+ python -m lidar_slam --no-model /working/999ba04f-bc86-438c-9dfe-66d678bdec10 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/999ba04f-bc86-438c-9dfe-66d678bdec10 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 0.028779192 Adjusted end_distance from 9.223372036854776e+18 to 7.768779192 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028779192 meters 0.06069025470007767 Centerline is valid? [0, True] SLAMing on 0.058779191999999994 meters 0.06248575905233833 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 0.99990361 -0.0110393 0.00842024 0.0316396 ] [ 0.01105107 0.99993802 -0.00135257 0.00328047] [-0.00840479 0.00144549 0.99996363 0.00314221] [ 0. 0. 0. 1. ]] SLAMing on 0.08877919199999999 meters 0.06830951081569901 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99120501e-01 -3.05526042e-02 2.87186886e-02 6.43539502e-02] [ 3.06973654e-02 9.99518079e-01 -4.61326241e-03 1.44303557e-02] [-2.85639012e-02 5.49079313e-03 9.99576888e-01 -7.83195891e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11877919199999998 meters 0.0712075489575136 Centerline is valid? [True, True] Translation: X:0.10, Y:0.02, Z:-0.01 [[ 0.99855087 -0.03628369 0.03974491 0.09667113] [ 0.03656541 0.99931087 -0.00638418 0.02425102] [-0.03948588 0.00782821 0.99918946 -0.01042967] [ 0. 0. 0. 1. ]] SLAMing on 0.14877919199999998 meters 0.0864461447822313 Centerline is valid? [True, True] Translation: X:0.13, Y:0.04, Z:-0.03 [[ 0.99714221 -0.04008971 0.06403303 0.12921554] [ 0.04082943 0.99911319 -0.01028505 0.03519466] [-0.06356392 0.01287009 0.99789478 -0.03394305] [ 0. 0. 0. 1. ]] SLAMing on 0.17877919199999998 meters 0.11173978470793006 Centerline is valid? [True, False] Translation: X:0.15, Y:0.03, Z:-0.02 [[ 0.99876044 -0.01941658 0.04583212 0.15170768] [ 0.01960703 0.99980088 -0.00370936 0.03235071] [-0.04575097 0.0046034 0.99894227 -0.02451947] [ 0. 0. 0. 1. ]] SLAMing on 0.20877919199999997 meters 0.1267760228517993 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.02 [[ 9.99341510e-01 -1.03510945e-02 3.47764357e-02 1.64265565e-01] [ 1.03886366e-02 9.99945633e-01 -8.99002548e-04 2.93372854e-02] [-3.47652393e-02 1.25969032e-03 9.99394712e-01 -1.75224846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23877919199999997 meters 0.13383495260007186 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.01 [[ 9.99715003e-01 -2.60609116e-03 2.37301677e-02 1.77326405e-01] [ 2.60388579e-03 9.99996602e-01 1.23834266e-04 2.56881003e-02] [-2.37304098e-02 -6.20083266e-05 9.99718392e-01 -1.21316213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26877919199999994 meters 0.1483933750901182 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.01 [[ 9.99906585e-01 4.91607347e-03 1.27535831e-02 1.91305650e-01] [-4.91444602e-03 9.99987911e-01 -1.58943737e-04 2.17311959e-02] [-1.27542103e-02 9.62520937e-05 9.99918657e-01 -8.08889303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29877919199999997 meters 0.16230476243754974 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.01 [[ 0.99985908 0.00783248 0.01484807 0.2096849 ] [-0.00776322 0.99995874 -0.00471679 0.019724 ] [-0.0148844 0.00460086 0.99987864 -0.01231077] [ 0. 0. 0. 1. ]] SLAMing on 0.32877919199999994 meters 0.16704722115360213 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.01 [[ 0.99986965 0.00723742 0.01443286 0.2112524 ] [-0.0071617 0.99996036 -0.00529109 0.01986985] [-0.01447058 0.00518703 0.99988184 -0.01352243] [ 0. 0. 0. 1. ]] SLAMing on 0.35877919199999997 meters 0.1697197487000702 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.01 [[ 0.99997369 0.00104279 0.00717889 0.2062699 ] [-0.00105192 0.99999864 0.00126739 0.02177419] [-0.00717756 -0.00127491 0.99997343 -0.01024349] [ 0. 0. 0. 1. ]] SLAMing on 0.38877919199999994 meters 0.17315982464250515 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.01 [[ 0.99997457 0.00361375 0.00614784 0.20984088] [-0.00363791 0.99998568 0.00392413 0.02352914] [-0.00613357 -0.00394639 0.9999734 -0.01254911] [ 0. 0. 0. 1. ]] SLAMing on 0.41877919199999997 meters 0.17828056824301133 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:-0.01 [[ 0.99998191 0.00252311 0.00546011 0.21219785] [-0.00253564 0.99999416 0.00228933 0.02697859] [-0.0054543 -0.00230314 0.99998247 -0.0142534 ] [ 0. 0. 0. 1. ]] SLAMing on 0.44877919199999994 meters 0.18588089323494952 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.02 [[ 0.99998235 0.00454238 0.0038285 0.21715873] [-0.00454918 0.99998809 0.00177043 0.03488184] [-0.00382041 -0.00178781 0.9999911 -0.01965724] [ 0. 0. 0. 1. ]] SLAMing on 0.47877919199999996 meters 0.18425542953176435 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.02 [[ 0.99997177 0.00706984 0.00254433 0.22120836] [-0.00707639 0.99997165 0.00257243 0.04246538] [-0.00252607 -0.00259037 0.99999345 -0.02305675] [ 0. 0. 0. 1. ]] SLAMing on 0.5087791919999999 meters 0.1756728983940558 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.02 [[ 9.99981095e-01 5.88509518e-03 1.78182433e-03 2.23658104e-01] [-5.88637787e-03 9.99982419e-01 7.15485973e-04 4.72081162e-02] [-1.77758230e-03 -7.25960939e-04 9.99998157e-01 -2.44620618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5387791919999999 meters 0.18337762697245755 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.03 [[ 9.99985576e-01 5.23383426e-03 1.20639688e-03 2.25354609e-01] [-5.23302372e-03 9.99986080e-01 -6.74047231e-04 5.17597391e-02] [-1.20990794e-03 6.67724405e-04 9.99999045e-01 -2.53099167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5687791919999999 meters 0.18902386428829038 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.03 [[ 9.99969055e-01 7.86270101e-03 2.59715539e-04 2.28189038e-01] [-7.86300793e-03 9.99968363e-01 1.20264975e-03 5.79427208e-02] [-2.50251247e-04 -1.20465468e-03 9.99999243e-01 -2.63963458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.598779192 meters 0.1978909193005694 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.03 [[ 9.99977973e-01 6.60712266e-03 -6.32081078e-04 2.30625838e-01] [-6.60725526e-03 9.99978150e-01 -2.07924416e-04 6.11191100e-02] [ 6.30693485e-04 2.12096157e-04 9.99999779e-01 -2.72148933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6287791919999999 meters 0.2030471595683664 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.03 [[ 0.99998303 0.00563504 -0.00147931 0.23348143] [-0.00563797 0.99998215 -0.00198048 0.06515412] [ 0.00146813 0.00198879 0.99999694 -0.02932165] [ 0. 0. 0. 1. ]] SLAMing on 0.6587791919999999 meters 0.2096405442343349 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.03 [[ 0.9999877 0.00439092 -0.00230812 0.236458 ] [-0.00439861 0.99998475 -0.00333821 0.06723793] [ 0.00229342 0.00334832 0.99999176 -0.03128328] [ 0. 0. 0. 1. ]] SLAMing on 0.6887791919999999 meters 0.2169680656926833 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.03 [[ 9.99972571e-01 6.46948916e-03 -3.60584508e-03 2.41381912e-01] [-6.47210504e-03 9.99978801e-01 -7.14259673e-04 6.80575054e-02] [ 3.60114775e-03 7.37577490e-04 9.99993244e-01 -3.43188496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.718779192 meters 0.21894871237046487 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.04 [[ 0.99997719 0.00481709 -0.00473414 0.24539247] [-0.00482857 0.99998542 -0.00241593 0.07058696] [ 0.00472244 0.00243873 0.99998588 -0.03692495] [ 0. 0. 0. 1. ]] SLAMing on 0.7487791919999999 meters 0.22403649620664734 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.04 [[ 0.99996461 0.00557715 -0.00629896 0.25175405] [-0.00558558 0.99998353 -0.00132111 0.07204787] [ 0.00629149 0.00135625 0.99997929 -0.04116834] [ 0. 0. 0. 1. ]] SLAMing on 0.7787791919999999 meters 0.22645067833387075 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.04 [[ 0.99996486 0.0043061 -0.00719232 0.25492592] [-0.0043233 0.99998783 -0.00237711 0.07290465] [ 0.007182 0.00240813 0.99997131 -0.04312873] [ 0. 0. 0. 1. ]] SLAMing on 0.8087791919999999 meters 0.2320067720778835 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.05 [[ 0.99995875 0.00242989 -0.00875188 0.25991342] [-0.00246076 0.99999078 -0.00351838 0.0735001 ] [ 0.00874325 0.00353977 0.99995551 -0.0454618 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8387791919999998 meters 0.2320067720778835 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.05 [[ 0.99995875 0.00242989 -0.00875188 0.25991342] [-0.00246076 0.99999078 -0.00351838 0.0735001 ] [ 0.00874325 0.00353977 0.99995551 -0.0454618 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8687791919999999 meters 0.23307201596628646 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.05 [[ 0.99995537 0.00172559 -0.00928843 0.26188889] [-0.00176495 0.99998949 -0.00423109 0.07448232] [ 0.00928103 0.0042473 0.99994791 -0.04675474] [ 0. 0. 0. 1. ]] SLAMing on 0.8987791919999999 meters 0.23885447213673766 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:-0.05 [[ 0.99993668 0.003832 -0.01058099 0.26641191] [-0.00384587 0.99999177 -0.00129043 0.07483191] [ 0.01057596 0.00133104 0.99994319 -0.04872671] [ 0. 0. 0. 1. ]] SLAMing on 0.9287791919999999 meters 0.24281444248641268 Centerline is valid? [False, False] Translation: X:0.27, Y:0.08, Z:-0.05 [[ 0.99993066 0.00273127 -0.01145507 0.26931176] [-0.00275878 0.99999335 -0.00238682 0.07653352] [ 0.01144847 0.00241826 0.99993154 -0.05030627] [ 0. 0. 0. 1. ]] SLAMing on 0.9587791919999998 meters 0.25260027994694884 Centerline is valid? [False, False] Translation: X:0.27, Y:0.08, Z:-0.05 [[ 0.99992279 0.00202364 -0.01226073 0.27196415] [-0.00206556 0.99999206 -0.00340724 0.07839175] [ 0.01225374 0.0034323 0.99991903 -0.05191884] [ 0. 0. 0. 