-0.00375703 -0.0017378 0.99999143 0.07496567] [ 0. 0. 0. 1. ]] SLAMing on 1.3204185549999998 meters Centerline goodness : 0.951419 with order 1 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.13, Z:0.07 [[ 0.99999181 -0.00149219 0.00376331 -0.9041591 ] [ 0.00148571 0.99999741 0.00172415 -0.13410218] [-0.00376587 -0.00171855 0.99999143 0.07186616] [ 0. 0. 0. 1. ]] SLAMing on 1.3804185549999999 meters Centerline goodness : 0.944587 with order 1 Centerline is valid? [True, False] Translation: X:-0.90, Y:-0.14, Z:0.06 [[ 0.99996401 -0.00742792 0.00409874 -0.89953832] [ 0.00744222 0.99996623 -0.00348535 -0.14092462] [-0.00407271 0.00351573 0.99998553 0.06490055] [ 0. 0. 0. 1. ]] SLAMing on 1.440418555 meters Centerline goodness : 0.895679 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.13, Z:0.06 [[ 0.99807837 -0.05874017 -0.01972737 -0.91116877] [ 0.05880655 0.99826547 0.00280081 -0.13109749] [ 0.01952863 -0.00395553 0.99980147 0.06460859] [ 0. 0. 0. 1. ]] SLAMing on 1.500418555 meters Centerline goodness : 0.991423 with order 1 Centerline is valid? [False, True] Translation: X:-1.02, Y:-0.04, Z:0.07 [[ 0.99725391 0.00321015 0.07398876 -1.01562597] [-0.00201742 0.99986691 -0.01618949 -0.03973023] [-0.07403088 0.01599576 0.99712766 0.06857242] [ 0. 0. 0. 1. ]] SLAMing on 1.560418555 meters Centerline goodness : 0.971589 with order 1 Centerline is valid? [True, True] Translation: X:-1.12, Y:0.05, Z:0.06 [[ 0.99832311 0.01571648 0.05571328 -1.12438007] [-0.01712429 0.99954371 0.02488215 0.04953158] [-0.0552968 -0.02579447 0.99813672 0.06154007] [ 0. 0. 0. 1. ]] SLAMing on 1.6204185549999999 meters Centerline goodness : 0.975300 with order 1 Centerline is valid? [True, True] Translation: X:-1.18, Y:0.03, Z:0.07 [[ 0.99842002 0.00730576 0.05571441 -1.18058003] [-0.00870312 0.99965257 0.02487962 0.02583133] [-0.05551329 -0.0253252 0.99813672 0.0652175 ] [ 0. 0. 0. 1. ]] SLAMing on 1.680418555 meters Centerline goodness : 0.977335 with order 1 Centerline is valid? [True, True] Translation: X:-1.24, Y:0.00, Z:0.07 [[ 9.98400100e-01 9.64936298e-03 5.57147193e-02 -1.23750582e+00] [-1.10495877e-02 9.99629404e-01 2.48789286e-02 8.01494685e-04] [-5.54540059e-02 -2.54547495e-02 9.98136719e-01 6.81525981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740418555 meters Centerline goodness : 0.971547 with order 1 Centerline is valid? [True, True] Translation: X:-1.29, Y:-0.03, Z:0.07 [[ 0.99844126 -0.00328146 0.05571613 -1.29367165] [ 0.00189741 0.99968875 0.02487578 -0.02643639] [-0.05578041 -0.02473129 0.99813672 0.06987781] [ 0. 0. 0. 1. ]] SLAMing on 1.8004185549999998 meters Centerline goodness : 0.969148 with order 1 Centerline is valid? [True, True] Translation: X:-1.36, Y:-0.03, Z:0.07 [[ 0.99469957 -0.08641776 0.05572012 -1.35807444] [ 0.08514284 0.9960584 0.02486684 -0.03210786] [-0.05764943 -0.01999086 0.99813672 0.07395488] [ 0. 0. 0. 1. ]] SLAMing on 1.8604185549999999 meters Centerline goodness : 0.971338 with order 1 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.06, Z:0.07 [[ 0.99420677 -0.09191366 0.05572062 -1.41277533] [ 0.09064633 0.99557267 0.02486571 -0.05720504] [-0.05775942 -0.01967079 0.99813672 0.07353236] [ 0. 0. 0. 1. ]] SLAMing on 1.920418555 meters Centerline goodness : 0.967039 with order 1 Centerline is valid? [True, True] Translation: X:-1.47, Y:-0.09, Z:0.08 [[ 0.99816757 -0.02359326 0.05572124 -1.46718864] [ 0.0222354 0.99944352 0.02486431 -0.08719724] [-0.05627687 -0.02357976 0.99813672 0.07796326] [ 0. 0. 0. 1. ]] SLAMing on 1.980418555 meters Centerline goodness : 0.986703 with order 1 Centerline is valid? [True, True] Translation: X:-1.53, Y:-0.09, Z:0.08 [[ 0.99843366 0.00498698 0.05572572 -1.53478772] [-0.00638035 0.99967072 0.02485427 -0.08580857] [-0.05558343 -0.02517088 0.99813672 0.07555349] [ 0. 0. 0. 1. ]] SLAMing on 2.040418555 meters Centerline goodness : 0.981090 with order 1 Centerline is valid? [True, True] Translation: X:-1.59, Y:-0.11, Z:0.10 [[ 0.99807296 0.02729301 0.05572657 -1.59106273] [-0.02871359 0.99927868 0.02485237 -0.10562727] [-0.05500808 -0.02640459 0.99813672 0.09987434] [ 0. 0. 0. 1. ]] SLAMing on 2.100418555 meters Centerline goodness : 0.946601 with order 2 Centerline is valid? [True, False] Translation: X:-1.60, Y:-0.11, Z:0.10 [[ 0.9989263 0.01749715 0.04289639 -1.599316 ] [-0.01831629 0.9996559 0.01877768 -0.10765374] [-0.04255307 -0.01954322 0.99890305 0.10316904] [ 0. 0. 0. 1. ]] SLAMing on 2.160418555 meters Centerline goodness : 0.879261 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.11 [[ 0.9993469 0.01638871 0.03220548 -1.61035386] [-0.01669487 0.99981774 0.00926077 -0.1049419 ] [-0.03204784 -0.00979239 0.99943836 0.10574829] [ 0. 0. 0. 1. ]] SLAMing on 2.2204185549999997 meters Centerline goodness : 0.812099 with order 2 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.10, Z:0.11 [[ 0.99938387 0.02805434 0.02109118 -1.63280217] [-0.02798332 0.99960171 -0.00365509 -0.10408019] [-0.02118532 0.00306264 0.99977087 0.11472754] [ 0. 0. 0. 1. ]] SLAMing on 2.280418555 meters Centerline goodness : 0.693472 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.10, Z:0.13 [[ 9.99291719e-01 3.75457842e-02 -2.52486222e-03 -1.66838414e+00] [-3.75940440e-02 9.99027798e-01 -2.30249108e-02 -9.69100761e-02] [ 1.65791921e-03 2.31035225e-02 9.99731703e-01 1.31719778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.340418555 meters Centerline goodness : 0.585931 with order 1 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.09, Z:0.14 [[ 0.99867497 0.04114671 -0.0309072 -1.68859194] [-0.04245817 0.99817043 -0.04304771 -0.08910952] [ 0.02907938 0.04430294 0.99859483 0.14263939] [ 0. 0. 0. 1. ]] SLAMing on 2.400418555 meters Centerline goodness : 0.470551 with order 1 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.03, Z:0.14 [[ 0.99586311 0.04024735 -0.08146662 -1.60507187] [-0.04598038 0.99650318 -0.0697654 -0.02674536] [ 0.07837387 0.07322265 0.99423135 0.14121887] [ 0. 0. 0. 1. ]] SLAMing on 2.460418555 meters Centerline goodness : 0.376242 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.04, Z:0.15 [[ 0.9884443 0.00745845 -0.15140094 -1.52938203] [-0.02442431 0.99357469 -0.11051147 0.04254553] [ 0.14960389 0.1129323 0.9822754 0.14731408] [ 0. 0. 0. 1. ]] SLAMing on 2.520418555 meters Centerline goodness : 0.600782 with order 1 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.02, Z:0.15 [[ 9.98593315e-01 -1.21203854e-02 -5.16186682e-02 -1.64352678e+00] [ 1.20916269e-02 9.99926516e-01 -8.69394881e-04 -2.36705133e-02] [ 5.16254124e-02 2.44018243e-04 9.98666489e-01 1.46442237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.580418555 meters Centerline goodness : 0.887343 with order 3 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.06, Z:0.11 [[ 0.99942627 -0.02841686 0.01842841 -1.68211725] [ 0.02736631 0.99811398 0.05495056 -0.06255217] [-0.01995518 -0.05441471 0.998319 0.11222201] [ 0. 0. 0. 1. ]] SLAMing on 2.6404185549999997 meters Centerline goodness : 0.963470 with order 1 Centerline is valid? [False, True] Translation: X:-1.68, Y:-0.06, Z:0.10 [[ 0.99753685 -0.0433037 0.05518181 -1.67914955] [ 0.03991167 0.99732992 0.06115625 -0.06023338] [-0.05768276 -0.05880322 0.99660167 0.09500951] [ 0. 0. 0. 1. ]] SLAMing on 2.7004185549999997 meters Centerline goodness : 0.988674 with order 1 Centerline is valid? [True, True] Translation: X:-1.75, Y:-0.04, Z:0.10 [[ 0.99564133 -0.06295966 0.06880721 -1.75319871] [ 0.06092137 0.99765067 0.03133266 -0.04361709] [-0.07061825 -0.02700427 0.99713782 0.09997446] [ 0. 0. 0. 1. ]] SLAMing on 2.7604185549999998 meters Centerline goodness : 0.981704 with order 1 Centerline is valid? [True, True] Translation: X:-1.82, Y:-0.05, Z:0.08 [[ 0.9955479 -0.0644193 0.06880798 -1.81835895] [ 0.06238406 0.99756032 0.03133097 -0.05452789] [-0.07065843 -0.02689896 0.99713782 0.07706002] [ 0. 0. 0. 1. ]] SLAMing on 2.820418555 meters Centerline goodness : 0.973665 with order 1 Centerline is valid? [True, True] Translation: X:-1.87, Y:-0.09, Z:0.10 [[ 0.99614767 -0.05435587 0.06881317 -1.86835369] [ 0.05230106 0.99814011 0.03131957 -0.09164352] [-0.07038759 -0.02759992 0.99713782 0.09523339] [ 0. 0. 0. 1. ]] SLAMing on 2.880418555 meters Centerline goodness : 0.975246 with order 1 Centerline is valid? [True, True] Translation: X:-1.92, Y:-0.12, Z:0.10 [[ 0.99602787 -0.05650647 0.06881502 -1.92418416] [ 0.0544562 0.99802498 0.03131551 -0.11716119] [-0.07044863 -0.02744372 0.99713782 0.0974546 ] [ 0. 0. 0. 1. ]] SLAMing on 2.940418555 meters Centerline goodness : 0.976593 with order 1 Centerline is valid? [True, True] Translation: X:-1.98, Y:-0.16, Z:0.07 [[ 0.99586347 -0.059332 0.06881614 -1.97580401] [ 0.05728755 0.99786654 0.03131304 -0.15806502] [-0.07052719 -0.0272412 0.99713782 0.06644833] [ 0. 0. 0. 1. ]] SLAMing on 3.000418555 meters Centerline goodness : 0.969924 with order 1 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.19, Z:0.10 [[ 0.99719758 -0.0293468 0.06881683 -2.0226425 ] [ 0.0272431 0.99913833 0.03131153 -0.19405765] [-0.06967642 -0.029349 0.99713782 0.09678684] [ 0. 0. 0. 1. ]] SLAMing on 3.060418555 meters Centerline goodness : 0.972368 with order 1 Centerline is valid? [True, True] Translation: X:-2.09, Y:-0.19, Z:0.10 [[ 0.99738666 -0.02199914 0.06881785 -2.09119937] [ 0.01988132 0.99931199 0.03130929 -0.1920101 ] [-0.06945928 -0.02985928 0.99713782 0.09581302] [ 0. 0. 0. 1. ]] SLAMing on 3.120418555 meters Centerline goodness : 0.978189 with order 1 Centerline is valid? [True, True] Translation: X:-2.16, Y:-0.19, Z:0.08 [[ 0.9957718 -0.06084845 0.06881855 -2.16134475] [ 0.05880735 0.99777829 0.03130774 -0.19161808] [-0.07057069 -0.02712833 0.99713782 0.08172028] [ 0. 0. 0. 1. ]] SLAMing on 3.1804185549999997 meters Centerline goodness : 0.972084 with order 1 Centerline is valid? [True, True] Translation: X:-2.23, Y:-0.19, Z:0.09 [[ 0.99161097 -0.10941198 0.0688237 -2.226876 ] [ 0.10747202 0.9937154 0.03129642 -0.19446403] [-0.07181537 -0.02363725 0.99713782 0.09203232] [ 0. 0. 0. 1. ]] SLAMing on 3.2404185549999998 meters Centerline goodness : 0.984445 with order 1 Centerline is valid? [True, True] Translation: X:-2.30, Y:-0.19, Z:0.08 [[ 0.98954146 -0.12677085 0.06882481 -2.29572086] [ 0.12486821 0.99167969 0.03129397 -0.19184779] [-0.07221933 -0.02237265 0.99713782 0.07881444] [ 0. 