+ python -m lidar_slam --no-model /working/16cd461f-0763-4a9c-a119-aaabc505fa9a Lidar SLAM 0.0.11 ===================================================== The recording path: /working/16cd461f-0763-4a9c-a119-aaabc505fa9a 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 0.029111585 Adjusted end_distance from 9.223372036854776e+18 to 8.533031585 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029111585 meters 0.058366694776836044 Centerline is valid? [0, True] SLAMing on 0.089111585 meters 0.054528869548498865 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.01, Z:0.00 [[ 9.99999050e-01 -6.76964521e-04 1.20086471e-03 -5.96060022e-02] [ 6.76801767e-04 9.99999762e-01 1.35932148e-04 -1.11245861e-02] [-1.20095645e-03 -1.35119272e-04 9.99999270e-01 2.19720683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.149111585 meters 0.05708194377378077 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.01, Z:0.00 [[ 9.99998130e-01 -1.79022643e-03 -7.30896125e-04 -1.21153344e-01] [ 1.79016563e-03 9.99998394e-01 -8.38251411e-05 -1.01951423e-02] [ 7.31045017e-04 8.25165593e-05 9.99999729e-01 2.92286626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.209111585 meters 0.05381477307116438 Centerline is valid? [True, True] Translation: X:-0.18, Y:-0.02, Z:0.01 [[ 9.99993424e-01 -3.29226797e-03 1.52106718e-03 -1.80293903e-01] [ 3.29200830e-03 9.99994566e-01 1.73189926e-04 -1.97591596e-02] [-1.52162910e-03 -1.68181421e-04 9.99998828e-01 8.06193058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.269111585 meters 0.05556201030967116 Centerline is valid? [True, True] Translation: X:-0.24, Y:-0.01, Z:0.00 [[ 9.99976343e-01 5.35736690e-03 4.31418758e-03 -2.43352299e-01] [-5.35952902e-03 9.99985518e-01 4.89760678e-04 -5.40505257e-03] [-4.31150128e-03 -5.12871105e-04 9.99990574e-01 2.42389079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.329111585 meters 0.05604871918514405 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.00, Z:0.00 [[ 9.99966521e-01 5.17312047e-03 6.34007090e-03 -3.05989264e-01] [-5.17778182e-03 9.99986337e-01 7.19026228e-04 -2.07655838e-03] [-6.33626467e-03 -7.51829659e-04 9.99979643e-01 8.56533141e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.389111585 meters 0.05387691149725805 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.01, Z:0.00 [[ 9.99986071e-01 3.91635885e-03 3.53837617e-03 -3.66796472e-01] [-3.91778952e-03 9.99992246e-01 3.97488144e-04 -1.36254631e-02] [-3.53679203e-03 -4.11345220e-04 9.99993661e-01 6.97424458e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.449111585 meters 0.05363086228941468 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.01, Z:0.00 [[ 9.99971757e-01 3.86784870e-03 6.44398176e-03 -4.29857213e-01] [-3.87264657e-03 9.99992233e-01 7.32237807e-04 -1.13603611e-02] [-6.44109952e-03 -7.57172390e-04 9.99978969e-01 3.16856112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.509111585 meters 0.05315008104871651 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.01, Z:0.01 [[ 9.99936299e-01 -8.10303183e-04 1.12579853e-02 -4.91322791e-01] [ 7.95919436e-04 9.99998861e-01 1.28207006e-03 -8.79833351e-03] [-1.12590113e-02 -1.27302795e-03 9.99935805e-01 6.03679198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.569111585 meters 0.053728651456927366 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.01, Z:0.01 [[ 9.99967634e-01 -2.08631341e-04 8.04287574e-03 -5.52694348e-01] [ 2.01274645e-04 9.99999561e-01 9.15483359e-04 -1.26855263e-02] [-8.04306320e-03 -9.13834901e-04 9.99967236e-01 8.79662506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.629111585 meters 0.05338539896103517 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.02, Z:0.01 [[ 9.99970629e-01 -2.59516410e-03 7.21152812e-03 -6.13592524e-01] [ 2.58930616e-03 9.99996310e-01 8.21519979e-04 -1.70340124e-02] [-7.21363349e-03 -8.02822996e-04 9.99973659e-01 8.44549706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6891115849999999 meters 0.05425600836694614 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.01, Z:0.01 [[ 9.99980008e-01 1.59938323e-03 6.11756530e-03 -6.74820758e-01] [-1.60367601e-03 9.99998471e-01 6.96873140e-04 -1.29718486e-02] [-6.11644138e-03 -7.06669801e-04 9.99981045e-01 6.25820916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.749111585 meters 0.05059290796501633 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.03, Z:0.00 [[ 9.99988057e-01 2.09032083e-03 4.41769224e-03 -7.34394449e-01] [-2.09256300e-03 9.99997684e-01 5.02982451e-04 -2.56416413e-02] [-4.41663062e-03 -5.12220743e-04 9.99990115e-01 4.73100964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.809111585 meters 0.056596194722692506 Centerline is valid? [True, True] Translation: X:-0.80, Y:-0.02, Z:0.01 [[ 9.99993476e-01 -6.06471292e-04 3.56083758e-03 -7.95865226e-01] [ 6.05030478e-04 9.99999735e-01 4.05691070e-04 -1.79031597e-02] [-3.56108268e-03 -4.03534008e-04 9.99993578e-01 5.15382155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.869111585 meters 0.05226398732853694 Centerline is valid? [True, True] Translation: X:-0.86, Y:-0.03, Z:0.01 [[ 9.99998248e-01 -1.85909540e-03 2.19540303e-04 -8.56278753e-01] [ 1.85909046e-03 9.99998272e-01 2.27233485e-05 -2.94957203e-02] [-2.19582168e-04 -2.23151634e-05 9.99999976e-01 7.77781610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9291115849999999 meters 0.05887965767391187 Centerline is valid? [True, True] Translation: X:-0.92, Y:-0.02, Z:0.00 [[ 9.99998469e-01 4.29877615e-04 -1.69594289e-03 -9.18391056e-01] [-4.30206126e-04 9.99999889e-01 -1.93344188e-04 -1.64132646e-02] [ 1.69585959e-03 1.94073497e-04 9.99998543e-01 3.17497262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.989111585 meters 0.055432473986183416 Centerline is valid? [True, True] Translation: X:-0.98, Y:-0.03, Z:0.00 [[ 9.99996489e-01 1.14231986e-03 -2.39124372e-03 -9.75743687e-01] [-1.14297211e-03 9.99999310e-01 -2.71421152e-04 -2.88317045e-02] [ 2.39093202e-03 2.74153324e-04 9.99997104e-01 3.70608143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0491115850000001 meters 0.055093406862740474 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.03, Z:0.00 [[ 9.99993976e-01 