+ python -m lidar_slam --result /working/result.json --no-model /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.027535379 Adjusted end_distance from 9.223372036854776e+18 to 4.997535379 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027535379 meters Centerline goodness : 0.192832 with order 1 Centerline is valid? [0, False] SLAMing on 0.087535379 meters Centerline goodness : 0.161790 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99992215e-01 -3.07208502e-03 -2.47632001e-03 4.86261624e-02] [ 3.04983432e-03 9.99955390e-01 -8.93963530e-03 1.15017296e-02] [ 2.50367286e-03 8.93201334e-03 9.99956974e-01 -6.69657621e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.147535379 meters Centerline goodness : 0.176564 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.00 [[ 0.99995221 -0.00783507 -0.00584783 0.1025801 ] [ 0.00778295 0.99993026 -0.00888263 0.02714463] [ 0.00591702 0.0088367 0.99994345 0.0032379 ] [ 0. 0. 0. 1. ]] SLAMing on 0.207535379 meters Centerline goodness : 0.157863 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:0.01 [[ 0.9999134 -0.009238 -0.0093731 0.11156116] [ 0.00916692 0.99992911 -0.00759825 0.03964437] [ 0.00944263 0.00751167 0.9999272 0.00538461] [ 0. 0. 0. 1. ]] SLAMing on 0.267535379 meters Centerline goodness : 0.158007 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.01 [[ 9.99818990e-01 -8.78635518e-03 -1.68756241e-02 1.32570463e-01] [ 8.77308165e-03 9.99961146e-01 -8.60421632e-04 5.96571606e-02] [ 1.68825283e-02 7.12214660e-04 9.99857226e-01 1.14014057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32753537899999996 meters Centerline goodness : 0.135151 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.01 [[ 0.99979565 -0.00554365 -0.01944045 0.14015777] [ 0.00561086 0.99997846 0.00340444 0.07385424] [ 0.01942116 -0.00351282 0.99980522 0.012666 ] [ 0. 0. 0. 1. ]] SLAMing on 0.387535379 meters Centerline goodness : 0.156962 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:0.01 [[ 9.99783784e-01 -4.36191629e-04 -2.07892782e-02 1.71741164e-01] [ 5.09776230e-04 9.99993624e-01 3.53437764e-03 9.65568407e-02] [ 2.07876040e-02 -3.54421134e-03 9.99777632e-01 1.39959664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44753537899999996 meters Centerline goodness : 0.163741 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.12, Z:0.02 [[ 0.99975341 0.00115969 -0.02217616 0.20962503] [-0.00100141 0.99997396 0.00714692 0.11594526] [ 0.02218387 -0.00712295 0.99972853 0.01638766] [ 0. 0. 0. 1. ]] SLAMing on 0.507535379 meters Centerline goodness : 0.164979 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.13, Z:0.02 [[ 9.99741604e-01 -5.55131343e-04 -2.27248232e-02 2.54170898e-01] [ 7.64845168e-04 9.99957195e-01 9.22075177e-03 1.32841604e-01] [ 2.27187318e-02 -9.23575013e-03 9.99699235e-01 1.82001178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5675353790000001 meters Centerline goodness : 0.125550 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.14, Z:0.02 [[ 0.99979289 -0.0055164 -0.01958921 0.27521364] [ 0.0058509 0.99983736 0.01705945 0.14099499] [ 0.01949192 -0.01717053 0.99966256 0.01508107] [ 0. 0. 0. 1. ]] SLAMing on 0.627535379 meters Centerline goodness : 0.123759 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.15, Z:0.02 [[ 0.99974433 -0.01035524 -0.02010107 0.32516093] [ 0.0109029 0.99956702 0.02732956 0.15154054] [ 0.01980936 -0.02754173 0.99942436 0.01582414] [ 0. 