+ python -m lidar_slam --no-model /working/737001a5-d028-4f7b-a8c7-6c969208c3d0 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/737001a5-d028-4f7b-a8c7-6c969208c3d0 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 0.02956246 Adjusted end_distance from 9.223372036854776e+18 to 19.90252246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02956246 meters 0.08008077302163415 Centerline is valid? [0, True] SLAMing on 0.08956246 meters 0.06773158819843171 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:0.00 [[ 9.99998862e-01 -7.64139329e-04 -1.30103822e-03 -5.99634710e-02] [ 7.64057911e-04 9.99999706e-01 -6.30752183e-05 -4.82158603e-04] [ 1.30108603e-03 6.20810780e-05 9.99999152e-01 3.42192234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14956246 meters 0.05062087247294649 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.00, Z:0.01 [[ 9.99999107e-01 -1.20604284e-03 -5.75580030e-04 -1.18913946e-01] [ 1.20602836e-03 9.99999272e-01 -2.55117729e-05 4.42703993e-03] [ 5.75610379e-04 2.48175843e-05 9.99999834e-01 6.88249649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20956246 meters 0.035616043123990665 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.01, Z:0.00 [[ 9.99988221e-01 1.25231010e-03 -4.68926959e-03 -1.79021688e-01] [-1.25338592e-03 9.99999189e-01 -2.26490634e-04 1.02068955e-02] [ 4.68898215e-03 2.32365431e-04 9.99988980e-01 2.50727204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26956246 meters 0.037975108523451886 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.02, Z:0.01 [[ 9.99986442e-01 3.37007965e-03 -3.96960886e-03 -2.38100970e-01] [-3.37086474e-03 9.99994300e-01 -1.91100211e-04 1.88660408e-02] [ 3.96894221e-03 2.04478634e-04 9.99992103e-01 5.71995282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32956246 meters 0.03622621468023068 Centerline is valid? [True, True] Translation: X:-0.30, Y:0.02, Z:0.01 [[ 9.99980712e-01 2.23997994e-03 -5.79289130e-03 -2.96291164e-01] [-2.24163128e-03 9.99997449e-01 -2.78587721e-04 1.96883845e-02] [ 5.79225249e-03 2.91567874e-04 9.99983182e-01 1.17743073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38956246 meters 0.035303751251130104 Centerline is valid? [True, True] Translation: X:-0.35, Y:0.02, Z:0.02 [[ 9.99986297e-01 2.41962790e-03 -4.64235465e-03 -3.54243726e-01] [-2.42068794e-03 9.99997045e-01 -2.22734486e-04 2.09131740e-02] [ 4.64180200e-03 2.33969125e-04 9.99989199e-01 1.72933777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44956246 meters 0.03564038398833849 Centerline is valid? [True, True] Translation: X:-0.41, Y:0.02, Z:0.02 [[ 9.99982416e-01 2.31480996e-03 -5.45981292e-03 -4.12491472e-01] [-2.31625803e-03 9.99997284e-01 -2.58915257e-04 2.39774595e-02] [ 5.45919875e-03 2.71557040e-04 9.99985062e-01 1.92858628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5095624599999999 meters 0.035913895165258676 Centerline is valid? [True, True] Translation: X:-0.47, Y:0.03, Z:0.02 [[ 9.99980639e-01 1.35320506e-03 -6.07367805e-03 -4.71142742e-01] [-1.35498959e-03 9.99999040e-01 -2.89708493e-04 3.05485541e-02] [ 6.07328018e-03 2.97932655e-04 9.99981513e-01 1.99481188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.56956246 meters 0.03444694753206293 Centerline is valid? [True, True] Translation: X:-0.53, Y:0.03, Z:0.03 [[ 9.99992639e-01 7.34474371e-04 -3.76587271e-03 -5.28934086e-01] [-7.35153794e-04 9.99999714e-01 -1.79034650e-04 2.93514403e-02] [ 3.76574014e-03 1.81801828e-04 9.99992893e-01 2.82310257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6295624599999999 meters 0.03351556362696659 Centerline is valid? [True, True] Translation: X:-0.59, Y:0.03, Z:0.03 [[ 9.99963890e-01 -1.78500410e-03 -8.30855522e-03 -5.87870479e-01] [ 1.78180280e-03 9.99998335e-01 -3.92688522e-04 3.10499125e-02] [ 8.30924234e-03 3.77870135e-04 9.99965406e-01 2.56754546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6895624599999999 meters 0.03315340506904821 Centerline is valid? [True, True] Translation: X:-0.65, Y:0.04, Z:0.04 [[ 9.99989953e-01 -3.93214568e-03 -2.15202079e-03 -6.48392621e-01] [ 3.93193518e-03 9.99992265e-01 -1.02040973e-04 3.85867937e-02] [ 2.15240538e-03 9.35783415e-05 9.99997679e-01 3.74206665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7495624599999999 meters 0.03238106239753296 Centerline is valid? [True, True] Translation: X:-0.71, Y:0.05, Z:0.04 [[ 9.99989403e-01 -2.31539777e-03 -3.97914137e-03 -7.07242059e-01] [ 2.31466732e-03 9.99997303e-01 -1.88164863e-04 4.83417460e-02] [ 3.97956632e-03 1.78952481e-04 9.99992065e-01 4.24951042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.80956246 meters 0.03488828324269926 Centerline is valid? [True, True] Translation: X:-0.77, Y:0.07, Z:0.05 [[ 9.99977123e-01 3.60080536e-03 -5.72599232e-03 -7.68090689e-01] [-3.60241820e-03 9.99993474e-01 -2.71381365e-04 6.75569134e-02] [ 5.72497776e-03 2.92002575e-04 9.99983570e-01 4.57319898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8695624599999999 meters 0.037448183392159856 Centerline is valid? [True, True] Translation: X:-0.83, Y:0.08, Z:0.05 [[ 9.99897603e-01 1.14099478e-02 -8.63693864e-03 -8.27905006e-01] [-1.14139078e-02 9.99934775e-01 -4.09347182e-04 8.40314571e-02] [ 8.63170467e-03 5.07886488e-04 9.99962617e-01 4.88592000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9295624599999999 meters 0.0437469835836725 Centerline is valid? [True, True] Translation: X:-0.89, Y:0.10, Z:0.05 [[ 9.99793907e-01 1.79483890e-02 -9.48678492e-03 -8.89114689e-01] [-1.79534625e-02 9.99838722e-01 -4.49894990e-04 1.02519851e-01] [ 9.47718002e-03 6.20122907e-04 9.99954898e-01 5.41341956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9895624599999999 meters 0.04110997568151317 Centerline is valid? [True, True] Translation: X:-0.95, Y:0.10, Z:0.06 [[ 9.99748070e-01 2.05086053e-02 -9.12101227e-03 -9.47460102e-01] [-2.05133923e-02 9.99789485e-01 -4.31575497e-04 9.84901438e-02] [ 9.11024115e-03 6.18569672e-04 9.99958310e-01 5.60617533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.04956246 meters 0.04596649640732755 Centerline is valid? [True, True] Translation: X:-1.01, Y:0.11, Z:0.06 [[ 9.99696944e-01 2.40147166e-02 -5.41421607e-03 -1.00774942e+00] [-2.40164532e-02 9.99711531e-01 -2.55967872e-04 1.10504871e-01] [ 5.40650724e-03 3.85920566e-04 9.99985310e-01 5.68849575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10956246 meters 0.045744576691428965 Centerline is valid? [True, True] Translation: X:-1.07, Y:0.11, Z:0.06 [[ 9.99655920e-01 2.54579531e-02 -6.31933514e-03 -1.06904792e+00] [-2.54603535e-02 9.99675788e-01 -2.99684764e-04 1.06720817e-01] [ 6.30965697e-03 4.60474155e-04 9.99979988e-01 5.67067938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1695624599999999 meters 0.04435322973830621 Centerline is valid? [True, True] Translation: X:-1.13, Y:0.10, Z:0.06 [[ 9.99690118e-01 2.44315950e-02 -4.77133954e-03 -1.13055841e+00] [-2.44329529e-02 9.99701445e-01 -2.26502324e-04 1.04941600e-01] [ 4.76438122e-03 3.43010049e-04 9.99988591e-01 5.94094784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22956246 meters 0.04668176261190682 Centerline is valid? [True, True] Translation: X:-1.19, Y:0.11, Z:0.06 [[ 9.99721878e-01 2.30685163e-02 -4.89996877e-03 -1.19246646e+00] [-2.30699328e-02 9.99733827e-01 -2.32754001e-04 1.08732126e-01] [ 4.89329524e-03 3.45731218e-04 9.99987968e-01 6.19305630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28956246 meters 0.04542369670237744 Centerline is valid? [True, True] Translation: X:-1.25, Y:0.11, Z:0.06 [[ 9.99740462e-01 2.23148708e-02 -4.58860516e-03 -1.25321189e+00] [-2.23161058e-02 9.99750941e-01 -2.18107968e-04 1.06914013e-01] [ 4.58259527e-03 3.20451159e-04 9.99989449e-01 6.40569636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3495624599999998 meters 0.04797000429921695 Centerline is valid? [True, True] Translation: X:-1.31, Y:0.11, Z:0.05 [[ 9.99606151e-01 2.62671650e-02 -9.87815616e-03 -1.31395676e+00] [-2.62730733e-02 9.99654693e-01 -4.68804742e-04 1.10976619e-01] [ 9.86243099e-03 7.28149625e-04 9.99951100e-01 5.10388224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4095624599999999 meters 0.048931262907869665 Centerline is valid? [True, True] Translation: X:-1.37, Y:0.11, Z:0.06 [[ 9.99483559e-01 3.16364978e-02 -5.63452221e-03 -1.37366932e+00] [-3.16385026e-02 9.99499342e-01 -2.67013238e-04 1.10399531e-01] [ 5.62325387e-03 4.45143187e-04 9.99984090e-01 6.14521501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46956246 meters 0.05229961672172143 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.11, Z:0.06 [[ 9.99408425e-01 3.42013475e-02 -3.61507269e-03 -1.43436962e+00] [-3.42021901e-02 9.99414919e-01 -1.71485084e-04 1.14707493e-01] [ 3.60709256e-03 2.95027041e-04 9.99993451e-01 6.33731847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52956246 meters 0.04705950934919054 Centerline is valid? [True, True] Translation: X:-1.50, Y:0.10, Z:0.07 [[ 9.99384580e-01 3.48322067e-02 -4.14467184e-03 -1.49505601e+00] [-3.48333225e-02 9.99393116e-01 -1.97299780e-04 9.81988088e-02] [ 4.13528412e-03 3.41551049e-04 9.99991391e-01 6.78577239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.58956246 meters 0.04517898826212337 Centerline is valid? [True, True] Translation: X:-1.55, Y:0.09, Z:0.07 [[ 9.99475505e-01 3.21538113e-02 -3.85319346e-03 -1.55431797e+00] [-3.21547553e-02 9.99482885e-01 -1.83271578e-04 8.91445329e-02] [ 3.84530804e-03 3.07073946e-04 9.99992560e-01 6.71966360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6495624599999998 meters 0.04505805418085531 Centerline is valid? [True, True] Translation: X:-1.62, Y:0.09, Z:0.07 [[ 9.99614451e-01 2.75551907e-02 -3.41493883e-03 -1.61564863e+00] [-2.75559061e-02 9.99620251e-01 -1.62603479e-04 8.56200839e-02] [ 3.40916144e-03 2.56642521e-04 9.99994156e-01 6.62200234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.70956246 meters 0.04263771302263918 Centerline is valid? [True, True] Translation: X:-1.68, Y:0.08, Z:0.06 [[ 9.99669489e-01 2.53913177e-02 -4.02405330e-03 -1.67505905e+00] [-2.53922922e-02 9.99677545e-01 -1.91262809e-04 7.71309557e-02] [ 4.01789931e-03 2.93379531e-04 9.99991885e-01 6.49007144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.76956246 meters 0.047586292706847395 Centerline is valid? [True, True] Translation: X:-1.74, Y:0.09, Z:0.06 [[ 9.99665783e-01 2.54974430e-02 -4.26641630e-03 -1.73780456e+00] [-2.54985435e-02 9.99674839e-01 -2.03744679e-04 8.66905305e-02] [ 4.25983406e-03 3.12463986e-04 9.99990878e-01 6.12772032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8295624599999998 meters 0.04784046484135659 Centerline is valid? [True, True] Translation: X:-1.80, Y:0.09, Z:0.07 [[ 9.99590167e-01 2.84188293e-02 -3.44510268e-03 -1.79806290e+00] [-2.84195619e-02 9.99596069e-01 -1.63883192e-04 8.71734666e-02] [ 3.43905373e-03 2.61724336e-04 9.99994052e-01 6.59557272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8895624599999998 meters 0.044067910767226576 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.08, Z:0.07 [[ 9.99501271e-01 3.14817184e-02 -2.47207155e-03 -1.85709146e+00] [-3.14821047e-02 9.99504309e-01 -1.17510777e-04 7.86031079e-02] [ 2.46714673e-03 1.95278187e-04 9.99996938e-01 6.55894997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9495624599999999 meters 0.04783455059930751 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.08, Z:0.06 [[ 9.99456181e-01 3.27906617e-02 -3.48066200e-03 -1.91885088e+00] [-3.27914376e-02 9.99462202e-01 -1.66060428e-04 8.37255489e-02] [ 3.47334488e-03 2.80106031e-04 9.99993929e-01 6.40415588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.00956246 meters 0.045704124121196676 Centerline is valid? [True, True] Translation: X:-1.98, Y:0.08, Z:0.07 [[ 9.99514401e-01 3.10938857e-02 -2.03291454e-03 -1.97818325e+00] [-3.10941464e-02 9.99516455e-01 -9.67863867e-05 7.67913172e-02] [ 2.02892207e-03 1.59951130e-04 9.99997929e-01 6.65943575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.06956246 meters 0.04569045494189332 Centerline is valid? [True, True] Translation: X:-2.04, Y:0.08, Z:0.07 [[ 9.99579130e-01 2.88976252e-02 -2.54754813e-03 -2.03935997e+00] [-2.88980281e-02 9.99582357e-01 -1.21496586e-04 7.55179676e-02] [ 2.54297320e-03 1.95064570e-04 9.99996748e-01 6.51608473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1295624600000003 meters 0.04326008021819792 Centerline is valid? [True, True] Translation: X:-2.10, Y:0.07, Z:0.07 [[ 9.99608603e-01 2.79744977e-02 -2.62239140e-04 -2.10029474e+00] [-2.79745021e-02 9.99608637e-01 -1.30070704e-05 6.96097802e-02] [ 2.61772643e-04 2.03379888e-05 9.99999966e-01 6.91685715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1895624600000003 meters 0.04848160885090655 Centerline is valid? [True, True] Translation: X:-2.16, Y:0.08, Z:0.06 [[ 9.99601970e-01 2.80492690e-02 -3.02309492e-03 -2.16364720e+00] [-2.80498371e-02 9.99606515e-01 -1.45693514e-04 7.96632844e-02] [ 3.01781879e-03 2.30432843e-04 9.99995420e-01 6.18186160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.24956246 meters 0.04220294532142957 Centerline is valid? [True, True] Translation: X:-2.22, Y:0.06, Z:0.06 [[ 9.99815029e-01 1.90399448e-02 -2.71811836e-03 -2.22300199e+00] [-1.90403679e-02 9.99818707e-01 -1.29886467e-04 6.44387824e-02] [ 2.71515255e-03 1.81616415e-04 9.99996297e-01 6.35268662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.30956246 meters 0.040596941020706885 Centerline is valid? [True, True] Translation: X:-2.28, Y:0.06, Z:0.06 [[ 9.99950575e-01 9.76056777e-03 -1.89154139e-03 -2.28283166e+00] [-9.76075589e-03 9.99952359e-01 -9.02446214e-05 5.59510565e-02] [ 1.89057044e-03 1.08703035e-04 9.99998207e-01 6.28525780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.36956246 meters 0.034967479418644046 Centerline is valid? [True, True] Translation: X:-2.34, Y:0.04, Z:0.06 [[ 9.99998650e-01 9.56054222e-04 -1.33632916e-03 -2.34160802e+00] [-9.56140181e-04 9.99999541e-01 -6.36874250e-05 4.24042073e-02] [ 1.33626766e-03 6.49650570e-05 9.99999105e-01 6.36909734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.42956246 meters 0.03679579294728164 Centerline is valid? [True, True] Translation: X:-2.40, Y:0.05, Z:0.07 [[ 9.99997952e-01 1.70511964e-03 -1.08986599e-03 -2.40188174e+00] [-1.70517697e-03 9.99998545e-01 -5.16797663e-05 4.82699666e-02] [ 1.08977628e-03 5.35380749e-05 9.99999405e-01 6.51165715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.48956246 meters 0.03852069208051089 Centerline is valid? [True, True] Translation: X:-2.46, Y:0.06, Z:0.07 [[ 9.99949810e-01 9.95778340e-03 -1.10427413e-03 -2.46154480e+00] [-9.95784733e-03 