+ python -m lidar_slam --no-model /working/4a665bff-49f1-4b37-a287-d6c71ea4170f Lidar SLAM 0.0.13 ===================================================== 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: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False 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 [0,1] 0.12894624065520688 Centerline is valid? [0, False] SLAMing on 0.058973796999999994 meters Centerline goodness [0,1] 0.13124162999808686 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:0.02 [[ 0.99997819 0.00257054 -0.00608321 0.02560198] [-0.00256087 0.99999545 0.00159598 0.00156727] [ 0.00608729 -0.00158037 0.99998022 0.02321346] [ 0. 0. 0. 1. ]] SLAMing on 0.088973797 meters Centerline goodness [0,1] 0.13218834426862214 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:0.05 [[ 9.99995883e-01 6.77859133e-04 2.78828664e-03 3.83923797e-02] [-6.83351871e-04 9.99997827e-01 1.96945216e-03 8.14279841e-06] [-2.78694558e-03 -1.97134944e-03 9.99994173e-01 4.55257472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11897379699999998 meters Centerline goodness [0,1] 0.13206913106096974 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:0.07 [[ 9.99995834e-01 1.39355956e-03 -2.52779626e-03 5.83561088e-02] [-1.39187779e-03 9.99998809e-01 6.66949092e-04 -2.12850971e-03] [ 2.52872268e-03 -6.63427930e-04 9.99996583e-01 7.07429169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148973797 meters Centerline goodness [0,1] 0.13249074919505988 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:0.09 [[ 9.99981541e-01 -8.97636435e-05 6.07528667e-03 7.08840567e-02] [ 9.10498379e-05 9.99999974e-01 -2.11433006e-04 -4.96310837e-03] [-6.07526753e-03 2.11982258e-04 9.99981523e-01 9.12692478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17897379699999996 meters Centerline goodness [0,1] 0.13105616692868371 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.10 [[ 0.99999202 0.00234309 0.00323504 0.08261292] [-0.00233539 0.99999444 -0.00238191 -0.00381542] [-0.00324061 0.00237434 0.99999193 0.10251626] [ 0. 0. 0. 1. ]] SLAMing on 0.20897379699999996 meters Centerline goodness [0,1] 0.11523418402268504 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:0.13 [[ 0.99998664 0.00451336 -0.00251824 0.10532793] [-0.00451601 0.99998925 -0.00104754 -0.00875906] [ 0.00251349 0.0010589 0.99999628 0.12625018] [ 0. 0. 0. 1. ]] SLAMing on 0.23897379699999996 meters Centerline goodness [0,1] 0.12551634897725572 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.15 [[ 9.99967562e-01 4.69203225e-03 6.54677008e-03 1.20392588e-01] [-4.69599814e-03 9.99988799e-01 5.90537449e-04 -1.10124109e-02] [-6.54392593e-03 -6.21261913e-04 9.99978395e-01 1.47085161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26897379699999996 meters Centerline goodness [0,1] 0.14719023034154088 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.15 [[ 0.9999623 0.00567805 0.00656918 0.12126464] [-0.00568845 0.9999826 0.00156474 -0.01218073] [-0.00656018 -0.00160205 0.9999772 0.15221842] [ 0. 0. 0. 1. ]] SLAMing on 0.298973797 meters Centerline goodness [0,1] 0.16839470861637473 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.18 [[ 0.99993098 0.01162887 0.00167679 0.14011867] [-0.01164214 0.99989915 0.00813309 -0.0169211 ] [-0.00158204 -0.00815205 0.99996552 0.18008246] [ 0. 0. 0. 1. ]] SLAMing on 0.32897379699999996 meters Centerline goodness [0,1] 0.1735233160621762 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.20 [[ 0.99997102 0.00392122 0.0065261 0.14348786] [-0.00399617 0.99992576 0.01151135 -0.02428674] [-0.00648048 -0.0115371 0.99991245 0.1978224 ] [ 0. 0. 0. 1. ]] SLAMing on 0.358973797 meters Centerline goodness [0,1] 0.1696972801311274 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:0.23 [[ 0.99997814 0.00609006 0.00257427 0.15441367] [-0.00612501 0.99988614 0.01379104 -0.03099898] [-0.00248999 -0.01380651 0.99990159 0.22725339] [ 0. 0. 0. 1. ]] SLAMing on 0.38897379699999995 meters Centerline goodness [0,1] 0.1637826350941105 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:0.24 [[ 0.99998742 0.00374826 0.00333299 0.14907906] [-0.00378981 0.99991409 0.01254794 -0.0382024 ] [-0.00328567 -0.01256041 0.99991572 0.23644887] [ 0. 0. 0. 1. ]] SLAMing on 0.418973797 meters Centerline goodness [0,1] 0.1593975048179328 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:0.25 [[ 0.99999037 0.00148087 0.00413011 0.14330046] [-0.0015264 0.99993787 0.01104209 -0.04383368] [-0.0041135 -0.01104829 0.9999305 0.24648199] [ 0. 0. 0. 1. ]] SLAMing on 0.44897379699999995 meters Centerline goodness [0,1] 0.15555002488800396 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.27 [[ 9.99999271e-01 -1.04777554e-03 5.99331470e-04 1.51633133e-01] [ 1.04318529e-03 9.99970510e-01 7.60865361e-03 -5.18311171e-02] [-6.07285956e-04 -7.60802286e-03 9.99970874e-01 2.74743120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.478973797 meters Centerline goodness [0,1] 0.15912496254120467 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.28 [[ 0.9999952 -0.00282159 0.0012818 0.14706285] [ 0.00281315 0.99997465 0.00654053 -0.05559945] [-0.00130022 -0.0065369 0.99997779 0.28305843] [ 0. 0. 0. 1. ]] SLAMing on 0.5089737969999999 meters Centerline goodness [0,1] 0.16440558737815292 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.29 [[ 0.99999457 -0.00290337 0.00155585 0.14590498] [ 0.00289248 0.99997159 0.00696037 -0.05847925] [-0.00157601 -0.00695583 0.99997457 0.28890732] [ 0. 0. 0. 1. ]] SLAMing on 0.5389737969999999 meters Centerline goodness [0,1] 0.1710298461851889 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:0.32 [[ 9.99994528e-01 -4.50031893e-04 -3.27742420e-03 1.61557109e-01] [ 4.83849121e-04 9.99946581e-01 1.03247606e-02 -6.17850447e-02] [ 3.27260266e-03 -1.03262899e-02 9.99941327e-01 3.16706810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.568973797 meters Centerline goodness [0,1] 0.17706455102776775 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:0.33 [[ 0.99996713 -0.00723269 0.00366386 0.1625441 ] [ 0.00718034 0.99987475 0.01410447 -0.06524269] [-0.00376542 -0.0140777 0.99989381 0.33402608] [ 0. 0. 0. 1. ]] SLAMing on 0.598973797 meters Centerline goodness [0,1] 0.17707538046521099 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:0.35 [[ 0.9999684 -0.00498849 0.00618973 0.14884862] [ 0.0048833 0.99984537 0.01689376 -0.06493022] [-0.00627305 -0.016863 0.99983813 0.35496206] [ 0. 0. 0. 1. ]] SLAMing on 0.6289737969999999 meters Centerline goodness [0,1] 0.1738254695604008 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.37 [[ 0.99995384 -0.00518459 0.00808995 0.13989785] [ 0.00504899 0.99984792 0.01669243 -0.06465972] [-0.00817526 -0.01665081 0.99982794 0.36638603] [ 0. 0. 0. 1. ]] SLAMing on 0.6589737969999999 meters Centerline goodness [0,1] 0.17148997850752234 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.38 [[ 0.99993976 -0.00692284 0.0085177 0.13507313] [ 0.00679599 0.9998669 0.01483236 -0.06441514] [-0.00861924 -0.01477358 0.99985371 0.37564451] [ 0. 0. 0. 1. ]] SLAMing on 0.6889737969999999 meters Centerline goodness [0,1] 0.16572272839202162 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.39 [[ 0.99992164 -0.00884499 0.00885902 0.13050592] [ 0.00873246 0.99988171 0.01266116 -0.06442716] [-0.00896996 -0.01258281 0.9998806 0.38515895] [ 0. 0. 0. 1. ]] SLAMing on 0.718973797 meters Centerline goodness [0,1] 0.15487663839629917 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.42 [[ 0.99989336 -0.01343927 0.00571458 0.13614287] [ 0.01340168 0.99988863 0.00656652 -0.06262186] [-0.00580219 -0.00648923 0.99996211 0.4195031 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7489737969999999 meters Centerline goodness [0,1] 0.1532819080971085 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:0.43 [[ 0.99986141 -0.01532781 0.0064981 0.13137325] [ 0.01530494 0.99987655 0.00355449 -0.06022478] [-0.00655178 -0.00345455 0.99997257 0.42997375] [ 0. 0. 0. 1. ]] SLAMing on 0.7789737969999999 meters Centerline goodness [0,1] 0.1320719194201262 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:0.46 [[ 9.99831376e-01 -1.81761167e-02 2.61695907e-03 1.41141870e-01] [ 1.81772415e-02 9.99834698e-01 -4.06653084e-04 -5.52135143e-02] [-2.60913511e-03 4.54153609e-04 9.99996493e-01 4.63044260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8089737969999999 meters Centerline goodness [0,1] 0.17143401075627052 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:0.49 [[ 9.99852390e-01 -1.70253875e-02 -2.30957291e-03 1.57253959e-01] [ 1.70250411e-02 9.99855049e-01 -1.69558060e-04 -5.05496426e-02] [ 2.31212492e-03 1.30212458e-04 9.99997319e-01 4.85020790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8389737969999999 meters Centerline goodness [0,1] 0.1746138671029207 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:0.51 [[ 9.99859631e-01 -1.51682516e-02 -7.11632007e-03 1.74931773e-01] [ 1.51722471e-02 9.99884766e-01 5.07808639e-04 -4.43711091e-02] [ 7.10779745e-03 -6.15707925e-04 9.99974550e-01 5.06426298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8689737969999999 meters Centerline goodness [0,1] 0.18272264013588935 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.54 [[ 0.99987523 -0.01538871 0.00356577 0.17834915] [ 0.01537992 0.99987865 0.00247869 -0.03002979] [-0.00360348 -0.00242354 0.99999057 0.5401654 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8989737969999999 meters Centerline goodness [0,1] 0.18853401309541662 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.56 [[ 0.99989818 -0.01418849 -0.00152205 0.19485985] [ 0.01419204 0.99989653 0.0023484 -0.023504 ] [ 0.00148857 -0.00236977 0.99999608 0.56041389] [ 0. 0. 0. 1. ]] SLAMing on 0.9289737969999999 meters Centerline goodness [0,1] 0.18981043833026523 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:0.58 [[ 9.99897523e-01 -1.31888488e-02 -5.56763564e-03 2.08420042e-01] [ 1.31899954e-02 9.99912994e-01 1.69257801e-04 -1.21325348e-02] [ 5.56491891e-03 -2.42677544e-04 9.99984486e-01 5.83609572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9589737969999999 meters Centerline goodness [0,1] 0.18414735707637286 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.62 [[ 9.99985391e-01 -5.33445020e-03 -8.72242671e-04 2.10901048e-01] [ 5.32756073e-03 9.99956018e-01 -7.71880441e-03 1.37275933e-02] [ 9.13379885e-04 7.71404472e-03 9.99969829e-01 6.17836659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9889737969999999 meters Centerline goodness [0,1] 0.17591708062667177 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:0.64 [[ 0.99999086 -0.00410966 -0.00117959 0.21156863] [ 0.00409543 0.99992176 -0.01181932 0.02849702] [ 0.00122807 0.01181438 0.99992945 0.63515346] [ 0. 