+ python -m lidar_slam --no-model /working/2a0f8b05-a80d-4ee5-a69a-b455562b8d63 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/2a0f8b05-a80d-4ee5-a69a-b455562b8d63 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 0.001463509 Adjusted end_distance from 9.223372036854776e+18 to 13.534583509 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001463509 meters 0.26025124187557774 Centerline is valid? [0, False] SLAMing on 0.061463509 meters 0.31789605230909784 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.00, Z:-0.00 [[ 9.99809154e-01 6.85556006e-03 1.82936302e-02 -7.59258764e-02] [-6.96641565e-03 9.99957716e-01 6.00296163e-03 -4.53301351e-03] [-1.82517030e-02 -6.12925702e-03 9.99814637e-01 -5.60061116e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121463509 meters 0.2560417987091564 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.00 [[ 0.99954368 -0.02478998 -0.01725955 -0.14754422] [ 0.02459027 0.99962928 -0.01168861 -0.00675569] [ 0.01754291 0.01125886 0.99978272 0.00373237] [ 0. 0. 0. 1. ]] SLAMing on 0.181463509 meters 0.1467429903505084 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:1.18 [[ 0.52803532 -0.02225312 -0.8489308 0.24489697] [ 0.11383274 0.99248988 0.04478775 0.17590069] [ 0.84155856 -0.12028563 0.52660284 1.17519842] [ 0. 0. 0. 1. ]] SLAMing on 0.241463509 meters 0.017983632393804638 Centerline is valid? [False, True] Translation: X:0.25, Y:0.14, Z:1.22 [[ 0.43461013 0.34662008 -0.83124518 0.24607144] [-0.411458 0.89743614 0.15909333 0.14109505] [ 0.80113441 0.27287891 0.53265444 1.22201385] [ 0. 0. 0. 1. ]] SLAMing on 0.30146350899999996 meters 0.022878241109959722 Centerline is valid? [True, True] Translation: X:0.51, Y:0.69, Z:1.28 [[ 0.39525867 0.68856897 -0.60798302 0.50789917] [-0.44569809 0.72250918 0.5285203 0.69101364] [ 0.80319599 0.06207464 0.59247189 1.27637148] [ 0. 0. 0. 1. ]] SLAMing on 0.36146350899999996 meters 0.018125667398974372 Centerline is valid? [True, True] Translation: X:0.42, Y:0.77, Z:1.30 [[ 0.41748725 0.68130058 -0.6012769 0.42347106] [-0.43420387 0.73084247 0.52662728 0.77035635] [ 0.79823016 0.04121658 0.60094076 1.30108435] [ 0. 0. 0. 1. ]] SLAMing on 0.42146350899999996 meters 0.027464862364947412 Centerline is valid? [True, True] Translation: X:0.07, Y:0.91, Z:1.50 [[ 0.4920542 0.61813403 -0.61301957 0.07232951] [-0.3081435 0.78224153 0.54142938 0.91309089] [ 0.81420529 -0.07751461 0.57537921 1.49742125] [ 0. 0. 0. 1. ]] SLAMing on 0.48146350899999996 meters 0.032583171360226065 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.95, Z:1.54 [[ 0.48861036 0.61744711 -0.6164568 -0.05423848] [-0.29173286 0.78148878 0.55151357 0.95423796] [ 0.82228453 -0.08963454 0.56197313 1.53577265] [ 0. 0. 0. 1. ]] SLAMing on 0.5414635090000001 meters 0.03873322138521742 Centerline is valid? [True, True] Translation: X:0.12, Y:0.74, Z:1.30 [[ 0.48838169 0.62325576 -0.6107664 0.11604728] [-0.3003243 0.7772056 0.55295277 0.7401747 ] [ 0.81932206 -0.08662402 0.56675183 1.30389167] [ 0. 0. 0. 1. ]] SLAMing on 0.601463509 meters 0.033675609915856254 Centerline is valid? [True, True] Translation: X:0.04, Y:0.75, Z:1.29 [[ 0.47757887 0.63028158 -0.61209766 0.04456686] [-0.30184685 0.77198147 0.55940424 0.7499918 ] [ 0.82511024 -0.08239989 0.55893054 1.29350966] [ 0. 0. 0. 1. ]] SLAMing on 0.661463509 meters 0.02195724249651641 Centerline is valid? [True, True] Translation: X:0.08, Y:0.63, Z:1.17 [[ 0.43846539 0.65099598 -0.61963887 0.08129118] [-0.31712533 0.75716544 0.57107969 0.63054097] [ 0.84093973 -0.0538955 0.53843816 1.16773294] [ 0. 0. 0. 1. ]] SLAMing on 0.721463509 meters 0.0230494125743228 Centerline is valid? [True, True] Translation: X:0.06, Y:0.56, Z:1.09 [[ 0.44896164 0.64519898 -0.61818422 0.06089584] [-0.30291046 0.76075904 0.57401301 0.5634964 ] [ 0.84064184 -0.07045536 0.53698914 1.09427218] [ 0. 0. 0. 1. ]] SLAMing on 0.7814635090000001 meters 0.037692461809763975 Centerline is valid? [True, True] Translation: X:0.13, Y:0.43, Z:0.94 [[ 0.51147696 0.60304439 -0.61215094 0.12733473] [-0.23829136 0.78398629 0.57322136 0.42669572] [ 0.82559587 -0.14731924 0.5446912 0.9395571 ] [ 0. 0. 0. 1. ]] SLAMing on 0.841463509 meters 0.03350484623229728 Centerline is valid? [True, True] Translation: X:0.13, Y:0.49, Z:0.90 [[ 0.47131198 0.62968042 -0.61754966 0.13183232] [-0.26554668 0.76901832 0.58146004 0.48826485] [ 0.84104101 -0.11006083 0.52965709 0.90452878] [ 0. 0. 0. 1. ]] SLAMing on 0.9014635089999999 meters 0.02575485333263622 Centerline is valid? [True, True] Translation: X:0.14, Y:0.58, Z:0.88 [[ 0.43958637 0.65334838 -0.61636006 0.13694911] [-0.30267148 0.75383145 0.58320505 0.57999341] [ 0.84566767 -0.06981438 0.52912395 0.88243432] [ 0. 0. 0. 1. ]] SLAMing on 0.961463509 meters 0.012664043811472615 Centerline is valid? [True, True] Translation: X:0.13, Y:0.65, Z:0.86 [[ 0.38238334 0.6833297 -0.62196745 0.12606777] [-0.34364411 0.73000866 0.59075891 0.64901711] [ 0.85772472 -0.01216091 0.51396538 0.86150512] [ 0. 0. 0. 1. ]] SLAMing on 1.021463509 meters 0.014184534041454986 Centerline is valid? [True, True] Translation: X:0.12, Y:0.71, Z:0.84 [[ 3.74592716e-01 6.90258833e-01 -6.19050112e-01 1.22453431e-01] [-3.56514653e-01 7.23562191e-01 5.91062652e-01 7.12864647e-01] [ 8.55907471e-01 -7.07327745e-04 5.17128514e-01 8.36955515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.081463509 meters 0.01434399111852642 Centerline is valid? [True, True] Translation: X:0.18, Y:0.71, Z:0.75 [[ 0.36325634 0.69907648 -0.61590332 0.18352973] [-0.37163496 0.71491478 0.59227047 0.712196 ] [ 0.85436075 0.01374521 0.51949859 0.74948218] [ 0. 0. 0. 1. ]] SLAMing on 1.1414635089999998 meters 0.013792641392097878 Centerline is valid? [True, True] Translation: X:0.18, Y:0.74, Z:0.70 [[ 0.37493396 0.69762575 -0.61052669 0.18441367] [-0.37022313 0.71644926 0.59129967 0.73974464] [ 0.84991727 0.00433278 0.52689835 0.70181719] [ 0. 0. 0. 1. ]] SLAMing on 1.2014635089999999 meters 0.012755588985091184 Centerline is valid? [True, True] Translation: X:0.15, Y:0.80, Z:0.69 [[ 0.37040872 0.70115737 -0.60924193 0.14656643] [-0.37500084 0.71294984 0.59251742 0.80321816] [ 0.84980689 0.00899262 0.52701744 0.69140476] [ 0. 0. 0. 1. ]] SLAMing on 1.261463509 meters 0.013658451308665179 Centerline is valid? [True, True] Translation: X:0.14, Y:0.81, Z:0.64 [[ 0.37741422 0.69763821 -0.60898229 0.14386786] [-0.36364021 0.71644284 0.59537841 0.80679302] [ 0.85165973 -0.00325383 0.52408502 0.63673515] [ 0. 0. 0. 1. ]] SLAMing on 1.3214635089999998 meters 0.01703507040904193 Centerline is valid? [True, True] Translation: X:0.14, Y:0.81, Z:0.58 [[ 0.39396887 0.69084516 -0.60623551 0.13664147] [-0.34996555 0.72264713 0.59607486 0.80794327] [ 0.84988978 -0.02267339 0.52647248 0.5756385 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3814635089999998 meters 0.013358597738056184 Centerline is valid? [True, True] Translation: X:0.11, Y:0.84, Z:0.54 [[ 0.37487677 0.69845622 -0.60961161 0.10898024] [-0.35500198 0.71559486 0.60157924 0.83828356] [ 0.8564117 -0.00910475 0.51621323 0.5363847 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4414635089999999 meters 0.01583214137346075 Centerline is valid? [True, True] Translation: X:0.08, Y:0.86, Z:0.50 [[ 0.38148506 0.69577954 -0.60857208 0.07831746] [-0.34898383 0.71804605 0.6021795 0.86238327] [ 0.85596696 -0.01734066 0.51673965 0.49626068] [ 0. 0. 0. 1. ]] SLAMing on 1.501463509 meters 0.018942072972593725 Centerline is valid? [True, True] Translation: X:0.05, Y:0.88, Z:0.45 [[ 0.38728489 0.69258807 -0.60854925 0.0500483 ] [-0.34020527 0.72083389 0.60386992 0.88018338] [ 0.85689602 -0.02683804 0.51479018 0.45144237] [ 0. 0. 0. 