0. 0. 1. ]] SLAMing on 3.300418555 meters Centerline goodness : 0.977943 with order 1 Centerline is valid? [True, True] Translation: X:-2.36, Y:-0.20, Z:0.11 [[ 0.99116547 -0.11337467 0.06882731 -2.35723353] [ 0.11144363 0.99327808 0.03128848 -0.20186159] [-0.07191198 -0.0233417 0.99713782 0.11329059] [ 0. 0. 0. 1. ]] SLAMing on 3.360418555 meters Centerline goodness : 0.978017 with order 1 Centerline is valid? [True, True] Translation: X:-2.42, Y:-0.21, Z:0.11 [[ 0.98824525 -0.13650543 0.06883014 -2.41968168] [ 0.13462468 0.99040275 0.03128226 -0.21336181] [-0.07243976 -0.02164831 0.99713782 0.11306383] [ 0. 0. 0. 1. ]] SLAMing on 3.420418555 meters Centerline goodness : 0.975581 with order 1 Centerline is valid? [True, True] Translation: X:-2.48, Y:-0.23, Z:0.11 [[ 0.98124243 -0.18007105 0.06883099 -2.48065149] [ 0.17828766 0.98348109 0.03128039 -0.23084418] [-0.07332667 -0.01842193 0.99713782 0.10515345] [ 0. 0. 0. 1. ]] SLAMing on 3.480418555 meters Centerline goodness : 0.975285 with order 1 Centerline is valid? [True, True] Translation: X:-2.54, Y:-0.24, Z:0.10 [[ 0.98007024 -0.18634465 0.06883307 -2.54297223] [ 0.18457591 0.9823205 0.03127579 -0.24289264] [-0.07344422 -0.01794755 0.99713782 0.09780997] [ 0. 0. 0. 1. ]] SLAMing on 3.540418555 meters Centerline goodness : 0.980909 with order 1 Centerline is valid? [True, True] Translation: X:-2.61, Y:-0.23, Z:0.13 [[ 0.98459242 -0.16074734 0.06883362 -2.61007527] [ 0.15892066 0.98679589 0.03127459 -0.23310823] [-0.07295204 -0.01985363 0.99713782 0.13315927] [ 0. 0. 0. 1. ]] SLAMing on 3.6004185549999996 meters Centerline goodness : 0.985614 with order 1 Centerline is valid? [True, True] Translation: X:-2.69, Y:-0.21, Z:0.15 [[ 0.98713616 -0.14430569 0.06883368 -2.68849171] [ 0.14244252 0.98930887 0.03127446 -0.20570446] [-0.07261085 -0.0210673 0.99713782 0.15104358] [ 0. 0. 0. 1. ]] SLAMing on 3.6604185549999997 meters Centerline goodness : 0.964218 with order 1 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.20, Z:0.19 [[ 0.98651839 -0.14846961 0.06883481 -2.75586788] [ 0.14661579 0.98869908 0.03127198 -0.19860668] [-0.07269985 -0.02075812 0.99713782 0.18748876] [ 0. 0. 0. 1. ]] SLAMing on 3.7204185549999997 meters Centerline goodness : 0.946831 with order 3 Centerline is valid? [True, False] Translation: X:-2.81, Y:-0.20, Z:0.20 [[ 0.98812612 -0.13384858 0.07544086 -2.8082455 ] [ 0.13208119 0.99084416 0.02797168 -0.20281711] [-0.07849411 -0.01767523 0.99675788 0.19742181] [ 0. 0. 0. 1. ]] SLAMing on 3.780418555 meters Centerline goodness : 0.925007 with order 3 Centerline is valid? [False, False] Translation: X:-2.87, Y:-0.22, Z:0.20 [[ 0.99033749 -0.11159318 0.08233235 -2.86662357] [ 0.10996873 0.99364471 0.0240223 -0.21516229] [-0.08448983 -0.0147362 0.99631537 0.20297907] [ 0. 0. 0. 1. ]] SLAMing on 3.840418555 meters Centerline goodness : 0.954652 with order 1 Centerline is valid? [False, True] Translation: X:-2.84, Y:-0.17, Z:0.20 [[ 0.99026443 -0.1213766 0.06814752 -2.8400713 ] [ 0.11957335 0.99237324 0.02995944 -0.17413382] [-0.07126415 -0.02151914 0.99722532 0.20146926] [ 0. 0. 0. 1. ]] SLAMing on 3.900418555 meters Centerline goodness : 0.950039 with order 2 Centerline is valid? [True, True] Translation: X:-2.91, Y:-0.13, Z:0.31 [[ 0.98108068 -0.18154797 0.06723857 -2.91281467] [ 0.17975449 0.98319488 0.03187708 -0.13474844] [-0.07189584 -0.01918755 0.99722757 0.31226405] [ 0. 0. 0. 1. ]] SLAMing on 3.960418555 meters Centerline goodness : 0.948338 with order 3 Centerline is valid? [True, False] Translation: X:-2.96, Y:-0.14, Z:0.32 [[ 0.98050972 -0.18676874 0.06097644 -2.9594324 ] [ 0.18437383 0.98192224 0.04283688 -0.1371239 ] [-0.06787471 -0.03075951 0.99721957 0.31748989] [ 0. 0. 0. 1. ]] SLAMing on 4.020418555 meters Centerline goodness : 0.947759 with order 3 Centerline is valid? [False, False] Translation: X:-3.02, Y:-0.15, Z:0.32 [[ 0.98500724 -0.15912127 0.0666421 -3.01513953] [ 0.15634235 0.98667476 0.04505539 -0.15373667] [-0.07292335 -0.03396091 0.99675917 0.31963951] [ 0. 0. 0. 1. ]] SLAMing on 4.0804185550000005 meters Centerline goodness : 0.943095 with order 3 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.19, Z:0.33 [[ 0.9886408 -0.133899 0.06826726 -3.07809737] [ 0.13168965 0.9906401 0.03591697 -0.18635915] [-0.07243753 -0.02651889 0.99702034 0.32506181] [ 0. 0. 0. 1. ]] SLAMing on 4.140418555 meters Centerline goodness : 0.924755 with order 3 Centerline is valid? [False, False] Translation: X:-3.14, Y:-0.20, Z:0.33 [[ 0.98930486 -0.12990664 0.06633377 -3.1352588 ] [ 0.12703285 0.99083771 0.04586166 -0.2013443 ] [-0.07168374 -0.0369446 0.99674296 0.33055327] [ 0. 0. 0. 1. ]] SLAMing on 4.200418555000001 meters Centerline goodness : 0.952836 with order 3 Centerline is valid? [False, True] Translation: X:-3.17, Y:-0.21, Z:0.34 [[ 0.98922089 -0.13590565 0.05451321 -3.16537601] [ 0.13327448 0.98985132 0.04931805 -0.20534797] [-0.06066258 -0.04152123 0.99729436 0.33941781] [ 0. 0. 0. 1. ]] SLAMing on 4.260418555 meters Centerline goodness : 0.920143 with order 3 Centerline is valid? [True, False] Translation: X:-3.20, Y:-0.22, Z:0.35 [[ 0.98978693 -0.13051626 0.05733526 -3.19964294] [ 0.12800017 0.99072647 0.04557427 -0.21835004] [-0.06275174 -0.03776989 0.99731422 0.34908597] [ 0. 0. 0. 1. ]] SLAMing on 4.320418555000001 meters Centerline goodness : 0.833852 with order 3 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.23, Z:0.36 [[ 0.99142393 -0.11762687 0.0569431 -3.25723113] [ 0.11515125 0.9923294 0.04497278 -0.2325793 ] [-0.06179632 -0.03803002 0.99736399 0.35734038] [ 0. 0. 0. 1. ]] SLAMing on 4.380418555 meters Centerline goodness : 0.918893 with order 2 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.24, Z:0.36 [[ 0.99253876 -0.10582736 0.06055882 -3.29371895] [ 0.10345796 0.99378776 0.04101621 -0.24431908] [-0.06452325 -0.03444488 0.99732156 0.3599387 ] [ 0. 0. 0. 1. ]] SLAMing on 4.440418555 meters Centerline goodness : 0.908498 with order 3 Centerline is valid? [False, False] Translation: X:-3.35, Y:-0.26, Z:0.37 [[ 0.99344582 -0.09700881 0.06045402 -3.35261897] [ 0.09466888 0.99468694 0.04044383 -0.26009402] [-0.06405623 -0.03445564 0.9973513 0.36732935] [ 0. 0. 0. 1. ]] SLAMing on 4.500418555 meters Centerline goodness : 0.890269 with order 3 Centerline is valid? [False, False] Translation: X:-3.41, Y:-0.27, Z:0.37 [[ 0.99381252 -0.0912958 0.06325936 -3.41149065] [ 0.08902722 0.99531155 0.03780301 -0.27198419] [-0.06641403 -0.0319373 0.9972809 0.37400088] [ 0. 0. 0. 1. ]] SLAMing on 4.560418555 meters Centerline goodness : 0.892463 with order 3 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.28, Z:0.38 [[ 0.99403929 -0.08552536 0.06761138 -3.46976043] [ 0.08336991 0.99593546 0.03408846 -0.28314285] [-0.070252 -0.02824851 0.99712922 0.37799481] [ 0. 0. 0. 1. ]] SLAMing on 4.6204185550000005 meters Centerline goodness : 0.858404 with order 3 Centerline is valid? [False, False] Translation: X:-3.54, Y:-0.30, Z:0.38 [[ 0.99534519 -0.07187857 0.06419832 -3.53976131] [ 0.06990395 0.99702433 0.032495 -0.29746024] [-0.06634298 -0.02785602 0.99740797 0.3838039 ] [ 0. 0. 0. 1. ]] SLAMing on 4.680418555 meters Centerline goodness : 0.790301 with order 3 Centerline is valid? [False, False] Translation: X:-3.58, Y:-0.30, Z:0.39 [[ 0.99590524 -0.07220338 0.0544006 -3.57927729] [ 0.07043273 0.99694394 0.03379364 -0.29634084] [-0.05667437 -0.02982368 0.99794718 0.38863513] [ 0. 0. 0. 1. ]] SLAMing on 4.740418555000001 meters Centerline goodness : 0.812635 with order 3 Centerline is valid? [False, False] Translation: X:-3.62, Y:-0.30, Z:0.39 [[ 0.99586535 -0.07448614 0.05200026 -3.61715533] [ 0.07267782 0.9967112 0.03584304 -0.30326864] [-0.05449905 -0.03191558 0.99800363 0.39364523] [ 0. 0. 0. 1. ]] SLAMing on 4.800418555 meters Centerline goodness : 0.844026 with order 2 Centerline is valid? [False, False] Translation: X:-3.65, Y:-0.32, Z:0.40 [[ 0.99627612 -0.06574471 0.05578111 -3.65222124] [ 0.06413087 0.99748302 0.03024644 -0.31534207] [-0.05762926 -0.02655651 0.99798478 0.39705597] [ 0. 0. 0. 1. ]] SLAMing on 4.860418555 meters Centerline goodness : 0.830948 with order 2 Centerline is valid? [False, False] Translation: X:-3.71, Y:-0.33, Z:0.40 [[ 0.99661581 -0.06023385 0.05593583 -3.70777876] [ 0.05879654 0.99790487 0.02699698 -0.33072917] [-0.05744477 -0.02361678 0.99806931 0.39847902] [ 0. 0. 0. 1. ]] SLAMing on 4.920418555 meters Centerline goodness : 0.782216 with order 1 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.35, Z:0.40 [[ 0.99745522 -0.05012932 0.05069651 -3.77030385] [ 0.04900185 0.99852818 0.02324402 -0.35145736] [-0.0517871 -0.02070064 0.99844358 0.40375785] [ 0. 0. 0. 1. ]] SLAMing on 4.980418555 meters Centerline goodness : 0.829552 with order 2 Centerline is valid? [False, False] Translation: X:-3.80, Y:-0.37, Z:0.41 [[ 0.99832025 -0.04191489 0.0399978 -3.80348208] [ 0.04073807 0.99872545 0.02979732 -0.36592273] [-0.04119577 -0.02811784 0.99875537 0.40765524] [ 0. 0. 0. 1. ]] SLAMing on 5.0404185550000005 meters Centerline goodness : 0.751297 with order 1 Centerline is valid? [False, False] Translation: X:-3.84, Y:-0.39, Z:0.41 [[ 0.9985138 -0.04003272 0.03698066 -3.84213076] [ 0.03905506 0.99887782 0.02679183 -0.38704466] [-0.03801171 -0.02530773 0.99895677 0.41367874] [ 0. 0. 0. 1. ]] SLAMing on 5.100418555 meters Centerline goodness : 0.790357 with order 1 Centerline is valid? [False, False] Translation: X:-3.88, Y:-0.40, Z:0.42 [[ 0.99874095 -0.03190677 0.03871002 -3.88356257] [ 0.03113427 0.99930706 0.02039744 -0.40356835] [-0.03933401 -0.01916655 0.99904228 0.42056455] [ 0. 0. 0. 1. ]] SLAMing on 5.160418555000001 meters Centerline goodness : 0.844875 with order 2 Centerline is valid? [False, False] Translation: X:-3.93, Y:-0.41, Z:0.43 [[ 0.9988294 -0.02112097 0.04351703 -3.9251884 ] [ 0.0205112 0.99968575 0.01441155 -0.41219385] [-0.04380774 -0.01350209 0.99894874 0.42567923] [ 0. 0. 0. 1. ]] SLAMing on 5.220418555 meters Centerline goodness : 0.854042 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.41, Z:0.43 [[ 0.99865605 -0.02466564 0.04558188 -3.98599007] [ 0.02410124 0.99962641 0.01289059 -0.41455942] [-0.04588281 -0.01177469 0.99887743 0.42937432] [ 0. 