0. 0. 1. ]] SLAMing on 0.687535379 meters Centerline goodness : 0.113181 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:0.16, Z:0.02 [[ 0.99964525 -0.01458658 -0.02228487 0.38085303] [ 0.01523356 0.99945915 0.02914357 0.16187631] [ 0.02184771 -0.02947271 0.99932679 0.01759402] [ 0. 0. 0. 1. ]] SLAMing on 0.747535379 meters Centerline goodness : 0.112980 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.02 [[ 0.99958833 -0.02007881 -0.0204942 0.40387314] [ 0.02093929 0.99886961 0.04267364 0.16498808] [ 0.0196142 -0.04308521 0.99887885 0.01515956] [ 0. 0. 0. 1. ]] SLAMing on 0.807535379 meters Centerline goodness : 0.115557 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.17, Z:0.02 [[ 0.99944597 -0.02544258 -0.02145758 0.45817834] [ 0.0262975 0.99883144 0.04054867 0.17424986] [ 0.02040084 -0.04109049 0.99894713 0.0165068 ] [ 0. 0. 0. 1. ]] SLAMing on 0.867535379 meters Centerline goodness : 0.109220 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:0.19, Z:0.01 [[ 0.99937069 -0.02861846 -0.02095712 0.48562229] [ 0.02930801 0.99901325 0.03337 0.18599503] [ 0.01998144 -0.03396322 0.99922332 0.01432249] [ 0. 0. 0. 1. ]] SLAMing on 0.9275353789999999 meters SLAMing on 0.987535379 meters Centerline goodness : 0.113791 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.18, Z:0.03 [[ 0.99897884 -0.03035742 -0.03346194 0.59529767] [ 0.03105888 0.9993043 0.02064625 0.1810248 ] [ 0.03281189 -0.02166446 0.99922672 0.02729874] [ 0. 0. 0. 1. ]] SLAMing on 1.047535379 meters SLAMing on 1.107535379 meters SLAMing on 1.1675353789999998 meters Centerline goodness : 0.205061 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:0.16, Z:0.05 [[ 0.99786811 -0.04110474 -0.05069149 0.71074138] [ 0.04069792 0.99913067 -0.00903205 0.15985341] [ 0.05101869 0.00694975 0.99867352 0.04760595] [ 0. 0. 0. 1. ]] SLAMing on 1.2275353789999999 meters Centerline goodness : 0.755891 with order 3 Centerline is valid? [False, False] Translation: X:0.75, Y:0.15, Z:0.05 [[ 9.97761131e-01 -4.63281753e-02 -4.82330418e-02 7.48439294e-01] [ 4.63140626e-02 9.98925932e-01 -1.41073873e-03 1.50070270e-01] [ 4.82465932e-02 -8.26287846e-04 9.98835113e-01 4.59259957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.287535379 meters Centerline goodness : 0.120950 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:0.04 [[ 0.99786859 -0.04724308 -0.04501516 0.77338396] [ 0.04734609 0.99887779 0.00122419 0.14324117] [ 0.04490681 -0.00335287 0.99898555 0.04305257] [ 0. 0. 0. 1. ]] SLAMing on 1.3475353789999998 meters Centerline goodness : 0.876040 with order 2 Centerline is valid? [False, False] Translation: X:0.82, Y:0.13, Z:0.04 [[ 0.99785102 -0.0486678 -0.04387242 0.81870632] [ 0.04892497 0.99879089 0.00480645 0.13195895] [ 0.04358546 -0.00694258 0.99902558 0.04362835] [ 0. 0. 0. 1. ]] SLAMing on 1.4075353789999998 meters Centerline goodness : 0.878237 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:0.12, Z:0.04 [[ 0.99771201 -0.05162758 -0.04365018 0.86581874] [ 0.05208693 0.99859783 0.00945171 0.11859946] [ 0.04310101 -0.01170369 0.99900217 0.04424577] [ 0. 0. 0. 