+ python -m lidar_slam --no-model /working/2176a27c-3c26-4775-b4c9-355e2e15047c Lidar SLAM 0.0.9 ===================================================== 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 [[ 0.01127866 0.9972943 0.07264211 -0.36467196] [-0.13409803 -0.07048196 0.9884584 1.15925227] [ 0.99090389 -0.02088965 0.13294026 1.90412451] [ 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 [[ 0.09320562 0.99272142 0.0762686 -0.31400638] [-0.18323093 -0.05819129 0.98134612 1.21163945] [ 0.97864147 -0.10544174 0.17647352 1.97511438] [ 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 [[ 0.00818974 0.99666424 0.0811993 -0.35713089] [-0.13383097 -0.07937904 0.98781994 1.26099452] [ 0.99097033 -0.01895697 0.13273445 2.04395399] [ 0. 0. 0. 1. ]] SLAMing on 1.705194017 meters 0.02962313772072802 Centerline is valid? [True, True] Translation: X:-0.36, Y:1.23, Z:2.11 [[-0.01547854 0.99633536 0.08412054 -0.3554137 ] [-0.12417595 -0.08539479 0.98857881 1.22800791] [ 0.99213948 0.00485601 0.12504267 2.10572839] [ 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 [[ 0.00386702 0.99592248 0.09013024 -0.35801219] [-0.13862973 -0.08872672 0.98636168 1.20927544] [ 0.99033673 -0.01630901 0.13772135 2.1687946 ] [ 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 [[-0.01735482 0.99520406 0.09626885 -0.34335045] [-0.14234592 -0.09776188 0.98497729 1.21937645] [ 0.98966482 0.00339063 0.14335988 2.23727007] [ 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 [[-0.00699459 0.99455497 0.10397827 -0.32688248] [-0.15088713 -0.10383998 0.98308206 1.21380802] [ 0.98852625 -0.00881273 0.15079187 2.30379379] [ 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 [[-0.02320987 0.99356323 0.11087561 -0.32661266] [-0.13777993 -0.11302617 0.98399277 1.22443861] [ 0.99019089 0.00756191 0.13951639 2.3723427 ] [ 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 [[-0.0300593 0.99255721 0.11801114 -0.32830306] [-0.13315437 -0.12098854 0.98368272 1.20770422] [ 0.99063936 0.01385511 0.13580017 2.43779107] [ 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 [[-1.97170264e-02 9.91938583e-01 1.25176222e-01 -3.18877194e-01] [-1.44133612e-01 -1.26712808e-01 9.81411925e-01 1.18370604e+00] [ 9.89361784e-01 1.30842381e-03 1.45470091e-01 2.50265147e+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 [[-0.02956695 0.99072547 0.13262292 -0.32574139] [-0.13356088 -0.13540693 0.98174664 1.18369277] [ 0.99059946 0.01131402 0.13632573 2.56975221] [ 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 [[-0.01010852 0.99021268 0.13920007 -0.30514297] [-0.15157106 -0.13911599 0.97860766 1.17869456] [ 0.98839467 -0.01120643 0.15149384 2.6371155 ] [ 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 [[-0.01444314 0.98906918 0.14674315 -0.31524468] [-0.14047423 -0.14731008 0.97906421 1.17776841] [ 0.98997898 -0.00647287 0.14106636 2.70422116] [ 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 [[ 0.02315237 0.98791504 0.15325742 -0.28626289] [-0.17215692 -0.14706868 0.97402916 1.17538472] [ 0.98479742 -0.04893541 0.16667142 2.77172605] [ 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 [[ 1.20984264e-03 9.86989612e-01 1.60779484e-01 -2.98646100e-01] [-1.55845494e-01 -1.58629008e-01 9.74961035e-01 1.15298629e+00] [ 9.87780704e-01 -2.62363074e-02 1.53625967e-01 2.83436109e+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:2.90 [[ 0.00585212 0.98600076 0.16663809 -0.30317358] [-0.15941611 -0.16358989 0.97356297 1.12612574] [ 0.98719413 -0.0322622 0.15622706 2.89672875] [ 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 [[-0.00462793 0.98493258 0.17287684 -0.29971095] [-0.14751548 -0.17165974 0.97404934 1.12872688] [ 0.98904892 -0.02099418 0.14608723 2.96423943] [ 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 [[-0.00631188 0.98371976 0.17959843 -0.30250329] [-0.14649372 -0.17857394 0.97295988 1.11894035] [ 0.98919146 -0.02016884 0.1452359 3.02939338] [ 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 [[-7.51852756e-04 9.82563424e-01 1.85926199e-01 -3.06396867e-01] [-1.54643965e-01 -1.83803849e-01 9.70722097e-01 1.08737079e+00] [ 9.87969979e-01 -2.80225246e-02 1.52085698e-01 3.08968186e+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 [[ 0.03633856 0.98104483 0.19034326 -0.26599368] [-0.18524195 -0.18055564 0.96596329 1.12173484] [ 0.98202084 -0.07036127 0.17516953 3.16302974] [ 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 [[-0.00907968 0.97986311 0.19946388 -0.29324076] [-0.14472417 -0.19865959 0.96932414 1.09630958] [ 0.98943038 -0.02006609 0.14361364 3.22310656] [ 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 [[ 0.01977038 0.97919298 0.20196591 -0.27238226] [-0.17465811 -0.19551664 0.96502217 1.09242141] [ 0.98443064 -0.05435384 0.16715856 3.28926432] [ 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 [[-0.00585324 0.9779087 0.20895049 -0.28521228] [-0.15216954 -0.20739163 0.96635042 1.07421121] [ 0.98833707 -0.02613962 0.15002183 3.35146481] [ 0. 0. 0. 1. ]] SLAMing on 2.905194017 meters 0.05028974262105658 Centerline is valid? [True, True] Translation: X:-0.28, Y:1.07, Z:3.42 [[-0.00462416 0.97685815 0.2138382 -0.27878348] [-0.15450926 -0.21197045 0.96498467 1.06942793] [ 0.98798052 -0.02857774 0.15191381 3.41677525] [ 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 [[-0.00515681 0.97546177 0.22010847 -0.29017466] [-0.1497307 -0.21838318 0.96430779 1.06245968] [ 0.98871337 -0.02798424 0.14718273 3.48036293] [ 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 [[ 1.27358071e-03 9.74330928e-01 2.25116905e-01 -2.59894080e-01] [-1.59179982e-01 -2.22049221e-01 9.61954197e-01 1.07846616e+00] [ 9.87248759e-01 -3.70592311e-02 1.54811181e-01 3.54901957e+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 [[-0.01701027 0.97266428 0.23159199 -0.27779837] [-0.14663223 -0.23154793 0.96170918 1.0498274 ] [ 0.98904481 -0.01759991 0.14656262 3.61000604] [ 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 [[-0.01205898 0.97142128 0.23705542 -0.27989868] [-0.14601657 -0.23624211 0.96066062 1.03794319] [ 0.98920865 -0.02302943 0.14469244 3.67381105] [ 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 [[-0.01291361 0.97005849 0.24252786 -0.26970163] [-0.1452003 -0.24179642 0.95940157 1.04977517] [ 0.989318 -0.02282578 0.14397524 3.74261871] [ 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 [[-0.01247287 0.96846099 0.24885284 -0.28268793] [-0.14871907 -0.2479009 0.95730235 1.01813805] [ 0.98880082 -0.02506886 0.14712065 3.80460667] [ 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 [[-0.01975842 0.96679564 0.2547858 -0.28147598] [-0.142499 -0.25495704 0.95639476 1.0137381 ] [ 0.98959772 -0.01740987 0.14280496 3.86957233] [ 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 [[-0.00969944 0.96566218 0.25961986 -0.29949339] [-0.14781061 -0.2581645 0.95472672 0.98215589] [ 0.98896812 -0.02911426 0.14523917 3.92978921] [ 0. 0. 0. 1. ]] SLAMing on 3.445194017 meters 0.04006475039207708 Centerline is valid? [True, True] Translation: X:-0.26, Y:1.01, Z:4.00 [[ 0.0093536 0.96446481 0.26404573 -0.26281366] [-0.16660679 -0.25886321 0.95143682 1.01459026] [ 0.98597905 -0.05289117 0.15826508 4.00094758] [ 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 [[ 0.0284249 0.96253779 0.26965352 -0.19544034] [-0.18628248 -0.25993599 0.94748726 1.09620698] [ 0.98208496 -0.07716396 0.17191528 4.08137268] [ 0. 0. 0. 1. ]] SLAMing on 3.565194017 meters 0.04074447117368776 Centerline is valid? [True, True] Translation: X:-0.28, Y:0.98, Z:4.13 [[-0.00960214 0.96017963 0.27921832 -0.28219521] [-0.14744331 -0.27753857 0.94933282 0.97598286] [ 0.9890239 -0.03205324 0.14423702 4.12812048] [ 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 [[-0.02418624 0.95874188 0.28324729 -0.27063747] [-0.12560978 -0.28399919 0.95056122 1.01359371] [ 0.99178486 -0.01258813 0.12729623 4.19961376] [ 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 [[-0.01918145 0.95699186 0.28947998 -0.26900257] [-0.13550133 -0.28935019 0.94758422 0.9921562 ] [ 0.99059147 -0.02104889 0.13522382 4.26474185] [ 0. 0. 0. 1. ]] SLAMing on 3.7451940169999998 meters 0.03404664878479758 Centerline is valid? [True, True] Translation: X:-0.27, Y:0.96, Z:4.33 [[-0.02292806 0.95424597 0.29814248 -0.27240876] [-0.13500606 -0.2984445 0.94483027 0.96156782] [ 0.99057946 -0.01858791 0.13567174 4.32573055] [ 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 [[ 0.02165796 0.95310649 0.30185915 -0.19788471] [-0.18210654 -0.29311808 0.93857285 1.02063978] [ 0.98304025 -0.0752981 0.16721859 4.40324718] [ 0. 0. 0. 1. ]] SLAMing on 3.865194017 meters 0.029976558134934033 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.97, Z:4.46 [[-3.54587116e-02 9.49423755e-01 3.11989124e-01 -2.54571269e-01] [-1.20223177e-01 -3.13970718e-01 9.41790197e-01 9.72747795e-01] [ 9.92113435e-01 -4.11365687e-03 1.25275738e-01 4.45989212e+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:-0.25, Y:0.96, Z:4.52 [[-0.0351056 0.94813639 0.31591928 -0.2535173 ] [-0.12226165 -0.31781416 0.94023734 0.95763927] [ 0.99187685 -0.00561721 0.12707778 4.52348105] [ 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 [[-0.01286102 0.94721988 0.32032655 -0.21145616] [-0.15124347 -0.31851005 0.93577602 0.97326608] [ 0.98841287 -0.03641226 0.14735718 4.59266265] [ 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 [[-0.03535767 0.94428975 0.32721048 -0.23155176] [-0.12644668 -0.32901095 0.93582212 0.94404057] [ 0.99134306 -0.00828619 0.13103536 4.65343391] [ 0. 0. 0. 1. ]] SLAMing on 4.105194017 meters 0.054091196041560145 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.93, Z:4.72 [[-0.01034386 0.94357834 0.3309878 -0.21687581] [-0.15614413 -0.32846921 0.93151864 0.93027154] [ 0.98768012 -0.04204631 0.15073186 4.71773824] [ 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 [[ 0.0097909 0.94179995 0.33603123 -0.16974052] [-0.1767187 -0.32912822 0.92760181 0.96874866] [ 0.9842127 -0.06846506 0.1632112 4.79059694] [ 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 [[-0.0103581 0.93902815 0.34368423 -0.19857111] [-0.14523212 -0.34147097 0.9286039 0.9429532 ] [ 0.98934339 -0.04029542 0.13991404 4.85194531] [ 0. 