5.04188359e-05 -3.47059710e-03 -1.03473049e+00] [-5.17874603e-05 9.99999921e-01 -3.94259666e-04 -3.24424737e-02] [ 3.47057694e-03 3.94437024e-04 9.99993900e-01 3.83908820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1091115850000002 meters 0.05751458015480052 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.03, Z:0.01 [[ 9.99995759e-01 -1.95185835e-04 -2.90581796e-03 -1.09373130e+00] [ 1.94242837e-04 9.99999928e-01 -3.24799360e-04 -2.93546250e-02] [ 2.90588114e-03 3.24233548e-04 9.99995725e-01 6.24019325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.169111585 meters 0.05142567025496918 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.05, Z:0.01 [[ 9.99978086e-01 5.37989513e-04 -6.59830506e-03 -1.15083331e+00] [-5.42941587e-04 9.99999572e-01 -7.48738793e-04 -4.50276925e-02] [ 6.59789942e-03 7.52304880e-04 9.99977951e-01 1.01648464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.229111585 meters 0.06045034836812623 Centerline is valid? [True, True] Translation: X:-1.21, Y:-0.03, Z:-0.00 [[ 0.99987908 0.00334351 -0.01518725 -1.21473283] [-0.00337012 0.99999283 -0.00172674 -0.0263009 ] [ 0.01518137 0.00177771 0.99988318 -0.00399181] [ 0. 0. 0. 1. ]] SLAMing on 1.2891115850000001 meters 0.05515759390639466 Centerline is valid? [True, True] Translation: X:-1.27, Y:-0.03, Z:-0.01 [[ 0.99983819 0.00396804 -0.01754539 -1.27396509] [-0.00400362 0.99999 -0.00199309 -0.02910441] [ 0.01753731 0.00206301 0.99984408 -0.01136779] [ 0. 0. 0. 1. ]] SLAMing on 1.349111585 meters 0.055360869314570856 Centerline is valid? [True, True] Translation: X:-1.34, Y:-0.01, Z:-0.01 [[ 9.99926342e-01 8.99076949e-03 -8.15332591e-03 -1.33667268e+00] [-8.99861808e-03 9.99959082e-01 -9.26450104e-04 -1.45645004e-02] [ 8.14466280e-03 9.99750530e-04 9.99966332e-01 -1.00384662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.409111585 meters 0.06283169278154242 Centerline is valid? [True, True] Translation: X:-1.40, Y:-0.00, Z:-0.01 [[ 9.99905036e-01 7.72337447e-03 -1.14134901e-02 -1.40017738e+00] [-7.73868908e-03 9.99969213e-01 -1.29824405e-03 -1.56075209e-03] [ 1.14031118e-02 1.38644622e-03 9.99934021e-01 -1.20714548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.469111585 meters 0.061549292792819066 Centerline is valid? [True, True] Translation: X:-1.46, Y:-0.01, Z:-0.01 [[ 0.99984938 0.00469097 -0.01670988 -1.45883922] [-0.00472335 0.99998704 -0.00189881 -0.01435738] [ 0.01670076 0.00197745 0.99985858 -0.01114488] [ 0. 0. 0. 1. ]] SLAMing on 1.529111585 meters 0.06328078319450682 Centerline is valid? [True, True] Translation: X:-1.52, Y:-0.01, Z:-0.02 [[ 0.99969284 0.00423403 -0.02441913 -1.52072062] [-0.00430309 0.99998689 -0.00277604 -0.01168196] [ 0.02440706 0.00288027 0.99969795 -0.01810094] [ 0. 0. 0. 1. ]] SLAMing on 1.5891115850000002 meters 0.06195277112847161 Centerline is valid? [True, True] Translation: X:-1.58, Y:-0.01, Z:-0.04 [[ 0.99933101 0.0082239 -0.03563566 -1.58056846] [-0.00837345 0.99995674 -0.00404923 -0.012085 ] [ 0.03560082 0.00434492 0.99935664 -0.03578421] [ 0. 0. 0. 1. ]] SLAMing on 1.649111585 meters 0.06525456258700596 Centerline is valid? [True, True] Translation: X:-1.64, Y:-0.00, Z:-0.05 [[ 0.99912543 0.00815303 -0.04101104 -1.64260345] [-0.00835102 0.99995428 -0.00465877 -0.00232391] [ 0.04097118 0.00499718 0.99914783 -0.05173619] [ 0. 0. 0. 1. ]] SLAMing on 1.709111585 meters 0.05989749675685787 Centerline is valid? [True, True] Translation: X:-1.70, Y:-0.01, Z:-0.02 [[ 0.99973535 0.00720878 -0.02184626 -1.70209749] [-0.00726472 0.99997053 -0.00248237 -0.01071919] [ 0.02182773 0.00264042 0.99975826 -0.0227436 ] [ 0. 0. 0. 1. ]] SLAMing on 1.769111585 meters 0.05766348453466843 Centerline is valid? [True, True] Translation: X:-1.76, Y:-0.01, Z:-0.00 [[ 9.99963451e-01 2.58814134e-03 -8.14854893e-03 -1.76216737e+00] [-2.59576961e-03 9.99996203e-01 -9.25713668e-04 -1.07239033e-02] [ 8.14612211e-03 9.46831590e-04 9.99966372e-01 -5.38932426e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.829111585 meters 0.05549756794451674 Centerline is valid? [True, True] Translation: X:-1.82, Y:-0.02, Z:-0.00 [[ 9.99907642e-01 -4.24311632e-04 -1.35841234e-02 -1.82228450e+00] [ 4.03391978e-04 9.99998729e-01 -1.54271068e-03 -1.52074855e-02] [ 1.35847607e-02 1.53708847e-03 9.99906541e-01 -3.75828838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.889111585 meters 0.05164070174403331 Centerline is valid? [True, True] Translation: X:-1.88, Y:-0.02, Z:-0.01 [[ 9.99944088e-01 -3.47097492e-03 -9.98866517e-03 -1.88189024e+00] [ 3.45981879e-03 9.99993372e-01 -1.13394277e-03 -1.60022504e-02] [ 9.99253485e-03 1.09932040e-03 9.99949469e-01 -8.22362435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.949111585 meters 0.05060335148829213 Centerline is valid? [True, True] Translation: X:-1.94, Y:-0.01, Z:-0.01 [[ 9.99951862e-01 -7.76748768e-03 -5.99491778e-03 -1.94306425e+00] [ 7.76354484e-03 9.99969632e-01 -6.80688624e-04 -9.33999721e-03] [ 6.00002296e-03 6.34114045e-04 9.99981799e-01 -1.03633263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.009111585 meters 0.050656129246416444 Centerline is valid? [True, True] Translation: X:-2.00, Y:0.00, Z:-0.01 [[ 9.99999972e-01 -2.19878864e-04 -8.91445776e-05 -2.00495205e+00] [ 2.19877981e-04 9.99999976e-01 -9.91633702e-06 4.03637577e-03] [ 8.91467558e-05 9.89673581e-06 9.99999996e-01 -9.38820313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.069111585 meters 0.049822770125023 Centerline is valid? [True, True] Translation: X:-2.06, Y:-0.01, Z:0.00 [[ 9.99931604e-01 -1.16426282e-02 1.11200169e-03 -2.06306075e+00] [ 1.16424948e-02 9.99932216e-01 1.26400936e-04 -1.43409729e-02] [-1.11339795e-03 -1.13445816e-04 9.99999374e-01 4.84499609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.129111585 meters 0.048038084123931804 Centerline is valid? [True, True] Translation: X:-2.12, Y:-0.01, Z:0.02 [[ 9.99879177e-01 -1.06744253e-02 1.12999441e-02 -2.12174240e+00] [ 1.06605909e-02 9.99942350e-01 1.28381872e-03 -1.38306298e-02] [-1.13129967e-02 -1.16319952e-03 9.99935329e-01 1.56626450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.189111585 meters 0.04312274156945423 Centerline is