+ python -m lidar_slam --result /working/result.json --no-model /working/999ba04f-bc86-438c-9dfe-66d678bdec10 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/999ba04f-bc86-438c-9dfe-66d678bdec10 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.028779192 Adjusted end_distance from 9.223372036854776e+18 to 7.768779192 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028779192 meters Centerline goodness : 0.904036 with order 1 Centerline is valid? [0, False] SLAMing on 0.08877919199999999 meters Centerline goodness : 0.864796 with order 3 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:0.01 [[ 0.99984375 -0.01688399 0.00523589 0.0160911 ] [ 0.01689739 0.99985404 -0.00252444 0.01211868] [-0.00519251 0.00261252 0.99998311 0.01105946] [ 0. 0. 0. 1. ]] SLAMing on 0.148779192 meters Centerline goodness : 0.889065 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:0.02 [[ 0.99986742 -0.01589431 0.00353766 0.03861971] [ 0.01585476 0.99981445 0.01094031 0.02303607] [-0.00371089 -0.01088277 0.9999339 0.01580354] [ 0. 0. 0. 1. ]] SLAMing on 0.208779192 meters Centerline goodness : 0.178808 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:0.02 [[ 0.99994046 -0.00648534 0.00877613 0.06835104] [ 0.00631279 0.99978898 0.0195485 0.02724278] [-0.00890106 -0.01949193 0.99977039 0.0150544 ] [ 0. 0. 0. 1. ]] SLAMing on 0.268779192 meters Centerline goodness : 0.168612 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:0.01 [[ 0.99989193 -0.0036215 0.01424848 0.09599011] [ 0.00331574 0.99976497 0.02142454 0.02619193] [-0.01432272 -0.02137498 0.99966893 0.01286893] [ 0. 0. 0. 1. ]] SLAMing on 0.328779192 meters Centerline goodness : 0.168338 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:0.01 [[ 0.99983326 -0.00290739 0.01802763 0.1259495 ] [ 0.00253058 0.99977859 0.02088956 0.02284147] [-0.01808438 -0.02084046 0.99961924 0.00713886] [ 0. 0. 0. 1. ]] SLAMing on 0.388779192 meters Centerline goodness : 0.186893 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.00 [[ 9.99704328e-01 -8.23753504e-03 2.28779348e-02 1.48527244e-01] [ 7.68305871e-03 9.99677145e-01 2.42193392e-02 2.75563235e-02] [-2.30700562e-02 -2.40364057e-02 9.99444858e-01 -5.44018522e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448779192 meters Centerline goodness : 0.877669 with order 2 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.01 [[ 0.9998151 -0.00763535 0.01764847 0.17098298] [ 0.00711304 0.99954033 0.02947076 0.03762628] [-0.01786538 -0.02933977 0.99940983 -0.00866169] [ 0. 0. 0. 1. ]] SLAMing on 0.508779192 meters Centerline goodness : 0.201252 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:0.05, Z:-0.01 [[ 0.99979313 -0.00531511 0.01963281 0.19578534] [ 0.00448421 0.99910224 0.04212602 0.04663827] [-0.01983909 -0.04202927 0.99891939 -0.01395874] [ 0. 0. 0. 1. ]] SLAMing on 0.568779192 meters Centerline goodness : 0.152207 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.02 [[ 0.99976508 -0.0024842 0.02153153 0.2329363 ] [ 0.00141822 0.99877895 0.04938218 0.05475082] [-0.02162791 -0.04934004 0.99854784 -0.01634447] [ 0. 0. 0. 1. ]] SLAMing on 0.628779192 meters Centerline goodness : 0.136059 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.06, Z:-0.02 [[ 0.99971752 -0.0050593 0.02322246 0.26984465] [ 0.00392402 0.99880695 0.04867534 0.06109801] [-0.02344102 -0.04857046 0.99854466 -0.0220719 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6887791919999999 meters Centerline goodness : 0.134827 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.06, Z:-0.03 [[ 0.99973071 -0.00687127 0.02216503 0.30887175] [ 0.00577651 0.99877803 0.04908244 0.06396048] [-0.02247521 -0.04894119 0.99854876 -0.0299038 ] [ 0. 0. 0. 1. ]] SLAMing on 0.748779192 meters Centerline goodness : 0.135952 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:0.07, Z:-0.04 [[ 0.99986025 -0.00601246 0.01559917 0.36138954] [ 0.00530159 0.99896302 0.0452193 0.06511682] [-0.01585487 -0.04513028 0.99885529 -0.03538711] [ 0. 0. 0. 1. ]] SLAMing on 0.808779192 meters Centerline goodness : 0.140240 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:-0.04 [[ 0.99991752 -0.00840676 0.00971003 0.41162988] [ 0.00802603 0.99922232 0.03860499 0.0646154 ] [-0.01002703 -0.03852388 0.99920737 -0.03992324] [ 0. 0. 0. 1. ]] SLAMing on 0.868779192 meters Centerline goodness : 0.143434 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.07, Z:-0.04 [[ 0.99990284 -0.01249039 0.00618878 0.42336562] [ 0.01226991 0.99933047 0.03446823 0.06788535] [-0.00661516 -0.03438895 0.99938663 -0.0430698 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9287791919999999 meters Centerline goodness : 0.143304 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:-0.04 [[ 9.99905365e-01 -1.37360770e-02 -7.62959000e-04 4.78577980e-01] [ 1.37526930e-02 9.99463081e-01 2.97390751e-02 7.01767121e-02] [ 3.54051128e-04 -2.97467534e-02 9.99557405e-01 -4.42611035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.988779192 meters Centerline goodness : 0.142252 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:-0.05 [[ 0.99988147 -0.01531258 0.00160394 0.53462096] [ 0.0152594 0.99945927 0.02912578 0.07123693] [-0.00204906 -0.02909785 0.99957447 -0.04899319] [ 0. 