+ python -m lidar_slam --no-model /working/2176a27c-3c26-4775-b4c9-355e2e15047c Lidar SLAM 0.0.8 ===================================================== The recording path: /working/2176a27c-3c26-4775-b4c9-355e2e15047c The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: 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 0.025194017 Adjusted end_distance from 9.223372036854776e+18 to 20.111514017 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025194017 meters 0.29427945886584567 Centerline is valid? [0, False] SLAMing on 0.085194017 meters 0.29505583632328586 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999854e-01 -3.04730691e-04 -4.46838204e-04 1.48917744e-03] [ 3.03787871e-04 9.99997731e-01 -2.10853395e-03 9.86306498e-03] [ 4.47479725e-04 2.10839789e-03 9.99997677e-01 -1.10553287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145194017 meters 0.2928804327014548 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99994945e-01 2.46781041e-03 -2.00511121e-03 4.12714253e-03] [-2.46960481e-03 9.99996552e-01 -8.92930887e-04 1.85224735e-02] [ 2.00290072e-03 8.97878205e-04 9.99997591e-01 -1.82633771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.205194017 meters 0.2969596730361661 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99999426 0.00171596 -0.00292141 0.005729 ] [-0.00172595 0.99999266 -0.00342076 0.02703516] [ 0.00291552 0.00342579 0.99998988 -0.00261663] [ 0. 0. 0. 1. ]] SLAMing on 0.265194017 meters 0.29540014428928174 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 0.99998341 0.00416547 -0.00397955 0.00824361] [-0.00417576 0.99998795 -0.00258113 0.03560762] [ 0.00396875 0.00259771 0.99998875 -0.00391689] [ 0. 0. 0. 1. ]] SLAMing on 0.325194017 meters 0.3542849205014752 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:0.00 [[ 9.99890774e-01 -1.42457714e-02 -3.93682646e-03 8.33088533e-03] [ 1.42347528e-02 9.99894724e-01 -2.81285155e-03 4.76993198e-02] [ 3.97648325e-03 2.75650456e-03 9.99988295e-01 2.83474072e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.385194017 meters 0.2951483050629146 Centerline is valid? [False, False] Translation: X:0.01, Y:0.06, Z:-0.00 [[ 0.99992746 -0.01102724 -0.00484601 0.00992677] [ 0.01101706 0.99993706 -0.00212154 0.05731586] [ 0.0048691 0.002068 0.99998601 -0.00144521] [ 0. 0. 0. 1. ]] SLAMing on 0.445194017 meters 0.29372873476461947 Centerline is valid? [False, False] Translation: X:0.01, Y:0.07, Z:-0.00 [[ 0.99993325 -0.01044894 -0.0049309 0.01018826] [ 0.01042491 0.99993379 -0.00487285 0.06884064] [ 0.00498149 0.00482112 0.99997597 -0.00362627] [ 0. 0. 0. 1. ]] SLAMing on 0.505194017 meters 0.29326738520323475 Centerline is valid? [False, False] Translation: X:0.01, Y:0.08, Z:-0.00 [[ 0.99996268 -0.00819032 -0.00274921 0.00552775] [ 0.0081737 0.99994858 -0.00600223 0.07956044] [ 0.00279823 0.00597953 0.99997821 -0.00200055] [ 0. 0. 0. 1. ]] SLAMing on 0.565194017 meters 0.28442464792967576 Centerline is valid? [False, False] Translation: X:0.01, Y:0.09, Z:-0.00 [[ 0.99997417 -0.00481192 -0.00533837 0.01018296] [ 0.00478692 0.99997756 -0.00468582 0.09127212] [ 0.0053608 0.00466014 0.99997477 -0.00373989] [ 0. 0. 0. 1. ]] SLAMing on 0.625194017 meters 0.2859932580892273 Centerline is valid? [False, False] Translation: X:0.01, Y:0.10, Z:-0.00 [[ 0.99978443 -0.01808796 -0.01019432 0.00561532] [ 0.01802548 0.99981838 -0.00618849 0.10329708] [ 0.0103044 0.0060034 0.99992889 -0.00350593] [ 0. 0. 0. 1. ]] SLAMing on 0.6851940169999999 meters 0.2865047761410494 Centerline is valid? [False, False] Translation: X:0.01, Y:0.12, Z:-0.00 [[ 0.99933103 -0.03234301 -0.01707129 0.00646468] [ 0.03221617 0.99945162 -0.00765338 0.11846803] [ 0.01730946 0.00709829 0.99982498 -0.0042118 ] [ 0. 0. 0. 1. ]] SLAMing on 0.745194017 meters 0.29102503675749813 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.00 [[ 0.99580102 -0.08725171 -0.02770326 -0.01511292] [ 0.08701204 0.9961596 -0.00974418 0.15212139] [ 0.02844706 0.00729275 0.9995687 -0.00240861] [ 0. 0. 0. 1. ]] SLAMing on 0.805194017 meters 0.28919817186785673 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.19, Z:-0.00 [[ 0.99081681 -0.1277759 -0.04421948 -0.05725228] [ 0.12736919 0.9917839 -0.01190774 0.19363939] [ 0.04537769 0.00616618 0.99895087 -0.00246919] [ 0. 0. 0. 1. ]] SLAMing on 0.865194017 meters 0.264673163398185 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.25, Z:-0.00 [[ 9.73839172e-01 -2.17350223e-01 -6.63034569e-02 -8.89261804e-02] [ 2.16903028e-01 9.76093366e-01 -1.39577218e-02 2.52444289e-01] [ 6.77520784e-02 -7.88844386e-04 9.97701876e-01 -4.61811615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9251940169999999 meters 0.4466625181093355 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.31, Z:-0.00 [[ 9.48722479e-01 -2.91693703e-01 -1.21821352e-01 -1.07606343e-01] [ 2.92107791e-01 9.56270144e-01 -1.48475794e-02 3.14363177e-01] [ 1.20825067e-01 -2.14987336e-02 9.92440984e-01 -9.12670614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.985194017 meters 0.4361374538186003 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.37, Z:-0.01 [[ 0.9344315 -0.31990348 -0.15652325 -0.17731293] [ 0.32123701 0.94683901 -0.01739751 0.37287884] [ 0.15376784 -0.03402428 0.98752104 -0.01274447] [ 0. 0. 0. 1. ]] SLAMing on 1.045194017 meters 0.19103929042488824 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.49, Z:-0.04 [[ 0.8978863 -0.39622657 -0.19184549 -0.31184244] [ 0.39995405 0.91630382 -0.02059294 0.48560198] [ 0.18394822 -0.05823926 0.98120907 -0.03706731] [ 0. 0. 0. 1. ]] SLAMing on 1.105194017 meters 0.20324440847004482 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.59, Z:-0.06 [[ 0.87515986 -0.43163735 -0.21859647 -0.42583209] [ 0.43712734 0.89904687 -0.02518755 0.58690638] [ 0.20740036 -0.07351136 0.97549022 -0.05728746] [ 0. 0. 0. 1. ]] SLAMing on 1.165194017 meters 0.2141661484700542 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.69, Z:-0.08 [[ 0.85776233 -0.45480394 -0.23957703 -0.53059518] [ 0.460552 0.88694921 -0.03482737 0.69350195] [ 0.22833228 -0.08046407 0.97025249 -0.0751183 ] [ 0. 0. 0. 1. ]] SLAMing on 1.225194017 meters 0.45163747261829895 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.80, Z:-0.09 [[ 0.83648075 -0.48117998 -0.26223232 -0.62100729] [ 0.48695673 0.87215849 -0.0470395 0.79560255] [ 0.25134261 -0.08834816 0.96385761 -0.08715593] [ 0. 0. 0. 1. ]] SLAMing on 1.285194017 meters 0.43300899938032256 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.87, Z:-0.10 [[ 0.82152039 -0.50558178 -0.26361204 -0.68582972] [ 0.50868037 0.85873983 -0.06172674 0.87099481] [ 0.25758207 -0.08338449 0.96265181 -0.09517302] [ 0. 0. 0. 1. ]] SLAMing on 1.3451940169999999 meters 0.44646652210005805 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.94, Z:-0.10 [[ 0.80128829 -0.53466565 -0.26845805 -0.7424524 ] [ 0.53703949 0.84055398 -0.07111682 0.94390095] [ 0.2636772 -0.0871875 0.96066262 -0.0999624 ] [ 0. 0. 0. 1. ]] SLAMing on 1.405194017 meters 0.45660941911959596 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.98, Z:-0.10 [[ 0.7974147 -0.53980889 -0.26969642 -0.75994684] [ 0.54204806 0.83717427 -0.07295989 0.9817929 ] [ 0.2651673 -0.08800913 0.96017743 -0.09782362] [ 0. 0. 0. 1. ]] SLAMing on 1.465194017 meters 0.030134805840404216 Centerline is valid? [False, True] Translation: X:-0.09, Y:-0.47, Z:1.64 [[-0.02894695 -0.99054205 -0.13412128 -0.09429341] [-0.11644738 0.13660562 -0.98375755 -0.47348172] [ 0.99277494 -0.01285871 -0.11930034 1.64164185] [ 0. 0. 0. 1. ]] SLAMing on 1.525194017 meters 0.032741512038337806 Centerline is valid? [True, True] Translation: X:-0.36, Y:1.16, Z:1.90 [[ 0.01133435 0.99729363 0.07264266 -0.36462312] [-0.13410198 -0.07047501 0.98845836 1.15932555] [ 0.99090272 -0.02094506 0.13294026 1.90350719] [ 0. 0. 0. 1. ]] SLAMing on 1.585194017 meters 0.04429514750902619 Centerline is valid? [True, True] Translation: X:-0.31, Y:1.21, Z:1.98 [[ 0.0931146 0.99276474 0.07581451 -0.31446763] [-0.18317734 -0.0577644 0.98138134 1.21153815] [ 0.97866017 -0.10526843 0.17647329 1.9755681 ] [ 0. 0. 0. 1. ]] SLAMing on 1.645194017 meters 0.038296106547692575 Centerline is valid? [True, True] Translation: X:-0.36, Y:1.26, Z:2.04 [[ 0.00802023 0.99658694 0.08215925 -0.35633532] [-0.13383635 -0.08035287 0.98774048 1.26106138] [ 0.99097099 -0.0189178 0.13273512 2.044672 ] [ 0. 0. 0. 1. ]] SLAMing on 1.705194017 meters 0.02962313772072802 Centerline is valid? [True, True] Translation: X:-0.35, Y:1.23, Z:2.11 [[-0.01565024 0.99622398 0.0853982 -0.35437097] [-0.12415565 -0.08668387 0.98846916 1.22811215] [ 0.99213933 0.00486711 0.12504346 2.10652238] [ 0. 0. 0. 1. ]] SLAMing on 1.765194017 meters 0.034871464101947844 Centerline is valid? [True, True] Translation: X:-0.36, Y:1.21, Z:2.17 [[ 0.00367518 0.9957988 0.09149453 -0.35691375] [-0.13863579 -0.09010423 0.98623595 1.20939639] [ 0.99033661 -0.01630901 0.13772221 2.16959114] [ 0. 0. 0. 1. ]] SLAMing on 1.8251940169999998 meters 0.044001689928169774 Centerline is valid? [True, True] Translation: X:-0.34, Y:1.22, Z:2.24 [[-0.01747199 0.99506913 0.09763279 -0.34216951] [-0.14233057 -0.09912855 0.9848429 1.21957198] [ 0.98966496 0.00331104 0.14336073 2.23725145] [ 0. 0. 0. 1. ]] SLAMing on 1.8851940169999999 meters 0.04224893361099667 Centerline is valid? [True, True] Translation: X:-0.33, Y:1.21, Z:2.30 [[-0.00710513 0.99447865 0.10469827 -0.32629593] [-0.15088222 -0.10456838 0.9830056 1.21390639] [ 0.98852621 -0.00881273 0.15079212 2.30375689] [ 0. 0. 0. 1. ]] SLAMing on 1.945194017 meters 0.03269509471174424 Centerline is valid? [True, True] Translation: X:-0.33, Y:1.22, Z:2.37 [[-0.0233108 0.99348019 0.11159626 -0.32601834] [-0.13776314 -0.11375384 0.98391127 1.22453676] [ 0.99019085 0.00756191 0.13951665 2.37230581] [ 0. 0. 0. 1. ]] SLAMing on 2.005194017 meters 0.03167351376503834 Centerline is valid? [True, True] Translation: X:-0.33, Y:1.21, Z:2.44 [[-0.03014954 0.99246854 0.11873164 -0.32771909] [-0.13313347 -0.12171457 0.98359598 1.20780362] [ 0.99063943 0.01384781 0.13580042 2.43775212] [ 0. 0. 0. 1. ]] SLAMing on 2.065194017 meters 0.041342095022170365 Centerline is valid? [True, True] Translation: X:-0.32, Y:1.18, Z:2.50 [[-1.98140037e-02 9.91853121e-01 1.25836370e-01 -3.18364280e-01] [-1.44120514e-01 -1.27380041e-01 9.81327470e-01 1.18379241e+00] [ 9.89361755e-01 1.30842377e-03 1.45470290e-01 2.50261082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.125194017 meters 0.032229884577858074 Centerline is valid? [True, True] Translation: X:-0.33, Y:1.18, Z:2.57 [[-0.02959759 0.99063583 0.13328406 -0.32517353] [-0.13354928 -0.13606612 0.98165707 1.18386664] [ 0.99060011 0.01125469 0.13632593 2.56899067] [ 0. 0. 0. 1. ]] SLAMing on 2.185194017 meters 0.045324504488628584 Centerline is valid? [True, True] Translation: X:-0.31, Y:1.18, Z:2.64 [[-0.01013693 0.99018657 0.13938365 -0.30501837] [-0.15156896 -0.13930174 0.97858156 1.17881299] [ 0.9883947 -0.01120643 0.15149364 2.63633986] [ 0. 0. 0. 1. ]] SLAMing on 2.2451940169999998 meters 0.03919103722204079 Centerline is valid? [True, True] Translation: X:-0.32, Y:1.18, Z:2.70 [[-0.01434283 0.98904303 0.1469291 -0.31504274] [-0.14049022 -0.14747989 0.97903635 1.17797295] [ 0.98997817 -0.00659995 0.14106616 2.70268255] [ 0. 0. 0. 1. ]] SLAMing on 2.305194017 meters 0.04502256718297174 Centerline is valid? [True, True] Translation: X:-0.29, Y:1.18, Z:2.77 [[ 0.02329888 0.98803987 0.15242828 -0.28701694] [-0.17213609 -0.14622777 0.97415944 1.17551695] [ 0.98479761 -0.04893524 0.16667037 2.77015932] [ 0. 0. 0. 1. ]] SLAMing on 2.365194017 meters 0.04261739311160633 Centerline is valid? [True, True] Translation: X:-0.30, Y:1.15, Z:2.83 [[ 1.34235966e-03 9.87124035e-01 1.59951049e-01 -2.99379745e-01] [-1.55843361e-01 -1.57790367e-01 9.75097455e-01 1.15310808e+00] [ 9.87780869e-01 -2.62362406e-02 1.53624916e-01 2.83279528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.425194017 meters 0.052130023759713734 Centerline is valid? [True, True] Translation: X:-0.30, Y:1.13, Z:2.89 [[ 0.00604781 0.98613859 0.16581347 -0.30382549] [-0.15942004 -0.16274496 0.97370392 1.12631915] [ 0.98719232 -0.03232276 0.15622601 2.89448622] [ 0. 