0. 0. 1. ]] SLAMing on 5.280418555 meters Centerline goodness : 0.841329 with order 3 Centerline is valid? [False, False] Translation: X:-4.05, Y:-0.42, Z:0.43 [[ 0.99859834 -0.02341963 0.04746451 -4.04989997] [ 0.02281733 0.99965261 0.01319173 -0.41684588] [-0.04775697 -0.01209022 0.99878581 0.4301113 ] [ 0. 0. 0. 1. ]] SLAMing on 5.340418555 meters Centerline goodness : 0.803042 with order 2 Centerline is valid? [False, False] Translation: X:-4.00, Y:-0.39, Z:0.43 [[ 0.99871295 -0.02679204 0.04306552 -4.00219409] [ 0.02636653 0.99959805 0.01041835 -0.38828811] [-0.04332734 -0.00926945 0.99901793 0.43073366] [ 0. 0. 0. 1. ]] SLAMing on 5.400418555 meters Centerline goodness : 0.830389 with order 2 Centerline is valid? [False, False] Translation: X:-4.06, Y:-0.40, Z:0.43 [[ 0.99889934 -0.028989 0.03687465 -4.06496633] [ 0.02864496 0.99954137 0.00982436 -0.40386432] [-0.03714253 -0.00875727 0.99927161 0.42603129] [ 0. 0. 0. 1. ]] SLAMing on 5.460418555 meters Centerline goodness : 0.911881 with order 3 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.42, Z:0.42 [[ 0.99915988 -0.02353315 0.03355194 -4.12267165] [ 0.02312969 0.99965603 0.01236277 -0.4249556 ] [-0.03383133 -0.01157634 0.99936051 0.42345193] [ 0. 0. 0. 1. ]] SLAMing on 5.520418555 meters Centerline goodness : 0.883773 with order 3 Centerline is valid? [False, False] Translation: X:-4.17, Y:-0.45, Z:0.42 [[ 0.99937747 -0.01434046 0.03223403 -4.17431956] [ 0.01402059 0.99985042 0.01012755 -0.44544998] [-0.03237444 -0.0096693 0.99942904 0.42395414] [ 0. 0. 0. 1. ]] SLAMing on 5.5804185550000005 meters Centerline goodness : 0.922529 with order 2 Centerline is valid? [False, False] Translation: X:-4.12, Y:-0.43, Z:0.42 [[ 0.99939348 -0.01425006 0.03177434 -4.11914597] [ 0.01396701 0.99986093 0.00911242 -0.42744757] [-0.03189978 -0.0086631 0.99945353 0.42324208] [ 0. 0. 0. 1. ]] SLAMing on 5.640418555 meters Centerline goodness : 0.762240 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.45, Z:0.42 [[ 0.99936074 -0.02275996 0.02756968 -4.18560674] [ 0.02247635 0.99969167 0.01055386 -0.45013393] [-0.02780139 -0.00992744 0.99956417 0.42018398] [ 0. 0. 0. 1. ]] SLAMing on 5.700418555000001 meters Centerline goodness : 0.957285 with order 2 Centerline is valid? [False, True] Translation: X:-4.23, Y:-0.46, Z:0.42 [[ 0.99893159 -0.04437166 0.0129164 -4.22608395] [ 0.04415574 0.99888761 0.01654707 -0.46331808] [-0.01363625 -0.01595906 0.99977966 0.41841625] [ 0. 0. 0. 1. ]] SLAMing on 5.760418555 meters Centerline goodness : 0.957746 with order 2 Centerline is valid? [True, True] Translation: X:-4.29, Y:-0.50, Z:0.43 [[ 0.99886692 -0.04537079 0.01436528 -4.28976179] [ 0.0452196 0.99891997 0.01068051 -0.49680096] [-0.01483435 -0.01001882 0.99983977 0.42808535] [ 0. 0. 0. 1. ]] SLAMing on 5.820418555 meters Centerline goodness : 0.902214 with order 3 Centerline is valid? [True, False] Translation: X:-4.34, Y:-0.51, Z:0.43 [[ 9.99691849e-01 -1.57352226e-02 1.91991914e-02 -4.33753943e+00] [ 1.56564756e-02 9.99868419e-01 4.24502538e-03 -5.07010477e-01] [-1.92634616e-02 -3.94312560e-03 9.99806667e-01 4.32896299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.880418555 meters Centerline goodness : 0.903096 with order 3 Centerline is valid? [False, False] Translation: X:-4.39, Y:-0.52, Z:0.43 [[ 9.99843144e-01 8.49584386e-04 1.76908582e-02 -4.39149099e+00] [-8.85552260e-04 9.99997557e-01 2.02539888e-03 -5.17251891e-01] [-1.76890943e-02 -2.04074737e-03 9.99841453e-01 4.32503753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940418555 meters Centerline goodness : 0.913877 with order 3 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.49, Z:0.43 [[ 9.99825755e-01 -7.12651550e-03 1.72531620e-02 -4.34879233e+00] [ 7.14477490e-03 9.99973979e-01 -9.96912781e-04 -4.92844650e-01] [-1.72456085e-02 1.12000903e-03 9.99850656e-01 4.26388192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000418555 meters Centerline goodness : 0.860274 with order 1 Centerline is valid? [False, False] Translation: X:-4.31, Y:-0.48, Z:0.43 [[ 9.99887872e-01 -9.16685171e-03 1.18411468e-02 -4.30736251e+00] [ 9.18764069e-03 9.99956344e-01 -1.70245213e-03 -4.80122968e-01] [-1.18250238e-02 1.81105344e-03 9.99928442e-01 4.26447420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060418555 meters Centerline goodness : 0.931295 with order 3 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.50, Z:0.42 [[ 9.99940893e-01 -8.77916118e-03 6.41378024e-03 -4.38213025e+00] [ 8.78113237e-03 9.99961406e-01 -2.79240978e-04 -4.95617439e-01] [-6.41108121e-03 3.35544727e-04 9.99979393e-01 4.17484473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1204185550000005 meters Centerline goodness : 0.944517 with order 3 Centerline is valid? [False, False] Translation: X:-4.31, Y:-0.48, Z:0.42 [[ 9.99918223e-01 -1.26219237e-02 -2.05775502e-03 -4.30519198e+00] [ 1.26208977e-02 9.99920223e-01 -5.10832746e-04 -4.84525260e-01] [ 2.06403855e-03 4.84820256e-04 9.99997752e-01 4.19128231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.180418555 meters Centerline goodness : 0.947795 with order 2 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.48, Z:0.42 [[ 9.99952641e-01 8.18460980e-03 -5.26578390e-03 -4.24337993e+00] [-8.18508833e-03 9.99966499e-01 -6.93304520e-05 -4.83590281e-01] [ 5.26504005e-03 1.12428075e-04 9.99986133e-01 4.19454777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240418555000001 meters Centerline goodness : 0.960042 with order 1 Centerline is valid? [False, True] Translation: X:-4.24, Y:-0.49, Z:0.41 [[ 9.99992002e-01 5.64135498e-05 -3.99908424e-03 -4.24303378e+00] [-4.37657319e-05 9.99994998e-01 3.16269551e-03 -4.91009069e-01] [ 3.99924265e-03 -3.16249519e-03 9.99987002e-01 4.07906578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.300418555 meters Centerline goodness : 0.969505 with order 1 Centerline is valid? [True, True] Translation: X:-4.30, Y:-0.50, Z:0.44 [[ 9.98930272e-01 -4.61332946e-02 -3.16719533e-03 -4.30302862e+00] [ 4.61313486e-02 9.98935148e-01 -6.84815687e-04 -4.99364648e-01] [ 3.19541554e-03 5.37976129e-04 9.99994750e-01 4.37728918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360418555 meters Centerline goodness : 0.975614 with order 1 Centerline is valid? [True, True] Translation: X:-4.36, Y:-0.53, Z:0.44 [[ 9.98301185e-01 -5.81782835e-02 -3.16719205e-03 -4.35903152e+00] [ 5.81763964e-02 9.98306084e-01 -6.84830832e-04 -5.26414156e-01] [ 3.20166938e-03 4.99411611e-04 9.99994750e-01 4.42649020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420418555 meters Centerline goodness : 0.989270 with order 1 Centerline is valid? [True, True] Translation: X:-4.41, Y:-0.56, Z:0.42 [[ 9.99182057e-01 -4.03135943e-02 -3.16718889e-03 -4.41018709e+00] [ 4.03116198e-02 9.99186922e-01 -6.84845475e-04 -5.62879589e-01] [ 3.19222230e-03 5.56610796e-04 9.99994750e-01 4.24919039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480418555 meters Centerline goodness : 0.988127 with order 1 Centerline is valid? [True, True] Translation: X:-4.46, Y:-0.59, Z:0.42 [[ 9.99859111e-01 -1.64841704e-02 -3.16702300e-03 -4.46275648e+00] [ 1.64820781e-02 9.99863926e-01 -6.85611740e-04 -5.94448445e-01] [ 3.17789379e-03 6.33316025e-04 9.99994750e-01 4.17771024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5404185550000005 meters Centerline goodness : 0.992245 with order 1 Centerline is valid? [True, True] Translation: X:-4.52, Y:-0.62, Z:0.41 [[ 9.99958107e-01 8.58803089e-03 -3.16697425e-03 -4.51732583e+00] [-8.59024389e-03 9.99962868e-01 -6.85836859e-04 -6.22024723e-01] [ 3.16096667e-03 7.13013208e-04 9.99994750e-01 4.06886396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.600418555 meters Centerline goodness : 0.996835 with order 1 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.65, Z:0.39 [[ 9.99973362e-01 -6.57621984e-03 -3.16695559e-03 -4.57330883e+00] [ 6.57407902e-03 9.99978155e-01 -6.85923004e-04 -6.46822037e-01] [ 3.17139719e-03 6.65084915e-04 9.99994750e-01 3.94931331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660418555000001 meters Centerline goodness : 0.998140 with order 1 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.66, Z:0.40 [[ 9.99674855e-01 -2.53012789e-02 -3.16694606e-03 -4.63047864e+00] [ 2.52992281e-02 9.99679688e-01 -6.85967007e-04 -6.59065837e-01] [ 3.18328749e-03 6.05622678e-04 9.99994750e-01 3.95696581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720418555 meters Centerline goodness : 0.998338 with order 1 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.67, Z:0.39 [[ 9.99650164e-01 -2.62587070e-02 -3.16690876e-03 -4.68866789e+00] [ 2.62566603e-02 9.99654999e-01 -6.86139176e-04 -6.74899020e-01] [ 3.18383330e-03 6.02746693e-04 9.99994750e-01 3.90185496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780418555 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.68, Z:0.39 [[ 9.99738967e-01 -2.26267211e-02 -3.16685911e-03 -4.74831560e+00] [ 2.26246561e-02 9.99743794e-01 -6.86368270e-04 -6.80091764e-01] [ 3.18157800e-03 6.14540007e-04 9.99994750e-01 3.90316789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840418555 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.68, Z:0.39 [[ 9.99447256e-01 -3.30931185e-02 -3.16672786e-03 -4.80973422e+00] [ 3.30911023e-02 9.99452103e-01 -6.86973279e-04 -6.77719898e-01] [ 3.18772691e-03 5.81803043e-04 9.99994750e-01 3.91357226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900418555 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.68, Z:0.40 [[ 9.98936322e-01 -4.60021320e-02 -3.16670724e-03 -4.86987791e+00] [ 4.60001784e-02 9.98941195e-01 -6.87068296e-04 -6.79745712e-01] [ 3.19496093e-03 5.40668378e-04 9.99994750e-01 3.99334101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960418555 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.68, Z:0.40 [[ 9.98733367e-01 -5.02158699e-02 -3.16666701e-03 -4.92977287e+00] [ 5.02139363e-02 9.98738248e-01 -6.87253674e-04 -6.82181272e-01] [ 3.19718251e-03 5.27372360e-04 9.99994750e-01 4.03687734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020418555 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:-4.99, Y:-0.69, Z:0.41 [[ 9.99177843e-01 -4.04179669e-02 -3.16653662e-03 -4.98955227e+00] [ 4.04159836e-02 