1. ]] SLAMing on 1.4675353789999999 meters Centerline goodness : 0.896110 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:0.04 [[ 0.99760116 -0.05459527 -0.0425591 0.90796483] [ 0.05492208 0.99846918 0.00654684 0.11329577] [ 0.04213652 -0.00886857 0.9990725 0.04488321] [ 0. 0. 0. 1. ]] SLAMing on 1.527535379 meters Centerline goodness : 0.903567 with order 2 Centerline is valid? [False, False] Translation: X:0.95, Y:0.10, Z:0.05 [[ 0.99701581 -0.06417891 -0.0429016 0.95161445] [ 0.06485422 0.99778885 0.01453747 0.10127821] [ 0.04187374 -0.01727644 0.99897353 0.04540698] [ 0. 0. 0. 1. ]] SLAMing on 1.587535379 meters Centerline goodness : 0.923304 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.05 [[ 0.9965412 -0.07037659 -0.04419026 1.00235553] [ 0.07102738 0.99738527 0.01333175 0.09316091] [ 0.04313647 -0.01642435 0.99893417 0.04655661] [ 0. 0. 0. 1. ]] SLAMing on 1.6475353789999998 meters Centerline goodness : 0.930763 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.05 [[ 0.99623095 -0.07437668 -0.04463186 1.02938542] [ 0.07492674 0.99713079 0.01077844 0.08958676] [ 0.04370214 -0.01408193 0.99894536 0.04603504] [ 0. 0. 0. 1. ]] SLAMing on 1.7075353789999999 meters Centerline goodness : 0.941689 with order 2 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.05 [[ 0.99606482 -0.07617991 -0.04529353 1.07603375] [ 0.07670302 0.9970046 0.00992321 0.0853937 ] [ 0.04440191 -0.01335831 0.99892443 0.04802509] [ 0. 0. 0. 1. ]] SLAMing on 1.767535379 meters Centerline goodness : 0.945757 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.05 [[ 0.9961086 -0.07486699 -0.04650375 1.12305181] [ 0.0753545 0.99711782 0.00881772 0.0858791 ] [ 0.04570956 -0.01228768 0.9988792 0.04880982] [ 0. 0. 0. 1. ]] SLAMing on 1.8275353789999997 meters Centerline goodness : 0.951335 with order 3 Centerline is valid? [False, True] Translation: X:1.16, Y:0.09, Z:0.05 [[ 0.99651745 -0.06927452 -0.0464113 1.15682082] [ 0.06945305 0.9975827 0.00224335 0.0880467 ] [ 0.0461437 -0.00545895 0.9989199 0.04878958] [ 0. 0. 0. 1. ]] SLAMing on 1.8875353789999998 meters Centerline goodness : 0.953973 with order 2 Centerline is valid? [True, True] Translation: X:1.26, Y:0.10, Z:0.05 [[ 0.99678157 -0.06610263 -0.04535358 1.25547363] [ 0.06566902 0.99778098 -0.01098644 0.09883722] [ 0.04597917 0.00797276 0.99891058 0.04812895] [ 0. 0. 0. 1. ]] SLAMing on 1.9475353789999998 meters Centerline goodness : 0.959060 with order 1 Centerline is valid? [True, True] Translation: X:1.34, Y:0.10, Z:0.04 [[ 0.99669907 -0.06712949 -0.04565743 1.33528229] [ 0.06688693 0.99773724 -0.00682151 0.10048624] [ 0.04601205 0.00374511 0.99893386 0.04391306] [ 0. 0. 0. 1. ]] SLAMing on 2.007535379 meters Centerline goodness : 0.963758 with order 1 Centerline is valid? [True, True] Translation: X:1.40, Y:0.10, Z:0.04 [[ 9.96411146e-01 -7.11130561e-02 -4.59103685e-02 1.39502212e+00] [ 7.10399254e-02 9.97468261e-01 -3.22460642e-03 1.01185103e-01] [ 4.60234470e-02 -4.84353785e-05 9.98940359e-01 3.92224589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.067535379 meters Centerline goodness : 0.970434 with order 1 Centerline is valid? [True, True] Translation: X:1.45, Y:0.11, Z:0.05 [[ 9.95636038e-01 -8.12473382e-02 -4.59102300e-02 1.45467621e+00] [ 8.11848760e-02 9.96693837e-01 -3.22657747e-03 1.05777422e-01] [ 4.60205941e-02 -5.14719525e-04 9.98940359e-01 5.48486087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1275353790000002 