0. 0. 1. ]] SLAMing on 1.048779192 meters Centerline goodness : 0.141377 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:-0.05 [[ 0.99977331 -0.02063245 0.00525644 0.59437777] [ 0.02046414 0.99933195 0.03027997 0.07310579] [-0.00587768 -0.03016553 0.99952764 -0.05229123] [ 0. 0. 0. 1. ]] SLAMing on 1.108779192 meters Centerline goodness : 0.139454 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.06 [[ 0.99909958 -0.03926993 0.01605938 0.64247259] [ 0.03861219 0.99847729 0.03939787 0.07150617] [-0.01758208 -0.0387423 0.99909454 -0.0568705 ] [ 0. 0. 0. 1. ]] SLAMing on 1.168779192 meters Centerline goodness : 0.728761 with order 2 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:-0.07 [[ 0.9972714 -0.06759379 0.02967889 0.67829812] [ 0.06475234 0.9940093 0.08804907 0.06948375] [-0.03545267 -0.08588704 0.9956739 -0.06560977] [ 0. 0. 0. 1. ]] SLAMing on 1.228779192 meters Centerline goodness : 0.151998 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.05, Z:-0.07 [[ 0.99511964 -0.09075981 0.03872403 0.7306905 ] [ 0.08707006 0.99229106 0.08818872 0.05267423] [-0.0464295 -0.08438663 0.99535079 -0.06804598] [ 0. 0. 0. 1. ]] SLAMing on 1.288779192 meters Centerline goodness : 0.188661 with order 3 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.07 [[ 0.99404389 -0.09764287 0.04840052 0.77877641] [ 0.09311378 0.99172818 0.08834619 0.03708648] [-0.05662653 -0.08331323 0.99491323 -0.07009341] [ 0. 0. 0. 1. ]] SLAMing on 1.3487791919999998 meters Centerline goodness : 0.148027 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.07 [[ 0.99475163 -0.08627233 0.05501156 0.82536167] [ 0.08148332 0.99312471 0.08404625 0.02552283] [-0.06188421 -0.07912262 0.99494219 -0.07449726] [ 0. 0. 0. 1. ]] SLAMing on 1.408779192 meters Centerline goodness : 0.146707 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:0.02, Z:-0.08 [[ 0.99549149 -0.07338583 0.06009333 0.85122735] [ 0.06835144 0.99429126 0.08193276 0.01563618] [-0.06576298 -0.0774559 0.99482451 -0.07833046] [ 0. 0. 0. 1. ]] SLAMing on 1.468779192 meters Centerline goodness : 0.148584 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.08 [[ 0.9961867 -0.06922429 0.05310415 0.89314979] [ 0.06372478 0.99303867 0.09906235 0.00797824] [-0.05959199 -0.09530055 0.99366322 -0.07503816] [ 0. 0. 0. 1. ]] SLAMing on 1.528779192 meters Centerline goodness : 0.146962 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.00, Z:-0.08 [[ 9.96768771e-01 -6.28015656e-02 5.00797352e-02 9.41445538e-01] [ 5.73027385e-02 9.92867018e-01 1.04553726e-01 3.11054403e-04] [-5.62886550e-02 -1.01346183e-01 9.93257539e-01 -7.53425897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.588779192 meters Centerline goodness : 0.834918 with order 2 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.08 [[ 0.99750636 -0.05483019 0.0444377 0.99927726] [ 0.0501615 0.99371054 0.10011588 -0.01105761] [-0.04964759 -0.09763717 0.99398295 -0.07957824] [ 0. 0. 0. 1. ]] SLAMing on 1.648779192 meters Centerline goodness : 0.878058 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.03, Z:-0.08 [[ 0.99771292 -0.05164914 0.04360378 1.05630274] [ 0.04733205 0.99436861 0.09481949 -0.02733583] [-0.04825557 -0.09253877 0.99453908 -0.07970025] [ 0. 0. 0. 1. ]] SLAMing on 1.708779192 meters Centerline goodness : 0.223189 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:-0.08 [[ 0.99832257 -0.0432834 0.03845261 1.11270719] [ 0.03969358 0.99518079 0.08966394 -0.0436247 ] [-0.04214826 -0.08798722 0.99522951 -0.08163541] [ 0. 0. 0. 1. ]] SLAMing on 1.768779192 meters Centerline goodness : 0.274559 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.06, Z:-0.08 [[ 0.99893178 -0.02668668 0.03772419 1.16944763] [ 0.02367667 0.99666429 0.07810059 -0.06234575] [-0.0396826 -0.07712398 0.99623149 -0.08326479] [ 0. 0. 0. 1. ]] SLAMing on 1.8287791919999998 meters Centerline goodness : 0.897833 with order 3 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.08, Z:-0.09 [[ 0.9992115 -0.01074812 0.03822108 1.21619374] [ 0.00798895 0.99739975 0.0716235 -0.07802453] [-0.03889152 -0.07126168 0.99669916 -0.08768614] [ 0. 0. 0. 1. ]] SLAMing on 1.8887791919999999 meters Centerline goodness : 0.879459 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:-0.09 [[ 0.99942124 0.0025101 0.03392474 1.26486145] [-0.00485723 0.99758528 0.06928208 -0.09678184] [-0.03366891 -0.06940676 0.99702011 -0.0899336 ] [ 0. 0. 0. 1. ]] SLAMing on 1.948779192 meters Centerline goodness : 0.199651 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.12, Z:-0.09 [[ 0.9995481 0.00227911 0.0299735 1.29892919] [-0.0039491 0.99843554 0.05577518 -0.11876884] [-0.02979949 -0.05586834 0.99799335 -0.0933285 ] [ 0. 0. 0. 1. ]] SLAMing on 2.008779192 meters Centerline goodness : 0.917689 with order 2 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.14, Z:-0.10 [[ 9.99773897e-01 3.24487783e-04 2.12614393e-02 1.34163378e+00] [-1.33825047e-03 9.98861577e-01 4.76839546e-02 -1.41964017e-01] [-2.12217619e-02 -4.77016263e-02 9.98636166e-01 -9.73405083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068779192 meters Centerline goodness : 0.931571 with order 2 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.10 [[ 0.9996971 -0.00707967 0.02357096 1.38400232] [ 0.00595057 0.99884722 0.04763222 -0.16723962] [-0.02388101 -0.04747753 0.99858679 -0.0997612 ] [ 0. 