激光 SLAM 算法

-0.035 0 0 0.15 6 3.14159 -3.12414 -0.0174533 inf inf inf inf inf 0.494 0.473 inf 0.474 0.455 0.454 0.449 0.454 0.465 0.522 inf inf 2.088 2.1 inf 2.098 2.128 2.132 2.148 2.181 2.194 2.211 inf inf inf inf inf inf inf inf inf inf inf inf 0.772 0.743 0.727 0.713 0.7 0.688 0.68 0.668 0.657 0.646 0.638 0.628 0.62 0.612 0.603 0.596 0.589 0.576 0.571 inf 0.559 0.555 0.55 0.546 0.542 0.537 0.533 0.529 0.525 0.523 0.52 0.515 0.51 inf 0.509 0.505 0.501 0.5 0.498 0.496 0.495 0.494 0.492 0.491 0.491 0.489 0.489 0.489 0.488 0.488 0.487 0.488 0.488 0.488 0.489 0.49 0.49 0.491 0.492 0.493 0.496 0.496 0.498 0.505 inf inf inf inf 0.501 0.512 0.515 0.521 0.524 0.528 0.531 0.534 0.538 0.543 0.546 inf 3.954 3.901 3.808 3.684 3.6 3.486 3.447 2.972 2.896 2.79 inf inf inf 2.944 2.872 2.818 2.842 inf inf inf 3.178 3.208 3.274 3.343 3.412 3.484 3.597 3.645 3.731 3.815 3.95 3.87 inf 3.852 3.81 3.449 3.418 3.406 3.374 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 2.05 2.049 2.026 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 0.397 0.395 0.394 0.399 0.461 0.484 0.5 inf inf inf inf 0.415 0.416 0.416 0.415 0.412 0.405 0.403 inf inf inf inf inf inf inf 0.436 0.428 0.428 0.43 0.431 0.434 0.435 0.438 0.44 0.443 0.447 0.449 0.452 0.454 0.461 0.465 0.468 0.473 0.477 0.48 0.485 0.49 0.495 0.506 0.511 0.516 0.522 0.529 0.536 0.543 0.551 1.279 1.286 1.304 1.319 1.34 1.362 1.382 1.409 1.446 1.439 1.432 1.432 1.431 1.432 1.392 1.424 1.419 1.418 1.421 1.42 1.419 1.42 1.419 1.372 1.427 1.429 1.432 1.33 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 1.088 1.089 inf inf 1.23 1.23 inf inf inf 0.43 0.414 0.411 0.409 0.409 0.407 0.41 0.412 0.415 0.417 0.422 0.428 0.435 0.454 inf inf inf inf inf reading.size() 360 inf inf inf inf inf 0.497 0.484 inf 0.462 0.455 0.454 0.45 0.453 0.465 0.52 inf inf 2.077 2.111 inf inf 2.129 2.14 2.148 2.18 2.192 2.212 inf inf inf inf inf inf inf inf inf inf inf inf 0.768 0.739 0.725 0.712 0.7 0.686 0.677 0.665 0.656 0.645 0.636 0.626 0.618 0.611 0.601 0.594 0.586 0.581 0.575 0.569 0.564 0.553 inf 0.544 0.541 0.536 0.531 0.528 0.524 0.521 0.518 0.515 0.512 0.51 0.507 0.505 0.503 0.501 0.498 inf 0.495 0.494 0.492 0.492 0.491 0.489 0.489 0.488 0.488 0.488 0.488 0.488 0.488 inf 0.489 0.489 0.49 0.491 0.492 0.493 0.495 0.496 0.497 0.508 inf inf inf inf 0.507 0.514 0.516 0.519 0.523 0.526 0.532 0.536 0.54 0.544 0.549 inf 3.906 3.814 3.728 3.642 3.558 3.481 2.974 2.97 2.893 2.84 2.815 inf inf 2.945 2.918 2.817 inf inf inf inf 3.177 3.206 3.242 3.307 3.377 3.479 3.604 3.685 3.769 3.859 3.95 3.908 3.864 3.857 3.817 3.698 3.447 3.409 3.402 3.345 