+ python -m lidar_slam --no-model /working/999ba04f-bc86-438c-9dfe-66d678bdec10 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/999ba04f-bc86-438c-9dfe-66d678bdec10 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 0.028779192 Adjusted end_distance from 9.223372036854776e+18 to 7.768779192 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028779192 meters 0.06069025470007767 Centerline is valid? [0, True] SLAMing on 0.08877919199999999 meters 0.06830951081569901 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99120656e-01 -3.05475410e-02 2.87186826e-02 6.34234551e-02] [ 3.06923013e-02 9.99518234e-01 -4.61329988e-03 1.45767326e-02] [-2.85639219e-02 5.49068565e-03 9.99576888e-01 -7.74354415e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148779192 meters 0.0864461447822313 Centerline is valid? [True, True] Translation: X:0.13, Y:0.04, Z:-0.03 [[ 0.99714268 -0.0400783 0.06403291 0.1273849 ] [ 0.04081803 0.99911365 -0.01028578 0.03548282] [-0.06356392 0.01287009 0.99789478 -0.03392577] [ 0. 0. 0. 1. ]] SLAMing on 0.208779192 meters 0.1267760228517993 Centerline is valid? [True, False] Translation: X:0.15, Y:0.03, Z:-0.03 [[ 0.99834052 -0.01817577 0.05464292 0.15470348] [ 0.0184047 0.99982381 -0.00368919 0.0349213 ] [-0.05456624 0.00468876 0.99849914 -0.02692969] [ 0. 0. 0. 1. ]] SLAMing on 0.268779192 meters 0.1483933750901182 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.02 [[ 0.99922792 -0.00301903 0.03917199 0.17510701] [ 0.0032782 0.99997315 -0.00655365 0.03010372] [-0.03915115 0.006677 0.99921099 -0.01948719] [ 0. 0. 0. 1. ]] SLAMing on 0.328779192 meters 0.16704722115360213 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.02 [[ 0.99947437 0.00750505 0.03153827 0.2055092 ] [-0.00714106 0.99990677 -0.01163831 0.02286853] [-0.03162267 0.01140698 0.99943478 -0.01904058] [ 0. 0. 0. 1. ]] SLAMing on 0.388779192 meters 0.17315982464250515 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.02 [[ 0.99955464 0.01247255 0.02710991 0.20039481] [-0.01204163 0.99979946 -0.01600098 0.02675138] [-0.02730405 0.0156674 0.99950439 -0.02218628] [ 0. 0. 0. 1. ]] SLAMing on 0.448779192 meters 0.18588089323494952 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:-0.02 [[ 0.99975602 0.0196816 0.01002648 0.20843378] [-0.01960902 0.99978117 -0.00728714 0.03344306] [-0.01016771 0.00708875 0.99992318 -0.02164489] [ 0. 0. 0. 1. ]] SLAMing on 0.508779192 meters 0.1756728983940558 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.03 [[ 0.99962582 0.02607632 0.00826121 0.21381085] [-0.02604289 0.9996523 -0.00412875 0.04403987] [-0.008366 0.00391206 0.99995735 -0.0271287 ] [ 0. 0. 0. 1. ]] SLAMing on 0.568779192 meters 0.18902386428829038 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.03 [[ 0.99942175 0.03309478 0.00780417 0.21589992] [-0.03310744 0.99945067 0.00149907 0.05240942] [-0.00775027 -0.00175658 0.99996842 -0.0279184 ] [ 0. 0. 0. 1. ]] SLAMing on 0.628779192 meters 0.2030471595683664 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.03 [[ 9.99430766e-01 3.29282867e-02 7.33970213e-03 2.17498494e-01] [-3.29223486e-02 9.99457481e-01 -9.28429640e-04 5.92478764e-02] [-7.36629180e-03 6.86260915e-04 9.99972633e-01 -3.00972280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6887791919999999 meters 0.2169680656926833 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.04 [[ 9.99395189e-01 3.42838173e-02 5.82027120e-03 2.23650449e-01] [-3.42794203e-02 9.99411923e-01 -8.53574193e-04 6.25020621e-02] [-5.84611222e-03 6.53542420e-04 9.99982698e-01 -3.61083950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.748779192 meters 0.22403649620664734 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.05 [[ 9.99687083e-01 2.39948439e-02 7.06994022e-03 2.53523705e-01] [-2.39959123e-02 9.99712054e-01 6.63129986e-05 7.02952113e-02] [-7.06631329e-03 -2.35941913e-04 9.99975005e-01 -4.86933356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.808779192 meters 0.2320067720778835 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:-0.05 [[ 0.99983564 0.01777992 0.00354477 0.2657789 ] [-0.01776593 0.99983441 -0.0039406 0.07329882] [-0.00361425 0.00387698 0.99998595 -0.05407044] [ 0. 0. 0. 1. ]] SLAMing on 0.868779192 meters 0.23307201596628646 Centerline is valid? [False, False] Translation: X:0.27, Y:0.08, Z:-0.06 [[ 0.99996817 0.00410843 0.00683911 0.27012661] [-0.00409409 0.9999894 -0.00210904 0.07966013] [-0.00684771 0.00208098 0.99997439 -0.06138945] [ 0. 0. 0. 1. ]] SLAMing on 0.9287791919999999 meters 0.24281444248641268 Centerline is valid? [False, False] Translation: X:0.27, Y:0.08, Z:-0.06 [[ 9.99963630e-01 6.36255577e-03 5.67955232e-03 2.74304898e-01] [-6.36666594e-03 9.99979483e-01 7.05891929e-04 8.06009034e-02] [-5.67494452e-03 -7.42026068e-04 9.99983622e-01 -6.35052589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.988779192 meters 0.2593242507781004 Centerline is valid? [False, False] Translation: X:0.28, Y:0.08, Z:-0.07 [[ 0.99995971 0.00769021 0.00463032 0.27881095] [-0.00770005 0.99996812 0.00211162 0.08213961] [-0.00461393 -0.00214719 0.99998705 -0.06644431] [ 0. 