+ python -m lidar_slam --no-model /working/16cd461f-0763-4a9c-a119-aaabc505fa9a Lidar SLAM 0.0.12 ===================================================== The recording path: /working/16cd461f-0763-4a9c-a119-aaabc505fa9a The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.029111585 Adjusted end_distance from 9.223372036854776e+18 to 8.533031585 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029111585 meters 0.058366694776836044 Centerline is valid? [0, True] SLAMing on 0.059111584999999994 meters 0.05741959007609929 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.00, Z:-0.00 [[ 9.99999991e-01 1.65872359e-05 1.32521494e-04 -3.08205154e-02] [-1.65891761e-05 1.00000000e+00 1.46402427e-05 -3.18635947e-03] [-1.32521251e-04 -1.46424410e-05 9.99999991e-01 -6.34745154e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.089111585 meters 0.054528869548498865 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.01, Z:0.00 [[ 9.99999039e-01 -6.93169357e-04 1.20086167e-03 -6.04610435e-02] [ 6.93006583e-04 9.99999751e-01 1.35959013e-04 -1.11849857e-02] [-1.20095561e-03 -1.35126677e-04 9.99999270e-01 2.21772793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11911158499999998 meters 0.05827427249072265 Centerline is valid? [True, True] Translation: X:-0.09, Y:-0.01, Z:0.00 [[ 9.99999392e-01 -8.87807712e-04 -6.54002060e-04 -9.26974959e-02] [ 8.87758787e-04 9.99999603e-01 -7.50947818e-05 -5.40366437e-03] [ 6.54068470e-04 7.45141401e-05 9.99999783e-01 1.17592052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.149111585 meters 0.05708194377378077 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.01, Z:0.00 [[ 9.99998189e-01 -1.75725694e-03 -7.31125318e-04 -1.21127957e-01] [ 1.75719760e-03 9.99998453e-01 -8.18069307e-05 -1.02011370e-02] [ 7.31267943e-04 8.05220509e-05 9.99999729e-01 2.92112555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17911158499999996 meters 0.05510544437355423 Centerline is valid? [True, True] Translation: X:-0.15, Y:-0.02, Z:0.01 [[ 9.99996578e-01 -2.61594882e-03 2.53994731e-05 -1.49913855e-01] [ 2.61594873e-03 9.99996578e-01 3.68475457e-06 -1.64547405e-02] [-2.54090253e-05 -3.61829824e-06 1.00000000e+00 5.64249869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20911158499999996 meters 0.05381477307116438 Centerline is valid? [True, True] Translation: X:-0.18, Y:-0.02, Z:0.01 [[ 9.99993752e-01 -3.19096497e-03 1.52098666e-03 -1.78467356e-01] [ 3.19070412e-03 9.99994895e-01 1.73899523e-04 -1.96428927e-02] [-1.52153380e-03 -1.69045418e-04 9.99998828e-01 8.01883548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23911158499999996 meters 0.05993267174900271 Centerline is valid? [True, True] Translation: X:-0.21, Y:-0.00, Z:-0.00 [[ 9.99998457e-01 1.67000383e-03 -5.45825983e-04 -2.11123499e-01] [-1.67003790e-03 9.99998604e-01 -6.19610246e-05 -4.99236663e-03] [ 5.45721746e-04 6.28724791e-05 9.99999849e-01 -1.63783732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.269111585 meters 0.05556201030967116 Centerline is valid? [True, True] Translation: X:-0.24, Y:-0.01, Z:0.00 [[ 9.99975682e-01 5.47934966e-03 4.31418598e-03 -2.40670049e-01] [-5.48151296e-03 9.99984856e-01 4.89774252e-04 -5.18281550e-03] [-4.31143700e-03 -5.13410608e-04 9.99990574e-01 2.36059208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29911158499999996 meters 0.05566506925035344 Centerline is valid? [True, True] Translation: X:-0.27, Y:-0.00, Z:0.00 [[ 9.99959071e-01 6.49842800e-03 6.29499245e-03 -2.73367309e-01] [-6.50304230e-03 9.99978601e-01 7.12821150e-04 -1.08706621e-03] [-6.29022553e-03 -7.53728577e-04 9.99979932e-01 6.21641795e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32911158499999993 meters 0.05604871918514405 Centerline is valid? [True, True] Translation: X:-0.30, Y:-0.00, Z:0.00 [[ 9.99966145e-01 5.24529614e-03 6.34007659e-03 -3.04363460e-01] [-5.24995859e-03 9.99985960e-01 7.18974468e-04 -1.95769231e-03] [-6.33621634e-03 -7.52235267e-04 9.99979643e-01 8.18105058e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35911158499999996 meters 0.05242280907538127 Centerline is valid? [True, True] Translation: X:-0.33, Y:-0.01, Z:0.00 [[ 9.99976628e-01 4.72242574e-03 4.94381393e-03 -3.34964945e-01] [-4.72523662e-03 9.99988681e-01 5.57039423e-04 -1.38729417e-02] [-4.94112739e-03 -5.80387094e-04 9.99987624e-01 3.47556726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3891115849999999 meters 0.05387691149725805 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.01, Z:0.00 [[ 9.99986063e-01 3.91873222e-03 3.53797256e-03 -3.67915388e-01] [-3.92017527e-03 9.99992236e-01 4.01032557e-04 -1.37432278e-02] [-3.53637355e-03 -4.14896440e-04 9.99993661e-01 7.21456317e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41911158499999995 meters 0.06028987380782279 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.00, Z:0.00 [[ 9.99988201e-01 3.80001979e-03 3.02620556e-03 -4.02151236e-01] [-3.80107492e-03 9.99992717e-01 3.42988868e-04 -1.92618122e-03] [-3.02488015e-03 -3.54487655e-04 9.99995362e-01 1.16541764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4491115849999999 meters 0.05363086228941468 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.01, Z:0.00 [[ 9.99972002e-01 3.80399166e-03 6.44393248e-03 -4.32722797e-01] [-3.80879095e-03 9.99992478e-01 7.32669170e-04 -1.15997907e-02] [-6.44109694e-03 -7.57192249e-04 9.99978969e-01 3.23715668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47911158499999995 meters 0.056320391528787844 Centerline is valid? [True, True] Translation: X:-0.46, Y:-0.00, Z:0.01 [[ 9.99967196e-01 2.25776017e-03 7.77883916e-03 -4.64471202e-01] [-2.26471866e-03 9.99997043e-01 8.85847584e-04 -4.27000730e-03] [-7.77681613e-03 -9.03435407e-04 9.99969352e-01 5.81982930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.509111585 meters 0.05315008104871651 Centerline is valid? [True, True] Translation: X:-0.50, Y:-0.01, Z:0.01 [[ 9.99936190e-01 -9.36151639e-04 1.12579019e-02 -4.95025955e-01] [ 9.21767653e-04 9.99998752e-01 1.28279994e-03 -9.09726447e-03] [-1.12590888e-02 -1.27234092e-03 9.99935805e-01 6.12505131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5391115849999999 meters 0.050340120158620195 Centerline is valid? [True, True] Translation: X:-0.53, Y:-0.02, Z:0.01 [[ 9.99946574e-01 -5.69719438e-04 1.03210431e-02 -5.26155517e-01] [ 5.57636320e-04 9.99999156e-01 1.17356643e-03 -1.81385369e-02] [-1.03217030e-02 -1.16774834e-03 9.99946048e-01 7.52778767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5691115849999999 meters 0.053728651456927366 Centerline is valid? [True, True] Translation: X:-0.56, Y:-0.01, Z:0.01 [[ 9.99967365e-01 -7.62295981e-04 8.04291789e-03 -5.59355228e-01] [ 7.54959877e-04 9.99999296e-01 9.15116377e-04 -1.31788804e-02] [-8.04360982e-03 -9.09014432e-04 9.99967236e-01 8.95087998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.599111585 meters 0.053510853384645285 Centerline is valid? [True, True] Translation: X:-0.59, Y:-0.02, Z:0.01 [[ 9.99973416e-01 -2.26817376e-03 6.92989179e-03 -5.90872929e-01] [ 2.26273332e-03 9.99997126e-01 7.92807383e-04 -1.50892426e-02] [-6.93167010e-03 -7.77105810e-04 9.99975674e-01 8.68948071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6291115849999999 meters 0.05338539896103517 Centerline is valid? [True, True] Translation: X:-0.62, Y:-0.02, Z:0.01 [[ 9.99968898e-01 -3.19431284e-03 7.21106973e-03 -6.21482286e-01] [ 3.18844179e-03 9.99994576e-01 8.25520269e-04 -1.76418748e-02] [-7.21366759e-03 -8.02502517e-04 9.99973659e-01 8.62421511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6591115849999999 meters 0.05558502558123297 Centerline is valid? [True, True] Translation: X:-0.65, Y:-0.01, Z:0.01 [[ 9.99976774e-01 -2.76985532e-04 6.80994579e-03 -6.53404822e-01] [ 2.71681029e-04 9.99999659e-01 7.79847390e-04 -1.09053919e-02] [-6.81015947e-03 -7.77979144e-04 9.99976508e-01 7.31597688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6891115849999999 meters 0.05425600836694614 Centerline is valid? [True, True] Translation: X:-0.68, Y:-0.01, Z:0.01 [[ 9.99980808e-01 9.81805185e-04 6.11716379e-03 -6.83066585e-01] [-9.86107702e-04 9.99999269e-01 7.00375219e-04 -1.36397214e-02] [-6.11647168e-03 -7.06393959e-04 9.99981045e-01 6.44507107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7191115849999999 meters 0.05563880564008825 Centerline is valid? [True, True] Translation: X:-0.71, Y:-0.01, Z:0.01 [[ 9.99983557e-01 2.22990173e-03 5.28338746e-03 -7.14544624e-01] [-2.23312864e-03 9.99997324e-01 6.04943410e-04 -1.22597456e-02] [-5.28202436e-03 -6.16731947e-04 9.99985860e-01 5.27979189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7491115849999999 meters 0.05059290796501633 Centerline is valid? [True, True] Translation: X:-0.74, Y:-0.03, Z:0.00 [[ 9.99989230e-01 1.42345146e-03 4.41744658e-03 -7.44515795e-01] [-1.42569654e-03 9.99998856e-01 5.05122716e-04 -2.65214080e-02] [-4.41672251e-03 -5.11415214e-04 9.99990115e-01 4.96334929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7791115849999999 meters 0.060737035626590004 Centerline is valid? [True, True] Translation: X:-0.78, Y:-0.01, Z:0.00 [[ 9.99990540e-01 -5.77873368e-05 4.34942022e-03 -7.77930656e-01] [ 5.56209199e-05 9.99999874e-01 4.98212596e-04 -7.50904939e-03] [-4.34944846e-03 -4.97965964e-04 9.99990417e-01 2.73950395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8091115849999999 meters 0.056596194722692506 Centerline is valid? [True, True] Translation: X:-0.81, Y:-0.02, Z:0.01 [[ 9.99992813e-01 -1.30268595e-03 3.56058773e-03 -8.07227004e-01] [ 1.30124185e-03 9.99999070e-01 4.07864170e-04 -1.89132109e-02] [-3.56111574e-03 -4.03228052e-04 9.99993578e-01 5.41513149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8391115849999998 meters 0.05166530404891372 Centerline is valid? [True, True] Translation: X:-0.84, Y:-0.03, Z:0.01 [[ 9.99997463e-01 -2.11034383e-03 7.87853760e-04 -8.36989160e-01] [ 2.11027422e-03 9.99997769e-01 8.91704255e-05 -3.22383352e-02] [-7.88040183e-04 -8.75076118e-05 9.99999686e-01 6.31793084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8691115849999999 meters 0.05226398732853694 Centerline is valid? [True, True] Translation: X:-0.87, Y:-0.03, Z:0.01 [[ 9.99996908e-01 -2.47712612e-03 2.19171207e-04 -8.66708919e-01] [ 2.47712049e-03 9.99996932e-01 2.59413786e-05 -3.04869514e-02] [-2.19234795e-04 -2.53983849e-05 9.99999976e-01 8.01504107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8991115849999999 meters 0.05555229709451091 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.02, Z:0.00 [[ 9.99999453e-01 -1.03931745e-03 1.14843721e-04 -8.97391158e-01] [ 1.03931585e-03 9.99999460e-01 1.39706366e-05 -2.42831855e-02] [-1.14858179e-04 -1.38512701e-05 9.99999993e-01 2.92877615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9291115849999999 meters 0.05887965767391187 Centerline is valid? [True, True] Translation: X:-0.93, Y:-0.02, Z:0.00 [[ 9.99998553e-01 -1.31976778e-04 -1.69590033e-03 -9.28573161e-01] [ 1.31648414e-04 9.99999973e-01 -1.93731910e-04 -1.74733012e-02] [ 1.69592585e-03 1.93508368e-04 9.99998543e-01 3.41004368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9591115849999998 meters 0.055432473986183416 Centerline is valid? [True, True] Translation: X:-0.96, Y:-0.03, Z:0.00 [[ 9.99996973e-01 5.81025621e-04 -2.39109406e-03 -9.56078209e-01] [-5.81679434e-04 9.99999794e-01 -2.72750239e-04 -2.65393271e-02] [ 2.39093509e-03 2.74140263e-04 9.99997104e-01 3.20880557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9891115849999998 meters 0.055432473986183416 Centerline is valid? [True, True] Translation: X:-0.98, Y:-0.03, Z:0.00 [[ 9.99996816e-01 8.05341536e-04 -2.39164389e-03 -9.84158814e-01] [-8.05984641e-04 9.99999639e-01 -2.67945060e-04 -2.98608881e-02] [ 2.39142724e-03 2.69871835e-04 9.99997104e-01 3.90010150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0191115849999999 meters 0.06416057283559162 Centerline is valid? [True, True] Translation: X:-1.01, Y:-0.01, Z:0.00 [[ 9.99994513e-01 7.95393824e-04 -3.21575420e-03 -1.01469133e+00] [-7.96559992e-04 9.99999617e-01 -3.61377783e-04 -1.32867738e-02] [ 3.21546554e-03 3.63937341e-04 9.99994764e-01 9.24293378e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.049111585 meters 0.055093406862740474 