1. ]] SLAMing on 0.9887791919999999 meters 0.2593242507781004 Centerline is valid? [False, False] Translation: X:0.28, Y:0.08, Z:-0.05 [[ 0.9999042 0.00344987 -0.01340459 0.27655424] [-0.00346979 0.99999291 -0.00146259 0.0783386 ] [ 0.01339945 0.00150896 0.99990908 -0.0544464 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0187791919999998 meters 0.26167298732717764 Centerline is valid? [False, False] Translation: X:0.28, Y:0.08, Z:-0.05 [[ 0.99990151 0.00279695 -0.01375273 0.27767925] [-0.00282484 0.99999399 -0.00200885 0.07986911] [ 0.01374703 0.0020475 0.99990341 -0.0546894 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0487791919999998 meters 0.26574572481443187 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:-0.06 [[ 0.99996597 -0.00281937 -0.00775259 0.28925803] [ 0.00283186 0.99999471 0.00160119 0.08126415] [ 0.00774803 -0.00162309 0.99996867 -0.05741461] [ 0. 0. 0. 1. ]] SLAMing on 1.0787791919999998 meters 0.2745712146654903 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:-0.06 [[ 0.99995907 -0.00353476 -0.00832859 0.290938 ] [ 0.00354636 0.99999276 0.00137867 0.08136507] [ 0.00832365 -0.00140815 0.99996437 -0.05774464] [ 0. 0. 0. 1. ]] SLAMing on 1.1087791919999999 meters 0.28072278852770877 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:-0.06 [[ 0.99991097 -0.00957417 -0.00929431 0.29394028] [ 0.00955086 0.99995114 -0.00254931 0.08047813] [ 0.00931827 0.00246031 0.99995356 -0.05736695] [ 0. 0. 0. 1. ]] SLAMing on 1.1387791919999999 meters 0.26209946272296275 Centerline is valid? [False, False] Translation: X:0.31, Y:0.08, Z:-0.05 [[ 9.99719609e-01 -1.88895457e-02 -1.42789603e-02 3.10222117e-01] [ 1.88806741e-02 9.99821458e-01 -7.55873823e-04 7.77502981e-02] [ 1.42906890e-02 4.86065489e-04 9.99897765e-01 -5.48593569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.168779192 meters 0.24071361388828758 Centerline is valid? [False, False] Translation: X:0.31, Y:0.07, Z:-0.05 [[ 9.99661167e-01 -2.05549336e-02 -1.59701340e-02 3.14692398e-01] [ 2.05616996e-02 9.99788552e-01 2.59571336e-04 7.43975341e-02] [ 1.59614217e-02 -5.87856483e-04 9.99872436e-01 -5.49523848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.198779192 meters 0.23438297523204213 Centerline is valid? [False, False] Translation: X:0.33, Y:0.07, Z:-0.05 [[ 0.99964596 -0.023497 -0.01248391 0.33447403] [ 0.02345268 0.99971816 -0.00368532 0.06926164] [ 0.01256698 0.00339123 0.99991528 -0.05455382] [ 0. 0. 0. 1. ]] SLAMing on 1.2287791919999997 meters 0.21518990174566963 Centerline is valid? [False, False] Translation: X:0.34, Y:0.06, Z:-0.05 [[ 0.99932051 -0.03411039 -0.01396429 0.33980045] [ 0.03398379 0.99937999 -0.0092051 0.06008412] [ 0.01426962 0.00872429 0.99986012 -0.05384004] [ 0. 0. 0. 1. ]] SLAMing on 1.2587791919999998 meters 0.20995583394312461 Centerline is valid? [False, False] Translation: X:0.36, Y:0.05, Z:-0.05 [[ 0.99934422 -0.03494672 -0.00947904 0.35557257] [ 0.03482821 0.99931648 -0.01239221 0.05259179] [ 0.00990563 0.01205395 0.99987828 -0.05217452] [ 0. 0. 0. 1. ]] SLAMing on 1.2887791919999998 meters 0.19845285143726588 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.05 [[ 0.99932442 -0.0351943 -0.01058627 0.35796091] [ 0.03509984 0.99934346 -0.00898022 0.04467536] [ 0.01089537 0.00860258 0.99990364 -0.04996807] [ 0. 0. 0. 1. ]] SLAMing on 1.3187791919999998 meters 0.19055580569765357 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.05 [[ 0.99938621 -0.02844204 -0.02045136 0.37088043] [ 0.02830536 0.99957522 -0.00694212 0.03852242] [ 0.02064012 0.00635897 0.99976675 -0.04518049] [ 0. 0. 0. 1. ]] SLAMing on 1.3487791919999998 meters 0.17935943770949056 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.05 [[ 0.99975751 -0.01759049 -0.01324746 0.37579031] [ 0.0174973 0.99982157 -0.00711783 0.03084079] [ 0.0133703 0.00688431 0.99988691 -0.04647562] [ 0. 0. 0. 1. ]] SLAMing on 1.3787791919999999 meters 0.1805413378732849 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.04 [[ 0.99991658 -0.01094147 -0.00686461 0.38594043] [ 0.01089994 0.99992224 -0.00605856 0.02369389] [ 0.00693036 0.00598323 0.99995808 -0.04476086] [ 0. 0. 0. 1. ]] SLAMing on 1.408779192 meters 0.16878533947256374 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:-0.04 [[ 0.9999474 -0.00826542 -0.00607281 0.38298398] [ 0.00824806 0.99996184 -0.00287858 0.01619274] [ 0.00609637 0.00282834 0.99997742 -0.04335564] [ 0. 0. 0. 1. ]] SLAMing on 1.4387791919999997 meters 0.16424305499154956 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.04 [[ 0.99994776 -0.00794139 -0.00643503 0.38355381] [ 0.00793092 0.99996719 -0.0016498 0.01296975] [ 0.00644792 0.00159868 0.99997793 -0.04299469] [ 0. 0. 0. 1. ]] SLAMing on 1.4687791919999997 meters 0.1524500475888484 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.04 [[ 9.99953928e-01 -6.99876527e-03 -6.56952114e-03 3.83559482e-01] [ 6.99842738e-03 9.99975508e-01 -7.44206504e-05 9.42168724e-03] [ 6.56988109e-03 2.84409051e-05 9.99978418e-01 -4.27680034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4987791919999998 meters 0.14963187334583944 Centerline is valid? [False, False] Translation: X:0.38, Y:0.01, Z:-0.04 [[ 9.99953459e-01 -6.85905507e-03 -6.78477713e-03 3.84170395e-01] [ 6.86056494e-03 9.99976446e-01 1.99289020e-04 8.48377188e-03] [ 6.78325039e-03 -2.45827149e-04 9.99976963e-01 -4.32652220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5287791919999998 meters 0.13856119741646133 Centerline is valid? [False, False] Translation: X:0.38, Y:0.00, Z:-0.04 [[ 0.99995602 -0.00614098 -0.00708857 0.38450572] [ 0.00615781 0.99997827 0.00235484 0.00268844] [ 0.00707396 -0.00239838 0.9999721 -0.04242016] [ 0. 0. 0. 1. ]] SLAMing on 1.5587791919999998 meters 0.12870590515156202 Centerline is valid? [False, False] Translation: X:0.38, Y:0.00, Z:-0.04 [[ 9.99927923e-01 -9.79384100e-03 -6.94475661e-03 3.84181162e-01] [ 9.78731537e-03 9.99951630e-01 -9.73012509e-04 3.98256334e-04] [ 6.95395022e-03 9.04971854e-04 9.99975411e-01 -4.23691744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5887791919999998 meters 0.12012285110970944 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.04 [[ 9.99926307e-01 -9.54347263e-03 -7.50352680e-03 3.86002747e-01] [ 9.55091175e-03 9.99953932e-01 9.56208668e-04 -6.55831033e-03] [ 7.49405558e-03 -1.02780372e-03 9.99971391e-01 -4.33074954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6187791919999999 meters 0.11908976392737955 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.04 [[ 0.99992252 -0.00946293 -0.00808745 0.3873969 ] [ 0.00947918 0.99995312 0.00197324 -0.010487 ] [ 0.0080684 -0.00204975 0.99996535 -0.04381028] [ 0. 0. 0. 1. ]] SLAMing on 1.6487791919999997 meters 0.10771126336995958 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.02, Z:-0.05 [[ 0.99997963 -0.0060405 -0.00206327 0.3926416 ] [ 0.00602653 0.99995932 -0.00671105 -0.02106793] [ 0.00210372 0.00669848 0.99997535 -0.04670157] [ 0. 0. 0. 1. ]] SLAMing on 1.6787791919999997 meters 0.09876244657955471 Centerline is valid? [False, True] Translation: X:0.39, Y:-0.03, Z:-0.05 [[ 0.99998536 -0.00498697 -0.00210212 0.39244776] [ 0.00497957 0.99998144 -0.00351138 -0.03105918] [ 0.00211959 0.00350086 0.99999163 -0.04582086] [ 0. 0. 0. 1. ]] SLAMing on 1.7087791919999997 meters 0.09618602442098677 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.04, Z:-0.05 [[ 9.99984056e-01 -2.53957342e-03 -5.04360242e-03 4.21942222e-01] [ 2.54072686e-03 9.99996748e-01 2.22298025e-04 -3.81916103e-02] [ 5.04302148e-03 -2.35108897e-04 9.99987256e-01 -4.92116077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7387791919999998 meters 0.09444768539349929 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.04, Z:-0.06 [[ 9.99992976e-01 -2.02869224e-07 -3.74808705e-03 4.52100303e-01] [ 8.29027624e-07 9.99999986e-01 1.67059241e-04 -4.45287075e-02] [ 3.74808696e-03 -1.67061175e-04 9.99992962e-01 -5.50206151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7687791919999998 meters 0.08388628284779846 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.05, Z:-0.05 [[ 9.99903381e-01 4.19390111e-03 1.32528895e-02 4.83627919e-01] [-4.18652187e-03 9.99991066e-01 -5.84496115e-04 -5.06004550e-02] [-1.32552224e-02 5.28956130e-04 9.99912006e-01 -4.61840434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7987791919999998 meters 0.08328755215803926 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.06, Z:-0.06 [[ 9.99823317e-01 7.91836153e-03 1.70479952e-02 5.11670955e-01] [-7.90670115e-03 9.99968459e-01 -7.51267284e-04 -5.84433189e-02] [-1.70534063e-02 6.16341145e-04 9.99854390e-01 -5.83949453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8287791919999998 meters 0.07520412617835594 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.06, Z:-0.05 [[ 9.99432374e-01 1.24740367e-02 3.12942117e-02 5.42956138e-01] [-1.24369914e-02 9.99921708e-01 -1.37815429e-03 -6.28874798e-02] [-3.13089527e-02 9.88166173e-04 9.99509266e-01 -5.44750485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8587791919999996 meters 0.07257892472509474 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.07, Z:-0.06 [[ 0.99921738 0.01425178 0.03689857 0.57287994] [-0.01420146 0.99989783 -0.00162528 -0.06715521] [-0.03691797 0.00109999 0.99931769 -0.06001727] [ 0. 0. 0. 1. ]] SLAMing on 1.8887791919999997 meters 0.07286601693622081 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.08, Z:-0.07 [[ 9.99118488e-01 1.89337508e-02 3.74667742e-02 6.01246569e-01] [-1.88852113e-02 9.99820299e-01 -1.64905198e-03 -7.82798111e-02] [-3.74912641e-02 9.40030376e-04 9.99296513e-01 -7.14384854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9187791919999997 meters 0.07188437458118214 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.09, Z:-0.08 [[ 0.99901657 0.01807119 0.04048856 0.63151254] [-0.01801371 0.99983615 -0.00178393 -0.08706674] [-0.04051416 0.00105283 0.99917841 -0.07727465] [ 0. 0. 0. 