+ python -m lidar_slam --no-model /working/2176a27c-3c26-4775-b4c9-355e2e15047c Lidar SLAM 0.0.12 ===================================================== The recording path: /working/2176a27c-3c26-4775-b4c9-355e2e15047c The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.025194017 Adjusted end_distance from 9.223372036854776e+18 to 20.111514017 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025194017 meters 0.29427945886584567 Centerline is valid? [0, False] SLAMing on 0.055194017 meters 0.2938132387330791 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:-0.00 [[ 9.99999897e-01 -3.05350013e-04 3.34653730e-04 -1.26868619e-04] [ 3.05858287e-04 9.99998798e-01 -1.51980744e-03 4.20676396e-03] [-3.34189255e-04 1.51990964e-03 9.99998789e-01 -1.09911915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085194017 meters 0.29505583632328586 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:-0.00 [[ 9.99999368e-01 -9.36085422e-04 6.22646329e-04 -3.95084270e-04] [ 9.38214590e-04 9.99993684e-01 -3.42808905e-03 9.16334968e-03] [-6.19433412e-04 3.42867106e-03 9.99993930e-01 -1.48526458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.115194017 meters 0.28745979335375865 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:-0.00 [[ 9.99999078e-01 -7.25174488e-04 1.14842543e-03 -1.43763025e-03] [ 7.29249087e-04 9.99993427e-01 -3.55155177e-03 1.09142661e-02] [-1.14584239e-03 3.55238598e-03 9.99993034e-01 -7.46133690e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145194017 meters 0.2928804327014548 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99999993e-01 5.43001109e-05 1.06334066e-04 4.13980608e-04] [-5.38510476e-05 9.99991100e-01 -4.21859597e-03 1.88427499e-02] [-1.06562190e-04 4.21859021e-03 9.99991096e-01 -1.40830219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17519401699999998 meters 0.2938776564187217 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:-0.00 [[ 9.99999911e-01 -3.40660249e-04 2.46943591e-04 -1.53310758e-04] [ 3.41926228e-04 9.99986707e-01 -5.14480756e-03 2.19719220e-02] [-2.45187677e-04 5.14489154e-03 9.99986735e-01 -2.81532767e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.205194017 meters 0.2969596730361661 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.03, Z:-0.00 [[ 9.99999743e-01 -5.30301517e-04 4.83475208e-04 -3.23879229e-04] [ 5.33523139e-04 9.99977494e-01 -6.68787128e-03 2.65935573e-02] [-4.79917739e-04 6.68812750e-03 9.99977519e-01 -1.11181573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23519401699999998 meters 0.29545723245602096 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.03, Z:-0.00 [[ 9.99999728e-01 -1.27704102e-04 7.26750904e-04 -5.79046647e-04] [ 1.33149015e-04 9.99971888e-01 -7.49702163e-03 3.09813089e-02] [-7.25773074e-04 7.49711636e-03 9.99971633e-01 -1.69397768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265194017 meters 0.29540014428928174 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.04, Z:-0.00 [[ 9.99999750e-01 -1.38316503e-04 6.94083295e-04 -2.28321667e-04] [ 1.44354086e-04 9.99962090e-01 -8.70614478e-03 3.52658695e-02] [-6.92852780e-04 8.70624280e-03 9.99961860e-01 -2.49211258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29519401700000003 meters 0.29513614827033463 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.00 [[ 0.99989939 -0.01382278 -0.00318564 -0.00511071] [ 0.01379237 0.9998609 -0.00937789 0.04247984] [ 0.00331482 0.00933301 0.99995095 -0.00172134] [ 0. 0. 0. 1. ]] SLAMing on 0.325194017 meters 0.3542849205014752 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:-0.00 [[ 0.99993873 -0.0107487 -0.00264474 -0.00599233] [ 0.01072877 0.99991478 -0.0074384 0.04685922] [ 0.00272447 0.00740957 0.99996884 -0.0012411 ] [ 0. 0. 0. 1. ]] SLAMing on 0.355194017 meters 0.29479349787359205 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:-0.00 [[ 0.99994048 -0.01073877 -0.00192575 -0.00689699] [ 0.01072053 0.99989981 -0.00924308 0.05209493] [ 0.00202481 0.00922189 0.99995543 -0.00237511] [ 0. 0. 0. 1. ]] SLAMing on 0.385194017 meters 0.2951483050629146 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.06, Z:-0.00 [[ 0.99996583 -0.00795574 -0.00224732 -0.00641891] [ 0.00793956 0.99994313 -0.00712017 0.05532574] [ 0.00230384 0.00710208 0.99997213 -0.00213505] [ 0. 0. 0. 1. ]] SLAMing on 0.415194017 meters 0.29834263071749473 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.06, Z:-0.00 [[ 0.99996353 -0.00815799 -0.00252737 -0.00573866] [ 0.00813298 0.99991933 -0.00975609 0.06291709] [ 0.00260676 0.00973518 0.99994921 -0.00421087] [ 0. 0. 0. 1. ]] SLAMing on 0.445194017 meters 0.29372873476461947 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.07, Z:-0.00 [[ 0.99996535 -0.0081928 -0.00147771 -0.00740131] [ 0.00817586 0.99990466 -0.01112743 0.06676764] [ 0.00156873 0.01111497 0.999937 -0.00425686] [ 0. 0. 0. 1. ]] SLAMing on 0.47519401699999997 meters 0.29191200765152725 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.07, Z:0.00 [[ 9.99994827e-01 -3.10424598e-03 8.42369291e-04 -1.28200728e-02] [ 3.10980326e-03 9.99972866e-01 -6.67809176e-03 6.96075644e-02] [-8.21615995e-04 6.68067682e-03 9.99977346e-01 1.01000550e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.505194017 meters 0.29326738520323475 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.07, Z:0.00 [[ 0.99999189 -0.00349662 0.00199904 -0.01475768] [ 0.00351314 0.99995925 -0.00831629 0.07394206] [-0.00196988 0.00832325 0.99996342 0.00112042] [ 0. 0. 0. 1. ]] SLAMing on 0.535194017 meters 0.293262628679352 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.08, Z:0.00 [[ 0.99999284 -0.0031479 0.00210052 -0.01542272] [ 0.00316704 0.99995293 -0.00917125 0.07799753] [-0.00207155 0.00917783 0.99995574 0.00142275] [ 0. 0. 0. 1. ]] SLAMing on 0.565194017 meters 0.28442464792967576 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.08, Z:-0.00 [[ 9.99999901e-01 1.78063791e-04 4.07489454e-04 -1.25774354e-02] [-1.75088043e-04 9.99973405e-01 -7.29105791e-03 8.46212804e-02] [-4.08776890e-04 7.29098585e-03 9.99973337e-01 -5.89114187e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.595194017 meters 0.2868644184118536 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.09, Z:0.00 [[ 9.99905370e-01 -1.33707741e-02 -3.23623841e-03 -1.88331848e-02] [ 1.33434265e-02 9.99876279e-01 -8.32942879e-03 9.12446785e-02] [ 3.34720893e-03 8.28545807e-03 9.99960073e-01 8.01501322e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.625194017 meters 0.2859932580892273 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.10, Z:0.00 [[ 9.99938930e-01 -1.01123083e-02 -4.45847925e-03 -1.76087964e-02] [ 1.00861376e-02 9.99931999e-01 -5.85379265e-03 9.50636007e-02] [ 4.51737142e-03 5.80846632e-03 9.99972927e-01 8.84632297e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.655194017 meters 0.28546955920646166 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.10, Z:0.00 [[ 9.99965593e-01 -6.64404233e-03 -4.96683526e-03 -1.72691949e-02] [ 6.62497032e-03 9.99970657e-01 -3.84651279e-03 1.00166198e-01] [ 4.99224591e-03 3.81347531e-03 9.99980267e-01 5.55936051e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6851940169999999 meters 0.2865047761410494 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:0.00 [[ 9.99959268e-01 -5.83194028e-03 -6.88851519e-03 -1.57558229e-02] [ 5.80048869e-03 9.99972702e-01 -4.57698852e-03 1.07628727e-01] [ 6.91501987e-03 4.53684533e-03 9.99965799e-01 5.54121733e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.715194017 meters 0.2915055704149238 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.12, Z:0.00 [[ 0.99973509 -0.01938403 -0.01241004 -0.01869847] [ 0.01931567 0.99979772 -0.00560537 0.12385433] [ 0.01251619 0.00536418 0.99990728 0.00143159] [ 0. 0. 0. 1. ]] SLAMing on 0.745194017 meters 0.29102503675749813 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:0.00 [[ 0.99929599 -0.03225747 -0.01915696 -0.01972033] [ 0.03215994 0.99946827 -0.00537788 0.1384755 ] [ 0.01932025 0.004758 0.99980202 0.00245536] [ 0. 0. 0. 1. ]] SLAMing on 0.775194017 meters 0.28692138462106076 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.16, Z:0.00 [[ 0.99882097 -0.04271491 -0.02306734 -0.02788644] [ 0.0425718 0.99907121 -0.00666015 0.15573145] [ 0.0233304 0.00567028 0.99971173 0.00153696] [ 0. 0. 0. 1. ]] SLAMing on 0.805194017 meters 0.28919817186785673 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.18, Z:0.00 [[ 0.99775121 -0.06301645 -0.02283526 -0.05510653] [ 0.06286726 0.99799597 -0.00719403 0.18060877] [ 0.02324284 0.00574226 0.99971336 0.00241296] [ 0. 0. 0. 1. ]] SLAMing on 0.835194017 meters 0.28062238409329887 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.21, Z:0.00 [[ 0.99530192 -0.09298515 -0.02697861 -0.06909926] [ 0.09261317 0.99559324 -0.01472751 0.2060164 ] [ 0.02822917 0.01215975 0.99952752 0.00272453] [ 0. 0. 0. 1. ]] SLAMing on 0.865194017 meters 0.264673163398185 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.24, Z:0.00 [[ 0.98812796 -0.14617601 -0.04728328 -0.08594398] [ 0.14606757 0.98925785 -0.00575924 0.24211077] [ 0.04761722 -0.00121569 0.99886492 0.00119179] [ 0. 0. 0. 1. ]] SLAMing on 0.895194017 meters 0.46242164416738685 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.27, Z:0.00 [[ 9.82652195e-01 -1.74639771e-01 -6.24148466e-02 -1.12368377e-01] [ 1.74662229e-01 9.84615002e-01 -5.13845510e-03 2.74932923e-01] [ 6.23519729e-02 -5.85220204e-03 9.98037065e-01 2.75988592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9251940169999999 meters 0.4466625181093355 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.32, Z:-0.00 [[ 0.97537158 -0.20473586 -0.08205793 -0.14941778] [ 0.20554682 0.97864618 0.00146913 0.32055006] [ 0.0800049 -0.01829969 0.99662648 -0.00156436] [ 0. 0. 0. 1. ]] SLAMing on 0.955194017 meters 0.4361374538186003 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.38, Z:-0.01 [[ 0.96489522 -0.23655651 -0.11409742 -0.21703037] [ 0.23830915 0.97118773 0.00177546 0.38378761] [ 0.11039002 -0.0289036 0.99346798 -0.01025463] [ 0. 0. 0. 1. ]] SLAMing on 0.985194017 meters 0.4361374538186003 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.39, Z:-0.01 [[ 0.96435216 -0.23156631 -0.12807013 -0.21957229] [ 0.2337645 0.97229076 0.00219817 0.38899739] [ 0.12401238 -0.03205806 0.99176268 -0.00784184] [ 0. 0. 0. 1. ]] SLAMing on 1.015194017 meters 0.18242653389881677 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.47, Z:-0.02 [[ 0.9469283 -0.28123486 -0.15567193 -0.30998585] [ 0.2849597 0.95853802 0.00168366 0.47409145] [ 0.14874396 -0.04595453 0.98780738 -0.023815 ] [ 0. 0. 0. 1. ]] SLAMing on 1.045194017 meters 0.19103929042488824 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.55, Z:-0.04 [[ 0.93714779 -0.29919908 -0.17953812 -0.39289419] [ 0.30466287 0.9524555 0.00300949 0.55488609] [ 0.17010163 -0.05751893 0.98374641 -0.04120584] [ 0. 0. 0. 1. ]] SLAMing on 1.075194017 meters 0.4894798933085967 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.63, Z:-0.06 [[ 0.92893946 -0.31338281 -0.19713624 -0.46854754] [ 0.32057912 0.94720924 0.0048672 0.63075028] [ 0.18520397 -0.0677191 0.98036402 -0.05780573] [ 0. 0. 0. 1. ]] SLAMing on 1.105194017 meters 0.20324440847004482 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.70, Z:-0.07 [[ 0.92192658 -0.3280845 -0.20594162 -0.54704995] [ 0.33596196 0.94186907 0.00349425 0.70377195] [ 0.19282363 -0.07240999 0.97855804 -0.0746485 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1351940169999999 meters 0.19768536431534822 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.78, Z:-0.09 [[ 9.16015927e-01 -3.37423430e-01 -2.16933748e-01 -6.08345815e-01] [ 3.45705701e-01 9.38342959e-01 2.44442936e-04 7.75233604e-01] [ 2.03475775e-01 -7.52191471e-02 9.76186298e-01 -8.86780492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.165194017 meters 0.2141661484700542 Centerline is valid? [False, False] Translation: X:-0.67, Y:0.85, Z:-0.10 [[ 0.9108529 -0.3448139 -0.22682673 -0.66735187] [ 0.35363622 0.93538119 -0.00185983 0.8451384 ] [ 0.21281075 -0.07852012 0.97393335 -0.09986973] [ 0. 0. 0. 1. ]] SLAMing on 1.195194017 meters 0.2197666263697135 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.92, Z:-0.11 [[ 0.90168426 -0.36172497 -0.23689774 -0.72288717] [ 0.37063211 0.92875008 -0.00742495 0.9189188 ] [ 0.22270459 -0.08110695 0.97150622 -0.10934502] [ 0. 0. 0. 1. ]] SLAMing on 1.225194017 meters 0.45163747261829895 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.97, Z:-0.11 [[ 0.89705401 -0.36953377 -0.24236108 -0.75438263] [ 0.37841579 0.9255749 -0.01061134 0.96594442] [ 0.22824458 -0.08219432 0.97012809 -0.11270466] [ 0. 0. 0. 1. ]] SLAMing on 1.255194017 meters 0.4324084586305943 Centerline is valid? [False, False] Translation: X:-0.79, Y:1.02, Z:-0.12 [[ 0.89029952 -0.38466043 -0.24372756 -0.79122758] [ 0.39205095 0.91973758 -0.01946387 1.02042521] [ 0.23165238 -0.07822495 0.96964841 -0.11700418] [ 0. 0. 0. 1. ]] SLAMing on 1.285194017 meters 0.43300899938032256 Centerline is valid? [False, False] Translation: X:-0.79, Y:1.04, Z:-0.12 [[ 0.88539794 -0.39352967 -0.24739623 -0.7925884 ] [ 0.39868328 0.91656033 -0.03112551 1.04356358] [ 0.23900238 -0.07107428 0.96841433 -0.11686918] [ 0. 0. 0. 1. ]] SLAMing on 1.315194017 meters 0.4372831827865953 Centerline is valid? [False, False] Translation: X:-0.78, Y:1.07, Z:-0.11 [[ 0.87670459 -0.41002422 -0.25153369 -0.78376162] [ 0.41373131 0.90949629 -0.04053282 1.07325215] [ 0.24538839 -0.06853205 0.96699943 -0.11272857] [ 0. 0. 0. 1. ]] SLAMing on 1.3451940169999999 meters 0.44646652210005805 Centerline is valid? [False, False] Translation: X:-0.77, Y:1.10, Z:-0.11 [[ 0.87652004 -0.41218528 -0.24862806 -0.7740035 ] [ 0.41506486 0.90876092 -0.04329845 1.10020379] [ 0.24379045 -0.06524481 0.96763078 -0.10757778] [ 0. 0. 0. 1. ]] SLAMing on 1.3751940169999999 meters 0.4489697803402853 Centerline is valid? [False, False] Translation: X:-0.75, Y:1.12, Z:-0.10 [[ 0.88014418 -0.40722035 -0.24396271 -0.75497417] [ 0.40900103 0.91138752 -0.04572692 1.12386623] [ 0.2409655 -0.05953472 0.96870596 -0.09907938] [ 0. 0. 0. 1. ]] SLAMing on 1.405194017 meters 0.45660941911959596 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.14, Z:-0.09 [[ 0.8804254 -0.40299273 -0.24989593 -0.73748644] [ 0.40345002 0.91353521 -0.05178318 1.1382745 ] [ 0.24915697 -0.05522929 0.96688703 -0.09352456] [ 0. 0. 0. 1. ]] SLAMing on 1.435194017 meters 0.4490600032473319 Centerline is valid? [False, False] Translation: X:-0.72, Y:1.16, Z:-0.09 [[ 0.88196836 -0.39514263 -0.25689319 -0.71626913] [ 0.39432616 0.9172013 -0.05699697 1.15551005] [ 0.2581447 -0.05103018 0.9647576 -0.08636133] [ 0. 0. 0. 1. ]] SLAMing on 1.465194017 meters 0.030134805840404216 Centerline is valid? [False, True] Translation: X:-0.36, Y:-0.44, Z:1.75 [[-0.13739747 -0.92956235 -0.34210491 -0.36026228] [-0.04209832 0.35054865 -0.93559787 -0.43569837] [ 0.98962097 -0.11414674 -0.08729751 1.74767898] [ 0. 0. 0. 1. ]] SLAMing on 1.495194017 meters 0.052582818369659376 Centerline is valid? [True, True] Translation: X:0.49, Y:0.90, Z:1.95 [[-0.13218299 0.43127197 0.8924865 0.48814308] [-0.23534158 -0.88829599 0.3943914 0.89773688] [ 0.96288213 -0.15790735 0.21891385 1.95262271] [ 0. 0. 0. 1. ]] SLAMing on 1.525194017 meters 0.032741512038337806 Centerline is valid? [True, True] Translation: X:0.34, Y:0.92, Z:1.97 [[-0.11980323 0.4043598 0.90671955 0.3443992 ] [-0.07614672 -0.91434965 0.39770138 0.92263131] [ 0.98987316 -0.02139781 0.14033271 1.96771915] [ 0. 0. 0. 1. ]] SLAMing on 1.555194017 meters 0.0327511959498538 Centerline is valid? [True, True] Translation: X:0.35, Y:0.92, Z:2.00 [[-0.11976625 0.40648705 0.90577278 0.34881285] [-0.09299939 -0.91292151 0.39739832 0.91695226] [ 0.98843672 -0.03664141 0.14714023 1.99963794] [ 0. 0. 0. 1. ]] SLAMing on 1.585194017 meters 0.04429514750902619 Centerline is valid? [True, True] Translation: X:0.41, Y:0.90, Z:2.04 [[-0.12437985 0.41661255 0.9005352 0.41240975] [-0.17163656 -0.90293505 0.39401674 0.90444424] [ 0.97727711 -0.10555703 0.18381287 2.03813946] [ 0. 0. 0. 1. ]] SLAMing on 1.6151940169999999 meters 0.03876306307537829 Centerline is valid? [True, True] Translation: X:0.42, Y:0.96, Z:2.07 [[-0.12337055 0.40154043 0.9074938 0.41928769] [-0.07662701 -0.9156041 0.39471184 0.96289803] [ 0.9893978 -0.02084272 0.14372743 2.07382284] [ 0. 0. 0. 1. ]] SLAMing on 1.645194017 meters 0.038296106547692575 Centerline is valid? [True, True] Translation: X:0.43, Y:0.97, Z:2.11 [[-0.12101802 0.40033453 0.90834294 0.43406753] [-0.07306674 -0.91617861 0.39405331 0.96647238] [ 0.98995752 -0.01868211 0.14012526 2.10997114] [ 0. 0. 0. 1. ]] SLAMing on 1.675194017 meters 0.0374600358595855 Centerline is valid? [True, True] Translation: X:0.42, Y:0.96, Z:2.14 [[-0.12560326 0.39561989 0.90978499 0.41887571] [-0.07015963 -0.91829361 0.38963375 0.95906292] [ 0.98959661 -0.01489091 0.14309721 2.14271494] [ 0. 0. 0. 1. ]] SLAMing on 1.705194017 meters 0.02962313772072802 Centerline is valid? [True, True] Translation: X:0.41, Y:0.94, Z:2.18 [[-0.12386931 0.38831329 0.91316438 0.40871938] [-0.04711745 -0.92151532 0.38547303 0.944185 ] [ 0.99117927 0.0047223 0.1324438 2.17507851] [ 0. 0. 0. 1. ]] SLAMing on 1.735194017 meters 0.02962313772072802 Centerline is valid? [True, True] Translation: X:0.41, Y:0.94, Z:2.21 [[-0.12410931 0.38379435 0.91504031 0.40717118] [-0.04648846 -0.92340639 0.38099798 0.93918302] [ 0.99117895 0.00474658 0.13244534 2.20897452] [ 0. 0. 0. 1. ]] SLAMing on 1.765194017 meters 0.034871464101947844 Centerline is valid? [True, True] Translation: X:0.39, Y:0.93, Z:2.24 [[-0.12787631 0.38188437 0.9153207 0.39227643] [-0.07055742 -0.92406205 0.37567404 0.93495083] [ 0.98927716 -0.01654286 0.14511042 2.23968699] [ 0. 0. 0. 1. ]] SLAMing on 1.795194017 meters 0.03445969178294335 Centerline is valid? [True, True] Translation: X:0.42, Y:0.93, Z:2.28 [[-1.39355220e-01 3.75830292e-01 9.16150487e-01 4.18672388e-01] [-5.53881596e-02 -9.26687904e-01 3.71727966e-01 9.34439323e-01] [ 9.88692204e-01 1.05834298e-03 1.49955345e-01 2.27598440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8251940169999998 meters 0.044001689928169774 Centerline is valid? [True, True] Translation: X:0.41, Y:0.92, Z:2.31 [[-0.14107598 0.37145341 0.91767093 0.40865342] [-0.05319961 -0.9284466 0.36763665 0.92485132] [ 0.98856834 0.00304496 0.15074269 2.30841635] [ 0. 0. 0. 1. ]] SLAMing on 1.8551940169999999 meters 0.04297091653712182 Centerline is valid? [True, True] Translation: X:0.41, Y:0.91, Z:2.34 [[-0.14204645 0.36796888 0.91892421 0.40792995] [-0.06059087 -0.92982898 0.36296945 0.91401254] [ 0.98800382 -0.00411989 0.15437446 2.34243818] [ 0. 0. 0. 1. ]] SLAMing on 1.8851940169999999 meters 0.04224893361099667 Centerline is valid? [True, True] Translation: X:0.41, Y:0.91, Z:2.38 [[-0.14410881 0.36381899 0.92025453 0.41158067] [-0.06579895 -0.93142647 0.35793188 0.9059317 ] [ 0.98737184 -0.00897065 0.15816567 2.37734919] [ 0. 0. 0. 1. ]] SLAMing on 1.915194017 meters 0.03240016066754999 Centerline is valid? [True, True] Translation: X:0.40, Y:0.91, Z:2.41 [[-0.1405405 0.35645748 0.92368091 0.4024159 ] [-0.04428405 -0.93426992 0.35380594 0.91311963] [ 0.98908407 0.00881973 0.14708815 2.41041398] [ 0. 0. 0. 1. ]] SLAMing on 1.945194017 meters 0.03269509471174424 Centerline is valid? [True, True] Translation: X:0.42, Y:0.91, Z:2.45 [[-0.14005633 0.35225439 0.92536537 0.42205981] [-0.04493313 -0.93587532 0.34945442 0.9081529 ] [ 0.98912347 0.00736374 0.14690315 2.44717363] [ 0. 0. 0. 1. ]] SLAMing on 1.975194017 meters 0.035369302830544055 Centerline is valid? [True, True] Translation: X:0.39, Y:0.90, Z:2.48 [[-0.14197019 0.34663311 0.92719467 0.39109774] [-0.039951 -0.93792568 0.3445277 0.90233669] [ 0.9890644 0.01187031 0.14700583 2.47836788] [ 0. 0. 0. 1. ]] SLAMing on 2.005194017 meters 0.03167351376503834 Centerline is valid? [True, True] Translation: X:0.41, Y:0.90, Z:2.52 [[-0.1392685 0.34099018 0.92969349 0.40735018] [-0.03602465 -0.93996599 0.33936139 0.89897445] [ 0.98959917 0.01377047 0.1431917 2.51661032] [ 0. 0. 0. 1. ]] SLAMing on 2.035194017 meters 0.03505535534751379 Centerline is valid? [True, True] Translation: X:0.40, Y:0.90, Z:2.55 [[-0.13678809 0.33519202 0.93216701 0.39731207] [-0.03647964 -0.94207841 0.3334029 0.89652924] [ 0.98992841 0.01160043 0.14109279 2.5509631 ] [ 0. 0. 0. 1. ]] SLAMing on 2.065194017 meters 0.041342095022170365 Centerline is valid? [True, True] Translation: X:0.39, Y:0.88, Z:2.58 [[-1.44576676e-01 3.31175115e-01 9.32427278e-01 3.91660845e-01] [-4.96249677e-02 -9.43568706e-01 3.27437720e-01 8.75982191e-01] [ 9.88248424e-01 1.06818351e-03 1.52852581e-01 2.58468218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.095194017 meters 0.03115893915915417 Centerline is valid? [True, True] Translation: X:0.39, Y:0.89, Z:2.62 [[-0.13803922 0.32411192 0.9358935 0.39174239] [-0.02923611 -0.94586129 0.32325173 0.88783523] [ 0.98999516 0.01725953 0.14004173 2.62049454] [ 0. 0. 0. 1. ]] SLAMing on 2.125194017 meters 0.032229884577858074 Centerline is valid? [True, True] Translation: X:0.39, Y:0.88, Z:2.66 [[-0.13970827 0.31952102 0.93722352 0.38934507] [-0.03550039 -0.94751395 0.31773736 0.8794113 ] [ 0.98955612 0.01111874 0.14371866 2.65508181] [ 0. 0. 0. 1. ]] SLAMing on 2.155194017 meters 0.03719696774755455 Centerline is valid? [True, True] Translation: X:0.47, Y:0.86, Z:2.70 [[-0.14397224 0.32259028 0.93552526 0.46901379] [-0.09298175 -0.94560186 0.31175554 0.86469501] [ 0.98520373 -0.04210264 0.16613543 2.70043397] [ 0. 0. 0. 1. ]] SLAMing on 2.185194017 meters 0.045324504488628584 Centerline is valid? [True, True] Translation: X:0.40, Y:0.85, Z:2.73 [[-0.14751788 0.31054715 0.9390415 0.39592336] [-0.06008197 -0.95048911 0.30489443 0.85425327] [ 0.98723282 -0.01144208 0.15887243 2.72524386] [ 0. 0. 0. 1. ]] SLAMing on 2.215194017 meters 0.0335238194066163 Centerline is valid? [True, True] Translation: X:0.39, Y:0.87, Z:2.76 [[-0.13711882 0.30294446 0.9430923 0.39027106] [-0.03615241 -0.95298132 0.30086476 0.86809894] [ 0.98989466 0.00715916 0.14162385 2.76031754] [ 0. 0. 0. 1. ]] SLAMing on 2.2451940169999998 meters 0.03919103722204079 Centerline is valid? [True, True] Translation: X:0.39, Y:0.86, Z:2.79 [[-0.13957254 0.3005374 0.9435024 0.39090702] [-0.05104081 -0.95374573 0.29624977 0.86105899] [ 0.98889552 -0.0068088 0.14845639 2.79482439] [ 0. 0. 0. 1. ]] SLAMing on 2.275194017 meters 0.04149571794729603 Centerline is valid? [True, True] Translation: X:0.37, Y:0.84, Z:2.82 [[-0.14622036 0.29818912 0.94324061 0.37091019] [-0.06402245 -0.95434222 0.29177399 0.83845124] [ 0.98717817 -0.01772528 0.15863506 2.82455819] [ 0. 0. 0. 1. ]] SLAMing on 2.305194017 meters 0.04502256718297174 Centerline is valid? [True, True] Translation: X:0.40, Y:0.83, Z:2.86 [[-0.15175102 0.29936183 0.94199476 0.40136975] [-0.0983088 -0.95287773 0.2869833 0.83289352] [ 0.98351767 -0.04905636 0.17403007 2.86337924] [ 0. 0. 0. 1. ]] SLAMing on 2.335194017 meters 0.05877867051652198 Centerline is valid? [True, True] Translation: X:0.44, Y:0.81, Z:2.90 [[-0.16511322 0.30204807 0.93888476 0.4439717 ] [-0.14208989 -0.94930473 0.2804122 0.81303253] [ 0.9759857 -0.08710627 0.19966074 2.90443437] [ 0. 0. 0. 1. ]] SLAMing on 2.365194017 meters 0.04261739311160633 Centerline is valid? [True, True] Translation: X:0.38, Y:0.83, Z:2.93 [[-0.14691231 0.28440324 0.94738143 0.37682233] [-0.07106395 -0.95833348 0.27667101 0.83086013] [ 0.98659348 -0.02667829 0.1610018 2.92934542] [ 0. 0. 0. 1. ]] SLAMing on 2.395194017 meters 0.03618488061313766 Centerline is valid? [True, True] Translation: X:0.36, Y:0.84, Z:2.96 [[-0.13898277 0.27934551 0.95007888 0.35532887] [-0.04784967 -0.96016367 0.27531096 0.83708662] [ 0.98913811 -0.00719749 0.14681279 2.96035157] [ 0. 0. 0. 1. ]] SLAMing on 2.425194017 meters 0.052130023759713734 Centerline is valid? [True, True] Translation: X:0.35, Y:0.82, Z:2.99 [[-0.14821224 0.2791844 0.94873031 0.35013158] [-0.07651445 -0.95968713 0.27045546 0.82294931] [ 0.98599121 -0.03250677 0.16359902 2.99311118] [ 0. 0. 0. 1. ]] SLAMing on 2.4551940169999997 meters 0.04584883409951485 Centerline is valid? [True, True] Translation: X:0.38, Y:0.82, Z:3.03 [[-0.14771285 0.27594765 0.9497546 0.37634031] [-0.07728044 -0.96057298 0.26707167 0.82379394] [ 0.98600641 -0.03394754 0.16321433 3.03093841] [ 0. 