0. 0. 1. ]] SLAMing on 4.285194016999999 meters 0.047963535978588316 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.94, Z:4.92 [[ 0.00858334 0.93733657 0.3483195 -0.17467225] [-0.16807436 -0.34202436 0.92453791 0.94359793] [ 0.98573695 -0.0664792 0.15460653 4.91957725] [ 0. 0. 0. 1. ]] SLAMing on 4.345194017 meters 0.04675952802086323 Centerline is valid? [True, True] Translation: X:-0.16, Y:0.95, Z:4.99 [[ 0.01464736 0.93489942 0.35461039 -0.16417449] [-0.17561842 -0.34673001 0.92137749 0.94641038] [ 0.98434934 -0.07577186 0.15910689 4.98692136] [ 0. 0. 0. 1. ]] SLAMing on 4.4051940169999995 meters 0.04018883894524349 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.92, Z:5.05 [[-0.00942673 0.93205016 0.36220662 -0.19596438] [-0.14113056 -0.35983701 0.92227951 0.91527496] [ 0.98994611 -0.04242435 0.13493285 5.04531016] [ 0. 0. 0. 1. ]] SLAMing on 4.465194016999999 meters 0.04106054584609772 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.87, Z:5.10 [[-0.0303129 0.92996887 0.36638644 -0.2322274 ] [-0.11801191 -0.36732092 0.92257711 0.87322476] [ 0.9925494 -0.01527198 0.12088197 5.10192468] [ 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 [[ 0.11218427 0.45394116 -0.88394124 -1.29603674] [-0.04992486 0.89100802 0.4512341 0.35352908] [ 0.99243247 -0.00649073 0.12262003 5.17224242] [ 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 [[-0.02156986 0.91658913 0.39924818 -0.15623436] [-0.23676427 -0.39266448 0.88868289 0.84163425] [ 0.97132766 -0.07535893 0.22548527 5.41307135] [ 0. 0. 0. 1. ]] SLAMing on 4.645194017 meters 0.05319381612371092 Centerline is valid? [True, True] Translation: X:-0.10, Y:0.86, Z:5.49 [[ 0.01159412 0.9173424 0.39793027 -0.09606137] [-0.28052768 -0.3789912 0.88185594 0.8588436 ] [ 0.95977591 -0.1218548 0.25294586 5.48686593] [ 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 [[-0.04024378 0.9132981 0.40529868 -0.18190039] [-0.22179243 -0.4036732 0.88761257 0.79057171] [ 0.97426308 -0.05417129 0.21880794 5.53292369] [ 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 [[-0.05408861 0.91129469 0.40818674 -0.17572137] [-0.20656857 -0.41015414 0.8883147 0.79922507] [ 0.97693595 -0.03627084 0.21042951 5.60046351] [ 0. 0. 0. 1. ]] SLAMing on 4.825194016999999 meters 0.05404736704906618 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.85, Z:5.70 [[ 0.04631127 0.91455306 0.40180588 -0.01346917] [-0.34271931 -0.36327628 0.86635664 0.84539858] [ 0.93829566 -0.17782871 0.2966112 5.69771255] [ 0. 0. 0. 1. ]] SLAMing on 4.885194016999999 meters 0.049065190001624785 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.78, Z:5.74 [[-0.04764357 0.9051172 0.42248425 -0.14883497] [-0.21362512 -0.42241137 0.88087056 0.77960753] [ 0.97575325 -0.04828543 0.21348096 5.73922844] [ 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 [[-1.51280321e-03 9.07726657e-01 4.19559325e-01 -6.55340928e-02] [-2.83615232e-01 -4.02721333e-01 8.70274628e-01 8.12840813e-01] [ 9.58936970e-01 -1.17676861e-01 2.58054345e-01 5.82098731e+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:-0.06, Y:0.78, Z:5.89 [[ 0.00952994 0.90607865 0.42300197 -0.06407105] [-0.30831069 -0.39974962 0.86321768 0.77661585] [ 0.95123798 -0.13864244 0.27554414 5.88546154] [ 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 [[ 0.03214804 0.90390182 0.42653018 -0.03041787] [-0.33145993 -0.39295878 0.85773988 0.78221136] [ 0.94292143 -0.16895232 0.28697439 5.95910861] [ 0. 0. 0. 1. ]] SLAMing on 5.125194016999999 meters 0.030179467721607064 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.72, Z:6.00 [[-8.04311516e-02 8.92873805e-01 4.43065682e-01 -2.14696897e-01] [-1.62011565e-01 -4.50305480e-01 8.78053089e-01 7.18376607e-01] [ 9.83505507e-01 -1.15894338e-03 1.80874471e-01 5.99576962e+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:6.06 [[-0.06396241 0.89350395 0.44447665 -0.2267311 ] [-0.16952083 -0.44864374 0.87748589 0.71398411] [ 0.98344878 -0.01922194 0.18016387 6.05900402] [ 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 [[-0.06770812 0.89161485 0.44770366 -0.22861491] [-0.16804349 -0.45251408 0.87578102 0.7033392 ] [ 0.98345157 -0.0159362 0.18046895 6.1211213 ] [ 0. 0. 0. 1. ]] SLAMing on 5.305194016999999 meters 0.03366703325042233 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.68, Z:6.18 [[-7.96386308e-02 8.88840626e-01 4.51242761e-01 -2.40455418e-01] [-1.50316853e-01 -4.58212383e-01 8.76040099e-01 6.77311297e-01] [ 9.85425052e-01 1.93724222e-03 1.70099133e-01 6.17914913e+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 [[-0.04338957 0.890993 0.45193896 -0.18550958] [-0.19344889 -0.4512965 0.87115383 0.70291013] [ 0.98015043 -0.04962811 0.19194317 6.25474803] [ 0. 0. 0. 1. ]] SLAMing on 5.425194016999999 meters 0.028700504967337243 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.67, Z:6.31 [[-0.08162877 0.88526259 0.45787213 -0.23079685] [-0.14001708 -0.4650351 0.87414963 0.6720971 ] [ 0.98677858 0.00724584 0.16191213 6.30928151] [ 0. 0. 0. 1. ]] SLAMing on 5.4851940169999995 meters 0.05249305513273811 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.65, Z:6.38 [[-0.04174192 0.88878992 0.45640999 -0.20256886] [-0.20141633 -0.45491522 0.86745813 0.65306237] [ 0.9786159 -0.05571906 0.19800584 6.37511311] [ 0. 0. 0. 1. ]] SLAMing on 5.545194016999999 meters 0.05082055855049346 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.61, Z:6.43 [[-0.04311765 0.88687981 0.45998377 -0.23039924] [-0.19860991 -0.45883168 0.86604134 0.60654213] [ 0.9791297 -0.05401566 0.19592686 6.42824443] [ 0. 0. 0. 1. ]] SLAMing on 5.605194017 meters 0.06197664156605546 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.59, Z:6.49 [[-0.0598558 0.88442835 0.46282153 -0.25373545] [-0.17953917 -0.4656302 0.86657614 0.58670457] [ 0.98192819 -0.03122499 0.1866602 6.48631001] [ 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 [[-0.06182532 0.88327219 0.46476647 -0.23739877] [-0.1747892 -0.46804279 0.86624747 0.59771387] [ 0.9826629 -0.02768013 0.18332333 6.55347235] [ 0. 0. 0. 1. ]] SLAMing on 5.725194017 meters 0.04760499089336491 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.58, Z:6.62 [[-0.04745143 0.88503487 0.46310003 -0.22996647] [-0.21202327 -0.46198184 0.86117298 0.57998896] [ 0.97611193 -0.05732409 0.20956969 6.61596182] [ 0. 0. 0. 1. ]] SLAMing on 5.785194016999999 meters 0.03471219223988374 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.57, Z:6.68 [[-0.06849847 0.88164835 0.46690914 -0.24374762] [-0.18307806 -0.47116917 0.86283373 0.57033409] [ 0.98070912 -0.02637803 0.19368484 6.67640242] [ 0. 0. 0. 1. ]] SLAMing on 5.845194016999999 meters 0.03476254930558196 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.57, Z:6.74 [[-0.06960243 0.88146356 0.46709475 -0.24610347] [-0.194866 -0.47122376 0.86021824 0.56567476] [ 0.97835717 -0.0311476 0.20456559 6.7396653 ] [ 0. 0. 0. 1. ]] SLAMing on 5.9051940169999995 meters 0.04399253488976987 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.57, Z:6.81 [[-0.04045548 0.88389875 0.46592527 -0.20019679] [-0.25123263 -0.46032455 0.85145962 0.56753672] [ 0.96708093 -0.08260942 0.24068686 6.80983406] [ 0. 0. 0. 1. ]] SLAMing on 5.965194016999999 meters 0.050282731799801736 Centerline is valid? [True, True] Translation: X:-0.11, Y:0.57, Z:6.89 [[ 0.01390872 0.88750396 0.46059013 -0.11430828] [-0.34490417 -0.42810519 0.83532452 0.57159864] [ 0.93853485 -0.17047776 0.30014942 6.88799364] [ 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 [[ 0.02866865 0.88551875 0.4637183 -0.07982629] [-0.36838307 -0.42189661 0.82843054 0.57712864] [ 0.92923195 -0.19457596 0.31411491 6.96417281] [ 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 [[-0.05659749 0.87625617 0.47851004 -0.2024652 ] [-0.25667023 -0.47593969 0.84119071 0.51649852] [ 0.96484046 -0.07520999 0.25184586 7.00749615] [ 0. 0. 0. 1. ]] SLAMing on 6.145194017 meters 0.040538373776959055 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.54, Z:7.09 [[-0.03830766 0.87796584 0.47718813 -0.14609405] [-0.29380437 -0.46632706 0.83439683 0.53930388] [ 0.95509765 -0.10823616 0.27581409 7.08618691] [ 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 [[-0.08928734 0.86824101 0.48804232 -0.22710092] [-0.21083405 -0.49537144 0.84270762 0.49750798] [ 0.97343555 -0.02765282 0.22728517 7.13602072] [ 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 [[-0.0945713 0.86676653 0.48966524 -0.22422463] [-0.21078844 -0.49815191 0.84107842 0.49632359] [ 0.9729463 -0.0236739 0.22981524 7.20246712] [ 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 [[-0.1043837 0.8637812 0.49293619 -0.22060982] [-0.20607632 -0.5036723 0.83895576 0.48777791] [ 0.97295251 -0.01400917 0.23058003 7.26687512] [ 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 [[-0.10533604 0.86147243 0.49675907 -0.22857594] [-0.19743342 -0.50771089 0.83859984 0.47080967] [ 0.97464063 -0.00974205 0.2235637 7.3296771 ] [ 0. 0. 0. 1. ]] SLAMing on 6.4451940169999995 meters 0.034983469753118265 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.46, Z:7.40 [[-1.16716665e-01 8.58336336e-01 4.99635822e-01 -2.18779238e-01] [-1.94446430e-01 -5.13087277e-01 8.36021550e-01 4.59957413e-01] [ 9.73944457e-01 4.25245038e-04 2.26786272e-01 7.39579988e+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 [[-0.06284852 0.86628532 0.49558028 -0.11998002] [-0.28845101 -0.49113676 0.82193716 0.49143033] [ 0.95542979 -0.09129309 0.28074809 7.48344881] [ 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 [[-0.1338679 0.84924639 0.51074452 -0.21100144] [-0.17576019 -0.52755908 0.83113764 0.43261957] [ 0.97528854 0.0214941 0.21988693 7.52963782] [ 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 [[-0.07079635 0.86150503 0.50278918 -0.08891362] [-0.29748834 -0.49935108 0.8137255 0.46990913] [ 0.95209693 -0.09196512 0.29163994 7.62085286] [ 0. 0. 0. 