+ python -m lidar_slam --result /working/result.json --no-model /working/4a665bff-49f1-4b37-a287-d6c71ea4170f Lidar SLAM 0.0.16 ===================================================== The recording path: /working/4a665bff-49f1-4b37-a287-d6c71ea4170f The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.028973797 Adjusted end_distance from 9.223372036854776e+18 to 7.558973797 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028973797 meters Centerline goodness : 0.154469 with order 1 Centerline is valid? [0, False] SLAMing on 0.088973797 meters Centerline goodness : 0.157806 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.03 [[ 9.99963087e-01 8.54395625e-03 -9.09077658e-04 6.48223465e-03] [-8.54377510e-03 9.99963481e-01 2.02967926e-04 6.14730554e-03] [ 9.10778608e-04 -1.95193478e-04 9.99999566e-01 2.79165463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148973797 meters Centerline goodness : 0.154885 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.06 [[ 0.9999142 0.01297927 -0.00176821 0.0111426 ] [-0.01298523 0.9999099 -0.00340148 0.00544395] [ 0.0017239 0.00342415 0.99999265 0.05601595] [ 0. 0. 0. 1. ]] SLAMing on 0.208973797 meters SLAMing on 0.268973797 meters Centerline goodness : 0.135673 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:0.12 [[ 0.99940598 0.034048 -0.0053317 0.05064881] [-0.03406444 0.99941506 -0.00302391 0.00273938] [ 0.00522562 0.00320373 0.99998121 0.12260714] [ 0. 0. 0. 1. ]] SLAMing on 0.328973797 meters Centerline goodness : 0.147150 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.16 [[ 0.99945713 0.03261668 0.00464684 0.03717449] [-0.03264452 0.99944874 0.00604645 -0.00587106] [-0.00444706 -0.00619486 0.99997092 0.15894353] [ 0. 0. 0. 1. ]] SLAMing on 0.388973797 meters Centerline goodness : 0.141874 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.19 [[ 0.99940792 0.03307868 0.00946626 0.00942697] [-0.03314819 0.99942391 0.00728305 -0.01532617] [-0.00921989 -0.00759253 0.99992867 0.19141344] [ 0. 0. 0. 1. ]] SLAMing on 0.448973797 meters Centerline goodness : 0.141663 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.22 [[ 0.99952261 0.02775291 0.01357665 -0.01600174] [-0.027792 0.99961008 0.00269909 -0.02700921] [-0.01349645 -0.00307513 0.99990419 0.22417577] [ 0. 0. 0. 1. ]] SLAMing on 0.508973797 meters Centerline goodness : 0.142850 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.24 [[ 0.99953307 0.02587246 0.01625591 -0.03074282] [-0.02590349 0.999663 0.0017008 -0.03266765] [-0.01620642 -0.00212109 0.99986642 0.24466104] [ 0. 0. 0. 1. ]] SLAMing on 0.5689737970000001 meters Centerline goodness : 0.146103 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.04, Z:0.29 [[ 0.9995748 0.01936436 0.02180013 -0.03471683] [-0.01956755 0.9997667 0.00914616 -0.04059289] [-0.02161793 -0.00956885 0.99972051 0.2861446 ] [ 0. 0. 0. 1. ]] SLAMing on 0.628973797 meters Centerline goodness : 0.143260 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:0.33 [[ 0.9998462 0.00741936 0.01589147 -0.03209782] [-0.00764754 0.99986784 0.01434625 -0.04510262] [-0.01578293 -0.01446557 0.9997708 0.32725191] [ 0. 0. 0. 1. ]] SLAMing on 0.6889737969999999 meters Centerline goodness : 0.141098 with order 1 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.36 [[ 0.99991372 0.00444638 0.01236014 -0.02482582] [-0.00458578 0.99992594 0.01127281 -0.0459472 ] [-0.0123091 -0.01132852 0.99986007 0.35620075] [ 0. 0. 0. 1. ]] SLAMing on 0.748973797 meters Centerline goodness : 0.138044 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:0.40 [[ 0.99991773 -0.00664659 0.01097051 -0.02815529] [ 0.0066317 0.99997704 0.00139242 -0.0455104 ] [-0.01097951 -0.00131955 0.99993885 0.39938704] [ 0. 0. 0. 1. ]] SLAMing on 0.808973797 meters Centerline goodness : 0.145162 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.04, Z:0.44 [[ 0.99989154 -0.01154119 0.00914927 -0.02946344] [ 0.01157388 0.9999268 -0.00352814 -0.03936796] [-0.00910788 0.00363365 0.99995192 0.44357289] [ 0. 0. 0. 1. ]] SLAMing on 0.868973797 meters Centerline goodness : 0.151128 with order 1 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.49 [[ 0.99991628 -0.00913102 0.00916851 -0.02857314] [ 0.00916813 0.99994991 -0.00401419 -0.02472603] [-0.0091314 0.00409791 0.99994991 0.49027476] [ 0. 0. 0. 1. ]] SLAMing on 0.9289737969999999 meters Centerline goodness : 0.155132 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:0.52 [[ 0.99989048 -0.0080289 0.01243264 -0.04694137] [ 0.00808612 0.99995692 -0.0045584 -0.01682012] [-0.01239551 0.00465843 0.99991232 0.51521806] [ 0. 0. 0. 