1. ]] SLAMing on 1.561463509 meters 0.01923974005679511 Centerline is valid? [True, True] Translation: X:0.02, Y:0.89, Z:0.40 [[ 0.38892096 0.69276429 -0.60730399 0.02439414] [-0.33997475 0.72059877 0.60428022 0.89066794] [ 0.85624626 -0.02854922 0.51577833 0.4019088 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6214635089999998 meters 0.02412002465706391 Centerline is valid? [True, True] Translation: X:-0.04, Y:0.93, Z:0.39 [[ 0.40840099 0.68468078 -0.60367281 -0.03947391] [-0.3291892 0.7273119 0.60220583 0.93197969] [ 0.85137718 -0.04721889 0.52242442 0.38920767] [ 0. 0. 0. 1. ]] SLAMing on 1.6814635089999999 meters 0.021468375000590616 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.94, Z:0.34 [[ 0.4077942 0.68625959 -0.60228869 -0.05653015] [-0.33077906 0.72585514 0.60309164 0.94292654] [ 0.85105176 -0.04671278 0.52299982 0.34403406] [ 0. 0. 0. 1. ]] SLAMing on 1.741463509 meters 0.020085813888865565 Centerline is valid? [True, True] Translation: X:-0.10, Y:0.96, Z:0.31 [[ 0.40472219 0.68900277 -0.60122802 -0.09748479] [-0.33180584 0.72332312 0.60556466 0.95836148] [ 0.85211785 -0.04559449 0.52136006 0.31396572] [ 0. 0. 0. 1. ]] SLAMing on 1.8014635089999997 meters 0.027469954143703224 Centerline is valid? [True, True] Translation: X:-0.11, Y:0.94, Z:0.25 [[ 0.42622981 0.6798356 -0.59678447 -0.11166516] [-0.31677575 0.73010921 0.60546979 0.93950673] [ 0.84733776 -0.06902243 0.52654974 0.25399997] [ 0. 0. 0. 1. ]] SLAMing on 1.8614635089999998 meters 0.03034771500906488 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.94, Z:0.21 [[ 0.43006163 0.67892473 -0.59506991 -0.14297157] [-0.3122469 0.73031744 0.60756753 0.9363468 ] [ 0.84708256 -0.07548275 0.52607365 0.20657745] [ 0. 0. 0. 1. ]] SLAMing on 1.9214635089999998 meters 0.03090169687139036 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.94, Z:0.17 [[ 0.43559903 0.67608949 -0.59426971 -0.17585567] [-0.30418303 0.73192008 0.60972591 0.94204594] [ 0.84718721 -0.08482925 0.52447862 0.16503207] [ 0. 0. 0. 1. ]] SLAMing on 1.981463509 meters 0.028474489810612114 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.96, Z:0.13 [[ 0.4289017 0.68075395 -0.59381596 -0.20482498] [-0.30808442 0.72816878 0.6122534 0.9558262 ] [ 0.84919216 -0.07965108 0.52204252 0.12526699] [ 0. 0. 0. 1. ]] SLAMing on 2.041463509 meters 0.03409015479906943 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.97, Z:0.08 [[ 0.45086974 0.67064446 -0.58902673 -0.2293919 ] [-0.29554699 0.73485046 0.61044801 0.96514701] [ 0.84224014 -0.10114746 0.52952879 0.08229921] [ 0. 0. 0. 1. ]] SLAMing on 2.1014635090000002 meters 0.03407794631274617 Centerline is valid? [True, True] Translation: X:-0.27, Y:0.97, Z:0.04 [[ 0.44252745 0.67673006 -0.58839262 -0.26819868] [-0.30158894 0.73022732 0.61303521 0.97300024] [ 0.84451972 -0.0938322 0.52723994 0.04472591] [ 0. 0. 0. 1. ]] SLAMing on 2.1614635090000003 meters 0.03281525526381378 Centerline is valid? [True, True] Translation: X:-0.28, Y:0.99, Z:-0.00 [[ 0.43933472 0.67979194 -0.58725456 -0.28429657] [-0.30370214 0.72762753 0.61507983 0.99061224] [ 0.84542889 -0.09187545 0.52612631 -0.00419674] [ 0. 0. 0. 1. ]] SLAMing on 2.221463509 meters 0.037820178863605655 Centerline is valid? [True, True] Translation: X:-0.30, Y:1.00, Z:-0.06 [[ 0.45230632 0.67371267 -0.58440589 -0.3003306 ] [-0.29632279 0.73156046 0.61401311 0.99534871] [ 0.84119665 -0.10454923 0.53052583 -0.05924776] [ 0. 0. 0. 1. ]] SLAMing on 2.281463509 meters 0.02834901805636186 Centerline is valid? [True, True] Translation: X:-0.32, Y:1.04, Z:-0.08 [[ 0.44118674 0.68025298 -0.58532908 -0.32217156] [-0.3023206 0.72677506 0.61676597 1.04475227] [ 0.84495947 -0.09515193 0.52629802 -0.08344526] [ 0. 0. 0. 1. ]] SLAMing on 2.341463509 meters 0.031224099222830367 Centerline is valid? [True, True] Translation: X:-0.36, Y:1.06, Z:-0.12 [[ 0.43728452 0.68367106 -0.58427402 -0.3579125 ] [-0.30476992 0.72389342 0.61894557 1.05672648] [ 0.84610729 -0.09258617 0.52490976 -0.11933091] [ 0. 0. 0. 1. ]] SLAMing on 2.401463509 meters 0.02929115254245328 Centerline is valid? [True, True] Translation: X:-0.37, Y:1.08, Z:-0.17 [[ 0.42960008 0.68954147 -0.5830749 -0.36545561] [-0.31051436 0.71912129 0.62164733 1.07858342] [ 0.84795319 -0.08600661 0.52304709 -0.16771948] [ 0. 0. 0. 1. ]] SLAMing on 2.461463509 meters 0.03707009414008156 Centerline is valid? [True, True] Translation: X:-0.39, Y:1.09, Z:-0.21 [[ 0.45200836 0.67979676 -0.57755069 -0.39254069] [-0.30154597 0.72579963 0.61829194 1.08875356] [ 0.83949894 -0.10531504 0.53305747 -0.21073951] [ 0. 0. 0. 1. ]] SLAMing on 2.521463509 meters 0.034636181614432895 Centerline is valid? [True, True] Translation: X:-0.39, Y:1.12, Z:-0.26 [[ 0.44328958 0.68675189 -0.57607828 -0.39048985] [-0.31125112 0.72061311 0.61954782 1.11677984] [ 0.84060519 -0.09533408 0.53319257 -0.26184052] [ 0. 0. 0. 1. ]] SLAMing on 2.581463509 meters 0.02013131091871093 Centerline is valid? [True, True] Translation: X:-0.40, Y:1.18, Z:-0.29 [[ 0.40025558 0.70957088 -0.57991778 -0.40026634] [-0.33894729 0.70257099 0.62570659 1.17623868] [ 0.85141659 -0.053881 0.52171509 -0.29036257] [ 0. 0. 0. 1. ]] SLAMing on 2.641463509 meters 0.024276617444484935 Centerline is valid? [True, True] Translation: X:-0.40, Y:1.17, Z:-0.36 [[ 0.40457482 0.70769348 -0.57921425 -0.39606295] [-0.33347478 0.70391864 0.62713086 1.17492963] [ 0.85153613 -0.060568 0.52078569 -0.35563407] [ 0. 0. 0. 1. ]] SLAMing on 2.701463509 meters 0.01917609272414668 Centerline is valid? [True, True] Translation: X:-0.41, Y:1.21, Z:-0.39 [[ 0.3902206 0.7163046 -0.57847697 -0.41042465] [-0.3456929 0.69630413 0.6290127 1.21316445] [ 0.85336059 -0.04547834 0.51933363 -0.39369745] [ 0. 0. 0. 1. ]] SLAMing on 2.761463509 meters 0.017524668517974813 Centerline is valid? [True, True] Translation: X:-0.42, Y:1.27, Z:-0.42 [[ 0.39167696 0.71863855 -0.57458488 -0.42273109] [-0.35422146 0.69411879 0.62667875 1.26624422] [ 0.84918568 -0.04192533 0.52642754 -0.42125685] [ 0. 0. 0. 1. ]] SLAMing on 2.821463509 meters 0.016753701804634473 Centerline is valid? [True, True] Translation: X:-0.45, Y:1.29, Z:-0.46 [[ 0.38692621 0.72217215 -0.57337204 -0.44676658] [-0.3579977 0.69067687 0.62833359 1.28981722] [ 0.84977983 -0.03785286 0.52577695 -0.4588202 ] [ 0. 0. 0. 1. ]] SLAMing on 2.881463509 meters 0.014029129080914362 Centerline is valid? [True, True] Translation: X:-0.46, Y:1.31, Z:-0.50 [[ 0.37903472 0.72799104 -0.57128078 -0.45840997] [-0.3672851 0.68498708 0.62920137 1.31472299] [ 0.84937291 -0.02866625 0.52701414 -0.49700046] [ 0. 0. 0. 1. ]] SLAMing on 2.941463509 meters 0.013006795463759038 Centerline is valid? [True, True] Translation: X:-0.47, Y:1.34, Z:-0.54 [[ 0.37164366 0.73353244 -0.56904406 -0.47073971] [-0.37540792 0.67933887 0.63052961 1.33789585] [ 0.84908768 -0.02070869 0.52784587 -0.53926141] [ 0. 0. 0. 1. ]] SLAMing on 3.001463509 meters 0.011593107970247879 Centerline is valid? [True, True] Translation: X:-0.48, Y:1.35, Z:-0.59 [[ 0.35612905 0.74157419 -0.56854184 -0.48399129] [-0.38559391 0.6708406 0.63347472 1.35215645] [ 0.85116945 -0.00637248 0.52485232 -0.58531913] [ 0. 0. 0. 1. ]] SLAMing on 3.061463509 meters 0.011711168050682437 Centerline is valid? [True, True] Translation: X:-0.50, Y:1.37, Z:-0.63 [[ 0.35431508 0.74454126 -0.56579071 -0.50115418] [-0.3910719 0.66756868 0.63357306 1.36654331] [ 0.84942545 -0.00321964 0.52769882 -0.63053884] [ 0. 0. 0. 1. ]] SLAMing on 3.1214635090000002 meters 0.011235397024132293 Centerline is valid? [True, True] Translation: X:-0.52, Y:1.38, Z:-0.67 [[ 0.34818041 0.74934818 -0.56324746 -0.52148881] [-0.39951711 0.6621623 0.63397726 1.38449686] [ 0.84803094 0.00428854 0.52992936 -0.671797 ] [ 0. 0. 0. 1. ]] SLAMing on 3.181463509 meters 0.012134513527917098 Centerline is valid? [True, True] Translation: X:-0.55, Y:1.41, Z:-0.71 [[ 0.33806774 0.75430512 -0.56279125 -0.54950046] [-0.40449665 0.65640754 0.63679793 1.40504983] [ 0.84976036 0.01236634 0.5270241 -0.70899697] [ 0. 0. 0. 