+ python -m lidar_slam --no-model /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/3c45441e-54cf-4dfb-bbc2-d888560d6885 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 0.027535379 Adjusted end_distance from 9.223372036854776e+18 to 4.997535379 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027535379 meters 0.10104763631179353 Centerline is valid? [0, False] SLAMing on 0.057535379 meters 0.11108173346055271 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999427e-01 -1.01936999e-03 -3.25946275e-04 1.11255034e-03] [ 1.01881163e-03 9.99998021e-01 -1.70863445e-03 4.44992681e-03] [ 3.27687360e-04 1.70830139e-03 9.99998487e-01 -5.48934058e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.087535379 meters 0.12433892664055313 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 0.99999682 0.00231069 -0.00100951 0.00288588] [-0.00230901 0.99999596 0.00165969 0.00604708] [ 0.00101335 -0.00165736 0.99999811 -0.00118884] [ 0. 0. 0. 1. ]] SLAMing on 0.117535379 meters 0.12385961741828751 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998514e-01 1.20675058e-03 -1.23102179e-03 3.69306810e-03] [-1.20707109e-03 9.99999238e-01 -2.59647502e-04 1.11742571e-02] [ 1.23070752e-03 2.61133047e-04 9.99999209e-01 -1.51805767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.147535379 meters 0.12829391267242016 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99992974e-01 2.99615202e-03 -2.25295877e-03 5.97480200e-03] [-2.99468905e-03 9.99995303e-01 6.52445425e-04 2.01446999e-02] [ 2.25490301e-03 -6.45693929e-04 9.99997249e-01 -1.30342174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.177535379 meters 0.1485327117565958 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99997597 0.0063644 -0.00274719 0.00721281] [-0.00635401 0.99997269 0.0037739 0.02304201] [ 0.00277114 -0.00375636 0.99998911 -0.00145223] [ 0. 0. 0. 1. ]] SLAMing on 0.207535379 meters 0.1551928774453713 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99998361 0.00483247 -0.00307003 0.00819248] [-0.00482913 0.99998774 0.00109483 0.03048396] [ 0.00307529 -0.00107999 0.99999469 -0.00153453] [ 0. 0. 0. 1. ]] SLAMing on 0.237535379 meters 0.1603790376790759 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 9.99972884e-01 6.17583882e-03 -4.01128210e-03 1.03842154e-02] [-6.17306175e-03 9.99980698e-01 7.04327645e-04 4.36619668e-02] [ 4.01555449e-03 -6.79546654e-04 9.99991707e-01 -1.19638782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.267535379 meters 0.1542174960058664 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:-0.00 [[ 0.99998054 0.00427474 -0.00454325 0.01207075] [-0.00428681 0.9999873 -0.0026506 0.05346159] [ 0.00453187 0.00267002 0.99998617 -0.00153778] [ 0. 0. 0. 1. ]] SLAMing on 0.29753537900000004 meters 0.13964519940433942 Centerline is valid? [False, False] Translation: X:0.01, Y:0.06, Z:-0.00 [[ 9.99960963e-01 7.41105110e-03 -4.81140339e-03 1.27238162e-02] [-7.41256696e-03 9.99972482e-01 -2.97299213e-04 5.88406242e-02] [ 4.80906769e-03 3.32952457e-04 9.99988381e-01 -1.28011839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32753537899999996 meters 0.1563083133973667 Centerline is valid? [False, False] Translation: X:0.01, Y:0.06, Z:-0.00 [[ 0.99993381 0.01017771 -0.00536643 0.01446527] [-0.01016832 0.99994673 0.00177408 0.0645437 ] [ 0.0053842 -0.00171939 0.99998403 -0.00166507] [ 0. 0. 0. 1. ]] SLAMing on 0.357535379 meters 0.17604113568915283 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-0.00 [[ 0.9998475 0.0163133 -0.0062334 0.01649999] [-0.01627165 0.99984533 0.00667425 0.07475779] [ 0.00634131 -0.00657181 0.9999583 -0.00109626] [ 0. 0. 0. 1. ]] SLAMing on 0.387535379 meters 0.18362109447264097 Centerline is valid? [False, False] Translation: X:0.02, Y:0.08, Z:-0.00 [[ 0.99987096 0.0143805 -0.00716062 0.01903368] [-0.01435689 0.99989136 0.00333771 0.08405099] [ 0.00720784 -0.00323448 0.99996879 -0.00179118] [ 0. 0. 0. 1. ]] SLAMing on 0.41753537900000004 meters 0.1790450649623092 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.00 [[ 0.99983203 0.01624206 -0.00849208 0.02209044] [-0.01620987 0.99986122 0.0038456 0.09676654] [ 0.00855336 -0.0037073 0.99995655 -0.00124354] [ 0. 0. 0. 1. ]] SLAMing on 0.44753537899999996 meters 0.17113432981370716 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.00 [[ 9.99853723e-01 1.43570776e-02 -9.29553215e-03 2.43675171e-02] [-1.43494559e-02 9.99896649e-01 8.86112975e-04 1.04623974e-01] [ 9.30729344e-03 -7.52597529e-04 9.99956403e-01 -1.84560961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.477535379 meters 0.16397586329558436 Centerline is valid? [False, False] Translation: X:0.03, Y:0.11, Z:-0.00 [[ 0.99979567 0.01770578 -0.00975262 0.0258701 ] [-0.01766735 0.99983587 0.00401334 0.10750067] [ 0.00982208 -0.00384022 0.99994439 -0.00216256] [ 0. 0. 0. 1. ]] SLAMing on 0.507535379 meters 0.1898253951498823 Centerline is valid? [False, False] Translation: X:0.03, Y:0.12, Z:-0.00 [[ 0.99974778 0.01983611 -0.01053086 0.02780134] [-0.01978108 0.99979027 0.00530408 0.11563729] [ 0.01063386 -0.00509443 0.99993048 -0.00183648] [ 0. 0. 0. 1. ]] SLAMing on 0.537535379 meters 0.19155100753804946 Centerline is valid? [False, False] Translation: X:0.03, Y:0.12, Z:-0.00 [[ 0.99974882 0.01929355 -0.01140415 0.03150191] [-0.01924241 0.99980437 0.00457703 0.12067893] [ 0.01149022 -0.00435643 0.9999245 -0.00372471] [ 0. 0. 0. 1. ]] SLAMing on 0.5675353790000001 meters 0.1891771562245196 Centerline is valid? [False, False] Translation: X:0.03, Y:0.13, Z:-0.00 [[ 0.99976907 0.01800773 -0.01172766 0.03262224] [-0.01797973 0.99983526 0.00248835 0.12611928] [ 0.01177053 -0.00227691 0.99992813 -0.00408931] [ 0. 0. 0. 1. ]] SLAMing on 0.597535379 meters 0.18386270843380043 Centerline is valid? [False, False] Translation: X:0.03, Y:0.14, Z:-0.00 [[ 0.99979691 0.01585095 -0.01244569 0.03459027] [-0.01586469 0.99987364 -0.00100641 0.13616576] [ 0.01242816 0.00120365 0.99992204 -0.00418902] [ 0. 0. 0. 1. ]] SLAMing on 0.627535379 meters 0.18104672346032247 Centerline is valid? [False, False] Translation: X:0.05, Y:0.14, Z:-0.01 [[ 0.99991519 0.01129001 -0.00649253 0.04554915] [-0.01125854 0.99992479 0.00486354 0.13802847] [ 0.00654695 -0.00479003 0.9999671 -0.00764994] [ 0. 0. 0. 1. ]] SLAMing on 0.657535379 meters 0.1912989566218367 Centerline is valid? [False, False] Translation: X:0.05, Y:0.14, Z:-0.01 [[ 0.99992546 0.0101986 -0.00671272 0.04662569] [-0.0101785 0.99994363 0.00302124 0.1425301 ] [ 0.00674315 -0.00295269 0.99997291 -0.00834411] [ 0. 0. 0. 1. ]] SLAMing on 0.687535379 meters 0.20916695303505248 Centerline is valid? [False, False] Translation: X:0.05, Y:0.15, Z:-0.01 [[ 9.99939040e-01 8.55090785e-03 -6.98559916e-03 4.82839093e-02] [-8.54983336e-03 9.99963433e-01 1.83663735e-04 1.49631099e-01] [ 6.98691421e-03 -1.23926830e-04 9.99975584e-01 -9.55789346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.717535379 meters 0.20521130548756134 Centerline is valid? [False, False] Translation: X:0.05, Y:0.15, Z:-0.01 [[ 9.99943860e-01 7.86075104e-03 -7.10533387e-03 4.88301468e-02] [-7.86802430e-03 9.99968550e-01 -9.96260805e-04 1.52484795e-01] [ 7.09727905e-03 1.05210981e-03 9.99974261e-01 -9.87074471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.747535379 meters 0.19851034261621728 Centerline is valid? [False, False] Translation: X:0.05, Y:0.15, Z:-0.01 [[ 0.99994791 0.00726651 -0.00716798 0.04915544] [-0.00728109 0.99997147 -0.0020104 0.15491211] [ 0.00715317 0.00206249 0.99997229 -0.01005232] [ 0. 