Centerline is valid? [True, True] Translation: X:-1.04, Y:-0.03, Z:0.00 [[ 9.99993977e-01 -3.49913039e-05 -3.47063473e-03 -1.04119061e+00] [ 3.36242275e-05 9.99999922e-01 -3.93955650e-04 -3.33870715e-02] [ 3.47064825e-03 3.93836580e-04 9.99993900e-01 3.99557582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.079111585 meters 0.05072807818478368 Centerline is valid? [True, True] Translation: X:-1.07, Y:-0.04, Z:0.01 [[ 9.99996750e-01 -9.55461639e-05 -2.54783713e-03 -1.06830295e+00] [ 9.48222538e-05 9.99999955e-01 -2.84246600e-04 -4.11969719e-02] [ 2.54786417e-03 2.84004084e-04 9.99996714e-01 8.10885054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.109111585 meters 0.05751458015480052 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.03, Z:0.01 [[ 9.99995757e-01 -2.10713660e-04 -2.90536895e-03 -1.09843581e+00] [ 2.09759325e-04 9.99999924e-01 -3.28773831e-04 -3.01716858e-02] [ 2.90543801e-03 3.28163008e-04 9.99995725e-01 6.36024815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.139111585 meters 0.05760585663201812 Centerline is valid? [True, True] Translation: X:-1.13, Y:-0.03, Z:0.01 [[ 9.99996075e-01 7.48920838e-04 -2.69985694e-03 -1.12687790e+00] [-7.49747807e-04 9.99999672e-01 -3.05301749e-04 -3.04717278e-02] [ 2.69962741e-03 3.07324763e-04 9.99996309e-01 8.98429158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.169111585 meters 0.05142567025496918 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.05, Z:0.01 [[ 9.99978037e-01 6.20542325e-04 -6.59846331e-03 -1.15290622e+00] [-6.25487271e-04 9.99999525e-01 -7.47371438e-04 -4.56611771e-02] [ 6.59799640e-03 7.51482278e-04 9.99977951e-01 1.02180852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.199111585 meters 0.057735693229214576 Centerline is valid? [True, True] Translation: X:-1.18, Y:-0.03, Z:0.01 [[ 9.99944992e-01 2.08893379e-03 -1.02785999e-02 -1.18465003e+00] [-2.10104191e-03 9.99997111e-01 -1.16733571e-03 -3.37637424e-02] [ 1.02761317e-02 1.18886727e-03 9.99946492e-01 5.29789109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2291115849999998 meters 0.06045034836812623 Centerline is valid? [True, True] Translation: X:-1.22, Y:-0.03, Z:-0.00 [[ 0.99987871 0.00345081 -0.0151875 -1.21612832] [-0.0034774 0.99999247 -0.00172458 -0.02688032] [ 0.01518143 0.00177718 0.99988318 -0.00395417] [ 0. 0. 0. 1. ]] SLAMing on 1.2591115849999999 meters 0.06084825055755237 Centerline is valid? [True, True] Translation: X:-1.25, Y:-0.03, Z:-0.01 [[ 0.99980869 0.00455945 -0.01902117 -1.2460655 ] [-0.00460134 0.99998708 -0.00215934 -0.02581764] [ 0.01901108 0.00224645 0.99981675 -0.005339 ] [ 0. 0. 0. 1. ]] SLAMing on 1.289111585 meters 0.05515759390639466 Centerline is valid? [True, True] Translation: X:-1.27, Y:-0.03, Z:-0.01 [[ 0.99983768 0.00409482 -0.01754565 -1.27483376] [-0.00413038 0.99998949 -0.00199086 -0.02964193] [ 0.01753731 0.002063 0.99984408 -0.01134197] [ 0. 0. 0. 1. ]] SLAMing on 1.319111585 meters 0.05677501220067127 Centerline is valid? [True, True] Translation: X:-1.31, Y:-0.02, Z:-0.01 [[ 9.99909253e-01 8.16439761e-03 -1.07158344e-02 -1.30679597e+00] [-8.17789219e-03 9.99965821e-01 -1.21609809e-03 -1.76559736e-02] [ 1.07055395e-02 1.30362067e-03 9.99941844e-01 -8.52409746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.349111585 meters 0.055360869314570856 Centerline is valid? [True, True] Translation: X:-1.33, Y:-0.01, Z:-0.01 [[ 9.99924378e-01 9.20620142e-03 -8.15374910e-03 -1.33463614e+00] [-9.21402733e-03 9.99957124e-01 -9.22748018e-04 -1.48506415e-02] [ 8.14490450e-03 9.97807105e-04 9.99966332e-01 -1.00834880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.379111585 meters 0.06330539290517895 Centerline is valid? [True, True] Translation: X:-1.37, Y:0.00, Z:-0.02 [[ 9.99924107e-01 8.57770715e-03 -8.84326872e-03 -1.36826636e+00] [-8.58691810e-03 9.99962628e-01 -1.00413476e-03 2.07801414e-03] [ 8.83432506e-03 1.07999498e-03 9.99960393e-01 -1.58337080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.409111585 meters 0.06283169278154242 Centerline is valid? [True, True] Translation: X:-1.40, Y:-0.00, Z:-0.01 [[ 9.99903467e-01 7.92350990e-03 -1.14138030e-02 -1.39798968e+00] [-7.93880669e-03 9.99967648e-01 -1.29551687e-03 -1.78105122e-03] [ 1.14031687e-02 1.38600379e-03 9.99934021e-01 -1.21190013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4391115849999998 meters 0.05714541776221594 Centerline is valid? [True, True] Translation: X:-1.43, Y:-0.02, Z:-0.01 [[ 0.99989272 0.00602643 -0.01335022 -1.42586899] [-0.00604719 0.99998057 -0.00151486 -0.01858705] [ 0.01334083 0.00159543 0.99990973 -0.00779663] [ 0. 0. 0. 1. ]] SLAMing on 1.4691115849999998 meters 0.061549292792819066 Centerline is valid? [True, True] Translation: X:-1.45, Y:-0.01, Z:-0.01 [[ 0.99984717 0.00513453 -0.01671139 -1.45384285] [-0.00516675 0.99998487 -0.0018855 -0.01438472] [ 0.01670146 0.00197156 0.99985858 -0.01126061] [ 0. 0. 0. 1. ]] SLAMing on 1.4991115849999999 meters 0.06375867938428163 Centerline is valid? [True, True] Translation: X:-1.48, Y:-0.01, Z:-0.01 [[ 0.9998238 0.0051436 -0.01805277 -1.48285579] [-0.00518116 0.99998451 -0.0020342 -0.0130282 ] [ 0.01804203 0.00212737 0.99983497 -0.01115264] [ 0. 0. 0. 1. ]] SLAMing on 1.5291115849999999 meters 0.06328078319450682 Centerline is valid? [True, True] Translation: X:-1.51, Y:-0.01, Z:-0.02 [[ 0.9996896 0.00493124 -0.02442115 -1.51274896] [-0.00500007 0.9999837 -0.00275826 -0.01147889] [ 0.02440715 0.00287951 0.99969795 -0.01827682] [ 0. 0. 0. 1. ]] SLAMing on 1.559111585 meters 0.06432312628926322 Centerline is valid? [True, True] Translation: X:-1.54, Y:-0.01, Z:-0.03 [[ 0.99946809 0.00758798 -0.03171679 -1.5422275 ] [-0.00770538 0.9999639 -0.00358088 -0.0096516 ] [ 0.03168847 0.00382337 0.99949048 -0.02826103] [ 0. 0. 0. 1. ]] SLAMing on 1.589111585 meters 0.06195277112847161 Centerline is valid? [True, True] Translation: X:-1.57, Y:-0.01, Z:-0.04 [[ 0.99932442 0.00897659 -0.03563876 -1.57091772] [-0.00912565 0.99995027 -0.00402191 -0.01168636] [ 0.03560088 0.00434442 0.99935664 -0.03599946] [ 0. 0. 0. 1. ]] SLAMing on 1.619111585 meters 0.06851921687955632 Centerline is valid? [True, True] Translation: X:-1.60, Y:0.00, Z:-0.05 [[ 0.99908883 0.01019517 -0.0414435 -1.60394235] [-0.01039785 0.999935 -0.00467792 0.00331525] [ 0.04139311 0.00510458 0.9991299 -0.05301775] [ 0. 0. 0. 1. ]] SLAMing on 1.6491115849999998 meters 0.06525456258700596 Centerline is valid? [True, True] Translation: X:-1.63, Y:-0.00, Z:-0.05 [[ 0.99911908 0.00888139 -0.04101435 -1.63305764] [-0.0090788 0.99994807 -0.00462961 -0.00188575] [ 0.0409711 0.00499789 0.99914783 -0.05194799] [ 0. 0. 0. 1. ]] SLAMing on 1.6791115849999998 meters 0.06296068450804719 Centerline is valid? [True, True] Translation: X:-1.66, Y:-0.01, Z:-0.04 [[ 0.99937195 0.00856126 -0.0343862 -1.66299133] [-0.00869978 0.99995463 -0.00388065 -0.00526007] [ 0.03435142 0.00417737 0.99940109 -0.04348321] [ 0. 0. 0. 1. ]] SLAMing on 1.7091115849999998 meters 0.05989749675685787 Centerline is valid? [True, True] Translation: X:-1.69, Y:-0.01, Z:-0.02 [[ 0.99972947 0.00797793 -0.02184825 -1.69136255] [-0.00803367 0.99996469 -0.0024649 -0.01011573] [ 0.02182781 0.00263976 0.99975826 -0.02298517] [ 0. 0. 0. 1. ]] SLAMing on 1.7391115849999998 meters 0.059883203017663054 Centerline is valid? [True, True] Translation: X:-1.72, Y:-0.01, Z:-0.01 [[ 9.99909187e-01 4.49261982e-03 -1.27056792e-02 -1.72144833e+00] [-4.51119525e-03 9.99988797e-01 -1.43369688e-03 -8.27760373e-03] [ 1.26990958e-02 1.49088448e-03 9.99918252e-01 -7.57817542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7691115849999999 meters 0.05766348453466843 Centerline is valid? [True, True] Translation: X:-1.75, Y:-0.01, Z:-0.00 [[ 9.99961170e-01 3.35395067e-03 -8.14924715e-03 -1.75141283e+00] [-3.36155478e-03 9.99993927e-01 -9.19587458e-04 -1.00742722e-02] [ 8.14611341e-03 9.46945890e-04 9.99966371e-01 -2.46636963e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.799111585 meters 0.05232925690531086 Centerline is valid? [True, True] Translation: X:-1.78, Y:-0.02, Z:0.00 [[ 9.99953833e-01 8.76398033e-04 -9.56889701e-03 -1.77967012e+00] [-8.86768326e-04 9.99999024e-01 -1.07956114e-03 -1.96703072e-02] [ 9.56794155e-03 1.08799669e-03 9.99953634e-01 3.27812139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.829111585 meters 0.05549756794451674 Centerline is valid? [True, True] Translation: X:-1.81, Y:-0.01, Z:-0.00 [[ 9.99907634e-01 3.96055334e-04 -1.35855212e-02 -1.80904165e+00] [-4.16884545e-04 9.99998742e-01 -1.53039425e-03 -1.42935385e-02] [ 1.35848980e-02 1.53591649e-03 9.99906541e-01 -4.06051906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8591115849999997 meters 0.053388804727900356 Centerline is valid? [True, True] Translation: X:-1.84, Y:-0.01, Z:-0.01 [[ 9.99892391e-01 -2.16501093e-03 -1.45093071e-02 -1.83834728e+00] [ 2.14150417e-03 9.99996370e-01 -1.63545736e-03 -1.41988894e-02] [ 1.45127952e-02 1.60420963e-03 9.99893397e-01 -7.69500182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8891115849999998 meters 0.05164070174403331 Centerline is valid? [True, True] Translation: X:-1.87, Y:-0.02, Z:-0.01 [[ 9.99946615e-01 -2.64126648e-03 -9.98958126e-03 -1.86839227e+00] [ 2.63014896e-03 9.99995907e-01 -1.12588489e-03 -1.50229253e-02] [ 9.99251414e-03 1.09955070e-03 9.99949469e-01 -8.53023661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9191115849999998 meters 0.050870862129937064 Centerline is valid? [True, True] Translation: X:-1.90, Y:-0.01, Z:-0.01 [[ 9.99973574e-01 -5.13035817e-03 -5.15073558e-03 -1.89871882e+00] [ 5.12743685e-03 9.99986686e-01 -5.80210832e-04 -1.00285489e-02] [ 5.15364370e-03 5.53785428e-04 9.99986567e-01 -5.83448282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9491115849999998 meters 0.05060335148829213 Centerline is valid? [True, True] Translation: X:-1.93, Y:-0.01, Z:-0.01 [[ 9.99958024e-01 -6.92855254e-03 -5.99547372e-03 -1.92913265e+00] [ 6.92462367e-03 9.99975796e-01 -6.75815488e-04 -8.27868031e-03] [ 6.00001103e-03 6.34270720e-04 9.99981799e-01 -1.06802274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9791115849999998 meters 0.049975533448794275 Centerline is valid? [True, True] Translation: X:-1.96, Y:-0.01, Z:-0.01 [[ 9.99999756e-01 -4.84635746e-04 -5.02500684e-04 -1.95895657e+00] [ 4.84607433e-04 9.99999881e-01 -5.64647308e-05 -7.38205465e-03] [ 5.02527989e-04 5.62212015e-05 9.99999872e-01 -5.44229083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.009111585 meters 0.050656129246416444 Centerline is valid? [True, True] Translation: X:-1.99, Y:0.01, Z:-0.01 [[ 9.99999785e-01 6.50281415e-04 -8.92236674e-05 -1.99042526e+00] [-6.50282244e-04 9.99999789e-01 -9.25441424e-06 5.19023536e-03] [ 8.92176306e-05 9.31243281e-06 9.99999996e-01 -9.71935554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0391115849999997 meters 0.04643049055865854 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.01, Z:-0.00 [[ 9.99909374e-01 -1.34183720e-02 -1.09147530e-03 -2.01847134e+00] [ 1.34182458e-02 9.99909964e-01 -1.22943440e-04 -1.40780210e-02] [ 1.09302673e-03 1.08286615e-04 9.99999397e-01 -4.72911262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0691115849999995 meters 0.049822770125023 Centerline is valid? [True, True] Translation: X:-2.05, Y:-0.01, Z:0.00 [[ 9.99941490e-01 -1.07601478e-02 1.11207922e-03 -2.04905098e+00] [ 1.07600146e-02 9.99942101e-01 1.25676356e-04 -1.32143331e-02] [-1.11336713e-03 -1.13703014e-04 9.99999374e-01 4.52694986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0991115849999997 meters 0.048989943213419006 Centerline is valid? [True, True] Translation: X:-2.08, Y:-0.01, Z:0.01 [[ 9.99956871e-01 -8.16870581e-03 4.41913723e-03 -2.07864060e+00] [ 8.16658161e-03 9.99966529e-01 4.98513818e-04 -1.34032743e-02] [-4.42306153e-03 -4.62403073e-04 9.99990111e-01 8.57753547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1291115849999995 meters 0.048038084123931804 Centerline is valid? [True, True] Translation: X:-2.11, Y:-0.01, Z:0.02 [[ 9.99888192e-01 -9.79221568e-03 1.13011557e-02 -2.10815022e+00] [ 9.77844574e-03 9.99951379e-01 1.27306790e-03 -1.26833807e-02] [-1.13130724e-02 -1.16241782e-03 9.99935329e-01 1.53560365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1591115849999998 