0. 0. 1. ]] SLAMing on 2.485194017 meters 0.04509386178448268 Centerline is valid? [True, True] Translation: X:0.35, Y:0.82, Z:3.06 [[-0.14218695 0.26904919 0.95257305 0.35447383] [-0.0615522 -0.96289155 0.26277593 0.81901123] [ 0.98792419 -0.02126966 0.15347118 3.061308 ] [ 0. 0. 0. 1. ]] SLAMing on 2.515194017 meters 0.047995011440941114 Centerline is valid? [True, True] Translation: X:0.36, Y:0.81, Z:3.10 [[-0.14446769 0.26656791 0.9529274 0.35871067] [-0.07177513 -0.96331624 0.25859264 0.8145679 ] [ 0.98690294 -0.03103821 0.15830102 3.09567046] [ 0. 0. 0. 1. ]] SLAMing on 2.545194017 meters 0.045388012891673477 Centerline is valid? [True, True] Translation: X:0.34, Y:0.82, Z:3.13 [[-0.14204861 0.26164815 0.95465305 0.34416948] [-0.05943242 -0.96494716 0.25562622 0.81668729] [ 0.98807387 -0.02042599 0.15261979 3.12706956] [ 0. 0. 0. 1. ]] SLAMing on 2.575194017 meters 0.04564797802094647 Centerline is valid? [True, True] Translation: X:0.39, Y:0.80, Z:3.17 [[-0.1494532 0.26343503 0.95302976 0.38804585] [-0.09730927 -0.96309469 0.25095722 0.80363578] [ 0.98396883 -0.05523227 0.16957225 3.1665958 ] [ 0. 0. 0. 1. ]] SLAMing on 2.605194017 meters 0.04528626423986683 Centerline is valid? [True, True] Translation: X:0.31, Y:0.80, Z:3.19 [[-0.14724532 0.253675 0.95601664 0.31447438] [-0.06738365 -0.9668792 0.24617893 0.8045069 ] [ 0.98680204 -0.0281712 0.15946199 3.18948073] [ 0. 0. 0. 1. ]] SLAMing on 2.635194017 meters 0.04230222737577467 Centerline is valid? [True, True] Translation: X:0.35, Y:0.80, Z:3.23 [[-0.14138795 0.24822935 0.95832752 0.34508174] [-0.05306813 -0.96856089 0.24305056 0.80464961] [ 0.98853084 -0.01649223 0.15011591 3.22706551] [ 0. 0. 0. 1. ]] SLAMing on 2.6651940169999997 meters 0.0448402478409532 Centerline is valid? [True, True] Translation: X:0.36, Y:0.78, Z:3.26 [[-0.15924212 0.25387631 0.95403814 0.36346244] [-0.11385414 -0.96464419 0.23769482 0.78044019] [ 0.98065243 -0.07077017 0.18251686 3.26223016] [ 0. 0. 0. 1. ]] SLAMing on 2.695194017 meters 0.04325948857956598 Centerline is valid? [True, True] Translation: X:0.33, Y:0.79, Z:3.29 [[-0.14395209 0.24190257 0.95956289 0.32513581] [-0.06332253 -0.96992673 0.23501572 0.79348697] [ 0.98755661 -0.02693095 0.15494086 3.2901654 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7251940169999997 meters 0.04541437691157242 Centerline is valid? [True, True] Translation: X:0.33, Y:0.80, Z:3.32 [[-0.1419405 0.23906341 0.96057357 0.32701235] [-0.05521993 -0.97079988 0.23344884 0.79629575] [ 0.98833378 -0.01990696 0.15099689 3.3240893 ] [ 0. 0. 0. 1. ]] SLAMing on 2.755194017 meters 0.052816846746629176 Centerline is valid? [True, True] Translation: X:0.34, Y:0.78, Z:3.36 [[-0.14988528 0.23740387 0.959778 0.34210851] [-0.07164165 -0.97080016 0.2289422 0.77747795] [ 0.98610439 -0.03444501 0.16251666 3.35981055] [ 0. 0. 0. 1. ]] SLAMing on 2.785194017 meters 0.05601120738569158 Centerline is valid? [True, True] Translation: X:0.33, Y:0.77, Z:3.39 [[-0.15704791 0.23644452 0.95886909 0.33400946] [-0.09373367 -0.97010287 0.2238625 0.77113115] [ 0.98313272 -0.05472118 0.17451544 3.39231456] [ 0. 0. 0. 1. ]] SLAMing on 2.815194017 meters 0.0445760313270923 Centerline is valid? [True, True] Translation: X:0.33, Y:0.78, Z:3.42 [[-0.15133328 0.23108996 0.96109087 0.33267572] [-0.0777425 -0.97205969 0.22148603 0.77525027] [ 0.9854209 -0.0411994 0.1650705 3.42487347] [ 0. 0. 0. 1. ]] SLAMing on 2.845194017 meters 0.04330520922301657 Centerline is valid? [True, True] Translation: X:0.31, Y:0.77, Z:3.46 [[-0.14760652 0.22468639 0.96318656 0.31158574] [-0.06061011 -0.97407858 0.21793883 0.77486405] [ 0.98718728 -0.02620965 0.15739862 3.45526313] [ 0. 0. 0. 1. ]] SLAMing on 2.875194017 meters 0.05028974262105658 Centerline is valid? [True, True] Translation: X:0.31, Y:0.77, Z:3.49 [[-0.14911995 0.22116498 0.96376828 0.31322872] [-0.06295733 -0.97481192 0.21395814 0.7685074 ] [ 0.98681286 -0.02877085 0.15928786 3.48830793] [ 0. 0. 0. 1. ]] SLAMing on 2.905194017 meters 0.05028974262105658 Centerline is valid? [True, True] Translation: X:0.31, Y:0.76, Z:3.52 [[-0.14941026 0.2170347 0.96466186 0.31054344] [-0.06221568 -0.97574316 0.20989165 0.76448424] [ 0.98681598 -0.02865712 0.159289 3.5222121 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9351940169999997 meters 0.04940140331505645 Centerline is valid? [True, True] Translation: X:0.31, Y:0.76, Z:3.56 [[-0.15192011 0.21298943 0.96517137 0.31210513] [-0.0675188 -0.97646115 0.2048532 0.75959954] [ 0.98608392 -0.0340459 0.16272488 3.55577703] [ 0. 0. 0. 1. ]] SLAMing on 2.965194017 meters 0.04489510939951769 Centerline is valid? [True, True] Translation: X:0.30, Y:0.77, Z:3.59 [[-0.14549808 0.20758413 0.9673361 0.29989747] [-0.05922254 -0.97781481 0.20092507 0.76944686] [ 0.98758443 -0.02805389 0.15456384 3.5884097 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9951940169999998 meters 0.03471055760448074 Centerline is valid? [True, True] Translation: X:0.31, Y:0.76, Z:3.62 [[-0.14081624 0.20079491 0.96945974 0.3053909 ] [-0.04101694 -0.97955939 0.19692895 0.76407349] [ 0.98918572 -0.01203348 0.14617386 3.62245179] [ 0. 0. 0. 1. ]] SLAMing on 3.025194017 meters 0.04714270966512407 Centerline is valid? [True, True] Translation: X:0.33, Y:0.75, Z:3.66 [[-0.15160182 0.20082609 0.96782528 0.32772088] [-0.0686067 -0.97891906 0.1923814 0.74598149] [ 0.98605781 -0.03723393 0.16218392 3.65754909] [ 0. 0. 0. 1. ]] SLAMing on 3.055194017 meters 0.036424629206929716 Centerline is valid? [True, True] Translation: X:0.31, Y:0.75, Z:3.69 [[-0.142707 0.19346236 0.97067349 0.30734937] [-0.04738118 -0.98092204 0.18853906 0.75324323] [ 0.98863023 -0.01908581 0.14915092 3.68899897] [ 0. 0. 0. 1. ]] SLAMing on 3.085194017 meters 0.03959097524593835 Centerline is valid? [True, True] Translation: X:0.29, Y:0.75, Z:3.72 [[-0.14784947 0.18965925 0.97065437 0.29418157] [-0.04641115 -0.9816898 0.18474618 0.749074 ] [ 0.98792031 -0.01773457 0.15394462 3.7203879 ] [ 0. 0. 0. 1. ]] SLAMing on 3.115194017 meters 0.04689125582216832 Centerline is valid? [True, True] Translation: X:0.36, Y:0.72, Z:3.76 [[-0.16396602 0.19451318 0.96709863 0.35575561] [-0.09938762 -0.97863588 0.17998307 0.72370134] [ 0.98144651 -0.06660653 0.17979523 3.76192285] [ 0. 0. 0. 1. ]] SLAMing on 3.145194017 meters 0.04080065479954642 Centerline is valid? [True, True] Translation: X:0.28, Y:0.74, Z:3.79 [[-0.14540644 0.18127877 0.97262273 0.28318004] [-0.05031253 -0.98315369 0.17571985 0.7431448 ] [ 0.98809191 -0.02338432 0.15207747 3.78626641] [ 0. 0. 0. 1. ]] SLAMing on 3.175194017 meters 0.03718907972072997 Centerline is valid? [True, True] Translation: X:0.29, Y:0.74, Z:3.82 [[-0.14774289 0.17965568 0.97257178 0.29391282] [-0.05497141 -0.98333494 0.1732932 0.74006789] [ 0.98749693 -0.02786081 0.15515667 3.82108156] [ 0. 0. 0. 1. ]] SLAMing on 3.2051940169999997 meters 0.03500091591270024 Centerline is valid? [True, True] Translation: X:0.30, Y:0.74, Z:3.85 [[-0.1450764 0.17465389 0.97388339 0.29822539] [-0.04897439 -0.98435787 0.16923679 0.73778051] [ 0.98820764 -0.02314308 0.15136067 3.85367626] [ 0. 0. 0. 1. ]] SLAMing on 3.235194017 meters 0.03685649268765427 Centerline is valid? [True, True] Translation: X:0.28, Y:0.74, Z:3.88 [[-0.14513386 0.17148502 0.97443781 0.2771112 ] [-0.05162674 -0.98483644 0.16562567 0.73877326] [ 0.98806419 -0.02626916 0.15178633 3.88399649] [ 0. 0. 0. 1. ]] SLAMing on 3.265194017 meters 0.03937055627191817 Centerline is valid? [True, True] Translation: X:0.26, Y:0.74, Z:3.91 [[-0.1481154 0.16871875 0.97447207 0.26361893] [-0.05071871 -0.98533955 0.16289132 0.73693456] [ 0.98766869 -0.02529725 0.15450116 3.91426968] [ 0. 0. 0. 1. ]] SLAMing on 3.295194017 meters 0.0395815731594452 Centerline is valid? [True, True] Translation: X:0.26, Y:0.73, Z:3.95 [[-0.15146242 0.16568385 0.97447832 0.26152631] [-0.05412437 -0.9857632 0.15919003 0.73192915] [ 0.98698008 -0.02863172 0.15827361 3.9468055 ] [ 0. 0. 0. 1. ]] SLAMing on 3.325194017 meters 0.038600145652518784 Centerline is valid? [True, True] Translation: X:0.26, Y:0.73, Z:3.98 [[-0.14551686 0.15989243 0.97634996 0.26013803] [-0.04107639 -0.98697975 0.15551113 0.73272587] [ 0.98850269 -0.01747544 0.15019 3.97996403] [ 0. 0. 0. 1. ]] SLAMing on 3.355194017 meters 0.0378985923829278 Centerline is valid? [True, True] Translation: X:0.25, Y:0.73, Z:4.01 [[-0.14856273 0.15720878 0.97632705 0.25186962] [-0.05034895 -0.98720494 0.151299 0.72804139] [ 0.98762042 -0.02667965 0.15457716 4.0123011 ] [ 0. 0. 0. 1. ]] SLAMing on 3.385194017 meters 0.041175202978756466 Centerline is valid? [True, True] Translation: X:0.22, Y:0.73, Z:4.04 [[-0.1464594 0.15322318 0.97727801 0.22459848] [-0.05192087 -0.98776013 0.14708553 0.7337523 ] [ 0.98785316 -0.02919906 0.15262223 4.04166206] [ 0. 0. 0. 1. ]] SLAMing on 3.4151940169999997 meters 0.040949831855610706 Centerline is valid? [True, True] Translation: X:0.25, Y:0.73, Z:4.08 [[-0.1498583 0.15122806 0.97707347 0.24538726] [-0.06400836 -0.98764393 0.14304686 0.72558067] [ 0.98663338 -0.04110411 0.1576865 4.07694663] [ 0. 0. 0. 1. ]] SLAMing on 3.445194017 meters 0.04006475039207708 Centerline is valid? [True, True] Translation: X:0.27, Y:0.71, Z:4.11 [[-0.156046 0.15100522 0.97613886 0.26896202] [-0.0768081 -0.98710777 0.14042349 0.71208622] [ 0.98475894 -0.05306285 0.16563264 4.11356938] [ 0. 0. 0. 1. ]] SLAMing on 3.4751940169999997 meters 0.03645673774933852 Centerline is valid? [True, True] Translation: X:0.24, Y:0.72, Z:4.14 [[-0.14269983 0.14127216 0.97963204 0.23749296] [-0.04251177 -0.98972269 0.13653477 0.72487769] [ 0.98885262 -0.0221624 0.14723899 4.14292614] [ 0. 0. 0. 1. ]] SLAMing on 3.505194017 meters 0.039561158080779514 Centerline is valid? [True, True] Translation: X:0.37, Y:0.68, Z:4.20 [[-0.166465 0.1486464 0.97477877 0.37030654] [-0.10193157 -0.98586987 0.13293064 0.68241396] [ 0.98076468 -0.07723243 0.17926458 4.19569483] [ 0. 0. 0. 1. ]] SLAMing on 3.535194017 meters 0.03572591653872686 Centerline is valid? [True, True] Translation: X:0.22, Y:0.72, Z:4.21 [[-0.14289178 0.13176338 0.98092831 0.2217097 ] [-0.04319441 -0.99098456 0.12682206 0.71854319] [ 0.98879532 -0.02424879 0.14729499 4.20959603] [ 0. 0. 0. 1. ]] SLAMing on 3.565194017 meters 0.04074447117368776 Centerline is valid? [True, True] Translation: X:0.22, Y:0.71, Z:4.24 [[-0.14625595 0.13092457 0.98054472 0.2249319 ] [-0.05115207 -0.99087825 0.12467459 0.71348471] [ 0.98792341 -0.03192249 0.15161891 4.24285447] [ 0. 0. 0. 1. ]] SLAMing on 3.595194017 meters 0.036010091181692724 Centerline is valid? [True, True] Translation: X:0.22, Y:0.71, Z:4.27 [[-0.14753853 0.12641456 0.98094431 0.2198152 ] [-0.04731388 -0.99156486 0.120667 0.70670987] [ 0.98792397 -0.02860925 0.15227519 4.27486692] [ 0. 0. 0. 1. ]] SLAMing on 3.6251940169999997 meters 0.03138501507315542 Centerline is valid? [True, True] Translation: X:0.27, Y:0.71, Z:4.32 [[-0.13220402 0.11978494 0.98395816 0.2651584 ] [-0.02885394 -0.9927157 0.11697427 0.71402701] [ 0.99080248 -0.0129266 0.13469728 4.31500236] [ 0. 0. 0. 1. ]] SLAMing on 3.655194017 meters 0.03717378499096126 Centerline is valid? [True, True] Translation: X:0.21, Y:0.71, Z:4.34 [[-0.14314977 0.11743584 0.98270899 0.21249133] [-0.03843312 -0.99284585 0.11304872 0.71011624] [ 0.98895452 -0.02158567 0.14663908 4.34109545] [ 0. 0. 0. 1. ]] SLAMing on 3.6851940169999997 meters 0.033882854177197025 Centerline is valid? [True, True] Translation: X:0.25, Y:0.70, Z:4.38 [[-0.13930703 0.11322507 0.98375486 0.24627663] [-0.03742611 -0.9933339 0.10902775 0.70295012] [ 0.98954173 -0.02162978 0.14261597 4.37820008] [ 0. 0. 0. 1. ]] SLAMing on 3.715194017 meters 0.032782374352087 Centerline is valid? [True, True] Translation: X:0.22, Y:0.70, Z:4.41 [[-0.14321092 0.10909022 0.9836615 0.22082754] [-0.03555148 -0.99383209 0.10504224 0.70157132] [ 0.98905345 -0.01992743 0.14620593 4.4076111 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7451940169999998 meters 0.03404664878479758 Centerline is valid? [True, True] Translation: X:0.22, Y:0.69, Z:4.44 [[-0.14035573 0.10479311 0.98453983 0.21589535] [-0.03342017 -0.99431788 0.1010695 0.69490514] [ 0.98953694 -0.0187178 0.14306042 4.4396598 ] [ 0. 0. 0. 1. ]] SLAMing on 3.775194017 meters 0.033270533482194685 Centerline is valid? [True, True] Translation: X:0.35, Y:0.66, Z:4.49 [[-0.15536605 0.10857464 0.98187216 0.35037281] [-0.08162816 -0.99195354 0.09677304 0.65802053] [ 0.98447866 -0.06511317 0.16297865 4.49245683] [ 0. 0. 0. 1. ]] SLAMing on 3.805194017 meters 0.0378380091179742 Centerline is valid? [True, True] Translation: X:0.30, Y:0.65, Z:4.52 [[-0.16628423 0.10468818 0.98050494 0.30040536] [-0.09247656 -0.99162165 0.09019197 0.64542981] [ 0.98173196 -0.07567623 0.17457225 4.51955339] [ 0. 0. 0. 1. ]] SLAMing on 3.835194017 meters 0.03499834076168159 Centerline is valid? [True, True] Translation: X:0.28, Y:0.66, Z:4.55 [[-0.15816668 0.09677601 0.98265849 0.28235266] [-0.0741198 -0.99354135 0.08591763 0.65581978] [ 0.98462661 -0.05924515 0.16431816 4.5522985 ] [ 0. 0. 0. 1. ]] SLAMing on 3.865194017 meters 0.029976558134934033 Centerline is valid? [True, True] Translation: X:0.23, Y:0.68, Z:4.58 [[-1.31869012e-01 8.36975851e-02 9.87727330e-01 2.32972483e-01] [-1.51662997e-02 -9.96482716e-01 8.24146802e-02 6.79164146e-01] [ 9.91151122e-01 -4.11222626e-03 1.32674574e-01 4.58050980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8951940169999997 meters 0.031103382009912115 Centerline is valid? [True, True] Translation: X:0.23, Y:0.67, Z:4.61 [[-1.32541015e-01 7.91401350e-02 9.88013015e-01 2.33862616e-01] [-1.03106623e-02 -9.96863478e-01 7.84658940e-02 6.70546535e-01] [ 9.91123892e-01 2.12880607e-04 1.32941284e-01 4.61381940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.925194017 meters 0.02861182080356559 Centerline is valid? [True, True] Translation: X:0.22, Y:0.67, Z:4.65 [[-0.13366759 0.07573471 0.98812814 0.22008842] [-0.01577031 -0.99711198 0.07428996 0.66903687] [ 0.99090074 -0.00565293 0.13447592 4.6456617 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9551940169999997 meters 0.0321133186584227 Centerline is valid? [True, True] Translation: X:0.28, Y:0.63, Z:4.69 [[-0.15196801 0.07675998 0.98540024 0.27909793] [-0.05502961 -0.9960904 0.06910607 0.63129895] [ 0.9868523 -0.04372428 0.15559795 4.68671769] [ 0. 0. 0. 1. ]] SLAMing on 3.985194017 meters 0.042766939414178716 Centerline is valid? [True, True] Translation: X:0.25, Y:0.63, Z:4.72 [[-0.15186587 0.07132867 0.98582401 0.25107948] [-0.0470687 -0.99678299 0.06487068 0.63316851] [ 0.98727975 -0.03654982 0.15473466 4.71741345] [ 0. 0. 0. 1. ]] SLAMing on 4.015194017 meters 0.02944589144958651 Centerline is valid? [True, True] Translation: X:0.22, Y:0.65, Z:4.75 [[-1.32782857e-01 6.06680034e-02 9.89286665e-01 2.15374185e-01] [-6.56482302e-03 -9.98156848e-01 6.03308315e-02 6.45733833e-01] [ 9.91123411e-01 1.51640832e-03 1.32936393e-01 4.74616073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.045194016999999 meters 0.03442226447287767 Centerline is valid? [True, True] Translation: X:0.22, Y:0.64, Z:4.78 [[-0.13773186 0.05764082 0.98879091 0.21633703] [-0.01617618 -0.99830297 0.05594209 0.63830644] [ 0.99033745 -0.00828985 0.13843054 4.78064735] [ 0. 0. 0. 1. ]] SLAMing on 4.075194016999999 meters 0.040168774929729874 Centerline is valid? [True, True] Translation: X:0.28, Y:0.59, Z:4.83 [[-0.17562243 0.06699449 0.98217539 0.28232703] [-0.09401665 -0.99426308 0.05100792 0.58797986] [ 0.97995798 -0.0833827 0.18091349 4.82622822] [ 0. 0. 0. 1. ]] SLAMing on 4.105194017 meters 0.054091196041560145 Centerline is valid? [True, True] Translation: X:0.21, Y:0.61, Z:4.85 [[-0.15595586 0.05024661 0.9864852 0.21007495] [-0.04955431 -0.99784575 0.04299109 0.61301466] [ 0.98652022 -0.04217988 0.15810983 4.85129982] [ 0. 0. 0. 1. ]] SLAMing on 4.135194016999999 meters 0.05246759353940493 Centerline is valid? [True, True] Translation: X:0.26, Y:0.59, Z:4.89 [[-0.16988896 0.05262054 0.98405733 0.26389027] [-0.08506451 -0.99562927 0.03855368 0.59047462] [ 0.98178499 -0.07715851 0.17362256 4.89242599] [ 0. 0. 0. 1. ]] SLAMing on 4.165194016999999 meters 0.04537451762591377 Centerline is valid? [True, True] Translation: X:0.26, Y:0.58, Z:4.93 [[-0.1675836 0.04723905 0.98472545 0.26294737] [-0.07563267 -0.99652363 0.03493363 0.58206826] [ 0.98295241 -0.06862311 0.17057384 4.92764566] [ 0. 0. 0. 1. ]] SLAMing on 4.1951940169999995 meters 0.047650219731833754 Centerline is valid? [True, True] Translation: X:0.25, Y:0.59, Z:4.96 [[-0.16661878 0.04296141 0.98508502 0.25326564] [-0.07728985 -0.99654545 0.0303883 0.58645238] [ 0.98298752 -0.07107381 0.16936367 4.96067229] [ 0. 0. 0. 1. ]] SLAMing on 4.225194017 meters 0.0393662930428044 Centerline is valid? [True, True] Translation: X:0.23, Y:0.60, Z:4.99 [[-0.14601531 0.03323104 0.98872404 0.22771001] [-0.04476011 -0.99863408 0.02695392 0.59817583] [ 0.98826922 -0.04031971 0.14730329 4.99181354] [ 0. 0. 0. 1. ]] SLAMing on 4.255194016999999 meters 0.05074549177947465 Centerline is valid? [True, True] Translation: X:0.23, Y:0.58, Z:5.02 [[-0.16544461 0.03414122 0.98562795 0.22643781] [-0.07493519 -0.99694669 0.02195489 0.57832827] [ 0.98336809 -0.0702259 0.16749783 5.02493732] [ 0. 0. 0. 1. ]] SLAMing on 4.285194016999999 meters 0.047963535978588316 Centerline is valid? [True, True] Translation: X:0.24, Y:0.57, Z:5.06 [[-0.16029326 0.02994357 0.98661515 0.23713493] [-0.07061775 -0.99732636 0.01879554 0.57407416] [ 0.9845401 -0.06665974 0.16197924 5.06045471] [ 0. 0. 0. 1. ]] SLAMing on 4.315194017 meters 0.05801734931867449 Centerline is valid? [True, True] Translation: X:0.30, Y:0.53, Z:5.11 [[-0.19814185 0.04035925 0.97934209 0.30332053] [-0.13192915 -0.99115809 0.0141541 0.52745916] [ 0.97125409 -0.12639925 0.20171446 5.10804529] [ 0. 0. 0. 1. ]] SLAMing on 4.345194017 meters 0.04675952802086323 Centerline is valid? [True, True] Translation: X:0.24, Y:0.56, Z:5.13 [[-1.65701340e-01 1.64721280e-02 9.86038404e-01 2.44195590e-01] [-7.78874024e-02 -9.96955785e-01 3.56571953e-03 5.58001649e-01] [ 9.83095427e-01 -7.62091255e-02 1.66479881e-01 5.13361638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.375194016999999 meters 0.03588795670870745 Centerline is valid? [True, True] Translation: X:0.14, Y:0.61, Z:5.15 [[-1.22942554e-01 1.38452641e-03 9.92412823e-01 1.39810176e-01] [-8.97460788e-04 -9.99998773e-01 1.28392999e-03 6.07949009e-01] [ 9.92413383e-01 -7.32801962e-04 1.22943646e-01 5.15183954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4051940169999995 meters 0.04018883894524349 Centerline is valid? [True, True] Translation: X:0.20, Y:0.58, Z:5.19 [[-1.42198185e-01 6.14765491e-03 9.89819116e-01 2.02297637e-01] [-4.27287569e-02 -9.99086707e-01 6.67683960e-05 5.79387244e-01] [ 9.88915532e-01 -4.22842461e-02 1.42330998e-01 5.19283456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.435194017 meters 0.061114272340138706 Centerline is valid? [True, True] Translation: X:0.19, Y:0.55, Z:5.23 [[-1.83680435e-01 1.47119283e-02 9.82875911e-01 1.94626712e-01] [-1.01968776e-01 -9.94778877e-01 -4.16589062e-03 5.46019345e-01] [ 9.77682907e-01 -1.00987846e-01 1.84221575e-01 5.22549294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.465194016999999 meters 0.04106054584609772 Centerline is valid? [True, True] Translation: X:0.15, Y:0.59, Z:5.25 [[-0.12840172 -0.00600629 0.99170405 0.15019207] [-0.01472582 -0.99985987 -0.00796232 0.59419024] [ 0.9916129 -0.01562603 0.12829528 5.25188428] [ 0. 0. 0. 1. ]] SLAMing on 4.495194016999999 meters 0.060059330130004876 Centerline is valid? [True, True] Translation: X:0.24, Y:0.51, Z:5.31 [[-0.19713293 0.01621782 0.98024262 0.24450444] [-0.12690556 -0.99187296 -0.00911126 0.51089961] [ 0.97212838 -0.12619437 0.19758895 5.30502316] [ 0. 0. 0. 1. ]] SLAMing on 4.525194017 meters 0.058871914868766535 Centerline is valid? [True, True] Translation: X:0.31, Y:0.41, Z:5.35 [[-0.23940134 0.02657627 0.9705569 0.31401556] [-0.19142189 -0.98129694 -0.02034651 0.41252716] [ 0.95186378 -0.19065682 0.24001108 5.352509 ] [ 0. 0. 0. 1. ]] SLAMing on 4.555194017 meters 0.05625141436541168 Centerline is valid? [True, True] Translation: X:0.20, Y:0.53, Z:5.37 [[-0.16866603 -0.01612546 0.98554134 0.19972112] [-0.0759138 -0.99668381 -0.0292997 0.52958034] [ 0.98274558 -0.07975805 0.16688255 5.36948116] [ 0. 0. 0. 1. ]] SLAMing on 4.585194016999999 meters 0.058774054212423064 Centerline is valid? [True, True] Translation: X:0.19, Y:0.53, Z:5.40 [[-0.16835746 -0.01880581 0.9855466 0.18882199] [-0.07195464 -0.99691621 -0.03131451 0.52924029] [ 0.98309628 -0.07618668 0.16648511 5.40132416] [ 0. 0. 0. 1. ]] SLAMing on 4.615194016999999 meters 0.05552520328251067 Centerline is valid? [True, True] Translation: X:0.30, Y:0.44, Z:5.45 [[-2.18284405e-01 1.22072332e-04 9.75885190e-01 2.97475772e-01] [-1.52415263e-01 -9.87732622e-01 -3.39684426e-02 4.38325844e-01] [ 9.63909491e-01 -1.56154579e-01 2.15625233e-01 5.45433580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.645194017 meters 0.05319381612371092 Centerline is valid? [True, True] Translation: X:0.23, Y:0.47, Z:5.48 [[-0.19814084 -0.01934 0.97998274 0.23226525] [-0.1174904 -0.99212806 -0.04333485 0.47009495] [ 0.97310648 -0.12372497 0.19430883 5.48129617] [ 0. 0. 0. 1. ]] SLAMing on 4.675194016999999 meters 0.05232451425435255 Centerline is valid? [True, True] Translation: X:0.23, Y:0.49, Z:5.51 [[-0.18101325 -0.03229456 0.98295029 0.22612641] [-0.08580399 -0.99513106 -0.04849582 0.48688958] [ 0.97973051 -0.09311944 0.17736091 5.51420511] [ 0. 0. 0. 1. ]] SLAMing on 4.705194016999999 meters 0.053436295370268214 Centerline is valid? [True, True] Translation: X:0.14, Y:0.52, Z:5.53 [[-0.16221232 -0.04395442 0.98577643 0.14053657] [-0.0472017 -0.99751814 -0.05224514 0.5206815 ] [ 0.98562628 -0.05500513 0.15973501 5.53480248] [ 0. 0. 0. 1. ]] SLAMing on 4.7351940169999995 meters 0.054492608626491065 Centerline is valid? [True, True] Translation: X:0.20, Y:0.46, Z:5.58 [[-0.20930523 -0.0281422 0.97744531 0.20158901] [-0.11692159 -0.99169426 -0.05358945 0.45972563] [ 0.97083503 -0.12550101 0.20427637 5.58362052] [ 0. 0. 0. 1. ]] SLAMing on 4.765194017 meters 0.047864259997413 Centerline is valid? [True, True] Translation: X:0.16, Y:0.51, Z:5.61 [[-0.15331189 -0.06041706 0.98632918 0.15561726] [-0.02743085 -0.99748438 -0.06536413 0.50856213] [ 0.98779705 -0.03707695 0.15126893 5.60991381] [ 0. 0. 0. 1. ]] SLAMing on 4.795194016999999 meters 0.047864259997413 Centerline is valid? [True, True] Translation: X:0.15, Y:0.51, Z:5.64 [[-0.15335925 -0.06286383 0.98616889 0.15167236] [-0.02676629 -0.997344 -0.06773862 0.5069341 ] [ 0.98780793 -0.03678443 0.1512693 5.64295055] [ 0. 0. 0. 1. ]] SLAMing on 4.825194016999999 meters 0.05404736704906618 Centerline is valid? [True, True] Translation: X:0.26, Y:0.37, Z:5.75 [[-0.24698449 -0.02866348 0.96859541 0.25629343] [-0.15940427 -0.98474356 -0.06978824 0.37448672] [ 0.95581847 -0.17163485 0.23864731 5.74861144] [ 0. 0. 0. 1. ]] SLAMing on 4.855194017 meters 0.0572500226871434 Centerline is valid? [True, True] Translation: X:0.19, Y:0.35, Z:5.78 [[-0.2198809 -0.1372741 0.96581997 0.1941364 ] [-0.08650031 -0.98340638 -0.15946657 0.34647044] [ 0.97168415 -0.11860738 0.20435803 5.77665683] [ 0. 0. 0. 1. ]] SLAMing on 4.885194016999999 meters 0.049065190001624785 Centerline is valid? [True, True] Translation: X:0.16, Y:0.40, Z:5.80 [[-0.16079356 -0.16027621 0.97388755 0.15561719] [-0.02278958 -0.9858608 -0.16600936 0.40052818] [ 0.98672492 -0.04888773 0.15486744 5.80401576] [ 0. 0. 0. 1. ]] SLAMing on 4.915194016999999 meters 0.05347378462566828 Centerline is valid? [True, True] Translation: X:0.20, Y:0.33, Z:5.85 [[-0.22339838 -0.14289144 0.96419666 0.20261261] [-0.09219257 -0.98166428 -0.16684054 0.33475172] [ 0.97035751 -0.12616367 0.20612868 5.84891532] [ 0. 0. 0. 1. ]] SLAMing on 4.9451940169999995 meters 0.050338885238392875 Centerline is valid? [True, True] Translation: X:0.21, Y:0.32, Z:5.89 [[-0.21713825 -0.15334095 0.96402154 0.21396313] [-0.08465623 -0.98090528 -0.17509469 0.32039242] [ 0.97246301 -0.11963018 0.20001079 5.88894105] [ 0. 0. 0. 1. ]] SLAMing on 4.975194017 meters 0.04842065510818139 Centerline is valid? [True, True] Translation: X:0.15, Y:0.39, Z:5.91 [[-0.16995195 -0.17623759 0.96956518 0.15388554] [-0.02659667 -0.98269958 -0.18328707 0.38761847] [ 0.98509337 -0.0569372 0.16232438 5.91299788] [ 0. 