meters Centerline goodness : 0.972622 with order 1 Centerline is valid? [True, True] Translation: X:1.51, Y:0.11, Z:0.06 [[ 9.95518201e-01 -8.26786818e-02 -4.59101988e-02 1.51320663e+00] [ 8.26177200e-02 9.96576088e-01 -3.22702109e-03 1.08566876e-01] [ 4.60198122e-02 -5.80437724e-04 9.98940359e-01 5.98511010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1875353790000003 meters Centerline goodness : 0.975882 with order 1 Centerline is valid? [True, True] Translation: X:1.57, Y:0.11, Z:0.06 [[ 9.95270858e-01 -8.56052701e-02 -4.59092270e-02 1.57041929e+00] [ 8.55467840e-02 9.96328884e-01 -3.24078856e-03 1.13660039e-01] [ 4.60181174e-02 -7.01924308e-04 9.98940359e-01 6.43936083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.247535379 meters Centerline goodness : 0.979484 with order 1 Centerline is valid? [True, True] Translation: X:1.63, Y:0.12, Z:0.06 [[ 9.94941782e-01 -8.93488888e-02 -4.59088868e-02 1.62775933e+00] [ 8.92941615e-02 9.96000009e-01 -3.24560033e-03 1.23171584e-01] [ 4.60152424e-02 -8.70212174e-04 9.98940359e-01 6.36561212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.307535379 meters Centerline goodness : 0.980688 with order 1 Centerline is valid? [True, True] Translation: X:1.69, Y:0.13, Z:0.09 [[ 9.95708800e-01 -8.03516606e-02 -4.59085539e-02 1.68707037e+00] [ 8.02871531e-02 9.96766476e-01 -3.25030211e-03 1.25266048e-01] [ 4.60212747e-02 -4.49512676e-04 9.98940359e-01 9.28114762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.367535379 meters Centerline goodness : 0.983418 with order 1 Centerline is valid? [True, True] Translation: X:1.74, Y:0.13, Z:0.09 [[ 9.95826262e-01 -7.88825780e-02 -4.59085491e-02 1.74326929e+00] [ 7.88165071e-02 9.96883841e-01 -3.25037035e-03 1.33029173e-01] [ 4.60218883e-02 -3.81547324e-04 9.98940359e-01 9.43951553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.427535379 meters Centerline goodness : 0.986543 with order 1 Centerline is valid? [True, True] Translation: X:1.80, Y:0.14, Z:0.08 [[ 9.95465849e-01 -8.33078272e-02 -4.59080630e-02 1.80230120e+00] [ 8.32461416e-02 9.96523693e-01 -3.25722081e-03 1.40424896e-01] [ 4.60198245e-02 -5.79217034e-04 9.98940359e-01 7.66608974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.487535379 meters Centerline goodness : 0.986741 with order 1 Centerline is valid? [True, True] Translation: X:1.86, Y:0.15, Z:0.10 [[ 9.96477082e-01 -7.01846892e-02 -4.59078846e-02 1.86151508e+00] [ 7.01089554e-02 9.97534014e-01 -3.25973354e-03 1.48249370e-01] [ 4.60234598e-02 2.96959387e-05 9.98940359e-01 9.92537236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.547535379 meters Centerline goodness : 0.987810 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:0.16, Z:0.10 [[ 9.96733172e-01 -6.64488505e-02 -4.59078887e-02 1.91939296e+00] [ 6.63691578e-02 9.97789812e-01 -3.25967524e-03 1.55590363e-01] [ 4.60230254e-02 2.02158525e-04 9.98940359e-01 1.02132344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.607535379 meters Centerline goodness : 0.990650 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:0.16, Z:0.11 [[ 9.96679833e-01 -6.72443690e-02 -4.59075655e-02 1.97738975e+00] [ 6.71653104e-02 9.97736521e-01 -3.26422060e-03 1.63200629e-01] [ 4.60231552e-02 1.69986952e-04 9.98940359e-01 1.05314831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.667535379 