0. 0. 1. ]] SLAMing on 1.048779192 meters 0.26574572481443187 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.07 [[ 9.99976199e-01 5.79398874e-03 3.74572868e-03 2.81735047e-01] [-5.79700194e-03 9.99982882e-01 7.94082366e-04 8.52328067e-02] [-3.74106365e-03 -8.15777462e-04 9.99992669e-01 -6.70731777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.108779192 meters 0.28072278852770877 Centerline is valid? [False, False] Translation: X:0.29, Y:0.09, Z:-0.06 [[ 9.99992018e-01 -3.92412368e-03 7.51555743e-04 2.90741044e-01] [ 3.92630859e-03 9.99988005e-01 -2.92811757e-03 8.50216243e-02] [-7.40056433e-04 2.93104504e-03 9.99995431e-01 -6.48284790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.168779192 meters 0.24071361388828758 Centerline is valid? [False, False] Translation: X:0.33, Y:0.08, Z:-0.06 [[ 0.99962506 -0.02545468 -0.01008968 0.32687918] [ 0.02549672 0.99966666 0.00405983 0.07861207] [ 0.00998298 -0.00431556 0.99994086 -0.05694761] [ 0. 0. 0. 1. ]] SLAMing on 1.228779192 meters 0.21518990174566963 Centerline is valid? [False, False] Translation: X:0.35, Y:0.06, Z:-0.05 [[ 0.99880561 -0.0460627 -0.01629642 0.34579067] [ 0.04613561 0.99892666 0.00412658 0.06194155] [ 0.01608885 -0.00487349 0.99985869 -0.04979019] [ 0. 0. 0. 1. ]] SLAMing on 1.288779192 meters 0.19845285143726588 Centerline is valid? [False, False] Translation: X:0.37, Y:0.05, Z:-0.04 [[ 0.99846899 -0.05017404 -0.02328622 0.37153637] [ 0.05025658 0.99873191 0.00297292 0.04679062] [ 0.02310753 -0.00413865 0.99972442 -0.04401948] [ 0. 0. 0. 1. ]] SLAMing on 1.3487791919999998 meters 0.17935943770949056 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.04 [[ 9.98930277e-01 -3.52903431e-02 -2.98813266e-02 3.90512640e-01] [ 3.52980104e-02 9.99376794e-01 -2.71028275e-04 3.48978172e-02] [ 2.98722690e-02 -7.84013027e-04 9.99553417e-01 -3.82189507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.408779192 meters 0.16878533947256374 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.04 [[ 0.99944341 -0.02512869 -0.02194113 0.39163671] [ 0.02506076 0.99968026 -0.00336562 0.0233957 ] [ 0.02201869 0.00281389 0.9997536 -0.04035245] [ 0. 0. 0. 1. ]] SLAMing on 1.468779192 meters 0.1524500475888484 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.04 [[ 0.99969242 -0.01856515 -0.01644379 0.39960021] [ 0.01842522 0.99979308 -0.00862076 0.01596321] [ 0.01660044 0.00831513 0.99982763 -0.04433161] [ 0. 0. 0. 1. ]] SLAMing on 1.528779192 meters 0.13856119741646133 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:-0.05 [[ 0.99987828 -0.0110962 -0.01096772 0.40806945] [ 0.01096871 0.99987236 -0.01161699 0.00729247] [ 0.01109523 0.01149527 0.99987237 -0.04714295] [ 0. 0. 0. 1. ]] SLAMing on 1.588779192 meters 0.12012285110970944 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.00, Z:-0.05 [[ 0.99988383 -0.01025843 -0.01127319 0.40922897] [ 0.01017181 0.99991851 -0.00771464 -0.00423133] [ 0.01135141 0.00759908 0.9999067 -0.04663526] [ 0. 0. 0. 1. ]] SLAMing on 1.648779192 meters 0.10771126336995958 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:-0.05 [[ 0.99995363 -0.00747507 -0.00607197 0.41892633] [ 0.00741762 0.99992803 -0.00942915 -0.02147148] [ 0.00614201 0.00938367 0.99993711 -0.04573318] [ 0. 0. 0. 1. ]] SLAMing on 1.708779192 meters 0.09618602442098677 Centerline is valid? [False, True] Translation: X:0.42, Y:-0.04, Z:-0.05 [[ 0.99996977 -0.00540384 -0.00559073 0.41778346] [ 0.00537231 0.99996967 -0.00563884 -0.03520555] [ 0.00562103 0.00560864 0.99996847 -0.04594111] [ 0. 0. 0. 1. ]] SLAMing on 1.768779192 meters 0.08388628284779846 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.05, Z:-0.04 [[ 9.99916038e-01 5.30747094e-04 1.29474233e-02 4.78956759e-01] [-5.24010202e-04 9.99999726e-01 -5.23713742e-04 -4.94943141e-02] [-1.29476977e-02 5.16885188e-04 9.99916041e-01 -3.93712593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8287791919999998 meters 0.07520412617835594 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.06, Z:-0.05 [[ 9.99480795e-01 8.81239022e-03 3.09916604e-02 5.38328977e-01] [-8.77782628e-03 9.99960691e-01 -1.25114387e-03 -6.15606864e-02] [-3.10014677e-02 9.78454855e-04 9.99518860e-01 -4.76434208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8887791919999999 meters 0.07286601693622081 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.08, Z:-0.06 [[ 9.99192677e-01 1.52558569e-02 3.71652050e-02 5.96472108e-01] [-1.52105967e-02 9.99883187e-01 -1.50027220e-03 -7.67269680e-02] [-3.71837515e-02 9.33756054e-04 9.99308009e-01 -6.45603596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.948779192 meters 0.07275847115863832 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.11, Z:-0.08 [[ 0.99913006 0.01235131 0.03983186 0.65507093] [-0.01229709 0.9999231 -0.00160597 -0.10502739] [-0.03984863 0.00111476 0.99920511 -0.07582969] [ 0. 