9.99182704e-01 -6.87853928e-04 -6.86865226e-01] [ 3.19175028e-03 5.59309712e-04 9.99994750e-01 4.05890002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0804185550000005 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:-5.05, Y:-0.69, Z:0.41 [[ 9.99584809e-01 -2.86388593e-02 -3.16640494e-03 -5.04851603e+00] [ 2.86368170e-02 9.99589645e-01 -6.88459555e-04 -6.93375577e-01] [ 3.18482229e-03 5.97497954e-04 9.99994750e-01 4.08863000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.140418555 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:-5.11, Y:-0.70, Z:0.41 [[ 9.99625418e-01 -2.71845141e-02 -3.16626237e-03 -5.10830300e+00] [ 2.71824628e-02 9.99630251e-01 -6.89114638e-04 -7.00163865e-01] [ 3.18382489e-03 6.02789700e-04 9.99994750e-01 4.10818905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200418555 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:-5.17, Y:-0.72, Z:0.41 [[ 9.99933591e-01 -1.10809819e-02 -3.16625484e-03 -5.16561528e+00] [ 1.10788529e-02 9.99938390e-01 -6.89149216e-04 -7.16846819e-01] [ 3.17369622e-03 6.54024979e-04 9.99994750e-01 4.14057727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260418555 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:-5.22, Y:-0.73, Z:0.40 [[ 9.99972985e-01 6.63363791e-03 -3.16624439e-03 -5.22449302e+00] [-6.63585172e-03 9.99977745e-01 -6.89197241e-04 -7.28653372e-01] [ 3.16160204e-03 7.10189350e-04 9.99994750e-01 4.00493212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320418555 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:-5.28, Y:-0.75, Z:0.41 [[ 9.99658335e-01 2.59458531e-02 -3.16623475e-03 -5.28020723e+00] [-2.59481586e-02 9.99663052e-01 -6.89241531e-04 -7.50857328e-01] [ 3.14728493e-03 7.71164003e-04 9.99994750e-01 4.10663053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380418555 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:-5.34, Y:-0.76, Z:0.41 [[ 9.99216703e-01 3.94455978e-02 -3.16623602e-03 -5.33986022e+00] [-3.94479668e-02 9.99221388e-01 -6.89235665e-04 -7.63331460e-01] [ 3.13658344e-03 8.13597363e-04 9.99994750e-01 4.09109397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440418555 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:-5.40, Y:-0.78, Z:0.42 [[ 9.99533279e-01 3.03841816e-02 -3.16625584e-03 -5.40071373e+00] [-3.03865077e-02 9.99537986e-01 -6.89144642e-04 -7.75070085e-01] [ 3.14385389e-03 7.85034461e-04 9.99994750e-01 4.19875575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500418555 meters Centerline goodness : 0.998404 with order 1 Centerline is valid? [True, True] Translation: X:-5.46, Y:-0.78, Z:0.42 [[ 9.99745870e-01 2.23197026e-02 -3.16629783e-03 -5.46114912e+00] [-2.23219900e-02 9.99750596e-01 -6.88951647e-04 -7.81203416e-01] [ 3.15013095e-03 7.59454632e-04 9.99994750e-01 4.19225294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560418555 meters Centerline goodness : 0.994605 with order 1 Centerline is valid? [True, True] Translation: X:-5.52, Y:-0.81, Z:0.44 [[ 9.98847178e-01 4.78987484e-02 -3.16630721e-03 -5.51658623e+00] [-4.79011559e-02 9.98851843e-01 -6.88908532e-04 -8.05916657e-01] [ 3.12967394e-03 8.39784118e-04 9.99994750e-01 4.36844635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6204185550000005 meters Centerline goodness : 0.992641 with order 1 Centerline is valid? [True, True] Translation: X:-5.57, Y:-0.83, Z:0.44 [[ 9.96637886e-01 8.18712280e-02 -3.16629666e-03 -5.57397579e+00] [-8.18737931e-02 9.96642467e-01 -6.88957021e-04 -8.26965956e-01] [ 3.09925996e-03 9.45877387e-04 9.99994750e-01 4.40767292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.680418555 meters Centerline goodness : 0.982447 with order 1 Centerline is valid? [True, True] Translation: X:-5.63, Y:-0.83, Z:0.41 [[ 9.95447220e-01 9.52617802e-02 -3.16631719e-03 -5.63391842e+00] [-9.52644064e-02 9.95451766e-01 -6.88862634e-04 -8.31260272e-01] [ 3.08629376e-03 9.87363722e-04 9.99994750e-01 4.10767439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740418555 meters Centerline goodness : 0.988730 with order 1 Centerline is valid? [True, True] Translation: X:-5.69, Y:-0.86, Z:0.43 [[ 9.95032588e-01 9.94993643e-02 -3.16632115e-03 -5.68849061e+00] [-9.95020098e-02 9.95037123e-01 -6.88844450e-04 -8.59943200e-01] [ 3.08206750e-03 1.00047799e-03 9.99994750e-01 4.32214975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800418555 meters Centerline goodness : 0.980660 with order 1 Centerline is valid? [True, True] Translation: X:-5.75, Y:-0.87, Z:0.45 [[ 9.96077981e-01 8.84230135e-02 -3.16635597e-03 -5.74766693e+00] [-8.84256079e-02 9.96082546e-01 -6.88684346e-04 -8.72275470e-01] [ 3.09305637e-03 9.65970265e-04 9.99994750e-01 4.54502651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860418555 meters Centerline goodness : 0.977474 with order 1 Centerline is valid? [True, True] Translation: X:-5.81, Y:-0.88, Z:0.45 [[ 9.95834003e-01 9.11296435e-02 -3.16636216e-03 -5.80789550e+00] [-9.11322502e-02 9.95838561e-01 -6.88655917e-04 -8.77051792e-01] [ 3.09042856e-03 9.74344687e-04 9.99994750e-01 4.49089565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920418555 meters Centerline goodness : 0.967528 with order 1 Centerline is valid? [True, True] Translation: X:-5.87, Y:-0.89, Z:0.46 [[ 9.95220803e-01 9.75988109e-02 -3.16640719e-03 -5.86833974e+00] [-9.76014466e-02 9.95225343e-01 -6.88448808e-04 -8.86614823e-01] [ 3.08409689e-03 9.94204497e-04 9.99994750e-01 4.59415279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980418555 meters Centerline goodness : 0.976131 with order 1 Centerline is valid? [True, True] Translation: X:-5.93, Y:-0.90, Z:0.47 [[ 9.96507278e-01 8.34459032e-02 -3.16641629e-03 -5.92748146e+00] [-8.34484739e-02 9.96511856e-01 -6.88406921e-04 -9.03209057e-01] [ 3.09792664e-03 9.50235114e-04 9.99994750e-01 4.67563685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040418554999999 meters Centerline goodness : 0.966004 with order 1 Centerline is valid? [True, True] Translation: X:-5.99, Y:-0.91, Z:0.46 [[ 9.95550935e-01 9.41717050e-02 -3.16644393e-03 -5.98866305e+00] [-9.41743245e-02 9.95555485e-01 -6.88279798e-04 -9.07319570e-01] [ 3.08755413e-03 9.83415314e-04 9.99994750e-01 4.58181739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100418555 meters Centerline goodness : 0.947984 with order 1 Centerline is valid? [True, False] Translation: X:-6.05, Y:-0.91, Z:0.46 [[ 0.99495434 0.09998267 0.00832681 -6.05077338] [-0.09990776 0.99495623 -0.00897439 -0.91345889] [-0.00918209 0.00809719 0.99992506 0.45954919] [ 0. 0. 0. 1. ]] SLAMing on 8.160418555 meters Centerline goodness : 0.921022 with order 3 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.90, Z:0.45 [[ 0.99698515 0.06763955 0.03801967 -6.08174059] [-0.06718693 0.99765492 -0.01306042 -0.8984958 ] [-0.03881391 0.01046662 0.99919164 0.45081451] [ 0. 0. 0. 1. ]] SLAMing on 8.220418554999998 meters Centerline goodness : 0.925994 with order 3 Centerline is valid? [False, False] Translation: X:-6.14, Y:-0.90, Z:0.45 [[ 9.97264890e-01 6.37801265e-02 3.73474815e-02 -6.13939367e+00] [-6.35218732e-02 9.97947880e-01 -8.06234167e-03 -9.02844315e-01] [-3.77850571e-02 5.66790830e-03 9.99269816e-01 4.52856848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280418554999999 meters Centerline goodness : 0.908075 with order 1 Centerline is valid? [False, False] Translation: X:-6.17, Y:-0.91, Z:0.45 [[ 9.95660611e-01 8.36369858e-02 4.08019964e-02 -6.17267716e+00] [-8.33807158e-02 9.96486088e-01 -7.94565082e-03 -9.13180811e-01] [-4.13231720e-02 4.50907189e-03 9.99135658e-01 4.50711281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340418555 meters Centerline goodness : 0.900721 with order 3 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.93, Z:0.45 [[ 0.99466301 0.08937767 0.05154731 -6.21281342] [-0.08854864 0.99590643 -0.01815285 -0.93061154] [-0.05295875 0.01349153 0.99850556 0.44831596] [ 0. 0. 0. 1. ]] SLAMing on 8.400418555 meters Centerline goodness : 0.862530 with order 3 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.90, Z:0.45 [[ 9.96055292e-01 6.23443232e-02 6.31430158e-02 -6.18764102e+00] [-6.19755774e-02 9.98047315e-01 -7.78364023e-03 -9.03995927e-01] [-6.35049832e-02 3.83961118e-03 9.97974135e-01 4.47335388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460418554999999 meters Centerline goodness : 0.852570 with order 3 Centerline is valid? [False, False] Translation: X:-6.26, Y:-0.93, Z:0.45 [[ 0.99472963 0.0762574 0.06854024 -6.25529946] [-0.07560183 0.99706452 -0.01211224 -0.92883421] [-0.06926269 0.00686664 0.99757482 0.45242139] [ 0. 0. 0. 1. ]] SLAMing on 8.520418555 meters Centerline goodness : 0.838277 with order 3 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.95, Z:0.44 [[ 0.99275502 0.08593277 0.08398234 -6.29484755] [-0.08437357 0.99619243 -0.02194853 -0.94636204] [-0.08554867 0.01470362 0.99622549 0.44265224] [ 0. 0. 0. 1. ]] SLAMing on 8.580418555 meters Centerline goodness : 0.837648 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:-0.96, Z:0.44 [[ 0.99259831 0.08806178 0.0836284 -6.3200405 ] [-0.08643438 0.9959945 -0.02289206 -0.9569359 ] [-0.08530934 0.01549425 0.99623403 0.43917781] [ 0. 0. 0. 1. ]] SLAMing on 8.640418555 meters Centerline goodness : 0.822031 with order 1 Centerline is valid? [False, False] Translation: X:-6.38, Y:-0.97, Z:0.44 [[ 9.94497295e-01 7.21805995e-02 7.59281971e-02 -6.37630898e+00] [-7.17392402e-02 9.97386964e-01 -8.52790810e-03 -9.67361558e-01] [-7.63453435e-02 3.03395037e-03 9.97076819e-01 4.37120287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700418554999999 meters Centerline goodness : 0.839041 with order 1 Centerline is valid? [False, False] Translation: X:-6.44, Y:-0.97, Z:0.44 [[ 9.95677858e-01 5.08780908e-02 7.76982877e-02 -6.43912934e+00] [-5.12935048e-02 9.98677973e-01 3.35886947e-03 -9.74825075e-01] [-7.74246756e-02 -7.32976945e-03 9.96971260e-01 4.35393910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760418555 meters Centerline goodness : 0.818107 with order 3 Centerline is valid? [False, False] Translation: X:-6.49, Y:-1.00, Z:0.44 [[ 9.94010598e-01 6.84258000e-02 8.52105711e-02 -6.49376117e+00] [-6.82764005e-02 9.97655515e-01 -4.66973804e-03 -1.00247557e+00] [-8.53303268e-02 -1.17610198e-03 9.96352022e-01 4.42331811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820418555 meters Centerline goodness : 0.793418 with order 3 Centerline is valid? [False, False] Translation: X:-6.55, Y:-1.03, Z:0.44 [[ 9.93052190e-01 5.98366483e-02 1.01325828e-01 -6.54846510e+00] [-5.98479116e-02 9.98203203e-01 -2.93147681e-03 -1.02567389e+00] [-1.01319176e-01 -3.15302973e-03 9.94848975e-01 4.36444432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880418554999999 meters Centerline goodness : 0.796026 with order 3 Centerline is valid? [False, False] Translation: X:-6.48, Y:-1.00, Z:0.43 [[ 0.99409678 0.04747373 0.09755936 -6.48371665] [-0.04844567 0.99879678 0.00761666 -1.00440075] [-0.09708038 -0.01229802 0.99520056 0.43481604] [ 0. 