0. 0. 1. ]] SLAMing on 5.005194016999999 meters 0.062376840568094456 Centerline is valid? [True, True] Translation: X:0.18, Y:0.31, Z:5.96 [[-0.23880709 -0.15565799 0.95851018 0.18306978] [-0.10105418 -0.97772613 -0.18395562 0.30532864] [ 0.96579461 -0.14079137 0.21775804 5.95561048] [ 0. 0. 0. 1. ]] SLAMing on 5.035194016999999 meters 0.05293676977455386 Centerline is valid? [True, True] Translation: X:0.16, Y:0.33, Z:5.99 [[-0.21273069 -0.17319963 0.96163795 0.16403598] [-0.07525372 -0.97833733 -0.19285474 0.32896673] [ 0.97420867 -0.11339296 0.19508846 5.99174686] [ 0. 0. 0. 1. ]] SLAMing on 5.065194017 meters 0.05745601496014321 Centerline is valid? [True, True] Translation: X:0.20, Y:0.26, Z:6.04 [[-0.25715656 -0.16261933 0.95258882 0.19928575] [-0.12605021 -0.97167342 -0.19990526 0.2627456 ] [ 0.95811369 -0.17148097 0.229374 6.0381381 ] [ 0. 0. 0. 1. ]] SLAMing on 5.095194016999999 meters 0.0502707702774711 Centerline is valid? [True, True] Translation: X:0.16, Y:0.33, Z:6.07 [[-0.20587626 -0.19401706 0.95915189 0.15522905] [-0.06503151 -0.97526934 -0.21123592 0.32929787] [ 0.9764148 -0.10586356 0.18816758 6.06656126] [ 0. 0. 0. 1. ]] SLAMing on 5.125194016999999 meters 0.030179467721607064 Centerline is valid? [True, True] Translation: X:0.09, Y:0.42, Z:6.09 [[-1.19220938e-01 -2.20305496e-01 9.68117687e-01 9.34340744e-02] [ 2.56568467e-02 -9.75430126e-01 -2.18809952e-01 4.16132213e-01] [ 9.92536193e-01 -1.24788071e-03 1.21944039e-01 6.08778116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1551940169999995 meters 0.0357920223886659 Centerline is valid? [True, True] Translation: X:0.08, Y:0.42, Z:6.12 [[-1.16232914e-01 -2.21976107e-01 9.68099436e-01 7.76114715e-02] [ 2.59063859e-02 -9.75051953e-01 -2.20459856e-01 4.24446086e-01] [ 9.92884066e-01 -5.44733823e-04 1.19083728e-01 6.11731611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185194017 meters 0.042896630939394206 Centerline is valid? [True, True] Translation: X:0.09, Y:0.42, Z:6.15 [[-0.12253662 -0.22297476 0.96709205 0.09017463] [ 0.00807317 -0.97462711 -0.22368913 0.42271806] [ 0.99243116 -0.01960261 0.12122763 6.15122558] [ 0. 0. 0. 1. ]] SLAMing on 5.215194016999999 meters 0.036639255405702065 Centerline is valid? [True, True] Translation: X:0.09, Y:0.42, Z:6.18 [[-0.11894579 -0.22750737 0.9664845 0.09078835] [ 0.01452125 -0.97368937 -0.22741623 0.41576476] [ 0.99279456 -0.01301564 0.11911994 6.18437672] [ 0. 0. 0. 1. ]] SLAMing on 5.245194016999999 meters 0.0375950413323547 Centerline is valid? [True, True] Translation: X:0.08, Y:0.42, Z:6.22 [[-0.12196167 -0.22970604 0.96558815 0.08273251] [ 0.01241303 -0.97312759 -0.22993175 0.41884306] [ 0.99245719 -0.01605698 0.12153562 6.21732699] [ 0. 0. 0. 1. ]] SLAMing on 5.275194017 meters 0.0464162959476329 Centerline is valid? [True, True] Translation: X:0.11, Y:0.38, Z:6.25 [[-0.1453796 -0.22967032 0.96234937 0.10670257] [-0.01228161 -0.97218933 -0.23387404 0.3839468 ] [ 0.98929972 -0.04581971 0.13851578 6.25489496] [ 0. 0. 0. 1. ]] SLAMing on 5.305194016999999 meters 0.03366703325042233 Centerline is valid? [True, True] Translation: X:0.06, Y:0.42, Z:6.28 [[-1.07455372e-01 -2.39538582e-01 9.64922075e-01 5.79796762e-02] [ 2.81731674e-02 -9.70885489e-01 -2.37881567e-01 4.19139991e-01] [ 9.93810654e-01 1.62325884e-03 1.11075422e-01 6.27952783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.335194016999999 meters 0.03867197261556556 Centerline is valid? [True, True] Translation: X:0.05, Y:0.42, Z:6.31 [[-1.09713559e-01 -2.40896663e-01 9.64329681e-01 5.15395068e-02] [ 2.61950728e-02 -9.70550242e-01 -2.39470343e-01 4.21492315e-01] [ 9.93618012e-01 -1.01245735e-03 1.12792826e-01 6.31187510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365194016999999 meters 0.040086560575674286 Centerline is valid? [True, True] Translation: X:0.10, Y:0.37, Z:6.35 [[-0.14128135 -0.23802825 0.96092774 0.09960976] [-0.01645736 -0.96996515 -0.24268654 0.36817696] [ 0.98983268 -0.05010142 0.13312067 6.35466081] [ 0. 0. 0. 1. ]] SLAMing on 5.395194017 meters 0.03554836749608193 Centerline is valid? [True, True] Translation: X:0.08, Y:0.38, Z:6.39 [[-0.11859962 -0.24799922 0.9614731 0.0805855 ] [ 0.00831197 -0.96852129 -0.24879191 0.3817635 ] [ 0.99290737 -0.02151489 0.11692762 6.38506527] [ 0. 0. 0. 1. ]] SLAMing on 5.425194016999999 meters 0.028700504967337243 Centerline is valid? [True, True] Translation: X:0.06, Y:0.40, Z:6.41 [[-0.0975389 -0.25506968 0.96199045 0.06235141] [ 0.03337614 -0.96689411 -0.25298578 0.39923552] [ 0.9946719 0.00743157 0.10282303 6.41435721] [ 0. 0. 0. 1. ]] SLAMing on 5.455194016999999 meters 0.03356333275548678 Centerline is valid? [True, True] Translation: X:0.03, Y:0.41, Z:6.44 [[-9.99918674e-02 -2.58087228e-01 9.60933197e-01 2.65693980e-02] [ 2.88492824e-02 -9.66119387e-01 -2.56478163e-01 4.11659453e-01] [ 9.94569930e-01 2.07650270e-03 1.04049713e-01 6.44221884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4851940169999995 meters 0.05249305513273811 Centerline is valid? [True, True] Translation: X:0.05, Y:0.36, Z:6.48 [[-0.14906165 -0.25168314 0.95626159 0.05373794] [-0.01895468 -0.96616078 -0.25724321 0.36304033] [ 0.98864622 -0.05647073 0.13924694 6.48120793] [ 0. 0. 0. 1. ]] SLAMing on 5.515194017 meters 0.04868664614115164 Centerline is valid? [True, True] Translation: X:0.02, Y:0.38, Z:6.51 [[-1.33519553e-01 -2.58792057e-01 9.56660441e-01 2.26719158e-02] [-4.62014494e-03 -9.65130566e-01 -2.61728188e-01 3.81934405e-01] [ 9.91035410e-01 -3.93657407e-02 1.27668145e-01 6.50828439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.545194016999999 meters 0.05082055855049346 Centerline is valid? [True, True] Translation: X:0.01, Y:0.38, Z:6.54 [[-1.46722372e-01 -2.57189803e-01 9.55157553e-01 5.30172729e-03] [-1.71518416e-02 -9.64800994e-01 -2.62421143e-01 3.77794494e-01] [ 9.89028998e-01 -5.48857636e-02 1.37146612e-01 6.53799969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.575194016999999 meters 0.05118456665568212 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.40, Z:6.57 [[-0.11850486 -0.26363158 0.95731656 -0.01340375] [ 0.01390474 -0.96445624 -0.2638765 0.4037788 ] [ 0.99285611 -0.01795941 0.11795848 6.56634606] [ 0. 0. 0. 1. ]] SLAMing on 5.605194017 meters 0.06197664156605546 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.40, Z:6.60 [[-1.31612804e-01 -2.62346586e-01 9.55956243e-01 -1.59171010e-02] [ 3.25481869e-03 -9.64454052e-01 -2.64230559e-01 3.95958871e-01] [ 9.91295857e-01 -3.16646606e-02 1.27788393e-01 6.59874387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.635194016999999 meters 0.03817224348530357 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.40, Z:6.63 [[-1.08676750e-01 -2.67080633e-01 9.57526657e-01 -5.49310447e-03] [ 2.11424703e-02 -9.63634865e-01 -2.66384766e-01 3.97963443e-01] [ 9.93852283e-01 -8.70535177e-03 1.10371450e-01 6.63159998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.665194016999999 meters 0.039933247294764315 Centerline is valid? [True, True] Translation: X:0.00, Y:0.38, Z:6.67 [[-1.27272105e-01 -2.65573976e-01 9.55652800e-01 2.11773491e-03] [ 6.65890879e-03 -9.63695104e-01 -2.66922095e-01 3.80849833e-01] [ 9.91845487e-01 -2.76081320e-02 1.24419937e-01 6.66593593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6951940169999995 meters 0.045480000675380966 Centerline is valid? [True, True] Translation: X:0.02, Y:0.33, Z:6.70 [[-0.18048207 -0.25822855 0.94907547 0.02418146] [-0.03810637 -0.96236093 -0.26908986 0.32504396] [ 0.98283983 -0.08473172 0.16384874 6.70459828] [ 0. 0. 0. 1. ]] SLAMing on 5.725194017 meters 0.04760499089336491 Centerline is valid? [True, True] Translation: X:-0.01, Y:0.36, Z:6.73 [[-0.16108424 -0.26777597 0.94991994 -0.01037226] [-0.01487478 -0.96172139 -0.27362514 0.36256344] [ 0.98682856 -0.05820654 0.15093505 6.73117913] [ 0. 0. 0. 1. ]] SLAMing on 5.755194016999999 meters 0.03452602384894035 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.38, Z:6.76 [[-0.13693353 -0.27485161 0.95168577 -0.0287976 ] [ 0.01063092 -0.9610881 -0.27603742 0.38131068] [ 0.99052319 -0.02768149 0.13452711 6.7603061 ] [ 0. 0. 0. 1. ]] SLAMing on 5.785194016999999 meters 0.03471219223988374 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.37, Z:6.79 [[-0.13691535 -0.27607787 0.95133338 -0.01942761] [ 0.01209382 -0.96077179 -0.27707636 0.37284644] [ 0.99050892 -0.02643075 0.13488324 6.79413111] [ 0. 0. 0. 1. ]] SLAMing on 5.815194017 meters 0.03822414263536633 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.37, Z:6.83 [[-1.53259683e-01 -2.77139507e-01 9.48527893e-01 -3.05953498e-02] [ 2.51543637e-03 -9.59974122e-01 -2.80077415e-01 3.74691709e-01] [ 9.88182747e-01 -4.05386142e-02 1.47822456e-01 6.82533003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845194016999999 meters 0.03476254930558196 Centerline is valid? [True, True] Translation: X:-0.02, Y:0.37, Z:6.86 [[-0.14883673 -0.28243796 0.94766894 -0.02123801] [ 0.01125455 -0.95876493 -0.28397736 0.3676612 ] [ 0.98879774 -0.03160068 0.14587815 6.8596075 ] [ 0. 0. 0. 1. ]] SLAMing on 5.875194016999999 meters 0.053540858056144086 Centerline is valid? [True, True] Translation: X:-0.54, Y:1.29, Z:6.89 [[-7.68015090e-02 8.57263474e-01 5.09117731e-01 -5.36839161e-01] [-1.33285704e-01 -5.14870263e-01 8.46843275e-01 1.28800649e+00] [ 9.88097389e-01 -2.81927359e-03 1.53803778e-01 6.89220563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9051940169999995 meters 0.04399253488976987 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.26, Z:7.09 [[-0.26026016 -0.35725532 0.89701354 -0.06103928] [ 0.01393307 -0.93032213 -0.36647865 0.25670598] [ 0.96543799 -0.08288164 0.24710345 7.09121513] [ 0. 0. 0. 1. ]] SLAMing on 5.935194017 meters 0.04062444299431173 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.21, Z:7.13 [[-0.30042952 -0.34172348 0.89048704 -0.03266284] [-0.02288508 -0.93076502 -0.36490101 0.20758309] [ 0.95352943 -0.1300059 0.27180892 7.13408364] [ 0. 0. 0. 1. ]] SLAMing on 5.965194016999999 meters 0.050282731799801736 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.17, Z:7.17 [[-0.34707681 -0.32491517 0.87975441 -0.04804661] [-0.05049901 -0.93023211 -0.36348049 0.17139527] [ 0.93647613 -0.17058237 0.3064541 7.16998929] [ 0. 0. 0. 1. ]] SLAMing on 5.995194016999999 meters 0.04886796636926623 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.19, Z:7.20 [[-0.33374628 -0.33552972 0.88092748 -0.04927705] [-0.0369335 -0.92913766 -0.36788468 0.19374993] [ 0.94193914 -0.15531588 0.29770394 7.20269377] [ 0. 0. 0. 1. ]] SLAMing on 6.025194017 meters 0.04886077836278331 Centerline is valid? [True, True] Translation: X:-0.04, Y:0.14, Z:7.25 [[-0.36863449 -0.31875402 0.87321503 -0.03922566] [-0.06770977 -0.92766813 -0.36721551 0.13821645] [ 0.92710517 -0.19449349 0.3203877 7.24709325] [ 0. 0. 0. 1. ]] SLAMing on 6.055194016999999 meters 0.04795466763043968 Centerline is valid? [True, True] Translation: X:-0.10, Y:0.21, Z:7.26 [[-3.08601530e-01 -3.56334633e-01 8.81924444e-01 -9.94652757e-02] [-4.04848659e-03 -9.26678280e-01 -3.75833707e-01 2.12586461e-01] [ 9.51182793e-01 -1.19553316e-01 2.84531719e-01 7.26457990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.085194016999999 meters 0.048557455904657265 Centerline is valid? [True, True] Translation: X:-0.11, Y:0.25, Z:7.29 [[-0.26731461 -0.37447579 0.88786867 -0.11391051] [ 0.02989155 -0.9241781 -0.38079041 0.25350633] [ 0.96314557 -0.07525107 0.25823998 7.29205262] [ 0. 0. 0. 1. ]] SLAMing on 6.115194016999999 meters 0.0376101253167641 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.23, Z:7.33 [[-0.27878798 -0.37219564 0.88529524 -0.09379676] [ 0.02364569 -0.92422475 -0.38111612 0.23231841] [ 0.96006153 -0.08531718 0.26646357 7.33108848] [ 0. 0. 0. 1. ]] SLAMing on 6.145194017 meters 0.040538373776959055 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.20, Z:7.37 [[-0.30216148 -0.36636742 0.88004168 -0.08596092] [ 0.00798842 -0.92413557 -0.38198119 0.19846041] [ 0.95322328 -0.10838986 0.28216487 7.37146084] [ 0. 0. 0. 1. ]] SLAMing on 6.175194016999999 meters 0.03080302347294219 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.27, Z:7.39 [[-0.22422114 -0.39498226 0.89090622 -0.11923857] [ 0.06699905 -0.91826765 -0.39025076 0.2714709 ] [ 0.97223249 -0.0278126 0.23235846 7.39109333] [ 0. 0. 0. 1. ]] SLAMing on 6.205194016999999 meters 0.03081277321848911 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.28, Z:7.42 [[-0.2253296 -0.3954654 0.89041209 -0.13638912] [ 0.06789734 -0.91806762 -0.39056601 0.2759317 ] [ 0.97191385 -0.02754947 0.23371885 7.42065232] [ 0. 0. 0. 1. ]] SLAMing on 6.2351940169999995 meters 0.030510162872265323 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.26, Z:7.46 [[-0.21657471 -0.40040464 0.89037718 -0.11608014] [ 0.07713345 -0.91619004 -0.39325086 0.26309111] [ 0.97321417 -0.01649032 0.22930819 7.45845435] [ 0. 0. 0. 1. ]] SLAMing on 6.265194017 meters 0.03148942446760382 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.27, Z:7.49 [[-0.22590407 -0.40002486 0.88822715 -0.13800125] [ 0.0731812 -0.91618984 -0.39400595 0.27143433] [ 0.97139686 -0.02400602 0.23624531 7.48713807] [ 0. 0. 0. 1. ]] SLAMing on 6.295194016999999 meters 0.03152547059331018 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.27, Z:7.52 [[-0.21432608 -0.40458732 0.88902949 -0.14040079] [ 0.08173104 -0.91441658 -0.39643708 0.27205939] [ 0.97333672 -0.0123055 0.22905066 7.51940581] [ 0. 0. 0. 1. ]] SLAMing on 6.325194016999999 meters 0.03230702380619155 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.27, Z:7.55 [[-0.22222982 -0.40635305 0.88627936 -0.14666313] [ 0.08361783 -0.91360393 -0.39791446 0.26673242] [ 0.97140206 -0.0143197 0.2370084 7.55206228] [ 0. 0. 0. 1. ]] SLAMing on 6.355194017 meters 0.032985332534786 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.26, Z:7.59 [[-0.23280797 -0.40490937 0.88422217 -0.14891062] [ 0.07494545 -0.91397055 -0.39879948 0.26137637] [ 0.96963067 -0.02657527 0.24312574 7.58739329] [ 0. 0. 0. 1. ]] SLAMing on 6.385194016999999 meters 0.031750736674961616 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.27, Z:7.62 [[-0.21365422 -0.41205963 0.8857532 -0.16533113] [ 0.08577122 -0.91110018 -0.40316221 0.27179228] [ 0.97313677 -0.01016517 0.23000326 7.61634854] [ 0. 0. 0. 1. ]] SLAMing on 6.415194016999999 meters 0.03749781848255449 Centerline is valid? [True, True] Translation: X:-0.11, Y:0.20, Z:7.67 [[-0.27516401 -0.3965565 0.87580118 -0.11138827] [ 0.04553906 -0.91532063 -0.4001429 0.19748913] [ 0.96031816 -0.07022176 0.2699221 7.66883627] [ 0. 0. 0. 1. ]] SLAMing on 6.4451940169999995 meters 0.034983469753118265 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.26, Z:7.68 [[-2.11702368e-01 -4.20065213e-01 8.82455282e-01 -1.76162279e-01] [ 9.78498617e-02 -9.07493911e-01 -4.08509738e-01 2.59144521e-01] [ 9.72423525e-01 -1.34351310e-04 2.33221933e-01 7.68387902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.475194017 meters 0.03316348224442711 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.23, Z:7.72 [[-0.23175064 -0.41734327 0.87870145 -0.1651338 ] [ 0.09005947 -0.90861888 -0.40780022 0.23136387] [ 0.9685974 -0.01537257 0.24815873 7.72347887] [ 0. 0. 0. 1. ]] SLAMing on 6.505194016999999 meters 0.04102593473567753 Centerline is valid? [True, True] Translation: X:-0.14, Y:0.16, Z:7.77 [[-0.29932201 -0.3972767 0.86751228 -0.13538015] [ 0.03466227 -0.91312432 -0.40620501 0.16416518] [ 0.95352234 -0.09151615 0.28708872 7.77334449] [ 0. 0. 0. 1. ]] SLAMing on 6.535194016999999 meters 0.033454126602490177 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.25, Z:7.79 [[-0.20289014 -0.43245381 0.87853247 -0.2007141 ] [ 0.11229225 -0.90154933 -0.41785075 0.25241431] [ 0.97274151 0.01387459 0.23147668 7.78676606] [ 0. 0. 0. 1. ]] SLAMing on 6.565194017 meters 0.032850069748830785 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.25, Z:7.82 [[-0.19469898 -0.43510601 0.87907626 -0.20365855] [ 0.11739042 -0.90012215 -0.41952306 0.24983008] [ 0.97381302 0.02151442 0.22633014 7.82046974] [ 0. 0. 0. 1. ]] SLAMing on 6.595194016999999 meters 0.03344368202717899 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.25, Z:7.85 [[-0.20158371 -0.43704017 0.87656141 -0.21806621] [ 0.11744717 -0.89926161 -0.4213487 0.24951451] [ 0.97240432 0.01801263 0.23260562 7.85152879] [ 0. 0. 0. 1. ]] SLAMing on 6.625194016999999 meters 0.04230473515395435 Centerline is valid? [True, True] Translation: X:-0.16, Y:0.13, Z:7.91 [[-0.30896888 -0.40767971 0.8592645 -0.15559161] [ 0.04235571 -0.90847112 -0.41579589 0.12999448] [ 0.95012853 -0.09207323 0.29795687 7.91405123] [ 0. 0. 0. 1. ]] SLAMing on 6.6551940169999995 meters 0.03671693563533138 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.17, Z:7.94 [[-0.25236175 -0.43388031 0.86490544 -0.17863595] [ 0.08544267 -0.90033671 -0.42672399 0.17416564] [ 0.96385326 -0.03378898 0.26428243 7.942816 ] [ 0. 0. 0. 1. ]] SLAMing on 6.685194017 meters 0.034169732026767125 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.19, Z:7.97 [[-0.23697869 -0.44177336 0.86526146 -0.20074131] [ 0.09942179 -0.8969831 -0.43073963 0.19032101] [ 0.9664142 -0.01605027 0.25648778 7.97130061] [ 0. 0. 0. 1. ]] SLAMing on 6.715194016999999 meters 0.034169732026767125 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.19, Z:8.00 [[-0.23666929 -0.44384522 0.86428529 -0.20717399] [ 0.10012798 -0.89596299 -0.43269471 0.19145621] [ 0.96641711 -0.01586641 0.25648825 8.0040471 ] [ 0. 0. 0. 1. ]] SLAMing on 6.745194016999999 meters 0.03249194993524204 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.24, Z:8.02 [[-0.19261352 -0.45712547 0.86829508 -0.25646444] [ 0.13389124 -0.88883187 -0.4382363 0.24182946] [ 0.9720973 0.03184687 0.23240613 8.02268248] [ 0. 0. 0. 1. ]] SLAMing on 6.775194017 meters 0.03533224269512728 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.22, Z:8.06 [[-0.21068676 -0.45568588 0.86484766 -0.24036813] [ 0.12292292 -0.89003343 -0.43901077 0.22384302] [ 0.96979433 0.01381584 0.24353249 8.06188828] [ 0. 0. 0. 1. ]] SLAMing on 6.805194016999999 meters 0.041242535116887725 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.16, Z:8.11 [[-0.25698637 -0.44596349 0.8573649 -0.19584622] [ 0.08799557 -0.89427287 -0.43878562 0.16260457] [ 0.96240053 -0.03731762 0.26905875 8.1133871 ] [ 0. 0. 0. 1. ]] SLAMing on 6.835194016999999 meters 0.04285496648205315 Centerline is valid? [True, True] Translation: X:-0.19, Y:0.12, Z:8.16 [[-0.3047773 -0.43429703 0.84764196 -0.19245599] [ 0.05728231 -0.89673157 -0.43885217 0.12138975] [ 0.9506995 -0.08519729 0.29818096 8.156379 ] [ 0. 0. 0. 1. ]] SLAMing on 6.865194016999999 meters 0.04099451152362979 Centerline is valid? [True, True] Translation: X:-0.28, Y:0.23, Z:8.16 [[-0.21036572 -0.46866515 0.85796226 -0.28295923] [ 0.12776862 -0.88325336 -0.45115263 0.23114687] [ 0.96923756 0.0147136 0.24568692 8.16360872] [ 0. 0. 0. 1. ]] SLAMing on 6.895194017 meters 0.040909374772296676 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.15, Z:8.22 [[-0.26697485 -0.45340753 0.85037994 -0.21529674] [ 0.08149315 -0.88986933 -0.44887798 0.15098697] [ 0.96025168 -0.05053899 0.27452234 8.22338972] [ 0. 0. 0. 1. ]] SLAMing on 6.925194016999999 meters 0.04603377943324629 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.11, Z:8.27 [[-0.3164448 -0.44110712 0.83981379 -0.19835298] [ 0.04647576 -0.89145512 -0.45071918 0.11406464] [ 0.94747174 -0.10359676 0.30259713 8.2736257 ] [ 0. 0. 0. 1. ]] SLAMing on 6.955194016999999 meters 0.03790533042249651 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.16, Z:8.30 [[-0.26728261 -0.46770266 0.84250473 -0.22999139] [ 0.08342025 -0.88226207 -0.46330842 0.15629031] [ 0.96000056 -0.05355233 0.27482918 8.29910256] [ 0. 0. 0. 1. ]] SLAMing on 6.9851940169999995 meters 0.03825409855298256 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.15, Z:8.34 [[-0.27776492 -0.46604717 0.84002779 -0.23330013] [ 0.07271888 -0.88212938 -0.46535978 0.1482935 ] [ 0.9578928 -0.06817474 0.27891503 8.33707406] [ 0. 0. 0. 1. ]] SLAMing on 7.015194016999999 meters 0.0353378299443496 Centerline is valid? [True, True] Translation: X:-0.29, Y:0.24, Z:8.35 [[-0.1964002 -0.49159329 0.84838847 -0.29193651] [ 0.12780764 -0.87069305 -0.47493033 0.23927605] [ 0.97215851 0.01515411 0.23383367 8.35100438] [ 0. 0. 0. 1. ]] SLAMing on 7.045194016999999 meters 0.03970347271275106 Centerline is valid? [True, True] Translation: X:-0.27, Y:0.17, Z:8.40 [[-0.281506 -0.47017771 0.83647313 -0.26537096] [ 0.07323299 -0.87971093 -0.46983572 0.17040048] [ 0.95676084 -0.07100415 0.28207642 8.40082788] [ 0. 0. 0. 1. ]] SLAMing on 7.075194016999999 meters 0.049325739298637025 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.15, Z:8.44 [[-0.28383445 -0.47336034 0.83388728 -0.24483083] [ 0.06631858 -0.87726178 -0.4754089 0.15337939] [ 0.95657715 -0.0796352 0.2803897 8.44420703] [ 0. 0. 0. 1. ]] SLAMing on 7.105194017 meters 0.038532630486964065 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.15, Z:8.48 [[-0.29216162 -0.47411192 0.8305778 -0.25612772] [ 0.06036998 -0.87588074 -0.47873626 0.14513306] [ 0.95446166 -0.08972639 0.28452086 8.48022977] [ 0. 0. 0. 1. ]] SLAMing on 7.135194016999999 meters 0.04441465109321529 Centerline is valid? [True, True] Translation: X:-0.23, Y:0.10, Z:8.53 [[-0.32917347 -0.46205825 0.82349682 -0.22982725] [ 0.03081812 -0.87689176 -0.47969895 0.09698603] [ 0.94376643 -0.13252554 0.30288927 8.53067761] [ 0. 0. 0. 1. ]] SLAMing on 7.165194016999999 meters 0.052198610790707284 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.06, Z:8.58 [[-3.73698074e-01 -4.48379619e-01 8.11976272e-01 -2.37339047e-01] [ 6.86973459e-03 -8.76712459e-01 -4.80965768e-01 5.77345956e-02] [ 9.27524963e-01 -1.74157920e-01 3.30706007e-01 8.57642588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1951940169999995 meters 0.046809261173389925 Centerline is valid? [True, True] Translation: X:-0.28, Y:0.18, Z:8.59 [[-0.27086567 -0.49655696 0.82465931 -0.28192256] [ 0.07056249 -0.86462202 -0.49744315 0.18082609] [ 0.96002746 -0.07655025 0.26923472 8.58909074] [ 0. 0. 0. 1. ]] SLAMing on 7.225194016999999 meters 0.05527442493365005 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.05, Z:8.66 [[-3.72533518e-01 -4.54376188e-01 8.09173070e-01 -2.17546963e-01] [ 9.48409466e-04 -8.72122086e-01 -4.89287409e-01 4.98670234e-02] [ 9.28018253e-01 -1.81508532e-01 3.25325644e-01 8.66331955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.255194016999999 meters 0.06038807627108832 Centerline is valid? [True, True] Translation: X:-0.29, Y:0.06, Z:8.69 [[-0.40503324 -0.45083854 0.79541981 -0.29185514] [-0.01219507 -0.86723368 -0.49775197 0.05833608] [ 0.91422063 -0.2113063 0.34576046 8.6899523 ] [ 0. 0. 0. 1. ]] SLAMing on 7.285194016999999 meters 0.05992234080321224 Centerline is valid? [True, True] Translation: X:-0.29, Y:0.06, Z:8.73 [[-3.96866686e-01 -4.61385686e-01 7.93486032e-01 -2.94736005e-01] [-3.37653524e-03 -8.63740686e-01 -5.03925219e-01 5.67353434e-02] [ 9.17870052e-01 -2.02670365e-01 3.41232018e-01 8.73100802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315194017 meters 0.056519492991119934 Centerline is valid? [True, True] Translation: X:-0.26, Y:0.01, Z:8.79 [[-3.82821626e-01 -4.71591117e-01 7.94386192e-01 -2.57502576e-01] [-5.16970519e-03 -8.58783661e-01 -5.12312305e-01 6.92109662e-03] [ 9.23807814e-01 -2.00230972e-01 3.26322971e-01 8.78679233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345194016999999 meters 0.06043192602560791 Centerline is valid? [True, True] Translation: X:-0.32, Y:-0.01, Z:8.82 [[-4.47620676e-01 -4.42884557e-01 7.76845544e-01 -3.21712177e-01] [-3.47529582e-02 -8.59465319e-01 -5.10011370e-01 -6.49976545e-03] [ 8.93547963e-01 -2.55289315e-01 3.69322899e-01 8.82262696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.375194016999999 meters 0.05341185364676546 Centerline is valid? [True, True] Translation: X:-0.27, Y:-0.04, Z:8.88 [[-0.42177652 -0.46356234 0.77923971 -0.26688162] [-0.02784029 -0.85239769 -0.52215236 -0.04346246] [ 0.9062723 -0.24192587 0.34661562 8.88183469] [ 0. 0. 0. 