0. 0. 1. ]] SLAMing on 2.485194017 meters 0.04509386178448268 Centerline is valid? [True, True] Translation: X:-0.30, Y:1.13, Z:2.96 [[-0.00437179 0.98516246 0.17156871 -0.3007563 ] [-0.14753017 -0.17032832 0.97428082 1.12895729] [ 0.98904789 -0.02105221 0.14608582 2.96135253] [ 0. 0. 0. 1. ]] SLAMing on 2.545194017 meters 0.045388012891673477 Centerline is valid? [True, True] Translation: X:-0.30, Y:1.12, Z:3.03 [[-0.00597379 0.98404303 0.17783034 -0.3038911 ] [-0.14651605 -0.17677563 0.97328486 1.11922217] [ 0.98919026 -0.02024079 0.14523412 3.02567753] [ 0. 0. 0. 1. ]] SLAMing on 2.605194017 meters 0.04528626423986683 Centerline is valid? [True, True] Translation: X:-0.31, Y:1.09, Z:3.09 [[-3.79247876e-04 9.83002934e-01 1.83589456e-01 -3.08239608e-01] [-1.54643127e-01 -1.81438612e-01 9.71167099e-01 1.08760056e+00] [ 9.87970323e-01 -2.80225345e-02 1.52083457e-01 3.08594859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6651940169999997 meters 0.0448402478409532 Centerline is valid? [True, True] Translation: X:-0.27, Y:1.12, Z:3.16 [[ 0.03654297 0.98148795 0.18800535 -0.26808322] [-0.18510695 -0.1782274 0.96642145 1.12191315] [ 0.98203871 -0.07011701 0.17516728 3.16072418] [ 0. 0. 0. 1. ]] SLAMing on 2.7251940169999997 meters 0.04541437691157242 Centerline is valid? [True, True] Translation: X:-0.29, Y:1.10, Z:3.22 [[-0.00899215 0.97994359 0.19907212 -0.29345197] [-0.14473373 -0.19825928 0.96940467 1.09656352] [ 0.98942978 -0.02009542 0.14361366 3.22064133] [ 0. 0. 0. 1. ]] SLAMing on 2.785194017 meters 0.05601120738569158 Centerline is valid? [True, True] Translation: X:-0.27, Y:1.09, Z:3.29 [[ 0.01984762 0.97931983 0.20134238 -0.27284618] [-0.17463814 -0.19489031 0.96515247 1.09262735] [ 0.98443262 -0.05431803 0.16715848 3.28723304] [ 0. 0. 0. 1. ]] SLAMing on 2.845194017 meters 0.04330520922301657 Centerline is valid? [True, True] Translation: X:-0.29, Y:1.07, Z:3.35 [[-0.00566103 0.97798153 0.20861469 -0.28529717] [-0.15220123 -0.20703012 0.96642295 1.07452025] [ 0.98833331 -0.02628046 0.150022 3.34849172] [ 0. 0. 0. 1. ]] SLAMing on 2.905194017 meters 0.05028974262105658 Centerline is valid? [True, True] Translation: X:-0.28, Y:1.07, Z:3.41 [[-0.00431932 0.97717548 0.21238977 -0.27981875] [-0.15453126 -0.21049268 0.96530457 1.06978231] [ 0.98797846 -0.0286514 0.15191335 3.41295329] [ 0. 0. 0. 1. ]] SLAMing on 2.965194017 meters 0.04489510939951769 Centerline is valid? [True, True] Translation: X:-0.29, Y:1.06, Z:3.48 [[-0.00484139 0.97591934 0.21807799 -0.2917372 ] [-0.14974033 -0.21632922 0.96476914 1.06276792] [ 0.9887135 -0.02798425 0.14718182 3.47652344] [ 0. 0. 0. 1. ]] SLAMing on 3.025194017 meters 0.04714270966512407 Centerline is valid? [True, True] Translation: X:-0.26, Y:1.08, Z:3.55 [[ 1.49897062e-03 9.74797177e-01 2.23087912e-01 -2.61602201e-01] [-1.59151120e-01 -2.20012175e-01 9.62426913e-01 1.07871017e+00] [ 9.87253095e-01 -3.69473408e-02 1.54810271e-01 3.54638711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.085194017 meters 0.03959097524593835 Centerline is valid? [True, True] Translation: X:-0.28, Y:1.05, Z:3.61 [[-0.01683742 0.9729391 0.2304474 -0.27862827] [-0.14665182 -0.23039055 0.96198412 1.05006044] [ 0.98904486 -0.0175982 0.14656248 3.60742029] [ 0. 0. 0. 1. ]] SLAMing on 3.145194017 meters 0.04080065479954642 Centerline is valid? [True, True] Translation: X:-0.28, Y:1.04, Z:3.67 [[-0.01188723 0.97169842 0.23592555 -0.28070195] [-0.14603051 -0.23509959 0.96093874 1.03817418] [ 0.98920867 -0.02302943 0.1446923 3.67122572] [ 0. 0. 0. 1. ]] SLAMing on 3.2051940169999997 meters 0.03500091591270024 Centerline is valid? [True, True] Translation: X:-0.27, Y:1.05, Z:3.74 [[-0.01267233 0.97034272 0.24140095 -0.27044349] [-0.14523277 -0.24064641 0.95968576 1.0501036 ] [ 0.98931636 -0.02289787 0.14397511 3.73921852] [ 0. 0. 0. 1. ]] SLAMing on 3.265194017 meters 0.03937055627191817 Centerline is valid? [True, True] Translation: X:-0.28, Y:1.02, Z:3.80 [[-0.01221017 0.96889708 0.2471626 -0.28391536] [-0.14874028 -0.24619097 0.95774022 1.01843414] [ 0.98880091 -0.02506886 0.14712006 3.80118855] [ 0. 0. 0. 1. ]] SLAMing on 3.325194017 meters 0.038600145652518784 Centerline is valid? [True, True] Translation: X:-0.28, Y:1.01, Z:3.87 [[-0.01937814 0.9672461 0.25309971 -0.28260349] [-0.14256679 -0.25323362 0.95684244 1.01411478] [ 0.98959547 -0.01754179 0.14280437 3.8653546 ] [ 0. 0. 0. 1. ]] SLAMing on 3.385194017 meters 0.041175202978756466 Centerline is valid? [True, True] Translation: X:-0.30, Y:0.98, Z:3.93 [[-0.00927881 0.96639232 0.25690424 -0.30149929] [-0.14783644 -0.25541779 0.95546122 0.98245602] [ 0.9889683 -0.02911427 0.14523797 3.92553722] [ 0. 0. 0. 1. ]] SLAMing on 3.445194017 meters 0.04006475039207708 Centerline is valid? [True, True] Translation: X:-0.27, Y:1.01, Z:4.00 [[ 0.00968574 0.9651997 0.2613345 -0.26501426] [-0.16654044 -0.25613953 0.95218529 1.01490727] [ 0.98598705 -0.05274538 0.15826388 3.99759169] [ 0. 0. 0. 1. ]] SLAMing on 3.505194017 meters 0.039561158080779514 Centerline is valid? [True, True] Translation: X:-0.20, Y:1.10, Z:4.08 [[ 0.02873239 0.96296539 0.26808972 -0.19668468] [-0.1862352 -0.25834736 0.94793095 1.09663535] [ 0.98208498 -0.07716406 0.17191512 4.07805244] [ 0. 0. 0. 1. ]] SLAMing on 3.565194017 meters 0.04074447117368776 Centerline is valid? [True, True] Translation: X:-0.28, Y:0.98, Z:4.12 [[-0.00928371 0.96063679 0.27765225 -0.28317514] [-0.14748039 -0.27594308 0.94979206 0.97632157] [ 0.98902141 -0.03213067 0.14423686 4.12423771] [ 0. 0. 0. 1. ]] SLAMing on 3.6251940169999997 meters 0.03138501507315542 Centerline is valid? [True, True] Translation: X:-0.27, Y:1.01, Z:4.20 [[-0.02383008 0.95938964 0.28107586 -0.27222002] [-0.1256846 -0.28180001 0.95120562 1.01398926] [ 0.991784 -0.0126596 0.12729582 4.1953005 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6851940169999997 meters 0.033882854177197025 Centerline is valid? [True, True] Translation: X:-0.27, Y:0.99, Z:4.26 [[-0.01861525 0.95782057 0.28676337 -0.2709433 ] [-0.13560803 -0.28658147 0.94841 0.99265048] [ 0.99058767 -0.02123252 0.13522295 4.25939029] [ 0. 0. 0. 1. ]] SLAMing on 3.7451940169999998 meters 0.03404664878479758 Centerline is valid? [True, True] Translation: X:-0.28, Y:0.96, Z:4.32 [[-0.02233734 0.95554063 0.29401215 -0.27560018] [-0.13510263 -0.29427299 0.94612403 0.96205337] [ 0.99057979 -0.01858792 0.13566933 4.32032868] [ 0. 0. 0. 1. ]] SLAMing on 3.805194017 meters 0.0378380091179742 Centerline is valid? [True, True] Translation: X:-0.20, Y:1.02, Z:4.40 [[ 0.02245362 0.95437784 0.29775623 -0.20133523] [-0.1820078 -0.28895188 0.93988296 1.02145001] [ 0.98304069 -0.07529774 0.16721619 4.39785009] [ 0. 0. 0. 1. ]] SLAMing on 3.865194017 meters 0.029976558134934033 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.97, Z:4.45 [[-3.49679209e-02 9.50783943e-01 3.07875200e-01 -2.57840322e-01] [-1.20363091e-01 -3.09827811e-01 9.43143390e-01 9.73282200e-01] [ 9.92113890e-01 -4.07704724e-03 1.25273328e-01 4.45479342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.925194017 meters 0.02861182080356559 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.96, Z:4.52 [[-0.03460751 0.94942073 0.31209389 -0.25644788] [-0.12240124 -0.31395656 0.94151432 0.95817038] [ 0.99187714 -0.00561722 0.12707553 4.51839228] [ 0. 0. 0. 1. ]] SLAMing on 3.985194017 meters 0.042766939414178716 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.97, Z:4.59 [[-0.01227044 0.94850688 0.31651876 -0.21448277] [-0.15128401 -0.31465974 0.93707118 0.97393863] [ 0.98841418 -0.03638596 0.14735494 4.58788258] [ 0. 0. 0. 1. ]] SLAMing on 4.045194016999999 meters 0.03442226447287767 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.94, Z:4.65 [[-0.03486999 0.94554958 0.32360481 -0.2342631 ] [-0.12657988 -0.3253726 0.93707535 0.94461977] [ 0.99134334 -0.00828605 0.13103329 4.64866193] [ 0. 0. 0. 1. ]] SLAMing on 4.105194017 meters 0.054091196041560145 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.93, Z:4.71 [[-0.00974209 0.94483567 0.32739982 -0.21953313] [-0.15618083 -0.32483482 0.93278609 0.93090735] [ 0.98768043 -0.04204629 0.15072979 4.71296673] [ 0. 0. 0. 1. ]] SLAMing on 4.165194016999999 meters 0.04537451762591377 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.97, Z:4.79 [[ 0.01047165 0.94305969 0.33245866 -0.17254593] [-0.17667776 -0.32550108 0.92888859 0.96956567] [ 0.98421304 -0.06846505 0.16320914 4.78582577] [ 0. 0. 0. 1. ]] SLAMing on 4.225194017 meters 0.0393662930428044 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.94, Z:4.85 [[-0.00972024 0.94033563 0.34010942 -0.20121178] [-0.1452971 -0.33784394 0.92991947 0.94370725] [ 0.98934032 -0.04037787 0.13991197 4.84663452] [ 0. 0. 0. 1. ]] SLAMing on 4.285194016999999 meters 0.047963535978588316 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.94, Z:4.91 [[ 0.00940355 0.9388724 0.34413687 -0.17790358] [-0.16805296 -0.33777328 0.92610335 0.94455548] [ 0.98573312 -0.06654188 0.15460402 4.91390595] [ 0. 0. 0. 1. ]] SLAMing on 4.345194017 meters 0.04675952802086323 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.95, Z:4.98 [[ 0.01554466 0.93663296 0.34996722 -0.16789008] [-0.1755442 -0.3420166 0.9231516 0.94750052] [ 0.98434882 -0.0757848 0.15910395 4.98107727] [ 0. 0. 0. 1. ]] SLAMing on 4.4051940169999995 meters 0.04018883894524349 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.92, Z:5.04 [[-0.00870061 0.9338876 0.35746084 -0.19962153] [-0.1411741 -0.3550411 0.9241297 0.91621634] [ 0.98994655 -0.04242372 0.13492982 5.03947086] [ 0. 0. 0. 1. ]] SLAMing on 4.465194016999999 meters 0.04106054584609772 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.87, Z:5.10 [[-0.02970565 0.93184289 0.36164403 -0.23566342] [-0.11816308 -0.36254049 0.9244468 0.87397972] [ 0.99254978 -0.01527168 0.12087893 5.0960892 ] [ 0. 0. 0. 1. ]] SLAMing on 4.525194017 meters 0.058871914868766535 Centerline is valid? [True, True] Translation: X:-1.30, Y:0.35, Z:5.17 [[ 0.11265833 0.45234997 -0.88469634 -1.29545348] [-0.04987469 0.8918166 0.44963949 0.35210263] [ 0.99238129 -0.00653168 0.12303138 5.16686647] [ 0. 0. 0. 1. ]] SLAMing on 4.585194016999999 meters 0.058774054212423064 Centerline is valid? [True, True] Translation: X:-0.16, Y:0.84, Z:5.41 [[-0.02063188 0.91812467 0.39575423 -0.15847077] [-0.23682902 -0.38906062 0.89024932 0.84260743] [ 0.97133225 -0.07535857 0.22546562 5.40724759] [ 0. 0. 0. 1. ]] SLAMing on 4.645194017 meters 0.05319381612371092 Centerline is valid? [True, True] Translation: X:-0.10, Y:0.86, Z:5.48 [[ 0.01267881 0.91882332 0.3944654 -0.0983885 ] [-0.28045207 -0.37539489 0.88341684 0.86003198] [ 0.95978429 -0.12182931 0.25292635 5.48119987] [ 0. 0. 0. 1. ]] SLAMing on 4.705194016999999 meters 0.053436295370268214 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.79, Z:5.53 [[-0.03957286 0.91481349 0.40193317 -0.18402384] [-0.22184765 -0.40025272 0.88914643 0.79121683] [ 0.97427799 -0.05398186 0.21878837 5.52853692] [ 0. 0. 0. 1. ]] SLAMing on 4.765194017 meters 0.047864259997413 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.80, Z:5.60 [[-0.05351068 0.91242562 0.4057291 -0.17696939] [-0.20669934 -0.40763224 0.8894444 0.79971417] [ 0.97694012 -0.03626916 0.21041045 5.59614186] [ 0. 0. 0. 1. ]] SLAMing on 4.825194016999999 meters 0.05404736704906618 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.85, Z:5.69 [[ 0.04742113 0.91553378 0.39943602 -0.01467966] [-0.34263955 -0.36071382 0.86745817 0.84645768] [ 0.93826935 -0.17799843 0.29659263 5.69247651] [ 0. 0. 0. 1. ]] SLAMing on 4.885194016999999 meters 0.049065190001624785 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.78, Z:5.73 [[-0.04682349 0.90666387 0.41924717 -0.15065648] [-0.21379165 -0.41907807 0.88242093 0.78051878] [ 0.97575647 -0.04831352 0.21345986 5.73375509] [ 0. 0. 0. 1. ]] SLAMing on 4.9451940169999995 meters 0.050338885238392875 Centerline is valid? [True, True] Translation: X:-0.07, Y:0.81, Z:5.82 [[-4.20498091e-04 9.09258851e-01 4.16230904e-01 -6.76203773e-02] [-2.83599709e-01 -3.99250073e-01 8.71877620e-01 8.14102174e-01] [ 9.58942662e-01 -1.17676340e-01 2.58033430e-01 5.81552218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.005194016999999 meters 0.062376840568094456 Centerline is valid? [True, True] Translation: X:-0.07, Y:0.78, Z:5.88 [[ 0.01044779 0.90761037 0.41968352 -0.06630731] [-0.30813266 -0.39636046 0.86484256 0.7775983 ] [ 0.95128603 -0.13835389 0.27552331 5.8819821 ] [ 0. 