0. 0. 1. ]] SLAMing on 2.128779192 meters Centerline goodness : 0.932115 with order 2 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.18, Z:-0.10 [[ 0.99972996 0.00647305 0.02231852 1.43228726] [-0.0072621 0.99934484 0.03545633 -0.17826697] [-0.02207439 -0.03560883 0.99912198 -0.10486824] [ 0. 0. 0. 1. ]] SLAMing on 2.188779192 meters Centerline goodness : 0.943500 with order 2 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.10 [[ 0.99939421 0.00641903 0.03420546 1.47294165] [-0.00786595 0.99907248 0.04233573 -0.17808979] [-0.03390198 -0.04257914 0.99851774 -0.10360797] [ 0. 0. 0. 1. ]] SLAMing on 2.2487791919999998 meters Centerline goodness : 0.950785 with order 3 Centerline is valid? [False, True] Translation: X:1.51, Y:-0.17, Z:-0.11 [[ 0.99923077 -0.00555645 0.03882 1.51422149] [ 0.00344083 0.99851581 0.05435378 -0.1743364 ] [-0.0390644 -0.0541784 0.99776684 -0.10615034] [ 0. 0. 0. 1. ]] SLAMing on 2.308779192 meters Centerline goodness : 0.952326 with order 2 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.16, Z:-0.14 [[ 0.99929312 -0.0108734 0.03598644 1.59794564] [ 0.0106358 0.9999204 0.0067873 -0.16148828] [-0.03605738 -0.00639976 0.99932923 -0.14158222] [ 0. 0. 0. 1. ]] SLAMing on 2.368779192 meters Centerline goodness : 0.950753 with order 2 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.16, Z:-0.14 [[ 9.99170221e-01 -1.98954275e-02 3.55393059e-02 1.65560772e+00] [ 1.99160750e-02 9.99801630e-01 -2.27023626e-04 -1.64423371e-01] [-3.55277393e-02 9.34638730e-04 9.99368254e-01 -1.44522308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.428779192 meters Centerline goodness : 0.956821 with order 2 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.16, Z:-0.15 [[ 9.98931404e-01 -2.95898228e-02 3.55034060e-02 1.72827178e+00] [ 2.96351596e-02 9.99560500e-01 -7.51294832e-04 -1.63588789e-01] [-3.54655716e-02 1.80264110e-03 9.99369273e-01 -1.52911934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488779192 meters Centerline goodness : 0.952240 with order 1 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.16, Z:-0.16 [[ 0.9986407 -0.03825585 0.0354011 1.79032901] [ 0.03835787 0.99926163 -0.00220671 -0.16227579] [-0.03529054 0.00356162 0.99937075 -0.16290618] [ 0. 0. 0. 1. ]] SLAMing on 2.548779192 meters Centerline goodness : 0.950694 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.17, Z:-0.17 [[ 0.99793791 -0.05355506 0.03538057 1.84941474] [ 0.05367674 0.99855524 -0.00249759 -0.1661362 ] [-0.0351957 0.00439155 0.99937079 -0.16544685] [ 0. 0. 0. 1. ]] SLAMing on 2.608779192 meters Centerline goodness : 0.955035 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.17, Z:-0.17 [[ 0.99764863 -0.05869766 0.03538074 1.9090874 ] [ 0.05882244 0.99826534 -0.0024952 -0.17043265] [-0.0351729 0.00457051 0.99937079 -0.16580109] [ 0. 0. 0. 1. ]] SLAMing on 2.6687791919999997 meters Centerline goodness : 0.959351 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.17, Z:-0.17 [[ 0.99801285 -0.05213975 0.03538082 1.96899525] [ 0.05226043 0.99863038 -0.00249402 -0.17131035] [-0.03520233 0.00433808 0.99937079 -0.16766442] [ 0. 0. 0. 1. ]] SLAMing on 2.7287791919999997 meters Centerline goodness : 0.958850 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.17, Z:-0.17 [[ 0.99854615 -0.04066659 0.0353809 2.02831194] [ 0.04078012 0.99916504 -0.00249287 -0.17098683] [-0.03524999 0.00393208 0.99937079 -0.17408142] [ 0. 0. 0. 1. ]] SLAMing on 2.788779192 meters Centerline goodness : 0.956332 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.17, Z:-0.18 [[ 0.9988564 -0.03215644 0.03538143 2.08689458] [ 0.03226444 0.99947628 -0.0024854 -0.17319547] [-0.03528298 0.00362412 0.99937079 -0.17610764] [ 0. 0. 0. 1. ]] SLAMing on 2.848779192 meters Centerline goodness : 0.959401 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.17, Z:-0.17 [[ 0.99914081 -0.02158142 0.03538199 2.14640248] [ 0.02168256 0.99976184 -0.00247731 -0.17214505] [-0.0353201 0.00324236 0.99937079 -0.17467149] [ 0. 0. 0. 1. ]] SLAMing on 2.908779192 meters Centerline goodness : 0.962364 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.18, Z:-0.17 [[ 0.9993053 -0.01170471 0.03538256 2.206149 ] [ 0.01179943 0.99992734 -0.00246917 -0.1770579 ] [-0.03535109 0.00288495 0.99937079 -0.17354149] [ 0. 0. 0. 1. ]] SLAMing on 2.968779192 meters Centerline goodness : 0.964956 with order 1 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.18, Z:-0.17 [[ 0.99935722 -0.00576314 0.03538265 2.26835191] [ 0.00585411 0.99997982 -0.0024679 -0.18373938] [-0.03536771 0.00267345 0.99937079 -0.17244905] [ 0. 0. 0. 1. ]] SLAMing on 3.028779192 meters Centerline goodness : 0.965257 with order 1 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.19, Z:-0.18 [[ 0.9993676 -0.00353275 0.03538247 2.32957412] [ 0.00362241 0.99999039 -0.00247045 -0.19329666] [-0.03537341 0.00259706 0.99937079 -0.17774276] [ 0. 0. 0. 