1. ]] SLAMing on 7.4051940169999995 meters 0.0499818221739673 Centerline is valid? [True, True] Translation: X:-0.25, Y:-0.04, Z:8.93 [[-0.40069754 -0.48244274 0.77890338 -0.25227164] [-0.01609401 -0.84629851 -0.53246579 -0.03569809] [ 0.91606903 -0.22589342 0.33134529 8.92858248] [ 0. 0. 0. 1. ]] SLAMing on 7.435194017 meters 0.052902947055629125 Centerline is valid? [True, True] Translation: X:-0.36, Y:-0.10, Z:8.97 [[-0.45726458 -0.4544686 0.76443927 -0.3564947 ] [-0.05013084 -0.84502828 -0.53236652 -0.10458185] [ 0.88791666 -0.28175434 0.36361861 8.96561442] [ 0. 0. 0. 1. ]] SLAMing on 7.465194016999999 meters 0.047934435019021386 Centerline is valid? [True, True] Translation: X:-0.27, Y:0.05, Z:9.00 [[-0.31840249 -0.53616101 0.78176161 -0.2709197 ] [ 0.03462477 -0.83070919 -0.5556288 0.05201378] [ 0.94732306 -0.14984528 0.28306433 8.9975485 ] [ 0. 0. 0. 1. ]] SLAMing on 7.495194016999999 meters 0.04235731460267837 Centerline is valid? [True, True] Translation: X:-0.32, Y:0.09, Z:9.02 [[-0.31479938 -0.54151416 0.77952791 -0.32290912] [ 0.04227199 -0.8284672 -0.55843994 0.09493325] [ 0.94821645 -0.14284435 0.28369184 9.02161707] [ 0. 0. 0. 1. ]] SLAMing on 7.525194017 meters 0.05256630621405385 Centerline is valid? [True, True] Translation: X:-0.33, Y:0.09, Z:9.06 [[-0.31658646 -0.54456076 0.77667663 -0.3257404 ] [ 0.03849818 -0.8254941 -0.56309624 0.09231159] [ 0.9477821 -0.14836801 0.28230485 9.06128926] [ 0. 0. 0. 1. ]] SLAMing on 7.555194016999999 meters 0.041616992976497305 Centerline is valid? [True, True] Translation: X:-0.35, Y:0.06, Z:9.10 [[-0.35007701 -0.53521401 0.76876007 -0.34641826] [ 0.02331156 -0.82541643 -0.56404281 0.05838701] [ 0.93643081 -0.17953742 0.30143599 9.10098371] [ 0. 0. 0. 1. ]] SLAMing on 7.585194016999999 meters 0.054015734375120056 Centerline is valid? [True, True] Translation: X:-0.36, Y:0.19, Z:9.12 [[-0.20822542 -0.58709121 0.78228261 -0.36146231] [ 0.09472651 -0.80815886 -0.58129695 0.19447671] [ 0.97348295 -0.0469379 0.22389232 9.11512378] [ 0. 0. 0. 1. ]] SLAMing on 7.615194016999999 meters 0.053394031200073785 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.21, Z:9.15 [[-0.20683935 -0.58840794 0.78166079 -0.37313745] [ 0.09561988 -0.80727071 -0.58238375 0.20856924] [ 0.97369108 -0.04571756 0.22323884 9.14671414] [ 0. 0. 0. 1. ]] SLAMing on 7.645194017 meters 0.04241432190728451 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.20, Z:9.18 [[-0.20961884 -0.59036436 0.77944202 -0.37150708] [ 0.09415195 -0.80563494 -0.58488268 0.19777609] [ 0.97323962 -0.04921644 0.22446022 9.18419489] [ 0. 0. 0. 1. ]] SLAMing on 7.675194016999999 meters 0.07414668617962919 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.16, Z:9.23 [[-0.27863848 -0.57452334 0.76959959 -0.37079142] [ 0.0636947 -0.81062616 -0.58208952 0.16039827] [ 0.95828158 -0.11317313 0.26246573 9.22676876] [ 0. 0. 0. 1. ]] SLAMing on 7.705194016999999 meters 0.059289478899114074 Centerline is valid? [True, True] Translation: X:-0.39, Y:0.18, Z:9.26 [[-0.25380504 -0.5871626 0.76865017 -0.38725015] [ 0.07772555 -0.80448208 -0.58886952 0.17922574] [ 0.96412745 -0.08971429 0.24981915 9.25539382] [ 0. 0. 0. 1. ]] SLAMing on 7.7351940169999995 meters 0.07294666669749884 Centerline is valid? [True, True] Translation: X:-0.41, Y:0.18, Z:9.29 [[-0.27197883 -0.58428326 0.76461794 -0.4061567 ] [ 0.07668204 -0.80520313 -0.58802023 0.18056533] [ 0.95924313 -0.10129659 0.26380223 9.28725158] [ 0. 0. 0. 1. ]] SLAMing on 7.765194016999999 meters 0.07289520189408383 Centerline is valid? [True, True] Translation: X:-0.43, Y:0.22, Z:9.31 [[-0.25743509 -0.59119388 0.76434088 -0.4338584 ] [ 0.08591716 -0.80187237 -0.59128584 0.22149651] [ 0.9624684 -0.08654773 0.25722379 9.31141128] [ 0. 0. 0. 1. ]] SLAMing on 7.795194016999999 meters 0.0761911318568696 Centerline is valid? [True, True] Translation: X:-0.43, Y:0.22, Z:9.35 [[-0.25096256 -0.59459483 0.7638552 -0.43129872] [ 0.08940549 -0.79997414 -0.59333636 0.2212752 ] [ 0.96385914 -0.08061237 0.2539236 9.34548166] [ 0. 0. 0. 1. ]] SLAMing on 7.825194016999999 meters 0.06272701981952773 Centerline is valid? [True, True] Translation: X:-0.40, Y:0.19, Z:9.39 [[-0.2186575 -0.60436451 0.76611516 -0.40078966] [ 0.09979837 -0.79484718 -0.59854678 0.18664007] [ 0.9706849 -0.0544197 0.23411389 9.39001417] [ 0. 0. 0. 1. ]] SLAMing on 7.855194017 meters 0.06840530457906602 Centerline is valid? [True, True] Translation: X:-0.39, Y:0.17, Z:9.43 [[-0.23135501 -0.60365316 0.76294018 -0.39373928] [ 0.09659513 -0.79459456 -0.59940709 0.16528253] [ 0.9680621 -0.06497953 0.24214339 9.43392246] [ 0. 0. 0. 1. ]] SLAMing on 7.885194016999999 meters 0.047313283032255946 Centerline is valid? [True, True] Translation: X:-0.39, Y:0.17, Z:9.47 [[-0.21397145 -0.61425515 0.75954383 -0.39476817] [ 0.10860558 -0.78769061 -0.60642257 0.16778172] [ 0.97078373 -0.04726641 0.23525484 9.47074868] [ 0. 0. 0. 1. ]] SLAMing on 7.915194016999999 meters 0.04946419352428311 Centerline is valid? [True, True] Translation: X:-0.40, Y:0.16, Z:9.51 [[-0.20641426 -0.61983468 0.75709849 -0.40117175] [ 0.11615206 -0.78381269 -0.610038 0.15676749] [ 0.97154612 -0.03798199 0.23378519 9.50995105] [ 0. 0. 0. 1. ]] SLAMing on 7.9451940169999995 meters 0.038826888788128414 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.13, Z:9.56 [[-0.18085181 -0.6286258 0.75638762 -0.37280745] [ 0.12288858 -0.77748561 -0.61677753 0.12776051] [ 0.97580276 -0.01859393 0.21786061 9.55923407] [ 0. 0. 0. 1. ]] SLAMing on 7.975194016999999 meters 0.042956633460537436 Centerline is valid? [True, True] Translation: X:-0.40, Y:0.13, Z:9.60 [[-0.19157839 -0.6330182 0.75005712 -0.39956479] [ 0.12344263 -0.77368446 -0.62142922 0.12515938] [ 0.97368354 -0.02646339 0.22636265 9.59535874] [ 0. 0. 0. 1. ]] SLAMing on 8.005194016999999 meters 0.046134073064441596 Centerline is valid? [True, True] Translation: X:-0.40, Y:0.12, Z:9.64 [[-0.18135126 -0.64086596 0.74592395 -0.40211666] [ 0.13166018 -0.7674949 -0.62738918 0.11574351] [ 0.9745652 -0.01556934 0.22356269 9.63627817] [ 0. 0. 0. 1. ]] SLAMing on 8.035194017 meters 0.03896948936129053 Centerline is valid? [True, True] Translation: X:-0.41, Y:0.12, Z:9.68 [[-1.61537706e-01 -6.49625237e-01 7.42894758e-01 -4.05546723e-01] [ 1.45460538e-01 -7.60232600e-01 -6.33156873e-01 1.15146050e-01] [ 9.76087497e-01 5.78316202e-03 2.17301067e-01 9.67987036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065194017 meters 0.04581729742284469 Centerline is valid? [True, True] Translation: X:-0.44, Y:0.11, Z:9.72 [[-0.18518225 -0.65367255 0.7337709 -0.43500264] [ 0.1354197 -0.75653623 -0.63977686 0.11422163] [ 0.97332884 -0.01910828 0.22861723 9.71728783] [ 0. 0. 0. 1. ]] SLAMing on 8.095194017 meters 0.03833440251370221 Centerline is valid? [True, True] Translation: X:-0.39, Y:0.06, Z:9.77 [[-1.54806468e-01 -6.64087035e-01 7.31452915e-01 -3.88172360e-01] [ 1.45065255e-01 -7.47632915e-01 -6.48074915e-01 5.90714709e-02] [ 9.77236424e-01 5.78221454e-03 2.12074366e-01 9.77481077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125194017 meters 0.05596167644578653 Centerline is valid? [True, True] Translation: X:-0.38, Y:-0.10, Z:9.85 [[-0.30074477 -0.635256 0.71133845 -0.37602847] [ 0.09222073 -0.76174423 -0.6412808 -0.10029875] [ 0.94923544 -0.1272617 0.28767436 9.84812189] [ 0. 0. 0. 1. ]] SLAMing on 8.155194017 meters 0.0413355143219408 Centerline is valid? [True, True] Translation: X:-0.44, Y:0.07, Z:9.85 [[-0.14041409 -0.68463092 0.7152373 -0.43716097] [ 0.15920409 -0.72860638 -0.66617325 0.06532817] [ 0.97720926 0.0203286 0.21130264 9.85349 ] [ 0. 0. 0. 1. ]] SLAMing on 8.185194017 meters 0.07537119647903281 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.03, Z:9.92 [[-0.18769993 -0.67940836 0.70934689 -0.4015839 ] [ 0.13432625 -0.73315299 -0.6666657 -0.02673404] [ 0.97299804 -0.0298492 0.22887514 9.9166528 ] [ 0. 0. 0. 1. ]] SLAMing on 8.215194017 meters 0.041280266680193634 Centerline is valid? [True, True] Translation: X:-0.39, Y:-0.08, Z:9.97 [[-0.21272967 -0.68221133 0.69952397 -0.38781852] [ 0.12591449 -0.729081 -0.67274545 -0.07832485] [ 0.9689642 -0.05503272 0.24099745 9.97152773] [ 0. 0. 0. 1. ]] SLAMing on 8.245194017 meters 0.03815287176821796 Centerline is valid? [True, True] Translation: X:-0.46, Y:0.02, Z:9.99 [[-0.13971789 -0.70426217 0.69605583 -0.45851198] [ 0.16325535 -0.70971469 -0.68531215 0.02456654] [ 0.97664047 0.01788447 0.21413441 9.98638725] [ 0. 0. 0. 1. ]] SLAMing on 8.275194017 meters 0.056784077192363114 Centerline is valid? [True, True] Translation: X:-0.44, Y:0.01, Z:10.03 [[-0.09873206 -0.71216292 0.69503666 -0.43839971] [ 0.17100321 -0.70020154 -0.69316355 0.01461733] [ 0.98031111 0.05041604 0.19091449 10.03226412] [ 0. 0. 0. 1. ]] SLAMing on 8.305194017 meters 0.03465187222527171 Centerline is valid? [True, True] Translation: X:-0.47, Y:0.01, Z:10.08 [[-0.11142345 -0.7172127 0.68788862 -0.4686562 ] [ 0.17388072 -0.69559112 -0.69707854 0.01302895] [ 0.9784428 0.04193967 0.20221463 10.07592775] [ 0. 0. 0. 1. ]] SLAMing on 8.335194017000001 meters 0.04938844521645273 Centerline is valid? [True, True] Translation: X:-0.47, Y:-0.01, Z:10.12 [[-1.14665983e-01 -7.25300924e-01 6.78815351e-01 -4.69006248e-01] [ 1.70001491e-01 -6.87569333e-01 -7.05937607e-01 -7.46840028e-03] [ 9.78749817e-01 3.44525921e-02 2.02143052e-01 1.01232978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365194017 meters 0.026254177628521135 Centerline is valid? [True, True] Translation: X:-0.50, Y:0.01, Z:10.16 [[-0.10136387 -0.73327228 0.67233706 -0.50158493] [ 0.17570412 -0.67838941 -0.7133834 0.0116998 ] [ 0.97921061 0.04582109 0.19760314 10.15855057] [ 0. 0. 0. 1. ]] SLAMing on 8.395194017 meters 0.038502541620690466 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.03, Z:10.21 [[-0.12064127 -0.73678118 0.66528128 -0.4920881 ] [ 0.16806628 -0.67566093 -0.71779944 -0.02863695] [ 0.97836568 0.02521511 0.20534066 10.21090886] [ 0. 0. 0. 1. ]] SLAMing on 8.425194017 meters 0.030050277069024505 Centerline is valid? [True, True] Translation: X:-0.51, Y:0.00, Z:10.25 [[-9.00009891e-02 -7.46440332e-01 6.59338041e-01 -5.09293399e-01] [ 1.76032396e-01 -6.63524218e-01 -7.27150746e-01 2.01552381e-03] [ 9.80261403e-01 5.06205684e-02 1.91115516e-01 1.02474616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455194017 meters 0.04095156259426812 Centerline is valid? [True, True] Translation: X:-0.53, Y:-0.00, Z:10.29 [[-1.04601963e-01 -7.50774927e-01 6.52223457e-01 -5.29475443e-01] [ 1.70619546e-01 -6.59645098e-01 -7.31954449e-01 -7.89169950e-04] [ 9.79769054e-01 3.47181981e-02 1.97097049e-01 1.02905152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485194017 meters 0.081673528207288 Centerline is valid? [True, True] Translation: X:-0.50, Y:-0.03, Z:10.34 [[-0.07490952 -0.75992246 0.64568291 -0.4962866 ] [ 0.17483131 -0.6474814 -0.74175592 -0.03370072] [ 0.98174466 0.05732101 0.18136076 10.34419787] [ 0. 0. 0. 1. ]] SLAMing on 8.515194017 meters 0.05618477375126893 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.06, Z:10.39 [[-0.10919845 -0.76339033 0.63664032 -0.52486022] [ 0.16709259 -0.64545378 -0.74529826 -0.05870308] [ 0.97987538 0.02499247 0.19803942 10.38999961] [ 0. 0. 0. 1. ]] SLAMing on 8.545194017 meters 0.03871154792301826 Centerline is valid? [True, True] Translation: X:-0.53, Y:-0.05, Z:10.43 [[-0.09411522 -0.77157433 0.6291386 -0.5343973 ] [ 0.16572296 -0.6352685 -0.75430089 -0.0483755 ] [ 0.98167114 0.03327152 0.18765602 10.43167065] [ 0. 0. 0. 1. ]] SLAMing on 8.575194017 meters 0.03626726712525043 Centerline is valid? [True, True] Translation: X:-0.56, Y:-0.04, Z:10.47 [[-0.1013627 -0.77739355 0.62079375 -0.55578652] [ 0.16658295 -0.62846032 -0.75979454 -0.04254084] [ 0.98080361 0.02639883 0.19320294 10.47319348] [ 0. 0. 0. 1. ]] SLAMing on 8.605194017 meters 0.03626726712525043 Centerline is valid? [True, True] Translation: X:-0.57, Y:-0.05, Z:10.52 [[-0.09938759 -0.78435109 0.61230342 -0.57033455] [ 0.16780668 -0.61974858 -0.76665026 -0.04503726] [ 0.98079714 0.02655308 0.19321467 10.51829676] [ 0. 0. 0. 1. ]] SLAMing on 8.635194017 meters 0.04071261440657412 Centerline is valid? [True, True] Translation: X:-0.58, Y:-0.05, Z:10.56 [[-0.07870504 -0.79302047 0.60408944 -0.57803252] [ 0.17286512 -0.60764591 -0.77516714 -0.04891283] [ 0.98179589 0.04341643 0.18491037 10.56394034] [ 0. 0. 0. 1. ]] SLAMing on 8.665194017000001 meters 0.0950706588803947 Centerline is valid? [True, True] Translation: X:-0.57, Y:-0.12, Z:10.63 [[-1.11077736e-01 -7.96783869e-01 5.93967341e-01 -5.68305704e-01] [ 1.59400256e-01 -6.04211993e-01 -7.80717251e-01 -1.18834314e-01] [ 9.80945103e-01 7.95824151e-03 1.94122053e-01 1.06267471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.695194017 meters 0.07888607210538894 Centerline is valid? [True, True] Translation: X:-0.59, Y:-0.20, Z:10.69 [[-0.17142114 -0.79772488 0.57814342 -0.58629054] [ 0.15381532 -0.60130409 -0.7840754 -0.20233162] [ 0.97311646 -0.04547979 0.22577854 10.68681789] [ 0. 0. 0. 1. ]] SLAMing on 8.725194017 meters 0.04222031515204176 Centerline is valid? [True, True] Translation: X:-0.62, Y:-0.07, Z:10.71 [[-0.06297491 -0.81777971 0.57207561 -0.62426651] [ 0.18042212 -0.57309742 -0.79937926 -0.07223546] [ 0.9815712 0.05287426 0.18363631 10.7070493 ] [ 0. 0. 0. 1. ]] SLAMing on 8.755194017 meters 0.03273636583401481 Centerline is valid? [True, True] Translation: X:-0.62, Y:-0.10, Z:10.76 [[-0.06267748 -0.82417004 0.56286346 -0.62408172] [ 0.18050598 -0.56403276 -0.805782 -0.0963259 ] [ 0.98157482 0.05109584 0.18411977 10.75733307] [ 0. 0. 0. 1. ]] SLAMing on 8.785194017 meters 0.09120194797854053 Centerline is valid? [True, True] Translation: X:-0.65, Y:-0.10, Z:10.80 [[-0.06537077 -0.82994225 0.55400589 -0.65298745] [ 0.17248334 -0.55623451 -0.81292845 -0.09872474] [ 0.98284086 0.04241502 0.17951269 10.79999414] [ 0. 0. 0. 1. ]] SLAMing on 8.815194017 meters 0.042903129638219004 Centerline is valid? [True, True] Translation: X:-0.65, Y:-0.21, Z:10.87 [[-0.14560458 -0.82816626 0.54123927 -0.65214089] [ 0.16151607 -0.55962809 -0.81285236 -0.21036202] [ 0.9760696 -0.03093619 0.21524657 10.86828059] [ 0. 0. 0. 1. ]] SLAMing on 8.845194017 meters 0.049257502902523134 Centerline is valid? [True, True] Translation: X:-0.72, Y:-0.08, Z:10.88 [[-0.05129546 -0.844702 0.53277322 -0.72218241] [ 0.18321094 -0.53238105 -0.82644066 -0.07504357] [ 0.98173445 0.05521723 0.18206738 10.87877522] [ 0. 0. 0. 1. ]] SLAMing on 8.875194017 meters 0.06622632837060735 Centerline is valid? [True, True] Translation: X:-0.71, Y:-0.10, Z:10.93 [[-0.04628919 -0.84853363 0.52711288 -0.71097285] [ 0.17913944 -0.52617547 -0.83129323 -0.10086316] [ 0.98273413 0.05594682 0.17636208 10.93095682] [ 0. 0. 0. 1. ]] SLAMing on 8.905194017 meters 0.059007231933345644 Centerline is valid? [True, True] Translation: X:-0.71, Y:-0.36, Z:11.03 [[-0.23476142 -0.82955346 0.50668347 -0.71098017] [ 0.16929292 -0.54817709 -0.81904932 -0.35861671] [ 0.95719746 -0.10650326 0.26912836 11.03365696] [ 0. 0. 0. 1. ]] SLAMing on 8.935194017 meters 0.08360569790636703 Centerline is valid? [True, True] Translation: X:-0.76, Y:-0.12, Z:11.02 [[-0.03886233 -0.86692006 0.4969299 -0.76018653] [ 0.18681025 -0.49484092 -0.84866625 -0.12331399] [ 0.98162704 0.05985045 0.18118022 11.0242521 ] [ 0. 0. 0. 1. ]] SLAMing on 8.965194017 meters 0.04326643332273906 Centerline is valid? [True, True] Translation: X:-0.74, Y:-0.30, Z:11.11 [[-0.13499638 -0.86142032 0.48962333 -0.73956929] [ 0.1792615 -0.50722545 -0.84296362 -0.29767206] [ 0.9744954 -0.02602643 0.2228931 11.10792215] [ 0. 0. 0. 1. ]] SLAMing on 8.995194017 meters 0.050088617259128346 Centerline is valid? [True, True] Translation: X:-0.78, Y:-0.48, Z:11.20 [[-0.28791639 -0.83534492 0.468298 -0.78487242] [ 0.16433686 -0.52484795 -0.83518143 -0.48349197] [ 0.94344981 -0.1635038 0.28839029 11.19577342] [ 0. 0. 0. 1. ]] SLAMing on 9.025194017 meters 0.03703190988190535 Centerline is valid? [True, True] Translation: X:-0.77, Y:-0.49, Z:11.25 [[-0.22634345 -0.8628362 0.45197603 -0.76853093] [ 0.16659665 -0.49147381 -0.85480936 -0.49383234] [ 0.95969485 -0.11818281 0.2549875 11.25283282] [ 0. 0. 0. 1. ]] SLAMing on 9.055194017 meters 0.050700089438849794 Centerline is valid? [True, True] Translation: X:-0.86, Y:-0.46, Z:11.29 [[-0.25732242 -0.86339486 0.43397522 -0.86197576] [ 0.18483274 -0.48478285 -0.85488154 -0.4623405 ] [ 0.94848407 -0.13976736 0.28432913 11.29238183] [ 0. 0. 0. 1. ]] SLAMing on 9.085194017000001 meters 0.02944885168565183 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.30, Z:11.32 [[-9.75379310e-02 -8.99200759e-01 4.26525905e-01 -8.50935042e-01] [ 1.90575757e-01 -4.37513859e-01 -8.78784674e-01 -2.99914867e-01] [ 9.76814841e-01 -4.42934147e-03 2.14040062e-01 1.13164269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.115194017 meters 0.06450131587567925 Centerline is valid? [True, True] Translation: X:-0.88, Y:-0.19, Z:11.34 [[-0.01745848 -0.9099152 0.41442675 -0.88328907] [ 0.19089567 -0.40989868 -0.89193156 -0.18604536] [ 0.98145507 0.0635405 0.18085508 11.336613 ] [ 0. 0. 0. 1. ]] SLAMing on 9.145194017 meters 0.02488565407839483 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.17, Z:11.38 [[-0.0273058 -0.91379126 0.40526526 -0.91077623] [ 0.19120344 -0.40270547 -0.89513661 -0.17476763] [ 0.98117055 0.05304569 0.18571623 11.37999104] [ 0. 0. 0. 1. ]] SLAMing on 9.175194017 meters 0.03821171850232491 Centerline is valid? [True, True] Translation: X:-0.93, Y:-0.41, Z:11.48 [[-0.22688266 -0.89346101 0.38762312 -0.93265796] [ 0.18409483 -0.4301704 -0.88377742 -0.41361035] [ 0.95636466 -0.12915436 0.26207976 11.4829833 ] [ 0. 0. 0. 1. ]] SLAMing on 9.205194017 meters 0.03641410548065543 Centerline is valid? [True, True] Translation: X:-0.95, Y:-0.25, Z:11.50 [[-0.09406575 -0.92406269 0.37048587 -0.95465357] [ 0.18765568 -0.38192247 -0.9049423 -0.24888922] [ 0.9777203 -0.0156003 0.20933144 11.50160027] [ 0. 0. 0. 1. ]] SLAMing on 9.235194017 meters 0.08571285660295723 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.29, Z:11.56 [[-0.13248037 -0.9253932 0.35510053 -0.985616 ] [ 0.19093759 -0.37537475 -0.90699318 -0.28555083] [ 0.97262109 -0.05235675 0.22642214 11.55618822] [ 0. 0. 0. 1. ]] SLAMing on 9.265194017 meters 0.02608342127061207 Centerline is valid? [True, True] Translation: X:-0.98, Y:-0.16, Z:11.58 [[-0.01552627 -0.93845568 0.34505054 -0.97644554] [ 0.18096421 -0.34203058 -0.92209925 -0.16260966] [ 0.98336712 0.04812503 0.17513735 11.57569509] [ 0. 0. 0. 1. ]] SLAMing on 9.295194017 meters 0.053584623123531114 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.36, Z:11.66 [[-0.20552939 -0.92076702 0.33158071 -1.02567213] [ 0.19481628 -0.37052709 -0.90816094 -0.35701503] [ 0.95906428 -0.12205644 0.25553462 11.66413652] [ 0. 0. 0. 1. ]] SLAMing on 9.325194017 meters 0.024169830449267352 Centerline is valid? [True, True] Translation: X:-0.99, Y:-0.29, Z:11.70 [[-0.07824069 -0.94509296 0.31729747 -0.99177999] [ 0.18125478 -0.32645396 -0.92767156 -0.29290804] [ 0.98031888 -0.01506998 0.1968446 11.69975292] [ 0. 0. 0. 1. ]] SLAMing on 9.355194017 meters 0.04937394651145428 Centerline is valid? [True, True] Translation: X:-1.06, Y:-0.38, Z:11.76 [[-0.21220646 -0.92930997 0.30224393 -1.06097289] [ 0.19484759 -0.34331462 -0.91878696 -0.38119142] [ 0.95760265 -0.13608103 0.25392739 11.76436193] [ 0. 0. 0. 1. ]] SLAMing on 9.385194017 meters 0.04647749678167824 Centerline is valid? [True, True] Translation: X:-1.06, Y:-0.29, Z:11.80 [[-0.12945315 -0.94911811 0.28708308 -1.06249444] [ 0.19300276 -0.30809977 -0.93157097 -0.29190079] [ 0.97262111 -0.06518697 0.2230669 11.79948415] [ 0. 0. 0. 1. ]] SLAMing on 9.415194017 meters 0.04411150774080402 Centerline is valid? [True, True] Translation: X:-1.07, Y:-0.27, Z:11.84 [[-0.10244294 -0.95689747 0.27175849 -1.07287154] [ 0.19032368 -0.28700351 -0.93883219 -0.27021277] [ 0.97636179 -0.04445466 0.21152173 11.84339192] [ 0. 0. 0. 1. ]] SLAMing on 9.445194017 meters 0.051184791420447705 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.51, Z:11.94 [[-0.28604179 -0.92404399 0.25361941 -1.14833158] [ 0.21037068 -0.31878008 -0.92418799 -0.508719 ] [ 0.93483917 -0.21100229 0.28557619 11.94198984] [ 0. 0. 0. 1. ]] SLAMing on 9.475194017 meters 0.05381801014731923 Centerline is valid? [True, True] Translation: X:-1.16, Y:-0.36, Z:11.97 [[-0.19731152 -0.95135224 0.23663702 -1.16193245] [ 0.21040006 -0.27685231 -0.93759512 -0.35924777] [ 0.95749673 -0.13520987 0.25479072 11.9723719 ] [ 0. 0. 0. 1. ]] SLAMing on 9.505194017 meters 0.04601836562549531 Centerline is valid? [True, True] Translation: X:-1.16, Y:-0.28, Z:12.01 [[-0.11654185 -0.9689406 0.2181103 -1.15992034] [ 0.20323801 -0.2382257 -0.94970671 -0.27656334] [ 0.97216887 -0.06635228 0.22468882 12.00819936] [ 0. 0. 0. 1. ]] SLAMing on 9.535194017 meters 0.042337328855410625 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.13, Z:12.02 [[-9.27076908e-03 -9.78804007e-01 2.04589268e-01 -1.14507683e+00] [ 1.84490031e-01 -2.02759960e-01 -9.61692169e-01 -1.34971501e-01] [ 9.82790660e-01 2.88290543e-02 1.82459322e-01 1.20241736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565194017 meters 0.04282214256422693 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.17, Z:12.08 [[-0.0153459 -0.98072279 0.19480068 -1.1546663 ] [ 0.18712937 -0.19419827 -0.96294841 -0.16884526] [ 0.98221541 0.02167562 0.18650218 12.07820192] [ 0. 0. 0. 1. ]] SLAMing on 9.595194017 meters 0.07997766261249786 Centerline is valid? [True, True] Translation: X:-1.19, Y:-0.19, Z:12.13 [[-0.06529141 -0.98130417 0.18105016 -1.19219276] [ 0.19651428 -0.19052887 -0.96181125 -0.19133849] [ 0.97832467 -0.02721908 0.20528018 12.12794416] [ 0. 0. 0. 1. ]] SLAMing on 9.625194017 meters 0.03702246763261771 Centerline is valid? [True, True] Translation: X:-1.18, Y:-0.14, Z:12.16 [[-6.23170810e-03 -9.85556462e-01 1.69232462e-01 -1.18347313e+00] [ 1.80611501e-01 -1.67561780e-01 -9.69176215e-01 -1.35518915e-01] [ 9.83534774e-01 2.45257056e-02 1.79047028e-01 1.21591863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655194017 meters 0.047064498052230196 Centerline is valid? [True, True] Translation: X:-1.19, Y:-0.16, Z:12.21 [[-2.96790312e-03 -9.87016841e-01 1.60589371e-01 -1.18793227e+00] [ 1.83268791e-01 -1.58406982e-01 -9.70216356e-01 -1.55814262e-01] [ 9.83058361e-01 2.65515118e-02 1.81359520e-01 1.22119284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685194017 meters 0.033163579992761504 Centerline is valid? [True, True] Translation: X:-1.21, Y:-0.14, Z:12.26 [[-1.64038671e-02 -9.89223656e-01 1.45490451e-01 -1.21417920e+00] [ 1.87073749e-01 -1.45976959e-01 -9.71439211e-01 -1.37939341e-01] [ 9.82208901e-01 1.12820844e-02 1.87452365e-01 1.22572878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715194017 meters 0.0367860126278687 Centerline is valid? [True, True] Translation: X:-1.22, Y:-0.12, Z:12.30 [[ 1.69682240e-03 -9.91419853e-01 1.30704992e-01 -1.22201384e+00] [ 1.81878682e-01 -1.28219171e-01 -9.74925633e-01 -1.18945689e-01] [ 9.83319514e-01 2.54267274e-02 1.80100571e-01 1.23010384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745194017 meters 0.03695960034536326 Centerline is valid? [True, True] Translation: X:-1.23, Y:-0.14, Z:12.36 [[ 0.01436889 -0.99284131 0.11857346 -1.23166926] [ 0.17928845 -0.11410554 -0.97715689 -0.13622147] [ 0.98369161 0.03529951 0.17636541 12.35607333] [ 0. 0. 0. 1. ]] SLAMing on 9.775194017 meters 0.03847233101035806 Centerline is valid? [True, True] Translation: X:-1.26, Y:-0.16, Z:12.41 [[-1.25384474e-02 -9.94810427e-01 1.00970305e-01 -1.25877860e+00] [ 1.85874297e-01 -1.01537115e-01 -9.77313133e-01 -1.59929913e-01] [ 9.82493528e-01 6.51379522e-03 1.86182807e-01 1.24093636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805194017 meters 0.03337497777011643 Centerline is valid? [True, True] Translation: X:-1.26, Y:-0.08, Z:12.44 [[ 0.01870883 -0.9960569 0.08672152 -1.26296667] [ 0.18098809 -0.08192986 -0.98006674 -0.07810852] [ 0.98330732 0.03403146 0.17874163 12.44026606] [ 0. 0. 0. 1. ]] SLAMing on 9.835194017000001 meters 0.05524493914647628 Centerline is valid? [True, True] Translation: X:-1.30, Y:-0.14, Z:12.50 [[-2.55467043e-02 -9.96918095e-01 7.41732962e-02 -1.30239499e+00] [ 1.94939046e-01 -7.77410651e-02 -9.77729561e-01 -1.43976354e-01] [ 9.80482603e-01 -1.05184964e-02 1.96324291e-01 1.25011839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865194017 meters 0.05462796788932634 Centerline is valid? [True, True] Translation: X:-1.33, Y:-0.23, Z:12.57 [[-0.04690298 -0.99712159 0.05957046 -1.33052208] [ 0.20587852 -0.06800545 -0.97621171 -0.22628759] [ 0.97745289 -0.03352296 0.20847558 12.56796471] [ 0. 