1. ]] SLAMing on 3.241463509 meters 0.011802080277101109 Centerline is valid? [True, True] Translation: X:-0.53, Y:1.39, Z:-0.78 [[ 0.33968171 0.75631289 -0.55911283 -0.5308427 ] [-0.40960107 0.6540809 0.63592857 1.39395003] [ 0.84666599 0.01299991 0.53196589 -0.78247642] [ 0. 0. 0. 1. ]] SLAMing on 3.301463509 meters 0.012588772342839956 Centerline is valid? [True, True] Translation: X:-0.53, Y:1.42, Z:-0.83 [[ 0.33394318 0.76031547 -0.55713763 -0.52712061] [-0.41547243 0.64928355 0.63703496 1.42047164] [ 0.84608783 0.01874184 0.53271393 -0.82891546] [ 0. 0. 0. 1. ]] SLAMing on 3.361463509 meters 0.014170047086355053 Centerline is valid? [True, True] Translation: X:-0.54, Y:1.45, Z:-0.87 [[ 0.32992664 0.76476038 -0.55343471 -0.53895326] [-0.4250705 0.64381661 0.63625093 1.44676048] [ 0.84288996 0.02533264 0.53748932 -0.87021109] [ 0. 0. 0. 1. ]] SLAMing on 3.421463509 meters 0.017359863349837922 Centerline is valid? [True, True] Translation: X:-0.55, Y:1.47, Z:-0.92 [[ 0.31389259 0.77249208 -0.55202122 -0.54784236] [-0.43740823 0.6336879 0.63805461 1.47472866] [ 0.8427013 0.04117801 0.53680433 -0.9162484 ] [ 0. 0. 0. 1. ]] SLAMing on 3.481463509 meters 0.019885739919342456 Centerline is valid? [True, True] Translation: X:-0.56, Y:1.49, Z:-0.97 [[ 0.30288881 0.77676807 -0.55216821 -0.56079355] [-0.44336908 0.62771724 0.63983976 1.49145063] [ 0.8436126 0.05101401 0.53452348 -0.96683532] [ 0. 0. 0. 1. ]] SLAMing on 3.541463509 meters 0.01667775192624788 Centerline is valid? [True, True] Translation: X:-0.59, Y:1.51, Z:-1.01 [[ 0.31941233 0.77230852 -0.54910409 -0.58838442] [-0.4367225 0.63422536 0.63799033 1.50961257] [ 0.84098111 0.03602413 0.53986391 -1.00939668] [ 0. 0. 0. 1. ]] SLAMing on 3.601463509 meters 0.014565968457599627 Centerline is valid? [True, True] Translation: X:-0.60, Y:1.49, Z:-1.07 [[ 0.31636581 0.77372064 -0.54887981 -0.60440815] [-0.43660999 0.63243255 0.63984435 1.49277696] [ 0.84219023 0.03722153 0.5378942 -1.0720216 ] [ 0. 0. 0. 1. ]] SLAMing on 3.661463509 meters 0.013272057536906945 Centerline is valid? [True, True] Translation: X:-0.62, Y:1.51, Z:-1.11 [[ 0.32851299 0.77073351 -0.5459387 -0.62327343] [-0.43144436 0.6366445 0.63917098 1.50987857] [ 0.84019937 0.0255662 0.54167462 -1.11490076] [ 0. 0. 0. 1. ]] SLAMing on 3.721463509 meters 0.012421732356791629 Centerline is valid? [True, True] Translation: X:-0.64, Y:1.53, Z:-1.16 [[ 0.32854142 0.77246738 -0.54346544 -0.63821876] [-0.4337036 0.63454131 0.63973316 1.52636896] [ 0.83902427 0.02552407 0.54349499 -1.16098574] [ 0. 0. 0. 1. ]] SLAMing on 3.781463509 meters 0.01316313821296571 Centerline is valid? [True, True] Translation: X:-0.65, Y:1.54, Z:-1.21 [[ 0.31944737 0.77614813 -0.54364277 -0.64871019] [-0.43565485 0.62976834 0.64311483 1.5385652 ] [ 0.84152138 0.03139927 0.53931053 -1.21138787] [ 0. 0. 0. 1. ]] SLAMing on 3.841463509 meters 0.013329367417871824 Centerline is valid? [True, True] Translation: X:-0.66, Y:1.56, Z:-1.26 [[ 0.32969962 0.77429781 -0.5401491 -0.65722695] [-0.43288949 0.63243752 0.64236242 1.55860215] [ 0.83899037 0.02203822 0.5436998 -1.2581075 ] [ 0. 0. 0. 1. ]] SLAMing on 3.901463509 meters 0.012795663938952439 Centerline is valid? [True, True] Translation: X:-0.68, Y:1.58, Z:-1.30 [[ 0.32585822 0.77642658 -0.53942394 -0.68138895] [-0.43275282 0.62977911 0.64506068 1.57669026] [ 0.84056018 0.02323891 0.54121949 -1.30075247] [ 0. 0. 0. 1. ]] SLAMing on 3.961463509 meters 0.012378873733086052 Centerline is valid? [True, True] Translation: X:-0.71, Y:1.60, Z:-1.33 [[ 0.33217057 0.77413228 -0.53887098 -0.71470085] [-0.42584333 0.63285369 0.64664802 1.60041448] [ 0.84161759 0.01467717 0.53987444 -1.33451415] [ 0. 0. 0. 1. ]] SLAMing on 4.021463508999999 meters 0.01139925256444122 Centerline is valid? [True, True] Translation: X:-0.74, Y:1.61, Z:-1.38 [[ 0.34129245 0.77241813 -0.53562085 -0.7421669 ] [-0.42341097 0.63508317 0.64605922 1.61335999] [ 0.83919164 0.00629261 0.5437994 -1.37826601] [ 0. 0. 0. 1. ]] SLAMing on 4.081463509 meters 0.011453819100617704 Centerline is valid? [True, True] Translation: X:-0.77, Y:1.63, Z:-1.42 [[ 3.48626995e-01 7.71257457e-01 -5.32560939e-01 -7.68528696e-01] [-4.22331421e-01 6.36523315e-01 6.45348155e-01 1.63350603e+00] [ 8.36717031e-01 -6.85695621e-05 5.47635468e-01 -1.41848980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141463508999999 meters 0.011371029460443391 Centerline is valid? [True, True] Translation: X:-0.78, Y:1.66, Z:-1.47 [[ 3.46077313e-01 7.72739632e-01 -5.32075140e-01 -7.75670557e-01] [-4.21379141e-01 6.34723136e-01 6.47739269e-01 1.65612668e+00] [ 8.38254205e-01 3.74995424e-05 5.45279640e-01 -1.46589987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201463509 meters 0.01154162466628877 Centerline is valid? [True, True] Translation: X:-0.78, Y:1.68, Z:-1.51 [[ 0.3396022 0.77577983 -0.53182328 -0.78189173] [-0.42278864 0.63099132 0.65046116 1.68419107] [ 0.84019052 0.0039508 0.54227694 -1.51370508] [ 0. 0. 0. 1. ]] SLAMing on 4.2614635089999995 meters 0.011471377709607447 Centerline is valid? [True, True] Translation: X:-0.81, Y:1.70, Z:-1.56 [[ 0.35026563 0.77276906 -0.52928439 -0.80695761] [-0.41923599 0.63466354 0.6491867 1.69514668] [ 0.8375889 -0.00549272 0.54627343 -1.56195641] [ 0. 0. 0. 1. ]] SLAMing on 4.321463509 meters 0.012382687437375505 Centerline is valid? [True, True] Translation: X:-0.84, Y:1.71, Z:-1.60 [[ 0.36380561 0.76730979 -0.528092 -0.84379793] [-0.40775194 0.64092375 0.65034999 1.71078168] [ 0.83748662 -0.02127044 0.54604371 -1.60095007] [ 0. 0. 0. 1. ]] SLAMing on 4.381463509 meters 0.013966652309914984 Centerline is valid? [True, True] Translation: X:-0.88, Y:1.73, Z:-1.64 [[ 0.37615612 0.76244725 -0.52647959 -0.88305969] [-0.39798846 0.64607818 0.6512973 1.73420154] [ 0.83672681 -0.03545667 0.54647147 -1.63525098] [ 0. 0. 0. 1. ]] SLAMing on 4.441463508999999 meters 0.019549292442139026 Centerline is valid? [True, True] Translation: X:-0.93, Y:1.74, Z:-1.67 [[ 0.40033205 0.7524846 -0.5229734 -0.93329978] [-0.38412045 0.6559405 0.64976422 1.74235683] [ 0.831977 -0.05923666 0.55163872 -1.67119417] [ 0. 0. 0. 1. ]] SLAMing on 4.501463509 meters 0.01783823352048072 Centerline is valid? [True, True] Translation: X:-0.95, Y:1.74, Z:-1.73 [[ 0.40850415 0.74908193 -0.52153679 -0.94867455] [-0.37680292 0.65882458 0.65112959 1.74300465] [ 0.83135066 -0.06947256 0.55138883 -1.72632939] [ 0. 0. 0. 1. ]] SLAMing on 4.561463508999999 meters 0.021243018588592087 Centerline is valid? [True, True] Translation: X:-0.99, Y:1.77, Z:-1.76 [[ 0.41922897 0.7441922 -0.52002407 -0.98879922] [-0.36802552 0.66291913 0.65199344 1.76683945] [ 0.82994234 -0.08195241 0.55179662 -1.75678388] [ 0. 0. 0. 1. ]] SLAMing on 4.621463509 meters 0.025614611551401698 Centerline is valid? [True, True] Translation: X:-1.03, Y:1.79, Z:-1.79 [[ 0.42972302 0.74050759 -0.5167075 -1.03026971] [-0.36404275 0.66574943 0.65134521 1.79383694] [ 0.82632379 -0.09179442 0.55566427 -1.78553705] [ 0. 0. 0. 1. ]] SLAMing on 4.681463508999999 meters 0.022324442155807093 Centerline is valid? [True, True] Translation: X:-1.05, Y:1.81, Z:-1.83 [[ 0.43119123 0.74102519 -0.51473856 -1.04641488] [-0.36412371 0.66489593 0.65217123 1.81370876] [ 0.82552289 -0.093782 0.55652214 -1.83132968] [ 0. 0. 0. 1. ]] SLAMing on 4.741463509 meters 0.020966407133808925 Centerline is valid? [True, True] Translation: X:-1.07, Y:1.87, Z:-1.85 [[ 0.42668321 0.74402807 -0.51416308 -1.07306744] [-0.36711536 0.66205495 0.65338317 1.87182082] [ 0.82653963 -0.09003046 0.55563186 -1.85049007] [ 0. 0. 0. 1. ]] SLAMing on 4.8014635089999995 meters 0.025191807649809283 Centerline is valid? [True, True] Translation: X:-1.09, Y:1.88, Z:-1.90 [[ 0.43513643 0.74043844 -0.51225697 -1.09198526] [-0.36151326 0.66474962 0.65377068 1.88051147] [ 0.82459957 -0.09929175 0.55693509 -1.89744622] [ 0. 0. 0. 1. ]] SLAMing on 4.861463508999999 meters 0.026505375194856167 Centerline is valid? [True, True] Translation: X:-1.13, Y:1.91, Z:-1.93 [[ 0.43640129 0.74021013 -0.51151039 -1.12793912] [-0.35751271 0.66435105 0.65637058 1.90515412] [ 0.82567462 -0.1035695 0.55455819 -1.93175108] [ 0. 