0. 0. 1. ]] SLAMing on 1.018973797 meters Centerline goodness [0,1] 0.17494838926496714 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:0.67 [[ 0.99987119 -0.01200345 0.01065447 0.21160013] [ 0.01219664 0.99975894 -0.01825637 0.03299378] [-0.01043277 0.01838397 0.99977657 0.67165034] [ 0. 0. 0. 1. ]] SLAMing on 1.0489737969999997 meters Centerline goodness [0,1] 0.17629615458197823 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.68 [[ 0.99985413 -0.01174989 0.01239617 0.20313604] [ 0.01197887 0.99975595 -0.01856176 0.03410982] [-0.01217505 0.01870755 0.99975087 0.68290317] [ 0. 0. 0. 1. ]] SLAMing on 1.0789737969999997 meters Centerline goodness [0,1] 0.17728359636537538 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.69 [[ 0.99987526 -0.00937958 0.01270769 0.19803431] [ 0.00959207 0.99981345 -0.0167646 0.03658089] [-0.01254807 0.0168844 0.99977871 0.69334572] [ 0. 0. 0. 1. ]] SLAMing on 1.1089737969999998 meters Centerline goodness [0,1] 0.18473856839668146 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.72 [[ 0.99994846 -0.00243434 0.00985646 0.20225046] [ 0.00252894 0.99995075 -0.00959648 0.03988843] [-0.00983262 0.00962092 0.99990537 0.72466766] [ 0. 0. 0. 1. ]] SLAMing on 1.1389737969999998 meters Centerline goodness [0,1] 0.19241982507288635 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.73 [[ 9.99948028e-01 5.47258804e-04 1.01804363e-02 1.98127088e-01] [-4.76198716e-04 9.99975518e-01 -6.98117814e-03 4.25675051e-02] [-1.01840075e-02 6.97596741e-03 9.99923808e-01 7.33628667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1689737969999998 meters Centerline goodness [0,1] 0.19772312848060714 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:0.74 [[ 0.99994176 0.00314171 0.01032485 0.1941209 ] [-0.00309428 0.9999846 -0.00460686 0.04368316] [-0.01033917 0.00457464 0.99993609 0.74288532] [ 0. 0. 0. 1. ]] SLAMing on 1.1989737969999998 meters Centerline goodness [0,1] 0.19772312848060714 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:0.74 [[ 0.99994225 0.00315772 0.01027223 0.19434922] [-0.00311034 0.99998447 -0.00462502 0.04376649] [-0.01028668 0.0045928 0.99993654 0.74290435] [ 0. 0. 0. 1. ]] SLAMing on 1.2289737969999996 meters Centerline goodness [0,1] 0.20065625932186537 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:0.77 [[ 0.99997945 0.00351133 0.00536386 0.20627729] [-0.00348816 0.99998457 -0.00432294 0.04109548] [-0.00537896 0.00430414 0.99997627 0.76968773] [ 0. 0. 0. 1. ]] SLAMing on 1.2589737969999997 meters Centerline goodness [0,1] 0.1993420729611627 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.78 [[ 0.99998513 0.00173353 0.00517043 0.20352039] [-0.00170281 0.99998091 -0.00593966 0.03857222] [-0.00518063 0.00593077 0.99996899 0.77770629] [ 0. 0. 0. 1. ]] SLAMing on 1.2889737969999997 meters Centerline goodness [0,1] 0.20146574197039002 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.80 [[ 9.99994936e-01 -3.18239779e-03 -3.46271949e-05 2.16070309e-01] [ 3.18182106e-03 9.99933914e-01 -1.10473057e-02 3.11054310e-02] [ 6.97818277e-05 1.10471396e-02 9.99938976e-01 8.02330777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3189737969999997 meters Centerline goodness [0,1] 0.19917153996101367 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:0.81 [[ 9.99988294e-01 -4.83617991e-03 -1.52830077e-04 2.13345542e-01] [ 4.83382402e-03 9.99906181e-01 -1.28165063e-02 2.85499746e-02] [ 2.14798669e-04 1.28156175e-02 9.99917854e-01 8.11792576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3489737969999998 meters Centerline goodness [0,1] 0.19730853927085878 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:0.82 [[ 0.99998867 -0.0045086 0.00152895 0.20649497] [ 0.00452772 0.99990861 -0.01273852 0.02653223] [-0.00147138 0.0127453 0.99991769 0.82244095] [ 0. 0. 0. 1. ]] SLAMing on 1.3789737969999998 meters Centerline goodness [0,1] 0.19573443412452696 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.85 [[ 0.99999355 -0.00167589 -0.00317561 0.21671029] [ 0.00164454 0.99995015 -0.00984856 0.02266255] [ 0.00319196 0.00984328 0.99994646 0.84899982] [ 0. 0. 0. 1. ]] SLAMing on 1.4089737969999998 meters Centerline goodness [0,1] 0.1969034160727452 Centerline is valid? [False, False] Translation: X:0.23, Y:0.02, Z:0.86 [[ 0.99996814 -0.00752934 0.00265071 0.22531043] [ 0.00754427 0.99995548 -0.0056683 0.02009481] [-0.00260791 0.00568812 0.99998042 0.86282858] [ 0. 0. 0. 1. ]] SLAMing on 1.4389737969999996 meters Centerline goodness [0,1] 0.20498768163306347 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:0.87 [[ 0.99998616 -0.00444714 0.00281276 0.22219842] [ 0.00445505 0.99998612 -0.0028139 0.02000019] [-0.00280021 0.00282639 0.99999209 0.87228582] [ 0. 0. 0. 1. ]] SLAMing on 1.4689737969999996 meters Centerline goodness [0,1] 0.19771192420118944 Centerline is valid? [False, False] Translation: X:0.23, Y:0.02, Z:0.90 [[ 9.99999037e-01 1.09752193e-03 -8.49625544e-04 2.32230846e-01] [-1.09571539e-03 9.99997144e-01 2.12382476e-03 1.62928837e-02] [ 8.51954062e-04 -2.12289176e-03 9.99997384e-01 8.99954482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4989737969999997 meters Centerline goodness [0,1] 0.19349462094045156 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.92 [[ 9.99941828e-01 8.96559403e-03 5.99649312e-03 2.36300231e-01] [-8.97124656e-03 9.99959338e-01 9.16404544e-04 1.62164050e-02] [-5.98803317e-03 -9.70147254e-04 9.99981601e-01 9.16291814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5289737969999997 meters Centerline goodness [0,1] 0.19445010183299394 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:0.93 [[ 9.99950128e-01 -1.42368468e-03 9.88505856e-03 2.49765344e-01] [ 1.41535320e-03 9.99998637e-01 8.49779926e-04 1.25832136e-02] [-9.88625491e-03 -8.35746696e-04 9.99950781e-01 9.28541192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5589737969999997 meters Centerline goodness [0,1] 0.2032119573859119 Centerline is valid? [False, False] Translation: X:0.27, Y:0.01, Z:0.96 [[ 0.99997004 0.00470153 0.00614859 0.27435664] [-0.00468976 0.99998714 -0.00192825 0.00870316] [-0.00615758 0.00189936 0.99997924 0.9604163 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5889737969999997 meters Centerline goodness [0,1] 0.19886039886039886 Centerline is valid? [False, False] Translation: X:0.27, Y:0.01, Z:0.97 [[ 0.99997462 0.00352306 0.00619181 0.27043514] [-0.0035037 0.99998895 -0.00313468 0.00844797] [-0.00620279 0.00311291 0.99997592 0.9695624 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6189737969999998 meters Centerline goodness [0,1] 0.19575301515307697 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:0.99 [[ 9.99992319e-01 3.86621052e-03 6.43151455e-04 2.79241527e-01] [-3.86426355e-03 9.99988029e-01 -3.00142239e-03 6.86365689e-03] [-6.54747887e-04 2.99891403e-03 9.99995289e-01 9.92457121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6489737969999996 meters Centerline goodness [0,1] 0.19293782436145313 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:1.01 [[ 0.99997568 -0.00480068 -0.00505802 0.31254436] [ 0.00478683 0.99998477 -0.00274629 0.00774693] [ 0.00507112 0.00272201 0.99998344 1.00603684] [ 0. 0. 0. 1. ]] SLAMing on 1.6789737969999996 meters Centerline goodness [0,1] 0.19296543978763592 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:1.02 [[ 0.99998416 -0.00523294 0.00207157 0.3356847 ] [ 0.00523787 0.99998345 -0.00238176 0.01138687] [-0.00205907 0.00239258 0.99999502 1.02369713] [ 0. 0. 0. 1. ]] SLAMing on 1.7089737969999996 meters Centerline goodness [0,1] 0.19058000405597242 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:1.03 [[ 9.99991992e-01 -3.08656379e-03 2.54742612e-03 3.31115798e-01] [ 3.08855467e-03 9.99994928e-01 -7.77960129e-04 1.18048983e-02] [-2.54501198e-03 7.85821763e-04 9.99996453e-01 1.03478072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7389737969999997 meters Centerline goodness [0,1] 0.2075692151384303 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:1.06 [[ 0.99992305 0.00482421 0.01142932 0.32607103] [-0.00479238 0.99998456 -0.00281132 0.01370729] [-0.0114427 0.00275633 0.99993073 1.0646075 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7689737969999997 meters Centerline goodness [0,1] 0.20463922713092486 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:1.08 [[ 0.99989872 0.00414893 0.01361382 0.31689433] [-0.00409726 0.99998431 -0.00382109 0.0141482 ] [-0.01362946 0.00376492 0.99990003 1.07790165] [ 0. 0. 0. 1. ]] SLAMing on 1.7989737969999997 meters Centerline goodness [0,1] 0.20719082967227187 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:1.11 [[ 0.99986168 -0.00289809 0.01637761 0.32878292] [ 0.00294055 0.99999238 -0.00256916 0.01644005] [-0.01637004 0.00261696 0.99986258 1.11147168] [ 0. 0. 0. 1. ]] SLAMing on 1.8289737969999997 meters Centerline goodness [0,1] 0.19141830693720585 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:1.12 [[ 9.99856698e-01 -6.31282290e-04 1.69169947e-02 3.22972058e-01] [ 6.43843107e-04 9.99999521e-01 -7.37060859e-04 1.87545662e-02] [-1.69165213e-02 7.47847127e-04 9.99856626e-01 1.12160248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8589737969999995 meters Centerline goodness [0,1] 0.19225942472767432 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:1.13 [[ 9.99846358e-01 1.64107180e-03 1.74518562e-02 3.16983818e-01] [-1.66101806e-03 9.99997984e-01 1.12849660e-03 2.16119450e-02] [-1.74499690e-02 -1.15731106e-03 9.99847068e-01 1.13248129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8889737969999996 meters Centerline goodness [0,1] 0.18783568006967633 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:1.16 [[ 0.99987346 0.00275067 0.01566822 0.31407705] [-0.00279293 0.99999252 0.00267601 0.02133479] [-0.01566074 -0.00271943 0.99987367 1.16411312] [ 0. 0. 0. 