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 2.063 2.038 2.027 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 0.397 0.395 0.394 0.396 0.444 0.484 inf inf 0.643 inf inf inf 0.416 0.416 0.415 0.412 0.407 0.403 inf inf inf inf inf inf inf 0.436 0.429 0.427 0.43 0.431 0.433 0.435 0.437 0.439 0.442 0.446 0.451 0.454 0.457 0.46 0.464 0.468 0.472 0.476 0.48 0.485 0.489 0.494 0.503 0.509 0.515 0.522 0.528 0.535 0.542 0.549 inf 1.282 1.3 1.318 1.335 1.358 1.381 1.427 1.447 1.443 inf 1.435 1.433 1.43 1.41 1.425 1.417 1.416 1.419 1.42 1.418 1.42 1.396 1.421 1.424 1.428 1.428 1.321 inf 1.403 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 1.089 1.088 inf inf 1.23 1.23 inf inf 0.432 inf 0.414 0.409 0.409 inf 0.407 0.41 0.411 0.414 0.417 0.421 0.435 0.447 inf inf inf inf inf inf reading.size() 360 inf inf inf inf inf 0.5 0.482 inf 0.463 0.455 0.456 0.449 0.453 0.479 0.52 inf inf 2.087 2.1 inf 2.098 2.121 2.14 2.156 2.181 2.193 2.212 inf inf inf inf inf inf inf inf inf inf inf inf 0.768 0.739 0.726 0.713 0.7 0.687 0.678 0.666 0.656 0.645 0.637 0.626 0.619 0.611 0.601 0.595 0.586 0.581 0.575 0.569 0.564 0.558 0.549 0.545 inf 0.536 0.532 0.529 0.524 0.522 0.518 0.515 0.512 0.51 0.507 0.505 0.502 0.501 0.499 0.496 0.495 0.493 0.492 0.492 0.491 0.489 0.489 0.488 0.488 0.488 0.488 0.488 0.488 inf 0.489 0.489 0.49 0.491 0.493 0.493 0.495 0.496 0.497 0.508 inf inf inf inf 0.507 0.513 0.516 0.519 0.522 0.526 0.529 0.536 0.541 0.545 0.549 inf 4.052 3.907 3.727 3.642 3.56 3.452 3 2.97 2.893 2.841 2.769 inf inf 2.92 2.918 2.817 inf inf inf inf 3.177 3.206 3.241 3.308 3.377 3.479 3.557 3.722 3.769 3.859 3.948 3.942 3.898 3.856 3.817 3.651 3.445 3.408 3.402 3.376 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 2.062 2.027 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 0.397 0.395 0.394 0.397 0.454 0.463 0.5 inf inf inf inf 0.414 0.416 0.416 0.415 0.412 0.406 0.403 inf inf inf inf inf inf 0.436 0.432 0.428 inf 0.428 0.431 0.433 0.435 0.437 0.44 0.443 0.447 0.449 0.452 0.458 0.461 inf 0.468 0.473 0.477 0.48 0.485 0.49 0.494 0.5 0.505 0.516 0.522 0.529 0.536 0.543 0.551 1.289 1.287 1.304 1.322 1.344 1.359 1.386 1.409 1.446 inf 1.434 1.434 1.433 1.429 1.409 1.428 1.42 1.418 1.419 1.419 1.419 1.42 1.418 1.394 1.423 1.43 1.43 1.377 inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf inf 1.09 1.088 inf inf 1.231 1.219 inf inf inf 0.42 0.413 0.41 0.409 0.408 0.408 0.408 0.41 0.412 0.419 0.423 0.43 0.439 inf inf inf inf inf inf reading.size() 360 inf inf inf inf inf 0.487 inf inf inf 0.456 0.449 0.452 0.457 0.474 0.518 inf inf 2.084 inf inf inf 2.115 2.13 2.144 2.15 2.196 inf inf inf inf