valid? [True, True] Translation: X:-2.18, Y:-0.01, Z:0.01 [[ 9.99778258e-01 -1.30129506e-02 1.65558915e-02 -2.18275734e+00] [ 1.29835988e-02 9.99913944e-01 1.87914333e-03 -9.38345083e-03] [-1.65789200e-02 -1.66377159e-03 9.99861176e-01 7.85966344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2491115849999996 meters 0.047283742176436154 Centerline is valid? [True, True] Translation: X:-2.24, Y:-0.01, Z:0.02 [[ 9.99669780e-01 -1.97660526e-02 1.64205532e-02 -2.24331476e+00] [ 1.97380760e-02 9.99803447e-01 1.86409699e-03 -9.32411195e-03] [-1.64541715e-02 -1.53937130e-03 9.99863436e-01 1.75358344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3091115849999997 meters 0.04689505103379303 Centerline is valid? [True, True] Translation: X:-2.30, Y:-0.01, Z:0.02 [[ 9.99778601e-01 -1.46547133e-02 1.50993054e-02 -2.30422465e+00] [ 1.46304825e-02 9.99891500e-01 1.71398391e-03 -1.08762235e-02] [-1.51227850e-02 -1.49269431e-03 9.99884530e-01 2.25714237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3691115849999997 meters 0.049736901189383266 Centerline is valid? [True, True] Translation: X:-2.37, Y:0.00, Z:0.01 [[ 9.99855452e-01 -9.90834050e-03 1.38166725e-02 -2.36659322e+00] [ 9.88760360e-03 9.99949887e-01 1.56836528e-03 2.09903248e-03] [-1.38315199e-02 -1.43152479e-03 9.99903315e-01 1.08284447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.429111585 meters 0.04260307027479619 Centerline is valid? [True, True] Translation: X:-2.43, Y:-0.01, Z:0.01 [[ 9.99622067e-01 -1.60546276e-02 2.23153070e-02 -2.42500479e+00] [ 1.60020460e-02 9.99868751e-01 2.53288784e-03 -9.77899169e-03] [-2.23530427e-02 -2.17484000e-03 9.99747774e-01 8.01757136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.489111585 meters 0.04353392242441223 Centerline is valid? [True, True] Translation: X:-2.49, Y:-0.01, Z:0.02 [[ 0.99951282 -0.01586057 0.02688059 -2.48784158] [ 0.01578416 0.99987076 0.00305236 -0.00675071] [-0.02692553 -0.00262659 0.99963399 0.02203686] [ 0. 0. 0. 1. ]] SLAMing on 2.549111585 meters 0.04142659966874765 Centerline is valid? [True, True] Translation: X:-2.55, Y:-0.01, Z:0.01 [[ 9.99634992e-01 -1.35002866e-02 2.34014107e-02 -2.54755184e+00] [ 1.34416267e-02 9.99906113e-01 2.66217605e-03 -8.74963654e-03] [-2.34351538e-02 -2.34665131e-03 9.99722605e-01 7.75848768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.609111585 meters 0.04496699247664881 Centerline is valid? [True, True] Translation: X:-2.61, Y:-0.00, Z:0.01 [[ 9.99682438e-01 -1.46837742e-02 2.04794758e-02 -2.61050297e+00] [ 1.46391107e-02 9.99890130e-01 2.32911608e-03 -6.23408272e-04] [-2.05114260e-02 -2.02857513e-03 9.99787561e-01 6.53927592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6691115849999996 meters 0.04179641133612604 Centerline is valid? [True, True] Translation: X:-2.67, Y:-0.01, Z:-0.00 [[ 9.99715664e-01 -1.31023517e-02 1.99228294e-02 -2.67022701e+00] [ 1.30597571e-02 9.99912149e-01 2.26658768e-03 -6.98951932e-03] [-1.99507768e-02 -2.00575589e-03 9.99798952e-01 -2.86523541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7291115849999996 meters 0.04087395487028587 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.01, Z:-0.01 [[ 9.99813878e-01 -1.34471558e-02 1.38341688e-02 -2.73311160e+00] [ 1.34266863e-02 9.99908623e-01 1.57144813e-03 -1.16502202e-02] [-1.38540362e-02 -1.38540861e-03 9.99903068e-01 -9.92897683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7891115849999997 meters 0.04961298661355317 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.00, Z:-0.01 [[ 9.99910285e-01 -1.13845675e-02 7.05791259e-03 -2.79641853e+00] [ 1.13791704e-02 9.99934932e-01 8.04373540e-04 3.83531251e-03] [-7.06661078e-03 -7.23988185e-04 9.99974769e-01 -1.42526186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8491115849999997 meters 0.04527746194999194 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.01, Z:-0.02 [[ 9.99925922e-01 -1.21569152e-02 6.00054622e-04 -2.85298515e+00] [ 1.21568750e-02 9.99926100e-01 7.06137745e-05 -1.24171938e-02] [-6.00868724e-04 -6.33137545e-05 9.99999817e-01 -1.97109430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9091115849999998 meters 0.04328296830842051 Centerline is valid? [True, True] Translation: X:-2.91, Y:-0.02, Z:-0.02 [[ 9.99893612e-01 -1.45765892e-02 -5.36180821e-04 -2.91283844e+00] [ 1.45765586e-02 9.99893754e-01 -6.10842412e-05 -2.21198650e-02] [ 5.37014254e-04 5.32620714e-05 9.99999854e-01 -1.59450676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.969111585 meters 0.04495607887305894 Centerline is valid? [True, True] Translation: X:-2.97, Y:-0.02, Z:-0.01 [[ 9.99909363e-01 -1.34624404e-02 -1.68920931e-04 -2.97217916e+00] [ 1.34624382e-02 9.99909377e-01 -1.38815073e-05 -2.09876115e-02] [ 1.69092501e-04 1.16061616e-05 9.99999986e-01 -9.92133198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.029111585 meters 0.043257265161468356 Centerline is valid? [True, True] Translation: X:-3.03, Y:-0.03, Z:-0.01 [[ 9.99883351e-01 -1.52657006e-02 4.93472391e-04 -3.03114216e+00] [ 1.52656746e-02 9.99883471e-01 5.65044212e-05 -2.97049124e-02] [-4.94277467e-04 -4.89646411e-05 9.99999877e-01 -9.80435347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.089111585 meters 0.04469184360224875 Centerline is valid? [True, True] Translation: X:-3.09, Y:-0.02, Z:-0.01 [[ 9.99768453e-01 -2.05053226e-02 6.52473023e-03 -3.09321754e+00] [ 2.05009146e-02 9.99789559e-01 7.41748763e-04 -2.25279715e-02] [-6.53856696e-03 -6.07814076e-04 9.99978439e-01 -1.26781361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.149111585 meters 0.042473613988056436 Centerline is valid? [True, True] Translation: X:-3.15, Y:-0.02, Z:-0.03 [[ 9.99750125e-01 -1.83234466e-02 1.28038888e-02 -3.15224569e+00] [ 1.83062805e-02 9.99831365e-01 1.45662015e-03 -1.69258990e-02] [-1.28284200e-02 -1.22186460e-03 9.99916966e-01 -2.63819331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2091115849999996 meters 0.043337706425129956 Centerline is valid? [True, True] Translation: X:-3.21, Y:-0.02, Z:-0.04 [[ 9.99679953e-01 -2.19556453e-02 1.25674789e-02 -3.21299203e+00] [ 2.19394141e-02 9.99758282e-01 1.42794940e-03 -1.60823408e-02] [-1.25957926e-02 -1.15176927e-03 