1. ]] SLAMing on 1.9189737969999996 meters Centerline goodness [0,1] 0.21418468377449995 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:1.41 [[ 0.99983437 -0.0180971 0.00192902 0.35250815] [ 0.01812303 0.99973204 -0.01440164 0.03475607] [-0.00166788 0.01443421 0.99989443 1.4097777 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9489737969999996 meters Centerline goodness [0,1] 0.20755294718040318 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:1.42 [[ 9.99970869e-01 -7.62954188e-03 2.27987248e-04 3.73223262e-01] [ 7.63185134e-03 9.99887352e-01 -1.29243438e-02 3.61315205e-02] [-1.29354744e-04 1.29257073e-02 9.99916451e-01 1.42158105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9789737969999996 meters Centerline goodness [0,1] 0.1942286348501665 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:1.45 [[ 9.99994837e-01 -2.98086997e-03 -1.20039578e-03 4.17430487e-01] [ 2.97275805e-03 9.99973111e-01 -6.70371529e-03 3.59132503e-02] [ 1.22034641e-03 6.70011219e-03 9.99976809e-01 1.45106978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008973797 meters Centerline goodness [0,1] 0.19645757206658543 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:1.46 [[ 9.99954334e-01 -9.44229587e-03 1.47406335e-03 4.31261216e-01] [ 9.44653835e-03 9.99951181e-01 -2.89815344e-03 3.37303224e-02] [-1.44662617e-03 2.91194589e-03 9.99994714e-01 1.46434015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0389737969999997 meters Centerline goodness [0,1] 0.1932167514992693 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:1.49 [[ 0.99997625 -0.00516325 0.0045651 0.41451924] [ 0.00515504 0.99998508 0.00180925 0.02896674] [-0.00457437 -0.00178567 0.99998794 1.48799628] [ 0. 0. 0. 1. ]] SLAMing on 2.0689737969999995 meters Centerline goodness [0,1] 0.19215627647381273 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:1.50 [[ 9.99965815e-01 -6.70779227e-03 4.83473848e-03 4.10039422e-01] [ 6.70612146e-03 9.99977448e-01 3.61712945e-04 2.69070230e-02] [-4.83705575e-03 -3.29278237e-04 9.99988247e-01 1.49832382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0989737969999998 meters Centerline goodness [0,1] 0.13778473660285873 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:1.51 [[ 0.99998878 -0.00254689 0.00399361 0.42318263] [ 0.00255988 0.99999144 -0.00325094 0.02619435] [-0.0039853 0.00326113 0.99998674 1.51269841] [ 0. 0. 0. 1. ]] SLAMing on 2.1289737969999996 meters Centerline goodness [0,1] 0.19311970312421645 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:1.52 [[ 0.99997877 -0.00463757 0.00457673 0.41761213] [ 0.00466145 0.9999755 -0.00522115 0.02312733] [-0.00455241 0.00524237 0.9999759 1.52349079] [ 0. 0. 0. 1. ]] SLAMing on 2.158973797 meters Centerline goodness [0,1] 0.19431468044925948 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:1.55 [[ 0.99993931 -0.00837583 0.00715686 0.40171917] [ 0.00844044 0.99992347 -0.00904461 0.01922374] [-0.00708055 0.00910447 0.99993348 1.54759873] [ 0. 0. 0. 1. ]] SLAMing on 2.1889737969999996 meters Centerline goodness [0,1] 0.19261668884617278 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:1.56 [[ 0.99993114 -0.00750414 0.00902287 0.39076601] [ 0.00758726 0.99992877 -0.00921333 0.02223437] [-0.00895308 0.00928115 0.99991685 1.56320266] [ 0. 0. 0. 1. ]] SLAMing on 2.2189737969999994 meters Centerline goodness [0,1] 0.19375850670814698 Centerline is valid? [False, False] Translation: X:0.38, Y:0.04, Z:1.60 [[ 9.99952880e-01 -2.04027410e-04 9.70546597e-03 3.83400383e-01] [ 2.97949899e-04 9.99953134e-01 -9.67681640e-03 3.80320744e-02] [-9.70303677e-03 9.67925217e-03 9.99906077e-01 1.59700362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2489737969999997 meters Centerline goodness [0,1] 0.1946649883810999 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:1.61 [[ 0.99992448 -0.00651943 0.0104179 0.39746119] [ 0.00660264 0.99994642 -0.00797243 0.04741113] [-0.01036537 0.00804061 0.99991395 1.6118075 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2789737969999995 meters Centerline goodness [0,1] 0.19284961180868399 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:1.62 [[ 0.99993697 -0.00407832 0.01046014 0.39326379] [ 0.00414236 0.99997277 -0.00610801 0.04944013] [-0.01043494 0.00615096 0.99992664 1.6229339 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3089737969999997 meters Centerline goodness [0,1] 0.1885406230618768 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:1.65 [[ 0.99979788 -0.01147934 0.01650548 0.39636355] [ 0.01154895 0.99992479 -0.00412779 0.04944994] [-0.01645686 0.00431757 0.99985525 1.65035604] [ 0. 0. 0. 1. ]] SLAMing on 2.3389737969999995 meters Centerline goodness [0,1] 0.1873549609282501 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:1.66 [[ 0.9998266 -0.00951956 0.01600471 0.39368044] [ 0.00956767 0.99994993 -0.00293225 0.05159603] [-0.01597599 0.00308487 0.99986762 1.65974912] [ 0. 0. 0. 1. ]] SLAMing on 2.3689737969999998 meters Centerline goodness [0,1] 0.1858365243700657 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:1.67 [[ 0.99982562 -0.01059567 0.01537755 0.39124776] [ 0.0106692 0.999932 -0.00470726 0.05432223] [-0.01532663 0.00487051 0.99987068 1.66968313] [ 0. 0. 0. 1. ]] SLAMing on 2.3989737969999996 meters Centerline goodness [0,1] 0.18533471035583515 Centerline is valid? [False, False] Translation: X:0.38, Y:0.06, Z:1.69 [[ 0.99984322 -0.00963245 0.01485746 0.38369333] [ 0.00972214 0.99993488 -0.00597621 0.06200615] [-0.01479892 0.00611972 0.99987176 1.69251018] [ 0. 0. 0. 1. ]] SLAMing on 2.4289737969999994 meters Centerline goodness [0,1] 0.18286617394133775 Centerline is valid? [False, False] Translation: X:0.38, Y:0.06, Z:1.70 [[ 0.99985489 -0.00797631 0.01505231 0.37798868] [ 0.00805209 0.99995518 -0.00498025 0.06434422] [-0.01501191 0.00510073 0.9998743 1.70402172] [ 0. 0. 0. 1. ]] SLAMing on 2.4589737969999996 meters Centerline goodness [0,1] 0.18313230825890803 Centerline is valid? [False, False] Translation: X:0.37, Y:0.07, Z:1.72 [[ 0.99986045 -0.00632327 0.01546304 0.37160776] [ 0.00638855 0.99997087 -0.00417609 0.06798191] [-0.01543618 0.00427429 0.99987172 1.71629241] [ 0. 0. 0. 1. ]] SLAMing on 2.4889737969999994 meters Centerline goodness [0,1] 0.18133859351346393 Centerline is valid? [False, False] Translation: X:0.36, Y:0.07, Z:1.74 [[ 0.99985745 -0.00549737 0.01596455 0.36078515] [ 0.00557838 0.99997177 -0.00503416 0.07472886] [-0.01593642 0.0051225 0.99985989 1.74032903] [ 0. 0. 0. 1. ]] SLAMing on 2.5189737969999997 meters Centerline goodness [0,1] 0.18333178740376588 Centerline is valid? [False, False] Translation: X:0.36, Y:0.08, Z:1.75 [[ 0.99986592 -0.00359387 0.0159757 0.35610127] [ 0.00365602 0.99998586 -0.0038628 0.07722332] [-0.01596159 0.00392069 0.99986492 1.75163799] [ 0. 0. 0. 1. ]] SLAMing on 2.5489737969999995 meters Centerline goodness [0,1] 0.1791928745236674 Centerline is valid? [False, False] Translation: X:0.36, Y:0.09, Z:1.78 [[ 9.99900358e-01 7.40292446e-05 1.41162472e-02 3.57275966e-01] [ 2.33387156e-05 9.99976213e-01 -6.89729162e-03 8.76590448e-02] [-1.41164221e-02 6.89693381e-03 9.99876572e-01 1.78054983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5789737969999997 meters Centerline goodness [0,1] 0.17917361497128037 Centerline is valid? [False, False] Translation: X:0.35, Y:0.09, Z:1.79 [[ 9.99903842e-01 -7.11055640e-04 1.38492628e-02 3.54118855e-01] [ 8.31831907e-04 9.99961661e-01 -8.71696515e-03 9.24602267e-02] [-1.38425336e-02 8.72764720e-03 9.99866097e-01 1.79192151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6089737969999995 meters Centerline goodness [0,1] 0.17508605451669923 Centerline is valid? [False, False] Translation: X:0.35, Y:0.10, Z:1.80 [[ 9.99901537e-01 1.41842014e-03 1.39607845e-02 3.49582877e-01] [-1.31444106e-03 9.99971352e-01 -7.45429901e-03 9.55458197e-02] [-1.39709579e-02 7.43521441e-03 9.99874757e-01 1.80315642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6389737969999993 meters Centerline goodness [0,1] 0.17234468937875747 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:1.81 [[ 0.9998928 0.00354765 0.01420579 0.34482561] [-0.00346014 0.99997492 -0.00618 0.09863659] [-0.01422735 0.00613018 0.99987999 1.81466684] [ 0. 0. 0. 1. ]] SLAMing on 2.6689737969999996 meters Centerline goodness [0,1] 0.16875911035877178 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:1.84 [[ 0.99993665 -0.00231439 0.01101525 0.36011588] [ 0.00236665 0.99998599 -0.00473402 0.10349786] [-0.01100414 0.00475979 0.99992812 1.84161974] [ 0. 0. 0. 1. ]] SLAMing on 2.6989737969999994 meters Centerline goodness [0,1] 0.1661355529131986 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:1.85 [[ 9.99938710e-01 7.31799480e-06 1.10714222e-02 3.55795731e-01] [ 2.71582536e-05 9.99995152e-01 -3.11383197e-03 1.06211575e-01] [-1.10713913e-02 3.11394181e-03 9.99933862e-01 1.85243678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7289737969999996 meters Centerline goodness [0,1] 0.16562035750227633 Centerline is valid? [False, False] Translation: X:0.35, Y:0.11, Z:1.86 [[ 9.99936999e-01 2.24542325e-03 1.09980452e-02 3.51780266e-01] [-2.22840315e-03 9.99996301e-01 -1.55956704e-03 1.08533607e-01] [-1.10015064e-02 1.53496070e-03 9.99938303e-01 1.86277756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7589737969999995 meters Centerline goodness [0,1] 0.1646703671243549 Centerline is valid? [False, False] Translation: X:0.35, Y:0.11, Z:1.89 [[ 0.99993844 0.0035292 0.01051964 0.34558054] [-0.00350389 0.99999093 -0.00242331 0.11324314] [-0.0105281 0.0023863 0.99994173 1.88630658] [ 0. 0. 0. 1. ]] SLAMing on 2.7889737969999997 meters Centerline goodness [0,1] 0.1650260852446107 Centerline is valid? [False, False] Translation: X:0.35, Y:0.11, Z:1.89 [[ 0.99994967 0.00343207 0.00942738 0.34691378] [-0.00340626 0.99999041 -0.00275253 0.1132237 ] [-0.00943674 0.00272028 0.99995177 1.89159154] [ 0. 0. 0. 1. ]] SLAMing on 2.8189737969999995 meters Centerline goodness [0,1] 0.08950265284871328 Centerline is valid? [False, False] Translation: X:0.35, Y:0.12, Z:1.92 [[ 0.9999776 0.00197654 0.00639446 0.34771039] [-0.00192808 0.99996943 -0.00757708 0.11668738] [-0.00640924 0.00756458 0.99995085 1.91560543] [ 0. 0. 0. 1. ]] SLAMing on 2.8489737969999993 meters Centerline goodness [0,1] 0.09553442525016176 Centerline is valid? [False, False] Translation: X:0.34, Y:0.12, Z:1.93 [[ 9.99974704e-01 4.35339110e-04 7.09943783e-03 3.41596739e-01] [-3.68043514e-04 9.99955019e-01 -9.47755657e-03 1.16864257e-01] [-7.10324444e-03 9.47470392e-03 9.99929884e-01 1.92834301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8789737969999996 meters Centerline goodness [0,1] 0.10041485480081969 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:1.94 [[ 0.99996328 0.00202081 0.00832839 0.33447923] [-0.00195394 0.99996585 -0.00802962 0.11557569] [-0.00834433 0.00801305 0.99993308 1.93884454] [ 0. 0. 0. 1. ]] SLAMing on 2.9089737969999994 meters Centerline goodness [0,1] 0.11106713501212095 Centerline is valid? [False, False] Translation: X:0.35, Y:0.11, Z:1.96 [[ 0.99998522 -0.00393351 0.00375281 0.3509328 ] [ 0.00395427 0.99997684 -0.00553924 0.11394252] [-0.00373093 0.005554 0.99997762 1.96461347] [ 0. 0. 0. 