9.99950418e-01 -5.24139960e-05 5.67227519e-02] [ 1.10369745e-03 6.34075586e-05 9.99999389e-01 6.67834000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.54956246 meters 0.04662142811243849 Centerline is valid? [True, True] Translation: X:-2.52, Y:0.08, Z:0.06 [[ 9.99734956e-01 2.29685659e-02 -1.56905201e-03 -2.52398729e+00] [-2.29687117e-02 9.99736182e-01 -7.49793451e-05 8.21312501e-02] [ 1.56691590e-03 1.10998576e-04 9.99998766e-01 6.43709846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6095624600000003 meters 0.046248800054968495 Centerline is valid? [True, True] Translation: X:-2.58, Y:0.09, Z:0.06 [[ 9.99497472e-01 3.15917814e-02 -2.60038275e-03 -2.58374480e+00] [-3.15922106e-02 9.99500834e-01 -1.24149262e-04 8.73787502e-02] [ 2.59516263e-03 2.06238713e-04 9.99996611e-01 6.25915018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.66956246 meters 0.04365685525885828 Centerline is valid? [True, True] Translation: X:-2.64, Y:0.08, Z:0.07 [[ 9.99558020e-01 2.97187729e-02 -7.47205193e-04 -2.64345120e+00] [-2.97188078e-02 9.99558298e-01 -3.56573377e-05 8.47938432e-02] [ 7.45815459e-04 5.78476255e-05 9.99999720e-01 6.77878480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.72956246 meters 0.03994819700134976 Centerline is valid? [True, True] Translation: X:-2.70, Y:0.08, Z:0.07 [[ 9.99785792e-01 2.06492630e-02 -1.40665920e-03 -2.70285550e+00] [-2.06493782e-02 9.99786777e-01 -6.74613734e-05 7.71598098e-02] [ 1.40496624e-03 9.64935605e-05 9.99999008e-01 6.73914880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.78956246 meters 0.037769083845635244 Centerline is valid? [True, True] Translation: X:-2.76, Y:0.07, Z:0.06 [[ 9.99930481e-01 1.09947899e-02 -4.26013356e-03 -2.76284102e+00] [-1.09957563e-02 9.99939524e-01 -2.03469108e-04 7.18620374e-02] [ 4.25763883e-03 2.50298353e-04 9.99990905e-01 5.97061265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.84956246 meters 0.03571400358848946 Centerline is valid? [True, True] Translation: X:-2.82, Y:0.07, Z:0.07 [[ 9.99983933e-01 5.57868953e-03 1.00605151e-03 -2.82317468e+00] [-5.57874077e-03 9.99984438e-01 4.81308299e-05 6.80005380e-02] [-1.00576735e-03 -5.37425571e-05 9.99999493e-01 6.75504856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.90956246 meters 0.037354976542573054 Centerline is valid? [True, True] Translation: X:-2.89, Y:0.07, Z:0.07 [[ 9.99989342e-01 4.39456280e-03 -1.41585583e-03 -2.88606697e+00] [-4.39466400e-03 9.99990341e-01 -6.83747721e-05 7.17285598e-02] [ 1.41554167e-03 7.45962540e-05 9.99998995e-01 6.63044971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.96956246 meters 0.036275929010545646 Centerline is valid? [True, True] Translation: X:-2.95, Y:0.07, Z:0.06 [[ 9.99991832e-01 3.26683796e-03 -2.37966795e-03 -2.94629665e+00] [-3.26711838e-03 9.99994656e-01 -1.13964767e-04 7.41380769e-02] [ 2.37928293e-03 1.21738493e-04 9.99997162e-01 6.09931167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.02956246 meters 0.03738878168764537 Centerline is valid? [True, True] Translation: X:-3.01, Y:0.08, Z:0.06 [[ 9.99977226e-01 6.74669774e-03 1.70390473e-04 -3.00649012e+00] [-6.74669928e-03 9.99977241e-01 8.48008133e-06 8.43746201e-02] [-1.70329382e-04 -9.62946148e-06 9.99999985e-01 6.44431527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0895624600000002 meters 0.037741778219526165 Centerline is valid? [True, True] Translation: X:-3.07, Y:0.09, Z:0.06 [[ 9.99923019e-01 1.21412465e-02 -2.55846308e-03 -3.06707938e+00] [-1.21415992e-02 9.99926281e-01 -1.22375740e-04 9.38025276e-02] [ 2.55678867e-03 1.53430153e-04 9.99996720e-01 5.97214907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1495624600000003 meters 0.04220960394516956 Centerline is valid? [True, True] Translation: X:-3.13, Y:0.11, Z:0.06 [[ 9.99913766e-01 1.30938955e-02 -1.00527306e-03 -3.13019244e+00] [-1.30939512e-02 9.99914269e-01 -4.88207140e-05 1.13956080e-01] [ 1.00454762e-03 6.19795003e-05 9.99999494e-01 6.05535783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.20956246 meters 0.03677295531501261 Centerline is valid? [True, True] Translation: X:-3.19, Y:0.11, Z:0.06 [[ 9.99950390e-01 9.07427814e-03 -4.10783095e-03 -3.18986833e+00] [-9.07516214e-03 9.99958801e-01 -1.96608771e-04 1.07534532e-01] [ 4.10587763e-03 2.33878249e-04 9.99991543e-01 5.56439681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26956246 meters 0.03639130959391843 Centerline is valid? [True, True] Translation: X:-3.25, Y:0.11, Z:0.06 [[ 9.99998331e-01 -1.40559204e-03 -1.16681246e-03 -3.25080708e+00] [ 1.40552781e-03 9.99999011e-01 -5.58662308e-05 1.08837311e-01] [ 1.16688983e-03 5.42261503e-05 9.99999318e-01 5.97264105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.32956246 meters 0.031991223276586545 Centerline is valid? [True, True] Translation: X:-3.31, Y:0.11, Z:0.06 [[ 9.99968102e-01 -7.83885257e-03 -1.53234611e-03 -3.31093419e+00] [ 7.83874945e-03 9.99969274e-01 -7.32928077e-05 1.07497724e-01] [ 1.53287356e-03 6.12787925e-05 9.99998823e-01 6.01496823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.38956246 meters 0.030902163223962106 Centerline is valid? [True, True] Translation: X:-3.37, Y:0.11, Z:0.06 [[ 9.99974131e-01 -7.18597559e-03 3.16066306e-04 -3.36926811e+00] [ 7.18597090e-03 9.99974180e-01 1.59617433e-05 1.11705427e-01] [-3.16172846e-04 -1.36900871e-05 9.99999950e-01 6.32293847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.44956246 meters 0.03448677176404421 Centerline is valid? [True, True] Translation: X:-3.43, Y:0.13, Z:0.06 [[ 9.99989435e-01 -1.96108368e-04 -4.59243542e-03 -3.43048486e+00] [ 1.95103473e-04 9.99999957e-01 -2.19262260e-04 1.31719421e-01] [ 4.59247822e-03 2.18363944e-04 9.99989431e-01 5.85122037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50956246 meters 0.036647554209110644 Centerline is valid? [True, True] Translation: X:-3.49, Y:0.15, Z:0.07 [[ 9.99966156e-01 8.22213792e-03 2.89065701e-04 -3.49009879e+00] [-8.22214239e-03 9.99966198e-01 1.42629967e-05 1.48394468e-01] [-2.88938658e-04 -1.66392534e-05 9.99999958e-01 6.81196255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56956246 meters 0.03949939429802763 Centerline is valid? [True, True] Translation: X:-3.55, Y:0.17, Z:0.06 [[ 9.99907031e-01 1.31227995e-02 -3.70415406e-03 -3.55200383e+00] [-1.31235445e-02 9.99913867e-01 -1.76897954e-04 1.65487448e-01] [ 3.70151361e-03 2.25493139e-04 9.99993124e-01 6.14770622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62956246 meters 0.038887645978781415 Centerline is valid? [True, True] Translation: X:-3.61, Y:0.17, Z:0.07 [[ 9.99931485e-01 1.17017386e-02 -3.08510677e-04 -3.61345782e+00] [-1.17017438e-02 9.99931532e-01 -1.49056939e-05 1.74270114e-01] [ 3.08315132e-04 1.85147856e-05 9.99999952e-01 6.65074090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68956246 meters 0.036011616107958645 Centerline is valid? [True, True] Translation: X:-3.67, Y:0.17, Z:0.06 [[ 9.99964642e-01 7.48889419e-03 -3.82504518e-03 -3.67361850e+00] [-7.48965070e-03 9.99971935e-01 -1.83492751e-04 1.70128077e-01] [ 3.82356368e-03 2.12134515e-04 9.99992668e-01 6.20759638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74956246 meters 0.034844657799048905 Centerline is valid? [True, True] Translation: X:-3.73, Y:0.18, Z:0.06 [[ 9.99989403e-01 3.26684197e-03 -3.24363821e-03 -3.73421552e+00] [-3.26736167e-03 9.99994650e-01 -1.54934985e-04 1.77053886e-01] [ 3.24311471e-03 1.65531483e-04 9.99994727e-01 6.26686233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80956246 meters 0.03698409031808639 Centerline is valid? [True, True] Translation: X:-3.79, Y:0.19, Z:0.06 [[ 9.99977490e-01 5.41153297e-03 -3.96659268e-03 -3.79494912e+00] [-5.41232654e-03 9.99985335e-01 -1.89355881e-04 1.86216282e-01] [ 3.96550980e-03 2.10820113e-04 9.99992115e-01 6.43519233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86956246 meters 0.04001170029800105 Centerline is valid? [True, True] Translation: X:-3.86, Y:0.20, Z:0.06 [[ 9.99956903e-01 8.21027423e-03 -4.33400727e-03 -3.85542425e+00] [-8.21124658e-03 9.99966266e-01 -2.06606863e-04 2.01269746e-01] [ 4.33216477e-03 2.42185561e-04 9.99990587e-01 6.03650983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.92956246 meters 0.04025657055628938 Centerline is valid? [True, True] Translation: X:-3.92, Y:0.21, Z:0.07 [[ 9.99935473e-01 1.12783083e-02 -1.36011085e-03 -3.91549852e+00] [-1.12784070e-02 9.99936395e-01 -6.49462608e-05 2.09799486e-01] [ 1.35929185e-03 8.02819537e-05 9.99999073e-01 6.81191158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.98956246 meters 0.03762466765794995 Centerline is valid? [True, True] Translation: X:-3.98, Y:0.21, Z:0.07 [[ 9.99936352e-01 1.07217004e-02 -3.51252763e-03 -3.97686024e+00] [-1.07223579e-02 9.99942500e-01 -1.68420871e-04 2.05632263e-01] [ 3.51051990e-03 2.06072729e-04 9.99993817e-01 6.74213545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.04956246 meters 0.03789973610813984 Centerline is valid? [True, True] Translation: X:-4.04, Y:0.21, Z:0.07 [[ 9.99949283e-01 9.12400126e-03 -4.26427126e-03 -4.03856051e+00] [-9.12495528e-03 9.99958346e-01 -2.04322164e-04 2.09857354e-01] [ 4.26222940e-03 2.43223086e-04 9.99990887e-01 6.79231288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.10956246 meters 0.03812175896503725 Centerline is valid? [True, True] Translation: X:-4.10, Y:0.21, Z:0.07 [[ 9.99937800e-01 1.03501925e-02 -4.15574796e-03 -4.09903872e+00] [-1.03511077e-02 9.99946406e-01 -1.98774940e-04 2.10049850e-01] [ 4.15346788e-03 2.41779171e-04 9.99991345e-01 6.51965663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.16956246 meters 0.03887613729559957 Centerline is valid? [True, True] Translation: X:-4.16, Y:0.21, Z:0.07 [[ 9.99910000e-01 1.27391957e-02 -4.20760144e-03 -4.16029219e+00] [-1.27401560e-02 9.99918821e-01 -2.01498061e-04 2.13553702e-01] [ 4.20469294e-03 2.55085425e-04 9.99991128e-01 6.85148795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22956246 meters 0.038113181646770244 Centerline is valid? [True, True] Translation: X:-4.22, Y:0.21, Z:0.07 [[ 9.99918410e-01 1.24443573e-02 -2.88291855e-03 -4.22181664e+00] [-1.24448105e-02 9.99922551e-01 -1.39293570e-04 2.07609236e-01] [ 2.88096185e-03 1.75159580e-04 9.99995835e-01 7.15944459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.28956246 meters 0.03876424785133809 Centerline is valid? [True, True] Translation: X:-4.28, Y:0.21, Z:0.07 [[ 9.99917777e-01 1.17955494e-02 -5.03042412e-03 -4.28421426e+00] [-1.17969168e-02 9.99930385e-01 -2.42224626e-04 2.09976146e-01] [ 5.02721675e-03 3.01548204e-04 9.99987318e-01 6.91678943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3495624600000005 meters 0.039059323937875236 Centerline is valid? [True, True] Translation: X:-4.35, Y:0.21, Z:0.07 [[ 9.99896469e-01 1.40127536e-02 -3.27014305e-03 -4.34540504e+00] [-1.40133432e-02 9.99901796e-01 -1.57457489e-04 2.11044692e-01] [ 3.26761550e-03 2.03266824e-04 9.99994641e-01 7.23736109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.40956246 meters 0.038893132135562024 Centerline is valid? [True, True] Translation: X:-4.41, Y:0.21, Z:0.07 [[ 9.99880408e-01 1.35241107e-02 -7.50123140e-03 -4.40775813e+00] [-1.35272024e-02 9.99908438e-01 -3.61569214e-04 2.08040390e-01] [ 7.49565467e-03 4.62996648e-04 9.99971800e-01 7.32504724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.46956246 meters 0.041545500363162874 Centerline is valid? [True, True] Translation: X:-4.47, Y:0.22, Z:0.08 [[ 9.99885937e-01 1.50068631e-02 -1.70509919e-03 -4.46893481e+00] [-1.50070247e-02 9.99887385e-01 -8.20272351e-05 2.20469538e-01] [ 1.70367619e-03 1.07606344e-04 9.99998543e-01 7.66621793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52956246 meters 0.041684404374842825 Centerline is valid? [True, True] Translation: X:-4.53, Y:0.22, Z:0.07 [[ 9.99822210e-01 1.72793912e-02 -7.54791878e-03 -4.52884719e+00] [-1.72826210e-02 9.99850579e-01 -3.62878687e-04 2.24748526e-01] [ 7.54052064e-03 4.93261990e-04 9.99971448e-01 7.49679739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.58956246 meters 0.03954351311560246 Centerline is valid? [True, True] Translation: X:-4.59, Y:0.22, Z:0.08 [[ 9.99853099e-01 1.63721336e-02 -5.07283419e-03 -4.58929937e+00] [-1.63735826e-02 9.99865914e-01 -2.44234552e-04 2.21866036e-01] [ 5.06815535e-03 3.27259143e-04 9.99987103e-01 8.01500757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64956246 meters 0.04422847822298708 Centerline is valid? [True, True] Translation: X:-4.65, Y:0.24, Z:0.08 [[ 9.99846375e-01 1.64650279e-02 -6.01083524e-03 -4.65274243e+00] [-1.64670694e-02 9.99864366e-01 -2.90300215e-04 2.37730984e-01] [ 6.00524017e-03 3.89236458e-04 9.99981893e-01 7.78987255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.70956246 meters 0.03988114859806602 Centerline is valid? [True, True] Translation: X:-4.71, Y:0.22, Z:0.08 [[ 9.99882670e-01 1.35691673e-02 -7.10806366e-03 -4.71214072e+00] [-1.35719432e-02 9.99907838e-01 -3.42441370e-04 2.24595482e-01] [ 7.10276193e-03 4.38871428e-04 9.99974679e-01 8.12830185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76956246 meters 0.03934578774190846 Centerline is valid? [True, True] Translation: X:-4.77, Y:0.22, Z:0.08 [[ 9.99925529e-01 9.70440549e-03 -7.40008732e-03 -4.77256158e+00] [-9.70730801e-03 9.99952819e-01 -3.56409231e-04 2.22215826e-01] [ 7.39627944e-03 4.28217616e-04 9.99972555e-01 7.82188069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82956246 meters 0.03732361241496048 Centerline is valid? [True, True] Translation: X:-4.83, Y:0.22, Z:0.08 [[ 9.99930729e-01 9.17174827e-03 -7.37676067e-03 -4.83014148e+00] [-9.17460772e-03 9.99957850e-01 -3.53883155e-04 2.16321667e-01] [ 7.37320401e-03 4.21537526e-04 9.99972729e-01 8.07135666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.88956246 meters 0.03895831301202029 Centerline is valid? [True, True] Translation: X:-4.89, Y:0.22, Z:0.08 [[ 9.99868513e-01 1.47729577e-02 -6.68710455e-03 -4.89042961e+00] [-1.47754348e-02 9.99890786e-01 -3.21167523e-04 2.22754115e-01] [ 6.68162963e-03 4.19930171e-04 9.99977589e-01 8.23323055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.94956246 meters 0.04156079714531776 Centerline is valid? [True, True] Translation: X:-4.95, Y:0.23, Z:0.08 [[ 9.99712914e-01 2.24826264e-02 -8.28379380e-03 -4.95163274e+00] [-2.24866938e-02 9.99747063e-01 -3.98179487e-04 2.27978036e-01] [ 8.27274640e-03 5.84340310e-04 9.99965610e-01 8.42174137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00956246 meters 0.04651859295024841 Centerline is valid? [True, True] Translation: X:-5.01, Y:0.24, Z:0.08 [[ 9.99573600e-01 