+ python -m lidar_slam --no-model /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e Lidar SLAM 0.0.11 ===================================================== The recording path: /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e 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 0.022260615 Adjusted end_distance from 9.223372036854776e+18 to 23.002260615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022260615 meters 0.048645062271580795 Centerline is valid? [0, True] SLAMing on 0.082260615 meters 0.04230243332049787 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.02, Z:0.00 [[ 9.99804314e-01 -1.96103038e-02 2.60199379e-03 6.24937886e-02] [ 1.96098954e-02 9.99807691e-01 1.82366925e-04 -2.01062778e-02] [-2.60506968e-03 -1.31306413e-04 9.99996598e-01 2.35324052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.142260615 meters 0.043927433525789795 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.03, Z:0.00 [[ 9.99454042e-01 -3.27390342e-02 4.44671124e-03 1.24438206e-01] [ 3.27379716e-02 9.99463920e-01 3.11565739e-04 -3.12561574e-02] [-4.45452781e-03 -1.65819331e-04 9.99990065e-01 2.86930816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.202260615 meters 0.05255278480232474 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.03, Z:0.00 [[ 9.99123207e-01 -4.12242393e-02 7.30614905e-03 1.85032048e-01] [ 4.12215968e-02 9.99149898e-01 5.11969140e-04 -3.28089760e-02] [-7.32104362e-03 -2.10349119e-04 9.99973179e-01 4.56987890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.262260615 meters 0.06670350090076228 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.03, Z:0.01 [[ 9.98606502e-01 -5.07919788e-02 1.43258250e-02 2.46611602e-01] [ 5.07828122e-02 9.98709217e-01 1.00314755e-03 -3.33884792e-02] [-1.43582853e-02 -2.74243985e-04 9.99896877e-01 9.92855536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.322260615 meters 0.09721758789920693 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.03, Z:0.01 [[ 9.97609766e-01 -6.60646171e-02 2.02539286e-02 3.07283696e-01] [ 6.60495123e-02 9.97815344e-01 1.41454628e-03 -2.85706820e-02] [-2.03031322e-02 -7.34030775e-05 9.99793867e-01 1.22273193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38226061499999997 meters 0.12187951148750273 Centerline is valid? [True, False] Translation: X:0.31, Y:-0.02, Z:0.01 [[ 9.97595611e-01 -6.63906205e-02 1.98817297e-02 3.08676909e-01] [ 6.63881131e-02 9.97793565e-01 7.86837675e-04 -2.41951307e-02] [-1.98901007e-02 5.34964712e-04 9.99802029e-01 1.11212373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44226061499999997 meters 0.13525818944154666 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.01, Z:0.01 [[ 0.9974303 -0.06922497 0.0184579 0.30924908] [ 0.06926915 0.99759645 -0.00176415 -0.00847951] [-0.01829141 0.00303818 0.99982808 0.01290219] [ 0. 0. 0. 1. ]] SLAMing on 0.502260615 meters 0.15526663078522535 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:0.01 [[ 9.97556193e-01 -6.83156229e-02 1.46498318e-02 3.14909702e-01] [ 6.83166039e-02 9.97663597e-01 4.34055759e-04 1.33275684e-02] [-1.46452567e-02 5.67831749e-04 9.99892591e-01 1.33003578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.562260615 meters 0.1618570204735115 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:0.01 [[ 9.98048703e-01 -6.19338348e-02 7.93643549e-03 3.24349114e-01] [ 6.19298192e-02 9.98080224e-01 7.50965379e-04 5.21032110e-02] [-7.96770948e-03 -2.57998007e-04 9.99968224e-01 1.45553039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.622260615 meters 0.17156816575324377 Centerline is valid? [False, False] Translation: X:0.33, Y:0.08, Z:0.02 [[ 0.99826704 -0.0587727 0.00294673 0.33199901] [ 0.05875762 0.99825993 0.00496514 0.08281131] [-0.00323342 -0.00478339 0.99998333 0.01524107] [ 0. 0. 0. 1. ]] SLAMing on 0.6822606149999999 meters 0.17880757711539405 Centerline is valid? [False, False] Translation: X:0.33, Y:0.11, Z:0.02 [[ 9.98347848e-01 -5.74581342e-02 -3.71722796e-04 3.34795918e-01] [ 5.74592268e-02 9.98312402e-01 8.41336049e-03 1.13751653e-01] [-1.12320519e-04 -8.42081924e-03 9.99964538e-01 1.76340042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.742260615 meters 0.19005981879613779 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:0.02 [[ 0.99813262 -0.0606955 -0.00688007 0.36022428] [ 0.06077904 0.99807091 0.01266338 0.14759694] [ 0.00609818 -0.0130579 0.99989615 0.0198848 ] [ 0. 0. 0. 1. ]] SLAMing on 0.802260615 meters 0.18667352988876526 Centerline is valid? [False, False] Translation: X:0.38, Y:0.18, Z:0.02 [[ 0.99771135 -0.06627057 -0.01342636 0.3789775 ] [ 0.06652425 0.99759579 0.01942067 0.18350211] [ 0.01210706 -0.0202694 0.99972125 0.01686143] [ 0. 0. 0. 1. ]] SLAMing on 0.862260615 meters 0.18349826254435855 Centerline is valid? [False, False] Translation: X:0.39, Y:0.23, Z:0.02 [[ 0.99794171 -0.06323505 -0.01066198 0.39374521] [ 0.06343739 0.99778845 0.01984732 0.22512991] [ 0.00938335 -0.02048284 0.99974617 0.0162749 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9222606149999999 meters 0.17194161249270107 Centerline is valid? [False, False] Translation: X:0.41, Y:0.27, Z:0.02 [[ 0.99856186 -0.05271046 -0.00978893 0.40586131] [ 0.05285458 0.99848807 0.01509877 0.2670705 ] [ 0.00897827 -0.01559445 0.99983809 0.01816722] [ 0. 0. 0. 1. ]] SLAMing on 0.982260615 meters 0.15880662939076184 Centerline is valid? [False, False] Translation: X:0.42, Y:0.30, Z:0.02 [[ 0.99898733 -0.04406246 -0.00910043 0.42082975] [ 0.04412393 0.99900381 0.00666806 0.29666793] [ 0.00879756 -0.00706285 0.99993636 0.01787994] [ 0. 0. 0. 1. ]] SLAMing on 1.042260615 meters 0.1509697621684291 Centerline is valid? [False, False] Translation: X:0.42, Y:0.30, Z:0.02 [[ 0.99897614 -0.04426316 -0.00935119 0.42003793] [ 0.04432467 0.99899619 0.00647559 0.29626677] [ 0.00905517 -0.00688345 0.99993531 0.01958866] [ 0. 0. 0. 1. ]] SLAMing on 1.102260615 meters 0.15289803792955653 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:0.02 [[ 0.9991509 -0.04019692 -0.00903761 0.41909573] [ 0.04029499 0.99912789 0.01094396 0.29467547] [ 0.00858982 -0.01129884 0.99989927 0.01967735] [ 0. 0. 0. 1. ]] SLAMing on 1.1622606149999999 meters 0.13851286111905386 Centerline is valid? [False, False] Translation: X:0.41, Y:0.29, Z:0.02 [[ 0.99942983 -0.03367744 -0.0024175 0.40952147] [ 0.03369988 0.99938263 0.00993385 0.29430691] [ 0.00208146 -0.01000966 0.99994774 0.01831662] [ 0. 0. 0. 1. ]] SLAMing on 1.222260615 meters 0.1314903016498395 Centerline is valid? [False, False] Translation: X:0.41, Y:0.29, Z:0.02 [[ 9.99623929e-01 -2.70790006e-02 -4.32760799e-03 4.09667150e-01] [ 2.70795992e-02 9.99633277e-01 7.97854577e-05 2.94913190e-01] [ 4.32386045e-03 -1.96945343e-04 9.99990633e-01 1.52541538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.282260615 meters 0.1288698998701483 Centerline is valid? [False, False] Translation: X:0.41, Y:0.29, Z:0.02 [[ 0.99969462 -0.02441137 -0.00384126 0.40660584] [ 0.02442314 0.99969706 0.00304895 0.29450855] [ 0.00376566 -0.00314184 0.99998797 0.018238 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3422606149999998 meters 0.11601010792666983 Centerline is valid? [False, False] Translation: X:0.41, Y:0.29, Z:0.02 [[ 0.99966459 -0.02562526 -0.003749 0.40501378] [ 0.02563349 0.99966906 0.00216511 0.29413988] [ 0.00369228 -0.00226048 0.99999063 0.02033087] [ 0. 0. 0. 1. ]] SLAMing on 1.4022606149999999 meters 0.11114288228780587 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:0.01 [[ 0.99970381 -0.02407046 0.00359214 0.3979262 ] [ 0.02407932 0.99970706 -0.00244369 0.2897669 ] [-0.00353227 0.00252946 0.99999056 0.01374663] [ 0. 0. 0. 1. ]] SLAMing on 1.462260615 meters 0.10538466692707592 Centerline is valid? [False, False] Translation: X:0.39, Y:0.29, Z:0.01 [[ 0.99978197 -0.01858523 0.00951855 0.39122571] [ 0.01865025 0.99980302 -0.00678842 0.28841825] [-0.00939051 0.00696446 0.99993165 0.00836625] [ 0. 0. 0. 1. ]] SLAMing on 1.522260615 meters 0.09891019824477684 Centerline is valid? [False, True] Translation: X:0.39, Y:0.29, Z:0.01 [[ 0.99989982 -0.01050553 0.00948549 0.39157498] [ 0.01049025 0.9999436 0.00165905 0.288878 ] [-0.00950239 -0.00155938 0.99995364 0.00737169] [ 0. 0. 0. 1. ]] SLAMing on 1.582260615 meters 0.0915033073808097 Centerline is valid? [True, True] Translation: X:0.45, Y:0.29, Z:0.01 [[ 9.99868661e-01 -1.30465260e-02 9.61499612e-03 4.53757931e-01] [ 1.30482567e-02 9.99914861e-01 -1.17284020e-04 2.86013371e-01] [-9.61264736e-03 2.42727554e-04 9.99953768e-01 8.22520833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6422606149999999 meters 0.08515256628510257 Centerline is valid? [True, True] Translation: X:0.51, Y:0.29, Z:0.01 [[ 9.99886798e-01 -1.14985162e-02 9.70443369e-03 5.14858992e-01] [ 1.15002133e-02 9.99933863e-01 -1.19089700e-04 2.85565365e-01] [-9.70242252e-03 2.30679276e-04 9.99952904e-01 8.87788069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.702260615 meters 0.08096716964063036 Centerline is valid? [True, True] Translation: X:0.58, Y:0.29, Z:0.01 [[ 9.99947349e-01 -7.85250481e-03 6.60593525e-03 5.77623927e-01] [ 7.85321366e-03 9.99969160e-01 -8.13723078e-05 2.91212360e-01] [-6.60509254e-03 1.33245844e-04 9.99978177e-01 5.85040069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.762260615 meters 0.07299388935869527 Centerline is valid? [True, True] Translation: X:0.64, Y:0.30, Z:0.00 [[ 9.99983045e-01 1.44184414e-03 5.64187258e-03 6.39767562e-01] [-1.44147223e-03 9.99998959e-01 -6.99850455e-05 2.98140492e-01] [-5.64196761e-03 6.18512563e-05 9.99984082e-01 3.90385075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8222606149999998 meters 0.06666871892501865 Centerline is valid? [True, True] Translation: X:0.70, Y:0.31, Z:0.01 [[ 9.99873777e-01 1.44903533e-02 6.51614938e-03 6.99913843e-01] [-1.44901305e-02 9.99895009e-01 -8.14063592e-05 3.07312985e-01] [-6.51664485e-03 -1.30237708e-05 9.99978766e-01 5.89367477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8822606149999999 meters 0.06364081556675329 Centerline is valid? [True, True] Translation: X:0.76, Y:0.32, Z:0.01 [[ 9.99224831e-01 3.85961149e-02 7.75098286e-03 7.60388712e-01] [-3.85965232e-02 9.99254872e-01 -9.69648414e-05 3.21900522e-01] [-7.74894986e-03 -2.02271312e-04 9.99969956e-01 9.02806204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.942260615 meters 0.06778911325655393 Centerline is valid? [True, True] Translation: X:0.82, Y:0.35, Z:0.01 [[ 9.96641568e-01 8.15014241e-02 7.94370963e-03 8.21340348e-01] [-8.15032089e-02 9.96673074e-01 -9.93262378e-05 3.48968059e-01] [-7.92537673e-03 -5.48445168e-04 9.99968443e-01 1.01472547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.002260615 meters 0.08533170361897432 Centerline is valid? [True, True] Translation: X:0.88, Y:0.37, Z:0.01 [[ 9.93256383e-01 1.14864582e-01 1.57444005e-02 8.81049485e-01] [-1.14875743e-01 9.93379849e-01 -1.96615265e-04 3.68775629e-01] [-1.56627543e-02 -1.61336034e-03 9.99876030e-01 1.23896076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.062260615 meters 0.09012511479552528 Centerline is valid? [True, True] Translation: X:0.94, Y:0.33, Z:0.02 [[ 9.93064480e-01 1.13193572e-01 3.17829303e-02 9.40262964e-01] [-1.13238276e-01 9.93567781e-01 -3.95697390e-04 3.32637681e-01] [-3.16232859e-02 -3.20609122e-03 9.99494717e-01 2.05459786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.122260615 meters 0.09726498963793184 Centerline is valid? [True, True] Translation: X:1.00, Y:0.32, Z:0.02 [[ 9.93520339e-01 1.07374430e-01 3.72567795e-02 9.99344551e-01] [-1.07431875e-01 9.94212341e-01 -4.62475710e-04 3.16072589e-01] [-3.70908080e-02 -3.54308664e-03 9.99305618e-01 2.37427234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.182260615 meters 0.10274392538794623 Centerline is valid? [True, False] Translation: X:1.00, Y:0.30, Z:0.02 [[ 9.94799351e-01 8.81621573e-02 5.10067137e-02 9.95554628e-01] [-8.80245825e-02 9.96106045e-01 -4.94170673e-03 2.95435317e-01] [-5.12437673e-02 4.26161977e-04 9.98686084e-01 1.77623468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2422606149999997 meters 0.10886259222544384 Centerline is valid? [False, False] Translation: X:0.99, Y:0.28, Z:0.02 [[ 0.99539598 0.08046165 0.05208413 0.99230887] [-0.07998975 0.99673404 -0.01108573 0.27874817] [-0.052806 0.0068685 0.99858117 0.01753883] [ 0. 0. 0. 1. ]] SLAMing on 2.302260615 meters 0.11257182894711039 Centerline is valid? [False, False] Translation: X:1.00, Y:0.26, Z:0.02 [[ 0.99590448 0.06601397 0.06177716 0.99566889] [-0.06514834 0.99774851 -0.01592525 0.25840086] [-0.06268935 0.01183535 0.99796291 0.01568878] [ 0. 0. 0. 1. ]] SLAMing on 2.362260615 meters 0.11580335707380501 Centerline is valid? [False, False] Translation: X:1.01, Y:0.24, Z:0.01 [[ 0.99739462 0.04532375 0.05612248 1.00730136] [-0.04458287 0.99890213 -0.01438417 0.24160065] [-0.05671281 0.01184459 0.99832027 0.01425725] [ 0. 0. 0. 1. ]] SLAMing on 2.422260615 meters 0.12087801486701574 Centerline is valid? [False, False] Translation: X:1.02, Y:0.23, Z:0.01 [[ 0.99822018 0.03104027 0.05092133 1.01971244] [-0.03049647 0.99946961 -0.011422 0.23386851] [-0.05124887 0.00984875 0.99863735 0.01130854] [ 0. 0. 0. 1. ]] SLAMing on 2.482260615 meters 0.1419851686000029 Centerline is valid? [False, False] Translation: X:1.02, Y:0.23, Z:0.01 [[ 0.99814171 0.03200708 0.05185246 1.01914277] [-0.0315348 0.99945361 -0.00990098 0.2299929 ] [-0.05214103 0.00824742 0.99860567 0.00982614] [ 0. 0. 0. 1. ]] SLAMing on 2.542260615 meters 0.18255867904147113 Centerline is valid? [False, False] Translation: X:1.02, Y:0.24, Z:0.01 [[ 9.97490171e-01 3.42843862e-02 6.19510998e-02 1.02448244e+00] [-3.42608706e-02 9.99411884e-01 -1.44212559e-03 2.37571277e-01] [-6.19641077e-02 -6.83992508e-04 9.98078144e-01 1.06909398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.602260615 meters 0.2694120379796766 Centerline is valid? [False, False] Translation: X:1.03, Y:0.24, Z:0.01 [[ 0.99671927 0.03533828 0.07281422 1.02850851] [-0.03576952 0.99934936 0.0046266 0.24297719] [-0.07260335 -0.00721595 0.99733479 0.01194621] [ 0. 0. 0. 1. ]] SLAMing on 2.6622606149999997 meters 0.3319070337653416 Centerline is valid? [False, False] Translation: X:1.04, Y:0.25, Z:0.01 [[ 0.99705568 0.02579518 0.07221207 1.04221851] [-0.02642448 0.99962059 0.00777261 0.252401 ] [-0.07198418 -0.00965789 0.99735901 0.00711126] [ 0. 0. 0. 1. ]] SLAMing on 2.7222606149999997 meters 0.35345204031261174 Centerline is valid? [False, False] Translation: X:1.05, Y:0.26, Z:0.00 [[ 0.99704555 0.01684027 0.07494384 1.0515415 ] [-0.01784889 0.99975865 0.01280883 0.26150088] [-0.07471005 -0.01410866 0.99710549 0.00439653] [ 0. 0. 0. 1. ]] SLAMing on 2.7822606149999998 meters 0.36665606840503434 Centerline is valid? [False, False] Translation: X:1.06, Y:0.27, Z:-0.00 [[ 9.96118294e-01 2.41705048e-02 8.46411885e-02 1.05657236e+00] [-2.50234439e-02 9.99646075e-01 9.03059136e-03 2.69222086e-01] [-8.43929580e-02 -1.11135513e-02 9.96370572e-01 -3.13800730e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.842260615 meters 0.3613727540195846 Centerline is valid? [False, False] Translation: X:1.06, Y:0.28, Z:0.00 [[ 0.99478696 0.04312495 0.09240747 1.05621599] [-0.04486146 0.998852 0.01679683 0.27550076] [-0.09157702 -0.02085481 0.99557959 0.0033655 ] [ 0. 0. 0. 1. ]] SLAMing on 2.902260615 meters 0.36758396667513693 Centerline is valid? [False, False] Translation: X:1.06, Y:0.27, Z:0.00 [[ 0.99522007 0.03285423 0.09196525 1.05647233] [-0.03349236 0.99942437 0.00540368 0.27373377] [-0.09173478 -0.00845799 0.99574755 0.0027346 ] [ 0. 0. 0. 1. ]] SLAMing on 2.962260615 meters 0.3670490521781675 Centerline is valid? [False, False] Translation: X:1.05, Y:0.26, Z:0.00 [[ 0.99544841 0.01616327 0.09392128 1.0520537 ] [-0.01510598 0.9998144 -0.01195728 0.26196527] [-0.09409712 0.01048408 0.99550782 0.00247719] [ 0. 0. 0. 1. ]] SLAMing on 3.022260615 meters 0.3674485946257885 Centerline is valid? [False, False] Translation: X:1.05, Y:0.25, Z:0.01 [[ 0.99658815 0.0150634 0.08114901 1.05003422] [-0.01370222 0.99975637 -0.01730471 0.25258621] [-0.08138991 0.01613374 0.99655175 0.00543005] [ 0. 0. 0. 