0. 0. 1. ]] SLAMing on 8.940418554999999 meters Centerline goodness : 0.799728 with order 3 Centerline is valid? [False, False] Translation: X:-6.55, Y:-1.04, Z:0.44 [[ 9.94102277e-01 4.72595552e-02 9.76073600e-02 -6.54701086e+00] [-4.78822826e-02 9.98844791e-01 4.04606375e-03 -1.03718326e+00] [-9.73033879e-02 -8.69586438e-03 9.95216777e-01 4.37530697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000418555 meters Centerline goodness : 0.787358 with order 3 Centerline is valid? [False, False] Translation: X:-6.57, Y:-1.05, Z:0.44 [[ 0.99319966 0.0602297 0.09963339 -6.56634974] [-0.06132052 0.99808671 0.00791967 -1.04686007] [-0.09896577 -0.01397538 0.9949927 0.43774108] [ 0. 0. 0. 1. ]] SLAMing on 9.060418555 meters Centerline goodness : 0.781752 with order 3 Centerline is valid? [False, False] Translation: X:-6.60, Y:-1.06, Z:0.44 [[ 0.99298426 0.06497625 0.09879451 -6.60020987] [-0.0661708 0.99776898 0.00885957 -1.05763951] [-0.09799844 -0.01533473 0.99506842 0.4409422 ] [ 0. 0. 0. 1. ]] SLAMing on 9.120418554999999 meters Centerline goodness : 0.740376 with order 3 Centerline is valid? [False, False] Translation: X:-6.67, Y:-1.07, Z:0.45 [[ 0.9924955 0.05249885 0.11043804 -6.67418246] [-0.05413434 0.99846321 0.01186111 -1.06973006] [-0.10964563 -0.01775059 0.99381223 0.4453402 ] [ 0. 0. 0. 1. ]] SLAMing on 9.180418555 meters Centerline goodness : 0.724560 with order 3 Centerline is valid? [False, False] Translation: X:-6.74, Y:-1.09, Z:0.45 [[ 0.99240152 0.04300771 0.11528033 -6.73721875] [-0.04420255 0.99899193 0.0078272 -1.08541254] [-0.11482749 -0.01286341 0.99330216 0.45280777] [ 0. 0. 0. 1. ]] SLAMing on 9.240418555 meters Centerline goodness : 0.752611 with order 3 Centerline is valid? [False, False] Translation: X:-6.75, Y:-1.10, Z:0.46 [[ 9.91844557e-01 6.90055717e-02 1.07156917e-01 -6.74733135e+00] [-6.95015300e-02 9.97581442e-01 8.96222882e-04 -1.09580353e+00] [-1.06835908e-01 -8.33648348e-03 9.94241717e-01 4.56988450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300418554999998 meters Centerline goodness : 0.778489 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-1.10, Z:0.46 [[ 9.91776305e-01 7.41746968e-02 1.04297052e-01 -6.76395167e+00] [-7.40910522e-02 9.97240493e-01 -4.68144751e-03 -1.09860452e+00] [-1.04356488e-01 -3.08452958e-03 9.94535172e-01 4.56284212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360418554999999 meters Centerline goodness : 0.764996 with order 3 Centerline is valid? [False, False] Translation: X:-6.83, Y:-1.10, Z:0.46 [[ 9.92727260e-01 5.38658048e-02 1.07661797e-01 -6.83225848e+00] [-5.47741115e-02 9.98483650e-01 5.49524743e-03 -1.09729687e+00] [-1.07202539e-01 -1.13523612e-02 9.94172389e-01 4.56323893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420418555 meters Centerline goodness : 0.703897 with order 3 Centerline is valid? [False, False] Translation: X:-6.84, Y:-1.06, Z:0.45 [[ 0.99156474 0.03612206 0.12447719 -6.83774287] [-0.03805835 0.99918817 0.01321191 -1.06430405] [-0.1238989 -0.01783786 0.9921345 0.45309481] [ 0. 0. 0. 1. ]] SLAMing on 9.480418555 meters Centerline goodness : 0.764051 with order 1 Centerline is valid? [False, False] Translation: X:-6.79, Y:-1.04, Z:0.44 [[ 9.91022208e-01 7.44213836e-02 1.11069529e-01 -6.78629944e+00] [-7.46006189e-02 9.97210239e-01 -2.54701327e-03 -1.04144949e+00] [-1.10949224e-01 -5.76170889e-03 9.93809374e-01 4.44559638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540418554999999 meters Centerline goodness : 0.806534 with order 3 Centerline is valid? [False, False] Translation: X:-6.81, Y:-1.07, Z:0.44 [[ 0.98963265 0.10022795 0.10286683 -6.81205025] [-0.09862552 0.9949122 -0.02056035 -1.06627963] [-0.10440418 0.0102019 0.99448262 0.44186255] [ 0. 0. 0. 1. ]] SLAMing on 9.600418555 meters Centerline goodness : 0.813157 with order 3 Centerline is valid? [False, False] Translation: X:-6.86, Y:-1.07, Z:0.44 [[ 0.99311363 0.06635744 0.09655053 -6.86069163] [-0.06531322 0.99776745 -0.01393925 -1.07019189] [-0.09725995 0.00753723 0.99523047 0.44141014] [ 0. 0. 0. 1. ]] SLAMing on 9.660418555 meters Centerline goodness : 0.875055 with order 2 Centerline is valid? [False, False] Translation: X:-6.92, Y:-1.08, Z:0.44 [[ 9.94569390e-01 4.57590135e-02 9.34764242e-02 -6.92339170e+00] [-4.55321039e-02 9.98952469e-01 -4.55989561e-03 -1.07741375e+00] [-9.35871611e-02 2.78954336e-04 9.95611051e-01 4.40546407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720418554999998 meters Centerline goodness : 0.776164 with order 3 Centerline is valid? [False, False] Translation: X:-6.98, Y:-1.10, Z:0.44 [[ 9.93674054e-01 6.16209478e-02 9.38868128e-02 -6.97686624e+00] [-6.13870125e-02 9.98099537e-01 -5.38049849e-03 -1.09610775e+00] [-9.40399358e-02 -4.16969204e-04 9.95568338e-01 4.43375517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780418554999999 meters Centerline goodness : 0.840123 with order 3 Centerline is valid? [False, False] Translation: X:-7.02, Y:-1.11, Z:0.44 [[ 9.93017061e-01 6.95580482e-02 9.52827116e-02 -7.01924548e+00] [-6.88638250e-02 9.97570189e-01 -1.05589177e-02 -1.11144422e+00] [-9.57856504e-02 3.92365347e-03 9.95394251e-01 4.43100431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840418555 meters Centerline goodness : 0.811542 with order 3 Centerline is valid? [False, False] Translation: X:-7.07, Y:-1.12, Z:0.45 [[ 9.94146329e-01 5.41845311e-02 9.34725211e-02 -7.07497210e+00] [-5.38762199e-02 9.98530657e-01 -5.82063211e-03 -1.11971221e+00] [-9.36505662e-02 7.50613942e-04 9.95604845e-01 4.46174525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900418555 meters Centerline goodness : 0.780709 with order 3 Centerline is valid? [False, False] Translation: X:-7.12, Y:-1.13, Z:0.45 [[ 9.93971612e-01 5.84722189e-02 9.27439193e-02 -7.11562294e+00] [-5.85397428e-02 9.98283086e-01 -1.99457462e-03 -1.12543294e+00] [-9.27013131e-02 -3.44665463e-03 9.95687997e-01 4.50164377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960418554999999 meters Centerline goodness : 0.772443 with order 1 Centerline is valid? [False, False] Translation: X:-7.15, Y:-1.13, Z:0.45 [[ 9.93609563e-01 5.98912645e-02 9.56716946e-02 -7.15240055e+00] [-5.99370234e-02 9.98199280e-01 -2.39796629e-03 -1.12903902e+00] [-9.56430339e-02 -3.35163436e-03 9.95410055e-01 4.52035983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020418555 meters Centerline goodness : 0.770821 with order 3 Centerline is valid? [False, False] Translation: X:-7.21, Y:-1.13, Z:0.45 [[ 9.94382056e-01 4.93270101e-02 9.36545345e-02 -7.20716569e+00] [-4.96570296e-02 9.98765614e-01 1.19521883e-03 -1.12708547e+00] [-9.34799720e-02 -5.83911015e-03 9.95604038e-01 4.53905602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080418555 meters Centerline goodness : 0.779212 with order 3 Centerline is valid? [False, False] Translation: X:-7.27, Y:-1.14, Z:0.46 [[ 9.93832785e-01 5.94564329e-02 9.36019681e-02 -7.26716137e+00] [-5.92431998e-02 9.98230767e-01 -5.05765299e-03 -1.13688673e+00] [-9.37370744e-02 -5.18818745e-04 9.95596852e-01 4.59602193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140418554999998 meters Centerline goodness : 0.797718 with order 3 Centerline is valid? [False, False] Translation: X:-7.33, Y:-1.16, Z:0.46 [[ 0.99123686 0.08466251 0.10139893 -7.33107495] [-0.08289395 0.99632561 -0.02153761 -1.15985123] [-0.10284978 0.01294351 0.99461268 0.45755383] [ 0. 0. 0. 1. ]] SLAMing on 10.200418554999999 meters Centerline goodness : 0.754739 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:-1.13, Z:0.45 [[ 0.99197284 0.07713964 0.10019662 -7.28950039] [-0.07569513 0.9969659 -0.01814504 -1.12747113] [-0.10129232 0.01041499 0.99480219 0.45163828] [ 0. 0. 0. 1. ]] SLAMing on 10.260418555 meters Centerline goodness : 0.779640 with order 3 Centerline is valid? [False, False] Translation: X:-7.35, Y:-1.13, Z:0.45 [[ 0.99279972 0.07019002 0.09706734 -7.34780009] [-0.06873598 0.99746799 -0.01824758 -1.13342098] [-0.09810236 0.01144417 0.99511053 0.44789238] [ 0. 0. 0. 1. ]] SLAMing on 10.320418555 meters Centerline goodness : 0.795826 with order 3 Centerline is valid? [False, False] Translation: X:-7.37, Y:-1.14, Z:0.45 [[ 0.99265555 0.07575818 0.09431684 -7.36549468] [-0.07403055 0.9970201 -0.02168856 -1.13710125] [-0.09567887 0.01454694 0.99530595 0.44837504] [ 0. 0. 0. 1. ]] SLAMing on 10.380418554999999 meters Centerline goodness : 0.858327 with order 3 Centerline is valid? [False, False] Translation: X:-7.42, Y:-1.15, Z:0.45 [[ 0.99281207 0.07754768 0.09116225 -7.42409793] [-0.07545741 0.99680577 -0.02616155 -1.14683703] [-0.09289983 0.01909464 0.99549235 0.44801789] [ 0. 0. 0. 1. ]] SLAMing on 10.440418554999999 meters Centerline goodness : 0.800780 with order 3 Centerline is valid? [False, False] Translation: X:-7.40, Y:-1.10, Z:0.44 [[ 0.99404027 0.0568263 0.09303074 -7.39564032] [-0.05578109 0.99834766 -0.01379927 -1.10148551] [-0.09366118 0.00852768 0.99556761 0.44484311] [ 0. 0. 0. 1. ]] SLAMing on 10.500418555 meters Centerline goodness : 0.786681 with order 2 Centerline is valid? [False, False] Translation: X:-7.43, Y:-1.10, Z:0.44 [[ 9.94256706e-01 4.75396100e-02 9.58832028e-02 -7.42959928e+00] [-4.71135752e-02 9.98867045e-01 -6.70358917e-03 -1.10052497e+00] [-9.60932574e-02 2.14768800e-03 9.95370018e-01 4.44130030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560418554999998 meters Centerline goodness : 0.799778 with order 2 Centerline is valid? [False, False] Translation: X:-7.48, Y:-1.11, Z:0.44 [[ 0.99354303 0.05541231 0.09900369 -7.47707816] [-0.05433588 0.99843093 -0.01353823 -1.11094811] [-0.09959853 0.00807136 0.99499497 0.44392343] [ 0. 