meters Centerline goodness : 0.990529 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:0.17, Z:0.11 [[ 9.96588389e-01 -6.85870367e-02 -4.59064484e-02 2.03445276e+00] [ 6.85086814e-02 9.97645129e-01 -3.27985714e-03 1.70090476e-01] [ 4.60233003e-02 1.23677293e-04 9.98940359e-01 1.08389907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.727535379 meters Centerline goodness : 0.991741 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:0.18, Z:0.11 [[ 9.96311756e-01 -7.24950080e-02 -4.59059673e-02 2.09062431e+00] [ 7.24204882e-02 9.97368774e-01 -3.28657611e-03 1.77621755e-01] [ 4.60234387e-02 -5.00781477e-05 9.98940359e-01 1.11419457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.787535379 meters Centerline goodness : 0.991968 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:0.18, Z:0.11 [[ 9.96033321e-01 -7.62253578e-02 -4.59055305e-02 2.14824601e+00] [ 7.61545160e-02 9.97090592e-01 -3.29266631e-03 1.83757584e-01] [ 4.60229572e-02 -2.16308097e-04 9.98940359e-01 1.14687400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.847535379 meters Centerline goodness : 0.992934 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:0.19, Z:0.12 [[ 9.95578083e-01 -8.19576380e-02 -4.59045430e-02 2.20532347e+00] [ 8.18922513e-02 9.96635704e-01 -3.30637652e-03 1.91745209e-01] [ 4.60210894e-02 -4.67470381e-04 9.98940359e-01 1.16738977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.907535379 meters Centerline goodness : 0.993850 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:0.20, Z:0.12 [[ 9.95173779e-01 -8.67295765e-02 -4.59034848e-02 2.26330894e+00] [ 8.66685864e-02 9.96231663e-01 -3.32100325e-03 2.01005657e-01] [ 4.60185342e-02 -6.73414784e-04 9.98940359e-01 1.15617233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.967535379 meters Centerline goodness : 0.994419 with order 1 Centerline is valid? [True, True] Translation: X:2.32, Y:0.21, Z:0.12 [[ 9.95096653e-01 -8.76106198e-02 -4.59023919e-02 2.32054758e+00] [ 8.75498728e-02 9.96154552e-01 -3.33604104e-03 2.07094482e-01] [ 4.60181492e-02 -6.99065300e-04 9.98940359e-01 1.21639463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.027535379 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:0.21, Z:0.13 [[ 9.94971434e-01 -8.90220058e-02 -4.59012941e-02 2.37792994e+00] [ 8.89620659e-02 9.96029378e-01 -3.35107846e-03 2.12778692e-01] [ 4.60173571e-02 -7.49246607e-04 9.98940359e-01 1.25161207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.087535379 meters Centerline goodness : 0.995575 with order 1 Centerline is valid? [True, True] Translation: X:2.44, Y:0.22, Z:0.13 [[ 9.94912936e-01 -8.96739594e-02 -4.59002346e-02 2.43567591e+00] [ 8.96140463e-02 9.95970881e-01 -3.36552846e-03 2.22381438e-01] [ 4.60170973e-02 -7.64897944e-04 9.98940359e-01 1.28815729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1475353790000002 meters Centerline goodness : 0.995806 with order 1 Centerline is valid? [True, True] Translation: X:2.49, Y:0.23, Z:0.13 [[ 9.94926706e-01 -8.95216264e-02 -4.58991065e-02 2.49276156e+00] [ 8.94608449e-02 9.95984602e-01 -3.38084359e-03 2.32763848e-01] [ 4.60174619e-02 -7.42481275e-04 9.98940360e-01 1.30515731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.207535379 meters Centerline goodness : 0.997241 with order 1 Centerline is