0. 0. 1. ]] SLAMing on 0.777535379 meters 0.18485928186537995 Centerline is valid? [False, False] Translation: X:0.05, Y:0.16, Z:-0.01 [[ 0.99994939 0.00678297 -0.00742991 0.05005434] [-0.00680379 0.99997299 -0.00278085 0.15688085] [ 0.00741085 0.00283126 0.99996853 -0.01048818] [ 0. 0. 0. 1. ]] SLAMing on 0.807535379 meters 0.17172554384082203 Centerline is valid? [False, False] Translation: X:0.05, Y:0.16, Z:-0.01 [[ 0.99995563 0.0061148 -0.00716608 0.04983063] [-0.00614773 0.9999706 -0.00458308 0.16177076] [ 0.00713784 0.00462693 0.99996382 -0.01084284] [ 0. 0. 0. 1. ]] SLAMing on 0.837535379 meters 0.16762302468227136 Centerline is valid? [False, False] Translation: X:0.05, Y:0.16, Z:-0.01 [[ 0.9999572 0.00579127 -0.00721499 0.05009517] [-0.00583101 0.99996788 -0.00549926 0.16445627] [ 0.00718291 0.00554109 0.99995885 -0.01103041] [ 0. 0. 0. 1. ]] SLAMing on 0.867535379 meters 0.16804356823873423 Centerline is valid? [False, False] Translation: X:0.05, Y:0.17, Z:-0.01 [[ 0.99995821 0.00552154 -0.00728622 0.05062878] [-0.00556791 0.99996427 -0.00635985 0.16692604] [ 0.00725084 0.00640016 0.99995323 -0.01157627] [ 0. 0. 0. 1. ]] SLAMing on 0.897535379 meters 0.14157897975452352 Centerline is valid? [False, False] Translation: X:0.05, Y:0.17, Z:-0.01 [[ 0.99995397 0.00627385 -0.00725861 0.05043448] [-0.00632191 0.99995812 -0.00661783 0.16968203] [ 0.00721679 0.00666342 0.99995176 -0.0115464 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9275353789999999 meters 0.13577578148427183 Centerline is valid? [False, False] Translation: X:0.05, Y:0.17, Z:-0.01 [[ 0.99995355 0.00624791 -0.00733856 0.05079361] [-0.00629859 0.99995633 -0.00690352 0.17060612] [ 0.00729511 0.00694942 0.99994924 -0.01187828] [ 0. 0. 0. 1. ]] SLAMing on 0.957535379 meters 0.12137469632093276 Centerline is valid? [False, False] Translation: X:0.06, Y:0.17, Z:-0.01 [[ 0.99992406 0.00418954 -0.01158939 0.06127782] [-0.00421306 0.99998911 -0.00200588 0.16998469] [ 0.01158086 0.00205456 0.99993083 -0.00988931] [ 0. 0. 0. 1. ]] SLAMing on 0.987535379 meters 0.11774135859330102 Centerline is valid? [False, False] Translation: X:0.06, Y:0.17, Z:-0.01 [[ 0.9999241 0.00433624 -0.01153257 0.06134037] [-0.00436019 0.99998839 -0.00205215 0.17025721] [ 0.01152354 0.00210227 0.99993139 -0.01016677] [ 0. 0. 0. 1. ]] SLAMing on 1.017535379 meters 0.12582898884188026 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-0.01 [[ 0.99999511 0.00113115 -0.00291431 0.07081257] [-0.0011203 0.99999245 0.00372175 0.16748406] [ 0.0029185 -0.00371847 0.99998883 -0.0144797 ] [ 0. 0. 0. 1. ]] SLAMing on 1.047535379 meters 0.12112938791065396 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-0.01 [[ 0.9999951 0.00103583 -0.00295247 0.07109969] [-0.00102503 0.99999279 0.00365644 0.1672541 ] [ 0.00295623 -0.0036534 0.99998896 -0.01479935] [ 0. 0. 0. 1. ]] SLAMing on 1.077535379 meters 0.11108219129176243 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-0.02 [[ 9.99994541e-01 1.00620473e-03 -3.14732115e-03 7.20590951e-02] [-9.93268050e-04 9.99991064e-01 4.10924325e-03 1.65297098e-01] [ 3.15142777e-03 -4.10609468e-03 9.99986604e-01 -1.55874713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.107535379 meters 0.11108219129176243 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-0.02 [[ 9.99994541e-01 1.00620473e-03 -3.14732115e-03 7.20590951e-02] [-9.93268050e-04 9.99991064e-01 4.10924325e-03 1.65297098e-01] [ 3.15142777e-03 -4.10609468e-03 9.99986604e-01 -1.55874713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1375353789999998 meters 0.0965535384420282 Centerline is valid? [False, True] Translation: X:0.07, Y:0.17, Z:-0.01 [[ 0.99999426 -0.00175211 -0.00290018 0.07030994] [ 0.00175536 0.99999783 0.0011192 0.16530983] [ 0.00289822 -0.00112428 0.99999517 -0.01403563] [ 0. 0. 0. 1. ]] SLAMing on 1.1675353789999998 meters 0.1013422780434543 Centerline is valid? [True, False] Translation: X:0.07, Y:0.16, Z:-0.01 [[ 0.99999394 -0.00151715 -0.00313355 0.07127042] [ 0.00152296 0.99999712 0.00185363 0.16319381] [ 0.00313073 -0.00185839 0.99999337 -0.01475874] [ 0. 0. 0. 1. ]] SLAMing on 1.1975353789999998 meters 0.09203933508478573 Centerline is valid? [False, True] Translation: X:0.07, Y:0.16, Z:-0.02 [[ 9.99982296e-01 -5.03348651e-03 -3.17360671e-03 7.16082436e-02] [ 5.03052984e-03 9.99986906e-01 -9.38939106e-04 1.59939233e-01] [ 3.17829129e-03 9.22957560e-04 9.99994523e-01 -1.50049731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2275353789999999 meters 0.08915275375453578 Centerline is valid? [True, True] Translation: X:0.10, Y:0.16, Z:-0.01 [[ 9.99976925e-01 -5.28357843e-03 -4.27015320e-03 9.91410568e-02] [ 5.28370321e-03 9.99986041e-01 1.79404241e-05 1.55375642e-01] [ 4.26999880e-03 -4.05022323e-05 9.99990883e-01 -1.46879619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.257535379 meters 0.09034909296916985 Centerline is valid? [True, True] Translation: X:0.13, Y:0.15, Z:-0.01 [[ 9.99974626e-01 -4.91009972e-03 -5.16129911e-03 1.27381927e-01] [ 4.91027289e-03 9.99987944e-01 2.08809960e-05 1.51718504e-01] [ 5.16113436e-03 -4.62238532e-05 9.99986680e-01 -1.43266631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.287535379 meters 0.0849600778576611 Centerline is valid? [True, True] Translation: X:0.16, Y:0.15, Z:-0.02 [[ 9.99973062e-01 -4.97706876e-03 -5.39489516e-03 1.55868884e-01] [ 4.97726360e-03 9.99987613e-01 2.26890378e-05 1.49809711e-01] [ 5.39471541e-03 -4.95402418e-05 9.99985447e-01 -1.50153723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.317535379 meters 0.08443996883361533 Centerline is valid? [True, True] Translation: X:0.18, Y:0.14, Z:-0.01 [[ 9.99962089e-01 -3.89475170e-03 -7.78793232e-03 1.83921265e-01] [ 3.89508352e-03 9.99992414e-01 2.74393643e-05 1.41515147e-01] [ 7.78776637e-03 -5.77729709e-05 9.99969673e-01 -1.48891993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3475353789999998 meters 0.08290242618706697 Centerline is valid? [True, True] Translation: X:0.21, Y:0.14, Z:-0.02 [[ 9.99955333e-01 -4.16370325e-03 -8.48500849e-03 2.12025765e-01] [ 4.16410349e-03 9.99991330e-01 2.95052318e-05 1.38777802e-01] [ 8.48481207e-03 -6.48363674e-05 9.99964001e-01 -1.55980570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3775353789999998 meters 0.08231498295417251 Centerline is valid? [True, True] Translation: X:0.24, Y:0.13, Z:-0.02 [[ 9.99945002e-01 -4.47355756e-03 -9.48578306e-03 2.39792712e-01] [ 4.47403715e-03 9.99989991e-01 2.93385976e-05 1.34817032e-01] [ 9.48555687e-03 -7.17767298e-05 9.99955009e-01 -1.58161397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4075353789999998 