0. 0. 1. ]] SLAMing on 5.065194017 meters 0.05745601496014321 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.78, Z:5.96 [[ 0.03290094 0.90478207 0.42460208 -0.03120821] [-0.33136974 -0.39092773 0.85870228 0.78277915] [ 0.94292716 -0.1689524 0.28695551 5.95567215] [ 0. 0. 0. 1. ]] SLAMing on 5.125194016999999 meters 0.030179467721607064 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.72, Z:5.99 [[-8.00591396e-02 8.93881933e-01 4.41095935e-01 -2.15338685e-01] [-1.62174112e-01 -4.48300956e-01 8.79048241e-01 7.18528922e-01] [ 9.83509070e-01 -1.15849581e-03 1.80855098e-01 5.99234154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185194017 meters 0.042896630939394206 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.71, Z:6.05 [[-0.06345672 0.89451597 0.44250924 -0.22714697] [-0.16970479 -0.44661701 0.87848365 0.71431313] [ 0.98344981 -0.01935024 0.1801445 6.0541452 ] [ 0. 0. 0. 1. ]] SLAMing on 5.245194016999999 meters 0.0375950413323547 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.70, Z:6.12 [[-0.06717763 0.89293813 0.44513893 -0.22956429] [-0.16823808 -0.44989611 0.87709147 0.7038289 ] [ 0.98345468 -0.01596839 0.18044916 6.11589605] [ 0. 0. 0. 1. ]] SLAMing on 5.305194016999999 meters 0.03366703325042233 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.68, Z:6.17 [[-7.91657707e-02 8.90256433e-01 4.48526771e-01 -2.41478644e-01] [-1.50543946e-01 -4.55455508e-01 8.77437634e-01 6.77796046e-01] [ 9.85428486e-01 1.94003664e-03 1.70079203e-01 6.17391673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365194016999999 meters 0.040086560575674286 Centerline is valid? [True, True] Translation: X:-0.19, Y:0.70, Z:6.25 [[-0.04278458 0.89238025 0.44925157 -0.1865998 ] [-0.1935637 -0.44854724 0.87254711 0.70356111] [ 0.98015436 -0.04962723 0.19192333 6.24952859] [ 0. 0. 0. 1. ]] SLAMing on 5.425194016999999 meters 0.028700504967337243 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.67, Z:6.30 [[-0.08119164 0.88668961 0.45518068 -0.23178983] [-0.14024819 -0.46230831 0.87555781 0.67260519] [ 0.98678182 0.00724971 0.16189218 6.30408747] [ 0. 0. 0. 1. ]] SLAMing on 5.4851940169999995 meters 0.05249305513273811 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.65, Z:6.37 [[-0.04113934 0.8901752 0.45375727 -0.20352202] [-0.20151399 -0.45220155 0.86885319 0.65361879] [ 0.97862131 -0.05569439 0.19798603 6.37017127] [ 0. 0. 0. 1. ]] SLAMing on 5.545194016999999 meters 0.05082055855049346 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.61, Z:6.42 [[-0.04252765 0.88821692 0.45745175 -0.23109636] [-0.1987177 -0.45623787 0.86738589 0.60698819] [ 0.97913364 -0.05401588 0.19590714 6.4233093 ] [ 0. 0. 0. 1. ]] SLAMing on 5.605194017 meters 0.06197664156605546 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.59, Z:6.48 [[-0.05928767 0.88578777 0.46028794 -0.25433469] [-0.17971359 -0.46303636 0.86792877 0.5871122 ] [ 0.98193075 -0.03126252 0.18664045 6.48115007] [ 0. 0. 0. 1. ]] SLAMing on 5.665194016999999 meters 0.039933247294764315 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.60, Z:6.55 [[-0.06126974 0.88472959 0.46206015 -0.23820112] [-0.17496396 -0.46528203 0.86769825 0.59821091] [ 0.98266659 -0.02768023 0.1833035 6.54830301] [ 0. 0. 0. 1. ]] SLAMing on 5.725194017 meters 0.04760499089336491 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.58, Z:6.61 [[-0.04674822 0.88647434 0.46041052 -0.2306772 ] [-0.21216942 -0.45920929 0.86261867 0.58053683] [ 0.9761141 -0.05735914 0.20954996 6.61058572] [ 0. 0. 0. 1. ]] SLAMing on 5.785194016999999 meters 0.03471219223988374 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.57, Z:6.67 [[-0.06794481 0.88319814 0.46405231 -0.24466365] [-0.18325335 -0.46826155 0.864378 0.57082141] [ 0.9807149 -0.02630914 0.19366496 6.67146848] [ 0. 0. 0. 1. ]] SLAMing on 5.845194016999999 meters 0.03476254930558196 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.57, Z:6.73 [[-0.06901984 0.8828449 0.46456554 -0.246687 ] [-0.19505244 -0.46863066 0.86159146 0.56607758] [ 0.97836129 -0.03114773 0.20454587 6.7347473 ] [ 0. 0. 0. 1. ]] SLAMing on 5.9051940169999995 meters 0.04399253488976987 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.57, Z:6.80 [[-0.03971018 0.88524734 0.46342232 -0.20078779] [-0.25133192 -0.45772619 0.85282999 0.568074 ] [ 0.96708602 -0.08260679 0.24066731 6.80492995] [ 0. 0. 0. 1. ]] SLAMing on 5.965194016999999 meters 0.050282731799801736 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.57, Z:6.89 [[ 0.01459291 0.88877494 0.4581115 -0.1153053 ] [-0.34467781 -0.42560717 0.83669334 0.57208564] [ 0.93860762 -0.17011066 0.30013015 6.88545428] [ 0. 0. 0. 1. ]] SLAMing on 6.025194017 meters 0.04886077836278331 Centerline is valid? [True, True] Translation: X:-0.08, Y:0.58, Z:6.96 [[ 0.02901484 0.88590421 0.46295991 -0.07903267] [-0.36834251 -0.4210861 0.82886084 0.57692845] [ 0.92923729 -0.19457708 0.31409843 6.96168095] [ 0. 0. 0. 1. ]] SLAMing on 6.085194016999999 meters 0.048557455904657265 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.52, Z:7.01 [[-0.05646106 0.87668875 0.47773317 -0.20175166] [-0.2566486 -0.47516139 0.84163718 0.51607086] [ 0.96485421 -0.07508982 0.25182906 7.00587242] [ 0. 0. 0. 1. ]] SLAMing on 6.145194017 meters 0.040538373776959055 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.54, Z:7.08 [[-0.03824335 0.87809102 0.47696289 -0.14484934] [-0.29378799 -0.4660972 0.83453102 0.53869352] [ 0.95510526 -0.10821071 0.27579772 7.08469604] [ 0. 0. 0. 1. ]] SLAMing on 6.205194016999999 meters 0.03081277321848911 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.50, Z:7.14 [[-0.08931391 0.86829998 0.48793254 -0.22580574] [-0.21079586 -0.49527199 0.84277563 0.4967727 ] [ 0.97344138 -0.02758258 0.22726872 7.13503962] [ 0. 0. 0. 1. ]] SLAMing on 6.265194017 meters 0.03148942446760382 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.50, Z:7.20 [[-0.09461524 0.8666431 0.48987518 -0.22260393] [-0.21075099 -0.49836661 0.84096061 0.4954841 ] [ 0.97295014 -0.02367399 0.22979897 7.20150025] [ 0. 0. 0. 1. ]] SLAMing on 6.325194016999999 meters 0.03230702380619155 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.49, Z:7.27 [[-0.10442649 0.86365631 0.49314591 -0.21899038] [-0.20603644 -0.50388642 0.83883697 0.48693836] [ 0.97295637 -0.01400923 0.23056377 7.26590835] [ 0. 0. 0. 1. ]] SLAMing on 6.385194016999999 meters 0.031750736674961616 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.47, Z:7.33 [[-0.10531323 0.86135293 0.49697108 -0.22683353] [-0.19743072 -0.5079122 0.83847856 0.47008021] [ 0.97464364 -0.00981447 0.22354741 7.32790162] [ 0. 0. 0. 1. ]] SLAMing on 6.4451940169999995 meters 0.034983469753118265 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.46, Z:7.39 [[-1.16681091e-01 8.58407808e-01 4.99521329e-01 -2.17370595e-01] [-1.94448487e-01 -5.12967693e-01 8.36094452e-01 4.59344576e-01] [ 9.73948309e-01 4.25246220e-04 2.26769729e-01 7.39401010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505194016999999 meters 0.04102593473567753 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.49, Z:7.48 [[-0.06271798 0.86635434 0.49547614 -0.1184751 ] [-0.28849331 -0.49099752 0.8220055 0.49090075] [ 0.95542559 -0.09138702 0.2807318 7.48109017] [ 0. 0. 0. 1. ]] SLAMing on 6.565194017 meters 0.032850069748830785 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.43, Z:7.53 [[-0.13374621 0.84958459 0.51021365 -0.20991592] [-0.17583118 -0.52701425 0.83146821 0.43224089] [ 0.97529244 0.02149425 0.21986962 7.52726987] [ 0. 0. 0. 1. ]] SLAMing on 6.625194016999999 meters 0.04230473515395435 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.47, Z:7.62 [[-0.07065455 0.86182257 0.50226466 -0.08790908] [-0.29748514 -0.49881492 0.81405544 0.4695766 ] [ 0.95210846 -0.09189955 0.29162295 7.61878753] [ 0. 0. 0. 1. ]] SLAMing on 6.685194017 meters 0.034169732026767125 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.43, Z:7.67 [[-0.11964314 0.84786298 0.5165403 -0.15299862] [-0.22016405 -0.52998159 0.81893059 0.43218891] [ 0.96809778 -0.01574417 0.25007761 7.67283807] [ 0. 0. 0. 1. ]] SLAMing on 6.745194016999999 meters 0.03249194993524204 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.38, Z:7.72 [[-0.1490257 0.83912678 0.52312292 -0.21047238] [-0.17284247 -0.54299112 0.82175795 0.38286734] [ 0.9736102 0.03204519 0.22595637 7.72299826] [ 0. 0. 0. 1. ]] SLAMing on 6.805194016999999 meters 0.041242535116887725 Centerline is valid? [True, True] Translation: X:-0.13, Y:0.44, Z:7.81 [[-0.10987447 0.84666526 0.52065876 -0.12788516] [-0.24134721 -0.53087926 0.81235382 0.43672729] [ 0.9641987 -0.03640259 0.26267037 7.81483656] [ 0. 0. 0. 1. ]] SLAMing on 6.865194016999999 meters 0.04099451152362979 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.36, Z:7.86 [[-0.14410249 0.83417564 0.53233962 -0.20400968] [-0.19158876 -0.55129421 0.81201505 0.35799595] [ 0.97083893 0.0150231 0.23926154 7.85962587] [ 0. 0. 0. 1. ]] SLAMing on 6.925194016999999 meters 0.04603377943324629 Centerline is valid? [True, True] Translation: X:-0.08, Y:0.44, Z:7.96 [[-0.07204081 0.84740563 0.52603595 -0.08298772] [-0.30534804 -0.52082118 0.79718748 0.43507035] [ 0.94951182 -0.10319401 0.29627403 7.96259855] [ 0. 0. 0. 1. ]] SLAMing on 6.9851940169999995 meters 0.03825409855298256 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.40, Z:8.02 [[-0.09439596 0.8356828 0.54103942 -0.11898226] [-0.26458314 -0.54498051 0.79560795 0.40392108] [ 0.95973182 -0.06804773 0.27255154 8.02287866] [ 0. 0. 0. 1. ]] SLAMing on 7.045194016999999 meters 0.03970347271275106 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.37, Z:8.09 [[-0.09509587 0.83289577 0.54519851 -0.14347286] [-0.26837273 -0.5488525 0.79166723 0.37441485] [ 0.95860985 -0.07103213 0.27572012 8.0859944 ] [ 0. 0. 0. 1. ]] SLAMing on 7.105194017 meters 0.038532630486964065 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.38, Z:8.16 [[-0.08249488 0.83079495 0.55043106 -0.12020805] [-0.28027181 -0.54936282 0.78717737 0.38394559] [ 0.95636934 -0.08933221 0.27816802 8.16248835] [ 0. 0. 0. 1. ]] SLAMing on 7.165194016999999 meters 0.052198610790707284 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.40, Z:8.25 [[-0.03476455 0.83574138 0.5480217 -0.03369453] [-0.36655373 -0.52080096 0.77097647 0.39901027] [ 0.92974716 -0.17407675 0.32444953 8.24997162] [ 0. 0. 0. 1. ]] SLAMing on 7.225194016999999 meters 0.05527442493365005 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.42, Z:8.33 [[-0.02780506 0.82980202 0.55736476 -0.02081881] [-0.36683983 -0.52714747 0.76651425 0.41847958] [ 0.92986849 -0.18315062 0.3190618 8.32835288] [ 0. 0. 0. 1. ]] SLAMing on 7.285194016999999 meters 0.05992234080321224 Centerline is valid? [True, True] Translation: X:-0.04, Y:0.35, Z:8.39 [[-0.02166847 0.82761634 0.56087581 -0.04413479] [-0.39105938 -0.52332628 0.75710116 0.35098951] [ 0.92011034 -0.20293052 0.33498681 8.38857077] [ 0. 0. 0. 1. ]] SLAMing on 7.345194016999999 meters 0.06043192602560791 Centerline is valid? [True, True] Translation: X:0.01, Y:0.33, Z:8.47 [[ 0.00915844 0.82785164 0.56087234 0.01337378] [-0.44418 -0.49915452 0.74400867 0.32614158] [ 0.89589076 -0.25594223 0.36314366 8.46690021] [ 0. 0. 0. 1. ]] SLAMing on 7.4051940169999995 meters 0.0499818221739673 Centerline is valid? [True, True] Translation: X:0.04, Y:0.40, Z:8.56 [[-2.88922249e-03 8.16958258e-01 5.76689568e-01 4.09376086e-02] [-3.96020854e-01 -5.30476868e-01 7.49507689e-01 4.01753213e-01] [ 9.18236971e-01 -2.26215601e-01 3.25065173e-01 8.55947445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465194016999999 meters 0.047934435019021386 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.39, Z:8.62 [[-0.04684974 0.80323683 0.59381453 -0.05393649] [-0.31081547 -0.57667918 0.75553614 0.39415862] [ 0.94931493 -0.14917007 0.2766757 8.62128737] [ 0. 0. 0. 