1. ]] SLAMing on 2.9389737969999996 meters Centerline goodness [0,1] 0.11888456422131355 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:1.98 [[ 9.99986779e-01 -1.58619709e-03 4.89148700e-03 3.44243859e-01] [ 1.60189727e-03 9.99993573e-01 -3.20744826e-03 1.12953099e-01] [-4.88636792e-03 3.21524152e-03 9.99982893e-01 1.97595188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9689737969999994 meters Centerline goodness [0,1] 0.13174182139699386 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:1.99 [[ 9.99982278e-01 8.04831827e-04 5.89888241e-03 3.37956313e-01] [-8.00669744e-04 9.99999429e-01 -7.07899007e-04 1.11453734e-01] [-5.89944878e-03 7.03163405e-04 9.99982351e-01 1.98660625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9989737969999997 meters Centerline goodness [0,1] 0.1474774244208873 Centerline is valid? [False, False] Translation: X:0.33, Y:0.11, Z:2.00 [[ 9.99970203e-01 3.09161278e-03 7.07355667e-03 3.31300925e-01] [-3.10457503e-03 9.99993520e-01 1.82224873e-03 1.09359074e-01] [-7.06787715e-03 -1.84415482e-03 9.99973322e-01 1.99795295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0289737969999995 meters Centerline goodness [0,1] 0.16288325471698117 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:2.03 [[ 0.99997436 -0.002962 0.00652029 0.34147163] [ 0.00292908 0.99998294 0.00505386 0.10560613] [-0.00653515 -0.00503463 0.99996597 2.02602627] [ 0. 0. 0. 1. ]] SLAMing on 3.0589737969999993 meters Centerline goodness [0,1] 0.17060953231165998 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:2.04 [[ 0.99997838 0.0054301 0.00370969 0.35921134] [-0.00544836 0.99997301 0.00492856 0.10382434] [-0.00368282 -0.00494866 0.99998097 2.04115278] [ 0. 0. 0. 1. ]] SLAMing on 3.0889737969999995 meters Centerline goodness [0,1] 0.17060953231165998 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:2.04 [[ 0.99997854 0.00541951 0.00368007 0.35940116] [-0.00543759 0.99997311 0.004921 0.10383109] [-0.0036533 -0.00494091 0.99998112 2.04113682] [ 0. 0. 0. 1. ]] SLAMing on 3.1189737969999993 meters Centerline goodness [0,1] 0.18523656180331927 Centerline is valid? [False, False] Translation: X:0.37, Y:0.10, Z:2.07 [[ 9.99989735e-01 -4.51793937e-03 -3.42512366e-04 3.72372832e-01] [ 4.51933743e-03 9.99980979e-01 4.19724206e-03 9.77919934e-02] [ 3.23542966e-04 -4.19874690e-03 9.99991133e-01 2.06878869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1489737969999996 meters Centerline goodness [0,1] 0.18915722030556925 Centerline is valid? [False, False] Translation: X:0.39, Y:0.10, Z:2.08 [[ 9.99992656e-01 1.02048266e-03 -3.69400676e-03 3.91742355e-01] [-1.01505547e-03 9.99998403e-01 1.47076463e-03 9.58518525e-02] [ 3.69550175e-03 -1.46700420e-03 9.99992096e-01 2.08299036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1789737969999994 meters Centerline goodness [0,1] 0.19377825830548456 Centerline is valid? [False, False] Translation: X:0.38, Y:0.09, Z:2.10 [[ 9.99999570e-01 8.04413424e-04 -4.60624946e-04 3.78352371e-01] [-8.03735891e-04 9.99998598e-01 1.46920148e-03 9.33406282e-02] [ 4.61806146e-04 -1.46883063e-03 9.99998815e-01 2.09773885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2089737969999996 meters Centerline goodness [0,1] 0.19623394316854803 Centerline is valid? [False, False] Translation: X:0.37, Y:0.09, Z:2.11 [[ 9.99996322e-01 2.32771550e-03 1.39183444e-03 3.69426480e-01] [-2.33215473e-03 9.99992172e-01 3.19640657e-03 9.07364134e-02] [-1.38438322e-03 -3.19964079e-03 9.99993923e-01 2.11025884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2389737969999994 meters Centerline goodness [0,1] 0.20107238605898126 Centerline is valid? [False, False] Translation: X:0.38, Y:0.09, Z:2.14 [[ 9.99990934e-01 -4.18749256e-03 -7.72711358e-04 3.80292736e-01] [ 4.19216776e-03 9.99972293e-01 6.15135021e-03 8.64356593e-02] [ 7.46931215e-04 -6.15453377e-03 9.99980782e-01 2.13711212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2689737969999992 meters Centerline goodness [0,1] 0.20261310452418102 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:2.15 [[ 0.99998253 0.00457027 -0.00374798 0.39761673] [-0.00454601 0.99996882 0.0064565 0.08592445] [ 0.00377737 -0.00643934 0.99997213 2.15196978] [ 0. 0. 0. 1. ]] SLAMing on 3.2989737969999995 meters Centerline goodness [0,1] 0.20737371782465652 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:2.18 [[ 9.99995293e-01 -2.17504764e-03 -2.16411040e-03 4.03022520e-01] [ 2.19465711e-03 9.99956181e-01 9.10048285e-03 8.35784063e-02] [ 2.14422159e-03 -9.10518949e-03 9.99956248e-01 2.18152823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3289737969999993 meters Centerline goodness [0,1] 0.207985551813345 Centerline is valid? [False, False] Translation: X:0.42, Y:0.08, Z:2.20 [[ 0.99996501 0.00619913 -0.00561602 0.42015615] [-0.0061486 0.99994086 0.00897011 0.08399796] [ 0.0056713 -0.00893527 0.999944 2.19631773] [ 0. 0. 0. 1. ]] SLAMing on 3.3589737969999995 meters Centerline goodness [0,1] 0.20891122601846035 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:2.23 [[ 0.99998661 0.00265315 -0.00444204 0.44752198] [-0.00262495 0.99997644 0.00634213 0.08226815] [ 0.00445876 -0.00633039 0.99997002 2.22676075] [ 0. 0. 0. 1. ]] SLAMing on 3.3889737969999993 meters Centerline goodness [0,1] 0.20767290208958067 Centerline is valid? [False, False] Translation: X:0.44, Y:0.08, Z:2.24 [[ 9.99996879e-01 6.98693509e-04 -2.39885459e-03 4.39142706e-01] [-6.87986237e-04 9.99989811e-01 4.46142110e-03 8.17305553e-02] [ 2.40194732e-03 -4.45975679e-03 9.99987171e-01 2.23886535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4189737969999996 meters Centerline goodness [0,1] 0.20689326405110364 Centerline is valid? [False, False] Translation: X:0.46, Y:0.08, Z:2.25 [[ 9.99966397e-01 5.85113867e-03 -5.74192127e-03 4.57053318e-01] [-5.84460822e-03 9.99982255e-01 1.15345113e-03 8.20333270e-02] [ 5.74856839e-03 -1.11985309e-03 9.99982850e-01 2.25354677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4489737969999994 meters Centerline goodness [0,1] 0.20534744201426613 Centerline is valid? [False, False] Translation: X:0.46, Y:0.08, Z:2.28 [[ 9.99963458e-01 -4.75242320e-03 -7.10609814e-03 4.64520437e-01] [ 4.74892839e-03 9.99988594e-01 -5.08596270e-04 8.06102040e-02] [ 7.10843416e-03 4.74831334e-04 9.99974622e-01 2.28235854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.478973796999999 meters Centerline goodness [0,1] 0.20639028751588162 Centerline is valid? [False, False] Translation: X:0.48, Y:0.08, Z:2.30 [[ 9.99956837e-01 2.61850571e-03 -8.91451382e-03 4.76226839e-01] [-2.63395430e-03 9.99995049e-01 -1.72167218e-03 8.19178161e-02] [ 8.90996148e-03 1.74507828e-03 9.99958783e-01 2.30170994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5089737969999995 meters Centerline goodness [0,1] 0.20456797697135576 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:2.32 [[ 9.99923824e-01 -6.44072797e-03 -1.05291132e-02 4.91274920e-01] [ 6.42416731e-03 9.99978075e-01 -1.60591049e-03 8.16018373e-02] [ 1.05392255e-02 1.53814737e-03 9.99943278e-01 2.31690671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5389737969999993 meters Centerline goodness [0,1] 0.2027732928103334 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:2.33 [[ 9.99905472e-01 1.44063442e-03 -1.36737448e-02 5.06861285e-01] [-1.46762423e-03 9.99996994e-01 -1.96401233e-03 8.17949820e-02] [ 1.36708743e-02 1.98389460e-03 9.99904581e-01 2.33156241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5689737969999995 meters Centerline goodness [0,1] 0.2047004952808149 Centerline is valid? [False, False] Translation: X:0.51, Y:0.08, Z:2.36 [[ 0.99987319 -0.00870162 -0.01333734 0.51157046] [ 0.00866436 0.99995841 -0.00284897 0.07983584] [ 0.01336158 0.00273305 0.99990699 2.3603362 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5989737969999993 meters Centerline goodness [0,1] 0.20747085415179634 Centerline is valid? [False, False] Translation: X:0.52, Y:0.08, Z:2.38 [[ 9.99925278e-01 1.50116668e-04 -1.22235522e-02 5.24227315e-01] [-1.84288463e-04 9.99996078e-01 -2.79449151e-03 7.94390939e-02] [ 1.22230848e-02 2.79653536e-03 9.99921385e-01 2.37599795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6289737969999996 meters Centerline goodness [0,1] 0.21072850134221977 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:2.39 [[ 9.99917268e-01 -8.26337781e-03 -9.85768970e-03 5.35241310e-01] [ 8.24641892e-03 9.99964449e-01 -1.75977988e-03 7.91483571e-02] [ 9.87188097e-03 1.67834365e-03 9.99949863e-01 2.39347369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6589737969999994 meters Centerline goodness [0,1] 0.21670263073320783 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:2.43 [[ 9.99970914e-01 -5.81191377e-03 -4.93892708e-03 5.53434101e-01] [ 5.82000536e-03 9.99981742e-01 1.62553980e-03 7.99485901e-02] [ 4.92938941e-03 -1.65423710e-03 9.99986482e-01 2.42862929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.688973796999999 meters Centerline goodness [0,1] 0.22758908685968815 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:2.44 [[ 9.99978430e-01 3.10142418e-03 -5.78968612e-03 5.67633158e-01] [-3.09069300e-03 9.99993491e-01 1.86152619e-03 8.01556869e-02] [ 5.79542182e-03 -1.84359190e-03 9.99981507e-01 2.44398720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7189737969999994 meters Centerline goodness [0,1] 0.22441794968081108 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:2.47 [[ 9.99977096e-01 1.93592859e-03 -6.48532013e-03 5.96748815e-01] [-1.92328014e-03 9.99996238e-01 1.95599022e-03 7.88181993e-02] [ 6.48908239e-03 -1.94347233e-03 9.99977057e-01 2.47138223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748973796999999 meters Centerline goodness [0,1] 0.21978782287822873 Centerline is valid? [False, False] Translation: X:0.62, Y:0.08, Z:2.48 [[ 9.99897251e-01 -7.87272168e-03 -1.19794837e-02 6.16990459e-01] [ 7.88612220e-03 9.99968330e-01 1.07179568e-03 7.57567488e-02] [ 1.19706664e-02 -1.16615723e-03 9.99927669e-01 2.48494068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7789737969999995 meters Centerline goodness [0,1] 0.21478544776119401 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:2.50 [[ 9.99861786e-01 -3.39731769e-03 -1.62747425e-02 6.34533448e-01] [ 3.35658437e-03 9.99991167e-01 -2.52951689e-03 7.49007649e-02] [ 1.62831924e-02 2.47453973e-03 9.99864358e-01 2.49921791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8089737969999993 meters Centerline goodness [0,1] 0.21490532599570933 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:2.53 [[ 0.99983779 -0.00883687 -0.01569432 0.6602 ] [ 0.00873016 0.9999384 -0.00685452 0.07169782] [ 0.01575393 0.0067164 0.99985334 2.53075464] [ 0. 0. 0. 