0. 0. 1. ]] SLAMing on 10.620418554999999 meters Centerline goodness : 0.844959 with order 3 Centerline is valid? [False, False] Translation: X:-7.51, Y:-1.12, Z:0.44 [[ 0.99370459 0.06327532 0.09245222 -7.50817623] [-0.06178109 0.99791003 -0.01893869 -1.1173954 ] [-0.09345735 0.01310766 0.995537 0.44396777] [ 0. 0. 0. 1. ]] SLAMing on 10.680418555 meters Centerline goodness : 0.835131 with order 2 Centerline is valid? [False, False] Translation: X:-7.56, Y:-1.12, Z:0.45 [[ 9.94395768e-01 5.91050245e-02 8.76564478e-02 -7.55838371e+00] [-5.86038596e-02 9.98246961e-01 -8.28211828e-03 -1.11615154e+00] [-8.79922973e-02 3.09869720e-03 9.96116335e-01 4.45639008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740418555 meters Centerline goodness : 0.861190 with order 3 Centerline is valid? [False, False] Translation: X:-7.61, Y:-1.12, Z:0.45 [[ 0.99386367 0.06764645 0.08751553 -7.60740103] [-0.06669286 0.99767842 -0.01377803 -1.12486268] [-0.08824439 0.00785682 0.99606787 0.4512269 ] [ 0. 0. 0. 1. ]] SLAMing on 10.800418554999998 meters Centerline goodness : 0.786075 with order 1 Centerline is valid? [False, False] Translation: X:-7.64, Y:-1.13, Z:0.45 [[ 0.99327937 0.07890435 0.08467704 -7.63949408] [-0.07731589 0.99676648 -0.02188235 -1.13157131] [-0.08612984 0.01518841 0.99616814 0.44909085] [ 0. 0. 0. 1. ]] SLAMing on 10.860418554999999 meters Centerline goodness : 0.903936 with order 3 Centerline is valid? [False, False] Translation: X:-7.65, Y:-1.13, Z:0.45 [[ 0.9936286 0.07361077 0.08534434 -7.65170515] [-0.07217554 0.99719566 -0.01978643 -1.12970294] [-0.0865615 0.01350059 0.99615503 0.44601681] [ 0. 0. 0. 1. ]] SLAMing on 10.920418555 meters Centerline goodness : 0.865815 with order 3 Centerline is valid? [False, False] Translation: X:-7.66, Y:-1.13, Z:0.45 [[ 0.99417606 0.07521806 0.07717651 -7.66468979] [-0.07359037 0.99700628 -0.02372617 -1.13066097] [-0.07873011 0.01790855 0.9967351 0.44558883] [ 0. 0. 0. 1. ]] SLAMing on 10.980418555 meters Centerline goodness : 0.858638 with order 3 Centerline is valid? [False, False] Translation: X:-7.69, Y:-1.14, Z:0.44 [[ 0.99428823 0.0825701 0.06762471 -7.69423977] [-0.08067188 0.99627884 -0.03034015 -1.13703826] [-0.06987826 0.02471144 0.9972494 0.44322596] [ 0. 0. 0. 1. ]] SLAMing on 11.040418554999999 meters Centerline goodness : 0.929717 with order 3 Centerline is valid? [False, False] Translation: X:-7.73, Y:-1.15, Z:0.44 [[ 0.99350086 0.09774211 0.05833113 -7.72838157] [-0.09497193 0.994297 -0.04851597 -1.14511453] [-0.06274053 0.04266084 0.99711769 0.43574266] [ 0. 0. 0. 1. ]] SLAMing on 11.100418555 meters Centerline goodness : 0.877379 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.14, Z:0.42 [[ 0.99443598 0.09351213 0.04850324 -7.76640528] [-0.09055596 0.99408625 -0.05993452 -1.13914752] [-0.05382101 0.05520879 0.99702321 0.4167028 ] [ 0. 0. 0. 1. ]] SLAMing on 11.160418555 meters Centerline goodness : 0.972110 with order 1 Centerline is valid? [False, True] Translation: X:-7.72, Y:-1.11, Z:0.39 [[ 0.99488704 0.09663619 0.02934661 -7.71558077] [-0.09366119 0.99154222 -0.08984207 -1.10537736] [-0.0377804 0.08663407 0.99552357 0.38534373] [ 0. 0. 0. 1. ]] SLAMing on 11.220418554999998 meters Centerline goodness : 0.920845 with order 1 Centerline is valid? [True, False] Translation: X:-7.74, Y:-1.08, Z:0.39 [[ 0.99646202 0.05796706 0.06085446 -7.74104438] [-0.05542541 0.99755125 -0.0426559 -1.07730594] [-0.06317808 0.0391321 0.99723478 0.38565557] [ 0. 0. 0. 1. ]] SLAMing on 11.280418554999999 meters Centerline goodness : 0.946516 with order 3 Centerline is valid? [False, False] Translation: X:-7.77, Y:-1.07, Z:0.41 [[ 9.97837454e-01 2.87975480e-02 5.90856673e-02 -7.76907962e+00] [-2.87531739e-02 9.99585259e-01 -1.60124577e-03 -1.06900996e+00] [-5.91072740e-02 -1.01117469e-04 9.98251632e-01 4.11738020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340418555 meters Centerline goodness : 0.957081 with order 3 Centerline is valid? [False, True] Translation: X:-7.78, Y:-1.07, Z:0.42 [[ 9.97768760e-01 3.19992399e-02 5.85965037e-02 -7.77552438e+00] [-3.20554280e-02 9.99486093e-01 1.89323019e-05 -1.06715582e+00] [-5.85657847e-02 -1.89722606e-03 9.98281749e-01 4.16254488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400418555 meters Centerline goodness : 0.876851 with order 3 Centerline is valid? [True, False] Translation: X:-7.87, Y:-1.07, Z:0.42 [[ 9.96366369e-01 3.22425146e-02 7.88319677e-02 -7.86563436e+00] [-3.28692941e-02 9.99437430e-01 6.66586520e-03 -1.07268999e+00] [-7.85726950e-02 -9.23279504e-03 9.96865631e-01 4.24068911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460418554999999 meters Centerline goodness : 0.817186 with order 1 Centerline is valid? [False, False] Translation: X:-7.82, Y:-1.04, Z:0.43 [[ 0.99558496 0.01794062 0.09213431 -7.82375685] [-0.01883597 0.99978335 0.0088575 -1.03777123] [-0.09195544 -0.01055383 0.99570719 0.42998711] [ 0. 0. 0. 1. ]] SLAMing on 11.520418555 meters Centerline goodness : 0.832223 with order 2 Centerline is valid? [False, False] Translation: X:-7.79, Y:-1.01, Z:0.43 [[ 9.95794409e-01 1.29289841e-02 9.06991524e-02 -7.78543822e+00] [-1.30207369e-02 9.99915138e-01 4.19960805e-04 -1.00575320e+00] [-9.06860258e-02 -1.59916443e-03 9.95878249e-01 4.32652260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580418555 meters Centerline goodness : 0.833806 with order 1 Centerline is valid? [False, False] Translation: X:-7.80, Y:-1.01, Z:0.43 [[ 9.96098103e-01 1.95628402e-02 8.60573269e-02 -7.80046272e+00] [-1.94212386e-02 9.99808308e-01 -2.48242954e-03 -1.00620667e+00] [-8.60893938e-02 8.01403477e-04 9.96287094e-01 4.29019480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640418554999998 meters Centerline goodness : 0.850410 with order 1 Centerline is valid? [False, False] Translation: X:-7.84, Y:-1.01, Z:0.43 [[ 9.96711124e-01 7.37798778e-03 8.07000613e-02 -7.83905645e+00] [-7.61937642e-03 9.99967371e-01 2.68364357e-03 -1.00664838e+00] [-8.06776282e-02 -3.28970154e-03 9.96734818e-01 4.28360762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700418554999999 meters Centerline goodness : 0.856113 with order 1 Centerline is valid? [False, False] Translation: X:-7.90, Y:-1.01, Z:0.42 [[ 9.96527109e-01 -6.25442313e-04 8.32666224e-02 -7.90198015e+00] [ 4.01438140e-04 9.99996256e-01 2.70691876e-03 -1.00609578e+00] [-8.32680036e-02 -2.66409153e-03 9.96523629e-01 4.21002411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760418555 meters Centerline goodness : 0.893239 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:-0.99, Z:0.42 [[ 9.97590245e-01 5.12734622e-04 6.93789540e-02 -7.82730081e+00] [-3.55777418e-04 9.99997350e-01 -2.27465495e-03 -9.85280879e-01] [-6.93799364e-02 2.24449013e-03 9.97587784e-01 4.23843643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820418555 meters Centerline goodness : 0.903193 with order 1 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.99, Z:0.43 [[ 9.97991549e-01 -6.28498916e-04 6.33440853e-02 -7.86113455e+00] [ 3.24080381e-04 9.99988351e-01 4.81595261e-03 -9.88820819e-01] [-6.33463742e-02 -4.78575143e-03 9.97980127e-01 4.28318627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880418554999999 meters Centerline goodness : 0.911040 with order 3 Centerline is valid? [False, False] Translation: X:-7.92, Y:-1.00, Z:0.43 [[ 9.98088809e-01 9.63232886e-03 6.10405437e-02 -7.92345193e+00] [-9.91402708e-03 9.99941550e-01 4.31374974e-03 -1.00013156e+00] [-6.09954244e-02 -4.91066294e-03 9.98125966e-01 4.28529958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940418554999999 meters Centerline goodness : 0.924750 with order 2 Centerline is valid? [False, False] Translation: X:-7.92, Y:-1.00, Z:0.43 [[ 9.98359911e-01 1.30486434e-02 5.57424453e-02 -7.91912525e+00] [-1.34053570e-02 9.99891961e-01 6.03018775e-03 -9.95416297e-01] [-5.56577372e-02 -6.76754509e-03 9.98426971e-01 4.32875582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000418555 meters Centerline goodness : 0.922711 with order 3 Centerline is valid? [False, False] Translation: X:-7.87, Y:-0.98, Z:0.43 [[ 9.97947629e-01 2.25117200e-02 5.99479180e-02 -7.86970195e+00] [-2.25675841e-02 9.99745287e-01 2.54906137e-04 -9.78432592e-01] [-5.99269101e-02 -1.60726266e-03 9.98201474e-01 4.32608249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060418554999998 meters Centerline goodness : 0.925922 with order 1 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.99, Z:0.44 [[ 9.97900866e-01 2.33123296e-02 6.04185204e-02 -7.91936552e+00] [-2.35096679e-02 9.99720339e-01 2.55729381e-03 -9.86111462e-01] [-6.03420072e-02 -3.97234505e-03 9.98169857e-01 4.36189542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120418554999999 meters Centerline goodness : 0.916248 with order 1 Centerline is valid? [False, False] Translation: X:-7.98, Y:-0.99, Z:0.43 [[ 9.97820590e-01 2.26312578e-02 6.19830383e-02 -7.97656820e+00] [-2.28759665e-02 9.99733057e-01 3.24110989e-03 -9.90963314e-01] [-6.18931420e-02 -4.65196809e-03 9.98071940e-01 4.34912761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180418555 meters Centerline goodness : 0.923572 with order 2 Centerline is valid? [False, False] Translation: X:-8.03, Y:-1.00, Z:0.44 [[ 9.98035353e-01 2.04072081e-02 5.92366452e-02 -8.02856754e+00] [-2.06222777e-02 9.99782772e-01 3.02156115e-03 -9.98279212e-01] [-5.91621157e-02 -4.23721940e-03 9.98239395e-01 4.36009468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240418555 meters Centerline goodness : 0.936328 with order 1 Centerline is valid? [False, False] Translation: X:-8.05, Y:-1.00, Z:0.43 [[ 9.98559332e-01 1.14096216e-02 5.24316834e-02 -8.05321488e+00] [-1.16672534e-02 9.99921307e-01 4.61020869e-03 -9.97896044e-01] [-5.23749567e-02 -5.21530065e-03 9.98613872e-01 4.34000892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300418554999998 meters Centerline goodness : 0.945133 with order 1 Centerline is valid? [False, False] Translation: X:-8.10, Y:-1.00, Z:0.43 [[ 9.98778484e-01 8.26364902e-03 4.87160324e-02 -8.10014808e+00] [-8.44652280e-03 9.99958029e-01 3.54920235e-03 -1.00186731e+00] [-4.86846584e-02 -3.95634802e-03 9.98806363e-01 