valid? [True, True] Translation: X:2.55, Y:0.25, Z:0.13 [[ 9.94582400e-01 -9.32696351e-02 -4.58979894e-02 2.55003259e+00] [ 9.32121434e-02 9.95640479e-01 -3.39594207e-03 2.45242273e-01] [ 4.60146344e-02 -9.00705762e-04 9.98940360e-01 1.26631174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.267535379 meters Centerline goodness : 0.997015 with order 1 Centerline is valid? [True, True] Translation: X:2.61, Y:0.25, Z:0.13 [[ 9.95026660e-01 -8.84048762e-02 -4.58968850e-02 2.60904477e+00] [ 8.83415257e-02 9.96084405e-01 -3.41080273e-03 2.51839846e-01] [ 4.60187030e-02 -6.60761197e-04 9.98940360e-01 1.25349225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.327535379 meters Centerline goodness : 0.997330 with order 1 Centerline is valid? [True, True] Translation: X:2.67, Y:0.26, Z:0.13 [[ 9.95367392e-01 -8.44826499e-02 -4.58959302e-02 2.66588236e+00] [ 8.44145410e-02 9.96424841e-01 -3.42360360e-03 2.62829157e-01] [ 4.60210800e-02 -4.66540488e-04 9.98940360e-01 1.33276197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.387535379 meters Centerline goodness : 0.997719 with order 1 Centerline is valid? [True, True] Translation: X:2.72, Y:0.27, Z:0.14 [[ 9.95587395e-01 -8.18494569e-02 -4.58955892e-02 2.72305674e+00] [ 8.17783407e-02 9.96644646e-01 -3.42816847e-03 2.70961170e-01] [ 4.60221870e-02 -3.40223807e-04 9.98940360e-01 1.37290364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.447535379 meters Centerline goodness : 0.998299 with order 1 Centerline is valid? [True, True] Translation: X:2.78, Y:0.28, Z:0.14 [[ 9.95828095e-01 -7.88675988e-02 -4.58945297e-02 2.78130562e+00] [ 7.87926657e-02 9.96885082e-01 -3.44229461e-03 2.80310346e-01] [ 4.60230575e-02 -1.88218654e-04 9.98940360e-01 1.41861806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.507535379 meters Centerline goodness : 0.998689 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:0.29, Z:0.15 [[ 9.95954104e-01 -7.72605927e-02 -4.58936093e-02 2.83955331e+00] [ 7.71833907e-02 9.97010928e-01 -3.45452161e-03 2.89943389e-01] [ 4.60233284e-02 -1.01679406e-04 9.98940360e-01 1.47818797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.567535379 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:0.30, Z:0.15 [[ 9.96101532e-01 -7.53365736e-02 -4.58926886e-02 2.89814384e+00] [ 7.52567688e-02 9.97158162e-01 -3.46671003e-03 2.98350155e-01] [ 4.60234391e-02 -5.40283031e-07 9.98940360e-01 1.52999782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.627535379 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:0.31, Z:0.15 [[ 9.96141490e-01 -7.48069344e-02 -4.58917766e-02 2.95402123e+00] [ 7.47260135e-02 9.97198035e-01 -3.47874144e-03 3.09490715e-01] [ 4.60234234e-02 3.60091622e-05 9.98940360e-01 1.53832501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.687535379 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:0.32, Z:0.16 [[ 9.96006337e-01 -7.65856533e-02 -4.58913273e-02 3.01135518e+00] [ 7.65063466e-02 9.97063005e-01 -3.48465858e-03 3.17872204e-01] [ 4.60234195e-02 -4.02357631e-05 9.98940360e-01 1.57535373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.747535379 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:0.33, Z:0.16 [[ 9.95868510e-01 -7.83580820e-02 -4.58903146e-02 3.06789327e+00] [ 7.82800436e-02 9.96925273e-01 -3.49794466e-03 3.27018746e-01] [ 4.60233066e-02 -1.08802889e-04 9.98940360e-01 1.61123833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.807535379 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:3.13, Y:0.33, Z:0.16 [[ 9.95776860e-01 -7.95145470e-02 -4.58898782e-02 3.12577441e+00] [ 7.94374725e-02 9.96833693e-01 -3.50366073e-03 3.34365825e-01] [ 4.60231687e-02 -1.56511655e-04 9.98940360e-01 1.63269296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.867535379 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:0.34, Z:0.16 [[ 9.95570726e-01 -8.20557155e-02 -4.58888869e-02 3.18232186e+00] [ 8.19807423e-02 9.96627710e-01 -3.51659569e-03 3.41942564e-01] [ 4.60226930e-02 -2.60985294e-04 9.98940360e-01 1.64893137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.927535379 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:3.24, Y:0.35, Z:0.17 [[ 9.95381268e-01 -8.43232005e-02 -4.58882177e-02 3.24009478e+00] [ 8.42502336e-02 9.96438393e-01 -3.52530704e-03 3.48534522e-01] [ 4.60220470e-02 -3.57068465e-04 9.98940360e-01 1.69073781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.987535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.30, Y:0.36, Z:0.17 [[ 9.94914129e-01 -8.96673706e-02 -4.58872388e-02 3.29734313e+00] [ 8.95994962e-02 9.95971592e-01 -3.53800256e-03 3.55679733e-01] [ 4.60196297e-02 -5.91464744e-04 9.98940361e-01 1.72928347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.047535378999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.36, Y:0.36, Z:0.18 [[ 9.94537990e-01 -9.37478229e-02 -4.58860685e-02 3.35529737e+00] [ 9.36835897e-02 9.95595681e-01 -3.55311649e-03 3.62676703e-01] [ 4.60170686e-02 -7.65062279e-04 9.98940361e-01 1.76389740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.107535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.41, Y:0.37, Z:0.18 [[ 9.94244726e-01 -9.68090844e-02 -4.58849126e-02 3.41246317e+00] [ 9.67474218e-02 9.95302570e-01 -3.56798170e-03 3.70600341e-01] [ 4.60147845e-02 -8.91800010e-04 9.98940361e-01 1.80996875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.167535378999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.47, Y:0.38, Z:0.19 [[ 9.94120680e-01 -9.80748703e-02 -4.58845580e-02 3.46967906e+00] [ 9.80143445e-02 9.95178590e-01 -3.57253591e-03 3.78692503e-01] [ 4.60137057e-02 -9.45813051e-04 9.98940361e-01 1.85264697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.227535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.53, Y:0.39, Z:0.19 [[ 9.94143122e-01 -9.78472913e-02 -4.58842132e-02 3.52697434e+00] [ 9.77863193e-02 9.95201005e-01 -3.57695864e-03 3.85691913e-01] [ 4.60140109e-02 -9.30839496e-04 9.98940361e-01 1.89065522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2875353789999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.58, Y:0.39, Z:0.19 [[ 9.94553398e-01 -9.35856707e-02 -4.58831246e-02 3.58438772e+00] [ 9.35195237e-02 9.95610970e-01 -3.59086955e-03 3.93612851e-01] [ 4.60177961e-02 -7.19656446e-04 9.98940361e-01 1.93445649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.347535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.64, Y:0.40, Z:0.19 [[ 9.94985206e-01 -8.88774997e-02 -4.58827896e-02 3.64241763e+00] [ 8.88061510e-02 9.96042440e-01 -3.59514506e-03 4.00943421e-01] [ 4.60207332e-02 -4.97557790e-04 9.98940361e-01 