0. 0. 1. ]] SLAMing on 9.895194017 meters 0.045329616668758545 Centerline is valid? [True, True] Translation: X:-1.32, Y:-0.12, Z:12.59 [[ 5.26083736e-03 -9.98997359e-01 4.44589839e-02 -1.31586235e+00] [ 1.87033863e-01 -4.26920240e-02 -9.81425354e-01 -1.18173681e-01] [ 9.82339380e-01 1.34784547e-02 1.86621740e-01 1.25934339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925194017 meters 0.032654750963742485 Centerline is valid? [True, True] Translation: X:-1.32, Y:-0.08, Z:12.63 [[ 7.62235019e-03 -9.99452086e-01 3.22091231e-02 -1.32328759e+00] [ 1.88287521e-01 -3.01994239e-02 -9.81649532e-01 -8.41876885e-02] [ 9.82084370e-01 1.35470525e-02 1.87954166e-01 1.26338190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955194017 meters 0.03782440508943259 Centerline is valid? [True, True] Translation: X:-1.33, Y:-0.05, Z:12.67 [[ 3.95533054e-02 -9.99019052e-01 1.99115697e-02 -1.32541527e+00] [ 1.79966352e-01 -1.24788698e-02 -9.83593610e-01 -4.84468138e-02] [ 9.82877229e-01 4.24877910e-02 1.79296234e-01 1.26724512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985194017 meters 0.06119598056620942 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.18, Z:12.75 [[-3.83308499e-02 -9.99234216e-01 7.85669245e-03 -1.37837854e+00] [ 2.10438930e-01 -1.57581301e-02 -9.77479994e-01 -1.83660567e-01] [ 9.76855262e-01 -3.58142850e-02 2.10881802e-01 1.27493428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.015194017 meters 0.03371352411998445 Centerline is valid? [True, True] Translation: X:-1.36, Y:-0.04, Z:12.76 [[ 2.98456405e-02 -9.99525631e-01 -7.59944691e-03 -1.36054013e+00] [ 1.86146833e-01 1.30278183e-02 -9.82435562e-01 -3.85094395e-02] [ 9.82068528e-01 2.79068056e-02 1.86447354e-01 1.27642057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045194017 meters 0.03549822608085657 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.07, Z:12.82 [[ 1.62356249e-02 -9.99699086e-01 -1.83886390e-02 -1.37783397e+00] [ 1.92896344e-01 2.11772469e-02 -9.80990583e-01 -6.59431474e-02] [ 9.81084810e-01 1.23798939e-02 1.93182125e-01 1.28177740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075194017 meters 0.0378725523396245 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.03, Z:12.86 [[ 0.03097115 -0.99903015 -0.03129767 -1.3822531 ] [ 0.19016382 0.03663028 -0.98106878 -0.02997449] [ 0.98126373 0.02443314 0.19111387 12.85723322] [ 0. 0. 0. 1. ]] SLAMing on 10.105194017 meters 0.049175825834784415 Centerline is valid? [True, True] Translation: X:-1.40, Y:-0.02, Z:12.90 [[ 1.24179069e-02 -9.98969475e-01 -4.36552803e-02 -1.40069068e+00] [ 1.98927459e-01 4.52540560e-02 -9.78968813e-01 -1.63115060e-02] [ 9.79935540e-01 3.47250957e-03 1.99284420e-01 1.29024722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135194017 meters 0.035627115109931023 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.01, Z:12.95 [[ 3.10638486e-02 -9.97913954e-01 -5.65930952e-02 -1.40887676e+00] [ 1.93152181e-01 6.15464675e-02 -9.79236574e-01 -5.14415381e-03] [ 9.80676946e-01 1.94877769e-02 1.94661127e-01 1.29484363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165194017 meters 0.02949919899182751 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.01, Z:12.99 [[ 3.76453840e-02 -9.96739725e-01 -7.13634770e-02 -1.41438498e+00] [ 1.88559546e-01 7.72165150e-02 -9.79021403e-01 -5.02584570e-03] [ 9.81339963e-01 2.33993718e-02 1.90851636e-01 1.29948197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.195194017 meters 0.0368258358165938 Centerline is valid? [True, True] Translation: X:-1.42, Y:0.01, Z:13.04 [[ 3.59755493e-02 -9.95855177e-01 -8.35357836e-02 -1.42206001e+00] [ 1.90946862e-01 8.88996703e-02 -9.77566440e-01 1.12320820e-02] [ 9.80940903e-01 1.92175939e-02 1.93353635e-01 1.30380597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225194017 meters 0.02786795427364204 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.00, Z:13.10 [[ 5.09444158e-02 -9.94081842e-01 -9.59476874e-02 -1.43855213e+00] [ 1.91353349e-01 1.04008381e-01 -9.75994955e-01 -3.83876961e-03] [ 9.80198226e-01 3.13615814e-02 1.95519536e-01 1.31034276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255194017 meters 0.0367424860334845 Centerline is valid? [True, True] Translation: X:-1.48, Y:0.03, Z:13.14 [[ 0.0471418 -0.9913277 -0.1226664 -1.47991338] [ 0.19071071 0.1294763 -0.97307005 0.03040988] [ 0.98051368 0.02247848 0.19516055 13.14438478] [ 0. 0. 0. 1. ]] SLAMing on 10.285194017 meters 0.05047743060548238 Centerline is valid? [True, True] Translation: X:-1.48, Y:0.08, Z:13.18 [[ 0.05314189 -0.98945429 -0.13474478 -1.47668947] [ 0.19208791 0.14254433 -0.97097031 0.0838666 ] [ 0.97993784 0.02571635 0.19763728 13.1803255 ] [ 0. 0. 0. 1. ]] SLAMing on 10.315194017 meters 0.04016914888554406 Centerline is valid? [True, True] Translation: X:-1.51, Y:0.03, Z:13.24 [[ 0.05448279 -0.98766924 -0.14676888 -1.51097216] [ 0.19680538 0.15472568 -0.96815681 0.02820955] [ 0.97892761 0.02386298 0.20280851 13.2394782 ] [ 0. 0. 0. 1. ]] SLAMing on 10.345194017 meters 0.040252804174354444 Centerline is valid? [True, True] Translation: X:-1.52, Y:0.06, Z:13.28 [[ 0.05204278 -0.98590158 -0.15902714 -1.52036725] [ 0.20102253 0.16632562 -0.965363 0.05594645] [ 0.9782032 0.01827213 0.20684448 13.2807921 ] [ 0. 0. 0. 1. ]] SLAMing on 10.375194017 meters 0.053619134862117286 Centerline is valid? [True, True] Translation: X:-1.71, Y:-0.17, Z:13.39 [[-0.08038311 -0.98243549 -0.16840148 -1.70662912] [ 0.28178 0.13965955 -0.94926036 -0.1733744 ] [ 0.95610595 -0.12375667 0.26560441 13.38743011] [ 0. 0. 0. 1. ]] SLAMing on 10.405194017 meters 0.03557720739676852 Centerline is valid? [True, True] Translation: X:-1.56, Y:0.07, Z:13.38 [[ 0.07574093 -0.97877021 -0.19045261 -1.55534064] [ 0.18836551 0.2016069 -0.96118317 0.06576249] [ 0.97917401 0.0369262 0.19963645 13.37659464] [ 0. 0. 0. 1. ]] SLAMing on 10.435194017 meters 0.037990866208318236 Centerline is valid? [True, True] Translation: X:-1.56, Y:0.07, Z:13.42 [[ 0.08087282 -0.97659131 -0.19932137 -1.55937796] [ 0.18816144 0.21133948 -0.95913028 0.07368318] [ 0.97880277 0.04006297 0.20084844 13.42298564] [ 0. 0. 0. 1. ]] SLAMing on 10.465194017 meters 0.025074986863427205 Centerline is valid? [True, True] Translation: X:-1.57, Y:0.06, Z:13.48 [[ 0.10507874 -0.97157022 -0.21215506 -1.56814988] [ 0.17327525 0.22796017 -0.9581283 0.0555229 ] [ 0.97925183 0.06391769 0.19230284 13.47546458] [ 0. 0. 0. 1. ]] SLAMing on 10.495194017 meters 0.021487261070855728 Centerline is valid? [True, True] Translation: X:-1.59, Y:0.06, Z:13.52 [[ 0.10029608 -0.96914291 -0.22517262 -1.59019548] [ 0.17933379 0.24021585 -0.95401034 0.05873979] [ 0.9786624 0.05530244 0.19789278 13.52485021] [ 0. 0. 0. 1. ]] SLAMing on 10.525194017 meters 0.021487261070855728 Centerline is valid? [True, True] Translation: X:-1.61, Y:0.07, Z:13.57 [[ 0.10294779 -0.9653554 -0.23977219 -1.60747448] [ 0.17782083 0.25503113 -0.95044141 0.06891797] [ 0.97866312 0.05520935 0.19791519 13.57256239] [ 0. 0. 0. 1. ]] SLAMing on 10.555194017 meters 0.04418454445705109 Centerline is valid? [True, True] Translation: X:-1.62, Y:0.09, Z:13.62 [[ 0.08744591 -0.96342454 -0.25331082 -1.62280864] [ 0.19142889 0.2657974 -0.94483158 0.09441121] [ 0.97760329 0.03413064 0.20767019 13.61711409] [ 0. 0. 0. 1. ]] SLAMing on 10.585194017 meters 0.04097521288009466 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.11, Z:13.67 [[ 0.08571149 -0.9598093 -0.26724455 -1.63798969] [ 0.19282656 0.27914069 -0.94069038 0.10942037] [ 0.9774822 0.02909613 0.20900229 13.66523636] [ 0. 0. 0. 1. ]] SLAMing on 10.615194017 meters 0.028938333788832975 Centerline is valid? [True, True] Translation: X:-1.65, Y:0.11, Z:13.71 [[ 0.08754899 -0.95546005 -0.28183554 -1.64801902] [ 0.19412013 0.29386161 -0.93592881 0.11254001] [ 0.97706323 0.02722967 0.21120132 13.71465186] [ 0. 0. 0. 1. ]] SLAMing on 10.645194017 meters 0.033618446953389704 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.12, Z:13.77 [[ 0.09317321 -0.95064951 -0.2959464 -1.66670803] [ 0.19023294 0.30876099 -0.93192171 0.11874223] [ 0.97730762 0.03053138 0.2096131 13.76966792] [ 0. 0. 0. 1. ]] SLAMing on 10.675194017 meters 0.03937612649118344 Centerline is valid? [True, True] Translation: X:-1.69, Y:0.11, Z:13.82 [[ 0.09370967 -0.94457239 -0.31464504 -1.68818238] [ 0.18520793 0.32705826 -0.92667735 0.11479291] [ 0.9782211 0.02856388 0.20559082 13.82074702] [ 0. 0. 0. 1. ]] SLAMing on 10.705194017 meters 0.021280982014549598 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.13, Z:13.87 [[ 0.10539298 -0.93853204 -0.32870949 -1.70367822] [ 0.17986954 0.34308984 -0.9219199 0.12517427] [ 0.97802826 0.03803906 0.20497259 13.86859045] [ 0. 0. 0. 1. ]] SLAMing on 10.735194017 meters 0.02292533747839612 Centerline is valid? [True, True] Translation: X:-1.71, Y:0.12, Z:13.92 [[ 0.10899062 -0.93327199 -0.34223449 -1.71477515] [ 0.17864379 0.35706982 -0.91683561 0.11642786] [ 0.9778586 0.03878841 0.2056405 13.92037375] [ 0. 0. 0. 1. ]] SLAMing on 10.765194017 meters 0.025577190090372303 Centerline is valid? [True, True] Translation: X:-1.75, Y:0.12, Z:13.97 [[ 0.10421354 -0.92869887 -0.35589034 -1.74777136] [ 0.1829346 0.36963278 -0.91099207 0.12122726] [ 0.97758604 0.02983305 0.2084119 13.97098387] [ 0. 0. 0. 1. ]] SLAMing on 10.795194017 meters 0.033864409753140846 Centerline is valid? [True, True] Translation: X:-1.75, Y:0.16, Z:14.01 [[ 0.10412391 -0.9231028 -0.37018836 -1.74525157] [ 0.17989483 0.38355264 -0.90582847 0.16469061] [ 0.97815953 0.02772343 0.20599842 14.01071846] [ 0. 0. 0. 1. ]] SLAMing on 10.825194017 meters 0.03501066391390201 Centerline is valid? [True, True] Translation: X:-1.75, Y:0.18, Z:14.06 [[ 0.11225753 -0.91647653 -0.38401694 -1.74566802] [ 0.1758129 0.39868133 -0.90007945 0.17662402] [ 0.97800208 0.03352556 0.20588338 14.05698765] [ 0. 0. 0. 1. ]] SLAMing on 10.855194017 meters 0.06610039616630171 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.19, Z:14.11 [[ 0.12051321 -0.90996137 -0.39679575 -1.75685228] [ 0.16613512 0.41255901 -0.89565294 0.18638434] [ 0.97871124 0.0420163 0.20089535 14.10529958] [ 0. 0. 0. 1. ]] SLAMing on 10.885194017 meters 0.01931383562979322 Centerline is valid? [True, True] Translation: X:-1.77, Y:0.19, Z:14.16 [[ 0.14480262 -0.89988777 -0.41138085 -1.77310794] [ 0.14404795 0.4305056 -0.89101914 0.18831897] [ 0.97891899 0.06976334 0.19196533 14.15623545] [ 0. 0. 0. 1. ]] SLAMing on 10.915194017 meters 0.021224769641611275 Centerline is valid? [True, True] Translation: X:-1.81, Y:0.17, Z:14.21 [[ 0.12336734 -0.89719722 -0.4240491 -1.80999499] [ 0.16639631 0.43996559 -0.88246391 0.16612388] [ 0.97831118 0.03830702 0.2035677 14.21453867] [ 0. 0. 0. 1. ]] SLAMing on 10.945194017 meters 0.023500461345512876 Centerline is valid? [True, True] Translation: X:-1.80, Y:0.21, Z:14.26 [[ 0.14162215 -0.88690783 -0.4397018 -1.80356614] [ 0.14744095 0.45812284 -0.87657551 0.20871382] [ 0.97887912 0.05931246 0.19564687 14.25844059] [ 0. 0. 0. 1. ]] SLAMing on 10.975194017 meters 0.02995633600750347 Centerline is valid? [True, True] Translation: X:-2.10, Y:-0.04, Z:14.38 [[ 0.06846613 -0.88983831 -0.45110993 -2.09960424] [ 0.23253389 0.45395056 -0.86014933 -0.0353684 ] [ 0.97017544 -0.04600725 0.2379978 14.38437347] [ 0. 0. 0. 1. ]] SLAMing on 11.005194017 meters 0.026783492348087332 Centerline is valid? [True, True] Translation: X:-3.16, Y:-1.03, Z:14.73 [[ 4.03374249e-03 -8.86085726e-01 -4.63503846e-01 -3.15666299e+00] [ 3.00765694e-01 4.43120986e-01 -8.44502096e-01 -1.02999896e+00] [ 9.53689534e-01 -1.35999552e-01 2.68291624e-01 1.47310007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035194017 meters 0.029914653822722185 Centerline is valid? [True, True] Translation: X:-1.85, Y:0.29, Z:14.41 [[ 0.131674 -0.85869877 -0.49527606 -1.84755904] [ 0.16649331 0.51168612 -0.84288629 0.29230461] [ 0.97721131 0.02852606 0.21034336 14.41122989] [ 0. 0. 0. 1. ]] SLAMing on 11.065194017 meters 0.025216048331988986 Centerline is valid? [True, True] Translation: X:-1.88, Y:0.28, Z:14.47 [[ 0.14069396 -0.85127135 -0.50551192 -1.87838164] [ 0.15634554 0.52328752 -0.83769102 0.27867508] [ 0.97763044 0.03882354 0.20671587 14.46563713] [ 0. 0. 0. 1. ]] SLAMing on 11.095194017 meters 0.019284879341863986 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.26, Z:14.52 [[ 0.15609914 -0.84008433 -0.51951071 -1.90387635] [ 0.13220025 0.53899534 -0.83186965 0.26452152] [ 0.97885451 0.06117469 0.19519607 14.52072038] [ 0. 0. 0. 1. ]] SLAMing on 11.125194017 meters 0.02039322303881566 Centerline is valid? [True, True] Translation: X:-1.94, Y:0.26, Z:14.58 [[ 0.14967225 -0.83320448 -0.53232369 -1.93733393] [ 0.13870466 0.55075815 -0.82305922 0.25801854] [ 0.97895824 0.04935335 0.19800256 14.5752514 ] [ 0. 0. 0. 1. ]] SLAMing on 11.155194017 meters 0.02057290893556721 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.28, Z:14.62 [[ 0.15260252 -0.82470195 -0.54459082 -1.9615863 ] [ 0.14292722 0.56366828 -0.81354157 0.2809708 ] [ 0.97789789 0.04631164 0.20388956 14.62410421] [ 0. 0. 0. 1. ]] SLAMing on 11.185194017 meters 0.019872038238989663 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.38, Z:14.64 [[ 0.15297512 -0.81589378 -0.55759839 -1.85532597] [ 0.1412782 0.57649945 -0.80479118 0.38356363] [ 0.97807928 0.04433653 0.20345808 14.64321131] [ 0. 0. 0. 1. ]] SLAMing on 11.215194017 meters 0.018864174562145362 Centerline is valid? [True, True] Translation: X:-2.02, Y:0.27, Z:14.73 [[ 0.15884754 -0.80705549 -0.56870809 -2.02352029] [ 0.1303653 0.58812349 -0.79819524 0.26821961] [ 0.97865844 0.05265155 0.198634 14.73490085] [ 0. 0. 0. 1. ]] SLAMing on 11.245194017 meters 0.019304509018654045 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.34, Z:14.77 [[ 0.16432099 -0.79458718 -0.58449108 -1.96359429] [ 0.11987517 0.60423985 -0.78773355 0.3422705 ] [ 0.97909578 0.05937519 0.19454057 14.76557726] [ 0. 0. 0. 1. ]] SLAMing on 11.275194017 meters 0.02849174398199116 Centerline is valid? [True, True] Translation: X:-2.01, Y:0.34, Z:14.82 [[ 0.14411028 -0.79015054 -0.5957301 -2.01037518] [ 0.14875153 0.61247102 -0.77637119 0.33846266] [ 0.97831754 0.02326731 0.20579948 14.82151985] [ 0. 0. 0. 1. ]] SLAMing on 11.305194017 meters SLAMing on 11.335194017 meters SLAMing on 11.365194017 meters 0.02000094553116223 Centerline is valid? [True, True] Translation: X:-1.99, Y:0.37, Z:14.86 [[ 0.18519401 -0.76913939 -0.61165985 -1.98553402] [ 0.07721608 0.63189145 -0.77120093 0.37176192] [ 0.97966364 0.09559182 0.17641244 14.86470185] [ 0. 0. 0. 1. ]] SLAMing on 11.395194017 meters 0.019311643256521707 Centerline is valid? [True, True] Translation: X:-2.04, Y:0.36, Z:14.93 [[ 0.16803707 -0.76361873 -0.62341798 -2.03869295] [ 0.10823528 0.64287883 -0.75828223 0.35630177] [ 0.97982073 0.0599437 0.19067796 14.92681319] [ 0. 0. 0. 1. ]] SLAMing on 11.425194017 meters 0.02683724998729748 Centerline is valid? [True, True] Translation: X:0.82, Y:0.67, Z:14.67 [[ 7.37558272e-02 -4.21834126e-01 9.03668107e-01 8.19645745e-01] [ 1.45875793e-01 -8.91826382e-01 -4.28212514e-01 6.67804840e-01] [ 9.86549710e-01 1.63406470e-01 -4.24200483e-03 1.46667114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455194017 meters 0.019756763231425657 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.40, Z:15.22 [[ 0.21522752 -0.7860764 -0.57944888 -1.90322163] [ 0.14463816 0.61246993 -0.77714888 0.40234822] [ 0.96579341 0.08345341 0.24551702 15.21989572] [ 0. 0. 0. 1. ]] SLAMing on 11.485194017 meters 0.020016381037960912 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.41, Z:15.27 [[ 0.21392538 -0.77982512 -0.58831006 -1.9240518 ] [ 0.14524222 0.62094997 -0.77027646 0.41177665] [ 0.96599205 0.07933422 0.24610049 15.2722238 ] [ 0. 0. 0. 1. ]] SLAMing on 11.515194017 meters SLAMing on 11.545194017 meters 0.02082295004412667 Centerline is valid? [True, True] Translation: X:-1.95, Y:0.42, Z:15.33 [[ 0.22904748 -0.76746833 -0.59877343 -1.94788801] [ 0.1215803 0.63286503 -0.76465684 0.41792821] [ 0.96579267 0.10234367 0.23826517 15.32623051] [ 0. 0. 0. 1. ]] SLAMing on 11.575194017 meters 0.021685474169791538 Centerline is valid? [True, True] Translation: X:-1.89, Y:0.47, Z:15.36 [[ 0.23744535 -0.75647779 -0.60939401 -1.88869227] [ 0.10395601 0.64352108 -0.75833618 0.47352768] [ 0.96582237 0.11671322 0.2314415 15.35599996] [ 0. 0. 0. 1. ]] SLAMing on 11.605194017 meters 0.02152596593662523 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.50, Z:15.40 [[ 0.22517022 -0.75327869 -0.61795598 -1.90290482] [ 0.11919146 0.65077651 -0.74985554 0.49937843] [ 0.96700143 0.09519006 0.23631988 15.4034765 ] [ 0. 0. 0. 1. ]] SLAMing on 11.635194017 meters 0.02149779501940395 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.47, Z:15.47 [[ 0.23067409 -0.744442 -0.62657447 -1.95795068] [ 0.11322761 0.66010281 -0.74259262 0.46908719] [ 0.9664207 0.10035135 0.23656 15.47078201] [ 0. 0. 0. 1. ]] SLAMing on 11.665194017 meters 0.019881551072661284 Centerline is valid? [True, True] Translation: X:-1.94, Y:0.51, Z:15.51 [[ 0.23515598 -0.73482472 -0.63618731 -1.94006102] [ 0.10432035 0.66984278 -0.73513802 0.51229283] [ 0.96634307 0.10650482 0.2341747 15.50988763] [ 0. 0. 0. 1. ]] SLAMing on 11.695194017 meters 0.019587488019138892 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.53, Z:15.56 [[ 0.23413247 -0.72693406 -0.64556088 -1.93172123] [ 0.09821501 0.67830596 -0.72818599 0.53093477] [ 0.967231 0.10708821 0.23020928 15.55570951] [ 0. 0. 0. 1. ]] SLAMing on 11.725194017 meters 0.019434546975813285 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.61, Z:15.58 [[ 0.23536689 -0.71825887 -0.65475692 -1.8609022 ] [ 0.08892663 0.68677219 -0.72141251 0.60554689] [ 0.96782978 0.11157129 0.22551578 15.57676377] [ 0. 0. 0. 1. ]] SLAMing on 11.755194017 meters 0.019873512041389544 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.59, Z:15.64 [[ 0.2303293 -0.71381683 -0.66137277 -1.91241577] [ 0.09987228 0.69339789 -0.71359995 0.58724467] [ 0.96797414 0.09831017 0.23100037 15.64371781] [ 0. 0. 0. 1. ]] SLAMing on 11.785194017 meters 0.020484556319612334 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.60, Z:15.70 [[ 0.23344374 -0.70330838 -0.67146209 -1.92801549] [ 0.09696272 0.70393689 -0.70361288 0.59610873] [ 0.96752377 0.09914723 0.23252435 15.69528803] [ 0. 0. 0. 1. ]] SLAMing on 11.815194017 meters 0.02007570371303399 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.62, Z:15.74 [[ 0.23834489 -0.69278977 -0.68061299 -1.92512467] [ 0.08419031 0.71291075 -0.69618263 0.61795806] [ 0.96752452 0.10863055 0.22824482 15.74007253] [ 0. 0. 0. 1. ]] SLAMing on 11.845194017 meters 0.020699894126598707 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.63, Z:15.79 [[ 0.24201298 -0.68257706 -0.68957833 -1.92089182] [ 0.07249581 0.72143972 -0.68867198 0.63364291] [ 0.96756089 0.11667602 0.22408175 15.78760408] [ 0. 0. 0. 1. ]] SLAMing on 11.875194017 meters 0.019330196985713394 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.67, Z:15.83 [[ 0.23694565 -0.67562113 -0.69813526 -1.90462243] [ 0.07607227 0.72929499 -0.67995722 0.67023742] [ 0.96854002 0.10800418 0.22419931 15.82714334] [ 0. 0. 0. 1. ]] SLAMing on 11.905194017 meters 0.019278414916142645 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.68, Z:15.88 [[ 0.23965833 -0.66600106 -0.7064039 -1.91155679] [ 0.06722896 0.73724626 -0.67227094 0.68308471] [ 0.9685268 0.11362453 0.22146176 15.87569251] [ 0. 0. 0. 1. ]] SLAMing on 11.935194017 meters 0.0194568815566583 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.70, Z:15.92 [[ 0.23902001 -0.65929907 -0.71287739 -1.91355912] [ 0.07723512 0.74473974 -0.66287062 0.6970069 ] [ 0.9679381 0.10338017 0.22892874 15.92355651] [ 0. 0. 0. 1. ]] SLAMing on 11.965194017 meters 0.02000016304801224 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.71, Z:15.97 [[ 0.24486847 -0.64762064 -0.72154483 -1.89594577] [ 0.06089534 0.75300462 -0.65519143 0.71468476] [ 0.96764208 0.11649701 0.22382417 15.96648834] [ 0. 0. 0. 1. ]] SLAMing on 11.995194017 meters 0.01984964975778522 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.72, Z:16.02 [[ 0.24755324 -0.63788684 -0.72925837 -1.92998396] [ 0.05263566 0.76042907 -0.64728441 0.72106589] [ 0.96744348 0.12185236 0.22182228 16.02396667] [ 0. 0. 0. 1. ]] SLAMing on 12.025194017 meters 0.019396734409743144 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.75, Z:16.06 [[ 0.24121586 -0.63100678 -0.7373231 -1.90085448] [ 0.05628072 0.76757458 -0.63848395 0.75000976] [ 0.96883816 0.11251538 0.22066468 16.06222943] [ 0. 0. 0. 1. ]] SLAMing on 12.055194017 meters 0.020194276543059574 Centerline is valid? [True, True] Translation: X:-1.93, Y:0.75, Z:16.12 [[ 0.24231838 -0.62304221 -0.74370707 -1.92855723] [ 0.06257775 0.77499362 -0.62886319 0.7467109 ] [ 0.96817655 0.1058456 0.22678378 16.11971782] [ 0. 0. 0. 1. ]] SLAMing on 12.085194017 meters SLAMing on 12.115194017 meters 0.02140180074134464 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.82, Z:16.14 [[ 0.24226402 -0.61330346 -0.7517759 -1.83969616] [ 0.05848084 0.7826807 -0.61967001 0.81543911] [ 0.96844625 0.10615926 0.22548188 16.138323 ] [ 0. 0. 0. 1. ]] SLAMing on 12.145194017 meters 0.019675144665173422 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.79, Z:16.21 [[ 0.24364977 -0.60520188 -0.75786904 -1.9101461 ] [ 0.0622934 0.78957027 -0.61049023 0.79268576] [ 0.96786069 0.10153556 0.2300787 16.20768995] [ 0. 0. 0. 1. ]] SLAMing on 12.175194017 meters 0.01916932866560949 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.83, Z:16.24 [[ 0.25007094 -0.59342156 -0.76505907 -1.86322961] [ 0.05207811 0.79726453 -0.60137936 0.83094927] [ 0.96682594 0.11054467 0.23027696 16.23998205] [ 0. 0. 0. 1. ]] SLAMing on 12.205194017 meters 0.020641210642012964 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.80, Z:16.32 [[ 0.25100682 -0.58419337 -0.7718249 -1.96415564] [ 0.04890153 0.80398666 -0.59263319 0.80409014] [ 0.9667493 0.11101155 0.23037409 16.31726738] [ 0. 0. 0. 1. ]] SLAMing on 12.235194017 meters 0.01965635163437683 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.85, Z:16.35 [[ 0.24904313 -0.57532248 -0.77909021 -1.90616011] [ 0.04789706 0.81076819 -0.5834045 0.84772662] [ 0.96730729 0.10797675 0.2294725 16.34790623] [ 0. 0. 0. 1. ]] SLAMing on 12.265194017 meters 0.020178801793036306 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.89, Z:16.37 [[ 0.24977506 -0.5674073 -0.78464092 -1.84171313] [ 0.05501642 0.81733204 -0.57353424 0.89389497] [ 0.96673968 0.10008641 0.23536588 16.37459683] [ 0. 0. 0. 1. ]] SLAMing on 12.295194017 meters 0.01973816697652886 Centerline is valid? [True, True] Translation: X:-1.94, Y:0.86, Z:16.45 [[ 0.25600429 -0.55675884 -0.79024136 -1.93747722] [ 0.05036036 0.82405479 -0.56426725 0.85878499] [ 0.96536296 0.104658 0.23900014 16.4521049 ] [ 0. 0. 0. 1. ]] SLAMing on 12.325194017 meters 0.019149168320253228 Centerline is valid? [True, True] Translation: X:-1.83, Y:0.92, Z:16.47 [[ 0.25308407 -0.54991568 -0.79595302 -1.8349959 ] [ 0.0617101 0.83023862 -0.55398168 0.91680501] [ 0.96547414 0.09108559 0.24405552 16.46984808] [ 0. 0. 0. 1. ]] SLAMing on 12.355194017 meters 0.020905264381847956 Centerline is valid? [True, True] Translation: X:-1.65, Y:1.00, Z:16.46 [[ 0.25713737 -0.53581201 -0.80422998 -1.6519533 ] [ 0.0348471 0.83681309 -0.54637855 0.9992073 ] [ 0.96574637 0.11246926 0.23384741 16.45988579] [ 0. 0. 0. 1. ]] SLAMing on 12.385194017 meters 0.07646166463673469 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.88, Z:16.62 [[ 0.23462853 -0.54946951 -0.8018932 -2.04936406] [ 0.12394258 0.83509778 -0.53595703 0.88110145] [ 0.96415128 0.0263621 0.26404043 16.619904 ] [ 0. 0. 0. 1. ]] SLAMing on 12.415194017 meters 0.07646166463673469 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.90, Z:16.67 [[ 0.23639539 -0.53818931 -0.80899288 -2.05098685] [ 0.12062987 0.84240543 -0.52516809 0.90072391] [ 0.96413985 0.02655861 0.26406247 16.66919616] [ 0. 0. 0. 1. ]] SLAMing on 12.445194017 meters 0.02033900626326363 Centerline is valid? [True, True] Translation: X:-1.80, Y:0.99, Z:16.65 [[ 0.25773124 -0.50491626 -0.82379255 -1.80312489] [ 0.018642 0.85503595 -0.51823354 0.98917626] [ 0.96603679 0.11820783 0.22978213 16.64589049] [ 0. 