0. 0. 1. ]] SLAMing on 2.008779192 meters 0.07366484379370003 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.13, Z:-0.09 [[ 0.99931614 0.00712383 0.03628361 0.71289636] [-0.00707526 0.99997389 -0.00146684 -0.13266894] [-0.03629311 0.00120912 0.99934046 -0.09036422] [ 0. 0. 0. 1. ]] SLAMing on 2.068779192 meters 0.06895923421465287 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.16, Z:-0.10 [[ 0.9985527 -0.00636586 0.05340393 0.77126269] [ 0.00649047 0.9999766 -0.0021602 -0.16376267] [-0.05338893 0.00250369 0.99857066 -0.10156342] [ 0. 0. 0. 1. ]] SLAMing on 2.128779192 meters 0.06552867457504749 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.17, Z:-0.11 [[ 0.99829935 0.00553892 0.05803215 0.83185669] [-0.00541194 0.99998261 -0.00234498 -0.17163841] [-0.05804413 0.00202692 0.99831196 -0.10512109] [ 0. 0. 0. 1. ]] SLAMing on 2.188779192 meters 0.06328059788104703 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.17, Z:-0.11 [[ 0.99752245 0.00751913 0.0699458 0.89249337] [-0.0073391 0.99996906 -0.00283052 -0.17169661] [-0.06996492 0.00231017 0.99754678 -0.11101097] [ 0. 0. 0. 1. ]] SLAMing on 2.2487791919999998 meters 0.060920748879378955 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.17, Z:-0.12 [[ 0.99613859 -0.00931245 0.08729937 0.9512429 ] [ 0.00965743 0.99994713 -0.00353016 -0.17130692] [-0.08726188 0.00435962 0.99617587 -0.12011215] [ 0. 0. 0. 1. ]] SLAMing on 2.308779192 meters 0.05944278379031809 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.17, Z:-0.12 [[ 0.99505385 -0.02954126 0.09484272 1.01215713] [ 0.03004106 0.99954127 -0.00384604 -0.17065096] [-0.0946856 0.00667619 0.99548484 -0.12323131] [ 0. 0. 0. 1. ]] SLAMing on 2.368779192 meters 0.05947645969576757 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.17, Z:-0.13 [[ 0.99399413 -0.04465896 0.09990623 1.07312933] [ 0.04528962 0.99896568 -0.00405233 -0.17463954] [-0.09962192 0.0085527 0.99498861 -0.12604615] [ 0. 0. 0. 1. ]] SLAMing on 2.428779192 meters 0.06115401052996869 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.18, Z:-0.14 [[ 0.9929616 -0.05256128 0.10613471 1.13214089] [ 0.0533183 0.99856828 -0.00430583 -0.17873823] [-0.10575643 0.00993445 0.99434244 -0.13639649] [ 0. 0. 0. 1. ]] SLAMing on 2.488779192 meters 0.06172022558015461 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.18, Z:-0.15 [[ 0.99208074 -0.06693692 0.10627917 1.19160129] [ 0.06777717 0.99769117 -0.00430991 -0.17604886] [-0.1057453 0.01147908 0.99432699 -0.14883659] [ 0. 0. 0. 1. ]] SLAMing on 2.548779192 meters 0.06433620234625503 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.18, Z:-0.16 [[ 0.99101778 -0.081781 0.10580939 1.25084251] [ 0.08269688 0.99656551 -0.00429025 -0.18472755] [-0.10509513 0.01300182 0.99437717 -0.15670774] [ 0. 0. 0. 1. ]] SLAMing on 2.608779192 meters 0.06623589874622156 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.19, Z:-0.16 [[ 0.99009699 -0.08668751 0.11042295 1.31078915] [ 0.08771543 0.99613552 -0.00447614 -0.19214892] [-0.1096082 0.01411761 0.99387461 -0.1633105 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6687791919999997 meters 0.06670508915691761 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.19, Z:-0.17 [[ 0.99008107 -0.08026132 0.11531523 1.37006274] [ 0.0813403 0.99667543 -0.00467421 -0.19306599] [-0.11455669 0.01400762 0.99331795 -0.17153168] [ 0. 0. 0. 1. ]] SLAMing on 2.7287791919999997 meters 0.06825351990201976 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.19, Z:-0.18 [[ 0.99103914 -0.06892389 0.11441553 1.42912551] [ 0.06991137 0.99754244 -0.00463568 -0.19324509] [-0.11381484 0.01259309 0.99342216 -0.18383596] [ 0. 0. 0. 1. ]] SLAMing on 2.788779192 meters 0.06810626973399007 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.19, Z:-0.19 [[ 0.99180248 -0.06042047 0.11259314 1.48924339] [ 0.06132231 0.9981076 -0.00456057 -0.19339312] [-0.11210451 0.01142766 0.99363071 -0.19177792] [ 0. 0. 0. 1. ]] SLAMing on 2.848779192 meters 0.061179240747967996 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.18, Z:-0.20 [[ 0.99207752 -0.04983567 0.11531957 1.55049149] [ 0.05071137 0.99870243 -0.00467053 -0.17615379] [-0.11493718 0.01048154 0.99331746 -0.19667513] [ 0. 0. 0. 1. ]] SLAMing on 2.908779192 meters 0.06074497727145601 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.18, Z:-0.20 [[ 0.99229541 -0.04008685 0.11723 1.61113476] [ 0.04092442 0.99915098 -0.00474539 -0.178244 ] [-0.11694024 0.0095064 0.99309345 -0.2017349 ] [ 0. 0. 0. 1. ]] SLAMing on 2.968779192 meters 0.06085481457546868 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.18, Z:-0.21 [[ 0.99220578 -0.03427548 0.11980349 1.67184789] [ 0.03510856 0.99937174 -0.00484937 -0.18369652] [-0.119562 0.0090177 0.99278578 -0.20673096] [ 0. 