1. ]] SLAMing on 0.988973797 meters Centerline goodness : 0.154041 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.01, Z:0.55 [[ 0.9997966 -0.01755376 0.00993097 -0.04905245] [ 0.01770412 0.9997268 -0.01526079 -0.01205171] [-0.00966037 0.0154335 0.99983423 0.55451994] [ 0. 0. 0. 1. ]] SLAMing on 1.048973797 meters Centerline goodness : 0.156878 with order 1 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.01, Z:0.59 [[ 0.99968746 -0.02199426 0.01188421 -0.0662134 ] [ 0.02226367 0.99948675 -0.02303381 -0.00832581] [-0.0113715 0.0232912 0.99966405 0.59140434] [ 0. 0. 0. 1. ]] SLAMing on 1.108973797 meters Centerline goodness : 0.169352 with order 1 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.00, Z:0.64 [[ 0.9998357 -0.01380505 0.01174679 -0.07276427] [ 0.0139749 0.99979718 -0.01450197 -0.00408365] [-0.01154421 0.01466374 0.99982584 0.63742654] [ 0. 0. 0. 1. ]] SLAMing on 1.1689737969999998 meters Centerline goodness : 0.177911 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.00, Z:0.66 [[ 0.99986912 -0.00674658 0.01470457 -0.08715371] [ 0.00686344 0.99994515 -0.00791081 -0.00196331] [-0.0146504 0.0080107 0.99986059 0.65829666] [ 0. 0. 0. 1. ]] SLAMing on 1.2289737969999999 meters Centerline goodness : 0.154619 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.68 [[ 0.99984574 -0.00439423 0.01700575 -0.09921709] [ 0.0044946 0.99997268 -0.00586835 -0.0051522 ] [-0.0169795 0.00594388 0.99983817 0.67848118] [ 0. 0. 0. 1. ]] SLAMing on 1.288973797 meters SLAMing on 1.3489737969999998 meters Centerline goodness : 0.184879 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.02, Z:0.74 [[ 0.99987919 -0.00796774 0.01334643 -0.08971076] [ 0.00818314 0.99983589 -0.01616282 -0.02198263] [-0.01321546 0.01627008 0.99978029 0.73762818] [ 0. 0. 0. 1. ]] SLAMing on 1.4089737969999998 meters Centerline goodness : 0.185893 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:0.77 [[ 0.99995247 -0.00102714 0.0096957 -0.08726613] [ 0.0011096 0.99996323 -0.0085039 -0.02993556] [-0.00968661 0.00851425 0.99991684 0.77459751] [ 0. 0. 0. 1. ]] SLAMing on 1.4689737969999999 meters Centerline goodness : 0.063451 with order 1 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.81 [[ 9.99939388e-01 8.31773794e-03 7.21356704e-03 -8.25767560e-02] [-8.32221223e-03 9.99965195e-01 5.90465739e-04 -3.64817687e-02] [-7.20840464e-03 -6.50462786e-04 9.99973808e-01 8.12229036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.528973797 meters Centerline goodness : 0.198625 with order 3 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.84 [[ 9.99904222e-01 1.15324008e-02 7.65189165e-03 -8.61914568e-02] [-1.15363378e-02 9.99933344e-01 4.70578224e-04 -3.94692094e-02] [-7.64595470e-03 -5.58807960e-04 9.99970613e-01 8.39135217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.588973797 meters Centerline goodness : 0.209117 with order 1 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.04, Z:0.88 [[ 0.99983349 0.01757295 0.00491816 -0.06899019] [-0.01756094 0.99984273 -0.00247404 -0.0446492 ] [-0.00496086 0.00238726 0.99998485 0.88179275] [ 0. 0. 0. 1. ]] SLAMing on 1.6489737969999998 meters Centerline goodness : 0.178742 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.91 [[ 9.99856800e-01 1.69066568e-02 -7.37623677e-04 -6.28711870e-02] [-1.69080231e-02 9.99855268e-01 -1.88720231e-03 -4.66710812e-02] [ 7.05610638e-04 1.89940382e-03 9.99997947e-01 9.14750601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7089737969999999 meters Centerline goodness : 0.287315 with order 1 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.94 [[ 9.99876480e-01 1.57029834e-02 -6.64739844e-04 -6.96196501e-02] [-1.57032827e-02 9.99876596e-01 -4.47452310e-04 -4.84911614e-02] [ 6.57631476e-04 4.57835638e-04 9.99999679e-01 9.42013684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.768973797 meters Centerline goodness : 0.194123 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.99 [[ 9.99646528e-01 2.64751711e-02 2.42583793e-03 -6.30781031e-02] [-2.64771857e-02 9.99649096e-01 8.02155895e-04 -4.39713876e-02] [-2.40374948e-03 -8.66101717e-04 9.99996736e-01 9.92832089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8289737969999997 meters Centerline goodness : 0.215554 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:1.04 [[ 0.99958968 0.02293159 0.0171646 -0.08534825] [-0.02300644 0.99972659 0.00417608 -0.03730859] [-0.01706414 -0.00456927 0.99984396 1.03882405] [ 0. 0. 0. 1. ]] SLAMing on 1.8889737969999998 meters Centerline goodness : 0.170562 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:1.08 [[ 0.99943759 0.02891346 0.01698573 -0.09611076] [-0.02907292 0.9995348 0.00921692 -0.02846864] [-0.01671133 -0.00970556 0.99981325 1.08447267] [ 0. 