1. ]] SLAMing on 3.088779192 meters Centerline goodness : 0.965278 with order 1 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.21, Z:-0.18 [[ 0.99936302 -0.00465311 0.0353823 2.39087809] [ 0.00474357 0.99998569 -0.00247299 -0.20568705] [-0.03537028 0.00263926 0.99937079 -0.18368645] [ 0. 0. 0. 1. ]] SLAMing on 3.148779192 meters Centerline goodness : 0.966511 with order 1 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.21, Z:-0.18 [[ 9.99368026e-01 3.41828282e-03 3.53816947e-02 2.45247332e+00] [-3.33255764e-03 9.99991368e-01 -2.48155921e-03 -2.14538291e-01] [-3.53898719e-02 2.36207939e-03 9.99370791e-01 -1.81669368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2087791919999997 meters Centerline goodness : 0.963760 with order 1 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.22, Z:-0.18 [[ 9.99369632e-01 2.91318574e-03 3.53815241e-02 2.51393669e+00] [-2.82705988e-03 9.99992919e-01 -2.48398893e-03 -2.18685278e-01] [-3.53885099e-02 2.38239741e-03 9.99370791e-01 -1.82562052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268779192 meters Centerline goodness : 0.961250 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.22, Z:-0.19 [[ 9.99372265e-01 -1.80804732e-03 3.53808944e-02 2.57516766e+00] [ 1.89743147e-03 9.99995093e-01 -2.49292564e-03 -2.18557492e-01] [-3.53762135e-02 2.55849356e-03 9.99370791e-01 -1.88864163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328779192 meters Centerline goodness : 0.959903 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.22, Z:-0.19 [[ 9.99198562e-01 -1.87203521e-02 3.53805373e-02 2.63623279e+00] [ 1.88204414e-02 9.99819759e-01 -2.49798430e-03 -2.23160464e-01] [-3.53273971e-02 3.16185965e-03 9.99370791e-01 -1.92506297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388779192 meters Centerline goodness : 0.961346 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.23, Z:-0.19 [[ 9.98542940e-01 -4.07458139e-02 3.53804502e-02 2.69549843e+00] [ 4.08596179e-02 9.99161771e-01 -2.49921641e-03 -2.30597953e-01] [-3.52489607e-02 3.94120658e-03 9.99370791e-01 -1.90267912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448779192 meters Centerline goodness : 0.962498 with order 1 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.23, Z:-0.19 [[ 9.98074715e-01 -5.09419619e-02 3.53804923e-02 2.75467500e+00] [ 5.10620594e-02 9.98692357e-01 -2.49862034e-03 -2.33068687e-01] [-3.52069426e-02 4.30041058e-03 9.99370791e-01 -1.86202006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508779192 meters Centerline goodness : 0.962805 with order 1 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.23, Z:-0.19 [[ 9.98513481e-01 -4.14608589e-02 3.53811399e-02 2.81257957e+00] [ 4.15747631e-02 9.99132294e-01 -2.48941644e-03 -2.29324435e-01] [-3.52472262e-02 3.95667839e-03 9.99370791e-01 -1.87569611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568779192 meters Centerline goodness : 0.963856 with order 1 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.23, Z:-0.19 [[ 9.98907038e-01 -3.05431048e-02 3.53814761e-02 2.87122811e+00] [ 3.06500698e-02 9.99527088e-01 -2.48462903e-03 -2.25972624e-01] [-3.52888555e-02 3.56635813e-03 9.99370791e-01 -1.86880222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6287791919999997 meters Centerline goodness : 0.958159 with order 1 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.23, Z:-0.19 [[ 9.99004819e-01 -2.71564428e-02 3.53821823e-02 2.93114099e+00] [ 2.72609509e-02 9.99625288e-01 -2.47453165e-03 -2.25351481e-01] [-3.53017247e-02 3.43662098e-03 9.99370791e-01 -1.92248769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6887791919999997 meters Centerline goodness : 0.950707 with order 1 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.23, Z:-0.20 [[ 9.99037403e-01 -2.59300196e-02 3.53822279e-02 2.99087560e+00] [ 2.60337430e-02 9.99658004e-01 -2.47387922e-03 -2.28806636e-01] [-3.53059796e-02 3.39262970e-03 9.99370791e-01 -1.97147346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7487791919999998 meters Centerline goodness : 0.947072 with order 1 Centerline is valid? [True, False] Translation: X:3.02, Y:-0.23, Z:-0.19 [[ 0.99923997 -0.01965954 0.0336599 3.01768296] [ 0.01951429 0.99979882 0.00463829 -0.23241773] [-0.03374432 -0.00397792 0.99942258 -0.19323684] [ 0. 0. 0. 1. ]] SLAMing on 3.808779192 meters Centerline goodness : 0.953118 with order 1 Centerline is valid? [False, True] Translation: X:3.04, Y:-0.24, Z:-0.19 [[ 0.99930305 -0.01214923 0.03529595 3.03763282] [ 0.01181794 0.99988428 0.00957979 -0.23515711] [-0.03540826 -0.00915599 0.99933099 -0.18813316] [ 0. 0. 0. 