0. 0. 1. ]] SLAMing on 3.028779192 meters 0.05998937170429733 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.19, Z:-0.22 [[ 0.9927083 -0.03214179 0.11617719 1.73217595] [ 0.03291051 0.99944723 -0.0047041 -0.18908297] [-0.11596178 0.00849325 0.99321736 -0.21775757] [ 0. 0. 0. 1. ]] SLAMing on 3.088779192 meters 0.061253581181914596 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.20, Z:-0.23 [[ 0.99281279 -0.03345814 0.11490567 1.79176749] [ 0.03421921 0.9994035 -0.00465679 -0.20231506] [-0.11468132 0.0085553 0.99336549 -0.22944982] [ 0. 0. 0. 1. ]] SLAMing on 3.148779192 meters 0.06065793060220798 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.21, Z:-0.23 [[ 0.99293637 -0.02556082 0.11586207 1.85226221] [ 0.02628193 0.99964352 -0.00470022 -0.2074116 ] [-0.11570063 0.0077121 0.99325419 -0.23343932] [ 0. 0. 0. 1. ]] SLAMing on 3.2087791919999997 meters 0.05885111039912069 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.20, Z:-0.24 [[ 0.99314962 -0.02619964 0.11387452 1.91355939] [ 0.02689994 0.99962747 -0.0046173 -0.20476633] [-0.11371113 0.00764889 0.99348441 -0.24018954] [ 0. 0. 0. 1. ]] SLAMing on 3.268779192 meters 0.06042112018620678 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.21, Z:-0.25 [[ 0.99337389 -0.03093877 0.11068471 1.97227022] [ 0.03163089 0.99948948 -0.00450221 -0.20647125] [-0.11048891 0.00797344 0.99384537 -0.25196167] [ 0. 0. 0. 1. ]] SLAMing on 3.328779192 meters 0.06418081373505813 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.22, Z:-0.26 [[ 0.99316499 -0.04762709 0.10655969 2.03065517] [ 0.04836439 0.99882031 -0.00434413 -0.21781625] [-0.10622708 0.00946813 0.99429682 -0.26074012] [ 0. 0. 0. 1. ]] SLAMing on 3.388779192 meters 0.0683204534654237 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.23, Z:-0.26 [[ 0.99147889 -0.06912629 0.11041366 2.08954701] [ 0.07004991 0.99753332 -0.00450333 -0.23318743] [-0.10983001 0.01219943 0.99387552 -0.26419678] [ 0. 0. 0. 1. ]] SLAMing on 3.448779192 meters 0.05638192607170204 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.21, Z:-0.27 [[ 0.99041575 -0.07876876 0.11345539 2.15168828] [ 0.07980656 0.99679963 -0.00462742 -0.20607864] [-0.1127278 0.01363756 0.99353231 -0.2663251 ] [ 0. 0. 0. 1. ]] SLAMing on 3.508779192 meters 0.05809151240949662 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.21, Z:-0.27 [[ 0.9908676 -0.06940491 0.11560429 2.21065604] [ 0.07041987 0.9975063 -0.00471381 -0.20648472] [-0.11498885 0.0128116 0.99328416 -0.27383417] [ 0. 0. 0. 1. ]] SLAMing on 3.568779192 meters 0.05703448441590161 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.20, Z:-0.28 [[ 0.99158128 -0.05847581 0.11552982 2.27125345] [ 0.05941614 0.99822219 -0.00470942 -0.19862494] [-0.11504904 0.01153411 0.99329285 -0.279238 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6287791919999997 meters 0.055133830834708235 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.19, Z:-0.29 [[ 0.99259372 -0.05522785 0.10820164 2.33087746] [ 0.0560328 0.99841919 -0.00441089 -0.18901201] [-0.10778699 0.01044106 0.99411918 -0.28996235] [ 0. 0. 0. 1. ]] SLAMing on 3.6887791919999997 meters 0.05604535338612846 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.19, Z:-0.30 [[ 0.993193 -0.05406503 0.10317281 2.38994017] [ 0.05479004 0.99848905 -0.00420407 -0.19314437] [-0.10278963 0.00982829 0.99465456 -0.30031208] [ 0. 0. 0. 1. ]] SLAMing on 3.7487791919999998 meters 0.05627983403378224 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.20, Z:-0.31 [[ 0.99360506 -0.05077526 0.1008507 2.44918032] [ 0.05145089 0.99866708 -0.00410787 -0.19500806] [-0.1005077 0.00927046 0.99489309 -0.30859362] [ 0. 0. 0. 1. ]] SLAMing on 3.808779192 meters 0.05446609648640791 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.19, Z:-0.31 [[ 0.9935485 -0.04509377 0.10405732 2.50981988] [ 0.04578214 0.99894247 -0.00423505 -0.19108184] [-0.10375631 0.00897169 0.99456228 -0.31218776] [ 0. 0. 0. 1. ]] SLAMing on 3.868779192 meters 0.05693248729223179 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.20, Z:-0.32 [[ 0.99325572 -0.04138895 0.10830527 2.56830189] [ 0.04211324 0.99910312 -0.00440783 -0.2022731 ] [-0.1080257 0.00893919 0.99410791 -0.32223827] [ 0. 0. 0. 1. ]] SLAMing on 3.928779192 meters 0.055161528052276455 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.20, Z:-0.33 [[ 0.99346002 -0.03111375 0.10985955 2.62836714] [ 0.03179653 0.99948438 -0.00446813 -0.20138154] [-0.10966388 0.00793206 0.99393708 -0.32812687] [ 0. 0. 0. 1. ]] SLAMing on 3.988779192 meters 0.05481656341909552 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.21, Z:-0.34 [[ 0.99384513 -0.02215661 0.10854001 2.68841652] [ 0.02277005 0.99973098 -0.00441543 -0.20858572] [-0.10841298 0.00685971 0.99408228 -0.33697457] [ 0. 