0. 0. 1. ]] SLAMing on 1.9489737969999998 meters Centerline goodness : 0.086655 with order 1 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:1.34 [[ 0.99995836 0.00707284 0.00576606 -0.06672189] [-0.00702726 0.9999442 -0.00788723 -0.015395 ] [-0.00582152 0.00784638 0.99995227 1.34149031] [ 0. 0. 0. 1. ]] SLAMing on 2.008973797 meters Centerline goodness : 0.155451 with order 3 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:1.38 [[ 0.99997182 0.00500167 0.00559852 -0.05903474] [-0.00501025 0.99998629 0.00151971 -0.02354209] [-0.00559084 -0.00154772 0.99998317 1.38410138] [ 0. 0. 0. 1. ]] SLAMing on 2.068973797 meters Centerline goodness : 0.203817 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:1.42 [[ 0.99998673 -0.00393698 0.00332381 -0.04854742] [ 0.00392439 0.99998514 0.00378499 -0.03542959] [-0.00333866 -0.0037719 0.99998731 1.42413198] [ 0. 0. 0. 1. ]] SLAMing on 2.128973797 meters Centerline goodness : 0.185297 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.04, Z:1.45 [[ 0.99998248 -0.00252881 0.00535266 -0.04879543] [ 0.00253741 0.9999955 -0.00160156 -0.043093 ] [-0.00534859 0.00161511 0.99998439 1.45160241] [ 0. 0. 0. 1. ]] SLAMing on 2.188973797 meters Centerline goodness : 0.176302 with order 1 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:1.49 [[ 0.99992425 -0.00725661 0.00994153 -0.0770563 ] [ 0.00730575 0.99996123 -0.00491586 -0.05510464] [-0.00990548 0.00498811 0.9999385 1.49001781] [ 0. 0. 0. 1. ]] SLAMing on 2.2489737969999997 meters Centerline goodness : 0.222647 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:1.53 [[ 9.99841013e-01 -1.19561114e-02 1.32287968e-02 -8.65709735e-02] [ 1.19488090e-02 9.99928411e-01 6.30911223e-04 -6.29408447e-02] [-1.32353930e-02 -4.72742550e-04 9.99912297e-01 1.53184645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3089737969999997 meters Centerline goodness : 0.228615 with order 1 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:1.58 [[ 9.99647110e-01 -9.19540406e-04 2.65482622e-02 -1.10070106e-01] [ 8.22493404e-04 9.99992941e-01 3.66618200e-03 -6.60460842e-02] [-2.65514461e-02 -3.64305247e-03 9.99640810e-01 1.57845132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3689737969999998 meters Centerline goodness : 0.233111 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:1.61 [[ 0.99951219 -0.00209937 0.03116042 -0.13076087] [ 0.00203691 0.99999585 0.00203591 -0.06687353] [-0.03116457 -0.00197145 0.99951232 1.60714477] [ 0. 0. 0. 1. ]] SLAMing on 2.428973797 meters Centerline goodness : 0.226654 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:1.65 [[ 9.99376157e-01 -3.33816653e-03 3.51589747e-02 -1.54010838e-01] [ 3.36037012e-03 9.99994190e-01 -5.72446627e-04 -6.37567286e-02] [-3.51568595e-02 6.90236678e-04 9.99381568e-01 1.64616702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488973797 meters Centerline goodness : 0.222763 with order 1 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:1.68 [[ 0.99931611 -0.004261 0.036731 -0.17209142] [ 0.00438146 0.99998528 -0.00319955 -0.05792741] [-0.03671682 0.0033583 0.99932007 1.68327204] [ 0. 0. 0. 1. ]] SLAMing on 2.548973797 meters Centerline goodness : 0.133281 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:1.73 [[ 0.99922899 0.0028452 0.03915769 -0.17920801] [-0.00261165 0.99997851 -0.00601401 -0.04809234] [-0.03917396 0.00590711 0.99921495 1.72729979] [ 0. 0. 0. 1. ]] SLAMing on 2.608973797 meters Centerline goodness : 0.124616 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.04, Z:1.75 [[ 0.99915062 0.00389537 0.04102284 -0.19090331] [-0.00361467 0.99996956 -0.00691455 -0.04241887] [-0.04104852 0.00676039 0.99913428 1.75313434] [ 0. 0. 0. 1. ]] SLAMing on 2.6689737969999996 meters Centerline goodness : 0.217708 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:1.80 [[ 9.99200049e-01 -8.00353176e-04 3.99827577e-02 -1.83078426e-01] [ 1.02421084e-03 9.99983915e-01 -5.57868531e-03 -3.48180304e-02] [-3.99776496e-02 5.61517341e-03 9.99184796e-01 1.79584351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7289737969999996 meters Centerline goodness : 0.129151 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:1.82 [[ 9.99183821e-01 1.13743842e-03 4.03781939e-02 -1.90905532e-01] [-9.01402078e-04 9.99982404e-01 -5.86336352e-03 -2.87168103e-02] [-4.03841526e-02 5.82218098e-03 9.99167264e-01 1.82051866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7889737969999997 meters Centerline goodness : 0.206320 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.02, Z:1.86 [[ 0.99923451 0.00818306 0.03825474 -0.17934122] [-0.00782539 0.99992435 -0.00949011 -0.02334179] [-0.03832951 0.00918348 0.99922295 1.85582483] [ 0. 