meters 0.04467375764113069 Centerline is valid? [True, True] Translation: X:-2.14, Y:-0.01, Z:0.01 [[ 9.99837739e-01 -8.39186121e-03 1.59396765e-02 -2.13905520e+00] [ 8.36430328e-03 9.99963408e-01 1.79477053e-03 -1.15022915e-02] [-1.59541547e-02 -1.66115502e-03 9.99871344e-01 1.44056405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1891115849999996 meters 0.04312274156945423 Centerline is valid? [True, True] Translation: X:-2.17, Y:-0.01, Z:0.01 [[ 9.99788273e-01 -1.22170999e-02 1.65575256e-02 -2.16978387e+00] [ 1.21878777e-02 9.99923986e-01 1.86464878e-03 -8.18594452e-03] [-1.65790476e-02 -1.66245288e-03 9.99861176e-01 7.56631898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2191115849999994 meters 0.04351277948466821 Centerline is valid? [True, True] Translation: X:-2.20, Y:-0.02, Z:0.01 [[ 9.99731851e-01 -1.72582136e-02 1.54395437e-02 -2.20014794e+00] [ 1.72333798e-02 9.99849980e-01 1.74006653e-03 -1.50297933e-02] [-1.54672579e-02 -1.47352441e-03 9.99879289e-01 1.28342218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2491115849999996 meters 0.047283742176436154 Centerline is valid? [True, True] Translation: X:-2.23, Y:-0.01, Z:0.02 [[ 9.99684996e-01 -1.89796278e-02 1.64219828e-02 -2.23130759e+00] [ 1.89517524e-02 9.99818685e-01 1.85141855e-03 -8.18773053e-03] [-1.64541445e-02 -1.53961000e-03 9.99863436e-01 1.72640997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2791115849999994 meters 0.04765792824544899 Centerline is valid? [True, True] Translation: X:-2.26, Y:-0.01, Z:0.02 [[ 9.99792061e-01 -1.52980007e-02 1.34835707e-02 -2.25998142e+00] [ 1.52788786e-02 9.99882116e-01 1.52005866e-03 -1.29655407e-02] [-1.35052350e-02 -1.31372874e-03 9.99907937e-01 1.88289303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3091115849999997 meters 0.04689505103379303 Centerline is valid? [True, True] Translation: X:-2.29, Y:-0.01, Z:0.02 [[ 9.99790077e-01 -1.38481805e-02 1.51006853e-02 -2.29067501e+00] [ 1.38240417e-02 9.99902995e-01 1.70174169e-03 -9.54211140e-03] [-1.51227865e-02 -1.49263195e-03 9.99884530e-01 2.22627876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3391115849999995 meters 0.043854684023946405 Centerline is valid? [True, True] Translation: X:-2.32, Y:-0.01, Z:0.01 [[ 9.99840538e-01 -1.27159469e-02 1.25380980e-02 -2.32047819e+00] [ 1.26992181e-02 9.99918363e-01 1.41295601e-03 -1.40520895e-02] [-1.25550415e-02 -1.25350666e-03 9.99920397e-01 1.42561426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3691115849999997 meters 0.049736901189383266 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.00, Z:0.01 [[ 9.99863163e-01 -9.09511510e-03 1.38179205e-02 -2.35290686e+00] [ 9.07445282e-03 9.99957614e-01 1.55728888e-03 3.48951686e-03] [-1.38314986e-02 -1.43168571e-03 9.99903315e-01 1.05166559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3991115849999995 meters 0.04605012401298332 Centerline is valid? [True, True] Translation: X:-2.38, Y:-0.00, Z:0.01 [[ 9.99772333e-01 -1.11443120e-02 1.81958072e-02 -2.38191489e+00] [ 1.11088239e-02 9.99936193e-01 2.05026368e-03 -2.59401879e-03] [-1.82174950e-02 -1.84766288e-03 9.99832340e-01 6.81718032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4291115849999994 meters 0.04260307027479619 Centerline is valid? [True, True] Translation: X:-2.41, Y:-0.01, Z:0.01 [[ 9.99634795e-01 -1.52385737e-02 2.23173132e-02 -2.41140286e+00] [ 1.51861838e-02 9.99881520e-01 2.51510771e-03 -8.34644403e-03] [-2.23529957e-02 -2.17527436e-03 9.99747774e-01 7.70736481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4591115849999996 meters 0.04433406206186851 Centerline is valid? [True, True] Translation: X:-2.44, Y:-0.00, Z:0.02 [[ 0.99957788 -0.01376111 0.02558717 -2.44285562] [ 0.01369175 0.99990211 0.00288379 -0.00385773] [-0.02562435 -0.00253223 0.99966844 0.02004161] [ 0. 0. 0. 1. ]] SLAMing on 2.4891115849999994 meters 0.04353392242441223 Centerline is valid? [True, True] Translation: X:-2.48, Y:-0.01, Z:0.02 [[ 0.99952756 -0.01489799 0.02688306 -2.47504628] [ 0.01482182 0.99988556 0.00303046 -0.00536761] [-0.02692513 -0.00263058 0.99963399 0.02174655] [ 0. 0. 0. 1. ]] SLAMing on 2.5191115849999997 meters 0.04025040793464486 Centerline is valid? [True, True] Translation: X:-2.51, Y:-0.01, Z:0.02 [[ 0.99956323 -0.01397102 0.0260415 -2.50505567] [ 0.01389919 0.99989909 0.00293716 -0.0125875 ] [-0.02607991 -0.00257392 0.99965655 0.0166526 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5491115849999995 meters 0.04142659966874765 Centerline is valid? [True, True] Translation: X:-2.54, Y:-0.01, Z:0.01 [[ 9.99646131e-01 -1.26440032e-02 2.34038799e-02 -2.53780171e+00] [ 1.25856171e-02 9.99917312e-01 2.64034362e-03 -7.57744857e-03] [-2.34353292e-02 -2.34485701e-03 9.99722605e-01 7.54663824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5791115849999997 meters 0.04248138536709441 Centerline is valid? [True, True] Translation: X:-2.57, Y:-0.01, Z:0.01 [[ 9.99674024e-01 -1.29891071e-02 2.19802095e-02 -2.57135297e+00] [ 1.29376806e-02 9.99913229e-01 2.48026941e-03 -6.63494537e-03] [-2.20105187e-02 -2.19508798e-03 9.99755329e-01 8.82964027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6091115849999995 meters 0.04496699247664881 Centerline is valid? [True, True] Translation: X:-2.60, Y:0.00, Z:0.01 [[ 9.99690562e-01 -1.41178994e-02 2.04808719e-02 -2.60446497e+00] [ 1.40733689e-02 9.99898281e-01 2.31676342e-03 3.26859589e-04] [-2.05114965e-02 -2.02781166e-03 9.99787561e-01 6.40832661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6391115849999993 meters 0.04398379725275087 Centerline is valid? [True, True] Translation: X:-2.64, Y:-0.00, Z:0.00 [[ 9.99696624e-01 -1.39459966e-02 2.03019387e-02 -2.63556987e+00] [ 1.39021905e-02 9.99900721e-01 2.29727342e-03 -2.68249595e-03] [-2.03319609e-02 -2.01433507e-03 9.99791255e-01 1.93447586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6691115849999996 meters 0.04179641133612604 Centerline is valid? [True, True] Translation: X:-2.67, Y:-0.01, Z:-0.00 [[ 9.99719092e-01 -1.28368123e-02 1.99236947e-02 -2.66609192e+00] [ 1.27943169e-02 9.99915598e-01 2.25892045e-03 -6.09901387e-03] [-1.99510104e-02 -2.00337584e-03 9.99798952e-01 -2.95694745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6991115849999994 meters 0.04600631351366532 Centerline is valid? [True, True] Translation: X:-2.70, Y:0.00, Z:-0.01 [[ 9.99771044e-01 -1.36515574e-02 1.64771055e-02 -2.70002442e+00] [ 1.36226012e-02 9.99905463e-01 1.86832387e-03 4.06612211e-03] [-1.65010534e-02 -1.64343507e-03 9.99862498e-01 -8.81989165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7291115849999996 meters 0.04087395487028587 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.01, Z:-0.01 [[ 9.99817205e-01 -1.31976870e-02 1.38339614e-02 -2.72883560e+00] [ 1.31771697e-02 9.99911940e-01 1.57321314e-03 -1.06858260e-02] [-1.38535060e-02 -1.39063311e-03 9.99903069e-01 -1.00342752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7591115849999994 meters 0.047405414630726894 Centerline is valid? [True, True] Translation: X:-2.76, Y:0.00, Z:-0.01 [[ 9.99891619e-01 -1.19790281e-02 8.55878996e-03 -2.76073232e+00] [ 1.19711267e-02 9.99927869e-01 9.73827755e-04 4.05139666e-03] [-8.56983811e-03 -8.71263852e-04 9.99962899e-01 -1.49630404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7891115849999997 meters 0.04961298661355317 Centerline is valid? [True, True] Translation: X:-2.79, Y:0.00, Z:-0.01 [[ 9.99913789e-01 -1.10724672e-02 7.05803111e-03 -2.79085370e+00] [ 1.10670700e-02 9.99938435e-01 8.03283394e-04 4.90346382e-03] [-7.06649092e-03 -7.25102417e-04 9.99974769e-01 -1.43822759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8191115849999995 meters 0.0444995597658396 Centerline is valid? [True, True] Translation: X:-2.82, Y:-0.01, Z:-0.01 [[ 9.99912096e-01 -1.15424571e-02 6.52467357e-03 -2.81741307e+00] [ 1.15378517e-02 9.99933161e-01 7.43035751e-04 -1.01764240e-02] [-6.53281392e-03 -6.67689720e-04 9.99978438e-01 -1.36489506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8491115849999993 meters 0.04527746194999194 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.01, Z:-0.02 [[ 9.99929940e-01 -1.18217600e-02 6.00188983e-04 -2.84672022e+00] [ 1.18217204e-02 9.99930119e-01 6.93881566e-05 -1.13210579e-02] [-6.00967331e-04 -6.22880290e-05 9.99999817e-01 -1.98543096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8791115849999995 meters 0.04328296830842051 Centerline is valid? [True, True] Translation: X:-2.88, Y:-0.02, Z:-0.02 [[ 9.99898910e-01 -1.42084969e-02 -5.36299655e-04 -2.87557421e+00] [ 1.42084667e-02 9.99899053e-01 -6.00878323e-05 -1.74828016e-02] [ 5.37099275e-04 5.24617622e-05 9.99999854e-01 -1.68512165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9091115849999993 meters 0.04328296830842051 Centerline is valid? [True, True] Translation: X:-2.90, Y:-0.02, Z:-0.02 [[ 9.99902660e-01 -1.39420769e-02 -5.36957818e-04 -2.90267031e+00] [ 1.39420497e-02 9.99902803e-01 -5.42838357e-05 -2.06722893e-02] [ 5.37662457e-04 4.67922591e-05 9.99999854e-01 -1.61843619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9391115849999996 meters 0.04475289484984167 Centerline is valid? [True, True] Translation: X:-2.93, Y:-0.02, Z:-0.01 [[ 9.99941216e-01 -1.08370535e-02 3.51204762e-04 -2.93316676e+00] [ 1.08370402e-02 9.99941277e-01 3.98705264e-05 -2.06980374e-02] [-3.51616217e-04 -3.60621625e-05 9.99999938e-01 -1.33549163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9691115849999994 meters 0.04495607887305894 Centerline is valid? [True, True] Translation: X:-2.96, Y:-0.02, Z:-0.01 [[ 9.99915162e-01 -1.30245821e-02 -1.68382531e-04 -2.96344203e+00] [ 1.30245792e-02 9.99915176e-01 -1.86672136e-05 -1.96214358e-02] [ 1.68611380e-04 1.64725183e-05 9.99999986e-01 -1.01173190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9991115849999996 meters 0.04593508330819737 Centerline is valid? [True, True] Translation: X:-2.99, Y:-0.02, Z:-0.01 [[ 9.99908532e-01 -1.34652667e-02 -1.27053738e-03 -2.99174528e+00] [ 1.34651022e-02 9.99909332e-01 -1.38003443e-04 -2.11652094e-02] [ 1.27228043e-03 1.20882904e-04 9.99999183e-01 -1.17210817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0291115849999994 meters 0.043257265161468356 Centerline is valid? [True, True] Translation: X:-3.02, Y:-0.03, Z:-0.01 [[ 9.99893154e-01 -1.46094843e-02 4.93529914e-04 -3.02044802e+00] [ 1.46094584e-02 9.99893275e-01 5.59404653e-05 -2.81687184e-02] [-4.94294504e-04 -4.87242835e-05 9.99999877e-01 -1.00474402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0591115849999992 meters 0.04585537397692443 Centerline is valid? [True, True] Translation: X:-3.05, Y:-0.02, Z:-0.01 [[ 9.99857502e-01 -1.65727402e-02 3.21251808e-03 -3.05186951e+00] [ 1.65716582e-02 9.99862615e-01 3.63160631e-04 -2.18395049e-02] [-3.21809529e-03 -3.09872130e-04 9.99994774e-01 -1.20605754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0891115849999995 meters 0.04469184360224875 Centerline is valid? [True, True] Translation: X:-3.08, Y:-0.02, Z:-0.01 [[ 9.99781767e-01 -1.98454119e-02 6.52521062e-03 -3.08246798e+00] [ 1.98410179e-02 9.99802876e-01 7.37452524e-04 -2.09500791e-02] [-6.53855939e-03 -6.07824767e-04 9.99978439e-01 -1.29226562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1191115849999993 meters 0.04260206927009894 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.02, Z:-0.02 [[ 9.99761475e-01 -1.90111747e-02 1.07503139e-02 -3.10886605e+00] [ 1.89991733e-02 9.99818758e-01 1.21741202e-03 -2.34225664e-02] [-1.07715099e-02 -1.01287456e-03 9.99941473e-01 -1.81524690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1491115849999995 meters 0.042473613988056436 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.02, Z:-0.03 [[ 9.99764496e-01 -1.75208790e-02 1.28051356e-02 -3.13862221e+00] [ 1.75037881e-02 9.99845752e-01 1.44555674e-03 -1.50608778e-02] [-1.28284879e-02 -1.22107793e-03 9.99916966e-01 -2.66912347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1791115849999994 meters 0.04153090283231899 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.02, Z:-0.04 [[ 9.99783207e-01 -1.75887784e-02 1.11433732e-02 -3.16733061e+00] [ 1.75758419e-02 9.99844742e-01 1.25778854e-03 -1.58167308e-02] [-1.11637660e-02 -1.06166170e-03 9.99937120e-01 -3.92551908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2091115849999996 meters 0.043337706425129956 Centerline is valid? [True, True] Translation: X:-3.20, Y:-0.01, Z:-0.04 [[ 9.99698278e-01 -2.11040192e-02 1.25687286e-02 -3.19763831e+00] [ 2.10878598e-02 9.99776622e-01 1.41684551e-03 -1.40422694e-02] [-1.25958222e-02 -1.15137043e-03 9.99920007e-01 -3.84288963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2391115849999994 meters 0.042564991621203016 Centerline is valid? [True, True] Translation: X:-3.23, Y:-0.02, Z:-0.03 [[ 9.99631949e-01 -2.19716853e-02 1.59126068e-02 -3.22701773e+00] [ 2.19458868e-02 9.99757550e-01 1.79409589e-03 -1.60921374e-02] [-1.59481681e-02 -1.44421930e-03 9.99871777e-01 -2.80233154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.269111584999999 meters 0.0404527610577911 Centerline is valid? [True, True] Translation: X:-3.25, Y:-0.02, Z:-0.02 [[ 9.99534440e-01 -2.28693777e-02 2.01963879e-02 -3.25492640e+00] [ 2.28280139e-02 9.99736816e-01 2.27628148e-03 -2.45928415e-02] [-2.02431296e-02 -1.81417831e-03 9.99793441e-01 -2.09161343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2991115849999995 meters 0.04094285964890986 Centerline is valid? [True, True] Translation: X:-3.28, Y:-0.03, Z:-0.01 [[ 9.99538322e-01 -2.26257147e-02 2.02785531e-02 -3.28322210e+00] [ 2.25839825e-02 9.99742339e-01 2.28463200e-03 -3.00016177e-02] [-2.03250195e-02 -1.82560675e-03 9.99791759e-01 -1.37807072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3291115849999993 meters 0.040253399725846406 Centerline is valid? [True, True] Translation: X:-3.31, Y:-0.03, Z:-0.02 [[ 9.99648718e-01 -2.13996563e-02 1.56363197e-02 -3.31228647e+00] [ 2.13747116e-02 9.99769984e-01 1.76070960e-03 -3.22339678e-02] [-1.56704017e-02 -1.42586928e-03 9.99876195e-01 -1.62924167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3591115849999995 meters 0.041821558516468786 Centerline is valid? [True, True] Translation: X:-3.34, Y:-0.03, Z:-0.01 [[ 9.99642181e-01 -2.09284297e-02 1.66586403e-02 -3.34112642e+00] [ 2.09000570e-02 9.99779811e-01 1.87548023e-03 -2.92568102e-02] [-1.66942231e-02 -1.52664262e-03 9.99859476e-01 -1.36932965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3891115849999993 meters 0.04092061529074619 Centerline is valid? [True, True] Translation: X:-3.37, Y:-0.03, Z:-0.02 [[ 9.99693683e-01 -1.91867401e-02 1.56335599e-02 -3.37172156e+00] [ 1.91615624e-02 9.99814854e-01 1.75870607e-03 -2.89201307e-02] [-1.56644093e-02 -1.45860392e-03 9.99876242e-01 -2.23266071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4191115849999996 meters 0.045699790396161975 Centerline is valid? [True, True] Translation: X:-3.40, Y:-0.02, Z:-0.02 [[ 9.99676511e-01 -1.94745615e-02 1.63589597e-02 -3.40251436e+00] [ 1.94470294e-02 9.99809195e-01 1.84040952e-03 -1.61646210e-02] [-1.63916795e-02 -1.52168099e-03 9.99864489e-01 -2.48082688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4491115849999994 meters 0.040259076709366265 Centerline is valid? [True, True] Translation: X:-3.43, Y:-0.03, Z:-0.03 [[ 9.99697079e-01 -1.98613795e-02 1.45353070e-02 -3.42857748e+00] [ 1.98396914e-02 9.99801837e-01 1.63479284e-03 -2.83074096e-02] [-1.45648959e-02 -1.34592162e-03 9.99893020e-01 -2.63881437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.479111584999999 meters 0.04259351273732934 Centerline is valid? [True, True] Translation: X:-3.46, Y:-0.02, Z:-0.03 [[ 9.99650155e-01 -2.31292510e-02 1.28298626e-02 -3.45941199e+00] [ 2.31126479e-02 9.99731829e-01 1.44088174e-03 -2.35398128e-02] [-1.28597485e-02 -1.14384556e-03 9.99916656e-01 -3.19464764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5091115849999994 meters 0.039182801793389906 Centerline is valid? [True, True] Translation: X:-3.49, Y:-0.04, Z:-0.03 [[ 9.99599898e-01 -2.54854766e-02 1.22692842e-02 -3.48762992e+00] [ 2.54704655e-02 9.99674625e-01 1.37820713e-03 -3.56721540e-02] [-1.23004164e-02 -1.06515133e-03 9.99923780e-01 -3.16503439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5391115849999992 meters 0.03895819452376321 Centerline is valid? [True, True] Translation: X:-3.52, Y:-0.04, Z:-0.03 [[ 9.99579361e-01 -2.66366601e-02 1.14712623e-02 -3.51538630e+00] [ 2.66236095e-02 9.99644698e-01 1.28891077e-03 -4.01068050e-02] [-1.15015188e-02 -9.82962190e-04 9.99933372e-01 -2.88743761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5691115849999995 meters 0.03834324529374542 Centerline is valid? [True, True] Translation: X:-3.54, Y:-0.05, Z:-0.02 [[ 9.99547672e-01 -2.79115294e-02 1.11981070e-02 -3.54336562e+00] [ 2.78991852e-02 9.99609952e-01 1.25708262e-03 -4.85354574e-02] [-1.12288262e-02 -9.44095949e-04 9.99936509e-01 -2.43081313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5991115849999993 meters 0.038110266391107955 Centerline is valid? [True, True] Translation: X:-3.57, Y:-0.05, Z:-0.02 [[ 9.99555728e-01 -2.72165654e-02 1.21493040e-02 -3.57216784e+00] [ 2.72019599e-02 9.99629025e-01 1.36582814e-03 -5.11133950e-02] [-1.21819700e-02 -1.03473646e-03 9.99925262e-01 -2.49116036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6291115849999995 meters 0.03864259814987448 Centerline is valid? [True, True] Translation: X:-3.60, Y:-0.05, Z:-0.03 [[ 9.99551278e-01 -2.72035633e-02 1.25382956e-02 -3.60063387e+00] [ 2.71880459e-02 9.99629347e-01 1.40642181e-03 -5.34374153e-02] [-1.25719079e-02 -1.06489896e-03 9.99920403e-01 -2.51875365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6591115849999993 meters 0.0382408648686503 Centerline is valid? [True, True] Translation: X:-3.63, Y:-0.06, Z:-0.02 [[ 9.99552371e-01 -2.76221562e-02 1.14923910e-02 -3.62856965e+00] [ 2.76091952e-02 9.99617968e-01 1.28495052e-03 -5.72158052e-02] [-1.15234936e-02 -9.67079674e-04 9.99933135e-01 -2.08506231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.689111584999999 meters 0.04209415064268657 Centerline is valid? [True, True] Translation: X:-3.66, Y:-0.05, Z:-0.02 [[ 9.99549217e-01 -2.76854123e-02 1.16138485e-02 -3.65829614e+00] [ 2.76721697e-02 9.99616208e-01 1.29942051e-03 -5.24240131e-02] [-1.16453662e-02 -9.77454363e-04 9.99931713e-01 -2.28529210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7191115849999994 meters 0.040743646550138866 Centerline is valid? [True, True] Translation: X:-3.69, Y:-0.06, Z:-0.02 [[ 9.99596952e-01 -2.61719196e-02 1.09984038e-02 -3.68734031e+00] [ 2.61600066e-02 9.99657017e-01 1.22565110e-03 -5.57591483e-02] [-1.10267091e-02 -9.37438792e-04 9.99938765e-01 -2.37753095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.749111584999999 meters 0.0407923914156931 Centerline is valid? [True, True] Translation: X:-3.72, Y:-0.06, Z:-0.03 [[ 9.99600115e-01 -2.59090485e-02 1.13283529e-02 -3.71509628e+00] [ 2.58963645e-02 9.99663833e-01 1.26494698e-03 -5.89664085e-02] [-1.13573183e-02 -9.71077990e-04 9.99935032e-01 -2.57662376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7791115849999994 meters 0.041032824110818086 Centerline is valid? [True, True] Translation: X:-3.74, Y:-0.06, Z:-0.02 [[ 9.99592376e-01 -2.61661487e-02 1.14199074e-02 -3.74315820e+00] [ 2.61533148e-02 9.99657135e-01 1.27174240e-03 -6.05148016e-02] [-1.14492685e-02 -9.72555570e-04 9.99933982e-01 -2.20646671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8091115849999992 meters 0.041422350797324335 Centerline is valid? [True, True] Translation: X:-3.77, Y:-0.06, Z:-0.02 [[ 9.99601254e-01 -2.62049030e-02 1.05184026e-02 -3.77183899e+00] [ 2.61940382e-02 9.99656193e-01 1.16940002e-03 -6.24285965e-02] [-1.05454303e-02 -8.93414292e-04 9.99943996e-01 -1.94098064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8391115849999995 meters 0.039543284524650335 Centerline is valid? [True, True] Translation: X:-3.80, Y:-0.07, Z:-0.02 [[ 9.99604043e-01 -2.60730319e-02 1.05808826e-02 -3.79811011e+00] [ 2.60620712e-02 9.99659639e-01 1.17248470e-03 -7.04872587e-02] [-1.06078516e-02 -8.96260724e-04 9.99943333e-01 -2.29426245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8691115849999993 meters 0.03997938226059744 Centerline is valid? [True, True] Translation: X:-3.83, Y:-0.07, Z:-0.02 [[ 9.99601711e-01 -2.58621234e-02 1.12946858e-02 -3.82687200e+00] [ 2.58496205e-02 9.99665059e-01 1.25157638e-03 -7.40560891e-02] [-1.13232712e-02 -9.59114551e-04 9.99935430e-01 -2.25995816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.899111584999999 meters 0.13332354485521636 Centerline is valid? [True, False] Translation: X:-3.72, Y:-0.04, Z:-0.16 [[ 9.96960538e-01 2.97900280e-03 -7.78512102e-02 -3.72233543e+00] [-8.13872411e-03 9.97783535e-01 -6.60437624e-02 -3.96546660e-02] [ 7.74819112e-02 6.64766345e-02 9.94775055e-01 -1.64479776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9291115849999994 meters 0.18397172113168753 Centerline is valid? [False, False] Translation: X:-3.74, Y:-0.02, Z:-0.19 [[ 0.99620531 -0.01015596 -0.08643983 -3.73706308] [ 0.00551163 0.99853657 -0.05379912 -0.02460177] [ 0.08685971 0.05311854 0.9948034 -0.19220406] [ 0. 0. 0. 1. ]] SLAMing on 3.959111584999999 meters 0.2041136069300513 Centerline is valid? [False, False] Translation: X:-3.76, Y:-0.02, Z:-0.22 [[ 0.9963303 -0.01157675 -0.08480516 -3.76001798] [ 0.00787842 0.99900858 -0.04381534 -0.01681784] [ 0.08522832 0.04298642 0.99543373 -0.21529666] [ 0. 0. 0. 1. ]] SLAMing on 3.9891115849999994 meters 0.26310168300591696 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.00, Z:-0.25 [[ 9.96546438e-01 -2.45071966e-02 -7.93384834e-02 -3.78615745e+00] [ 2.11305186e-02 9.98846253e-01 -4.31238205e-02 -2.97341350e-03] [ 8.03037908e-02 4.12984264e-02 9.95914525e-01 -2.51261642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.019111584999999 meters 0.2863526423479222 Centerline is valid? [False, False] Translation: X:-3.82, Y:-0.01, Z:-0.27 [[ 0.9967341 -0.02249827 -0.07755616 -3.81734894] [ 0.0191195 0.99884697 -0.04403613 -0.00618172] [ 0.07845747 0.04240947 0.99601499 -0.26948631] [ 0. 0. 0. 1. ]] SLAMing on 4.0491115849999995 meters 0.29105255223692433 Centerline is valid? [False, False] Translation: X:-3.84, Y:-0.00, Z:-0.29 [[ 9.96929780e-01 -2.43110672e-02 -7.44310787e-02 -3.84116939e+00] [ 2.17989021e-02 9.99171068e-01 -3.43799975e-02 -1.93359837e-03] [ 7.52051948e-02 3.26519276e-02 9.96633348e-01 -2.89403675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.079111585 meters 0.3045731412052988 Centerline is valid? [False, False] Translation: X:-3.87, Y:0.00, Z:-0.31 [[ 9.97028335e-01 -2.68508940e-02 -7.22047707e-02 -3.86741269e+00] [ 2.51150537e-02 9.99375858e-01 -2.48420579e-02 2.65904545e-03] [ 7.28267361e-02 2.29548089e-02 9.97080410e-01 -3.10009893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109111584999999 meters 0.31315060690787855 Centerline is valid? [False, False] Translation: X:-3.90, Y:0.00, Z:-0.30 [[ 9.96838398e-01 -2.48796882e-02 -7.54599878e-02 -3.89774337e+00] [ 2.24614715e-02 9.99211883e-01 -3.27275807e-02 5.89491008e-04] [ 7.62147685e-02 3.09291668e-02 9.96611607e-01 -3.02015376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.139111584999999 meters 0.3348107689668653 Centerline is valid? [False, False] Translation: X:-3.92, Y:0.01, Z:-0.32 [[ 0.99746335 -0.02849727 -0.06522861 -3.9247785 ] [ 0.02673732 0.99925871 -0.02769724 0.00612234] [ 0.06596955 0.02588294 0.99748589 -0.32233582] [ 0. 0. 0. 1. ]] SLAMing on 4.169111585 meters 0.31899497992205905 Centerline is valid? [False, False] Translation: X:-3.97, Y:0.01, Z:-0.34 [[ 0.99798384 -0.03501233 -0.05293761 -3.96682881] [ 0.03393244 0.99920005 -0.02116258 0.00530796] [ 0.05363622 0.01932361 0.99837355 -0.33686378] [ 0. 0. 0. 1. ]] SLAMing on 4.199111584999999 meters 0.26907174693801356 Centerline is valid? [False, False] Translation: X:-4.02, Y:0.01, Z:-0.33 [[ 9.98656215e-01 -4.35267226e-02 -2.81280677e-02 -4.02066282e+00] [ 4.34172047e-02 9.99046926e-01 -4.49291782e-03 8.26514929e-03] [ 2.82968215e-02 3.26563823e-03 9.99594230e-01 -3.33261681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.229111584999999 meters 0.2099994868524094 Centerline is valid? [False, False] Translation: X:-4.06, Y:0.01, Z:-0.31 [[ 0.99938699 -0.02906901 -0.01951016 -4.05539745] [ 0.02926774 0.9995218 0.00997866 0.00897296] [ 0.01921076 -0.01054356 0.99975986 -0.30552542] [ 0. 0. 0. 