1.94142423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.407535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.70, Y:0.41, Z:0.20 [[ 9.95229063e-01 -8.61045007e-02 -4.58816709e-02 3.69982217e+00] [ 8.60295506e-02 9.96286048e-01 -3.60936536e-03 4.07129997e-01] [ 4.60220512e-02 -3.55034225e-04 9.98940361e-01 2.00674062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.467535378999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.76, Y:0.41, Z:0.20 [[ 9.95393781e-01 -8.41791445e-02 -4.58812782e-02 3.75687952e+00] [ 8.41019201e-02 9.96450603e-01 -3.61434966e-03 4.09885557e-01] [ 4.60226802e-02 -2.61002424e-04 9.98940361e-01 2.04481395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.527535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.82, Y:0.41, Z:0.20 [[ 9.95446744e-01 -8.35509056e-02 -4.58805701e-02 3.81554310e+00] [ 8.34726010e-02 9.96503485e-01 -3.62331726e-03 4.13751224e-01] [ 4.60228794e-02 -2.22951148e-04 9.98940361e-01 2.02480130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587535378999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.87, Y:0.42, Z:0.21 [[ 9.95559012e-01 -8.22030078e-02 -4.58793900e-02 3.87338129e+00] [ 8.21225866e-02 9.96615595e-01 -3.63819890e-03 4.16890685e-01] [ 4.60231864e-02 -1.45692468e-04 9.98940361e-01 2.05316353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.647535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.93, Y:0.42, Z:0.21 [[ 9.95404761e-01 -8.40504689e-02 -4.58789780e-02 3.93106779e+00] [ 8.39717696e-02 9.96461473e-01 -3.64338676e-03 4.17847909e-01] [ 4.60228623e-02 -2.25894442e-04 9.98940361e-01 2.07202233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.707535378999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.99, Y:0.42, Z:0.21 [[ 9.95124964e-01 -8.73014700e-02 -4.58776585e-02 3.98835736e+00] [ 8.72254602e-02 9.96181873e-01 -3.65992719e-03 4.18944682e-01] [ 4.60220088e-02 -3.59614963e-04 9.98940361e-01 2.14166394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.767535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.05, Y:0.42, Z:0.21 [[ 9.94809410e-01 -9.08268371e-02 -4.58772547e-02 4.04668787e+00] [ 9.07543397e-02 9.95866566e-01 -3.66498131e-03 4.21344454e-01] [ 4.60205028e-02 -5.17602063e-04 9.98940361e-01 2.11075391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8275353789999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.10, Y:0.42, Z:0.21 [[ 9.94267473e-01 -9.65794443e-02 -4.58759609e-02 4.10442652e+00] [ 9.65123191e-02 9.95324983e-01 -3.68110520e-03 4.21368778e-01] [ 4.60170091e-02 -7.67592215e-04 9.98940361e-01 2.14570734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.887535378999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.16, Y:0.42, Z:0.22 [[ 9.93740846e-01 -1.01856003e-01 -4.58746741e-02 4.16265385e+00] [ 1.01793756e-01 9.94798654e-01 -3.69707293e-03 4.22048096e-01] [ 4.60126331e-02 -9.95822999e-04 9.98940362e-01 2.16315001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.947535379 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.22, Y:0.43, Z:0.22 [[ 9.93586346e-01 -1.03352834e-01 -4.58733608e-02 4.22075859e+00] [ 1.03291432e-01 9.94644203e-01 -3.71329743e-03 4.25594355e-01] [ 4.60114522e-02 -1.04884349e-03 9.98940362e-01 2.17678190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 158.66 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%| | 0/166 [00:00