9.99920007e-01 -3.80783577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2691115849999997 meters 0.0404527610577911 Centerline is valid? [True, True] Translation: X:-3.27, Y:-0.03, Z:-0.02 [[ 9.99512915e-01 -2.37932457e-02 2.01943942e-02 -3.27227763e+00] [ 2.37517146e-02 9.99715256e-01 2.29396304e-03 -2.68292123e-02] [-2.02432248e-02 -1.81319419e-03 9.99793441e-01 -2.05170151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3291115849999997 meters 0.040253399725846406 Centerline is valid? [True, True] Translation: X:-3.33, Y:-0.03, Z:-0.02 [[ 9.99627031e-01 -2.23910343e-02 1.56345843e-02 -3.33039443e+00] [ 2.23659708e-02 9.99748273e-01 1.77611563e-03 -3.45395609e-02] [-1.56704177e-02 -1.42577054e-03 9.99876195e-01 -1.58779981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3891115849999998 meters 0.04092061529074619 Centerline is valid? [True, True] Translation: X:-3.39, Y:-0.03, Z:-0.02 [[ 9.99672874e-01 -2.02433742e-02 1.56316989e-02 -3.39159701e+00] [ 2.02180684e-02 9.99794018e-01 1.77523357e-03 -3.14154959e-02] [-1.56644158e-02 -1.45861009e-03 9.99876242e-01 -2.18712482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.449111585 meters 0.040259076709366265 Centerline is valid? [True, True] Translation: X:-3.45, Y:-0.03, Z:-0.03 [[ 9.99673544e-01 -2.10138763e-02 1.45335071e-02 -3.45125170e+00] [ 2.09920784e-02 9.99778279e-01 1.65078047e-03 -3.11098146e-02] [-1.45649740e-02 -1.34515304e-03 9.99893020e-01 -2.58662900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.509111585 meters 0.039182801793389906 Centerline is valid? [True, True] Translation: X:-3.51, Y:-0.04, Z:-0.03 [[ 9.99569498e-01 -2.66518535e-02 1.22677154e-02 -3.51159761e+00] [ 2.66367594e-02 9.99644209e-01 1.39216576e-03 -3.86769529e-02] [-1.23004545e-02 -1.06479425e-03 9.99923780e-01 -3.10975337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.569111585 meters 0.03834324529374542 Centerline is valid? [True, True] Translation: X:-3.57, Y:-0.05, Z:-0.02 [[ 9.99512523e-01 -2.91436755e-02 1.11965568e-02 -3.56907628e+00] [ 2.91312546e-02 9.99574787e-01 1.27087977e-03 -5.17348838e-02] [-1.12288340e-02 -9.44090499e-04 9.99936509e-01 -2.37148800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6291115849999995 meters 0.03864259814987448 Centerline is valid? [True, True] Translation: X:-3.63, Y:-0.06, Z:-0.02 [[ 9.99511436e-01 -2.86309883e-02 1.25361807e-02 -3.62644067e+00] [ 2.86153483e-02 9.99589481e-01 1.42522182e-03 -5.66816786e-02] [-1.25718398e-02 -1.06579834e-03 9.99920403e-01 -2.45992516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6891115849999996 meters 0.04209415064268657 Centerline is valid? [True, True] Translation: X:-3.69, Y:-0.06, Z:-0.02 [[ 9.99503247e-01 -2.92988058e-02 1.16120283e-02 -3.68503021e+00] [ 2.92854840e-02 9.99570222e-01 1.31565192e-03 -5.57878011e-02] [-1.16455847e-02 -9.74934502e-04 9.99931713e-01 -2.22435380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7491115849999996 meters 0.0407923914156931 Centerline is valid? [True, True] Translation: X:-3.74, Y:-0.06, Z:-0.03 [[ 9.99549534e-01 -2.77927622e-02 1.13266119e-02 -3.74469430e+00] [ 2.77800232e-02 9.99613241e-01 1.28050795e-03 -6.26320470e-02] [-1.13578201e-02 -9.65277586e-04 9.99935032e-01 -2.50908873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8091115849999997 meters 0.041422350797324335 Centerline is valid? [True, True] Translation: X:-3.80, Y:-0.07, Z:-0.02 [[ 9.99543991e-01 -2.83059112e-02 1.05159205e-02 -3.80340042e+00] [ 2.82949299e-02 9.99598908e-01 1.19159882e-03 -6.63370005e-02] [-1.05454320e-02 -8.93508206e-04 9.99943996e-01 -1.87009907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8691115849999997 meters 0.03997938226059744 Centerline is valid? [True, True] Translation: X:-3.86, Y:-0.08, Z:-0.02 [[ 9.99541915e-01 -2.80794095e-02 1.12919021e-02 -3.86107068e+00] [ 2.80667672e-02 9.99605236e-01 1.27653342e-03 -7.82802273e-02] [-1.13232888e-02 -9.59021466e-04 9.99935430e-01 -2.18291234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.929111585 meters 0.18397172113168753 Centerline is valid? [True, False] Translation: X:-3.76, Y:-0.04, Z:-0.18 [[ 9.96580470e-01 -7.13619893e-03 -8.23191485e-02 -3.76444745e+00] [ 1.10420015e-03 9.97324758e-01 -7.30897207e-02 -3.71203334e-02] [ 8.26205076e-02 7.27488914e-02 9.93922256e-01 -1.77948847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.989111585 meters 0.26310168300591696 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.02, Z:-0.22 [[ 0.99678218 -0.02114613 -0.07731839 -3.79255275] [ 0.01551415 0.99723102 -0.07272969 -0.01661524] [ 0.07864225 0.07129613 0.99435017 -0.21942481] [ 0. 0. 0. 1. ]] SLAMing on 4.0491115849999995 meters 0.29105255223692433 Centerline is valid? [False, False] Translation: X:-3.83, Y:-0.01, Z:-0.24 [[ 0.99614333 -0.02797727 -0.08316092 -3.83032147] [ 0.02257193 0.9976141 -0.06524275 -0.0108155 ] [ 0.08478782 0.06311403 0.99439813 -0.24001833] [ 0. 0. 0. 1. ]] SLAMing on 4.109111585 meters 0.31315060690787855 Centerline is valid? [False, False] Translation: X:-3.88, Y:0.00, Z:-0.26 [[ 9.95855636e-01 -3.98582084e-02 -8.17488503e-02 -3.87780977e+00] [ 3.47449798e-02 9.97405719e-01 -6.30445685e-02 1.22154328e-03] [ 8.40496144e-02 5.99429268e-02 9.94656980e-01 -2.55434586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.169111585 meters 0.31899497992205905 Centerline is valid? [False, False] Translation: X:-3.93, Y:0.01, Z:-0.27 [[ 0.99556373 -0.04899125 -0.08032886 -3.93007479] [ 0.04455908 0.99743203 -0.05606994 0.00926086] [ 0.08286952 0.05224182 0.99519015 -0.2739492 ] [ 0. 0. 0. 1. ]] SLAMing on 4.229111585 meters 0.2099994868524094 Centerline is valid? [False, False] Translation: X:-3.92, Y:0.03, Z:-0.26 [[ 0.997531 -0.04025864 -0.05754256 -3.92173534] [ 0.03931128 0.99907372 -0.01750228 0.0330603 ] [ 0.05819388 0.01519699 0.99818962 -0.25527739] [ 0. 0. 0. 1. ]] SLAMing on 4.289111585 meters 0.06709140679816374 Centerline is valid? [False, True] Translation: X:-3.93, Y:0.04, Z:-0.20 [[ 0.99896696 -0.01887943 -0.04133489 -3.92631954] [ 0.01984402 0.99953731 0.02305153 0.03638256] [ 0.04088057 -0.02384796 0.9988794 -0.19620654] [ 0. 0. 0. 