1. ]] SLAMing on 3.868779192 meters Centerline goodness : 0.959639 with order 1 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.23, Z:-0.20 [[ 9.99377144e-01 -7.92800581e-03 3.43870643e-02 3.09800672e+00] [ 8.02136946e-03 9.99964505e-01 -2.57797228e-03 -2.34955520e-01] [-3.43654056e-02 2.85219792e-03 9.99405265e-01 -1.99721457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928779192 meters Centerline goodness : 0.961154 with order 1 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.24, Z:-0.20 [[ 9.99405307e-01 2.56290665e-03 3.43869661e-02 3.16008665e+00] [-2.47566884e-03 9.99993609e-01 -2.57928217e-03 -2.41675194e-01] [-3.43933568e-02 2.49261755e-03 9.99405265e-01 -1.99503650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988779192 meters Centerline goodness : 0.962013 with order 1 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.25, Z:-0.20 [[ 9.99339915e-01 1.17168162e-02 3.43867730e-02 3.22153756e+00] [-1.16348825e-02 9.99928979e-01 -2.58185351e-03 -2.52417034e-01] [-3.44145819e-02 2.18006320e-03 9.99405265e-01 -2.02375496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048779192 meters Centerline goodness : 0.956679 with order 1 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.27, Z:-0.21 [[ 9.99164521e-01 2.20867177e-02 3.43865781e-02 3.28255243e+00] [-2.20108123e-02 9.99754392e-01 -2.58444703e-03 -2.66100381e-01] [-3.44352144e-02 1.82541127e-03 9.99405265e-01 -2.07417984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108779192 meters Centerline goodness : 0.957202 with order 1 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.28, Z:-0.22 [[ 9.98915418e-01 3.13937793e-02 3.43863213e-02 3.34206377e+00] [-3.13232551e-02 9.99505956e-01 -2.58785886e-03 -2.82141930e-01] [-3.44505756e-02 1.50796060e-03 9.99405265e-01 -2.15148963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168779192 meters Centerline goodness : 0.958042 with order 1 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.30, Z:-0.22 [[ 9.98741668e-01 3.65062757e-02 3.43856527e-02 3.40300521e+00] [-3.64384708e-02 9.99332525e-01 -2.59671262e-03 -3.04471107e-01] [-3.44574974e-02 1.34048449e-03 9.99405265e-01 -2.15481262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228779192 meters Centerline goodness : 0.960682 with order 1 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.31, Z:-0.21 [[ 9.98364097e-01 4.56812087e-02 3.43854061e-02 3.46511256e+00] [-4.56187232e-02 9.98955541e-01 -2.59997456e-03 -3.12198648e-01] [-3.44682619e-02 1.02710293e-03 9.99405265e-01 -2.07646522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288779192 meters Centerline goodness : 0.956560 with order 1 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.31, Z:-0.22 [[ 9.98369785e-01 4.55572885e-02 3.43846683e-02 3.52660398e+00] [-4.54943951e-02 9.98961185e-01 -2.60969480e-03 -3.07781426e-01] [-3.44678396e-02 1.04113075e-03 9.99405265e-01 -2.18833144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348779192 meters Centerline goodness : 0.958086 with order 1 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.31, Z:-0.22 [[ 9.98774838e-01 3.55888251e-02 3.43839868e-02 3.58884335e+00] [-3.55197236e-02 9.99365545e-01 -2.61864285e-03 -3.10993127e-01] [-3.44553662e-02 1.39412488e-03 9.99405265e-01 -2.19042404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408779192 meters Centerline goodness : 0.961319 with order 1 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.32, Z:-0.22 [[ 9.99261631e-01 1.71460899e-02 3.43832139e-02 3.64972490e+00] [-1.70657495e-02 9.99850914e-01 -2.62875234e-03 -3.18122780e-01] [-3.44231607e-02 2.04003603e-03 9.99405265e-01 -2.15182890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4687791919999995 meters Centerline goodness : 0.956339 with order 1 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.32, Z:-0.22 [[ 9.99363062e-01 9.55578872e-03 3.43825072e-02 3.71202627e+00] [-9.47065934e-03 9.99951673e-01 -2.63796314e-03 -3.17419898e-01] [-3.44060534e-02 2.31065791e-03 9.99405265e-01 -2.19370036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528779192 meters Centerline goodness : 0.957390 with order 1 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.32, Z:-0.22 [[ 9.99399818e-01 4.23078856e-03 3.43817390e-02 3.77306669e+00] [-4.14218275e-03 9.99987915e-01 -2.64793892e-03 -3.20078634e-01] [-3.43925263e-02 2.50393423e-03 9.99405265e-01 -2.23148099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588779192 meters Centerline goodness : 0.960214 with order 1 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.33, Z:-0.22 [[ 9.99346275e-01 -1.11788212e-02 3.43810475e-02 3.83500041e+00] [ 1.12767894e-02 9.99932885e-01 -2.65688621e-03 -3.25712108e-01] [-3.43490392e-02 3.04285717e-03 9.99405265e-01 -2.21772073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648779192 meters Centerline goodness : 0.962246 with order 1 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.33, Z:-0.22 [[ 9.99170534e-01 -2.18229766e-02 3.43802650e-02 3.89617141e+00] [ 2.19275314e-02 9.99756006e-01 -2.66697440e-03 -3.25379284e-01] [-3.43136750e-02 3.41863657e-03 9.99405265e-01 -2.22100249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708779192 meters Centerline goodness : 0.963328 with order 1 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.33, Z:-0.22 [[ 9.99030578e-01 -2.74941125e-02 3.43799058e-02 3.95521839e+00] [ 2.76021461e-02 9.99615418e-01 -2.67159637e-03 -3.27768164e-01] [-3.42932307e-02 3.61796565e-03 9.99405265e-01 -2.23758954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768779192 meters Centerline goodness : 0.966560 with order 1 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.33, Z:-0.23 [[ 9.98629528e-01 -3.94597924e-02 3.43801036e-02 4.01433037e+00] [ 3.95747377e-02 9.99213049e-01 -2.66904796e-03 -3.28897144e-01] [-3.42477281e-02 4.02597368e-03 9.99405265e-01 -2.25826642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.828779192 