1. ]] SLAMing on 6.685194017 meters 0.034169732026767125 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.43, Z:7.68 [[-0.12000209 0.84768261 0.51675303 -0.15469138] [-0.21996377 -0.53027985 0.81879132 0.43247135] [ 0.96809888 -0.01541028 0.25009415 7.67687845] [ 0. 0. 0. 1. ]] SLAMing on 6.745194016999999 meters 0.03249194993524204 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.38, Z:7.73 [[-0.14939308 0.83799996 0.52482166 -0.21068899] [-0.17254893 -0.54472855 0.82066904 0.38254573] [ 0.97360597 0.03204486 0.22597467 7.72708185] [ 0. 0. 0. 1. ]] SLAMing on 6.805194016999999 meters 0.041242535116887725 Centerline is valid? [True, True] Translation: X:-0.13, Y:0.44, Z:7.82 [[-0.11000822 0.84559661 0.52236439 -0.12752914] [-0.24137242 -0.5325497 0.81125222 0.43653535] [ 0.96417713 -0.03683995 0.26268855 7.81631804] [ 0. 0. 0. 1. ]] SLAMing on 6.865194016999999 meters 0.04099451152362979 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.36, Z:7.86 [[-0.14405765 0.8343272 0.53211419 -0.2057642 ] [-0.19164045 -0.55106481 0.81215855 0.35882388] [ 0.97083538 0.01502305 0.23927594 7.86104813] [ 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 [[-0.07157523 0.84755655 0.52585633 -0.08430945] [-0.30562498 -0.52048537 0.79730067 0.43624251] [ 0.94945793 -0.10364785 0.29628831 7.96138524] [ 0. 0. 0. 1. ]] SLAMing on 6.9851940169999995 meters 0.03825409855298256 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.41, Z:8.02 [[-0.09371114 0.83716222 0.53886699 -0.12253725] [-0.26482604 -0.5427098 0.79707794 0.40619724] [ 0.95973194 -0.06801093 0.27256031 8.02184583] [ 0. 0. 0. 1. ]] SLAMing on 7.045194016999999 meters 0.03970347271275106 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.38, Z:8.09 [[-0.0944287 0.83427991 0.54319449 -0.1467903 ] [-0.26861544 -0.54674723 0.79304048 0.37652321] [ 0.95860783 -0.07102464 0.2757291 8.08506423] [ 0. 0. 0. 1. ]] SLAMing on 7.105194017 meters 0.038532630486964065 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.39, Z:8.16 [[-0.08170448 0.83216341 0.54847829 -0.12338689] [-0.28054916 -0.54726874 0.78853604 0.38617963] [ 0.95635587 -0.0894482 0.27817706 8.16081654] [ 0. 0. 0. 1. ]] SLAMing on 7.165194016999999 meters 0.052198610790707284 Centerline is valid? [True, True] Translation: X:-0.04, Y:0.40, Z:8.25 [[-0.0337215 0.83736424 0.54560425 -0.03761902] [-0.36660537 -0.51822505 0.77268577 0.4017319 ] [ 0.92976522 -0.17396532 0.32445755 8.24903148] [ 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 [[-0.02688964 0.83112342 0.55543749 -0.02422643] [-0.3669158 -0.52506184 0.76790811 0.42088133] [ 0.92986544 -0.18315002 0.31907104 8.32742211] [ 0. 0. 0. 1. ]] SLAMing on 7.285194016999999 meters 0.05992234080321224 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.35, Z:8.39 [[-0.0206928 0.82892856 0.55897159 -0.04737392] [-0.3911193 -0.52124587 0.75850408 0.35333291] [ 0.92010733 -0.202929 0.334996 8.38763929] [ 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 [[ 0.01029958 0.82909698 0.55900995 0.01024797] [-0.44418484 -0.49706325 0.74540455 0.328658 ] [ 0.89587597 -0.2559811 0.36315277 8.46568897] [ 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 [[-1.90594645e-03 8.18412656e-01 5.74627786e-01 3.72645895e-02] [-3.95970314e-01 -5.28278051e-01 7.51085755e-01 4.04387375e-01] [ 9.18261334e-01 -2.26104016e-01 3.25073986e-01 8.55912205e+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:-0.06, Y:0.40, Z:8.62 [[-0.04612257 0.80445676 0.59221789 -0.05688471] [-0.31097702 -0.57495251 0.75678458 0.39622938] [ 0.94929764 -0.1492613 0.27668585 8.62034877] [ 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 [[-0.04914734 0.79932301 0.59888836 -0.09917021] [-0.30939776 -0.5823025 0.75179573 0.34467656] [ 0.94966182 -0.14834596 0.27592737 8.67911564] [ 0. 0. 0. 1. ]] SLAMing on 7.585194016999999 meters 0.054015734375120056 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.32, Z:8.73 [[-0.09958206 0.78297993 0.6140243 -0.20541725] [-0.19878165 -0.62030663 0.75875263 0.31637427] [ 0.97497142 -0.04649861 0.21741345 8.72827049] [ 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 [[-0.09886165 0.7807194 0.61701182 -0.2091518 ] [-0.20032117 -0.62296979 0.7561614 0.30731388] [ 0.97472961 -0.04884516 0.21798245 8.79579188] [ 0. 0. 0. 1. ]] SLAMing on 7.705194016999999 meters 0.059289478899114074 Centerline is valid? [True, True] Translation: X:-0.19, Y:0.29, Z:8.86 [[-0.08367457 0.78173789 0.61796799 -0.19383837] [-0.24526759 -0.61722153 0.7475837 0.29320266] [ 0.96583766 -0.08901378 0.24338071 8.86483542] [ 0. 0. 0. 1. ]] SLAMing on 7.765194016999999 meters 0.07289520189408383 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.25, Z:8.92 [[-0.09209813 0.77788861 0.62161664 -0.23580073] [-0.24871693 -0.62245338 0.74208603 0.24779749] [ 0.96418765 -0.08626184 0.25080086 8.92008492] [ 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 [[-0.10437796 0.77071458 0.6285732 -0.19964356] [-0.20939642 -0.6348885 0.74368658 0.28018581] [ 0.97224399 -0.05399649 0.22765324 8.99777115] [ 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 [[-0.11197569 0.76639623 0.63253322 -0.18372802] [-0.20492484 -0.64066375 0.73997012 0.28911649] [ 0.97235141 -0.0467631 0.22879239 9.07230679] [ 0. 0. 0. 1. ]] SLAMing on 7.9451940169999995 meters 0.038826888788128414 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.31, Z:9.15 [[-0.12425784 0.75755693 0.64083343 -0.14374409] [-0.17199105 -0.65250648 0.73800703 0.31246637] [ 0.9772303 -0.01851446 0.21137206 9.15280751] [ 0. 0. 0. 1. ]] SLAMing on 8.005194016999999 meters 0.046134073064441596 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.29, Z:9.23 [[-0.13261887 0.75142973 0.64634789 -0.1380297 ] [-0.17246561 -0.65965465 0.73151306 0.28742993] [ 0.97604705 -0.01446035 0.21707844 9.22695478] [ 0. 0. 0. 1. ]] SLAMing on 8.065194017 meters 0.04581729742284469 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.26, Z:9.30 [[-0.13477422 0.74359045 0.65491156 -0.13941223] [-0.17759933 -0.66836643 0.72231903 0.25912247] [ 0.97483044 -0.01896187 0.22213974 9.29606048] [ 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 [[-0.09131641 0.75366248 0.65088723 0.07135156] [-0.29511865 -0.64473716 0.70513755 0.32222934] [ 0.9510869 -0.12769833 0.28129494 9.41274265] [ 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 [[-1.31055859e-01 7.28425533e-01 6.72473498e-01 -6.11293210e-03] [-1.82152705e-01 -6.84468821e-01 7.05919843e-01 3.02224391e-01] [ 9.74497180e-01 -2.99779351e-02 2.22388330e-01 9.47591111e+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:0.26, Z:9.54 [[-0.15867619 0.71313814 0.68282931 -0.06674319] [-0.13520053 -0.70077067 0.70045791 0.25515733] [ 0.97803 0.01882711 0.20761228 9.5362215 ] [ 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 [[-0.16802127 0.70147096 0.69260909 -0.05496549] [-0.10853288 -0.7114899 0.69426417 0.2488721 ] [ 0.97979052 0.04148028 0.1956781 9.61188896] [ 0. 0. 0. 1. ]] SLAMing on 8.365194017 meters 0.026254177628521135 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.23, Z:9.68 [[-0.16914534 0.69321056 0.70060615 -0.06249289] [-0.10009468 -0.71925543 0.68749741 0.22658398] [ 0.98049524 0.04616004 0.19104539 9.68265616] [ 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 [[-0.16873721 0.68529889 0.7084442 -0.05833792] [-0.09040796 -0.7264812 0.68121324 0.22768467] [ 0.98150607 0.05089703 0.18454088 9.75707614] [ 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 [[-0.16729525 0.67711071 0.71661244 -0.03016577] [-0.0768495 -0.73360059 0.67522168 0.25123531] [ 0.98290714 0.05789007 0.17476351 9.8409212 ] [ 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 [[-0.15675871 0.67168759 0.72405972 -0.01998704] [-0.09684679 -0.74004433 0.66554871 0.22204527] [ 0.98287711 0.0342077 0.18105918 9.91788889] [ 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 [[-0.15727866 0.66141545 0.73334373 -0.02419247] [-0.10392409 -0.74954763 0.65374164 0.1924824 ] [ 0.98207088 0.02660753 0.18662484 9.99038941] [ 0. 0. 0. 1. ]] SLAMing on 8.665194017000001 meters 0.0950706588803947 Centerline is valid? [True, True] Translation: X:0.04, Y:0.21, Z:10.08 [[-1.46472425e-01 6.55009790e-01 7.41288071e-01 4.26552651e-02] [-1.17325076e-01 -7.55583921e-01 6.44459281e-01 2.10421097e-01] [ 9.82232485e-01 7.42383452e-03 1.87521282e-01 1.00797569e+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:0.17, Z:10.14 [[-0.16961899 0.63822939 0.75092785 -0.01170116] [-0.07321048 -0.76802385 0.63622291 0.16747355] [ 0.98278666 0.05293971 0.17699651 10.14190217] [ 0. 0. 0. 1. ]] SLAMing on 8.785194017 meters 0.09120194797854053 Centerline is valid? [True, True] Translation: X:0.01, Y:0.15, Z:10.22 [[-1.60607131e-01 6.31017568e-01 7.58961249e-01 1.00055246e-02] [-7.67795428e-02 -7.74600637e-01 6.27772853e-01 1.52465705e-01] [ 9.84027566e-01 4.25520988e-02 1.72855626e-01 1.02196747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845194017 meters 0.049257502902523134 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.09, Z:10.28 [[-0.17194016 0.61955128 0.76589346 -0.01623927] [-0.06580892 -0.78295918 0.61858233 0.09499118] [ 0.98290679 0.05595652 0.17539413 10.28419192] [ 0. 0. 0. 1. ]] SLAMing on 8.905194017 meters 0.059007231933345644 Centerline is valid? [True, True] Translation: X:0.26, Y:0.15, Z:10.42 [[-0.13599477 0.63879782 0.75726004 0.26126248] [-0.24886188 -0.76187988 0.59800235 0.14694197] [ 0.95894379 -0.10712796 0.26258411 10.42137472] [ 0. 0. 0. 1. ]] SLAMing on 8.965194017 meters 0.04326643332273906 Centerline is valid? [True, True] Translation: X:0.20, Y:0.12, Z:10.49 [[-0.15674421 0.60612808 0.7797692 0.20060726] [-0.15121809 -0.79494774 0.58752973 0.11803394] [ 0.97599403 -0.02582333 0.21626099 10.49081044] [ 0. 0. 0. 1. ]] SLAMing on 9.025194017 meters 0.03703190988190535 Centerline is valid? [True, True] Translation: X:0.38, Y:0.14, Z:10.61 [[-0.12784105 0.60797427 0.78359681 0.38356642] [-0.24340334 -0.78514976 0.56946876 0.1445569 ] [ 0.9614632 -0.1179286 0.24835734 10.60778182] [ 0. 0. 0. 