0. 0. 1. ]] SLAMing on 4.048779192 meters 0.05365428147949609 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.21, Z:-0.35 [[ 0.99426765 -0.01199416 0.1062449 2.74784832] [ 0.01252411 0.99991223 -0.00432213 -0.21452996] [-0.10618373 0.00562798 0.9943306 -0.34791783] [ 0. 0. 0. 1. ]] SLAMing on 4.108779192 meters 0.055169144448389745 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.23, Z:-0.36 [[ 0.9941582 -0.00301804 0.10789049 2.80560966] [ 0.00351222 0.99998419 -0.00439066 -0.23308231] [-0.10787553 0.00474394 0.99415309 -0.36161668] [ 0. 0. 0. 1. ]] SLAMing on 4.168779192 meters 0.054560708290668135 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.25, Z:-0.37 [[ 9.94111975e-01 2.00055954e-03 1.08339189e-01 2.86543669e+00] [-1.53202867e-03 9.99989112e-01 -4.40772834e-03 -2.51703723e-01] [-1.08346827e-01 4.21579678e-03 9.94104216e-01 -3.67953567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228779192 meters 0.052685362512963255 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.25, Z:-0.37 [[ 0.99379897 0.01084435 0.11066168 2.92690361] [-0.01040941 0.99993566 -0.00450733 -0.25018107] [-0.11070344 0.00332745 0.99384791 -0.36630092] [ 0. 0. 0. 1. ]] SLAMing on 4.288779192 meters 0.053298641266454914 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.24, Z:-0.38 [[ 0.99393631 0.01071754 0.10943375 2.9864322 ] [-0.01029212 0.99993713 -0.00445166 -0.24444887] [-0.10947458 0.00329836 0.99398412 -0.38333078] [ 0. 0. 0. 1. ]] SLAMing on 4.348779192 meters 0.05383992752926208 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.25, Z:-0.39 [[ 9.93830915e-01 5.46191742e-04 1.10904529e-01 3.04692208e+00] [-4.22194371e-05 9.99989664e-01 -4.54649704e-03 -2.47327639e-01] [-1.10905866e-01 4.51376699e-03 9.93820665e-01 -3.89366394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408779192 meters 0.05597363402353578 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.26, Z:-0.39 [[ 0.99339765 -0.01793325 0.11331154 3.10622109] [ 0.01857906 0.9998166 -0.00464589 -0.26182407] [-0.11320744 0.00672044 0.99354865 -0.39116254] [ 0. 0. 0. 1. ]] SLAMing on 4.4687791919999995 meters 0.05513846213509042 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.26, Z:-0.40 [[ 0.99357778 -0.02573014 0.11018687 3.16619965] [ 0.02638881 0.99964152 -0.00452341 -0.25597362] [-0.11003098 0.00740206 0.9939006 -0.40092236] [ 0. 0. 0. 1. ]] SLAMing on 4.528779192 meters 0.056106623224092184 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.26, Z:-0.41 [[ 0.99351629 -0.03123577 0.10931474 3.22521321] [ 0.03191711 0.99948044 -0.0044882 -0.25964024] [-0.10911775 0.00794811 0.99399705 -0.41036795] [ 0. 0. 0. 1. ]] SLAMing on 4.588779192 meters 0.05721171217052391 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.27, Z:-0.41 [[ 0.99286227 -0.04667011 0.10975612 3.28418998] [ 0.04745047 0.99886342 -0.00450741 -0.26692926] [-0.10942102 0.00968322 0.99394833 -0.4144887 ] [ 0. 0. 0. 1. ]] SLAMing on 4.648779192 meters 0.057805993990864744 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.27, Z:-0.42 [[ 0.9918472 -0.05713446 0.11390696 3.3431052 ] [ 0.05804363 0.99830308 -0.00467842 -0.26716961] [-0.11344637 0.01125185 0.99348041 -0.42071074] [ 0. 0. 0. 1. ]] SLAMing on 4.708779192 meters 0.05636576385472727 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.26, Z:-0.43 [[ 0.99145889 -0.06260252 0.11441241 3.40280583] [ 0.06355671 0.99796713 -0.00470758 -0.26342312] [-0.11388511 0.01193905 0.99342219 -0.42825985] [ 0. 0. 0. 1. ]] SLAMing on 4.768779192 meters 0.0533529657002841 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.25, Z:-0.44 [[ 0.99046226 -0.0741669 0.11611972 3.46291126] [ 0.07522812 0.99715491 -0.00477715 -0.25329512] [-0.11543504 0.01346705 0.99322374 -0.43628361] [ 0. 0. 0. 1. ]] SLAMing on 4.828779192 meters 0.05498032263693459 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.26, Z:-0.44 [[ 0.99035272 -0.07596751 0.11588976 3.52287375] [ 0.07703658 0.99701687 -0.00476742 -0.25872707] [-0.11518188 0.01364918 0.99325064 -0.44105736] [ 0. 0. 0. 1. ]] SLAMing on 4.888779191999999 meters 0.0556980374641754 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.25, Z:-0.45 [[ 0.99038904 -0.07858134 0.11381795 3.58204622] [ 0.0796289 0.99681359 -0.00467979 -0.25185687] [-0.11308753 0.01369801 0.9934906 -0.45088555] [ 0. 0. 0. 1. ]] SLAMing on 4.948779192 meters 0.057945107166251425 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.25, Z:-0.46 [[ 0.99018884 -0.08267788 0.11265185 3.64109065] [ 0.08372996 0.99647772 -0.004632 -0.24743469] [-0.11187209 0.01401889 0.99362372 -0.45823313] [ 0. 0. 0. 1. ]] SLAMing on 5.0087791919999995 meters 0.059186246957823756 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.24, Z:-0.46 [[ 0.99112876 -0.0765512 0.10864485 3.70043879] [ 0.07749278 0.99698292 -0.0044648 -0.23555955] [-0.10797527 0.01284439 0.9940706 -0.46435878] [ 0. 