meters Centerline goodness : 0.969606 with order 1 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.33, Z:-0.22 [[ 9.98543147e-01 -4.15881867e-02 3.43803086e-02 4.07292461e+00] [ 4.17042857e-02 9.99126440e-01 -2.66640459e-03 -3.30948155e-01] [-3.42393844e-02 4.09632625e-03 9.99405265e-01 -2.24654919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888779191999999 meters Centerline goodness : 0.967815 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.32, Z:-0.23 [[ 9.98417116e-01 -4.45107066e-02 3.43810976e-02 4.13267681e+00] [ 4.46281660e-02 9.99000136e-01 -2.65619249e-03 -3.24391515e-01] [-3.42284922e-02 4.18635337e-03 9.99405266e-01 -2.28837135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948779192 meters Centerline goodness : 0.968884 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.32, Z:-0.23 [[ 9.98215170e-01 -4.88299910e-02 3.43817798e-02 4.19116180e+00] [ 4.89496714e-02 9.98797738e-01 -2.64733269e-03 -3.16437406e-01] [-3.42111747e-02 4.32558447e-03 9.99405266e-01 -2.30456548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0087791919999995 meters Centerline goodness : 0.962985 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.30, Z:-0.23 [[ 9.98503663e-01 -4.25241633e-02 3.43821319e-02 4.25038405e+00] [ 4.26400063e-02 9.99087006e-01 -2.64275235e-03 -3.04492226e-01] [-3.42383604e-02 4.10485222e-03 9.99405266e-01 -2.30974005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068779192 meters Centerline goodness : 0.956997 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.29, Z:-0.23 [[ 9.98853758e-01 -3.33020119e-02 3.43823641e-02 4.31075102e+00] [ 3.34123604e-02 9.99438165e-01 -2.63972769e-03 -2.86069799e-01] [-3.42751386e-02 3.78549786e-03 9.99405266e-01 -2.32937916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128779192 meters Centerline goodness : 0.955923 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.27, Z:-0.24 [[ 9.98974150e-01 -2.94695632e-02 3.43830356e-02 4.37046006e+00] [ 2.95773701e-02 9.99559031e-01 -2.63095186e-03 -2.74540822e-01] [-3.42903408e-02 3.64521266e-03 9.99405266e-01 -2.35149552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188779192 meters Centerline goodness : 0.950946 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.27, Z:-0.24 [[ 9.98890465e-01 -3.21807476e-02 3.43836956e-02 4.43050056e+00] [ 3.22898471e-02 9.99475107e-01 -2.62229831e-03 -2.69322907e-01] [-3.42812603e-02 3.72963305e-03 9.99405266e-01 -2.37084136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248779192 meters Centerline goodness : 0.946530 with order 1 Centerline is valid? [True, False] Translation: X:4.45, Y:-0.27, Z:-0.23 [[ 0.99895623 -0.03115705 0.03340184 4.4545939 ] [ 0.03049297 0.99933065 0.02020987 -0.27198138] [-0.03400916 -0.01917026 0.99923765 -0.2285205 ] [ 0. 0. 0. 1. ]] SLAMing on 5.308779191999999 meters Centerline goodness : 0.942783 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:-0.22 [[ 0.99928865 -0.0201771 0.03186028 4.48219744] [ 0.01898575 0.99912512 0.03726298 -0.27652735] [-0.03258427 -0.03663158 0.99879747 -0.21955447] [ 0. 0. 0. 1. ]] SLAMing on 5.368779192 meters Centerline goodness : 0.946123 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:-0.21 [[ 9.99732679e-01 -3.83078985e-03 2.28012015e-02 4.51286311e+00] [ 2.92367291e-03 9.99207965e-01 3.96849428e-02 -2.80298107e-01] [-2.29351668e-02 -3.96076710e-02 9.98952056e-01 -2.11673759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4287791919999995 meters Centerline goodness : 0.937630 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.28, Z:-0.20 [[ 9.99745607e-01 3.49623809e-03 2.22822421e-02 4.53895893e+00] [-4.55783174e-03 9.98847878e-01 4.77717749e-02 -2.81968579e-01] [-2.20895487e-02 -4.78611807e-02 9.98609713e-01 -2.04710440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488779192 meters Centerline goodness : 0.919308 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.29, Z:-0.20 [[ 9.99791576e-01 3.22256089e-03 2.01598502e-02 4.56727282e+00] [-4.20042020e-03 9.98806930e-01 4.86525726e-02 -2.85385027e-01] [-1.99790122e-02 -4.87271121e-02 9.98612291e-01 -1.98326938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548779192 meters Centerline goodness : 0.912374 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.29, Z:-0.20 [[ 9.99866401e-01 -4.88349006e-04 1.63383349e-02 4.60030590e+00] [-3.22284687e-04 9.98770300e-01 4.95760503e-02 -2.89384794e-01] [-1.63424541e-02 -4.95746926e-02 9.98636708e-01 -1.96093552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608779192 meters Centerline goodness : 0.908516 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.30, Z:-0.19 [[ 0.99990904 -0.00547371 0.0123269 4.63670259] [ 0.00481195 0.9985782 0.05308883 -0.29645947] [-0.01259997 -0.05302469 0.99851371 -0.19315091] [ 0. 0. 0. 1. ]] SLAMing on 5.668779192 meters Centerline goodness : 0.899281 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.30, Z:-0.19 [[ 0.99995142 -0.00823898 0.00541118 4.66826507] [ 0.00795157 0.99865961 0.05114453 -0.30346171] [-0.0058253 -0.05109902 0.9986766 -0.19439312] [ 0. 0. 0. 