0. 0. 1. ]] SLAMing on 2.8489737969999998 meters Centerline goodness : 0.254543 with order 3 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:1.90 [[ 0.99929127 0.01278817 0.03540354 -0.17006278] [-0.01225694 0.99980963 -0.01518148 -0.02234419] [-0.03559094 0.01473678 0.99925778 1.89668851] [ 0. 0. 0. 1. ]] SLAMing on 2.908973797 meters Centerline goodness : 0.223223 with order 3 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.02, Z:1.93 [[ 0.99970326 0.0061589 0.02356822 -0.13729804] [-0.00584372 0.99989289 -0.01341863 -0.02430026] [-0.02364834 0.01327692 0.99963217 1.93214443] [ 0. 0. 0. 1. ]] SLAMing on 2.968973797 meters Centerline goodness : 0.217212 with order 1 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.03, Z:1.96 [[ 9.99801670e-01 5.34076792e-04 1.99081692e-02 -1.21402532e-01] [-3.39423243e-04 9.99952120e-01 -9.77966851e-03 -3.06835576e-02] [-1.99124391e-02 9.77097161e-03 9.99753981e-01 1.95800107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028973797 meters Centerline goodness : 0.212608 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.04, Z:2.00 [[ 0.99968123 0.00530346 0.02468436 -0.10105541] [-0.00520562 0.99997835 -0.0040262 -0.03694476] [-0.02470518 0.00389641 0.99968719 2.00190463] [ 0. 0. 0. 1. ]] SLAMing on 3.088973797 meters Centerline goodness : 0.220453 with order 1 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:2.01 [[ 9.99656910e-01 6.59439567e-03 2.53491059e-02 -1.06597541e-01] [-6.54692319e-03 9.99976657e-01 -1.95528535e-03 -3.93278142e-02] [-2.53614081e-02 1.78865586e-03 9.99676748e-01 2.01337700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.148973797 meters Centerline goodness : 0.225481 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:2.05 [[ 0.99976317 -0.0049384 0.02119482 -0.09773069] [ 0.00502123 0.99997996 -0.0038566 -0.04747667] [-0.02117535 0.00396211 0.99976793 2.05401382] [ 0. 0. 0. 1. ]] SLAMing on 3.2089737969999996 meters Centerline goodness : 0.226693 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:2.08 [[ 9.99822454e-01 1.27573476e-03 1.87998193e-02 -8.85406737e-02] [-1.18008313e-03 9.99986308e-01 -5.09811737e-03 -5.39086493e-02] [-1.88060658e-02 5.07502687e-03 9.99810270e-01 2.08169565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2689737969999997 meters Centerline goodness : 0.230548 with order 1 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:2.12 [[ 9.99817272e-01 -5.15573383e-03 1.84076462e-02 -8.70010355e-02] [ 5.19048261e-03 9.99984836e-01 -1.84045865e-03 -6.30264604e-02] [-1.83978781e-02 1.93566691e-03 9.99828871e-01 2.12393312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3289737969999997 meters Centerline goodness : 0.237321 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:2.17 [[ 9.99731395e-01 5.36946263e-03 2.25456758e-02 -9.56351199e-02] [-5.37598343e-03 9.99985523e-01 2.28625651e-04 -6.61943845e-02] [-2.25441218e-02 -3.49769421e-04 9.99745788e-01 2.16985317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388973797 meters Centerline goodness : 0.237946 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:2.21 [[ 0.99973698 -0.00552176 0.02225962 -0.09686765] [ 0.0055806 0.99998109 -0.00258212 -0.06804669] [-0.02224494 0.00270566 0.99974889 2.21084282] [ 0. 0. 0. 1. ]] SLAMing on 3.448973797 meters Centerline goodness : 0.238037 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.07, Z:2.25 [[ 0.99973705 -0.00290668 0.02274599 -0.10107276] [ 0.00308973 0.99996309 -0.00801661 -0.07184577] [-0.02272184 0.00808478 0.99970913 2.2543393 ] [ 0. 0. 0. 1. ]] SLAMing on 3.508973797 meters Centerline goodness : 0.235996 with order 1 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:2.29 [[ 0.99959578 -0.0047223 0.02803511 -0.12436657] [ 0.00500105 0.99993868 -0.00988105 -0.07586321] [-0.02798673 0.01001726 0.9995581 2.28617273] [ 0. 0. 0. 1. ]] SLAMing on 3.568973797 meters Centerline goodness : 0.231894 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.08, Z:2.33 [[ 0.99932597 -0.00627635 0.03616926 -0.15643545] [ 0.00667982 0.99991669 -0.01104518 -0.08121509] [-0.03609692 0.01127934 0.99928464 2.32713388] [ 0. 0. 0. 1. ]] SLAMing on 3.6289737969999996 meters Centerline goodness : 0.238267 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.09, Z:2.36 [[ 0.99907702 -0.01520042 0.04017542 -0.15743278] [ 0.01560803 0.99982965 -0.00985184 -0.08809902] [-0.04001882 0.0104698 0.99914407 2.35953918] [ 0. 0. 0. 