0. 0. 1. ]] SLAMing on 5.068779192 meters 0.05626879639376365 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.20, Z:-0.47 [[ 0.99193353 -0.06734744 0.10738808 3.76119338] [ 0.06821364 0.99766099 -0.00440904 -0.20460327] [-0.10683996 0.01169881 0.9942074 -0.47237913] [ 0. 0. 0. 1. ]] SLAMing on 5.128779192 meters 0.057508227168543494 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.19, Z:-0.48 [[ 0.99243568 -0.06341316 0.10511994 3.82106211] [ 0.06422112 0.99792636 -0.00431574 -0.1936277 ] [-0.10462829 0.01103402 0.99445019 -0.48043669] [ 0. 0. 0. 1. ]] SLAMing on 5.188779192 meters 0.05721836006478588 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.18, Z:-0.49 [[ 0.99261138 -0.06586238 0.1019058 3.88146413] [ 0.06663371 0.99776875 -0.00417986 -0.18408542] [-0.10140312 0.01093934 0.99478527 -0.48808291] [ 0. 0. 0. 1. ]] SLAMing on 5.248779192 meters 0.059467926341938426 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.19, Z:-0.50 [[ 0.99308453 -0.06526014 0.09759215 3.93783264] [ 0.06596458 0.99781392 -0.00400579 -0.18592085] [-0.09711738 0.01041572 0.99521843 -0.4995939 ] [ 0. 0. 0. 1. ]] SLAMing on 5.308779191999999 meters 0.057384931730807366 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.18, Z:-0.51 [[ 9.93843365e-01 -5.74691775e-02 9.47241239e-02 3.99898391e+00] [ 5.80962907e-02 9.98303469e-01 -3.87370954e-03 -1.76389467e-01] [-9.43408025e-02 9.35298076e-03 9.95496024e-01 -5.05157007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368779192 meters 0.06097807276376761 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.19, Z:-0.51 [[ 9.94709557e-01 -4.62680816e-02 9.17178431e-02 4.05712167e+00] [ 4.68088592e-02 9.98896816e-01 -3.75259747e-03 -1.85042761e-01] [-9.14430359e-02 8.02595217e-03 9.95777965e-01 -5.14178247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4287791919999995 meters 0.06151903455427699 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.19, Z:-0.52 [[ 9.95406425e-01 -3.75358004e-02 8.80744718e-02 4.11609929e+00] [ 3.80003699e-02 9.99271228e-01 -3.60339363e-03 -1.85422288e-01] [-8.78750294e-02 6.93370368e-03 9.96107375e-01 -5.19310994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488779192 meters 0.05756080252984265 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.18, Z:-0.51 [[ 9.96172947e-01 -3.59140355e-02 7.96846372e-02 4.17835829e+00] [ 3.62886660e-02 9.99336039e-01 -3.25780994e-03 -1.77477894e-01] [-7.95147286e-02 6.13699132e-03 9.96814800e-01 -5.10254142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548779192 meters 0.05800028837238669 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.18, Z:-0.51 [[ 9.96446179e-01 -4.09398117e-02 7.36134750e-02 4.23831755e+00] [ 4.12730379e-02 9.99143369e-01 -3.01058355e-03 -1.81620807e-01] [-7.34271627e-02 6.03813622e-03 9.97282303e-01 -5.13776423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608779192 meters 0.06010614183260067 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.19, Z:-0.52 [[ 9.96678154e-01 -4.66186817e-02 6.67784105e-02 4.29723100e+00] [ 4.69053272e-02 9.98895608e-01 -2.73020097e-03 -1.92869522e-01] [-6.65773826e-02 5.85339486e-03 9.97764095e-01 -5.21580264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668779192 meters 0.05908823170313841 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.20, Z:-0.52 [[ 9.97126032e-01 -4.92815181e-02 5.75413626e-02 4.35775182e+00] [ 4.94985729e-02 9.98771425e-01 -2.35210836e-03 -1.95720298e-01] [-5.73547532e-02 5.19356380e-03 9.98340352e-01 -5.22902398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728779192 meters 0.059885169137067394 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.20, Z:-0.53 [[ 9.97177492e-01 -4.60703961e-02 5.92838002e-02 4.41549877e+00] [ 4.62954106e-02 9.98924844e-01 -2.42693879e-03 -2.02786837e-01] [-5.91082508e-02 5.16465661e-03 9.98238219e-01 -5.33690908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788779192 meters 0.0604814644143033 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.21, Z:-0.54 [[ 9.97740242e-01 -3.91328799e-02 5.46170970e-02 4.47479236e+00] [ 3.93132116e-02 9.99224447e-01 -2.23085859e-03 -2.12062900e-01] [-5.44874386e-02 4.37299088e-03 9.98504880e-01 -5.39355791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848779191999999 meters 0.05854285556451947 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.21, Z:-0.55 [[ 9.98088153e-01 -2.69001344e-02 5.56455052e-02 4.53523702e+00] [ 2.70683428e-02 9.99631005e-01 -2.27123116e-03 -2.12488435e-01] [-5.55638759e-02 3.77312052e-03 9.98448005e-01 -5.46014712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908779192 meters 0.05767066759317397 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.22, Z:-0.56 [[ 9.97852175e-01 -1.65538348e-02 6.33798646e-02 4.59455899e+00] [ 1.67514083e-02 9.99856338e-01 -2.58713963e-03 -2.19998390e-01] [-6.33279322e-02 3.64328489e-03 