2.83302645e-02 -7.07208189e-03 -5.01264287e+00] [-2.83333759e-02 9.99598471e-01 -3.40141537e-04 2.39379064e-01] [ 7.05960595e-03 5.40372455e-04 9.99974935e-01 8.47721337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06956246 meters 0.046518354639583766 Centerline is valid? [True, True] Translation: X:-5.07, Y:0.24, Z:0.08 [[ 9.99502477e-01 3.05413646e-02 -7.87553689e-03 -5.07305034e+00] [-3.05452903e-02 9.99533312e-01 -3.78645289e-04 2.37674057e-01] [ 7.86029713e-03 6.19017465e-04 9.99968916e-01 8.27331574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.12956246 meters 0.044814942531940787 Centerline is valid? [True, True] Translation: X:-5.13, Y:0.24, Z:0.08 [[ 9.99560566e-01 2.85993198e-02 -7.79447192e-03 -5.13337016e+00] [-2.86031088e-02 9.99590777e-01 -3.75051524e-04 2.35027913e-01] [ 7.78055602e-03 5.97832842e-04 9.99969552e-01 8.19674319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.18956246 meters 0.05058834189860765 Centerline is valid? [True, True] Translation: X:-5.20, Y:0.25, Z:0.08 [[ 9.99547013e-01 2.85910591e-02 -9.39792097e-03 -5.19655728e+00] [-2.85965777e-02 9.99590931e-01 -4.53330949e-04 2.51959902e-01] [ 9.38111536e-03 7.21873972e-04 9.99955736e-01 7.78621682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.24956246 meters 0.04692649219245346 Centerline is valid? [True, True] Translation: X:-5.26, Y:0.25, Z:0.08 [[ 9.99507709e-01 3.00679746e-02 -8.95856133e-03 -5.25650475e+00] [-3.00730449e-02 9.99547610e-01 -4.31767593e-04 2.48664734e-01] [ 8.94152620e-03 7.00966255e-04 9.99959778e-01 8.36311847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3095624599999995 meters 0.04613217004222811 Centerline is valid? [True, True] Translation: X:-5.32, Y:0.25, Z:0.09 [[ 9.99456227e-01 3.12794853e-02 -1.04328583e-02 -5.31771351e+00] [-3.12864325e-02 9.99510333e-01 -5.03315841e-04 2.53501360e-01] [ 1.04120062e-02 8.29449069e-04 9.99945450e-01 8.52412221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36956246 meters 0.04889913390496034 Centerline is valid? [True, True] Translation: X:-5.38, Y:0.26, Z:0.09 [[ 9.99498062e-01 3.02333726e-02 -9.46400929e-03 -5.38045271e+00] [-3.02390525e-02 9.99542591e-01 -4.57600512e-04 2.64687147e-01] [ 9.44584555e-03 7.43553498e-04 9.99955111e-01 8.55365432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.42956246 meters 0.04635242406683494 Centerline is valid? [True, True] Translation: X:-5.44, Y:0.26, Z:0.09 [[ 9.99555911e-01 2.77994251e-02 -1.07319023e-02 -5.44033301e+00] [-2.78065969e-02 9.99613187e-01 -5.19602338e-04 2.60297183e-01] [ 1.07133064e-02 8.17789269e-04 9.99942276e-01 8.55312305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.48956246 meters 0.04393156255173175 Centerline is valid? [True, True] Translation: X:-5.50, Y:0.26, Z:0.09 [[ 9.99673953e-01 2.29782380e-02 -1.11350033e-02 -5.50176321e+00] [-2.29856587e-02 9.99735650e-01 -5.38896366e-04 2.56782407e-01] [ 1.11196768e-02 7.94666045e-04 9.99937859e-01 8.51691465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54956246 meters 0.04346259512669536 Centerline is valid? [True, True] Translation: X:-5.56, Y:0.26, Z:0.09 [[ 9.99661938e-01 2.36173409e-02 -1.08734349e-02 -5.56314916e+00] [-2.36244593e-02 9.99720765e-01 -5.26665368e-04 2.56374216e-01] [ 1.08579602e-02 7.83366342e-04 9.99940744e-01 8.64952708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60956246 meters 0.043158313521162645 Centerline is valid? [True, True] Translation: X:-5.62, Y:0.25, Z:0.09 [[ 9.99670225e-01 2.30529772e-02 -1.13137742e-02 -5.62491583e+00] [-2.30606561e-02 9.99733917e-01 -5.48716181e-04 2.54846894e-01] [ 1.12981143e-02 8.09438284e-04 9.99935847e-01 8.61948175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66956246 meters 0.04650763160935107 Centerline is valid? [True, True] Translation: X:-5.69, Y:0.26, Z:0.08 [[ 9.99642743e-01 2.40496278e-02 -1.16619775e-02 -5.68629745e+00] [-2.40578563e-02 9.99710408e-01 -5.65793615e-04 2.59925925e-01] [ 1.16449932e-02 8.46153661e-04 9.99931837e-01 8.46860814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72956246 meters 0.046203705972600324 Centerline is valid? [True, True] Translation: X:-5.75, Y:0.26, Z:0.09 [[ 9.99607579e-01 2.56953366e-02 -1.11551368e-02 -5.74727927e+00] [-2.57029713e-02 9.99669477e-01 -5.41556011e-04 2.61272326e-01] [ 1.11375343e-02 8.28063653e-04 9.99937633e-01 8.69821714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78956246 meters 0.04500969240337294 Centerline is valid? [True, True] Translation: X:-5.81, Y:0.26, Z:0.09 [[ 9.99612967e-01 2.55458964e-02 -1.10146973e-02 -5.80812332e+00] [-2.55533389e-02 9.99673317e-01 -5.35451568e-04 2.58225010e-01] [ 1.09974204e-02 8.16706623e-04 9.99939193e-01 8.93461106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.84956246 meters 0.045744670620971574 Centerline is valid? [True, True] Translation: X:-5.87, Y:0.26, Z:0.09 [[ 9.99625094e-01 2.36727417e-02 -1.37576788e-02 -5.87033792e+00] [-2.36841893e-02 9.99719266e-01 -6.69739600e-04 2.60064666e-01] [ 1.37379620e-02 9.95327979e-04 9.99905134e-01 8.77704564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90956246 meters 0.046225334402919066 Centerline is valid? [True, True] Translation: X:-5.93, Y:0.27, Z:0.09 [[ 9.99747609e-01 1.94239959e-02 -1.12883497e-02 -5.93139305e+00] [-1.94314273e-02 9.99811041e-01 -5.49010650e-04 2.69062498e-01] [ 1.12755527e-02 7.68220831e-04 9.99936134e-01 9.13410005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.96956246 meters 0.04127499845796753 Centerline is valid? [True, True] Translation: X:-5.99, Y:0.26, Z:0.09 [[ 9.99813906e-01 1.35682950e-02 -1.37133004e-02 -5.99018956e+00] [-1.35787255e-02 9.99907582e-01 -6.67783845e-04 2.57427555e-01] [ 1.37029724e-02 8.53868717e-04 9.99905745e-01 8.91469685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02956246 meters 0.03879260637755866 Centerline is valid? [True, True] Translation: X:-6.05, Y:0.26, Z:0.10 [[ 9.99882765e-01 1.01986005e-02 -1.14212004e-02 -6.04975343e+00] [-1.02056131e-02 9.99947767e-01 -5.55881640e-04 2.59051716e-01] [ 1.14149346e-02 6.72376824e-04 9.99934621e-01 9.68560631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08956246 meters 0.03957213179371343 Centerline is valid? [True, True] Translation: X:-6.11, Y:0.26, Z:0.10 [[ 9.99849151e-01 9.98700069e-03 -1.42103980e-02 -6.10837514e+00] [-9.99775448e-03 9.99949786e-01 -6.85914894e-04 2.61237914e-01] [ 1.42028342e-02 8.27883494e-04 9.99898792e-01 9.55172422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14956246 meters 0.038946608388969906 Centerline is valid? [True, True] Translation: X:-6.17, Y:0.26, Z:0.10 [[ 9.99875104e-01 1.03262730e-02 -1.19642704e-02 -6.16711646e+00] [-1.03338831e-02 9.99946439e-01 -5.74419547e-04 2.64767630e-01] [ 1.19576980e-02 6.97985176e-04 9.99928261e-01 9.77907320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20956246 meters 0.040327153119076246 Centerline is valid? [True, True] Translation: X:-6.23, Y:0.27, Z:0.10 [[ 9.99835574e-01 1.11854579e-02 -1.42727377e-02 -6.22629997e+00] [-1.11963942e-02 9.99937083e-01 -6.86557393e-04 2.72819909e-01] [ 1.42641603e-02 8.46247702e-04 9.99897904e-01 9.51484525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26956246 meters 0.038925675301730266 Centerline is valid? [True, True] Translation: X:-6.28, Y:0.27, Z:0.10 [[ 9.99878034e-01 1.09401631e-02 -1.11458673e-02 -6.28489394e+00] [-1.09468072e-02 9.99939939e-01 -5.35271917e-04 2.70908961e-01] [ 1.11393419e-02 6.57218293e-04 9.99937740e-01 1.01078650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32956246 meters 0.03927765757750144 Centerline is valid? [True, True] Translation: X:-6.35, Y:0.27, Z:0.10 [[ 9.99829444e-01 1.22357911e-02 -1.38336145e-02 -6.34503584e+00] [-1.22461564e-02 9.99924792e-01 -6.64822870e-04 2.73376566e-01] [ 1.38244394e-02 8.34118087e-04 9.99904090e-01 9.50221710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.38956246 meters 0.039037629111173644 Centerline is valid? [True, True] Translation: X:-6.41, Y:0.27, Z:0.09 [[ 9.99876593e-01 8.07182075e-03 -1.34775798e-02 -6.40544918e+00] [-8.08128303e-03 9.99967136e-01 -6.47761977e-04 2.67912867e-01] [ 1.34719083e-02 7.56598175e-04 9.99908963e-01 9.45434964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44956246 meters 0.04181554990566646 Centerline is valid? [True, True] Translation: X:-6.46, Y:0.28, Z:0.09 [[ 9.99910987e-01 7.25677567e-03 -1.11963358e-02 -6.46496261e+00] [-7.26324330e-03 9.99973478e-01 -5.37102006e-04 2.75396155e-01] [ 1.11921412e-02 6.18375908e-04 9.99937175e-01 9.45567731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50956246 meters 0.03926265049531735 Centerline is valid? [True, True] Translation: X:-6.52, Y:0.27, Z:0.10 [[ 9.99867671e-01 7.89450691e-03 -1.42238019e-02 -6.52288894e+00] [-7.90499693e-03 9.99968523e-01 -6.81425171e-04 2.67224754e-01] [ 1.42179746e-02 7.93774109e-04 9.99898604e-01 9.83084625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56956246 meters 0.042206653590278274 Centerline is valid? [True, True] Translation: X:-6.58, Y:0.28, Z:0.10 [[ 9.99791015e-01 1.52532220e-02 -1.36112607e-02 -6.58347554e+00] [-1.52635106e-02 9.99883293e-01 -6.52320562e-04 2.79205218e-01] [ 1.35997222e-02 8.59939859e-04 9.99907150e-01 9.70648215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62956246 meters 0.04208096628968359 Centerline is valid? [True, True] Translation: X:-6.64, Y:0.28, Z:0.10 [[ 9.99699894e-01 2.06797039e-02 -1.31328603e-02 -6.64211484e+00] [-2.06897371e-02 9.99785747e-01 -6.28563652e-04 2.75007817e-01] [ 1.31170480e-02 9.00090443e-04 9.99913563e-01 1.04232942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68956246 meters 0.0433469632861924 Centerline is valid? [True, True] Translation: X:-6.70, Y:0.27, Z:0.10 [[ 9.99714793e-01 1.97055651e-02 -1.34915857e-02 -6.70370022e+00] [-1.97160830e-02 9.99805410e-01 -6.47017607e-04 2.73681898e-01] [ 1.34762105e-02 9.12834296e-04 9.99908775e-01 9.99907742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74956246 meters 0.04309327459672053 Centerline is valid? [True, True] Translation: X:-6.76, Y:0.27, Z:0.10 [[ 9.99782233e-01 1.69933699e-02 -1.21125003e-02 -6.76334379e+00] [-1.70016407e-02 9.99855293e-01 -5.80182628e-04 2.69637521e-01] [ 1.21008882e-02 7.85988661e-04 9.99926473e-01 1.02166214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8095624599999995 meters 0.040584537988128146 Centerline is valid? [True, True] Translation: X:-6.82, Y:0.26, Z:0.10 [[ 9.99804074e-01 1.53211980e-02 -1.25329162e-02 -6.82156737e+00] [-1.53299101e-02 9.99882310e-01 -5.99363550e-04 2.59616834e-01] [ 1.25222582e-02 7.91374598e-04 9.99921280e-01 9.94255732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86956246 meters 0.04195778519836555 Centerline is valid? [True, True] Translation: X:-6.88, Y:0.26, Z:0.11 [[ 9.99786491e-01 1.82674240e-02 -9.65786496e-03 -6.88082580e+00] [-1.82726959e-02 9.99832936e-01 -4.57899324e-04 2.64544560e-01] [ 9.64788683e-03 6.34276787e-04 9.99953257e-01 1.05174017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92956246 meters 0.046413745917659885 Centerline is valid? [True, True] Translation: X:-6.94, Y:0.27, Z:0.10 [[ 9.99570381e-01 2.40718510e-02 -1.67212329e-02 -6.94190160e+00] [-2.40885305e-02 9.99709512e-01 -7.96784557e-04 2.67978288e-01] [ 1.66971955e-02 1.19923217e-03 9.99859873e-01 9.91981330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98956246 meters 0.05324544199820061 Centerline is valid? [True, True] Translation: X:-7.00, Y:0.28, Z:0.10 [[ 9.98958495e-01 4.09339426e-02 -2.01578398e-02 -7.00348048e+00] [-4.09615975e-02 9.99160260e-01 -9.60771935e-04 2.78744364e-01] [ 2.01015842e-02 1.78546861e-03 9.99796348e-01 9.75829961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04956246 meters 0.059639084966472126 Centerline is valid? [True, True] Translation: X:-7.06, Y:0.28, Z:0.11 [[ 9.98196528e-01 5.86814107e-02 -1.26563278e-02 -7.06337832e+00] [-5.86937234e-02 9.98275855e-01 -6.03296834e-04 2.75677126e-01] [ 1.25991041e-02 1.34505581e-03 9.99919723e-01 1.09645001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10956246 meters 0.063199253973096 Centerline is valid? [True, True] Translation: X:-7.12, Y:0.26, Z:0.10 [[ 9.97828537e-01 6.46095099e-02 -1.27993100e-02 -7.12337576e+00] [-6.46225873e-02 9.97909589e-01 -6.10360549e-04 2.60190108e-01] [ 1.27331191e-02 1.43615970e-03 9.99917899e-01 1.02079780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.16956246 meters 0.05732538732976894 Centerline is valid? [True, True] Translation: X:-7.18, Y:0.21, Z:0.11 [[ 9.98514576e-01 5.30137735e-02 -1.25769798e-02 -7.18211979e+00] [-5.30254915e-02 9.98592979e-01 -5.99839768e-04 2.14084955e-01] [ 1.25274839e-02 1.26584928e-03 9.99920727e-01 1.08883320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2295624599999995 meters 0.05527045773871081 Centerline is valid? [True, True] Translation: X:-7.24, Y:0.19, Z:0.10 [[ 9.98797967e-01 4.59918576e-02 -1.69519974e-02 -7.24166165e+00] [-4.60121466e-02 9.98940553e-01 -8.08570888e-04 1.87041732e-01] [ 1.68968500e-02 1.58759675e-03 9.99855978e-01 9.99786472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28956246 meters 0.05668296402745762 Centerline is valid? [True, True] Translation: X:-7.30, Y:0.16, Z:0.11 [[ 9.98725127e-01 4.80778479e-02 -1.53831451e-02 -7.30114882e+00] [-4.80948055e-02 9.98842505e-01 -7.34096947e-04 1.59091564e-01] [ 1.53300454e-02 1.47301044e-03 9.99881403e-01 1.05821210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34956246 meters 0.062364533819063935 Centerline is valid? [True, True] Translation: X:-7.36, Y:0.13, Z:0.10 [[ 9.98417418e-01 5.43006934e-02 -1.46319629e-02 -7.36037715e+00] [-5.43166969e-02 9.98523514e-01 -6.98263188e-04 1.34734830e-01] [ 1.45724428e-02 1.49191802e-03 9.99892703e-01 1.03094209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40956246 meters 0.058854090288085394 Centerline is valid? [True, True] Translation: X:-7.42, Y:0.08, Z:0.11 [[ 9.98551288e-01 5.19760299e-02 -1.39218410e-02 -7.41825809e+00] [-5.19902937e-02 9.98647369e-01 -6.64370757e-04 7.90611514e-02] [ 1.38684786e-02 1.38720888e-03 9.99902866e-01 1.07996048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46956246 meters 0.05293407281250683 Centerline is valid? [True, True] Translation: X:-7.48, Y:0.03, Z:0.11 [[ 9.98838172e-01 4.65824349e-02 -1.23443517e-02 -7.47563273e+00] [-4.65932372e-02 9.98913772e-01 -5.88780637e-04 2.92168031e-02] [ 1.23035161e-02 1.16325988e-03 9.99923632e-01 1.11221048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52956246 meters 0.055577581709076146 Centerline is valid? [True, True] Translation: X:-7.54, Y:0.00, Z:0.11 [[ 9.98747224e-01 4.80816839e-02 -1.38612638e-02 -7.53526330e+00] [-4.80954552e-02 9.98842525e-01 -6.61685524e-04 1.41489896e-03] [ 1.38134048e-02 1.32752037e-03 9.99903709e-01 1.12459768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58956246 meters 0.0548861179335797 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.03, Z:0.12 [[ 9.98525063e-01 5.23600169e-02 -1.43571206e-02 -7.59356065e+00] [-5.23752258e-02 9.98627241e-01 -6.85131085e-04 -2.91807889e-02] [ 1.43015383e-02 1.43607800e-03 9.99896697e-01 1.15913483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64956246 meters 0.062041252972521284 Centerline is valid? [True, True] Translation: X:-7.65, Y:-0.04, Z:0.12 [[ 9.98314601e-01 5.56698906e-02 -1.63957825e-02 -7.65390399e+00] [-5.56901747e-02 9.98447791e-01 -7.82837378e-04 -4.39226400e-02] [ 1.63267524e-02 1.69460198e-03 9.99865274e-01 1.17135681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70956246 meters 0.05995364701667408 Centerline is valid? [True, True] Translation: X:-7.71, Y:-0.08, Z:0.12 [[ 9.98306443e-01 5.55653709e-02 -1.72259983e-02 -7.71419893e+00] [-5.55877730e-02 9.98453464e-01 -8.24035005e-04 -7.62435495e-02] [ 1.71535699e-02 1.78019434e-03 9.99851282e-01 1.15062519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7695624599999995 meters 0.05904358016489526 Centerline is valid? [True, True] Translation: X:-7.77, Y:-0.11, Z:0.12 [[ 9.98393768e-01 5.44622381e-02 -1.56124575e-02 -7.77343669e+00] [-5.44805029e-02 9.98514555e-01 -7.46652328e-04 -1.08277011e-01] [ 1.55486017e-02 1.59602757e-03 9.99877839e-01 1.17441436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82956246 meters 0.05919952527220231 Centerline is valid? [True, True] Translation: X:-7.83, Y:-0.14, Z:0.12 [[ 9.98672264e-01 5.00373226e-02 -1.22464101e-02 -7.83237972e+00] [-5.00482300e-02 9.98746630e-01 -5.85632074e-04 -1.40321935e-01] [ 1.22017574e-02 1.19776566e-03 9.99924838e-01 1.19071667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88956246 meters 0.05341238305000049 Centerline is valid? [True, True] Translation: X:-7.89, Y:-0.18, Z:0.12 [[ 9.98988619e-01 4.32872928e-02 -1.21634618e-02 -7.89072897e+00] [-4.32975575e-02 9.99062052e-01 -5.81716620e-04 -1.75454777e-01] [ 1.21268722e-02 1.10777647e-03 9.99925853e-01 1.20006700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94956246 meters 0.04759446007539818 Centerline is valid? [True, True] Translation: X:-7.95, Y:-0.22, Z:0.12 [[ 9.99501674e-01 2.86895044e-02 -1.31649504e-02 -7.94936788e+00] [-2.87002681e-02 9.99587864e-01 -6.29361619e-04 -2.15200211e-01] [ 1.31414685e-02 1.00688560e-03 9.99913140e-01 1.15899061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00956246 meters 0.04372915778570009 Centerline is valid? [True, True] Translation: X:-8.01, Y:-0.24, Z:0.12 [[ 9.99765195e-01 1.73469118e-02 -1.29860897e-02 -8.00912763e+00] [-1.73564344e-02 9.99849173e-01 -6.20945973e-04 -2.36046391e-01] [ 1.29733595e-02 8.46192386e-04 9.99915484e-01 1.18896439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069562459999998 meters 0.04576408812845072 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.24, Z:0.12 [[ 9.99797251e-01 1.47529464e-02 -1.37042645e-02 -8.06883854e+00] [-1.47633026e-02 9.99890802e-01 -6.54827651e-04 -2.42902476e-01] [ 1.36931074e-02 8.57015090e-04 9.99905878e-01 1.16215432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129562459999999 meters 0.04480862159144101 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.25, Z:0.12 [[ 9.99727930e-01 1.89943976e-02 -1.35380510e-02 -8.12798710e+00] [-1.90048878e-02 9.99819182e-01 -6.46629765e-04 -2.46250412e-01] [ 1.35233207e-02 9.03742976e-04 9.99908147e-01 1.21784482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18956246 meters 0.045948531916332795 Centerline is valid? [True, True] Translation: X:-8.19, Y:-0.25, Z:0.12 [[ 9.99586941e-01 2.41902238e-02 -1.55171295e-02 -8.18773440e+00] [-2.42046257e-02 9.99706751e-01 -7.40967915e-04 -2.45185559e-01] [ 1.54946550e-02 1.11624816e-03 9.99879328e-01 1.19116839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249562459999998 meters 0.050959742436582106 Centerline is valid? [True, True] Translation: X:-8.25, Y:-0.23, Z:0.12 [[ 9.99637364e-01 2.43679941e-02 -1.14604440e-02 -8.24793567e+00] [-2.43758545e-02 9.99702715e-01 -5.46669191e-04 -2.32647824e-01] [ 1.14437158e-02 8.25829065e-04 9.99934178e-01 1.24682436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309562459999999 meters 0.0489184321135486 Centerline is valid? [True, True] Translation: X:-8.31, Y:-0.24, Z:0.12 [[ 9.99648765e-01 2.20610808e-02 -1.46852193e-02 -8.30641233e+00] [-2.20737300e-02 9.99756101e-01 -6.99805233e-04 -2.35754982e-01] [ 1.46661991e-02 1.02371700e-03 9.99891921e-01 1.16549990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36956246 meters 0.04243048493615752 Centerline is valid? [True, True] Translation: X:-8.36, Y:-0.25, Z:0.12 [[ 9.99798104e-01 1.46231435e-02 -1.37809610e-02 -8.36478269e+00] [-1.46336010e-02 9.99892706e-01 -6.58297571e-04 -2.50317072e-01] [ 1.37698560e-02 8.59829747e-04 9.99904821e-01 1.24518142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42956246 meters 0.040371381302122304 Centerline is valid? [True, True] Translation: X:-8.42, Y:-0.25, Z:0.13 [[ 9.99876499e-01 1.05221447e-02 -1.16735137e-02 -8.42421901e+00] [-1.05293605e-02 9.99944410e-01 -5.56847106e-04 -2.45895161e-01] [ 1.16670055e-02 6.79692969e-04 9.99931707e-01 1.28883044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489562459999998 meters 0.04279120717104152 Centerline is valid? [True, True] Translation: X:-8.49, Y:-0.23, Z:0.12 [[ 9.99811993e-01 1.20988165e-02 -1.51524657e-02 -8.48576238e+00] [-1.21111446e-02 9.99926397e-01 -7.22098412e-04 -2.25934030e-01] [ 1.51426138e-02 9.05476355e-04 9.99884934e-01 1.21267111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549562459999999 meters 0.046742794542107446 Centerline is valid? [True, True] Translation: X:-8.55, Y:-0.20, Z:0.13 [[ 9.99757444e-01 1.79693504e-02 -1.27340118e-02 -8.54705859e+00] [-1.79785338e-02 9.99838189e-01 -6.07051992e-04 -2.04406808e-01] [ 1.27210429e-02 8.35843608e-04 9.99918735e-01 1.28770043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60956246 meters 0.047748358328165805 Centerline is valid? [True, True] Translation: X:-8.61, Y:-0.19, Z:0.13 [[ 9.99671584e-01 2.30826239e-02 -1.11318077e-02 -8.60644968e+00] [-2.30899481e-02 9.99733251e-01 -5.29867036e-04 -1.89959147e-01] [ 1.11166076e-02 7.86725882e-04 9.99937899e-01 1.30919544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66956246 meters 0.046234210649166274 Centerline is valid? [True, True] Translation: X:-8.66, Y:-0.18, Z:0.13 [[ 9.99661361e-01 2.33597963e-02 -1.14666426e-02 -8.66447922e+00] [-2.33675710e-02 9.99726793e-01 -5.44504159e-04 -1.76681795e-01] [ 1.14507903e-02 8.12267354e-04 9.99934108e-01 1.33129781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729562459999999 meters 0.043589619297195036 Centerline is valid? [True, True] Translation: X:-8.72, Y:-0.17, Z:0.14 [[ 9.99784934e-01 1.74471780e-02 -1.12108093e-02 -8.72398856e+00] [-1.74542477e-02 9.99847521e-01 -5.33080079e-04 -1.65057856e-01] [ 1.11997991e-02 7.28641674e-04 9.99937015e-01 1.37869113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789562459999999 meters 0.042347679863356066 Centerline is valid? [True, True] Translation: X:-8.78, Y:-0.15, Z:0.13 [[ 9.99844144e-01 9.47506264e-03 -1.48966434e-02 -8.78472100e+00] [-9.48665976e-03 9.99954750e-01 -7.08033581e-04 -1.49900882e-01] [ 1.48892606e-02 8.49242618e-04 9.99888788e-01 1.30208858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84956246 meters 0.04209758008687473 Centerline is valid? [True, True] Translation: X:-8.84, Y:-0.14, Z:0.14 [[ 9.99847563e-01 1.04931738e-02 -1.39550775e-02 -8.84366344e+00] [-1.05033751e-02 9.99944622e-01 -6.57913698e-04 -1.35083114e-01] [ 1.39474010e-02 8.04388820e-04 9.99902407e-01 1.37729310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909562459999998 meters 0.05073894570925452 Centerline is valid? [True, True] Translation: X:-8.91, Y:-0.09, Z:0.13 [[ 9.99578922e-01 2.47743529e-02 -1.51066359e-02 -8.90569745e+00] [-2.47879636e-02 9.99692476e-01 -7.14368352e-04 -9.32408974e-02] [ 1.50842922e-02 1.08853029e-03 9.99885633e-01 1.31639710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969562459999999 meters 0.05116879779492664 Centerline is valid? [True, True] Translation: X:-8.97, Y:-0.08, Z:0.14 [[ 9.99240402e-01 3.68800349e-02 -1.25889897e-02 -8.96618819e+00] [-3.68904419e-02 9.99319139e-01 -5.95384125e-04 -7.94741172e-02] [ 1.25584605e-02 1.05934526e-03 9.99920578e-01 1.41631031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02956246 meters 0.05515836875780794 Centerline is valid? [True, True] Translation: X:-9.03, Y:-0.06, Z:0.13 [[ 9.99104065e-01 3.97917800e-02 -1.44111354e-02 -9.02807419e+00] [-3.98057252e-02 9.99207205e-01 -6.82013811e-04 -6.16705691e-02] [ 1.43725718e-02 1.25504847e-03 9.99895922e-01 1.34464959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08956246 meters 0.05390748489550574 Centerline is valid? [True, True] Translation: X:-9.09, Y:-0.06, Z:0.14 [[ 9.99204144e-01 3.78655767e-02 -1.25410260e-02 -9.08891701e+00] [-3.78759860e-02 9.99282271e-01 -5.93461363e-04 -6.03944330e-02] [ 1.25095532e-02 1.06799278e-03 9.99921182e-01 1.40480794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149562459999999 meters 0.051933902311776005 Centerline is valid? [True, True] Translation: X:-9.15, Y:-0.06, Z:0.14 [[ 9.99395742e-01 3.22755425e-02 -1.29011395e-02 -9.14966706e+00] [-3.22860953e-02 9.99478482e-01 -6.10487269e-04 -6.36260629e-02] [ 1.28747075e-02 1.02664580e-03 9.99916590e-01 1.36657902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209562459999999 meters 0.05034676799259472 Centerline is valid? [True, True] Translation: X:-9.21, Y:-0.06, Z:0.14 [[ 9.99335371e-01 3.39873903e-02 -1.31785132e-02 -9.21056957e+00] [-3.39985596e-02 9.99421687e-01 -6.24363254e-04 -5.96257320e-02] [ 1.31496714e-02 1.07199875e-03 9.99912965e-01 1.37926891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26956246 meters 0.059670109963109785 Centerline is valid? [True, True] Translation: X:-9.27, Y:-0.04, Z:0.15 [[ 9.99025426e-01 4.29595446e-02 -1.01329270e-02 -9.27212050e+00] [-4.29666049e-02 9.99076394e-01 -4.80002880e-04 -3.84818513e-02] [ 1.01029475e-02 9.14912555e-04 9.99948545e-01 1.46064925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329562459999998 meters 0.058901142108219964 Centerline is valid? [True, True] Translation: X:-9.33, Y:-0.04, Z:0.13 [[ 9.98459630e-01 5.30598299e-02 -1.62179353e-02 -9.33176896e+00] [-5.30792320e-02 9.98590009e-01 -7.67934624e-04 -4.28811586e-02] [ 1.61543216e-02 1.62758727e-03 9.99868186e-01 1.33264918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389562459999999 meters 0.05544283098502276 Centerline is valid? [True, True] Translation: X:-9.39, Y:-0.05, Z:0.14 [[ 9.98649495e-01 5.10881410e-02 -9.44398087e-03 -9.39103542e+00] [-5.10946314e-02 9.98693716e-01 -4.47100994e-04 -5.44878892e-02] [ 9.40880279e-03 9.29033903e-04 9.99955305e-01 1.41962773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44956246 meters 0.052492451381829786 Centerline is valid? [True, True] Translation: X:-9.45, Y:-0.08, Z:0.13 [[ 9.99116220e-01 3.82657987e-02 -1.73927628e-02 -9.45113758e+00] [-3.82858928e-02 9.99266487e-01 -8.23690231e-04 -7.75043190e-02] [ 1.73484858e-02 1.48885972e-03 9.99848395e-01 1.25566125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50956246 meters 0.049527966059190597 Centerline is valid? [True, True] Translation: X:-9.51, Y:-0.10, Z:0.14 [[ 9.99404531e-01 3.18687384e-02 -1.32274810e-02 -9.51049206e+00] [-3.18797987e-02 9.99491514e-01 -6.26099922e-04 -9.91195503e-02] [ 1.32008020e-02 1.04741653e-03 9.99912317e-01 1.39119244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569562459999998 meters 0.05180135136221967 Centerline is valid? [True, True] Translation: X:-9.57, Y:-0.10, Z:0.14 [[ 9.99152168e-01 4.00687550e-02 -9.45725808e-03 -9.57136478e+00] [-4.00747756e-02 9.99196583e-01 -4.47890240e-04 -9.86527072e-02] [ 9.43171356e-03 8.26508000e-04 9.99955179e-01 1.41022694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629562459999999 meters 0.05920459318975095 Centerline is valid? [True, True] Translation: X:-9.63, Y:-0.10, Z:0.13 [[ 9.98513034e-01 5.20542714e-02 -1.61886897e-02 -9.63209780e+00] [-5.20734747e-02 9.98642962e-01 -7.66677266e-04 -9.94358293e-02] [ 1.61268122e-02 1.60853857e-03 9.99868661e-01 1.29429593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68956246 meters 0.0579758650353086 Centerline is valid? [True, True] Translation: X:-9.69, Y:-0.11, Z:0.14 [[ 9.98463608e-01 5.43248184e-02 -1.09195587e-02 -9.69292330e+00] [-5.43336961e-02 9.98522699e-01 -5.17778481e-04 -1.14250766e-01] [ 1.08752990e-02 1.11028295e-03 9.99940246e-01 1.38694656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749562459999998 meters 0.05198253026104998 Centerline is valid? [True, True] Translation: X:-9.75, Y:-0.14, Z:0.13 [[ 9.98982915e-01 4.35596681e-02 -1.16486193e-02 -9.75077869e+00] [-4.35690552e-02 9.99050265e-01 -5.53182374e-04 -1.43398359e-01] [ 1.16134597e-02 1.06013908e-03 9.99932000e-01 1.32186932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.809562459999999 meters 0.05131606247886634 Centerline is valid? [True, True] Translation: X:-9.81, Y:-0.16, Z:0.13 [[ 9.99377816e-01 3.23126859e-02 -1.41376037e-02 -9.81090520e+00] [-3.23253874e-02 9.99477173e-01 -6.70768722e-04 -1.64274130e-01] [ 1.41085378e-02 1.12735490e-03 9.99899834e-01 1.28901201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86956246 meters 0.04983029236931748 Centerline is valid? [True, True] Translation: X:-9.87, Y:-0.18, Z:0.14 [[ 9.99352746e-01 3.48341701e-02 -8.98161916e-03 -9.86986639e+00] [-3.48393943e-02 9.99392833e-01 -4.25802751e-04 -1.77060527e-01] [ 8.96133333e-03 7.38441320e-04 9.99959574e-01 1.38127372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92956246 meters 0.05496928212239012 Centerline is valid? [True, True] Translation: X:-9.93, Y:-0.17, Z:0.13 [[ 9.98797587e-01 4.74081253e-02 -1.24840117e-02 -9.93073612e+00] [-4.74191973e-02 9.98874902e-01 -5.92226937e-04 -1.72449556e-01] [ 1.24418895e-02 1.18349665e-03 9.99921896e-01 1.29997215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989562459999998 meters 0.05869753413394732 Centerline is valid? [True, True] Translation: X:-9.99, Y:-0.18, Z:0.13 [[ 9.98334689e-01 5.59890611e-02 -1.38951090e-02 -9.99084239e+00] [-5.60035982e-02 9.98430349e-01 -6.59001803e-04 -1.80656116e-01] [ 1.38364017e-02 1.43608046e-03 