1. ]] SLAMing on 3.6889737969999996 meters Centerline goodness : 0.251763 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.09, Z:2.41 [[ 0.9986457 -0.01303944 0.05036595 -0.1537808 ] [ 0.01331576 0.99989805 -0.00515469 -0.09246018] [-0.0502936 0.00581837 0.99871753 2.40892196] [ 0. 0. 0. 1. ]] SLAMing on 3.7489737969999997 meters Centerline goodness : 0.132103 with order 3 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.10, Z:2.45 [[ 0.99836953 -0.01529764 0.05499326 -0.17636656] [ 0.01569643 0.9998535 -0.00682691 -0.09906196] [-0.05488077 0.00767898 0.99846339 2.4453933 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8089737969999997 meters Centerline goodness : 0.190654 with order 2 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.11, Z:2.48 [[ 0.99847971 -0.0166986 0.05253019 -0.17507696] [ 0.01752883 0.999728 -0.0153841 -0.10769 ] [-0.05225901 0.0162815 0.99850083 2.48474029] [ 0. 0. 0. 1. ]] SLAMing on 3.8689737969999998 meters Centerline goodness : 0.260039 with order 2 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:2.52 [[ 0.99842103 -0.01100996 0.05508381 -0.17192875] [ 0.01203037 0.99976149 -0.0182275 -0.11353713] [-0.05486998 0.0188614 0.99831535 2.51653502] [ 0. 0. 0. 1. ]] SLAMing on 3.928973797 meters Centerline goodness : 0.247352 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:2.56 [[ 0.99769854 -0.01167812 0.06679256 -0.18322534] [ 0.01229346 0.99988563 -0.00880911 -0.11783885] [-0.06668205 0.00960994 0.997728 2.56424831] [ 0. 0. 0. 1. ]] SLAMing on 3.988973797 meters Centerline goodness : 0.298254 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:2.60 [[ 9.97775393e-01 -1.04396118e-02 6.58428393e-02 -1.81892480e-01] [ 1.03341479e-02 9.99944715e-01 1.94214231e-03 -1.19883307e-01] [-6.58594744e-02 -1.25739217e-03 9.97828116e-01 2.60472450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0489737969999995 meters Centerline goodness : 0.108416 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.12, Z:2.63 [[ 9.97654728e-01 -1.35393663e-02 6.70949218e-02 -1.92380010e-01] [ 1.37344833e-02 9.99902682e-01 -2.44762866e-03 -1.20403240e-01] [-6.70552529e-02 3.36340239e-03 9.97743595e-01 2.62847236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108973797 meters Centerline goodness : 0.286349 with order 1 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.12, Z:2.67 [[ 0.99820077 -0.0076389 0.05947166 -0.19749517] [ 0.00888871 0.99974457 -0.02077922 -0.11715169] [-0.05929774 0.02127046 0.9980137 2.66885919] [ 0. 0. 0. 1. ]] SLAMing on 4.168973797 meters Centerline goodness : 0.286881 with order 2 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.12, Z:2.72 [[ 0.99854263 -0.01074769 0.05288761 -0.17977025] [ 0.01203683 0.99963667 -0.02411716 -0.11617299] [-0.05260919 0.02471861 0.9983092 2.71568703] [ 0. 0. 0. 1. ]] SLAMing on 4.228973797 meters Centerline goodness : 0.310241 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.11, Z:2.75 [[ 0.99826435 -0.01235836 0.05758095 -0.18203063] [ 0.01336984 0.99976243 -0.0172143 -0.11412327] [-0.05735453 0.01795427 0.99819242 2.74840859] [ 0. 0. 0. 1. ]] SLAMing on 4.288973797 meters Centerline goodness : 0.271448 with order 3 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:2.80 [[ 0.99807868 -0.0158872 0.05988775 -0.18747141] [ 0.01684194 0.99973846 -0.01547115 -0.10886561] [-0.0596263 0.01645005 0.99808522 2.79547618] [ 0. 0. 0. 1. ]] SLAMing on 4.348973797 meters Centerline goodness : 0.321661 with order 2 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:2.84 [[ 0.99802214 -0.01783144 0.06028139 -0.19459365] [ 0.01952003 0.9994301 -0.02753998 -0.10625755] [-0.05975596 0.0286622 0.99780144 2.83933547] [ 0. 0. 0. 1. ]] SLAMing on 4.408973797 meters Centerline goodness : 0.335029 with order 2 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.10, Z:2.87 [[ 0.99813877 -0.01720115 0.05850739 -0.19603161] [ 0.0192837 0.99919358 -0.03521825 -0.104054 ] [-0.05785441 0.03628094 0.99766556 2.87115184] [ 0. 0. 0. 1. ]] SLAMing on 4.468973796999999 meters Centerline goodness : 0.312714 with order 1 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.11, Z:2.92 [[ 0.99748651 -0.01633694 0.06894763 -0.23244818] [ 0.01883499 0.99918369 -0.03573794 -0.10523115] [-0.0683075 0.03694674 0.99697995 2.91841411] [ 0. 0. 0. 1. ]] SLAMing on 4.528973797 meters Centerline goodness : 0.344606 with order 1 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.12, Z:2.97 [[ 0.99554398 -0.0123255 0.09348936 -0.26130856] [ 0.01557852 0.99929543 -0.03414595 -0.11654585] [-0.09300262 0.03545022 0.99503457 2.97093117] [ 0. 0. 0. 