1. ]] SLAMing on 1.9487791919999997 meters 0.07275847115863832 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.11, Z:-0.08 [[ 0.99906496 0.01607899 0.04013306 0.6611542 ] [-0.01602113 0.9998701 -0.00176311 -0.10690735] [-0.04015619 0.00111849 0.99919279 -0.08291836] [ 0. 0. 0. 1. ]] SLAMing on 1.9787791919999997 meters 0.0729481224270882 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.12, Z:-0.09 [[ 0.99911548 0.01445964 0.03948632 0.69242777] [-0.01440225 0.99989477 -0.00173745 -0.11699955] [-0.03950728 0.00116722 0.9992186 -0.08891861] [ 0. 0. 0. 1. ]] SLAMing on 2.0087791919999995 meters 0.07366484379370003 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.13, Z:-0.10 [[ 0.99927074 0.01093225 0.03658507 0.72159415] [-0.01088033 0.9999395 -0.00161789 -0.1349428 ] [-0.03660055 0.00121865 0.99932923 -0.09784606] [ 0. 0. 0. 1. ]] SLAMing on 2.038779192 meters 0.06953477468746871 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.14, Z:-0.10 [[ 0.99887017 0.00362611 0.04738399 0.75210674] [-0.00353076 0.99999157 -0.00209589 -0.1447545 ] [-0.04739119 0.00192622 0.99887455 -0.10136585] [ 0. 0. 0. 1. ]] SLAMing on 2.0687791919999996 meters 0.06895923421465287 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.17, Z:-0.11 [[ 0.99855376 -0.0025403 0.05370232 0.78020811] [ 0.00267185 0.9999936 -0.00237803 -0.16628695] [-0.05369594 0.00251807 0.99855416 -0.10911526] [ 0. 0. 0. 1. ]] SLAMing on 2.098779192 meters 0.06594484236504093 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.17, Z:-0.11 [[ 0.99826332 0.00296385 0.05883507 0.81126773] [-0.00281524 0.99999263 -0.00260858 -0.1733362 ] [-0.05884237 0.00243841 0.99826431 -0.10827879] [ 0. 0. 0. 1. ]] SLAMing on 2.1287791919999997 meters 0.06552867457504749 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.17, Z:-0.11 [[ 0.99825398 0.00930677 0.05832982 0.84201336] [-0.00917197 0.99995461 -0.00257828 -0.17446374] [-0.05835117 0.00203878 0.99829404 -0.11285374] [ 0. 0. 0. 1. ]] SLAMing on 2.158779192 meters 0.06354466434449905 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.18, Z:-0.12 [[ 0.99766105 0.01111258 0.06744578 0.87130144] [-0.01093616 0.99993575 -0.00298428 -0.1754397 ] [-0.06747461 0.00223971 0.99771848 -0.11609668] [ 0. 0. 0. 1. ]] SLAMing on 2.1887791919999997 meters 0.06328059788104703 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.17, Z:-0.12 [[ 0.99746624 0.01128052 0.07024136 0.90191059] [-0.01108958 0.99993368 -0.00310781 -0.17472893] [-0.07027176 0.00232099 0.99752518 -0.11866266] [ 0. 0. 0. 1. ]] SLAMing on 2.2187791919999995 meters 0.05997052087928987 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.17, Z:-0.12 [[ 0.99619469 0.00304544 0.08710265 0.93216844] [-0.0027201 0.99998888 -0.00385359 -0.17491999] [-0.08711342 0.003602 0.99619189 -0.12066132] [ 0. 0. 0. 1. ]] SLAMing on 2.2487791919999998 meters 0.060920748879378955 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.17, Z:-0.13 [[ 0.99614107 -0.00553635 0.08759178 0.96096026] [ 0.00589813 0.99997511 -0.00387208 -0.1745826 ] [-0.08756816 0.00437377 0.99614893 -0.12782244] [ 0. 0. 0. 1. ]] SLAMing on 2.2787791919999996 meters 0.058777493107012406 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.17, Z:-0.13 [[ 0.99538348 -0.01246177 0.09516525 0.99310389] [ 0.01292089 0.99990766 -0.00420974 -0.17065736] [-0.095104 0.00541993 0.99545259 -0.12670307] [ 0. 0. 0. 1. ]] SLAMing on 2.308779192 meters 0.05944278379031809 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.17, Z:-0.13 [[ 0.99513822 -0.02548958 0.09513257 1.02230084] [ 0.02601066 0.99965267 -0.00424117 -0.17421458] [-0.09499142 0.00669501 0.99545558 -0.13104201] [ 0. 0. 0. 1. ]] SLAMing on 2.3387791919999996 meters 0.05970434683502604 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.18, Z:-0.13 [[ 0.99425329 -0.03755782 0.10024873 1.05165527] [ 0.03819805 0.99926017 -0.00447392 -0.17869741] [-0.10000653 0.00827752 0.99495235 -0.13171163] [ 0. 0. 0. 1. ]] SLAMing on 2.368779192 meters 0.05947645969576757 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.18, Z:-0.13 [[ 0.99413811 -0.04062481 0.10019502 1.08246683] [ 0.04127947 0.99913765 -0.00446844 -0.1784235 ] [-0.09992709 0.00857824 0.99495778 -0.13376995] [ 0. 0. 0. 1. ]] SLAMing on 2.3987791919999997 meters 0.05965192263140516 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.18, Z:-0.14 [[ 0.99382701 -0.04305227 0.10224663 1.11270887] [ 0.04374695 0.99903223 -0.00456054 -0.18068285] [-0.10195133 0.00900536 0.99474863 -0.13806578] [ 0. 0. 0. 1. ]] SLAMing on 2.4287791919999995 meters 0.06115401052996869 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.18, Z:-0.14 [[ 0.99313906 -0.04846785 0.10642216 1.1424146 ] [ 0.04925175 0.99877511 -0.00474851 -0.1828331 ] [-0.10606166 0.00995741 0.9943097 -0.14426898] [ 0. 0. 0. 1. ]] SLAMing on 2.4587791919999997 meters 0.06107809586577259 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.18, Z:-0.15 [[ 0.99271955 -0.05656569 0.10634012 1.17197997] [ 0.05739459 0.99834028 -0.00474815 -0.17918044] [-0.10589504 0.01081693 0.99431848 -0.15077738] [ 0. 0. 0. 1. ]] SLAMing on 2.4887791919999995 meters 0.06172022558015461 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.18, Z:-0.16 [[ 0.99231853 -0.06282974 0.10656626 1.2019164 ] [ 0.06369808 0.99795786 -0.00476093 -0.18038662] [-0.10604951 0.01151242 0.9942942 -0.15673768] [ 0. 0. 0. 1. ]] SLAMing on 2.518779192 meters 0.0640033983309247 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.19, Z:-0.16 [[ 0.99179306 -0.0732267 0.10480638 1.23079706] [ 0.07412338 0.99723809 -0.00468105 -0.18646566] [-0.10417414 0.01241124 0.99448163 -0.16140303] [ 0. 0. 0. 1. ]] SLAMing on 2.5487791919999996 meters 0.06433620234625503 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.19, Z:-0.16 [[ 0.99131761 -0.07767186 0.10609659 1.26101956] [ 0.07861599 0.99689371 -0.0047393 -0.18929962] [-0.10539891 0.01303904 0.99434453 -0.16461389] [ 0. 0. 0. 1. ]] SLAMing on 2.578779192 meters 0.06574284329118052 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.19, Z:-0.17 [[ 0.9907523 -0.0818348 0.10822638 1.28973154] [ 0.08284177 0.99655099 -0.0048336 -0.19459391] [-0.10745755 0.01375457 0.99411452 -0.16743007] [ 0. 0. 0. 1. ]] SLAMing on 2.6087791919999996 meters 0.06623589874622156 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.20, Z:-0.17 [[ 0.99039716 -0.082807 0.11070895 1.31829184] [ 0.08386756 0.99646462 -0.00494943 -0.196813 ] [-0.1099077 0.01418679 0.99384055 -0.17088107] [ 0. 0. 0. 1. ]] SLAMing on 2.6387791919999994 meters 0.06626896995688634 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.20, Z:-0.17 [[ 0.99049537 -0.07951693 0.11223183 1.34724551] [ 0.08058288 0.99673544 -0.00498636 -0.19714446] [-0.11146894 0.01398293 0.99366954 -0.17457051] [ 0. 0. 0. 1. ]] SLAMing on 2.6687791919999997 meters 0.06670508915691761 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.20, Z:-0.18 [[ 0.99035375 -0.07639165 0.11560172 1.37735227] [ 0.07750188 0.99697899 -0.00513324 -0.19795574] [-0.11486035 0.01404307 0.99328238 -0.17906924] [ 0. 0. 0. 1. ]] SLAMing on 2.6987791919999995 meters 0.0677553651775003 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.20, Z:-0.19 [[ 0.99098813 -0.06888308 0.11488104 1.40613746] [ 0.06992974 0.99753888 -0.00510082 -0.19730402] [-0.11424695 0.01308845 0.99336616 -0.18574009] [ 0. 0. 0. 1. ]] SLAMing on 2.7287791919999997 meters 0.06825351990201976 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.20, Z:-0.19 [[ 0.99126769 -0.06505205 0.1147022 1.43621588] [ 0.06607003 0.997802 -0.00509165 -0.19834724] [-0.11411886 0.01262557 0.99338687 -0.1913659 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7587791919999995 meters 0.06825351990201976 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.20, Z:-0.20 [[ 0.99125059 -0.06531246 0.114702 1.46378469] [ 0.06633268 0.99778455 -0.00509614 -0.19948959] [-0.11411504 0.01266005 0.99338687 -0.19506018] [ 0. 0. 0. 1. ]] SLAMing on 2.788779192 meters 0.06810626973399007 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.20, Z:-0.20 [[ 0.99198314 -0.05680879 0.11288145 1.49304979] [ 0.05773841 0.99831932 -0.00498059 -0.19850703] [-0.11240879 0.01145826 0.99359598 -0.19886239] [ 0. 0. 0. 1. ]] SLAMing on 2.8187791919999996 meters 0.06794954343579418 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.20, Z:-0.20 [[ 0.99209253 -0.05289878 0.11381624 1.52292021] [ 0.05381857 0.9985381 -0.00502171 -0.19767012] [-0.11338421 0.01110743 0.99348913 -0.20262109] [ 0. 0. 0. 1. ]] SLAMing on 2.8487791919999994 meters 0.061179240747967996 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.18, Z:-0.20 [[ 0.99221921 -0.04621642 0.11560743 1.5543349 ] [ 0.0471206 0.99887619 -0.00509903 -0.18149121] [-0.11524185 0.01050685 0.99328189 -0.20377425] [ 0. 0. 0. 1. ]] SLAMing on 2.8787791919999997 meters 0.060878422819948354 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.18, Z:-0.21 [[ 0.99237472 -0.04025643 0.11649821 1.58447574] [ 0.0411341 0.99914042 -0.00513836 -0.18168431] [-0.11619122 0.00989123 0.99317761 -0.20655299] [ 0. 0. 0. 1. ]] SLAMing on 2.9087791919999995 meters 0.06074497727145601 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.18, Z:-0.21 [[ 0.9924012 -0.03646251 0.11751741 1.61505072] [ 0.03732935 0.99928958 -0.00518294 -0.18380725] [-0.11724494 0.0095304 0.9930573 -0.2088652 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9387791919999997 meters 0.06094109601240707 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.19, Z:-0.21 [[ 0.99229942 -0.03455707 0.11894402 1.6453917 ] [ 0.0354318 0.99935832 -0.00524665 -0.18553706] [-0.11868639 0.00942064 0.9928871 -0.21180914] [ 0. 0. 0. 1. ]] SLAMing on 2.9687791919999995 meters 0.06085481457546868 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.19, Z:-0.21 [[ 0.99228866 -0.03068422 0.12009036 1.67481389] [ 0.03154797 0.9994882 -0.00529744 -0.18944074] [-0.11986635 0.00904519 0.99274883 -0.21375612] [ 0. 