1. ]] SLAMing on 5.728779192 meters Centerline goodness : 0.901973 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.31, Z:-0.20 [[ 9.99996380e-01 -2.25095715e-03 1.47444680e-03 4.70670979e+00] [ 2.17798061e-03 9.98856744e-01 4.77541828e-02 -3.09541299e-01] [-1.58025375e-03 -4.77507986e-02 9.98858030e-01 -1.95064620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788779192 meters Centerline goodness : 0.901659 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.31, Z:-0.20 [[ 9.99995784e-01 2.61664546e-03 1.25939177e-03 4.72269293e+00] [-2.66856395e-03 9.99064629e-01 4.31595408e-02 -3.14863231e-01] [-1.14528056e-03 -4.31627196e-02 9.99067399e-01 -1.95467137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848779191999999 meters Centerline goodness : 0.901518 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.32, Z:-0.20 [[ 9.99909485e-01 1.31420535e-02 2.88244163e-03 4.73719234e+00] [-1.32547908e-02 9.98970259e-01 4.33904564e-02 -3.19103429e-01] [-2.30923376e-03 -4.34247351e-02 9.99054032e-01 -1.97766510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908779192 meters Centerline goodness : 0.906054 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.33, Z:-0.19 [[ 9.99666680e-01 2.56105108e-02 3.26033107e-03 4.76586645e+00] [-2.57251922e-02 9.98781460e-01 4.21166086e-02 -3.27923795e-01] [-2.17773036e-03 -4.21864430e-02 9.99107382e-01 -1.94651744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9687791919999995 meters Centerline goodness : 0.910338 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.34, Z:-0.19 [[ 9.99514574e-01 3.09729318e-02 3.36075423e-03 4.76731261e+00] [-3.10995523e-02 9.98339522e-01 4.84872891e-02 -3.35637011e-01] [-1.85338027e-03 -4.85682700e-02 9.98818146e-01 -1.94986250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028779192 meters Centerline goodness : 0.402411 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.35, Z:-0.20 [[ 0.99928173 0.03713818 0.00753507 4.77976744] [-0.03745148 0.99819765 0.04689182 -0.34829313] [-0.00578001 -0.04714034 0.99887155 -0.19558001] [ 0. 0. 0. 1. ]] SLAMing on 6.088779192 meters Centerline goodness : 0.133593 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.36, Z:-0.20 [[ 0.99922123 0.03780846 0.01128924 4.80919976] [-0.0383446 0.99792052 0.05181046 -0.36437228] [-0.0093069 -0.05220299 0.99859312 -0.19502902] [ 0. 0. 0. 1. ]] SLAMing on 6.148779192 meters Centerline goodness : 0.127226 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.38, Z:-0.19 [[ 9.99283595e-01 3.76670730e-02 3.67270587e-03 4.85930656e+00] [-3.78122397e-02 9.97767654e-01 5.50449114e-02 -3.83462573e-01] [-1.59112642e-03 -5.51443501e-02 9.98477125e-01 -1.92276250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208779192 meters Centerline goodness : 0.128966 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.40, Z:-0.19 [[ 9.99437523e-01 3.33382421e-02 3.63311636e-03 4.89350272e+00] [-3.34944177e-02 9.97703140e-01 5.88775674e-02 -4.00811243e-01] [-1.66189700e-03 -5.89661393e-02 9.98258600e-01 -1.90974231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268779192 meters Centerline goodness : 0.134945 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.42, Z:-0.18 [[ 0.99963993 0.02453701 0.01085989 4.92919209] [-0.02515411 0.99782686 0.06090017 -0.41953746] [-0.00934199 -0.06115142 0.99808478 -0.1833108 ] [ 0. 0. 0. 1. ]] SLAMing on 6.328779192 meters Centerline goodness : 0.131368 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.43, Z:-0.18 [[ 0.99972775 0.01821374 0.01458345 4.95917122] [-0.01904124 0.99808978 0.05877267 -0.43387315] [-0.01348512 -0.05903436 0.99816486 -0.18325832] [ 0. 0. 0. 1. ]] SLAMing on 6.388779191999999 meters Centerline goodness : 0.152260 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.45, Z:-0.19 [[ 0.9996726 0.0181446 0.01804065 4.98235776] [-0.01911927 0.99828067 0.05540899 -0.44672535] [-0.01700426 -0.05573578 0.99830075 -0.18771754] [ 0. 0. 0. 1. ]] SLAMing on 6.448779192 meters Centerline goodness : 0.180451 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.46, Z:-0.19 [[ 0.99959529 0.02084062 0.01936317 5.00353155] [-0.02179224 0.99849589 0.05030959 -0.45794312] [-0.01828556 -0.0507112 0.99854595 -0.19357792] [ 0. 0. 0. 1. ]] SLAMing on 6.5087791919999995 meters Centerline goodness : 0.143713 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.47, Z:-0.20 [[ 0.99942981 0.02826123 0.01847588 5.02660933] [-0.02913495 0.99838022 0.04886811 -0.4681591 ] [-0.01706488 -0.04937854 0.99863434 -0.20197562] [ 0. 0. 0. 1. ]] SLAMing on 6.568779192 meters Centerline goodness : 0.781558 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.47, Z:-0.21 [[ 0.99871094 0.04635133 0.0206886 5.06380984] [-0.04730375 0.99771674 0.04820429 -0.47398216] [-0.01840703 -0.0491208 0.99862322 -0.20914172] [ 0. 0. 0. 1. ]] SLAMing on 6.628779192 meters Centerline goodness : 0.770091 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.47, Z:-0.21 [[ 0.99854324 0.04845057 0.02374747 5.07934789] [-0.04936126 0.99800382 0.03939343 -0.47201357] [-0.02179144 -0.04050825 0.99894155 -0.21450435] [ 0. 0. 0. 1. ]] SLAMing on 6.688779192 meters Centerline goodness : 0.756481 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.47, Z:-0.22 [[ 0.99798054 0.05729015 0.02743493 5.09862254] [-0.0583024 0.99758916 0.03763913 -0.47386279] [-0.02521244 -0.03916264 0.99891472 -0.22070118] [ 0. 