1. ]] SLAMing on 4.259111584999999 meters 0.12703146742954635 Centerline is valid? [False, False] Translation: X:-4.11, Y:0.01, Z:-0.27 [[ 9.99664126e-01 -2.55312582e-02 -4.44857113e-03 -4.11293993e+00] [ 2.56117678e-02 9.99489611e-01 1.90933402e-02 6.12971287e-03] [ 3.95882363e-03 -1.92008631e-02 9.99807809e-01 -2.67806367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.289111585 meters 0.06709140679816374 Centerline is valid? [False, True] Translation: X:-4.15, Y:0.00, Z:-0.23 [[ 9.99877429e-01 -1.46865020e-02 5.42522927e-03 -4.14516346e+00] [ 1.45065412e-02 9.99387662e-01 3.18411933e-02 4.33812025e-04] [-5.88954295e-03 -3.17585892e-02 9.99478217e-01 -2.32381918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.319111584999999 meters 0.05987754201100956 Centerline is valid? [True, True] Translation: X:-4.16, Y:-0.04, Z:-0.15 [[ 9.99651896e-01 -1.94498596e-02 1.78266456e-02 -4.16356160e+00] [ 1.94083658e-02 9.99808520e-01 2.49770070e-03 -3.55376082e-02] [-1.78718121e-02 -2.15084518e-03 9.99837973e-01 -1.50345269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.349111584999999 meters 0.06053992851867206 Centerline is valid? [True, True] Translation: X:-4.19, Y:-0.04, Z:-0.13 [[ 9.99520372e-01 -2.12496662e-02 2.25272545e-02 -4.19274276e+00] [ 2.11838552e-02 9.99770616e-01 3.15604788e-03 -3.64819756e-02] [-2.25891521e-02 -2.67732005e-03 9.99741248e-01 -1.30555530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3791115849999995 meters 0.05178107223253299 Centerline is valid? [True, True] Translation: X:-4.22, Y:-0.06, Z:-0.11 [[ 9.99362015e-01 -2.37840550e-02 2.66436153e-02 -4.21748306e+00] [ 2.36928956e-02 9.99712318e-01 3.73195798e-03 -5.78213749e-02] [-2.67247115e-02 -3.09831265e-03 9.99638030e-01 -1.06735378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.409111584999999 meters 0.05436869573111838 Centerline is valid? [True, True] Translation: X:-4.25, Y:-0.06, Z:-0.10 [[ 9.99250951e-01 -2.74091167e-02 2.73180922e-02 -4.24780798e+00] [ 2.73145935e-02 9.99619560e-01 3.82734188e-03 -5.53643557e-02] [-2.74126034e-02 -3.07829242e-03 9.99619464e-01 -1.02719190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.439111584999999 meters 0.057030567538637354 Centerline is valid? [True, True] Translation: X:-4.28, Y:-0.05, Z:-0.09 [[ 9.98994048e-01 -2.94536274e-02 3.38138538e-02 -4.27838251e+00] [ 2.93099860e-02 9.99559151e-01 4.73596572e-03 -4.88711170e-02] [-3.39384384e-02 -3.74011798e-03 9.99416927e-01 -9.42444452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.469111584999999 meters 0.05427983489971865 Centerline is valid? [True, True] Translation: X:-4.31, Y:-0.05, Z:-0.09 [[ 0.99872601 -0.03126082 0.039612 -4.30690159] [ 0.03106502 0.99950196 0.00554916 -0.05234113] [-0.03976574 -0.00431154 0.99919973 -0.09361176] [ 0. 0. 0. 1. ]] SLAMing on 4.499111585 meters 0.05366396528506334 Centerline is valid? [True, True] Translation: X:-4.34, Y:-0.05, Z:-0.10 [[ 0.99870013 -0.03115867 0.04033832 -4.3366318 ] [ 0.03095553 0.99950479 0.00565084 -0.05250164] [-0.04049442 -0.0043948 0.9991701 -0.09789482] [ 0. 0. 0. 1. ]] SLAMing on 4.529111584999999 meters 0.05464737903202925 Centerline is valid? [True, True] Translation: X:-4.37, Y:-0.05, Z:-0.09 [[ 9.98682334e-01 -3.20610271e-02 4.00710101e-02 -4.36593128e+00] [ 3.18614182e-02 9.99476550e-01 5.61027135e-03 -5.25529601e-02] [-4.02299060e-02 -4.32615967e-03 9.99181084e-01 -9.39309900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.559111584999999 meters 0.055128222511305724 Centerline is valid? [True, True] Translation: X:-4.39, Y:-0.06, Z:-0.08 [[ 9.98727160e-01 -3.19375464e-02 3.90391228e-02 -4.39391221e+00] [ 3.17480479e-02 9.99480965e-01 5.46456759e-03 -5.53719551e-02] [-3.91933851e-02 -4.21819612e-03 9.99222741e-01 -8.48893423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5891115849999995 meters 0.05306652553134742 Centerline is valid? [True, True] Translation: X:-4.42, Y:-0.06, Z:-0.10 [[ 9.98920510e-01 -3.09788828e-02 3.46139232e-02 -4.42492175e+00] [ 3.08294857e-02 9.99512932e-01 4.84164468e-03 -5.62577782e-02] [-3.47470526e-02 -3.76928872e-03 9.99389031e-01 -9.75115252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.619111584999999 meters 0.056373740154849826 Centerline is valid? [True, True] Translation: X:-4.46, Y:-0.05, Z:-0.11 [[ 9.98992827e-01 -3.11087193e-02 3.23354321e-02 -4.45530164e+00] [ 3.09783709e-02 9.99509815e-01 4.52444708e-03 -5.17858935e-02] [-3.24603315e-02 -3.51819116e-03 9.99466832e-01 -1.09693154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.649111584999999 meters 0.05743028811690876 Centerline is valid? [True, True] Translation: X:-4.49, Y:-0.05, Z:-0.13 [[ 9.98879636e-01 -3.35277698e-02 3.33970171e-02 -4.48796279e+00] [ 3.33902511e-02 9.99431493e-01 4.66709752e-03 -4.73033294e-02] [-3.35345081e-02 -3.54673388e-03 9.99431267e-01 -1.26887505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.679111584999999 meters 0.055387463856573116 Centerline is valid? [True, True] Translation: X:-4.52, Y:-0.05, Z:-0.12 [[ 9.98773779e-01 -3.41475026e-02 3.58453096e-02 -4.51798529e+00] [ 3.39894157e-02 9.99409633e-01 5.01058153e-03 -5.02130874e-02] [-3.59952466e-02 -3.78607632e-03 9.99344789e-01 -1.20294540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.709111585 meters 0.054424934996957226 Centerline is valid? [True, True] Translation: X:-4.55, Y:-0.05, Z:-0.11 [[ 9.98581232e-01 -3.24740831e-02 4.22013858e-02 -4.54500948e+00] [ 3.22533211e-02 9.99462302e-01 5.90171972e-03 -5.37573652e-02] [-4.23703472e-02 -4.53221170e-03 9.99091694e-01 -1.06021244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.739111584999999 meters 0.04776756671509354 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.07, Z:-0.09 [[ 0.99822177 -0.03420486 0.04881934 -4.57151289] [ 0.03391174 0.99940156 0.00682022 -0.06877529] [-0.04902341 -0.00515254 0.99878434 -0.09087129] [ 0. 0. 0. 1. ]] SLAMing on 4.769111584999999 meters 0.04849919101327447 Centerline is valid? [True, True] Translation: X:-4.60, Y:-0.07, Z:-0.08 [[ 0.99808832 -0.0382166 0.0485715 -4.60127668] [ 0.03793114 0.99925732 0.00678565 -0.07023372] [-0.04879475 -0.00493031 0.99879666 -0.0781566 ] [ 0. 0. 0. 1. ]] SLAMing on 4.7991115849999995 meters 0.04849919101327447 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.07, Z:-0.08 [[ 0.99809202 -0.03812045 0.04857112 -4.62841757] [ 0.03783475 0.99926095 0.00678841 -0.07413767] [-0.048794 -0.00493778 0.99879666 -0.07605304] [ 0. 0. 0. 1. ]] SLAMing on 4.829111584999999 meters 0.04845424898829821 Centerline is valid? [True, True] Translation: X:-4.66, Y:-0.08, Z:-0.06 [[ 9.98067880e-01 -4.14738127e-02 4.62647738e-02 -4.65778294e+00] [ 4.12185166e-02 9.99129279e-01 6.45897596e-03 -8.08123258e-02] [-4.64923684e-02 -4.53953110e-03 9.98908330e-01 -6.36847415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859111584999999 meters 0.046994162177184405 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.09, Z:-0.06 [[ 9.98119932e-01 -4.47551587e-02 4.18757292e-02 -4.68634276e+00] [ 4.45488564e-02 9.98990094e-01 5.84726864e-03 -8.76842969e-02] [-4.20951341e-02 -3.97075953e-03 9.99105717e-01 -6.26227981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.889111584999999 meters 0.04964610388213466 Centerline is valid? [True, True] Translation: X:-4.72, Y:-0.08, Z:-0.08 [[ 9.98380643e-01 -4.28540573e-02 3.74115031e-02 -4.71831172e+00] [ 4.26881466e-02 9.99074795e-01 5.22270441e-03 -8.05530061e-02] [-3.76007039e-02 -3.61721926e-03 9.99286297e-01 -7.58642365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.919111585 meters 0.05503977499240316 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.07, Z:-0.09 [[ 9.98763585e-01 -3.80163656e-02 3.20321238e-02 -4.75159642e+00] [ 3.78923309e-02 9.99271827e-01 4.47060190e-03 -7.04364666e-02] [-3.21787549e-02 -3.25130254e-03 9.99476842e-01 -9.43408340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.949111584999999 meters 0.05463971789476469 Centerline is valid? [True, True] Translation: X:-4.78, Y:-0.07, Z:-0.10 [[ 9.98759301e-01 -3.85093956e-02 3.15734841e-02 -4.78070799e+00] [ 3.83888500e-02 9.99253121e-01 4.41550278e-03 -7.00298216e-02] [-3.17199409e-02 -3.19795473e-03 9.99491680e-01 -9.53083666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.979111584999999 meters 0.050898783553920406 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.07, Z:-0.08 [[ 9.98149583e-01 -3.93715777e-02 4.63388395e-02 -4.80855733e+00] [ 3.91138426e-02 9.99213905e-01 6.45597053e-03 -7.39021707e-02] [-4.65565945e-02 -4.63153423e-03 9.98904917e-01 -7.63434902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.009111584999999 meters 0.044496203051219305 Centerline is valid? [True, True] Translation: X:-4.84, Y:-0.08, Z:-0.06 [[ 0.99774831 -0.03926153 0.05437688 -4.83580642] [ 0.03890637 0.99921415 0.00757512 -0.08477523] [-0.05463156 -0.00544246 0.99849175 -0.0632899 ] [ 0. 0. 0. 1. ]] SLAMing on 5.039111584999999 meters 0.044443072703114345 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.09, Z:-0.06 [[ 0.9975656 -0.0409468 0.05644678 -4.86596134] [ 0.04056679 0.9991459 0.00786206 -0.08860824] [-0.0567205 -0.00555305 0.99837465 -0.06172767] [ 0. 0. 0. 1. ]] SLAMing on 5.069111584999999 meters 0.047086982581134564 Centerline is valid? [True, True] Translation: X:-4.90, Y:-0.09, Z:-0.05 [[ 0.9976833 -0.03908843 0.05567882 -4.89565856] [ 0.03871589 0.99922017 0.00775418 -0.08604789] [-0.0559385 -0.00558056 0.99841862 -0.0500786 ] [ 0. 0. 0. 1. ]] SLAMing on 5.099111584999999 meters 0.05586675953929286 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.07, Z:-0.05 [[ 0.99760373 -0.04093198 0.05577975 -4.92935177] [ 0.04056101 0.99914688 0.00776697 -0.06677475] [-0.05605008 -0.00548588 0.99841289 -0.05178144] [ 0. 0. 0. 1. ]] SLAMing on 5.1291115849999995 meters 0.046806588743761625 Centerline is valid? [True, True] Translation: X:-4.95, Y:-0.09, Z:-0.04 [[ 0.99766137 -0.04057677 0.05500283 -4.95408665] [ 0.04021545 0.99916167 0.00766047 -0.08573155] [-0.05526756 -0.00543059 0.99845681 -0.04430008] [ 0. 0. 0. 1. ]] SLAMing on 5.159111584999999 meters 0.05422287462110029 Centerline is valid? [True, True] Translation: X:-4.99, Y:-0.07, Z:-0.06 [[ 0.99742426 -0.04421775 0.05647685 -4.98806958] [ 0.0438429 0.99900752 0.00785974 -0.06853213] [-0.05676833 -0.00536339 0.99837297 -0.05857703] [ 0. 0. 0. 1. ]] SLAMing on 5.189111584999999 meters 0.04429513517166843 Centerline is valid? [True, True] Translation: X:-5.01, Y:-0.09, Z:-0.06 [[ 0.99740547 -0.04429442 0.05674792 -5.0130616 ] [ 0.04391605 0.99900401 0.00789801 -0.08913337] [-0.05704123 -0.00538537 0.9983573 -0.05548185] [ 0. 0. 0. 1. ]] SLAMing on 5.219111584999999 meters 0.044168529531656064 Centerline is valid? [True, True] Translation: X:-5.04, Y:-0.09, Z:-0.05 [[ 0.9973869 -0.04381785 0.05744018 -5.04218666] [ 0.04342968 0.99902454 0.0079893 -0.09019301] [-0.05773422 -0.00547381 0.99831698 -0.05245231] [ 0. 0. 0. 1. ]] SLAMing on 5.249111584999999 meters 0.04582602443454741 Centerline is valid? [True, True] Translation: X:-5.07, Y:-0.09, Z:-0.05 [[ 0.99748281 -0.03971446 0.0587435 -5.07340088] [ 0.0393017 0.99919402 0.00816566 -0.08590768] [-0.05902045 -0.00583638 0.99823971 -0.05367055] [ 0. 0. 0. 1. ]] SLAMing on 5.279111584999999 meters 0.051833434511788797 Centerline is valid? [True, True] Translation: X:-5.10, Y:-0.07, Z:-0.06 [[ 0.99748653 -0.04018964 0.05835596 -5.10473195] [ 0.0397831 0.99917541 0.0081121 -0.07230212] [-0.05863386 -0.00577013 0.99826288 -0.05872479] [ 0. 0. 0. 1. ]] SLAMing on 5.309111584999999 meters 0.04834472188037444 Centerline is valid? [True, True] Translation: X:-5.13, Y:-0.08, Z:-0.04 [[ 0.99686373 -0.04675027 0.06385231 -5.1326952 ] [ 0.04627706 0.99888925 0.00887074 -0.08498527] [-0.0641961 -0.00588802 0.99791993 -0.03929307] [ 0. 0. 0. 1. ]] SLAMing on 5.3391115849999995 meters 0.048836969274394654 Centerline is valid? [True, True] Translation: X:-5.16, Y:-0.09, Z:-0.02 [[ 0.99684479 -0.04528777 0.06518803 -5.16156265] [ 0.04479143 0.99895531 0.0090561 -0.08751874] [-0.06553006 -0.00610766 0.9978319 -0.02477044] [ 0. 0. 0. 1. ]] SLAMing on 5.369111584999999 meters 0.04514279683849622 Centerline is valid? [True, True] Translation: X:-5.19, Y:-0.10, Z:-0.01 [[ 0.99630887 -0.04887099 0.07057097 -5.18942343] [ 0.04829809 0.99878486 0.00980272 -0.09616326] [-0.07096429 -0.00635809 0.99745859 -0.01342242] [ 0. 