0. 0. 1. ]] SLAMing on 4.921463509 meters 0.026229023993322238 Centerline is valid? [True, True] Translation: X:-1.16, Y:1.93, Z:-1.97 [[ 0.4390971 0.74024178 -0.50915208 -1.16298954] [-0.35841887 0.66398553 0.65624624 1.93067208] [ 0.8238505 -0.10566611 0.55687075 -1.96509156] [ 0. 0. 0. 1. ]] SLAMing on 4.981463508999999 meters 0.02456028262971684 Centerline is valid? [True, True] Translation: X:-1.19, Y:1.97, Z:-1.99 [[ 0.44271791 0.73816053 -0.5090382 -1.19277001] [-0.35102233 0.66507221 0.65913752 1.96759416] [ 0.82509646 -0.11312821 0.55355021 -1.99258554] [ 0. 0. 0. 1. ]] SLAMing on 5.041463509 meters 0.02940739639952775 Centerline is valid? [True, True] Translation: X:-1.24, Y:1.95, Z:-2.04 [[ 0.44506963 0.73697455 -0.50870575 -1.23552537] [-0.34502377 0.66533879 0.66202938 1.94965478] [ 0.82636047 -0.11913359 0.55039582 -2.04443732] [ 0. 0. 0. 1. ]] SLAMing on 5.101463508999999 meters 0.034068026855812 Centerline is valid? [True, True] Translation: X:-1.28, Y:1.96, Z:-2.08 [[ 0.44717551 0.73482887 -0.50996137 -1.28128174] [-0.33307973 0.66594171 0.66751743 1.96308262] [ 0.83011563 -0.12863965 0.54254943 -2.08137962] [ 0. 0. 0. 1. ]] SLAMing on 5.161463509 meters 0.029315871704701995 Centerline is valid? [True, True] Translation: X:-1.30, Y:2.01, Z:-2.11 [[ 0.44915956 0.73621504 -0.50620461 -1.29609285] [-0.34009891 0.66480448 0.66510731 2.01432155] [ 0.8261891 -0.12657967 0.54898922 -2.10946415] [ 0. 0. 0. 1. ]] SLAMing on 5.2214635089999994 meters 0.029860127242131586 Centerline is valid? [True, True] Translation: X:-1.31, Y:2.01, Z:-2.17 [[ 0.44277302 0.73909868 -0.50762703 -1.30542788] [-0.3369814 0.66181272 0.6696622 2.00770283] [ 0.83090047 -0.12544749 0.54209532 -2.17326862] [ 0. 0. 0. 1. ]] SLAMing on 5.281463508999999 meters 0.026014478473029345 Centerline is valid? [True, True] Translation: X:-1.32, Y:2.05, Z:-2.21 [[ 0.43637002 0.74351881 -0.50671589 -1.32153942] [-0.34211478 0.65797271 0.6708423 2.04739188] [ 0.83218909 -0.11938047 0.54148834 -2.20691298] [ 0. 0. 0. 1. ]] SLAMing on 5.3414635089999996 meters 0.028149554744740096 Centerline is valid? [True, True] Translation: X:-1.35, Y:2.06, Z:-2.25 [[ 0.43533825 0.74512364 -0.50524386 -1.3454719 ] [-0.34403291 0.65631378 0.6714861 2.05799459] [ 0.83193868 -0.11850307 0.54206555 -2.25252587] [ 0. 0. 0. 1. ]] SLAMing on 5.401463508999999 meters 0.026298849654873845 Centerline is valid? [True, True] Translation: X:-1.37, Y:2.11, Z:-2.28 [[ 0.42350326 0.75123396 -0.50625342 -1.36547381] [-0.34610622 0.6506278 0.67593931 2.10529808] [ 0.83717111 -0.11104504 0.53554974 -2.28322269] [ 0. 0. 0. 1. ]] SLAMing on 5.461463509 meters 0.025552809356419376 Centerline is valid? [True, True] Translation: X:-1.36, Y:2.09, Z:-2.36 [[ 0.41945315 0.7533243 -0.50651906 -1.36171742] [-0.34460488 0.64834824 0.6788903 2.08680148] [ 0.8398253 -0.11021373 0.53155094 -2.3583825 ] [ 0. 0. 0. 1. ]] SLAMing on 5.521463508999999 meters 0.02673401470695344 Centerline is valid? [True, True] Translation: X:-1.38, Y:2.13, Z:-2.39 [[ 0.41790437 0.75555997 -0.50446513 -1.37815477] [-0.34947379 0.6462468 0.67840485 2.12963811] [ 0.83858453 -0.10721101 0.53411777 -2.39175814] [ 0. 0. 0. 1. ]] SLAMing on 5.581463509 meters 0.024265416324227455 Centerline is valid? [True, True] Translation: X:-1.39, Y:2.14, Z:-2.44 [[ 0.40059004 0.76401392 -0.50577698 -1.38794327] [-0.35488429 0.63829272 0.6831102 2.1426436 ] [ 0.84473946 -0.09415484 0.52683024 -2.44470057] [ 0. 0. 0. 1. ]] SLAMing on 5.641463508999999 meters SLAMing on 5.701463509 meters SLAMing on 5.7614635089999995 meters SLAMing on 5.821463508999999 meters SLAMing on 5.881463509 meters SLAMing on 5.941463508999999 meters SLAMing on 6.001463509 meters SLAMing on 6.061463508999999 meters SLAMing on 6.121463509 meters 0.013583396784993257 Centerline is valid? [True, True] Translation: X:-1.33, Y:2.17, Z:-2.52 [[ 0.32538399 0.79494712 -0.51203938 -1.32700954] [-0.3885912 0.60608437 0.69401629 2.17057097] [ 0.86204532 -0.0268478 0.50611961 -2.52295037] [ 0. 0. 0. 1. ]] SLAMing on 6.181463508999999 meters 0.01518186106466872 Centerline is valid? [True, True] Translation: X:-1.35, Y:2.18, Z:-2.57 [[ 0.33828624 0.79118389 -0.50950023 -1.34752501] [-0.38595675 0.61043759 0.69166707 2.18203309] [ 0.85825393 -0.0373364 0.5118654 -2.57222593] [ 0. 0. 0. 1. ]] SLAMing on 6.241463509 meters 0.016439650112278974 Centerline is valid? [True, True] Translation: X:-1.37, Y:2.19, Z:-2.62 [[ 0.34403046 0.78964098 -0.50804543 -1.36851322] [-0.38350886 0.61205411 0.69160011 2.19155084] [ 0.85706709 -0.04309158 0.51339957 -2.6229772 ] [ 0. 0. 0. 1. ]] SLAMing on 6.3014635089999995 meters SLAMing on 6.361463508999999 meters SLAMing on 6.421463509 meters 0.020975988705278215 Centerline is valid? [True, True] Translation: X:-1.38, Y:2.17, Z:-2.70 [[ 0.36798792 0.78141665 -0.50395726 -1.37618412] [-0.37488508 0.62066856 0.68864484 2.16620436] [ 0.85090896 -0.06448692 0.52133998 -2.70120195] [ 0. 0. 0. 1. ]] SLAMing on 6.481463508999999 meters 0.01937685408240695 Centerline is valid? [True, True] Translation: X:-1.38, Y:2.19, Z:-2.76 [[ 0.36071605 0.78503743 -0.5035873 -1.37956488] [-0.37966313 0.61677102 0.68952841 2.18714758] [ 0.85190366 -0.05753043 0.52052897 -2.75540872] [ 0. 0. 0. 1. ]] SLAMing on 6.541463509 meters 0.016614801194390717 Centerline is valid? [True, True] Translation: X:-1.39, Y:2.23, Z:-2.80 [[ 0.34750283 0.79148475 -0.50278591 -1.38608223] [-0.39041169 0.60964347 0.68986488 2.22586138] [ 0.85253768 -0.0434365 0.52085773 -2.7979475 ] [ 0. 0. 0. 1. ]] SLAMing on 6.601463508999999 meters 0.0160618706324114 Centerline is valid? [True, True] Translation: X:-1.39, Y:2.24, Z:-2.85 [[ 0.34131779 0.79491338 -0.50161228 -1.39185958] [-0.39655901 0.6056206 0.68990191 2.24240131] [ 0.85219899 -0.03655692 0.52193915 -2.84818646] [ 0. 0. 0. 1. ]] SLAMing on 6.661463509 meters 0.014837047234286069 Centerline is valid? [True, True] Translation: X:-1.40, Y:2.26, Z:-2.90 [[ 0.3357933 0.79819508 -0.50012746 -1.39527158] [-0.40074485 0.60156867 0.69102727 2.26022904] [ 0.85243558 -0.03161882 0.5218753 -2.90443404] [ 0. 0. 0. 1. ]] SLAMing on 6.7214635089999994 meters 0.014414793262778095 Centerline is valid? [True, True] Translation: X:-1.41, Y:2.29, Z:-2.95 [[ 0.33581395 0.79965254 -0.49777987 -1.40836958] [-0.40643956 0.59975498 0.68927559 2.29016781] [ 0.84972694 -0.02915093 0.52641652 -2.95033565] [ 0. 0. 0. 1. ]] SLAMing on 6.781463508999999 meters 0.014759974279728213 Centerline is valid? [True, True] Translation: X:-1.43, Y:2.34, Z:-2.98 [[ 0.33779014 0.80014191 -0.49565184 -1.42677752] [-0.40975357 0.59909636 0.68788485 2.33549236] [ 0.84734871 -0.02926561 0.53022985 -2.97735204] [ 0. 0. 0. 1. ]] SLAMing on 6.8414635089999996 meters 0.014437987713444282 Centerline is valid? [True, True] Translation: X:-1.44, Y:2.35, Z:-3.03 [[ 0.33568493 0.80132119 -0.49517671 -1.44114573] [-0.40735457 0.59747412 0.6907148 2.35245339] [ 0.84933967 -0.03015005 0.52698491 -3.02845653] [ 0. 0. 0. 1. ]] SLAMing on 6.901463508999999 meters 0.01485279391521919 Centerline is valid? [True, True] Translation: X:-1.46, Y:2.37, Z:-3.07 [[ 0.34009759 0.80154121 -0.49179804 -1.46155645] [-0.41282663 0.59714194 0.68774681 2.37375977] [ 0.84493065 -0.0308737 0.53398409 -3.07325972] [ 0. 0. 0. 1. ]] SLAMing on 6.961463509 meters 0.01444936864157231 Centerline is valid? [True, True] Translation: X:-1.48, Y:2.40, Z:-3.12 [[ 0.34083539 0.80223605 -0.49015156 -1.479549 ] [-0.41444672 0.5961903 0.68759802 2.39950912] [ 0.84383953 -0.03121604 0.53568685 -3.11865133] [ 0. 0. 0. 1. ]] SLAMing on 7.021463508999999 meters 0.01355338298537456 Centerline is valid? [True, True] Translation: X:-1.49, Y:2.42, Z:-3.17 [[ 0.33989439 0.80391998 -0.48804146 -1.49099261] [-0.41949819 0.59405105 0.68638518 2.42099545] [ 0.8417203 -0.02856596 0.5391576 -3.16949127] [ 0. 