+ python -m lidar_slam --no-model /working/3c07f40a-3ae8-4f9d-89b9-e1ac1cfacd69 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/3c07f40a-3ae8-4f9d-89b9-e1ac1cfacd69 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 0.020869431 Adjusted end_distance from 9.223372036854776e+18 to 3.251749431 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.020869431 meters 0.10455220178102619 Centerline is valid? [0, False] SLAMing on 0.050869431 meters 0.0924680499280824 Centerline is valid? [False, True] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99999926e-01 3.13600749e-05 -3.82601616e-04 -1.79048525e-03] [-3.13107138e-05 9.99999991e-01 1.29019864e-04 -1.84391944e-03] [ 3.82605658e-04 -1.29007875e-04 9.99999918e-01 2.19075309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08086943099999999 meters 0.0875655656075922 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.00, Z:-0.01 [[ 9.99939966e-01 -5.60434160e-03 -9.41574294e-03 -3.27554948e-02] [ 5.59542065e-03 9.99983872e-01 -9.73526653e-04 -4.26742182e-03] [ 9.42104705e-03 9.20783166e-04 9.99955197e-01 -1.00208083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11086943099999999 meters 0.08450032290190125 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.01, Z:-0.00 [[ 9.99925732e-01 -1.03292749e-02 -6.46810744e-03 -6.26026899e-02] [ 1.03251645e-02 9.99946471e-01 -6.68554510e-04 -6.16855037e-03] [ 6.47466689e-03 6.01720584e-04 9.99978858e-01 -1.63794058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.140869431 meters 0.08375027535529826 Centerline is valid? [True, True] Translation: X:-0.09, Y:-0.01, Z:0.01 [[ 9.99918928e-01 -1.26721181e-02 -1.24714788e-03 -9.30319029e-02] [ 1.26719669e-02 9.99919699e-01 -1.29005433e-04 -5.44577058e-03] [ 1.24868250e-03 1.13191157e-04 9.99999214e-01 7.57911589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.170869431 meters 0.08177432877779212 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.02, Z:-0.00 [[ 9.99920352e-01 -1.20909678e-02 -3.61905100e-03 -1.22538050e-01] [ 1.20896902e-02 9.99926847e-01 -3.74702679e-04 -1.88265777e-02] [ 3.62331677e-03 3.30919630e-04 9.99993381e-01 -5.87624014e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.200869431 meters 0.08359800376615871 Centerline is valid? [True, True] Translation: X:-0.15, Y:-0.02, Z:-0.00 [[ 9.99864331e-01 -1.35505367e-02 -9.36500932e-03 -1.51300899e-01] [ 1.35420672e-02 9.99907834e-01 -9.67195189e-04 -2.49739521e-02] [ 9.37725220e-03 8.40242384e-04 9.99955680e-01 -3.24797122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23086943099999999 meters 0.0858070877633184 Centerline is valid? [True, True] Translation: X:-0.18, Y:-0.02, Z:0.00 [[ 9.99846693e-01 -1.56476549e-02 -7.85760796e-03 -1.82616355e-01] [ 1.56417509e-02 9.99877330e-01 -8.12277222e-04 -1.80968217e-02] [ 7.86935430e-03 6.89245948e-04 9.99968799e-01 6.07303433e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.260869431 meters 0.08718795930215752 Centerline is valid? [True, True] Translation: X:-0.21, Y:-0.01, Z:0.01 [[ 9.99860437e-01 -1.63936123e-02 -3.21812412e-03 -2.13432829e-01] [ 1.63926260e-02 9.99865577e-01 -3.32630420e-04 -1.37277946e-02] [ 3.22314455e-03 2.79830492e-04 9.99994767e-01 1.23687686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.290869431 meters 0.09022405653473763 Centerline is valid? [True, True] Translation: X:-0.24, Y:-0.02, Z:0.01 [[ 9.99918811e-01 -1.27394863e-02 -2.76829339e-04 -2.42338439e-01] [ 1.27394790e-02 9.99918849e-01 -2.82575305e-05 -2.17399226e-02] [ 2.77166861e-04 2.47285747e-05 9.99999961e-01 1.28364735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.320869431 meters 0.09600607289584855 Centerline is valid? [True, True] Translation: X:-0.27, Y:-0.03, Z:0.01 [[ 9.99951979e-01 -8.88938296e-03 -4.12531900e-03 -2.71543096e-01] [ 8.88769880e-03 9.99960413e-01 -4.26402507e-04 -2.86711867e-02] [ 4.12894614e-03 3.89717438e-04 9.99991400e-01 1.47600727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35086943099999995 meters 0.10123760382126469 Centerline is valid? [True, False] Translation: X:-0.31, Y:-0.03, Z:0.02 [[ 0.9999717 -0.00169727 -0.00732904 -0.31200488] [ 0.00165284 0.99998025 -0.00606341 -0.03286581] [ 0.00733918 0.00605113 0.99995476 0.01669499] [ 0. 0. 0. 1. ]] SLAMing on 0.380869431 meters 0.10955395181619602 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.03, Z:0.03 [[ 0.99995214 0.00614662 -0.00761162 -0.36918684] [-0.00622937 0.99992124 -0.01089548 -0.03376317] [ 0.00754405 0.01094238 0.99991167 0.0261952 ] [ 0. 