1. ]] SLAMing on 3.082260615 meters 0.3704463939543836 Centerline is valid? [False, False] Translation: X:1.05, Y:0.24, Z:-0.00 [[ 0.99722797 0.01823864 0.07213693 1.04943992] [-0.01665215 0.9996074 -0.02253334 0.24402726] [-0.07251959 0.02126965 0.99714017 -0.00274728] [ 0. 0. 0. 1. ]] SLAMing on 3.142260615 meters 0.3606870308267023 Centerline is valid? [False, False] Translation: X:1.05, Y:0.24, Z:-0.01 [[ 0.99682142 0.02520042 0.07557779 1.04715729] [-0.02399254 0.99957016 -0.01684767 0.23971401] [-0.07596987 0.01498081 0.99699757 -0.00775256] [ 0. 0. 0. 1. ]] SLAMing on 3.2022606149999997 meters 0.3489455717978013 Centerline is valid? [False, False] Translation: X:1.04, Y:0.23, Z:-0.01 [[ 0.99658421 0.02969677 0.07705855 1.0432505 ] [-0.02889096 0.99951582 -0.01155117 0.2332931 ] [-0.07736427 0.00928542 0.99695965 -0.00580567] [ 0. 0. 0. 1. ]] SLAMing on 3.2622606149999998 meters 0.34755169904162203 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.01 [[ 0.99647885 0.02422977 0.08026713 1.03806398] [-0.02236665 0.999461 -0.02402987 0.20143134] [-0.08080611 0.02214995 0.99648369 -0.01141671] [ 0. 0. 0. 1. ]] SLAMing on 3.322260615 meters 0.34872908735280217 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.02 [[ 0.9964402 0.02195001 0.08139482 1.04159352] [-0.01990119 0.99946648 -0.02589784 0.18082252] [-0.08191985 0.02418579 0.99634541 -0.01941041] [ 0. 0. 0. 1. ]] SLAMing on 3.382260615 meters 0.3498287810936651 Centerline is valid? [False, False] Translation: X:1.06, Y:0.13, Z:-0.04 [[ 0.99637227 0.02212012 0.08217661 1.05514249] [-0.01957376 0.99930689 -0.031664 0.13424337] [-0.08282006 0.02994062 0.99611465 -0.03527496] [ 0. 0. 0. 1. ]] SLAMing on 3.442260615 meters 0.35201965623695997 Centerline is valid? [False, False] Translation: X:1.06, Y:0.10, Z:-0.04 [[ 0.99698514 0.03067207 0.07127311 1.06454263] [-0.028331 0.99903277 -0.03362867 0.10015613] [-0.07223563 0.03150805 0.99688979 -0.04365058] [ 0. 0. 0. 1. ]] SLAMing on 3.502260615 meters 0.35403893086362975 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:-0.06 [[ 0.99764914 0.03065418 0.06129043 1.09445816] [-0.02911514 0.9992418 -0.02584821 0.04587605] [-0.06203632 0.02400297 0.99778522 -0.06169159] [ 0. 0. 0. 1. ]] SLAMing on 3.562260615 meters 0.3563137450262313 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:-0.08 [[ 0.99860364 0.0274153 0.04515728 1.12344609] [-0.02703482 0.99959384 -0.00901517 -0.00883835] [-0.04538609 0.00778176 0.99893921 -0.0766258 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6222606149999996 meters 0.36441057928758164 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.07, Z:-0.09 [[ 0.9996643 0.01302428 0.02239748 1.16115656] [-0.01241313 0.99955259 -0.02721265 -0.06835344] [-0.02274188 0.02692549 0.99937872 -0.09147962] [ 0. 0. 0. 1. ]] SLAMing on 3.6822606149999997 meters 0.3656776277104703 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.11 [[ 0.99996574 0.00802139 0.00204178 1.19227125] [-0.00796404 0.9996119 -0.0266949 -0.13546922] [-0.00225512 0.02667773 0.99964154 -0.11288308] [ 0. 0. 0. 1. ]] SLAMing on 3.7422606149999997 meters 0.3619726516712363 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.18, Z:-0.12 [[ 0.99977447 0.00407871 -0.02084181 1.21611619] [-0.00418115 0.99997938 -0.00487425 -0.18224266] [ 0.0208215 0.0049603 0.9997709 -0.1240868 ] [ 0. 0. 0. 1. ]] SLAMing on 3.802260615 meters 0.35680095646947557 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.22, Z:-0.14 [[ 0.99910401 -0.00458106 -0.04207356 1.23740601] [ 0.00447893 0.99998679 -0.00252118 -0.22227081] [ 0.04208455 0.00233048 0.99911133 -0.14281804] [ 0. 0. 0. 1. ]] SLAMing on 3.862260615 meters 0.3312563223861683 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.25, Z:-0.16 [[ 0.99852057 -0.02097937 -0.05016516 1.25483826] [ 0.02080373 0.99977549 -0.00402088 -0.25351987] [ 0.05023825 0.00297131 0.99873284 -0.15654455] [ 0. 0. 0. 1. ]] SLAMing on 3.922260615 meters 0.29481786645234914 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.27, Z:-0.16 [[ 0.99846819 -0.02096513 -0.05120283 1.21132992] [ 0.02135533 0.99974684 0.00708538 -0.27251359] [ 0.05104133 -0.00816798 0.99866314 -0.15732799] [ 0. 0. 0. 1. ]] SLAMing on 3.982260615 meters 0.2454301837084308 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.29, Z:-0.15 [[ 0.99839278 -0.02350889 -0.0515673 1.00917104] [ 0.02363119 0.99971919 0.00176327 -0.29358152] [ 0.05151136 -0.00297903 0.99866797 -0.15437548] [ 0. 0. 0. 1. ]] SLAMing on 4.042260615 meters 0.2619470933137228 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.27, Z:-0.14 [[ 0.99935214 0.01097685 -0.0342754 1.1455874 ] [-0.01062009 0.9998877 0.01057335 -0.26933465] [ 0.03438761 -0.01020249 0.99935649 -0.14169559] [ 0. 0. 0. 1. ]] SLAMing on 4.1022606150000005 meters 0.24215589115803554 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.24, Z:-0.14 [[ 0.99992846 -0.00936223 -0.00744414 1.12940577] [ 0.00941249 0.99993295 0.00674522 -0.23952039] [ 0.00738049 -0.00681481 0.99994954 -0.13902663] [ 0. 0. 0. 1. ]] SLAMing on 4.162260615 meters 0.22207983203913528 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.21, Z:-0.13 [[ 0.99964974 -0.02489999 -0.00896623 1.13173274] [ 0.02491708 0.9996879 0.00179936 -0.20534728] [ 0.00891863 -0.00202214 0.99995818 -0.133264 ] [ 0. 0. 0. 1. ]] SLAMing on 4.222260615000001 meters 0.2181983256702263 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.14 [[ 0.99934751 -0.02709972 -0.02387806 1.13884666] [ 0.02679968 0.99955891 -0.0127972 -0.18178313] [ 0.02421433 0.01214892 0.99963297 -0.13554399] [ 0. 0. 0. 1. ]] SLAMing on 4.282260615 meters 0.20665537248229002 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.14, Z:-0.14 [[ 0.99904369 -0.03393948 -0.02756483 1.15653802] [ 0.03361179 0.99935969 -0.01226575 -0.14390512] [ 0.02796348 0.01132751 0.99954476 -0.13997407] [ 0. 0. 0. 1. ]] SLAMing on 4.342260615000001 meters 0.18616760157378676 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.14, Z:-0.15 [[ 0.9988793 -0.03947044 -0.0261194 1.15729949] [ 0.03885117 0.99896138 -0.02380654 -0.14169624] [ 0.02703193 0.02276509 0.99937532 -0.1487547 ] [ 0. 0. 0. 1. ]] SLAMing on 4.402260615 meters 0.14638960512453406 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.15, Z:-0.15 [[ 0.99892432 -0.03823962 -0.02622834 1.15949796] [ 0.03770166 0.99907446 -0.02070753 -0.14997207] [ 0.02699591 0.01969641 0.99944148 -0.15058978] [ 0. 0. 0. 1. ]] SLAMing on 4.462260615 meters 0.14403866086619269 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.14, Z:-0.14 [[ 0.99966903 -0.02025849 -0.01585625 1.14063708] [ 0.0201596 0.99977647 -0.00637238 -0.14198911] [ 0.0159818 0.00605062 0.99985398 -0.13833585] [ 0. 0. 0. 1. ]] SLAMing on 4.522260615 meters 0.13006858228153945 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.14, Z:-0.13 [[ 0.9999504 -0.00832966 -0.00545934 1.14099498] [ 0.00831606 0.99996228 -0.00250788 -0.13743214] [ 0.00548002 0.00246236 0.99998195 -0.13373558] [ 0. 0. 0. 1. ]] SLAMing on 4.582260615 meters 0.12203018164732793 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.14, Z:-0.13 [[ 0.99994676 -0.0083885 -0.0060087 1.14264331] [ 0.00838007 0.99996387 -0.00142689 -0.1408569 ] [ 0.00602046 0.00137647 0.99998093 -0.13460258] [ 0. 0. 0. 1. ]] SLAMing on 4.6422606150000005 meters 0.11077234361274288 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.13, Z:-0.14 [[ 9.99962933e-01 -5.71733731e-03 -6.43780075e-03 1.14416175e+00] [ 5.71673267e-03 9.99983653e-01 -1.12317843e-04 -1.34754078e-01] [ 6.43833767e-03 7.55104942e-05 9.99979271e-01 -1.36257709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.702260615 meters 0.10021288303757343 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.13, Z:-0.14 [[ 9.99969450e-01 -3.08741523e-03 -7.18103110e-03 1.14634840e+00] [ 3.09373693e-03 9.99994836e-01 8.69392010e-04 -1.28015458e-01] [ 7.17830985e-03 -8.91581671e-04 9.99973838e-01 -1.38237541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.762260615000001 meters 0.09461338967632227 Centerline is valid? [False, True] Translation: X:1.15, Y:-0.13, Z:-0.14 [[ 9.99966580e-01 -3.08124083e-03 -7.57266418e-03 1.14722641e+00] [ 3.08940907e-03 9.99994658e-01 1.06718761e-03 -1.28666070e-01] [ 7.56933547e-03 -1.09054700e-03 9.99970758e-01 -1.38559861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822260615 meters 0.08334595987662616 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.15, Z:-0.12 [[ 9.99892891e-01 -1.41957112e-02 3.56217055e-03 1.20852395e+00] [ 1.41951625e-02 9.99899228e-01 1.79263802e-04 -1.45875685e-01] [-3.56435636e-03 -1.28679012e-04 9.99993639e-01 -1.22076711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.882260615 meters 0.07699563319954894 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.14, Z:-0.10 [[ 9.99770747e-01 -1.40861432e-02 1.61255788e-02 1.26958435e+00] [ 1.40748630e-02 9.99900614e-01 8.12805840e-04 -1.37169539e-01] [-1.61354254e-02 -5.85654190e-04 9.99869644e-01 -9.88757107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.942260615 meters 0.07396868673888556 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.12, Z:-0.09 [[ 9.99668903e-01 -1.14439489e-02 2.30460301e-02 1.33073483e+00] [ 1.14201892e-02 9.99934112e-01 1.16232014e-03 -1.15070149e-01] [-2.30578132e-02 -8.98745272e-04 9.99733729e-01 -8.94945845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.002260615 meters 0.07346936609924173 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.10, Z:-0.11 [[ 9.99843221e-01 -1.23322105e-02 1.27063110e-02 1.38987342e+00] [ 1.23250742e-02 9.99923839e-01 6.39791327e-04 -1.03727509e-01] [-1.27132333e-02 -4.83084795e-04 9.99919067e-01 -1.14590641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0622606150000005 meters 0.07157676734480646 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.11, Z:-0.14 [[ 9.99868988e-01 -1.55868721e-02 4.36536622e-03 1.45020448e+00] [ 1.55860593e-02 9.99878506e-01 2.20169737e-04 -1.10506710e-01] [-4.36826761e-03 -1.52102036e-04 9.99990448e-01 -1.38852121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122260615 meters 0.0723089551746406 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.10, Z:-0.14 [[ 9.99940880e-01 -7.92723860e-03 7.44278908e-03 1.51075148e+00] [ 7.92466820e-03 9.99968529e-01 3.74782793e-04 -1.00455834e-01] [-7.44552585e-03 -3.15779002e-04 9.99972232e-01 -1.37566297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182260615000001 meters 0.0740542367389135 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.10, Z:-0.14 [[ 9.99969766e-01 -2.90940418e-03 7.21132847e-03 1.57207967e+00] [ 2.90686078e-03 9.99995709e-01 3.63150783e-04 -1.00703336e-01] [-7.21235408e-03 -3.42177476e-04 9.99973932e-01 -1.35607358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242260615 meters 0.07591840652320418 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.10, Z:-0.13 [[ 9.99900149e-01 2.84815086e-03 1.38412221e-02 1.63405168e+00] [-2.85808054e-03 9.99995672e-01 6.97671927e-04 -9.71667024e-02] [-1.38391751e-02 -7.37161592e-04 9.99903962e-01 -1.28295653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302260615 meters 0.0630451739053375 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.12, Z:-0.11 [[ 9.99689153e-01 2.95456177e-03 2.47561531e-02 1.69727812e+00] [-2.98622400e-03 9.99994770e-01 1.24209228e-03 -1.23628281e-01] [-2.47523538e-02 -1.31563360e-03 9.99692748e-01 -1.07136974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362260615 meters 0.05277668681009629 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.14, Z:-0.09 [[ 9.99403716e-01 1.27199262e-03 3.45049780e-02 1.76041061e+00] [-1.33249654e-03 9.99997615e-01 1.73054486e-03 -1.39719438e-01] [-3.45026945e-02 -1.77549073e-03 9.99403028e-01 -8.91867069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.422260615 meters 0.050533813506722855 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.12, Z:-0.09 [[ 9.99339931e-01 3.72299615e-03 3.61364236e-02 1.82153570e+00] [-3.79090285e-03 9.99991175e-01 1.81084042e-03 -1.24879723e-01] [-3.61293630e-02 -1.94663481e-03 9.99345226e-01 -9.06895148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.482260615 meters 0.052158697983758134 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.11, Z:-0.09 [[ 9.99283412e-01 9.09532858e-03 3.67414884e-02 1.88193764e+00] [-9.16873757e-03 9.99956292e-01 1.82998385e-03 -1.10025799e-01] [-3.67232382e-02 -2.16554557e-03 9.99323128e-01 -9.32894838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.542260615 meters 0.0511746747298604 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.11, Z:-0.10 [[ 9.99394416e-01 1.12340783e-02 3.29332257e-02 1.94307184e+00] [-1.12942400e-02 9.99934871e-01 1.64131492e-03 -1.07949883e-01] [-3.29126421e-02 -2.01227672e-03 9.99456207e-01 -1.04197271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6022606150000005 meters 0.0509721573234929 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.11, Z:-0.11 [[ 9.99329060e-01 1.03984072e-02 3.51184213e-02 2.00437278e+00] [-1.04659454e-02 9.99943717e-01 1.73986837e-03 -1.08493878e-01] [-3.50983528e-02 -2.10624850e-03 9.99381643e-01 -1.06805232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662260615 meters 0.05055192167526274 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.11, Z:-0.11 [[ 9.99410947e-01 9.79987360e-03 3.28895350e-02 2.06664209e+00] [-9.85851925e-03 9.99950089e-01 1.62141479e-03 -1.07473536e-01] [-3.28720038e-02 -1.94470181e-03 9.99457678e-01 -1.11210173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722260615000001 meters 0.043121527607187085 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.12, Z:-0.12 [[ 9.99507552e-01 -8.07587056e-04 3.13688075e-02 2.12813035e+00] [ 7.59787784e-04 9.99998532e-01 1.53567340e-03 -1.18745565e-01] [-3.13700016e-02 -1.51108353e-03 9.99506698e-01 -1.18662986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782260615 meters 0.04739334930998188 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.11, Z:-0.12 [[ 9.99521182e-01 -1.42090740e-03 3.09093393e-02 2.18914879e+00] [ 1.37474310e-03 9.99997908e-01 1.51473895e-03 -1.05739279e-01] [-3.09114269e-02 -1.47152126e-03 9.99521044e-01 -1.19343156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842260615 meters 0.05485827682861237 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.09, Z:-0.11 [[ 9.99226726e-01 8.42667539e-03 3.84049748e-02 2.25000697e+00] [-8.50472341e-03 9.99962087e-01 1.86931550e-03 -9.07368378e-02] [-3.83877667e-02 -2.19449369e-03 9.99260508e-01 -1.08251216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902260615 meters 0.0537096940272047 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.07, Z:-0.10 [[ 9.98851915e-01 2.12502701e-02 4.29334148e-02 2.31004953e+00] [-2.13595764e-02 9.99769676e-01 2.08877141e-03 -6.73636930e-02] [-4.28791393e-02 -3.00341287e-03 9.99075752e-01 -1.04068049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962260615 meters 0.05012659813060768 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.07, Z:-0.11 [[ 9.98776178e-01 1.80063066e-02 4.60643010e-02 2.37088132e+00] [-1.81286955e-02 9.99833151e-01 2.24049638e-03 -6.61186531e-02] [-4.60162722e-02 -3.07284009e-03 9.98935964e-01 -1.05574752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.022260615 meters 0.034738596956474105 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.09, Z:-0.11 [[ 9.98834593e-01 -3.74490038e-04 4.82629914e-02 2.43274367e+00] [ 2.61545986e-04 9.99997213e-01 2.34647318e-03 -8.96068178e-02] [-4.82637356e-02 -2.33111560e-03 9.98831907e-01 -1.07270963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.082260615 meters 0.040809758531770435 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.09, Z:-0.10 [[ 0.99865399 0.00531056 0.05159455 2.4930909 ] [-0.00544718 0.99998202 0.00250775 -0.08834022] [-0.0515803 -0.00278542 0.99866497 -0.10004552] [ 0. 0. 0. 