1. ]] SLAMing on 7.525194017 meters 0.05256630621405385 Centerline is valid? [True, True] Translation: X:-0.10, Y:0.34, Z:8.68 [[-0.05001625 0.79779683 0.60084823 -0.0960142 ] [-0.30921144 -0.58441221 0.75023373 0.34232322] [ 0.94967714 -0.14826527 0.27591801 8.68090052] [ 0. 0. 0. 1. ]] SLAMing on 7.585194016999999 meters 0.054015734375120056 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.31, Z:8.73 [[-0.10018524 0.78108091 0.61634044 -0.20193491] [-0.19846805 -0.62269633 0.75687496 0.31409035] [ 0.97497351 -0.04649619 0.21740459 8.73007718] [ 0. 0. 0. 1. ]] SLAMing on 7.645194017 meters 0.04241432190728451 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.31, Z:8.80 [[-0.09947371 0.77880353 0.61933032 -0.2056851 ] [-0.20000726 -0.6253636 0.75426618 0.30503623] [ 0.9747318 -0.04884091 0.21797359 8.7975984 ] [ 0. 0. 0. 1. ]] SLAMing on 7.705194016999999 meters 0.059289478899114074 Centerline is valid? [True, True] Translation: X:-0.19, Y:0.29, Z:8.87 [[-0.08435546 0.77982981 0.62028189 -0.19027816] [-0.24505837 -0.61961757 0.7456678 0.29092044] [ 0.96583153 -0.08910412 0.24337195 8.86605018] [ 0. 0. 0. 1. ]] SLAMing on 7.765194016999999 meters 0.07289520189408383 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.25, Z:8.92 [[-0.09280523 0.77625756 0.62354743 -0.23296555] [-0.24841614 -0.62449757 0.74046756 0.24578321] [ 0.96419739 -0.08617998 0.25079155 8.92217881] [ 0. 0. 0. 1. ]] SLAMing on 7.825194016999999 meters 0.06272701981952773 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.28, Z:9.00 [[-0.1049789 0.7687781 0.63084044 -0.19626341] [-0.20909635 -0.6372286 0.7417671 0.27787888] [ 0.97224387 -0.05403654 0.22764425 8.99957907] [ 0. 0. 0. 1. ]] SLAMing on 7.885194016999999 meters 0.047313283032255946 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.29, Z:9.07 [[-0.11259897 0.76457074 0.63462829 -0.18065609] [-0.20455847 -0.64284574 0.73817694 0.28679242] [ 0.97235657 -0.04670062 0.22878319 9.07489636] [ 0. 0. 0. 1. ]] SLAMing on 7.9451940169999995 meters 0.038826888788128414 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.31, Z:9.16 [[-0.12475217 0.75549044 0.64317268 -0.14021411] [-0.17162833 -0.65489637 0.73597178 0.30986213] [ 0.97723109 -0.01857258 0.21136331 9.1550611 ] [ 0. 0. 0. 1. ]] SLAMing on 8.005194016999999 meters 0.046134073064441596 Centerline is valid? [True, True] Translation: X:-0.13, Y:0.29, Z:9.23 [[-0.13261163 0.74961546 0.64845263 -0.13423985] [-0.17251511 -0.66170115 0.72965068 0.28526642] [ 0.97603929 -0.01510771 0.21706926 9.22598311] [ 0. 0. 0. 1. ]] SLAMing on 8.065194017 meters 0.04581729742284469 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.26, Z:9.29 [[-0.13463774 0.74399587 0.65447905 -0.13887909] [-0.17768518 -0.66791441 0.72271593 0.25910974] [ 0.97483365 -0.01898639 0.22212353 9.2946746 ] [ 0. 0. 0. 1. ]] SLAMing on 8.125194017 meters 0.05596167644578653 Centerline is valid? [True, True] Translation: X:0.07, Y:0.32, Z:9.41 [[-0.09118037 0.75412961 0.65036503 0.07159807] [-0.2950939 -0.64421425 0.70562568 0.32240537] [ 0.95110763 -0.12757954 0.28127874 9.41194601] [ 0. 0. 0. 1. ]] SLAMing on 8.185194017 meters 0.07537119647903281 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.30, Z:9.48 [[-1.31148191e-01 7.28467025e-01 6.72410549e-01 -5.37268136e-03] [-1.82042268e-01 -6.84431624e-01 7.05984394e-01 3.01784700e-01] [ 9.74505395e-01 -2.98185658e-02 2.22373759e-01 9.47597106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245194017 meters 0.03815287176821796 Centerline is valid? [True, True] Translation: X:-0.07, Y:0.25, Z:9.54 [[-0.1587704 0.71260043 0.68336856 -0.06517748] [-0.13507019 -0.70131747 0.6999356 0.25410391] [ 0.97803272 0.01882633 0.20759953 9.53629695] [ 0. 0. 0. 1. ]] SLAMing on 8.305194017 meters 0.03465187222527171 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.25, Z:9.61 [[-0.16820914 0.70090095 0.69314035 -0.0535803 ] [-0.10827966 -0.71204211 0.69373737 0.24774529] [ 0.9797863 0.04163997 0.19566531 9.61284136] [ 0. 0. 0. 1. ]] SLAMing on 8.365194017 meters 0.026254177628521135 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.22, Z:9.68 [[-0.16945193 0.69200839 0.70171963 -0.06034725] [-0.09965407 -0.72039823 0.68636394 0.22487191] [ 0.98048718 0.04637647 0.19103433 9.68360823] [ 0. 0. 0. 1. ]] SLAMing on 8.425194017 meters 0.030050277069024505 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.23, Z:9.76 [[-0.16908776 0.68325154 0.7103356 -0.05528456] [-0.08981929 -0.72839635 0.67924315 0.22501039] [ 0.98149978 0.05104986 0.18453208 9.75910581] [ 0. 0. 0. 1. ]] SLAMing on 8.485194017 meters 0.081673528207288 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.25, Z:9.84 [[-0.1675321 0.67447716 0.71903654 -0.02616024] [-0.07627868 -0.73602641 0.67264158 0.24786613] [ 0.98291127 0.0578419 0.17475628 9.8425628 ] [ 0. 0. 0. 1. ]] SLAMing on 8.545194017 meters 0.03871154792301826 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.22, Z:9.92 [[-0.15707482 0.66921366 0.72627858 -0.01633371] [-0.0963183 -0.74228227 0.66312881 0.21885215] [ 0.98287857 0.03420693 0.18105137 9.91951069] [ 0. 0. 0. 1. ]] SLAMing on 8.605194017 meters 0.03626726712525043 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.19, Z:9.99 [[-0.15761848 0.6589125 0.73552072 -0.02064092] [-0.10339388 -0.75174887 0.6512936 0.18930696] [ 0.98207236 0.02660757 0.18661704 9.99201126] [ 0. 0. 0. 1. ]] SLAMing on 8.665194017000001 meters 0.0950706588803947 Centerline is valid? [True, True] Translation: X:0.05, Y:0.21, Z:10.08 [[-1.46845782e-01 6.52488811e-01 7.43434374e-01 4.62719741e-02] [-1.16843845e-01 -7.57762158e-01 6.41984445e-01 2.07020836e-01] [ 9.82234103e-01 7.40697697e-03 1.87513478e-01 1.00813662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725194017 meters 0.04222031515204176 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.16, Z:10.14 [[-1.69995160e-01 6.35692479e-01 7.52991845e-01 -8.57504376e-03] [-7.24778185e-02 -7.70109478e-01 6.33781001e-01 1.64257901e-01] [ 9.82775972e-01 5.31644962e-02 1.76988488e-01 1.01447960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785194017 meters 0.09120194797854053 Centerline is valid? [True, True] Translation: X:0.01, Y:0.15, Z:10.22 [[-0.16113449 0.62751195 0.7617509 0.0138798 ] [-0.07582338 -0.77742684 0.62438636 0.14800464] [ 0.98401549 0.04285165 0.17285035 10.22422592] [ 0. 0. 0. 1. ]] SLAMing on 8.845194017 meters 0.049257502902523134 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.09, Z:10.29 [[-0.17237118 0.61479045 0.76962386 -0.01132149] [-0.06471855 -0.78669875 0.61393532 0.08919335] [ 0.9829037 0.05601582 0.17539254 10.28939141] [ 0. 0. 0. 1. ]] SLAMing on 8.905194017 meters 0.059007231933345644 Centerline is valid? [True, True] Translation: X:0.27, Y:0.14, Z:10.43 [[-0.13833411 0.63383309 0.76099887 0.2654975 ] [-0.24705876 -0.76617946 0.59323773 0.13879814] [ 0.95907541 -0.10594642 0.26258277 10.4327587 ] [ 0. 0. 0. 1. ]] SLAMing on 8.965194017 meters 0.04326643332273906 Centerline is valid? [True, True] Translation: X:0.21, Y:0.10, Z:10.51 [[-0.15905905 0.59587912 0.78716472 0.20979716] [-0.14871548 -0.80267881 0.57757289 0.10300633] [ 0.97600406 -0.02519538 0.21628978 10.50551592] [ 0. 0. 0. 1. ]] SLAMing on 9.025194017 meters 0.03703190988190535 Centerline is valid? [True, True] Translation: X:0.40, Y:0.12, Z:10.62 [[-0.13158893 0.59530677 0.79265011 0.39659528] [-0.24158456 -0.7947531 0.5567804 0.12281147] [ 0.96141628 -0.11822589 0.24839763 10.62085771] [ 0. 0. 0. 1. ]] SLAMing on 9.085194017000001 meters 0.02944885168565183 Centerline is valid? [True, True] Translation: X:0.21, Y:0.04, Z:10.66 [[-1.69253590e-01 5.60429582e-01 8.10723076e-01 2.05818730e-01] [-1.19880130e-01 -8.28189705e-01 5.47476544e-01 3.68016742e-02] [ 9.78254556e-01 -4.52721747e-03 2.07358452e-01 1.06624358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145194017 meters 0.02488565407839483 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.03, Z:10.71 [[-0.17919739 0.53658982 0.82459667 0.08578792] [-0.05231262 -0.84217519 0.53666036 -0.0290163 ] [ 0.98242134 0.05303132 0.17898601 10.71283014] [ 0. 0. 0. 1. ]] SLAMing on 9.205194017 meters 0.03641410548065543 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.03, Z:10.80 [[-0.16241126 0.53800064 0.82715047 0.15316735] [-0.12211267 -0.84279503 0.52419942 -0.03163385] [ 0.97913793 -0.01586967 0.2025761 10.80306466] [ 0. 0. 0. 1. ]] SLAMing on 9.265194017 meters 0.02608342127061207 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.05, Z:10.86 [[-0.16910902 0.51503304 0.84032321 0.06323223] [-0.04580432 -0.85578858 0.51529396 -0.05072964] [ 0.98453243 0.04865042 0.16831231 10.86208767] [ 0. 0. 0. 1. ]] SLAMing on 9.325194017 meters 0.024169830449267352 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.02, Z:10.96 [[-0.15533233 0.51571509 0.84256146 0.18476295] [-0.11042996 -0.85663298 0.50396941 -0.01912675] [ 0.98167056 -0.01476128 0.19001319 10.96440164] [ 0. 0. 0. 1. ]] SLAMing on 9.385194017 meters 0.04647749678167824 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.07, Z:11.04 [[-0.15291312 0.51265694 0.84486712 0.19132098] [-0.16646963 -0.85606687 0.48932338 -0.0675303 ] [ 0.97411778 -0.06582075 0.21624567 11.03941941] [ 0. 0. 0. 1. ]] SLAMing on 9.445194017 meters 0.051184791420447705 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.08, Z:11.16 [[-0.12991472 0.53006735 0.83794437 0.41319396] [-0.324773 -0.82123452 0.46914429 -0.07766645] [ 0.93682691 -0.21119295 0.27884201 11.16420014] [ 0. 0. 0. 1. ]] SLAMing on 9.505194017 meters 0.04601836562549531 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.12, Z:11.20 [[-0.16013247 0.48042421 0.86229355 0.18245764] [-0.1618739 -0.87452104 0.45717588 -0.11975103] [ 0.97373222 -0.06637412 0.21780735 11.20353049] [ 0. 0. 0. 1. ]] SLAMing on 9.565194017 meters 0.04282214256422693 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.13, Z:11.26 [[-0.17001325 0.44954475 0.87692931 0.0733806 ] [-0.06170006 -0.89299447 0.44581832 -0.13197248] [ 0.98350831 0.02168843 0.17955783 11.26207732] [ 0. 0. 0. 1. ]] SLAMing on 9.625194017 meters 0.03702246763261771 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.15, Z:11.33 [[-0.16572643 0.43653524 0.88429166 0.04270681] [-0.05276545 -0.89933201 0.43407113 -0.15427163] [ 0.98475914 0.02527702 0.17207706 11.33227369] [ 0. 0. 0. 1. ]] SLAMing on 9.685194017 meters 0.033163579992761504 Centerline is valid? [True, True] Translation: X:0.05, Y:-0.17, Z:11.41 [[-1.67707760e-01 4.27161900e-01 8.88485688e-01 5.06654898e-02] [-6.75441579e-02 -9.04111271e-01 4.21924871e-01 -1.69617510e-01] [ 9.83520154e-01 1.07480572e-02 1.80478767e-01 1.14088870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745194017 meters 0.03695960034536326 Centerline is valid? [True, True] Translation: X:0.05, Y:-0.17, Z:11.49 [[-0.16834812 0.41154406 0.89570665 0.0485013 ] [-0.0389597 -0.91074358 0.41113049 -0.16910816] [ 0.98495739 0.03431658 0.16935561 11.4861365 ] [ 0. 0. 0. 1. ]] SLAMing on 9.805194017 meters 0.03337497777011643 Centerline is valid? [True, True] Translation: X:-0.01, Y:-0.19, Z:11.55 [[-1.70847730e-01 3.99644659e-01 9.00608239e-01 -6.24741600e-03] [-3.80239041e-02 -9.16040443e-01 3.99279462e-01 -1.94409517e-01] [ 9.84563475e-01 3.39713484e-02 1.71699480e-01 1.15508365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865194017 meters 0.05462796788932634 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.19, Z:11.66 [[-0.1715392 0.40004415 0.90029939 0.14990243] [-0.11084739 -0.91587946 0.3858467 -0.19092062] [ 0.97892143 -0.03360801 0.20145308 11.65946014] [ 0. 0. 0. 1. ]] SLAMing on 9.925194017 meters 0.032654750963742485 Centerline is valid? [True, True] Translation: X:0.01, Y:-0.22, Z:11.71 [[-1.72574207e-01 3.76773325e-01 9.10087910e-01 9.52283658e-03] [-5.58650492e-02 -9.26207070e-01 3.72853268e-01 -2.17801188e-01] [ 9.83411023e-01 1.35027512e-02 1.80887911e-01 1.17085776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985194017 meters 0.06119598056620942 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.22, Z:11.81 [[-0.17595296 0.37413381 0.91052976 0.11775063] [-0.10900467 -0.92667724 0.35970443 -0.21888141] [ 0.9783448 -0.03596094 0.20383393 11.80703095] [ 0. 0. 0. 