0. 0. 1. ]] SLAMing on 0.410869431 meters 0.11396191566991988 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.03, Z:0.03 [[ 0.99995004 0.00599963 -0.00799511 -0.41423986] [-0.00607516 0.99993684 -0.00945591 -0.03396419] [ 0.00793787 0.00950401 0.99992333 0.03018378] [ 0. 0. 0. 1. ]] SLAMing on 0.440869431 meters 0.11844082733157864 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.04, Z:0.03 [[ 0.99991861 0.0073266 -0.01044482 -0.45849047] [-0.00740837 0.99994204 -0.00781193 -0.03521294] [ 0.01038698 0.00788868 0.99991494 0.03083313] [ 0. 0. 0. 1. ]] SLAMing on 0.47086943099999995 meters 0.12305044417961408 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.03 [[ 0.99982006 0.00717882 -0.01755882 -0.50364027] [-0.00732457 0.99993914 -0.00825084 -0.03401785] [ 0.01749852 0.00837797 0.99981179 0.03149899] [ 0. 0. 0. 1. ]] SLAMing on 0.500869431 meters 0.1285240870811634 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.03, Z:0.03 [[ 0.99975522 0.00613873 -0.02125575 -0.54597052] [-0.00632033 0.99994401 -0.00848685 -0.0316718 ] [ 0.02120246 0.00861912 0.99973805 0.03366481] [ 0. 0. 0. 1. ]] SLAMing on 0.5308694310000001 meters 0.13043558573889155 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.03, Z:0.04 [[ 0.99976869 0.00522151 -0.02086369 -0.58799875] [-0.0053748 0.99995893 -0.00729778 -0.03236095] [ 0.02082473 0.00740823 0.99975569 0.03597175] [ 0. 0. 0. 1. ]] SLAMing on 0.5608694310000001 meters 0.13641454160774563 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:0.04 [[ 0.99985209 0.00929775 -0.01446915 -0.64827534] [-0.00940946 0.9999263 -0.00767177 -0.03416633] [ 0.01439675 0.00780678 0.99986588 0.03707254] [ 0. 0. 0. 1. ]] SLAMing on 0.590869431 meters 0.133253542046907 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.03, Z:0.04 [[ 0.99994331 0.00487865 -0.00946478 -0.66815381] [-0.00491795 0.99997937 -0.00413256 -0.02639865] [ 0.00944442 0.00417887 0.99994667 0.03731627] [ 0. 0. 0. 1. ]] SLAMing on 0.620869431 meters 0.14127997393696354 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.02, Z:0.04 [[ 0.99988238 0.00725609 -0.01351228 -0.72405082] [-0.00734478 0.99995174 -0.00652526 -0.02466208] [ 0.01346428 0.00662374 0.99988741 0.03713757] [ 0. 0. 0. 1. ]] SLAMing on 0.650869431 meters 0.14161538206818194 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:0.04 [[ 0.99983683 0.0029122 -0.01782775 -0.74894891] [-0.00294839 0.99999365 -0.00200414 -0.02407544] [ 0.0178218 0.00205638 0.99983906 0.04193469] [ 0. 0. 0. 1. ]] SLAMing on 0.680869431 meters 0.13841873086072293 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.05 [[ 0.99980408 -0.0022353 -0.01966726 -0.77210992] [ 0.00228056 0.9999948 0.00227908 -0.02074318] [ 0.01966206 -0.00232349 0.99980398 0.04602247] [ 0. 0. 0. 1. ]] SLAMing on 0.710869431 meters 0.13766307337080805 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.05 [[ 9.99879393e-01 6.22037395e-04 -1.55181277e-02 -7.94363250e-01] [-6.45539555e-04 9.99998652e-01 -1.50953399e-03 -2.36914423e-02] [ 1.55171678e-02 1.51936950e-03 9.99878447e-01 4.86185004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.740869431 meters 0.14003280233214868 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.02, Z:0.06 [[ 9.99876157e-01 -6.22840066e-04 -1.57251959e-02 -8.02879282e-01] [ 5.75847998e-04 9.99995356e-01 -2.99268070e-03 -2.40864921e-02] [ 1.57269869e-02 2.98325476e-03 9.99871873e-01 5.58780727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.770869431 meters 0.1368590087901783 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.03, Z:0.06 [[ 0.99975259 0.00387068 -0.02190397 -0.82279345] [-0.00398175 0.99997942 -0.00502979 -0.02836878] [ 0.02188405 0.00511576 0.99974743 0.05726608] [ 0. 0. 0. 1. ]] SLAMing on 0.8008694310000001 meters 0.1392563636431347 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.03, Z:0.06 [[ 0.99963244 -0.00119195 -0.02708437 -0.84258174] [ 0.00115563 0.99999841 -0.00135677 -0.02538958] [ 0.02708594 0.00132497 0.99963223 0.05922123] [ 0. 0. 0. 1. ]] SLAMing on 0.830869431 meters 0.14771517418097277 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.03, Z:0.06 [[ 0.9997187 0.00146039 -0.02367233 -0.86401178] [-0.00159782 0.99998198 -0.00578748 -0.02810469] [ 0.02366345 0.00582368 0.99970302 0.06063867] [ 0. 0. 0. 