0. 0. 1. ]] SLAMing on 7.081463509 meters 0.012436950069878007 Centerline is valid? [True, True] Translation: X:-1.50, Y:2.44, Z:-3.22 [[ 0.33640559 0.805746 -0.48744708 -1.4968616 ] [-0.42144983 0.59170122 0.68721882 2.44220479] [ 0.84214685 -0.02574976 0.53863312 -3.22179382] [ 0. 0. 0. 1. ]] SLAMing on 7.141463508999999 meters 0.01159760750336317 Centerline is valid? [True, True] Translation: X:-1.51, Y:2.47, Z:-3.27 [[ 0.32836143 0.80928562 -0.48706832 -1.51005868] [-0.42568108 0.58711586 0.68854236 2.46629731] [ 0.84319297 -0.01875498 0.53728378 -3.26929476] [ 0. 0. 0. 1. ]] SLAMing on 7.201463508999999 meters 0.011711656795128448 Centerline is valid? [True, True] Translation: X:-1.52, Y:2.51, Z:-3.31 [[ 0.33163154 0.81020543 -0.4833091 -1.52101654] [-0.4327301 0.58586671 0.68520424 2.50789748] [ 0.83831091 -0.01809294 0.54489216 -3.30843018] [ 0. 0. 0. 1. ]] SLAMing on 7.2614635089999995 meters 0.012038092596125712 Centerline is valid? [True, True] Translation: X:-1.54, Y:2.54, Z:-3.35 [[ 0.33962699 0.80910676 -0.4795829 -1.54098983] [-0.43656877 0.58724554 0.68157933 2.53580406] [ 0.83310336 -0.02211182 0.55267518 -3.35169471] [ 0. 0. 0. 1. ]] SLAMing on 7.321463508999999 meters 0.012163936982991374 Centerline is valid? [True, True] Translation: X:-1.55, Y:2.55, Z:-3.40 [[ 0.33472997 0.81048753 -0.48069305 -1.55239451] [-0.43378608 0.58538811 0.68494554 2.55243919] [ 0.83653182 -0.02075385 0.54752515 -3.40391986] [ 0. 0. 0. 1. ]] SLAMing on 7.381463509 meters 0.01274850620057263 Centerline is valid? [True, True] Translation: X:-1.57, Y:2.58, Z:-3.45 [[ 0.33756253 0.81040978 -0.47883978 -1.56561997] [-0.43505575 0.58542714 0.6841064 2.58403455] [ 0.83473231 -0.02260669 0.55019169 -3.44531651] [ 0. 0. 0. 1. ]] SLAMing on 7.441463508999999 meters 0.013764664698800565 Centerline is valid? [True, True] Translation: X:-1.59, Y:2.61, Z:-3.49 [[ 0.34301665 0.81005853 -0.4755468 -1.58766991] [-0.43858245 0.58580692 0.68152453 2.60628169] [ 0.83065337 -0.02520778 0.55621898 -3.48841476] [ 0. 0. 0. 1. ]] SLAMing on 7.501463509 meters 0.013241596263704547 Centerline is valid? [True, True] Translation: X:-1.60, Y:2.63, Z:-3.53 [[ 0.34451749 0.81042351 -0.47383692 -1.60059194] [-0.43852276 0.58521279 0.68207315 2.63414802] [ 0.83006354 -0.02719786 0.5570052 -3.53207602] [ 0. 0. 0. 1. ]] SLAMing on 7.561463508999999 meters 0.013869094450626139 Centerline is valid? [True, True] Translation: X:-1.62, Y:2.67, Z:-3.57 [[ 0.34320583 0.81144411 -0.47304145 -1.6217481 ] [-0.43888996 0.58381484 0.68303429 2.66611909] [ 0.83041277 -0.02680821 0.55650333 -3.57086929] [ 0. 0. 0. 1. ]] SLAMing on 7.621463509 meters 0.013034256527958909 Centerline is valid? [True, True] Translation: X:-1.63, Y:2.69, Z:-3.62 [[ 0.34033288 0.81334804 -0.47184584 -1.62700656] [-0.44024977 0.58123223 0.68436045 2.69156268] [ 0.83087524 -0.02518034 0.55588873 -3.61714729] [ 0. 0. 0. 1. ]] SLAMing on 7.681463508999999 meters 0.013773696539082272 Centerline is valid? [True, True] Translation: X:-1.65, Y:2.72, Z:-3.65 [[ 0.34418439 0.81367522 -0.46847598 -1.64759799] [-0.4434743 0.5806815 0.68274413 2.72428102] [ 0.82756731 -0.02723281 0.56070555 -3.65121178] [ 0. 0. 0. 1. ]] SLAMing on 7.741463508999999 meters 0.012550603696480402 Centerline is valid? [True, True] Translation: X:-1.66, Y:2.76, Z:-3.69 [[ 0.33867517 0.81727853 -0.4662134 -1.66035927] [-0.44870685 0.57581219 0.68344897 2.75870722] [ 0.82701952 -0.02227405 0.56173176 -3.6883277 ] [ 0. 0. 0. 1. ]] SLAMing on 7.8014635089999995 meters 0.014311372109385623 Centerline is valid? [True, True] Translation: X:-1.69, Y:2.80, Z:-3.71 [[ 0.33388171 0.81918415 -0.46632643 -1.68867099] [-0.44634808 0.57313452 0.68723374 2.79789738] [ 0.83023876 -0.02131087 0.5570004 -3.71265763] [ 0. 0. 0. 1. ]] SLAMing on 7.861463508999999 meters 0.013411187452078477 Centerline is valid? [True, True] Translation: X:-1.69, Y:2.82, Z:-3.76 [[ 0.32886727 0.82261268 -0.46384771 -1.69044974] [-0.44974741 0.56831777 0.68901537 2.82428599] [ 0.83040567 -0.0179803 0.55686904 -3.75986648] [ 0. 0. 0. 1. ]] SLAMing on 7.921463509 meters 0.014350438214619555 Centerline is valid? [True, True] Translation: X:-1.72, Y:2.86, Z:-3.79 [[ 0.3379296 0.82072076 -0.46067453 -1.71710607] [-0.44969418 0.57078238 0.68700992 2.85878798] [ 0.8267882 -0.02499833 0.56195761 -3.79195921] [ 0. 0. 0. 1. ]] SLAMing on 7.981463508999999 meters 0.015347622012915778 Centerline is valid? [True, True] Translation: X:-1.74, Y:2.90, Z:-3.82 [[ 0.33948361 0.82091573 -0.45918214 -1.74251119] [-0.4480217 0.57036278 0.6884496 2.89740228] [ 0.82705951 -0.0279938 0.56141688 -3.82159474] [ 0. 0. 0. 1. ]] SLAMing on 8.041463509 meters 0.0161342587349911 Centerline is valid? [True, True] Translation: X:-1.76, Y:2.93, Z:-3.86 [[ 0.33933633 0.82148004 -0.45828092 -1.76350031] [-0.44534593 0.56942782 0.69095511 2.92595073] [ 0.82856373 -0.03037263 0.55907034 -3.86059104] [ 0. 0. 0. 1. ]] SLAMing on 8.101463509 meters 0.015753460941610384 Centerline is valid? [True, True] Translation: X:-1.77, Y:2.95, Z:-3.90 [[ 0.3425811 0.821243 -0.45628733 -1.77032473] [-0.44457617 0.56956562 0.69133714 2.95319091] [ 0.82764136 -0.03398456 0.56022748 -3.90426437] [ 0. 0. 0. 1. ]] SLAMing on 8.161463509 meters 0.018295217082067425 Centerline is valid? [True, True] Translation: X:-1.80, Y:2.99, Z:-3.93 [[ 0.3507443 0.819292 -0.45358467 -1.80335044] [-0.44253068 0.571869 0.69074774 2.98621245] [ 0.82531511 -0.0415507 0.56314164 -3.93339825] [ 0. 0. 0. 1. ]] SLAMing on 8.221463509 meters 0.017726763292910633 Centerline is valid? [True, True] Translation: X:-1.83, Y:3.02, Z:-3.97 [[ 0.34415987 0.82224926 -0.45327711 -1.82717993] [-0.44204437 0.56781612 0.694393 3.02337131] [ 0.82834218 -0.03861362 0.55889018 -3.96784733] [ 0. 0. 0. 1. ]] SLAMing on 8.281463509 meters 0.01799573206150352 Centerline is valid? [True, True] Translation: X:-1.84, Y:3.05, Z:-4.01 [[ 0.35076807 0.82059786 -0.45119942 -1.84371807] [-0.44001591 0.5697367 0.69410812 3.05222256] [ 0.82664851 -0.04493604 0.56092156 -4.00667938] [ 0. 0. 0. 1. ]] SLAMing on 8.341463509 meters 0.02169872353458298 Centerline is valid? [True, True] Translation: X:-1.88, Y:3.08, Z:-4.04 [[ 0.36522798 0.81586374 -0.44830222 -1.87755646] [-0.43417267 0.57527304 0.69322076 3.08200636] [ 0.82346986 -0.05854305 0.56433155 -4.03667043] [ 0. 0. 0. 1. ]] SLAMing on 8.401463509000001 meters 0.024832160242173443 Centerline is valid? [True, True] Translation: X:-1.90, Y:3.10, Z:-4.08 [[ 0.36754708 0.81517532 -0.44765873 -1.90390938] [-0.42849565 0.57565072 0.69643215 3.10078815] [ 0.82540937 -0.06415178 0.56087782 -4.07723034] [ 0. 0. 0. 1. ]] SLAMing on 8.461463509 meters 0.027423294622744964 Centerline is valid? [True, True] Translation: X:-1.94, Y:3.12, Z:-4.12 [[ 0.38375105 0.80951723 -0.44431632 -1.93625619] [-0.42267836 0.58177512 0.69489619 3.11793921] [ 0.82102262 -0.07886424 0.56542223 -4.11848746] [ 0. 0. 0. 1. ]] SLAMing on 8.521463509 meters 0.029911070778059 Centerline is valid? [True, True] Translation: X:-1.97, Y:3.14, Z:-4.16 [[ 0.38390085 0.8094543 -0.44430156 -1.97293043] [-0.41855108 0.58144728 0.69766328 3.1373804 ] [ 0.82306447 -0.08187063 0.56201608 -4.15636995] [ 0. 0. 0. 1. ]] SLAMing on 8.581463509 meters 0.029199519621375698 Centerline is valid? [True, True] Translation: X:-1.99, Y:3.17, Z:-4.19 [[ 0.40406773 0.80199171 -0.43993018 -1.98800767] [-0.41365483 0.58916032 0.6941036 3.16810192] [ 0.81585474 -0.09848562 0.56980842 -4.19273773] [ 0. 0. 0. 1. ]] SLAMing on 8.641463509000001 meters 0.03276954080228849 Centerline is valid? [True, True] Translation: X:-2.02, Y:3.18, Z:-4.23 [[ 0.40813262 0.80037579 -0.43911998 -2.0246318 ] [-0.40721093 0.59010759 0.69710278 3.1808727 ] [ 0.81707223 -0.10569593 0.56676393 -4.23129842] [ 0. 0. 0. 