1. ]] SLAMing on 10.045194017 meters 0.03549822608085657 Centerline is valid? [True, True] Translation: X:0.00, Y:-0.25, Z:11.86 [[-1.78582083e-01 3.50403168e-01 9.19416151e-01 3.86562216e-03] [-5.37985174e-02 -9.36516740e-01 3.46470944e-01 -2.47755243e-01] [ 9.82453133e-01 1.24102769e-02 1.86096281e-01 1.18622278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105194017 meters 0.049175825834784415 Centerline is valid? [True, True] Translation: X:-0.04, Y:-0.27, Z:11.93 [[-1.82074630e-01 3.39090517e-01 9.22966115e-01 -3.77988840e-02] [-6.16552023e-02 -9.40746041e-01 3.33459927e-01 -2.73367613e-01] [ 9.81349818e-01 3.80893029e-03 1.92192682e-01 1.19320533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165194017 meters 0.02949919899182751 Centerline is valid? [True, True] Translation: X:-0.05, Y:-0.28, Z:12.01 [[-0.18138412 0.32104619 0.92953168 -0.04661662] [-0.03738168 -0.94677829 0.31970843 -0.27562735] [ 0.98270159 0.02324258 0.1837318 12.00556944] [ 0. 0. 0. 1. ]] SLAMing on 10.225194017 meters 0.02786795427364204 Centerline is valid? [True, True] Translation: X:-0.04, Y:-0.28, Z:12.08 [[-0.18791771 0.30860465 0.93244308 -0.03947948] [-0.03150967 -0.95076162 0.30831719 -0.2828524 ] [ 0.98167921 0.02855728 0.18838898 12.0831457 ] [ 0. 0. 0. 1. ]] SLAMing on 10.285194017 meters 0.05047743060548238 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.32, Z:12.14 [[-0.18930507 0.29655289 0.93606622 -0.11557125] [-0.03275483 -0.95468017 0.29582577 -0.32367769] [ 0.98137185 0.02534063 0.19043934 12.14171966] [ 0. 0. 0. 1. ]] SLAMing on 10.345194017 meters 0.040252804174354444 Centerline is valid? [True, True] Translation: X:-0.08, Y:-0.33, Z:12.23 [[-0.19639968 0.28739067 0.93746134 -0.07607162] [-0.04022534 -0.95763874 0.28514903 -0.33419791] [ 0.97969847 0.01829348 0.19964033 12.22529405] [ 0. 0. 0. 1. ]] SLAMing on 10.405194017 meters 0.03557720739676852 Centerline is valid? [True, True] Translation: X:-0.08, Y:-0.35, Z:12.30 [[-0.19527543 0.27125851 0.94248943 -0.07556697] [-0.01686012 -0.96177646 0.27331626 -0.34725389] [ 0.98060351 0.03748147 0.19238476 12.30016141] [ 0. 0. 0. 1. ]] SLAMing on 10.465194017 meters 0.025074986863427205 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.34, Z:12.38 [[-0.1952744 0.25450513 0.94715102 -0.06191247] [ 0.01336841 -0.96496242 0.26204733 -0.34188596] [ 0.98065753 0.06383304 0.18503013 12.37997581] [ 0. 0. 0. 1. ]] SLAMing on 10.525194017 meters 0.021487261070855728 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.36, Z:12.46 [[-1.98285354e-01 2.42944538e-01 9.49558250e-01 -5.94150052e-02] [ 5.80448568e-03 -9.68486257e-01 2.48999354e-01 -3.63795191e-01] [ 9.80127148e-01 5.48846222e-02 1.90626472e-01 1.24567315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585194017 meters 0.04097521288009466 Centerline is valid? [True, True] Translation: X:-0.08, Y:-0.39, Z:12.53 [[-0.20276919 0.23497609 0.95061606 -0.08445361] [-0.01999878 -0.97157379 0.23589068 -0.39041724] [ 0.97902232 0.0288202 0.20170447 12.53009397] [ 0. 0. 0. 1. ]] SLAMing on 10.645194017 meters 0.033618446953389704 Centerline is valid? [True, True] Translation: X:-0.08, Y:-0.40, Z:12.61 [[-0.20377637 0.22061387 0.95383684 -0.08092577] [-0.01643856 -0.97491337 0.22197677 -0.40057569] [ 0.97887944 0.02955391 0.20229088 12.60885683] [ 0. 0. 0. 1. ]] SLAMing on 10.705194017 meters 0.021280982014549598 Centerline is valid? [True, True] Translation: X:-0.07, Y:-0.41, Z:12.69 [[-2.01152733e-01 2.04296823e-01 9.58018990e-01 -7.31570268e-02] [-4.11977990e-03 -9.78177406e-01 2.07730571e-01 -4.11182130e-01] [ 9.79551227e-01 3.78387446e-02 1.97604716e-01 1.26874381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765194017 meters 0.025577190090372303 Centerline is valid? [True, True] Translation: X:-0.05, Y:-0.43, Z:12.77 [[-2.02890404e-01 1.92262324e-01 9.60140970e-01 -4.98192448e-02] [-1.04470016e-02 -9.80903875e-01 1.94212380e-01 -4.26471975e-01] [ 9.79145722e-01 2.93732339e-02 2.01024548e-01 1.27692019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825194017 meters 0.03501066391390201 Centerline is valid? [True, True] Translation: X:-0.10, Y:-0.43, Z:12.84 [[-2.01230851e-01 1.78322403e-01 9.63175615e-01 -1.01831670e-01] [-3.20735522e-03 -9.83404625e-01 1.81397509e-01 -4.33552708e-01] [ 9.79538594e-01 3.34135287e-02 1.98463292e-01 1.28364476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885194017 meters 0.01931383562979322 Centerline is valid? [True, True] Translation: X:-0.10, Y:-0.44, Z:12.92 [[-0.19348186 0.15851901 0.96821304 -0.09943511] [ 0.03822412 -0.9848937 0.1688885 -0.44336012] [ 0.98035896 0.06968595 0.18449981 12.91572874] [ 0. 0. 0. 1. ]] SLAMing on 10.945194017 meters 0.023500461345512876 Centerline is valid? [True, True] Translation: X:-0.10, Y:-0.46, Z:12.99 [[-0.19483988 0.14561987 0.96996509 -0.10141634] [ 0.0293136 -0.98761137 0.1541574 -0.45860617] [ 0.98039693 0.05846917 0.18815744 12.99268229] [ 0. 0. 0. 1. ]] SLAMing on 11.005194017 meters 0.026783492348087332 Centerline is valid? [True, True] Translation: X:-4.24, Y:-1.61, Z:11.08 [[ 0.26795482 0.11797694 -0.95618077 -4.23929042] [-0.03936815 -0.99030435 -0.13321954 -1.60618135] [-0.9626268 0.07333989 -0.26071229 11.07515316] [ 0. 0. 0. 1. ]] SLAMing on 11.065194017 meters 0.025216048331988986 Centerline is valid? [True, True] Translation: X:-2.51, Y:-1.30, Z:11.35 [[ 0.13376867 0.49274223 -0.85983198 -2.50861697] [ 0.193897 -0.86387408 -0.46489303 -1.29874731] [-0.97185899 -0.10453072 -0.21110053 11.34509626] [ 0. 0. 0. 1. ]] SLAMing on 11.125194017 meters 0.02039322303881566 Centerline is valid? [True, True] Translation: X:-2.33, Y:-1.75, Z:11.25 [[ 0.05656724 0.74977002 -0.65927617 -2.33208561] [ 0.23587114 -0.65167706 -0.7208896 -1.74527888] [-0.97013656 -0.11472548 -0.21371268 11.24639288] [ 0. 0. 0. 1. ]] SLAMing on 11.185194017 meters 0.019872038238989663 Centerline is valid? [True, True] Translation: X:-1.98, Y:-1.93, Z:11.30 [[-8.95564130e-03 9.16539012e-01 -3.99845015e-01 -1.98167533e+00] [ 2.54519289e-01 -3.84602320e-01 -8.87299829e-01 -1.93398211e+00] [-9.67026229e-01 -1.09714608e-01 -2.29832497e-01 1.13043175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245194017 meters 0.019304509018654045 Centerline is valid? [True, True] Translation: X:-1.62, Y:-2.23, Z:11.25 [[-0.09887732 0.98822562 -0.11676215 -1.62086547] [ 0.24282416 -0.0898287 -0.96590229 -2.23323801] [-0.96501798 -0.12385851 -0.23108304 11.24579892] [ 0. 0. 0. 1. ]] SLAMing on 11.305194017 meters SLAMing on 11.365194017 meters 0.02000094553116223 Centerline is valid? [True, True] Translation: X:-1.22, Y:-2.32, Z:11.27 [[-0.1983139 0.96586453 0.16666525 -1.21628994] [ 0.18874594 0.20449315 -0.96049858 -2.31827334] [-0.96179341 -0.15902283 -0.22285684 11.27381266] [ 0. 0. 0. 1. ]] SLAMing on 11.425194017 meters 0.02683724998729748 Centerline is valid? [True, True] Translation: X:-0.15, Y:-3.02, Z:11.03 [[-0.10614023 0.90491498 0.41214456 -0.14992648] [ 0.2821655 0.42485777 -0.86016191 -3.01713414] [-0.95347621 0.02499519 -0.30043029 11.02509598] [ 0. 0. 0. 1. ]] SLAMing on 11.485194017 meters 0.020016381037960912 Centerline is valid? [True, True] Translation: X:-2.27, Y:-0.09, Z:12.08 [[ 0.09920324 0.76215846 -0.63974464 -2.26939763] [-0.23906201 0.64234094 0.72818094 -0.08951376] [ 0.96592343 0.08070073 0.24592543 12.08430546] [ 0. 0. 0. 1. ]] SLAMing on 11.545194017 meters 0.02082295004412667 Centerline is valid? [True, True] Translation: X:-2.25, Y:-0.07, Z:12.17 [[ 0.07258636 0.77465126 -0.62820907 -2.24874985] [-0.24890508 0.62401036 0.74071407 -0.06762377] [ 0.96580406 0.10259869 0.23810927 12.16864109] [ 0. 0. 0. 1. ]] SLAMing on 11.605194017 meters 0.02152596593662523 Centerline is valid? [True, True] Translation: X:-2.19, Y:-0.14, Z:12.23 [[ 0.0738021 0.78239182 -0.61839816 -2.18988798] [-0.24377571 0.6154313 0.74954501 -0.13571051] [ 0.96701947 0.09543246 0.23614825 12.22697036] [ 0. 0. 0. 1. ]] SLAMing on 11.665194017 meters 0.019881551072661284 Centerline is valid? [True, True] Translation: X:-2.18, Y:-0.11, Z:12.32 [[ 0.05923903 0.7907701 -0.60924001 -2.1821515 ] [-0.25075975 0.60253023 0.75767861 -0.11074356] [ 0.96623511 0.10788872 0.23398662 12.3189169 ] [ 0. 0. 0. 1. ]] SLAMing on 11.725194017 meters 0.019434546975813285 Centerline is valid? [True, True] Translation: X:-2.11, Y:-0.21, Z:12.37 [[ 0.04643617 0.80073046 -0.59722225 -2.11169611] [-0.24727881 0.58847369 0.76977393 -0.20715256] [ 0.96783101 0.11193506 0.22533014 12.36766804] [ 0. 0. 0. 1. ]] SLAMing on 11.785194017 meters 0.020484556319612334 Centerline is valid? [True, True] Translation: X:-2.12, Y:-0.15, Z:12.47 [[ 0.05773225 0.80746863 -0.58707869 -2.12304427] [-0.24613948 0.58141871 0.77547898 -0.14818963] [ 0.96751349 0.0997331 0.23231652 12.4665131 ] [ 0. 0. 0. 1. ]] SLAMing on 11.845194017 meters 0.020699894126598707 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.17, Z:12.54 [[ 0.03507375 0.81596013 -0.57704324 -2.09755324] [-0.25001765 0.56620212 0.78543385 -0.16635513] [ 0.96760581 0.11672288 0.22386327 12.54001335] [ 0. 0. 0. 1. ]] SLAMing on 11.905194017 meters 0.019278414916142645 Centerline is valid? [True, True] Translation: X:-2.06, Y:-0.19, Z:12.61 [[ 0.03294381 0.82281218 -0.56735775 -2.06166614] [-0.24657348 0.55681036 0.79319843 -0.19012093] [ 0.968564 0.1137644 0.22122711 12.61116284] [ 0. 0. 0. 1. ]] SLAMing on 11.965194017 meters 0.02000016304801224 Centerline is valid? [True, True] Translation: X:-2.04, Y:-0.22, Z:12.69 [[ 0.02824011 0.8297856 -0.55736734 -2.04380134] [-0.25086649 0.54562779 0.7995976 -0.21713966] [ 0.96760968 0.11724407 0.22357399 12.68601711] [ 0. 0. 0. 1. ]] SLAMing on 12.025194017 meters 0.019396734409743144 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.22, Z:12.76 [[ 0.02694353 0.83713397 -0.54633393 -2.01813481] [-0.2460572 0.53527091 0.80804759 -0.22113869] [ 0.96888075 0.11265774 0.22040493 12.76304795] [ 0. 0. 0. 1. ]] SLAMing on 12.085194017 meters SLAMing on 12.145194017 meters 0.019675144665173422 Centerline is valid? [True, True] Translation: X:-2.00, Y:-0.22, Z:12.84 [[ 0.03838782 0.84387066 -0.53517165 -2.00321298] [-0.24833468 0.52682076 0.81288977 -0.22327312] [ 0.96791335 0.10169661 0.22978585 12.84210393] [ 0. 0. 0. 1. ]] SLAMing on 12.205194017 meters 0.020641210642012964 Centerline is valid? [True, True] Translation: X:-2.00, Y:-0.18, Z:12.94 [[ 0.02673403 0.85075797 -0.52487729 -1.99852085] [-0.25428749 0.51358052 0.81949553 -0.17711488] [ 0.9667591 0.11156131 0.23006718 12.93572892] [ 0. 0. 0. 1. ]] SLAMing on 12.265194017 meters 0.020178801793036306 Centerline is valid? [True, True] Translation: X:-1.93, Y:-0.31, Z:12.98 [[ 0.03554512 0.85790984 -0.51256927 -1.92885829] [-0.2531018 0.50389989 0.82584767 -0.31117246] [ 0.96678644 0.10037735 0.23504971 12.97651416] [ 0. 0. 0. 1. ]] SLAMing on 12.325194017 meters 0.019149168320253228 Centerline is valid? [True, True] Translation: X:-1.92, Y:-0.32, Z:13.05 [[ 0.04482141 0.86408961 -0.5013384 -1.91736122] [-0.25638473 0.4949839 0.83021552 -0.3249532 ] [ 0.96553504 0.09132408 0.24372526 13.05349961] [ 0. 0. 0. 1. ]] SLAMing on 12.385194017 meters 0.07646166463673469 Centerline is valid? [True, True] Translation: X:-1.95, Y:-0.11, Z:13.19 [[ 0.10982845 0.86558425 -0.48857099 -1.94739721] [-0.24120867 0.50006159 0.83171917 -0.1119751 ] [ 0.9642386 0.02650113 0.26370742 13.19124001] [ 0. 0. 0. 1. ]] SLAMing on 12.445194017 meters 0.02033900626326363 Centerline is valid? [True, True] Translation: X:-1.87, Y:-0.37, Z:13.20 [[ 6.71581456e-03 8.76612986e-01 -4.81149218e-01 -1.86636919e+00] [-2.58142476e-01 4.66371092e-01 8.46085378e-01 -3.70985975e-01] [ 9.66083516e-01 1.18522898e-01 2.29423109e-01 1.31980979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505194017 meters 0.022230401263412653 Centerline is valid? [True, True] Translation: X:-1.83, Y:-0.54, Z:13.23 [[ 0.03635666 0.88217081 -0.46952407 -1.82822111] [-0.2620402 0.46181059 0.8473877 -0.53815266] [ 0.96437188 0.092226 0.2479541 13.23206681] [ 0. 0. 0. 