0. 0. 1. ]] SLAMing on 12.475194017 meters 0.020006646870089424 Centerline is valid? [True, True] Translation: X:-1.74, Y:1.01, Z:16.67 [[ 0.25930045 -0.49993205 -0.82633602 -1.73933711] [ 0.03809538 0.8602289 -0.50848302 1.00765029] [ 0.96504509 0.10037029 0.24210285 16.67481802] [ 0. 0. 0. 1. ]] SLAMing on 12.505194017 meters 0.022230401263412653 Centerline is valid? [True, True] Translation: X:-1.64, Y:1.04, Z:16.69 [[ 0.26055628 -0.49332401 -0.82990472 -1.64222912] [ 0.04649311 0.86501046 -0.49959513 1.0413488 ] [ 0.96433854 0.09158779 0.24832008 16.69226494] [ 0. 0. 0. 1. ]] SLAMing on 12.535194017 meters 0.020209487803334245 Centerline is valid? [True, True] Translation: X:-1.82, Y:1.01, Z:16.79 [[ 0.25817031 -0.48557258 -0.83520498 -1.82334097] [ 0.03659031 0.86880672 -0.49379757 1.0080445 ] [ 0.96540626 0.09692346 0.24206735 16.78898286] [ 0. 0. 0. 1. ]] SLAMing on 12.565194017 meters 0.02043610385565541 Centerline is valid? [True, True] Translation: X:-1.78, Y:1.05, Z:16.82 [[ 0.26228373 -0.47195333 -0.841705 -1.77999044] [ 0.01853705 0.87454466 -0.48459056 1.04601849] [ 0.96481274 0.11149749 0.23812746 16.82133255] [ 0. 0. 0. 1. ]] SLAMing on 12.595194017 meters 0.019872107722858214 Centerline is valid? [True, True] Translation: X:-1.81, Y:1.04, Z:16.88 [[ 2.62475902e-01 -4.62764492e-01 -8.46732204e-01 -1.80804015e+00] [ 1.19233944e-02 8.78987014e-01 -4.76696614e-01 1.04455130e+00] [ 9.64864878e-01 1.15025452e-01 2.36230633e-01 1.68775258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625194017 meters 0.020090191590405954 Centerline is valid? [True, True] Translation: X:-1.88, Y:1.05, Z:16.94 [[ 2.68075429e-01 -4.48507916e-01 -8.52629001e-01 -1.88409649e+00] [-4.83968850e-03 8.84384548e-01 -4.66733916e-01 1.05155107e+00] [ 9.63385770e-01 1.29246354e-01 2.34911129e-01 1.69443184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655194017 meters 0.020481914023787337 Centerline is valid? [True, True] Translation: X:-1.94, Y:1.06, Z:17.01 [[ 2.70653662e-01 -4.40654843e-01 -8.55902976e-01 -1.94251330e+00] [ 1.31976083e-02 8.90701416e-01 -4.54397195e-01 1.06390913e+00] [ 9.62586317e-01 1.11688393e-01 2.46887190e-01 1.70088169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685194017 meters 0.01982124659461616 Centerline is valid? [True, True] Translation: X:-1.95, Y:1.07, Z:17.07 [[ 2.77195969e-01 -4.26849717e-01 -8.60791330e-01 -1.95361596e+00] [ 4.48782105e-03 8.96463974e-01 -4.43093899e-01 1.06666498e+00] [ 9.60802922e-01 1.18960765e-01 2.50411825e-01 1.70672922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715194017 meters 0.019245501177934835 Centerline is valid? [True, True] Translation: X:-1.98, Y:1.10, Z:17.12 [[ 0.28004386 -0.41601352 -0.86516368 -1.97561122] [ 0.0254613 0.90412586 -0.42650693 1.10036849] [ 0.9596495 0.09741245 0.26378714 17.12110224] [ 0. 0. 0. 1. ]] SLAMing on 12.745194017 meters 0.020171540481495248 Centerline is valid? [True, True] Translation: X:-1.81, Y:1.14, Z:17.13 [[ 2.79036097e-01 -3.96414366e-01 -8.74639644e-01 -1.81293672e+00] [-1.25759315e-02 9.09230087e-01 -4.16103946e-01 1.14176366e+00] [ 9.60198262e-01 1.27107430e-01 2.48722735e-01 1.71252395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775194017 meters 0.020780076096091154 Centerline is valid? [True, True] Translation: X:-1.81, Y:1.16, Z:17.17 [[ 0.27339858 -0.38617186 -0.88097929 -1.80868713] [-0.02107531 0.91324858 -0.40685731 1.15895206] [ 0.96166993 0.12980112 0.24154217 17.17238041] [ 0. 0. 0. 1. ]] SLAMing on 12.805194017 meters 0.021069788863387316 Centerline is valid? [True, True] Translation: X:-1.95, Y:1.14, Z:17.26 [[ 2.72505558e-01 -3.77972044e-01 -8.84803851e-01 -1.95263421e+00] [-1.28118315e-02 9.18100112e-01 -3.96141440e-01 1.13937746e+00] [ 9.62068905e-01 1.19286702e-01 2.45344869e-01 1.72624095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835194017 meters 0.02082391663690235 Centerline is valid? [True, True] Translation: X:-1.99, Y:1.16, Z:17.32 [[ 2.79326107e-01 -3.71370627e-01 -8.85472068e-01 -1.98569173e+00] [ 1.39355119e-02 9.23648963e-01 -3.82986155e-01 1.15953364e+00] [ 9.60095166e-01 9.46385253e-02 2.63174509e-01 1.73214346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865194017 meters 0.027769008459807627 Centerline is valid? [True, True] Translation: X:-2.01, Y:1.17, Z:17.38 [[ 0.28194493 -0.36319662 -0.88802887 -2.00716619] [ 0.02975473 0.9284439 -0.37027906 1.16597924] [ 0.95896909 0.07797525 0.27257687 17.38212626] [ 0. 0. 0. 1. ]] SLAMing on 12.895194017 meters 0.021809342958924414 Centerline is valid? [True, True] Translation: X:-1.81, Y:1.20, Z:17.38 [[ 0.28066854 -0.33364874 -0.89994649 -1.81139545] [-0.03871169 0.93293687 -0.35795279 1.20443332] [ 0.95902376 0.13530454 0.24892992 17.3772335 ] [ 0. 0. 0. 1. ]] SLAMing on 12.925194017 meters 0.02247083468186729 Centerline is valid? [True, True] Translation: X:-1.91, Y:1.20, Z:17.45 [[ 0.27274258 -0.33034722 -0.90359404 -1.91173444] [-0.01891437 0.9371793 -0.34833489 1.19945301] [ 0.9619011 0.11209667 0.2493604 17.45483135] [ 0. 0. 0. 1. ]] SLAMing on 12.955194017 meters 0.02311585004064556 Centerline is valid? [True, True] Translation: X:-1.94, Y:1.23, Z:17.51 [[ 0.27452297 -0.31636279 -0.9080483 -1.93695978] [-0.03026721 0.94101806 -0.33699986 1.23278152] [ 0.96110407 0.11999829 0.24875565 17.51143355] [ 0. 0. 0. 1. ]] SLAMing on 12.985194017 meters 0.023311642668669825 Centerline is valid? [True, True] Translation: X:-1.86, Y:1.25, Z:17.54 [[ 2.77032599e-01 -3.07078413e-01 -9.10470091e-01 -1.86416711e+00] [-1.55241649e-02 9.46002865e-01 -3.23786318e-01 1.25460432e+00] [ 9.60735104e-01 1.03833653e-01 2.57306497e-01 1.75422031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.015194017 meters 0.02140717967642784 Centerline is valid? [True, True] Translation: X:-2.08, Y:1.25, Z:17.65 [[ 0.27649881 -0.28951226 -0.91636841 -2.0827319 ] [-0.04727745 0.94829058 -0.31386275 1.24797001] [ 0.95985064 0.13010624 0.24851381 17.6543879 ] [ 0. 0. 0. 1. ]] SLAMing on 13.045194017 meters 0.022449766131397854 Centerline is valid? [True, True] Translation: X:-1.98, Y:1.28, Z:17.68 [[ 0.2749608 -0.2763635 -0.92087989 -1.97982649] [-0.04943327 0.95246737 -0.30060318 1.28163662] [ 0.96018379 0.12817619 0.24822964 17.67791311] [ 0. 0. 0. 1. ]] SLAMing on 13.075194017 meters 0.034145566674216116 Centerline is valid? [True, True] Translation: X:-2.04, Y:1.35, Z:17.74 [[ 2.67993998e-01 -2.75485349e-01 -9.23193934e-01 -2.03745026e+00] [-2.66348730e-03 9.58030497e-01 -2.86653925e-01 1.34704242e+00] [ 9.63416900e-01 7.92804468e-02 2.56012672e-01 1.77406948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105194017 meters 0.06236580948342614 Centerline is valid? [True, True] Translation: X:-2.01, Y:1.36, Z:17.79 [[ 0.26454675 -0.25167491 -0.93095368 -2.00775068] [-0.05318813 0.96006912 -0.27466034 1.35703227] [ 0.962905 0.12217618 0.24059705 17.78536716] [ 0. 0. 0. 1. ]] SLAMing on 13.135194017 meters 0.024005449069044657 Centerline is valid? [True, True] Translation: X:-1.90, Y:1.38, Z:17.81 [[ 0.2723211 -0.23645343 -0.93270091 -1.89810648] [-0.0571407 0.96365075 -0.26098307 1.37741962] [ 0.96050828 0.12436638 0.24891132 17.80740505] [ 0. 0. 0. 1. ]] SLAMing on 13.165194017 meters 0.023143108490446554 Centerline is valid? [True, True] Translation: X:-1.90, Y:1.41, Z:17.86 [[ 0.27938678 -0.2289417 -0.93248524 -1.9005513 ] [-0.03561696 0.96801864 -0.24833717 1.41481896] [ 0.95951783 0.10259441 0.26229741 17.85786383] [ 0. 0. 0. 1. ]] SLAMing on 13.195194017 meters 0.06695704807523284 Centerline is valid? [True, True] Translation: X:-1.89, Y:1.42, Z:17.91 [[ 0.2719444 -0.2173577 -0.93744433 -1.88818361] [-0.04145271 0.97060731 -0.237072 1.41954622] [ 0.96141974 0.10333001 0.25494116 17.90707052] [ 0. 0. 0. 1. ]] SLAMing on 13.225194017 meters 0.04369031318718812 Centerline is valid? [True, True] Translation: X:-1.95, Y:1.48, Z:17.97 [[ 0.27813821 -0.20826209 -0.93769187 -1.9544303 ] [-0.02588965 0.97423208 -0.22405709 1.48185964] [ 0.9601921 0.08659535 0.26557933 17.97279366] [ 0. 0. 0. 1. ]] SLAMing on 13.255194016999999 meters 0.02127281812930566 Centerline is valid? [True, True] Translation: X:-1.90, Y:1.48, Z:18.01 [[ 0.275173 -0.1952179 -0.94136592 -1.89687058] [-0.03155574 0.97680533 -0.21179137 1.48389615] [ 0.96087671 0.08798476 0.26263021 18.0078172 ] [ 0. 0. 0. 1. ]] SLAMing on 13.285194017 meters 0.022766171366768673 Centerline is valid? [True, True] Translation: X:-1.82, Y:1.49, Z:18.04 [[ 0.2703396 -0.17832577 -0.94610592 -1.82084349] [-0.05688192 0.97802157 -0.20059476 1.49409059] [ 0.96108322 0.10804502 0.25425445 18.03703373] [ 0. 0. 0. 1. ]] SLAMing on 13.315194017 meters 0.03256053686282062 Centerline is valid? [True, True] Translation: X:-1.75, Y:1.50, Z:18.07 [[ 0.27401544 -0.1703313 -0.94652141 -1.74837047] [-0.04301291 0.98103567 -0.18899444 1.50029742] [ 0.96076294 0.09250003 0.26149248 18.06695785] [ 0. 0. 0. 1. ]] SLAMing on 13.345194017 meters 0.024035299402943855 Centerline is valid? [True, True] Translation: X:-1.87, Y:1.53, Z:18.15 [[ 0.28349041 -0.15503111 -0.94636068 -1.86921713] [-0.05576923 0.98251055 -0.17765926 1.53465936] [ 0.95735207 0.1031425 0.26988636 18.15454167] [ 0. 0. 0. 1. ]] SLAMing on 13.375194017 meters 0.06858401927634285 Centerline is valid? [True, True] Translation: X:-3.29, Y:1.91, Z:15.96 [[-1.60887057e-01 1.98158464e-01 9.66875679e-01 -3.29170167e+00] [ 8.02553006e-01 5.96473823e-01 1.12983034e-02 1.90890028e+00] [-5.74477178e-01 7.77786733e-01 -2.54997589e-01 1.59634544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405194017 meters 0.06620864249832578 Centerline is valid? [True, True] Translation: X:0.15, Y:2.52, Z:14.91 [[ 0.33303297 -0.94273929 0.01821216 0.14932664] [ 0.93892704 0.32978794 -0.09826456 2.51657208] [ 0.08663171 0.04982523 0.99499366 14.90760558] [ 0. 0. 0. 1. ]] SLAMing on 13.435194017 meters 0.05577504385751829 Centerline is valid? [True, True] Translation: X:0.41, Y:2.54, Z:13.76 [[ 0.390329 -0.92040904 0.02214658 0.41134241] [ 0.91507204 0.38519125 -0.1194607 2.54180472] [ 0.10142204 0.06689469 0.9925919 13.76433244] [ 0. 0. 0. 1. ]] SLAMing on 13.465194017 meters 0.024423948259085993 Centerline is valid? [True, True] Translation: X:-0.75, Y:2.55, Z:17.93 [[-7.35559819e-02 -9.97255580e-01 -8.41580263e-03 -7.53973717e-01] [ 9.96232751e-01 -7.38639713e-02 4.54358766e-02 2.54547468e+00] [-4.59328061e-02 -5.04201769e-03 9.98931807e-01 1.79275824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495194017 meters 0.02256792631515479 Centerline is valid? [True, True] Translation: X:-0.77, Y:2.57, Z:17.99 [[-7.67525695e-02 -9.97019065e-01 -7.87572993e-03 -7.73845218e-01] [ 9.96124171e-01 -7.70192513e-02 4.24814290e-02 2.57414501e+00] [-4.29613775e-02 -4.58464611e-03 9.99066215e-01 1.79949962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525194017 meters 0.030653909158722577 Centerline is valid? [True, True] Translation: X:-0.77, Y:2.60, Z:17.93 [[-9.84809308e-02 -9.95092941e-01 -9.56792941e-03 -7.72874231e-01] [ 9.93769252e-01 -9.88451144e-02 5.15006584e-02 2.59955703e+00] [-5.21936847e-02 -4.43648127e-03 9.98627126e-01 1.79254033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555194017 meters 0.05268320101549994 Centerline is valid? [True, True] Translation: X:-2.58, Y:2.25, Z:19.72 [[-0.70605911 0.706661 0.0459431 -2.58247001] [ 0.68925169 0.70065522 -0.18442985 2.2476388 ] [-0.16251966 -0.09855201 -0.98177129 19.72114757] [ 0. 0. 0. 1. ]] SLAMing on 13.585194017 meters 0.032166023820801755 Centerline is valid? [True, True] Translation: X:-0.86, Y:2.66, Z:18.09 [[-2.07167043e-01 -9.78184653e-01 -1.53818153e-02 -8.57591195e-01] [ 9.76514350e-01 -2.07713184e-01 5.72272497e-02 2.66375664e+00] [-5.91738232e-02 -3.16496331e-03 9.98242677e-01 1.80905569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615194017 meters 0.05335296572920542 Centerline is valid? [True, True] Translation: X:0.07, Y:2.81, Z:15.16 [[ 0.18421484 -0.98271283 0.01844949 0.07270488] [ 0.98081341 0.18257565 -0.06834601 2.80706372] [ 0.06379608 0.03068585 0.99749107 15.16490814] [ 0. 0. 0. 1. ]] SLAMing on 13.645194017 meters 0.057454267960593365 Centerline is valid? [True, True] Translation: X:0.01, Y:2.83, Z:15.30 [[ 1.94168983e-01 -9.80778922e-01 1.92642824e-02 1.14772627e-02] [ 9.78727330e-01 1.92361509e-01 -7.13432812e-02 2.82693250e+00] [ 6.62662800e-02 3.27071320e-02 9.97265774e-01 1.52966378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675194017 meters 0.06614018858712889 Centerline is valid? [True, True] Translation: X:-0.15, Y:2.84, Z:15.78 [[ 1.25724654e-01 -9.92012067e-01 1.02649893e-02 -1.45820149e-01] [ 9.91398371e-01 1.25254118e-01 -3.79562250e-02 2.83558262e+00] [ 3.63673010e-02 1.49487269e-02 9.99226678e-01 1.57779157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705194017 meters 0.06908205645466134 Centerline is valid? [True, True] Translation: X:-1.99, Y:2.37, Z:17.50 [[-0.68809117 0.72427855 0.04417153 -1.98823571] [ 0.71431033 0.68681399 -0.13434018 2.36983642] [-0.12763733 -0.06088611 -0.9899503 17.49802582] [ 0. 0. 0. 1. ]] SLAMing on 13.735194017 meters 0.06841073041713733 Centerline is valid? [True, True] Translation: X:0.09, Y:2.29, Z:17.64 [[ 0.75997614 -0.64936079 -0.02769177 0.08534957] [-0.64763001 -0.76017207 0.05209409 2.28583208] [-0.05487837 -0.02165625 -0.99825817 17.63530608] [ 0. 0. 0. 1. ]] SLAMing on 13.765194017 meters 0.027377376447463294 Centerline is valid? [True, True] Translation: X:-0.47, Y:1.77, Z:15.21 [[ 5.47601682e-01 -8.36499247e-01 2.00351448e-02 -4.66239986e-01] [-8.35396769e-01 -5.47922186e-01 -4.35145540e-02 1.76667404e+00] [ 4.73775920e-02 7.09134771e-03 -9.98851879e-01 1.52129821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795194017 meters SLAMing on 13.825194017 meters 0.018427166231185406 Centerline is valid? [True, True] Translation: X:-0.39, Y:1.72, Z:15.34 [[ 6.11126364e-01 -7.91239251e-01 2.15641831e-02 -3.86861351e-01] [-7.90311773e-01 -6.11469766e-01 -3.88847843e-02 1.71583998e+00] [ 4.39530136e-02 6.72108908e-03 -9.99010991e-01 1.53371664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855194017 meters 0.018735075668231 Centerline is valid? [True, True] Translation: X:-0.42, Y:1.68, Z:15.13 [[ 6.74026696e-01 -7.38315434e-01 2.40485619e-02 -4.20786438e-01] [-7.37451374e-01 -6.74421674e-01 -3.63438711e-02 1.68114197e+00] [ 4.30521123e-02 6.76209434e-03 -9.99049944e-01 1.51329889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885194017 meters 0.017704089370139564 Centerline is valid? [True, True] Translation: X:-0.40, Y:1.62, Z:15.10 [[ 7.38770458e-01 -6.73486810e-01 2.51739347e-02 -3.95268336e-01] [-6.72740359e-01 -7.39165555e-01 -3.24760010e-02 1.61955732e+00] [ 4.04798638e-02 7.05678823e-03 -9.99155435e-01 1.50987021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915194017 meters 0.05210884799996256 Centerline is valid? [True, True] Translation: X:-0.57, Y:1.50, Z:14.55 [[ 7.52534825e-01 -6.57194676e-01 4.22669548e-02 -5.65245857e-01] [-6.55747678e-01 -7.53702040e-01 -4.39114769e-02 1.49844805e+00] [ 6.07150789e-02 5.32845814e-03 -9.98140915e-01 1.45536546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945194017 meters SLAMing on 13.975194017 meters 0.0526863883648805 Centerline is valid? [True, True] Translation: X:-1.38, Y:0.57, Z:14.65 [[ 0.30513386 0.9442799 -0.12340501 -1.38066962] [-0.94077256 0.31900536 0.11481533 0.57219414] [ 0.14778467 0.081062 0.98569196 14.65046979] [ 0. 0. 0. 1. ]] SLAMing on 14.005194016999999 meters SLAMing on 14.035194017 meters SLAMing on 14.065194017 meters 0.03220610360031283 Centerline is valid? [True, True] Translation: X:-0.79, Y:1.37, Z:18.16 [[ 6.66790765e-01 7.44695418e-01 -2.86148622e-02 -7.94040280e-01] [-7.44227479e-01 6.67395097e-01 2.66316443e-02 1.37121012e+00] [ 3.89298822e-02 3.53823229e-03 9.99235681e-01 1.81612389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.095194017 meters 0.032369753198854545 Centerline is valid? [True, True] Translation: X:-0.37, Y:1.61, Z:15.07 [[ 8.36239512e-01 -5.47255090e-01 3.48618017e-02 -3.67073066e-01] [-5.46365121e-01 -8.36929001e-01 -3.21714306e-02 1.60944405e+00] [ 4.67828321e-02 7.85574888e-03 -9.98874193e-01 1.50668254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125194017 meters 0.06848820527423277 Centerline is valid? [True, True] Translation: X:-1.03, Y:0.80, Z:16.20 [[ 0.55953482 0.8259484 -0.06877518 -1.03475035] [-0.82453674 0.56314473 0.05483775 0.79909209] [ 0.08402354 0.02602403 0.99612389 16.20345183] [ 0. 0. 0. 1. ]] SLAMing on 14.155194017 meters 0.06338330301127261 Centerline is valid? [True, True] Translation: X:-1.03, Y:0.73, Z:16.06 [[ 0.52647794 0.84653071 -0.07878289 -1.02884325] [-0.84484207 0.53129206 0.06301281 0.72808123] [ 0.095199 0.03338425 0.99489831 16.06343415] [ 0. 0. 0. 1. ]] SLAMing on 14.185194017 meters 0.058853381924514434 Centerline is valid? [True, True] Translation: X:-1.01, Y:0.67, Z:15.82 [[ 0.4896449 0.86677556 -0.09459382 -1.01255339] [-0.8645878 0.49670227 0.07599203 0.66775626] [ 0.112853 0.04457555 0.99261131 15.82374974] [ 0. 0. 0. 1. ]] SLAMing on 14.215194017 meters 0.04795705602596902 Centerline is valid? [True, True] Translation: X:-0.98, Y:0.66, Z:16.11 [[ 0.56793173 0.8201507 -0.06932801 -0.98152915] [-0.81862575 0.57160075 0.05589686 0.66060831] [ 0.08547179 0.02500809 0.99602669 16.1121373 ] [ 0. 0. 0. 1. ]] SLAMing on 14.245194017 meters 0.06542038920824667 Centerline is valid? [True, True] Translation: X:-0.93, Y:0.65, Z:15.96 [[ 0.49103325 0.86683461 -0.08651074 -0.93048446] [-0.86494485 0.49695394 0.07005132 0.65080802] [ 0.10371476 0.0404295 0.99378504 15.95981758] [ 0. 0. 0. 1. ]] SLAMing on 14.275194017 meters SLAMing on 14.305194017 meters 0.021516218833881256 Centerline is valid? [True, True] Translation: X:-0.55, Y:1.23, Z:18.27 [[ 7.06218656e-01 7.07222155e-01 -3.30459342e-02 -5.52391047e-01] [-7.06728333e-01 7.06977494e-01 2.67934042e-02 1.22523229e+00] [ 4.23116208e-02 4.43249602e-03 9.99094630e-01 1.82687005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335194017 meters 0.021516218833881256 Centerline is valid? [True, True] Translation: X:-0.18, Y:1.44, Z:15.06 [[ 8.76925204e-01 -4.79359459e-01 3.48811712e-02 -1.76470777e-01] [-4.78596811e-01 -8.77581890e-01 -2.81978562e-02 1.44167849e+00] [ 4.41279932e-02 8.03339353e-03 -9.98993586e-01 1.50635315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365194017 meters 0.02306514569402488 Centerline is valid? [True, True] Translation: X:-0.47, Y:1.21, Z:18.37 [[ 7.60782026e-01 6.48214233e-01 -3.20782901e-02 -4.73259225e-01] [-6.47849122e-01 7.61447716e-01 2.21108959e-02 1.21194893e+00] [ 3.87585381e-02 3.96031991e-03 9.99240758e-01 1.83748444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395194017 meters 0.02703572361158651 Centerline is valid? [True, True] Translation: X:-0.13, Y:1.43, Z:15.05 [[ 9.23282126e-01 -3.82520012e-01 3.50507685e-02 -1.25818397e-01] [-3.81856694e-01 -9.23903305e-01 -2.42517624e-02 1.43341080e+00] [ 4.16603053e-02 9.00684818e-03 -9.99091235e-01 1.50472502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425194016999999 meters 0.03430935621938272 Centerline is valid? [True, True] Translation: X:-0.01, Y:2.05, Z:20.54 [[ 9.90475605e-01 6.40568657e-02 1.21880245e-01 -8.11383499e-03] [-5.57250336e-02 9.95947971e-01 -7.05858370e-02 2.05406945e+00] [-1.25907890e-01 6.31217688e-02 9.90031740e-01 2.05419281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455194017 meters 0.02741300900678794 Centerline is valid? [True, True] Translation: X:-0.13, Y:1.77, Z:20.31 [[ 0.98048388 0.17933547 0.08056143 -0.12834257] [-0.17601561 0.98328215 -0.04663397 1.77056518] [-0.08757774 0.03154379 0.99565814 20.30583558] [ 0. 0. 0. 1. ]] SLAMing on 14.485194017 meters 0.04278612204209586 Centerline is valid? [True, True] Translation: X:-0.34, Y:1.19, Z:18.49 [[ 8.23787291e-01 5.66654462e-01 -1.66499246e-02 -3.39238571e-01] [-5.66574363e-01 8.23954187e-01 9.64305887e-03 1.18932915e+00] [ 1.91830574e-02 1.48959108e-03 9.99814879e-01 1.84894778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515194017 meters 0.03640603384177026 Centerline is valid? [True, True] Translation: X:-0.23, Y:1.37, Z:19.11 [[ 9.19921808e-01 3.90423535e-01 3.62399029e-02 -2.29874563e-01] [-3.89893930e-01 9.20620867e-01 -2.09747858e-02 1.37167712e+00] [-4.15522609e-02 5.16544468e-03 9.99122979e-01 1.91098757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545194017 meters 0.05308884627334623 Centerline is valid? [True, True] Translation: X:-0.28, Y:1.18, Z:18.59 [[ 8.28096764e-01 5.60345636e-01 -1.63865163e-02 -2.82131581e-01] [-5.60266901e-01 8.28257817e-01 9.48617337e-03 1.17817859e+00] [ 1.88877961e-02 1.32535323e-03 9.99820731e-01 1.85893532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575194017 meters 0.022365770366135393 Centerline is valid? [True, True] Translation: X:-0.27, Y:1.13, Z:18.53 [[ 8.08051424e-01 5.88532705e-01 -2.61180310e-02 -2.72814218e-01] [-5.88347040e-01 8.08467261e-01 1.51145168e-02 1.12798166e+00] [ 3.00109604e-02 3.15315938e-03 9.99544596e-01 1.85273352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605194017 meters 0.019131201645776308 Centerline is valid? [True, True] Translation: X:-0.25, Y:1.10, Z:18.49 [[ 7.97302136e-01 6.02694275e-01 -3.26942599e-02 -2.48490593e-01] [-6.02414820e-01 7.97958874e-01 1.89214339e-02 1.10483959e+00] [ 3.74925147e-02 4.60940705e-03 9.99286278e-01 1.84938512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635194017 meters 0.02989335766086384 Centerline is valid? [True, True] Translation: X:-0.17, Y:0.64, Z:13.22 [[ 0.63983715 -0.74807476 0.17604707 -0.16929602] [-0.74668488 -0.65934082 -0.08792822 0.6430823 ] [ 0.1818519 -0.07519195 -0.98044687 13.21969315] [ 0. 0. 0. 1. ]] SLAMing on 14.665194017 meters 0.07207488512890946 Centerline is valid? [True, True] Translation: X:-0.19, Y:1.06, Z:18.48 [[ 8.25392272e-01 5.62913643e-01 -4.30793151e-02 -1.92222423e-01] [-5.62582970e-01 8.26484088e-01 2.06022920e-02 1.05702240e+00] [ 4.72016797e-02 7.23071643e-03 9.98859208e-01 1.84791481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695194017 meters 0.03949788470556667 Centerline is valid? [True, True] Translation: X:-0.11, Y:0.48, Z:12.95 [[ 0.66300537 -0.7210555 0.20125318 -0.11279225] [-0.72232147 -0.68679143 -0.08105075 0.47667047] [ 0.19666105 -0.09163241 -0.97618028 12.95187115] [ 0. 0. 0. 1. ]] SLAMing on 14.725194017 meters 0.017114144690202417 Centerline is valid? [True, True] Translation: X:0.14, Y:1.29, Z:14.75 [[ 9.81741720e-01 -1.83801877e-01 4.89904654e-02 1.36063381e-01] [-1.83120343e-01 -9.82923993e-01 -1.80931875e-02 1.29376747e+00] [ 5.14794657e-02 8.79168617e-03 -9.98635354e-01 1.47528399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755194016999999 meters 0.018070891612904042 Centerline is valid? [True, True] Translation: X:0.17, Y:1.32, Z:14.75 [[ 9.95607187e-01 -8.14570278e-02 4.61636424e-02 1.70250059e-01] [-8.09236728e-02 -9.96631426e-01 -1.33101193e-02 1.32295465e+00] [ 4.70923395e-02 9.51591899e-03 -9.98845213e-01 1.47488342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785194017 meters 0.01826363159875641 Centerline is valid? [True, True] Translation: X:-0.02, Y:1.08, Z:18.64 [[ 9.42588535e-01 3.32211249e-01 -3.40960347e-02 -2.18194162e-02] [-3.32160974e-01 9.43194510e-01 7.29408416e-03 1.08030103e+00] [ 3.45823695e-02 4.45005200e-03 9.99391944e-01 1.86445720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815194017 meters 0.018550820096089278 Centerline is valid? [True, True] Translation: X:0.01, Y:1.08, Z:18.70 [[ 9.40914444e-01 3.36866733e-01 -3.46527419e-02 7.89867526e-03] [-3.36817816e-01 9.41540636e-01 7.41557849e-03 1.08075552e+00] [ 3.51250263e-02 4.69423590e-03 9.99371901e-01 1.86952574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845194017 meters 0.0387342196444058 Centerline is valid? [True, True] Translation: X:0.20, Y:0.30, Z:12.74 [[ 0.78247367 -0.57724421 0.23350392 0.20159248] [-0.58663582 -0.8091199 -0.03440068 0.30351341] [ 0.20879026 -0.11006414 -0.97174715 12.74456355] [ 0. 0. 0. 