1. ]] SLAMing on 4.349111585 meters 0.06053992851867206 Centerline is valid? [True, True] Translation: X:-3.98, Y:-0.00, Z:-0.10 [[ 9.99341799e-01 -2.68527191e-02 -2.43905695e-02 -3.97878498e+00] [ 2.67738269e-02 9.99635194e-01 -3.55542094e-03 -1.07799306e-04] [ 2.44771444e-02 2.90005187e-03 9.99696183e-01 -9.99571702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.409111585 meters 0.05436869573111838 Centerline is valid? [True, True] Translation: X:-4.04, Y:-0.02, Z:-0.07 [[ 9.99263558e-01 -3.29856814e-02 -1.96032333e-02 -4.03518368e+00] [ 3.29358947e-02 9.99453382e-01 -2.85725731e-03 -1.95063560e-02] [ 1.96867664e-02 2.20950308e-03 9.99803755e-01 -7.48542681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.469111584999999 meters 0.05427983489971865 Centerline is valid? [True, True] Translation: X:-4.10, Y:-0.02, Z:-0.07 [[ 9.99296292e-01 -3.67890668e-02 -7.31331235e-03 -4.09665142e+00] [ 3.67822424e-02 9.99322736e-01 -1.06552774e-03 -1.71514855e-02] [ 7.34755908e-03 7.95777895e-04 9.99972690e-01 -6.84524206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.529111585 meters 0.05464737903202925 Centerline is valid? [True, True] Translation: X:-4.16, Y:-0.02, Z:-0.07 [[ 9.99267460e-01 -3.76504226e-02 -6.85492878e-03 -4.15636846e+00] [ 3.76444559e-02 9.99290698e-01 -9.97421850e-04 -1.77138605e-02] [ 6.88761992e-03 7.38641134e-04 9.99976007e-01 -7.15300499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5891115849999995 meters 0.05306652553134742 Centerline is valid? [True, True] Translation: X:-4.22, Y:-0.02, Z:-0.08 [[ 9.99252773e-01 -3.66375576e-02 -1.23119543e-02 -4.21529435e+00] [ 3.66182224e-02 9.99327721e-01 -1.79229210e-03 -2.16910121e-02] [ 1.23693424e-02 1.34011097e-03 9.99922599e-01 -7.79039881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.649111585 meters 0.05743028811690876 Centerline is valid? [True, True] Translation: X:-4.28, Y:-0.01, Z:-0.11 [[ 9.99138705e-01 -3.92277265e-02 -1.35290045e-02 -4.27825113e+00] [ 3.92046052e-02 9.99229262e-01 -1.97011969e-03 -1.30173644e-02] [ 1.35958604e-02 1.43802356e-03 9.99906538e-01 -1.10115897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.709111585 meters 0.054424934996957226 Centerline is valid? [True, True] Translation: X:-4.34, Y:-0.02, Z:-0.09 [[ 9.99259185e-01 -3.81936244e-02 -4.72528777e-03 -4.33701382e+00] [ 3.81907940e-02 9.99270229e-01 -6.87804586e-04 -1.99745397e-02] [ 4.74810914e-03 5.06832558e-04 9.99988599e-01 -9.19654811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.769111585 meters 0.04849919101327447 Centerline is valid? [True, True] Translation: X:-4.39, Y:-0.04, Z:-0.07 [[ 9.99035213e-01 -4.38854777e-02 1.64537553e-03 -4.39363056e+00] [ 4.38851409e-02 9.99036554e-01 2.40232297e-04 -3.68345524e-02] [-1.65433301e-03 -1.67792987e-04 9.99998618e-01 -6.69122383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.829111585 meters 0.04845424898829821 Centerline is valid? [True, True] Translation: X:-4.45, Y:-0.05, Z:-0.06 [[ 9.98883902e-01 -4.72282777e-02 -6.62715334e-04 -4.45207161e+00] [ 4.72282245e-02 9.98884120e-01 -9.57258447e-05 -4.79275901e-02] [ 6.66496790e-04 6.43201368e-05 9.99999776e-01 -5.51471325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.889111584999999 meters 0.04964610388213466 Centerline is valid? [True, True] Translation: X:-4.51, Y:-0.05, Z:-0.07 [[ 9.98768540e-01 -4.86912908e-02 -9.51639137e-03 -4.51326336e+00] [ 4.86802849e-02 9.98813452e-01 -1.38488451e-03 -4.81051711e-02] [ 9.57253153e-03 9.19918434e-04 9.99953759e-01 -7.01160418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.949111585 meters 0.05463971789476469 Centerline is valid? [True, True] Translation: X:-4.58, Y:-0.04, Z:-0.09 [[ 9.98888186e-01 -4.45726204e-02 -1.53516827e-02 -4.57656119e+00] [ 4.45435052e-02 9.99004949e-01 -2.23345220e-03 -3.79758395e-02] [ 1.54359578e-02 1.54715126e-03 9.99879662e-01 -9.23479461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.009111584999999 meters 0.044496203051219305 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.05, Z:-0.06 [[ 9.98948864e-01 -4.52288881e-02 7.45088366e-03 -4.63309625e+00] [ 4.52220410e-02 9.98976371e-01 1.08497678e-03 -5.32578809e-02] [-7.49232901e-03 -7.46892159e-04 9.99971653e-01 -6.30704681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.069111585 meters 0.047086982581134564 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.05, Z:-0.05 [[ 9.98955332e-01 -4.48512321e-02 8.75278378e-03 -4.69136524e+00] [ 4.48417344e-02 9.98993285e-01 1.27844751e-03 -5.47119966e-02] [-8.80131217e-03 -8.84621953e-04 9.99960876e-01 -5.27569850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1291115849999995 meters 0.046806588743761625 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.05, Z:-0.05 [[ 9.98891474e-01 -4.63743679e-02 8.07720912e-03 -4.75088507e+00] [ 4.63663718e-02 9.98923811e-01 1.17451816e-03 -5.48658231e-02] [-8.12298405e-03 -7.98705298e-04 9.99966689e-01 -4.96906808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.189111585 meters 0.04429513517166843 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.06, Z:-0.06 [[ 9.98692578e-01 -5.01661555e-02 9.82296004e-03 -4.81101106e+00] [ 5.01545252e-02 9.98740451e-01 1.42692497e-03 -5.87118506e-02] [-9.88217087e-03 -9.32393485e-04 9.99950735e-01 -6.36066904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.249111585 meters 0.04582602443454741 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.06, Z:-0.06 [[ 9.98888250e-01 -4.56352993e-02 1.18188012e-02 -4.87214781e+00] [ 4.56181525e-02 9.98957475e-01 1.71649229e-03 -5.58854109e-02] [-1.18848125e-02 -1.17543211e-03 9.99928682e-01 -6.46022381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.309111584999999 meters 0.04834472188037444 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.06, Z:-0.05 [[ 9.98465907e-01 -5.27176074e-02 1.69318079e-02 -4.93245893e+00] [ 5.26834278e-02 9.98608237e-01 2.45871169e-03 -5.54019164e-02] [-1.70378603e-02 -1.56291411e-03 9.99853624e-01 -5.30144224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.369111585 meters 0.04514279683849622 Centerline is valid? [True, True] Translation: X:-4.99, Y:-0.07, Z:-0.03 [[ 9.98215789e-01 -5.48225442e-02 2.36585355e-02 -4.98981190e+00] [ 