4.34246426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360418554999999 meters Centerline goodness : 0.973117 with order 1 Centerline is valid? [False, True] Translation: X:-8.03, Y:-0.98, Z:0.42 [[ 9.99055605e-01 1.95957578e-02 3.87802175e-02 -8.03460275e+00] [-1.93634383e-02 9.99792300e-01 -6.35726825e-03 -9.77763025e-01] [-3.88967383e-02 5.60034612e-03 9.99227542e-01 4.24427541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420418555 meters Centerline goodness : 0.981389 with order 1 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.97, Z:0.39 [[ 9.99084107e-01 2.36952524e-02 3.56297800e-02 -8.10137702e+00] [-2.39907549e-02 9.99681052e-01 7.88910576e-03 -9.70420874e-01] [-3.54314816e-02 -8.73666551e-03 9.99333919e-01 3.94034060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480418555 meters Centerline goodness : 0.980218 with order 1 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.99, Z:0.43 [[ 9.98992050e-01 2.73010667e-02 3.56305441e-02 -8.15854924e+00] [-2.75986063e-02 9.99587982e-01 7.88565351e-03 -9.85495904e-01] [-3.54005769e-02 -8.86105852e-03 9.99333919e-01 4.31661947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540418554999999 meters Centerline goodness : 0.986194 with order 1 Centerline is valid? [True, True] Translation: X:-8.22, Y:-0.98, Z:0.44 [[ 9.98954703e-01 2.86348615e-02 3.56306966e-02 -8.22063959e+00] [-2.89331735e-02 9.99550248e-01 7.88496432e-03 -9.83658378e-01] [-3.53888868e-02 -8.90763132e-03 9.99333919e-01 4.40274445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600418555 meters Centerline goodness : 0.993799 with order 1 Centerline is valid? [True, True] Translation: X:-8.28, Y:-1.00, Z:0.42 [[ 9.98419521e-01 4.34616238e-02 3.56307050e-02 -8.27799307e+00] [-4.37687427e-02 9.99010573e-01 7.88492624e-03 -1.00358735e+00] [-3.52527593e-02 -9.43197545e-03 9.99333919e-01 4.19842302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660418555 meters Centerline goodness : 0.993372 with order 1 Centerline is valid? [True, True] Translation: X:-8.34, Y:-1.03, Z:0.38 [[ 9.96108885e-01 8.06071553e-02 3.56311195e-02 -8.33694555e+00] [-8.09360079e-02 9.96688126e-01 7.88305262e-03 -1.02694777e+00] [-3.48776833e-02 -1.07362193e-02 9.99333919e-01 3.77921243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720418554999998 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:-8.40, Y:-1.03, Z:0.39 [[ 9.95304615e-01 8.99951972e-02 3.56312698e-02 -8.39650966e+00] [-9.03294744e-02 9.95880743e-01 7.88237363e-03 -1.03115495e+00] [-3.47751196e-02 -1.10639167e-02 9.99333919e-01 3.93772046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780418554999999 meters Centerline goodness : 0.987149 with order 1 Centerline is valid? [True, True] Translation: X:-8.46, Y:-1.03, Z:0.42 [[ 9.99281985e-01 1.28814229e-02 3.56312149e-02 -8.45816697e+00] [-1.31702292e-02 9.99882198e-01 7.88262141e-03 -1.03002119e+00] [-3.55254781e-02 -8.34623283e-03 9.99333919e-01 4.20686010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840418555 meters Centerline goodness : 0.961492 with order 1 Centerline is valid? [True, True] Translation: X:-8.51, Y:-1.06, Z:0.40 [[ 9.99226879e-01 1.66144613e-02 3.56314904e-02 -8.51423449e+00] [-1.69054660e-02 9.99826029e-01 7.88137582e-03 -1.06290759e+00] [-3.54943468e-02 -8.47764952e-03 9.99333919e-01 4.02846196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900418555 meters Centerline goodness : 0.971435 with order 1 Centerline is valid? [True, True] Translation: X:-8.58, Y:-1.06, Z:0.45 [[ 9.99059375e-01 2.47133910e-02 3.56316479e-02 -8.57529737e+00] [-2.50092188e-02 9.99656158e-01 7.88066376e-03 -1.05795059e+00] [-3.54246384e-02 -8.76437068e-03 9.99333919e-01 4.52544167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960418554999999 meters Centerline goodness : 0.972411 with order 1 Centerline is valid? [True, True] Translation: X:-8.63, Y:-1.06, Z:0.45 [[ 9.99152508e-01 2.06068945e-02 3.56317559e-02 -8.63488527e+00] [-2.09002506e-02 9.99750510e-01 7.88017564e-03 -1.06345759e+00] [-3.54604802e-02 -8.61820988e-03 9.99333919e-01 4.53030955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020418555 meters Centerline goodness : 0.972711 with order 1 Centerline is valid? [True, True] Translation: X:-8.70, Y:-1.07, Z:0.44 [[ 9.98228455e-01 4.76479190e-02 3.56318378e-02 -8.69524520e+00] [-4.79573441e-02 9.98818303e-01 7.87980543e-03 -1.06855848e+00] [-3.52142754e-02 -9.57465431e-03 9.99333919e-01 4.38847746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080418555 meters Centerline goodness : 0.960173 with order 1 Centerline is valid? [True, True] Translation: X:-8.75, Y:-1.09, Z:0.45 [[ 9.99022749e-01 2.61515231e-02 3.56320667e-02 -8.75172727e+00] [-2.64481463e-02 9.99619138e-01 7.87877018e-03 -1.09190365e+00] [-3.54124539e-02 -8.81347276e-03 9.99333919e-01 4.53543446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140418554999998 meters Centerline goodness : 0.958012 with order 1 Centerline is valid? [True, True] Translation: X:-8.81, Y:-1.09, Z:0.49 [[ 9.99296900e-01 1.16640079e-02 3.56322376e-02 -8.81211850e+00] [-1.19519269e-02 9.99897539e-01 7.87799714e-03 -1.09318157e+00] [-3.55366976e-02 -8.29833202e-03 9.99333919e-01 4.85187086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200418554999999 meters Centerline goodness : 0.966073 with order 1 Centerline is valid? [True, True] Translation: X:-8.87, Y:-1.11, Z:0.48 [[ 9.99147156e-01 2.08637547e-02 3.56323462e-02 -8.87059767e+00] [-2.11571749e-02 9.99745127e-01 7.87750575e-03 -1.11113484e+00] [-3.54589101e-02 -8.62466725e-03 9.99333919e-01 4.77255779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260418555 meters Centerline goodness : 0.967524 with order 1 Centerline is valid? [True, True] Translation: X:-8.93, Y:-1.13, Z:0.48 [[ 9.98841633e-01 3.23375611e-02 3.56324769e-02 -8.92863351e+00] [-3.26378099e-02 9.99436205e-01 7.87691461e-03 -1.12728467e+00] [-3.53576673e-02 -9.03075626e-03 9.99333919e-01 4.75978146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320418555 meters Centerline goodness : 0.970564 with order 1 Centerline is valid? [True, True] Translation: X:-8.99, Y:-1.13, Z:0.43 [[ 9.98401338e-01 4.38755857e-02 3.56328659e-02 -8.99190435e+00] [-4.41826255e-02 9.98992431e-01 7.87515466e-03 -1.12998490e+00] [-3.52514363e-02 -9.43691851e-03 9.99333919e-01 4.27449888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380418554999999 meters Centerline goodness : 0.959414 with order 1 Centerline is valid? [True, True] Translation: X:-9.05, Y:-1.13, Z:0.47 [[ 9.98296617e-01 4.61968693e-02 3.56330290e-02 -9.05199557e+00] [-4.65052581e-02 9.98887008e-01 7.87441640e-03 -1.12885504e+00] [-3.52295963e-02 -9.51812646e-03 9.99333919e-01 4.69318068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440418554999999 meters Centerline goodness : 0.964734 with order 1 Centerline is valid? [True, True] Translation: X:-9.11, Y:-1.13, Z:0.47 [[ 9.98463580e-01 4.24353504e-02 3.56331343e-02 -9.11392160e+00] [-4.27414969e-02 9.99055136e-01 7.87394006e-03 -1.13282257e+00] [-3.52653324e-02 -9.38485588e-03 9.99333919e-01 4.71435111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500418555 meters Centerline goodness : 0.959524 with order 1 Centerline is valid? [True, True] Translation: X:-9.18, Y:-1.14, Z:0.46 [[ 9.99118003e-01 2.22140216e-02 3.56335993e-02 -9.17661159e+00] [-2.25080593e-02 9.99715670e-01 7.87183498e-03 -1.14105193e+00] [-3.54486025e-02 -8.66693521e-03 9.99333919e-01 4.59537260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560418554999998 meters Centerline goodness : 0.967158 with order 1 Centerline is valid? [True, True] Translation: X:-9.24, Y:-1.14, Z:0.47 [[ 9.97716150e-01 5.73818444e-02 3.56343685e-02 -9.23777066e+00] [-5.76966305e-02 9.98303154e-01 7.86835119e-03 -1.14473633e+00] [-3.51224020e-02 -9.90636405e-03 9.99333919e-01 4.65621392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620418554999999 meters Centerline goodness : 0.966801 with order 1 Centerline is valid? [True, True] Translation: X:-9.30, Y:-1.15, Z:0.46 [[ 9.98648615e-01 3.78302636e-02 3.56344625e-02 -9.30036580e+00] [-3.81334785e-02 9.99241679e-01 7.86792581e-03 -1.14535525e+00] [-3.53097944e-02 -9.21615922e-03 9.99333919e-01 4.61159140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680418555 meters Centerline goodness : 0.975379 with order 1 Centerline is valid? [True, True] Translation: X:-9.36, Y:-1.15, Z:0.45 [[ 9.98163231e-01 4.89930117e-02 3.56349313e-02 -9.36101298e+00] [-4.93027679e-02 9.98752905e-01 7.86580181e-03 -1.15078701e+00] [-3.52051219e-02 -9.60825490e-03 9.99333919e-01 4.46007380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740418555 meters Centerline goodness : 0.987274 with order 1 Centerline is valid? [True, True] Translation: X:-9.42, Y:-1.17, Z:0.43 [[ 9.95736880e-01 8.50777175e-02 3.56349313e-02 -9.41965806e+00] [-8.54086071e-02 9.96314960e-01 7.86580181e-03 -1.16575110e+00] [-3.48344107e-02 -1.08757988e-02 9.99333919e-01 4.25707074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800418554999998 meters Centerline goodness : 0.769386 with order 1 Centerline is valid? [True, False] Translation: X:-9.43, Y:-1.17, Z:0.38 [[ 9.93293630e-01 1.09455110e-01 3.72470520e-02 -9.42979916e+00] [-1.09090423e-01 9.93963059e-01 -1.16925910e-02 -1.16504353e+00] [-3.83020076e-02 7.55087956e-03 9.99237680e-01 3.84025086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860418554999999 meters Centerline goodness : 0.983518 with order 1 Centerline is valid? [False, True] Translation: X:-9.39, Y:-1.10, Z:0.40 [[ 0.99931842 0.03150235 0.01924302 -9.38724343] [-0.03228057 0.99861411 0.04156706 -1.10211821] [-0.01790689 -0.0421599 0.99895039 0.39727961] [ 0. 0. 0. 1. ]] SLAMing on 13.920418555 meters Centerline goodness : 0.978471 with order 1 Centerline is valid? [True, True] Translation: X:-9.44, Y:-1.16, Z:0.43 [[ 9.96697490e-01 7.67403562e-02 2.65524161e-02 -9.43540653e+00] [-7.69078572e-02 9.97023882e-01 5.34416141e-03 -1.16218386e+00] [-2.60632801e-02 -7.36860169e-03 9.99633137e-01 4.33625389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980418554999998 meters Centerline goodness : 0.827790 with order 2 Centerline is valid? [True, False] Translation: X:-9.47, Y:-1.17, Z:0.40 [[ 0.99153662 0.12884134 0.01596991 -9.47174248] [-0.12866017 0.99161734 -0.01189981 -1.16724491] [-0.01736923 0.00974441 0.99980166 0.39747972] [ 0. 