1. ]] SLAMing on 12.565194017 meters 0.02043610385565541 Centerline is valid? [True, True] Translation: X:-1.83, Y:-0.40, Z:13.35 [[ 1.05301638e-02 8.86888024e-01 -4.61864426e-01 -1.82731369e+00] [-2.62751240e-01 4.48113180e-01 8.54491875e-01 -4.04768103e-01] [ 9.64806147e-01 1.12357511e-01 2.37749633e-01 1.33468223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625194017 meters 0.020090191590405954 Centerline is valid? [True, True] Translation: X:-1.83, Y:-0.30, Z:13.45 [[-9.73997671e-03 8.92419059e-01 -4.51102378e-01 -1.82822599e+00] [-2.67515465e-01 4.32354832e-01 8.61106715e-01 -3.03624407e-01] [ 9.63504338e-01 1.29064022e-01 2.34524774e-01 1.34524793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685194017 meters 0.01982124659461616 Centerline is valid? [True, True] Translation: X:-1.83, Y:-0.24, Z:13.55 [[ 3.79793466e-03 8.98501592e-01 -4.38953830e-01 -1.82742799e+00] [-2.76459245e-01 4.22792094e-01 8.63027885e-01 -2.39837019e-01] [ 9.61018138e-01 1.18075121e-01 2.50004808e-01 1.35514273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745194017 meters 0.020171540481495248 Centerline is valid? [True, True] Translation: X:-1.77, Y:-0.39, Z:13.59 [[-9.45390599e-03 9.04150279e-01 -4.27109934e-01 -1.77017167e+00] [-2.78862168e-01 4.07799896e-01 8.69445304e-01 -3.90027233e-01] [ 9.60284601e-01 1.27324456e-01 2.48278005e-01 1.35890357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805194017 meters 0.021069788863387316 Centerline is valid? [True, True] Translation: X:-1.79, Y:-0.25, Z:13.71 [[-6.87541370e-03 9.08963532e-01 -4.16818937e-01 -1.78721650e+00] [-2.72432225e-01 3.99358824e-01 8.75381752e-01 -2.54730625e-01] [ 9.62150410e-01 1.19573522e-01 2.44885200e-01 1.37073003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865194017 meters 0.027769008459807627 Centerline is valid? [True, True] Translation: X:-1.78, Y:-0.20, Z:13.80 [[ 0.04016804 0.91490276 -0.40167085 -1.77704809] [-0.28001712 0.39619415 0.87442587 -0.20353188] [ 0.95915428 0.07735074 0.27210278 13.80313391] [ 0. 0. 0. 1. ]] SLAMing on 12.925194017 meters 0.02247083468186729 Centerline is valid? [True, True] Translation: X:-1.75, Y:-0.30, Z:13.86 [[-5.99385395e-03 9.19981894e-01 -3.91915026e-01 -1.75497091e+00] [-2.72951977e-01 3.75534147e-01 8.85703857e-01 -3.04230995e-01] [ 9.62008987e-01 1.12282761e-01 2.48859980e-01 1.38589345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985194017 meters 0.023311642668669825 Centerline is valid? [True, True] Translation: X:-1.71, Y:-0.35, Z:13.92 [[ 1.21300337e-03 9.25254393e-01 -3.79345275e-01 -1.71222075e+00] [-2.77052009e-01 3.64806967e-01 8.88908354e-01 -3.53673159e-01] [ 9.60854158e-01 1.04020122e-01 2.56786100e-01 1.39242233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045194017 meters 0.022449766131397854 Centerline is valid? [True, True] Translation: X:-1.71, Y:-0.24, Z:14.04 [[-0.02867091 0.92890546 -0.36920539 -1.70941221] [-0.27736531 0.34746013 0.8957343 -0.24150131] [ 0.96033664 0.12808628 0.24768416 14.0369808 ] [ 0. 0. 0. 1. ]] SLAMing on 13.105194017 meters 0.06236580948342614 Centerline is valid? [True, True] Translation: X:-1.65, Y:-0.21, Z:14.12 [[-0.02944696 0.93355402 -0.35722509 -1.65461179] [-0.26773669 0.33695478 0.90265084 -0.21304199] [ 0.96304203 0.12222259 0.24002437 14.12262935] [ 0. 0. 0. 1. ]] SLAMing on 13.165194017 meters 0.023143108490446554 Centerline is valid? [True, True] Translation: X:-1.60, Y:-0.32, Z:14.17 [[-7.29686144e-03 9.39517714e-01 -3.42422577e-01 -1.60239478e+00] [-2.81093982e-01 3.26697030e-01 9.02360917e-01 -3.18064308e-01] [ 9.59652504e-01 1.02837328e-01 2.61708913e-01 1.41747315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225194017 meters 0.04369031318718812 Centerline is valid? [True, True] Translation: X:-1.56, Y:-0.26, Z:14.27 [[ 6.05211642e-03 9.43981214e-01 -3.29943693e-01 -1.55670940e+00] [-2.78655369e-01 3.18472361e-01 9.06049966e-01 -2.59914188e-01] [ 9.60372093e-01 8.64570616e-02 2.64972865e-01 1.42677151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285194017 meters 0.022766171366768673 Centerline is valid? [True, True] Translation: X:-1.54, Y:-0.39, Z:14.31 [[-0.02221518 0.94735499 -0.31941353 -1.54384133] [-0.27478724 0.30140141 0.9130439 -0.39449387] [ 0.96124839 0.10805419 0.25362538 14.31232694] [ 0. 0. 0. 1. ]] SLAMing on 13.345194017 meters 0.024035299402943855 Centerline is valid? [True, True] Translation: X:-1.52, Y:-0.34, Z:14.41 [[-0.01503821 0.95150709 -0.30725904 -1.52338323] [-0.28755187 0.29019676 0.91274299 -0.34241702] [ 0.957647 0.10207893 0.2692436 14.40667729] [ 0. 0. 0. 1. ]] SLAMing on 13.405194017 meters 0.06620864249832578 Centerline is valid? [True, True] Translation: X:-1.23, Y:0.73, Z:12.25 [[ 0.7866248 0.59727082 0.15648959 -1.23129432] [ 0.27645362 -0.11408207 -0.95423198 0.73360857] [-0.55208226 0.79388466 -0.25485747 12.25411153] [ 0. 0. 0. 1. ]] SLAMing on 13.465194017 meters 0.024423948259085993 Centerline is valid? [True, True] Translation: X:-0.32, Y:-1.31, Z:14.23 [[ 9.79160351e-01 -1.98174638e-01 4.44051672e-02 -3.23805468e-01] [ 1.97697305e-01 9.80149276e-01 1.49389323e-02 -1.31144461e+00] [-4.64842100e-02 -5.84882834e-03 9.98901902e-01 1.42322075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525194017 meters 0.030653909158722577 Centerline is valid? [True, True] Translation: X:-0.27, Y:-1.29, Z:14.23 [[ 9.73706329e-01 -2.22136929e-01 5.05091089e-02 -2.68539830e-01] [ 2.21597220e-01 9.75005095e-01 1.61163329e-02 -1.28597073e+00] [-5.28266712e-02 -4.49989716e-03 9.98593558e-01 1.42296131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585194017 meters 0.032166023820801755 Centerline is valid? [True, True] Translation: X:-0.22, Y:-1.21, Z:14.39 [[ 9.65846001e-01 -2.52726776e-01 5.71898500e-02 -2.21203250e-01] [ 2.52087144e-01 9.67532349e-01 1.82544929e-02 -1.21164488e+00] [-5.99464291e-02 -3.21420307e-03 9.98196421e-01 1.43944884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645194017 meters 0.057454267960593365 Centerline is valid? [True, True] Translation: X:-0.02, Y:-2.07, Z:11.60 [[ 0.9866142 0.147447 -0.06965487 -0.01771698] [-0.14930636 0.98854041 -0.02225901 -2.07236846] [ 0.06557463 0.03236097 0.99732278 11.60048561] [ 0. 0. 0. 1. ]] SLAMing on 13.705194017 meters 0.06908205645466134 Centerline is valid? [True, True] Translation: X:0.02, Y:-1.92, Z:12.00 [[ 0.99268174 0.11033975 -0.04907251 0.01624833] [-0.11122444 0.99367176 -0.01567016 -1.92194867] [ 0.04703292 0.02101354 0.99867229 12.00490726] [ 0. 0. 0. 1. ]] SLAMing on 13.765194017 meters 0.027377376447463294 Centerline is valid? [True, True] Translation: X:-0.04, Y:-1.19, Z:14.33 [[ 9.71368861e-01 -2.32949076e-01 4.66611507e-02 -4.16451445e-02] [ 2.32500209e-01 9.72482171e-01 1.49023310e-02 -1.19339750e+00] [-4.88486214e-02 -3.62693302e-03 9.98799608e-01 1.43282581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825194017 meters 0.018427166231185406 Centerline is valid? [True, True] Translation: X:0.02, Y:-1.22, Z:14.21 [[ 9.71051068e-01 -2.34875421e-01 4.35127566e-02 2.30514313e-02] [ 2.34487433e-01 9.72019937e-01 1.38883340e-02 -1.21905825e+00] [-4.55572952e-02 -3.28308692e-03 9.98956332e-01 1.42061656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885194017 meters 0.017704089370139564 Centerline is valid? [True, True] Translation: X:0.07, Y:-1.14, Z:14.45 [[ 9.74605370e-01 -2.20227375e-01 4.05496674e-02 7.21806115e-02] [ 2.19876984e-01 9.75441482e-01 1.29625677e-02 -1.13846347e+00] [-4.24085399e-02 -3.71744957e-03 9.99093437e-01 1.44465543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945194017 meters SLAMing on 14.005194016999999 meters SLAMing on 14.065194017 meters 0.03220610360031283 Centerline is valid? [True, True] Translation: X:0.13, Y:-1.12, Z:14.40 [[ 9.74465085e-01 -2.19360057e-01 4.79475158e-02 1.25971830e-01] [ 2.18868717e-01 9.75633840e-01 1.53328307e-02 -1.12014046e+00] [-5.01426296e-02 -4.44709688e-03 9.98732166e-01 1.43977063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125194017 meters 0.06848820527423277 Centerline is valid? [True, True] Translation: X:0.28, Y:-1.70, Z:12.43 [[ 9.99950221e-01 -9.90611740e-03 1.19346380e-03 2.81585631e-01] [ 9.90567395e-03 9.99950867e-01 3.76906842e-04 -1.70359040e+00] [-1.19713884e-03 -3.65066017e-04 9.99999217e-01 1.24345483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185194017 meters 0.058853381924514434 Centerline is valid? [True, True] Translation: X:0.35, Y:-1.77, Z:12.05 [[ 9.97396162e-01 6.52262921e-02 -3.07640572e-02 3.49254455e-01] [-6.55567800e-02 9.97800143e-01 -9.85816526e-03 -1.77364668e+00] [ 3.00533691e-02 1.18492887e-02 9.99478058e-01 1.20484031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245194017 meters 0.06542038920824667 Centerline is valid? [True, True] Translation: X:0.40, Y:-1.72, Z:12.18 [[ 9.97922105e-01 6.08582625e-02 -2.11599446e-02 4.00272014e-01] [-6.10136881e-02 9.98113913e-01 -6.77835404e-03 -1.71564926e+00] [ 2.07075163e-02 8.05531559e-03 9.99753125e-01 1.21780389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305194017 meters 0.021516218833881256 Centerline is valid? [True, True] Translation: X:0.35, Y:-1.01, Z:14.48 [[ 9.77780457e-01 -2.04848722e-01 4.45239161e-02 3.48771709e-01] [ 2.04408897e-01 9.78781644e-01 1.42652443e-02 -1.01331888e+00] [-4.65014089e-02 -4.84719248e-03 9.98906464e-01 1.44824889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365194017 meters 0.02306514569402488 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.97, Z:14.58 [[ 9.77170763e-01 -2.07006536e-01 4.78078861e-02 4.00698361e-01] [ 2.06502031e-01 9.78326302e-01 1.53152725e-02 -9.69826718e-01] [-4.99420739e-02 -5.09321092e-03 9.98739129e-01 1.45833081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425194016999999 meters 0.03430935621938272 Centerline is valid? [True, True] Translation: X:0.45, Y:-1.57, Z:9.00 [[ 0.98925761 -0.07213786 0.12714363 0.45186766] [-0.07975718 -0.99524653 0.05588511 -1.57374972] [ 0.12250782 -0.06542539 -0.99030872 9.00111091] [ 0. 0. 0. 1. ]] SLAMing on 14.485194017 meters 0.04278612204209586 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.67, Z:11.06 [[ 8.54907602e-01 5.18376382e-01 -2.04674951e-02 2.35340164e-01] [ 5.18363739e-01 -8.55136791e-01 -6.33270012e-03 -6.74114324e-01] [-2.07852303e-02 -5.19573380e-03 -9.99770463e-01 1.10565104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545194017 meters 0.05308884627334623 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.66, Z:10.96 [[ 8.16035841e-01 5.77671650e-01 -1.95184932e-02 2.78812388e-01] [ 5.77641887e-01 -8.16253977e-01 -7.70029868e-03 -6.60170887e-01] [-2.03802920e-02 -4.99097957e-03 -9.99779843e-01 1.09564842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605194017 meters 0.019131201645776308 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.58, Z:11.05 [[ 7.33335915e-01 6.79014687e-01 -3.40219021e-02 2.90975796e-01] [ 6.78766724e-01 -7.34077552e-01 -2.01465030e-02 -5.84706226e-01] [-3.86544860e-02 -8.31878085e-03 -9.99218009e-01 1.10521957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665194017 meters 0.07207488512890946 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.53, Z:11.07 [[ 6.55245524e-01 7.54359539e-01 -3.99373183e-02 3.04127316e-01] [ 7.53873655e-01 -6.56369842e-01 -2.92085973e-02 -5.27509652e-01] [-4.82474353e-02 -1.09688895e-02 -9.98775184e-01 1.10668423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725194017 meters 0.017114144690202417 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.53, Z:10.93 [[ 6.32221871e-01 7.74288311e-01 -2.78049670e-02 3.60031234e-01] [ 7.73991222e-01 -6.32791875e-01 -2.26280887e-02 -5.29118277e-01] [-3.51154218e-02 -7.21482783e-03 -9.99357220e-01 1.09315881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785194017 meters 0.01826363159875641 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.49, Z:10.90 [[ 5.49956054e-01 8.34772068e-01 -2.65317304e-02 3.84513220e-01] [ 8.34424115e-01 -5.50535381e-01 -2.54399479e-02 -4.87529916e-01] [-3.58432142e-02 -8.14786230e-03 -9.99324210e-01 1.09012473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845194017 meters 0.0387342196444058 Centerline is valid? [True, True] Translation: X:0.06, Y:0.23, Z:16.80 [[ 0.19447525 -0.96853351 0.15531329 0.05632406] [ 0.9584295 0.22132386 0.18007958 0.23329118] [-0.20878764 0.11383581 0.9713131 16.80274267] [ 0. 0. 0. 