9.97986122e-01 -5.56856028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9687791919999995 meters 0.05932075350771927 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.23, Z:-0.58 [[ 9.97543101e-01 -9.08140971e-03 6.94643046e-02 4.65306389e+00] [ 9.30075749e-03 9.99952728e-01 -2.83492440e-03 -2.29931717e-01] [-6.94352758e-02 3.47402993e-03 9.97580410e-01 -5.75685876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028779192 meters 0.06561892805316154 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.24, Z:-0.59 [[ 9.96870753e-01 -1.80865866e-03 7.90280402e-02 4.71021752e+00] [ 2.07007330e-03 9.99992654e-01 -3.22607211e-03 -2.44958517e-01] [-7.90216247e-02 3.37957077e-03 9.96867173e-01 -5.92123214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088779192 meters 0.09580971592505655 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.26, Z:-0.62 [[ 9.95561692e-01 4.30451293e-04 9.41102178e-02 4.76688878e+00] [-6.95429069e-05 9.99992632e-01 -3.83820032e-03 -2.61767418e-01] [-9.41111765e-02 3.81462050e-03 9.95554386e-01 -6.19802889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148779192 meters 0.12597967420278602 Centerline is valid? [True, False] Translation: X:4.80, Y:-0.28, Z:-0.63 [[ 9.96325244e-01 -1.16927788e-03 8.56425128e-02 4.79580968e+00] [ 1.80036395e-03 9.99971792e-01 -7.29197611e-03 -2.76266725e-01] [-8.56315707e-02 7.41936757e-03 9.96299246e-01 -6.27667294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208779192 meters 0.14799422316798697 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.29, Z:-0.62 [[ 9.97296684e-01 -1.25879810e-03 7.34693121e-02 4.81579168e+00] [ 1.79502682e-03 9.99972230e-01 -7.23310366e-03 -2.92555914e-01] [-7.34581668e-02 7.34542968e-03 9.97271248e-01 -6.24979463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268779192 meters 0.17390362767341155 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.31, Z:-0.62 [[ 0.99730265 -0.00861375 0.07289191 4.81639384] [ 0.00943691 0.99989545 -0.01095604 -0.30623966] [-0.07278992 0.01161436 0.99727967 -0.62184614] [ 0. 0. 0. 1. ]] SLAMing on 6.328779192 meters 0.1905437642953566 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.32, Z:-0.61 [[ 0.99810989 -0.00918772 0.06076378 4.8360002 ] [ 0.00981399 0.99990168 -0.01001624 -0.32180745] [-0.06066578 0.01059365 0.99810192 -0.61410448] [ 0. 0. 0. 1. ]] SLAMing on 6.388779191999999 meters 0.20413082728935955 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.33, Z:-0.62 [[ 0.99816518 -0.00988476 0.0597375 4.838608 ] [ 0.01043345 0.99990614 -0.00888016 -0.33159691] [-0.05964411 0.00948714 0.99817462 -0.61529238] [ 0. 0. 0. 1. ]] SLAMing on 6.448779192 meters 0.20461331661223872 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.34, Z:-0.61 [[ 9.98801402e-01 -2.43512735e-03 4.88858828e-02 4.85183029e+00] [ 2.76851626e-03 9.99973365e-01 -6.75318542e-03 -3.44667291e-01] [-4.88681358e-02 6.88043243e-03 9.98781540e-01 -6.12137777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5087791919999995 meters 0.2151783886425334 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.35, Z:-0.61 [[ 9.99261919e-01 4.76533944e-03 3.81170523e-02 4.86529220e+00] [-4.49175914e-03 9.99963559e-01 -7.25979364e-03 -3.52257306e-01] [-3.81502587e-02 7.08322271e-03 9.99246909e-01 -6.14789920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568779192 meters 0.22327824787512152 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.35, Z:-0.62 [[ 0.9993082 0.02083313 0.03080737 4.87522563] [-0.02060626 0.9997583 -0.00766348 -0.35267407] [-0.03095957 0.00702336 0.99949596 -0.61653617] [ 0. 0. 0. 1. ]] SLAMing on 6.628779192 meters 0.22675700328353945 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.35, Z:-0.62 [[ 0.99931733 0.0204689 0.03075546 4.87584088] [-0.02021897 0.99976016 -0.00841536 -0.35072177] [-0.03092034 0.00778777 0.99949151 -0.61738666] [ 0. 0. 0. 1. ]] SLAMing on 6.688779192 meters 0.2328233058442785 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.35, Z:-0.62 [[ 9.99254060e-01 2.41935445e-02 3.00997594e-02 4.87728791e+00] [-2.40558880e-02 9.99698473e-01 -4.92714218e-03 -3.48243293e-01] [-3.02098885e-02 4.19939039e-03 9.99534756e-01 -6.17640320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748779192 meters 0.24595867659705686 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.35, Z:-0.61 [[ 9.99286562e-01 3.16222373e-02 2.06494617e-02 4.89276431e+00] [-3.15601828e-02 9.99496325e-01 -3.32422451e-03 -3.51847010e-01] [-2.07441805e-02 2.67015210e-03 9.99781251e-01 -6.12418714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808779191999999 meters 0.24527476008599436 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.35, Z:-0.61 [[ 9.99268875e-01 3.20744399e-02 2.08073616e-02 4.89264439e+00] [-3.20177767e-02 9.99482644e-01 -3.05076302e-03 -3.52975967e-01] [-2.08944483e-02 2.38232708e-03 9.99778849e-01 -6.13293283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868779192 meters 0.2490051987731106 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.61 [[ 9.99336717e-01 3.08875452e-02 1.92895277e-02 4.89741809e+00] [-3.08364611e-02 9.99520119e-01 -2.94019793e-03 -3.55395917e-01] [-1.93710865e-02 2.34342698e-03 9.99809617e-01 -6.14854285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9287791919999995 meters 0.2551341337623981 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.61 [[ 9.99373200e-01 3.04364928e-02 1.80783679e-02 4.89980941e+00] [-3.03997952e-02 9.99535170e-01 -2.30133903e-03 -3.57888964e-01] [-1.81400093e-02 1.75031787e-03 9.99833924e-01 -6.13930746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988779192 meters 0.25989489111874764 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.61 [[ 9.99292187e-01 3.35228888e-02 1.70687322e-02 4.90334777e+00] [-3.35590927e-02 9.99435043e-01 1.83899187e-03 -3.58071200e-01] [-1.69974407e-02 -2.41050137e-03 9.99852627e-01 -6.14466547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048779192 meters 0.26505561281240186 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.36, Z:-0.62 [[ 0.99919507 0.03775796 0.0135477 4.91259298] [-0.03784976 0.99926175 0.0065846 -0.35707122] [-0.01328908 -0.00709208 0.99988654 -0.61651624] [ 0. 0. 0. 1. ]] SLAMing on 7.108779192 meters 0.26379826204954665 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.36, Z:-0.62 [[ 0.99911084 0.04041984 0.01199014 4.91711094] [-0.04054915 0.99911976 0.01074538 -0.35677063] [-0.01154526 -0.01122202 0.99987038 -0.6158261 ] [ 0. 0. 0. 1. ]] SLAMing on 7.168779192 meters 0.27146795507375493 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.36, Z:-0.61 [[ 0.99911192 0.04051829 0.01156063 4.91744826] [-0.0406465 0.99911216 0.01107925 -0.35634635] [-0.01110146 -0.01153931 0.99987179 -0.61447685] [ 0. 0. 0. 1. ]] SLAMing on 7.228779191999999 meters 0.27223427615453594 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.36, Z:-0.61 [[ 0.99916227 0.03959797 0.01033291 4.9209146 ] [-0.03971406 0.99914738 0.01128342 -0.35670795] [-0.0098773 -0.01168433 0.99988295 -0.61418474] [ 0. 0. 0. 1. ]] SLAMing on 7.288779192 meters 0.2792874327980744 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.36, Z:-0.62 [[ 0.99920427 0.03923432 0.00717568 4.92956879] [-0.03931656 0.99915826 0.01170373 -0.35685577] [-0.00671046 -0.01197654 0.99990576 -0.61624339] [ 0. 0. 0. 1. ]] SLAMing on 7.348779191999999 meters 0.2820740559867388 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.36, Z:-0.62 [[ 9.99298897e-01 3.73307858e-02 2.85090427e-03 4.94287893e+00] [-3.73630846e-02 9.99226419e-01 1.22704179e-02 -3.58974789e-01] [-2.39063452e-03 -1.23683337e-02 9.99920651e-01 -6.19446698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408779192 meters 0.28688322472178746 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.36, Z:-0.62 [[ 9.99460137e-01 3.28546994e-02 6.34098414e-05 4.95000887e+00] [-3.28538532e-02 9.99416328e-01 9.36093741e-03 -3.61792072e-01] [ 2.44177954e-04 -9.35796704e-03 9.99956183e-01 -6.19728588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4687791919999995 meters 0.28798974841972913 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.37, Z:-0.62 [[ 9.99487919e-01 3.18615800e-02 -2.95627427e-03 4.95903677e+00] [-3.18256388e-02 9.99427298e-01 1.14980496e-02 -3.67253459e-01] [ 3.32092723e-03 -1.13980764e-02 9.99929525e-01 -6.19643216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528779192 meters 0.2945845069498662 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.36, Z:-0.62 [[ 9.99493173e-01 3.15893371e-02 -3.93847783e-03 4.96132707e+00] [-3.15445379e-02 9.99442249e-01 1.09605318e-02 -3.64958533e-01] [ 4.28251707e-03 -1.08307392e-02 9.99932175e-01 -6.19680163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588779192 meters 0.3012651868674978 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.36, Z:-0.63 [[ 0.99950754 0.03057024 0.00708019 4.99931674] [-0.03063332 0.99949037 0.00897816 -0.36442733] [-0.00680212 -0.00919063 0.99993463 -0.62890037] [ 0. 0. 0. 1. ]] SLAMing on 7.648779192 meters 0.3105334787528134 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.37, Z:-0.62 [[ 9.99559011e-01 2.92170079e-02 5.30562921e-03 5.00413792e+00] [-2.92722850e-02 9.99514650e-01 1.06582697e-02 -3.66671338e-01] [-4.99165136e-03 -1.08088774e-02 9.99929123e-01 -6.24999137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708779192 meters 0.3111607013779613 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.37, Z:-0.62 [[ 9.99641523e-01 2.66421219e-02 2.65019561e-03 5.01228671e+00] [-2.66710345e-02 9.99577552e-01 1.15487812e-02 -3.67683789e-01] [-2.34139201e-03 -1.16153247e-02 9.99929799e-01 -6.22494309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 123.29 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%| | 0/258 [00:00