1. ]] SLAMing on 3.8389737969999995 meters Centerline goodness [0,1] 0.21297356727289385 Centerline is valid? [False, False] Translation: X:0.67, Y:0.07, Z:2.55 [[ 9.99906595e-01 -1.30397600e-03 -1.36051714e-02 6.69598111e-01] [ 1.19605647e-03 9.99967783e-01 -7.93736698e-03 7.10785980e-02] [ 1.36150833e-02 7.92035303e-03 9.99875941e-01 2.54831755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8689737969999993 meters Centerline goodness [0,1] 0.22306050528614685 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:2.57 [[ 0.99989013 -0.01038868 -0.01057381 0.68080104] [ 0.01030998 0.99991894 -0.00747106 0.06995468] [ 0.01065057 0.00736122 0.99991619 2.56525218] [ 0. 0. 0. 1. ]] SLAMing on 3.898973796999999 meters Centerline goodness [0,1] 0.2263347527022601 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:2.58 [[ 9.99984792e-01 -1.81778891e-03 -5.20693376e-03 6.87765420e-01] [ 1.78158394e-03 9.99974265e-01 -6.94944119e-03 7.08384468e-02] [ 5.21943238e-03 6.94005891e-03 9.99962296e-01 2.58246235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9289737969999994 meters Centerline goodness [0,1] 0.2447865640307908 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:2.61 [[ 9.99994934e-01 -3.06693660e-03 8.52378041e-04 6.87184442e-01] [ 3.06626461e-03 9.99994988e-01 7.88572460e-04 7.25240753e-02] [-8.54792270e-04 -7.85954848e-04 9.99999326e-01 2.61324836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958973796999999 meters Centerline goodness [0,1] 0.25405174864941715 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:2.63 [[ 9.99947327e-01 1.02357996e-02 7.55511871e-04 7.00201255e-01] [-1.02395953e-02 9.99934033e-01 5.20384752e-03 7.43006174e-02] [-7.02196492e-04 -5.21130956e-03 9.99986174e-01 2.62811197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9889737969999994 meters Centerline goodness [0,1] 0.25386555021647084 Centerline is valid? [False, False] Translation: X:0.71, Y:0.08, Z:2.65 [[ 9.99968717e-01 7.84176387e-03 -1.03510577e-03 7.08733146e-01] [-7.82904527e-03 9.99900115e-01 1.17671462e-02 7.68221638e-02] [ 1.12727757e-03 -1.17586742e-02 9.99930229e-01 2.65399264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018973796999999 meters Centerline goodness [0,1] 0.25922028222913174 Centerline is valid? [False, False] Translation: X:0.73, Y:0.08, Z:2.67 [[ 9.99990543e-01 -1.89216377e-03 -3.91593805e-03 7.27352887e-01] [ 1.93653773e-03 9.99933609e-01 1.13590338e-02 7.76423382e-02] [ 3.89418491e-03 -1.13665097e-02 9.99927816e-01 2.66657845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0489737969999995 meters Centerline goodness [0,1] 0.253758865248227 Centerline is valid? [False, False] Translation: X:0.75, Y:0.08, Z:2.68 [[ 9.99945316e-01 2.17915619e-03 -1.02282522e-02 7.45986817e-01] [-2.10426160e-03 9.99970940e-01 7.32738417e-03 7.97521191e-02] [ 1.02439225e-02 -7.30546056e-03 9.99920843e-01 2.67944294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078973797 meters Centerline goodness [0,1] 0.23831248236290092 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:2.71 [[ 9.99887103e-01 -2.15932196e-04 -1.50244609e-02 7.57373621e-01] [ 1.57231757e-04 9.99992351e-01 -3.90806290e-03 8.33089813e-02] [ 1.50251898e-02 3.90525937e-03 9.99879489e-01 2.70531022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108973796999999 meters Centerline goodness [0,1] 0.2404565868263473 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:2.72 [[ 0.99979852 -0.01346599 -0.01488608 0.77264182] [ 0.01334364 0.99987662 -0.00828827 0.08544007] [ 0.01499585 0.00808796 0.99985484 2.71945902] [ 0. 0. 0. 1. ]] SLAMing on 4.138973796999999 meters Centerline goodness [0,1] 0.24888781431334628 Centerline is valid? [False, False] Translation: X:0.77, Y:0.09, Z:2.75 [[ 0.99986929 -0.00742416 -0.01436262 0.77440649] [ 0.00724746 0.99989789 -0.01231593 0.09318149] [ 0.01445259 0.01221023 0.999821 2.75054083] [ 0. 0. 0. 1. ]] SLAMing on 4.168973797 meters Centerline goodness [0,1] 0.24137931034482762 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:2.77 [[ 0.99985715 -0.01225209 -0.01164322 0.78532986] [ 0.01214939 0.99988703 -0.00885017 0.09804722] [ 0.01175034 0.00870745 0.99989305 2.76623557] [ 0. 0. 0. 1. ]] SLAMing on 4.198973796999999 meters Centerline goodness [0,1] 0.2501057977147694 Centerline is valid? [False, False] Translation: X:0.79, Y:0.10, Z:2.78 [[ 0.99999024 -0.00288325 -0.00334776 0.79418134] [ 0.00286223 0.99997628 -0.00626485 0.10480246] [ 0.00336574 0.00625521 0.99997477 2.78232424] [ 0. 0. 0. 1. ]] SLAMing on 4.228973796999999 meters Centerline goodness [0,1] 0.263867288750648 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:2.80 [[ 9.99970542e-01 -7.42528919e-03 -1.94449328e-03 8.05385065e-01] [ 7.42131562e-03 9.99970375e-01 -2.04280224e-03 1.09040554e-01] [ 1.95960407e-03 2.02831136e-03 9.99996023e-01 2.79796383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2589737969999995 meters Centerline goodness [0,1] 0.2651368798002167 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:2.81 [[ 9.99981949e-01 3.17165552e-03 -5.10313483e-03 8.13844290e-01] [-3.16774135e-03 9.99994682e-01 7.74912567e-04 1.15816337e-01] [ 5.10556545e-03 -7.58733168e-04 9.99986679e-01 2.81473917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288973797 meters Centerline goodness [0,1] 0.25942494990446896 Centerline is valid? [False, False] Translation: X:0.82, Y:0.12, Z:2.84 [[ 9.99992179e-01 -3.29864578e-03 -2.18188929e-03 8.16368338e-01] [ 3.30379200e-03 9.99991759e-01 2.35922343e-03 1.23053735e-01] [ 2.17408906e-03 -2.36641349e-03 9.99994837e-01 2.84241386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318973796999999 meters Centerline goodness [0,1] 0.24166241476877404 Centerline is valid? [False, False] Translation: X:0.82, Y:0.13, Z:2.87 [[ 9.99986648e-01 -1.73382413e-03 -4.86793720e-03 8.20869065e-01] [ 1.70898671e-03 9.99985526e-01 -5.10177812e-03 1.29430537e-01] [ 4.87671233e-03 5.09339077e-03 9.99975137e-01 2.86982276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348973796999999 meters Centerline goodness [0,1] 0.21863336865871075 Centerline is valid? [False, False] Translation: X:0.83, Y:0.13, Z:2.89 [[ 0.99988153 -0.01445309 -0.00529493 0.83298866] [ 0.01440582 0.99985699 -0.0088585 0.13153138] [ 0.00542221 0.00878117 0.99994674 2.88561932] [ 0. 0. 0. 1. ]] SLAMing on 4.378973797 meters Centerline goodness [0,1] 0.21002821002821004 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:2.90 [[ 0.99993302 -0.00817365 -0.00819414 0.84324878] [ 0.00807954 0.99990176 -0.01145358 0.13523694] [ 0.00828695 0.01138661 0.99990083 2.90311544] [ 0. 0. 0. 1. ]] SLAMing on 4.408973796999999 meters Centerline goodness [0,1] 0.18520185426886904 Centerline is valid? [False, False] Translation: X:0.85, Y:0.14, Z:2.92 [[ 9.99951731e-01 -1.19498714e-03 -9.75232721e-03 8.50662216e-01] [ 1.06451942e-03 9.99910019e-01 -1.33723547e-02 1.42022529e-01] [ 9.76742948e-03 1.33613277e-02 9.99863027e-01 2.92259030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438973796999999 meters Centerline goodness [0,1] 0.15547024952015354 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:2.95 [[ 0.99996454 -0.00613074 -0.00577393 0.84464724] [ 0.00606897 0.99992481 -0.01065553 0.1491528 ] [ 0.00583882 0.01062011 0.99992656 2.95478135] [ 0. 0. 0. 1. ]] SLAMing on 4.468973796999999 meters Centerline goodness [0,1] 0.14969664996043264 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:2.97 [[ 0.99988278 -0.01393937 -0.00633431 0.85401827] [ 0.01388019 0.99986049 -0.00929247 0.14914987] [ 0.00646295 0.00920346 0.99993676 2.97171677] [ 0. 0. 0. 1. ]] SLAMing on 4.498973797 meters Centerline goodness [0,1] 0.1596788194444444 Centerline is valid? [False, False] Translation: X:0.86, Y:0.15, Z:2.99 [[ 0.99997694 -0.00359687 -0.00576015 0.86063815] [ 0.00355406 0.99996612 -0.00742483 0.1486576 ] [ 0.00578667 0.00740419 0.99995585 2.98915353] [ 0. 0. 0. 1. ]] SLAMing on 4.528973796999999 meters Centerline goodness [0,1] 0.13075754286954633 Centerline is valid? [False, False] Translation: X:0.87, Y:0.14, Z:3.03 [[ 9.99997423e-01 -2.25295417e-03 2.79272815e-04 8.70840518e-01] [ 2.25423292e-03 9.99986572e-01 -4.66638862e-03 1.43270975e-01] [-2.68755905e-04 4.66700615e-03 9.99989073e-01 3.02628750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558973796999999 meters Centerline goodness [0,1] 0.13607702794819354 Centerline is valid? [False, False] Translation: X:0.87, Y:0.14, Z:3.05 [[ 9.99923873e-01 -9.06974704e-03 8.36587161e-03 8.72980614e-01] [ 9.08913314e-03 9.99956089e-01 -2.28218156e-03 1.38122229e-01] [-8.34480545e-03 2.35804635e-03 9.99962401e-01 3.04607838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5889737969999995 meters Centerline goodness [0,1] 0.13312043028825948 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:3.08 [[ 9.99887742e-01 1.57081277e-04 1.49826157e-02 8.66623063e-01] [-1.51498725e-04 9.99999919e-01 -3.73736215e-04 1.29726863e-01] [-1.49826732e-02 3.71424413e-04 9.99887684e-01 3.07816275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.618973796999999 meters Centerline goodness [0,1] 0.13398775065022228 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:3.09 [[ 0.99996125 -0.00377331 0.00795328 0.87692966] [ 0.00374478 0.99998651 0.00359833 0.12121965] [-0.00796675 -0.0035684 0.9999619 3.09345598] [ 0. 0. 0. 1. ]] SLAMing on 4.648973796999999 meters Centerline goodness [0,1] 0.1354573398687381 Centerline is valid? [False, False] Translation: X:0.89, Y:0.12, Z:3.11 [[ 9.99994185e-01 2.64658014e-03 2.15091453e-03 8.86830693e-01] [-2.65481708e-03 9.99989120e-01 3.83571904e-03 1.18391490e-01] [-2.14073959e-03 -3.84140702e-03 9.99990330e-01 3.10962096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678973796999999 meters Centerline goodness [0,1] 0.13950525969756744 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:3.13 [[ 9.99991918e-01 -1.04252867e-03 -3.88287305e-03 8.86518846e-01] [ 1.07456764e-03 9.99965321e-01 8.25843162e-03 1.03352733e-01] [ 3.87412875e-03 -8.26253729e-03 9.99958360e-01 3.13399469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708973797 meters Centerline goodness [0,1] 0.1377751979766989 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:3.15 [[ 0.99992439 0.00468756 -0.01136853 0.89898152] [-0.00460201 0.99996098 0.00753998 0.09838598] [ 0.01140344 -0.0074871 0.99990695 3.14887725] [ 0. 0. 0. 1. ]] SLAMing on 4.738973796999999 meters Centerline goodness [0,1] 0.1385613448121098 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:3.16 [[ 0.99978128 0.01036457 -0.01816484 0.91135561] [-0.01024203 0.99992425 0.00682586 0.09436614] [ 0.01823421 -0.00663833 0.99981171 3.16401929] [ 0. 0. 0. 