1. ]] SLAMing on 8.701463509 meters 0.037427553578985195 Centerline is valid? [True, True] Translation: X:-2.07, Y:3.17, Z:-4.28 [[ 0.41424512 0.79798992 -0.43773631 -2.07494062] [-0.40104886 0.59176883 0.69926351 3.17440746] [ 0.81704393 -0.11411285 0.5651703 -4.2771693 ] [ 0. 0. 0. 1. ]] SLAMing on 8.761463509 meters 0.038898404076862285 Centerline is valid? [True, True] Translation: X:-2.10, Y:3.19, Z:-4.32 [[ 0.42582548 0.79278592 -0.43607699 -2.10402292] [-0.391789 0.59598912 0.70092678 3.18737786] [ 0.81558202 -0.12762232 0.56439215 -4.3230483 ] [ 0. 0. 0. 1. ]] SLAMing on 8.821463509 meters 0.038434416403952405 Centerline is valid? [True, True] Translation: X:-2.13, Y:3.20, Z:-4.37 [[ 0.43562656 0.78797448 -0.43511575 -2.12824319] [-0.38424622 0.59992689 0.70174252 3.20432758] [ 0.81399284 -0.13850609 0.56412031 -4.36538824] [ 0. 0. 0. 1. ]] SLAMing on 8.881463509 meters 0.03807794440190694 Centerline is valid? [True, True] Translation: X:-2.16, Y:3.21, Z:-4.41 [[ 0.43694838 0.78765576 -0.43436679 -2.15766747] [-0.38123399 0.59955566 0.70369997 3.20992052] [ 0.81470041 -0.14188518 0.56225603 -4.41292412] [ 0. 0. 0. 1. ]] SLAMing on 8.941463509 meters 0.041162098503591336 Centerline is valid? [True, True] Translation: X:-2.20, Y:3.25, Z:-4.44 [[ 0.43973692 0.78709716 -0.43256156 -2.19504208] [-0.37984522 0.59941858 0.70456722 3.24956015] [ 0.8138483 -0.14551778 0.56256157 -4.43762984] [ 0. 0. 0. 1. ]] SLAMing on 9.001463509 meters 0.039292576381462316 Centerline is valid? [True, True] Translation: X:-2.21, Y:3.28, Z:-4.48 [[ 0.43812713 0.78859647 -0.43146288 -2.21168629] [-0.37915664 0.59731702 0.70671962 3.27575438] [ 0.81503672 -0.14604102 0.56070238 -4.47801259] [ 0. 0. 0. 1. ]] SLAMing on 9.061463509000001 meters 0.03626824551079448 Centerline is valid? [True, True] Translation: X:-2.23, Y:3.32, Z:-4.51 [[ 0.42297035 0.79663463 -0.43182097 -2.22573092] [-0.38417699 0.58925299 0.71076646 3.31691502] [ 0.82067297 -0.13473746 0.55528524 -4.51017664] [ 0. 0. 0. 1. ]] SLAMing on 9.121463509 meters 0.03630592496964822 Centerline is valid? [True, True] Translation: X:-2.24, Y:3.34, Z:-4.55 [[ 0.42356351 0.7977132 -0.42924074 -2.24236626] [-0.38759854 0.58787426 0.71005016 3.34472322] [ 0.81875596 -0.13437825 0.55819455 -4.54922675] [ 0. 0. 0. 1. ]] SLAMing on 9.181463509 meters 0.034706745766294136 Centerline is valid? [True, True] Translation: X:-2.25, Y:3.37, Z:-4.59 [[ 0.41648229 0.80229761 -0.42762256 -2.25141228] [-0.392693 0.5829694 0.71129381 3.36850379] [ 0.81996019 -0.1283169 0.55785308 -4.59351308] [ 0. 0. 0. 1. ]] SLAMing on 9.241463509 meters 0.03310314651962944 Centerline is valid? [True, True] Translation: X:-2.25, Y:3.40, Z:-4.63 [[ 0.40417618 0.80924151 -0.4263447 -2.25340789] [-0.40045828 0.57562146 0.71294678 3.3985725 ] [ 0.82235928 -0.11742284 0.55671994 -4.63459753] [ 0. 0. 0. 1. ]] SLAMing on 9.301463509 meters 0.028438264468562756 Centerline is valid? [True, True] Translation: X:-2.26, Y:3.44, Z:-4.67 [[ 0.37922647 0.82147082 -0.42587905 -2.26330968] [-0.41330277 0.56217355 0.71633911 3.43746034] [ 0.82786962 -0.09563776 0.55270726 -4.66880031] [ 0. 0. 0. 1. ]] SLAMing on 9.361463509 meters 0.026996651329751594 Centerline is valid? [True, True] Translation: X:-2.26, Y:3.48, Z:-4.71 [[ 0.3651502 0.82856913 -0.42442729 -2.26364281] [-0.42201958 0.55369918 0.71785562 3.47704595] [ 0.82979805 -0.0830085 0.55185576 -4.70682685] [ 0. 0. 0. 1. ]] SLAMing on 9.421463509 meters 0.021972055201710264 Centerline is valid? [True, True] Translation: X:-2.25, Y:3.51, Z:-4.75 [[ 0.34530679 0.83739241 -0.42371827 -2.25202087] [-0.4325986 0.54268656 0.7199651 3.50859885] [ 0.83283952 -0.06530891 0.54964814 -4.75387806] [ 0. 0. 0. 1. ]] SLAMing on 9.481463509000001 meters 0.020096072304647057 Centerline is valid? [True, True] Translation: X:-2.25, Y:3.54, Z:-4.80 [[ 0.33352636 0.84272928 -0.42257251 -2.25372433] [-0.4398283 0.53556301 0.72091839 3.53597113] [ 0.83385324 -0.05458594 0.54928057 -4.79954081] [ 0. 0. 0. 1. ]] SLAMing on 9.541463509 meters 0.015325954758949479 Centerline is valid? [True, True] Translation: X:-2.25, Y:3.57, Z:-4.84 [[ 0.31296487 0.85108038 -0.42156279 -2.24746007] [-0.45141068 0.52381452 0.72238961 3.5685981 ] [ 0.83563233 -0.03578462 0.54812232 -4.84497782] [ 0. 0. 0. 1. ]] SLAMing on 9.601463509 meters 0.012068581261455841 Centerline is valid? [True, True] Translation: X:-2.23, Y:3.59, Z:-4.90 [[ 0.27793596 0.86251974 -0.42286085 -2.23215935] [-0.46340742 0.50598498 0.72748386 3.58903156] [ 0.84143043 -0.00623707 0.54032947 -4.90159726] [ 0. 0. 0. 1. ]] SLAMing on 9.661463509 meters 0.011689007520252282 Centerline is valid? [True, True] Translation: X:-2.23, Y:3.64, Z:-4.93 [[ 2.79833288e-01 8.64024587e-01 -4.18515047e-01 -2.22954952e+00] [-4.72901054e-01 5.03430028e-01 7.23134013e-01 3.63755237e+00] [ 8.35498608e-01 -4.44076189e-03 5.49474617e-01 -4.93460294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721463509 meters 0.013645089922734464 Centerline is valid? [True, True] Translation: X:-2.21, Y:3.68, Z:-4.97 [[ 0.24827007 0.87376215 -0.41821247 -2.21438934] [-0.48589477 0.4858176 0.72655869 3.6827729 ] [ 0.83801446 0.02282448 0.54517043 -4.97394511] [ 0. 0. 0. 1. ]] SLAMing on 9.781463509 meters 0.01831984906771408 Centerline is valid? [True, True] Translation: X:-2.19, Y:3.71, Z:-5.03 [[ 0.21841496 0.88192702 -0.41773154 -2.19382476] [-0.49785398 0.46887227 0.72958907 3.70929204] [ 0.83930705 0.04861614 0.5414796 -5.02868457] [ 0. 0. 0. 1. ]] SLAMing on 9.841463509 meters 0.02244965594691597 Centerline is valid? [True, True] Translation: X:-2.19, Y:3.75, Z:-5.07 [[ 0.19947924 0.88688172 -0.41671195 -2.18594141] [-0.50664961 0.45735292 0.73084504 3.75390331] [ 0.83875754 0.06533854 0.54057069 -5.06567918] [ 0. 0. 0. 1. ]] SLAMing on 9.901463509000001 meters 0.024923590670191575 Centerline is valid? [True, True] Translation: X:-2.17, Y:3.79, Z:-5.11 [[ 0.1867094 0.89082095 -0.41421931 -2.17378161] [-0.51648847 0.44767002 0.72995288 3.7891842 ] [ 0.83569089 0.07765043 0.54368295 -5.10858492] [ 0. 0. 0. 1. ]] SLAMing on 9.961463509 meters 0.030949529341390794 Centerline is valid? [True, True] Translation: X:-2.15, Y:3.82, Z:-5.16 [[ 0.16881999 0.89507465 -0.41272409 -2.15231936] [-0.52420195 0.43613818 0.73143408 3.82097061] [ 0.83469284 0.09287008 0.54282872 -5.15799367] [ 0. 0. 0. 1. ]] SLAMing on 10.021463509 meters 0.0381374578182945 Centerline is valid? [True, True] Translation: X:-2.13, Y:3.86, Z:-5.21 [[ 0.15451511 0.89850595 -0.41086755 -2.12895958] [-0.53118615 0.4261931 0.73225727 3.85836244] [ 0.83304643 0.10510234 0.54312719 -5.20764805] [ 0. 0. 0. 1. ]] SLAMing on 10.081463509 meters 0.04511875983232846 Centerline is valid? [True, True] Translation: X:-2.11, Y:3.89, Z:-5.27 [[ 0.13309658 0.90195941 -0.41079742 -2.10644938] [-0.53614623 0.41412607 0.73555885 3.88646319] [ 0.83356614 0.12234712 0.53870091 -5.26728131] [ 0. 0. 0. 1. ]] SLAMing on 10.141463509 meters 0.048822654560234054 Centerline is valid? [True, True] Translation: X:-2.10, Y:3.93, Z:-5.31 [[ 0.12335291 0.90359889 -0.41023544 -2.1016392 ] [-0.54046792 0.40787551 0.73588857 3.92501015] [ 0.83227308 0.1309451 0.53867884 -5.31019481] [ 0. 0. 0. 1. ]] SLAMing on 10.201463509 meters 0.060398583291682836 Centerline is valid? [True, True] Translation: X:-2.07, Y:3.96, Z:-5.37 [[ 0.11866599 0.90464311 -0.40931556 -2.06978658] [-0.54196414 0.40441789 0.73669603 3.96446146] [ 0.83198152 0.13441359 0.53827478 -5.36642892] [ 0. 0. 0. 1. ]] SLAMing on 10.261463509 meters 0.06425025882270277 Centerline is valid? [True, True] Translation: X:-2.06, Y:3.99, Z:-5.43 [[ 0.11810857 0.90500877 -0.40866796 -2.06250017] [-0.54278786 0.40346348 0.7366129 3.98924682] [ 0.83152373 0.13481971 0.53888026 -5.42529354] [ 0. 0. 0. 1. ]] SLAMing on 10.321463509 meters 0.06043014618814596 Centerline is valid? [True, True] Translation: X:-2.07, Y:4.01, Z:-5.48 [[ 0.12409024 0.9042267 -0.40862659 -2.07467691] [-0.53865782 0.4072346 0.7375688 4.01234995] [ 0.83333629 0.12858482 0.53760262 -5.47788264] [ 0. 