5.47563980e-02 9.98493834e-01 3.43517834e-03 -6.70061487e-02] [-2.38112270e-02 -2.13359307e-03 9.99714196e-01 -2.99234000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.429111584999999 meters 0.04528991391159075 Centerline is valid? [True, True] Translation: X:-5.05, Y:-0.07, Z:-0.05 [[ 9.98402335e-01 -5.24726872e-02 2.09617611e-02 -5.05057006e+00] [ 5.24202584e-02 9.98620476e-01 3.04323229e-03 -6.84026016e-02] [-2.10925304e-02 -1.93954929e-03 9.99775646e-01 -4.78717624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.489111585 meters 0.04775659346466092 Centerline is valid? [True, True] Translation: X:-5.11, Y:-0.07, Z:-0.03 [[ 9.98303085e-01 -5.57458471e-02 1.68330228e-02 -5.10964137e+00] [ 5.57125007e-02 9.98443862e-01 2.44385550e-03 -7.27865336e-02] [-1.69430630e-02 -1.50189869e-03 9.99855328e-01 -2.50159624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5491115849999995 meters 0.04506217516547366 Centerline is valid? [True, True] Translation: X:-5.17, Y:-0.08, Z:-0.04 [[ 9.98459324e-01 -5.41670445e-02 1.20378649e-02 -5.16808169e+00] [ 5.41498781e-02 9.98531290e-01 1.74766025e-03 -8.15185574e-02] [-1.21148503e-02 -1.09311875e-03 9.99926015e-01 -3.68699263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.609111585 meters 0.06063017119040118 Centerline is valid? [True, True] Translation: X:-5.23, Y:-0.05, Z:-0.04 [[ 9.98561384e-01 -5.23254942e-02 1.17134802e-02 -5.23290208e+00] [ 5.23091183e-02 9.98629493e-01 1.70028489e-03 -5.06327660e-02] [-1.17863950e-02 -1.08511702e-03 9.99929949e-01 -3.90384776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.669111585 meters 0.06380477703036834 Centerline is valid? [True, True] Translation: X:-5.29, Y:-0.04, Z:-0.05 [[ 9.98775846e-01 -4.90020447e-02 6.75348584e-03 -5.29483441e+00] [ 4.89965279e-02 9.98798468e-01 9.80029411e-04 -4.32628291e-02] [-6.79339475e-03 -6.47932347e-04 9.99976715e-01 -5.18508239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.729111585 meters 0.05978550595803061 Centerline is valid? [True, True] Translation: X:-5.35, Y:-0.06, Z:-0.05 [[ 9.98522159e-01 -5.34459840e-02 9.85011411e-03 -5.35321536e+00] [ 5.34344638e-02 9.98570336e-01 1.42922247e-03 -5.95943961e-02] [-9.91241796e-03 -9.00774743e-04 9.99950465e-01 -4.52124938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.789111585 meters 0.05398950234504782 Centerline is valid? [True, True] Translation: X:-5.41, Y:-0.08, Z:-0.03 [[ 9.98029194e-01 -6.16782346e-02 1.15552090e-02 -5.40905451e+00] [ 6.16629323e-02 9.98095623e-01 1.67624127e-03 -8.17634028e-02] [-1.16365912e-02 -9.60409656e-04 9.99931831e-01 -3.16374421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.849111584999999 meters 0.05331731029921467 Centerline is valid? [True, True] Translation: X:-5.47, Y:-0.09, Z:-0.03 [[ 9.97945210e-01 -6.35330965e-02 8.30078366e-03 -5.46813864e+00] [ 6.35252584e-02 9.97979504e-01 1.20479503e-03 -8.70390818e-02] [-8.36055631e-03 -6.75009999e-04 9.99964822e-01 -2.76328748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.909111585 meters 0.05402091342199916 Centerline is valid? [True, True] Translation: X:-5.53, Y:-0.10, Z:-0.01 [[ 9.98200375e-01 -5.87394727e-02 1.20699974e-02 -5.52658417e+00] [ 5.87225682e-02 9.98272806e-01 1.75050694e-03 -9.56373951e-02] [-1.21519740e-02 -1.03857544e-03 9.99925623e-01 -1.04454353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.969111584999999 meters 0.05470565724960605 Centerline is valid? [True, True] Translation: X:-5.59, Y:-0.09, Z:-0.03 [[ 9.98570792e-01 -5.25399555e-02 9.79422208e-03 -5.58731786e+00] [ 5.25285293e-02 9.98618414e-01 1.42042117e-03 -9.03724876e-02] [-9.85531938e-03 -9.03915016e-04 9.99951027e-01 -2.89984419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029111585 meters 0.05395876817367717 Centerline is valid? [True, True] Translation: X:-5.65, Y:-0.10, Z:-0.02 [[ 9.98468123e-01 -5.37664388e-02 1.30605508e-02 -5.64682285e+00] [ 5.37462357e-02 9.98552832e-01 1.89323755e-03 -9.50500257e-02] [-1.31434426e-02 -1.18838190e-03 9.99912915e-01 -2.33618631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0891115849999995 meters 0.05167308286326996 Centerline is valid? [True, True] Translation: X:-5.71, Y:-0.10, Z:-0.01 [[ 9.98322200e-01 -5.48033557e-02 1.86916227e-02 -5.70537242e+00] [ 5.47621583e-02 9.98495752e-01 2.70920604e-03 -1.02290779e-01] [-1.88119795e-02 -1.68106693e-03 9.99821626e-01 -1.20967493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.149111585 meters 0.04833216980886688 Centerline is valid? [True, True] Translation: X:-5.76, Y:-0.12, Z:-0.00 [[ 9.97941091e-01 -6.01889230e-02 2.21556287e-02 -5.76231847e+00] [ 6.01323773e-02 9.98185249e-01 3.21024219e-03 -1.16809234e-01] [-2.23086428e-02 -1.87136197e-03 9.99749380e-01 -2.09876385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209111585 meters 0.048131896935010306 Centerline is valid? [True, True] Translation: X:-5.82, Y:-0.12, Z:0.00 [[ 9.97997162e-01 -6.07260029e-02 1.77205094e-02 -5.82020617e+00] [ 6.06898722e-02 9.98153362e-01 2.57011331e-03 -1.22942314e-01] [-1.78438587e-02 -1.48951034e-03 9.99839676e-01 2.68659528e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.269111585 meters 0.04701018084464949 Centerline is valid? [True, True] Translation: X:-5.88, Y:-0.14, Z:0.03 [[ 9.97900923e-01 -6.21072760e-02 1.83421311e-02 -5.87588973e+00] [ 6.20689070e-02 9.98068337e-01 2.65433218e-03 -1.40856605e-01] [-1.84715537e-02 -1.51028450e-03 9.99828246e-01 2.60665941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.329111585 meters 0.04615135228741615 Centerline is valid? [True, True] Translation: X:-5.93, Y:-0.15, Z:0.03 [[ 9.97839378e-01 -6.32954863e-02 1.76141338e-02 -5.93364335e+00] [ 6.32602963e-02 9.97993808e-01 2.54844518e-03 -1.52448592e-01] [-1.77401015e-02 -1.42866363e-03 9.99841611e-01 3.10221249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.389111584999999 meters 0.046082261438424976 Centerline is valid? [True, True] Translation: X:-5.99, Y:-0.15, Z:0.01 [[ 9.97896275e-01 -6.39288545e-02 1.07762074e-02 -5.99215439e+00] [ 6.39157184e-02 9.97954082e-01 1.55936261e-03 -1.51624696e-01] [-1.08538485e-02 -8.67313094e-04 9.99940719e-01 