1. ]] SLAMing on 6.1422606150000005 meters 0.044043443862172904 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.07, Z:-0.10 [[ 9.98550361e-01 1.58564047e-02 5.14368614e-02 2.55332098e+00] [-1.60060551e-02 9.99868773e-01 2.49875573e-03 -7.42411583e-02] [-5.13904902e-02 -3.31843467e-03 9.98673122e-01 -1.02683968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202260615 meters 0.04151259690525919 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.07, Z:-0.11 [[ 9.98674930e-01 1.30338478e-02 4.97845744e-02 2.61438602e+00] [-1.31704793e-02 9.99910343e-01 2.41737954e-03 -7.03132810e-02] [-4.97486031e-02 -3.06986305e-03 9.98757054e-01 -1.10653955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262260615000001 meters 0.033082433654543 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.09, Z:-0.11 [[ 9.98744091e-01 -2.94814844e-03 5.00154909e-02 2.67638735e+00] [ 2.83031325e-03 9.99993050e-01 2.42663448e-03 -9.08780190e-02] [-5.00222974e-02 -2.28202734e-03 9.98745494e-01 -1.12071971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322260615 meters 0.02350806556684208 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.11, Z:-0.10 [[ 9.97953405e-01 -2.22016136e-02 5.99674127e-02 2.73703275e+00] [ 2.20668102e-02 9.99752265e-01 2.90933101e-03 -1.05458043e-01] [-6.00171485e-02 -1.58008727e-03 9.98196096e-01 -9.95067421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382260615 meters 0.016943396254621827 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.12, Z:-0.09 [[ 9.97404871e-01 -3.58664308e-02 6.24269412e-02 2.79842667e+00] [ 3.57469788e-02 9.99356280e-01 3.02965556e-03 -1.15185158e-01] [-6.24954187e-02 -7.90218668e-04 9.98044938e-01 -9.25515393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.442260615 meters 0.01850548354223718 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.10, Z:-0.09 [[ 9.97543276e-01 -3.17289144e-02 6.24554868e-02 2.85986074e+00] [ 3.16016975e-02 9.99495967e-01 3.02393132e-03 -9.61012735e-02] [-6.25199532e-02 -1.04280296e-03 9.98043169e-01 -9.00736105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.502260615 meters 0.021381946198558384 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.06, Z:-0.09 [[ 9.97624722e-01 -2.44361063e-02 6.44033422e-02 2.91990529e+00] [ 2.42865611e-02 9.99700219e-01 3.10398675e-03 -6.48772512e-02] [-6.44598846e-02 -1.53247822e-03 9.97919122e-01 -8.88258393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5622606150000005 meters 0.027207789778494255 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.04, Z:-0.09 [[ 9.97859699e-01 -1.47447444e-02 6.37072455e-02 2.97939049e+00] [ 1.45788536e-02 9.99889016e-01 3.06805881e-03 -4.23790399e-02] [-6.37454128e-02 -2.13271364e-03 9.97963914e-01 -9.04340011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622260615 meters 0.034793370670971706 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.03, Z:-0.09 [[ 9.97571856e-01 -2.46406135e-03 6.96011475e-02 3.03994065e+00] [ 2.23630440e-03 9.99991888e-01 3.35004584e-03 -2.66093793e-02] [-6.96088376e-02 -3.18626209e-03 9.97569275e-01 -8.89024020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682260615000001 meters 0.034492626418644395 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.02, Z:-0.09 [[ 9.97264233e-01 -1.23687074e-03 7.39088634e-02 3.10125443e+00] [ 9.76819114e-04 9.99993205e-01 3.55458818e-03 -1.92362680e-02] [-7.39127578e-02 -3.47266806e-03 9.97258665e-01 -8.92124023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742260615 meters 0.031024567517832488 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.03, Z:-0.08 [[ 9.96868320e-01 -9.87778546e-03 7.84600622e-02 3.16350387e+00] [ 9.61157994e-03 9.99946702e-01 3.76980897e-03 -3.47425283e-02] [-7.84931178e-02 -3.00387797e-03 9.96910130e-01 -8.34227218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802260615 meters 0.028185420924986652 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.04, Z:-0.08 [[ 9.96752784e-01 -1.43923062e-02 7.92259406e-02 3.22525714e+00] [ 1.41353704e-02 9.99892859e-01 3.80297603e-03 -3.96030007e-02] [-7.92721859e-02 -2.67073892e-03 9.96849431e-01 -8.36418370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862260615 meters 0.025178898475937482 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.04, Z:-0.09 [[ 9.97000926e-01 -2.07095092e-02 7.45672175e-02 3.28569281e+00] [ 2.04997491e-02 9.99783458e-01 3.57738728e-03 -4.23692370e-02] [-7.46251565e-02 -2.03804918e-03 9.97209573e-01 -8.85118088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.922260615 meters 0.02333222292130719 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.04, Z:-0.08 [[ 9.96309711e-01 -2.71650316e-02 8.14188049e-02 3.34786637e+00] [ 2.69368948e-02 9.99629531e-01 3.89931959e-03 -4.11345948e-02] [-8.14945669e-02 -1.69176019e-03 9.96672350e-01 -8.01257806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.982260615 meters 0.019469522595695544 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.05, Z:-0.08 [[ 9.95907674e-01 -4.22985127e-02 7.98670226e-02 3.40752325e+00] [ 4.21279842e-02 9.99104921e-01 3.81971795e-03 -4.65317175e-02] [-7.99571037e-02 -4.39449756e-04 9.96798208e-01 -8.14154021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.042260615 meters 0.01548392237363362 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.05, Z:-0.10 [[ 9.96544006e-01 -4.86502814e-02 6.73289932e-02 3.46792458e+00] [ 4.85436259e-02 9.98815872e-01 3.22021524e-03 -4.95295328e-02] [-6.74059314e-02 5.93072537e-05 9.97725632e-01 -1.00054715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1022606150000005 meters 0.017355642545336575 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.02, Z:-0.09 [[ 9.96231610e-01 -4.24062761e-02 7.56590206e-02 3.52808677e+00] [ 4.22537152e-02 9.99100367e-01 3.61674317e-03 -2.16938338e-02] [-7.57443278e-02 -4.06239159e-04 9.97127189e-01 -9.45908375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162260615 meters 0.018321272356357807 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.00, Z:-0.09 [[ 9.96137675e-01 -3.95028448e-02 7.84172045e-02 3.58906839e+00] [ 3.93309632e-02 9.99219255e-01 3.73577372e-03 -7.43354730e-04] [-7.85035543e-02 -6.37120766e-04 9.96913630e-01 -9.28928706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222260615 meters 0.020538446597694 Centerline is valid? [True, True] Translation: X:3.65, Y:0.01, Z:-0.09 [[ 9.96389593e-01 -3.25497387e-02 7.84110517e-02 3.64949388e+00] [ 3.23578663e-02 9.99469437e-01 3.71666781e-03 1.35152980e-02] [-7.84904263e-02 -1.16603480e-03 9.96914186e-01 -9.46588720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282260615 meters 0.02726777394381371 Centerline is valid? [True, True] Translation: X:3.71, Y:0.04, Z:-0.10 [[ 9.97390922e-01 -1.57678829e-02 7.04465941e-02 3.70898508e+00] [ 1.55720385e-02 9.99873209e-01 3.32839135e-03 3.87002400e-02] [-7.04901438e-02 -2.22271024e-03 9.97510000e-01 -1.04801193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342260615 meters 0.03209968848708073 Centerline is valid? [True, True] Translation: X:3.77, Y:0.05, Z:-0.12 [[ 9.98059143e-01 -2.06737572e-03 6.22388438e-02 3.76858758e+00] [ 1.88837228e-03 9.99993911e-01 2.93475748e-03 5.30651015e-02] [-6.22445321e-02 -2.81153143e-03 9.98056969e-01 -1.18585255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402260615 meters 0.037266557619247236 Centerline is valid? [True, True] Translation: X:3.83, Y:0.06, Z:-0.13 [[ 9.98512426e-01 6.76959359e-03 5.41027515e-02 3.82906042e+00] [-6.91765622e-03 9.99972822e-01 2.54989046e-03 6.41184979e-02] [-5.40840194e-02 -2.92036155e-03 9.98532118e-01 -1.33500832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.462260615 meters 0.043963387018898105 Centerline is valid? [True, True] Translation: X:3.89, Y:0.07, Z:-0.14 [[ 9.98585867e-01 1.29152959e-02 5.15699573e-02 3.88843797e+00] [-1.30578463e-02 9.99911794e-01 2.42823717e-03 6.99276797e-02] [-5.15340472e-02 -3.09819590e-03 9.98666432e-01 -1.39758004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.522260615 meters 0.03517017933614504 Centerline is valid? [True, True] Translation: X:3.95, Y:0.05, Z:-0.14 [[ 9.98659099e-01 1.40513098e-03 5.17496876e-02 3.95045851e+00] [-1.53317870e-03 9.99995861e-01 2.43475274e-03 5.28140234e-02] [-5.17460523e-02 -2.51082950e-03 9.98657119e-01 -1.42152509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.582260615 meters 0.031726998621260154 Centerline is valid? [True, True] Translation: X:4.01, Y:0.04, Z:-0.15 [[ 9.98812767e-01 -2.86953795e-03 4.86294331e-02 4.01183098e+00] [ 2.76158357e-03 9.99993572e-01 2.28698073e-03 4.18454424e-02] [-4.86356831e-02 -2.14997131e-03 9.98814271e-01 -1.50040013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6422606150000005 meters 0.036694229434420855 Centerline is valid? [True, True] Translation: X:4.07, Y:0.04, Z:-0.16 [[ 9.99012089e-01 3.98437232e-03 4.42602695e-02 4.07212391e+00] [-4.08044751e-03 9.99989511e-01 2.08055351e-03 4.19026725e-02] [-4.42515155e-02 -2.25909982e-03 9.99017868e-01 -1.58902854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702260615 meters 0.04022747799951813 Centerline is valid? [True, True] Translation: X:4.13, Y:0.04, Z:-0.16 [[ 9.98871171e-01 9.03674693e-03 4.66338970e-02 4.13286383e+00] [-9.14883822e-03 9.99955749e-01 2.19076056e-03 4.41317623e-02] [-4.66120360e-02 -2.61493355e-03 9.98909646e-01 -1.56779866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762260615 meters 0.0367177706978577 Centerline is valid? [True, True] Translation: X:4.19, Y:0.04, Z:-0.16 [[ 9.98917721e-01 6.95485572e-03 4.59893159e-02 4.19464755e+00] [-7.06157618e-03 9.99972737e-01 2.15849000e-03 3.51062160e-02] [-4.59730501e-02 -2.48091097e-03 9.98939600e-01 -1.60504207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822260615 meters 0.04106480617136275 Centerline is valid? [True, True] Translation: X:4.25, Y:0.04, Z:-0.16 [[ 9.98782664e-01 1.43166948e-02 4.72040433e-02 4.25491983e+00] [-1.44372299e-02 9.99893328e-01 2.21352431e-03 3.79641572e-02] [-4.71673176e-02 -2.89232533e-03 9.98882815e-01 -1.62344301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.882260615 meters 0.05272180105839516 Centerline is valid? [True, True] Translation: X:4.31, Y:0.05, Z:-0.16 [[ 9.98341958e-01 2.87025354e-02 4.98948780e-02 4.31391223e+00] [-2.88550560e-02 9.99580869e-01 2.33907412e-03 5.22827197e-02] [-4.98068282e-02 -3.77491534e-03 9.98751736e-01 -1.61404884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.942260615 meters 0.05082208781612767 Centerline is valid? [True, True] Translation: X:4.38, Y:0.05, Z:-0.16 [[ 9.98066436e-01 3.08858575e-02 5.39393495e-02 4.37566252e+00] [-3.10672177e-02 9.99514103e-01 2.52685803e-03 5.25441607e-02] [-5.38350964e-02 -4.19771770e-03 9.98541016e-01 -1.58664555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002260614999999 meters 0.04835358303270219 Centerline is valid? [True, True] Translation: X:4.44, Y:0.04, Z:-0.16 [[ 9.98198069e-01 3.10368147e-02 5.13549549e-02 4.43811068e+00] [-3.12011083e-02 9.99510245e-01 2.40038684e-03 4.17170344e-02] [-5.12553032e-02 -3.99839302e-03 9.98677579e-01 -1.64471504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062260615 meters 0.05035715499904184 Centerline is valid? [True, True] Translation: X:4.50, Y:0.05, Z:-0.17 [[ 9.98382753e-01 2.50835218e-02 5.10166156e-02 4.49685469e+00] [-2.52372821e-02 9.99678675e-01 2.37188136e-03 4.90482112e-02] [-5.09407276e-02 -3.65556616e-03 9.98694988e-01 -1.68732418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122260615 meters 0.04111730891010708 Centerline is valid? [True, True] Translation: X:4.56, Y:0.03, Z:-0.17 [[ 9.98603669e-01 1.50396984e-02 5.06410841e-02 4.55811346e+00] [-1.51783925e-02 9.99882028e-01 2.35528689e-03 3.40649119e-02] [-5.05996870e-02 -3.12064838e-03 9.98714140e-01 -1.70643053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182260615 meters 0.034890859885517156 Centerline is valid? [True, True] Translation: X:4.62, Y:0.03, Z:-0.17 [[ 9.98747270e-01 3.63528774e-03 4.99066742e-02 4.61859224e+00] [-3.75577536e-03 9.99990254e-01 2.32069319e-03 2.92110311e-02] [-4.98977515e-02 -2.50522425e-03 9.98751189e-01 -1.72596864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242260615 meters 0.028055386271134686 Centerline is valid? [True, True] Translation: X:4.68, Y:0.02, Z:-0.17 [[ 9.98347375e-01 -9.01650915e-03 5.67558022e-02 4.68005130e+00] [ 8.88103418e-03 9.99957081e-01 2.63876126e-03 2.15900951e-02] [-5.67771587e-02 -2.13035016e-03 9.98384603e-01 -1.67126480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302260615 meters 0.02452580186325478 Centerline is valid? [True, True] Translation: X:4.74, Y:0.02, Z:-0.17 [[ 9.98079762e-01 -1.56977788e-02 5.99196842e-02 4.74175876e+00] [ 1.55588178e-02 9.99875076e-01 2.78500351e-03 1.92103446e-02] [-5.99559171e-02 -1.84737619e-03 9.98199316e-01 -1.65493863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362260615 meters 0.03440654015627029 Centerline is valid? [True, True] Translation: X:4.80, Y:0.04, Z:-0.16 [[ 9.97701398e-01 -1.07451942e-03 6.77551864e-02 4.80181062e+00] [ 8.63278594e-04 9.99994676e-01 3.14690949e-03 4.12582463e-02] [-6.77582070e-02 -3.08118439e-03 9.97697014e-01 -1.58893146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422260615 meters 0.05059231957585756 Centerline is valid? [True, True] Translation: X:4.86, Y:0.07, Z:-0.16 [[ 9.97080566e-01 2.71916093e-02 7.13509703e-02 4.86062648e+00] [-2.74978429e-02 9.99616373e-01 3.31301553e-03 7.11289159e-02] [-7.12335119e-02 -5.26534117e-03 9.97445769e-01 -1.60659139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482260615 meters 0.0583247861063884 Centerline is valid? [True, True] Translation: X:4.92, Y:0.08, Z:-0.17 [[ 9.97131298e-01 3.91221477e-02 6.47968450e-02 4.92062937e+00] [-3.93995099e-02 9.99219011e-01 3.00771839e-03 8.05818088e-02] [-6.46285710e-02 -5.55205408e-03 9.97893944e-01 -1.70174168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542260615 meters 0.05958946783177585 Centerline is valid? [True, True] Translation: X:4.98, Y:0.08, Z:-0.18 [[ 9.97424360e-01 4.29646913e-02 5.74341426e-02 4.98097518e+00] [-4.31887207e-02 9.99063379e-01 2.66448655e-03 7.94787391e-02] [-5.72658697e-02 -5.13813093e-03 9.98345742e-01 -1.81568227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602260615 meters 0.061650164815048376 Centerline is valid? [True, True] Translation: X:5.04, Y:0.07, Z:-0.19 [[ 9.97447569e-01 4.70230710e-02 5.37324634e-02 5.04163628e+00] [-4.72248131e-02 9.98881182e-01 2.49038036e-03 7.33367858e-02] [-5.35552412e-02 -5.02152937e-03 9.98552262e-01 -1.91327147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662260615000001 meters 0.05618143706486497 Centerline is valid? [True, True] Translation: X:5.10, Y:0.05, Z:-0.20 [[ 9.98075658e-01 3.97880179e-02 4.75593825e-02 5.10285452e+00] [-3.99378504e-02 9.99199735e-01 2.20396873e-03 5.49767549e-02] [-4.74336308e-02 -4.09914704e-03 9.98865981e-01 -2.04632364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722260615 meters 0.05515911637490849 Centerline is valid? [True, True] Translation: X:5.16, Y:0.05, Z:-0.21 [[ 9.98288407e-01 3.67544957e-02 4.54902483e-02 5.16402893e+00] [-3.68884242e-02 9.99317167e-01 2.10787271e-03 5.02684820e-02] [-4.53817122e-02 -3.78232846e-03 9.98962559e-01 -2.10131671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782260615 meters 0.05561495347725911 Centerline is valid? [True, True] Translation: X:5.23, Y:0.05, Z:-0.22 [[ 9.98406936e-01 3.73722006e-02 4.22718417e-02 5.22746051e+00] [-3.74883124e-02 9.99295150e-01 1.95714917e-03 4.76187013e-02] [-4.21689034e-02 -3.53873131e-03 9.99104229e-01 -2.17505570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842260615 meters 0.05316073234599933 Centerline is valid? [True, True] Translation: X:5.29, Y:0.05, Z:-0.21 [[ 9.98129992e-01 3.43947061e-02 5.05323946e-02 5.28898550e+00] [-3.45560398e-02 9.99400064e-01 2.32223872e-03 4.50412695e-02] [-5.04222057e-02 -4.06409555e-03 9.98719723e-01 -2.12919074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902260615 meters 0.04178680102240205 Centerline is valid? [True, True] Translation: X:5.35, Y:0.03, Z:-0.21 [[ 9.98111239e-01 1.77483938e-02 5.88128303e-02 5.35096463e+00] [-1.79381788e-02 9.99835451e-01 2.70050949e-03 2.61097037e-02] [-5.87552230e-02 -3.75040394e-03 9.98265375e-01 -2.05838744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962260615 meters 0.03638328729323003 Centerline is valid? [True, True] Translation: X:5.41, Y:0.02, Z:-0.20 [[ 9.97910793e-01 6.16376984e-03 6.43121808e-02 5.41234713e+00] [-6.36677814e-03 9.99975374e-01 2.95214013e-03 1.81600124e-02] [-6.42924007e-02 -3.35543388e-03 9.97925462e-01 -1.99927928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022260615 meters 0.03894186440142841 Centerline is valid? [True, True] Translation: X:5.47, Y:0.02, Z:-0.19 [[ 9.97240593e-01 6.35250464e-03 7.39651601e-02 5.47251773e+00] [-6.62153660e-03 9.99972322e-01 3.39262808e-03 2.35712914e-02] [-7.39415613e-02 -3.87302946e-03 9.97255055e-01 -1.89144234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082260615000001 meters 0.041520646767557505 Centerline is valid? [True, True] Translation: X:5.53, Y:0.03, Z:-0.19 [[ 9.97086270e-01 1.60977715e-02 7.45642866e-02 5.53274664e+00] [-1.63981357e-02 9.99859700e-01 3.41776205e-03 3.38394212e-02] [-7.44988069e-02 -4.63051890e-03 9.97210352e-01 -1.92345049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142260615 meters 0.040787394869453104 Centerline is valid? [True, True] Translation: X:5.59, Y:0.03, Z:-0.20 [[ 9.97644380e-01 1.38631996e-02 6.71826125e-02 5.59282296e+00] [-1.41018103e-02 9.99895825e-01 3.07872021e-03 3.27198844e-02] [-6.71329328e-02 -4.01886437e-03 9.97735946e-01 -2.03110825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202260615 meters 0.03487409929645525 Centerline is valid? [True, True] Translation: X:5.65, Y:0.03, Z:-0.21 [[ 9.97877712e-01 1.46820329e-03 6.50992865e-02 5.65307477e+00] [-1.66590311e-03 9.99994164e-01 2.98271879e-03 2.76535426e-02] [-6.50945274e-02 -3.08483770e-03 9.97874334e-01 -2.09815929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262260615 meters 0.029403998834670254 Centerline is valid? [True, True] Translation: X:5.71, Y:0.03, Z:-0.22 [[ 9.98155896e-01 -6.30975567e-03 6.03737860e-02 5.71364952e+00] [ 6.15395990e-03 9.99977238e-01 2.76611268e-03 2.52566852e-02] [-6.03898653e-02 -2.38947382e-03 9.98172007e-01 -2.17060760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322260615 meters 0.02375151442271795 Centerline is valid? [True, True] Translation: X:5.77, Y:0.02, Z:-0.22 [[ 9.98132577e-01 -1.63641397e-02 5.88521419e-02 5.77448463e+00] [ 1.62335508e-02 9.99864592e-01 2.69638375e-03 2.26240731e-02] [-5.88882968e-02 -1.73596922e-03 9.98263069e-01 -2.18296908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382260615 meters 0.01575667885513139 Centerline is valid? [True, True] Translation: X:5.83, Y:0.02, Z:-0.22 [[ 9.97998096e-01 -3.33090870e-02 5.37615665e-02 5.83402983e+00] [ 3.32246738e-02 9.99444872e-01 2.46337733e-03 2.22161369e-02] [-5.38137748e-02 -6.72235371e-04 9.98550763e-01 -2.23859915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442260615 meters 0.010758415171113854 Centerline is valid? [True, True] Translation: X:5.89, Y:0.04, Z:-0.24 [[ 9.97995505e-01 -4.54161391e-02 4.40720688e-02 5.89473072e+00] [ 4.53712018e-02 9.98968155e-01 2.01990192e-03 3.88064358e-02] [-4.41183294e-02 -1.62503074e-05 9.99026312e-01 -2.38285778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502260615 meters 0.010938262862866716 Centerline is valid? [True, True] Translation: X:5.96, Y:0.06, Z:-0.25 [[ 9.98031741e-01 -4.77426853e-02 4.06605373e-02 5.95539731e+00] [ 4.77064718e-02 9.98859664e-01 1.86100473e-03 5.96809836e-02] [-4.07030201e-02 8.24289902e-05 9.99171285e-01 -2.48017441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562260615 meters 0.010981789875208795 Centerline is valid? [True, True] Translation: X:6.02, Y:0.08, Z:-0.25 [[ 9.98085782e-01 -4.49246621e-02 4.25034779e-02 6.01721381e+00] [ 4.48827094e-02 9.98990377e-01 1.94127673e-03 7.82155345e-02] [-4.25477766e-02 -2.98894606e-05 9.99094433e-01 -2.50600555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622260615 meters 0.013078648228841312 Centerline is valid? [True, True] Translation: X:6.08, Y:0.10, Z:-0.23 [[ 9.97483202e-01 -4.11972047e-02 5.77065973e-02 6.07822936e+00] [ 4.11140611e-02 9.99151004e-01 2.62782965e-03 9.76629818e-02] [-5.77658639e-02 -2.48663371e-04 9.98330127e-01 -2.32586465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682260615 meters 0.01298964715259079 Centerline is valid? [True, True] Translation: X:6.14, Y:0.11, Z:-0.23 [[ 9.97153578e-01 -4.81405124e-02 5.80278605e-02 6.14039131e+00] [ 4.80686204e-02 9.98840560e-01 2.63493263e-03 1.11534477e-01] [-5.80874277e-02 1.61886695e-04 9.98311487e-01 -2.29563009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742260615 meters 0.0149272175036328 Centerline is valid? [True, True] Translation: X:6.20, Y:0.12, Z:-0.23 [[ 9.96785898e-01 -5.49118766e-02 5.83314668e-02 6.20160672e+00] [ 5.48519923e-02 9.98491036e-01 2.62849913e-03 1.21176620e-01] [-5.83877825e-02 5.79546305e-04 9.98293810e-01 -2.33201168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802260615 meters 0.01865869736646456 Centerline is valid? [True, True] Translation: X:6.26, Y:0.14, Z:-0.24 [[ 9.96258079e-01 -6.31624818e-02 5.89944096e-02 6.26295849e+00] [ 6.31164791e-02 9.98002663e-01 2.64470491e-03 1.37751716e-01] [-5.90436240e-02 1.08871078e-03 9.98254810e-01 -2.36617551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862260615 meters 0.023533086307763046 Centerline is valid? [True, True] Translation: X:6.32, Y:0.15, Z:-0.24 [[ 9.95799260e-01 -7.06338222e-02 5.82640256e-02 6.32232468e+00] [ 7.06019231e-02 9.97501160e-01 2.60841656e-03 1.53114564e-01] [-5.83026755e-02 1.51609297e-03 9.98297801e-01 -2.39563214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922260615 meters 0.024286341834379097 Centerline is valid? [True, True] Translation: X:6.38, Y:0.18, Z:-0.25 [[ 9.95549967e-01 -7.40353063e-02 5.83012557e-02 6.38295199e+00] [ 7.40093480e-02 9.97254139e-01 2.60734954e-03 1.77481992e-01] [-5.83342045e-02 1.71909117e-03 9.98295630e-01 -2.45243416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982260615 meters 0.02032791661181372 Centerline is valid? [True, True] Translation: X:6.44, Y:0.22, Z:-0.24 [[ 9.96016778e-01 -6.47264973e-02 6.13274739e-02 6.44332998e+00] [ 6.46806280e-02 9.97902268e-01 2.73495450e-03 2.20987075e-01] [-6.13758493e-02 1.24263896e-03 9.98113952e-01 -2.40035136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042260615 meters 0.015726190772469492 Centerline is valid? [True, True] Translation: X:6.50, Y:0.26, Z:-0.24 [[ 9.96843395e-01 -4.83059736e-02 6.30061765e-02 6.50371778e+00] [ 4.82250397e-02 9.98832556e-01 2.80554533e-03 2.61470929e-01] [-6.30681449e-02 2.41786036e-04 9.98009194e-01 -2.37333584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102260615 meters 0.01800138390954602 Centerline is valid? [True, True] Translation: X:6.57, Y:0.28, Z:-0.24 [[ 9.97564874e-01 -2.97774763e-02 6.30684084e-02 6.56515585e+00] [ 2.96596678e-02 9.99556124e-01 2.80355809e-03 2.83790421e-01] [-6.31238967e-02 -9.26143033e-04 9.98005268e-01 -2.39048322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162260615 meters 0.02544325698803895 Centerline is valid? [True, True] Translation: X:6.62, Y:0.32, Z:-0.24 [[ 9.97809866e-01 -1.19069855e-02 6.50668555e-02 6.62467193e+00] [ 1.17439338e-02 9.99926868e-01 2.88782536e-03 3.19090039e-01] [-6.50964823e-02 -2.11735979e-03 9.97876728e-01 -2.38156944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222260615 meters 0.03461216025135649 Centerline is valid? [True, True] Translation: X:6.68, Y:0.35, Z:-0.24 [[ 9.98003031e-01 6.50973842e-03 6.28297185e-02 6.68416107e+00] [-6.69804301e-03 9.99973684e-01 2.78689950e-03 3.45291825e-01] [-6.28099231e-02 -3.20217030e-03 9.98020370e-01 -2.44768233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282260615 meters 0.03825357635218857 Centerline is valid? [True, True] Translation: X:6.74, Y:0.36, Z:-0.25 [[ 9.98264353e-01 1.07823668e-02 5.78966522e-02 6.74458079e+00] [-1.09491848e-02 9.99936766e-01 2.56484357e-03 3.61475788e-01] [-5.78653361e-02 -3.19431305e-03 9.98319287e-01 -2.54773139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342260615 meters 0.03329222996615019 Centerline is valid? [True, True] Translation: X:6.81, Y:0.36, Z:-0.26 [[ 9.98226794e-01 2.22040494e-03 5.94839254e-02 6.80555251e+00] [-2.38097980e-03 9.99993710e-01 2.62872474e-03 3.63733201e-01] [-5.94777145e-02 -2.76569349e-03 9.98225802e-01 -2.57000813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402260615 meters 0.016415571928684 Centerline is valid? [True, True] Translation: X:6.87, Y:0.34, Z:-0.27 [[ 9.98055667e-01 -3.08262505e-02 5.41721968e-02 6.86686412e+00] [ 3.07416872e-02 9.99524496e-01 2.39379926e-03 3.39510108e-01] [-5.42202296e-02 -7.23800186e-04 9.98528739e-01 -2.66229532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462260615 meters 0.016202288562252032 Centerline is valid? [True, True] Translation: X:6.93, Y:0.31, Z:-0.28 [[ 9.97332798e-01 -5.62704986e-02 4.64857056e-02 6.92947406e+00] [ 5.62359489e-02 9.98415399e-01 2.05172770e-03 3.14475214e-01] [-4.65274961e-02 5.67912436e-04 9.98916848e-01 -2.76625504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522260615 meters 0.016203896050542142 Centerline is valid? [True, True] Translation: X:6.99, Y:0.33, Z:-0.28 [[ 9.97182688e-01 -5.48390068e-02 5.11797863e-02 6.99109753e+00] [ 5.47961310e-02 9.98495047e-01 2.24157670e-03 3.25742045e-01] [-5.12256890e-02 5.69192803e-04 9.98686940e-01 -2.75252585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582260615 meters 0.016504015815738713 Centerline is valid? [True, True] Translation: X:7.05, Y:0.34, Z:-0.27 [[ 9.96854876e-01 -5.30816586e-02 5.88446558e-02 7.05335046e+00] [ 5.30228655e-02 9.98590014e-01 2.56118595e-03 3.37134949e-01] [-5.88976376e-02 5.66981570e-04 9.98263866e-01 -2.68873117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642260615 meters 0.016516416402265137 Centerline is valid? [True, True] Translation: X:7.12, Y:0.35, Z:-0.27 [[ 9.96894056e-01 -5.23592622e-02 5.88281358e-02 7.11595252e+00] [ 5.22998443e-02 9.98628170e-01 2.55031534e-03 3.45229540e-01] [-5.88809662e-02 5.34308137e-04 9.98264868e-01 -2.69482629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702260615 meters 0.015627023373485777 Centerline is valid? [True, True] Translation: X:7.18, Y:0.37, Z:-0.27 [[ 9.96992907e-01 -4.57334269e-02 6.25587562e-02 7.17739438e+00] [ 4.56545686e-02 9.98953664e-01 2.69016362e-03 3.68512046e-01] [-6.26163292e-02 1.74018979e-04 9.98037657e-01 -2.65743732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762260615 meters 0.016352444476703212 Centerline is valid? [True, True] Translation: X:7.24, Y:0.39, Z:-0.27 [[ 9.97566918e-01 -3.08026605e-02 6.25415159e-02 7.23883890e+00] [ 3.06957353e-02 9.99525209e-01 2.66999667e-03 3.88389456e-01] [-6.25940648e-02 -7.43742535e-04 9.98038792e-01 -2.70554227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822260615 meters 0.02061647066975461 Centerline is valid? [True, True] Translation: X:7.30, Y:0.41, Z:-0.27 [[ 9.97842154e-01 -1.70453421e-02 6.34073555e-02 7.29899952e+00] [ 1.69085703e-02 9.99853413e-01 2.69305263e-03 4.09306443e-01] [-6.34439649e-02 -1.61511371e-03 9.97984095e-01 -2.70378478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882260615 meters 0.02629701038587508 Centerline is valid? [True, True] Translation: X:7.36, Y:0.42, Z:-0.29 [[ 9.98815312e-01 -7.39285523e-03 4.80969682e-02 7.35909856e+00] [ 7.30322370e-03 9.99971252e-01 2.03902742e-03 4.21431136e-01] [-4.81106597e-02 -1.68534889e-03 9.98840590e-01 -2.87521021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942260615 meters 0.026183330789402562 Centerline is valid? [True, True] Translation: X:7.42, Y:0.41, Z:-0.28 [[ 9.98201874e-01 -8.67236074e-03 5.93111248e-02 7.42206265e+00] [ 8.53919802e-03 9.99960420e-01 2.49825001e-03 4.13140117e-01] [-5.93304430e-02 -1.98728840e-03 9.98236420e-01 -2.80539253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002260615 meters 0.021205219568468915 Centerline is valid? [True, True] Translation: X:7.48, Y:0.39, Z:-0.28 [[ 9.98095763e-01 -1.78797866e-02 5.90352526e-02 7.48401911e+00] [ 1.77641708e-02 9.99839122e-01 2.48269645e-03 3.93986479e-01] [-5.90701452e-02 -1.42925650e-03 9.98252811e-01 -2.84792008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062260615 meters 0.017210528562296355 Centerline is valid? [True, True] Translation: X:7.55, Y:0.36, Z:-0.28 [[ 9.96813240e-01 -5.08047004e-02 6.14999684e-02 7.54504080e+00] [ 5.07418918e-02 9.98708459e-01 2.58365058e-03 3.56943722e-01] [-6.15518003e-02 5.45207638e-04 9.98103741e-01 -2.83480668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122260615 meters 0.016222899090310963 Centerline is valid? [True, True] Translation: X:7.61, Y:0.35, Z:-0.30 [[ 9.97293923e-01 -5.22247892e-02 5.17436165e-02 7.60671842e+00] [ 5.21824284e-02 9.98635211e-01 2.17021300e-03 3.46784521e-01] [-5.17863363e-02 5.35767327e-04 9.98658044e-01 -2.98523499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182260615 meters 0.015281152750974589 Centerline is valid? [True, True] Translation: X:7.67, Y:0.35, Z:-0.31 [[ 9.97741382e-01 -4.85098277e-02 4.64642943e-02 7.66797030e+00] [ 4.84718415e-02 9.98822657e-01 1.94456649e-03 3.50400554e-01] [-4.65039204e-02 3.12035445e-04 9.98918059e-01 -3.05126911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242260615 meters 0.014437800181204715 Centerline is valid? [True, True] Translation: X:7.73, Y:0.36, Z:-0.32 [[ 9.98236774e-01 -4.50653425e-02 3.86323546e-02 7.72963955e+00] [ 4.50368565e-02 9.98984032e-01 1.60775071e-03 3.62000631e-01] [-3.86655592e-02 1.34963932e-04 9.99252199e-01 -3.15459492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302260615 meters 0.014553761081815603 Centerline is valid? [True, True] Translation: X:7.79, Y:0.38, Z:-0.32 [[ 9.98555077e-01 -4.19758387e-02 3.35527629e-02 7.79103360e+00] [ 4.19528927e-02 9.99118626e-01 1.38791181e-03 3.77763581e-01] [-3.35814491e-02 2.17290812e-05 9.99435984e-01 -3.24154085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362260615 meters 0.015222763026106801 Centerline is valid? [True, True] Translation: X:7.85, Y:0.39, Z:-0.32 [[ 9.98790709e-01 -3.28730262e-02 3.65579568e-02 7.85389050e+00] [ 3.28401503e-02 9.99459492e-01 1.49956550e-03 3.93070625e-01] [-3.65874922e-02 -2.97183289e-04 9.99330409e-01 -3.23910362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422260615 meters 0.019264388723524893 Centerline is valid? [True, True] Translation: X:7.91, Y:0.41, Z:-0.32 [[ 9.99136037e-01 -2.15351065e-02 3.55446052e-02 7.91426088e+00] [ 2.14973433e-02 9.99767862e-01 1.44429730e-03 4.12255044e-01] [-3.55674571e-02 -6.78934896e-04 9.99367047e-01 -3.22918492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482260615 meters 0.0169290734321783 Centerline is valid? [True, True] Translation: X:7.98, Y:0.41, Z:-0.32 [[ 9.98633799e-01 -2.54758411e-02 4.56236526e-02 7.97698442e+00] [ 2.54178425e-02 9.99675201e-01 1.85101241e-03 4.08001417e-01] [-4.56559901e-02 -6.88828738e-04 9.98956984e-01 -3.16539023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542260615 meters 0.01645597889685058 Centerline is valid? [True, True] Translation: X:8.04, Y:0.40, Z:-0.30 [[ 9.98057216e-01 -2.93607981e-02 5.49521368e-02 8.03902217e+00] [ 2.92835573e-02 9.99568701e-01 2.21045439e-03 4.04080708e-01] [-5.49933367e-02 -5.96965904e-04 9.98486543e-01 -3.04564251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602260615 meters 0.01568292615830338 Centerline is valid? [True, True] Translation: X:8.10, Y:0.42, Z:-0.31 [[ 9.98557940e-01 -2.79387958e-02 4.58417276e-02 8.10041508e+00] [ 2.78840733e-02 9.99609483e-01 1.83288105e-03 4.19684562e-01] [-4.58750342e-02 -5.51983827e-04 9.98947034e-01 -3.11943107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662260615 meters 0.014120483683365884 Centerline is valid? [True, True] Translation: X:8.16, Y:0.42, Z:-0.32 [[ 9.98210499e-01 -3.59367293e-02 4.77948800e-02 8.16162237e+00] [ 3.58871306e-02 9.99354051e-01 1.89571485e-03 4.16886056e-01] [-4.78321327e-02 -1.77101363e-04 9.98855373e-01 -3.16753232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722260615 meters 0.015457941502420202 Centerline is valid? [True, True] Translation: X:8.22, Y:0.42, Z:-0.32 [[ 9.97666329e-01 -4.90716697e-02 4.74749210e-02 8.22338615e+00] [ 4.90382248e-02 9.98795153e-01 1.86962147e-03 4.16774290e-01] [-4.75094664e-02 4.62827455e-04 9.98870681e-01 -3.18978444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782260615 meters 0.016649009350473188 Centerline is valid? [True, True] Translation: X:8.29, Y:0.44, Z:-0.31 [[ 9.97418486e-01 -5.28315193e-02 4.86332618e-02 8.28515061e+00] [ 5.28015679e-02 9.98603214e-01 1.90127122e-03 4.35245505e-01] [-4.86657786e-02 6.71549409e-04 9.98814893e-01 -3.13347380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842260615 