0. 0. 1. ]] SLAMing on 6.748779192 meters Centerline goodness : 0.260232 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.48, Z:-0.22 [[ 0.99746942 0.06409615 0.03076424 5.14451905] [-0.06515779 0.99726642 0.03484455 -0.48066379] [-0.02844675 -0.0367609 0.99891913 -0.22326591] [ 0. 0. 0. 1. ]] SLAMing on 6.808779191999999 meters Centerline goodness : 0.638917 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.48, Z:-0.23 [[ 0.99728991 0.06626774 0.03195976 5.17066823] [-0.06729991 0.99720723 0.03237987 -0.48433929] [-0.02972476 -0.03444301 0.99896452 -0.22705673] [ 0. 0. 0. 1. ]] SLAMing on 6.868779192 meters Centerline goodness : 0.616869 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.49, Z:-0.23 [[ 0.99724395 0.06734396 0.03113349 5.20377731] [-0.06827529 0.99721879 0.02988594 -0.49194608] [-0.02903426 -0.03192922 0.99906833 -0.2323465 ] [ 0. 0. 0. 1. ]] SLAMing on 6.9287791919999995 meters Centerline goodness : 0.521951 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.50, Z:-0.24 [[ 0.99713453 0.0682068 0.03271929 5.23411037] [-0.06906196 0.99727977 0.02575869 -0.49892234] [-0.03087337 -0.02794454 0.99913259 -0.23636502] [ 0. 0. 0. 1. ]] SLAMing on 6.988779192 meters Centerline goodness : 0.530194 with order 3 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.50, Z:-0.24 [[ 0.99685386 0.07188154 0.03339787 5.26723452] [-0.07278694 0.99698917 0.02673312 -0.50289499] [-0.0313757 -0.02907995 0.99908454 -0.24028008] [ 0. 0. 0. 1. ]] SLAMing on 7.048779192 meters Centerline goodness : 0.394942 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.51, Z:-0.24 [[ 0.99648159 0.07670332 0.03377944 5.32558981] [-0.07767963 0.99656794 0.02860455 -0.50747764] [-0.03146945 -0.03112788 0.99901988 -0.24495333] [ 0. 0. 0. 1. ]] SLAMing on 7.108779192 meters Centerline goodness : 0.228465 with order 3 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.51, Z:-0.25 [[ 0.99621392 0.07918993 0.03587182 5.37964156] [-0.0802429 0.99635543 0.02892995 -0.51207321] [-0.03345012 -0.03169888 0.99893757 -0.24770443] [ 0. 0. 0. 1. ]] SLAMing on 7.168779192 meters Centerline goodness : 0.272848 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.52, Z:-0.25 [[ 0.99601786 0.08024663 0.03884445 5.43420291] [-0.08136279 0.99628953 0.02805835 -0.51780682] [-0.03644873 -0.03110711 0.99885126 -0.24813653] [ 0. 0. 0. 1. ]] SLAMing on 7.228779191999999 meters Centerline goodness : 0.260455 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.52, Z:-0.25 [[ 0.99589028 0.08054565 0.04141193 5.49006034] [-0.08174073 0.99625964 0.02802113 -0.52428686] [-0.03900005 -0.03129101 0.99874915 -0.24987127] [ 0. 0. 0. 1. ]] SLAMing on 7.288779192 meters Centerline goodness : 0.274684 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.53, Z:-0.26 [[ 0.99584887 0.07777064 0.04729445 5.5348731 ] [-0.07910883 0.99649725 0.02711123 -0.52722884] [-0.04502033 -0.03074009 0.998513 -0.258007 ] [ 0. 0. 0. 1. ]] SLAMing on 7.348779191999999 meters Centerline goodness : 0.178754 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.53, Z:-0.26 [[ 0.99600395 0.07829601 0.04296346 5.57960384] [-0.0795595 0.99642178 0.02852947 -0.53465461] [-0.04057599 -0.03183362 0.99866922 -0.26376581] [ 0. 0. 0. 1. ]] SLAMing on 7.408779192 meters Centerline goodness : 0.171143 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.54, Z:-0.27 [[ 0.99624639 0.07611875 0.04121967 5.61970694] [-0.0772557 0.99665298 0.02672834 -0.5437273 ] [-0.03904718 -0.02981246 0.99879254 -0.265811 ] [ 0. 0. 0. 1. ]] SLAMing on 7.4687791919999995 meters Centerline goodness : 0.164290 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.55, Z:-0.27 [[ 0.99651103 0.07127909 0.04341735 5.66717205] [-0.07255734 0.99695377 0.02861131 -0.55095023] [-0.04124571 -0.03166174 0.99864725 -0.27015038] [ 0. 0. 0. 1. ]] SLAMing on 7.528779192 meters Centerline goodness : 0.156967 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.56, Z:-0.27 [[ 0.99653196 0.07415842 0.03774369 5.71433749] [-0.07526494 0.99674785 0.02879085 -0.55646311] [-0.03548585 -0.03153178 0.99887261 -0.26899637] [ 0. 0. 0. 1. ]] SLAMing on 7.588779192 meters Centerline goodness : 0.147595 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.56, Z:-0.28 [[ 0.99621208 0.07323312 0.04688703 5.75346438] [-0.07455135 0.99685132 0.02701005 -0.55797956] [-0.04476136 -0.03040323 0.99853496 -0.27652386] [ 0. 0. 0. 1. ]] SLAMing on 7.648779192 meters Centerline goodness : 0.138067 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.56, Z:-0.28 [[ 0.99612032 0.06888799 0.05476086 5.79785904] [-0.07048233 0.99712738 0.02773484 -0.56287556] [-0.05269296 -0.03148691 0.99811424 -0.27992301] [ 0. 0. 0. 1. ]] SLAMing on 7.708779192 meters Centerline goodness : 0.168163 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.57, Z:-0.29 [[ 0.9962744 0.06177699 0.06017414 5.84647278] [-0.06340658 0.99766048 0.0255573 -0.56641482] [-0.05845451 -0.02927752 0.99786066 -0.2865782 ] [ 0. 0. 0. 1. ]] Total time of SLAM: 234.32 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%| | 0/258 [00:00