1. ]] SLAMing on 4.5889737969999995 meters Centerline goodness : 0.229809 with order 1 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.14, Z:3.02 [[ 0.99382005 -0.01236874 0.11031193 -0.27126825] [ 0.01560726 0.99947072 -0.02854283 -0.13564114] [-0.1099005 0.03008811 0.99348708 3.0219623 ] [ 0. 0. 0. 1. ]] SLAMing on 4.648973797 meters Centerline goodness : 0.416051 with order 1 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.15, Z:3.05 [[ 0.99303822 -0.01128321 0.11725091 -0.29201529] [ 0.01429727 0.99958778 -0.02489683 -0.15005026] [-0.11692166 0.02639987 0.9927902 3.05092951] [ 0. 0. 0. 1. ]] SLAMing on 4.708973797 meters Centerline goodness : 0.248062 with order 1 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.17, Z:3.09 [[ 0.99550237 -0.00488399 0.09461068 -0.29800385] [ 0.0069833 0.99973642 -0.02187055 -0.17166969] [-0.09447893 0.02243288 0.99527408 3.08585639] [ 0. 0. 0. 1. ]] SLAMing on 4.768973797 meters Centerline goodness : 0.247339 with order 1 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.18, Z:3.13 [[ 0.99616447 0.00845927 0.08709075 -0.27836547] [-0.00649722 0.99971921 -0.02278772 -0.18494571] [-0.08725907 0.02213447 0.99593972 3.12512878] [ 0. 0. 0. 1. ]] SLAMing on 4.828973797 meters Centerline goodness : 0.062996 with order 3 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:3.16 [[ 0.99578338 0.011127 0.09105847 -0.26051935] [-0.00943545 0.99977523 -0.01898596 -0.18950387] [-0.09124926 0.01804673 0.99566455 3.15522625] [ 0. 0. 0. 1. ]] SLAMing on 4.888973796999999 meters SLAMing on 4.948973797 meters SLAMing on 5.0089737969999995 meters SLAMing on 5.068973797 meters SLAMing on 5.128973797 meters Centerline goodness : 0.115998 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:3.31 [[ 0.99794312 0.02899765 0.05717231 -0.18191332] [-0.02710686 0.99906855 -0.03357459 -0.18368671] [-0.05809264 0.03195577 0.99779962 3.30574837] [ 0. 0. 0. 1. ]] SLAMing on 5.188973797 meters Centerline goodness : 0.110694 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:3.35 [[ 0.99697488 0.02737534 0.07274394 -0.17583266] [-0.02587572 0.9994344 -0.02147835 -0.17817355] [-0.07329077 0.01953107 0.99711935 3.35471131] [ 0. 0. 0. 1. ]] SLAMing on 5.248973797 meters Centerline goodness : 0.148506 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.18, Z:3.39 [[ 0.99678743 0.01977663 0.0776125 -0.17929186] [-0.01819139 0.9996123 -0.02107917 -0.17748632] [-0.07799928 0.01959957 0.99676074 3.38501819] [ 0. 0. 0. 1. ]] SLAMing on 5.308973796999999 meters Centerline goodness : 0.159663 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.18, Z:3.43 [[ 0.99751641 0.02099407 0.06723294 -0.18815057] [-0.01898742 0.99935905 -0.03034758 -0.17924994] [-0.06782697 0.02899562 0.99727567 3.42789268] [ 0. 0. 0. 1. ]] SLAMing on 5.368973797 meters Centerline goodness : 0.116638 with order 1 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:3.47 [[ 0.99787437 0.0173677 0.06281011 -0.21341752] [-0.01533642 0.99934823 -0.03267892 -0.18145185] [-0.06333673 0.03164617 0.99749034 3.46979535] [ 0. 0. 0. 1. ]] SLAMing on 5.428973796999999 meters Centerline goodness : 0.295404 with order 1 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.18, Z:3.52 [[ 0.99716018 0.01299615 0.07417999 -0.23155762] [-0.01096087 0.99955401 -0.02777859 -0.18268567] [-0.07450792 0.02688662 0.9968579 3.51522028] [ 0. 0. 0. 1. ]] SLAMing on 5.488973797 meters Centerline goodness : 0.191866 with order 3 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:3.55 [[ 0.99579286 0.01087438 0.0909853 -0.23750719] [-0.00864704 0.99965407 -0.02483875 -0.18687318] [-0.09122393 0.0239475 0.99554242 3.55036001] [ 0. 0. 0. 1. ]] SLAMing on 5.5489737969999995 meters Centerline goodness : 0.074739 with order 1 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.19, Z:3.59 [[ 0.99435269 0.00826098 0.105804 -0.2459112 ] [-0.00591817 0.99973072 -0.02243781 -0.19386284] [-0.10596087 0.02168493 0.99413382 3.59395251] [ 0. 0. 0. 1. ]] SLAMing on 5.608973797 meters Centerline goodness : 0.638363 with order 1 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:3.63 [[ 0.99551036 0.00612968 0.09445396 -0.25359286] [-0.00400344 0.99973467 -0.02268392 -0.19944557] [-0.09456795 0.02220394 0.99527076 3.62725483] [ 0. 0. 0. 