0. 0. 1. ]] SLAMing on 2.9987791919999998 meters 0.060977116770418255 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.19, Z:-0.22 [[ 0.99245615 -0.02920017 0.11907203 1.70635228] [ 0.03003793 0.99953499 -0.0052467 -0.19266914] [-0.11886345 0.0087838 0.99287176 -0.21883356] [ 0. 0. 0. 1. ]] SLAMing on 3.0287791919999996 meters 0.05998937170429733 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.20, Z:-0.22 [[ 0.99279479 -0.02819066 0.11646371 1.73638281] [ 0.02898854 0.99956641 -0.00516245 -0.19519899] [-0.11626768 0.00850137 0.99318153 -0.22499133] [ 0. 0. 0. 1. ]] SLAMing on 3.0587791919999994 meters 0.060589695672428265 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.20, Z:-0.23 [[ 0.99290129 -0.02709299 0.11581446 1.76756687] [ 0.02787628 0.99959812 -0.00514869 -0.1999403 ] [-0.11562842 0.00834062 0.99325752 -0.23058638] [ 0. 0. 0. 1. ]] SLAMing on 3.0887791919999996 meters 0.061253581181914596 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.21, Z:-0.24 [[ 0.99291136 -0.02929479 0.1151905 1.79644379] [ 0.03008804 0.99953397 -0.00515331 -0.20873905] [-0.11498585 0.00858263 0.99333005 -0.23680531] [ 0. 0. 0. 1. ]] SLAMing on 3.1187791919999994 meters 0.061247398642979116 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.21, Z:-0.24 [[ 0.99294416 -0.02476843 0.11596731 1.82735894] [ 0.02554185 0.99966029 -0.00518778 -0.2143029 ] [-0.11579942 0.0081132 0.99323948 -0.23803626] [ 0. 0. 0. 1. ]] SLAMing on 3.1487791919999997 meters 0.06065793060220798 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.21, Z:-0.24 [[ 0.99300217 -0.0213684 0.11614681 1.85817414] [ 0.02212139 0.99974178 -0.0051978 -0.21415668] [-0.11600574 0.00773076 0.99321846 -0.24098055] [ 0. 0. 0. 1. ]] SLAMing on 3.1787791919999995 meters 0.061074412749226745 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.22, Z:-0.24 [[ 0.99318405 -0.02042253 0.11475348 1.88863428] [ 0.0211509 0.99976312 -0.00513314 -0.21689512] [-0.11462147 0.00752529 0.99338074 -0.24490726] [ 0. 0. 0. 1. ]] SLAMing on 3.2087791919999997 meters 0.05885111039912069 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.21, Z:-0.25 [[ 0.9932226 -0.02183415 0.11415843 1.92101899] [ 0.02256742 0.99973214 -0.00513466 -0.21190543] [-0.11401574 0.00767612 0.99344929 -0.24797801] [ 0. 0. 0. 1. ]] SLAMing on 3.2387791919999995 meters 0.058982558547100016 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.21, Z:-0.25 [[ 0.99322338 -0.02301897 0.11391862 1.95169822] [ 0.02375747 0.99970459 -0.00512916 -0.21228579] [-0.1137669 0.00780082 0.99347684 -0.25318003] [ 0. 0. 0. 1. ]] SLAMing on 3.2687791919999993 meters 0.06042112018620678 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.21, Z:-0.26 [[ 0.9934731 -0.02640507 0.11096832 1.9806811 ] [ 0.02712985 0.99961928 -0.00502628 -0.21394414] [-0.11079336 0.00800403 0.99381123 -0.2599143 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2987791919999996 meters 0.06369003524678739 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.22, Z:-0.27 [[ 0.99351589 -0.0361464 0.10779432 2.0097701 ] [ 0.03688701 0.99930751 -0.00488399 -0.2216134 ] [-0.10754313 0.00882853 0.99416122 -0.26660028] [ 0. 0. 0. 1. ]] SLAMing on 3.3287791919999994 meters 0.06418081373505813 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.23, Z:-0.27 [[ 0.99334113 -0.04310055 0.10684451 2.03997286] [ 0.04386807 0.9990256 -0.00484263 -0.22559811] [-0.10653168 0.00949745 0.99426395 -0.26883489] [ 0. 0. 0. 1. ]] SLAMing on 3.3587791919999996 meters 0.0657822667593729 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.23, Z:-0.27 [[ 0.99230558 -0.05756816 0.10961541 2.0696847 ] [ 0.05846338 0.99827719 -0.00496789 -0.23379153] [-0.10914058 0.01133815 0.99396166 -0.26824225] [ 0. 0. 0. 1. ]] SLAMing on 3.3887791919999994 meters 0.0683204534654237 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.24, Z:-0.27 [[ 0.99175275 -0.06459501 0.11069766 2.09886699] [ 0.06555134 0.99783658 -0.00501774 -0.24124156] [-0.11013406 0.01223274 0.99384146 -0.27231881] [ 0. 0. 0. 1. ]] SLAMing on 3.4187791919999997 meters 0.06625654313628629 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.24, Z:-0.27 [[ 0.99069408 -0.07381402 0.11435355 2.12927119] [ 0.07489548 0.99717792 -0.00518387 -0.23856438] [-0.11364819 0.01370019 0.99342659 -0.27492217] [ 0. 0. 0. 1. ]] SLAMing on 3.4487791919999995 meters 0.05638192607170204 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.21, Z:-0.27 [[ 0.99071435 -0.07448918 0.11373849 2.16010866] [ 0.07556378 0.99712762 -0.00516012 -0.21437088] [-0.11302742 0.01370671 0.99349732 -0.27432884] [ 0. 0. 0. 1. ]] SLAMing on 3.4787791919999993 meters 0.05692300037683038 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.21, Z:-0.28 [[ 0.99093672 -0.06951051 0.1149465 2.18966605] [ 0.07057136 0.99749328 -0.00518056 -0.21265354] [-0.11429826 0.01324554 0.99335817 -0.27760236] [ 0. 0. 0. 1. ]] SLAMing on 3.5087791919999995 meters 0.05809151240949662 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.22, Z:-0.28 [[ 0.99112262 -0.0651599 0.11588852 2.21904613] [ 0.06620877 0.99779214 -0.00522028 -0.21504671] [-0.1152925 0.01284678 0.99324851 -0.28182806] [ 0. 0. 0. 1. ]] SLAMing on 3.5387791919999994 meters 0.05658415803324366 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.21, Z:-0.28 [[ 0.99140291 -0.05925219 0.11665952 2.25005493] [ 0.06027456 0.99816802 -0.00525233 -0.20889956] [-0.11613459 0.01223878 0.99315808 -0.28307672] [ 0. 0. 0. 1. ]] SLAMing on 3.5687791919999996 meters 0.05703448441590161 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.21, Z:-0.29 [[ 0.99178874 -0.05424181 0.11581415 2.27966782] [ 0.05521554 0.99846085 -0.0052138 -0.20744646] [-0.11535309 0.01156573 0.99325722 -0.28724815] [ 0. 0. 0. 1. ]] SLAMing on 3.5987791919999994 meters 0.05504907930414264 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.20, Z:-0.29 [[ 0.99213234 -0.05221282 0.1137859 2.31026218] [ 0.05313911 0.99857399 -0.00512074 -0.19983531] [-0.11335628 0.01112694 0.9934921 -0.29198073] [ 0. 0. 0. 1. ]] SLAMing on 3.6287791919999997 meters 0.055133830834708235 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.20, Z:-0.30 [[ 0.99279382 -0.0509006 0.1084876 2.34076235] [ 0.05173441 0.99864894 -0.00488332 -0.19822819] [-0.10809246 0.01046067 0.99408581 -0.29818421] [ 0. 0. 0. 1. ]] SLAMing on 3.6587791919999995 meters 0.055619758726210916 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.20, Z:-0.30 [[ 0.9929562 -0.05021764 0.10731339 2.37204729] [ 0.05103004 0.99868541 -0.00483605 -0.20099708] [-0.10692946 0.01027819 0.99421348 -0.30350776] [ 0. 0. 0. 1. ]] SLAMing on 3.6887791919999993 meters 0.05604535338612846 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.20, Z:-0.31 [[ 0.99339586 -0.04960722 0.10345915 2.40220967] [ 0.05035955 0.99872023 -0.0046708 -0.20278773] [-0.10309504 0.00985011 0.99462274 -0.30888819] [ 0. 0. 0. 1. ]] SLAMing on 3.7187791919999995 meters 0.05608313230985942 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.20, Z:-0.31 [[ 0.99344913 -0.04879721 0.1033328 2.43215331] [ 0.04954387 0.99876103 -0.00467005 -0.20330058] [-0.10297689 0.00975897 0.99463587 -0.31315357] [ 0. 0. 0. 1. ]] SLAMing on 3.7487791919999993 meters 0.05627983403378224 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.20, Z:-0.32 [[ 0.99379581 -0.04627231 0.1011373 2.46298858] [ 0.04697441 0.99888564 -0.00457025 -0.20499675] [-0.10081312 0.00929276 0.99486198 -0.31740072] [ 0. 0. 0. 1. ]] SLAMing on 3.7787791919999996 meters 0.056050074708321955 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.21, Z:-0.32 [[ 0.99388372 -0.04377129 0.10138653 2.49407777] [ 0.04446419 0.99900046 -0.00458338 -0.20626368] [-0.10108457 0.00906342 0.99483655 -0.32036797] [ 0. 0. 0. 1. ]] SLAMing on 3.8087791919999994 meters 0.05446609648640791 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.20, Z:-0.32 [[ 0.99371368 -0.04056718 0.10434286 2.52509499] [ 0.04128412 0.9991363 -0.00471958 -0.20142272] [-0.10406128 0.00899762 0.99453019 -0.3212135 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8387791919999996 meters 0.05482176991007747 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.20, Z:-0.33 [[ 0.99355337 -0.03844375 0.10664792 2.55475667] [ 0.0391808 0.99922049 -0.00482371 -0.20436006] [-0.10637934 0.00897116 0.99428515 -0.32531252] [ 0. 0. 0. 1. ]] SLAMing on 3.8687791919999994 meters 0.05693248729223179 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.21, Z:-0.33 [[ 0.99340373 -0.03684134 0.10858984 2.58395646] [ 0.03759619 0.99928094 -0.00491154 -0.21291214] [-0.10833081 0.00896171 0.99407451 -0.33134066] [ 0. 0. 0. 1. ]] SLAMing on 3.8987791919999992 meters 0.05466776053326126 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.21, Z:-0.33 [[ 0.99346382 -0.03210215 0.10954034 2.61477993] [ 0.03284182 0.99944828 -0.00495456 -0.20725474] [-0.10932085 0.00851968 0.99397 -0.33346326] [ 0. 0. 0. 1. ]] SLAMing on 3.9287791919999995 meters 0.055161528052276455 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.21, Z:-0.34 [[ 0.99356083 -0.02655665 0.11014367 2.64423829] [ 0.0272707 0.99961567 -0.00498129 -0.21230978] [-0.10996906 0.00795291 0.99390319 -0.33727827] [ 0. 0. 0. 1. ]] SLAMing on 3.9587791919999993 meters 0.0549696537572464 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.22, Z:-0.34 [[ 0.99375875 -0.0236586 0.10901289 2.67487874] [ 0.02434086 0.99969155 -0.00493192 -0.21550944] [-0.10886258 0.0075546 0.9940281 -0.34058997] [ 0. 0. 0. 1. ]] SLAMing on 3.9887791919999995 meters 0.05481656341909552 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.22, Z:-0.35 [[ 0.99390551 -0.01758186 0.10882427 2.70456568] [ 0.0182259 0.99982176 -0.00492618 -0.21981138] [-0.10871826 0.00687958 0.9940488 -0.34618935] [ 0. 0. 0. 