1. ]] SLAMing on 4.768973796999999 meters Centerline goodness [0,1] 0.1359980502071655 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:3.19 [[ 0.99991068 0.00576611 -0.0120572 0.91958661] [-0.00566072 0.99994563 0.00875695 0.0804388 ] [ 0.01210704 -0.00868792 0.99988896 3.19211848] [ 0. 0. 0. 1. ]] SLAMing on 4.7989737969999995 meters Centerline goodness [0,1] 0.13346597368848467 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:3.21 [[ 9.99982233e-01 5.91703700e-03 7.23320830e-04 9.19683900e-01] [-5.92352843e-03 9.99938944e-01 9.32844087e-03 7.74501630e-02] [-6.68079938e-04 -9.33255974e-03 9.99956228e-01 3.20560001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.828973796999999 meters Centerline goodness [0,1] 0.13195759945185603 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:3.22 [[ 0.9999396 0.00959945 0.00535241 0.93469003] [-0.00964333 0.99991961 0.00823255 0.07913978] [-0.00527295 -0.00828367 0.99995179 3.22190436] [ 0. 0. 0. 1. ]] SLAMing on 4.858973796999999 meters Centerline goodness [0,1] 0.1282990022529772 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:3.24 [[ 9.99977305e-01 2.09375011e-03 6.40355408e-03 9.44801753e-01] [-2.15986093e-03 9.99944263e-01 1.03346514e-02 7.79886046e-02] [-6.38155899e-03 -1.03482476e-02 9.99926092e-01 3.23828437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888973796999999 meters Centerline goodness [0,1] 0.12081050596197229 Centerline is valid? [False, False] Translation: X:0.96, Y:0.08, Z:3.27 [[ 0.99990368 0.00764583 0.01158295 0.9560406 ] [-0.00777524 0.9999074 0.01116866 0.08165449] [-0.01149648 -0.01125764 0.99987054 3.26536206] [ 0. 0. 0. 1. ]] SLAMing on 4.918973797 meters Centerline goodness [0,1] 0.12305684110596893 Centerline is valid? [False, False] Translation: X:0.97, Y:0.08, Z:3.28 [[ 9.99998755e-01 8.51562836e-04 1.32849922e-03 9.72598756e-01] [-8.67324017e-04 9.99928712e-01 1.19087821e-02 7.80499228e-02] [-1.31826343e-03 -1.19099196e-02 9.99928205e-01 3.27849656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948973796999999 meters Centerline goodness [0,1] 0.1199017977350123 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:3.30 [[ 9.99974939e-01 3.20950872e-03 -6.31037333e-03 9.83489480e-01] [-3.17486880e-03 9.99979880e-01 5.49173825e-03 8.03266293e-02] [ 6.32787214e-03 -5.47156602e-03 9.99965009e-01 3.30128123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978973796999999 meters Centerline goodness [0,1] 0.12210170557258504 Centerline is valid? [False, False] Translation: X:1.00, Y:0.08, Z:3.32 [[ 9.99868973e-01 4.81044233e-03 -1.54562566e-02 9.98181991e-01] [-4.82093628e-03 9.99988173e-01 -6.41757248e-04 8.20765004e-02] [ 1.54529867e-02 7.16186789e-04 9.99880339e-01 3.31531314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0089737969999995 meters Centerline goodness [0,1] 0.12210170557258504 Centerline is valid? [False, False] Translation: X:1.00, Y:0.08, Z:3.32 [[ 9.99865995e-01 4.78644961e-03 -1.56550783e-02 9.99242293e-01] [-4.79722745e-03 9.99988281e-01 -6.50975596e-04 8.20592441e-02] [ 1.56517790e-02 7.25989334e-04 9.99877240e-01 3.31560375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038973796999999 meters Centerline goodness [0,1] 0.12296874999999996 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:3.33 [[ 0.99966194 -0.00599679 -0.0252991 1.0131096 ] [ 0.00587892 0.99997153 -0.00473099 0.07883453] [ 0.02532675 0.00458066 0.99966873 3.32867967] [ 0. 0. 0. 1. ]] SLAMing on 5.068973796999999 meters Centerline goodness [0,1] 0.12611920224416862 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:3.35 [[ 9.99501462e-01 -3.68744527e-03 -3.13564905e-02 1.02161610e+00] [ 3.32814855e-03 9.99928300e-01 -1.15029308e-02 8.24051566e-02] [ 3.13966587e-02 1.13928371e-02 9.99442071e-01 3.35251911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098973796999999 meters Centerline goodness [0,1] 0.12009595295210096 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:3.37 [[ 9.99859270e-01 -4.00856803e-04 -1.67713882e-02 1.01778439e+00] [ 2.35633316e-04 9.99951437e-01 -9.85232582e-03 8.47432172e-02] [ 1.67745231e-02 9.84698740e-03 9.99810808e-01 3.36540450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128973797 meters Centerline goodness [0,1] 0.116729569436956 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:3.38 [[ 0.99987986 -0.00502855 -0.01466243 1.026008 ] [ 0.00494457 0.99997119 -0.00575856 0.08573557] [ 0.01469096 0.00568537 0.99987592 3.38156458] [ 0. 0. 0. 1. ]] SLAMing on 5.158973796999999 meters Centerline goodness [0,1] 0.11340871148884502 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:3.41 [[ 9.99982182e-01 -5.87422558e-03 1.06238911e-03 1.02967907e+00] [ 5.87164228e-03 9.99979837e-01 2.41857587e-03 9.22563661e-02] [-1.07657495e-03 -2.41229481e-03 9.99996511e-01 3.41404832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188973796999999 meters Centerline goodness [0,1] 0.11219658826181711 Centerline is valid? [False, False] Translation: X:1.04, Y:0.10, Z:3.43 [[ 9.99964756e-01 1.03516860e-04 8.39499807e-03 1.03732987e+00] [-1.33240106e-04 9.99993725e-01 3.54010802e-03 9.81180043e-02] [-8.39457893e-03 -3.54110180e-03 9.99958495e-01 3.43138914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218973796999999 meters Centerline goodness [0,1] 0.15562485738191223 Centerline is valid? [False, False] Translation: X:1.04, Y:0.10, Z:3.45 [[ 9.99899311e-01 9.07049960e-03 1.09130073e-02 1.04229991e+00] [-9.10287988e-03 9.99954301e-01 2.92112210e-03 1.01780382e-01] [-1.08860126e-02 -3.02016777e-03 9.99936185e-01 3.44797080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248973796999999 meters Centerline goodness [0,1] 0.13240225522349558 Centerline is valid? [False, False] Translation: X:1.05, Y:0.10, Z:3.46 [[ 9.99989635e-01 2.61830572e-03 3.72479073e-03 1.05186220e+00] [-2.63181459e-03 9.99989961e-01 3.62647718e-03 9.82964388e-02] [-3.71525811e-03 -3.63624255e-03 9.99986487e-01 3.46344800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278973796999999 meters Centerline goodness [0,1] 0.14997275204359672 Centerline is valid? [False, False] Translation: X:1.05, Y:0.10, Z:3.49 [[ 9.99992908e-01 3.14271305e-03 2.07536824e-03 1.04884222e+00] [-3.13405300e-03 9.99986424e-01 -4.16292690e-03 1.00225627e-01] [-2.08842295e-03 4.15639306e-03 9.99989181e-01 3.49299413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308973796999999 meters Centerline goodness [0,1] 0.16560370275884695 Centerline is valid? [False, False] Translation: X:1.04, Y:0.10, Z:3.50 [[ 9.99985277e-01 5.32164325e-04 5.40025286e-03 1.03844057e+00] [-4.96175280e-04 9.99977676e-01 -6.66347883e-03 9.87660979e-02] [-5.40367837e-03 6.66070125e-03 9.99963217e-01 3.50472025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3389737969999995 meters Centerline goodness [0,1] 0.18084950567557667 Centerline is valid? [False, False] Translation: X:1.02, Y:0.10, Z:3.53 [[ 9.99940465e-01 -2.23794942e-03 1.06798331e-02 1.01588131e+00] [ 2.33791604e-03 9.99953489e-01 -9.35703000e-03 9.60576694e-02] [-1.06583958e-02 9.38144148e-03 9.99899188e-01 3.52947518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368973796999999 meters Centerline goodness [0,1] 0.1590059458112294 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:3.54 [[ 9.99886731e-01 -1.91763181e-03 1.49280645e-02 1.00418919e+00] [ 2.05430411e-03 9.99956069e-01 -9.14544886e-03 9.63599840e-02] [-1.49098711e-02 9.17507976e-03 9.99846745e-01 3.54288264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398973796999999 meters Centerline goodness [0,1] 0.16292531413242972 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:3.56 [[ 0.9999423 -0.00458954 0.00971298 1.00761767] [ 0.00464485 0.99997308 -0.00567978 0.09261744] [-0.00968665 0.00572457 0.9999367 3.55832798] [ 0. 0. 0. 1. ]] SLAMing on 5.428973796999999 meters Centerline goodness [0,1] 0.18075238784869485 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:3.59 [[ 9.99814259e-01 -9.49692758e-03 1.67706580e-02 9.99538603e-01] [ 9.51747565e-03 9.99954051e-01 -1.14585026e-03 9.11408457e-02] [-1.67590054e-02 1.30525176e-03 9.99858706e-01 3.58901353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458973796999999 meters Centerline goodness [0,1] 0.19801131493228186 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:3.61 [[ 9.99749494e-01 -1.96857285e-03 2.22951423e-02 1.00044705e+00] [ 2.00953152e-03 9.99996334e-01 -1.81485649e-03 9.09087532e-02] [-2.22914879e-02 1.85920465e-03 9.99749785e-01 3.60717591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488973796999999 meters Centerline goodness [0,1] 0.2198493723849373 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:3.63 [[ 9.99665505e-01 5.55627667e-03 2.52587622e-02 1.00264819e+00] [-5.48677522e-03 9.99980971e-01 -2.82005150e-03 9.19458615e-02] [-2.52739506e-02 2.68051905e-03 9.99676969e-01 3.62570176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518973796999999 meters Centerline goodness [0,1] 0.22725030420626824 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:3.66 [[ 9.99354836e-01 -2.15665969e-04 3.59146944e-02 9.96892722e-01] [ 2.36841720e-04 9.99999801e-01 -5.85359068e-04 8.83427021e-02] [-3.59145610e-02 5.93487514e-04 9.99354688e-01 3.65515086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5489737969999995 meters Centerline goodness [0,1] 0.22395544989741756 Centerline is valid? [False, False] Translation: X:0.99, Y:0.09, Z:3.67 [[ 9.99296421e-01 -9.32484483e-04 3.74938992e-02 9.90295120e-01] [ 9.69313652e-04 9.99999065e-01 -9.64104921e-04 8.74347306e-02] [-3.74929652e-02 9.99769946e-04 9.99296391e-01 3.66606173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578973796999999 meters Centerline goodness [0,1] 0.20819730419885574 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:3.68 [[ 9.99240020e-01 -1.96039374e-03 3.89299255e-02 9.83793349e-01] [ 2.02649647e-03 9.99996571e-01 -1.65860465e-03 8.62696428e-02] [-3.89265405e-02 1.73623550e-03 9.99240567e-01 3.67650878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608973796999999 meters Centerline goodness [0,1] 0.26713416247684574 Centerline is valid? [False, False] Translation: X:0.97, Y:0.08, Z:3.70 [[ 9.99243817e-01 -3.87131052e-03 3.86886044e-02 9.73535996e-01] [ 3.95629563e-03 9.99989926e-01 -2.12032516e-03 8.17912472e-02] [-3.86800062e-02 2.27178536e-03 9.99249066e-01 3.69587290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638973796999999 meters Centerline goodness [0,1] 0.17183370931356756 Centerline is valid? [False, False] Translation: X:0.97, Y:0.08, Z:3.71 [[ 9.99233288e-01 -4.42028420e-03 3.89011245e-02 9.68344546e-01] [ 4.51047388e-03 9.99987339e-01 -2.23097433e-03 8.03785462e-02] [-3.88907705e-02 2.40472632e-03 9.99240574e-01 3.70542360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668973796999999 meters Centerline goodness [0,1] 0.22088870298272145 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:3.73 [[ 0.99967071 -0.00572609 0.02501353 0.98043251] [ 0.00583516 0.99997378 -0.0042895 0.07821527] [-0.02498831 0.00443405 0.99967791 3.72930219] [ 0. 