1. ]] SLAMing on 5.668973797 meters Centerline goodness : 0.215129 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:3.66 [[ 9.97131346e-01 2.90646088e-03 7.56348544e-02 -2.42662465e-01] [-1.05591399e-03 9.99699386e-01 -2.44953498e-02 -2.05250277e-01] [-7.56833123e-02 2.43452172e-02 9.96834664e-01 3.66086349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728973797 meters Centerline goodness : 0.079933 with order 1 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.21, Z:3.69 [[ 9.96941952e-01 1.41168336e-03 7.81329056e-02 -2.30277921e-01] [ 5.60784284e-04 9.99681835e-01 -2.52173341e-02 -2.06898351e-01] [-7.81436454e-02 2.51840340e-02 9.96623969e-01 3.68736834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788973797 meters Centerline goodness : 0.664052 with order 1 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.21, Z:3.73 [[ 0.99685418 -0.00391229 0.0791608 -0.20444595] [ 0.00556197 0.99977171 -0.02062992 -0.20808067] [-0.07906202 0.02100531 0.99664837 3.73116077] [ 0. 0. 0. 1. ]] SLAMing on 5.848973796999999 meters Centerline goodness : 0.160929 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.21, Z:3.77 [[ 0.99770548 -0.00869082 0.06714344 -0.18852905] [ 0.00981416 0.99981704 -0.01641866 -0.20676658] [-0.06698847 0.01703995 0.99760823 3.76983185] [ 0. 0. 0. 1. ]] SLAMing on 5.908973797 meters Centerline goodness : 0.378764 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:3.79 [[ 0.99823784 -0.00915333 0.05862955 -0.18649697] [ 0.01045175 0.99970602 -0.02187785 -0.20444909] [-0.05841206 0.02245208 0.99804005 3.79136694] [ 0. 0. 0. 1. ]] SLAMing on 5.968973796999999 meters Centerline goodness : 0.676435 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:3.83 [[ 0.9985346 -0.01004311 0.05317699 -0.18981219] [ 0.01178805 0.99939888 -0.03260259 -0.20220641] [-0.05281759 0.03318167 0.99805274 3.82764705] [ 0. 0. 0. 1. ]] SLAMing on 6.028973797 meters Centerline goodness : 0.689535 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.20, Z:3.87 [[ 0.99809179 -0.01016622 0.060905 -0.19477916] [ 0.01220354 0.99937513 -0.03317274 -0.19856362] [-0.0605297 0.0338527 0.99759218 3.87368287] [ 0. 0. 0. 1. ]] SLAMing on 6.0889737969999995 meters Centerline goodness : 0.384862 with order 2 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.19, Z:3.91 [[ 0.99745392 -0.01185428 0.07032178 -0.20398566] [ 0.01381894 0.99952579 -0.02751778 -0.19491271] [-0.06996223 0.02841949 0.99714473 3.90648012] [ 0. 0. 0. 1. ]] SLAMing on 6.148973797 meters Centerline goodness : 0.666063 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:3.96 [[ 0.99674355 -0.01060357 0.07993665 -0.21519513] [ 0.0126091 0.99961721 -0.02462611 -0.19247455] [-0.07964493 0.02555385 0.9964957 3.95560452] [ 0. 0. 0. 1. ]] SLAMing on 6.208973797 meters Centerline goodness : 0.686896 with order 1 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.19, Z:4.00 [[ 0.99686809 -0.00934064 0.0785288 -0.22891899] [ 0.01183721 0.99943722 -0.03138667 -0.19203359] [-0.07819144 0.03221794 0.99641764 3.99501072] [ 0. 0. 0. 1. ]] SLAMing on 6.268973797 meters Centerline goodness : 0.455846 with order 2 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.19, Z:4.02 [[ 0.99701698 -0.0114618 0.07632673 -0.24090115] [ 0.01406849 0.9993329 -0.03370207 -0.19483536] [-0.07588952 0.03467534 0.99651312 4.01734321] [ 0. 0. 0. 1. ]] SLAMing on 6.328973797 meters Centerline goodness : 0.240525 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.20, Z:4.06 [[ 0.99732985 -0.01184026 0.07206234 -0.24428171] [ 0.01422907 0.99936305 -0.03272668 -0.19636839] [-0.07162894 0.03366468 0.99686307 4.05936721] [ 0. 0. 0. 1. ]] SLAMing on 6.388973796999999 meters Centerline goodness : 0.200303 with order 1 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:4.10 [[ 0.99641764 -0.01077882 0.08387912 -0.23397644] [ 0.01301778 0.99957217 -0.02619173 -0.19546095] [-0.08356092 0.02718982 0.99613166 4.10471647] [ 0. 0. 0. 1. ]] SLAMing on 6.448973797 meters Centerline goodness : 0.704935 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:4.14 [[ 0.99557147 -0.00513738 0.09386721 -0.22240955] [ 0.00754921 0.99964995 -0.02535707 -0.19344539] [-0.09370408 0.0259534 0.99526176 4.13590896] [ 0. 0. 0. 1. ]] SLAMing on 6.5089737969999995 meters Centerline goodness : 0.164457 with order 1 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.19, Z:4.18 [[ 9.95991548e-01 -2.96979843e-03 8.93980746e-02 -2.02813944e-01] [ 5.04908207e-03 9.99721758e-01 -2.30415585e-02 -1.93661555e-01] [-8.93047716e-02 2.34005757e-02 9.95729416e-01 4.17564030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568973797 meters Centerline goodness : 0.466715 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.19, Z:4.20 [[ 9.98105932e-01 2.64723561e-03 6.14617067e-02 -1.85408853e-01] [-1.00905488e-03 9.99643798e-01 -2.66694351e-02 -1.91234225e-01] [-6.15104142e-02 2.65569032e-02 9.97753076e-01 4.20460815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628973797 meters Centerline goodness : 0.454985 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.19, Z:4.22 [[ 0.99877629 0.0061845 0.0490681 -0.17911843] [-0.00462038 0.99947955 -0.03192622 -0.18998233] [-0.04924001 0.03166044 0.99828505 4.22249933] [ 0. 