1. ]] SLAMing on 4.018779191999999 meters 0.05490357419246382 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.22, Z:-0.35 [[ 0.99393184 -0.01424472 0.1090715 2.73418662] [ 0.01487172 0.99987722 -0.0049372 -0.22397585] [-0.10898777 0.00652932 0.99402165 -0.35146145] [ 0. 0. 0. 1. ]] SLAMing on 4.048779192 meters 0.05365428147949609 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.23, Z:-0.36 [[ 0.99428176 -0.00742994 0.1065297 2.76404865] [ 0.007989 0.99995646 -0.00482213 -0.22603748] [-0.10648923 0.00564562 0.99429783 -0.35716167] [ 0. 0. 0. 1. ]] SLAMing on 4.078779192 meters 0.05425580114937316 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.23, Z:-0.36 [[ 0.99423768 -0.00387336 0.1071281 2.79310641] [ 0.00441817 0.99997848 -0.00484876 -0.23209462] [-0.10710701 0.00529413 0.9942334 -0.36343923] [ 0. 0. 0. 1. ]] SLAMing on 4.108779191999999 meters 0.055169144448389745 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.24, Z:-0.37 [[ 9.94130658e-01 1.56007490e-03 1.08174865e-01 2.82198999e+00] [-1.03618608e-03 9.99987463e-01 -4.89902147e-03 -2.44875223e-01] [-1.08181152e-01 4.75817814e-03 9.94119811e-01 -3.70915534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138779191999999 meters 0.053795046192740135 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.25, Z:-0.37 [[ 0.99405581 0.00530467 0.10874234 2.85332919] [-0.00479791 0.99997638 -0.0049213 -0.25354135] [-0.10876588 0.00437031 0.99405779 -0.37135711] [ 0. 0. 0. 1. ]] SLAMing on 4.168779192 meters 0.054560708290668135 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.26, Z:-0.38 [[ 0.99405905 0.00689862 0.10862327 2.8830278 ] [-0.00640172 0.99996739 -0.00492258 -0.26392079] [-0.10865368 0.00419796 0.9940708 -0.37745424] [ 0. 0. 0. 1. ]] SLAMing on 4.198779191999999 meters 0.05288913997841279 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.26, Z:-0.37 [[ 0.99389562 0.01519029 0.10927372 2.91501949] [-0.01473343 0.99987902 -0.00498716 -0.26245537] [-0.10933626 0.00334674 0.99399919 -0.3743137 ] [ 0. 0. 0. 1. ]] SLAMing on 4.228779191999999 meters 0.052685362512963255 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.26, Z:-0.38 [[ 0.99369732 0.01603286 0.11094402 2.94709795] [-0.01556761 0.99986602 -0.00505854 -0.26288662] [-0.11101026 0.00329953 0.99381378 -0.37619082] [ 0. 0. 0. 1. ]] SLAMing on 4.2587791919999995 meters 0.052535105694285815 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.26, Z:-0.39 [[ 0.99378562 0.0154836 0.11022888 2.9782907 ] [-0.01501757 0.99987444 -0.00505686 -0.25699243] [-0.11029334 0.00337006 0.99389337 -0.3853208 ] [ 0. 0. 0. 1. ]] SLAMing on 4.288779192 meters 0.053298641266454914 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.26, Z:-0.39 [[ 0.9938302 0.01626453 0.10971327 3.00889466] [-0.01580405 0.99986228 -0.00506545 -0.25762119] [-0.10978054 0.00330028 0.99395037 -0.39359355] [ 0. 0. 0. 1. ]] SLAMing on 4.318779191999999 meters 0.05373315851944216 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.26, Z:-0.40 [[ 0.99377918 0.01035059 0.11088648 3.04022885] [-0.00983882 0.99993828 -0.00516144 -0.25750208] [-0.11093306 0.00403833 0.99381968 -0.39762827] [ 0. 0. 0. 1. ]] SLAMing on 4.348779191999999 meters 0.05383992752926208 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.26, Z:-0.40 [[ 0.99378083 0.00616599 0.11118292 3.0713292 ] [-0.00562489 0.99997076 -0.00517982 -0.26096332] [-0.1112116 0.00452221 0.99378646 -0.39992012] [ 0. 0. 0. 1. ]] SLAMing on 4.378779192 meters 0.055200940062149435 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.27, Z:-0.40 [[ 9.93747821e-01 -2.29705294e-03 1.11624334e-01 3.10122446e+00] [ 2.89614310e-03 9.99982259e-01 -5.20517062e-03 -2.69692112e-01] [-1.11610397e-01 5.49590700e-03 9.93736844e-01 -4.00783120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408779191999999 meters 0.05597363402353578 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.28, Z:-0.40 [[ 0.99345226 -0.01225433 0.11358887 3.13099675] [ 0.01293996 0.99990222 -0.00530074 -0.27583134] [-0.11351281 0.00673587 0.9935137 -0.40180166] [ 0. 0. 0. 1. ]] SLAMing on 4.438779191999999 meters 0.0568821592564912 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.28, Z:-0.41 [[ 0.99328898 -0.01849719 0.11417031 3.16158273] [ 0.01923181 0.99980081 -0.00533622 -0.27926147] [-0.11404886 0.00749611 0.99344686 -0.40809409] [ 0. 0. 0. 1. ]] SLAMing on 4.4687791919999995 meters 0.05513846213509042 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.27, Z:-0.41 [[ 0.99367909 -0.01998427 0.11046487 3.19270613] [ 0.02068094 0.99977279 -0.00516448 -0.27042377] [-0.11033656 0.00741635 0.99386661 -0.41181189] [ 0. 0. 0. 1. ]] SLAMing on 4.498779192 meters 0.055734713116061645 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.27, Z:-0.42 [[ 0.99357369 -0.02262701 0.11090243 3.22202795] [ 0.02334639 0.99971395 -0.00519211 -0.27264426] [-0.11075323 0.00774792 0.99381774 -0.41740816] [ 0. 0. 0. 1. ]] SLAMing on 4.528779191999999 meters 0.056106623224092184 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.27, Z:-0.42 [[ 0.99364994 -0.02548013 0.1095927 3.25230192] [ 0.02619967 0.99964357 -0.00513034 -0.27447942] [-0.10942292 0.00796905 0.99396334 -0.42136157] [ 0. 0. 0. 1. ]] SLAMing on 4.558779191999999 meters 0.05606763465393275 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.28, Z:-0.42 [[ 0.99335079 -0.03385417 0.11003684 3.28252745] [ 0.03463077 0.99938689 -0.00515369 -0.27662121] [-0.10979491 0.00893008 0.99391415 -0.4240817 ] [ 0. 0. 0. 1. ]] SLAMing on 4.588779192 meters 0.05721171217052391 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.28, Z:-0.43 [[ 0.99308558 -0.0409094 0.11003387 3.31225673] [ 0.04172886 0.99911568 -0.00515386 -0.28215577] [-0.10972573 0.00970981 0.99391448 -0.42563892] [ 0. 0. 0. 1. ]] SLAMing on 4.618779191999999 meters 0.057338511611999904 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.28, Z:-0.43 [[ 0.99292268 -0.04252226 0.11088922 3.34242013] [ 0.04336463 0.99904581 -0.0051948 -0.28314175] [-0.11056251 0.0099667 0.9938192 -0.42795381] [ 0. 0. 0. 1. ]] SLAMing on 4.648779191999999 meters 0.057338511611999904 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.28, Z:-0.43 [[ 0.99292589 -0.04244771 0.11088896 3.37385709] [ 0.04329023 0.999049 -0.00520021 -0.28467059] [-0.11056277 0.00996384 0.9938192 -0.43217293] [ 0. 0. 0. 1. ]] SLAMing on 4.6787791919999995 meters 0.057805993990864744 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.28, Z:-0.44 [[ 0.99213521 -0.05128367 0.11418277 3.40328387] [ 0.05223627 0.99862035 -0.00536445 -0.28431993] [-0.11375013 0.01128674 0.99344528 -0.43619659] [ 0. 0. 0. 1. ]] SLAMing on 4.708779192 meters 0.05636576385472727 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.28, Z:-0.44 [[ 0.99177949 -0.05674551 0.11468825 3.43432545] [ 0.05774304 0.99831692 -0.00539166 -0.27958226] [-0.11418927 0.01196979 0.9933869 -0.43991672] [ 0. 0. 0. 1. ]] SLAMing on 4.738779191999999 meters 0.057603101709033225 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.28, Z:-0.45 [[ 0.9911018 -0.06542124 0.11591933 3.46313185] [ 0.06649894 0.99777161 -0.00545004 -0.28264568] [-0.11530447 0.01311006 0.99324368 -0.44582397] [ 0. 0. 0. 1. ]] SLAMing on 4.768779191999999 meters 0.0533529657002841 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.27, Z:-0.45 [[ 0.99085075 -0.06831537 0.11639505 3.49459781] [ 0.06942156 0.99757241 -0.00547169 -0.26980913] [-0.11573869 0.01350196 0.99318792 -0.44797401] [ 0. 0. 0. 1. ]] SLAMing on 4.798779192 meters 0.054188122857973336 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.27, Z:-0.45 [[ 0.99065763 -0.07019757 0.11691772 3.52392492] [ 0.07132671 0.99743786 -0.00549647 -0.27236891] [-0.11623233 0.01378447 0.99312639 -0.44940888] [ 0. 0. 0. 1. ]] SLAMing on 4.828779191999999 meters 0.05498032263693459 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.28, Z:-0.45 [[ 0.9907312 -0.07040871 0.11616501 3.55221594] [ 0.07152498 0.99742384 -0.00546383 -0.2754655 ] [-0.11548105 0.01372189 0.9932149 -0.45245537] [ 0. 0. 0. 1. ]] SLAMing on 4.858779191999999 meters 0.05530704785514427 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.27, Z:-0.46 [[ 0.99076801 -0.07033336 0.11589635 3.57957094] [ 0.07143949 0.99743025 -0.00541298 -0.27309766] [-0.11521782 0.01364259 0.99324656 -0.45635594] [ 0. 0. 0. 1. ]] SLAMing on 4.888779191999999 meters 0.0556980374641754 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.27, Z:-0.46 [[ 0.99077537 -0.07311813 0.11409603 3.60982382] [ 0.07420664 0.99722871 -0.00531667 -0.26881954] [-0.11339109 0.01373431 0.9934555 -0.4620534 ] [ 0. 0. 0. 1. ]] SLAMing on 4.918779192 meters 0.056582155325358506 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.27, Z:-0.47 [[ 0.99062066 -0.07507849 0.11416621 3.63939292] [ 0.07618119 0.9970798 -0.0053204 -0.26890512] [-0.11343338 0.01396782 0.99344742 -0.4661886 ] [ 0. 0. 0. 1. ]] SLAMing on 4.948779191999999 meters 0.057945107166251425 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.26, Z:-0.47 [[ 0.99059695 -0.07722965 0.11293033 3.66858691] [ 0.07832191 0.99691424 -0.00526081 -0.26469819] [-0.11217556 0.01405627 0.99358898 -0.4693772 ] [ 0. 0. 0. 1. ]] SLAMing on 4.978779191999999 meters 0.0587421217236292 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.26, Z:-0.47 [[ 0.99084021 -0.07607162 0.11157411 3.69713158] [ 0.07713023 0.99700749 -0.0051961 -0.26252842] [-0.11084495 0.01375424 0.99374253 -0.47287624] [ 0. 0. 0. 1. ]] SLAMing on 5.0087791919999995 meters 0.059186246957823756 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.25, Z:-0.48 [[ 0.9915015 -0.07113498 0.1089247 3.72845562] [ 0.07211354 0.99738356 -0.00506608 -0.25315564] [-0.10827933 0.01287797 0.99403709 -0.47557812] [ 0. 0. 0. 