0. 0. 1. ]] SLAMing on 5.698973796999999 meters Centerline goodness [0,1] 0.18552167868343628 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:3.74 [[ 9.99831880e-01 -1.91217600e-03 1.82360812e-02 9.88450217e-01] [ 2.03290464e-03 9.99976126e-01 -6.60407909e-03 8.17965416e-02] [-1.82230176e-02 6.64004103e-03 9.99811898e-01 3.74321984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728973796999999 meters Centerline goodness [0,1] 0.19189583069319482 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:3.76 [[ 0.99979211 0.004855 0.019803 0.99412347] [-0.00469358 0.99995545 -0.00818969 0.08085752] [-0.01984188 0.00809505 0.99977036 3.75711994] [ 0. 0. 0. 1. ]] SLAMing on 5.7589737969999995 meters Centerline goodness [0,1] 0.18434755332496866 Centerline is valid? [False, False] Translation: X:1.00, Y:0.08, Z:3.77 [[ 9.99754862e-01 -2.93658397e-03 2.19452012e-02 9.99471040e-01] [ 3.08203013e-03 9.99973491e-01 -6.59681705e-03 8.04111763e-02] [-2.19252473e-02 6.66283569e-03 9.99737411e-01 3.77127964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788973796999999 meters Centerline goodness [0,1] 0.18256463477915819 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:3.80 [[ 9.99746136e-01 -1.92021883e-03 2.24494379e-02 1.01342795e+00] [ 1.98285115e-03 9.99994203e-01 -2.76800153e-03 8.07395632e-02] [-2.24439926e-02 2.81181273e-03 9.99744148e-01 3.80101405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818973796999999 meters SLAMing on 5.848973796999999 meters Centerline goodness [0,1] 0.12759670222511155 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:3.84 [[ 9.99847419e-01 -2.50993062e-03 1.72869657e-02 1.02583241e+00] [ 2.49191026e-03 9.99996329e-01 1.06388625e-03 8.17986724e-02] [-1.72895725e-02 -1.02064636e-03 9.99850003e-01 3.83997761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878973796999999 meters Centerline goodness [0,1] 0.20634455259763107 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:3.85 [[ 9.99878739e-01 -3.03295234e-03 1.52744536e-02 1.02360609e+00] [ 3.02959672e-03 9.99995381e-01 2.42822966e-04 8.21481393e-02] [-1.52751195e-02 -1.96518086e-04 9.99883309e-01 3.84931229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908973796999999 meters Centerline goodness [0,1] 0.19930181818181814 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:3.86 [[ 9.99897356e-01 -5.21426952e-03 1.33449837e-02 1.02145489e+00] [ 5.24566695e-03 9.99983553e-01 -2.31883071e-03 8.28648192e-02] [-1.33326732e-02 2.38859604e-03 9.99908263e-01 3.85814253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938973796999999 meters Centerline goodness [0,1] 0.2133318114370506 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:3.88 [[ 0.99994861 -0.0057333 0.00836084 1.02054259] [ 0.00582023 0.99992886 -0.01041106 0.08540114] [-0.00830055 0.01045919 0.99991085 3.88179392] [ 0. 0. 0. 1. ]] SLAMing on 5.968973796999999 meters Centerline goodness [0,1] 0.3149144805432669 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:3.89 [[ 0.99995685 -0.00693542 0.00617968 1.0180331 ] [ 0.00701208 0.99989765 -0.01247048 0.08682084] [-0.00609256 0.01251327 0.99990314 3.89299119] [ 0. 0. 0. 1. ]] SLAMing on 5.998973796999999 meters Centerline goodness [0,1] 0.12968130825473012 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:3.92 [[ 0.99990469 -0.00826146 0.01106124 1.01875296] [ 0.00841698 0.99986533 -0.0140881 0.08983737] [-0.01094336 0.01417986 0.99983957 3.92323035] [ 0. 0. 0. 1. ]] SLAMing on 6.028973796999999 meters Centerline goodness [0,1] 0.2523242583187634 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:3.94 [[ 9.99902022e-01 2.95638921e-04 1.39949681e-02 1.01816166e+00] [-9.73399102e-05 9.99899626e-01 -1.41678689e-02 9.19501120e-02] [-1.39977520e-02 1.41651185e-02 9.99801687e-01 3.93980004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058973796999999 meters Centerline goodness [0,1] 0.20107002013182207 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:3.96 [[ 0.99983617 -0.00450951 0.01752999 1.01677108] [ 0.00468984 0.99993637 -0.0102593 0.09315757] [-0.01748261 0.01033983 0.9997937 3.95627704] [ 0. 0. 0. 1. ]] SLAMing on 6.088973796999999 meters Centerline goodness [0,1] 0.2746077032810271 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:3.97 [[ 0.99985617 -0.00606915 0.01583659 1.01543899] [ 0.00615566 0.99996637 -0.00541956 0.09145468] [-0.01580316 0.00551627 0.99985991 3.97338133] [ 0. 0. 0. 1. ]] SLAMing on 6.118973796999999 meters Centerline goodness [0,1] 0.28255268368094166 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:4.01 [[ 9.99727875e-01 -6.09344877e-03 2.25176584e-02 1.00893017e+00] [ 6.15394433e-03 9.99977637e-01 -2.61826470e-03 9.45523648e-02] [-2.25012006e-02 2.75612463e-03 9.99743017e-01 4.00684416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148973796999999 meters Centerline goodness [0,1] 0.2863283678931574 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:4.02 [[ 9.99708800e-01 -6.08951923e-03 2.33502166e-02 1.00277054e+00] [ 6.16325047e-03 9.99976242e-01 -3.08695979e-03 9.54188799e-02] [-2.33308638e-02 3.22997410e-03 9.99722581e-01 4.01991011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178973796999999 meters Centerline goodness [0,1] 0.29281619250127855 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:4.03 [[ 0.9996893 -0.00683692 0.02397011 0.99625761] [ 0.00694271 0.99996651 -0.00433296 0.09576195] [-0.02393968 0.00449803 0.99970329 4.03256667] [ 0. 0. 0. 1. ]] SLAMing on 6.208973796999999 meters Centerline goodness [0,1] 0.30129249484088194 Centerline is valid? [False, False] Translation: X:0.99, Y:0.10, Z:4.06 [[ 0.99976231 -0.00567418 0.02105082 0.98839613] [ 0.00587085 0.99993958 -0.00929299 0.09767141] [-0.02099682 0.00941436 0.99973522 4.05740338] [ 0. 0. 0. 1. ]] SLAMing on 6.238973796999999 meters Centerline goodness [0,1] 0.2998445977262194 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:4.07 [[ 0.99975163 -0.00596307 0.02147367 0.9818885 ] [ 0.00617127 0.99993447 -0.00964217 0.09718649] [-0.02141477 0.00977229 0.99972292 4.06815561] [ 0. 0. 0. 1. ]] SLAMing on 6.268973796999999 meters Centerline goodness [0,1] 0.2977991371306865 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:4.08 [[ 0.99973555 -0.00639404 0.02208957 0.97577221] [ 0.00662196 0.99992544 -0.01026013 0.09688522] [-0.02202232 0.01040369 0.99970335 4.0777861 ] [ 0. 0. 0. 1. ]] SLAMing on 6.298973796999999 meters Centerline goodness [0,1] 0.19434898816342117 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:4.10 [[ 0.99992057 -0.00465681 0.01171159 0.97510792] [ 0.00478152 0.99993194 -0.01064231 0.09709349] [-0.01166123 0.01069747 0.99987478 4.10471532] [ 0. 0. 0. 1. ]] SLAMing on 6.328973796999999 meters Centerline goodness [0,1] 0.19709374830559023 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:4.12 [[ 0.99995302 -0.00631859 0.00735037 0.97530473] [ 0.0063662 0.9999588 -0.0064713 0.09441321] [-0.00730917 0.00651779 0.99995205 4.12027573] [ 0. 0. 0. 1. ]] SLAMing on 6.358973796999999 meters Centerline goodness [0,1] 0.19468669250645998 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:4.14 [[ 9.99983324e-01 9.19750314e-04 5.70146313e-03 9.76528254e-01] [-8.84570942e-04 9.99980576e-01 -6.16968981e-03 9.55281892e-02] [-5.70702696e-03 6.16454357e-03 9.99964714e-01 4.13592890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388973796999999 meters Centerline goodness [0,1] 0.1935146989713331 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:4.17 [[ 9.99915214e-01 -1.00186023e-03 1.29831432e-02 9.84322167e-01] [ 1.01545576e-03 9.99998943e-01 -1.04061725e-03 9.52297045e-02] [-1.29820870e-02 1.05371283e-03 9.99915174e-01 4.16752392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418973796999999 meters Centerline goodness [0,1] 0.34607224111045787 Centerline is valid? [False, False] Translation: X:0.99, Y:0.10, Z:4.19 [[ 9.99901559e-01 -1.20230705e-03 1.39795291e-02 9.92498290e-01] [ 1.20753017e-03 9.99999204e-01 -3.65191221e-04 9.55626628e-02] [-1.39790789e-02 3.82035974e-04 9.99902215e-01 4.18517402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448973796999999 meters Centerline goodness [0,1] 0.3729814291481631 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:4.20 [[ 9.99906850e-01 -1.21742352e-03 1.35944724e-02 1.00154948e+00] [ 1.21312254e-03 9.99999211e-01 3.24619019e-04 9.66911377e-02] [-1.35948569e-02 -3.08097020e-04 9.99907538e-01 4.20235584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478973796999999 meters Centerline goodness [0,1] 0.3730484387510008 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:4.22 [[ 9.99930322e-01 -1.75109938e-03 1.16740887e-02 1.01023293e+00] [ 1.74088928e-03 9.99998093e-01 8.84699870e-04 9.62650512e-02] [-1.16756157e-02 -8.64314930e-04 9.99931464e-01 4.21910490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508973796999999 meters Centerline goodness [0,1] 0.20461247093232326 Centerline is valid? [False, False] Translation: X:1.02, Y:0.10, Z:4.25 [[ 9.99977970e-01 -1.12395710e-03 6.54188325e-03 1.01861210e+00] [ 1.11445398e-03 9.99998319e-01 1.45612201e-03 9.66794826e-02] [-6.54350887e-03 -1.44879931e-03 9.99977541e-01 4.24510468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538973796999999 meters Centerline goodness [0,1] 0.21081183521663938 Centerline is valid? [False, False] Translation: X:1.02, Y:0.10, Z:4.26 [[ 9.99994102e-01 1.57845638e-03 -3.05039408e-03 1.02340745e+00] [-1.58105223e-03 9.99998390e-01 -8.48763071e-04 9.95813001e-02] [ 3.04904944e-03 8.53580897e-04 9.99994987e-01 4.25599234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568973796999999 meters Centerline goodness [0,1] 0.2917370985383315 Centerline is valid? [False, False] Translation: X:1.03, Y:0.10, Z:4.28 [[ 9.99725193e-01 3.18659932e-03 -2.32246628e-02 1.03362876e+00] [-3.26485000e-03 9.99989119e-01 -3.33215385e-03 1.00257294e-01] [ 2.32137919e-02 3.40706319e-03 9.99724718e-01 4.27518751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598973796999999 meters Centerline goodness [0,1] 0.29061065022705934 Centerline is valid? [False, False] Translation: X:1.04, Y:0.10, Z:4.28 [[ 0.99943057 0.00436395 -0.03345867 1.03894004] [-0.00460376 0.99996424 -0.00709357 0.10205254] [ 0.03342652 0.00724357 0.99941493 4.2848112 ] [ 0. 0. 0. 