1. ]] SLAMing on 0.860869431 meters 0.14824679672296345 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.02, Z:0.07 [[ 0.99978558 -0.00218007 -0.02059231 -0.89289031] [ 0.00214889 0.99999651 -0.00153575 -0.02211083] [ 0.02059559 0.00149117 0.99978678 0.0670273 ] [ 0. 0. 0. 1. ]] SLAMing on 0.890869431 meters 0.15283437805275663 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.03, Z:0.07 [[ 0.99986591 0.00106634 -0.01634107 -0.91219456] [-0.00113612 0.99999027 -0.00426173 -0.02977286] [ 0.01633637 0.00427973 0.99985739 0.06694961] [ 0. 0. 0. 1. ]] SLAMing on 0.920869431 meters 0.15161296717285794 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.07 [[ 0.99985023 0.00140894 -0.01724891 -0.91604674] [-0.00147993 0.99999049 -0.00410314 -0.03125017] [ 0.01724297 0.00412805 0.99984281 0.07057912] [ 0. 0. 0. 1. ]] SLAMing on 0.950869431 meters 0.14926890500446452 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.08 [[ 0.99983686 0.00191173 -0.01796095 -0.92166668] [-0.00198339 0.99999014 -0.0039732 -0.02987759] [ 0.01795317 0.00400817 0.99983079 0.07568487] [ 0. 0. 0. 1. ]] SLAMing on 0.980869431 meters 0.14926890500446452 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.03, Z:0.08 [[ 0.99983686 0.00191173 -0.01796095 -0.92166668] [-0.00198339 0.99999014 -0.0039732 -0.02987759] [ 0.01795317 0.00400817 0.99983079 0.07568487] [ 0. 0. 0. 1. ]] SLAMing on 1.010869431 meters 0.14597829305637128 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.08 [[ 0.99990554 -0.00287744 -0.01344015 -0.9425442 ] [ 0.00286059 0.9999951 -0.00127295 -0.0203974 ] [ 0.01344374 0.00123438 0.99990887 0.07649959] [ 0. 0. 0. 1. ]] SLAMing on 1.040869431 meters 0.1437443980059 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.08 [[ 9.99956828e-01 1.26414350e-05 -9.29201323e-03 -9.62970508e-01] [-6.48383090e-05 9.99984222e-01 -5.61711148e-03 -2.22692706e-02] [ 9.29179561e-03 5.61747146e-03 9.99941052e-01 7.71177086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.070869431 meters 0.14644905420409457 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.08 [[ 0.99994951 0.0011909 -0.00997832 -0.96871045] [-0.00123943 0.99998743 -0.00485864 -0.02011969] [ 0.0099724 0.00487076 0.99993841 0.08282179] [ 0. 0. 0. 1. ]] SLAMing on 1.100869431 meters 0.14524566628977034 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.09 [[ 0.99993401 0.00177783 -0.01134938 -0.9737569 ] [-0.0018309 0.99998743 -0.004667 -0.01811728] [ 0.01134094 0.00468748 0.9999247 0.08834443] [ 0. 0. 0. 1. ]] SLAMing on 1.1308694309999998 meters 0.15122254219068093 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.01, Z:0.09 [[ 9.99930039e-01 -3.56823038e-03 -1.12775888e-02 -1.00160592e+00] [ 3.55727263e-03 9.99993181e-01 -9.91549721e-04 -1.13310816e-02] [ 1.12810500e-02 9.51362894e-04 9.99935914e-01 9.46033662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1608694309999998 meters 0.14744066347785925 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.01, Z:0.10 [[ 9.99934359e-01 -2.95472165e-03 -1.10701235e-02 -1.01011139e+00] [ 2.94734525e-03 9.99995424e-01 -6.82589107e-04 -1.06592038e-02] [ 1.10720897e-02 6.49916825e-04 9.99938491e-01 1.01961722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1908694309999999 meters 0.15265786917790822 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.01, Z:0.10 [[ 9.99933161e-01 -2.70736126e-03 -1.12402919e-02 -1.01198241e+00] [ 2.70188161e-03 9.99996224e-01 -5.02657237e-04 -1.03446116e-02] [ 1.12416103e-02 4.72253702e-04 9.99936700e-01 1.04203330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.220869431 meters 0.15622318583134231 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.01, Z:0.10 [[ 0.99987094 -0.00524124 -0.01518639 -1.05167466] [ 0.00521831 0.99998518 -0.00154913 -0.00982733] [ 0.01519429 0.00146968 0.99988348 0.10469666] [ 0. 0. 0. 1. ]] SLAMing on 1.250869431 meters 0.1730504713747317 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.01, Z:0.11 [[ 0.99991708 -0.00182477 -0.01274779 -1.07399322] [ 0.00175642 0.99998403 -0.00537089 -0.01186218] [ 0.01275738 0.00534805 0.99990432 0.10654416] [ 0. 0. 0. 1. ]] SLAMing on 1.280869431 meters 0.14392709882158905 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:0.10 [[ 0.99995717 -0.00213107 -0.00900646 -1.10878659] [ 0.00209048 0.99998763 -0.00451377 -0.00878694] [ 0.00901597 0.00449475 0.99994925 0.10405264] [ 0. 0. 0. 1. ]] SLAMing on 1.310869431 meters 0.1364724985631591 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:0.11 [[ 0.99989233 0.0024128 -0.0144745 -1.13005662] [-0.002523 0.99996794 -0.00759991 -0.00885751] [ 0.0144557 0.00763561 0.99986636 0.10678954] [ 0. 