meters 0.014264224636227568 Centerline is valid? [True, True] Translation: X:8.35, Y:0.45, Z:-0.31 [[ 9.97735086e-01 -4.51101482e-02 4.98976215e-02 8.34669485e+00] [ 4.50697338e-02 9.98981969e-01 1.93536152e-03 4.52451589e-01] [-4.99341286e-02 3.17894430e-04 9.98752463e-01 -3.14592767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902260615 meters 0.015845857143089337 Centerline is valid? [True, True] Translation: X:8.41, Y:0.50, Z:-0.32 [[ 9.98738917e-01 -2.18900344e-02 4.51818689e-02 8.40621768e+00] [ 2.18336830e-02 9.99760102e-01 1.74038951e-03 5.00994913e-01] [-4.52091270e-02 -7.51708130e-04 9.98977262e-01 -3.15117790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962260615 meters 0.020974702356292337 Centerline is valid? [True, True] Translation: X:8.47, Y:0.53, Z:-0.32 [[ 9.99028409e-01 -7.65591394e-03 4.34007558e-02 8.46563685e+00] [ 7.59076471e-03 9.99969802e-01 1.66571217e-03 5.27734011e-01] [-4.34121978e-02 -1.33464885e-03 9.99056355e-01 -3.16766303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022260615 meters 0.02521565923985303 Centerline is valid? [True, True] Translation: X:8.53, Y:0.55, Z:-0.32 [[ 9.99031403e-01 2.30131749e-03 4.39426852e-02 8.52508855e+00] [-2.37770886e-03 9.99995752e-01 1.68624443e-03 5.49828748e-01] [-4.39386179e-02 -1.78909405e-03 9.99032631e-01 -3.17575364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082260615 meters 0.02153973873536086 Centerline is valid? [True, True] Translation: X:8.58, Y:0.56, Z:-0.32 [[ 9.99045195e-01 -7.67904448e-03 4.30084893e-02 8.58386304e+00] [ 7.61510713e-03 9.99969643e-01 1.65025973e-03 5.58446553e-01] [-4.30198561e-02 -1.32116981e-03 9.99073344e-01 -3.19892097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142260615 meters 0.014409121342283017 Centerline is valid? [True, True] Translation: X:8.64, Y:0.55, Z:-0.32 [[ 9.98625378e-01 -2.40541034e-02 4.65698971e-02 8.64477376e+00] [ 2.39968694e-02 9.99710435e-01 1.78775084e-03 5.50304617e-01] [-4.65994148e-02 -6.67761615e-04 9.98913434e-01 -3.20841183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202260615 meters 0.013918252575837101 Centerline is valid? [True, True] Translation: X:8.71, Y:0.54, Z:-0.31 [[ 9.97506340e-01 -4.71577252e-02 5.25095297e-02 8.70729167e+00] [ 4.71171139e-02 9.98887346e-01 2.01173183e-03 5.39398298e-01] [-5.25459734e-02 4.67382233e-04 9.98618397e-01 -3.14643070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262260615 meters 0.015143289048838968 Centerline is valid? [True, True] Translation: X:8.77, Y:0.54, Z:-0.32 [[ 9.97218545e-01 -5.05616199e-02 5.47603442e-02 8.76961572e+00] [ 5.05235074e-02 9.98720704e-01 2.08103144e-03 5.39759670e-01] [-5.47955098e-02 6.91441511e-04 9.98497358e-01 -3.19553364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322260615 meters 0.012949630732903849 Centerline is valid? [True, True] Translation: X:8.83, Y:0.57, Z:-0.31 [[ 9.97702707e-01 -3.47678299e-02 5.81421198e-02 8.83149949e+00] [ 3.46990708e-02 9.99395402e-01 2.19208459e-03 5.67375806e-01] [-5.81831812e-02 -1.69571204e-04 9.98305909e-01 -3.11508778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382260615 meters 0.01310950580085409 Centerline is valid? [True, True] Translation: X:8.89, Y:0.58, Z:-0.30 [[ 9.97741457e-01 -3.19994496e-02 5.90594588e-02 8.89366010e+00] [ 3.19246687e-02 9.99487836e-01 2.20955456e-03 5.84348800e-01] [-5.90999152e-02 -3.19110524e-04 9.98252021e-01 -3.03722389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442260615 meters 0.012330680597860895 Centerline is valid? [True, True] Translation: X:8.95, Y:0.57, Z:-0.32 [[ 9.98036218e-01 -3.56763491e-02 5.14869512e-02 8.95465847e+00] [ 3.56249552e-02 9.99363393e-01 1.91585988e-03 5.74052430e-01] [-5.15225252e-02 -7.78772160e-05 9.98671830e-01 -3.24111008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502260615 meters 0.012057265558812633 Centerline is valid? [True, True] Translation: X:9.02, Y:0.57, Z:-0.34 [[ 9.98400600e-01 -3.48523758e-02 4.45146548e-02 9.01626303e+00] [ 3.48132656e-02 9.99392466e-01 1.65375967e-03 5.73553767e-01] [-4.45452481e-02 -1.01414150e-04 9.99007363e-01 -3.36656711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562260615 meters 0.01223842772887435 Centerline is valid? [True, True] Translation: X:9.08, Y:0.58, Z:-0.34 [[ 9.98599362e-01 -3.32084981e-02 4.11886996e-02 9.07907396e+00] [ 3.31740696e-02 9.99448434e-01 1.51926832e-03 5.77610436e-01] [-4.12164340e-02 -1.50743592e-04 9.99150230e-01 -3.41471294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622260615 meters 0.012118822252821222 Centerline is valid? [True, True] Translation: X:9.14, Y:0.58, Z:-0.34 [[ 9.98674322e-01 -3.55274698e-02 3.72477939e-02 9.14178412e+00] [ 3.55013367e-02 9.99368699e-01 1.36297825e-03 5.80713911e-01] [-3.72727025e-02 -3.88249026e-05 9.99305131e-01 -3.44507303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682260615 meters 0.01954093871082548 Centerline is valid? [True, True] Translation: X:9.20, Y:0.55, Z:-0.35 [[ 9.97293546e-01 -6.04401636e-02 4.18637063e-02 9.20366605e+00] [ 6.04296711e-02 9.98171304e-01 1.51720796e-03 5.52759959e-01] [-4.18788506e-02 1.01670829e-03 9.99122179e-01 -3.49462851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742260615 meters 0.02644718474346397 Centerline is valid? [True, True] Translation: X:9.26, Y:0.55, Z:-0.35 [[ 9.96453707e-01 -7.32833717e-02 4.13467881e-02 9.26472132e+00] [ 7.32841930e-02 9.97309974e-01 1.49786048e-03 5.53765185e-01] [-4.13453324e-02 1.53751737e-03 9.99143733e-01 -3.46757742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802260615 meters 0.01682347144239952 Centerline is valid? [True, True] Translation: X:9.32, Y:0.59, Z:-0.34 [[ 9.97484637e-01 -5.47382562e-02 4.50346775e-02 9.32484540e+00] [ 5.47203929e-02 9.98500386e-01 1.63027039e-03 5.87854834e-01] [-4.50563810e-02 8.38145584e-04 9.98984094e-01 -3.36523264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862260615 meters 0.016357410448268765 Centerline is valid? [True, True] Translation: X:9.39, Y:0.63, Z:-0.33 [[ 9.98922812e-01 -1.64919032e-02 4.33731863e-02 9.38658930e+00] [ 1.64393399e-02 9.99863635e-01 1.56831275e-03 6.34681701e-01] [-4.33931361e-02 -8.53596835e-04 9.99057710e-01 -3.33669110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922260615 meters 0.01997877203896371 Centerline is valid? [True, True] Translation: X:9.45, Y:0.65, Z:-0.33 [[ 9.98969706e-01 -7.46224371e-03 4.47642840e-02 9.44771899e+00] [ 7.39782013e-03 9.99971348e-01 1.60466561e-03 6.51016945e-01] [-4.47749759e-02 -1.27185421e-03 9.98996288e-01 -3.30956213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982260615 meters 0.021377022496008882 Centerline is valid? [True, True] Translation: X:9.51, Y:0.66, Z:-0.32 [[ 9.98363120e-01 -2.61915292e-03 5.71333612e-02 9.50863962e+00] [ 2.50635815e-03 9.99994766e-01 2.04580428e-03 6.58806849e-01] [-5.71384205e-02 -1.89925887e-03 9.98364459e-01 -3.23423113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042260615 meters 0.015569846928222079 Centerline is valid? [True, True] Translation: X:9.57, Y:0.64, Z:-0.34 [[ 9.98434070e-01 -1.82495511e-02 5.28806353e-02 9.56952782e+00] [ 1.81748639e-02 9.99833032e-01 1.89295535e-03 6.41500351e-01] [-5.29063515e-02 -9.28892765e-04 9.98599046e-01 -3.37183269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102260615 meters 0.014099262623583273 Centerline is valid? [True, True] Translation: X:9.63, Y:0.63, Z:-0.33 [[ 9.97267381e-01 -4.04269648e-02 6.18339033e-02 9.63287415e+00] [ 4.03678249e-02 9.99182452e-01 2.20588993e-03 6.28568816e-01] [-6.18725285e-02 2.96238112e-04 9.98084016e-01 -3.25956251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162260615 meters 0.013981372727208707 Centerline is valid? [True, True] Translation: X:9.69, Y:0.64, Z:-0.32 [[ 9.97100063e-01 -3.52279115e-02 6.74570811e-02 9.69474948e+00] [ 3.51470584e-02 9.99379304e-01 2.38539077e-03 6.41700714e-01] [-6.74992431e-02 -7.55531529e-06 9.97719325e-01 -3.19705249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222260615 meters 0.014192185491959455 Centerline is valid? [True, True] Translation: X:9.76, Y:0.66, Z:-0.33 [[ 9.97655237e-01 -2.45203776e-02 6.38966360e-02 9.75674269e+00] [ 2.44270368e-02 9.99699102e-01 2.24171962e-03 6.57042749e-01] [-6.39323774e-02 -6.75657840e-04 9.97954004e-01 -3.26356711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282260615 meters 0.01439290720783602 Centerline is valid? [True, True] Translation: X:9.82, Y:0.66, Z:-0.33 [[ 9.97639344e-01 -2.43832742e-02 6.41965366e-02 9.82022689e+00] [ 2.42900660e-02 9.99702461e-01 2.23210923e-03 6.62505419e-01] [-6.42318617e-02 -6.67501874e-04 9.97934779e-01 -3.28266350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342260615 meters 0.014482803672771202 Centerline is valid? [True, True] Translation: X:9.88, Y:0.67, Z:-0.33 [[ 9.97730963e-01 -2.33236002e-02 6.31580189e-02 9.88183732e+00] [ 2.32325324e-02 9.99727720e-01 2.17601380e-03 6.66010803e-01] [-6.31915747e-02 -7.03755622e-04 9.98001167e-01 -3.34448508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402260615 meters 0.01237926291130868 Centerline is valid? [True, True] Translation: X:9.94, Y:0.66, Z:-0.35 [[ 9.98079733e-01 -3.14625276e-02 5.33568657e-02 9.94168039e+00] [ 3.14097030e-02 9.99504921e-01 1.82850148e-03 6.61355795e-01] [-5.33879791e-02 -1.49066964e-04 9.98573834e-01 -3.49911531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462260615 meters 0.014379597427458092 Centerline is valid? [True, True] Translation: X:10.00, Y:0.65, Z:-0.36 [[ 9.97699619e-01 -4.60686645e-02 4.97307672e-02 1.00037824e+01] [ 4.60410368e-02 9.98938100e-01 1.70154874e-03 6.52069694e-01] [-4.97563462e-02 5.92021552e-04 9.98761210e-01 -3.59372527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522260615 meters 0.012267670957421569 Centerline is valid? [True, True] Translation: X:10.07, Y:0.67, Z:-0.35 [[ 9.97945126e-01 -3.58601902e-02 5.30996455e-02 1.00658164e+01] [ 3.58150826e-02 9.99356811e-01 1.80110842e-03 6.73985384e-01] [-5.31300804e-02 1.04360825e-04 9.98587594e-01 -3.53359436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582260615 meters 0.012288475016970073 Centerline is valid? [True, True] Translation: X:10.13, Y:0.68, Z:-0.36 [[ 9.98315159e-01 -2.78895452e-02 5.08823859e-02 1.01276711e+01] [ 2.78385014e-02 9.99610968e-01 1.71173772e-03 6.80924860e-01] [-5.09103306e-02 -2.92364345e-04 9.98703186e-01 -3.58367733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642260615 meters 0.013218256775347582 Centerline is valid? [True, True] Translation: X:10.19, Y:0.68, Z:-0.35 [[ 9.97995144e-01 -2.47026552e-02 5.82706742e-02 1.01902602e+01] [ 2.46311214e-02 9.99694715e-01 1.94564883e-03 6.81842730e-01] [-5.83009477e-02 -5.06476035e-04 9.98298925e-01 -3.51630257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702260615 meters 0.01908064079338354 Centerline is valid? [True, True] Translation: X:10.25, Y:0.69, Z:-0.35 [[ 9.98032089e-01 -6.45535167e-03 6.23720848e-02 1.02506634e+01] [ 6.33804208e-03 9.99977754e-01 2.07847288e-03 6.90697540e-01] [-6.23841146e-02 -1.67906573e-03 9.98050802e-01 -3.54524499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762260615 meters 0.025632268923943772 Centerline is valid? [True, True] Translation: X:10.31, Y:0.71, Z:-0.36 [[ 9.98310199e-01 9.61291047e-03 5.73091474e-02 1.03107287e+01] [-9.73824529e-03 9.99950762e-01 1.90811508e-03 7.05471573e-01] [-5.72879831e-02 -2.46298128e-03 9.98354657e-01 -3.61796850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822260615 meters 0.029864340207806997 Centerline is valid? [True, True] Translation: X:10.37, Y:0.70, Z:-0.37 [[ 9.98423813e-01 1.86627206e-02 5.29300714e-02 1.03714138e+01] [-1.87821944e-02 9.99822049e-01 1.76063563e-03 7.02397558e-01] [-5.28877942e-02 -2.75200344e-03 9.98596669e-01 -3.71732750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882260615 meters 0.03021417932604984 Centerline is valid? [True, True] Translation: X:10.43, Y:0.69, Z:-0.37 [[ 9.98489495e-01 2.09331334e-02 5.07989321e-02 1.04342838e+01] [-2.10460400e-02 9.99777081e-01 1.68867440e-03 6.92942903e-01] [-5.07522588e-02 -2.75524000e-03 9.98707473e-01 -3.73941981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942260615 meters 0.027353486530927486 Centerline is valid? [True, True] Translation: X:10.50, Y:0.68, Z:-0.37 [[ 9.98397348e-01 1.34231561e-02 5.49777638e-02 1.04952281e+01] [-1.35438836e-02 9.99906614e-01 1.82391666e-03 6.77890415e-01] [-5.49481469e-02 -2.56560599e-03 9.98485913e-01 -3.73197925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002260614999999 meters 0.02593815646429603 Centerline is valid? [True, True] Translation: X:10.56, Y:0.66, Z:-0.38 [[ 9.98140246e-01 8.23903240e-03 6.04000616e-02 1.05577602e+01] [-8.37525072e-03 9.99962922e-01 2.00244665e-03 6.56057582e-01] [-6.03813239e-02 -2.50458825e-03 9.98172241e-01 -3.76593348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062260615 meters 0.023558615911731112 Centerline is valid? [True, True] Translation: X:10.62, Y:0.65, Z:-0.36 [[ 9.97685394e-01 3.41060146e-03 6.79133463e-02 1.06205133e+01] [-3.57100900e-03 9.99991114e-01 2.24068435e-03 6.52035700e-01] [-6.79051007e-02 -2.47801722e-03 9.97688707e-01 -3.62773694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122260615 meters 0.024478249622143924 Centerline is valid? [True, True] Translation: X:10.68, Y:0.64, Z:-0.38 [[ 9.97978288e-01 4.10817261e-03 6.34228683e-02 1.06816929e+01] [-4.24849888e-03 9.99988816e-01 2.07784630e-03 6.37953022e-01] [-6.34136228e-02 -2.34309748e-03 9.97984580e-01 -3.75782418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182260615 meters 0.026162306508223234 Centerline is valid? [True, True] Translation: X:10.74, Y:0.64, Z:-0.38 [[ 9.97887093e-01 1.28357297e-02 6.36913977e-02 1.07416595e+01] [-1.29945796e-02 9.99913403e-01 2.08042319e-03 6.37709923e-01] [-6.36591784e-02 -2.90367039e-03 9.97967473e-01 -3.81625929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242260615 meters 0.028835260565949365 Centerline is valid? [True, True] Translation: X:10.80, Y:0.64, Z:-0.38 [[ 9.97754455e-01 1.66534697e-02 6.48745689e-02 1.08031627e+01] [-1.68263073e-02 9.99856183e-01 2.11868076e-03 6.41737960e-01] [-6.48299554e-02 -3.20552260e-03 9.97891177e-01 -3.76221178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302260615 meters 0.029702826389916136 Centerline is valid? [True, True] Translation: X:10.86, Y:0.63, Z:-0.39 [[ 9.98153823e-01 1.24372189e-02 5.94496592e-02 1.08635468e+01] [-1.25747491e-02 9.99919053e-01 1.93982154e-03 6.27386604e-01] [-5.94207210e-02 -2.68380483e-03 9.98229420e-01 -3.85530575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362260615 meters 0.029108686278313155 Centerline is valid? [True, True] Translation: X:10.93, Y:0.62, Z:-0.38 [[ 9.97816492e-01 1.09048560e-02 6.51408661e-02 1.09266308e+01] [-1.10662479e-02 9.99936526e-01 2.11726921e-03 6.23518808e-01] [-6.51136428e-02 -2.83351110e-03 9.97873832e-01 -3.76843385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422260614999999 meters 0.02976483203527969 Centerline is valid? [True, True] Translation: X:10.99, Y:0.63, Z:-0.38 [[ 9.97832165e-01 1.30638684e-02 6.45004321e-02 1.09886924e+01] [-1.32252822e-02 9.99910387e-01 2.07617608e-03 6.25674450e-01] [-6.44675291e-02 -2.92471169e-03 9.97915519e-01 -3.78678146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482260615 meters 0.034017220578965814 Centerline is valid? [True, True] Translation: X:11.05, Y:0.62, Z:-0.39 [[ 9.98060320e-01 1.54043979e-02 6.03183430e-02 1.10506171e+01] [-1.55486509e-02 9.99877263e-01 1.92286919e-03 6.19507792e-01] [-6.02813191e-02 -2.85700830e-03 9.98177339e-01 -3.87598627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542260615 meters 0.03343450026015592 Centerline is valid? [True, True] Translation: X:11.11, Y:0.61, Z:-0.39 [[ 9.97779555e-01 1.61190704e-02 6.46230305e-02 1.11130916e+01] [-1.62851206e-02 9.99865300e-01 2.04356192e-03 6.06615747e-01] [-6.45813854e-02 -3.09141815e-03 9.97907655e-01 -3.88447830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602260615 meters 0.03570892214327979 Centerline is valid? [True, True] Translation: X:11.17, Y:0.61, Z:-0.39 [[ 9.97676115e-01 2.28092028e-02 6.42036562e-02 1.11739012e+01] [-2.29866663e-02 