9.99903241e-01 1.26982024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049562459999999 meters 0.05319758205565715 Centerline is valid? [True, True] Translation: X:-10.05, Y:-0.21, Z:0.14 [[ 9.98941906e-01 4.54408801e-02 -7.08487979e-03 -1.00502907e+01] [-4.54443970e-02 9.98966813e-01 -3.36130112e-04 -2.07970144e-01] [ 7.06228574e-03 6.57742545e-04 9.99974845e-01 1.35956352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10956246 meters 0.04963651690898593 Centerline is valid? [True, True] Translation: X:-10.11, Y:-0.23, Z:0.13 [[ 9.99438504e-01 3.15853841e-02 -1.11821215e-02 -1.01101043e+01] [-3.15932843e-02 9.99500667e-01 -5.30514791e-04 -2.31947950e-01] [ 1.11597814e-02 8.83496854e-04 9.99937337e-01 1.28095266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169562459999998 meters 0.04599324409706953 Centerline is valid? [True, True] Translation: X:-10.17, Y:-0.25, Z:0.12 [[ 9.99676981e-01 2.28375839e-02 -1.11524741e-02 -1.01697311e+01] [-2.28448972e-02 9.99738881e-01 -5.28787477e-04 -2.53057839e-01] [ 1.11374857e-02 7.83393793e-04 9.99937669e-01 1.22712791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229562459999999 meters 0.04435446086271735 Centerline is valid? [True, True] Translation: X:-10.23, Y:-0.26, Z:0.13 [[ 9.99596142e-01 2.75665684e-02 -6.90198561e-03 -1.02286600e+01] [-2.75694797e-02 9.99619836e-01 -3.26994394e-04 -2.62514578e-01] [ 6.89034761e-03 5.17146486e-04 9.99976128e-01 1.34011669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289562459999999 meters 0.049708385085956014 Centerline is valid? [True, True] Translation: X:-10.29, Y:-0.25, Z:0.13 [[ 9.99222398e-01 3.83320921e-02 -9.23308316e-03 -1.02900130e+01] [-3.83377634e-02 9.99264742e-01 -4.37964655e-04 -2.54231428e-01] [ 9.20950636e-03 7.91599851e-04 9.99957278e-01 1.27469332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34956246 meters 0.05816231259282765 Centerline is valid? [True, True] Translation: X:-10.35, Y:-0.23, Z:0.13 [[ 9.98589367e-01 5.21592115e-02 -9.93437529e-03 -1.03516636e+01] [-5.21664547e-02 9.98638292e-01 -4.71200215e-04 -2.34503781e-01] [ 9.89627014e-03 9.88776663e-04 9.99950542e-01 1.27471165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409562459999998 meters 0.053757076359151404 Centerline is valid? [True, True] Translation: X:-10.41, Y:-0.25, Z:0.13 [[ 9.98676883e-01 5.08419209e-02 -7.71902748e-03 -1.04105660e+01] [-5.08462631e-02 9.98706425e-01 -3.67209024e-04 -2.50297018e-01] [ 7.69037272e-03 7.59206865e-04 9.99970140e-01 1.30422433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469562459999999 meters 0.0513927648512664 Centerline is valid? [True, True] Translation: X:-10.47, Y:-0.26, Z:0.13 [[ 9.99178286e-01 3.96200681e-02 -8.54414518e-03 -1.04704428e+01] [-3.96249763e-02 9.99214540e-01 -4.05869198e-04 -2.55866020e-01] [ 8.52135353e-03 7.44097241e-04 9.99963416e-01 1.28202941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52956246 meters 0.05290930432034873 Centerline is valid? [True, True] Translation: X:-10.53, Y:-0.26, Z:0.13 [[ 9.99365549e-01 3.47074023e-02 -7.99347493e-03 -1.05312940e+01] [-3.47115415e-02 9.99397301e-01 -3.79635082e-04 -2.57648651e-01] [ 7.97548113e-03 6.56860059e-04 9.99967980e-01 1.28038841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589562459999998 meters 0.04697756494328365 Centerline is valid? [True, True] Translation: X:-10.59, Y:-0.27, Z:0.12 [[ 9.99631730e-01 2.48309703e-02 -1.09465411e-02 -1.05905381e+01] [-2.48381413e-02 9.99691351e-01 -5.19611498e-04 -2.73644089e-01] [ 1.09302600e-02 7.91311876e-04 9.99939950e-01 1.23002898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649562459999999 meters 0.04536022708647947 Centerline is valid? [True, True] Translation: X:-10.65, Y:-0.28, Z:0.13 [[ 9.99713333e-01 2.24430355e-02 -8.34038571e-03 -1.06506980e+01] [-2.24471155e-02 9.99747953e-01 -3.95889525e-04 -2.76354806e-01] [ 8.32939858e-03 5.82993637e-04 9.99965140e-01 1.27167825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709562459999999 meters 0.0486623063438202 Centerline is valid? [True, True] Translation: X:-10.71, Y:-0.27, Z:0.13 [[ 9.99476178e-01 3.03334034e-02 -1.12807276e-02 -1.07121422e+01] [-3.03413687e-02 9.99539451e-01 -5.35583440e-04 -2.71754652e-01] [ 1.12592862e-02 8.77575603e-04 9.99936227e-01 1.26964322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76956246 meters 0.05170023047399298 Centerline is valid? [True, True] Translation: X:-10.77, Y:-0.26, Z:0.13 [[ 9.99065981e-01 4.20124130e-02 -1.01056031e-02 -1.07737374e+01] [-4.20193992e-02 9.99116680e-01 -4.79899244e-04 -2.59265765e-01] [ 1.00765149e-02 9.04082380e-04 9.99948822e-01 1.28798208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829562459999998 meters 0.05239882049644239 Centerline is valid? [True, True] Translation: X:-10.83, Y:-0.26, Z:0.14 [[ 9.98804669e-01 4.84935940e-02 -6.13222884e-03 -1.08341190e+01] [-4.84962878e-02 9.98823320e-01 -2.91256870e-04 -2.56428065e-01] [ 6.11088908e-03 5.88299056e-04 9.99981155e-01 1.36132198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889562459999999 meters 0.05280636190753878 Centerline is valid? [True, True] Translation: X:-10.89, Y:-0.26, Z:0.12 [[ 9.99019871e-01 4.24963342e-02 -1.23837802e-02 -1.08943766e+01] [-4.25068629e-02 9.99096002e-01 -5.88117281e-04 -2.58969354e-01] [ 1.23475924e-02 1.11393650e-03 9.99923145e-01 1.23265581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94956246 meters 0.048835309125928865 Centerline is valid? [True, True] Translation: X:-10.96, Y:-0.26, Z:0.13 [[ 9.99384674e-01 3.41834080e-02 -7.85931663e-03 -1.09552887e+01] [-3.41873932e-02 9.99415371e-01 -3.73234907e-04 -2.57353964e-01] [ 7.84196340e-03 6.41694794e-04 9.99969045e-01 1.29170575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00956246 meters 0.04701327226717183 Centerline is valid? [True, True] Translation: X:-11.02, Y:-0.26, Z:0.12 [[ 9.99572651e-01 2.60649405e-02 -1.32338117e-02 -1.10155357e+01] [-2.60755340e-02 9.99659778e-01 -6.28544158e-04 -2.60243994e-01] [ 1.32129263e-02 9.73354259e-04 9.99912232e-01 1.17698241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069562459999998 meters 0.046807369549724295 Centerline is valid? [True, True] Translation: X:-11.08, Y:-0.26, Z:0.13 [[ 9.99618772e-01 2.57199286e-02 -1.00397192e-02 -1.10750398e+01] [-2.57260009e-02 9.99668918e-01 -4.76137555e-04 -2.60529788e-01] [ 1.00241490e-02 7.34237864e-04 9.99949487e-01 1.25191285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129562459999999 meters 0.0513723040046332 Centerline is valid? [True, True] Translation: X:-11.14, Y:-0.24, Z:0.12 [[ 9.99357949e-01 3.33451804e-02 -1.31067836e-02 -1.11366506e+01] [-3.33561910e-02 9.99443334e-01 -6.22303785e-04 -2.39582631e-01] [ 1.30787366e-02 1.05909661e-03 9.99913909e-01 1.19199577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18956246 meters 0.0532005861853501 Centerline is valid? [True, True] Translation: X:-11.20, Y:-0.23, Z:0.13 [[ 9.98988917e-01 4.40298390e-02 -9.08388694e-03 -1.11968817e+01] [-4.40355665e-02 9.99029871e-01 -4.31370436e-04 -2.29912408e-01] [ 9.05608123e-03 8.30948392e-04 9.99958648e-01 1.25404638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249562459999998 meters 0.057269252071765454 Centerline is valid? [True, True] Translation: X:-11.26, Y:-0.22, Z:0.12 [[ 9.98806827e-01 4.72536477e-02 -1.23294296e-02 -1.12582354e+01] [-4.72644449e-02 9.98882240e-01 -5.85658544e-04 -2.19394743e-01] [ 1.22879738e-02 1.16770340e-03 9.99923818e-01 1.17970889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309562459999999 meters 0.05512609651313476 Centerline is valid? [True, True] Translation: X:-11.32, Y:-0.22, Z:0.12 [[ 9.98910360e-01 4.52175801e-02 -1.15526578e-02 -1.13193031e+01] [-4.52269287e-02 9.98976588e-01 -5.49107454e-04 -2.22467207e-01] [ 1.15160053e-02 1.07100035e-03 9.99933115e-01 1.22187698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36956246 meters 0.05291290050327245 Centerline is valid? [True, True] Translation: X:-11.38, Y:-0.23, Z:0.12 [[ 9.99083707e-01 4.05397432e-02 -1.37213244e-02 -1.13791194e+01] [-4.05525126e-02 9.99177195e-01 -6.53566790e-04 -2.26241786e-01] [ 1.36835390e-02 1.20940211e-03 9.99905645e-01 1.16152406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42956246 meters 0.05165546056511286 Centerline is valid? [True, True] Translation: X:-11.44, Y:-0.23, Z:0.12 [[ 9.99341197e-01 3.51719306e-02 -8.95032198e-03 -1.14398096e+01] [-3.51771462e-02 9.99381002e-01 -4.25921265e-04 -2.26060653e-01] [ 8.92980128e-03 7.40487451e-04 9.99959854e-01 1.21180890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489562459999998 meters 0.04999790173187857 Centerline is valid? [True, True] Translation: X:-11.50, Y:-0.23, Z:0.12 [[ 9.99495912e-01 2.90436581e-02 -1.28214120e-02 -1.15007019e+01] [-2.90538638e-02 9.99577661e-01 -6.10405501e-04 -2.30491223e-01] [ 1.27982686e-02 9.82609360e-04 9.99917616e-01 1.15776566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549562459999999 meters 0.051804435616168196 Centerline is valid? [True, True] Translation: X:-11.56, Y:-0.22, Z:0.11 [[ 9.99423088e-01 3.11849796e-02 -1.34531926e-02 -1.15618728e+01] [-3.11964117e-02 9.99513068e-01 -6.40701199e-04 -2.22104390e-01] [ 1.34266615e-02 1.06002290e-03 9.99909296e-01 1.09048113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60956246 meters 0.05553916033236051 Centerline is valid? [True, True] Translation: X:-11.62, Y:-0.22, Z:0.11 [[ 9.99399069e-01 3.19800331e-02 -1.33707815e-02 -1.16239160e+01] [-3.19914040e-02 9.99487941e-01 -6.37360237e-04 -2.15000164e-01] [ 1.33435521e-02 1.06472730e-03 9.99910404e-01 1.10053244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669562459999998 meters 0.05425570203485061 Centerline is valid? [True, True] Translation: X:-11.69, Y:-0.22, Z:0.12 [[ 9.99413376e-01 3.34506427e-02 -7.34561767e-03 -1.16850920e+01] [-3.34541185e-02 9.99440193e-01 -3.50781582e-04 -2.17820004e-01] [ 7.32977167e-03 5.96316969e-04 9.99972959e-01 1.19320054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729562459999999 meters 0.05367338975850888 Centerline is valid? [True, True] Translation: X:-11.75, Y:-0.22, Z:0.10 [[ 9.99462532e-01 2.85813750e-02 -1.60546569e-02 -1.17456345e+01] [-2.85973455e-02 9.99590719e-01 -7.66014403e-04 -2.23339206e-01] [ 1.60261922e-02 1.22472326e-03 9.99870822e-01 1.04308613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789562459999999 meters 0.04571618188917742 Centerline is valid? [True, True] Translation: X:-11.80, Y:-0.23, Z:0.12 [[ 9.99685004e-01 2.43262620e-02 -6.17464273e-03 -1.18042209e+01] [-2.43285413e-02 9.99703974e-01 -2.94283790e-04 -2.33592064e-01] [ 6.16565605e-03 4.44411142e-04 9.99980893e-01 1.21295737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84956246 meters 0.05470323410524115 Centerline is valid? [True, True] Translation: X:-11.87, Y:-0.21, Z:0.09 [[ 9.99513560e-01 2.53407986e-02 -1.81793057e-02 -1.18660975e+01] [-2.53607343e-02 9.99677989e-01 -8.66880972e-04 -2.13487085e-01] [ 1.81514843e-02 1.32749983e-03 9.99834367e-01 9.36670410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909562459999998 meters 0.050298928558404614 Centerline is valid? [True, True] Translation: X:-11.93, Y:-0.21, Z:0.11 [[ 9.99468080e-01 3.10112611e-02 -1.00925303e-02 -1.19254262e+01] [-3.10176881e-02 9.99518720e-01 -4.80864841e-04 -2.14805237e-01] [ 1.00727608e-02 7.93656017e-04 9.99948953e-01 1.14353844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969562459999999 meters 0.056315261470173544 Centerline is valid? [True, True] Translation: X:-11.99, Y:-0.20, Z:0.10 [[ 9.99070201e-01 4.11105863e-02 -1.29866489e-02 -1.19868021e+01] [-4.11220806e-02 9.99153938e-01 -6.19184394e-04 -1.96178362e-01] [ 1.29502064e-02 1.15264670e-03 9.99915478e-01 1.02445726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02956246 meters 0.05590408925847158 Centerline is valid? [True, True] Translation: X:-12.05, Y:-0.19, Z:0.11 [[ 9.98833675e-01 4.74243365e-02 -9.06759418e-03 -1.20461549e+01] [-4.74301947e-02 9.98874462e-01 -4.31996959e-04 -1.93330907e-01] [ 9.03690109e-03 8.61570868e-04 9.99958795e-01 1.08891719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089562459999998 meters 0.05874763694105899 Centerline is valid? [True, True] Translation: X:-12.11, Y:-0.19, Z:0.09 [[ 9.98849196e-01 4.47317679e-02 -1.73018189e-02 -1.21085345e+01] [-4.47527354e-02 9.98997753e-01 -8.26392918e-04 -1.88086178e-01] [ 1.72475122e-02 1.59974562e-03 9.99849971e-01 8.87192826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149562459999999 meters 0.05498511869434376 Centerline is valid? [True, True] Translation: X:-12.17, Y:-0.19, Z:0.10 [[ 9.99305332e-01 3.61611621e-02 -9.01239857e-03 -1.21686211e+01] [-3.61665019e-02 9.99345685e-01 -4.30167277e-04 -1.93105743e-01] [ 8.99094627e-03 7.55815383e-04 9.99959295e-01 9.91425307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209562459999999 meters 0.0504147864477683 Centerline is valid? [True, True] Translation: X:-12.23, Y:-0.21, Z:0.09 [[ 9.99607352e-01 2.53029820e-02 -1.20374800e-02 -1.22287199e+01] [-2.53117265e-02 9.99679442e-01 -5.74618768e-04 -2.12166916e-01] [ 1.20190817e-02 8.79082547e-04 9.99927382e-01 9.23456526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26956246 meters 0.04508942521614304 Centerline is valid? [True, True] Translation: X:-12.29, Y:-0.23, Z:0.10 [[ 9.99786601e-01 1.81774761e-02 -9.81490800e-03 -1.22880219e+01] [-1.81829458e-02 9.99834567e-01 -4.68337920e-04 -2.25939765e-01] [ 9.80477109e-03 6.46701918e-04 9.99951723e-01 9.64147759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329562459999998 meters 0.04355973913236268 Centerline is valid? [True, True] Translation: X:-12.35, Y:-0.23, Z:0.09 [[ 9.99845500e-01 1.45906963e-02 -9.80247457e-03 -1.23477848e+01] [-1.45959801e-02 9.99893364e-01 -4.67696230e-04 -2.30565130e-01] [ 9.79460525e-03 6.10700694e-04 9.99951845e-01 9.41656632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389562459999999 meters 0.04460237767041948 Centerline is valid? [True, True] Translation: X:-12.41, Y:-0.22, Z:0.08 [[ 9.99797568e-01 1.28723859e-02 -1.54636611e-02 -1.24066758e+01] [-1.28852405e-02 9.99916714e-01 -7.31930354e-04 -2.24811335e-01] [ 1.54529515e-02 9.31035182e-04 9.99880163e-01 8.15034420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44956246 meters 0.04366712811941983 Centerline is valid? [True, True] Translation: X:-12.47, Y:-0.23, Z:0.09 [[ 9.99861679e-01 1.12778812e-02 -1.22242875e-02 -1.24668099e+01] [-1.12858191e-02 9.99936145e-01 -5.80561128e-04 -2.34819373e-01] [ 1.22169595e-02 7.18441922e-04 9.99925112e-01 9.37777721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50956246 