meters 0.07918368591130913 Centerline is valid? [True, True] Translation: X:0.27, Y:0.13, Z:-0.02 [[ 9.99936329e-01 -5.40269533e-03 -9.90699381e-03 2.67936826e-01] [ 5.40322804e-03 9.99985402e-01 2.70070165e-05 1.25117639e-01] [ 9.90670328e-03 -8.05350437e-05 9.99950924e-01 -1.60322922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4375353789999998 meters 0.0768068951644868 Centerline is valid? [True, True] Translation: X:0.30, Y:0.12, Z:-0.02 [[ 9.99922389e-01 -6.28901206e-03 -1.07546884e-02 2.95664289e-01] [ 6.28964685e-03 9.99980220e-01 2.52021713e-05 1.20120678e-01] [ 1.07543172e-02 -9.28434075e-05 9.99942166e-01 -1.57501203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4675353789999999 meters 0.07770898007678777 Centerline is valid? [True, True] Translation: X:0.32, Y:0.11, Z:-0.02 [[ 9.99917299e-01 -6.87276783e-03 -1.08701263e-02 3.23370262e-01] [ 6.87340711e-03 9.99976378e-01 2.14527374e-05 1.14871017e-01] [ 1.08697221e-02 -9.61657667e-05 9.99940918e-01 -1.59466955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4975353789999999 meters 0.07638017673897657 Centerline is valid? [True, True] Translation: X:0.35, Y:0.10, Z:-0.02 [[ 9.99883796e-01 -8.84337475e-03 -1.24173352e-02 3.51249288e-01] [ 8.84434179e-03 9.99960888e-01 2.29660110e-05 1.04025253e-01] [ 1.24166464e-02 -1.32786499e-04 9.99922902e-01 -1.69736344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.527535379 meters 0.07295703748440449 Centerline is valid? [True, True] Translation: X:0.38, Y:0.10, Z:-0.02 [[ 9.99866916e-01 -1.05968218e-02 -1.24039598e-02 3.80088258e-01] [ 1.05979023e-02 9.99943840e-01 2.13780292e-05 9.93937688e-02] [ 1.24030367e-02 -1.52831138e-04 9.99923068e-01 -1.65129096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.557535379 meters 0.07528979348159519 Centerline is valid? [True, True] Translation: X:0.41, Y:0.09, Z:-0.02 [[ 9.99843270e-01 -1.17996904e-02 -1.31985632e-02 4.09252852e-01] [ 1.18009626e-02 9.99930366e-01 1.85061539e-05 9.49427387e-02] [ 1.31974258e-02 -1.74259004e-04 9.99912895e-01 -1.72377900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.587535379 meters 0.07521637051105062 Centerline is valid? [True, True] Translation: X:0.44, Y:0.08, Z:-0.02 [[ 9.99824795e-01 -1.38107111e-02 -1.26350457e-02 4.37244905e-01] [ 1.38119935e-02 9.99904610e-01 1.42386768e-05 8.42135249e-02] [ 1.26336438e-02 -1.88751351e-04 9.99920175e-01 -1.69835782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6175353789999998 meters 0.07496952697034902 Centerline is valid? [True, True] Translation: X:0.46, Y:0.08, Z:-0.02 [[ 9.99825105e-01 -1.47572425e-02 -1.14883734e-02 4.64957370e-01] [ 1.47583515e-02 9.99891090e-01 1.17536250e-05 8.01090717e-02] [ 1.14869487e-02 -1.81301021e-04 9.99934006e-01 -1.62429464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6475353789999998 meters 0.07379118585248311 Centerline is valid? [True, True] Translation: X:0.49, Y:0.08, Z:-0.02 [[ 9.99821560e-01 -1.50050814e-02 -1.14758950e-02 4.91638279e-01] [ 1.50061588e-02 9.99887401e-01 7.77492717e-06 7.59478020e-02] [ 1.14744862e-02 -1.79982643e-04 9.99934150e-01 -1.61127157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6775353789999998 meters 0.0745290355983823 Centerline is valid? [True, True] Translation: X:0.52, Y:0.07, Z:-0.02 [[ 9.99834107e-01 -1.37913053e-02 -1.18978580e-02 5.19916033e-01] [ 1.37923557e-02 9.99904881e-01 6.23110834e-06 7.04155044e-02] [ 1.18966404e-02 -1.70329564e-04 9.99929218e-01 -1.57021216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7075353789999999 meters 0.07093943373520505 Centerline is valid? [True, True] Translation: X:0.55, Y:0.07, Z:-0.01 [[ 9.99862280e-01 -1.35887900e-02 -9.52710046e-03 5.47720137e-01] [ 1.35894511e-02 9.99907659e-01 4.65753620e-06 6.96181117e-02] [ 9.52615743e-03 -1.34124961e-04 9.99954616e-01 -1.43875425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7375353789999999 meters 0.07233509191934077 Centerline is valid? [True, True] Translation: X:0.58, Y:0.07, Z:-0.01 [[ 9.99875874e-01 -1.17880900e-02 -1.04535473e-02 5.75825490e-01] [ 1.17887426e-02 9.99930510e-01 8.03458466e-07 6.84870274e-02] [ 1.04528114e-02 -1.24037536e-04 9.99945360e-01 -1.48327677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.767535379 meters 0.07154504657559003 Centerline is valid? [True, True] Translation: X:0.60, Y:0.07, Z:-0.02 [[ 9.99897478e-01 -7.76562352e-03 -1.20303022e-02 6.04308229e-01] [ 7.76617682e-03 9.99969843e-01 -7.24326302e-07 6.93826801e-02] [ 1.20299450e-02 -9.27052020e-05 9.99927633e-01 -1.57568191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.797535379 meters 0.06879107549240171 Centerline is valid? [True, True] Translation: X:0.63, Y:0.07, Z:-0.02 [[ 9.99921689e-01 -5.87257008e-03 -1.10511469e-02 6.33555367e-01] [ 5.87288858e-03 9.99982754e-01 -3.63164667e-06 7.03301570e-02] [ 1.10509777e-02 -6.12707924e-05 9.99938934e-01 -1.55860346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8275353789999997 meters 0.06970063709397713 Centerline is valid? [True, True] Translation: X:0.66, Y:0.07, Z:-0.02 [[ 9.99934946e-01 -3.99460531e-03 -1.06839711e-02 6.60535652e-01] [ 3.99476176e-03 9.99992021e-01 -6.69706429e-06 7.10006446e-02] [ 1.06839126e-02 -3.59832907e-05 9.99942925e-01 -1.51573286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8575353789999998 meters 0.06905330054237828 Centerline is valid? [True, True] Translation: X:0.69, Y:0.07, Z:-0.01 [[ 9.99939523e-01 -2.08704549e-03 -1.07979343e-02 6.88708672e-01] [ 2.08706700e-03 9.99997822e-01 -9.27611400e-06 7.18533741e-02] [ 1.07979302e-02 -1.32604595e-05 9.99941701e-01 -1.48335777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8875353789999998 meters 0.06756171307273713 Centerline is valid? [True, True] Translation: X:0.72, Y:0.07, Z:-0.01 [[ 9.99943485e-01 2.66181110e-04 -1.06280410e-02 7.16204541e-01] [-2.66334256e-04 9.99999964e-01 -1.29942363e-05 7.22012015e-02] [ 1.06280372e-02 1.58241133e-05 9.99943521e-01 -1.44718007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9175353789999998 meters 0.06602590634499395 Centerline is valid? [True, True] Translation: X:0.74, Y:0.07, Z:-0.01 [[ 9.99948711e-01 -3.14229463e-05 -1.01278964e-02 7.44450673e-01] [ 3.12838831e-05 9.99999999e-01 -1.38891424e-05 7.16141348e-02] [ 1.01278968e-02 1.35715901e-05 9.99948711e-01 -1.43322763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9475353789999998 meters 0.06516769223685794 Centerline is valid? [True, True] Translation: X:0.77, Y:0.07, Z:-0.01 [[ 9.99961353e-01 -6.92126720e-04 -8.76438157e-03 7.72419351e-01] [ 6.92039610e-04 9.99999760e-01 -1.29718120e-05 7.07974690e-02] [ 8.76438845e-03 6.90601145e-06 9.99961592e-01 -1.39323738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9775353789999999 meters 0.06341495111565176 Centerline is valid? [True, True] Translation: X:0.80, Y:0.07, Z:-0.01 [[ 9.99955808e-01 -3.46847665e-03 -8.73789085e-03 7.99790844e-01] [ 3.46848570e-03 9.99993985e-01 -1.41184876e-05 6.75969166e-02] [ 8.73788726e-03 -1.61893858e-05 9.99961824e-01 -1.38985245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.007535379 meters 0.0625601963730955 Centerline is valid? [True, True] Translation: X:0.83, Y:0.07, Z:-0.01 [[ 9.99957576e-01 -4.82334915e-03 -7.84739417e-03 8.27875168e-01] [ 4.82339049e-03 9.99988367e-01 -1.36572648e-05 6.60545593e-02] [ 7.84736876e-03 -2.41943610e-05 9.99969209e-01 -1.32974327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.037535379 meters 0.062281698113327046 Centerline is valid? [True, True] Translation: X:0.86, Y:0.06, Z:-0.01 [[ 9.99945481e-01 -7.46955439e-03 -7.29657559e-03 8.56634937e-01] [ 7.46965534e-03 9.99972102e-01 -1.34172618e-05 6.29068774e-02] [ 7.29647224e-03 -4.10863745e-05 9.99973380e-01 -1.27938551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.067535379 meters 0.06090588056789347 Centerline is valid? [True, True] Translation: X:0.89, Y:0.06, Z:-0.01 [[ 9.99938281e-01 -9.26195945e-03 -6.13595834e-03 8.85575777e-01] [ 9.26206908e-03 9.99957106e-01 -1.05483738e-05 6.10808358e-02] [ 6.13579285e-03 -4.62839473e-05 9.99981175e-01 -1.21365316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.097535379 meters 0.060578874910292506 Centerline is valid? [True, True] Translation: X:0.91, Y:0.06, Z:-0.01 [[ 9.99927250e-01 -1.02030370e-02 -6.43368758e-03 9.13511606e-01] [ 1.02031646e-02 9.99947946e-01 -1.29836419e-05 6.03227068e-02] [ 6.43348516e-03 -5.26612760e-05 9.99979304e-01 -1.18530343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1275353790000002 meters 0.05872438887277763 Centerline is valid? [True, True] Translation: X:0.94, Y:0.06, Z:-0.01 [[ 9.99915585e-01 -1.18032437e-02 -5.43201950e-03 9.42774101e-01] [ 1.18033499e-02 9.99930338e-01 -1.24971802e-05 5.91826499e-02] [ 5.43178861e-03 -5.16199017e-05 9.99985246e-01 -1.11609690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.157535379 meters 0.05585498179611839 Centerline is valid? [True, True] Translation: X:0.97, Y:0.06, Z:-0.01 [[ 9.99903316e-01 -1.30535765e-02 -4.79189685e-03 9.71950860e-01] [ 1.30536684e-02 9.99914797e-01 -1.21035864e-05 5.80660104e-02] [ 4.79164656e-03 -5.04494162e-05 9.99988519e-01 -9.84804541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1875353790000003 meters 0.05477518554125302 Centerline is valid? [True, True] Translation: X:1.00, Y:0.06, Z:-0.01 [[ 9.99899935e-01 -1.34376061e-02 -4.42167481e-03 9.99932961e-01] [ 1.34376846e-02 9.99909710e-01 -1.19494667e-05 5.82316901e-02] [ 4.42143615e-03 -4.74688005e-05 9.99990224e-01 -8.99705142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.217535379 meters 0.05068597342410426 Centerline is valid? [True, True] Translation: X:1.03, Y:0.06, Z:-0.01 [[ 9.99895437e-01 -1.41198178e-02 -3.12169824e-03 1.02810729e+00] [ 1.41198543e-02 9.99900310e-01 -1.03365453e-05 5.81875723e-02] [ 3.12153299e-03 -3.37424599e-05 9.99995127e-01 -7.98921632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.247535379 meters 0.04964479543545587 Centerline is valid? [True, True] Translation: X:1.06, Y:0.06, Z:-0.01 [[ 9.99895462e-01 -1.41910332e-02 -2.77139366e-03 1.05663178e+00] [ 1.41910674e-02 9.99899302e-01 -7.33024914e-06 5.91254051e-02] [ 2.77121860e-03 -3.19995513e-05 9.99996160e-01 -7.55632481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.277535379 meters 0.04768534791739236 Centerline is valid? [True, True] Translation: X:1.08, Y:0.06, Z:-0.01 [[ 9.99885176e-01 -1.49348070e-02 -2.56635392e-03 1.08473444e+00] [ 1.49348372e-02 9.99888469e-01 -7.39281443e-06 5.99506862e-02] [ 2.56617810e-03 -3.09361125e-05 9.99996707e-01 -7.09180936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.307535379 meters 0.04549457932377693 Centerline is valid? [True, True] Translation: X:1.11, Y:0.06, Z:-0.01 [[ 9.99889069e-01 -1.46028722e-02 -2.93351540e-03 1.11246816e+00] [ 1.46028999e-02 9.99893372e-01 -1.19843655e-05 6.07893020e-02] [ 2.93337762e-03 -3.08547958e-05 9.99995697e-01 -6.75309750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.337535379 meters 0.04466512079790326 Centerline is valid? [True, True] Translation: X:1.14, Y:0.06, Z:-0.01 [[ 9.99887682e-01 -1.47372079e-02 -2.72741447e-03 1.14057769e+00] [ 1.47372372e-02 9.99891401e-01 -9.36927646e-06 6.20789953e-02] [ 2.72725636e-03 -3.08263299e-05 9.99996281e-01 -6.27521515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.367535379 meters 0.04084849396175745 Centerline is valid? [True, True] Translation: X:1.17, Y:0.07, Z:-0.01 [[ 9.99908958e-01 -1.28779409e-02 -4.02914472e-03 1.16800229e+00] [ 1.28779716e-02 9.99917075e-01 -1.83323205e-05 6.62953109e-02] [ 4.02904669e-03 -3.35565597e-05 9.99991883e-01 -6.29651778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3975353790000002 meters 0.04010532169327437 Centerline is valid? [True, True] Translation: X:1.20, Y:0.07, Z:-0.01 [[ 9.99924129e-01 -1.14602549e-02 -4.51656293e-03 1.19649763e+00] [ 1.14602789e-02 9.99934329e-01 -2.05707552e-05 6.94873089e-02] [ 4.51650206e-03 -3.11918761e-05 9.99989800e-01 -6.16367493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.427535379 meters 0.03807014573883493 Centerline is valid? [True, True] Translation: X:1.22, Y:0.07, Z:-0.01 [[ 9.99935289e-01 -1.04032200e-02 -4.60324664e-03 1.22412946e+00] [ 1.04032286e-02 9.99945885e-01 -2.20817199e-05 7.26580291e-02] [ 4.60322726e-03 -2.58083363e-05 9.99989405e-01 -5.34638166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.457535379 meters 0.0362468292001785 Centerline is valid? [True, True] Translation: X:1.25, Y:0.08, Z:-0.01 [[ 9.99956413e-01 -6.65325475e-03 -6.55034280e-03 1.25198217e+00] [ 6.65316023e-03 9.99977867e-01 -3.62202332e-05 7.90689047e-02] [ 6.55043880e-03 -7.36182584e-06 9.99978546e-01 -5.95181395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.487535379 meters 0.03380671270190284 Centerline is valid? [True, True] Translation: X:1.28, Y:0.08, Z:-0.01 [[ 9.99959985e-01 -5.38181652e-03 -7.14588891e-03 1.27960278e+00] [ 5.38167213e-03 9.99985518e-01 -3.94352096e-05 8.19676952e-02] [ 7.14599766e-03 9.76800397e-07 9.99974467e-01 -5.38365292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.517535379 meters 0.03159912192711654 Centerline is valid? [True, True] Translation: X:1.31, Y:0.08, Z:-0.01 [[ 9.99965817e-01 -4.31786359e-03 -7.05136134e-03 1.30799731e+00] [ 4.31768076e-03 9.99990678e-01 -4.11505237e-05 8.47083158e-02] [ 7.05147329e-03 1.07035898e-05 9.99975138e-01 -5.02057289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.547535379 meters 0.03096594205263808 Centerline is valid? [True, True] Translation: X:1.34, Y:0.09, Z:-0.00 [[ 9.99962944e-01 -1.99011669e-03 -8.37561201e-03 1.33528962e+00] [ 1.98974479e-03 9.99998019e-01 -5.27357348e-05 8.97315335e-02] [ 8.37570037e-03 3.60684502e-05 9.99964923e-01 -4.56166005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.577535379 meters 0.03112434630841168 Centerline is valid? [True, True] Translation: X:1.36, Y:0.09, Z:-0.00 [[ 9.99965075e-01 -1.47125752e-03 -8.22703420e-03 1.36369128e+00] [ 1.47087637e-03 9.99998917e-01 -5.23790343e-05 9.21915002e-02] [ 8.22710236e-03 4.02762548e-05 9.99966156e-01 -3.78918664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.607535379 meters 0.02653593982555251 Centerline is valid? [True, True] Translation: X:1.39, Y:0.09, Z:-0.00 [[ 9.99951124e-01 -2.84235007e-03 -9.46944805e-03 1.39271430e+00] [ 2.84186988e-03 9.99995960e-01 -6.41650664e-05 9.27767258e-02] [ 9.46959217e-03 3.72509911e-05 9.99955162e-01 -3.42469637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.637535379 meters 0.027134205436812112 Centerline is valid? [True, True] Translation: X:1.42, Y:0.09, Z:-0.00 [[ 9.99951080e-01 -3.12336760e-03 -9.38523715e-03 1.41937096e+00] [ 3.12290206e-03 9.99995122e-01 -6.42576312e-05 9.46986283e-02] [ 9.38539206e-03 3.49453113e-05 9.99955956e-01 -2.67571942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.667535379 meters 0.026823783127899046 Centerline is valid? [True, True] Translation: X:1.45, Y:0.10, Z:-0.00 [[ 9.99942191e-01 -4.49421283e-03 -9.76811732e-03 1.44786631e+00] [ 4.49376165e-03 9.99989901e-01 -6.81368829e-05 9.55881737e-02] [ 9.76832489e-03 2.42373531e-05 9.99952288e-01 -2.37318046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.697535379 meters 0.02644536487385263 Centerline is valid? [True, True] Translation: X:1.47, Y:0.10, Z:-0.00 [[ 9.99926805e-01 -6.84996957e-03 -9.97311904e-03 1.47444041e+00] [ 6.84958309e-03 9.99976539e-01 -7.29088098e-05 9.60319153e-02] [ 9.97338448e-03 4.59176566e-06 9.99950265e-01 -1.58766505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.727535379 meters 0.025398937535972072 Centerline is valid? [True, True] Translation: X:1.50, Y:0.10, Z:-0.00 [[ 9.99904665e-01 -8.71542261e-03 -1.07099202e-02 1.50256817e+00] [ 8.71506852e-03 9.99962020e-01 -7.97318473e-05 9.56899957e-02] [ 1.07102084e-02 -1.36134426e-05 9.99942644e-01 -1.33415119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.757535379 meters 0.025264399748584004 Centerline is valid? [True, True] Translation: X:1.53, Y:0.10, Z:-0.00 [[ 9.99886750e-01 -1.05753056e-02 -1.07075244e-02 1.53036212e+00] [ 1.05750240e-02 9.99944079e-01 -8.29258761e-05 9.52353960e-02] [ 1.07078026e-02 -3.03158424e-05 9.99942669e-01 -8.72330210e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.787535379 meters 0.02512884031715792 Centerline is valid? [True, True] Translation: X:1.56, Y:0.09, Z:-0.00 [[ 9.99861099e-01 -1.27550465e-02 -1.07280644e-02 1.55810633e+00] [ 1.27548548e-02 9.99918650e-01 -8.62912271e-05 9.44830796e-02] [ 1.07282924e-02 -5.05556635e-05 9.99942449e-01 -1.09471766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.817535379 meters 0.02549654761802452 Centerline is valid? [True, True] Translation: X:1.59, Y:0.09, Z:0.00 [[ 9.99798639e-01 -1.64042168e-02 -1.15577792e-02 1.58555198e+00] [ 1.64041963e-02 9.99865437e-01 -9.65837986e-05 9.28806060e-02] [ 1.15578083e-02 -9.30317279e-05 9.99933202e-01 1.62288252e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.847535379 meters 0.025133012102956404 Centerline is valid? [True, True] Translation: X:1.61, Y:0.09, Z:-0.00 [[ 9.99750202e-01 -1.85589694e-02 -1.24538211e-02 1.61486334e+00] [ 1.85590948e-02 9.99827760e-01 -1.05510415e-04 9.37970382e-02] [ 1.24536342e-02 -1.25647587e-04 9.99922443e-01 -6.41217896e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8775353790000002 meters 0.025471693245355198 Centerline is valid? [True, True] Translation: X:1.64, Y:0.09, Z:-0.00 [[ 9.99711689e-01 -2.02156922e-02 -1.29562898e-02 1.64396940e+00] [ 2.02159190e-02 9.99795631e-01 -1.13476412e-04 9.40986411e-02] [ 1.29559360e-02 -1.48479609e-04 9.99916057e-01 -1.88881611e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.907535379 meters 0.02553212651198472 Centerline is valid? [True, True] Translation: X:1.67, Y:0.10, Z:-0.00 [[ 9.99648081e-01 -2.26868371e-02 -1.37485181e-02 1.67291241e+00] [ 2.26872714e-02 9.99742603e-01 -1.24402712e-04 9.54751791e-02] [ 1.37478016e-02 -1.87557428e-04 9.99905477e-01 -8.06088973e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.937535379 meters 0.02572672751612079 Centerline is valid? [True, True] Translation: X:1.70, Y:0.10, Z:0.00 [[ 9.99624005e-01 -2.36507709e-02 -1.38740990e-02 1.70042487e+00] [ 2.36512584e-02 9.99720262e-01 -1.28963026e-04 9.57947167e-02] [ 1.38732680e-02 -1.99225365e-04 9.99903742e-01 2.30734097e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.967535379 meters 0.025712215487105415 Centerline is valid? [True, True] Translation: X:1.73, Y:0.10, Z:0.00 [[ 9.99596747e-01 -2.45069191e-02 -1.43441645e-02 1.72948873e+00] [ 2.45074997e-02 9.99699637e-01 -1.35328272e-04 9.64289772e-02] [ 1.43431725e-02 -2.16265907e-04 9.99897108e-01 7.91800628e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.997535379 meters 0.025712215487105415 Centerline is valid? [True, True] Translation: X:1.76, Y:0.10, Z:0.00 [[ 9.99589011e-01 -2.48204627e-02 -1.43441251e-02 1.75700482e+00] [ 2.48210173e-02 9.99691901e-01 -1.39390390e-04 9.69507420e-02] [ 1.43431655e-02 -2.16702676e-04 9.99897108e-01 1.10154947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.027535379 meters 0.026193772397770453 Centerline is valid? [True, True] Translation: X:1.79, Y:0.10, Z:0.00 [[ 9.99562710e-01 -2.61954850e-02 -1.37180780e-02 1.78621941e+00] [ 2.61960661e-02 9.99656815e-01 -1.37354747e-04 9.73324785e-02] [ 1.37169682e-02 -2.22064994e-04 9.99905893e-01 2.29460269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.057535379 meters 0.02502808262306803 Centerline is valid? [True, True] Translation: X:1.81, Y:0.10, Z:0.00 [[ 9.99551898e-01 -2.67408669e-02 -1.34510221e-02 1.81419901e+00] [ 2.67414247e-02 9.99642375e-01 -1.38416350e-04 1.02253296e-01] [ 1.34499131e-02 -2.21345171e-04 9.99909521e-01 3.99206542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.087535379 meters 0.024620131156417834 Centerline is valid? [True, True] Translation: X:1.84, Y:0.10, Z:0.00 [[ 9.99530046e-01 -2.71782558e-02 -1.41784672e-02 1.84233507e+00] [ 2.71788501e-02 9.99630575e-01 -1.50802353e-04 1.04594737e-01] [ 1.41773279e-02 -2.34622953e-04 9.99899469e-01 3.89699187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.117535379 meters 0.024336647659119637 Centerline is valid? [True, True] Translation: X:1.87, Y:0.11, Z:0.00 [[ 9.99512197e-01 -2.70929654e-02 -1.55351069e-02 1.87059853e+00] [ 2.70935834e-02 9.99632887e-01 -1.70714471e-04 1.09126709e-01] [ 1.55340290e-02 -2.50270520e-04 9.99879308e-01 3.60697623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1475353790000002 meters 0.024330017265795003 Centerline is valid? [True, True] Translation: X:1.90, Y:0.11, Z:0.00 [[ 9.99505031e-01 -2.73492831e-02 -1.55470357e-02 1.89830303e+00] [ 2.73498539e-02 9.99625907e-01 -1.75940002e-04 1.11683291e-01] [ 1.55460315e-02 -2.49356238e-04 9.99879122e-01 3.57742199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.177535379 meters 0.02363475607058295 Centerline is valid? [True, True] Translation: X:1.93, Y:0.11, Z:0.00 [[ 9.99489525e-01 -2.70986270e-02 -1.69220064e-02 1.92615125e+00] [ 2.70991688e-02 9.99632731e-01 -1.97322956e-04 1.14680767e-01] [ 1.69211387e-02 -2.61350082e-04 9.99856793e-01 