0. 0. 1. ]] SLAMing on 10.381463509 meters 0.05544812631222623 Centerline is valid? [True, True] Translation: X:-2.09, Y:4.03, Z:-5.53 [[ 0.13602158 0.90279596 -0.40799214 -2.0889618 ] [-0.53496015 0.41355111 0.73674495 4.03466998] [ 0.83385596 0.11804632 0.53921174 -5.5313859 ] [ 0. 0. 0. 1. ]] SLAMing on 10.441463509 meters 0.04896261346395924 Centerline is valid? [True, True] Translation: X:-2.10, Y:4.05, Z:-5.59 [[ 0.14884184 0.90088476 -0.40774104 -2.10309595] [-0.52925667 0.4208797 0.7367141 4.05261495] [ 0.83530443 0.10614578 0.53944377 -5.58518347] [ 0. 0. 0. 1. ]] SLAMing on 10.501463509 meters 0.045978612089217274 Centerline is valid? [True, True] Translation: X:-2.12, Y:4.08, Z:-5.63 [[ 0.15441799 0.90016977 -0.40724621 -2.12180916] [-0.52690652 0.42371201 0.73677517 4.08226387] [ 0.83577785 0.10080934 0.53973407 -5.63202312] [ 0. 0. 0. 1. ]] SLAMing on 10.561463509 meters 0.04164500193345428 Centerline is valid? [True, True] Translation: X:-2.13, Y:4.10, Z:-5.69 [[ 0.16314333 0.8985129 -0.40750315 -2.12739064] [-0.52057117 0.42925675 0.73806795 4.10171738] [ 0.83808706 0.09172352 0.53777029 -5.68841596] [ 0. 0. 0. 1. ]] SLAMing on 10.621463509 meters 0.035441576041635434 Centerline is valid? [True, True] Translation: X:-2.14, Y:4.12, Z:-5.74 [[ 0.17708313 0.89637499 -0.40639076 -2.14347412] [-0.51653506 0.43612304 0.73687735 4.11860672] [ 0.8377548 0.07942653 0.54023914 -5.74202871] [ 0. 0. 0. 1. ]] SLAMing on 10.681463509 meters 0.028288162646858545 Centerline is valid? [True, True] Translation: X:-2.16, Y:4.13, Z:-5.80 [[ 0.19655361 0.89233874 -0.40632283 -2.15826688] [-0.50486129 0.44735606 0.73823278 4.13308757] [ 0.84052469 0.06003435 0.53843673 -5.79707121] [ 0. 0. 0. 1. ]] SLAMing on 10.741463509 meters 0.01970773079704822 Centerline is valid? [True, True] Translation: X:-2.18, Y:4.14, Z:-5.85 [[ 0.22375137 0.88628847 -0.40549731 -2.18214327] [-0.49185294 0.46186185 0.73808151 4.13892371] [ 0.84143687 0.03429829 0.53926581 -5.85277753] [ 0. 0. 0. 1. ]] SLAMing on 10.801463509 meters 0.012763559891721397 Centerline is valid? [True, True] Translation: X:-2.21, Y:4.14, Z:-5.91 [[ 2.55558180e-01 8.78112739e-01 -4.04484901e-01 -2.20602923e+00] [-4.76344675e-01 4.78435780e-01 7.37695706e-01 4.14076102e+00] [ 8.41300046e-01 4.15005655e-03 5.40552505e-01 -5.91011668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861463509 meters 0.02152175479584093 Centerline is valid? [True, True] Translation: X:-2.24, Y:4.14, Z:-5.97 [[ 0.28491478 0.86938589 -0.40372236 -2.24127024] [-0.45909197 0.4934946 0.7387135 4.1371253 ] [ 0.8414619 -0.02512471 0.53973199 -5.96649744] [ 0. 0. 0. 1. ]] SLAMing on 10.921463509 meters 0.035247627055173515 Centerline is valid? [True, True] Translation: X:-1.24, Y:3.05, Z:-7.03 [[ 0.3004682 -0.87175626 0.38698823 -1.23812806] [-0.49921354 -0.48946157 -0.71499175 3.04898054] [ 0.8127144 0.02164252 -0.58226017 -7.02755478] [ 0. 0. 0. 1. ]] SLAMing on 10.981463509000001 meters 0.05022587002873275 Centerline is valid? [True, True] Translation: X:-2.36, Y:4.10, Z:-6.06 [[ 0.38750524 0.77414498 -0.50053895 -2.36286098] [-0.38389233 0.62915404 0.67586379 4.10011456] [ 0.83813266 -0.0697477 0.54098881 -6.0645285 ] [ 0. 0. 0. 1. ]] SLAMing on 11.041463509 meters 0.07632679233230406 Centerline is valid? [True, True] Translation: X:-2.51, Y:4.20, Z:-6.02 [[ 0.38455656 0.76405823 -0.51800703 -2.50987429] [-0.32296107 0.63705639 0.69989664 4.20213358] [ 0.86476147 -0.10185373 0.49174528 -6.01771925] [ 0. 0. 0. 1. ]] SLAMing on 11.101463509 meters 0.09068318233694914 Centerline is valid? [True, True] Translation: X:-2.61, Y:4.28, Z:-6.01 [[ 0.28830756 0.78383474 -0.5499835 -2.60681184] [-0.25730343 0.61666548 0.74398832 4.27889276] [ 0.92231974 -0.07298482 0.37947269 -6.00864787] [ 0. 0. 0. 1. ]] SLAMing on 11.161463509 meters 0.11610772711643158 Centerline is valid? [True, False] Translation: X:-2.57, Y:4.23, Z:-6.07 [[ 0.69381863 0.29773675 -0.65571986 -2.57051969] [ 0.14408934 0.83472704 0.53147816 4.23451291] [ 0.70558768 -0.46323169 0.53624848 -6.07486393] [ 0. 0. 0. 1. ]] SLAMing on 11.221463509 meters 0.455500121898841 Centerline is valid? [False, False] Translation: X:-2.67, Y:4.23, Z:-6.20 [[ 0.70194764 0.29150891 -0.64984003 -2.66910033] [ 0.15505196 0.82797516 0.53890262 4.2303269 ] [ 0.69514632 -0.47904039 0.53599618 -6.19628082] [ 0. 0. 0. 1. ]] SLAMing on 11.281463509 meters 0.4325219767280485 Centerline is valid? [False, False] Translation: X:-2.76, Y:4.22, Z:-6.31 [[ 0.71368981 0.27857666 -0.64268336 -2.75664448] [ 0.16176523 0.82716161 0.53817811 4.22415451] [ 0.68152686 -0.48805605 0.5452728 -6.31391429] [ 0. 0. 0. 1. ]] SLAMing on 11.341463509 meters 0.45172662143733056 Centerline is valid? [False, False] Translation: X:-2.86, Y:4.21, Z:-6.45 [[ 0.72214733 0.26749904 -0.63792436 -2.86483417] [ 0.16995296 0.82532596 0.53847289 4.21169734] [ 0.67053651 -0.4972739 0.55054469 -6.44682933] [ 0. 0. 0. 1. ]] SLAMing on 11.401463509000001 meters 0.3460449092792266 Centerline is valid? [False, False] Translation: X:-2.97, Y:4.20, Z:-6.56 [[ 0.72747026 0.25833796 -0.63564811 -2.96518041] [ 0.17632183 0.82491576 0.53705177 4.19815363] [ 0.663097 -0.50276783 0.55455106 -6.55934798] [ 0. 0. 0. 1. ]] SLAMing on 11.461463509 meters 0.29478004030706334 Centerline is valid? [False, False] Translation: X:-3.07, Y:4.18, Z:-6.67 [[ 0.73240388 0.25459506 -0.63147915 -3.06874196] [ 0.17567553 0.82539392 0.53652864 4.17810551] [ 0.65781659 -0.50389109 0.55979559 -6.66719107] [ 0. 0. 0. 1. ]] SLAMing on 11.521463509 meters 0.2651556483826616 Centerline is valid? [False, False] Translation: X:-3.17, Y:4.16, Z:-6.77 [[ 0.74926439 0.24582207 -0.61495885 -3.16517281] [ 0.16161557 0.83261923 0.52974109 4.15903889] [ 0.64224862 -0.49630306 0.58412326 -6.77357914] [ 0. 0. 0. 1. ]] SLAMing on 11.581463509 meters 0.2325995538993535 Centerline is valid? [False, False] Translation: X:-3.26, Y:4.14, Z:-6.90 [[ 0.79036143 0.22485544 -0.56988494 -3.25798585] [ 0.12142422 0.85426295 0.50546114 4.13539303] [ 0.60048728 -0.46869482 0.64787359 -6.9022773 ] [ 0. 0. 0. 1. ]] SLAMing on 11.641463509 meters 0.15983978519574848 Centerline is valid? [False, False] Translation: X:-3.65, Y:4.11, Z:-7.17 [[ 0.93525152 0.24089462 -0.25937306 -3.65019041] [-0.1050159 0.88855672 0.44658551 4.11075076] [ 0.33804772 -0.39043147 0.85632179 -7.17261634] [ 0. 0. 0. 1. ]] SLAMing on 11.701463509 meters 0.15673463671926632 Centerline is valid? [False, False] Translation: X:-3.72, Y:4.12, Z:-7.20 [[ 0.93749865 0.22782042 -0.26304777 -3.71510873] [-0.09438981 0.89404832 0.43791341 4.12419865] [ 0.33494303 -0.3857142 0.85967303 -7.20205009] [ 0. 0. 0. 1. ]] SLAMing on 11.761463509 meters 0.14984956193864882 Centerline is valid? [False, False] Translation: X:-3.77, Y:4.14, Z:-7.23 [[ 0.9391893 0.21332342 -0.26910329 -3.77298707] [-0.08459455 0.90321964 0.4207589 4.13601449] [ 0.3328171 -0.37240758 0.86634022 -7.22796628] [ 0. 0. 0. 1. ]] SLAMing on 11.821463509 meters 0.14435552867834803 Centerline is valid? [False, False] Translation: X:-3.82, Y:4.14, Z:-7.26 [[ 0.94337696 0.19303392 -0.26977366 -3.82189542] [-0.07274306 0.91383773 0.39951101 4.14455755] [ 0.32364852 -0.35726531 0.87613534 -7.25934946] [ 0. 0. 0. 1. ]] SLAMing on 11.881463509 meters 0.1422768962166476 Centerline is valid? [False, False] Translation: X:-3.87, Y:4.15, Z:-7.30 [[ 0.94960983 0.17113958 -0.26258792 -3.86510328] [-0.06281768 0.92469456 0.37549156 4.15204619] [ 0.30707509 -0.34007531 0.88884963 -7.29590232] [ 0. 0. 0. 1. ]] SLAMing on 11.941463509 meters 0.14022847510199585 Centerline is valid? [False, False] Translation: X:-3.90, Y:4.16, Z:-7.33 [[ 0.95615827 0.14752536 -0.25297755 -3.89931793] [-0.05133224 0.93490097 0.35117684 4.15690407] [ 0.28831645 -0.32279474 0.9014861 -7.33132697] [ 0. 0. 0. 