0. 0. 1. ]] SLAMing on 1.3408694309999998 meters 0.13684680737497315 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.01, Z:0.10 [[ 0.99987984 0.00162559 -0.01541645 -1.16418403] [-0.00174117 0.99997046 -0.00748646 -0.00524895] [ 0.01540383 0.0075124 0.99985313 0.10460581] [ 0. 0. 0. 1. ]] SLAMing on 1.3708694309999998 meters 0.14287212326166887 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.00, Z:0.12 [[ 9.99871778e-01 7.37726406e-04 -1.59963378e-02 -1.17637571e+00] [-8.79107378e-04 9.99960601e-01 -8.83310410e-03 -3.85547697e-04] [ 1.59891911e-02 8.84603400e-03 9.99833033e-01 1.15271009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4008694309999998 meters 0.14110889785299277 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:0.12 [[ 0.99989493 -0.0031243 -0.01415518 -1.20215582] [ 0.00306012 0.99998495 -0.0045531 0.00638458] [ 0.01416919 0.0045093 0.99988944 0.12070968] [ 0. 0. 0. 1. ]] SLAMing on 1.4308694309999999 meters 0.1305442334135907 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:0.13 [[ 9.99883297e-01 -8.91105459e-04 -1.52511586e-02 -1.21097030e+00] [ 8.53675568e-04 9.99996608e-01 -2.46056683e-03 5.62739294e-03] [ 1.52532995e-02 2.44726014e-03 9.99880667e-01 1.28282194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4608694309999999 meters 0.12454224737933063 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:0.14 [[ 9.99870940e-01 -4.46355249e-04 -1.60593745e-02 -1.22006210e+00] [ 4.08079747e-04 9.99997069e-01 -2.38657238e-03 7.49788448e-03] [ 1.60603926e-02 2.37971086e-03 9.99868192e-01 1.35527031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.490869431 meters 0.11710122185102255 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:0.14 [[ 0.99991793 -0.00278301 -0.01250538 -1.26170631] [ 0.00271812 0.99998277 -0.00520317 0.01527784] [ 0.01251964 0.00516875 0.99990827 0.13751209] [ 0. 0. 0. 1. ]] SLAMing on 1.520869431 meters 0.11451558204139856 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.02, Z:0.14 [[ 9.99924128e-01 -1.25327500e-03 -1.22542876e-02 -1.26553383e+00] [ 1.20579937e-03 9.99991743e-01 -3.88082678e-03 1.66629217e-02] [ 1.22590501e-02 3.86575612e-03 9.99917382e-01 1.41172341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.550869431 meters 0.10637636284835308 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.01, Z:0.14 [[ 9.99859620e-01 -1.22819375e-03 -1.67102514e-02 -1.30125368e+00] [ 1.19949385e-03 9.99997789e-01 -1.72741681e-03 1.29521434e-02] [ 1.67123360e-02 1.70713047e-03 9.99858882e-01 1.39685521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.580869431 meters 0.10055020278719201 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.02, Z:0.15 [[ 9.99853542e-01 -5.71767872e-04 -1.71046164e-02 -1.30800947e+00] [ 5.47144172e-04 9.99998807e-01 -1.44423888e-03 1.58249128e-02] [ 1.71054217e-02 1.43466867e-03 9.99852662e-01 1.46016997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6108694309999998 meters 0.09719464993470037 Centerline is valid? [False, True] Translation: X:-1.32, Y:0.02, Z:0.15 [[ 9.99859421e-01 -8.94950149e-04 -1.67432469e-02 -1.31697912e+00] [ 8.59612825e-04 9.99997388e-01 -2.11761972e-03 1.83433664e-02] [ 1.67450983e-02 2.10292932e-03 9.99857580e-01 1.53720243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6408694309999998 meters 0.09452984769171154 Centerline is valid? [True, True] Translation: X:-1.35, Y:0.01, Z:0.16 [[ 9.99847640e-01 -2.84909932e-03 -1.72214892e-02 -1.34572645e+00] [ 2.83240803e-03 9.99995495e-01 -9.93526364e-04 1.48133490e-02] [ 1.72242422e-02 9.44596706e-04 9.99851206e-01 1.56634367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6708694309999998 meters 0.08448366896894419 Centerline is valid? [True, True] Translation: X:-1.38, Y:0.02, Z:0.16 [[ 9.99800343e-01 -4.08192026e-03 -1.95604901e-02 -1.37508878e+00] [ 4.06072241e-03 9.99991124e-01 -1.12330388e-03 1.63603125e-02] [ 1.95649017e-02 1.04364988e-03 9.99808044e-01 1.58754751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7008694309999999 meters 0.08577069578350965 Centerline is valid? [True, True] Translation: X:-1.40, Y:0.02, Z:0.16 [[ 9.99810483e-01 -5.33352313e-03 -1.87230044e-02 -1.40468156e+00] [ 5.31432125e-03 9.99985301e-01 -1.07518178e-03 2.27664860e-02] [ 1.87284637e-02 9.75477957e-04 9.99824131e-01 1.57708282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.730869431 meters 0.08083629478561359 