2.62202193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.207535379 meters 0.02279063351622889 Centerline is valid? [True, True] Translation: X:1.95, Y:0.12, Z:0.00 [[ 9.99500454e-01 -2.57765608e-02 -1.82869213e-02 1.95408807e+00] [ 2.57768875e-02 9.99667697e-01 -2.17884246e-04 1.19377543e-01] [ 1.82864608e-02 -2.53604510e-04 9.99832757e-01 1.13933283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.237535379 meters 0.02316732786289558 Centerline is valid? [True, True] Translation: X:1.98, Y:0.12, Z:0.00 [[ 9.99471651e-01 -2.61399986e-02 -1.93163066e-02 1.98329547e+00] [ 2.61403648e-02 9.99658255e-01 -2.33575696e-04 1.21714693e-01] [ 1.93158110e-02 -2.71483016e-04 9.99813395e-01 3.97554943e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.267535379 meters 0.02286172092511046 Centerline is valid? [True, True] Translation: X:2.01, Y:0.13, Z:0.00 [[ 9.99469222e-01 -2.57008277e-02 -2.00185568e-02 2.01117358e+00] [ 2.57010128e-02 9.99669644e-01 -2.48069367e-04 1.25131309e-01] [ 2.00183191e-02 -2.66559489e-04 9.99799578e-01 2.83324946e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.297535379 meters 0.021824218939540094 Centerline is valid? [True, True] Translation: X:2.04, Y:0.13, Z:-0.00 [[ 9.99498829e-01 -2.37338101e-02 -2.09474784e-02 2.03891771e+00] [ 2.37334833e-02 9.99718286e-01 -2.64242800e-04 1.32472865e-01] [ 2.09478487e-02 -2.33046260e-04 9.99780543e-01 -2.85523524e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.327535379 meters 0.021357008806647308 Centerline is valid? [True, True] Translation: X:2.07, Y:0.14, Z:0.00 [[ 9.99520089e-01 -2.29692397e-02 -2.07847452e-02 2.06815046e+00] [ 2.29686765e-02 9.99736150e-01 -2.65852582e-04 1.36354649e-01] [ 2.07853676e-02 -2.11673093e-04 9.99783939e-01 2.29779361e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.357535379 meters 0.020456432863973868 Centerline is valid? [True, True] Translation: X:2.10, Y:0.14, Z:0.00 [[ 9.99558579e-01 -2.15144950e-02 -2.04883614e-02 2.09655826e+00] [ 2.15135299e-02 9.99768521e-01 -2.67539148e-04 1.40503191e-01] [ 2.04893748e-02 -1.73355926e-04 9.99790056e-01 1.49876774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.387535379 meters 0.020009257296341662 Centerline is valid? [True, True] Translation: X:2.13, Y:0.14, Z:0.00 [[ 9.99586544e-01 -2.05537102e-02 -2.01068502e-02 2.12552883e+00] [ 2.05524792e-02 9.99788740e-01 -2.67886835e-04 1.44090823e-01] [ 2.01081085e-02 -1.45469546e-04 9.99797801e-01 2.22532212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.417535379 meters 0.019033428496399822 Centerline is valid? [True, True] Translation: X:2.15, Y:0.15, Z:0.00 [[ 9.99649283e-01 -1.82423711e-02 -1.91970367e-02 2.15417311e+00] [ 1.82407272e-02 9.99833590e-01 -2.60742329e-04 1.50565408e-01] [ 1.91985987e-02 -8.95170276e-05 9.99815686e-01 3.59653881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.447535379 meters 0.01847918584185864 Centerline is valid? [True, True] Translation: X:2.18, Y:0.15, Z:0.00 [[ 9.99666736e-01 -1.78594476e-02 -1.86401869e-02 2.18193227e+00] [ 1.78577358e-02 9.99840505e-01 -2.58296124e-04 1.53610973e-01] [ 1.86418269e-02 -7.46614883e-05 9.99826223e-01 4.71407373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.477535379 meters 0.01829525117992248 Centerline is valid? [True, True] Translation: X:2.21, Y:0.16, Z:0.01 [[ 9.99692918e-01 -1.72988951e-02 -1.77431121e-02 2.20987327e+00] [ 1.72971641e-02 9.99850361e-01 -2.51026966e-04 1.56783097e-01] [ 1.77447995e-02 -5.59556423e-05 9.99842547e-01 5.91331846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.507535379 meters 0.01775345182857816 Centerline is valid? [True, True] Translation: X:2.24, Y:0.16, Z:0.01 [[ 9.99726854e-01 -1.65802910e-02 -1.64715176e-02 2.23817732e+00] [ 1.65786244e-02 9.99862537e-01 -2.37730122e-04 1.62066832e-01] [ 1.64731950e-02 -3.54099167e-05 9.99864307e-01 8.58609916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.537535379 meters 0.017602530647534302 Centerline is valid? [True, True] Translation: X:2.27, Y:0.17, Z:0.01 [[ 9.99755539e-01 -1.58971865e-02 -1.53668919e-02 2.26655280e+00] [ 1.58955879e-02 9.99873632e-01 -2.26173200e-04 1.65586510e-01] [ 1.53685455e-02 -1.81478699e-05 9.99881897e-01 1.00007023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.567535379 meters 0.016937998975331426 Centerline is valid? [True, True] Translation: X:2.29, Y:0.17, Z:0.01 [[ 9.99784585e-01 -1.49829842e-02 -1.43629574e-02 2.29470356e+00] [ 1.49814348e-02 9.99887749e-01 -2.15466293e-04 1.69657551e-01] [ 1.43645735e-02 2.42168483e-07 9.99896824e-01 1.16750575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.597535379 meters 0.017165381653511492 Centerline is valid? [True, True] Translation: X:2.32, Y:0.18, Z:0.01 [[ 9.99764773e-01 -1.53319435e-02 -1.53404523e-02 2.32213054e+00] [ 1.53301564e-02 9.99882459e-01 -2.34085018e-04 1.75221109e-01] [ 1.53422381e-02 -1.14157868e-06 9.99882301e-01 9.83538892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.627535379 meters 0.016910084686161057 Centerline is valid? [True, True] Translation: X:2.35, Y:0.18, Z:0.01 [[ 9.99782637e-01 -1.47054277e-02 -1.47793313e-02 2.34970862e+00] [ 1.47036707e-02 9.99891869e-01 -2.27545559e-04 1.78382231e-01] [ 1.47810794e-02 1.01856787e-05 9.99890754e-01 1.05262062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.657535379 meters 0.016648118532135606 Centerline is valid? [True, True] Translation: X:2.38, Y:0.18, Z:0.01 [[ 9.99779579e-01 -1.54925784e-02 -1.41694293e-02 2.37724559e+00] [ 1.54909859e-02 9.99879983e-01 -2.22144171e-04 1.79699989e-01] [ 1.41711703e-02 2.59677650e-06 9.99899584e-01 1.09828482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.687535379 meters 0.016422162843489244 Centerline is valid? [True, True] Translation: X:2.40, Y:0.18, Z:0.01 [[ 9.99770108e-01 -1.66160680e-02 -1.35512785e-02 2.40434446e+00] [ 1.66146685e-02 9.99861944e-01 -2.15859148e-04 1.81639101e-01] [ 1.35529944e-02 -9.34047702e-06 9.99908154e-01 1.21789417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.717535379 meters 0.016220054299465467 Centerline is valid? [True, True] Translation: X:2.43, Y:0.18, Z:0.01 [[ 9.99772511e-01 -1.73269383e-02 -1.24379793e-02 2.43251510e+00] [ 1.73257940e-02 9.99849877e-01 -1.99756601e-04 1.83187568e-01] [ 1.24395732e-02 -1.57867088e-05 9.99922625e-01 1.36005571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.747535379 meters 0.01620737475467405 Centerline is valid? [True, True] Translation: X:2.46, Y:0.19, Z:0.01 [[ 9.99745196e-01 -1.86798962e-02 -1.26729563e-02 2.45943453e+00] [ 1.86787731e-02 9.99825515e-01 -2.06988880e-04 1.85534793e-01] [ 1.26746116e-02 -2.97791366e-05 9.99919673e-01 1.37579207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.777535379 meters 0.016407879021302117 Centerline is valid? [True, True] Translation: X:2.49, Y:0.19, Z:0.01 [[ 9.99724224e-01 -1.94509415e-02 -1.31581497e-02 2.48783675e+00] [ 1.94497715e-02 9.99810812e-01 -2.16890245e-04 1.87137017e-01] [ 1.31598790e-02 -3.90925727e-05 9.99913404e-01 1.33806613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.807535379 meters 