1. ]] SLAMing on 9.085194017000001 meters 0.02944885168565183 Centerline is valid? [True, True] Translation: X:0.20, Y:0.05, Z:10.65 [[-1.67493221e-01 5.72342437e-01 8.02726700e-01 1.95584052e-01] [-1.22267000e-01 -8.20002405e-01 5.59148314e-01 5.36536816e-02] [ 9.78262133e-01 -4.49343295e-03 2.07323437e-01 1.06495441e+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:0.08, Y:-0.01, Z:10.70 [[-0.17840349 0.54856107 0.81685552 0.07666973] [-0.05484655 -0.83442699 0.54838258 -0.01408247] [ 0.98242763 0.05303166 0.17895137 10.69994659] [ 0. 0. 0. 1. ]] SLAMing on 9.205194017 meters 0.03641410548065543 Centerline is valid? [True, True] Translation: X:0.14, Y:-0.02, Z:10.79 [[-0.1606246 0.5499762 0.81958887 0.14407919] [-0.12439688 -0.83502961 0.535958 -0.01573969] [ 0.97914511 -0.01586626 0.20254162 10.79020414] [ 0. 0. 0. 1. ]] SLAMing on 9.265194017 meters 0.02608342127061207 Centerline is valid? [True, True] Translation: X:0.05, Y:-0.04, Z:10.85 [[-0.16861334 0.52710813 0.83290249 0.05392622] [-0.04786315 -0.84838261 0.52721539 -0.0362347 ] [ 0.98451951 0.04903021 0.16827768 10.85175123] [ 0. 0. 0. 1. ]] SLAMing on 9.325194017 meters 0.024169830449267352 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:10.96 [[-1.54192393e-01 5.26074299e-01 8.36343552e-01 1.76410955e-01] [-1.11905429e-01 -8.50318368e-01 5.14233263e-01 -5.25453802e-03] [ 9.81683188e-01 -1.43005265e-02 1.89983194e-01 1.09553912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385194017 meters 0.04647749678167824 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.06, Z:11.03 [[-0.1512613 0.52098657 0.84005536 0.18554333] [-0.16794268 -0.85102324 0.49754869 -0.05651834] [ 0.97412282 -0.06582128 0.21622276 11.03046856] [ 0. 0. 0. 1. ]] SLAMing on 9.445194017 meters 0.051184791420447705 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.06, Z:11.15 [[-0.126434 0.53808149 0.83335632 0.40814116] [-0.32646748 -0.81586896 0.47725971 -0.06445917] [ 0.93671417 -0.21172188 0.27881968 11.15234265] [ 0. 0. 0. 1. ]] SLAMing on 9.505194017 meters 0.04601836562549531 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.11, Z:11.19 [[-0.15792858 0.49147149 0.85645452 0.1758818 ] [-0.16407289 -0.86834305 0.46803893 -0.10526454] [ 0.97372411 -0.06660425 0.21777333 11.1903895 ] [ 0. 0. 0. 1. ]] SLAMing on 9.565194017 meters 0.04282214256422693 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.12, Z:11.25 [[-0.16919762 0.46185111 0.8706697 0.06582266] [-0.06386124 -0.88668756 0.45793768 -0.11750447] [ 0.98351101 0.02187992 0.1795198 11.24993048] [ 0. 0. 0. 1. ]] SLAMing on 9.625194017 meters 0.03702246763261771 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.14, Z:11.32 [[-0.16505801 0.44802859 0.87865024 0.03600803] [-0.0547649 -0.89365843 0.44539354 -0.14138342] [ 0.98476223 0.02539658 0.17204173 11.32120771] [ 0. 0. 0. 1. ]] SLAMing on 9.685194017 meters 0.033163579992761504 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.16, Z:11.40 [[-1.66834044e-01 4.38166768e-01 8.83275883e-01 4.46703732e-02] [-6.95846150e-02 -8.98829617e-01 4.32739298e-01 -1.57339649e-01] [ 9.83526504e-01 1.07332348e-02 1.80445046e-01 1.13976559e+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:0.04, Y:-0.16, Z:11.47 [[-0.16782628 0.42269898 0.89059526 0.04244585] [-0.04100971 -0.90562019 0.42210221 -0.15676791] [ 0.98496322 0.03431679 0.16932163 11.47490285] [ 0. 0. 0. 1. ]] SLAMing on 9.805194017 meters 0.03337497777011643 Centerline is valid? [True, True] Translation: X:-0.01, Y:-0.18, Z:11.54 [[-0.17033711 0.41086342 0.89564307 -0.01198427] [-0.0401047 -0.91106376 0.41031017 -0.18274144] [ 0.98456939 0.03397155 0.17166552 11.53960505] [ 0. 0. 0. 1. ]] SLAMing on 9.865194017 meters 0.05462796788932634 Centerline is valid? [True, True] Translation: X:0.14, Y:-0.18, Z:11.65 [[-0.1701346 0.41125677 0.89550103 0.14411605] [-0.11293128 -0.91089975 0.39687299 -0.17733685] [ 0.97892837 -0.03360825 0.20141932 11.64822375] [ 0. 0. 0. 1. ]] SLAMing on 9.925194017 meters 0.032654750963742485 Centerline is valid? [True, True] Translation: X:0.00, Y:-0.21, Z:11.70 [[-1.71878137e-01 3.88097576e-01 9.05449158e-01 3.90918440e-03] [-5.78854491e-02 -9.21518111e-01 3.83996936e-01 -2.05951181e-01] [ 9.83416077e-01 1.35883466e-02 1.80854018e-01 1.16981771e+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:0.11, Y:-0.21, Z:11.80 [[-0.17462254 0.38505558 0.90622247 0.11246787] [-0.11106366 -0.92219249 0.3704401 -0.20628101] [ 0.97835159 -0.03596119 0.20380128 11.79664623] [ 0. 0. 0. 1. ]] SLAMing on 10.045194017 meters 0.03549822608085657 Centerline is valid? [True, True] Translation: X:-0.00, Y:-0.24, Z:11.85 [[-1.77903596e-01 3.61441820e-01 9.15265055e-01 -1.06440830e-03] [-5.58923687e-02 -9.32312069e-01 3.57309739e-01 -2.36501032e-01] [ 9.82459339e-01 1.24103557e-02 1.86063510e-01 1.18518471e+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:-0.26, Z:11.92 [[-1.81125436e-01 3.50268843e-01 9.18969702e-01 -4.20535770e-02] [-6.42649729e-02 -9.36643355e-01 3.44338842e-01 -2.62673593e-01] [ 9.81358033e-01 3.31096015e-03 1.92159954e-01 1.19200349e+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:-0.26, Z:11.99 [[-0.18083578 0.33467945 0.92481787 -0.05275696] [-0.03985086 -0.94204182 0.33312027 -0.26199051] [ 0.98270562 0.02338528 0.18369213 11.99422894] [ 0. 0. 0. 1. ]] SLAMing on 10.225194017 meters 0.02786795427364204 Centerline is valid? [True, True] Translation: X:-0.05, Y:-0.27, Z:12.08 [[-0.18766397 0.32146567 0.92813903 -0.04570908] [-0.03338755 -0.94646894 0.32106357 -0.26987333] [ 0.98166568 0.02926377 0.18835107 12.07500982] [ 0. 0. 0. 1. ]] SLAMing on 10.285194017 meters 0.05047743060548238 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.32, Z:12.13 [[-0.18894443 0.3060197 0.93308732 -0.11891965] [-0.03462466 -0.95168786 0.30510874 -0.31589364] [ 0.98137716 0.02534077 0.19041195 12.1337745 ] [ 0. 0. 0. 1. ]] SLAMing on 10.345194017 meters 0.040252804174354444 Centerline is valid? [True, True] Translation: X:-0.08, Y:-0.33, Z:12.22 [[-0.19596452 0.29688564 0.93458912 -0.07931429] [-0.04216524 -0.9547378 0.29444495 -0.32602225] [ 0.97970404 0.01829359 0.19961299 12.217348 ] [ 0. 0. 0. 1. ]] SLAMing on 10.405194017 meters 0.03557720739676852 Centerline is valid? [True, True] Translation: X:-0.08, Y:-0.34, Z:12.29 [[-0.19509779 0.28077644 0.93973477 -0.07882198] [-0.0187027 -0.95903754 0.28266092 -0.33906405] [ 0.98060546 0.03757094 0.19235738 12.2929142 ] [ 0. 0. 0. 1. ]] SLAMing on 10.465194017 meters 0.025074986863427205 Centerline is valid? [True, True] Translation: X:-0.07, Y:-0.33, Z:12.37 [[-1.95415673e-01 2.63576392e-01 9.44637603e-01 -6.50995644e-02] [ 1.17086736e-02 -9.62512088e-01 2.70985954e-01 -3.34099513e-01] [ 9.80650611e-01 6.40153559e-02 1.85003817e-01 1.23735351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525194017 meters 0.021487261070855728 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.36, Z:12.46 [[-1.98638517e-01 2.50880805e-01 9.47418367e-01 -6.30757668e-02] [ 5.41596288e-03 -9.66385852e-01 2.57039010e-01 -3.56921052e-01] [ 9.80057859e-01 5.61890305e-02 1.90602691e-01 1.24562025e+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 [[-0.20269104 0.23648302 0.95025898 -0.083817 ] [-0.0204913 -0.97121367 0.23732702 -0.39219989] [ 0.97902832 0.02863202 0.20170216 12.52888302] [ 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 [[-0.2036416 0.22314241 0.95327728 -0.08065141] [-0.01733383 -0.97434938 0.22437205 -0.40119631] [ 0.97889205 0.02916754 0.20228598 12.60685451] [ 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 [[-2.01121775e-01 2.08770688e-01 9.57060516e-01 -7.39582092e-02] [-5.03788752e-03 -9.77232328e-01 2.12112226e-01 -4.09208542e-01] [ 9.79553292e-01 3.78388242e-02 1.97594464e-01 1.26853297e+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:-0.42, Z:12.77 [[-2.02830462e-01 1.96747970e-01 9.59244515e-01 -5.05494686e-02] [-1.13729825e-02 -9.80014003e-01 1.98603146e-01 -4.24392272e-01] [ 9.79147823e-01 2.93732967e-02 2.01014304e-01 1.27670933e+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:12.83 [[-2.01204018e-01 1.82818969e-01 9.62337866e-01 -1.02527879e-01] [-4.12580914e-03 -9.82578626e-01 1.85801566e-01 -4.31711676e-01] [ 9.79540668e-01 3.34135992e-02 1.98453044e-01 1.28343395e+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:12.91 [[-0.19358883 0.16309089 0.96743203 -0.09973571] [ 0.03700336 -0.98417065 0.1733173 -0.44159933] [ 0.98038468 0.06935053 0.18448953 12.91193665] [ 0. 0. 0. 1. ]] SLAMing on 10.945194017 meters 0.023500461345512876 Centerline is valid? [True, True] Translation: X:-0.10, Y:-0.45, Z:12.99 [[-0.19500011 0.1519131 0.96896716 -0.10250662] [ 0.02802573 -0.98666586 0.16032792 -0.45457461] [ 0.98040273 0.05841997 0.18814248 12.98866012] [ 0. 0. 0. 1. ]] SLAMing on 11.005194017 meters 0.026783492348087332 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.75, Z:13.42 [[-0.23414397 0.18501069 0.95443577 1.69922336] [-0.1783103 -0.97324487 0.14491329 -0.74721951] [ 0.95571023 -0.13625516 0.26086873 13.42457645] [ 0. 0. 0. 1. ]] SLAMing on 11.065194017 meters 0.025216048331988986 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.51, Z:13.16 [[-0.2023072 0.11187369 0.97291113 -0.12014856] [ 0.01532907 -0.9929702 0.11736778 -0.51418731] [ 0.97920213 0.03865817 0.19917011 13.15719031] [ 0. 0. 0. 1. ]] SLAMing on 11.125194017 meters 0.02039322303881566 Centerline is valid? [True, True] Translation: X:-0.07, Y:-0.53, Z:13.24 [[-0.19436384 0.09563171 0.97625677 -0.06942992] [ 0.02951873 -0.99421547 0.10326781 -0.5265219 ] [ 0.98048526 0.04888938 0.19041661 13.24493679] [ 0. 0. 0. 1. ]] SLAMing on 11.185194017 meters 0.019872038238989663 Centerline is valid? [True, True] Translation: X:-0.22, Y:-0.52, Z:13.29 [[-0.19896518 0.08280139 0.97650232 -0.22165094] [ 0.02701684 -0.99558212 0.089924 -0.52032326] [ 0.97963409 0.04427376 0.19584915 13.29240623] [ 0. 0. 0. 1. ]] SLAMing on 11.245194017 meters 0.019304509018654045 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.55, Z:13.39 [[-0.19068649 0.06746462 0.97932997 -0.12235484] [ 0.04505102 -0.99598301 0.07738376 -0.55218124] [ 0.98061668 0.05887586 0.18688116 13.38951886] [ 0. 