9.99733717e-01 2.02665782e-03 6.14585625e-01] [-6.41403334e-02 -3.49777612e-03 9.97934759e-01 -3.87948440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662260615 meters 0.040007162372402004 Centerline is valid? [True, True] Translation: X:11.23, Y:0.60, Z:-0.40 [[ 9.97498343e-01 2.94038582e-02 6.42842845e-02 1.12347244e+01] [-2.95953810e-02 9.99559902e-01 2.02889245e-03 5.97182262e-01] [-6.41963358e-02 -3.92633475e-03 9.97929564e-01 -3.98469234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722260615 meters 0.04035312739385661 Centerline is valid? [True, True] Translation: X:11.30, Y:0.58, Z:-0.40 [[ 9.97717438e-01 3.06734590e-02 6.01585684e-02 1.12977221e+01] [-3.08430346e-02 9.99522450e-01 1.89204199e-03 5.75202535e-01] [-6.00718042e-02 -3.74319610e-03 9.98187040e-01 -4.04112116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782260615 meters 0.04352247341336914 Centerline is valid? [True, True] Translation: X:11.36, Y:0.57, Z:-0.41 [[ 9.97606808e-01 3.55538191e-02 5.93007775e-02 1.13592261e+01] [-3.57263506e-02 9.99359895e-01 1.85140330e-03 5.70294556e-01] [-5.91969943e-02 -3.96557290e-03 9.98238444e-01 -4.07181232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842260615 meters 0.04809766127981228 Centerline is valid? [True, True] Translation: X:11.42, Y:0.55, Z:-0.42 [[ 9.97779096e-01 3.74466447e-02 5.50874254e-02 1.14208178e+01] [-3.75980181e-02 9.99291475e-01 1.71370805e-03 5.49519859e-01] [-5.49842220e-02 -3.78108008e-03 9.98480064e-01 -4.19551801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902260615 meters 0.050345423517134856 Centerline is valid? [True, True] Translation: X:11.48, Y:0.53, Z:-0.42 [[ 9.97832047e-01 3.75596753e-02 5.40414339e-02 1.14827152e+01] [-3.77046622e-02 9.99287539e-01 1.66547673e-03 5.30775356e-01] [-5.39403767e-02 -3.69948006e-03 9.98537305e-01 -4.19653020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962260615 meters 0.05173403669922003 Centerline is valid? [True, True] Translation: X:11.55, Y:0.53, Z:-0.43 [[ 9.98001131e-01 3.84530356e-02 5.01508341e-02 1.15457779e+01] [-3.85782770e-02 9.99254408e-01 1.53135666e-03 5.26914596e-01] [-5.00545567e-02 -3.46302846e-03 9.98740481e-01 -4.27644195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022260615 meters 0.045131138128476106 Centerline is valid? [True, True] Translation: X:11.61, Y:0.50, Z:-0.43 [[ 9.98002313e-01 3.47533240e-02 5.27597328e-02 1.16070774e+01] [-3.48860313e-02 9.99390022e-01 1.59619253e-03 4.99538703e-01] [-5.26720775e-02 -3.43358152e-03 9.98605960e-01 -4.31690133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082260615 meters 0.04949661093328558 Centerline is valid? [True, True] Translation: X:11.67, Y:0.49, Z:-0.43 [[ 9.97486526e-01 4.17873138e-02 5.72228111e-02 1.16688537e+01] [-4.19549370e-02 9.99118005e-01 1.73054611e-03 4.86565248e-01] [-5.71000260e-02 -4.12697586e-03 9.98359933e-01 -4.25381801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142260615 meters 0.052426144844367056 Centerline is valid? [True, True] Translation: X:11.73, Y:0.48, Z:-0.43 [[ 9.97648833e-01 4.42600037e-02 5.23245460e-02 1.17309238e+01] [-4.44032142e-02 9.99012446e-01 1.57708517e-03 4.76109869e-01] [-5.22030708e-02 -3.89675520e-03 9.98628887e-01 -4.32925930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202260615 meters 0.052641776540733334 Centerline is valid? [True, True] Translation: X:11.79, Y:0.46, Z:-0.44 [[ 9.97743726e-01 4.32389908e-02 5.13599805e-02 1.17931221e+01] [-4.33747945e-02 9.99057696e-01 1.53198224e-03 4.63177201e-01] [-5.12453424e-02 -3.75625427e-03 9.98679030e-01 -4.39214907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262260615 meters 0.04599288196613338 Centerline is valid? [True, True] Translation: X:11.85, Y:0.43, Z:-0.44 [[ 9.98092087e-01 3.50294027e-02 5.08441491e-02 1.18545323e+01] [-3.51512498e-02 9.99380872e-01 1.50399192e-03 4.33405210e-01] [-5.07599862e-02 -3.28835782e-03 9.98705467e-01 -4.44408234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322260615 meters 0.04686082586432322 Centerline is valid? [True, True] Translation: X:11.92, Y:0.43, Z:-0.44 [[ 9.98071843e-01 3.54128474e-02 5.09757390e-02 1.19176663e+01] [-3.55355833e-02 9.99367281e-01 1.50314864e-03 4.25956763e-01] [-5.08902549e-02 -3.31170295e-03 9.98698761e-01 -4.44037253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382260615 meters 0.048377967944111394 Centerline is valid? [True, True] Translation: X:11.98, Y:0.42, Z:-0.45 [[ 9.97993770e-01 3.69120905e-02 5.14386340e-02 1.19800142e+01] [-3.70381231e-02 9.99312729e-01 1.49876077e-03 4.17657958e-01] [-5.13479593e-02 -3.40094437e-03 9.98675033e-01 -4.45844948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442260615 meters 0.05105140200615948 Centerline is valid? [True, True] Translation: X:12.04, Y:0.41, Z:-0.45 [[ 9.97996168e-01 3.82899061e-02 5.03739204e-02 1.20418774e+01] [-3.84117560e-02 9.99260940e-01 1.45268978e-03 4.05266602e-01] [-5.02810677e-02 -3.38472957e-03 9.98729372e-01 -4.46578119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502260614999999 meters 0.04759197370456831 Centerline is valid? [True, True] Translation: X:12.10, Y:0.38, Z:-0.45 [[ 9.98037592e-01 4.08927533e-02 4.74209686e-02 1.21041926e+01] [-4.10030330e-02 9.99158104e-01 1.35472592e-03 3.84034396e-01] [-4.73256466e-02 -3.29647093e-03 9.98874074e-01 -4.51330674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562260615 meters 0.05439750152366009 Centerline is valid? [True, True] Translation: X:12.17, Y:0.38, Z:-0.46 [[ 9.98247606e-01 3.92264507e-02 4.43057767e-02 1.21650370e+01] [-3.93205684e-02 9.99225860e-01 1.25444931e-03 3.78293345e-01] [-4.42222703e-02 -2.99437935e-03 9.99017229e-01 -4.60708927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622260615 meters 0.04010127713357009 Centerline is valid? [True, True] Translation: X:12.23, Y:0.34, Z:-0.47 [[ 9.98763314e-01 2.75244207e-02 4.14034995e-02 1.22261410e+01] [-2.75965142e-02 9.99618458e-01 1.17060169e-03 3.44528777e-01] [-4.13554822e-02 -2.31174628e-03 9.99141822e-01 -4.72314821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682260615 meters 0.03144305473694514 Centerline is valid? [True, True] Translation: X:12.29, Y:0.32, Z:-0.47 [[ 9.99037073e-01 1.32375909e-02 4.18293259e-02 1.22874855e+01] [-1.32986847e-02 9.99910869e-01 1.18261731e-03 3.22164768e-01] [-4.18099426e-02 -1.73775355e-03 9.99124071e-01 -4.73837833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742260615 meters 0.030552721429876348 Centerline is valid? [True, True] Translation: X:12.35, Y:0.32, Z:-0.48 [[ 9.99236318e-01 1.26741351e-02 3.69614154e-02 1.23500719e+01] [-1.27214755e-02 9.99918532e-01 1.04589585e-03 3.15989326e-01] [-3.69451484e-02 -1.51530086e-03 9.99316146e-01 -4.80776385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802260615 meters 0.032969661093753454 Centerline is valid? [True, True] Translation: X:12.41, Y:0.32, Z:-0.48 [[ 9.99209036e-01 1.84691741e-02 3.52163712e-02 1.24114398e+01] [-1.85153205e-02 9.99828092e-01 9.84669187e-04 3.19282729e-01] [-3.51921312e-02 -1.63593275e-03 9.99379226e-01 -4.84127657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862260615 meters 0.03770707916071149 Centerline is valid? [True, True] Translation: X:12.47, Y:0.32, Z:-0.49 [[ 9.98969876e-01 2.67703176e-02 3.66406518e-02 1.24720570e+01] [-2.68257712e-02 9.99639601e-01 1.02257117e-03 3.22075734e-01] [-3.66000720e-02 -2.00443153e-03 9.99327983e-01 -4.86465799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922260614999999 meters 0.04213376082491319 Centerline is valid? [True, True] Translation: X:12.53, Y:0.33, Z:-0.49 [[ 9.98727234e-01 3.11835089e-02 3.96421720e-02 1.25318658e+01] [-3.12518846e-02 9.99510928e-01 1.10615160e-03 3.27419522e-01] [-3.95882905e-02 -2.34363631e-03 9.99213328e-01 -4.86674658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982260615 meters 0.045147063597072996 Centerline is valid? [True, True] Translation: X:12.59, Y:0.33, Z:-0.48 [[ 9.98488399e-01 3.52929479e-02 4.21345991e-02 1.25934256e+01] [-3.53738403e-02 9.99373458e-01 1.17560933e-03 3.26203317e-01] [-4.20667093e-02 -2.66429486e-03 9.99111252e-01 -4.83966259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042260615 meters 0.047789941996464545 Centerline is valid? [True, True] Translation: X:12.65, Y:0.33, Z:-0.50 [[ 9.98550326e-01 4.03482406e-02 3.56267531e-02 1.26531319e+01] [-4.04092064e-02 9.99182721e-01 9.92551381e-04 3.27702468e-01] [-3.55575884e-02 -2.43076133e-03 9.99364673e-01 -5.00764512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102260615 meters 0.05442861998431885 Centerline is valid? [True, True] Translation: X:12.71, Y:0.34, Z:-0.52 [[ 9.98599726e-01 4.27655643e-02 3.11399061e-02 1.27124604e+01] [-4.28133251e-02 9.99082712e-01 8.68300420e-04 3.36891035e-01] [-3.10742084e-02 -2.20028748e-03 9.99514658e-01 -5.16188938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162260615 meters 0.04969481131471623 Centerline is valid? [True, True] Translation: X:12.77, Y:0.33, Z:-0.53 [[ 9.98921450e-01 4.03744717e-02 2.29311589e-02 1.27748382e+01] [-4.03997878e-02 9.99183389e-01 6.41621976e-04 3.25419630e-01] [-2.28865279e-02 -1.56734391e-03 9.99736841e-01 -5.30168877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222260615 meters 0.056239641593276116 Centerline is valid? [True, True] Translation: X:12.84, Y:0.33, Z:-0.52 [[ 9.98591753e-01 4.44635182e-02 2.89397020e-02 1.28352157e+01] [-4.45051193e-02 9.99008840e-01 7.94666338e-04 3.31282651e-01] [-2.88756845e-02 -2.08151214e-03 9.99580843e-01 -5.24107817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282260615 meters 0.05379520708815443 Centerline is valid? [True, True] Translation: X:12.90, Y:0.32, Z:-0.52 [[ 9.98181555e-01 4.97020747e-02 3.41069880e-02 1.28965287e+01] [-4.97628758e-02 9.98760622e-01 9.35575994e-04 3.23332496e-01] [-3.40182165e-02 -2.63113651e-03 9.99417750e-01 -5.15806300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342260615 meters 0.051415899545793065 Centerline is valid? [True, True] Translation: X:12.96, Y:0.32, Z:-0.52 [[ 9.98044780e-01 5.03563879e-02 3.70250036e-02 1.29593122e+01] [-5.04285291e-02 9.98727155e-01 1.01656140e-03 3.22567975e-01] [-3.69266862e-02 -2.88169027e-03 9.99313822e-01 -5.15080663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402260615 meters 0.04895998288300919 Centerline is valid? [True, True] Translation: X:13.02, Y:0.32, Z:-0.51 [[ 9.98062721e-01 4.51174347e-02 4.28395001e-02 1.30203535e+01] [-4.52085287e-02 9.98976899e-01 1.15949525e-03 3.17584713e-01] [-4.27433575e-02 -3.09395976e-03 9.99081294e-01 -5.10141707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462260614999998 meters 0.0537260036040649 Centerline is valid? [True, True] Translation: X:13.08, Y:0.31, Z:-0.51 [[ 9.97795227e-01 4.83217024e-02 4.54939341e-02 1.30810924e+01] [-4.84277540e-02 9.98825929e-01 1.23120713e-03 3.05155131e-01] [-4.53810270e-02 -3.43166165e-03 9.98963856e-01 -5.09913394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522260615 meters 0.054893940661749685 Centerline is valid? [True, True] Translation: X:13.14, Y:0.30, Z:-0.51 [[ 9.97541384e-01 5.18035982e-02 4.71971934e-02 1.31421027e+01] [-5.19215748e-02 9.98650350e-01 1.27630744e-03 2.98585884e-01] [-4.70673764e-02 -3.72372210e-03 9.98884776e-01 -5.12701357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582260615 meters 0.05339522596986211 Centerline is valid? [True, True] Translation: X:13.20, Y:0.28, Z:-0.52 [[ 9.97972080e-01 4.77847425e-02 4.20517055e-02 1.32024586e+01] [-4.78748050e-02 9.98852697e-01 1.13669018e-03 2.77414687e-01] [-4.19491430e-02 -3.14760227e-03 9.99114789e-01 -5.24590394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642260615 meters 0.04702423500857275 Centerline is valid? [True, True] Translation: X:13.26, Y:0.26, Z:-0.53 [[ 9.98438819e-01 3.76233032e-02 4.12845251e-02 1.32636703e+01] [-3.77014552e-02 9.99288424e-01 1.11579524e-03 2.57575702e-01] [-4.12131682e-02 -2.67053996e-03 9.99146808e-01 -5.31464764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702260615 meters 0.037433009714459134 Centerline is valid? [True, True] Translation: X:13.33, Y:0.24, Z:-0.53 [[ 9.98706961e-01 2.25416693e-02 4.55662123e-02 1.33251009e+01] [-2.26212447e-02 9.99743349e-01 1.23140739e-03 2.43157129e-01] [-4.55267597e-02 -2.26057957e-03 9.98960562e-01 -5.31246086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762260615 meters 0.031357951773013204 Centerline is valid? [True, True] Translation: X:13.39, Y:0.23, Z:-0.51 [[ 9.98450132e-01 1.02487019e-02 5.47019050e-02 1.33860235e+01] [-1.03449853e-02 9.99945398e-01 1.47727349e-03 2.34707078e-01] [-5.46837780e-02 -2.04087431e-03 9.98501637e-01 -5.14277660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822260615 meters 0.02891244332234518 Centerline is valid? [True, True] Translation: X:13.45, Y:0.24, Z:-0.52 [[ 9.98614221e-01 9.32829243e-03 5.17940274e-02 1.34477828e+01] [-9.41315843e-03 9.99954722e-01 1.39482890e-03 2.35134273e-01] [-5.17786709e-02 -1.88044136e-03 9.98656815e-01 -5.17336876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882260615 meters 0.03213606491532266 Centerline is valid? [True, True] Translation: X:13.51, Y:0.25, Z:-0.53 [[ 9.98767813e-01 1.43429501e-02 4.75093130e-02 1.35087554e+01] [-1.44193694e-02 9.99895234e-01 1.26616342e-03 2.54115911e-01] [-4.74861752e-02 -1.94965761e-03 9.98869993e-01 -5.29139361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942260615 meters 0.04858381770850214 Centerline is valid? [True, True] Translation: X:13.57, Y:0.28, Z:-0.54 [[ 9.98535559e-01 3.84120088e-02 3.80953312e-02 1.35670087e+01] [-3.84782288e-02 9.99258932e-01 1.00634045e-03 2.79678580e-01] [-3.80284444e-02 -2.47070760e-03 9.99273603e-01 -5.42786038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002260615 meters 0.060365695187394715 Centerline is valid? [True, True] Translation: X:13.63, Y:0.30, Z:-0.55 [[ 9.97940739e-01 5.25354301e-02 3.68009646e-02 1.36256309e+01] [-5.26067212e-02 9.98614836e-01 9.70908385e-04 3.01998075e-01] [-3.66989821e-02 -2.90488712e-03 9.99322143e-01 -5.47470736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062260615 meters 0.04628009551128802 Centerline is valid? [True, True] Translation: X:13.69, Y:0.28, Z:-0.54 [[ 9.98108553e-01 4.33588133e-02 4.35813019e-02 1.36874352e+01] [-4.34501567e-02 9.99054934e-01 1.15041792e-03 2.82268436e-01] [-4.34902339e-02 -3.04185636e-03 9.99049221e-01 -5.42173567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122260615 meters 0.0410512781147907 Centerline is valid? [True, True] Translation: X:13.75, Y:0.27, Z:-0.53 [[ 9.97721165e-01 3.38397636e-02 5.83724866e-02 1.37489727e+01] [-3.39875345e-02 9.99421070e-01 1.54027682e-03 2.72905594e-01] [-5.82865704e-02 -3.52070369e-03 9.98293684e-01 -5.28128508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182260615 meters 0.04618000917080102 Centerline is valid? [True, True] Translation: X:13.81, Y:0.27, Z:-0.53 [[ 9.97364733e-01 4.07116029e-02 6.00512633e-02 1.38103629e+01] [-4.08803404e-02 9.99162795e-01 1.58349580e-03 2.74975969e-01] [-5.99365214e-02 -4.03423895e-03 9.98194038e-01 -5.27174326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242260615 meters 0.04449176053553026 Centerline is valid? [True, True] Translation: X:13.87, Y:0.27, Z:-0.54 [[ 9.97520706e-01 4.23575727e-02 5.61985577e-02 1.38720258e+01] [-4.25075530e-02 9.99095056e-01 1.47553142e-03 2.69639478e-01] [-5.60852012e-02 -3.86073632e-03 9.98418522e-01 -5.37619415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302260615 meters 0.04579540724229722 Centerline is valid? [True, True] Translation: X:13.93, Y:0.27, Z:-0.55 [[ 9.97915392e-01 3.91866404e-02 5.12764757e-02 1.39314365e+01] [-3.93067052e-02 9.99226301e-01 1.33481064e-03 2.72526936e-01] [-5.11844964e-02 -3.34753739e-03 9.98683604e-01 -5.48628558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362260615 meters 0.04519147049314667 Centerline is valid? [True, True] Translation: X:13.99, Y:0.26, Z:-0.55 [[ 9.97867742e-01 3.80807569e-02 5.30077790e-02 1.39939155e+01] [-3.82073210e-02 9.99268886e-01 1.37597974e-03 2.63714838e-01] [-5.29166260e-02 -3.39833103e-03 9.98593151e-01 -5.48210606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422260615 meters 0.03543999937273965 Centerline is