1. ]] SLAMing on 14.905194017 meters 0.017656955171383288 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.39, Z:15.11 [[ 7.30246664e-01 -6.82020998e-01 3.98392710e-02 7.47525409e-01] [ 6.80487943e-01 7.31302700e-01 4.61792171e-02 -3.87516424e-01] [-6.06297622e-02 -6.61207565e-03 9.98138423e-01 1.51080244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965194017 meters 0.05584193569422265 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.60, Z:10.71 [[ 7.42847367e-01 -6.68676127e-01 3.24041099e-02 7.82081338e-01] [ 6.67648810e-01 7.43527251e-01 3.75804842e-02 -5.97781598e-01] [-4.92225114e-02 -6.28199830e-03 9.98768082e-01 1.07127482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025194017 meters 0.05522916634781159 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.71, Z:9.90 [[ 0.96967924 -0.24339154 0.02197108 0.94732802] [ 0.24282797 0.96973454 0.02548534 -0.71136914] [-0.02750903 -0.01937741 0.99943372 9.89569015] [ 0. 0. 0. 1. ]] SLAMing on 15.085194017 meters 0.01772062010736226 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.27, Z:15.08 [[ 7.49831427e-01 -6.60867738e-01 3.17279768e-02 8.81560148e-01] [ 6.59875079e-01 7.50472742e-01 3.68177134e-02 -2.69736809e-01] [-4.81426207e-02 -6.67057737e-03 9.98818197e-01 1.50814050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145194017 meters SLAMing on 15.205194017 meters 0.04422610195263977 Centerline is valid? [True, True] Translation: X:0.56, Y:0.18, Z:16.65 [[ 0.39249442 -0.91349757 0.10709958 0.5637456 ] [ 0.90628673 0.40397021 0.12430785 0.17560945] [-0.15681996 0.04827279 0.98644677 16.64990741] [ 0. 0. 0. 1. ]] SLAMing on 15.265194017 meters 0.059115613957628974 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.19, Z:15.07 [[ 7.42092221e-01 -6.69574273e-01 3.11356471e-02 9.65393115e-01] [ 6.68625176e-01 7.42720862e-01 3.61399367e-02 -1.86189155e-01] [-4.73234665e-02 -6.00108836e-03 9.98861590e-01 1.50702167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325194017 meters 0.062213175134553544 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.34, Z:11.40 [[ 7.71704071e-01 -6.35228785e-01 3.09389305e-02 9.84714852e-01] [ 6.34263565e-01 7.72281495e-01 3.59307944e-02 -3.40960627e-01] [-4.67178383e-02 -8.10450395e-03 9.98875248e-01 1.14047874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385194017 meters SLAMing on 15.445194017 meters SLAMing on 15.505194016999999 meters 0.0637216648675215 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.57, Z:12.24 [[ 8.71368796e-01 -4.90568858e-01 7.65612377e-03 1.40307178e+00] [ 4.90504617e-01 8.71393319e-01 8.88281656e-03 -5.74678473e-01] [-1.10291283e-02 -3.98484512e-03 9.99931237e-01 1.22387188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565194017 meters 0.04315671395381743 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.56, Z:9.98 [[ 9.53435964e-01 -3.01416876e-01 1.03793129e-02 1.32236825e+00] [ 3.01291909e-01 9.53455758e-01 1.20541895e-02 -5.59675004e-01] [-1.35295518e-02 -8.36569482e-03 9.99873475e-01 9.97653384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625194017 meters 0.017353832775305743 Centerline is valid? [True, True] Translation: X:1.95, Y:-1.12, Z:8.36 [[ 0.37935383 -0.9214875 0.08337534 1.9514955 ] [ 0.91723242 0.38637423 0.0969518 -1.1186697 ] [-0.12155395 0.03969553 0.99179076 8.35762335] [ 0. 0. 0. 1. ]] SLAMing on 15.685194017 meters SLAMing on 15.745194017 meters 0.017159288318047115 Centerline is valid? [True, True] Translation: X:1.19, Y:0.03, Z:15.35 [[ 7.17041514e-01 -6.96682926e-01 2.20083524e-02 1.18853981e+00] [ 6.96219362e-01 7.17372804e-01 2.55902201e-02 2.60057697e-02] [-3.36164629e-02 -3.02660912e-03 9.99430224e-01 1.53494682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805194017 meters SLAMing on 15.865194017 meters 0.04511004238113548 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.33, Z:9.66 [[ 0.95819504 -0.2852959 0.02164514 1.29724581] [ 0.2847496 0.95827103 0.02518531 -0.32539496] [-0.02792717 -0.017969 0.99944844 9.66283455] [ 0. 0. 0. 1. ]] SLAMing on 15.925194016999999 meters 0.03950155071653912 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.30, Z:8.53 [[ 0.9616962 -0.27349042 0.01853151 1.2861019 ] [ 0.27308912 0.96174683 0.02157247 -0.30452059] [-0.02372249 -0.01568541 0.99959552 8.53038436] [ 0. 0. 0. 1. ]] SLAMing on 15.985194017 meters 0.015279057201828341 Centerline is valid? [True, True] Translation: X:1.28, Y:0.19, Z:15.53 [[ 7.17725545e-01 -6.95992255e-01 2.15597711e-02 1.28131321e+00] [ 6.95546167e-01 7.18042951e-01 2.50968167e-02 1.90109188e-01] [-3.29480317e-02 -3.01681029e-03 9.99452513e-01 1.55264586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045194017 meters 0.05091967195437947 Centerline is valid? [True, True] Translation: X:1.09, Y:0.18, Z:11.30 [[ 0.49108448 -0.86906931 -0.05962024 1.09484592] [ 0.86646835 0.4943787 -0.06944271 0.17954434] [ 0.08982551 -0.01755682 0.99580276 11.3049302 ] [ 0. 0. 0. 1. ]] SLAMing on 16.105194017 meters 0.01880463426390697 Centerline is valid? [True, True] Translation: X:1.21, Y:0.48, Z:16.69 [[ 0.4520969 -0.88956265 0.06547283 1.20520307] [ 0.88660277 0.45620428 0.07624421 0.48288038] [-0.09769299 0.02357862 0.99493725 16.688776 ] [ 0. 0. 0. 1. ]] SLAMing on 16.165194017 meters 0.060760308921071884 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.00, Z:10.22 [[ 9.20610160e-01 -3.88344899e-01 4.08065326e-02 1.41916962e+00] [ 3.86440736e-01 9.21089320e-01 4.75186517e-02 -2.74954630e-03] [-5.60400874e-02 -2.79768471e-02 9.98036475e-01 1.02220602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225194017 meters 0.04594059354303977 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.01, Z:9.85 [[ 9.45593239e-01 -3.23981024e-01 2.98282258e-02 1.49148814e+00] [ 3.22948683e-01 9.45778650e-01 3.47403753e-02 -8.59482521e-03] [-3.94661215e-02 -2.32172777e-02 9.98951142e-01 9.84854917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285194017 meters 0.04952282206677443 Centerline is valid? [True, True] Translation: X:1.34, Y:0.31, Z:11.67 [[ 6.28088172e-01 -7.78033019e-01 -1.30333904e-02 1.33539753e+00] [ 7.77885038e-01 6.28223098e-01 -1.51857496e-02 3.11542251e-01] [ 2.00028915e-02 -6.00489658e-04 9.99799742e-01 1.16720260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345194017 meters 0.04634597944925768 Centerline is valid? [True, True] Translation: X:1.36, Y:0.37, Z:11.66 [[ 6.29195406e-01 -7.77089334e-01 -1.56623332e-02 1.35636065e+00] [ 7.76875213e-01 6.29389944e-01 -1.82538205e-02 3.70550534e-01] [ 2.40425642e-02 -6.82458459e-04 9.99710703e-01 1.16573799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405194017 meters 0.049218711811273026 Centerline is valid? [True, True] Translation: X:1.47, Y:0.36, Z:11.69 [[ 7.12850060e-01 -7.00812235e-01 2.65895383e-02 1.46559033e+00] [ 7.00135814e-01 7.13337364e-01 3.09781765e-02 3.57089615e-01] [-4.06771963e-02 -3.46650690e-03 9.99166327e-01 1.16903828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465194016999998 meters 0.07480650227476042 Centerline is valid? [True, True] Translation: X:1.60, Y:0.18, Z:9.34 [[ 0.98143501 -0.19055765 0.02175111 1.59597012] [ 0.19000015 0.98145683 0.02534624 0.18482721] [-0.0261777 -0.02074298 0.99944207 9.3392421 ] [ 0. 0. 0. 1. ]] SLAMing on 16.525194017 meters 0.0626690159295029 Centerline is valid? [True, True] Translation: X:1.43, Y:0.67, Z:13.99 [[ 5.88722087e-01 8.06713651e-01 -5.11799699e-02 1.42554422e+00] [ 8.04163453e-01 -5.90932923e-01 -6.41827234e-02 6.72815248e-01] [-8.20210084e-02 -3.37127444e-03 -9.96624899e-01 1.39898849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585194017 meters 0.09769361526289741 Centerline is valid? [True, True] Translation: X:1.10, Y:1.05, Z:15.09 [[ 0.14706892 -0.97854747 0.14427604 1.1038802 ] [ 0.96472008 0.17410819 0.19748798 1.04850458] [-0.21837101 0.11014165 0.9696303 15.08856255] [ 0. 0. 0. 1. ]] SLAMing on 16.645194017 meters 0.10083960894780773 Centerline is valid? [True, False] Translation: X:0.80, Y:-0.14, Z:15.48 [[ 0.97988303 0.17597285 -0.09414244 0.80419589] [-0.15366771 0.96626125 0.2067013 -0.13625497] [ 0.12734001 -0.18807644 0.97386435 15.47855129] [ 0. 0. 0. 1. ]] SLAMing on 16.705194017 meters 0.04712267482672463 Centerline is valid? [False, True] Translation: X:0.82, Y:-0.13, Z:15.46 [[ 0.98475257 0.15294359 -0.08288923 0.81975704] [-0.13574753 0.97357095 0.18366331 -0.12500716] [ 0.10878867 -0.1696109 0.97948822 15.45919504] [ 0. 0. 0. 1. ]] SLAMing on 16.765194017 meters 0.10553539295593488 Centerline is valid? [True, False] Translation: X:0.84, Y:-0.13, Z:15.44 [[ 0.98712305 0.13789139 -0.08108056 0.83832721] [-0.12373416 0.97944524 0.15930121 -0.12568075] [ 0.10138024 -0.14721746 0.98389485 15.44044209] [ 0. 0. 0. 1. ]] SLAMing on 16.825194017 meters 0.04665566017052572 Centerline is valid? [False, True] Translation: X:0.87, Y:-0.13, Z:15.45 [[ 0.98414767 0.15426965 -0.08748854 0.86900029] [-0.13777263 0.97565989 0.17060624 -0.13136648] [ 0.11167843 -0.15584821 0.98144754 15.44830951] [ 0. 0. 0. 1. ]] SLAMing on 16.885194017 meters 0.06341143016282073 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.19, Z:15.76 [[ 9.96023770e-01 1.27281897e-02 -8.81739315e-02 8.36382618e-01] [-9.48637880e-03 9.99266973e-01 3.70880681e-02 -1.90748461e-01] [ 8.85813616e-02 -3.61041461e-02 9.95414403e-01 1.57639691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945194017 meters 0.06328141999358418 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.27, Z:16.16 [[ 0.99135979 0.04052535 -0.12475362 0.77144435] [-0.0341787 0.99803054 0.05260087 -0.27352983] [ 0.12663959 -0.04788247 0.99079245 16.16002642] [ 0. 0. 0. 1. ]] SLAMing on 17.005194017 meters 0.04387757649073075 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.60, Z:15.38 [[ 0.94304996 0.2743887 -0.18806278 0.89644887] [-0.26386531 0.96128768 0.07937937 -0.60461314] [ 0.20256324 -0.02523546 0.97894397 15.38297631] [ 0. 0. 0. 1. ]] SLAMing on 17.065194017 meters 0.0535970682279005 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.24, Z:16.25 [[ 9.94216028e-01 -5.70772396e-03 -1.07246968e-01 9.17577121e-01] [ 1.06003164e-02 9.98925994e-01 4.51053375e-02 -2.38199316e-01] [ 1.06874335e-01 -4.59813013e-02 9.93208738e-01 1.62519298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125194017 meters 0.1000418220216156 Centerline is valid? [True, False] Translation: X:0.93, Y:-0.24, Z:16.25 [[ 9.93694085e-01 -7.02166683e-03 -1.11905143e-01 9.28704419e-01] [ 1.17819418e-02 9.99050907e-01 4.19341161e-02 -2.37551617e-01] [ 1.11504487e-01 -4.29881431e-02 9.92833707e-01 1.62490204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185194017 meters 0.06479467562410134 Centerline is valid? [False, True] Translation: X:0.94, Y:-0.24, Z:16.24 [[ 0.99471665 -0.01829887 -0.1010145 0.9371787 ] [ 0.02081278 0.99949795 0.023889 -0.2443022 ] [ 0.10052664 -0.02586518 0.9945981 16.2368517 ] [ 0. 0. 0. 1. ]] SLAMing on 17.245194017 meters 0.08849393222845921 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.26, Z:14.67 [[ 0.99813813 -0.03821959 -0.04753467 1.32295919] [ 0.03919886 0.99903441 0.01984205 -0.26453297] [ 0.04673041 -0.02166841 0.99867249 14.67000447] [ 0. 0. 0. 1. ]] SLAMing on 17.305194017 meters 0.06751000419886126 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.73, Z:13.77 [[ 0.94852212 0.28726878 -0.1333508 1.37290847] [-0.28202972 0.95770776 0.05705333 -0.73303708] [ 0.14410074 -0.01650746 0.98942533 13.76818319] [ 0. 0. 0. 1. ]] SLAMing on 17.365194017 meters 0.026022126740407953 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.92, Z:13.50 [[ 8.95161913e-01 4.07768480e-01 -1.80027822e-01 1.41828516e+00] [-4.00435830e-01 9.13080021e-01 7.70455831e-02 -9.16290075e-01] [ 1.95796568e-01 3.12131868e-03 9.80639568e-01 1.35047361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425194017 meters 0.06843185796528631 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.44, Z:14.47 [[ 0.99751894 0.04089336 -0.0573036 1.506168 ] [-0.03955251 0.99892096 0.02434167 -0.43801061] [ 0.05823718 -0.02201478 0.99806001 14.46768023] [ 0. 0. 0. 1. ]] SLAMing on 17.485194017 meters 0.07967614732993657 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.35, Z:15.22 [[ 0.99218845 0.10415447 -0.06865798 1.4591299 ] [-0.10233412 0.99431176 0.02952727 -0.35159754] [ 0.07134283 -0.02227056 0.9972032 15.22169042] [ 0. 