0. 0. 1. ]] SLAMing on 11.305194017 meters SLAMing on 11.365194017 meters 0.02000094553116223 Centerline is valid? [True, True] Translation: X:-0.13, Y:-0.56, Z:13.47 [[-0.17382512 0.04854265 0.9835794 -0.13189487] [ 0.08525414 -0.99429273 0.0641381 -0.56478484] [ 0.98107928 0.09500303 0.16869459 13.46553095] [ 0. 0. 0. 1. ]] SLAMing on 11.425194017 meters 0.02683724998729748 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.81, Z:13.75 [[-0.232226 0.0724368 0.96996082 0.83537705] [-0.1029427 -0.99345262 0.04954484 -0.81296108] [ 0.96719899 -0.08834478 0.23816237 13.75112929] [ 0. 0. 0. 1. ]] SLAMing on 11.485194017 meters 0.020016381037960912 Centerline is valid? [True, True] Translation: X:-0.10, Y:-0.63, Z:13.65 [[-1.74384503e-01 2.26850654e-03 9.84675022e-01 -1.04684678e-01] [ 7.90180022e-02 -9.96740078e-01 1.62902745e-02 -6.30802463e-01] [ 9.81502012e-01 8.06478245e-02 1.73636770e-01 1.36492435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545194017 meters 0.02082295004412667 Centerline is valid? [True, True] Translation: X:-0.09, Y:-0.66, Z:13.73 [[-1.64744770e-01 -1.76366884e-02 9.86178538e-01 -9.46135144e-02] [ 1.05020415e-01 -9.94470037e-01 -2.40924032e-04 -6.60475281e-01] [ 9.80729256e-01 1.03529188e-01 1.65685950e-01 1.37298393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605194017 meters 0.02152596593662523 Centerline is valid? [True, True] Translation: X:-0.18, Y:-0.66, Z:13.79 [[-0.16139317 -0.03128975 0.98639404 -0.1787012 ] [ 0.09991764 -0.99487944 -0.01521046 -0.66423773] [ 0.98181908 0.0961033 0.16369315 13.79048535] [ 0. 0. 0. 1. ]] SLAMing on 11.665194017 meters 0.019881551072661284 Centerline is valid? [True, True] Translation: X:-0.16, Y:-0.69, Z:13.87 [[-0.15735995 -0.04590808 0.98647367 -0.15623868] [ 0.11362725 -0.99312622 -0.02809213 -0.68826823] [ 0.98098252 0.10766971 0.1614947 13.87322735] [ 0. 0. 0. 1. ]] SLAMing on 11.725194017 meters 0.019434546975813285 Centerline is valid? [True, True] Translation: X:-0.27, Y:-0.68, Z:13.93 [[-0.14669402 -0.05967215 0.98738042 -0.27163194] [ 0.12064755 -0.99180588 -0.04201513 -0.67586523] [ 0.98179684 0.11296166 0.15269129 13.92744418] [ 0. 0. 0. 1. ]] SLAMing on 11.785194017 meters 0.020484556319612334 Centerline is valid? [True, True] Translation: X:-0.21, Y:-0.71, Z:14.02 [[-0.15306699 -0.07150674 0.98562533 -0.21074448] [ 0.11012255 -0.99240083 -0.05489634 -0.70825547] [ 0.98206085 0.10013675 0.15977832 14.0166541 ] [ 0. 0. 0. 1. ]] SLAMing on 11.845194017 meters 0.020699894126598707 Centerline is valid? [True, True] Translation: X:-0.23, Y:-0.72, Z:14.09 [[-0.14149126 -0.08695535 0.98611307 -0.23486442] [ 0.12907069 -0.98925191 -0.06871258 -0.71648721] [ 0.98148916 0.11755607 0.15119389 14.08807654] [ 0. 0. 0. 1. ]] SLAMing on 11.905194017 meters 0.019278414916142645 Centerline is valid? [True, True] Translation: X:-0.27, Y:-0.73, Z:14.16 [[-0.13744757 -0.09908436 0.98554069 -0.27008601] [ 0.12772769 -0.98844982 -0.08156341 -0.72996312] [ 0.98223918 0.11467014 0.14851585 14.15855299] [ 0. 0. 0. 1. ]] SLAMing on 11.965194017 meters 0.02000016304801224 Centerline is valid? [True, True] Translation: X:-0.30, Y:-0.73, Z:14.23 [[-0.13778387 -0.11257253 0.98404422 -0.29542038] [ 0.13278869 -0.98665032 -0.09427785 -0.72855614] [ 0.98152064 0.11767998 0.15089286 14.23020933] [ 0. 0. 0. 1. ]] SLAMing on 12.025194017 meters 0.019396734409743144 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.75, Z:14.30 [[-0.13341251 -0.12437938 0.98322473 -0.30881443] [ 0.12993461 -0.98572515 -0.10706503 -0.74515146] [ 0.98250603 0.11347111 0.14766925 14.30419471] [ 0. 0. 0. 1. ]] SLAMing on 12.085194017 meters SLAMing on 12.145194017 meters 0.019675144665173422 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.76, Z:14.38 [[-0.14264743 -0.13648467 0.98031814 -0.31333609] [ 0.12180815 -0.98533866 -0.11945918 -0.7572922 ] [ 0.98224971 0.10237019 0.15718097 14.37948087] [ 0. 0. 0. 1. ]] SLAMing on 12.205194017 meters 0.020641210642012964 Centerline is valid? [True, True] Translation: X:-0.27, Y:-0.79, Z:14.46 [[-0.1398511 -0.15055087 0.97866036 -0.27338191] [ 0.13349526 -0.98221656 -0.13202139 -0.79289927] [ 0.98113235 0.11218319 0.1574619 14.46495493] [ 0. 0. 0. 1. ]] SLAMing on 12.265194017 meters 0.020178801793036306 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.76, Z:14.51 [[-0.14484834 -0.16317772 0.97590573 -0.41616539] [ 0.12471089 -0.98145264 -0.14559504 -0.76058819] [ 0.98156312 0.10061687 0.16251182 14.51064161] [ 0. 0. 0. 1. ]] SLAMing on 12.325194017 meters 0.019149168320253228 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.76, Z:14.58 [[-0.15375182 -0.17249666 0.97293642 -0.42793884] [ 0.11899502 -0.98071064 -0.15507037 -0.75924144] [ 0.98091823 0.09193223 0.17131229 14.58395826] [ 0. 0. 0. 1. ]] SLAMing on 12.385194017 meters 0.07646166463673469 Centerline is valid? [True, True] Translation: X:-0.24, Y:-0.88, Z:14.70 [[-0.18424932 -0.1744611 0.9672722 -0.23567367] [ 0.05883077 -0.98431385 -0.16632852 -0.87616784] [ 0.98111729 0.02625945 0.19162284 14.70307668] [ 0. 0. 0. 1. ]] SLAMing on 12.445194017 meters 0.02033900626326363 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.77, Z:14.73 [[-0.13063584 -0.20199699 0.97063458 -0.48360098] [ 0.14750272 -0.97208841 -0.18244744 -0.77395767] [ 0.98039646 0.11933707 0.15678469 14.72510371] [ 0. 0. 0. 1. ]] SLAMing on 12.505194017 meters 0.022230401263412653 Centerline is valid? [True, True] Translation: X:-0.63, Y:-0.70, Z:14.76 [[-0.1532137 -0.21011964 0.96559583 -0.63167895] [ 0.12598249 -0.97331277 -0.19180891 -0.69586851] [ 0.98012957 0.09226041 0.17559625 14.76332149] [ 0. 0. 0. 1. ]] SLAMing on 12.565194017 meters 0.02043610385565541 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.78, Z:14.86 [[-0.13781287 -0.21839202 0.96608102 -0.52147322] [ 0.14484382 -0.96934555 -0.19846782 -0.7807168 ] [ 0.97981013 0.11257945 0.16522102 14.86086731] [ 0. 0. 0. 1. ]] SLAMing on 12.625194017 meters 0.020090191590405954 Centerline is valid? [True, True] Translation: X:-0.44, Y:-0.84, Z:14.96 [[-0.12907321 -0.22986513 0.96462538 -0.43556022] [ 0.1629165 -0.96446006 -0.20802644 -0.84312881] [ 0.97816068 0.13030275 0.16193478 14.95581117] [ 0. 0. 0. 1. ]] SLAMing on 12.685194017 meters 0.01982124659461616 Centerline is valid? [True, True] Translation: X:-0.38, Y:-0.89, Z:15.05 [[-0.14460876 -0.24273206 0.95925463 -0.38021712] [ 0.15841403 -0.96261927 -0.21970236 -0.88732308] [ 0.97672581 0.12018851 0.17765534 15.05121991] [ 0. 0. 0. 1. ]] SLAMing on 12.745194017 meters 0.020171540481495248 Centerline is valid? [True, True] Translation: X:-0.53, Y:-0.84, Z:15.10 [[-0.13742795 -0.26299751 0.95495857 -0.52818469] [ 0.16924063 -0.9561637 -0.23897402 -0.84426273] [ 0.97594629 0.12877609 0.17591348 15.09784007] [ 0. 0. 0. 1. ]] SLAMing on 12.805194017 meters 0.021069788863387316 Centerline is valid? [True, True] Translation: X:-0.41, Y:-0.92, Z:15.20 [[-0.13405075 -0.27436962 0.95223511 -0.40545004] [ 0.16248669 -0.95398831 -0.25200073 -0.92306125] [ 0.97756251 0.12094465 0.17246426 15.20435515] [ 0. 0. 0. 1. ]] SLAMing on 12.865194017 meters 0.027769008459807627 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.97, Z:15.30 [[-0.17003448 -0.28608435 0.94299736 -0.36690302] [ 0.13205107 -0.9549163 -0.26588979 -0.96915644] [ 0.97655046 0.07931338 0.20014644 15.29968597] [ 0. 0. 0. 1. ]] SLAMing on 12.925194017 meters 0.02247083468186729 Centerline is valid? [True, True] Translation: X:-0.45, Y:-0.93, Z:15.36 [[-0.13396752 -0.31017711 0.94119226 -0.45337657] [ 0.16143262 -0.94389789 -0.28809076 -0.93410041] [ 0.97774854 0.11334432 0.17652436 15.3591805 ] [ 0. 0. 0. 1. ]] SLAMing on 12.985194017 meters 0.023311642668669825 Centerline is valid? [True, True] Translation: X:-0.51, Y:-0.94, Z:15.43 [[-0.14187098 -0.32323306 0.9356244 -0.51372892] [ 0.15827118 -0.94043206 -0.30089494 -0.93731164] [ 0.97715038 0.10539412 0.1845785 15.42704382] [ 0. 0. 0. 1. ]] SLAMing on 13.045194017 meters 0.022449766131397854 Centerline is valid? [True, True] Translation: X:-0.42, Y:-1.02, Z:15.53 [[-0.12246401 -0.3394336 0.93262393 -0.42313545] [ 0.18039782 -0.93165645 -0.31539322 -1.01983333] [ 0.97594016 0.129619 0.17532746 15.52930411] [ 0. 0. 0. 1. ]] SLAMing on 13.105194017 meters 0.06236580948342614 Centerline is valid? [True, True] Translation: X:-0.43, Y:-1.09, Z:15.61 [[-0.11427594 -0.35314235 0.92856421 -0.43222152] [ 0.17437044 -0.92730699 -0.33120491 -1.08579853] [ 0.97802656 0.1240654 0.16754646 15.61390497] [ 0. 0. 0. 1. ]] SLAMing on 13.165194017 meters 0.023143108490446554 Centerline is valid? [True, True] Translation: X:-0.54, Y:-1.06, Z:15.67 [[-0.13878551 -0.37073705 0.91830966 -0.54244314] [ 0.16592291 -0.92288079 -0.34750632 -1.06472877] [ 0.97632381 0.10413977 0.18959625 15.67257973] [ 0. 0. 0. 1. ]] SLAMing on 13.225194017 meters 0.04369031318718812 Centerline is valid? [True, True] Translation: X:-0.52, Y:-1.14, Z:15.76 [[-0.14568798 -0.38333534 0.91204662 -0.52336871] [ 0.15382226 -0.91944827 -0.3618751 -1.1440048 ] [ 0.9772992 0.08757222 0.19291807 15.76070819] [ 0. 0. 0. 1. ]] SLAMing on 13.285194017 meters 0.022766171366768673 Centerline is valid? [True, True] Translation: X:-0.63, Y:-1.07, Z:15.82 [[-0.12367971 -0.39930936 0.90843567 -0.62981201] [ 0.17230899 -0.91019936 -0.37662546 -1.0691296 ] [ 0.97724764 0.1099507 0.18137779 15.81557335] [ 0. 0. 0. 1. ]] SLAMing on 13.345194017 meters 0.024035299402943855 Centerline is valid? [True, True] Translation: X:-0.60, Y:-1.13, Z:15.91 [[-0.13769564 -0.41534052 0.89918417 -0.59979159] [ 0.17536815 -0.90371206 -0.39057717 -1.12864394] [ 0.9748261 0.10390749 0.19727471 15.9067859 ] [ 0. 0. 0. 1. ]] SLAMing on 13.405194017 meters 0.06620864249832578 Centerline is valid? [True, True] Translation: X:-3.00, Y:0.91, Z:15.37 [[ 0.16780038 -0.38073955 0.90932966 -3.00118526] [ 0.47042863 -0.7796847 -0.41326586 0.90950187] [ 0.86633708 0.49712087 0.0482794 15.37286589] [ 0. 0. 0. 