1. ]] SLAMing on 5.038779191999999 meters 0.05577301027037408 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.24, Z:-0.48 [[ 0.99180222 -0.06792272 0.10823524 3.75947229] [ 0.06886991 0.99761295 -0.00503291 -0.23667653] [-0.10763503 0.0124458 0.99411257 -0.47699436] [ 0. 0. 0. 1. ]] SLAMing on 5.068779191999999 meters 0.05626879639376365 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.22, Z:-0.48 [[ 0.99225512 -0.06194597 0.10766833 3.79002014] [ 0.06284814 0.99801056 -0.00500286 -0.22254979] [-0.10714422 0.01173086 0.99417428 -0.48370261] [ 0. 0. 0. 1. ]] SLAMing on 5.098779191999999 meters 0.05722437580085956 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.22, Z:-0.49 [[ 0.99252026 -0.05986914 0.10639181 3.81845377] [ 0.0607383 0.99814147 -0.00494515 -0.21996152] [-0.10589801 0.01137022 0.99431199 -0.48807507] [ 0. 0. 0. 1. ]] SLAMing on 5.128779192 meters 0.057508227168543494 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.21, Z:-0.49 [[ 0.99273293 -0.05806857 0.105401 3.84836954] [ 0.05891085 0.99825126 -0.00489292 -0.21181693] [-0.10493256 0.01106662 0.99441776 -0.49156364] [ 0. 0. 0. 1. ]] SLAMing on 5.158779191999999 meters 0.05805777568850977 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.21, Z:-0.50 [[ 0.99280145 -0.05879969 0.10434501 3.87781463] [ 0.05962866 0.99820889 -0.00484017 -0.21064851] [-0.10387352 0.01102728 0.99452938 -0.49501636] [ 0. 0. 0. 1. ]] SLAMing on 5.188779191999999 meters 0.05721836006478588 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.20, Z:-0.50 [[ 0.99291989 -0.06056163 0.10218792 3.90769197] [ 0.06136523 0.99810414 -0.00473583 -0.20251033] [-0.10170738 0.01097308 0.99475384 -0.49907381] [ 0. 0. 0. 1. ]] SLAMing on 5.2187791919999995 meters 0.05985048668523234 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.21, Z:-0.51 [[ 0.99302873 -0.0607927 0.10098609 3.93421855] [ 0.06157867 0.99809126 -0.00468114 -0.20908997] [-0.10050876 0.0108671 0.99487682 -0.50599863] [ 0. 0. 0. 1. ]] SLAMing on 5.248779191999999 meters 0.059467926341938426 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.20, Z:-0.51 [[ 0.99337696 -0.06018784 0.09787561 3.96350316] [ 0.06092268 0.99813219 -0.00453401 -0.20460894] [-0.09741991 0.01046682 0.99518833 -0.51052166] [ 0. 0. 0. 1. ]] SLAMing on 5.278779191999999 meters 0.056562673907338254 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.19, Z:-0.51 [[ 0.99357357 -0.05817473 0.09709409 3.99458544] [ 0.05888521 0.99825477 -0.00446562 -0.19470573] [-0.09666485 0.01015432 0.99526519 -0.51126489] [ 0. 0. 0. 1. ]] SLAMing on 5.308779191999999 meters 0.057384931730807366 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.20, Z:-0.52 [[ 0.99409379 -0.05244788 0.09500927 4.02400554] [ 0.05310203 0.99857954 -0.00436809 -0.19534796] [-0.09464522 0.00938748 0.9954668 -0.51599776] [ 0. 0. 0. 1. ]] SLAMing on 5.338779192 meters 0.06039956426432176 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.20, Z:-0.52 [[ 0.99430929 -0.04854697 0.09482735 4.05251306] [ 0.04918087 0.99878038 -0.00435778 -0.20494133] [-0.09450014 0.00899667 0.9954842 -0.522827 ] [ 0. 0. 0. 1. ]] SLAMing on 5.368779191999999 meters 0.06097807276376761 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.20, Z:-0.53 [[ 0.99490281 -0.04127537 0.09200399 4.08214411] [ 0.04184094 0.99911535 -0.00422602 -0.20430953] [-0.09174817 0.00805401 0.99574967 -0.52503935] [ 0. 0. 0. 1. ]] SLAMing on 5.398779191999999 meters 0.06110423366875626 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.20, Z:-0.53 [[ 0.99514151 -0.03748571 0.0910395 4.11213183] [ 0.03802351 0.9992681 -0.00417946 -0.20442481] [-0.0908162 0.00762079 0.99583851 -0.52868689] [ 0. 0. 0. 1. ]] SLAMing on 5.4287791919999995 meters 0.06151903455427699 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.21, Z:-0.53 [[ 9.95557366e-01 -3.25231761e-02 8.83616065e-02 4.14215287e+00] [ 3.30102848e-02 9.99446779e-01 -4.05660942e-03 -2.05030703e-01] [-8.81807892e-02 6.95542918e-03 9.96080203e-01 -5.30328316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458779191999999 meters 0.057429612652734274 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.20, Z:-0.52 [[ 9.96082480e-01 -3.11484736e-02 8.27614959e-02 4.17556970e+00] [ 3.15707064e-02 9.99494306e-01 -3.79772624e-03 -1.95487642e-01] [-8.26013505e-02 6.39568746e-03 9.96562147e-01 -5.20742528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488779191999999 meters 0.05756080252984265 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.20, Z:-0.52 [[ 9.96322465e-01 -3.07527068e-02 7.99738566e-02 4.20734937e+00] [ 3.11454918e-02 9.99508130e-01 -3.66835736e-03 -1.97572538e-01] [-7.98217080e-02 6.14569194e-03 9.96790211e-01 -5.21683075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518779191999999 meters 0.05818926811724238 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.20, Z:-0.52 [[ 9.96577194e-01 -3.36341715e-02 7.55158158e-02 4.23654004e+00] [ 3.39936569e-02 9.99415991e-01 -3.47972528e-03 -2.01131411e-01] [-7.53546762e-02 6.03487358e-03 9.97138533e-01 -5.23695550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548779192 meters 0.05800028837238669 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.20, Z:-0.53 [[ 9.96623127e-01 -3.57854572e-02 7.39036059e-02 4.26753290e+00] [ 3.61353676e-02 9.99341112e-01 -3.40260103e-03 -2.02042837e-01] [-7.37331480e-02 6.06164484e-03 9.97259585e-01 -5.25264150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578779191999999 meters 0.05956435442639033 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.21, Z:-0.53 [[ 9.96759563e-01 -3.96150129e-02 7.00073137e-02 4.29632342e+00] [ 3.99382247e-02 9.99196954e-01 -3.22262245e-03 -2.09335286e-01] [-6.98234304e-02 6.00814757e-03 9.97541273e-01 -5.29394618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608779191999999 meters 0.06010614183260067 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.21, Z:-0.53 [[ 9.96886390e-01 -4.14624273e-02 6.70700594e-02 4.32546299e+00] [ 4.17633766e-02 9.99122749e-01 -3.09061025e-03 -2.13553233e-01] [-6.68830780e-02 5.88205945e-03 9.97743482e-01 -5.32964853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638779191999999 meters 0.06109246570652026 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.22, Z:-0.54 [[ 9.97116296e-01 -4.37794208e-02 6.19875303e-02 4.35465754e+00] [ 4.40406909e-02 9.99025661e-01 -2.85421606e-03 -2.20419289e-01] [-6.18021775e-02 5.57595901e-03 9.98072843e-01 -5.36177846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668779191999999 meters 0.05908823170313841 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.22, Z:-0.53 [[ 9.97350499e-01 -4.41254523e-02 5.78353425e-02 4.38597788e+00] [ 4.43534101e-02 9.99012354e-01 -2.66314102e-03 -2.16713519e-01] [-5.76607093e-02 5.22127969e-03 9.98322584e-01 -5.34305975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.698779191999999 meters 0.062282572823867045 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.23, Z:-0.55 [[ 9.97371947e-01 -4.34717091e-02 5.79604220e-02 4.41231462e+00] [ 4.37001028e-02 9.99041104e-01 -2.67824736e-03 -2.27595200e-01] [-5.77884160e-02 5.20408518e-03 9.98315289e-01 -5.46162542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728779191999999 meters 0.059885169137067394 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.22, Z:-0.55 [[ 9.97381567e-01 -4.09937961e-02 5.95778368e-02 4.44370041e+00] [ 4.12297547e-02 9.99145946e-01 -2.73612162e-03 -2.24059827e-01] [-5.94147901e-02 5.18533686e-03 9.98219913e-01 -5.45104571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7587791919999995 meters 0.06279038501192585 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.24, Z:-0.55 [[ 9.97720938e-01 -3.70576578e-02 5.63884660e-02 4.46997597e+00] [ 3.72631065e-02 9.99302117e-01 -2.59602158e-03 -2.36353806e-01] [-5.62529110e-02 4.69131450e-03 9.98405530e-01 -5.52739811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788779191999999 meters 0.0604814644143033 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.23, Z:-0.55 [[ 9.97906470e-01 -3.41662655e-02 5.49121351e-02 4.50022140e+00] [ 3.43562538e-02 9.99406474e-01 -2.51931672e-03 -2.33463779e-01] [-5.47934676e-02 4.40061771e-03 9.98488012e-01 -5.50419077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818779191999999 meters 0.060626529943688195 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.24, Z:-0.56 [[ 9.98113859e-01 -2.91000946e-02 5.40546873e-02 4.52938343e+00] [ 2.92765677e-02 9.99568284e-01 -2.47557238e-03 -2.36360671e-01] [-5.39593116e-02 4.05343881e-03 9.98534908e-01 -5.57898229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848779191999999 meters 0.05854285556451947 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.23, Z:-0.56 [[ 9.98193116e-01 -2.19355222e-02 5.59404617e-02 4.56064188e+00] [ 2.21133363e-02 9.99752189e-01 -2.56153893e-03 -2.34191624e-01] [-5.58704103e-02 3.79394077e-03 9.98430820e-01 -5.57091926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878779191999999 meters 0.061231187228506 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.25, Z:-0.57 [[ 9.98027390e-01 -1.85068295e-02 5.99902088e-02 4.58823365e+00] [ 1.87052589e-02 9.99821266e-01 -2.74776443e-03 -2.46257580e-01] [-5.99286341e-02 3.86447655e-03 9.98195184e-01 -5.71778349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908779191999999 meters 0.05767066759317397 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.24, Z:-0.57 [[ 9.97903542e-01 -1.15870161e-02 6.36730928e-02 4.62012787e+00] [ 1.17964434e-02 9.99926173e-01 -2.91413522e-03 -2.42014138e-01] [-6.36346259e-02 3.65914190e-03 9.97966555e-01 -5.67978198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938779191999999 meters 0.057965417488063206 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.25, Z:-0.58 [[ 9.97921498e-01 -8.70819283e-03 6.38502229e-02 4.64969721e+00] [ 8.91291746e-03 9.99956009e-01 -2.92218531e-03 -2.45176377e-01] [-6.38219671e-02 3.48520331e-03 9.97955214e-01 -5.76539216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9687791919999995 meters 0.05932075350771927 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.25, Z:-0.59 [[ 9.97555694e-01 -4.09161486e-03 6.97559731e-02 4.67876590e+00] [ 4.32499399e-03 9.99985543e-01 -3.19494756e-03 -2.52249599e-01] [-6.97418922e-02 3.48883229e-03 9.97558969e-01 -5.86854061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998779191999999 meters 0.059742867325625254 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.26, Z:-0.59 [[ 9.97425611e-01 -2.36216304e-03 7.16698663e-02 4.70918137e+00] [ 2.60405788e-03 9.99991224e-01 -3.28187735e-03 -2.57563459e-01] [-7.16614850e-02 3.46006100e-03 9.97423009e-01 -5.92798661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028779191999999 meters 0.06561892805316154 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.27, Z:-0.60 [[ 9.96844226e-01 3.21626971e-03 7.93173667e-02 4.73718654e+00] [-2.93719107e-03 9.99989080e-01 -3.63492441e-03 -2.67633321e-01] [-7.93281915e-02 3.39048315e-03 9.96842787e-01 -6.03491723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058779191999999 meters 0.07093922050537016 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.27, Z:-0.61 [[ 9.96432710e-01 4.91430826e-03 8.42478716e-02 4.76660514e+00] [-4.60541132e-03 9.99981943e-01 -3.86047778e-03 -2.73194870e-01] [-8.42653220e-02 3.45871024e-03 9.96437350e-01 -6.11897908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088779191999999 meters 0.09580971592505655 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.28, Z:-0.63 [[ 9.95519783e-01 5.45892670e-03 9.43957705e-02 4.79487303e+00] [-5.07326676e-03 9.99977778e-01 -4.32506631e-03 -2.84780790e-01] [-9.44172831e-02 3.82679415e-03 9.95525355e-01 -6.31339169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.118779191999999 meters 0.11976178705091933 Centerline is valid? [True, False] Translation: X:4.81, Y:-0.30, Z:-0.63 [[ 0.99659515 0.00915941 0.08194033 4.81229699] [-0.00856231 0.99993419 -0.00763542 -0.296227 ] [-0.08200488 0.00690782 0.99660799 -0.63387 ] [ 0. 0. 0. 1. ]] SLAMing on 6.148779191999999 meters 0.12597967420278602 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.64 [[ 0.99664156 0.00891533 0.08140103 4.8138536 ] [-0.00837753 0.99994078 -0.00694591 -0.30033784] [-0.08145813 0.00624064 0.99665723 -0.63522975] [ 0. 0. 0. 1. ]] SLAMing on 6.1787791919999995 meters 0.13661602440407958 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.31, Z:-0.63 [[ 0.99747885 0.01163543 0.07000397 4.82871901] [-0.01106122 0.99990197 -0.00858465 -0.31175534] [-0.07009699 0.00778867 0.99750977 -0.63436049] [ 0. 0. 0. 1. ]] SLAMing on 6.208779191999999 meters 0.14799422316798697 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.63 [[ 0.99752259 0.01142697 0.06941254 4.83005331] [-0.01091931 0.99991082 -0.00768871 -0.31641581] [-0.06949421 0.00691172 0.99755841 -0.63496382] [ 0. 0. 0. 1. ]] SLAMing on 6.238779191999999 meters 0.16693337586894325 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.33, Z:-0.63 [[ 0.99762392 0.00726654 0.06851067 4.83119838] [-0.00657564 0.99992528 -0.01030476 -0.32567556] [-0.06858043 0.00982977 0.99759716 -0.63480258] [ 0. 0. 0. 1. ]] SLAMing on 6.268779191999999 meters 0.17390362767341155 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.33, Z:-0.63 [[ 0.99766434 0.00734571 0.06791106 4.83194192] [-0.00676285 0.99993833 -0.00880866 -0.33116419] [-0.06797158 0.00832881 0.99765249 -0.63404554] [ 0. 0. 0. 1. ]] SLAMing on 6.298779191999999 meters 0.18802358251834903 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.34, Z:-0.63 [[ 9.97717030e-01 3.36910973e-03 6.74490735e-02 4.83294977e+00] [-2.61172433e-03 9.99932584e-01 -1.13140286e-02 -3.38311717e-01] [-6.74826446e-02 1.11120407e-02 9.97658566e-01 -6.34158386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328779191999999 meters 0.1905437642953566 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.34, Z:-0.62 [[ 9.98783609e-01 1.96227222e-03 4.92691764e-02 4.84084991e+00] [-1.78532173e-03 9.99991799e-01 -3.63525546e-03 -3.44354004e-01] [-4.92759057e-02 3.54287223e-03 9.98778921e-01 -6.24554901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358779191999999 meters 0.19810500736040146 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.35, Z:-0.63 [[ 9.98813339e-01 1.75173363e-03 4.86707911e-02 4.84254896e+00] [-1.63498623e-03 9.99995690e-01 -2.43842399e-03 -3.50858523e-01] [-4.86748529e-02 2.35595433e-03 9.98811898e-01 -6.25436720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388779191999999 meters 0.20413082728935955 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.35, Z:-0.63 [[ 9.98825384e-01 1.85426055e-03 4.84191589e-02 4.84319984e+00] [-1.77688662e-03 9.99997075e-01 -1.64099636e-03 -3.54275802e-01] [-4.84220601e-02 1.55303346e-03 9.98825757e-01 -6.25662312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418779191999999 meters 0.20724746990807522 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.36, Z:-0.62 [[ 9.99251546e-01 7.11959575e-03 3.80218142e-02 4.85604676e+00] [-7.01013357e-03 9.99970894e-01 -3.01147432e-03 -3.63804361e-01] [-3.80421480e-02 2.74268238e-03 9.99272372e-01 -6.22658129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448779191999999 meters 0.20461331661223872 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.37, Z:-0.62 [[ 9.99267747e-01 6.89910017e-03 3.76347164e-02 4.85746992e+00] [-6.80028383e-03 9.99973088e-01 -2.75304867e-03 -3.66042608e-01] [-3.76526971e-02 2.49510599e-03 9.99287771e-01 -6.23715820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478779191999999 meters 0.21514358746070056 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-0.63 [[ 0.99957468 0.0127124 0.02624594 4.87243251] [-0.01248756 0.99988407 -0.00871272 -0.37200358] [-0.02635366 0.00838127 0.99961755 -0.62761154] [ 0. 0. 0. 1. ]] SLAMing on 6.508779191999999 meters 0.2151783886425334 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-0.62 [[ 9.99752318e-01 1.06590645e-02 1.95368309e-02 4.86636070e+00] [-1.07241155e-02 9.99937285e-01 3.22791809e-03 -3.73521010e-01] [-1.95011991e-02 -3.43663382e-03 9.99803927e-01 -6.22881802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538779191999999 meters 0.21559844734532194 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-0.62 [[ 0.99970994 0.01450548 0.01922569 4.86779408] [-0.01463244 0.99987195 0.00647954 -0.37153974] [-0.01912924 -0.00675898 0.99979417 -0.62465027] [ 0. 0. 0. 1. ]] SLAMing on 6.568779191999999 meters 0.21559844734532194 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-0.62 [[ 9.99748014e-01 1.07542416e-02 1.97041854e-02 4.86655913e+00] [-1.07899805e-02 9.99940327e-01 1.70835165e-03 -3.69149751e-01] [-1.96846375e-02 -1.92052894e-03 9.99804394e-01 -6.24905141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598779191999999 meters 0.22327824787512152 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-0.63 [[ 9.99748978e-01 1.09253432e-02 1.95606156e-02 4.86692586e+00] [-1.09454197e-02 9.99939674e-01 9.19604811e-04 -3.66691162e-01] [-1.95493886e-02 -1.13347312e-03 9.99808250e-01 -6.25922460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628779191999999 meters 0.22675700328353945 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.63 [[ 9.99754368e-01 1.05282967e-02 1.95027612e-02 4.86758660e+00] [-1.05331391e-02 9.99944514e-01 1.45587091e-04 -3.64719761e-01] [-1.95001463e-02 -3.50976628e-04 9.99809792e-01 -6.26821953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658779191999999 meters 0.2315464060926706 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.63 [[ 9.99722216e-01 1.40481846e-02 1.89245942e-02 4.86924066e+00] [-1.41239061e-02 9.99892750e-01 3.87352001e-03 -3.63439395e-01] [-1.88681486e-02 -4.13973320e-03 9.99813410e-01 -6.27166283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688779191999999 meters 0.2328233058442785 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.63 [[ 9.99729062e-01 1.36720892e-02 1.88381805e-02 4.87002702e+00] [-1.37368230e-02 9.99900163e-01 3.31119673e-03 -3.62329852e-01] [-1.87910288e-02 -3.56907635e-03 9.99817063e-01 -6.28085401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718779191999999 meters 0.23693734181542273 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.63 [[ 9.99734423e-01 1.36557586e-02 1.85634787e-02 4.87052441e+00] [-1.37172304e-02 9.99900832e-01 3.18814209e-03 -3.61653050e-01] [-1.85181013e-02 -3.44193491e-03 9.99822601e-01 -6.28108806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748779191999999 meters 0.24595867659705686 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.63 [[ 9.99741319e-01 1.34469177e-02 1.83432640e-02 4.87143999e+00] [-1.35020370e-02 9.99904683e-01 2.88434346e-03 -3.61104636e-01] [-1.83027301e-02 -3.13126876e-03 9.99827588e-01 -6.28949465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778779191999999 meters 0.2441969847346238 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.63 [[ 9.99751066e-01 1.30300906e-02 1.81113981e-02 4.87273483e+00] [-1.30799565e-02 9.99910975e-01 2.63755533e-03 -3.61257420e-01] [-1.80754181e-02 -2.87379505e-03 9.99832496e-01 -6.30021879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808779191999999 meters 0.24527476008599436 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-0.63 [[ 9.99759864e-01 1.27269644e-02 1.78392290e-02 4.87407521e+00] [-1.27748384e-02 9.99915090e-01 2.57224714e-03 -3.62054500e-01] [-1.78049774e-02 -2.79952272e-03 9.99837560e-01 -6.31117010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.838779191999999 meters 0.2502391488234039 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.36, Z:-0.63 [[ 9.99788610e-01 1.17809687e-02 1.68506416e-02 4.87782694e+00] [-1.18239299e-02 9.99927088e-01 2.45217647e-03 -3.63522450e-01] [-1.68205240e-02 -2.65089891e-03 9.99855011e-01 -6.33035945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868779191999999 meters 0.2490051987731106 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.36, Z:-0.63 [[ 9.99801386e-01 1.14162998e-02 1.63357514e-02 4.87943694e+00] [-1.14616638e-02 9.99930705e-01 2.68605524e-03 -3.64763208e-01] [-1.63039546e-02 -2.87275664e-03 9.99862955e-01 -6.33322709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898779191999999 meters 0.25190196027747025 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.37, Z:-0.63 [[ 9.99823616e-01 1.09093024e-02 1.52880615e-02 4.88159326e+00] [-1.09571381e-02 9.99935321e-01 3.04869499e-03 -3.66560310e-01] [-1.52538136e-02 -3.21567065e-03 9.99878483e-01 -6.32669094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928779191999999 meters 0.2551341337623981 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.37, Z:-0.63 [[ 9.99830475e-01 1.06747830e-02 1.50023573e-02 4.88273075e+00] [-1.07234051e-02 9.99937496e-01 3.16426082e-03 -3.67453694e-01] [-1.49676418e-02 -3.32460075e-03 9.99882451e-01 -6.33237165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958779191999999 meters 0.25750239218542725 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.37, Z:-0.63 [[ 0.99980611 0.01390431 0.01394306 4.8861701 ] [-0.01401418 0.99987127 0.0078134 -0.36913126] [-0.01383263 -0.00800729 0.99987226 -0.63338866] [ 0. 