0.016331423575048288 Centerline is valid? [True, True] Translation: X:2.52, Y:0.19, Z:0.01 [[ 9.99715833e-01 -2.01188974e-02 -1.27860722e-02 2.51626803e+00] [ 2.01178026e-02 9.99797594e-01 -2.14251323e-04 1.88523392e-01] [ 1.27877947e-02 -4.30372360e-05 9.99918232e-01 1.38602170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.837535379 meters 0.016279082005317615 Centerline is valid? [True, True] Translation: X:2.54, Y:0.19, Z:0.01 [[ 9.99703070e-01 -2.04532455e-02 -1.32452823e-02 2.54455370e+00] [ 2.04520495e-02 9.99790809e-01 -2.25759113e-04 1.89991826e-01] [ 1.32471290e-02 -4.52010914e-05 9.99912252e-01 1.36539428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.867535379 meters 0.01688602379067925 Centerline is valid? [True, True] Translation: X:2.57, Y:0.19, Z:0.01 [[ 9.99653072e-01 -2.28425897e-02 -1.31130106e-02 2.57276992e+00] [ 2.28415803e-02 9.99739071e-01 -2.26753018e-04 1.89791815e-01] [ 1.31147687e-02 -7.28475344e-05 9.99913995e-01 1.34985826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.897535379 meters 0.016895349670578517 Centerline is valid? [True, True] Translation: X:2.60, Y:0.19, Z:0.02 [[ 9.99645544e-01 -2.37065680e-02 -1.21154549e-02 2.60077177e+00] [ 2.37057562e-02 9.99718957e-01 -2.10628156e-04 1.90640380e-01] [ 1.21170432e-02 -7.66525218e-05 9.99926583e-01 1.50419142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.927535379 meters 0.017317816135532297 Centerline is valid? [True, True] Translation: X:2.63, Y:0.19, Z:0.02 [[ 9.99607422e-01 -2.53573209e-02 -1.19167024e-02 2.62962930e+00] [ 2.53566147e-02 9.99678447e-01 -2.10374386e-04 1.90617010e-01] [ 1.19182051e-02 -9.18754328e-05 9.99928971e-01 1.56398617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.957535379 meters 0.018270022472300067 Centerline is valid? [True, True] Translation: X:2.66, Y:0.19, Z:0.02 [[ 9.99570278e-01 -2.69917650e-02 -1.14326114e-02 2.65703075e+00] [ 2.69911919e-02 9.99635651e-01 -2.04444338e-04 1.89891944e-01] [ 1.14339642e-02 -1.04223324e-04 9.99934625e-01 1.65343315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.987535379 meters 0.01816569444247493 Centerline is valid? [True, True] Translation: X:2.69, Y:0.19, Z:0.02 [[ 9.99468724e-01 -3.08131595e-02 -1.06216642e-02 2.68579790e+00] [ 3.08128678e-02 9.99525153e-01 -1.91153698e-04 1.91849748e-01] [ 1.06225106e-02 -1.36231791e-04 9.99943570e-01 1.74706797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.017535379 meters 0.022013827067772964 Centerline is valid? [True, True] Translation: X:2.71, Y:0.19, Z:0.02 [[ 9.99401433e-01 -3.31033291e-02 -1.00471847e-02 2.71370096e+00] [ 3.31031544e-02 9.99451924e-01 -1.83732129e-04 1.86328219e-01] [ 1.00477602e-02 -1.48971353e-04 9.99949509e-01 1.85237565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.047535378999999 meters 0.020134526649285684 Centerline is valid? [True, True] Translation: X:2.74, Y:0.19, Z:0.02 [[ 9.99341956e-01 -3.49679911e-02 -9.63818710e-03 2.74286415e+00] [ 3.49679110e-02 9.99388420e-01 -1.76881944e-04 1.91406160e-01] [ 9.63847779e-03 -1.60261721e-04 9.99953536e-01 1.88870242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0775353789999995 meters 0.02163795692127128 Centerline is valid? [True, True] Translation: X:2.77, Y:0.19, Z:0.02 [[ 9.99267457e-01 -3.74674002e-02 -7.79379126e-03 2.77028769e+00] [ 3.74674066e-02 9.99297840e-01 -1.45242216e-04 1.91517101e-01] [ 7.79376062e-03 -1.46877327e-04 9.99969617e-01 2.05204951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.107535379 meters 0.022086521859920636 Centerline is valid? [True, True] Translation: X:2.80, Y:0.19, Z:0.02 [[ 9.99242862e-01 -3.83155431e-02 -6.75439215e-03 2.79930080e+00] [ 3.83155691e-02 9.99265681e-01 -1.25607828e-04 1.92505656e-01] [ 6.75424500e-03 -1.33285653e-04 9.99977181e-01 2.14769503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.137535378999999 meters 0.022559963755063164 Centerline is valid? [True, True] Translation: X:2.83, Y:0.19, Z:0.02 [[ 9.99215066e-01 -3.91719875e-02 -5.89982374e-03 2.82769426e+00] [ 3.91720149e-02 9.99232476e-01 -1.10954070e-04 1.93473973e-01] [ 5.89964178e-03 -1.20241005e-04 9.99982590e-01 2.23182279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.167535378999999 meters 0.023227982848798026 Centerline is valid? [True, True] Translation: X:2.86, Y:0.20, Z:0.02 [[ 9.99193565e-01 -3.98564999e-02 -4.86601803e-03 2.85531615e+00] [ 3.98565174e-02 9.99205409e-01 -9.34124977e-05 1.95542202e-01] [ 4.86587464e-03 -1.00605366e-04 9.99988157e-01 2.37208242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.197535379 meters 0.023385607795719594 Centerline is valid? [True, True] Translation: X:2.88, Y:0.20, Z:0.02 [[ 9.99189596e-01 -3.99800303e-02 -4.66348240e-03 2.88346503e+00] [ 3.99800522e-02 9.99200474e-01 -8.85657498e-05 1.97310533e-01] [ 4.66329469e-03 -9.79522940e-05 9.99989122e-01 2.43755995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.227535379 meters 0.02326935423406504 Centerline is valid? [True, True] Translation: X:2.91, Y:0.20, Z:0.03 [[ 9.99196941e-01 -3.99278654e-02 -3.35229475e-03 2.91166172e+00] [ 3.99278762e-02 9.99202562e-01 -6.37226174e-05 1.99462929e-01] [ 3.35216581e-03 -7.01785655e-05 9.99994379e-01 2.55042547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.257535378999999 meters 0.021897055115734875 Centerline is valid? [True, True] Translation: X:2.94, Y:0.21, Z:0.03 [[ 9.99290984e-01 -3.75194307e-02 -3.13390797e-03 2.93986634e+00] [ 3.75194250e-02 9.99295897e-01 -6.06249426e-05 2.05035390e-01] [ 3.13397599e-03 -5.70004666e-05 9.99995087e-01 2.64799969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2875353789999995 meters 0.02091736569332882 Centerline is valid? [True, True] Translation: X:2.97, Y:0.21, Z:0.03 [[ 9.99347754e-01 -3.60726051e-02 -1.68358303e-03 2.96880072e+00] [ 3.60726029e-02 9.99349171e-01 -3.16703338e-05 2.08550177e-01] [ 1.68362974e-03 -2.90815454e-05 9.99998582e-01 2.78734962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.317535379 meters 0.019265960453281283 Centerline is valid? [True, True] Translation: X:3.00, Y:0.21, Z:0.03 [[ 9.99454906e-01 -3.30125018e-02 2.57165483e-04 2.99769721e+00] [ 3.30125008e-02 9.99454939e-01 8.26304865e-06 2.14702409e-01] [-2.57298096e-04 2.31131222e-07 9.99999967e-01 2.98729355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.347535379 meters 0.016679742137207108 Centerline is valid? [True, True] Translation: X:3.03, Y:0.22, Z:0.03 [[ 9.99508832e-01 -3.13364426e-02 -3.49000754e-04 3.02735131e+00] [ 3.13364422e-02 9.99508893e-01 -6.78055663e-06 2.21122212e-01] [ 3.49041836e-04 -4.15921570e-06 9.99999939e-01 2.65533530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.377535378999999 meters 0.017619313436267096 Centerline is valid? [True, True] Translation: X:3.06, Y:0.22, Z:0.03 [[ 9.99559554e-01 -2.96651119e-02 -8.24317545e-04 3.05630719e+00] [ 2.96651085e-02 9.99559894e-01 -1.63411682e-05 2.21500135e-01] [ 8.24439520e-04 -8.11949869e-06 9.99999660e-01 3.02319323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.407535379 meters 0.017337366036734463 