1. ]] SLAMing on 13.465194017 meters 0.024423948259085993 Centerline is valid? [True, True] Translation: X:-2.50, Y:-2.07, Z:15.86 [[-2.86589776e-02 -8.27956039e-01 -5.60060230e-01 -2.49516075e+00] [-1.91495449e-02 5.60642307e-01 -8.27836637e-01 -2.07375558e+00] [ 9.99405802e-01 -1.30000531e-02 -3.19224167e-02 1.58645401e+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:-0.66, Y:-1.00, Z:16.11 [[-0.09807262 -0.33524338 0.93701315 -0.66256996] [ 0.12504022 -0.93824149 -0.3225955 -0.999262 ] [ 0.98729261 0.08552655 0.13393471 16.11128844] [ 0. 0. 0. 1. ]] SLAMing on 13.585194017 meters 0.032166023820801755 Centerline is valid? [True, True] Translation: X:-0.54, Y:-1.12, Z:16.22 [[-0.11307897 -0.34273082 0.9326032 -0.53621742] [ 0.1017374 -0.937684 -0.33226226 -1.11705598] [ 0.98836362 0.05730875 0.14090089 16.21718994] [ 0. 0. 0. 1. ]] SLAMing on 13.645194017 meters 0.057454267960593365 Centerline is valid? [True, True] Translation: X:-0.28, Y:-0.30, Z:15.34 [[ 1.91394332e-01 -3.02465757e-01 -9.33746580e-01 -2.83200910e-01] [ 4.78847414e-01 -8.01661877e-01 3.57831509e-01 -2.98118202e-01] [-8.56780814e-01 -5.15609058e-01 -8.59859340e-03 1.53381480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705194017 meters 0.06908205645466134 Centerline is valid? [True, True] Translation: X:-1.20, Y:0.28, Z:15.19 [[-0.05685048 0.21660456 -0.97460273 -1.202848 ] [ 0.47863765 -0.85077346 -0.21700349 0.27526238] [-0.87617009 -0.47881831 -0.05530822 15.19055709] [ 0. 0. 0. 1. ]] SLAMing on 13.765194017 meters 0.027377376447463294 Centerline is valid? [True, True] Translation: X:-0.95, Y:0.25, Z:15.30 [[-0.18382869 0.63284835 0.75213694 -0.95075508] [-0.05212266 -0.77037614 0.6354556 0.24783305] [ 0.98157539 0.07761159 0.17460297 15.29767098] [ 0. 0. 0. 1. ]] SLAMing on 13.825194017 meters 0.018427166231185406 Centerline is valid? [True, True] Translation: X:-1.05, Y:0.17, Z:15.35 [[-0.18032656 0.61116296 0.77068941 -1.05009974] [-0.04794554 -0.78806426 0.61372302 0.17473691] [ 0.98243756 0.07371944 0.17141145 15.35331963] [ 0. 0. 0. 1. ]] SLAMing on 13.885194017 meters 0.017704089370139564 Centerline is valid? [True, True] Translation: X:-0.82, Y:0.25, Z:15.48 [[-0.18821344 0.59679969 0.78000374 -0.81966128] [-0.0306461 -0.79737955 0.60269949 0.25305883] [ 0.9816499 0.08953207 0.16836713 15.47517138] [ 0. 0. 0. 1. ]] SLAMing on 13.945194017 meters SLAMing on 14.005194016999999 meters SLAMing on 14.065194017 meters 0.03220610360031283 Centerline is valid? [True, True] Translation: X:-0.85, Y:0.20, Z:15.55 [[-0.19567338 0.57976481 0.79093912 -0.84531052] [-0.03039073 -0.8097276 0.58601845 0.19643602] [ 0.98019811 0.09063099 0.17606161 15.54620982] [ 0. 0. 0. 1. ]] SLAMing on 14.125194017 meters 0.06848820527423277 Centerline is valid? [True, True] Translation: X:-1.05, Y:-1.30, Z:15.36 [[ 0.05067834 -0.60084651 -0.79775634 -1.05141565] [-0.41762512 0.71284271 -0.56342216 -1.29629057] [ 0.90720503 0.36171639 -0.21480291 15.35924064] [ 0. 0. 0. 1. ]] SLAMing on 14.185194017 meters 0.058853381924514434 Centerline is valid? [True, True] Translation: X:-0.69, Y:-0.63, Z:15.49 [[ 0.26059799 -0.83410443 -0.48616714 -0.69339056] [-0.42624261 0.3524304 -0.83313267 -0.63182261] [ 0.86625973 0.42433785 -0.2636882 15.48969842] [ 0. 0. 0. 1. ]] SLAMing on 14.245194017 meters 0.06542038920824667 Centerline is valid? [True, True] Translation: X:-2.86, Y:-1.49, Z:15.32 [[-0.37532358 0.91855121 0.12408018 -2.86381121] [-0.08073762 -0.16575636 0.98285618 -1.48688763] [ 0.92337081 0.35887116 0.13637391 15.31653152] [ 0. 0. 0. 1. ]] SLAMing on 14.305194017 meters 0.021516218833881256 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.65, Z:15.89 [[-0.13904619 0.98287931 0.12089011 -1.91039804] [-0.18725174 -0.14596913 0.9714061 0.64919672] [ 0.97242118 0.11243343 0.20434231 15.89355551] [ 0. 0. 0. 1. ]] SLAMing on 14.365194017 meters 0.02306514569402488 Centerline is valid? [True, True] Translation: X:-1.78, Y:0.73, Z:16.00 [[-0.14065616 0.97455778 0.1745078 -1.78423455] [-0.18473053 -0.19899824 0.96243147 0.72528683] [ 0.97267182 0.103135 0.2080209 15.99757372] [ 0. 0. 0. 1. ]] SLAMing on 14.425194016999999 meters 0.03430935621938272 Centerline is valid? [True, True] Translation: X:-1.87, Y:-4.59, Z:13.76 [[ 0.44575144 0.87367677 -0.19492193 -1.87492784] [ 0.26296837 -0.33594911 -0.90442569 -4.59474407] [-0.85565956 0.35189075 -0.37949916 13.76183543] [ 0. 0. 0. 1. ]] SLAMing on 14.485194017 meters 0.04278612204209586 Centerline is valid? [True, True] Translation: X:-3.47, Y:-1.67, Z:14.64 [[ 0.11233709 -0.41493223 -0.9028907 -3.47097193] [-0.32848555 0.84205002 -0.42784227 -1.66580258] [ 0.93780468 0.34464911 -0.04170579 14.63726459] [ 0. 0. 0. 1. ]] SLAMing on 14.545194017 meters 0.05308884627334623 Centerline is valid? [True, True] Translation: X:-0.35, Y:0.30, Z:15.20 [[-0.03849108 0.54869176 0.83513818 -0.34532114] [-0.17326378 -0.82676289 0.5352035 0.3044219 ] [ 0.98412301 -0.12409864 0.12689141 15.20253457] [ 0. 0. 0. 1. ]] SLAMing on 14.605194017 meters 0.019131201645776308 Centerline is valid? [True, True] Translation: X:-3.43, Y:-1.80, Z:14.98 [[ 0.10807721 -0.42541804 -0.89852035 -3.43254503] [-0.37692756 0.81879672 -0.43300986 -1.80296803] [ 0.91991572 0.38547558 -0.07185852 14.982504 ] [ 0. 0. 0. 1. ]] SLAMing on 14.665194017 meters 0.07207488512890946 Centerline is valid? [True, True] Translation: X:-3.22, Y:-2.10, Z:15.07 [[ 0.1696937 -0.54488177 -0.82116253 -3.22125563] [-0.44313232 0.70207071 -0.55743203 -2.09648443] [ 0.88024871 0.45847636 -0.12231775 15.07467682] [ 0. 0. 0. 1. ]] SLAMing on 14.725194017 meters 0.017114144690202417 Centerline is valid? [True, True] Translation: X:-2.45, Y:0.70, Z:16.18 [[-0.0733411 0.96681444 -0.24472622 -2.45435538] [-0.37664977 0.20036245 0.90442791 0.70449298] [ 0.9234479 0.15850781 0.34945563 16.1772389 ] [ 0. 0. 0. 1. ]] SLAMing on 14.785194017 meters 0.01826363159875641 Centerline is valid? [True, True] Translation: X:-2.12, Y:0.78, Z:16.29 [[-0.10522133 0.99206396 -0.06883004 -2.11944662] [-0.35962458 0.02656975 0.93271872 0.77707224] [ 0.92714542 0.12289487 0.35397488 16.28565407] [ 0. 0. 0. 1. ]] SLAMing on 14.845194017 meters 0.0387342196444058 Centerline is valid? [True, True] Translation: X:-1.22, Y:2.67, Z:17.07 [[ 0.50103814 0.86370877 -0.05447885 -1.22268696] [-0.42894411 0.30251874 0.85116941 2.67208744] [ 0.75164336 -0.40309995 0.52205621 17.06778491] [ 0. 0. 0. 1. ]] SLAMing on 14.905194017 meters 0.017656955171383288 Centerline is valid? [True, True] Translation: X:-2.01, Y:1.00, Z:16.57 [[-9.99083631e-02 9.94158084e-01 -4.08414452e-02 -2.01228136e+00] [-3.64136361e-01 1.66691138e-03 9.31344153e-01 1.00044448e+00] [ 9.25971398e-01 1.07920925e-01 3.61842569e-01 1.65650675e+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:-2.18, Y:1.34, Z:15.30 [[-0.21644195 0.97606337 0.02128787 -2.17721255] [ 0.3386869 0.0955187 -0.93603812 1.34121181] [-0.91566591 -0.19538799 -0.35125413 15.29928846] [ 0. 0. 0. 1. ]] SLAMing on 15.025194017 meters 0.05522916634781159 Centerline is valid? [True, True] Translation: X:-2.55, Y:2.44, Z:14.56 [[ 0.70863984 0.66750037 0.22863252 -2.55074964] [ 0.40479627 -0.1192149 -0.90660233 2.43639091] [-0.57790099 0.73500413 -0.35468208 14.56007203] [ 0. 0. 0. 1. ]] SLAMing on 15.085194017 meters 0.01772062010736226 Centerline is valid? [True, True] Translation: X:-1.60, Y:-0.42, Z:16.15 [[ 9.89326551e-01 -1.37848378e-01 4.72313435e-02 -1.60377995e+00] [ 1.37363721e-01 9.90430391e-01 1.33734622e-02 -4.22073497e-01] [-4.86228681e-02 -6.74284813e-03 9.98794449e-01 1.61463401e+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:-1.69, Y:-0.79, Z:10.10 [[ 0.99600668 0.05635466 0.06924479 -1.6885481 ] [ 0.05443062 -0.99808561 0.02936711 -0.78699524] [ 0.0707672 -0.0254808 -0.99716735 10.09875329] [ 0. 0. 0. 1. ]] SLAMing on 15.265194017 meters 0.059115613957628974 Centerline is valid? [True, True] Translation: X:-1.49, Y:-0.37, Z:16.14 [[ 9.73006757e-01 -2.26334180e-01 4.50631713e-02 -1.48993005e+00] [ 2.25800128e-01 9.74030922e-01 1.66752531e-02 -3.69211259e-01] [-4.76671021e-02 -6.04986413e-03 9.98844956e-01 1.61351732e+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:-1.55, Y:-0.51, Z:12.47 [[ 9.82304675e-01 -1.81854974e-01 4.47916771e-02 -1.54828134e+00] [ 1.81281519e-01 9.83291429e-01 1.65824144e-02 -5.14184817e-01] [-4.70588667e-02 -8.16907992e-03 9.98858713e-01 1.24697397e+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:-1.29, Y:-0.92, Z:13.30 [[ 9.99910390e-01 -7.14004022e-03 1.13239378e-02 -1.29400288e+00] [ 7.09298366e-03 9.99966065e-01 4.19022611e-03 -9.20792476e-01] [-1.13534719e-02 -4.10953012e-03 9.99927103e-01 1.33035833e+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:-1.36, Y:-0.87, Z:11.04 [[ 9.80026718e-01 1.98280832e-01 1.52428142e-02 -1.35683152e+00] [-1.98385053e-01 9.80107906e-01 5.64473313e-03 -8.68502365e-01] [-1.38203604e-02 -8.55593580e-03 9.99867888e-01 1.10413500e+01] [ 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:-1.07, Y:-1.66, Z:9.42 [[ 0.77740188 -0.61739544 0.12028795 -1.06826605] [ 0.61707759 0.78564948 0.04438624 -1.66015393] [-0.12190803 0.03972105 0.99174627 9.4219976 ] [ 0. 0. 0. 1. ]] SLAMing on 15.685194017 meters SLAMing on 15.745194017 meters 0.017159288318047115 Centerline is valid? [True, True] Translation: X:-1.18, Y:-0.29, Z:16.41 [[ 9.65085834e-01 -2.59971898e-01 3.19991603e-02 -1.17589797e+00] [ 2.59722771e-01 9.65611332e-01 1.17829254e-02 -2.87616350e-01] [-3.39619813e-02 -3.06062385e-03 9.99418439e-01 1.64135686e+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:-1.25, Y:-0.65, Z:10.73 [[ 0.97571113 0.2167867 0.03148525 -1.25263396] [-0.21723647 0.97605002 0.01160476 -0.64795747] [-0.02821542 -0.01816264 0.99943685 10.7269569 ] [ 0. 0. 0. 1. ]] SLAMing on 15.925194016999999 meters 0.03950155071653912 Centerline is valid? [True, True] Translation: X:-1.25, Y:-0.62, Z:9.59 [[ 0.97302629 0.22910784 0.02700813 -1.25044408] [-0.22944203 0.97327136 0.00996094 -0.6238834 ] [-0.02400411 -0.01588906 0.99958558 9.59440166] [ 0. 0. 0. 