1. ]] SLAMing on 14.875194017 meters 0.02437479068902558 Centerline is valid? [True, True] Translation: X:0.27, Y:1.27, Z:14.61 [[ 9.96532655e-01 5.48313210e-02 6.25795068e-02 2.70683894e-01] [ 5.53588445e-02 -9.98443870e-01 -6.72584307e-03 1.26923556e+00] [ 6.21133381e-02 1.01668514e-02 -9.98017319e-01 1.46063871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905194017 meters 0.017656955171383288 Centerline is valid? [True, True] Translation: X:0.30, Y:1.27, Z:14.44 [[ 9.89407053e-01 1.32664471e-01 5.89391263e-02 3.03128865e-01] [ 1.33005833e-01 -9.91113454e-01 -1.88951598e-03 1.27268750e+00] [ 5.81646894e-02 9.70874800e-03 -9.98259790e-01 1.44362312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935194017 meters SLAMing on 14.965194017 meters 0.05584193569422265 Centerline is valid? [True, True] Translation: X:0.12, Y:1.46, Z:18.83 [[ 9.72535757e-01 2.27861936e-01 4.74672410e-02 1.21455487e-01] [ 2.28046773e-01 -9.73648934e-01 1.55664257e-03 1.45972481e+00] [ 4.65711282e-02 9.31086059e-03 -9.98871582e-01 1.88298895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995194017 meters SLAMing on 15.025194017 meters 0.05522916634781159 Centerline is valid? [True, True] Translation: X:0.06, Y:1.67, Z:19.64 [[ 6.99632466e-01 7.13814531e-01 3.13564669e-02 5.86005638e-02] [ 7.14111447e-01 -7.00027987e-01 2.37899203e-03 1.66956172e+00] [ 2.36485635e-02 2.07275919e-02 -9.99505434e-01 1.96449427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055194017 meters 0.05594454472458927 Centerline is valid? [True, True] Translation: X:0.40, Y:1.16, Z:14.68 [[ 9.84107126e-01 -1.60502182e-01 -7.59750902e-02 3.96081038e-01] [ 1.59902163e-01 9.87034212e-01 -1.39557196e-02 1.15572644e+00] [ 7.72299368e-02 1.58534183e-03 9.97012048e-01 1.46845671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085194017 meters 0.01772062010736226 Centerline is valid? [True, True] Translation: X:0.24, Y:1.16, Z:18.93 [[ 9.98326867e-01 -4.38978789e-02 -3.76356544e-02 2.44124836e-01] [ 4.36677344e-02 9.99022172e-01 -6.91583182e-03 1.16076834e+00] [ 3.79024435e-02 5.26079695e-03 9.99267596e-01 1.89328794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115194017 meters SLAMing on 15.145194017 meters SLAMing on 15.175194016999999 meters SLAMing on 15.205194017 meters 0.04422610195263977 Centerline is valid? [True, True] Translation: X:0.11, Y:1.68, Z:20.51 [[ 8.84158849e-01 -4.60867857e-01 7.65764149e-02 1.13539737e-01] [ 4.61223753e-01 8.87172920e-01 1.40306783e-02 1.67701808e+00] [-7.44028103e-02 2.29135131e-02 9.96964991e-01 2.05055347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235194017 meters SLAMing on 15.265194017 meters 0.059115613957628974 Centerline is valid? [True, True] Translation: X:0.31, Y:1.16, Z:18.93 [[ 9.97733724e-01 -5.51662064e-02 -3.85240871e-02 3.05125349e-01] [ 5.49339109e-02 9.98465009e-01 -7.06340534e-03 1.16268154e+00] [ 3.88546142e-02 4.93111895e-03 9.99232707e-01 1.89295158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295194017 meters SLAMing on 15.325194017 meters 0.062213175134553544 Centerline is valid? [True, True] Translation: X:0.51, Y:1.08, Z:15.27 [[ 9.99199023e-01 -9.77064029e-03 -3.88052368e-02 5.07070425e-01] [ 9.50122566e-03 9.99929506e-01 -7.12110374e-03 1.08209366e+00] [ 3.88720790e-02 6.74670259e-03 9.99221419e-01 1.52675723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355194017 meters SLAMing on 15.385194017 meters SLAMing on 15.415194017 meters SLAMing on 15.445194017 meters SLAMing on 15.475194017 meters SLAMing on 15.505194016999999 meters 0.0637216648675215 Centerline is valid? [True, True] Translation: X:0.59, Y:0.62, Z:16.11 [[ 9.83647883e-01 1.64258451e-01 -7.38647593e-02 5.87075011e-01] [-1.65683711e-01 9.86085730e-01 -1.35587956e-02 6.19321738e-01] [ 7.06098384e-02 2.55752681e-02 9.97176091e-01 1.61054899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535194017 meters 0.015276484577573874 Centerline is valid? [True, True] Translation: X:0.20, Y:1.69, Z:21.41 [[ 9.91394245e-01 -1.26412212e-01 -3.40206290e-02 1.98716696e-01] [ 1.26271893e-01 9.91975977e-01 -6.25060134e-03 1.69100974e+00] [ 3.45377991e-02 1.90096097e-03 9.99401584e-01 2.14054337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565194017 meters 0.04315671395381743 Centerline is valid? [True, True] Translation: X:0.73, Y:0.72, Z:13.85 [[ 9.29031091e-01 3.63363675e-01 -6.97715656e-02 7.30176927e-01] [-3.65052965e-01 9.30899246e-01 -1.27642758e-02 7.17255002e-01] [ 6.03122236e-02 3.73287260e-02 9.97481329e-01 1.38484050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595194017 meters SLAMing on 15.625194017 meters 0.017353832775305743 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.09, Z:12.23 [[ 8.79005108e-01 -4.75075753e-01 4.06577113e-02 9.84179632e-01] [ 4.75193542e-01 8.79850729e-01 7.33432930e-03 -9.25217934e-02] [-3.92570789e-02 1.28733689e-02 9.99146215e-01 1.22334500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655194017 meters 0.017285747480994814 Centerline is valid? [True, True] Translation: X:0.49, Y:1.18, Z:19.10 [[ 9.90607929e-01 -1.31555980e-01 -3.72686924e-02 4.87721001e-01] [ 1.31394060e-01 9.91307088e-01 -6.77184790e-03 1.18189331e+00] [ 3.78355960e-02 1.81136143e-03 9.99282336e-01 1.91026465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685194017 meters SLAMing on 15.715194017 meters SLAMing on 15.745194017 meters 0.017159288318047115 Centerline is valid? [True, True] Translation: X:0.51, Y:1.17, Z:19.23 [[ 9.94603976e-01 -8.96227567e-02 -5.22560231e-02 5.14978097e-01] [ 8.92460856e-02 9.95964278e-01 -9.50230259e-03 1.16837086e+00] [ 5.28967548e-02 4.78738244e-03 9.98588511e-01 1.92311974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775194017 meters 0.05377026894664212 Centerline is valid? [True, True] Translation: X:0.69, Y:1.33, Z:15.12 [[ 0.93713204 -0.31808401 -0.14354825 0.69215843] [ 0.31771602 0.94782663 -0.02610017 1.32888748] [ 0.1443609 -0.02114827 0.98929909 15.11795172] [ 0. 0. 0. 1. ]] SLAMing on 15.805194017 meters SLAMing on 15.835194017 meters 0.05166454988173483 Centerline is valid? [True, True] Translation: X:0.73, Y:1.35, Z:14.82 [[ 0.92981526 -0.33803769 -0.14551322 0.73003191] [ 0.33789225 0.94081233 -0.02647629 1.35246016] [ 0.14585062 -0.02454973 0.98900198 14.82181361] [ 0. 0. 0. 1. ]] SLAMing on 15.865194017 meters 0.04511004238113548 Centerline is valid? [True, True] Translation: X:0.89, Y:0.92, Z:13.55 [[ 9.23080157e-01 3.80967698e-01 -5.27886036e-02 8.91310245e-01] [-3.81951563e-01 9.24132372e-01 -9.61051727e-03 9.20479073e-01] [ 4.51223608e-02 2.90339674e-02 9.98559463e-01 1.35501891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895194017 meters 0.014331554402272273 Centerline is valid? [True, True] Translation: X:0.61, Y:1.23, Z:19.52 [[ 9.93300452e-01 -1.04859741e-01 -4.85658981e-02 6.13959339e-01] [ 1.04551684e-01 9.94480098e-01 -8.84757787e-03 1.22752100e+00] [ 4.92255738e-02 3.71065666e-03 9.98780794e-01 1.95245378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925194016999999 meters 0.03950155071653912 Centerline is valid? [True, True] Translation: X:1.00, Y:0.96, Z:12.42 [[ 9.17903563e-01 3.92618188e-01 -5.74804941e-02 9.96164793e-01] [-3.93799441e-01 9.19137126e-01 -1.04375801e-02 9.61617463e-01] [ 4.87344724e-02 3.22164784e-02 9.98292066e-01 1.24229168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955194017 meters 0.050170121509689705 Centerline is valid? [True, True] Translation: X:0.73, Y:1.27, Z:18.23 [[ 0.99269546 0.05123115 -0.1092295 0.72747737] [ 0.04797515 -0.99832831 -0.03223298 1.27118084] [-0.11069824 0.02675723 -0.99349381 18.23112717] [ 0. 0. 0. 1. ]] SLAMing on 15.985194017 meters 0.015279057201828341 Centerline is valid? [True, True] Translation: X:0.72, Y:1.27, Z:19.43 [[ 9.85073591e-01 -1.64130611e-01 -5.18764096e-02 7.20054825e-01] [ 1.63635653e-01 9.86426021e-01 -1.36776215e-02 1.26970489e+00] [ 5.34171567e-02 4.98463355e-03 9.98559843e-01 1.94253841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.015194017 meters SLAMing on 16.045194017 meters 0.05091967195437947 Centerline is valid? [True, True] Translation: X:0.89, Y:1.45, Z:15.21 [[ 0.88566154 -0.43142765 -0.1716794 0.8863357 ] [ 0.43042523 0.90150458 -0.04498464 1.45259095] [ 0.17417739 -0.03405399 0.98412528 15.20727365] [ 0. 0. 0. 1. ]] SLAMing on 16.075194017 meters SLAMing on 16.105194017 meters 0.01880463426390697 Centerline is valid? [True, True] Translation: X:0.68, Y:1.52, Z:20.60 [[ 8.82005242e-01 -4.71046630e-01 1.34842343e-02 6.84016400e-01] [ 4.71046564e-01 8.82101871e-01 3.37992682e-03 1.51562352e+00] [-1.34865714e-02 3.37058904e-03 9.99903371e-01 2.05964464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135194017 meters 0.04699452526970875 Centerline is valid? [True, True] Translation: X:0.96, Y:1.44, Z:15.41 [[ 9.26607185e-01 -3.49020250e-01 -1.39942809e-01 9.61558781e-01] [ 3.47453968e-01 9.36994998e-01 -3.62782873e-02 1.43678843e+00] [ 1.43787569e-01 -1.50079627e-02 9.89494768e-01 1.54078222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165194017 meters 0.060760308921071884 Centerline is valid? [True, True] Translation: X:1.12, Y:1.14, Z:14.13 [[ 9.77942100e-01 2.07570503e-01 -2.33181173e-02 1.12486906e+00] [-2.07760997e-01 9.78160966e-01 -6.04089133e-03 1.13590762e+00] [ 2.15549613e-02 1.07522373e-02 9.99709844e-01 1.41341614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195194017 meters 0.04594059354303977 Centerline is valid? [True, True] Translation: X:1.18, Y:1.09, Z:13.76 [[ 9.60938207e-01 2.73909885e-01 -3.96375793e-02 1.18302967e+00] [-2.74503182e-01 9.61531179e-01 -1.02856977e-02 1.09040743e+00] [ 3.52954141e-02 2.07645615e-02 9.99161182e-01 1.37644835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225194017 meters 0.04594059354303977 Centerline is valid? [True, True] Translation: X:1.21, Y:1.10, Z:13.77 [[ 9.61110397e-01 2.73305075e-01 -3.96376328e-02 1.20952508e+00] [-2.73897991e-01 9.61703748e-01 -1.02854925e-02 1.09765669e+00] [ 3.53085827e-02 2.07421618e-02 9.99161182e-01 1.37656411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.255194017 meters SLAMing on 16.285194017 meters 0.04952282206677443 Centerline is valid? [True, True] Translation: X:0.95, Y:1.52, Z:17.86 [[ 9.54345202e-01 2.98013159e-01 -2.03320347e-02 9.49281972e-01] [ 2.97854304e-01 -9.54553492e-01 -1.05092920e-02 1.51739305e+00] [-2.25399220e-02 3.97350841e-03 -9.99738047e-01 1.78604497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.315194017 meters SLAMing on 16.345194017 meters 0.04634597944925768 Centerline is valid? [True, True] Translation: X:0.98, Y:1.50, Z:17.87 [[ 9.27365994e-01 3.73431262e-01 -2.32681046e-02 9.81630325e-01] [ 3.73200595e-01 -9.27648995e-01 -1.37352739e-02 1.50234073e+00] [-2.67138145e-02 4.05395541e-03 -9.99634902e-01 1.78737644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375194017 meters SLAMing on 16.405194017 meters 0.049218711811273026 Centerline is valid? [True, True] Translation: X:0.96, Y:1.59, Z:17.84 [[ 8.38596067e-01 5.43627337e-01 3.50136426e-02 9.64313229e-01] [ 5.43460482e-01 -8.39301605e-01 1.49505881e-02 1.59248513e+00] [ 3.75145549e-02 6.49102676e-03 -9.99275000e-01 1.78390169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.435194017 meters 0.07376955724405074 Centerline is valid? [True, True] Translation: X:0.78, Y:1.99, Z:17.98 [[ 0.50971171 -0.83458812 0.20894175 0.78231348] [ 0.83549046 0.5381206 0.11127404 1.99407535] [-0.20530385 0.11785115 0.97157678 17.97638636] [ 0. 0. 0. 1. ]] SLAMing on 16.465194016999998 meters 0.07480650227476042 Centerline is valid? [True, True] Translation: X:1.43, Y:1.30, Z:13.27 [[ 0.98190155 0.18352965 -0.04675702 1.42880994] [-0.184817 0.9824588 -0.02484712 1.3026687 ] [ 0.04137667 0.03303892 0.99859722 13.27399176] [ 0. 0. 0. 1. ]] SLAMing on 16.495194017 meters 0.046068645948523154 Centerline is valid? [True, True] Translation: X:1.05, Y:1.65, Z:17.87 [[ 8.25830069e-01 5.63543328e-01 2.05819173e-02 1.05182225e+00] [ 5.63483900e-01 -8.26076555e-01 9.13342636e-03 1.65161693e+00] [ 2.21493208e-02 4.05492092e-03 -9.99746450e-01 1.78693130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525194017 meters 0.0626690159295029 Centerline is valid? [True, True] Translation: X:1.09, Y:1.63, Z:17.93 [[ 8.01987564e-01 5.97319311e-01 5.05850970e-03 1.08694314e+00] [ 5.97328110e-01 -8.01996910e-01 -2.91440742e-04 1.63175929e+00] [ 3.88282597e-03 3.25532189e-03 -9.99987163e-01 1.79297366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.555194017 meters 0.06719511353631026 Centerline is valid? [True, True] Translation: X:1.08, Y:1.68, Z:17.86 [[ 7.28612949e-01 6.84388066e-01 2.71319903e-02 1.08083242e+00] [ 6.84124579e-01 -7.29104876e-01 1.94843476e-02 1.67743383e+00] [ 3.31169214e-02 4.36511353e-03 -9.99441952e-01 1.78638382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585194017 meters 0.09769361526289741 Centerline is valid? [True, True] Translation: X:0.79, Y:1.99, Z:19.03 [[ 0.36598079 -0.92275405 0.12076018 0.78755987] [ 0.9195226 0.37854011 0.10576183 1.99337765] [-0.14330472 0.07233491 0.98703162 19.03464346] [ 0. 0. 0. 1. ]] SLAMing on 16.615194017 meters 0.06444387966889106 Centerline is valid? [True, True] Translation: X:1.37, Y:1.59, Z:15.50 [[ 8.21779358e-01 -5.68979959e-01 -3.06674483e-02 1.37086828e+00] [ 5.68364162e-01 8.22338235e-01 -2.68701708e-02 1.59423198e+00] [ 4.05076040e-02 4.65107320e-03 9.99168405e-01 1.55037929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645194017 meters 0.10083960894780773 Centerline is valid? [True, False] Translation: X:1.41, Y:1.61, Z:15.55 [[ 8.54717833e-01 -5.11300785e-01 -8.96043191e-02 1.41005367e+00] [ 5.13667921e-01 8.57979919e-01 3.96550494e-03 1.61424464e+00] [ 7.48511407e-02 -4.94162521e-02 9.95969548e-01 1.55498452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675194017 meters 0.11636712566706157 Centerline is valid? [False, False] Translation: X:1.44, Y:1.63, Z:15.56 [[ 8.66580591e-01 -4.88795966e-01 -1.00581225e-01 1.43777491e+00] [ 4.92155889e-01 8.70447856e-01 1.01543856e-02 1.62761713e+00] [ 8.25872885e-02 -5.83012354e-02 9.94877030e-01 1.55607732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705194017 meters 0.04712267482672463 Centerline is valid? [False, True] Translation: X:1.46, Y:1.64, Z:15.60 [[ 0.89411284 -0.42678235 -0.13571683 1.45708934] [ 0.43533682 0.89938897 0.03976593 1.63554363] [ 0.10509082 -0.09463776 0.9899493 15.59599857] [ 0. 0. 0. 1. ]] SLAMing on 16.735194017 meters 0.0812130206122721 Centerline is valid? [True, True] Translation: X:2.35, Y:1.34, Z:12.09 [[ 0.9729399 -0.06094197 -0.22287673 2.3513364 ] [ 0.05107613 0.9974538 -0.04977097 1.34107711] [ 0.22534238 0.03704048 0.97357527 12.09104529] [ 0. 0. 0. 1. ]] SLAMing on 16.765194017 meters 0.10553539295593488 Centerline is valid? [True, False] Translation: X:2.36, Y:1.34, Z:12.08 [[ 0.97367914 -0.05919816 -0.22010111 2.36300977] [ 0.04806993 0.99729637 -0.05558091 1.33684054] [ 0.22279633 0.04353773 0.97389233 12.08376005] [ 0. 0. 0. 1. ]] SLAMing on 16.795194017 meters 0.07605783404011011 Centerline is valid? [False, True] Translation: X:2.34, Y:1.33, Z:12.09 [[ 0.97229976 -0.02752376 -0.23211122 2.34486946] [ 0.02028834 0.99923269 -0.03350243 1.32945017] [ 0.23285524 0.02786525 0.97211212 12.09308025] [ 0. 0. 0. 1. ]] SLAMing on 16.825194017 meters 0.04665566017052572 Centerline is valid? [True, True] Translation: X:2.66, Y:1.31, Z:11.38 [[ 0.94873289 0.22397924 -0.22302287 2.65643014] [-0.20184216 0.97230298 0.11784166 1.30720197] [ 0.24323989 -0.06678484 0.96766427 11.38346981] [ 0. 0. 0. 1. ]] SLAMing on 16.855194017 meters 0.08280749165500517 Centerline is valid? [True, True] Translation: X:3.62, Y:0.48, Z:7.87 [[ 0.80576741 0.4991032 -0.31880225 3.62111266] [-0.46976734 0.86643763 0.16912862 0.47566413] [ 0.3606349 0.01348455 0.93260958 7.86514979] [ 0. 0. 0. 1. ]] SLAMing on 16.885194017 meters 0.06341143016282073 Centerline is valid? [True, True] Translation: X:2.77, Y:1.54, Z:11.65 [[ 0.97817338 0.10865461 -0.17711867 2.76789113] [-0.09316728 0.9912457 0.09355119 1.53524131] [ 0.18573288 -0.07500762 0.97973321 11.652864 ] [ 0. 0. 0. 1. ]] SLAMing on 16.915194017 meters 0.1124594551399434 Centerline is valid? [True, False] Translation: X:2.78, Y:1.54, Z:11.65 [[ 0.98036861 0.09280239 -0.17396868 2.7834056 ] [-0.07903886 0.99328771 0.08445343 1.53879741] [ 0.18063843 -0.06904521 0.98112309 11.6465902 ] [ 0. 0. 0. 1. ]] SLAMing on 16.945194017 meters 0.06328141999358418 Centerline is valid? [False, True] Translation: X:2.79, Y:1.54, Z:11.65 [[ 0.98001485 0.08961059 -0.17759739 2.78918586] [-0.07515371 0.99341013 0.0865346 1.54242389] [ 0.18418146 -0.07145809 0.98029125 11.6467029 ] [ 0. 0. 0. 1. ]] SLAMing on 16.975194017 meters SLAMing on 17.005194017 meters 0.04387757649073075 Centerline is valid? [True, True] Translation: X:2.92, Y:1.19, Z:10.88 [[ 0.91650869 0.32032891 -0.23958549 2.91976998] [-0.30104654 0.94674762 0.11419246 1.18921039] [ 0.26340614 -0.032532 0.96413634 10.8806241 ] [ 0. 0. 0. 1. ]] SLAMing on 17.035194017 meters 0.06579546016378983 Centerline is valid? [True, True] Translation: X:3.01, Y:1.16, Z:10.70 [[ 0.91204866 0.339558 -0.22992958 3.01421341] [-0.32231881 0.94022012 0.10998509 1.16317211] [ 0.25353074 -0.02620113 0.96697242 10.70120802] [ 0. 0. 0. 1. ]] SLAMing on 17.065194017 meters 0.0535970682279005 Centerline is valid? [True, True] Translation: X:2.92, Y:1.57, Z:11.74 [[ 0.98585149 0.04608699 -0.16116089 2.92176064] [-0.03396171 0.99643705 0.07719976 1.57333967] [ 0.16414459 -0.0706342 0.98390414 11.74384267] [ 0. 0. 0. 1. ]] SLAMing on 17.095194017 meters 0.03679243752720925 Centerline is valid? [True, True] Translation: X:2.89, Y:1.23, Z:11.50 [[ 0.89910712 0.35559779 -0.2552579 2.88918418] [-0.33446772 0.93428819 0.12343793 1.23389951] [ 0.2823787 -0.0256084 0.95896115 11.49603149] [ 0. 0. 0. 1. ]] SLAMing on 17.125194017 meters 0.1000418220216156 Centerline is valid? [True, False] Translation: X:2.89, Y:1.23, Z:11.50 [[ 0.89757621 0.35832931 -0.25682107 2.89480392] [-0.33600708 0.93316619 0.1276719 1.23384885] [ 0.28540532 -0.02830156 0.95798895 11.49639955] [ 0. 0. 0. 1. ]] SLAMing on 17.155194017 meters 0.032694566045495345 Centerline is valid? [False, True] Translation: X:2.87, Y:1.25, Z:11.48 [[ 0.90370275 0.34913636 -0.24784098 2.86833846] [-0.32729698 0.93650451 0.12584115 1.25024259] [ 0.27603992 -0.03260539 0.96059297 11.47798306] [ 0. 0. 0. 1. ]] SLAMing on 17.185194017 meters 0.06479467562410134 Centerline is valid? [True, True] Translation: X:4.15, Y:1.41, Z:5.02 [[-0.82683951 0.54578332 0.1358565 4.15375264] [ 0.54613486 0.83683434 -0.03801321 1.40551067] [-0.13443636 0.04276515 -0.98999899 5.02218244] [ 0. 0. 0. 1. ]] SLAMing on 17.215194016999998 meters 0.09201278709930222 Centerline is valid? [True, True] Translation: X:3.77, Y:1.37, Z:6.38 [[-0.93918911 0.30298625 0.16162658 3.76950584] [ 0.30219098 0.95277254 -0.03008481 1.36606586] [-0.16310865 0.02058677 -0.98639331 6.37767431] [ 0. 0. 0. 1. ]] SLAMing on 17.245194017 meters 0.08849393222845921 Centerline is valid? [True, True] Translation: X:4.03, Y:1.66, Z:6.64 [[-0.89218733 0.44297818 0.08815949 4.03324207] [ 0.44328695 0.89621627 -0.01711965 1.66449775] [-0.0865936 0.02380602 -0.99595925 6.64386648] [ 0. 0. 0. 1. ]] SLAMing on 17.275194017 meters 0.0802370866157489 Centerline is valid? [True, True] Translation: X:3.78, Y:1.66, Z:6.75 [[-0.93723769 0.33511689 0.09634409 3.78097472] [ 0.33573736 0.94190059 -0.0101832 1.65903042] [-0.09415912 0.02280223 -0.995296 6.74991859] [ 0. 0. 0. 1. ]] SLAMing on 17.305194017 meters 0.06751000419886126 Centerline is valid? [True, True] Translation: X:3.27, Y:1.35, Z:7.44 [[-9.83385653e-01 -1.44917024e-02 1.80949296e-01 3.27481325e+00] [-1.33052123e-02 9.99881299e-01 7.76917821e-03 1.35178631e+00] [-1.81040406e-01 5.23252960e-03 -9.83461739e-01 7.43952380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335194017 meters 0.03788101435090007 Centerline is valid? [True, True] Translation: X:2.68, Y:1.05, Z:8.39 [[-0.89980917 -0.33516798 0.27929534 2.68013639] [-0.33749135 0.94042418 0.04125474 1.05384859] [-0.27648336 -0.05713837 -0.95931859 8.39033988] [ 0. 0. 0. 1. ]] SLAMing on 17.365194017 meters 0.026022126740407953 Centerline is valid? [True, True] Translation: X:2.70, Y:1.19, Z:7.60 [[-0.93232455 -0.2827602 0.22542759 2.69893032] [-0.27944209 0.95900241 0.04718587 1.18521808] [-0.22952789 -0.01900142 -0.97311659 7.59800821] [ 0. 0. 0. 1. ]] SLAMing on 17.395194017 meters 0.0866399173092537 Centerline is valid? [True, True] Translation: X:3.29, Y:1.89, Z:7.20 [[-0.99602526 0.05179955 0.07246024 3.29106091] [ 0.05255192 0.9985819 0.00851422 1.890675 ] [-0.07191645 0.0122883 -0.99733496 7.20110827] [ 0. 0. 0. 1. ]] SLAMing on 17.425194017 meters 0.06843185796528631 Centerline is valid? [True, True] Translation: X:3.53, Y:2.09, Z:6.85 [[-0.99383424 -0.05958391 0.09350542 3.53269623] [-0.05743528 0.99802335 0.02550638 2.09368722] [-0.09484036 0.0199786 -0.995292 6.85314756] [ 0. 0. 0. 1. ]] SLAMing on 17.455194017 meters 0.04511634522591042 Centerline is valid? [True, True] Translation: X:2.69, Y:1.18, Z:8.13 [[-0.78561872 -0.57569819 0.22666014 2.69228368] [-0.56768847 0.81639847 0.10594025 1.17641145] [-0.2460346 -0.0454437 -0.96819515 8.12536513] [ 0. 0. 0. 1. ]] SLAMing on 17.485194017 meters 0.07967614732993657 Centerline is valid? [True, True] Translation: X:3.16, Y:2.16, Z:6.03 [[-0.95943437 -0.26420799 0.09838613 3.16433958] [-0.26094898 0.96430915 0.04487187 2.15853673] [-0.10673015 0.01737786 -0.99413615 6.02967346] [ 0. 0. 0. 1. ]] SLAMing on 17.515194017 meters 0.09541379334483159 Centerline is valid? [True, True] Translation: X:3.01, Y:1.46, Z:8.36 [[-0.59530672 -0.77295534 0.21943098 3.00520218] [-0.76345524 0.62927489 0.1454277 1.45688329] [-0.25049151 -0.08095164 -0.96472837 8.35839336] [ 0. 0. 0. 1. ]] SLAMing on 17.545194017 meters 0.04812233256310785 Centerline is valid? [True, True] Translation: X:2.61, Y:1.32, Z:8.01 [[-0.52100338 -0.82790128 0.20768953 2.60959952] [-0.81677085 0.55422818 0.16036364 1.32020488] [-0.24787266 -0.08608476 -0.96496039 8.01319987] [ 0. 0. 0. 1. ]] SLAMing on 17.575194017 meters 0.10877401705663829 Centerline is valid? [True, False] Translation: X:2.78, Y:1.74, Z:7.63 [[ 0.98960809 -0.00935475 0.14348631 2.78287221] [ 0.09915359 0.76708264 -0.63383972 1.74161527] [-0.10413645 0.6414801 0.76003874 7.62671063] [ 0. 0. 0. 1. ]] SLAMing on 17.605194017 meters 0.1409539222847002 Centerline is valid? [False, False] Translation: X:2.75, Y:1.73, Z:7.63 [[ 0.98931102 0.02483307 0.14369072 2.75471725] [ 0.07213862 0.77301746 -0.6302698 1.73494176] [-0.12672697 0.63389851 0.76296327 7.62923695] [ 0. 0. 0. 1. ]] SLAMing on 17.635194017 meters 0.13210968213148785 Centerline is valid? [False, False] Translation: X:2.77, Y:1.73, Z:7.63 [[ 0.98922291 0.05536286 0.13554701 2.77390159] [ 0.04243334 0.77762659 -0.62729283 1.73210221] [-0.14013369 0.62628415 0.76689681 7.62963463] [ 0. 0. 0. 1. ]] SLAMing on 17.665194017 meters 0.08928977315402328 Centerline is valid? [False, True] Translation: X:2.77, Y:1.73, Z:7.63 [[ 0.98965015 0.05821571 0.13116217 2.76976712] [ 0.03686352 0.78020635 -0.62443505 1.73078142] [-0.13868549 0.62280734 0.76998529 7.63471919] [ 0. 0. 0. 1. ]] SLAMing on 17.695194017 meters 0.12702145408451332 Centerline is valid? [True, False] Translation: X:2.77, Y:1.73, Z:7.63 [[ 0.98960244 0.0553134 0.13276833 2.77075317] [ 0.04067673 0.77777718 -0.6272225 1.73202138] [-0.13795799 0.6261015 0.76744023 7.63273866] [ 0. 0. 0. 1. ]] SLAMing on 17.725194017 meters 0.0691104026222631 Centerline is valid? [False, True] Translation: X:2.77, Y:1.73, Z:7.63 [[ 0.98960408 0.0563537 0.1323179 2.77013323] [ 0.03914099 0.77977311 -0.62483749 1.73385575] [-0.13838985 0.62352078 0.76946091 7.63451821] [ 0. 0. 0. 1. ]] SLAMing on 17.755194017 meters 0.11449710218171821 Centerline is valid? [True, False] Translation: X:2.77, Y:1.73, Z:7.63 [[ 0.98931256 0.05918162 0.13325985 2.7710658 ] [ 0.03728358 0.78086958 -0.62358049 1.73175486] [-0.14096307 0.62188442 0.77031758 7.63171652] [ 0. 0. 0. 1. ]] SLAMing on 17.785194017 meters 0.09818890118079882 Centerline is valid? [False, True] Translation: X:2.77, Y:1.73, Z:7.63 [[ 0.98846079 0.06452977 0.1370444 2.76809418] [ 0.03483163 0.7836498 -0.62022556 1.7273329 ] [-0.14741783 0.61784213 0.77235943 7.62739315] [ 0. 0. 0. 