0. 0. 1. ]] SLAMing on 6.688973797 meters Centerline goodness : 0.475101 with order 1 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.19, Z:4.26 [[ 0.99899534 0.01352985 0.04272296 -0.16567896] [-0.01203965 0.99931664 -0.03494721 -0.18522933] [-0.0431666 0.03439773 0.99847556 4.26093496] [ 0. 0. 0. 1. ]] SLAMing on 6.748973797 meters Centerline goodness : 0.162093 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.18, Z:4.29 [[ 0.99843076 0.02044438 0.05213493 -0.15830702] [-0.01875743 0.99929101 -0.03264398 -0.17878168] [-0.05276536 0.03161483 0.99810637 4.2908112 ] [ 0. 0. 0. 1. ]] SLAMing on 6.808973796999999 meters Centerline goodness : 0.606139 with order 2 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.17, Z:4.34 [[ 0.99695019 0.02860262 0.07260996 -0.15405156] [-0.02662061 0.99925004 -0.02811942 -0.17345805] [-0.07335979 0.02610074 0.99696394 4.33574751] [ 0. 0. 0. 1. ]] SLAMing on 6.868973797 meters Centerline goodness : 0.589904 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:4.36 [[ 0.99633863 0.03444222 0.07825001 -0.15987391] [-0.03229475 0.99907066 -0.02854578 -0.1693001 ] [-0.07916047 0.0259142 0.996525 4.36423611] [ 0. 0. 0. 1. ]] SLAMing on 6.928973796999999 meters Centerline goodness : 0.616531 with order 1 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.16, Z:4.37 [[ 0.99618984 0.04317697 0.07577308 -0.16628464] [-0.04068316 0.99858824 -0.03415274 -0.16290925] [-0.07714072 0.03093992 0.99654003 4.37187138] [ 0. 0. 0. 1. ]] SLAMing on 6.988973797 meters Centerline goodness : 0.553982 with order 1 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.16, Z:4.37 [[ 0.99577791 0.04953233 0.07728459 -0.17476339] [-0.04672611 0.99819582 -0.03770651 -0.1591831 ] [-0.07901285 0.0339361 0.99629579 4.36852046] [ 0. 0. 0. 1. ]] SLAMing on 7.0489737969999995 meters Centerline goodness : 0.051021 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.16, Z:4.37 [[ 0.99511038 0.05739891 0.08037842 -0.18551352] [-0.05436061 0.99774006 -0.03949293 -0.15795321] [-0.08246362 0.0349304 0.99598174 4.36616032] [ 0. 0. 0. 1. ]] SLAMing on 7.108973797 meters Centerline goodness : 0.048065 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.16, Z:4.37 [[ 0.99446544 0.06400395 0.08331857 -0.18919361] [-0.06147276 0.9975762 -0.03260111 -0.15577665] [-0.08520322 0.02729886 0.99598955 4.36977253] [ 0. 0. 0. 1. ]] SLAMing on 7.168973797 meters Centerline goodness : 0.197431 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.15, Z:4.38 [[ 0.99308834 0.0641787 0.09826823 -0.18219338] [-0.06173334 0.99770742 -0.02772919 -0.15242914] [-0.09982256 0.02147111 0.99477357 4.37626939] [ 0. 0. 0. 1. ]] SLAMing on 7.228973796999999 meters Centerline goodness : 0.625000 with order 3 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.15, Z:4.38 [[ 0.99158939 0.06973142 0.10903216 -0.16356308] [-0.06740649 0.99741558 -0.02487015 -0.14952101] [-0.11048461 0.0173115 0.99372706 4.37985747] [ 0. 0. 0. 1. ]] SLAMing on 7.288973797 meters Centerline goodness : 0.629484 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.14, Z:4.37 [[ 0.99313014 0.07514023 0.08970209 -0.1498362 ] [-0.0729989 0.99696856 -0.0269229 -0.14461914] [-0.09145315 0.02018979 0.99560469 4.3711176 ] [ 0. 0. 0. 1. ]] SLAMing on 7.348973796999999 meters Centerline goodness : 0.577328 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:4.36 [[ 0.99419406 0.0779922 0.07413086 -0.14105907] [-0.07601845 0.99668203 -0.02908819 -0.139561 ] [-0.07615355 0.02328399 0.9968242 4.36204981] [ 0. 0. 0. 1. ]] SLAMing on 7.408973797 meters Centerline goodness : 0.607197 with order 1 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:4.36 [[ 0.99469573 0.08022048 0.06438223 -0.1310115 ] [-0.07849773 0.99649647 -0.02885985 -0.13585397] [-0.06647182 0.02365291 0.99750791 4.35504272] [ 0. 0. 0. 1. ]] SLAMing on 7.468973796999999 meters Centerline goodness : 0.050497 with order 1 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:4.36 [[ 0.99282795 0.08962868 0.07911619 -0.11595798] [-0.08716406 0.99561082 -0.03408119 -0.13252995] [-0.08182358 0.02694067 0.99628264 4.3592793 ] [ 0. 0. 0. 1. ]] SLAMing on 7.528973797 meters Centerline goodness : 0.306279 with order 3 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.13, Z:4.36 [[ 0.9912226 0.09624136 0.09063864 -0.10681154] [-0.09341257 0.99501348 -0.03496083 -0.13171559] [-0.09355134 0.02618718 0.99527 4.36483096] [ 0. 0. 0. 1. ]] Total time of SLAM: 332.53 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%| | 0/252 [00:00