Centerline is valid? [True, True] Translation: X:3.09, Y:0.22, Z:0.03 [[ 9.99592103e-01 -2.85587110e-02 1.68602952e-04 3.08591292e+00] [ 2.85587107e-02 9.99592117e-01 3.93755383e-06 2.23873337e-01] [-1.68646633e-04 8.79135208e-07 9.99999986e-01 3.10855748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.437535379 meters 0.01695772951536243 Centerline is valid? [True, True] Translation: X:3.12, Y:0.23, Z:0.03 [[ 9.99622409e-01 -2.74777521e-02 -1.14025834e-04 3.11514440e+00] [ 2.74777520e-02 9.99622415e-01 -1.99227695e-06 2.25678063e-01] [ 1.14037523e-04 -1.14164890e-06 9.99999993e-01 3.12474832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.467535378999999 meters 0.01691161010751155 Centerline is valid? [True, True] Translation: X:3.14, Y:0.23, Z:0.03 [[ 9.99648100e-01 -2.65184987e-02 6.66648544e-04 3.14364762e+00] [ 2.65184949e-02 9.99648323e-01 1.46299351e-05 2.25558046e-01] [-6.66802062e-04 3.05372909e-06 9.99999778e-01 3.29135693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4975353789999994 meters 0.015470065846037355 Centerline is valid? [True, True] Translation: X:3.17, Y:0.23, Z:0.03 [[ 9.99662383e-01 -2.59503263e-02 1.30404244e-03 3.17388949e+00] [ 2.59503125e-02 9.99663234e-01 2.74492265e-05 2.28318802e-01] [-1.30431560e-03 6.40034972e-06 9.99999149e-01 2.88864316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.527535379 meters 0.015379705046960084 Centerline is valid? [True, True] Translation: X:3.20, Y:0.23, Z:0.03 [[ 9.99670586e-01 -2.55632648e-02 2.28874200e-03 3.20402845e+00] [ 2.55632215e-02 9.99673206e-01 4.81764976e-05 2.28992169e-01] [-2.28922560e-03 1.03469910e-05 9.99997380e-01 2.89036596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.557535379 meters 0.016645914243500596 Centerline is valid? [True, True] Translation: X:3.23, Y:0.23, Z:0.03 [[ 9.99704795e-01 -2.42576797e-02 1.37392373e-03 3.23301451e+00] [ 2.42576625e-02 9.99705739e-01 2.92058176e-05 2.28265541e-01] [-1.37422790e-03 4.13098213e-06 9.99999056e-01 3.45870563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.587535378999999 meters 0.015312603264665027 Centerline is valid? [True, True] Translation: X:3.26, Y:0.23, Z:0.03 [[ 9.99708048e-01 -2.41188802e-02 1.44858363e-03 3.26314799e+00] [ 2.41188612e-02 9.99709097e-01 3.05244633e-05 2.29609581e-01] [-1.44889845e-03 4.42263590e-06 9.99998950e-01 2.97289516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6175353789999996 meters 0.015132818432977715 Centerline is valid? [True, True] Translation: X:3.29, Y:0.23, Z:0.03 [[ 9.99707879e-01 -2.41369407e-02 1.25125146e-03 3.29338627e+00] [ 2.41369266e-02 9.99708662e-01 2.63662922e-05 2.29405547e-01] [-1.25152332e-03 3.84277452e-06 9.99999217e-01 2.87785716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.647535379 meters 0.015343097961094121 Centerline is valid? [True, True] Translation: X:3.32, Y:0.23, Z:0.03 [[ 9.99671122e-01 -2.55910753e-02 1.65679037e-03 3.32408620e+00] [ 2.55910531e-02 9.99672495e-01 3.46191592e-05 2.25829709e-01] [-1.65713371e-03 7.79123672e-06 9.99998627e-01 2.96517834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.677535378999999 meters 0.01691978232780618 Centerline is valid? [True, True] Translation: X:3.35, Y:0.22, Z:0.03 [[ 9.99653391e-01 -2.63260875e-02 1.88959617e-04 3.35449208e+00] [ 2.63260873e-02 9.99653408e-01 3.72532699e-06 2.21854296e-01] [-1.88992198e-04 1.25053161e-06 9.99999982e-01 3.47563937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.707535378999999 meters 0.018069962280040732 Centerline is valid? [True, True] Translation: X:3.38, Y:0.22, Z:0.03 [[ 9.99585482e-01 -2.87876517e-02 3.68749591e-04 3.38310496e+00] [ 2.87876505e-02 9.99585550e-01 8.50377305e-06 2.17036723e-01] [-3.68841566e-04 2.11518626e-06 9.99999932e-01 3.46258388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.737535379 meters 0.016125503609438634 Centerline is valid? [True, True] Translation: X:3.41, Y:0.22, Z:0.03 [[ 9.99529128e-01 -3.06830602e-02 2.67858272e-04 3.41322957e+00] [ 3.06830597e-02 9.99529164e-01 6.15740630e-06 2.18924497e-01] [-2.67921083e-04 2.06420439e-06 9.99999964e-01 2.91579711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.767535379 meters 0.016535188461179337 Centerline is valid? [True, True] Translation: X:3.44, Y:0.22, Z:0.03 [[ 9.99485075e-01 -3.20870819e-02 -6.53817158e-05 3.44242874e+00] [ 3.20870819e-02 9.99485077e-01 -6.46295829e-07 2.16804574e-01] [ 6.53687870e-05 -1.45194543e-06 9.99999998e-01 2.95218649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.797535378999999 meters 0.017878755974656584 Centerline is valid? [True, True] Translation: X:3.47, Y:0.21, Z:0.03 [[ 9.99350627e-01 -3.60303637e-02 3.70905413e-04 3.47172094e+00] [ 3.60303619e-02 9.99350696e-01 1.14030063e-05 2.11067972e-01] [-3.71075437e-04 1.96825479e-06 9.99999931e-01 3.02446357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8275353789999995 meters 0.01876749319613283 Centerline is valid? [True, True] Translation: X:3.50, Y:0.21, Z:0.03 [[ 9.99272955e-01 -3.81230328e-02 4.43082290e-04 3.50018703e+00] [ 3.81230307e-02 9.99273053e-01 1.30646152e-05 2.08651149e-01] [-4.43258256e-04 3.83652315e-06 9.99999902e-01 3.10139103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.857535379 meters 0.019841607308495792 Centerline is valid? [True, True] Translation: X:3.53, Y:0.21, Z:0.03 [[ 9.99183802e-01 -4.03795612e-02 1.10525817e-03 3.52876517e+00] [ 4.03795551e-02 9.99184413e-01 2.77973770e-05 2.06333610e-01] [-1.10547918e-03 1.68551443e-05 9.99999389e-01 3.17791587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.887535378999999 meters 0.02054713919585249 Centerline is valid? [True, True] Translation: X:3.56, Y:0.20, Z:0.03 [[ 9.99045878e-01 -4.36729982e-02 6.17857816e-05 3.55789085e+00] [ 4.36729980e-02 9.99045879e-01 4.81784904e-06 2.02519271e-01] [-6.19372404e-05 -2.11488190e-06 9.99999998e-01 3.07240887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.917535378999999 meters 0.02054713919585249 Centerline is valid? [True, True] Translation: X:3.59, Y:0.20, Z:0.03 [[ 9.99030677e-01 -4.40193398e-02 6.17740103e-05 3.58538514e+00] [ 4.40193395e-02 9.99030679e-01 5.31270640e-06 2.03351523e-01] [-6.19479933e-05 -2.58830554e-06 9.99999998e-01 3.10338638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.947535379 meters 0.019997852332805405 Centerline is valid? [True, True] Translation: X:3.61, Y:0.20, Z:0.03 [[ 9.98965545e-01 -4.54725265e-02 2.99406584e-04 3.61432031e+00] [ 4.54725254e-02 9.98965590e-01 1.05298636e-05 2.03663976e-01] [-2.99575694e-04 3.09580254e-06 9.99999955e-01 3.00396915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.977535379 meters 0.02039067720432313 Centerline is valid? [True, True] Translation: X:3.64, Y:0.20, Z:0.03 [[ 9.98919991e-01 -4.64492354e-02 -1.14938329e-03 3.64230952e+00] [ 4.64492399e-02 9.98920651e-01 -2.28366539e-05 2.02412009e-01] [ 1.14920345e-03 -3.05759899e-05 9.99999339e-01 2.97920759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 119.20 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%| | 0/166 [00:00