meters 0.04341502200239706 Centerline is valid? [True, True] Translation: X:-12.53, Y:-0.22, Z:0.08 [[ 9.99824807e-01 1.22823682e-02 -1.41244197e-02 -1.25265966e+01] [-1.22930434e-02 9.99924214e-01 -6.69224992e-04 -2.20738528e-01] [ 1.41151296e-02 8.42739853e-04 9.99900021e-01 8.38720330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569562459999998 meters 0.04280490943554437 Centerline is valid? [True, True] Translation: X:-12.58, Y:-0.22, Z:0.09 [[ 9.99858356e-01 1.48318793e-02 -7.95509139e-03 -1.25846314e+01] [-1.48353104e-02 9.99889881e-01 -3.72466668e-04 -2.18697541e-01] [ 7.94869101e-03 4.90430160e-04 9.99968288e-01 9.42487655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629562459999999 meters 0.04793505241560163 Centerline is valid? [True, True] Translation: X:-12.65, Y:-0.19, Z:0.08 [[ 9.99709262e-01 2.07054550e-02 -1.23562062e-02 -1.26470834e+01] [-2.07142353e-02 9.99785267e-01 -5.83028584e-04 -1.91642106e-01] [ 1.23414811e-02 8.38808440e-04 9.99923489e-01 8.18413570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68956246 meters 0.048210247401076864 Centerline is valid? [True, True] Translation: X:-12.71, Y:-0.18, Z:0.09 [[ 9.99795104e-01 1.79795553e-02 -9.29980759e-03 -1.27074586e+01] [-1.79844107e-02 9.99838171e-01 -4.38727894e-04 -1.84335853e-01] [ 9.29041448e-03 6.05889560e-04 9.99956660e-01 8.65758007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749562459999998 meters 0.04392149421466032 Centerline is valid? [True, True] Translation: X:-12.77, Y:-0.17, Z:0.08 [[ 9.99859666e-01 1.38507175e-02 -9.42369902e-03 -1.27675758e+01] [-1.38555224e-02 9.99903909e-01 -4.44784819e-04 -1.74268324e-01] [ 9.41663289e-03 5.75292674e-04 9.99955497e-01 7.84917431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809562459999999 meters 0.04438794187762377 Centerline is valid? [True, True] Translation: X:-12.83, Y:-0.16, Z:0.07 [[ 9.99899348e-01 9.42785608e-03 -1.06022909e-02 -1.28286636e+01] [-9.43368826e-03 9.99955377e-01 -5.00208880e-04 -1.64697201e-01] [ 1.05971019e-02 6.00177241e-04 9.99943669e-01 7.25375383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86956246 meters 0.03861017842960634 Centerline is valid? [True, True] Translation: X:-12.89, Y:-0.16, Z:0.07 [[ 9.99927063e-01 2.79139484e-03 -1.17505804e-02 -1.28881282e+01] [-2.79809854e-03 9.99995932e-01 -5.54097775e-04 -1.64783484e-01] [ 1.17489859e-02 5.86936643e-04 9.99930806e-01 6.77251241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92956246 meters 0.03973519680548222 Centerline is valid? [True, True] Translation: X:-12.95, Y:-0.14, Z:0.06 [[ 9.99906695e-01 6.51485967e-03 -1.20065835e-02 -1.29489552e+01] [-6.52212397e-03 9.99978571e-01 -5.65969533e-04 -1.44635073e-01] [ 1.20026390e-02 6.44225151e-04 9.99927758e-01 5.98486853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989562459999998 meters 0.04351513196166975 Centerline is valid? [True, True] Translation: X:-13.01, Y:-0.13, Z:0.06 [[ 9.99805305e-01 1.68824607e-02 -1.02144371e-02 -1.30104846e+01] [-1.68882613e-02 9.99857267e-01 -4.81891015e-04 -1.27990607e-01] [ 1.02048436e-02 6.54301276e-04 9.99947715e-01 6.35274691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049562459999999 meters 0.047938657975268265 Centerline is valid? [True, True] Translation: X:-13.07, Y:-0.10, Z:0.06 [[ 9.99633309e-01 2.47669262e-02 -1.09474614e-02 -1.30724639e+01] [-2.47740595e-02 9.99692942e-01 -5.16443011e-04 -1.04675013e-01] [ 1.09313092e-02 7.87466697e-04 9.99939941e-01 5.51064712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10956246 meters 0.05301337880522773 Centerline is valid? [True, True] Translation: X:-13.13, Y:-0.09, Z:0.05 [[ 9.99570078e-01 2.72029714e-02 -1.09387866e-02 -1.31339573e+01] [-2.72102417e-02 9.99629599e-01 -5.16328668e-04 -8.83253889e-02] [ 1.09206892e-02 8.13753716e-04 9.99940036e-01 5.44009893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169562459999998 meters 0.04898811948559265 Centerline is valid? [True, True] Translation: X:-13.19, Y:-0.08, Z:0.05 [[ 9.99640740e-01 2.52741962e-02 -8.92223679e-03 -1.31941264e+01] [-2.52789552e-02 9.99680348e-01 -4.21001574e-04 -8.32629600e-02] [ 8.90874430e-03 6.46395149e-04 9.99960107e-01 5.45994729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229562459999999 meters 0.04596635845309923 Centerline is valid? [True, True] Translation: X:-13.25, Y:-0.09, Z:0.06 [[ 9.99751833e-01 2.08816245e-02 -7.76082511e-03 -1.32546331e+01] [-2.08850948e-02 9.99781815e-01 -3.66371173e-04 -8.54636760e-02] [ 7.75148139e-03 5.28365820e-04 9.99969817e-01 5.57638330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289562459999999 meters 0.04824195525747073 Centerline is valid? [True, True] Translation: X:-13.32, Y:-0.07, Z:0.04 [[ 9.99684113e-01 2.09130888e-02 -1.39397948e-02 -1.33175015e+01] [-2.09243025e-02 9.99780846e-01 -6.59060815e-04 -7.48078673e-02] [ 1.39229569e-02 9.50533111e-04 9.99902619e-01 3.80261630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34956246 meters 0.04789536973674509 Centerline is valid? [True, True] Translation: X:-13.38, Y:-0.07, Z:0.05 [[ 9.99649076e-01 2.51341025e-02 -8.36670338e-03 -1.33772948e+01] [-2.51382960e-02 9.99683905e-01 -3.96409715e-04 -6.76492325e-02] [ 8.35409530e-03 6.06595271e-04 9.99964920e-01 4.75983216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409562459999998 meters 0.05228454651846043 Centerline is valid? [True, True] Translation: X:-13.44, Y:-0.06, Z:0.04 [[ 9.99393388e-01 3.41444352e-02 -6.85663815e-03 -1.34388694e+01] [-3.41474602e-02 9.99416753e-01 -3.24560273e-04 -5.51564764e-02] [ 6.84155711e-03 5.58500169e-04 9.99976440e-01 4.22149128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469562459999999 meters 0.050058538610757305 Centerline is valid? [True, True] Translation: X:-13.50, Y:-0.06, Z:0.04 [[ 9.99353899e-01 3.51677164e-02 -7.41727023e-03 -1.34988608e+01] [-3.51712853e-02 9.99381237e-01 -3.51238179e-04 -6.07442678e-02] [ 7.40032845e-03 6.11886171e-04 9.99972430e-01 3.94592285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52956246 meters 0.050178157696497236 Centerline is valid? [True, True] Translation: X:-13.56, Y:-0.06, Z:0.03 [[ 9.99418925e-01 3.20993092e-02 -1.14650418e-02 -1.35596451e+01] [-3.21076372e-02 9.99484269e-01 -5.43009566e-04 -6.34036257e-02] [ 1.14416987e-02 9.10809440e-04 9.99934127e-01 3.37333724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589562459999998 meters 0.04694994282009075 Centerline is valid? [True, True] Translation: X:-13.62, Y:-0.07, Z:0.04 [[ 9.99529146e-01 2.96508925e-02 -7.89367280e-03 -1.36192572e+01] [-2.96547613e-02 9.99560131e-01 -3.73488831e-04 -6.97087594e-02] [ 7.87912634e-03 6.07397955e-04 9.99968775e-01 3.69468428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649562459999999 meters 0.05200566286875044 Centerline is valid? [True, True] Translation: X:-13.68, Y:-0.06, Z:0.03 [[ 9.99269864e-01 3.70990549e-02 -9.13230966e-03 -1.36804204e+01] [-3.71045450e-02 9.99311296e-01 -4.32421096e-04 -5.98015462e-02] [ 9.10997778e-03 7.70955564e-04 9.99958206e-01 3.29720170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709562459999999 meters 0.05620877916801514 Centerline is valid? [True, True] Translation: X:-13.74, Y:-0.06, Z:0.03 [[ 9.98820127e-01 4.74323003e-02 -1.04177798e-02 -1.37414664e+01] [-4.74400026e-02 9.98873967e-01 -4.93332717e-04 -5.65148024e-02] [ 1.03826491e-02 9.86970146e-04 9.99945612e-01 3.15086461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76956246 meters 0.06038811367430865 Centerline is valid? [True, True] Translation: X:-13.80, Y:-0.06, Z:0.03 [[ 9.98376460e-01 5.62114264e-02 -9.20436160e-03 -1.38024098e+01] [-5.62178087e-02 9.98418433e-01 -4.35946351e-04 -5.60662825e-02] [ 9.16529912e-03 9.52687614e-04 9.99957544e-01 3.05863330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829562459999998 meters 0.05826152617068239 Centerline is valid? [True, True] Translation: X:-13.86, Y:-0.07, Z:0.04 [[ 9.98441729e-01 5.54126103e-02 -6.59971355e-03 -1.38632224e+01] [-5.54158979e-02 9.98463308e-01 -3.16192656e-04 -6.96837241e-02] [ 6.57205077e-03 6.81428995e-04 9.99978172e-01 3.68402847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889562459999999 meters 0.05698019768144134 Centerline is valid? [True, True] Translation: X:-13.92, Y:-0.09, Z:0.03 [[ 9.98807105e-01 4.75786756e-02 -1.09834338e-02 -1.39236740e+01] [-4.75872746e-02 9.98866947e-01 -5.22745708e-04 -8.88755447e-02] [ 1.09461175e-02 1.04479381e-03 9.99939544e-01 2.67442603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94956246 meters 0.05801856567753954 Centerline is valid? [True, True] Translation: X:-13.98, Y:-0.10, Z:0.04 [[ 9.99045160e-01 4.30666064e-02 -7.35092401e-03 -1.39841630e+01] [-4.30703370e-02 9.99071981e-01 -3.49881536e-04 -1.01342719e-01] [ 7.32903400e-03 6.66154230e-04 9.99972920e-01 3.50657370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009562459999998 meters 0.05798860015130155 Centerline is valid? [True, True] Translation: X:-14.04, Y:-0.11, Z:0.03 [[ 9.98958458e-01 4.43689437e-02 -1.06487318e-02 -1.40448876e+01] [-4.43768485e-02 9.99014734e-01 -5.07067979e-04 -1.08994549e-01] [ 1.06157419e-02 9.79097003e-04 9.99943172e-01 2.82290213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069562459999998 meters 0.057244431841177036 Centerline is valid? [True, True] Translation: X:-14.10, Y:-0.13, Z:0.03 [[ 9.98654804e-01 5.11537213e-02 -8.47817995e-03 -1.41036935e+01] [-5.11589699e-02 9.98690441e-01 -4.03225555e-04 -1.25754424e-01] [ 8.44645078e-03 8.36418090e-04 9.99963978e-01 3.26629729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129562459999999 meters 0.05768669829318003 Centerline is valid? [True, True] Translation: X:-14.16, Y:-0.14, Z:0.04 [[ 9.98388429e-01 5.62912413e-02 -7.20001180e-03 -1.41638589e+01] [-5.62951606e-02 9.98414111e-01 -3.42679600e-04 -1.38805441e-01] [ 7.16930352e-03 7.47453169e-04 9.99974021e-01 3.54399878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18956246 meters 0.059186955789803194 Centerline is valid? [True, True] Translation: X:-14.22, Y:-0.15, Z:0.03 [[ 9.98111914e-01 6.00991625e-02 -1.26766265e-02 -1.42237655e+01] [-6.01116161e-02 9.98191479e-01 -6.03338662e-04 -1.48285888e-01] [ 1.26174404e-02 1.36421201e-03 9.99919466e-01 3.10476523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.249562459999998 meters 0.059639293845605325 Centerline is valid? [True, True] Translation: X:-14.28, Y:-0.17, Z:0.04 [[ 9.98316372e-01 5.72163645e-02 -9.52413776e-03 -1.42835471e+01] [-5.72232707e-02 9.98361303e-01 -4.53981324e-04 -1.70811573e-01] [ 9.48255543e-03 9.98219302e-04 9.99954541e-01 3.50710764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309562459999999 meters 0.06040376539000483 Centerline is valid? [True, True] Translation: X:-14.34, Y:-0.18, Z:0.03 [[ 9.98506115e-01 5.36373809e-02 -1.04196622e-02 -1.43435277e+01] [-5.36454576e-02 9.98559922e-01 -4.96994240e-04 -1.84066486e-01] [ 1.03779996e-02 1.05521934e-03 9.99945590e-01 3.37911393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36956246 meters 0.05736783733071461 Centerline is valid? [True, True] Translation: X:-14.40, Y:-0.21, Z:0.04 [[ 9.98527306e-01 5.29884090e-02 -1.16381855e-02 -1.44041946e+01] [-5.29984914e-02 9.98594436e-01 -5.59404731e-04 -2.05794276e-01] [ 1.15921853e-02 1.17538717e-03 9.99932118e-01 3.55823406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.429562459999998 meters 0.06162133764587889 Centerline is valid? [True, True] Translation: X:-14.46, Y:-0.22, Z:0.03 [[ 9.98638759e-01 5.06451214e-02 -1.24780261e-02 -1.44640063e+01] [-5.06565026e-02 9.98715956e-01 -5.97531363e-04 -2.18782812e-01] [ 1.24317417e-02 1.22881114e-03 9.99921968e-01 3.22115682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.489562459999998 meters 0.059591227849891834 Centerline is valid? [True, True] Translation: X:-14.52, Y:-0.24, Z:0.03 [[ 9.98517195e-01 5.23669217e-02 -1.48699933e-02 -1.45228296e+01] [-5.23832683e-02 9.98626801e-01 -7.11680022e-04 -2.43666292e-01] [ 1.48123053e-02 1.48956359e-03 9.99889182e-01 3.22083637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549562459999999 meters 0.0564736450993262 Centerline is valid? [True, True] Translation: X:-14.58, Y:-0.28, Z:0.05 [[ 9.98692565e-01 5.06716342e-02 -6.74873868e-03 -1.45824997e+01] [-5.06749659e-02 9.98715146e-01 -3.23499386e-04 -2.77737658e-01] [ 6.72367530e-03 6.65068534e-04 9.99977175e-01 4.52016669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60956246 meters 0.05623506115277619 Centerline is valid? [True, True] Translation: X:-14.64, Y:-0.30, Z:0.04 [[ 9.98794755e-01 4.73412814e-02 -1.29553164e-02 -1.46427787e+01] [-4.73532856e-02 9.98878011e-01 -6.21235847e-04 -3.04071521e-01] [ 1.29113705e-02 1.23396390e-03 9.99915883e-01 3.86332764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669562459999998 meters 0.05827186482093156 Centerline is valid? [True, True] Translation: X:-14.70, Y:-0.31, Z:0.05 [[ 9.98872437e-01 4.68457169e-02 -7.70282881e-03 -1.47034553e+01] [-4.68499464e-02 9.98901870e-01 -3.69457162e-04 -3.12161258e-01] [ 7.67706261e-03 7.29917692e-04 9.99970265e-01 4.62960331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729562459999999 meters 0.05712259905582837 Centerline is valid? [True, True] Translation: X:-14.76, Y:-0.34, Z:0.04 [[ 9.98780316e-01 4.65591992e-02 -1.64353420e-02 -1.47618853e+01] [-4.65784398e-02 9.98914323e-01 -7.89635540e-04 -3.36645026e-01] [ 1.63807337e-02 1.55420502e-03 9.99864619e-01 3.67983823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.789562459999999 meters 0.056062340820681275 Centerline is valid? [True, True] Translation: X:-14.82, Y:-0.35, Z:0.05 [[ 9.98922089e-01 4.44900993e-02 -1.32397557e-02 -1.48214649e+01] [-4.45023981e-02 9.99009075e-01 -6.35623732e-04 -3.53438710e-01] [ 1.31983571e-02 1.22413946e-03 9.99912149e-01 4.63533436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84956246 meters 0.05694575333544866 Centerline is valid? [True, True] Translation: X:-14.88, Y:-0.37, Z:0.04 [[ 9.98601776e-01 5.08757294e-02 -1.43580053e-02 -1.48804920e+01] [-5.08908507e-02 9.98703983e-01 -6.89532978e-04 -3.68920230e-01] [ 1.43043166e-02 1.41925996e-03 9.99896681e-01 4.30492431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909562459999998 meters 0.05756599617340521 Centerline is valid? [True, True] Translation: X:-14.94, Y:-0.38, Z:0.05 [[ 9.98323857e-01 5.69869671e-02 -1.00976007e-02 -1.49407373e+01] [-5.69947541e-02 9.98374360e-01 -4.84865917e-04 -3.82544506e-01] [ 1.00535546e-02 1.05956348e-03 9.99948900e-01 5.21277849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969562459999999 