0. 0. 1. ]] SLAMing on 14.040418554999999 meters Centerline goodness : 0.891071 with order 1 Centerline is valid? [False, False] Translation: X:-9.41, Y:-1.13, Z:0.36 [[ 0.99621962 0.08544662 0.01566365 -9.41189508] [-0.08525179 0.99627835 -0.0127116 -1.13237314] [-0.01669152 0.01132819 0.99979651 0.36261638] [ 0. 0. 0. 1. ]] SLAMing on 14.100418555 meters Centerline goodness : 0.978227 with order 1 Centerline is valid? [False, True] Translation: X:-9.46, Y:-1.11, Z:0.37 [[ 0.9993435 0.022578 0.02833389 -9.46180729] [-0.02332491 0.99938159 0.02631326 -1.10908847] [-0.02772226 -0.02695687 0.99925212 0.36850524] [ 0. 0. 0. 1. ]] SLAMing on 14.160418555 meters Centerline goodness : 0.195110 with order 1 Centerline is valid? [True, False] Translation: X:-9.53, Y:-1.12, Z:0.43 [[ 0.99868623 0.0210451 0.04672172 -9.53202993] [-0.02331822 0.99854353 0.04865264 -1.12485607] [-0.04562977 -0.04967819 0.99772241 0.43226023] [ 0. 0. 0. 1. ]] SLAMing on 14.220418554999998 meters Centerline goodness : 0.952848 with order 1 Centerline is valid? [False, True] Translation: X:-9.58, Y:-1.14, Z:0.45 [[ 0.99837587 0.02500338 0.05119038 -9.58258864] [-0.02644391 0.99926757 0.02765934 -1.13651254] [-0.05046131 -0.02896809 0.99830582 0.44764846] [ 0. 0. 0. 1. ]] SLAMing on 14.280418554999999 meters Centerline goodness : 0.827675 with order 1 Centerline is valid? [True, False] Translation: X:-9.64, Y:-1.14, Z:0.46 [[ 0.99770544 0.03687872 0.05677868 -9.64273481] [-0.03805669 0.99907927 0.01980679 -1.13821251] [-0.05599595 -0.02192215 0.9981903 0.46277585] [ 0. 0. 0. 1. ]] SLAMing on 14.340418555 meters Centerline goodness : 0.767395 with order 2 Centerline is valid? [False, False] Translation: X:-9.66, Y:-1.14, Z:0.46 [[ 0.99665601 0.06348961 0.05143795 -9.65855392] [-0.06438266 0.99779872 0.01589311 -1.13960355] [-0.05031567 -0.01915168 0.99854972 0.45989788] [ 0. 0. 0. 1. ]] SLAMing on 14.400418554999998 meters Centerline goodness : 0.795999 with order 2 Centerline is valid? [False, False] Translation: X:-9.68, Y:-1.14, Z:0.46 [[ 9.97415048e-01 5.89369233e-02 4.11054788e-02 -9.68373635e+00] [-5.89230797e-02 9.98261324e-01 -1.54929978e-03 -1.14188584e+00] [-4.11253207e-02 -8.76766485e-04 9.99153611e-01 4.57806423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460418554999999 meters Centerline goodness : 0.876829 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:-1.16, Z:0.48 [[ 9.90910067e-01 1.34451009e-01 4.49050789e-03 -9.70664195e+00] [-1.34400923e-01 9.90876192e-01 -1.00380777e-02 -1.15742290e+00] [-5.79916704e-03 9.34330388e-03 9.99939534e-01 4.75985327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520418555 meters Centerline goodness : 0.960788 with order 1 Centerline is valid? [False, True] Translation: X:-9.74, Y:-1.17, Z:0.35 [[ 9.96294490e-01 8.59651371e-02 2.69897896e-03 -9.74179060e+00] [-8.53794486e-02 9.92317626e-01 -8.95325617e-02 -1.17043563e+00] [-1.03749233e-02 8.89703606e-02 9.95980239e-01 3.51834666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580418555 meters Centerline goodness : 0.895584 with order 3 Centerline is valid? [True, False] Translation: X:-9.79, Y:-1.15, Z:0.41 [[ 9.98384730e-01 5.51231108e-02 1.37613224e-02 -9.79394455e+00] [-5.51462738e-02 9.98477428e-01 1.30915780e-03 -1.15364506e+00] [-1.36682049e-02 -2.06592881e-03 9.99904451e-01 4.07202256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640418554999998 meters Centerline goodness : 0.846768 with order 3 Centerline is valid? [False, False] Translation: X:-9.75, Y:-1.12, Z:0.46 [[ 0.99887815 0.04600181 -0.01123746 -9.74657302] [-0.04544109 0.99791252 0.0458881 -1.12026059] [ 0.01332494 -0.04532598 0.99888338 0.46112599] [ 0. 0. 0. 1. ]] SLAMing on 14.700418554999999 meters Centerline goodness : 0.889650 with order 3 Centerline is valid? [False, False] Translation: X:-9.75, Y:-1.12, Z:0.45 [[ 0.99877922 0.04488953 -0.0206156 -9.74818307] [-0.04421559 0.99850748 0.03205922 -1.11909225] [ 0.02202396 -0.03110855 0.99927334 0.44704105] [ 0. 0. 0. 1. ]] SLAMing on 14.760418555 meters Centerline goodness : 0.887286 with order 3 Centerline is valid? [False, False] Translation: X:-9.75, Y:-1.12, Z:0.45 [[ 0.9987165 0.04219084 -0.02802297 -9.7540189 ] [-0.04177204 0.999009 0.01536619 -1.12303556] [ 0.02864351 -0.01417589 0.99948917 0.44552438] [ 0. 0. 0. 1. ]] SLAMing on 14.820418555 meters Centerline goodness : 0.914090 with order 3 Centerline is valid? [False, False] Translation: X:-9.78, Y:-1.11, Z:0.39 [[ 0.99653674 0.04492537 -0.06997311 -9.78211021] [-0.04719173 0.99840224 -0.03107916 -1.10725314] [ 0.06846506 0.03427368 0.99706462 0.38871037] [ 0. 0. 0. 1. ]] SLAMing on 14.880418554999999 meters Centerline goodness : 0.739755 with order 1 Centerline is valid? [False, False] Translation: X:-9.77, Y:-1.08, Z:0.25 [[ 0.98418878 0.12140027 -0.12897446 -9.76761013] [-0.13808847 0.9819196 -0.12948159 -1.08021852] [ 0.11092345 0.14524422 0.98315823 0.25390471] [ 0. 0. 0. 1. ]] SLAMing on 14.940418554999999 meters Centerline goodness : 0.155896 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:-1.10, Z:0.05 [[ 0.97716041 0.02639482 -0.21085742 -9.83719208] [-0.11059581 0.91045103 -0.39855675 -1.10240224] [ 0.18145552 0.41277382 0.89257586 0.04981338] [ 0. 0. 0. 1. ]] SLAMing on 15.000418555 meters Centerline goodness : 0.391608 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:-1.12, Z:0.06 [[ 0.99032916 0.01767334 -0.13760745 -9.96518305] [-0.06129294 0.94554371 -0.31967212 -1.12201207] [ 0.12446419 0.32501498 0.93748276 0.05910177] [ 0. 0. 0. 1. ]] SLAMing on 15.060418554999998 meters Centerline goodness : 0.679273 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-1.19, Z:0.26 [[ 0.99835805 0.05206149 -0.02389141 -10.17206172] [ -0.05406964 0.9941989 -0.09297856 -1.18886289] [ 0.01891221 0.0941177 0.99538143 0.26164249] [ 0. 0. 0. 1. ]] SLAMing on 15.120418554999999 meters Centerline goodness : 0.846983 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-1.17, Z:0.27 [[ 0.99953977 0.02772667 -0.01230735 -10.1718871 ] [ -0.02830517 0.99836671 -0.04962597 -1.16820911] [ 0.01091128 0.04995149 0.99869204 0.27274308] [ 0. 0. 0. 1. ]] SLAMing on 15.180418555 meters Centerline goodness : 0.831251 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-1.18, Z:0.26 [[ 0.99685883 0.04828475 -0.06277782 -10.20459462] [ -0.05326364 0.99535318 -0.0802186 -1.17979158] [ 0.05861277 0.08331039 0.99479843 0.261681 ] [ 0. 0. 0. 1. ]] SLAMing on 15.240418555 meters Centerline goodness : 0.476270 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-1.19, Z:0.23 [[ 0.99246297 0.01527486 -0.12158916 -10.27288602] [ -0.02991245 0.99238493 -0.11948806 -1.18869834] [ 0.11883808 0.1222245 0.98536221 0.22605646] [ 0. 0. 0. 1. ]] SLAMing on 15.300418554999998 meters Centerline goodness : 0.542561 with order 3 Centerline is valid? [False, False] Translation: X:-10.33, Y:-1.20, Z:0.21 [[ 0.9872157 0.02051699 -0.15806397 -10.33067628] [ -0.04301608 0.98917883 -0.14026708 -1.19579615] [ 0.15347568 0.14527315 0.97741543 0.20953285] [ 0. 0. 0. 1. ]] SLAMing on 15.360418554999999 meters Centerline goodness : 0.583698 with order 3 Centerline is valid? [False, False] Translation: X:-10.38, Y:-1.20, Z:0.21 [[ 9.88713703e-01 -3.24877191e-03 -1.49782037e-01 -1.03837099e+01] [-1.52493939e-02 9.92390009e-01 -1.22186437e-01 -1.20199121e+00] [ 1.49039153e-01 1.23091490e-01 9.81140059e-01 2.05816117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420418555 meters Centerline goodness : 0.715768 with order 3 Centerline is valid? [False, False] Translation: X:-10.46, Y:-1.19, Z:0.23 [[ 9.93185754e-01 -5.45864432e-03 -1.16414177e-01 -1.04560247e+01] [-1.06578989e-03 9.98435285e-01 -5.59092594e-02 -1.19115380e+00] [ 1.16537211e-01 5.56523530e-02 9.91625884e-01 2.28957959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480418554999998 meters Centerline goodness : 0.522446 with order 2 Centerline is valid? [False, False] Translation: X:-10.55, Y:-1.19, Z:0.23 [[ 9.90179062e-01 -3.75920928e-02 -1.34656081e-01 -1.05458836e+01] [ 3.62077532e-02 9.99263384e-01 -1.27156735e-02 -1.18590075e+00] [ 1.35034900e-01 7.71519954e-03 9.90810805e-01 2.33950390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540418554999999 meters Centerline goodness : 0.436518 with order 1 Centerline is valid? [False, False] Translation: X:-10.68, Y:-1.26, Z:0.40 [[ 0.99889993 -0.02199053 -0.04141678 -10.67997295] [ 0.0244494 0.99790914 0.05982956 -1.25608407] [ 0.0400145 -0.06077636 0.99734902 0.3978816 ] [ 0. 0. 0. 1. ]] SLAMing on 15.600418555 meters Centerline goodness : 0.649597 with order 1 Centerline is valid? [False, False] Translation: X:-10.81, Y:-1.27, Z:0.38 [[ 0.99861041 -0.01840154 -0.0493825 -10.8095629 ] [ 0.0202257 0.99912172 0.03669755 -1.26733444] [ 0.04866384 -0.03764535 0.99810553 0.38031271] [ 0. 0. 0. 1. ]] SLAMing on 15.660418555 meters Centerline goodness : 0.282866 with order 3 Centerline is valid? [False, False] Translation: X:-11.04, Y:-1.28, Z:0.38 [[ 0.99911683 -0.01800033 -0.03796783 -11.04249166] [ 0.01918044 0.99933688 0.03095019 -1.27712549] [ 0.03738554 -0.03165109 0.99879954 0.37772716] [ 0. 0. 0. 1. ]] SLAMing on 15.720418554999998 meters Centerline goodness : 0.668764 with order 1 Centerline is valid? [False, False] Translation: X:-11.28, Y:-1.27, Z:0.39 [[ 0.99783166 -0.04749499 -0.04556539 -11.27902491] [ 0.04932657 0.99798335 0.03995161 -1.27418123] [ 0.043576 -0.04211256 0.99816214 0.38574066] [ 0. 0. 0. 1. ]] SLAMing on 15.780418554999999 meters Centerline goodness : 0.807774 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:-1.27, Z:0.37 [[ 0.99630642 -0.06590066 -0.05505115 -11.4163524 ] [ 0.06871588 0.99633625 0.05091369 -1.27132542] [ 0.05149421 -0.05450852 0.99718462 0.37252633] [ 0. 0. 0. 1. ]] SLAMing on 15.840418555 meters Centerline goodness : 0.890926 with order 3 Centerline is valid? [False, False] Translation: X:-11.51, Y:-1.29, Z:0.38 [[ 0.99607792 -0.06865456 -0.05581512 -11.51217107] [ 0.0708864 0.99672014 0.03903946 -1.28705695] [ 0.05295182 -0.04284288 0.9976776 0.38247722] [ 0. 0. 0. 1. ]] Total time of SLAM: 1166.32 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/530 [00:00