1. ]] SLAMing on 15.985194017 meters 0.015279057201828341 Centerline is valid? [True, True] Translation: X:-1.33, Y:-0.06, Z:11.18 [[ 8.65031468e-01 4.98944776e-01 -5.26751317e-02 -1.32604059e+00] [ 4.98604218e-01 -8.66590599e-01 -2.03609123e-02 -6.07261598e-02] [-5.58067448e-02 -8.65121299e-03 -9.98404108e-01 1.11757012e+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:-1.19, Y:-0.08, Z:12.37 [[ 0.80761429 -0.58384754 -0.08295311 -1.1946245 ] [ 0.58286131 0.81167431 -0.03817728 -0.07659773] [ 0.08962061 -0.01751764 0.99582191 12.36882594] [ 0. 0. 0. 1. ]] SLAMing on 16.105194017 meters 0.01880463426390697 Centerline is valid? [True, True] Translation: X:-0.96, Y:0.15, Z:17.75 [[ 0.78079351 -0.61805328 0.09149661 -0.96420981] [ 0.61707138 0.78578161 0.04207346 0.15448123] [-0.09789999 0.02360926 0.99491618 17.75248469] [ 0. 0. 0. 1. ]] SLAMing on 16.165194017 meters 0.060760308921071884 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.38, Z:11.29 [[ 0.99786832 0.03159104 0.05710369 -0.97246698] [-0.0331319 0.99910644 0.02624112 -0.37635628] [-0.05622368 -0.02807714 0.99802333 11.28576596] [ 0. 0. 0. 1. ]] SLAMing on 16.225194017 meters 0.04594059354303977 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.41, Z:10.91 [[ 0.99404569 0.1006289 0.04179709 -0.90770351] [-0.10149763 0.99465039 0.01920485 -0.41132209] [-0.03964093 -0.02333281 0.99894153 10.91216932] [ 0. 0. 0. 1. ]] SLAMing on 16.285194017 meters 0.04952282206677443 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.05, Z:12.74 [[ 8.95649406e-01 -4.44396425e-01 -1.79988496e-02 -9.14430751e-01] [ 4.44320116e-01 8.95830037e-01 -8.25707849e-03 -5.46924944e-02] [ 1.97933262e-02 -6.01803477e-04 9.99803912e-01 1.27355622e+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:-0.87, Y:-0.01, Z:12.72 [[ 8.96234442e-01 -4.43051248e-01 -2.16660364e-02 -8.70737413e-01] [ 4.42939953e-01 8.96496031e-01 -9.95307500e-03 -9.83325492e-03] [ 2.38332380e-02 -6.76464544e-04 9.99715719e-01 1.27209034e+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:-0.78, Y:-0.07, Z:12.75 [[ 9.40185198e-01 -3.38616611e-01 3.72905243e-02 -7.76592853e-01] [ 3.38201374e-01 9.40917972e-01 1.71230980e-02 -6.74834108e-02] [-4.08854899e-02 -3.48717670e-03 9.99157753e-01 1.27538682e+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:-0.73, Y:-0.28, Z:10.40 [[ 0.97099851 0.2371267 0.03054197 -0.7297693 ] [-0.23763039 0.97125436 0.0140271 -0.27839849] [-0.02633783 -0.02087799 0.99943505 10.40269893] [ 0. 0. 0. 1. ]] SLAMing on 16.525194017 meters 0.0626690159295029 Centerline is valid? [True, True] Translation: X:-0.69, Y:0.03, Z:12.66 [[ 9.08200282e-01 -4.18484186e-01 6.57530676e-03 -6.92557864e-01] [ 4.18473215e-01 9.08224084e-01 3.03017302e-03 3.17745884e-02] [-7.23993144e-03 -4.14228522e-07 9.99973791e-01 1.26638090e+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:-0.75, Y:0.69, Z:16.15 [[ 0.5990198 -0.76916929 0.22260702 -0.75362048] [ 0.77029905 0.62945341 0.10211648 0.68975261] [-0.21866561 0.11030418 0.96954543 16.15182799] [ 0. 0. 0. 1. ]] SLAMing on 16.645194017 meters 0.10083960894780773 Centerline is valid? [True, False] Translation: X:-0.72, Y:0.72, Z:16.17 [[ 0.65457202 -0.73552175 0.1747662 -0.71581168] [ 0.73040904 0.67492249 0.1047963 0.72266652] [-0.1950336 0.05905409 0.97901711 16.17045046] [ 0. 0. 0. 1. ]] SLAMing on 16.705194017 meters 0.04712267482672463 Centerline is valid? [False, True] Translation: X:-0.68, Y:0.75, Z:16.18 [[ 0.69807285 -0.70006378 0.15034958 -0.68336071] [ 0.69037383 0.71375949 0.11803119 0.75284723] [-0.1899428 0.02140304 0.98156184 16.18181748] [ 0. 0. 0. 1. ]] SLAMing on 16.765194017 meters 0.10553539295593488 Centerline is valid? [True, False] Translation: X:-0.64, Y:0.79, Z:16.19 [[ 7.32829590e-01 -6.69885466e-01 1.19223546e-01 -6.39123234e-01] [ 6.59419522e-01 7.42421144e-01 1.18223259e-01 7.86520325e-01] [-1.67710125e-01 -8.01916909e-03 9.85803737e-01 1.61883034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825194017 meters 0.04665566017052572 Centerline is valid? [False, True] Translation: X:-0.61, Y:0.80, Z:16.21 [[ 0.77314827 -0.63029308 0.07051518 -0.60719797] [ 0.61856397 0.77393671 0.13564871 0.79725248] [-0.14007273 -0.06125842 0.98824442 16.21325041] [ 0. 0. 0. 1. ]] SLAMing on 16.885194017 meters 0.06341143016282073 Centerline is valid? [True, True] Translation: X:-0.54, Y:0.83, Z:16.50 [[ 0.68457294 -0.71172961 0.15748287 -0.5424061 ] [ 0.71138437 0.69943876 0.0686855 0.82877488] [-0.15903513 0.06501062 0.98513017 16.50484393] [ 0. 0. 0. 1. ]] SLAMing on 16.945194017 meters 0.06328141999358418 Centerline is valid? [True, True] Translation: X:-0.43, Y:0.77, Z:16.89 [[ 0.70808469 -0.69564146 0.12123957 -0.43329255] [ 0.69520738 0.71686076 0.05289003 0.76538604] [-0.12370439 0.04683602 0.9912132 16.89425831] [ 0. 0. 0. 1. ]] SLAMing on 17.005194017 meters 0.04387757649073075 Centerline is valid? [True, True] Translation: X:-0.31, Y:0.54, Z:16.08 [[ 8.57962176e-01 -5.10472529e-01 5.76081779e-02 -3.08432836e-01] [ 5.09913003e-01 8.59858611e-01 2.51375819e-02 5.40309656e-01] [-6.23669329e-02 7.80806459e-03 9.98022745e-01 1.60805613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065194017 meters 0.0535970682279005 Centerline is valid? [True, True] Translation: X:-0.36, Y:0.90, Z:16.95 [[ 0.67140301 -0.7280086 0.13864152 -0.35737165] [ 0.72798955 0.68291151 0.06052351 0.89718987] [-0.13874153 0.06029391 0.98849149 16.95166819] [ 0. 0. 0. 1. ]] SLAMing on 17.125194017 meters 0.1000418220216156 Centerline is valid? [True, False] Translation: X:-0.36, Y:0.87, Z:16.99 [[ 7.08539759e-01 -7.00442294e-01 8.57438246e-02 -3.58260786e-01] [ 6.96967312e-01 7.13640495e-01 7.03833128e-02 8.69405313e-01] [-1.10489715e-01 9.89126746e-03 9.93828046e-01 1.69891323e+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:-0.37, Y:0.84, Z:17.03 [[ 0.73947894 -0.67189412 0.04158357 -0.36839143] [ 0.66683868 0.73957305 0.09142141 0.83738479] [-0.0921796 -0.03987467 0.99494368 17.02649838] [ 0. 0. 0. 1. ]] SLAMing on 17.245194017 meters 0.08849393222845921 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.56, Z:15.49 [[ 0.71800385 -0.68680484 0.11300261 -0.18382067] [ 0.68769247 0.72504939 0.03718132 0.56306098] [-0.10746878 0.05101471 0.99289877 15.48665261] [ 0. 0. 0. 1. ]] SLAMing on 17.305194017 meters 0.06751000419886126 Centerline is valid? [True, True] Translation: X:0.01, Y:0.19, Z:14.56 [[ 9.07684150e-01 -4.18970051e-01 2.39495340e-02 1.36196369e-02] [ 4.18905569e-01 9.07995517e-01 7.89087772e-03 1.93820504e-01] [-2.50521109e-02 2.87016850e-03 9.99682026e-01 1.45590744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365194017 meters 0.026022126740407953 Centerline is valid? [True, True] Translation: X:0.12, Y:0.07, Z:14.28 [[ 9.54181999e-01 -2.98181083e-01 -2.49950758e-02 1.21627894e-01] [ 2.98067622e-01 9.54509233e-01 -8.23512436e-03 7.11129914e-02] [ 2.63135889e-02 4.07584639e-04 9.99653654e-01 1.42800763e+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:0.02, Y:0.54, Z:15.25 [[ 0.76975268 -0.63000469 0.10283435 0.01954795] [ 0.63028713 0.77562365 0.03385381 0.53751623] [-0.10108882 0.03875611 0.99412223 15.24718136] [ 0. 0. 0. 1. ]] SLAMing on 17.485194017 meters 0.07967614732993657 Centerline is valid? [True, True] Translation: X:0.05, Y:0.61, Z:16.00 [[ 0.80909562 -0.58058664 0.09101342 0.04852265] [ 0.58051712 0.81369641 0.02996703 0.61014136] [-0.09145575 0.02858866 0.99539868 16.003505 ] [ 0. 0. 0. 1. ]] SLAMing on 17.545194017 meters 0.04812233256310785 Centerline is valid? [True, True] Translation: X:0.28, Y:0.19, Z:13.88 [[ 0.99732685 -0.04207215 -0.05974188 0.28216948] [ 0.04096281 0.99896695 -0.01967421 0.18686218] [ 0.0605079 0.01717442 0.99801996 13.88039137] [ 0. 0. 0. 1. ]] SLAMing on 17.605194017 meters 0.1409539222847002 Centerline is valid? [True, False] Translation: X:0.29, Y:0.19, Z:13.88 [[ 0.99833637 0.0196934 -0.05419102 0.29210592] [-0.02107139 0.99946597 -0.02497546 0.18912159] [ 0.05367022 0.02607579 0.99821819 13.87632166] [ 0. 0. 0. 1. ]] SLAMing on 17.665194017 meters 0.08928977315402328 Centerline is valid? [False, True] Translation: X:0.29, Y:0.19, Z:13.88 [[ 0.99798787 0.01987658 -0.06020911 0.28757229] [-0.02149422 0.99942195 -0.02633953 0.19136419] [ 0.05965076 0.02758068 0.99783821 13.87845422] [ 0. 0. 0. 1. ]] SLAMing on 17.725194017 meters 0.0691104026222631 Centerline is valid? [True, True] Translation: X:0.34, Y:0.22, Z:14.07 [[ 9.97052566e-01 -7.26006902e-02 -2.48056374e-02 3.38187616e-01] [ 7.24464186e-02 9.97347293e-01 -7.06348440e-03 2.17145361e-01] [ 2.52526492e-02 5.24558566e-03 9.99667338e-01 1.40662215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785194017 meters 0.09818890118079882 Centerline is valid? [True, True] Translation: X:0.45, Y:0.18, Z:12.82 [[ 8.94689467e-01 -2.72268255e-01 3.54119691e-01 4.52980001e-01] [ 2.52929787e-01 9.62221199e-01 1.00781380e-01 1.79272422e-01] [-3.68181044e-01 -6.00621457e-04 9.29753923e-01 1.28167207e+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:0.47, Y:0.18, Z:12.81 [[ 0.90515005 -0.25415587 0.34074649 0.47353042] [ 0.23265876 0.96705892 0.10328093 0.18181856] [-0.35577139 -0.01420708 0.93446502 12.81344415] [ 0. 0. 0. 1. ]] SLAMing on 17.905194017 meters 0.09854414462642334 Centerline is valid? [False, True] Translation: X:0.48, Y:0.18, Z:12.81 [[ 0.90712581 -0.24762351 0.34030188 0.47676082] [ 0.22364027 0.96859589 0.10866014 0.17642101] [-0.35652181 -0.02246321 0.93401692 12.81034534] [ 0. 0. 0. 1. ]] SLAMing on 17.965194016999998 meters 0.05989919639818184 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.27, Z:12.09 [[ 0.95765315 -0.05503502 0.28261563 0.35988033] [ 0.04764546 0.99832039 0.03295908 -0.27490129] [-0.28395485 -0.01809802 0.95866684 12.08756091] [ 0. 0. 0. 