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.01, Z:0.16 [[ 9.99812704e-01 -6.76346736e-03 -1.81331645e-02 -1.43268058e+00] [ 6.74570660e-03 9.99976706e-01 -1.04045020e-03 1.47071869e-02] [ 1.81397792e-02 9.17934316e-04 9.99835039e-01 1.59811356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.760869431 meters 0.08514914467268275 Centerline is valid? [True, True] Translation: X:-1.46, Y:0.02, Z:0.16 [[ 9.99770409e-01 -6.16518999e-03 -2.05211940e-02 -1.46131494e+00] [ 6.14234414e-03 9.99980444e-01 -1.17612611e-03 1.98204755e-02] [ 2.05280438e-02 1.04980784e-03 9.99788726e-01 1.64572609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.790869431 meters 0.07021726581002193 Centerline is valid? [True, True] Translation: X:-1.49, Y:0.03, Z:0.16 [[ 9.99710578e-01 -3.51131391e-03 -2.37998074e-02 -1.49225521e+00] [ 3.47983246e-03 9.99993015e-01 -1.36404747e-03 3.34355920e-02] [ 2.38044308e-02 1.28083334e-03 9.99715814e-01 1.63364994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8208694309999998 meters 0.0689676464081408 Centerline is valid? [True, True] Translation: X:-1.52, Y:0.03, Z:0.16 [[ 9.99689390e-01 -2.79954613e-03 -2.47646138e-02 -1.52057473e+00] [ 2.76540462e-03 9.99995178e-01 -1.41278078e-03 2.67085306e-02] [ 2.47684496e-02 1.34385778e-03 9.99692312e-01 1.57925835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8508694309999998 meters 0.06909899847597491 Centerline is valid? [True, True] Translation: X:-1.55, Y:0.02, Z:0.16 [[ 9.99678264e-01 -3.94345371e-03 -2.50562869e-02 -1.54950699e+00] [ 3.90899895e-03 9.99991346e-01 -1.42392606e-03 2.24250865e-02] [ 2.50616853e-02 1.32552293e-03 9.99685028e-01 1.58189355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8808694309999998 meters 0.06094332300084322 Centerline is valid? [True, True] Translation: X:-1.58, Y:0.03, Z:0.16 [[ 9.99671101e-01 -7.10216587e-03 -2.46424040e-02 -1.57935452e+00] [ 7.06978430e-03 9.99974027e-01 -1.40093283e-03 2.80855641e-02] [ 2.46517137e-02 1.22625558e-03 9.99695348e-01 1.63564533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9108694309999998 meters 0.0637634653642759 Centerline is valid? [True, True] Translation: X:-1.61, Y:0.03, Z:0.16 [[ 9.99655130e-01 -8.71695016e-03 -2.47716684e-02 -1.60878321e+00] [ 8.68476891e-03 9.99961298e-01 -1.40640485e-03 3.23665536e-02] [ 2.47829692e-02 1.19078361e-03 9.99692146e-01 1.59244811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9408694309999999 meters 0.07352891192499261 Centerline is valid? [True, True] Translation: X:-1.64, Y:0.04, Z:0.15 [[ 9.99665042e-01 -8.88330187e-03 -2.43082563e-02 -1.63843528e+00] [ 8.85251309e-03 9.99959872e-01 -1.37391716e-03 3.95904509e-02] [ 2.43194858e-02 1.15826780e-03 9.99703567e-01 1.54054719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.970869431 meters 0.07434010206509288 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.03, Z:0.16 [[ 9.99685118e-01 -9.85299742e-03 -2.30777496e-02 -1.66628909e+00] [ 9.82551089e-03 9.99950878e-01 -1.30413087e-03 2.85656113e-02] [ 2.30894656e-02 1.07696954e-03 9.99732823e-01 1.58276198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.000869431 meters 0.08264792074642943 Centerline is valid? [True, True] Translation: X:-1.70, Y:0.03, Z:0.16 [[ 9.99720131e-01 -7.32452479e-03 -2.24947043e-02 -1.69521370e+00] [ 7.29780485e-03 9.99972565e-01 -1.26969523e-03 2.97442123e-02] [ 2.25033870e-02 1.10517792e-03 9.99746156e-01 1.56649050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0308694309999997 meters 0.07696557964400028 Centerline is valid? [True, True] Translation: X:-1.72, Y:0.04, Z:0.16 [[ 9.99742572e-01 -5.39558715e-03 -2.20381062e-02 -1.72496348e+00] [ 5.36958981e-03 9.99984816e-01 -1.23865923e-03 3.65306615e-02] [ 2.20444549e-02 1.12000478e-03 9.99756364e-01 1.64476058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.060869431 meters 0.08001493699675497 Centerline is valid? [True, True] Translation: X:-1.76, Y:0.05, Z:0.16 [[ 9.99775775e-01 -2.67107544e-03 -2.10062878e-02 -1.75580987e+00] [ 2.64684364e-03 9.99995799e-01 -1.18126834e-03 4.69085115e-02] [ 2.10093548e-02 1.12540311e-03 9.99778646e-01 1.64285546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.090869431 meters 0.08233404004150283 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.05, Z:0.16 [[ 9.99763181e-01 2.60376124e-04 -2.17603770e-02 -1.78511139e+00] [-2.87054948e-04 9.99999211e-01 -1.22291305e-03 5.20745216e-02] [ 2.17600414e-02 1.22886986e-03 9.99762467e-01 