1. ]] SLAMing on 6.628973796999999 meters Centerline goodness [0,1] 0.29822124091393987 Centerline is valid? [False, False] Translation: X:1.04, Y:0.10, Z:4.30 [[ 0.99905935 0.00641823 -0.04288626 1.04467034] [-0.00690678 0.99991283 -0.01125329 0.10372365] [ 0.0428103 0.01153891 0.99901658 4.29565581] [ 0. 0. 0. 1. ]] SLAMing on 6.658973796999999 meters Centerline goodness [0,1] 0.3078482765441868 Centerline is valid? [False, False] Translation: X:1.05, Y:0.10, Z:4.31 [[ 0.99881828 0.00509638 -0.04833291 1.05371013] [-0.00569245 0.99990934 -0.01220309 0.10468247] [ 0.04826634 0.0124638 0.99875673 4.31008912] [ 0. 0. 0. 1. ]] SLAMing on 6.688973796999999 meters Centerline goodness [0,1] 0.3318928048083849 Centerline is valid? [False, False] Translation: X:1.06, Y:0.11, Z:4.34 [[ 0.99904452 0.00962779 -0.04263031 1.06481808] [-0.01022501 0.99985231 -0.01381336 0.10931578] [ 0.04249102 0.01423606 0.99899542 4.33744506] [ 0. 0. 0. 1. ]] SLAMing on 6.7189737969999985 meters Centerline goodness [0,1] 0.22743898231004578 Centerline is valid? [False, False] Translation: X:1.07, Y:0.12, Z:4.35 [[ 0.99943408 0.00920885 -0.03235298 1.07278725] [-0.00960748 0.99987957 -0.01218758 0.11507447] [ 0.03223685 0.01249151 0.9994022 4.35304914] [ 0. 0. 0. 1. ]] SLAMing on 6.748973796999999 meters Centerline goodness [0,1] 0.3673388593344056 Centerline is valid? [False, False] Translation: X:1.08, Y:0.12, Z:4.37 [[ 0.99962199 0.0108684 -0.02525368 1.07859061] [-0.01110416 0.99989589 -0.00921405 0.12043483] [ 0.02515091 0.00949099 0.99963861 4.37055368] [ 0. 0. 0. 1. ]] SLAMing on 6.778973796999999 meters Centerline goodness [0,1] 0.40281411997037764 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:4.39 [[ 0.99974069 0.01277818 -0.01884886 1.08442249] [-0.01289136 0.99989952 -0.00589571 0.12826753] [ 0.01877163 0.00613717 0.99980496 4.38779886] [ 0. 0. 0. 1. ]] SLAMing on 6.808973796999999 meters Centerline goodness [0,1] 0.5014641664526072 Centerline is valid? [False, False] Translation: X:1.09, Y:0.14, Z:4.42 [[ 9.99830945e-01 1.82476530e-02 2.25929230e-03 1.08839422e+00] [-1.82401042e-02 9.99828130e-01 -3.31794280e-03 1.38442158e-01] [-2.31944866e-03 3.27617216e-03 9.99991943e-01 4.41670466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.838973796999999 meters Centerline goodness [0,1] 0.5067163784441271 Centerline is valid? [False, False] Translation: X:1.09, Y:0.15, Z:4.43 [[ 0.99972774 0.02271674 0.00532819 1.08951186] [-0.02269028 0.99973016 -0.00497555 0.14833345] [-0.00543978 0.0048533 0.99997343 4.43087432] [ 0. 0. 0. 1. ]] SLAMing on 6.868973796999999 meters Centerline goodness [0,1] 0.508297364681912 Centerline is valid? [False, False] Translation: X:1.09, Y:0.16, Z:4.45 [[ 0.99964753 0.02575179 0.00645476 1.09096203] [-0.02570691 0.99964542 -0.00694227 0.15728634] [-0.00663125 0.00677389 0.99995507 4.44515312] [ 0. 0. 0. 1. ]] SLAMing on 6.898973796999999 meters Centerline goodness [0,1] 0.508297364681912 Centerline is valid? [False, False] Translation: X:1.09, Y:0.16, Z:4.45 [[ 0.99967366 0.02481328 0.00607225 1.09221979] [-0.02477172 0.99966983 -0.00682656 0.15763231] [-0.00623963 0.00667391 0.99995826 4.44540501] [ 0. 0. 0. 1. ]] SLAMing on 6.9289737969999985 meters Centerline goodness [0,1] 0.5752992203799275 Centerline is valid? [False, False] Translation: X:1.09, Y:0.16, Z:4.45 [[ 0.99968196 0.02401225 0.00770675 1.08677737] [-0.02395244 0.99968297 -0.00776111 0.15951943] [-0.00789067 0.00757405 0.99994018 4.4521647 ] [ 0. 0. 0. 1. ]] SLAMing on 6.958973796999999 meters Centerline goodness [0,1] 0.5757809062912451 Centerline is valid? [False, False] Translation: X:1.09, Y:0.16, Z:4.45 [[ 0.99967242 0.02390595 0.00914054 1.08533057] [-0.02383313 0.99968398 -0.00799497 0.15962609] [-0.00932878 0.0077745 0.99992626 4.45185801] [ 0. 0. 0. 1. ]] SLAMing on 6.988973796999999 meters Centerline goodness [0,1] 0.5321569537961458 Centerline is valid? [False, False] Translation: X:1.08, Y:0.16, Z:4.45 [[ 0.99966521 0.02364584 0.01050465 1.08452564] [-0.02355529 0.99968501 -0.0086615 0.15991122] [-0.01070615 0.00841116 0.99990731 4.45032213] [ 0. 0. 0. 1. ]] SLAMing on 7.018973796999999 meters Centerline goodness [0,1] 0.5779839588631472 Centerline is valid? [False, False] Translation: X:1.08, Y:0.16, Z:4.45 [[ 0.99966176 0.02231128 0.01336312 1.08072594] [-0.02217103 0.99969849 -0.01055315 0.15735062] [-0.01359454 0.01025331 0.99985502 4.44989283] [ 0. 0. 0. 1. ]] SLAMing on 7.048973796999999 meters Centerline goodness [0,1] 0.5781696986529649 Centerline is valid? [False, False] Translation: X:1.08, Y:0.16, Z:4.45 [[ 0.99962618 0.02267291 0.01527901 1.07905011] [-0.02251852 0.99969437 -0.01020222 0.15643659] [-0.01550566 0.00985435 0.99983122 4.4495914 ] [ 0. 0. 0. 1. ]] SLAMing on 7.078973796999999 meters Centerline goodness [0,1] 0.576985686219478 Centerline is valid? [False, False] Translation: X:1.08, Y:0.16, Z:4.45 [[ 0.99950226 0.02563976 0.01838022 1.07536714] [-0.02551507 0.99965002 -0.0069869 0.15546209] [-0.01855293 0.00651445 0.99980666 4.4512461 ] [ 0. 0. 0. 1. ]] SLAMing on 7.108973796999999 meters Centerline goodness [0,1] 0.5761593140020309 Centerline is valid? [False, False] Translation: X:1.08, Y:0.15, Z:4.46 [[ 9.99561604e-01 2.29996872e-02 1.86443929e-02 1.07804747e+00] [-2.29652771e-02 9.99734146e-01 -2.05763770e-03 1.53058097e-01] [-1.86867613e-02 1.62856199e-03 9.99824061e-01 4.45556394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1389737969999985 meters Centerline goodness [0,1] 0.5788977727013136 Centerline is valid? [False, False] Translation: X:1.08, Y:0.15, Z:4.46 [[ 9.99622685e-01 1.96350507e-02 1.92081488e-02 1.08181873e+00] [-1.96886297e-02 9.99802768e-01 2.60424919e-03 1.50865997e-01] [-1.91532258e-02 -2.98144870e-03 9.99812115e-01 4.46070668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168973796999999 meters Centerline goodness [0,1] 0.5637631053770695 Centerline is valid? [False, False] Translation: X:1.09, Y:0.15, Z:4.47 [[ 0.9996865 0.01552345 0.01964471 1.08678242] [-0.01564797 0.99985834 0.00620067 0.14956465] [-0.01954567 -0.00650613 0.9997878 4.46570179] [ 0. 0. 0. 1. ]] SLAMing on 7.198973796999999 meters Centerline goodness [0,1] 0.5408204008837544 Centerline is valid? [False, False] Translation: X:1.09, Y:0.15, Z:4.47 [[ 0.99974052 0.01163967 0.01958073 1.09260144] [-0.01182013 0.99988849 0.00912616 0.15005691] [-0.01947232 -0.00935524 0.99976663 4.46967979] [ 0. 0. 0. 1. ]] SLAMing on 7.228973796999999 meters Centerline goodness [0,1] 0.5548581400585454 Centerline is valid? [False, False] Translation: X:1.10, Y:0.15, Z:4.47 [[ 0.99981347 0.0070547 0.01797941 1.10132176] [-0.00726288 0.99990704 0.01153978 0.14976677] [-0.01789633 -0.01166821 0.99977176 4.47276733] [ 0. 0. 0. 1. ]] SLAMing on 7.258973796999999 meters Centerline goodness [0,1] 0.5463996289121122 Centerline is valid? [False, False] Translation: X:1.10, Y:0.15, Z:4.47 [[ 0.99986379 0.00620729 0.01529293 1.10492246] [-0.00636624 0.999926 0.01036679 0.15026604] [-0.01522745 -0.01046274 0.99982931 4.47076632] [ 0. 0. 0. 1. ]] SLAMing on 7.288973796999999 meters Centerline goodness [0,1] 0.4202315726970932 Centerline is valid? [False, False] Translation: X:1.11, Y:0.15, Z:4.46 [[ 0.9999659 0.00631597 0.00532117 1.11382013] [-0.00635823 0.99994809 0.00796225 0.15155596] [-0.0052706 -0.00799582 0.99995414 4.46364594] [ 0. 0. 0. 1. ]] SLAMing on 7.318973796999999 meters Centerline goodness [0,1] 0.4001195359830476 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:4.46 [[ 9.99986136e-01 4.94733843e-03 1.80317117e-03 1.11854819e+00] [-4.95788184e-03 9.99970361e-01 5.89035164e-03 1.52238648e-01] [-1.77397616e-03 -5.89920988e-03 9.99981026e-01 4.45940855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348973796999998 meters Centerline goodness [0,1] 0.5152112114109022 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:4.46 [[ 9.99985417e-01 4.93290868e-03 -2.19821272e-03 1.12371590e+00] [-4.92255023e-03 9.99976872e-01 4.69297270e-03 1.54774904e-01] [ 2.22131189e-03 -4.68208345e-03 9.99986572e-01 4.45506094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378973796999999 meters Centerline goodness [0,1] 0.3817021499189204 Centerline is valid? [False, False] Translation: X:1.13, Y:0.16, Z:4.45 [[ 9.99954805e-01 5.34374587e-03 -7.86338184e-03 1.13102659e+00] [-5.31261929e-03 9.99977991e-01 3.97399986e-03 1.56414661e-01] [ 7.88444483e-03 -3.93204510e-03 9.99961187e-01 4.44950963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408973796999999 meters Centerline goodness [0,1] 0.37584278471750376 Centerline is valid? [False, False] Translation: X:1.13, Y:0.16, Z:4.45 [[ 9.99931383e-01 5.63374988e-03 -1.02708203e-02 1.13348437e+00] [-5.59296321e-03 9.99976377e-01 3.99552794e-03 1.57204481e-01] [ 1.02930875e-02 -3.93780946e-03 9.99939271e-01 4.44891341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438973796999999 meters Centerline goodness [0,1] 0.2267678460286302 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:4.45 [[ 9.99909009e-01 6.04635350e-03 -1.20588593e-02 1.13586402e+00] [-6.00331202e-03 9.99975492e-01 3.60229317e-03 1.58784936e-01] [ 1.20803445e-02 -3.52957230e-03 9.99920801e-01 4.44875566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4689737969999985 meters Centerline goodness [0,1] 0.24713028259638647 Centerline is valid? [False, False] Translation: X:1.15, Y:0.16, Z:4.45 [[ 9.99938450e-01 1.10939112e-02 1.46091101e-04 1.14568661e+00] [-1.10939799e-02 9.99938346e-01 4.77782201e-04 1.57654272e-01] [-1.40781621e-04 -4.79373525e-04 9.99999875e-01 4.45243271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498973796999999 meters Centerline goodness [0,1] 0.24953358208955223 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:4.46 [[ 9.99977700e-01 6.50015753e-03 1.53186690e-03 1.15174937e+00] [-6.50443021e-03 9.99974923e-01 2.80092053e-03 1.54371172e-01] [-1.51362206e-03 -2.81082199e-03 9.99994904e-01 4.45729474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528973796999999 meters Centerline goodness [0,1] 0.2545937915396044 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:4.46 [[ 9.99954184e-01 7.48998114e-03 5.96066506e-03 1.15462379e+00] [-7.50887611e-03 9.99966834e-01 3.15390273e-03 1.52056717e-01] [-5.93684470e-03 -3.19851613e-03 9.99977261e-01 4.45975342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558973796999998 meters Centerline goodness [0,1] 0.2575167750857963 Centerline is valid? [False, False] Translation: X:1.16, Y:0.15, Z:4.46 [[ 0.99993932 0.00760671 0.00796825 1.1613511 ] [-0.0076899 0.9999157 0.01046179 0.14746764] [-0.00788799 -0.01052243 0.99991353 4.46399477] [ 0. 0. 0. 1. ]] Total time of SLAM: 298.85 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 ... 0%| | 0/251 [00:00