valid? [True, True] Translation: X:14.06, Y:0.25, Z:-0.54 [[ 9.97912052e-01 2.37528986e-02 6.00610987e-02 1.40554800e+01] [-2.38887532e-02 9.99713429e-01 1.54480948e-03 2.53361957e-01] [-6.00071932e-02 -2.97636875e-03 9.98193507e-01 -5.44465898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482260615 meters 0.025443646147055667 Centerline is valid? [True, True] Translation: X:14.12, Y:0.25, Z:-0.54 [[ 9.98083483e-01 3.59929303e-03 6.17770603e-02 1.41154896e+01] [-3.70448770e-03 9.99991877e-01 1.58835969e-03 2.49869451e-01] [-6.17708415e-02 -1.81416794e-03 9.98088709e-01 -5.40286606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542260615 meters 0.015638086010064015 Centerline is valid? [True, True] Translation: X:14.18, Y:0.23, Z:-0.54 [[ 9.97708776e-01 -2.41761893e-02 6.31878949e-02 1.41770162e+01] [ 2.41216770e-02 9.99707708e-01 1.62553365e-03 2.28919858e-01] [-6.32087248e-02 -9.76111995e-05 9.98000324e-01 -5.39763431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602260615 meters 0.015278052684368574 Centerline is valid? [True, True] Translation: X:14.24, Y:0.24, Z:-0.55 [[ 9.97710994e-01 -3.00646188e-02 6.05713790e-02 1.42389360e+01] [ 3.00257667e-02 9.99547921e-01 1.55171638e-03 2.39053880e-01] [-6.05906477e-02 2.70537608e-04 9.98162662e-01 -5.46417504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662260615 meters 0.0156749788555955 Centerline is valid? [True, True] Translation: X:14.30, Y:0.27, Z:-0.55 [[ 9.97650975e-01 -2.14085710e-02 6.50707706e-02 1.43008241e+01] [ 2.13467376e-02 9.99770778e-01 1.64544076e-03 2.69443850e-01] [-6.50910815e-02 -2.52526913e-04 9.97879295e-01 -5.45011618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722260615 meters 0.01698180380397089 Centerline is valid? [True, True] Translation: X:14.36, Y:0.30, Z:-0.54 [[ 9.97562905e-01 -1.65201412e-02 6.77889029e-02 1.43621594e+01] [ 1.64428263e-02 9.99863365e-01 1.69836718e-03 2.99166352e-01] [-6.78076978e-02 -5.79586938e-04 9.97698241e-01 -5.42415029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782260615 meters 0.01633197700320127 Centerline is valid? [True, True] Translation: X:14.42, Y:0.32, Z:-0.54 [[ 9.97606156e-01 -1.81192545e-02 6.67356776e-02 1.44240052e+01] [ 1.80487058e-02 9.99835731e-01 1.65995241e-03 3.21515634e-01] [-6.67547921e-02 -4.51486133e-04 9.97769309e-01 -5.41602806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842260615 meters 0.014322640930964815 Centerline is valid? [True, True] Translation: X:14.48, Y:0.33, Z:-0.55 [[ 9.97785863e-01 -2.88533487e-02 5.99237577e-02 1.44847974e+01] [ 2.88165558e-02 9.99583624e-01 1.47826110e-03 3.28411251e-01] [-5.99414596e-02 2.51808277e-04 9.98201862e-01 -5.52508623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902260615 meters 0.017630408992605776 Centerline is valid? [True, True] Translation: X:14.55, Y:0.34, Z:-0.55 [[ 9.97298213e-01 -4.03195211e-02 6.14052990e-02 1.45469604e+01] [ 4.03028218e-02 9.99186369e-01 1.51100554e-03 3.41672587e-01] [-6.14162608e-02 9.67883703e-04 9.98111770e-01 -5.53486795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962260614999998 meters 0.02226964753511237 Centerline is valid? [True, True] Translation: X:14.61, Y:0.36, Z:-0.55 [[ 9.96410567e-01 -4.92560708e-02 6.88463623e-02 1.46078393e+01] [ 4.92566746e-02 9.98784724e-01 1.68984919e-03 3.61244988e-01] [-6.88459303e-02 1.70735928e-03 9.97625843e-01 -5.47335144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022260615 meters 0.021685274501235755 Centerline is valid? [True, True] Translation: X:14.67, Y:0.40, Z:-0.54 [[ 9.96330878e-01 -4.42831007e-02 7.32378845e-02 1.46683577e+01] [ 4.42711097e-02 9.99017954e-01 1.78785919e-03 3.98399382e-01] [-7.32451334e-02 1.46102311e-03 9.97312898e-01 -5.41608995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082260615 meters 0.020334314656291427 Centerline is valid? [True, True] Translation: X:14.73, Y:0.44, Z:-0.54 [[ 9.96016703e-01 -3.57496790e-02 8.16865233e-02 1.47282013e+01] [ 3.57072718e-02 9.99360330e-01 1.98039783e-03 4.44804989e-01] [-8.17050695e-02 9.44293571e-04 9.96656104e-01 -5.39909837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142260615 meters 0.0182451181151265 Centerline is valid? [True, True] Translation: X:14.79, Y:0.49, Z:-0.54 [[ 9.96802540e-01 -1.95734053e-02 7.74698525e-02 1.47880315e+01] [ 1.94866017e-02 9.99808357e-01 1.87634477e-03 4.94108929e-01] [-7.74917324e-02 -3.60721070e-04 9.96992929e-01 -5.43922823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202260615 meters 0.02051741635048153 Centerline is valid? [True, True] Translation: X:14.85, Y:0.53, Z:-0.55 [[ 9.97486145e-01 -5.08813577e-03 7.06788655e-02 1.48496222e+01] [ 4.98002389e-03 9.99986145e-01 1.70574946e-03 5.28565625e-01] [-7.06865653e-02 -1.34947901e-03 9.97497663e-01 -5.53924221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262260615 meters 0.021826301443276946 Centerline is valid? [True, True] Translation: X:14.91, Y:0.55, Z:-0.55 [[ 9.97298276e-01 -3.91765332e-04 7.34574323e-02 1.49099648e+01] [ 2.62916016e-04 9.99998410e-01 1.76372921e-03 5.47058651e-01] [-7.34580065e-02 -1.73965097e-03 9.97296794e-01 -5.52351727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322260615 meters 0.02189974691596657 Centerline is valid? [True, True] Translation: X:14.97, Y:0.56, Z:-0.56 [[ 9.97662173e-01 -7.30847527e-04 6.83348753e-02 1.49703597e+01] [ 6.20420333e-04 9.99998467e-01 1.63718027e-03 5.58003556e-01] [-6.83359671e-02 -1.59095648e-03 9.97661097e-01 -5.59387111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382260615 meters 0.0189240015597423 Centerline is valid? [True, True] Translation: X:15.03, Y:0.55, Z:-0.55 [[ 9.96835250e-01 -1.59309757e-02 7.78825318e-02 1.50333104e+01] [ 1.58348091e-02 9.99872906e-01 1.85221309e-03 5.46733111e-01] [-7.79021409e-02 -6.13096274e-04 9.96960822e-01 -5.54241356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442260615 meters 0.02355515384147407 Centerline is valid? [True, True] Translation: X:15.10, Y:0.53, Z:-0.55 [[ 9.95465972e-01 -4.21591174e-02 8.52649269e-02 1.50950599e+01] [ 4.21410580e-02 9.99109644e-01 2.01245201e-03 5.31504841e-01] [-8.52738540e-02 1.58982673e-03 9.96356283e-01 -5.52622339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502260615 meters 0.027143329740145536 Centerline is valid? [True, True] Translation: X:15.16, Y:0.55, Z:-0.56 [[ 9.95423559e-01 -5.06087434e-02 8.10598073e-02 1.51555829e+01] [ 5.06214125e-02 9.98716107e-01 1.90008550e-03 5.49242064e-01] [-8.10518961e-02 2.21197207e-03 9.96707428e-01 -5.56672552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562260615 meters 0.019651149511194725 Centerline is valid? [True, True] Translation: X:15.21, Y:0.59, Z:-0.57 [[ 9.96570027e-01 -3.47560358e-02 7.51012622e-02 1.52143874e+01] [ 3.47226959e-02 9.99395453e-01 1.74998543e-03 5.92542362e-01] [-7.51166825e-02 8.63735267e-04 9.97174377e-01 -5.69052044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622260615 meters 0.018220864856605838 Centerline is valid? [True, True] Translation: X:15.27, Y:0.64, Z:-0.57 [[ 9.97272443e-01 -1.15902040e-02 7.28926697e-02 1.52747228e+01] [ 1.14976331e-02 9.99932473e-01 1.68945205e-03 6.42976552e-01] [-7.29073285e-02 -8.46750804e-04 9.97338360e-01 -5.71501320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682260615 meters 0.017054192113062222 Centerline is valid? [True, True] Translation: X:15.34, Y:0.68, Z:-0.57 [[ 9.97269202e-01 -7.83252266e-03 7.34356190e-02 1.53362205e+01] [ 7.72998182e-03 9.99968711e-01 1.68044866e-03 6.77532504e-01] [-7.34464835e-02 -1.10820369e-03 9.97298544e-01 -5.74848601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742260615 meters 0.016692858040206437 Centerline is valid? [True, True] Translation: X:15.40, Y:0.69, Z:-0.57 [[ 9.96539744e-01 -1.83376284e-02 8.10695377e-02 1.53970965e+01] [ 1.82484749e-02 9.99831789e-01 1.84055947e-03 6.87558237e-01] [-8.10896524e-02 -3.54795242e-04 9.96706748e-01 -5.74433174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802260614999998 meters 0.021984041790666313 Centerline is valid? [True, True] Translation: X:15.46, Y:0.68, Z:-0.57 [[ 9.95149533e-01 -3.60254165e-02 9.15400298e-02 1.54573983e+01] [ 3.59863452e-02 9.99350122e-01 2.07788554e-03 6.84848860e-01] [-9.15553966e-02 1.22638429e-03 9.95799229e-01 -5.69382801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862260615 meters 0.025582064797156346 Centerline is valid? [True, True] Translation: X:15.52, Y:0.70, Z:-0.57 [[ 9.94890905e-01 -4.39270118e-02 9.08983220e-02 1.55186989e+01] [ 4.39225835e-02 9.99032834e-01 2.05007384e-03 7.04367554e-01] [-9.09004618e-02 1.95288932e-03 9.95858068e-01 -5.65164320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922260615 meters 0.025046026335970445 Centerline is valid? [True, True] Translation: X:15.58, Y:0.73, Z:-0.57 [[ 9.94944178e-01 -4.83035281e-02 8.80502794e-02 1.55805929e+01] [ 4.83186249e-02 9.98830048e-01 1.96116083e-03 7.28694997e-01] [-8.80419957e-02 2.30322287e-03 9.96114101e-01 -5.72126441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982260615 meters 0.020646886567533863 Centerline is valid? [True, True] Translation: X:15.64, Y:0.75, Z:-0.59 [[ 9.95814824e-01 -4.10920832e-02 8.16350261e-02 1.56399204e+01] [ 4.10817321e-02 9.99154155e-01 1.80716448e-03 7.49530661e-01] [-8.16402357e-02 1.55410709e-03 9.96660653e-01 -5.87807501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042260615 meters 0.017226417848082046 Centerline is valid? [True, True] Translation: X:15.70, Y:0.77, Z:-0.59 [[ 9.96357409e-01 -3.15719965e-02 7.92156705e-02 1.57004734e+01] [ 3.15322674e-02 9.99501198e-01 1.75268427e-03 7.70449283e-01] [-7.92314933e-02 7.51549743e-04 9.96855960e-01 -5.89860377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102260615 meters 0.016896259364956305 Centerline is valid? [True, True] Translation: X:15.76, Y:0.78, Z:-0.59 [[ 9.96369437e-01 -2.58719233e-02 8.11084970e-02 1.57615894e+01] [ 2.58123957e-02 9.99665215e-01 1.78254545e-03 7.84104698e-01] [-8.11274610e-02 3.17530815e-04 9.96703684e-01 -5.85772547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162260615 meters 0.01776019816884657 Centerline is valid? [True, True] Translation: X:15.82, Y:0.77, Z:-0.60 [[ 9.96437556e-01 -3.10111636e-02 7.84251596e-02 1.58235607e+01] [ 3.09731055e-02 9.99518769e-01 1.70193480e-03 7.72410160e-01] [-7.84401980e-02 7.33198992e-04 9.96918551e-01 -5.99516159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222260615 meters 0.021271399162383638 Centerline is valid? [True, True] Translation: X:15.89, Y:0.75, Z:-0.61 [[ 9.96487810e-01 -4.41101068e-02 7.11782523e-02 1.58862518e+01] [ 4.41130815e-02 9.99025371e-01 1.53091505e-03 7.54441091e-01] [-7.11764087e-02 1.61435387e-03 9.97462437e-01 -6.12610959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282260615 meters 0.023189942814771998 Centerline is valid? [True, True] Translation: X:15.95, Y:0.75, Z:-0.62 [[ 9.96757333e-01 -5.00942534e-02 6.29712949e-02 1.59486004e+01] [ 5.01089319e-02 9.98742850e-01 1.34715377e-03 7.49680238e-01] [-6.29596152e-02 1.81263893e-03 9.98014429e-01 -6.24616008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342260615 meters 0.020741220028197376 Centerline is valid? [True, True] Translation: X:16.01, Y:0.76, Z:-0.63 [[ 9.97191888e-01 -4.65373146e-02 5.86738211e-02 1.60100241e+01] [ 4.65443067e-02 9.98915447e-01 1.24821135e-03 7.60904558e-01] [-5.86682746e-02 1.48622609e-03 9.98276427e-01 -6.30457294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402260615 meters 0.019889668161554224 Centerline is valid? [True, True] Translation: X:16.07, Y:0.77, Z:-0.64 [[ 9.97626797e-01 -4.66185432e-02 5.06703547e-02 1.60708872e+01] [ 4.66239782e-02 9.98911932e-01 1.07536230e-03 7.65714509e-01] [-5.06653537e-02 1.28964327e-03 9.98714854e-01 -6.42939975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462260614999998 meters 0.021504965682160312 Centerline is valid? [True, True] Translation: X:16.13, Y:0.77, Z:-0.65 [[ 9.97808344e-01 -4.87168464e-02 4.47791994e-02 1.61322445e+01] [ 4.87232931e-02 9.98811865e-01 9.48115362e-04 7.66432883e-01] [-4.47721849e-02 1.23575264e-03 9.98996459e-01 -6.50239747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522260615 meters 0.021471208485939895 Centerline is valid? [True, True] Translation: X:16.19, Y:0.77, Z:-0.65 [[ 9.97683078e-01 -4.85602499e-02 4.76484877e-02 1.61945489e+01] [ 4.85678002e-02 9.98819388e-01 9.99961924e-04 7.66244702e-01] [-4.76407917e-02 1.31653714e-03 9.98863665e-01 -6.48273183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582260615 meters 0.022793085929141373 Centerline is valid? [True, True] Translation: X:16.26, Y:0.75, Z:-0.65 [[ 9.97264448e-01 -5.06911734e-02 5.37961425e-02 1.62570777e+01] [ 5.07046722e-02 9.98713069e-01 1.11477170e-03 7.51228215e-01] [-5.37834196e-02 1.61599358e-03 9.98551317e-01 -6.52589933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642260615 meters 0.02672798967834075 Centerline is valid? [True, True] Translation: X:16.32, Y:0.74, Z:-0.65 [[ 9.96490769e-01 -5.47278436e-02 6.33325329e-02 1.63175421e+01] [ 5.47549618e-02 9.98498964e-01 1.30866627e-03 7.37827772e-01] [-6.33090890e-02 2.16369656e-03 9.97991622e-01 -6.50375160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702260615 meters 0.02722178055586075 Centerline is valid? [True, True] Translation: X:16.38, Y:0.74, Z:-0.64 [[ 9.95768704e-01 -5.52095037e-02 7.34615529e-02 1.63787360e+01] [ 5.52473671e-02 9.98471544e-01 1.51806295e-03 7.41235932e-01] [-7.34330817e-02 2.54691781e-03 9.97296894e-01 -6.43224919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762260615 meters 0.027765763037771035 Centerline is valid? [True, True] Translation: X:16.44, Y:0.74, Z:-0.65 [[ 9.95348901e-01 -5.66130742e-02 7.79456544e-02 1.64403238e+01] [ 5.66602021e-02 9.98392224e-01 1.60859775e-03 7.35362531e-01] [-7.79114029e-02 2.81530053e-03 9.96956312e-01 -6.47470815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822260615 meters 0.029655088380762935 Centerline is valid? [True, True] Translation: X:16.50, Y:0.73, Z:-0.65 [[ 9.95139340e-01 -5.89004744e-02 7.89203970e-02 1.65026567e+01] [ 5.89563687e-02 9.98259240e-01 1.62367480e-03 7.31759263e-01] [-7.88786508e-02 3.03707736e-03 9.96879599e-01 -6.46935309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882260615 meters 0.03162599361016879 Centerline is valid? [True, True] Translation: X:16.56, Y:0.73, Z:-0.65 [[ 9.95146233e-01 -5.85717512e-02 7.90779620e-02 1.65648798e+01] [ 5.86280722e-02 9.98278595e-01 1.61132457e-03 7.29621708e-01] [-7.90362148e-02 3.03268488e-03 9.96867132e-01 -6.47387529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942260615 meters 0.029833504003490427 Centerline is valid? [True, True] Translation: X:16.63, Y:0.73, Z:-0.66 [[ 9.95397439e-01 -5.70752317e-02 7.69828324e-02 1.66259742e+01] [ 5.71251807e-02 9.98365813e-01 1.55491201e-03 7.28689162e-01] [-7.69457750e-02 2.84990278e-03 9.97031206e-01 -6.60223250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002260615 meters 0.028469242498493735 Centerline is valid? [True, True] Translation: X:16.69, Y:0.74, Z:-0.67 [[ 9.95816446e-01 -5.61067847e-02 7.21223618e-02 1.66866940e+01] [ 5.61482094e-02 9.98421385e-01 1.45451938e-03 7.38719618e-01] [-7.20901168e-02 2.60110716e-03 9.97394731e-01 -6.66220422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062260615 meters 0.02636780126824982 Centerline is valid? [True, True] Translation: X:16.75, Y:0.75, Z:-0.67 [[ 9.96439048e-01 -5.38398603e-02 6.48883161e-02 1.67470530e+01] [ 5.38686249e-02 9.98547176e-01 1.30746441e-03 7.51823883e-01] [-6.48644385e-02 2.19263577e-03 9.97891676e-01 -6.74029194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122260615 meters 0.02352546097518634 Centerline is valid? [True, True] Translation: X:16.81, Y:0.76, Z:-0.68 [[ 9.96875290e-01 -4.88223730e-02 6.20969534e-02 1.68078039e+01] [ 4.88390526e-02 9.98805879e-01 1.25011824e-03 7.64331757e-01] [-6.20838359e-02 1.78654439e-03 9.98069339e-01 -6.79996666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182260615 meters 0.022326945301623408 Centerline is valid? [True, True] Translation: X:16.87, Y:0.77, Z:-0.69 [[ 9.97017278e-01 -4.60433182e-02 6.19399704e-02 1.68702933e+01] [ 4.60550001e-02 9.98938136e-01 1.23983945e-03 7.65466268e-01] [-6.19312849e-02 