0. 0. 1. ]] SLAMing on 17.545194017 meters 0.04812233256310785 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.97, Z:13.14 [[ 0.75156963 0.62441596 -0.21271532 1.68434613] [-0.62089251 0.77852752 0.09158272 -0.96576267] [ 0.22279044 0.06324255 0.97281283 13.14478531] [ 0. 0. 0. 1. ]] SLAMing on 17.605194017 meters 0.1409539222847002 Centerline is valid? [True, False] Translation: X:1.63, Y:-0.93, Z:13.12 [[ 0.78102127 0.58134827 -0.22812269 1.62968119] [-0.5795578 0.81079467 0.08200461 -0.92550432] [ 0.2326339 0.06816294 0.97017281 13.12240392] [ 0. 0. 0. 1. ]] SLAMing on 17.665194017 meters 0.08928977315402328 Centerline is valid? [False, True] Translation: X:1.57, Y:-0.86, Z:13.09 [[ 0.82745538 0.51275297 -0.22891479 1.56522837] [-0.50927864 0.85699363 0.07872221 -0.86119885] [ 0.23654356 0.05144229 0.97025813 13.0930638 ] [ 0. 0. 0. 1. ]] SLAMing on 17.725194017 meters 0.0691104026222631 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.89, Z:13.29 [[ 0.88045315 0.43137813 -0.19676169 1.58053123] [-0.43054147 0.90122433 0.0492823 -0.89299039] [ 0.19858573 0.04132331 0.97921198 13.29289298] [ 0. 0. 0. 1. ]] SLAMing on 17.785194017 meters 0.09818890118079882 Centerline is valid? [True, True] Translation: X:1.87, Y:-1.04, Z:12.08 [[ 9.50446886e-01 2.45023488e-01 1.91348393e-01 1.87478981e+00] [-2.40267641e-01 9.69517092e-01 -4.80423581e-02 -1.03666300e+00] [-1.97287044e-01 -3.13117457e-04 9.80345717e-01 1.20810070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845194017 meters 0.16689073543783944 Centerline is valid? [True, False] Translation: X:1.85, Y:-1.03, Z:12.08 [[ 9.56820923e-01 2.16331230e-01 1.94150767e-01 1.85386925e+00] [-2.11070519e-01 9.76309173e-01 -4.76406804e-02 -1.03154404e+00] [-1.99857342e-01 4.60409651e-03 9.79814189e-01 1.20800348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905194017 meters 0.09854414462642334 Centerline is valid? [False, True] Translation: X:1.83, Y:-1.03, Z:12.09 [[ 9.66536888e-01 1.85667585e-01 1.77014103e-01 1.82883553e+00] [-1.81827238e-01 9.82602900e-01 -3.78205765e-02 -1.03448441e+00] [-1.80956627e-01 4.36899686e-03 9.83481373e-01 1.20857106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965194016999998 meters 0.05989919639818184 Centerline is valid? [True, True] Translation: X:1.71, Y:-1.26, Z:11.32 [[ 9.25742155e-01 3.63207753e-01 1.05269129e-01 1.71384224e+00] [-3.61725597e-01 9.31681569e-01 -3.35267852e-02 -1.26190142e+00] [-1.10254496e-01 -7.04138015e-03 9.93878446e-01 1.13159285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025194017 meters 0.0671645681318735 Centerline is valid? [True, True] Translation: X:0.72, Y:-1.46, Z:3.79 [[ 0.93357624 -0.33387873 -0.13023206 0.72499688] [-0.33143655 -0.94260159 0.04064539 -1.46466117] [-0.13632758 0.00521809 -0.99065007 3.78547467] [ 0. 0. 0. 1. ]] SLAMing on 18.085194017 meters SLAMing on 18.145194017 meters SLAMing on 18.205194017 meters 0.10004685475953144 Centerline is valid? [True, False] Translation: X:1.13, Y:-1.11, Z:3.74 [[ 0.76172657 -0.63363208 -0.1352147 1.1251036 ] [ 0.63444019 0.77179544 -0.04263149 -1.10735338] [ 0.13137077 -0.0533121 0.98989875 3.74275771] [ 0. 0. 0. 1. ]] SLAMing on 18.265194017 meters 0.10454189617438697 Centerline is valid? [False, False] Translation: X:1.14, Y:-1.10, Z:3.74 [[ 0.74719721 -0.64715544 -0.15128171 1.13792533] [ 0.6455149 0.76084743 -0.06649596 -1.09710053] [ 0.15813552 -0.047969 0.98625156 3.74322566] [ 0. 0. 0. 1. ]] SLAMing on 18.325194017 meters 0.13440672931587094 Centerline is valid? [False, False] Translation: X:1.14, Y:-1.13, Z:3.75 [[ 0.73775764 -0.65142095 -0.17709999 1.14442071] [ 0.65027225 0.75621648 -0.07268172 -1.13102609] [ 0.18127233 -0.06154172 0.98150546 3.75185478] [ 0. 0. 0. 1. ]] SLAMing on 18.385194017 meters 0.14587873480627153 Centerline is valid? [False, False] Translation: X:1.12, Y:-1.19, Z:3.75 [[ 0.72421702 -0.66158933 -0.19444607 1.11555051] [ 0.66044294 0.74656822 -0.08031818 -1.18965432] [ 0.19830491 -0.07025274 0.97761941 3.75443458] [ 0. 0. 0. 1. ]] SLAMing on 18.445194017 meters SLAMing on 18.505194017 meters 0.29377293799676013 Centerline is valid? [False, False] Translation: X:1.36, Y:-1.62, Z:4.20 [[ 0.70408329 -0.35648509 -0.61415397 1.35813879] [ 0.42806086 0.90312956 -0.03347975 -1.61717121] [ 0.56659564 -0.23932275 0.78847575 4.20017333] [ 0. 0. 0. 1. ]] SLAMing on 18.565194017 meters 0.3471920338397428 Centerline is valid? [False, False] Translation: X:1.35, Y:-1.65, Z:4.14 [[ 0.72258354 -0.36046574 -0.58986225 1.34788672] [ 0.43967259 0.89809986 -0.01022959 -1.65333941] [ 0.53344262 -0.25195453 0.80743909 4.1408913 ] [ 0. 0. 0. 1. ]] SLAMing on 18.625194017 meters 0.39296568085395495 Centerline is valid? [False, False] Translation: X:1.33, Y:-1.78, Z:3.96 [[ 0.79975586 -0.31919078 -0.50843664 1.32725526] [ 0.37571116 0.92669098 0.00921646 -1.77903292] [ 0.46822184 -0.19839623 0.86105008 3.95940597] [ 0. 0. 0. 1. ]] SLAMing on 18.685194017 meters 0.2652928109015059 Centerline is valid? [False, False] Translation: X:1.28, Y:-1.81, Z:3.88 [[ 0.82579827 -0.31381478 -0.46859097 1.28361597] [ 0.36797752 0.9294705 0.02602189 -1.81319769] [ 0.42737543 -0.19391977 0.88303192 3.88177459] [ 0. 0. 0. 1. ]] SLAMing on 18.745194017 meters 0.27330059849905397 Centerline is valid? [False, False] Translation: X:1.20, Y:-1.87, Z:3.83 [[ 0.83729543 -0.29354054 -0.46127032 1.19524114] [ 0.3440152 0.93857083 0.02717229 -1.87287763] [ 0.4249587 -0.18143523 0.88684348 3.82918275] [ 0. 0. 0. 1. ]] SLAMing on 18.805194016999998 meters 0.27190059801633804 Centerline is valid? [False, False] Translation: X:1.10, Y:-1.96, Z:3.76 [[ 0.87008484 -0.26587903 -0.41504304 1.09580837] [ 0.31293926 0.94853925 0.04839742 -1.95561291] [ 0.38081675 -0.17199312 0.9085136 3.76374709] [ 0. 0. 0. 1. ]] SLAMing on 18.865194017 meters 0.2797209347666122 Centerline is valid? [False, False] Translation: X:1.04, Y:-2.01, Z:3.71 [[ 0.90056703 -0.23106869 -0.36822044 1.04221453] [ 0.2650361 0.9632458 0.04374237 -2.00615257] [ 0.3445793 -0.13698465 0.92870895 3.7129624 ] [ 0. 0. 0. 1. ]] SLAMing on 18.925194017 meters 0.27406964190063926 Centerline is valid? [False, False] Translation: X:0.96, Y:-2.05, Z:3.65 [[ 0.93281738 -0.21743354 -0.28735761 0.957102 ] [ 0.24423548 0.96782593 0.06051445 -2.05349897] [ 0.26495427 -0.12663186 0.95590983 3.65169236] [ 0. 0. 0. 1. ]] SLAMing on 18.985194017 meters 0.26682744987350765 Centerline is valid? [False, False] Translation: X:0.85, Y:-2.10, Z:3.60 [[ 0.96033344 -0.20759162 -0.18618647 0.84505392] [ 0.22312465 0.97251663 0.06653418 -2.09845009] [ 0.1672575 -0.10543779 0.98025905 3.59644242] [ 0. 0. 0. 1. ]] SLAMing on 19.045194017 meters 0.25557810075439163 Centerline is valid? [False, False] Translation: X:0.78, Y:-2.12, Z:3.57 [[ 0.978632 -0.15553331 -0.13449457 0.77719342] [ 0.16535531 0.9840785 0.06517 -2.12049858] [ 0.12221711 -0.08601684 0.98876897 3.56589459] [ 0. 0. 0. 1. ]] SLAMing on 19.105194017 meters 0.2373965256276724 Centerline is valid? [False, False] Translation: X:0.75, Y:-2.13, Z:3.55 [[ 0.99180594 -0.09834106 -0.08154758 0.75233302] [ 0.10306352 0.99310444 0.05587016 -2.1309301 ] [ 0.07549094 -0.06381694 0.99510226 3.55074614] [ 0. 0. 0. 1. ]] SLAMing on 19.165194017 meters 0.24015118029528995 Centerline is valid? [False, False] Translation: X:0.77, Y:-2.15, Z:3.54 [[ 0.9961277 -0.06950444 -0.05383988 0.76942967] [ 0.07193085 0.99641549 0.04452112 -2.14567151] [ 0.05055248 -0.04822147 0.99755658 3.54328209] [ 0. 0. 0. 1. ]] SLAMing on 19.225194017 meters 0.24185711508535984 Centerline is valid? [False, False] Translation: X:0.78, Y:-2.15, Z:3.53 [[ 0.99767236 -0.06469425 -0.02155272 0.77839582] [ 0.06558374 0.99689857 0.0434972 -2.15288263] [ 0.01867186 -0.04480947 0.99882104 3.53032053] [ 0. 0. 0. 1. ]] SLAMing on 19.285194017 meters 0.2124419658401297 Centerline is valid? [False, False] Translation: X:0.80, Y:-2.16, Z:3.53 [[ 0.99852602 -0.0482173 -0.02491755 0.8009027 ] [ 0.04911653 0.99811366 0.03683314 -2.15906839] [ 0.02309455 -0.03800272 0.99901073 3.52878475] [ 0. 0. 0. 1. ]] SLAMing on 19.345194017 meters 0.20151498248821317 Centerline is valid? [False, False] Translation: X:0.82, Y:-2.16, Z:3.53 [[ 0.99979785 -0.01502156 -0.01336435 0.81935507] [ 0.0155002 0.99921479 0.03646299 -2.15659849] [ 0.01280612 -0.03666277 0.99924564 3.52711799] [ 0. 0. 0. 1. ]] SLAMing on 19.405194017 meters 0.19661322038370924 Centerline is valid? [False, False] Translation: X:0.82, Y:-2.15, Z:3.52 [[ 0.99996432 0.00641751 -0.0054924 0.81972549] [-0.00617705 0.99906752 0.04273101 -2.15301439] [ 0.0057615 -0.04269556 0.99907152 3.52379498] [ 0. 0. 0. 1. ]] SLAMing on 19.465194016999998 meters 0.191920899796853 Centerline is valid? [False, False] Translation: X:0.82, Y:-2.14, Z:3.53 [[ 0.99905447 0.04150868 0.01293063 0.82251065] [-0.04195034 0.99847104 0.03599664 -2.14454165] [-0.01141669 -0.03650505 0.99926825 3.53486045] [ 0. 0. 0. 1. ]] SLAMing on 19.525194017 meters 0.19363038862026122 Centerline is valid? [False, False] Translation: X:0.81, Y:-2.14, Z:3.54 [[ 0.99872954 0.04526149 0.02215191 0.80761869] [-0.04602041 0.99832571 0.0350415 -2.13801836] [-0.02052879 -0.03601643 0.99914032 3.54389643] [ 0. 0. 0. 1. ]] SLAMing on 19.585194017 meters 0.2027161973071975 Centerline is valid? [False, False] Translation: X:0.81, Y:-2.14, Z:3.55 [[ 0.99836011 0.05087564 0.02624424 0.80680463] [-0.05155946 0.99832952 0.02607269 -2.13763546] [-0.02487393 -0.02738307 0.99931549 3.55166564] [ 0. 0. 0. 1. ]] SLAMing on 19.645194017 meters 0.20389808941383786 Centerline is valid? [False, False] Translation: X:0.83, Y:-2.12, Z:3.55 [[ 0.99714875 0.07470699 0.01064127 0.83226221] [-0.07488455 0.9970404 0.01739928 -2.12331411] [-0.00930992 -0.01814654 0.99979199 3.55015509] [ 0. 0. 0. 1. ]] SLAMing on 19.705194017 meters 0.19318094553146262 Centerline is valid? [False, False] Translation: X:0.88, Y:-2.11, Z:3.55 [[ 9.95457871e-01 9.51208246e-02 3.95674623e-03 8.75492202e-01] [-9.51973090e-02 9.94995182e-01 3.03654292e-02 -2.11390471e+00] [-1.04855877e-03 -3.06041771e-02 9.99531032e-01 3.54747282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765194017 meters 0.19414740107127884 Centerline is valid? [False, False] Translation: X:0.91, Y:-2.10, Z:3.55 [[ 9.95145494e-01 9.83782332e-02 2.67746369e-03 9.05874800e-01] [-9.84145544e-02 9.94816179e-01 2.55997101e-02 -2.09622297e+00] [-1.45129947e-04 -2.57389376e-02 9.99668688e-01 3.54595844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825194017 meters 0.19385293165600825 Centerline is valid? [False, False] Translation: X:0.93, Y:-2.09, Z:3.55 [[ 9.96982959e-01 7.73848661e-02 6.04662733e-03 9.30800224e-01] [-7.75404852e-02 9.96467125e-01 3.22605335e-02 -2.08584685e+00] [-3.52878829e-03 -3.26320606e-02 9.99461203e-01 3.54957402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885194017 meters 0.2083827007085037 Centerline is valid? [False, False] Translation: X:0.95, Y:-2.05, Z:3.55 [[ 0.99560481 0.09350418 -0.00529489 0.94531158] [-0.09342083 0.99552465 0.01425575 -2.05083992] [ 0.00660417 -0.01369844 0.99988436 3.552446 ] [ 0. 0. 0. 1. ]] SLAMing on 19.945194017 meters 0.2203946968438542 Centerline is valid? [False, False] Translation: X:0.95, Y:-2.02, Z:3.55 [[ 0.99175582 0.12789726 -0.00791782 0.95455363] [-0.12766813 0.99150901 0.02471304 -2.02081103] [ 0.01101133 -0.02349845 0.99966323 3.55209753] [ 0. 0. 0. 1. ]] SLAMing on 20.005194017 meters 0.21240733095415074 Centerline is valid? [False, False] Translation: X:0.96, Y:-1.98, Z:3.55 [[ 0.99019023 0.1393809 -0.00981228 0.96330097] [-0.13919852 0.99011318 0.01731078 -1.98121767] [ 0.01212806 -0.01577511 0.99980201 3.54897683] [ 0. 0. 0. 1. ]] SLAMing on 20.065194017 meters 0.20900493389159477 Centerline is valid? [False, False] Translation: X:0.99, Y:-1.95, Z:3.55 [[ 0.99220858 0.12381559 -0.01385035 0.98849128] [-0.12351623 0.9921264 0.02071081 -1.95181925] [ 0.01630562 -0.0188387 0.99968957 3.55144063] [ 0. 0. 0. 1. ]] Total time of SLAM: 150.33 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/646 [00:00