0. 0. 1. ]] SLAMing on 5.399111584999999 meters 0.04741048897046535 Centerline is valid? [True, True] Translation: X:-5.22, Y:-0.09, Z:-0.02 [[ 0.99652464 -0.04642521 0.06916177 -5.22171451] [ 0.04586924 0.99890126 0.00960605 -0.08941768] [-0.06953174 -0.00640027 0.99755921 -0.01771656] [ 0. 0. 0. 1. ]] SLAMing on 5.429111584999999 meters 0.04528991391159075 Centerline is valid? [True, True] Translation: X:-5.25, Y:-0.10, Z:-0.03 [[ 0.99661473 -0.0463864 0.06787769 -5.24850542] [ 0.04585078 0.9989038 0.0094286 -0.09705734] [-0.06824065 -0.00628444 0.9976491 -0.02868049] [ 0. 0. 0. 1. ]] SLAMing on 5.459111584999999 meters 0.04753669415649362 Centerline is valid? [True, True] Translation: X:-5.28, Y:-0.09, Z:-0.02 [[ 0.99669491 -0.04799676 0.06554058 -5.27811903] [ 0.04750156 0.99882977 0.00909406 -0.09469339] [-0.06590037 -0.00595073 0.99780846 -0.01822188] [ 0. 0. 0. 1. ]] SLAMing on 5.489111584999999 meters 0.04775659346466092 Centerline is valid? [True, True] Translation: X:-5.31, Y:-0.10, Z:-0.00 [[ 9.96733001e-01 -4.95841501e-02 6.37552879e-02 -5.30555016e+00] [ 4.91189413e-02 9.98753775e-01 8.84455892e-03 -1.00876247e-01] [-6.41143844e-02 -5.68407151e-03 9.97926369e-01 -3.10106364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.519111584999999 meters 0.04813664068179819 Centerline is valid? [True, True] Translation: X:-5.34, Y:-0.10, Z:-0.01 [[ 0.99701132 -0.04816192 0.0604058 -5.3351277 ] [ 0.04774197 0.99882457 0.00837704 -0.10260861] [-0.06073825 -0.00546811 0.99813875 -0.00632737] [ 0. 0. 0. 1. ]] SLAMing on 5.5491115849999995 meters 0.04506217516547366 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.11, Z:-0.01 [[ 9.97109792e-01 -4.79081226e-02 5.89650318e-02 -5.36267916e+00] [ 4.75076162e-02 9.98837411e-01 8.17630167e-03 -1.09129290e-01] [-5.92881909e-02 -5.35138236e-03 9.98226564e-01 -1.22770115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.579111584999999 meters 0.04892995120906434 Centerline is valid? [True, True] Translation: X:-5.39, Y:-0.10, Z:-0.01 [[ 0.99730237 -0.04434893 0.05849071 -5.39334686] [ 0.04394912 0.99900089 0.00810496 -0.10098368] [-0.05879172 -0.00551248 0.99825505 -0.00735537] [ 0. 0. 0. 1. ]] SLAMing on 5.609111584999999 meters 0.06063017119040118 Centerline is valid? [True, True] Translation: X:-5.43, Y:-0.08, Z:-0.01 [[ 9.97215988e-01 -4.60587266e-02 5.86418488e-02 -5.42709864e+00] [ 4.56598655e-02 9.98924008e-01 8.12423061e-03 -7.78172617e-02] [-5.89529424e-02 -5.42403373e-03 9.98246027e-01 -1.16208793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.639111584999999 meters 0.059730332808741696 Centerline is valid? [True, True] Translation: X:-5.46, Y:-0.08, Z:-0.02 [[ 9.97325400e-01 -4.58143511e-02 5.69481434e-02 -5.45539613e+00] [ 4.54378269e-02 9.98936012e-01 7.88974427e-03 -7.76852649e-02] [-5.72490147e-02 -5.28104248e-03 9.98345963e-01 -1.81702596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.669111584999999 meters 0.06380477703036834 Centerline is valid? [True, True] Translation: X:-5.49, Y:-0.07, Z:-0.02 [[ 9.97646925e-01 -4.26435015e-02 5.36856200e-02 -5.48698608e+00] [ 4.23046372e-02 9.99077107e-01 7.43318040e-03 -6.98581464e-02] [-5.39530507e-02 -5.14453889e-03 9.98530221e-01 -2.17512187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.699111584999999 meters 0.06185433353793536 Centerline is valid? [True, True] Translation: X:-5.52, Y:-0.08, Z:-0.02 [[ 9.97540850e-01 -4.43872287e-02 5.42404509e-02 -5.51551756e+00] [ 4.40439224e-02 9.99001375e-01 7.50898553e-03 -7.68517586e-02] [-5.45195881e-02 -5.10155760e-03 9.98499669e-01 -2.10578341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.729111584999999 meters 0.05978550595803061 Centerline is valid? [True, True] Translation: X:-5.54, Y:-0.09, Z:-0.01 [[ 9.97275812e-01 -4.70840963e-02 5.67806595e-02 -5.54386371e+00] [ 4.67122207e-02 9.98877467e-01 7.85963179e-03 -8.56004169e-02] [-5.70869850e-02 -5.18586998e-03 9.98355740e-01 -1.23632857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.759111584999999 meters 0.05693770608803985 Centerline is valid? [True, True] Translation: X:-5.57, Y:-0.10, Z:-0.00 [[ 9.97007181e-01 -5.02767820e-02 5.87275612e-02 -5.57172371e+00] [ 4.98844617e-02 9.98721919e-01 8.12834130e-03 -9.51235161e-02] [-5.90611694e-02 -5.17442187e-03 9.98240955e-01 -1.87382228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.789111584999999 meters 0.05398950234504782 Centerline is valid? [True, True] Translation: X:-5.60, Y:-0.11, Z:0.00 [[ 9.96754895e-01 -5.53101825e-02 5.84847249e-02 -5.59916592e+00] [ 5.49297518e-02 9.98457417e-01 8.09378639e-03 -1.07312445e-01] [-5.88421761e-02 -4.85496978e-03 9.98255492e-01 3.96968025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.819111584999999 meters 0.05308683666715397 Centerline is valid? [True, True] Translation: X:-5.63, Y:-0.11, Z:0.01 [[ 9.96725099e-01 -5.73257661e-02 5.70336112e-02 -5.62765799e+00] [ 5.69672535e-02 9.98344843e-01 7.89344337e-03 -1.12581280e-01] [-5.73917093e-02 -4.61854495e-03 9.98341054e-01 8.49424765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.849111584999999 meters 0.05331731029921467 Centerline is valid? [True, True] Translation: X:-5.66, Y:-0.11, Z:0.01 [[ 9.96846067e-01 -5.69851985e-02 5.52322857e-02 -5.65691756e+00] [ 5.66483900e-02 9.98364914e-01 7.64585390e-03 -1.12091334e-01] [-5.55776767e-02 -4.49291933e-03 9.98444258e-01 1.06938308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.879111584999999 meters 0.051346587249399576 Centerline is valid? [True, True] Translation: X:-5.68, Y:-0.12, Z:0.02 [[ 9.96768048e-01 -5.62926810e-02 5.73113702e-02 -5.68299068e+00] [ 5.59296226e-02 9.98403296e-01 7.92054992e-03 -1.22525368e-01] [-5.76657299e-02 -4.68954778e-03 9.98324933e-01 1.99227599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.909111584999999 meters 0.05402091342199916 Centerline is valid? [True, True] Translation: X:-5.71, Y:-0.12, Z:0.03 [[ 9.96895231e-01 -5.21416053e-02 5.90012869e-02 -5.71283492e+00] [ 5.17498841e-02 9.98626830e-01 8.14886308e-03 -1.20035029e-01] [-5.93451629e-02 -5.07025299e-03 9.98224646e-01 3.05580810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.939111584999999 meters 0.054736858265994295 Centerline is valid? [True, True] Translation: X:-5.74, Y:-0.12, Z:0.03 [[ 9.97182586e-01 -4.70799795e-02 5.83983299e-02 -5.74411445e+00] [ 4.66877277e-02 9.98876984e-01 8.06390937e-03 -1.16266055e-01] [-5.87123964e-02 -5.31470467e-03 9.98260792e-01 2.68904442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.969111584999999 meters 0.05470565724960605 Centerline is valid? [True, True] Translation: X:-5.77, Y:-0.11, Z:0.01 [[ 9.97333104e-01 -4.59205826e-02 5.67272405e-02 -5.77403872e+00] [ 4.55486101e-02 9.98931409e-01 7.83354809e-03 -1.14446508e-01] [-5.70263434e-02 -5.22880987e-03 9.98358981e-01 1.48175769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.999111584999999 meters 0.0553102791057561 Centerline is valid? [True, True] Translation: X:-5.80, Y:-0.11, Z:0.02 [[ 9.97398159e-01 -4.56648054e-02 5.57820538e-02 -5.80311202e+00] [ 4.53048623e-02 9.98943524e-01 7.70095900e-03 -1.13290854e-01] [-5.60747842e-02 -5.15372406e-03 9.98413270e-01 1.60555946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029111584999999 meters 0.05395876817367717 Centerline is valid? [True, True] Translation: X:-5.83, Y:-0.12, Z:0.02 [[ 9.97086541e-01 -4.71103299e-02 5.99920613e-02 -5.83273554e+00] [ 4.66967872e-02 9.98874814e-01 8.27749486e-03 -1.18677948e-01] [-6.03145145e-02 -5.45194219e-03 9.98164533e-01 2.32423542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.059111584999999 meters 0.05399556744547302 Centerline is valid? [True, True] Translation: X:-5.86, Y:-0.12, Z:0.04 [[ 9.96913540e-01 -4.68301770e-02 6.30105400e-02 -5.86012379e+00] [ 4.63733123e-02 9.98886341e-01 8.69443843e-03 -1.18142179e-01] [-6.33475299e-02 -5.74559594e-03 9.97974989e-01 3.55132649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.089111584999999 meters 0.05167308286326996 Centerline is valid? [True, True] Translation: X:-5.89, Y:-0.13, Z:0.04 [[ 0.99668424 -0.04811156 0.06561863 -5.8889782 ] [ 0.04761915 0.99882458 0.00904863 -0.12527838] [-0.06597685 -0.00589392 0.99780375 0.03716307] [ 0. 0. 0. 1. ]] SLAMing on 6.119111584999999 meters 0.04802180227130622 Centerline is valid? [True, True] Translation: X:-5.92, Y:-0.13, Z:0.05 [[ 0.99605944 -0.0536198 0.07064352 -5.917013 ] [ 0.05306272 0.99854368 0.00974033 -0.13433741] [-0.07106292 -0.00595341 0.99745407 0.04770681] [ 0. 0. 0. 1. ]] SLAMing on 6.149111584999999 meters 0.04833216980886688 Centerline is valid? [True, True] Translation: X:-5.94, Y:-0.14, Z:0.05 [[ 9.96179699e-01 -5.34241864e-02 6.90786747e-02 -5.94396343e+00] [ 5.28910567e-02 9.98554860e-01 9.52514030e-03 -1.39189411e-01] [-6.94877192e-02 -5.83510730e-03 9.97565741e-01 4.98017655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.179111584999999 meters 0.04883882243724074 Centerline is valid? [True, True] Translation: X:-5.97, Y:-0.14, Z:0.05 [[ 9.96570576e-01 -5.21544280e-02 6.42417459e-02 -5.97440723e+00] [ 5.16911811e-02 9.98623874e-01 8.85322757e-03 -1.38208794e-01] [-6.46150762e-02 -5.50213438e-03 9.97895094e-01 5.42928652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209111584999999 meters 0.048131896935010306 Centerline is valid? [True, True] Translation: X:-6.00, Y:-0.15, Z:0.06 [[ 9.96441241e-01 -5.40855971e-02 6.46498411e-02 -6.00278636e+00] [ 5.36206308e-02 9.98521654e-01 8.90693755e-03 -1.45001185e-01] [-6.50360033e-02 -5.40867465e-03 9.97868260e-01 5.50190689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.239111584999999 meters 0.04809779252008627 Centerline is valid? [True, True] Translation: X:-6.03, Y:-0.15, Z:0.06 [[ 9.96373169e-01 -5.52680071e-02 6.46989530e-02 -6.03078707e+00] [ 5.48049238e-02 9.98457309e-01 8.91189013e-03 -1.51461358e-01] [-6.50916850e-02 -5.33374702e-03 9.97865033e-01 6.06619974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.269111584999999 meters 0.04701018084464949 Centerline is valid? [True, True] Translation: X:-6.06, Y:-0.16, Z:0.08 [[ 9.96329054e-01 -5.53909760e-02 6.52706299e-02 -6.05552834e+00] [ 5.49200997e-02 9.98450299e-01 8.98789396e-03 -1.62187304e-01] [-6.56673282e-02 -5.37023039e-03 9.97827121e-01 8.33825639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.299111584999999 meters 0.046779409121565 Centerline is valid? [True, True] Translation: X:-6.08, Y:-0.17, Z:0.09 [[ 9.96372495e-01 -5.54365123e-02 6.45650388e-02 -6.08313131e+00] [ 5.49760969e-02 9.98448118e-01 8.88732491e-03 -1.71735948e-01] [-6.49575238e-02 -5.30555226e-03 9.97873926e-01 8.71932045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.329111584999999 meters 0.04615135228741615 Centerline is valid? [True, True] Translation: X:-6.11, Y:-0.17, Z:0.09 [[ 9.96321750e-01 -5.63630766e-02 6.45459098e-02 -6.11105038e+00] [ 5.59059034e-02 9.98396653e-01 8.86871775e-03 -1.73159066e-01] [-6.49422885e-02 -5.22759899e-03 9.97875329e-01 9.09982409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359111584999999 meters 0.04496682688822733 Centerline is valid? [True, True] Translation: X:-6.14, Y:-0.18, Z:0.08 [[ 9.96170915e-01 -6.00839914e-02 6.35092340e-02 -6.14171010e+00] [ 5.96492195e-02 9.98181299e-01 8.72155172e-03 -1.75370713e-01] [-6.39177553e-02 -4.89987992e-03 9.97943141e-01 7.85745816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.389111584999999 meters 0.046082261438424976 Centerline is valid? [True, True] Translation: X:-6.17, Y:-0.17, Z:0.08 [[ 9.96703347e-01 -5.70222161e-02 5.77139955e-02 -6.17231970e+00] [ 5.66581588e-02 9.98362174e-01 7.92610286e-03 -1.72259112e-01] [-5.80714339e-02 -4.63000452e-03 9.98301694e-01 7.75896453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.419111584999999 meters 0.048249720555853755 Centerline is valid? [True, True] Translation: X:-6.20, Y:-0.17, Z:0.08 [[ 9.97287964e-01 -5.06172552e-02 5.34285505e-02 -6.20296441e+00] [ 5.02962674e-02 9.98707397e-01 7.33624661e-03 -1.70091665e-01] [-5.37308292e-02 -4.62909378e-03 9.98544726e-01 7.80232441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.449111584999999 meters 0.04864564730581344 Centerline is