1.61650398e-03 9.98079107e-01 -6.85141672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242260615 meters 0.023884735169470414 Centerline is valid? [True, True] Translation: X:16.93, Y:0.76, Z:-0.69 [[ 9.97072489e-01 -4.82652470e-02 5.93035979e-02 1.69325293e+01] [ 4.82808522e-02 9.98833114e-01 1.17054230e-03 7.56911625e-01] [-5.92908938e-02 1.69611273e-03 9.98239307e-01 -6.88261770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302260614999998 meters 0.02493224823432785 Centerline is valid? [True, True] Translation: X:16.99, Y:0.75, Z:-0.69 [[ 9.97004369e-01 -5.07710236e-02 5.83488787e-02 1.69946464e+01] [ 5.07913717e-02 9.98708640e-01 1.13524764e-03 7.51801620e-01] [-5.83311669e-02 1.83177273e-03 9.98295607e-01 -6.90979502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362260615 meters 0.026996063954513327 Centerline is valid? [True, True] Translation: X:17.06, Y:0.73, Z:-0.70 [[ 9.96570139e-01 -5.52952725e-02 6.15661548e-02 1.70561074e+01] [ 5.53273576e-02 9.98467566e-01 1.18480268e-03 7.31826020e-01] [-6.15373227e-02 2.22555369e-03 9.98102302e-01 -7.02145202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422260615 meters 0.03263319215211994 Centerline is valid? [True, True] Translation: X:17.12, Y:0.73, Z:-0.71 [[ 9.96309915e-01 -6.46151610e-02 5.64927719e-02 1.71160232e+01] [ 6.46571711e-02 9.97906945e-01 1.08575378e-03 7.30249760e-01] [-5.64446856e-02 2.57091556e-03 9.98402418e-01 -7.05099577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482260615 meters 0.0327126854167606 Centerline is valid? [True, True] Translation: X:17.18, Y:0.75, Z:-0.70 [[ 9.96325036e-01 -6.65997708e-02 5.38599325e-02 1.71784319e+01] [ 6.66410367e-02 9.97776482e-01 1.03140973e-03 7.45931274e-01] [-5.38088656e-02 2.56166240e-03 9.98547968e-01 -7.03412838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542260615 meters 0.025162209420123913 Centerline is valid? [True, True] Translation: X:17.24, Y:0.76, Z:-0.71 [[ 9.97241649e-01 -5.36074688e-02 5.13354965e-02 1.72386437e+01] [ 5.36283468e-02 9.98560492e-01 9.71635358e-04 7.61516897e-01] [-5.13136855e-02 1.78408256e-03 9.98680991e-01 -7.13763270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602260615 meters 0.02549107879910221 Centerline is valid? [True, True] Translation: X:17.30, Y:0.75, Z:-0.72 [[ 9.97241902e-01 -5.29617134e-02 5.19965937e-02 1.73013443e+01] [ 5.29823625e-02 9.98594965e-01 9.82148390e-04 7.52240226e-01] [-5.19755530e-02 1.77546285e-03 9.98646779e-01 -7.20223007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662260615 meters 0.0287566383053954 Centerline is valid? [True, True] Translation: X:17.36, Y:0.73, Z:-0.73 [[ 9.96988986e-01 -5.82363952e-02 5.12004236e-02 1.73629584e+01] [ 5.82635887e-02 9.98300770e-01 9.62530063e-04 7.25629376e-01] [-5.11694766e-02 2.02348855e-03 9.98687934e-01 -7.25799643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722260615 meters 0.029665120332045252 Centerline is valid? [True, True] Translation: X:17.43, Y:0.72, Z:-0.73 [[ 9.96919098e-01 -5.81900251e-02 5.25949914e-02 1.74258585e+01] [ 5.82189381e-02 9.98303355e-01 9.83478474e-04 7.20861678e-01] [-5.25629850e-02 2.08157607e-03 9.98615441e-01 -7.25224567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782260615 meters 0.025136269359341504 Centerline is valid? [True, True] Translation: X:17.49, Y:0.73, Z:-0.72 [[ 9.96993481e-01 -5.12845693e-02 5.80852083e-02 1.74872379e+01] [ 5.13089411e-02 9.98682253e-01 1.07272382e-03 7.30153678e-01] [-5.80636808e-02 1.91079187e-03 9.98311053e-01 -7.19230584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842260615 meters 0.02176662259888521 Centerline is valid? [True, True] Translation: X:17.55, Y:0.74, Z:-0.72 [[ 9.97170936e-01 -4.37086389e-02 6.11529129e-02 1.75486791e+01] [ 4.37216041e-02 9.99043118e-01 1.12671548e-03 7.37368351e-01] [-6.11436440e-02 1.55017552e-03 9.98127773e-01 -7.17168895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902260615 meters 0.01836325486684626 Centerline is valid? [True, True] Translation: X:17.61, Y:0.75, Z:-0.71 [[ 9.97180460e-01 -3.29838103e-02 6.74032485e-02 1.76109684e+01] [ 3.29757710e-02 9.99455392e-01 1.23217297e-03 7.50788282e-01] [-6.74071819e-02 9.93975284e-04 9.97725054e-01 -7.10104713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962260614999998 meters 0.015866615388815158 Centerline is valid? [True, True] Translation: X:17.67, Y:0.76, Z:-0.71 [[ 9.97209325e-01 -2.40898115e-02 7.06628846e-02 1.76744786e+01] [ 2.40602687e-02 9.99709704e-01 1.26932325e-03 7.59540655e-01] [-7.06729492e-02 4.34387007e-04 9.97499446e-01 -7.09805335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022260615 meters 0.015568472229116675 Centerline is valid? [True, True] Translation: X:17.74, Y:0.77, Z:-0.70 [[ 9.97063257e-01 -1.76112492e-02 7.45298981e-02 1.77366967e+01] [ 1.75615952e-02 9.99844910e-01 1.32157093e-03 7.71121318e-01] [-7.45416138e-02 -8.82591889e-06 9.97217904e-01 -7.03000590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082260615 meters 0.018020578103340637 Centerline is valid? [True, True] Translation: X:17.80, Y:0.78, Z:-0.69 [[ 9.96350924e-01 -1.29863116e-02 8.43575230e-02 1.77980230e+01] [ 1.29065596e-02 9.99915596e-01 1.49071306e-03 7.77745240e-01] [-8.43697618e-02 -3.96507936e-04 9.96434436e-01 -6.91728720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142260614999998 meters 0.01820529743663921 Centerline is valid? [True, True] Translation: X:17.86, Y:0.77, Z:-0.70 [[ 9.96260763e-01 -1.03841893e-02 8.57709767e-02 1.78601161e+01] [ 1.02933757e-02 9.99945895e-01 1.50098635e-03 7.70511777e-01] [-8.57819226e-02 -6.12500914e-04 9.96313749e-01 -6.95721693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202260615 meters 0.019588397795651736 Centerline is valid? [True, True] Translation: X:17.92, Y:0.77, Z:-0.69 [[ 9.95796053e-01 -5.86034199e-03 9.14104832e-02 1.79205787e+01] [ 5.73937105e-03 9.99982272e-01 1.58619722e-03 7.72031130e-01] [-9.14181583e-02 -1.05489025e-03 9.95812034e-01 -6.91234815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262260615 meters 0.02091185543324086 Centerline is valid? [True, True] Translation: X:17.98, Y:0.78, Z:-0.68 [[ 9.95486460e-01 -2.46878377e-03 9.48715596e-02 1.79815976e+01] [ 2.32325277e-03 9.99995949e-01 1.64440311e-03 7.76792567e-01] [-9.48752350e-02 -1.41657042e-03 9.95488163e-01 -6.81396444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322260615 meters 0.022545289177983343 Centerline is valid? [True, True] Translation: X:18.04, Y:0.78, Z:-0.68 [[ 9.94958034e-01 -2.81556645e-03 1.00252595e-01 1.80425360e+01] [ 2.65487852e-03 9.99994969e-01 1.73621016e-03 7.77063430e-01] [-1.00256979e-01 -1.46129778e-03 9.94960503e-01 -6.76168899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382260615 meters 0.02531531788213961 Centerline is valid? [True, True] Translation: X:18.10, Y:0.77, Z:-0.67 [[ 9.93840437e-01 -5.16584786e-03 1.10700041e-01 1.81039096e+01] [ 4.98440194e-03 9.99985743e-01 1.91575367e-03 7.69534554e-01] [-1.10708359e-01 -1.35217997e-03 9.93852017e-01 -6.68477298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442260615 meters 0.025655844856039042 Centerline is valid? [True, True] Translation: X:18.17, Y:0.76, Z:-0.67 [[ 9.93890289e-01 -1.22055347e-02 1.09695573e-01 1.81650625e+01] [ 1.20705012e-02 9.99925353e-01 1.89496855e-03 7.61852676e-01] [-1.09710514e-01 -5.59310289e-04 9.93963425e-01 -6.66711321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502260615 meters 0.02596264172978372 Centerline is valid? [True, True] Translation: X:18.23, Y:0.76, Z:-0.67 [[ 9.93583490e-01 -1.78530471e-02 1.11683112e-01 1.82276863e+01] [ 1.77494688e-02 9.99840619e-01 1.92170925e-03 7.60145365e-01] [-1.11699620e-01 7.29373301e-05 9.93742014e-01 -6.65751359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562260615 meters 0.02744873446187681 Centerline is valid? [True, True] Translation: X:18.29, Y:0.76, Z:-0.66 [[ 9.92083439e-01 -2.30208294e-02 1.23452386e-01 1.82892412e+01] [ 2.29348226e-02 9.99734719e-01 2.11793977e-03 7.61752901e-01] [-1.23468394e-01 7.30185610e-04 9.92348237e-01 -6.56371082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622260615 meters 0.03333019133498531 Centerline is valid? [True, True] Translation: X:18.35, Y:0.74, Z:-0.67 [[ 9.92524910e-01 -4.27754431e-02 1.14300325e-01 1.83491674e+01] [ 4.28321424e-02 9.99080358e-01 1.96094572e-03 7.43802427e-01] [-1.14279090e-01 2.94944033e-03 9.93444307e-01 -6.65490784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682260615 meters 0.03262877771585786 Centerline is valid? [True, True] Translation: X:18.41, Y:0.75, Z:-0.68 [[ 9.93249406e-01 -4.69688761e-02 1.06063859e-01 1.84093326e+01] [ 4.70414442e-02 9.98891283e-01 1.81885109e-03 7.50546355e-01] [-1.06031693e-01 3.18282432e-03 9.94357657e-01 -6.80466734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742260615 meters 0.028392088201166593 Centerline is valid? [True, True] Translation: X:18.47, Y:0.77, Z:-0.68 [[ 9.93818185e-01 -3.79029944e-02 1.04349305e-01 1.84700738e+01] [ 3.79235352e-02 9.99279045e-01 1.78792819e-03 7.69513383e-01] [-1.04341841e-01 2.18041899e-03 9.94539102e-01 -6.81545202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802260614999998 meters 0.025213989913870118 Centerline is valid? [True, True] Translation: X:18.53, Y:0.78, Z:-0.69 [[ 9.94294774e-01 -3.64122858e-02 1.00259906e-01 1.85302369e+01] [ 3.64238115e-02 9.99334959e-01 1.71618721e-03 7.81826806e-01] [-1.00255719e-01 1.94545194e-03 9.94959801e-01 -6.87637706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862260615 meters 0.024865458276818728 Centerline is valid? [True, True] Translation: X:18.59, Y:0.78, Z:-0.70 [[ 9.94691293e-01 -3.23396803e-02 9.76902060e-02 1.85893795e+01] [ 3.23315598e-02 9.99475809e-01 1.66656551e-03 7.83203162e-01] [-9.76928939e-02 1.50075854e-03 9.95215477e-01 -6.96208097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922260615 meters 0.024818680066945233 Centerline is valid? [True, True] Translation: X:18.65, Y:0.79, Z:-0.69 [[ 9.94281844e-01 -2.92959681e-02 1.02690610e-01 1.86501723e+01] [ 2.92713425e-02 9.99569976e-01 1.74705127e-03 7.87797775e-01] [-1.02697632e-01 1.26883065e-03 9.94711811e-01 -6.92244649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982260615 meters 0.024031441723651705 Centerline is valid? [True, True] Translation: X:18.71, Y:0.79, Z:-0.69 [[ 9.94378929e-01 -3.20329985e-02 1.00917951e-01 1.87123183e+01] [ 3.20252084e-02 9.99485620e-01 1.69770575e-03 7.91143682e-01] [-1.00920423e-01 1.54375558e-03 9.94893303e-01 -6.93469920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042260615 meters 0.024406419165499203 Centerline is valid? [True, True] Translation: X:18.77, Y:0.79, Z:-0.70 [[ 9.94624654e-01 -3.31240697e-02 9.81050151e-02 1.87729975e+01] [ 3.31233836e-02 9.99449931e-01 1.63615747e-03 7.91224657e-01] [-9.81052468e-02 1.62220749e-03 9.95174723e-01 -6.97780983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102260615 meters 0.023133510215635058 Centerline is valid? [True, True] Translation: X:18.83, Y:0.79, Z:-0.71 [[ 9.95101565e-01 -3.25069505e-02 9.33604474e-02 1.88335121e+01] [ 3.25038449e-02 9.99470402e-01 1.55427582e-03 7.90691629e-01] [-9.33615287e-02 1.48791121e-03 9.95631162e-01 -7.12296003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162260615 meters 0.02191785698586452 Centerline is valid? [True, True] Translation: X:18.90, Y:0.80, Z:-0.71 [[ 9.94932624e-01 -2.40432258e-02 9.76268300e-02 1.88957465e+01] [ 2.39997777e-02 9.99710652e-01 1.61950542e-03 7.99989151e-01] [-9.76375201e-02 7.31723445e-04 9.95221774e-01 -7.13639693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222260615 meters 0.02100895592305387 Centerline is valid? [True, True] Translation: X:18.96, Y:0.81, Z:-0.71 [[ 9.95132153e-01 -2.27675548e-02 9.58834519e-02 1.89569932e+01] [ 2.27202899e-02 9.99740605e-01 1.58481989e-03 8.08735366e-01] [-9.58946627e-02 6.01394590e-04 9.95391306e-01 -7.11776432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282260615 meters 0.02062877702036734 Centerline is valid? [True, True] Translation: X:19.02, Y:0.81, Z:-0.72 [[ 9.95450639e-01 -2.31554670e-02 9.24221311e-02 1.90188256e+01] [ 2.31136826e-02 9.99731684e-01 1.52262156e-03 8.12089692e-01] [-9.24325897e-02 6.20521193e-04 9.95718751e-01 -7.15205085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342260615 meters 0.024348732498039188 Centerline is valid? [True, True] Translation: X:19.08, Y:0.80, Z:-0.71 [[ 9.94868704e-01 -2.34069904e-02 9.84295366e-02 1.90790317e+01] [ 2.33610426e-02 9.99725782e-01 1.61944911e-03 8.03268455e-01] [-9.84404519e-02 6.88277359e-04 9.95142705e-01 -7.13065662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402260615 meters 0.02358104122443777 Centerline is valid? [True, True] Translation: X:19.14, Y:0.80, Z:-0.72 [[ 9.94733035e-01 -2.63132744e-02 9.90646290e-02 1.91408250e+01] [ 2.62826638e-02 9.99653248e-01 1.61426211e-03 7.97860481e-01] [-9.90727546e-02 9.97922495e-04 9.95079692e-01 -7.17984425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462260614999998 meters 0.024670735771301855 Centerline is valid? [True, True] Translation: X:19.20, Y:0.80, Z:-0.72 [[ 9.94629828e-01 -2.49750868e-02 1.00437792e-01 1.92019206e+01] [ 2.49395616e-02 9.99687665e-01 1.60949696e-03 7.98970300e-01] [-1.00446619e-01 9.04020804e-04 9.94942038e-01 -7.15055911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522260615 meters 0.023020807384474606 Centerline is valid? [True, True] Translation: X:19.26, Y:0.81, Z:-0.72 [[ 9.94354119e-01 -2.36675772e-02 1.03439510e-01 1.92631931e+01] [ 2.36242793e-02 9.99719556e-01 1.64386288e-03 8.05555952e-01] [-1.03449408e-01 8.09102062e-04 9.94634388e-01 -7.16194232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582260615 meters 0.024393378269034906 Centerline is valid? [True, True] Translation: X:19.33, Y:0.80, Z:-0.72 [[ 9.94244868e-01 -2.68230346e-02 1.03719172e-01 1.93256565e+01] [ 2.67987808e-02 9.99639523e-01 1.62761838e-03 7.97216061e-01] [-1.03725441e-01 1.16129612e-03 9.94605291e-01 -7.21738744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642260614999998 meters 0.025691248183489654 Centerline is valid? [True, True] Translation: X:19.39, Y:0.80, Z:-0.72 [[ 9.94016387e-01 -2.78862075e-02 1.05611468e-01 1.93874427e+01] [ 2.78702432e-02 9.99610225e-01 1.62728230e-03 7.95805307e-01] [-1.05615682e-01 1.32587201e-03 9.94406139e-01 -7.20757318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702260615 meters 0.02749727839141906 Centerline is valid? [True, True] Translation: X:19.45, Y:0.79, Z:-0.72 [[ 9.93888833e-01 -2.98098047e-02 1.06284350e-01 1.94487874e+01] [ 2.98076767e-02 9.99554358e-01 1.60892070e-03 7.94672545e-01] [-1.06284947e-01 1.56900123e-03 9.94334475e-01 -7.18027954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762260615 meters 0.026382445157900263 Centerline is valid? [True, True] Translation: X:19.51, Y:0.80, Z:-0.72 [[ 9.93590616e-01 -2.93244790e-02 1.09168509e-01 1.95098751e+01] [ 2.93207116e-02 9.99568710e-01 1.64010391e-03 8.00057805e-01] [-1.09169520e-01 1.57130651e-03 9.94021905e-01 -7.18664485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822260615 meters 0.028321629988206476 Centerline is valid? [True, True] Translation: X:19.57, Y:0.81, Z:-0.70 [[ 9.92334242e-01 -2.56771863e-02 1.20886040e-01 1.95709787e+01] [ 2.56459411e-02 9.99669442e-01 1.81454328e-03 8.09973306e-01] [-1.20892672e-01 1.29960282e-03 9.92664733e-01 -7.03271539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882260615 meters 0.027810976004978658 Centerline is valid? [True, True] Translation: X:19.63, Y:0.83, Z:-0.70 [[ 9.91558780e-01 -1.76440446e-02 1.28451836e-01 1.96320531e+01] [ 1.75418854e-02 9.99844273e-01 1.92668661e-03 8.26112003e-01] [-1.28465827e-01 3.42864362e-04 9.91713877e-01 -6.98224010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942260615 meters 0.030730826751955615 Centerline is valid? [True, True] Translation: X:19.69, Y:0.84, Z:-0.69 [[ 9.91001137e-01 -1.31030841e-02 1.33210568e-01 1.96922724e+01] [ 1.29525641e-02 9.99914119e-01 1.99648642e-03 8.39445369e-01] [-1.33225287e-01 -2.53101898e-04 9.91085747e-01 -6.87143463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 327.77 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%| | 0/766 [00:00