1. ]] SLAMing on 18.025194017 meters 0.0671645681318735 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.12, Z:13.88 [[ 0.93139622 -0.22116961 0.28911086 0.97311468] [ 0.22095026 0.97469808 0.03383256 -0.1228153 ] [-0.28927853 0.0323676 0.95669758 13.88193097] [ 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:0.97, Y:-0.14, Z:13.88 [[ 9.35987261e-01 -2.48213156e-01 2.49635889e-01 9.71540750e-01] [ 2.54451054e-01 9.67056542e-01 7.50377165e-03 -1.41015916e-01] [-2.43274554e-01 5.64966803e-02 9.68310702e-01 1.38778075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265194017 meters 0.10454189617438697 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:13.88 [[ 9.39364555e-01 -2.65126198e-01 2.17490992e-01 9.88694577e-01] [ 2.72936754e-01 9.62012473e-01 -6.12624506e-03 -1.33777712e-01] [-2.07604819e-01 6.51160627e-02 9.76043102e-01 1.38755632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325194017 meters 0.13440672931587094 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:13.89 [[ 9.38679482e-01 -2.93168985e-01 1.81473898e-01 9.79753140e-01] [ 2.97910037e-01 9.54593214e-01 1.18520611e-03 -1.48855583e-01] [-1.73581218e-01 5.29503671e-02 9.83395048e-01 1.38883178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385194017 meters 0.14587873480627153 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:13.92 [[ 9.41606787e-01 -3.03920018e-01 1.44945787e-01 9.33070239e-01] [ 3.07315511e-01 9.51607056e-01 -1.08962647e-03 -2.02579739e-01] [-1.37600275e-01 4.55700884e-02 9.89438998e-01 1.39219849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445194017 meters SLAMing on 18.505194017 meters 0.29377293799676013 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.29, Z:13.95 [[ 9.25122915e-01 -3.75427693e-01 5.65830366e-02 8.98499719e-01] [ 3.75542078e-01 9.26761620e-01 9.00262148e-03 -2.88221586e-01] [-5.58188201e-02 1.29207797e-02 9.98357307e-01 1.39516677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565194017 meters 0.3471920338397428 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.33, Z:13.94 [[ 9.26437043e-01 -3.69249960e-01 7.32725835e-02 8.61161387e-01] [ 3.69225484e-01 9.29228623e-01 1.43773614e-02 -3.34685633e-01] [-7.33958220e-02 1.37343849e-02 9.97208313e-01 1.39352795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625194017 meters 0.39296568085395495 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.39, Z:13.93 [[ 0.93290986 -0.34966559 0.08609975 0.79101412] [ 0.34962293 0.93675269 0.01606857 -0.39473359] [-0.0862728 0.01511192 0.99615693 13.92584713] [ 0. 0. 0. 1. ]] SLAMing on 18.685194017 meters 0.2652928109015059 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.45, Z:13.94 [[ 9.46050782e-01 -3.11798402e-01 8.81457570e-02 7.23647721e-01] [ 3.12641263e-01 9.49860939e-01 4.43142665e-03 -4.46807425e-01] [-8.51079232e-02 2.33656462e-02 9.96097730e-01 1.39435885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745194017 meters 0.27330059849905397 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.52, Z:13.98 [[ 9.60274939e-01 -2.72789142e-01 5.88058317e-02 6.08464906e-01] [ 2.73566565e-01 9.61837656e-01 -5.44584689e-03 -5.17156191e-01] [-5.50760955e-02 2.13168197e-02 9.98254585e-01 1.39762025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805194016999998 meters 0.27190059801633804 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.58, Z:13.99 [[ 9.66069449e-01 -2.51995275e-01 5.66409787e-02 5.10013628e-01] [ 2.52232423e-01 9.67661905e-01 3.04003535e-03 -5.84202795e-01] [-5.55753919e-02 1.13498060e-02 9.98389983e-01 1.39892769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865194017 meters 0.2797209347666122 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.63, Z:13.99 [[ 9.75594977e-01 -2.11899908e-01 5.75575375e-02 4.51785681e-01] [ 2.12741741e-01 9.77068436e-01 -8.84441760e-03 -6.26699450e-01] [-5.43635219e-02 2.08734601e-02 9.98303013e-01 1.39883824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925194017 meters 0.27406964190063926 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.66, Z:13.99 [[ 9.81847205e-01 -1.82495397e-01 5.16865206e-02 4.15404286e-01] [ 1.83006565e-01 9.83097426e-01 -5.29595157e-03 -6.62320149e-01] [-4.98463986e-02 1.46587879e-02 9.98649316e-01 1.39904096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985194017 meters 0.26682744987350765 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.70, Z:13.99 [[ 9.86297090e-01 -1.56209377e-01 5.30724073e-02 3.60159843e-01] [ 1.56942561e-01 9.87557968e-01 -9.91430303e-03 -6.97219742e-01] [-5.08633716e-02 1.81077677e-02 9.98541449e-01 1.39938198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045194017 meters 0.25557810075439163 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.71, Z:13.99 [[ 9.91434953e-01 -1.19264649e-01 5.32229008e-02 3.13438373e-01] [ 1.19956963e-01 9.92728756e-01 -9.99718833e-03 -7.13117749e-01] [-5.16435929e-02 1.62960195e-02 9.98532613e-01 1.39933980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105194017 meters 0.2373965256276724 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.73, Z:13.99 [[ 0.99546329 -0.07588978 0.0573897 0.29776582] [ 0.0768427 0.99693661 -0.01458089 -0.72525875] [-0.05610735 0.01892472 0.99824537 13.99448843] [ 0. 0. 0. 1. ]] SLAMing on 19.165194017 meters 0.24015118029528995 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.74, Z:14.00 [[ 0.99699954 -0.05630384 0.05312059 0.32301175] [ 0.05743936 0.99814671 -0.02009615 -0.74309142] [-0.05189065 0.02308707 0.99838587 13.99566853] [ 0. 0. 0. 1. ]] SLAMing on 19.225194017 meters 0.24185711508535984 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.76, Z:13.99 [[ 9.97736799e-01 -4.51874211e-02 4.97933512e-02 3.33975129e-01] [ 4.59354066e-02 9.98846574e-01 -1.39806781e-02 -7.57985558e-01] [-4.91041674e-02 1.62363148e-02 9.98661686e-01 1.39945167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285194017 meters 0.2124419658401297 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.77, Z:14.00 [[ 0.99878192 -0.03274546 0.03691084 0.34752435] [ 0.03335729 0.99931407 -0.01608372 -0.76626262] [-0.03635885 0.01729538 0.99918912 13.9962068 ] [ 0. 0. 0. 1. ]] SLAMing on 19.345194017 meters 0.20151498248821317 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.77, Z:14.00 [[ 9.99433908e-01 -7.25833586e-03 3.28508750e-02 3.60380900e-01] [ 7.63263360e-03 9.99907216e-01 -1.12828176e-02 -7.65179653e-01] [-3.27659325e-02 1.15271692e-02 9.99396577e-01 1.40010076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405194017 meters 0.19661322038370924 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.76, Z:14.00 [[ 9.99419458e-01 4.24451543e-03 3.38042939e-02 3.58478430e-01] [-4.17749855e-03 9.99989167e-01 -2.05287876e-03 -7.60730649e-01] [-3.38126412e-02 1.91046959e-03 9.99426363e-01 1.40004559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465194016999998 meters 0.191920899796853 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.76, Z:14.02 [[ 9.98953682e-01 2.70052146e-02 3.69087920e-02 3.53149577e-01] [-2.70724325e-02 9.99632600e-01 1.32253743e-03 -7.55593353e-01] [-3.68595163e-02 -2.32036441e-03 9.99317763e-01 1.40168005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525194017 meters 0.19363038862026122 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.75, Z:14.03 [[ 9.98655518e-01 3.10602416e-02 4.15020209e-02 3.42695425e-01] [-3.12462258e-02 9.99504341e-01 3.84004117e-03 -7.52539917e-01] [-4.13621775e-02 -5.13165982e-03 9.99131041e-01 1.40255360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585194017 meters 0.2027161973071975 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.75, Z:14.04 [[ 9.98372320e-01 3.71238556e-02 4.32958422e-02 3.43224679e-01] [-3.69287389e-02 9.99303857e-01 -5.29799856e-03 -7.52268572e-01] [-4.34623842e-02 3.69051427e-03 9.99048248e-01 1.40354911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645194017 meters 0.20389808941383786 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.74, Z:14.03 [[ 0.99710124 0.07000231 0.02981265 0.37607048] [-0.06951626 0.99743527 -0.01704055 -0.74059586] [-0.03092907 0.01491869 0.99941024 14.0337984 ] [ 0. 0. 0. 1. ]] SLAMing on 19.705194017 meters 0.19318094553146262 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.73, Z:14.03 [[ 9.95669187e-01 9.01442952e-02 2.27348975e-02 4.20097506e-01] [-9.00779810e-02 9.95926976e-01 -3.92635049e-03 -7.30938298e-01] [-2.29962358e-02 1.86143254e-03 9.99733819e-01 1.40308613e+01] [ 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:0.45, Y:-0.71, Z:14.03 [[ 9.95431413e-01 9.31482030e-02 2.09693660e-02 4.51853923e-01] [-9.29887580e-02 9.95631245e-01 -8.45664634e-03 -7.12866947e-01] [-2.16654774e-02 6.46809612e-03 9.99744353e-01 1.40298675e+01] [ 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:0.48, Y:-0.70, Z:14.04 [[ 9.97177650e-01 7.19165295e-02 2.15579901e-02 4.76858074e-01] [-7.18838397e-02 9.97410385e-01 -2.28848409e-03 -7.01859014e-01] [-2.16667431e-02 7.32354085e-04 9.99764980e-01 1.40355062e+01] [ 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:0.49, Y:-0.67, Z:14.04 [[ 9.96031004e-01 8.84124797e-02 1.02699368e-02 4.90863239e-01] [-8.81908198e-02 9.95896002e-01 -2.03354922e-02 -6.67031561e-01] [-1.20257003e-02 1.93490666e-02 9.99740464e-01 1.40396201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945194017 meters 0.2203946968438542 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.64, Z:14.04 [[ 9.92411374e-01 1.22733340e-01 7.49611502e-03 4.99852357e-01] [-1.22657533e-01 9.92400152e-01 -9.85229471e-03 -6.37053533e-01] [-8.64835072e-03 8.85807436e-03 9.99923367e-01 1.40403281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005194017 meters 0.21240733095415074 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.60, Z:14.04 [[ 9.90880223e-01 1.34624077e-01 5.72203986e-03 5.07932074e-01] [-1.34509318e-01 9.90764078e-01 -1.71401538e-02 -5.97783356e-01] [-7.97666893e-03 1.62141717e-02 9.99836723e-01 1.40383787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065194017 meters 0.20900493389159477 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.57, Z:14.04 [[ 9.92821921e-01 1.19588921e-01 1.76715553e-03 5.31926880e-01] [-1.19554338e-01 9.92735118e-01 -1.35552515e-02 -5.69076647e-01] [-3.37537526e-03 1.32466797e-02 9.99906562e-01 1.40417340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 150.56 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