valid? [True, True] Translation: X:-6.23, Y:-0.17, Z:0.08 [[ 9.97508987e-01 -4.60663158e-02 5.34201867e-02 -6.23200315e+00] [ 4.57390092e-02 9.98926501e-01 7.33413591e-03 -1.71828273e-01] [-5.37006968e-02 -4.87248007e-03 9.98545189e-01 8.39401501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.479111584999999 meters 0.051420110246733104 Centerline is valid? [True, True] Translation: X:-6.26, Y:-0.16, Z:0.08 [[ 9.97707264e-01 -4.44525982e-02 5.10311775e-02 -6.26361602e+00] [ 4.41519012e-02 9.99000268e-01 7.00522666e-03 -1.58969841e-01] [-5.12915605e-02 -4.73604202e-03 9.98672492e-01 8.48480498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5091115849999985 meters 0.052065270945004 Centerline is valid? [True, True] Translation: X:-6.29, Y:-0.16, Z:0.08 [[ 9.97700456e-01 -4.47862003e-02 5.08723586e-02 -6.29256519e+00] [ 4.44876442e-02 9.98985504e-01 6.98654430e-03 -1.63313874e-01] [-5.11336495e-02 -4.70728704e-03 9.98680725e-01 7.90420998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.539111584999999 meters 0.05346151157767554 Centerline is valid? [True, True] Translation: X:-6.32, Y:-0.16, Z:0.08 [[ 9.98268536e-01 -3.88947748e-02 4.41262560e-02 -6.32238646e+00] [ 3.86651561e-02 9.99233935e-01 6.04560880e-03 -1.62264506e-01] [-4.43275950e-02 -4.32899247e-03 9.99007670e-01 8.40567573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569111584999999 meters 0.05327707277866239 Centerline is valid? [True, True] Translation: X:-6.35, Y:-0.17, Z:0.09 [[ 9.98569069e-01 -3.29326272e-02 4.21337960e-02 -6.35109506e+00] [ 3.27180493e-02 9.99447952e-01 5.77243895e-03 -1.68323314e-01] [-4.23006377e-02 -4.38564337e-03 9.99095302e-01 8.87310340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.599111584999999 meters 0.05543091266641684 Centerline is valid? [True, True] Translation: X:-6.38, Y:-0.16, Z:0.08 [[ 9.98724833e-01 -2.96525014e-02 4.08587551e-02 -6.38311155e+00] [ 2.94480215e-02 9.99550640e-01 5.59748896e-03 -1.58298986e-01] [-4.10063743e-02 -4.38714172e-03 9.99149253e-01 8.35658381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.629111584999999 meters 0.05549135004975758 Centerline is valid? [True, True] Translation: X:-6.42, Y:-0.15, Z:0.06 [[ 9.98893432e-01 -2.68453034e-02 3.86165912e-02 -6.41670441e+00] [ 2.66606274e-02 9.99630548e-01 5.28943223e-03 -1.49703277e-01] [-3.87443206e-02 -4.25403657e-03 9.99240102e-01 5.74111687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.659111584999999 meters 0.05432607369481185 Centerline is valid? [True, True] Translation: X:-6.45, Y:-0.15, Z:0.05 [[ 9.98838120e-01 -3.01280436e-02 3.76126447e-02 -6.44726381e+00] [ 2.99552417e-02 9.99537976e-01 5.14950254e-03 -1.54222037e-01] [-3.77504113e-02 -4.01682358e-03 9.99279126e-01 4.56942422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.689111584999999 meters 0.059396131749776794 Centerline is valid? [True, True] Translation: X:-6.48, Y:-0.15, Z:0.07 [[ 9.99059231e-01 -2.76334106e-02 3.34222532e-02 -6.47657910e+00] [ 2.74956111e-02 9.99611452e-01 4.57568079e-03 -1.49457124e-01] [-3.35357087e-02 -3.65241085e-03 9.99430846e-01 7.32165163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7191115849999985 meters 0.059396131749776794 Centerline is valid? [True, True] Translation: X:-6.50, Y:-0.15, Z:0.08 [[ 9.99061944e-01 -2.75358110e-02 3.34217115e-02 -6.50374784e+00] [ 2.73978267e-02 9.99614119e-01 4.57963913e-03 -1.53291924e-01] [-3.35349188e-02 -3.65966092e-03 9.99430846e-01 7.53219596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.749111584999999 meters 0.05598048637666662 Centerline is valid? [True, True] Translation: X:-6.53, Y:-0.17, Z:0.09 [[ 9.98866076e-01 -3.09401188e-02 3.61838576e-02 -6.52996772e+00] [ 3.07808763e-02 9.99513900e-01 4.94987816e-03 -1.68389266e-01] [-3.63194185e-02 -3.83049453e-03 9.99332891e-01 8.83072970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.779111584999999 meters 0.05352436358117806 Centerline is valid? [True, True] Translation: X:-6.56, Y:-0.18, Z:0.11 [[ 9.98627489e-01 -3.38083312e-02 4.00016889e-02 -6.55716908e+00] [ 3.36159586e-02 9.99419843e-01 5.47218801e-03 -1.77558282e-01] [-4.01634871e-02 -4.11998226e-03 9.99184628e-01 1.06697592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.809111584999999 meters 0.05784647727128902 Centerline is valid? [True, True] Translation: X:-6.59, Y:-0.17, Z:0.12 [[ 9.98565669e-01 -3.25565059e-02 4.25050524e-02 -6.58611195e+00] [ 3.23378121e-02 9.99460035e-01 5.82277988e-03 -1.71553457e-01] [-4.26716706e-02 -4.43990768e-03 9.99079284e-01 1.20399816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.839111584999999 meters 0.05924449393250155 Centerline is valid? [True, True] Translation: X:-6.62, Y:-0.17, Z:0.13 [[ 9.98670041e-01 -2.77511568e-02 4.34513722e-02 -6.61648815e+00] [ 2.75189226e-02 9.99603671e-01 5.93386525e-03 -1.68275365e-01] [-4.35988228e-02 -4.73023851e-03 9.99037921e-01 1.34201052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.869111584999999 meters 0.056612956035075934 Centerline is valid? [True, True] Translation: X:-6.65, Y:-0.18, Z:0.13 [[ 9.98879423e-01 -2.42425800e-02 4.06472210e-02 -6.64569903e+00] [ 2.40364875e-02 9.99695668e-01 5.55141180e-03 -1.77874657e-01] [-4.07694314e-02 -4.56817459e-03 9.99158138e-01 1.26070510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.899111584999999 meters 0.060869863926626584 Centerline is valid? [True, True] Translation: X:-6.68, Y:-0.16, Z:0.13 [[ 9.99044694e-01 -2.20596392e-02 3.77236242e-02 -6.67783676e+00] [ 2.18806241e-02 9.99747317e-01 5.15177533e-03 -1.63827609e-01] [-3.78277384e-02 -4.32143737e-03 9.99274931e-01 1.26950429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9291115849999985 meters 0.06171859442042644 Centerline is valid? [True, True] Translation: X:-6.71, Y:-0.16, Z:0.12 [[ 9.99085376e-01 -2.18829521e-02 3.67361988e-02 -6.70774811e+00] [ 2.17130513e-02 9.99751653e-01 5.01754352e-03 -1.61308089e-01] [-3.68368741e-02 -4.21529938e-03 9.99312402e-01 1.23885832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.959111584999999 meters 0.06185735342214277 Centerline is valid? [True, True] Translation: X:-6.74, Y:-0.16, Z:0.13 [[ 9.99157244e-01 -2.09938027e-02 3.52712692e-02 -6.73610192e+00] [ 2.08367679e-02 9.99771301e-01 4.81394268e-03 -1.64524566e-01] [-3.53642657e-02 -4.07494645e-03 9.99366181e-01 1.31968706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989111584999999 meters 0.06123915248492966 Centerline is valid? [True, True] Translation: X:-6.76, Y:-0.17, Z:0.14 [[ 9.99249004e-01 -2.00949244e-02 3.31303871e-02 -6.76419646e+00] [ 1.99559279e-02 9.99790640e-01 4.52081173e-03 -1.70622404e-01] [-3.32142963e-02 -3.85626900e-03 9.99440814e-01 1.36509316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.019111584999999 meters 0.059734704566918345 Centerline is valid? [True, True] Translation: X:-6.79, Y:-0.17, Z:0.14 [[ 9.99164094e-01 -2.09018584e-02 3.51315333e-02 -6.79259417e+00] [ 2.07460914e-02 9.99773290e-01 4.79256359e-03 -1.74423230e-01] [-3.52237422e-02 -4.05971546e-03 9.99371206e-01 1.38519439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.049111584999999 meters 0.06143659857501359 Centerline is valid? [True, True] Translation: X:-6.82, Y:-0.17, Z:0.14 [[ 9.99101036e-01 -2.27990644e-02 3.57396516e-02 -6.82387396e+00] [ 2.26391363e-02 9.99731825e-01 4.87317865e-03 -1.71044834e-01] [-3.58411710e-02 -4.05968299e-03 9.99349253e-01 1.40598691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.079111584999999 meters 0.06370515589454691 Centerline is valid? [True, True] Translation: X:-6.85, Y:-0.17, Z:0.14 [[ 9.99126755e-01 -2.43680715e-02 3.39400029e-02 -6.85333211e+00] [ 2.42246906e-02 9.99695820e-01 4.62942477e-03 -1.71097873e-01] [-3.40424892e-02 -3.80319608e-03 9.99413150e-01 1.40045875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109111584999999 meters 0.06404612236091911 Centerline is valid? [True, True] Translation: X:-6.88, Y:-0.18, Z:0.15 [[ 9.99071468e-01 -2.84280088e-02 3.23735951e-02 -6.88284163e+00] [ 2.82998155e-02 9.99589747e-01 4.41124492e-03 -1.75364924e-01] [-3.24857166e-02 -3.49098216e-03 9.99466103e-01 1.52780870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.139111584999998 meters 0.06556412722380342 Centerline is valid? [True, True] Translation: X:-6.91, Y:-0.17, Z:0.15 [[ 9.99051903e-01 -2.92133377e-02 3.22781137e-02 -6.91407313e+00] [ 2.90862133e-02 9.99567218e-01 4.40105929e-03 -1.65735786e-01] [-3.23927140e-02 -3.45803856e-03 9.99469236e-01 1.52603065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.169111584999999 meters 0.06605817926111339 Centerline is valid? [True, True] Translation: X:-6.94, Y:-0.17, Z:0.15 [[ 9.99150800e-01 -2.49754304e-02 3.27705108e-02 -6.94411138e+00] [ 2.48421999e-02 9.99681407e-01 4.46649870e-03 -1.65228845e-01] [-3.28716231e-02 -3.64861417e-03 9.99452922e-01 1.49486465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199111584999999 meters 0.06660072544385551 Centerline is valid? [True, True] Translation: X:-6.97, Y:-0.17, Z:0.16 [[ 9.99350479e-01 -1.99653954e-02 3.00000384e-02 -6.97221909e+00] [ 1.98515402e-02 9.99794580e-01 4.08825881e-03 -1.72976620e-01] [-3.00754995e-02 -3.49005644e-03 9.99541537e-01 1.56968347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229111584999999 meters 0.07108852375986786 Centerline is valid? [True, True] Translation: X:-7.00, Y:-0.16, Z:0.17 [[ 9.99418766e-01 -1.70597898e-02 2.95143023e-02 -7.00322670e+00] [ 1.69483652e-02 9.99848279e-01 4.02134499e-03 -1.62584988e-01] [-2.95784277e-02 -3.51878847e-03 9.99556269e-01 1.71348172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2591115849999985 meters 0.06880381154202324 Centerline is valid? [True, True] Translation: X:-7.03, Y:-0.16, Z:0.16 [[ 9.99485072e-01 -1.63647676e-02 2.76004693e-02 -7.03258180e+00] [ 1.62671137e-02 9.99860616e-01 3.75896629e-03 -1.63362539e-01] [-2.76581368e-02 -3.30805072e-03 9.99611967e-01 1.63311219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289111584999999 meters 0.07215781200395524 Centerline is valid? [True, True] Translation: X:-7.06, Y:-0.16, Z:0.17 [[ 9.99480606e-01 -1.35744860e-02 2.92275817e-02 -7.06312395e+00] [ 1.34637526e-02 9.99901430e-01 3.98214121e-03 -1.61261372e-01] [-2.92787563e-02 -3.58655998e-03 9.99564851e-01 1.67505632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319111584999999 meters 0.06931628022630786 Centerline is valid? [True, True] Translation: X:-7.09, Y:-0.18, Z:0.18 [[ 9.99495813e-01 -1.44178411e-02 2.82886132e-02 -7.09114237e+00] [ 1.43144966e-02 9.99890121e-01 3.85234268e-03 -1.76222621e-01] [-2.83410473e-02 -3.44546312e-03 9.99592374e-01 1.80333239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349111584999998 meters 0.07102150595154165 Centerline is valid? [True, True] Translation: X:-7.12, Y:-0.17, Z:0.19 [[ 9.99380825e-01 -1.82615148e-02 3.00746420e-02 -7.12114609e+00] [ 1.81463167e-02 9.99826940e-01 4.09891886e-03 -1.73473574e-01] [-3.01442898e-02 -3.55063694e-03 9.99539251e-01 1.91612710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.379111584999999 meters 0.08518317267562905 Centerline is valid? [True, True] Translation: X:-7.16, Y:-0.14, Z:0.18 [[ 9.99186740e-01 -2.37866874e-02 3.25584531e-02 -7.15769571e+00] [ 2.36545900e-02 9.99710347e-01 4.43647786e-03 -1.40145986e-01] [-3.26545515e-02 -3.66271299e-03 9.99459987e-01 1.81083106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409111584999999 meters 0.06961816770454982 Centerline is valid? [True, True] Translation: X:-7.18, Y:-0.18, Z:0.19 [[ 9.99055451e-01 -2.87577178e-02 3.25760490e-02 -7.18085717e+00] [ 2.86280877e-02 9.99580276e-01 4.43885667e-03 -1.82364408e-01] [-3.26900275e-02 -3.50207397e-03 9.99459403e-01 1.88729552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.439111584999999 meters 0.06963415533757897 Centerline is valid? [True, True] Translation: X:-7.21, Y:-0.18, Z:0.20 [[ 9.99134403e-01 -2.56065864e-02 3.27833534e-02 -7.20899820e+00] [ 2.54735772e-02 9.99665509e-01 4.46854654e-03 -1.84091261e-01] [-3.28868119e-02 -3.62956929e-03 9.99452492e-01 2.01345444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4691115849999985 meters 0.07976292527830768 Centerline is valid? [True, True] Translation: X:-7.24, Y:-0.16, Z:0.20 [[ 9.99228862e-01 -2.04679667e-02 3.35073725e-02 -7.24312950e+00] [ 