1. ]] SLAMing on 12.001463509 meters 0.1403439620520416 Centerline is valid? [False, False] Translation: X:-3.92, Y:4.16, Z:-7.36 [[ 0.96189296 0.12588751 -0.24272263 -3.92000053] [-0.04249496 0.94574937 0.32210604 4.15770471] [ 0.27010391 -0.29951704 0.91505925 -7.36174559] [ 0. 0. 0. 1. ]] SLAMing on 12.061463509 meters 0.14059815814048385 Centerline is valid? [False, False] Translation: X:-3.92, Y:4.15, Z:-7.39 [[ 0.96638218 0.10871923 -0.23299275 -3.92419809] [-0.03653187 0.95506671 0.29413093 4.1537322 ] [ 0.2545013 -0.27573123 0.92693116 -7.38723031] [ 0. 0. 0. 1. ]] SLAMing on 12.121463509 meters 0.13929088166466855 Centerline is valid? [False, False] Translation: X:-3.92, Y:4.15, Z:-7.41 [[ 0.9708045 0.08724529 -0.22344322 -3.9191083 ] [-0.02398497 0.96214795 0.27147014 4.15094198] [ 0.23866993 -0.25818515 0.93615014 -7.40578968] [ 0. 0. 0. 1. ]] SLAMing on 12.181463509 meters 0.1400092896967674 Centerline is valid? [False, False] Translation: X:-3.91, Y:4.15, Z:-7.42 [[ 9.74771778e-01 5.96371562e-02 -2.15089261e-01 -3.90544399e+00] [-3.79834835e-03 9.67937303e-01 2.51163192e-01 4.14817837e+00] [ 2.23171578e-01 -2.44009808e-01 9.43744489e-01 -7.41880547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241463509 meters 0.14540914525905502 Centerline is valid? [False, False] Translation: X:-3.88, Y:4.14, Z:-7.43 [[ 0.97904872 0.03217076 -0.20106875 -3.88135617] [ 0.0157696 0.97249628 0.23238397 4.14293341] [ 0.20301458 -0.230686 0.95161392 -7.43371761] [ 0. 0. 0. 1. ]] SLAMing on 12.301463509 meters 0.1533514979357366 Centerline is valid? [False, False] Translation: X:-3.84, Y:4.13, Z:-7.45 [[ 0.98245117 0.01360828 -0.18602287 -3.84297066] [ 0.02686628 0.9766101 0.21333287 4.13436057] [ 0.18457491 -0.21458687 0.95910613 -7.44738765] [ 0. 0. 0. 1. ]] SLAMing on 12.361463509 meters 0.15306033364178953 Centerline is valid? [False, False] Translation: X:-3.80, Y:4.13, Z:-7.46 [[ 9.85849520e-01 8.15417643e-04 -1.67630720e-01 -3.79954111e+00] [ 3.32552720e-02 9.79161895e-01 2.00339889e-01 4.12500092e+00] [ 1.64300974e-01 -2.03079589e-01 9.65279167e-01 -7.45693671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421463509 meters 0.15617887804597025 Centerline is valid? [False, False] Translation: X:-3.78, Y:4.12, Z:-7.47 [[ 0.98786178 -0.00813403 -0.15512231 -3.78116416] [ 0.0380663 0.98085468 0.19098444 4.12162114] [ 0.15059897 -0.19457116 0.96925849 -7.47048707] [ 0. 0. 0. 1. ]] SLAMing on 12.481463509000001 meters 0.16435574614501042 Centerline is valid? [False, False] Translation: X:-3.73, Y:4.11, Z:-7.48 [[ 0.99065279 -0.01442632 -0.13564263 -3.72685875] [ 0.03967171 0.98187892 0.1853104 4.10983988] [ 0.13051129 -0.18895944 0.97327341 -7.47845375] [ 0. 0. 0. 1. ]] SLAMing on 12.541463509 meters 0.16849748538628412 Centerline is valid? [False, False] Translation: X:-3.68, Y:4.10, Z:-7.49 [[ 0.99272045 -0.01655117 -0.11929868 -3.68072613] [ 0.037809 0.98326683 0.17820441 4.10119993] [ 0.11435294 -0.18141773 0.97673487 -7.48562289] [ 0. 0. 0. 1. ]] SLAMing on 12.601463509 meters 0.18241665450908828 Centerline is valid? [False, False] Translation: X:-3.62, Y:4.09, Z:-7.49 [[ 0.99478829 -0.02043706 -0.09989284 -3.62459492] [ 0.03754531 0.98428997 0.17252133 4.09020348] [ 0.09479769 -0.1753727 0.97992745 -7.49456754] [ 0. 0. 0. 1. ]] SLAMing on 12.661463509 meters 0.1872189230391091 Centerline is valid? [False, False] Translation: X:-3.59, Y:4.08, Z:-7.51 [[ 0.99693226 -0.01404334 -0.0769991 -3.58600623] [ 0.02651877 0.98618972 0.16348271 4.07891187] [ 0.07363988 -0.1650231 0.98353675 -7.50697595] [ 0. 0. 0. 1. ]] SLAMing on 12.721463509 meters 0.19521502610486718 Centerline is valid? [False, False] Translation: X:-3.55, Y:4.07, Z:-7.52 [[ 0.9980774 -0.01701069 -0.05959988 -3.54646605] [ 0.02621793 0.98720427 0.15729063 4.06868749] [ 0.05616163 -0.15855081 0.98575226 -7.52233199] [ 0. 0. 0. 1. ]] SLAMing on 12.781463509 meters 0.2079514153389465 Centerline is valid? [False, False] Translation: X:-3.49, Y:4.06, Z:-7.53 [[ 0.99851031 -0.02509862 -0.0484481 -3.49065669] [ 0.03196571 0.98867551 0.14662512 4.06363138] [ 0.04421936 -0.14795537 0.98800499 -7.53163165] [ 0. 0. 0. 1. ]] SLAMing on 12.841463509 meters 0.21658435436981993 Centerline is valid? [False, False] Translation: X:-3.43, Y:4.06, Z:-7.54 [[ 0.99869317 -0.0304168 -0.04107025 -3.43200107] [ 0.03598977 0.98912557 0.14260207 4.05884808] [ 0.03628614 -0.14389382 0.98892764 -7.53555915] [ 0. 0. 0. 1. ]] SLAMing on 12.901463509000001 meters 0.2300928192306331 Centerline is valid? [False, False] Translation: X:-3.38, Y:4.06, Z:-7.54 [[ 0.99901665 -0.02201461 -0.03848493 -3.37560413] [ 0.0269744 0.99067909 0.13351899 4.05895585] [ 0.03518685 -0.1344258 0.99029874 -7.54417766] [ 0. 0. 0. 1. ]] SLAMing on 12.961463509 meters 0.23309340462280384 Centerline is valid? [False, False] Translation: X:-3.33, Y:4.06, Z:-7.55 [[ 9.99408738e-01 -4.59659766e-03 -3.40741202e-02 -3.32797896e+00] [ 8.86996310e-03 9.91946537e-01 1.26346314e-01 4.06322940e+00] [ 3.32189424e-02 -1.26573846e-01 9.91400809e-01 -7.55138415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021463509 meters 0.2434290587293504 Centerline is valid? [False, False] Translation: X:-3.29, Y:4.08, Z:-7.56 [[ 0.9994053 0.02220906 -0.02637815 -3.2893986 ] [-0.01885318 0.99243911 0.12128138 4.07725033] [ 0.02887225 -0.12071195 0.99226761 -7.55921251] [ 0. 0. 0. 1. ]] SLAMing on 13.081463509 meters 0.2513328339820725 Centerline is valid? [False, False] Translation: X:-3.28, Y:4.11, Z:-7.56 [[ 0.99854801 0.05067157 -0.01828308 -3.27831279] [-0.0480098 0.9910467 0.12458529 4.11354781] [ 0.02443232 -0.12352662 0.99204044 -7.56392171] [ 0. 0. 0. 1. ]] SLAMing on 13.141463509 meters 0.24653273226766143 Centerline is valid? [False, False] Translation: X:-3.31, Y:4.18, Z:-7.57 [[ 9.96024661e-01 8.90595939e-02 1.80656775e-03 -3.31027724e+00] [-8.86355166e-02 9.88855399e-01 1.19619167e-01 4.17519343e+00] [ 8.86680021e-03 -1.19303767e-01 9.92818206e-01 -7.57243130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201463509 meters 0.21894192442393245 Centerline is valid? [False, False] Translation: X:-3.44, Y:4.23, Z:-7.56 [[ 0.99597763 0.08774869 0.01813064 -3.43895561] [-0.089245 0.98953632 0.11337199 4.22919436] [-0.00799268 -0.11453403 0.99338717 -7.56475961] [ 0. 0. 0. 1. ]] SLAMing on 13.261463509 meters 0.18616970334882962 Centerline is valid? [False, False] Translation: X:-3.60, Y:4.22, Z:-7.55 [[ 0.99905767 0.03146267 0.02989786 -3.59880628] [-0.03465173 0.99299708 0.11294271 4.21897991] [-0.02613501 -0.11387229 0.99315158 -7.55322085] [ 0. 0. 0. 1. ]] SLAMing on 13.321463509 meters 0.16386486515696608 Centerline is valid? [False, False] Translation: X:-3.83, Y:4.18, Z:-7.52 [[ 0.99599559 -0.04178248 0.07903804 -3.82695911] [ 0.03216669 0.99234392 0.11924277 4.1783693 ] [-0.08341518 -0.11622289 0.98971418 -7.51821262] [ 0. 0. 0. 1. ]] SLAMing on 13.381463509 meters 0.3093402189792887 Centerline is valid? [False, False] Translation: X:-3.92, Y:4.17, Z:-7.48 [[ 0.98880451 -0.04700887 0.14161856 -3.92102538] [ 0.03014267 0.99244026 0.11896953 4.17334178] [-0.14614058 -0.11336885 0.98274637 -7.48199165] [ 0. 0. 0. 1. ]] SLAMing on 13.441463509 meters 0.2956412384926715 Centerline is valid? [False, False] Translation: X:-3.82, Y:4.19, Z:-7.46 [[ 9.81258038e-01 7.21442260e-03 1.92563274e-01 -3.82384492e+00] [-2.66330033e-02 9.94785962e-01 9.84457826e-02 4.19127465e+00] [-1.90849013e-01 -1.01729254e-01 9.76333864e-01 -7.46413631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501463509 meters 0.3208576160086937 Centerline is valid? [False, False] Translation: X:-3.73, Y:4.21, Z:-7.44 [[ 0.96572434 0.01095797 0.25933844 -3.72667213] [-0.03767367 0.9944464 0.0982703 4.21485106] [-0.25682134 -0.10467225 0.96077392 -7.44071422] [ 0. 0. 0. 1. ]] Total time of SLAM: 301.24 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%| | 0/432 [00:00