1.56619077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.120869431 meters 0.08344719454798316 Centerline is valid? [True, True] Translation: X:-1.82, Y:0.06, Z:0.15 [[ 9.99654888e-01 3.65733899e-03 -2.60139959e-02 -1.81582424e+00] [-3.69661558e-03 9.99992099e-01 -1.46189536e-03 5.97784674e-02] [ 2.60084437e-02 1.55755459e-03 9.99660510e-01 1.54734747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.150869431 meters 0.08878833185833143 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.06, Z:0.15 [[ 9.99652125e-01 4.37554828e-03 -2.60093028e-02 -1.84469989e+00] [-4.41487605e-03 9.99989196e-01 -1.45483399e-03 6.44775218e-02] [ 2.60026561e-02 1.56915574e-03 9.99660642e-01 1.53156499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.180869431 meters 0.07890046051434484 Centerline is valid? [True, True] Translation: X:-1.88, Y:0.07, Z:0.15 [[ 9.99675842e-01 2.04897269e-03 -2.53773895e-02 -1.87509094e+00] [-2.08568127e-03 9.99996817e-01 -1.42012284e-03 7.09260446e-02] [ 2.53743989e-02 1.47259164e-03 9.99676933e-01 1.54658871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.210869431 meters 0.08098160005317194 Centerline is valid? [True, True] Translation: X:-1.91, Y:0.08, Z:0.16 [[ 9.99718477e-01 -1.64852519e-04 -2.37263671e-02 -1.90561093e+00] [ 1.33399738e-04 9.99999110e-01 -1.32722341e-03 7.86027733e-02] [ 2.37265648e-02 1.32368468e-03 9.99717609e-01 1.62120420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2408694309999997 meters 0.07210753536383818 Centerline is valid? [True, True] Translation: X:-1.94, Y:0.09, Z:0.15 [[ 9.99683593e-01 -3.01012517e-03 -2.49730372e-02 -1.93598229e+00] [ 2.97618533e-03 9.99994597e-01 -1.39611618e-03 9.12235995e-02] [ 2.49771048e-02 1.32135005e-03 9.99687150e-01 1.51300236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.270869431 meters 0.06494409045695147 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.08, Z:0.15 [[ 9.99558306e-01 -3.91776925e-03 -2.94591907e-02 -1.96398361e+00] [ 3.87098455e-03 9.99991155e-01 -1.64498209e-03 8.35770667e-02] [ 2.94653748e-02 1.53021944e-03 9.99564630e-01 1.50442330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3008694309999997 meters 0.059614779945051426 Centerline is valid? [True, True] Translation: X:-1.99, Y:0.09, Z:0.15 [[ 9.99465742e-01 -7.95968108e-03 -3.16997407e-02 -1.99357489e+00] [ 7.90757633e-03 9.99967170e-01 -1.76872466e-03 8.77776106e-02] [ 3.17127785e-02 1.51711158e-03 9.99495872e-01 1.48065725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.330869431 meters 0.06098274444878346 Centerline is valid? [True, True] Translation: X:-2.02, Y:0.10, Z:0.15 [[ 9.99534609e-01 -8.98956940e-03 -2.91505180e-02 -2.02447433e+00] [ 8.94595940e-03 9.99958662e-01 -1.62610340e-03 9.89670764e-02] [ 2.91639310e-02 1.36456728e-03 9.99573711e-01 1.53174765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.360869431 meters 0.058545126271690055 Centerline is valid? [True, True] Translation: X:-2.05, Y:0.11, Z:0.16 [[ 9.99612619e-01 -7.43869245e-03 -2.68193457e-02 -2.05361291e+00] [ 7.40140773e-03 9.99971500e-01 -1.48921913e-03 1.10131351e-01] [ 2.68296592e-02 1.29014132e-03 9.99639187e-01 1.57997532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.390869431 meters 0.05591287644115789 Centerline is valid? [True, True] Translation: X:-2.09, Y:0.14, Z:0.15 [[ 9.99431348e-01 -1.74845774e-03 -3.36737947e-02 -2.08518864e+00] [ 1.68641605e-03 9.99996828e-01 -1.87074632e-03 1.36787639e-01] [ 3.36769588e-02 1.81289449e-03 9.99431126e-01 1.48495607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.420869431 meters 0.05051184413253365 Centerline is valid? [True, True] Translation: X:-2.12, Y:0.15, Z:0.15 [[ 9.99450200e-01 -2.79008473e-04 -3.31544819e-02 -2.11500922e+00] [ 2.18334649e-04 9.99998295e-01 -1.83364015e-03 1.53573321e-01] [ 3.31549369e-02 1.82539324e-03 9.99448557e-01 1.52369518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4508694309999997 meters 0.05028330164097728 Centerline is valid? [True, True] Translation: X:-2.14, Y:0.16, Z:0.16 [[ 9.99530971e-01 2.06717245e-03 -3.05543087e-02 -2.14380687e+00] [-2.11973715e-03 9.99996329e-01 -1.68807844e-03 1.63284213e-01] [ 3.05507070e-02 1.75205379e-03 9.99531683e-01 1.55419220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.480869431 meters 0.05103595661057318 Centerline is valid? [True, True] Translation: X:-2.17, Y:0.17, Z:0.16 [[ 9.99467498e-01 1.58451201e-03 -3.25915705e-02 -2.17278529e+00] [-1.64380679e-03 9.99997042e-01 -1.79261510e-03 1.74206849e-01] [ 