1. ]] SLAMing on 17.815194017 meters 0.12362744159507277 Centerline is valid? [True, False] Translation: X:2.76, Y:1.72, Z:7.63 [[ 0.98801802 0.07080276 0.13713992 2.76416679] [ 0.02902765 0.78746153 -0.61567989 1.72141803] [-0.15158425 0.61228368 0.77597095 7.62680498] [ 0. 0. 0. 1. ]] SLAMing on 17.845194017 meters 0.16689073543783944 Centerline is valid? [False, False] Translation: X:2.76, Y:1.72, Z:7.63 [[ 0.98788764 0.07270255 0.13708517 2.76459537] [ 0.02681812 0.79015671 -0.61231786 1.72118899] [-0.15283583 0.60857762 0.7786363 7.62739301] [ 0. 0. 0. 1. ]] SLAMing on 17.875194017 meters 0.09378641143923255 Centerline is valid? [False, True] Translation: X:2.77, Y:1.72, Z:7.62 [[ 0.9875985 0.0770756 0.13677924 2.76667511] [ 0.02302176 0.79069061 -0.61178294 1.71801679] [-0.1553036 0.60734481 0.77911044 7.62215091] [ 0. 0. 0. 1. ]] SLAMing on 17.905194017 meters 0.09854414462642334 Centerline is valid? [True, True] Translation: X:2.40, Y:2.22, Z:2.53 [[ 9.87469120e-01 1.57492691e-01 -1.00394187e-02 2.39712141e+00] [ 1.57522687e-01 -9.87512769e-01 2.26564857e-03 2.22287571e+00] [-9.55723109e-03 -3.81869421e-03 -9.99947037e-01 2.52913474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.935194017 meters 0.07367624488194631 Centerline is valid? [True, True] Translation: X:2.60, Y:2.86, Z:7.99 [[ 9.95294250e-01 -9.56463940e-02 1.55281669e-02 2.60310728e+00] [ 9.55880691e-02 9.95410996e-01 4.45750331e-03 2.85662964e+00] [-1.58832522e-02 -2.95221992e-03 9.99869495e-01 7.99192584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965194016999998 meters 0.05989919639818184 Centerline is valid? [True, True] Translation: X:2.68, Y:2.94, Z:8.97 [[ 9.75768603e-01 -2.14204834e-01 4.46309500e-02 2.67532683e+00] [ 2.13841193e-01 9.76784248e-01 1.28248521e-02 2.93776047e+00] [-4.63419543e-02 -2.97015244e-03 9.98921219e-01 8.97268354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995194017 meters 0.0609329707708389 Centerline is valid? [True, True] Translation: X:2.75, Y:2.97, Z:9.78 [[ 9.59213634e-01 -2.80948602e-01 3.12584022e-02 2.75087323e+00] [ 2.80805082e-01 9.59722802e-01 8.98051416e-03 2.96934621e+00] [-3.25224642e-02 1.63286553e-04 9.99470991e-01 9.78330844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025194017 meters 0.0671645681318735 Centerline is valid? [True, True] Translation: X:2.83, Y:3.06, Z:10.86 [[ 9.23110286e-01 -3.81111833e-01 5.11973626e-02 2.82552622e+00] [ 3.80873466e-01 9.24510031e-01 1.47175230e-02 3.06354841e+00] [-5.29414974e-02 5.91382002e-03 9.98580104e-01 1.08649537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055194016999998 meters 0.05577737009038819 Centerline is valid? [True, True] Translation: X:2.83, Y:2.90, Z:9.77 [[ 9.72510810e-01 -2.32785581e-01 5.79630546e-03 2.83014373e+00] [ 2.32779814e-01 9.72528047e-01 1.65982866e-03 2.90099307e+00] [-6.02345381e-03 -2.64938413e-04 9.99981824e-01 9.77209541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085194017 meters SLAMing on 18.115194017 meters SLAMing on 18.145194017 meters SLAMing on 18.175194017 meters SLAMing on 18.205194017 meters 0.10004685475953144 Centerline is valid? [True, False] Translation: X:2.84, Y:2.89, Z:9.77 [[ 9.65774848e-01 -2.57628288e-01 -3.01099182e-02 2.84387021e+00] [ 2.57206265e-01 9.66203390e-01 -1.72030906e-02 2.89047332e+00] [ 3.35243079e-02 8.86985260e-03 9.99398542e-01 9.77180052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.235194017 meters 0.19813363942893236 Centerline is valid? [False, False] Translation: X:2.85, Y:2.88, Z:9.77 [[ 0.96572801 -0.25811759 -0.02728941 2.84725766] [ 0.25760999 0.96602556 -0.02077744 2.88127065] [ 0.03172529 0.01303533 0.99941162 9.76884076] [ 0. 0. 0. 1. ]] SLAMing on 18.265194017 meters 0.10454189617438697 Centerline is valid? [False, False] Translation: X:2.86, Y:2.88, Z:9.76 [[ 0.96385284 -0.26396656 -0.03618494 2.86203821] [ 0.26271621 0.96420579 -0.03588028 2.88197017] [ 0.04436093 0.02507694 0.99870078 9.76302576] [ 0. 0. 0. 1. ]] SLAMing on 18.295194017 meters 0.12702732644777262 Centerline is valid? [False, False] Translation: X:2.87, Y:2.88, Z:9.77 [[ 0.95899864 -0.27709716 -0.05948754 2.87089597] [ 0.27536977 0.96067664 -0.03566352 2.8827248 ] [ 0.06703055 0.0178202 0.99759177 9.77085174] [ 0. 0. 0. 1. ]] SLAMing on 18.325194017 meters 0.13440672931587094 Centerline is valid? [False, False] Translation: X:2.88, Y:2.88, Z:9.78 [[ 0.95365445 -0.28819685 -0.08652034 2.87909422] [ 0.28606845 0.95752 -0.03633595 2.87631949] [ 0.09331686 0.0099012 0.99558723 9.78069829] [ 0. 0. 0. 1. ]] SLAMing on 18.355194017 meters 0.11993056067138483 Centerline is valid? [False, False] Translation: X:2.86, Y:2.85, Z:9.80 [[ 9.49824361e-01 -2.90468239e-01 -1.16025366e-01 2.85785434e+00] [ 2.88924875e-01 9.56872786e-01 -3.02801721e-02 2.84945564e+00] [ 1.19816943e-01 -4.76176914e-03 9.92784582e-01 9.80174818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385194017 meters 0.14587873480627153 Centerline is valid? [False, False] Translation: X:2.84, Y:2.81, Z:9.82 [[ 9.50238485e-01 -2.83753850e-01 -1.28571282e-01 2.84343023e+00] [ 2.82353711e-01 9.58860468e-01 -2.93766035e-02 2.81338521e+00] [ 1.31617644e-01 -8.38779925e-03 9.91265071e-01 9.81542476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.415194017 meters 0.14850859332234764 Centerline is valid? [False, False] Translation: X:2.82, Y:2.78, Z:9.82 [[ 0.94247052 -0.30026313 -0.14694005 2.82359032] [ 0.3008076 0.95349486 -0.01903537 2.7828678 ] [ 0.1458222 -0.0262604 0.98896222 9.8218823 ] [ 0. 0. 0. 1. ]] SLAMing on 18.445194017 meters SLAMing on 18.475194017 meters 0.2568825492465558 Centerline is valid? [False, False] Translation: X:2.79, Y:2.74, Z:9.82 [[ 0.93621048 -0.31513876 -0.15555543 2.78635231] [ 0.3175074 0.94820265 -0.01003921 2.73564747] [ 0.15066182 -0.03999119 0.98777615 9.81601223] [ 0. 0. 0. 1. ]] SLAMing on 18.505194017 meters 0.29377293799676013 Centerline is valid? [False, False] Translation: X:2.76, Y:2.68, Z:9.70 [[ 0.9500053 -0.3049915 -0.06685889 2.76066905] [ 0.30717098 0.95132758 0.0249366 2.67678063] [ 0.05599926 -0.04422701 0.99745078 9.6955612 ] [ 0. 0. 0. 1. ]] SLAMing on 18.535194017 meters 0.3039637641882799 Centerline is valid? [False, False] Translation: X:2.75, Y:2.64, Z:9.69 [[ 0.95712398 -0.28189395 -0.06670451 2.74549365] [ 0.28358262 0.95879403 0.01717254 2.63663707] [ 0.05911505 -0.03535249 0.99762499 9.68773417] [ 0. 0. 0. 1. ]] SLAMing on 18.565194017 meters 0.3471920338397428 Centerline is valid? [False, False] Translation: X:2.72, Y:2.60, Z:9.68 [[ 9.63732132e-01 -2.60863045e-01 -5.63102954e-02 2.72197289e+00] [ 2.61715441e-01 9.65110209e-01 8.20439877e-03 2.60064289e+00] [ 5.22054165e-02 -2.26441165e-02 9.98379606e-01 9.68015222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.595194017 meters 0.36383592681188764 Centerline is valid? [False, False] Translation: X:2.69, Y:2.56, Z:9.65 [[ 0.97044077 -0.24026503 -0.02274702 2.69178061] [ 0.24053545 0.97058915 0.00996968 2.56409611] [ 0.01968265 -0.01514645 0.99969154 9.64554656] [ 0. 0. 0. 1. ]] SLAMing on 18.625194017 meters 0.39296568085395495 Centerline is valid? [False, False] Translation: X:2.65, Y:2.53, Z:9.65 [[ 9.76866538e-01 -2.12127646e-01 -2.70855818e-02 2.65198794e+00] [ 2.12203967e-01 9.77225395e-01 -5.78807824e-05 2.52824340e+00] [ 2.64809965e-02 -5.69112612e-03 9.99633117e-01 9.64631147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.655194017 meters 0.26441310890207 Centerline is valid? [False, False] Translation: X:2.61, Y:2.50, Z:9.64 [[ 9.84035654e-01 -1.76819297e-01 -2.02180223e-02 2.61494911e+00] [ 1.76584072e-01 9.84201083e-01 -1.28954906e-02 2.49538806e+00] [ 2.21787711e-02 9.11944177e-03 9.99712428e-01 9.63774356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685194017 meters 0.2652928109015059 Centerline is valid? [False, False] Translation: X:2.58, Y:2.47, Z:9.64 [[ 9.88977127e-01 -1.47967242e-01 -5.47149189e-03 2.57562979e+00] [ 1.47857862e-01 9.88866352e-01 -1.67747141e-02 2.46913599e+00] [ 7.89268241e-03 1.57808055e-02 9.99844324e-01 9.63617253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715194016999998 meters 0.2708057427170756 Centerline is valid? [False, False] Translation: X:2.53, Y:2.44, Z:9.64 [[ 9.92948700e-01 -1.18405580e-01 -5.74431711e-03 2.52884359e+00] [ 1.18256345e-01 9.92747206e-01 -2.16430707e-02 2.44269358e+00] [ 8.26531509e-03 2.08111570e-02 9.99749259e-01 9.64308163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745194017 meters 0.27330059849905397 Centerline is valid? [False, False] Translation: X:2.47, Y:2.42, Z:9.64 [[ 9.96669536e-01 -8.12316884e-02 -7.15878394e-03 2.47142614e+00] [ 8.09547977e-02 9.96173822e-01 -3.29247085e-02 2.41596630e+00] [ 9.80592282e-03 3.22355160e-02 9.99432196e-01 9.63945917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.775194017 meters 0.2733841478979484 Centerline is valid? [False, False] Translation: X:2.43, Y:2.39, Z:9.64 [[ 0.99824095 -0.05846653 -0.00983163 2.43049685] [ 0.05804805 0.99757092 -0.03850559 2.3881434 ] [ 0.01205904 0.03786715 0.99921002 9.64402771] [ 0. 0. 0. 1. ]] SLAMing on 18.805194016999998 meters 0.27190059801633804 Centerline is valid? [False, False] Translation: X:2.39, Y:2.37, Z:9.64 [[ 9.99545690e-01 -2.99056125e-02 -3.75061219e-03 2.38797167e+00] [ 2.97593966e-02 9.98966689e-01 -3.43501581e-02 2.36621031e+00] [ 4.77399916e-03 3.42229366e-02 9.99402821e-01 9.64496237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835194017 meters 0.27431622866402505 Centerline is valid? [False, False] Translation: X:2.36, Y:2.35, Z:9.64 [[ 9.99714478e-01 -2.37536658e-02 2.59329249e-03 2.36092494e+00] [ 2.38489498e-02 9.98622720e-01 -4.67321190e-02 2.35377343e+00] [-1.47966166e-03 4.67806233e-02 9.98904091e-01 9.63959039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865194017 meters 0.2797209347666122 Centerline is valid? [False, False] Translation: X:2.35, Y:2.35, Z:9.64 [[ 9.99519672e-01 -3.04944799e-02 -5.52369867e-03 2.35383136e+00] [ 3.02243699e-02 9.98586345e-01 -4.37241251e-02 2.35025380e+00] [ 6.84923452e-03 4.35361729e-02 9.99028373e-01 9.64446897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.895194017 meters 0.26242717071688304 Centerline is valid? [False, False] Translation: X:2.35, Y:2.35, Z:9.64 [[ 9.99215629e-01 -3.88080959e-02 -7.87772722e-03 2.34757578e+00] [ 3.84826597e-02 9.98538624e-01 -3.79433961e-02 2.34683405e+00] [ 9.33872586e-03 3.76104785e-02 9.99248838e-01 9.64347793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925194017 meters 0.27406964190063926 Centerline is valid? [False, False] Translation: X:2.35, Y:2.34, Z:9.64 [[ 9.99105622e-01 -4.17654895e-02 -6.60305100e-03 2.34511001e+00] [ 4.14851290e-02 9.98414372e-01 -3.80489837e-02 2.33527372e+00] [ 8.18171545e-03 3.77410251e-02 9.99254059e-01 9.64435830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.955194017 meters 0.26644264221070724 Centerline is valid? [False, False] Translation: X:2.34, Y:2.32, Z:9.65 [[ 9.98837435e-01 -4.79500259e-02 -4.95706674e-03 2.34085110e+00] [ 4.77034013e-02 9.97996553e-01 -4.15603857e-02 2.32488309e+00] [ 6.93995710e-03 4.12756002e-02 9.99123697e-01 9.64761005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985194017 meters 0.26682744987350765 Centerline is valid? [False, False] Translation: X:2.33, Y:2.31, Z:9.65 [[ 9.99060164e-01 -4.33311243e-02 -1.09695188e-03 2.32954274e+00] [ 4.32574989e-02 9.98331155e-01 -3.82582452e-02 2.31216487e+00] [ 2.75289401e-03 3.81748373e-02 9.99267283e-01 9.64913580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015194017 meters 0.2630686995852245 Centerline is valid? [False, False] Translation: X:2.30, Y:2.31, Z:9.64 [[ 9.99568259e-01 -2.89659885e-02 4.92612113e-03 2.30102796e+00] [ 2.91542661e-02 9.98614245e-01 -4.38134406e-02 2.30621917e+00] [-3.65019512e-03 4.39381420e-02 9.99027585e-01 9.64465015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045194017 meters 0.25557810075439163 Centerline is valid? [False, False] Translation: X:2.30, Y:2.31, Z:9.64 [[ 9.99748536e-01 -2.20367490e-02 4.15288611e-03 2.30245042e+00] [ 2.21745023e-02 9.99079905e-01 -3.67101480e-02 2.30559617e+00] [-3.34009274e-03 3.67930049e-02 9.99317326e-01 9.64358518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.075194017 meters 0.24580864369205818 Centerline is valid? [False, False] Translation: X:2.30, Y:2.30, Z:9.64 [[ 9.99837279e-01 -1.75105605e-02 4.33544694e-03 2.30177233e+00] [ 1.76414111e-02 9.99324159e-01 -3.22491103e-02 2.30497288e+00] [-3.76781687e-03 3.23203461e-02 9.99470459e-01 9.64414458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105194017 meters 0.2373965256276724 Centerline is valid? [False, False] Translation: X:2.30, Y:2.30, Z:9.65 [[ 9.99842405e-01 -1.72000863e-02 4.39566286e-03 2.30003186e+00] [ 1.73292144e-02 9.99361224e-01 -3.12544653e-02 2.30094510e+00] [-3.85527552e-03 3.13257131e-02 9.99501794e-01 9.64610499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135194017 meters 0.24282556754173357 Centerline is valid? [False, False] Translation: X:2.30, Y:2.30, Z:9.65 [[ 9.99791683e-01 -1.98308071e-02 4.83005274e-03 2.29836323e+00] [ 1.99812820e-02 9.99242193e-01 -3.34034253e-02 2.29769012e+00] [-4.16397561e-03 3.34929775e-02 9.99430279e-01 9.64738459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165194017 meters 0.24015118029528995 Centerline is valid? [False, False] Translation: X:2.30, Y:2.29, Z:9.65 [[ 9.99788796e-01 -2.00139751e-02 4.66952820e-03 2.29794399e+00] [ 2.01500547e-02 9.99310465e-01 -3.11860489e-02 2.28983814e+00] [-4.04215159e-03 3.12735535e-02 9.99502689e-01 9.64723791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195194017 meters 0.24695570133200223 Centerline is valid? [False, False] Translation: X:2.30, Y:2.28, Z:9.65 [[ 9.99843366e-01 -1.71787744e-02 4.25822126e-03 2.29845851e+00] [ 1.72833225e-02 9.99515917e-01 -2.58692376e-02 2.28364563e+00] [-3.81175813e-03 2.59387818e-02 9.99656266e-01 9.64672183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225194017 meters 0.24185711508535984 Centerline is valid? [False, False] Translation: X:2.30, Y:2.28, Z:9.65 [[ 9.99845190e-01 -1.70781213e-02 4.23488217e-03 2.29861930e+00] [ 1.71761515e-02 9.99556977e-01 -2.43069667e-02 2.27918064e+00] [-3.81788870e-03 2.43759427e-02 9.99695572e-01 9.64607669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.255194017 meters 0.22384715827061902 Centerline is valid? [False, False] Translation: X:2.31, Y:2.27, Z:9.65 [[ 9.99937049e-01 -1.12003504e-02 6.70450778e-04 2.30750525e+00] [ 1.12144339e-02 9.99567865e-01 -2.71720458e-02 2.27032019e+00] [-3.65824618e-04 2.71778540e-02 9.99630547e-01 9.64741525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285194017 meters 0.2124419658401297 Centerline is valid? [False, False] Translation: X:2.31, Y:2.27, Z:9.65 [[ 9.99971422e-01 -7.47765264e-03 1.11310042e-03 2.30680305e+00] [ 7.50205874e-03 9.99687864e-01 -2.38305196e-02 2.26980436e+00] [-9.34556629e-04 2.38381891e-02 9.99715393e-01 9.64669960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.315194017 meters 0.202847296182122 Centerline is valid? [False, False] Translation: X:2.30, Y:2.27, Z:9.65 [[ 9.99996690e-01 -1.27747300e-03 2.23318887e-03 2.30342719e+00] [ 1.32025175e-03 9.99813627e-01 -1.92605587e-02 2.27141231e+00] [-2.20816782e-03 1.92634433e-02 9.99812004e-01 9.64918126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345194017 meters 0.20151498248821317 Centerline is valid? [False, False] Translation: X:2.30, Y:2.27, Z:9.65 [[ 9.99990645e-01 3.48684408e-03 2.55964633e-03 2.30232950e+00] [-3.44877913e-03 9.99885591e-01 -1.47279264e-02 2.27060979e+00] [-2.61070746e-03 1.47189610e-02 9.99888262e-01 9.64982879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375194017 meters 0.19803267729250204 Centerline is valid? [False, False] Translation: X:2.30, Y:2.27, Z:9.65 [[ 9.99966250e-01 7.61794367e-03 3.07655010e-03 2.30141365e+00] [-7.58386912e-03 9.99911403e-01 -1.09393880e-02 2.26984349e+00] [-3.15961317e-03 1.09156867e-02 9.99935430e-01 9.64964804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405194017 meters 0.19661322038370924 Centerline is valid? [False, False] Translation: X:2.30, Y:2.27, Z:9.65 [[ 9.99867710e-01 1.57837893e-02 3.92867959e-03 2.30004580e+00] [-1.57661019e-02 9.99865612e-01 -4.49309960e-03 2.27371271e+00] [-3.99906976e-03 4.43056524e-03 9.99982189e-01 9.64958690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.435194017 meters 0.1934677309001721 Centerline is valid? [False, False] Translation: X:2.30, Y:2.28, Z:9.65 [[ 9.99774732e-01 2.04314425e-02 5.74808831e-03 2.29504175e+00] [-2.04196576e-02 9.99789288e-01 -2.10150727e-03 2.27882228e+00] [-5.78981395e-03 1.98365987e-03 9.99981271e-01 9.65288995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465194016999998 meters 0.191920899796853 Centerline is valid? [False, False] Translation: X:2.28, Y:2.28, Z:9.66 [[ 9.99670051e-01 2.35305780e-02 1.03005669e-02 2.28292701e+00] [-2.35152377e-02 9.99722186e-01 -1.60787683e-03 2.28290111e+00] [-1.03355395e-02 1.36512603e-03 9.99945655e-01 9.66292761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495194017 meters 0.19044411807320663 Centerline is valid? [False, False] Translation: X:2.28, Y:2.29, Z:9.67 [[ 9.99609467e-01 2.54470846e-02 1.15481759e-02 2.27832523e+00] [-2.54317998e-02 9.99675481e-01 -1.46851447e-03 2.28704356e+00] [-1.15817977e-02 1.17425007e-03 9.99932239e-01 9.66677173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525194017 meters 0.19363038862026122 Centerline is valid? [False, False] Translation: X:2.27, Y:2.29, Z:9.67 [[ 9.99568457e-01 2.62326957e-02 1.32191003e-02 2.27232044e+00] [-2.62298839e-02 9.99655863e-01 -3.86065356e-04 2.28696259e+00] [-1.32246786e-02 3.91632866e-05 9.99912549e-01 9.67186818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555194016999998 meters 0.19399995421705693 Centerline is valid? [False, False] Translation: X:2.26, Y:2.29, Z:9.68 [[ 9.99636598e-01 2.23102636e-02 1.51302676e-02 2.26429305e+00] [-2.22573668e-02 9.99745591e-01 -3.65553660e-03 2.28599994e+00] [-1.52079743e-02 3.31744826e-03 9.99878849e-01 9.67977693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585194017 meters 0.2027161973071975 Centerline is valid? [False, False] Translation: X:2.27, Y:2.29, Z:9.68 [[ 9.99669766e-01 2.11485762e-02 1.45978322e-02 2.26752577e+00] [-2.10500279e-02 9.99754807e-01 -6.87186385e-03 2.29134324e+00] [-1.47395831e-02 6.56230975e-03 9.99869832e-01 9.67567529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.615194017 meters 0.2049335159082767 Centerline is valid? [False, False] Translation: X:2.27, Y:2.30, Z:9.67 [[ 9.99605360e-01 2.56315309e-02 1.14956016e-02 2.27363849e+00] [-2.55393597e-02 9.99641047e-01 -8.09435796e-03 2.30222520e+00] [-1.16989460e-02 7.79757330e-03 9.99901161e-01 9.67060371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645194017 meters 0.20389808941383786 Centerline is valid? [False, False] Translation: X:2.29, Y:2.31, Z:9.67 [[ 0.99922496 0.03761168 0.0116124 2.28793434] [-0.03741763 0.99916351 -0.01649853 2.31157757] [-0.01222322 0.01605123 0.99979645 9.66549854] [ 0. 0. 0. 1. ]] SLAMing on 19.675194017 meters 0.19451041508350891 Centerline is valid? [False, False] Translation: X:2.30, Y:2.32, Z:9.66 [[ 9.98386278e-01 5.59890052e-02 9.49057314e-03 2.29751758e+00] [-5.59687564e-02 9.98429669e-01 -2.38610959e-03 2.31902523e+00] [-9.60926571e-03 1.85108349e-03 9.99952117e-01 9.65793564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705194017 meters 0.19318094553146262 Centerline is valid? [False, False] Translation: X:2.30, Y:2.32, Z:9.66 [[ 9.98421906e-01 5.53735504e-02 9.35244006e-03 2.29916202e+00] [-5.53368457e-02 9.98459164e-01 -4.13901082e-03 2.32035478e+00] [-9.56722120e-03 3.61494454e-03 9.99947699e-01 9.65589061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.735194017 meters 0.18470387771856928 Centerline is valid? [False, False] Translation: X:2.34, Y:2.33, Z:9.66 [[ 9.98682208e-01 5.11258031e-02 4.47216725e-03 2.33752573e+00] [-5.10807230e-02 9.98647689e-01 -9.67224348e-03 2.33370077e+00] [-4.96062071e-03 9.43105594e-03 9.99943222e-01 9.65943175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765194017 meters 0.19414740107127884 Centerline is valid? [False, False] Translation: X:2.34, Y:2.34, Z:9.66 [[ 9.98505427e-01 5.44398055e-02 4.81872537e-03 2.33803634e+00] [-5.43992521e-02 9.98485751e-01 -8.18091457e-03 2.33904121e+00] [-5.25679602e-03 7.90655254e-03 9.99954925e-01 9.65816755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795194017 meters 0.20216546261248777 Centerline is valid? [False, False] Translation: X:2.36, Y:2.35, Z:9.66 [[ 9.99497026e-01 3.15297642e-02 3.40136952e-03 2.36098124e+00] [-3.15583285e-02 9.99464053e-01 8.69930056e-03 2.34831322e+00] [-3.12525967e-03 -8.80226658e-03 9.99956375e-01 9.66116306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825194017 meters 0.19385293165600825 Centerline is valid? [False, False] Translation: X:2.36, Y:2.35, Z:9.66 [[ 9.99637714e-01 2.66696883e-02 3.62890623e-03 2.36016772e+00] [-2.66813453e-02 9.99638859e-01 3.20267468e-03 2.35061510e+00] [-3.54218135e-03 -3.29833850e-03 9.99988287e-01 9.66140612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855194017 meters 0.19975032037017304 Centerline is valid? [False, False] Translation: X:2.36, Y:2.37, Z:9.66 [[ 9.99656091e-01 2.61903521e-02 1.32896301e-03 2.36362665e+00] [-2.61843777e-02 9.99647754e-01 -4.32966788e-03 2.36870088e+00] [-1.44189041e-03 4.29338080e-03 9.99989744e-01 9.66035829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885194017 meters 0.2083827007085037 Centerline is valid? [False, False] Translation: X:2.37, Y:2.39, Z:9.66 [[ 9.99592552e-01 2.85079302e-02 -1.42435017e-03 2.36801949e+00] [-2.85224640e-02 9.99526822e-01 -1.15152401e-02 2.39105354e+00] [ 1.09540054e-03 1.15511742e-02 9.99932683e-01 9.65954869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.915194017 meters 0.2181816108472216 Centerline is valid? [False, False] Translation: X:2.37, Y:2.41, Z:9.66 [[ 9.99140317e-01 4.13475085e-02 -3.00188350e-03 2.37172205e+00] [-4.13713312e-02 9.99108843e-01 -8.36260588e-03 2.41143694e+00] [ 2.65343543e-03 8.47960860e-03 9.99960527e-01 9.65827510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945194017 meters 0.2203946968438542 Centerline is valid? [False, False] Translation: X:2.37, Y:2.43, Z:9.66 [[ 9.98600131e-01 5.28604636e-02 -1.88401013e-03 2.37302733e+00] [-5.28620386e-02 9.98601508e-01 -7.96159153e-04 2.42541306e+00] [ 1.83929001e-03 8.94637251e-04 9.99997908e-01 9.65614620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.975194017 meters 0.21636343010914444 Centerline is valid? [False, False] Translation: X:2.38, Y:2.45, Z:9.65 [[ 9.98112708e-01 6.13800152e-02 -1.87486239e-03 2.37621955e+00] [-6.13852153e-02 9.98110067e-01 -2.85483746e-03 2.44944360e+00] [ 1.69608906e-03 2.96453838e-03 9.99994167e-01 9.65276210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005194017 meters 0.21240733095415074 Centerline is valid? [False, False] Translation: X:2.38, Y:2.46, Z:9.65 [[ 9.97992718e-01 6.33250761e-02 -6.84969734e-04 2.37590602e+00] [-6.33274562e-02 9.97983421e-01 -4.32718688e-03 2.46125575e+00] [ 4.09569000e-04 4.36187839e-03 9.99990403e-01 9.65243420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035194017 meters 0.21240733095415074 Centerline is valid? [False, False] Translation: X:2.38, Y:2.46, Z:9.65 [[ 9.97992718e-01 6.33250761e-02 -6.84969734e-04 2.37590602e+00] [-6.33274562e-02 9.97983421e-01 -4.32718688e-03 2.46125575e+00] [ 4.09569000e-04 4.36187839e-03 9.99990403e-01 9.65243420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065194017 meters 0.20900493389159477 Centerline is valid? [False, False] Translation: X:2.38, Y:2.48, Z:9.65 [[ 9.97907061e-01 6.46645007e-02 -1.45974224e-05 2.37883310e+00] [-6.46642824e-02 9.97903051e-01 -2.83394136e-03 2.47799024e+00] [-1.68688591e-04 2.82895403e-03 9.99995984e-01 9.65035640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.095194017 meters 0.2022000403677872 Centerline is valid? [False, False] Translation: X:2.38, Y:2.49, Z:9.65 [[ 9.97876067e-01 6.51383362e-02 5.93082777e-04 2.37947654e+00] [-6.51349709e-02 9.97866040e-01 -4.56090738e-03 2.48781874e+00] [-8.88907081e-04 4.51258989e-03 9.99989423e-01 9.64980929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 269.74 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 ... 0%| | 0/634 [00:00