meters 0.059625731123736245 Centerline is valid? [True, True] Translation: X:-15.00, Y:-0.39, Z:0.05 [[ 9.97997607e-01 6.17851634e-02 -1.35414464e-02 -1.50013652e+01] [-6.17996094e-02 9.98088365e-01 -6.50561569e-04 -3.89036598e-01] [ 1.34753650e-02 1.48611499e-03 9.99908099e-01 4.77545412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02956246 meters 0.07171047203846134 Centerline is valid? [True, True] Translation: X:-15.06, Y:-0.38, Z:0.05 [[ 9.97933001e-01 6.31231747e-02 -1.20494617e-02 -1.50629477e+01] [-6.31347160e-02 9.98004846e-01 -5.79481237e-04 -3.83158073e-01] [ 1.19888425e-02 1.33902279e-03 9.99927235e-01 4.99282943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089562459999998 meters 0.06899489592980014 Centerline is valid? [True, True] Translation: X:-15.12, Y:-0.40, Z:0.06 [[ 9.98072856e-01 6.09079077e-02 -1.18659911e-02 -1.51215239e+01] [-6.09189542e-02 9.98142552e-01 -5.71390836e-04 -3.95192089e-01] [ 1.18091484e-02 1.29315345e-03 9.99929433e-01 5.55671334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149562459999999 meters 0.06497465188796592 Centerline is valid? [True, True] Translation: X:-15.18, Y:-0.41, Z:0.05 [[ 9.98206199e-01 5.81451471e-02 -1.42662939e-02 -1.51803102e+01] [-5.81608232e-02 9.98306991e-01 -6.86053079e-04 -4.05828254e-01] [ 1.42022503e-02 1.51456184e-03 9.99897996e-01 5.44772295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209562459999999 meters 0.06299153049618397 Centerline is valid? [True, True] Translation: X:-15.24, Y:-0.42, Z:0.06 [[ 9.98233751e-01 5.84252877e-02 -1.07640614e-02 -1.52414894e+01] [-5.84342391e-02 9.98291125e-01 -5.18709395e-04 -4.17848949e-01] [ 1.07153613e-02 1.14678296e-03 9.99941931e-01 6.46383943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26956246 meters 0.06656739667249267 Centerline is valid? [True, True] Translation: X:-15.30, Y:-0.41, Z:0.06 [[ 9.97596549e-01 6.75656112e-02 -1.53627568e-02 -1.53028241e+01] [-6.75849080e-02 9.97713252e-01 -7.39796283e-04 -4.09347469e-01] [ 1.52776412e-02 1.77630872e-03 9.99881712e-01 6.22880846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329562459999998 meters 0.09145715373342561 Centerline is valid? [True, True] Translation: X:-15.37, Y:-0.36, Z:0.06 [[ 9.97054063e-01 7.56668353e-02 -1.25589122e-02 -1.53660894e+01] [-7.56803647e-02 9.97131945e-01 -6.04863833e-04 -3.63590294e-01] [ 1.24771244e-02 1.55354500e-03 9.99920951e-01 6.09506383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389562459999999 meters 0.09305252704521627 Centerline is valid? [True, True] Translation: X:-15.43, Y:-0.36, Z:0.06 [[ 9.96796233e-01 7.87807366e-02 -1.38154176e-02 -1.54271768e+01] [-7.87974033e-02 9.96890429e-01 -6.65380144e-04 -3.64229666e-01] [ 1.37200384e-02 1.75186745e-03 9.99904341e-01 6.30403939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44956246 meters 0.08920302646821081 Centerline is valid? [True, True] Translation: X:-15.49, Y:-0.38, Z:0.06 [[ 9.97042993e-01 7.53656216e-02 -1.50097965e-02 -1.54866373e+01] [-7.53849153e-02 9.97154247e-01 -7.22986791e-04 -3.81620837e-01] [ 1.49125940e-02 1.85236116e-03 9.99887085e-01 6.17689382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509562459999998 meters 0.08140891797534851 Centerline is valid? [True, True] Translation: X:-15.55, Y:-0.41, Z:0.07 [[ 9.97937440e-01 6.26047858e-02 -1.41953072e-02 -1.55458330e+01] [-6.26207697e-02 9.98037159e-01 -6.83893615e-04 -4.06167588e-01] [ 1.41246291e-02 1.57140411e-03 9.99899008e-01 6.50941000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569562459999998 meters 0.07757408922270216 Centerline is valid? [True, True] Translation: X:-15.61, Y:-0.42, Z:0.07 [[ 9.98346797e-01 5.55079467e-02 -1.49178281e-02 -1.56059974e+01] [-5.55248174e-02 9.98457049e-01 -7.18805649e-04 -4.16456426e-01] [ 1.48549112e-02 1.54592700e-03 9.99888465e-01 6.51247850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629562459999999 meters 0.07514208975445467 Centerline is valid? [True, True] Translation: X:-15.67, Y:-0.43, Z:0.07 [[ 9.98365598e-01 5.55461990e-02 -1.34444444e-02 -1.56661628e+01] [-5.55599172e-02 9.98455144e-01 -6.48729786e-04 -4.29647502e-01] [ 1.33876402e-02 1.39464172e-03 9.99909409e-01 7.20393269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68956246 meters 0.07769571740818905 Centerline is valid? [True, True] Translation: X:-15.73, Y:-0.42, Z:0.08 [[ 9.97970889e-01 6.25757089e-02 -1.17637679e-02 -1.57271500e+01] [-6.25866909e-02 9.98039370e-01 -5.67370186e-04 -4.20871210e-01] [ 1.17051999e-02 1.30247423e-03 9.99930644e-01 7.56167678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749562459999998 meters 0.08529835105939644 Centerline is valid? [True, True] Translation: X:-15.79, Y:-0.41, Z:0.08 [[ 9.96823677e-01 7.80848362e-02 -1.56625525e-02 -1.57885253e+01] [-7.81061914e-02 9.96944759e-01 -7.55473973e-04 -4.05732343e-01] [ 1.55557086e-02 1.97641667e-03 9.99877049e-01 7.65611238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809562459999999 meters 0.0846363872337933 Centerline is valid? [True, True] Translation: X:-15.85, Y:-0.41, Z:0.08 [[ 9.96635170e-01 8.07427335e-02 -1.41049211e-02 -1.58491274e+01] [-8.07603154e-02 9.96733319e-01 -6.80468269e-04 -4.07091122e-01] [ 1.40039020e-02 1.81729649e-03 9.99900289e-01 7.96091564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86956246 meters 0.08200266877522214 Centerline is valid? [True, True] Translation: X:-15.91, Y:-0.41, Z:0.08 [[ 9.96444695e-01 8.31208464e-02 -1.37439170e-02 -1.59087378e+01] [-8.31377559e-02 9.96537844e-01 -6.62598982e-04 -4.08353618e-01] [ 1.36412576e-02 1.80288165e-03 9.99905328e-01 8.03799288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929562459999998 meters 0.0791012414604113 Centerline is valid? [True, True] Translation: X:-15.97, Y:-0.41, Z:0.08 [[ 9.96753577e-01 7.78419969e-02 -2.05652632e-02 -1.59684671e+01] [-7.78787711e-02 9.96962343e-01 -9.92161158e-04 -4.13005476e-01] [ 2.04255612e-02 2.59053761e-03 9.99788020e-01 7.89485908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989562459999998 meters 0.07743989281875228 Centerline is valid? [True, True] Translation: X:-16.03, Y:-0.42, Z:0.09 [[ 9.96735694e-01 7.86445091e-02 -1.82482313e-02 -1.60291725e+01] [-7.86736934e-02 9.96900028e-01 -8.85840166e-04 -4.15651031e-01] [ 1.81219958e-02 2.31860426e-03 9.99833095e-01 9.24916454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04956246 meters 0.07867458438276842 Centerline is valid? [True, True] Translation: X:-16.09, Y:-0.41, Z:0.08 [[ 9.96025555e-01 8.59005045e-02 -2.35413922e-02 -1.60900645e+01] [-8.59510147e-02 9.96298712e-01 -1.14033563e-03 -4.14395050e-01] [ 2.33563033e-02 3.15920997e-03 9.99722213e-01 8.15576536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.10956246 meters 0.07756518435015695 Centerline is valid? [True, True] Translation: X:-16.15, Y:-0.42, Z:0.10 [[ 9.95594651e-01 9.30709461e-02 -1.13617337e-02 -1.61502468e+01] [-9.30831677e-02 9.95658185e-01 -5.50498075e-04 -4.16567023e-01] [ 1.12611677e-02 1.60565910e-03 9.99935302e-01 1.02402313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16956246 meters 0.08044727546799038 Centerline is valid? [True, True] Translation: X:-16.21, Y:-0.41, Z:0.09 [[ 9.94712736e-01 9.98879642e-02 -2.38530567e-02 -1.62099555e+01] [-9.99437577e-02 9.94992417e-01 -1.15547920e-03 -4.11189062e-01] [ 2.36181921e-02 3.53333400e-03 9.99714808e-01 8.80330879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22956246 meters 0.08158414817786012 Centerline is valid? [True, True] Translation: X:-16.27, Y:-0.42, Z:0.10 [[ 9.94900954e-01 9.86704973e-02 -2.08859764e-02 -1.62704712e+01] [-9.87130158e-02 9.95115429e-01 -1.01213245e-03 -4.15172147e-01] [ 2.06840897e-02 3.06868925e-03 9.99781352e-01 9.55073569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.28956246 meters 0.07945475357504195 Centerline is valid? [True, True] Translation: X:-16.33, Y:-0.42, Z:0.10 [[ 9.95529394e-01 9.28110883e-02 -1.75307327e-02 -1.63309389e+01] [-9.28401530e-02 9.95680664e-01 -8.49671925e-04 -4.18366763e-01] [ 1.73761526e-02 2.47342929e-03 9.99845964e-01 1.02731557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34956246 meters 0.0738282991695408 Centerline is valid? [True, True] Translation: X:-16.39, Y:-0.44, Z:0.11 [[ 9.95978716e-01 8.70701773e-02 -2.10993120e-02 -1.63893277e+01] [-8.71110331e-02 9.96198083e-01 -1.02331411e-03 -4.38228626e-01] [ 2.09299940e-02 2.85718194e-03 9.99776861e-01 1.05060421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40956246 meters 0.07444852864138804 Centerline is valid? [True, True] Translation: X:-16.45, Y:-0.44, Z:0.11 [[ 9.96536581e-01 8.06055911e-02 -2.04347951e-02 -1.64499477e+01] [-8.06425792e-02 9.96742591e-01 -9.91175788e-04 -4.35491798e-01] [ 2.02883363e-02 2.63565751e-03 9.99790696e-01 1.13654847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.46956246 meters 0.07739588790718169 Centerline is valid? [True, True] Translation: X:-16.51, Y:-0.43, Z:0.11 [[ 9.96100363e-01 8.51167152e-02 -2.32209285e-02 -1.65107823e+01] [-8.51656877e-02 9.96366166e-01 -1.12645115e-03 -4.32402157e-01] [ 2.30406676e-02 3.09968474e-03 9.99729723e-01 1.14541976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52956246 meters 0.07996177202946188 Centerline is valid? [True, True] Translation: X:-16.57, Y:-0.42, Z:0.12 [[ 9.95357274e-01 9.30742323e-02 -2.45170217e-02 -1.65721833e+01] [-9.31311976e-02 9.95653135e-01 -1.18953091e-03 -4.24254727e-01] [ 2.42997348e-02 3.46730784e-03 9.99698705e-01 1.19476523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58956246 meters 0.09186512641388327 Centerline is valid? [True, True] Translation: X:-16.63, Y:-0.40, Z:0.12 [[ 9.94506254e-01 1.02315265e-01 -2.21110416e-02 -1.66344182e+01] [-1.02363831e-01 9.94746448e-01 -1.07293273e-03 -4.01057972e-01] [ 2.18851027e-02 3.33040923e-03 9.99754945e-01 1.21959953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649562460000002 meters 0.08468160488729519 Centerline is valid? [True, True] Translation: X:-16.69, Y:-0.42, Z:0.12 [[ 9.93737618e-01 1.08365864e-01 -2.72467485e-02 -1.66929684e+01] [-1.08441818e-01 9.94101920e-01 -1.32127854e-03 -4.16611032e-01] [ 2.69428635e-02 4.26769113e-03 9.99627865e-01 1.23476450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70956246 meters 0.09447398168663822 Centerline is valid? [True, True] Translation: X:-16.76, Y:-0.40, Z:0.13 [[ 9.93796843e-01 1.08999427e-01 -2.20671636e-02 -1.67558249e+01] [-1.09049555e-01 9.94035731e-01 -1.07753011e-03 -3.99256358e-01] [ 2.18180989e-02 3.47726038e-03 9.99755910e-01 1.27635129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76956246 meters 0.09286366858603608 Centerline is valid? [True, True] Translation: X:-16.82, Y:-0.41, Z:0.12 [[ 9.93973903e-01 1.06599477e-01 -2.55427594e-02 -1.68160729e+01] [-1.06665811e-01 9.94294149e-01 -1.24482023e-03 -4.09236395e-01] [ 2.52643190e-02 3.96185796e-03 9.99672955e-01 1.23294543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829562460000002 meters 0.09024842330775609 Centerline is valid? [True, True] Translation: X:-16.87, Y:-0.42, Z:0.13 [[ 9.94776315e-01 9.98975218e-02 -2.09897384e-02 -1.68749629e+01] [-9.99408848e-02 9.94992849e-01 -1.02455634e-03 -4.17759998e-01] [ 2.07822890e-02 3.11693741e-03 9.99779166e-01 1.32432798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88956246 meters 0.09145153421049945 Centerline is valid? [True, True] Translation: X:-16.94, Y:-0.42, Z:0.13 [[ 9.94940027e-01 9.68087482e-02 -2.68776684e-02 -1.69358428e+01] [-9.68787504e-02 9.95295327e-01 -1.31156780e-03 -4.19129393e-01] [ 2.66242465e-02 3.90880623e-03 9.99637870e-01 1.27261669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.94956246 meters 0.09429152766436168 Centerline is valid? [True, True] Translation: X:-17.00, Y:-0.42, Z:0.14 [[ 9.94713629e-01 1.00336806e-01 -2.18476872e-02 -1.69968459e+01] [-1.00383892e-01 9.94948208e-01 -1.06648207e-03 -4.17910491e-01] [ 2.16303098e-02 3.25400010e-03 9.99760742e-01 1.35554334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00956246 meters 0.09582671803617418 Centerline is valid? [True, True] Translation: X:-17.06, Y:-0.41, Z:0.14 [[ 9.94455131e-01 1.02691102e-01 -2.26612058e-02 -1.70581981e+01] [-1.02742364e-01 9.94707385e-01 -1.10648529e-03 -4.13048072e-01] [ 2.24276425e-02 3.42861583e-03 9.99742590e-01 1.35698547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06956246 meters 0.09964181919250747 Centerline is valid? [True, True] Translation: X:-17.12, Y:-0.41, Z:0.14 [[ 9.94210297e-01 1.05477476e-01 -2.05033344e-02 -1.71191888e+01] [-1.05520022e-01 9.94416674e-01 -1.00137296e-03 -4.12026999e-01] [ 2.02832353e-02 3.15908761e-03 9.99789283e-01 1.35420431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.12956246 meters 0.10313350171275795 Centerline is valid? [True, False] Translation: X:-17.15, Y:-0.39, Z:0.13 [[ 9.97930456e-01 6.42000855e-02 -3.62688715e-03 -1.71487608e+01] [-6.41992896e-02 9.97937041e-01 3.35544642e-04 -3.90600278e-01] [ 3.64094703e-03 -1.02006639e-04 9.99993367e-01 1.25716941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18956246 meters 0.10809013704982218 Centerline is valid? [False, False] Translation: X:-17.18, Y:-0.37, Z:0.12 [[ 9.99364235e-01 2.86821645e-02 2.11768776e-02 -1.71835374e+01] [-2.87909699e-02 9.99573683e-01 4.85098825e-03 -3.72182701e-01] [-2.10287127e-02 -5.45760700e-03 9.99763976e-01 1.20886300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24956246 meters 0.10858490964143157 Centerline is valid? [False, False] Translation: X:-17.21, Y:-0.36, Z:0.12 [[ 9.99649616e-01 3.56966607e-03 2.62279087e-02 -1.72108126e+01] [-3.65891689e-03 9.99987676e-01 3.35569191e-03 -3.64562153e-01] [-2.62156068e-02 -3.45048187e-03 9.99650357e-01 1.21832842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309562460000002 meters 0.11277933418509656 Centerline is valid? [False, False] Translation: X:-17.21, Y:-0.35, Z:0.12 [[ 9.99650527e-01 4.84084020e-03 2.59882705e-02 -1.72066457e+01] [-4.90759426e-03 9.99984819e-01 2.50545622e-03 -3.49807266e-01] [-2.59757474e-02 -2.63212051e-03 9.99659108e-01 1.20785783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36956246 meters 0.11064440631158509 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.35, Z:0.13 [[ 9.99487460e-01 -4.95870494e-03 3.16263797e-02 -1.72587605e+01] [ 4.78393702e-03 9.99972881e-01 5.59929410e-03 -3.54715285e-01] [-3.16532872e-02 -5.44512563e-03 9.99484077e-01 1.30881634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42956246 meters 0.1235491285902561 Centerline is valid? [False, False] Translation: X:-17.31, Y:-0.36, Z:0.13 [[ 9.99650955e-01 -7.20436088e-03 2.54178281e-02 -1.73113998e+01] [ 7.08088691e-03 9.99962706e-01 4.94443662e-03 -3.55411627e-01] [-2.54525017e-02 -4.76273002e-03 9.99664687e-01 1.33446237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489562460000002 meters 0.11813414838053761 Centerline is valid? [False, False] Translation: X:-17.34, Y:-0.36, Z:0.14 [[ 9.99348124e-01 -2.29394978e-02 2.78766323e-02 -1.73361806e+01] [ 2.29910355e-02 9.99734501e-01 -1.52962318e-03 -3.61409010e-01] [-2.78341423e-02 2.16953870e-03 9.99610201e-01 1.38203947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54956246 meters 0.10885584974228388 Centerline is valid? [False, False] Translation: X:-17.35, Y:-0.37, Z:0.14 [[ 9.99035690e-01 -3.58365290e-02 2.53659808e-02 -1.73524866e+01] [ 3.59544802e-02 9.99344565e-01 -4.20911843e-03 -3.67512481e-01] [-2.51985148e-02 5.11708019e-03 9.99669371e-01 1.39241920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.60956246 meters 0.10674893220671937 Centerline is valid? [False, False] Translation: X:-17.35, Y:-0.38, Z:0.15 [[ 9.99266671e-01 -2.95541949e-02 2.43448109e-02 -1.73525205e+01] [ 2.95875383e-02 9.99561682e-01 -1.01048502e-03 -3.78433752e-01] [-2.43042760e-02 1.73004702e-03 9.99703110e-01 1.45622412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66956246 meters 0.10528073980485086 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.37, Z:0.14 [[ 9.99195888e-01 -3.30989690e-02 2.26282181e-02 -1.73880120e+01] [ 3.32584600e-02 9.99424269e-01 -6.70859547e-03 -3.66325498e-01] [-2.23931427e-02 7.45578069e-03 9.99721440e-01 1.41721709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72956246 meters 0.10632644066000368 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.36, Z:0.15 [[ 9.99334756e-01 -2.88193419e-02 2.23492976e-02 -1.74313868e+01] [ 2.89618967e-02 9.99562018e-01 -6.08119389e-03 -3.56461545e-01] [-2.21642530e-02 6.72442646e-03 9.99731728e-01 1.47133197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.78956246 meters 0.1140656160470212 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.33, Z:0.15 [[ 9.99871575e-01 -1.04468306e-02 1.21530879e-02 -1.73730510e+01] [ 1.05409913e-02 9.99914720e-01 -7.70980391e-03 -3.26817032e-01] [-1.20715084e-02 7.83691937e-03 9.99896425e-01 1.48342293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84956246 meters 0.11347786001942405 Centerline is valid? [False, False] Translation: X:-17.32, Y:-0.30, Z:0.15 [[ 9.99886967e-01 -2.95651918e-03 1.47415377e-02 -1.73235903e+01] [ 3.09362641e-03 9.99952093e-01 -9.28662876e-03 -2.97332386e-01] [-1.47133754e-02 9.33118387e-03 9.99848211e-01 1.46157381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90956246 meters 0.11084424919046451 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.26, Z:0.14 [[ 9.99904933e-01 -1.23999788e-05 1.37885748e-02 -1.72936048e+01] [ 2.05540433e-04 9.99901891e-01 -1.40059530e-02 -2.63812211e-01] [-1.37870484e-02 1.40074556e-02 9.99806836e-01 1.41246978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.96956246 meters 0.11238161608375212 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.24, Z:0.13 [[ 9.99877691e-01 1.08588934e-02 1.12555642e-02 -1.72607574e+01] [-1.07352849e-02 9.99882037e-01 -1.09848404e-02 -2.43672453e-01] [-1.13735197e-02 1.08626652e-02 9.99876315e-01 1.33832110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02956246 meters 0.11601461586114735 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.22, Z:0.13 [[ 9.99971163e-01 5.11060385e-03 5.61732369e-03 -1.72361538e+01] [-5.04516020e-03 9.99919951e-01 -1.16033973e-02 -2.16706127e-01] [-5.67617439e-03 1.15747224e-02 9.99916900e-01 1.28846042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08956246 meters 0.11651458436142317 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.20, Z:0.13 [[ 9.99961311e-01 -8.59124732e-03 1.88875240e-03 -1.72932185e+01] [ 8.60346486e-03 9.99941481e-01 -6.55852003e-03 -2.04185254e-01] [-1.83229601e-03 6.57451610e-03 9.99976709e-01 1.30200416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149562460000002 meters 0.11443066478236019 Centerline is valid? [False, False] Translation: X:-17.30, Y:-0.20, Z:0.13 [[ 9.99982748e-01 -5.51345220e-03 2.02622528e-03 -1.72950341e+01] [ 5.52162019e-03 9.99976563e-01 -4.04789452e-03 -2.00057882e-01] [-2.00385992e-03 4.05901273e-03 9.99989754e-01 1.32041059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20956246 meters 0.10937446667000249 Centerline is valid? [False, False] Translation: X:-17.30, Y:-0.20, Z:0.13 [[ 9.99995258e-01 -2.30378880e-03 2.04375794e-03 -1.72951485e+01] [ 2.30615064e-03 9.99996675e-01 -1.15403638e-03 -1.97279297e-01] [-2.04109249e-03 1.15874412e-03 9.99997246e-01 1.32202835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26956246 meters 0.11027728846275793 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.19, Z:0.13 [[ 9.99997571e-01 -1.52379182e-03 1.59218655e-03 -1.72921654e+01] [ 1.52582596e-03 9.99998020e-01 -1.27714541e-03 -1.91123828e-01] [-1.59023730e-03 1.27957170e-03 9.99997917e-01 1.29450994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.329562460000002 meters 0.11391664696779212 Centerline is valid? [False, False] Translation: X:-17.30, Y:-0.19, Z:0.13 [[ 9.99996932e-01 1.68905379e-03 1.81207946e-03 -1.72966660e+01] [-1.69200040e-03 9.99997247e-01 1.62579394e-03 -1.87964430e-01] [-1.80932842e-03 -1.62885499e-03 9.99997037e-01 1.34151640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38956246 meters 0.11567987602830417 Centerline is valid? [False, False] Translation: X:-17.31, Y:-0.18, Z:0.14 [[ 9.99992161e-01 3.18851387e-03 2.34752483e-03 -1.73087814e+01] [-3.19378528e-03 9.99992379e-01 2.24520403e-03 -1.84147489e-01] [-2.34034808e-03 -2.25268392e-03 9.99994724e-01 1.44143702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.44956246 meters 0.12000812031268761 Centerline is valid? [False, False] Translation: X:-17.34, Y:-0.18, Z:0.15 [[ 9.99908724e-01 -1.65926855e-03 1.34085865e-02 -1.73407479e+01] [ 1.65998604e-03 9.99998621e-01 -4.23807321e-05 -1.76114550e-01] [-1.34084976e-02 6.46349301e-05 9.99910100e-01 1.52909121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50956246 meters 0.1287089899876368 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.18, Z:0.16 [[ 9.99911358e-01 7.45060538e-03 1.10346773e-02 -1.73639454e+01] [-7.43506960e-03 9.99971311e-01 -1.44826070e-03 -1.79155216e-01] [-1.10451511e-02 1.36608873e-03 9.99938067e-01 1.58165054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56956246 meters 0.1274848721250808 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.18, Z:0.16 [[ 9.99895950e-01 8.76221456e-03 1.14592175e-02 -1.73638235e+01] [-8.75652919e-03 9.99961512e-01 -5.46219286e-04 -1.77199763e-01] [-1.14635625e-02 4.45819479e-04 9.99934192e-01 1.56804467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.62956246 meters 0.13154589063927608 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.18, Z:0.16 [[ 9.99891987e-01 8.76138975e-03 1.18005320e-02 -1.73643387e+01] [-8.75457479e-03 9.99961480e-01 -6.29045957e-04 -1.77079821e-01] [-1.18055888e-02 5.25669372e-04 9.99930173e-01 1.56562011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68956246 meters 0.13438867256398868 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.17, Z:0.16 [[ 9.99941138e-01 -4.88501782e-03 9.68803945e-03 -1.73879325e+01] [ 4.80964213e-03 9.99958103e-01 7.78837948e-03 -1.72572119e-01] [-9.72567992e-03 -7.74132503e-03 9.99922739e-01 1.60301860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74956246 meters 0.12988179061354516 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.18, Z:0.17 [[ 9.99920592e-01 -9.75235290e-03 7.98131260e-03 -1.74424121e+01] [ 9.72421131e-03 9.99946392e-01 3.55717914e-03 -1.78842593e-01] [-8.01557560e-03 -3.47928470e-03 9.99961822e-01 1.66197663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.80956246 meters 0.13188552743724957 Centerline is valid? [False, False] Translation: X:-17.49, Y:-0.18, Z:0.17 [[ 9.99872134e-01 -1.42414927e-02 7.27292939e-03 -1.74884276e+01] [ 1.42456616e-02 9.99898389e-01 -5.21718015e-04 -1.79024148e-01] [-7.26476034e-03 6.25258996e-04 9.99973416e-01 1.65173096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86956246 meters 0.12671809442027193 Centerline is valid? [False, False] Translation: X:-17.51, Y:-0.19, Z:0.17 [[ 9.99912718e-01 -9.93903917e-03 8.70473998e-03 -1.75061004e+01] [ 9.99770805e-03 9.99927424e-01 -6.72249645e-03 -1.86463989e-01] [-8.63729307e-03 6.80893715e-03 9.99939516e-01 1.68324696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92956246 meters 0.12800275819725632 Centerline is valid? [False, False] Translation: X:-17.51, Y:-0.19, Z:0.18 [[ 9.99912838e-01 -9.46148682e-03 9.20853588e-03 -1.75137877e+01] [ 9.51420737e-03 9.99938503e-01 -5.69831337e-03 -1.87121345e-01] [-9.15405507e-03 5.78542861e-03 9.99941364e-01 1.76268701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989562460000002 meters 0.12887740912297577 Centerline is valid? [False, False] Translation: X:-17.57, Y:-0.18, Z:0.17 [[ 9.99890692e-01 -9.91656776e-03 1.09666117e-02 -1.75654678e+01] [ 9.97753609e-03 9.99934994e-01 -5.51878249e-03 -1.82758750e-01] [-1.09111715e-02 5.62759900e-03 9.99924635e-01 1.73575196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04956246 meters 0.1283021530116776 Centerline is valid? [False, False] Translation: X:-17.63, Y:-0.18, Z:0.18 [[ 9.99954792e-01 -4.96846326e-03 8.10734781e-03 -1.76305485e+01] [ 4.98030428e-03 9.99986560e-01 -1.44099443e-03 -1.78976976e-01] [-8.10007932e-03 1.48130635e-03 9.99966097e-01 1.83248121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.10956246 meters 0.12227157679076643 Centerline is valid? [False, False] Translation: X:-17.69, Y:-0.17, Z:0.18 [[ 9.99816304e-01 -1.22116274e-02 1.47727900e-02 -1.76895038e+01] [ 1.21101234e-02 9.99902579e-01 6.94106463e-03 -1.70822534e-01] [-1.48561125e-02 -6.76088927e-03 9.99866784e-01 1.84307736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16956246 meters 0.12114461707661427 Centerline is valid? [False, False] Translation: X:-17.70, Y:-0.17, Z:0.18 [[ 9.99910318e-01 -3.33035389e-03 1.29717028e-02 -1.77016261e+01] [ 3.28171189e-03 9.99987511e-01 3.76933708e-03 -1.74356205e-01] [-1.29840940e-02 -3.72642965e-03 9.99908759e-01 1.81746741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22956246 meters 0.12199908034018347 Centerline is valid? [False, False] Translation: X:-17.70, Y:-0.17, Z:0.18 [[ 9.99910338e-01 -3.46046811e-03 1.29360532e-02 -1.77022825e+01] [ 3.41514902e-03 9.99987960e-01 3.52376670e-03 -1.73506001e-01] [-1.29480913e-02 -3.47927220e-03 9.99910117e-01 1.82529919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.28956246 meters 0.11913355251122898 Centerline is valid? [False, False] Translation: X:-17.72, Y:-0.17, Z:0.19 [[ 9.99917709e-01 -1.01821096e-02 7.80382856e-03 -1.77247875e+01] [ 1.01426898e-02 9.99935686e-01 5.07438157e-03 -1.73045639e-01] [-7.85499458e-03 -4.99481218e-03 9.99956675e-01 1.88414778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34956246 meters 0.11219173142916992 Centerline is valid? [False, False] Translation: X:-17.78, Y:-0.17, Z:0.19 [[ 9.99858807e-01 -1.53394926e-02 6.86043675e-03 -1.77810087e+01] [ 1.53112592e-02 9.99874167e-01 4.14916002e-03 -1.74691070e-01] [-6.92321949e-03 -4.04353227e-03 9.99967859e-01 1.89008725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40956246 meters 0.10498777068901341 Centerline is valid? [False, False] Translation: X:-17.85, Y:-0.17, Z:0.19 [[ 9.99808209e-01 -1.86062965e-02 6.11150380e-03 -1.78457438e+01] [ 1.85923465e-02 9.99824429e-01 2.33152679e-03 -1.73760889e-01] [-6.15381188e-03 -2.21745243e-03 9.99978607e-01 1.94777279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.46956246 meters 0.10140357192486442 Centerline is valid? [False, False] Translation: X:-17.88, Y:-0.17, Z:0.20 [[ 9.99863994e-01 -1.43873462e-02 8.06206729e-03 -1.78839384e+01] [ 1.43821982e-02 9.99896328e-01 6.96167880e-04 -1.74648326e-01] [-8.07124749e-03 -5.80122948e-04 9.99967259e-01 1.97693221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52956246 meters 0.08996467975476027 Centerline is valid? [False, True] Translation: X:-17.85, Y:-0.17, Z:0.21 [[ 9.99905753e-01 1.34854856e-02 -2.57433831e-03 -1.78459223e+01] [-1.34920593e-02 9.99905718e-01 -2.55346526e-03 -1.71882173e-01] [ 2.53966087e-03 2.58795773e-03 9.99993426e-01 2.06447435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58956246 meters 0.08019896825217085 Centerline is valid? [True, True] Translation: X:-17.91, Y:-0.17, Z:0.21 [[ 9.99926642e-01 1.16648723e-02 -3.26221051e-03 -1.79074345e+01] [-1.16660346e-02 9.99931893e-01 -3.37486798e-04 -1.70059259e-01] [ 3.25805158e-03 3.75519101e-04 9.99994622e-01 2.08336257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649562460000002 meters 0.07997564897409896 Centerline is valid? [True, True] Translation: X:-17.97, Y:-0.16, Z:0.21 [[ 9.99915393e-01 1.29960792e-02 5.56097808e-04 -1.79707972e+01] [-1.29961128e-02 9.99915545e-01 5.69157652e-05 -1.58870018e-01] [-5.55311162e-04 -6.41380595e-05 9.99999844e-01 2.10803152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70956246 meters 0.0792176881106641 Centerline is valid? [True, True] Translation: X:-18.03, Y:-0.16, Z:0.21 [[ 9.99892675e-01 1.44136219e-02 -2.62397064e-03 -1.80314000e+01] [-1.44143837e-02 9.99896070e-01 -2.71663677e-04 -1.63409312e-01] [ 2.61978228e-03 3.09457441e-04 9.99996520e-01 2.05794383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76956246 meters 0.07094767767016934 Centerline is valid? [True, True] Translation: X:-18.09, Y:-0.17, Z:0.20 [[ 9.99877540e-01 1.33052978e-02 -8.23858901e-03 -1.80923837e+01] [-1.33127745e-02 9.99911017e-01 -8.53350941e-04 -1.73435894e-01] [ 8.22650183e-03 9.62924918e-04 9.99965698e-01 1.99548434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829562460000002 meters 0.07000555310201109 Centerline is valid? [True, True] Translation: X:-18.15, Y:-0.17, Z:0.20 [[ 9.99864289e-01 1.53267054e-02 -6.04109781e-03 -1.81531925e+01] [-1.53307592e-02 9.99882281e-01 -6.25299621e-04 -1.73736574e-01] [ 6.03080288e-03 7.17829377e-04 9.99981557e-01 1.99511756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88956246 meters 0.07063768997115885 Centerline is valid? [True, True] Translation: X:-18.21, Y:-0.18, Z:0.21 [[ 9.99916217e-01 1.16449796e-02 -5.65267810e-03 -1.82136902e+01] [-1.16484724e-02 9.99931983e-01 -5.85371326e-04 -1.79478157e-01] [ 5.64547698e-03 6.51167347e-04 9.99983852e-01 2.08094178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 273.29 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/664 [00:00