2.03262681e-02 9.99782982e-01 4.56410129e-03 -1.58826551e-01] [-3.35935187e-02 -3.87950190e-03 9.99428049e-01 2.04063450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.499111584999999 meters 0.08404409217068745 Centerline is valid? [True, True] Translation: X:-7.28, Y:-0.15, Z:0.20 [[ 9.99308885e-01 -1.68439481e-02 3.31365843e-02 -7.27512140e+00] [ 1.67034100e-02 9.99850301e-01 4.51345698e-03 -1.51900311e-01] [-3.32076483e-02 -3.95684371e-03 9.99440641e-01 2.02029193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529111584999999 meters 0.07484672214200479 Centerline is valid? [True, True] Translation: X:-7.30, Y:-0.18, Z:0.22 [[ 9.99404010e-01 -1.36037417e-02 3.17263666e-02 -7.29995902e+00] [ 1.34733097e-02 9.99899893e-01 4.32132928e-03 -1.82922083e-01] [-3.17819768e-02 -3.89129465e-03 9.99487250e-01 2.16848048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.559111584999998 meters 0.08657718446945292 Centerline is valid? [True, True] Translation: X:-7.34, Y:-0.15, Z:0.22 [[ 9.99326903e-01 -1.15195559e-02 3.48287292e-02 -7.33534244e+00] [ 1.13611609e-02 9.99924214e-01 4.74232461e-03 -1.53320273e-01] [-3.48807191e-02 -4.34343777e-03 9.99382044e-01 2.23229641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.589111584999999 meters 0.09277870650841367 Centerline is valid? [True, True] Translation: X:-7.37, Y:-0.14, Z:0.23 [[ 9.99264853e-01 -8.46377901e-03 3.73914112e-02 -7.36767524e+00] [ 8.27899261e-03 9.99952753e-01 5.09402519e-03 -1.39344509e-01] [-3.74327593e-02 -4.78071711e-03 9.99287713e-01 2.26378926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.619111584999999 meters 0.09517830918757748 Centerline is valid? [True, True] Translation: X:-7.40, Y:-0.14, Z:0.23 [[ 9.99298645e-01 -5.37722369e-03 3.70581119e-02 -7.39876213e+00] [ 5.19364557e-03 9.99973770e-01 5.04827846e-03 -1.36891769e-01] [-3.70842856e-02 -4.85227112e-03 9.99300361e-01 2.29217033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649111584999999 meters 0.09966733067417637 Centerline is valid? [True, True] Translation: X:-7.43, Y:-0.13, Z:0.22 [[ 9.99437939e-01 -4.63311716e-03 3.32015193e-02 -7.43174873e+00] [ 4.48537905e-03 9.99979712e-01 4.52284051e-03 -1.31230093e-01] [-3.32218006e-02 -4.37137700e-03 9.99438444e-01 2.18016989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6791115849999985 meters 0.10342800756838737 Centerline is valid? [True, False] Translation: X:-7.45, Y:-0.14, Z:0.22 [[ 9.99531478e-01 3.19290001e-03 3.04405870e-02 -7.44629416e+00] [-3.16504158e-03 9.99994527e-01 -9.63314210e-04 -1.35401577e-01] [-3.04434962e-02 8.66517153e-04 9.99536114e-01 2.22123681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709111584999999 meters 0.10011866086221644 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.14, Z:0.23 [[ 9.99476788e-01 1.32472942e-03 3.23171124e-02 -7.46763419e+00] [-1.36430651e-03 9.99998346e-01 1.20262775e-03 -1.36350968e-01] [-3.23154658e-02 -1.24608896e-03 9.99476942e-01 2.31794272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739111584999999 meters 0.10212845471673393 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.13, Z:0.23 [[ 9.99406604e-01 -5.41143764e-03 3.40169967e-02 -7.50940876e+00] [ 5.12304246e-03 9.99950244e-01 8.55942464e-03 -1.32809541e-01] [-3.40616229e-02 -8.38007499e-03 9.99384601e-01 2.25659205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769111584999998 meters 0.10025313994495194 Centerline is valid? [False, False] Translation: X:-7.54, Y:-0.13, Z:0.21 [[ 0.99923345 -0.01412599 0.03650989 -7.54263683] [ 0.01367122 0.9998262 0.01267566 -0.1298084 ] [-0.0366826 -0.01216681 0.9992529 0.21450366] [ 0. 0. 0. 1. ]] SLAMing on 7.799111584999999 meters 0.09952563640076775 Centerline is valid? [False, True] Translation: X:-7.56, Y:-0.14, Z:0.22 [[ 9.99428415e-01 -3.45954590e-03 3.36284691e-02 -7.56053879e+00] [ 3.02763623e-03 9.99912388e-01 1.28860200e-02 -1.35692963e-01] [-3.36701026e-02 -1.27768398e-02 9.99351328e-01 2.15433905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829111584999999 meters 0.09713869088094963 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.15, Z:0.24 [[ 9.99345874e-01 -2.87960813e-03 3.60490234e-02 -7.58785615e+00] [ 2.71222737e-03 9.99985318e-01 4.69118474e-03 -1.51455564e-01] [-3.60620029e-02 -4.59034296e-03 9.99339012e-01 2.42897366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859111584999999 meters 0.09970908251915576 Centerline is valid? [True, True] Translation: X:-7.62, Y:-0.15, Z:0.24 [[ 9.99355516e-01 -3.48430820e-03 3.57269108e-02 -7.62110436e+00] [ 3.32006566e-03 9.99983652e-01 4.65546292e-03 -1.48626684e-01] [-3.57425478e-02 -4.53384686e-03 9.99350746e-01 2.42726457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889111584999998 meters 0.1022057067287898 Centerline is valid? [True, False] Translation: X:-7.67, Y:-0.14, Z:0.23 [[ 0.99921238 -0.0113141 0.03803432 -7.66919009] [ 0.0108204 0.99985484 0.01316118 -0.14052228] [-0.03817771 -0.01273927 0.99918976 0.23037525] [ 0. 0. 0. 1. ]] SLAMing on 7.919111584999999 meters 0.10290859586023478 Centerline is valid? [False, False] Translation: X:-7.70, Y:-0.14, Z:0.24 [[ 9.99240341e-01 -1.80571317e-03 3.89291611e-02 -7.69712199e+00] [ 1.35125813e-03 9.99930674e-01 1.16970501e-02 -1.44466790e-01] [-3.89475838e-02 -1.16355610e-02 9.99173508e-01 2.38994983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949111584999999 meters 0.10553101614244483 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.15, Z:0.24 [[ 9.99227238e-01 7.68886640e-03 3.85461726e-02 -7.72193209e+00] [-8.08256043e-03 9.99916649e-01 1.00681594e-02 -1.46194920e-01] [-3.84655470e-02 -1.03719309e-02 9.99206097e-01 2.43803566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.979111584999998 meters 0.10804673197048711 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.15, Z:0.26 [[ 9.99204046e-01 6.89067628e-03 3.92911208e-02 -7.77057839e+00] [-6.99605583e-03 9.99972288e-01 2.54515444e-03 -1.52246487e-01] [-3.92724941e-02 -2.81801149e-03 9.99224564e-01 2.58285891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009111585 meters 0.11008423865790716 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.14, Z:0.24 [[ 9.99166272e-01 -4.06524051e-03 4.06230845e-02 -7.80001658e+00] [ 3.18035236e-03 9.99756774e-01 2.18238209e-02 -1.40431993e-01] [-4.07019229e-02 -2.16764301e-02 9.98936177e-01 2.37964667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.039111584999999 meters 0.10705660204498804 Centerline is valid? [False, False] Translation: X:-7.82, Y:-0.15, Z:0.25 [[ 9.99238206e-01 4.07750525e-03 3.88121266e-02 -7.81748641e+00] [-4.68103399e-03 9.99869346e-01 1.54718527e-02 -1.46930061e-01] [-3.87439691e-02 -1.56417472e-02 9.99126739e-01 2.52249835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069111585 meters 0.10675007110702965 Centerline is valid? [False, False] Translation: X:-7.83, Y:-0.15, Z:0.26 [[ 9.99307157e-01 8.45063230e-03 3.62462794e-02 -7.83316966e+00] [-8.64249415e-03 9.99949443e-01 5.13987097e-03 -1.51563487e-01] [-3.62010117e-02 -5.44956810e-03 9.99329670e-01 2.63716307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.099111585 meters 0.11251195840099118 Centerline is valid? [False, False] Translation: X:-7.87, Y:-0.15, Z:0.27 [[ 9.99578564e-01 6.65409431e-04 2.90215762e-02 -7.86528553e+00] [-7.63028781e-04 9.99994088e-01 3.35273714e-03 -1.51291979e-01] [-2.90191737e-02 -3.37346847e-03 9.99573163e-01 2.65590433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129111585 meters 0.11341805235533123 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.16, Z:0.27 [[ 9.99626416e-01 9.39647629e-03 2.56658437e-02 -7.87907620e+00] [-9.34766753e-03 9.99954267e-01 -2.02101989e-03 -1.55142241e-01] [-2.56836604e-02 1.78034909e-03 9.99668535e-01 2.73279404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.159111585 meters 0.11789604516475154 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.15, Z:0.28 [[ 9.99604162e-01 6.33634231e-03 2.74111206e-02 -7.89215867e+00] [-6.25132949e-03 9.99975385e-01 -3.18598316e-03 -1.51727685e-01] [-2.74306333e-02 3.01336608e-03 9.99619167e-01 2.78784136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189111585 meters 0.12352197818054794 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.15, Z:0.27 [[ 9.99532302e-01 3.17418282e-03 3.04154880e-02 -7.92137251e+00] [-3.32455686e-03 9.99982494e-01 4.89470108e-03 -1.48350595e-01] [-3.03994189e-02 -4.99352985e-03 9.99525357e-01 2.65906071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219111585 meters 0.1141987526144631 Centerline is valid? [False, False] Translation: X:-7.94, Y:-0.16, Z:0.28 [[ 9.99406118e-01 1.34138284e-02 3.17408475e-02 -7.94459998e+00] [-1.34630917e-02 9.99908472e-01 1.33882883e-03 -1.55532433e-01] [-3.17199835e-02 -1.76536366e-03 9.99495236e-01 2.78788793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249111585 meters 0.11582712786670707 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.15, Z:0.29 [[ 9.99400580e-01 1.16313167e-02 3.26066544e-02 -7.95255821e+00] [-1.16421493e-02 9.99932218e-01 1.42379816e-04 -1.54206932e-01] [-3.26027882e-02 -5.21906011e-04 9.99468252e-01 2.85322100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.279111584999999 meters 0.123202410977761 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.16, Z:0.30 [[ 0.9995033 0.01665153 0.026756 -7.96396665] [-0.01640999 0.99982282 -0.00922194 -0.15932138] [-0.02690482 0.00877829 0.99959946 0.29588621] [ 0. 0. 0. 1. ]] SLAMing on 8.309111585 meters 0.12686295952512103 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.15, Z:0.30 [[ 9.99717898e-01 8.72985588e-03 2.20887922e-02 -7.96051977e+00] [-8.66974015e-03 9.99958452e-01 -2.81585263e-03 -1.52305571e-01] [-2.21124565e-02 2.62355418e-03 9.99752047e-01 2.98086008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.339111585 meters 0.11961034208161331 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.15, Z:0.30 [[ 9.99717318e-01 9.11952774e-03 2.19571944e-02 -7.96135354e+00] [-9.06128069e-03 9.99955162e-01 -2.75078891e-03 -1.50752737e-01] [-2.19812957e-02 2.55105101e-03 9.99755127e-01 2.99738641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369111584999999 meters 0.11916173988580511 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.15, Z:0.30 [[ 9.99743997e-01 4.61025063e-03 2.21514456e-02 -7.96424471e+00] [-4.44815854e-03 9.99963013e-01 -7.36115920e-03 -1.49781765e-01] [-2.21845631e-02 7.26074158e-03 9.99727526e-01 3.02813341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.399111585 meters 0.11770405143019182 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.15, Z:0.30 [[ 9.99712867e-01 -1.05226437e-02 2.15280730e-02 -7.96215258e+00] [ 1.06286476e-02 9.99931919e-01 -4.81549757e-03 -1.45002254e-01] [-2.14759356e-02 5.04292919e-03 9.99756647e-01 2.99790541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429111585 meters 0.11670911193470897 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.15, Z:0.30 [[ 9.99736988e-01 -7.20800753e-03 2.17715160e-02 -7.96236074e+00] [ 7.22151755e-03 9.99973778e-01 -5.41978401e-04 -1.49256145e-01] [-2.17670385e-02 6.99059239e-04 9.99762826e-01 2.99213084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459111584999999 meters 0.11199393528712226 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.15, Z:0.30 [[ 9.99747304e-01 -3.77306725e-03 2.21606106e-02 -7.96271000e+00] [ 3.68865635e-03 9.99985791e-01 3.84869344e-03 -1.51977251e-01] [-2.21748171e-02 -3.76597801e-03 9.99747015e-01 2.97840561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489111585 meters 0.11155174830903737 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.16, Z:0.30 [[ 9.99728642e-01 -5.41918597e-03 2.26555480e-02 -7.96494829e+00] [ 5.34336666e-03 9.99979924e-01 3.40580931e-03 -1.55503755e-01] [-2.26735499e-02 -3.28382822e-03 9.99737529e-01 2.98309159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.519111585 meters 0.22607618800449147 Centerline is valid? [False, False] Translation: X:-8.01, Y:-1.78, Z:0.31 [[ 0.99687362 0.0750687 0.02465089 -8.01386264] [-0.07756298 0.98922684 0.12415409 -1.78355097] [-0.01506523 -0.12567793 0.9919567 0.30544986] [ 0. 0. 0. 1. ]] Total time of SLAM: 241.73 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%| | 0/284 [00:00