3.25886337e-02 1.84523477e-03 9.99467146e-01 1.55994608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5108694309999997 meters 0.05108542701114783 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.19, Z:0.15 [[ 9.99369592e-01 2.95155621e-04 -3.55011368e-02 -2.20311418e+00] [-3.64448256e-04 9.99998041e-01 -1.94538734e-03 1.92158813e-01] [ 3.55004931e-02 1.95709928e-03 9.99367743e-01 1.51196121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.540869431 meters 0.04827200572603109 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.22, Z:0.15 [[ 9.99434750e-01 8.14389086e-04 -3.36083016e-02 -2.23323144e+00] [-8.76525595e-04 9.99997934e-01 -1.83415207e-03 2.15244441e-01] [ 3.36067384e-02 1.86257385e-03 9.99433398e-01 1.48683325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5708694309999998 meters 0.042988380382791014 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.23, Z:0.16 [[ 9.99539856e-01 4.13666651e-03 -3.00493686e-02 -2.26159908e+00] [-4.18777815e-03 9.99989889e-01 -1.63818702e-03 2.31597317e-01] [ 3.00422882e-02 1.76327331e-03 9.99547073e-01 1.62062324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.600869431 meters 0.04252782471259187 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.26, Z:0.17 [[ 9.99494421e-01 8.80219404e-03 -3.05519990e-02 -2.29271639e+00] [-8.85719195e-03 9.99959388e-01 -1.66527153e-03 2.55829079e-01] [ 3.05361002e-02 1.93503452e-03 9.99531792e-01 1.68815097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.630869431 meters 0.042739483216813076 Centerline is valid? [True, True] Translation: X:-2.32, Y:0.27, Z:0.16 [[ 9.99444402e-01 1.10051188e-02 -3.14606687e-02 -2.32376525e+00] [-1.10645106e-02 9.99937317e-01 -1.71433861e-03 2.68320736e-01] [ 3.14398301e-02 2.06148303e-03 9.99503520e-01 1.56845405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6608694309999996 meters 0.04394559688962594 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.28, Z:0.15 [[ 9.99367801e-01 1.13495876e-02 -3.36924987e-02 -2.35352970e+00] [-1.14176410e-02 9.99933145e-01 -1.82812172e-03 2.78673467e-01] [ 3.36694977e-02 2.21165484e-03 9.99430575e-01 1.45050748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.690869431 meters 0.04441244342213939 Centerline is valid? [True, True] Translation: X:-2.38, Y:0.29, Z:0.14 [[ 9.99389998e-01 9.73983180e-03 -3.35375451e-02 -2.38391066e+00] [-9.80635328e-03 9.99950261e-01 -1.81957375e-03 2.94590942e-01] [ 3.35181547e-02 2.14734482e-03 9.99435802e-01 1.44276661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7208694309999997 meters 0.04239432548941036 Centerline is valid? [True, True] Translation: X:-2.41, Y:0.31, Z:0.15 [[ 9.99462774e-01 1.08457006e-02 -3.09278886e-02 -2.41296247e+00] [-1.09027121e-02 9.99939160e-01 -1.67532135e-03 3.10340943e-01] [ 3.09078369e-02 2.01161918e-03 9.99520214e-01 1.47356818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.750869431 meters 0.041622010493665366 Centerline is valid? [True, True] Translation: X:-2.44, Y:0.31, Z:0.15 [[ 9.99493970e-01 1.03788115e-02 -3.00679992e-02 -2.44056157e+00] [-1.04324135e-02 9.99944258e-01 -1.62635892e-03 3.11894465e-01] [ 3.00494435e-02 1.93921774e-03 9.99546532e-01 1.48085326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7808694309999997 meters 0.04352111526319376 Centerline is valid? [True, True] Translation: X:-2.47, Y:0.33, Z:0.14 [[ 9.99446727e-01 1.14334092e-02 -3.12332700e-02 -2.47103174e+00] [-1.14915391e-02 9.99932555e-01 -1.68227992e-03 3.31305397e-01] [ 3.12119293e-02 2.04026750e-03 9.99510707e-01 1.41755310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.810869431 meters 0.04033281127368388 Centerline is valid? [True, True] Translation: X:-2.50, Y:0.33, Z:0.14 [[ 9.99424263e-01 1.03278785e-02 -3.23183862e-02 -2.49929298e+00] [-1.03894818e-02 9.99944516e-01 -1.73878496e-03 3.31811369e-01] [ 3.22986351e-02 2.07355516e-03 9.99476112e-01 1.43815006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.840869431 meters 0.04169529254004603 Centerline is valid? [True, True] Translation: X:-2.53, Y:0.34, Z:0.14 [[ 9.99494151e-01 9.57532045e-03 -3.03274648e-02 -2.52880490e+00] [-9.62915485e-03 9.99952311e-01 -1.62955059e-03 3.40747863e-01] [ 3.03104150e-02 1.92075413e-03 9.99538688e-01 1.41501828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.870869431 meters 0.04070239975232838 Centerline is valid? [True, True] Translation: X:-2.56, Y:0.35, Z:0.14 [[ 9.99616716e-01 7.55630442e-03 -2.66331304e-02 -2.55977992e+00] [-7.59710636e-03 9.99970117e-01 -1.43114575e-03 3.48798043e-01] [ 2.66215204e-02 1.63293193e-03 9.99644251e-01 1.42980087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.900869431 meters 0.04070239975232838 Centerline is valid? [True, True] Translation: X:-2.59, Y:0.35, Z:0.14 [[ 9.99614762e-01 7.80902868e-03 -2.66335600e-02 -2.58721030e+00] [-7.84970729e-03 9.99968178e-01 -1.42313346e-03 3.47160210e-01] [ 2.66215991e-02 1.63165087e-03 9.99644251e-01 1.43123662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9308694309999996 meters 0.041835343777032075 Centerline is valid? [True, True] Translation: X:-2.62, Y:0.36, Z:0.14 [[ 9.99575489e-01 8.81457341e-03 -2.77694837e-02 -2.61682298e+00] [-8.85916434e-03 9.99959657e-01 -1.48312911e-03 3.61167085e-01] [ 2.77552902e-02 1.72851393e-03 9.99613253e-01 1.40565058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.960869431 meters 0.042155526807107074 Centerline is valid? [True, True] Translation: X:-2.65, Y:0.37, Z:0.14 [[ 9.99516385e-01 1.12033430e-02 -2.90082975e-02 -2.64775853e+00] [-1.12529996e-02 9.99935483e-01 -1.54911722e-03 3.72133407e-01] [ 2.89890707e-02 1.87479840e-03 9.99577970e-01 1.37421286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9908694309999997 meters 0.04281100432964322 Centerline is valid? [True, True] Translation: X:-2.68, Y:0.38, Z:0.14 [[ 9.99475642e-01 1.46149427e-02 -2.88936606e-02 -2.67677786e+00] [-1.46655892e-02 9.99891266e-01 -1.54170786e-03 3.75909394e-01] [ 2.88679869e-02 1.96464201e-03 9.99581302e-01 1.37255911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.020869431 meters 0.042838058418316304 Centerline is valid? [True, True] Translation: X:-2.71, Y:0.38, Z:0.14 [[ 9.99479567e-01 1.76275056e-02 -2.70160225e-02 -2.70571326e+00] [-1.76728396e-02 9.99842786e-01 -1.44017567e-03 3.78089852e-01] [ 2.69863885e-02 1.91687599e-03 9.99633963e-01 1.38869896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0508694309999997 meters 0.04607329692687184 Centerline is valid? [True, True] Translation: X:-2.74, Y:0.39, Z:0.14 [[ 9.99395051e-01 2.14073393e-02 -2.74090876e-02 -2.73646083e+00] [-2.14554129e-02 9.99768739e-01 -1.46100959e-03 3.93117424e-01] [ 2.73714726e-02 2.04819904e-03 9.99623233e-01 1.35514882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.080869431 meters 0.04616104612531859 Centerline is valid? [True, True] Translation: X:-2.77, Y:0.41, Z:0.13 [[ 9.99294975e-01 2.37965446e-02 -2.90392512e-02 -2.76666608e+00] [-2.38514921e-02 9.99714315e-01 -1.54721409e-03 4.05587600e-01] [ 2.89941368e-02 2.23875274e-03 9.99577075e-01 1.34247003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.110869431 meters 0.04883583750783847 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.42, Z:0.13 [[ 9.99284912e-01 2.53707247e-02 -2.80355328e-02 -2.79649801e+00] [-2.54224569e-02 9.99675686e-01 -1.49028790e-03 4.15825576e-01] [ 2.79886308e-02 2.20195434e-03 9.99605816e-01 1.28308318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.140869431 meters 0.04815086540782342 Centerline is valid? [True, True] Translation: X:-2.82, Y:0.41, Z:0.13 [[ 9.99289427e-01 2.64381777e-02 -2.68638190e-02 -2.82442612e+00] [-2.64860061e-02 9.99648167e-01 -1.42607818e-03 4.11926851e-01] [ 2.68166645e-02 2.13658012e-03 9.99638085e-01 1.30453127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.170869431 meters 0.047757814612513036 Centerline is valid? [True, True] Translation: X:-2.85, Y:0.41, Z:0.13 [[ 9.99218007e-01 2.58992999e-02 -2.98764394e-02 -2.85363372e+00] [-2.59580112e-02 9.99661787e-01 -1.57889641e-03 4.13989649e-01] [ 2.98254424e-02 2.35319467e-03 9.99552353e-01 1.26509067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2008694309999997 meters 0.04719509071842581 Centerline is valid? [True, True] Translation: X:-2.88, Y:0.42, Z:0.12 [[ 9.99203813e-01 2.54307534e-02 -3.07411389e-02 -2.88249053e+00] [-2.54924904e-02 9.99673704e-01 -1.61796412e-03 4.17689849e-01] [ 3.06899622e-02 2.40034411e-03 9.99526070e-01 1.21833464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.230869431 meters 0.045416722325712824 Centerline is valid? [True, True] Translation: X:-2.91, Y:0.41, Z:0.12 [[ 9.99361006e-01 2.17458463e-02 -2.83672135e-02 -2.91163587e+00] [-2.17969740e-02 9.99761301e-01 -1.49434117e-03 4.14813970e-01] [ 2.83279466e-02 2.11170571e-03 9.99596453e-01 1.23267936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 128.07 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%| | 0/108 [00:00