1.46929524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.449111585 meters 0.04864564730581344 Centerline is valid? [True, True] Translation: X:-6.05, Y:-0.15, Z:0.02 [[ 9.98573954e-01 -5.29912045e-02 6.47996561e-03 -6.05224749e+00] [ 5.29862307e-02 9.98594803e-01 9.36964910e-04 -1.51666136e-01] [-6.52051088e-03 -5.92279802e-04 9.99978566e-01 1.82408638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.509111584999999 meters 0.052065270945004 Centerline is valid? [True, True] Translation: X:-6.11, Y:-0.14, Z:0.01 [[ 9.98642862e-01 -5.19324347e-02 3.93143369e-03 -6.11458765e+00] [ 5.19305937e-02 9.98650534e-01 5.68971511e-04 -1.43737420e-01] [-3.95567643e-03 -3.64037653e-04 9.99992110e-01 1.06137597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569111585 meters 0.05327707277866239 Centerline is valid? [True, True] Translation: X:-6.17, Y:-0.15, Z:0.02 [[ 9.99183539e-01 -4.01138217e-02 -4.81005275e-03 -6.17338363e+00] [ 4.01109417e-02 9.99194992e-01 -6.93770963e-04 -1.49207059e-01] [ 4.83401043e-03 5.00268781e-04 9.99988191e-01 1.74825530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6291115849999995 meters 0.05549135004975758 Centerline is valid? [True, True] Translation: X:-6.24, Y:-0.13, Z:-0.02 [[ 9.99384366e-01 -3.40815920e-02 -8.32668608e-03 -6.23733823e+00] [ 3.40727504e-02 9.99418633e-01 -1.20143708e-03 -1.30774684e-01] [ 8.36279211e-03 9.16984341e-04 9.99964611e-01 -1.67746301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.689111585 meters 0.059396131749776794 Centerline is valid? [True, True] Translation: X:-6.30, Y:-0.13, Z:-0.00 [[ 9.99299846e-01 -3.48862498e-02 -1.35191558e-02 -6.29751443e+00] [ 3.48630094e-02 9.99390196e-01 -1.95101722e-03 -1.31024453e-01] [ 1.35789754e-02 1.47833275e-03 9.99906709e-01 -3.81081760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.749111585 meters 0.05598048637666662 Centerline is valid? [True, True] Translation: X:-6.35, Y:-0.15, Z:0.01 [[ 9.99209953e-01 -3.82583809e-02 -1.07594477e-02 -6.35383447e+00] [ 3.82438579e-02 9.99267230e-01 -1.55238522e-03 -1.50681803e-01] [ 1.08109552e-02 1.13967598e-03 9.99940910e-01 8.69417523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.809111584999999 meters 0.05784647727128902 Centerline is valid? [True, True] Translation: X:-6.41, Y:-0.15, Z:0.04 [[ 9.99186761e-01 -4.00763475e-02 -4.43884728e-03 -6.41341148e+00] [ 4.00738927e-02 9.99196514e-01 -6.40624460e-04 -1.54686260e-01] [ 4.46095462e-03 4.62221590e-04 9.99989943e-01 3.81549829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.869111585 meters 0.056612956035075934 Centerline is valid? [True, True] Translation: X:-6.47, Y:-0.16, Z:0.04 [[ 9.99475472e-01 -3.17664172e-02 -6.29878160e-03 -6.47203510e+00] [ 3.17613161e-02 9.99495069e-01 -9.08264153e-04 -1.61319997e-01] [ 6.32445345e-03 7.07730150e-04 9.99979750e-01 4.09183181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.929111584999999 meters 0.06171859442042644 Centerline is valid? [True, True] Translation: X:-6.53, Y:-0.15, Z:0.04 [[ 9.99512950e-01 -2.94898059e-02 -1.02085136e-02 -6.53477598e+00] [ 2.94762893e-02 9.99564396e-01 -1.47201890e-03 -1.45232713e-01] [ 1.02474762e-02 1.17039285e-03 9.99946808e-01 3.59459604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989111585 meters 0.06123915248492966 Centerline is valid? [True, True] Translation: X:-6.59, Y:-0.16, Z:0.05 [[ 9.99519608e-01 -2.77443449e-02 -1.38131910e-02 -6.59231648e+00] [ 2.77194418e-02 9.99613759e-01 -1.99109052e-03 -1.55116389e-01] [ 1.38630973e-02 1.60724007e-03 9.99902611e-01 4.58528938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0491115849999995 meters 0.06143659857501359 Centerline is valid? [True, True] Translation: X:-6.65, Y:-0.16, Z:0.05 [[ 9.99472668e-01 -3.04765345e-02 -1.12056655e-02 -6.65338356e+00] [ 3.04603043e-02 9.99534671e-01 -1.61625952e-03 -1.56186373e-01] [ 1.12497091e-02 1.27407923e-03 9.99935908e-01 4.71640865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109111585 meters 0.06404612236091911 Centerline is valid? [True, True] Translation: X:-6.71, Y:-0.16, Z:0.06 [[ 9.99240415e-01 -3.61427914e-02 -1.45702657e-02 -6.71368047e+00] [ 3.61159548e-02 9.99345398e-01 -2.10089240e-03 -1.61119769e-01] [ 1.46366600e-02 1.57307754e-03 9.99891641e-01 5.65541636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.169111585 meters 0.06605817926111339 Centerline is valid? [True, True] Translation: X:-6.78, Y:-0.15, Z:0.05 [[ 9.99364286e-01 -3.27128990e-02 -1.41735597e-02 -6.77553594e+00] [ 3.26871739e-02 9.99463544e-01 -2.04293983e-03 -1.51502945e-01] [ 1.42327867e-02 1.57834750e-03 9.99897463e-01 5.04719708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229111584999999 meters 0.07108852375986786 Centerline is valid? [True, True] Translation: X:-6.84, Y:-0.15, Z:0.07 [[ 9.99539967e-01 -2.48220315e-02 -1.74276178e-02 -6.83583561e+00] [ 2.47819510e-02 9.99689724e-01 -2.51207104e-03 -1.49476938e-01] [ 1.74845652e-02 2.07902504e-03 9.99844972e-01 6.95533033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289111585 meters 0.07215781200395524 Centerline is valid? [True, True] Translation: X:-6.90, Y:-0.15, Z:0.06 [[ 9.99616237e-01 -2.12975419e-02 -1.77142265e-02 -6.89562797e+00] [ 2.12555992e-02 9.99770815e-01 -2.55267631e-03 -1.48600454e-01] [ 1.77645324e-02 2.17517019e-03 9.99839832e-01 6.29171561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349111584999999 meters 0.07102150595154165 Centerline is valid? [True, True] Translation: X:-6.95, Y:-0.16, Z:0.08 [[ 9.99521029e-01 -2.59460027e-02 -1.68676349e-02 -6.95378527e+00] [ 2.59086244e-02 9.99661360e-01 -2.43076997e-03 -1.61376601e-01] [ 1.69249916e-02 1.99258849e-03 9.99854777e-01 8.41760743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409111585 meters 0.06961816770454982 Centerline is valid? [True, True] Translation: X:-7.01, Y:-0.17, Z:0.08 [[ 9.99233249e-01 -3.64207225e-02 -1.43681682e-02 -7.01306611e+00] [ 3.63946769e-02 9.99335350e-01 -2.07014884e-03 -1.70681592e-01] [ 1.44340147e-02 1.54563672e-03 9.99894630e-01 7.84299018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.469111584999999 meters 0.07976292527830768 Centerline is valid? [True, True] Translation: X:-7.08, Y:-0.15, Z:0.09 [[ 9.99513620e-01 -2.81416304e-02 -1.34377357e-02 -7.07622892e+00] [ 2.81181191e-02 9.99602734e-01 -1.93542077e-03 -1.47720780e-01] [ 1.34868633e-02 1.55663557e-03 9.99907836e-01 9.09699039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529111585 meters 0.07484672214200479 Centerline is valid? [True, True] Translation: X:-7.13, Y:-0.17, Z:0.10 [[ 9.99658369e-01 -2.12500720e-02 -1.52177565e-02 -7.13192437e+00] [ 2.12191449e-02 9.99772448e-01 -2.19090919e-03 -1.72145635e-01] [ 1.52608506e-02 1.86725292e-03 9.99881803e-01 1.00875201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5891115849999995 meters 0.09277870650841367 Centerline is valid? [True, True] Translation: X:-7.20, Y:-0.13, Z:0.11 [[ 9.99825835e-01 -1.60309508e-02 -9.55556221e-03 -7.19883469e+00] [ 1.60185200e-02 9.99870748e-01 -1.37602537e-03 -1.28998326e-01] [ 9.57638614e-03 1.22271975e-03 9.99953398e-01 1.07456648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649111585 meters 0.09966733067417637 Centerline is valid? [True, True] Translation: X:-7.26, Y:-0.12, Z:0.10 [[ 9.99831218e-01 -1.21924140e-02 -1.37433956e-02 -7.26106892e+00] [ 1.21663412e-02 9.99924029e-01 -1.97913170e-03 -1.21129190e-01] [ 1.37664819e-02 1.81159082e-03 9.99903596e-01 9.61071802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709111585 meters 0.10011866086221644 Centerline is valid? [True, False] Translation: X:-7.31, Y:-0.13, Z:0.10 [[ 9.99845834e-01 -1.28422330e-02 -1.19743587e-02 -7.31291549e+00] [ 1.27590919e-02 9.99894139e-01 -6.99399625e-03 -1.26233053e-01] [ 1.20629096e-02 6.84013607e-03 9.99903845e-01 1.02456838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769111584999999 meters 0.10025313994495194 Centerline is valid? [False, False] Translation: X:-7.25, Y:-0.12, Z:0.09 [[ 9.99801966e-01 5.14855677e-03 -1.92229387e-02 -7.25390290e+00] [-5.15797884e-03 9.99986600e-01 -4.40598705e-04 -1.21786933e-01] [ 1.92204127e-02 5.39662962e-04 9.99815125e-01 8.67462991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829111585 meters 0.09713869088094963 Centerline is valid? [False, True] Translation: X:-7.21, Y:-0.12, Z:0.08 [[ 9.99487040e-01 1.95005129e-02 -2.54044743e-02 -7.21489789e+00] [-1.93902527e-02 9.99801504e-01 4.57934420e-03 -1.22253549e-01] [ 2.54887312e-02 -4.08439600e-03 9.99666766e-01 8.46608754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889111584999999 meters 0.1022057067287898 Centerline is valid? [True, False] Translation: X:-7.16, Y:-0.10, Z:0.07 [[ 0.99942546 0.01939808 -0.02779323 -7.163308 ] [-0.01914358 0.99977261 0.00939389 -0.10414185] [ 0.02796914 -0.00885643 0.99956955 0.07115593] [ 0. 0. 0. 1. ]] SLAMing on 7.949111585 meters 0.10553101614244483 Centerline is valid? [False, False] Translation: X:-7.23, Y:-0.09, Z:0.07 [[ 9.99867895e-01 -6.60060106e-03 -1.48534415e-02 -7.23019563e+00] [ 6.81213614e-03 9.99875454e-01 1.42362459e-02 -8.63262920e-02] [ 1.47576238e-02 -1.43355488e-02 9.99788330e-01 7.32813266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009111585 meters 0.11008423865790716 Centerline is valid? [False, False] Translation: X:-7.17, Y:-0.08, Z:0.07 [[ 0.99974274 0.00881577 -0.02089833 -7.16946452] [-0.00853146 0.99987037 0.01365481 -0.08096958] [ 0.02101599 -0.013473 0.99968835 0.07169818] [ 0. 0. 0. 1. ]] SLAMing on 8.069111585 meters 0.10675007110702965 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.08, Z:0.09 [[ 9.99849272e-01 -6.14334779e-03 -1.62386320e-02 -7.21490643e+00] [ 6.23077240e-03 9.99966338e-01 5.33864299e-03 -7.99753622e-02] [ 1.62052882e-02 -5.43901752e-03 9.99853892e-01 9.10150990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129111585 meters 0.11341805235533123 Centerline is valid? [False, False] Translation: X:-7.27, Y:-0.08, Z:0.10 [[ 9.99816752e-01 -1.13729855e-02 -1.53986349e-02 -7.26702947e+00] [ 1.13074916e-02 9.99926677e-01 -4.33363569e-03 -8.49606988e-02] [ 1.54467922e-02 4.15872162e-03 9.99872043e-01 9.85119661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189111585000001 meters 0.12352197818054794 Centerline is valid? [False, False] Translation: X:-7.31, Y:-0.08, Z:0.09 [[ 9.99735903e-01 -1.83036204e-02 -1.38960746e-02 -7.31410320e+00] [ 1.83507036e-02 9.99826270e-01 3.26831821e-03 -7.99780940e-02] [ 1.38338384e-02 -3.52245781e-03 9.99898103e-01 8.78332341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249111585 meters 0.11582712786670707 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.09, Z:0.10 [[ 9.99885085e-01 -1.13109280e-02 -1.00935421e-02 -7.35549221e+00] [ 1.13133305e-02 9.99935986e-01 1.80959511e-04 -8.74695255e-02] [ 1.00908491e-02 -2.95130293e-04 9.99949043e-01 1.02587545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309111585 meters 0.12686295952512103 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.09, Z:0.11 [[ 9.99903143e-01 -2.70808121e-03 -1.36517685e-02 -7.36770569e+00] [ 2.63392649e-03 9.99981697e-01 -5.44693252e-03 -9.38335342e-02] [ 1.36662694e-02 5.41044720e-03 9.99891974e-01 1.08997974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369111585 meters 0.11916173988580511 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.09, Z:0.11 [[ 9.99909636e-01 -3.14704197e-03 -1.30696555e-02 -7.37092612e+00] [ 3.07083820e-03 9.99978194e-01 -5.84656827e-03 -9.32839714e-02] [ 1.30877699e-02 5.80590515e-03 9.99897496e-01 1.11514210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429111585000001 meters 0.11670911193470897 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.10, Z:0.11 [[ 9.99901924e-01 -5.41374229e-03 -1.29164432e-02 -7.37217598e+00] [ 5.33012362e-03 9.99964673e-01 -6.49948045e-03 -1.00480916e-01] [ 1.29511734e-02 6.42999677e-03 9.99895456e-01 1.12168425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489111585 meters 0.11155174830903737 Centerline is valid? [False, False] Translation: X:-7.38, Y:-0.11, Z:0.11 [[ 9.99894420e-01 -8.13570629e-03 -1.20398820e-02 -7.37742149e+00] [ 8.05002027e-03 9.99942048e-01 -7.14828106e-03 -1.05922836e-01] [ 1.20973406e-02 7.05060505e-03 9.99901967e-01 1.14274719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 138.34 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%| | 0/284 [00:00