0. 0. 1. ]] SLAMing on 6.988779191999999 meters 0.25989489111874764 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.37, Z:-0.63 [[ 0.99981468 0.01349913 0.01372545 4.88737952] [-0.01360024 0.99988086 0.00730032 -0.36812106] [-0.01362527 -0.00748564 0.99987915 -0.63447335] [ 0. 0. 0. 1. ]] SLAMing on 7.018779191999999 meters 0.2577525043247413 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.37, Z:-0.64 [[ 0.9997861 0.0164554 0.01252916 4.8913962 ] [-0.01659626 0.99979928 0.01122316 -0.36781099] [-0.01234197 -0.01142869 0.99985852 -0.63525391] [ 0. 0. 0. 1. ]] SLAMing on 7.048779191999999 meters 0.26505561281240186 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.37, Z:-0.64 [[ 0.99980436 0.01590619 0.01175718 4.89404453] [-0.01602981 0.99981642 0.01049605 -0.36614987] [-0.01158807 -0.01068246 0.99987579 -0.63689593] [ 0. 0. 0. 1. ]] SLAMing on 7.078779191999999 meters 0.2598925387474348 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.37, Z:-0.64 [[ 0.99981538 0.01552734 0.01131858 4.89558493] [-0.01564364 0.99982499 0.01026009 -0.36562949] [-0.01115729 -0.01043526 0.9998833 -0.63754918] [ 0. 0. 0. 1. ]] SLAMing on 7.108779191999999 meters 0.26379826204954665 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.64 [[ 0.99983095 0.01504862 0.0105646 4.89805216] [-0.01515191 0.99983751 0.00976577 -0.36421965] [-0.01041592 -0.0099242 0.9998965 -0.63869454] [ 0. 0. 0. 1. ]] SLAMing on 7.1387791919999986 meters 0.2675518760810786 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.64 [[ 0.99984117 0.01468232 0.01010248 4.89956703] [-0.01478008 0.999844 0.00967041 -0.36387899] [-0.00995892 -0.00981819 0.99990221 -0.63902255] [ 0. 0. 0. 1. ]] SLAMing on 7.168779191999999 meters 0.27146795507375493 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.64 [[ 0.99985007 0.01446176 0.00952321 4.9007197 ] [-0.01455695 0.999844 0.01000309 -0.3640726 ] [-0.00937706 -0.01014021 0.99990462 -0.63809803] [ 0. 0. 0. 1. ]] SLAMing on 7.198779191999999 meters 0.26772100978575825 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.36, Z:-0.64 [[ 0.99986249 0.01398619 0.00891015 4.90249129] [-0.01407647 0.99984939 0.01015126 -0.36446209] [-0.00876683 -0.01027529 0.99990878 -0.63798352] [ 0. 0. 0. 1. ]] SLAMing on 7.228779191999999 meters 0.27223427615453594 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.36, Z:-0.64 [[ 0.99987914 0.01334414 0.00797723 4.90534691] [-0.01342569 0.99985726 0.01025763 -0.36478665] [-0.00783922 -0.01036349 0.99991557 -0.63822476] [ 0. 0. 0. 1. ]] SLAMing on 7.258779191999999 meters 0.2744732073145169 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.36, Z:-0.64 [[ 0.99989076 0.01280984 0.00737397 4.90737649] [-0.01288298 0.99986741 0.00995902 -0.36403226] [-0.00724542 -0.01005293 0.99992322 -0.6388501 ] [ 0. 0. 0. 1. ]] SLAMing on 7.288779191999999 meters 0.2792874327980744 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.36, Z:-0.64 [[ 0.99991311 0.01170361 0.00606531 4.91198828] [-0.01176227 0.99988351 0.0097267 -0.36407741] [-0.00595077 -0.0097972 0.9999343 -0.64030723] [ 0. 0. 0. 1. ]] SLAMing on 7.318779191999999 meters 0.2804533314842334 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.36, Z:-0.64 [[ 9.99932694e-01 1.05442870e-02 4.83988609e-03 4.91636783e+00] [-1.05903530e-02 9.99897903e-01 9.59316290e-03 -3.64623273e-01] [-4.73823889e-03 -9.64377333e-03 9.99942272e-01 -6.41580476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3487791919999985 meters 0.2820740559867388 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.37, Z:-0.64 [[ 9.99957170e-01 8.77940526e-03 2.92935387e-03 4.92306389e+00] [-8.80625195e-03 9.99918151e-01 9.28126228e-03 -3.65106837e-01] [-2.84763014e-03 -9.30666139e-03 9.99952637e-01 -6.43482711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378779191999999 meters 0.2827909600439695 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.37, Z:-0.65 [[ 9.99991597e-01 4.09747920e-03 -1.25906168e-04 4.93114100e+00] [-4.09676485e-03 9.99977936e-01 5.22906227e-03 -3.65633285e-01] [ 1.47329364e-04 -5.22850252e-03 9.99986320e-01 -6.45448165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408779191999999 meters 0.28688322472178746 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.37, Z:-0.65 [[ 9.99995703e-01 1.31157525e-03 -2.62180719e-03 4.93715499e+00] [-1.30501931e-03 9.99996022e-01 2.50069227e-03 -3.67184082e-01] [ 2.62507660e-03 -2.49726002e-03 9.99993436e-01 -6.46465051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438779191999999 meters 0.2913801030004873 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.37, Z:-0.65 [[ 9.99989841e-01 1.02912550e-04 -4.50636556e-03 4.94291494e+00] [-8.74658624e-05 9.99994121e-01 3.42781144e-03 -3.70004094e-01] [ 4.50669183e-03 -3.42738247e-03 9.99983971e-01 -6.46170608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468779191999999 meters 0.28798974841972913 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.37, Z:-0.65 [[ 9.99985618e-01 -3.75267141e-04 -5.35008940e-03 4.94559295e+00] [ 3.95801309e-04 9.99992558e-01 3.83755603e-03 -3.71680775e-01] [ 5.34860948e-03 -3.83961841e-03 9.99978325e-01 -6.46502885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498779191999999 meters 0.29189067248364065 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.37, Z:-0.65 [[ 9.99980349e-01 -6.73070359e-04 -6.23282049e-03 4.94785830e+00] [ 6.94185252e-04 9.99994026e-01 3.38615126e-03 -3.69987014e-01] [ 6.23050414e-03 -3.39041145e-03 9.99974843e-01 -6.46808086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528779191999999 meters 0.2945845069498662 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.37, Z:-0.65 [[ 9.99978989e-01 -6.52947244e-04 -6.44938162e-03 4.94834584e+00] [ 6.75537405e-04 9.99993643e-01 3.50112923e-03 -3.70208324e-01] [ 6.44705456e-03 -3.50541246e-03 9.99973073e-01 -6.46743292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5587791919999985 meters 0.2980833542753217 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.37, Z:-0.65 [[ 9.99972065e-01 -1.27094720e-03 -7.36570895e-03 4.95098802e+00] [ 1.29783944e-03 9.99992506e-01 3.64737577e-03 -3.70421797e-01] [ 7.36101813e-03 -3.65683338e-03 9.99966221e-01 -6.46487134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588779191999999 meters 0.3012651868674978 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.37, Z:-0.65 [[ 9.99968585e-01 -1.27952128e-03 -7.82248379e-03 4.95182392e+00] [ 1.30242567e-03 9.99994878e-01 2.92362780e-03 -3.67505933e-01] [ 7.81870288e-03 -2.93372416e-03 9.99965130e-01 -6.46546372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.618779191999999 meters 0.30712043084481216 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.37, Z:-0.64 [[ 9.99961047e-01 -1.76639017e-03 -8.64775024e-03 4.95394763e+00] [ 1.79800645e-03 9.99991724e-01 3.64960347e-03 -3.68581566e-01] [ 8.64123205e-03 -3.66501002e-03 9.99955947e-01 -6.44975710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648779191999999 meters 0.3105334787528134 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.37, Z:-0.64 [[ 9.99953172e-01 -2.08024944e-03 -9.45123861e-03 4.95581269e+00] [ 2.12185292e-03 9.99988095e-01 4.39401513e-03 -3.70035141e-01] [ 9.44198545e-03 -4.41386350e-03 9.99945682e-01 -6.43626423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678779191999999 meters 0.31301317425389386 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.37, Z:-0.64 [[ 9.99941579e-01 -2.88127720e-03 -1.04181086e-02 4.95826582e+00] [ 2.93144637e-03 9.99984166e-01 4.80351384e-03 -3.70304381e-01] [ 1.04041034e-02 -4.83377334e-03 9.99934192e-01 -6.41901797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708779191999999 meters 0.3111607013779613 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.37, Z:-0.64 [[ 9.99921308e-01 -4.02186233e-03 -1.18828417e-02 4.96287414e+00] [ 4.08214201e-03 9.99978902e-01 5.05294119e-03 -3.71112619e-01] [ 1.18622687e-02 -5.10105101e-03 9.99916629e-01 -6.41894869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738779191999999 meters 0.31928317277832347 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.37, Z:-0.65 [[ 9.99985642e-01 -5.35198100e-03 2.69042714e-04 4.97161727e+00] [ 5.35133163e-03 9.99982899e-01 2.35904278e-03 -3.68272503e-01] [-2.81663665e-04 -2.35756917e-03 9.99997181e-01 -6.53689327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 178.49 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%| | 0/258 [00:00