+ python -m lidar_slam --no-model /working/71489b8b-d63b-45f5-ab9e-23898dd7c761 Lidar SLAM 0.0.7 ===================================================== The recording path: /working/71489b8b-d63b-45f5-ab9e-23898dd7c761 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.007806574 Adjusted end_distance from 9.223372036854776e+18 to 34.815966574 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.007806574 meters 0.03372691612347739 Centerline is valid? [0, True] SLAMing on 0.067806574 meters 0.03354479903790001 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.00, Z:-0.00 [[ 9.99994425e-01 2.00319009e-03 -2.67153742e-03 -5.99012893e-02] [-2.00343052e-03 9.99997989e-01 -8.73243114e-05 7.75960167e-04] [ 2.67135712e-03 9.26760641e-05 9.99996428e-01 -2.64194218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.127806574 meters 0.03324917470253646 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.01, Z:-0.01 [[ 9.99999607e-01 -7.27529139e-04 -5.07445324e-04 -1.18897812e-01] [ 7.27521193e-04 9.99999735e-01 -1.58426154e-05 -1.22050204e-02] [ 5.07456716e-04 1.54734319e-05 9.99999871e-01 -6.29172903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.187806574 meters 0.031844286563622946 Centerline is valid? [True, True] Translation: X:-0.18, Y:-0.01, Z:-0.00 [[ 9.99991149e-01 -4.06022430e-03 1.10296010e-03 -1.79161208e-01] [ 4.06018685e-03 9.99991757e-01 3.61947762e-05 -1.03498553e-02] [-1.10309797e-03 -3.17162317e-05 9.99999391e-01 -4.33388480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.247806574 meters 0.031699089810961444 Centerline is valid? [True, True] Translation: X:-0.24, Y:-0.02, Z:-0.00 [[ 9.99983695e-01 -4.84238226e-03 3.02659739e-03 -2.39255555e-01] [ 4.84210617e-03 9.99988272e-01 9.85450708e-05 -1.81390533e-02] [-3.02703909e-03 -8.38883581e-05 9.99995415e-01 -3.20365916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.307806574 meters 0.030675866563727415 Centerline is valid? [True, True] Translation: X:-0.30, Y:-0.02, Z:-0.01 [[ 9.99981417e-01 -6.08091401e-03 -4.34305929e-04 -3.01144257e-01] [ 6.08090702e-03 9.99981511e-01 -1.74328222e-05 -2.35661699e-02] [ 4.34403906e-04 1.47915243e-05 9.99999906e-01 -1.15929148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.367806574 meters 0.03065768568861917 Centerline is valid? [True, True] Translation: X:-0.36, Y:-0.02, Z:-0.01 [[ 9.99994530e-01 -2.87842739e-03 1.62942678e-03 -3.60300872e-01] [ 2.87834294e-03 9.99995856e-01 5.41704814e-05 -1.52893551e-02] [-1.62957596e-03 -4.94801360e-05 9.99998671e-01 -7.77710164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.427806574 meters 0.032270293581713315 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.01, Z:-0.01 [[ 9.99994825e-01 3.09843780e-03 8.65663043e-04 -4.21443561e-01] [-3.09846330e-03 9.99995199e-01 2.81275153e-05 -9.21848229e-03] [-8.65571736e-04 -3.08095949e-05 9.99999625e-01 -1.27223290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.487806574 meters 0.0326649295811365 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.01, Z:-0.02 [[ 9.99989071e-01 4.67090286e-03 2.02817226e-04 -4.83767270e-01] [-4.67090413e-03 9.99989091e-01 5.76541572e-06 -1.31912936e-02] [-2.02788083e-04 -6.71269252e-06 9.99999979e-01 -1.62950512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.547806574 meters 0.03139231117786994 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.00, Z:-0.01 [[ 9.99986603e-01 3.01463142e-03 4.20792161e-03 -5.45148955e-01] [-3.01524017e-03 9.99995445e-01 1.38330272e-04 -2.88461739e-03] [-4.20748543e-03 -1.51016313e-04 9.99991137e-01 -1.31477645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6078065739999999 meters 0.03193242218496707 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.01, Z:-0.01 [[ 9.99987110e-01 3.83869270e-03 3.32333483e-03 -6.06626440e-01] [-3.83907530e-03 9.99992625e-01 1.08754428e-04 -1.28705238e-02] [-3.32289284e-03 -1.21511559e-04 9.99994472e-01 -9.81591570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6678065739999999 meters 0.030871014123917802 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.01, Z:-0.02 [[ 9.99989339e-01 3.53685796e-03 2.96848553e-03 -6.68629735e-01] [-3.53716218e-03 9.99993739e-01 9.72396674e-05 -9.04960565e-03] [-2.96812302e-03 -1.07738646e-04 9.99995589e-01 -1.59038031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7278065739999999 meters 0.03184561543248379 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.01, Z:-0.01 [[ 9.99979193e-01 5.46530595e-03 3.42704621e-03 -7.31013433e-01] [-5.46571818e-03 9.99985057e-01 1.10933289e-04 -1.01085872e-02] [-3.42638872e-03 -1.29662249e-04 9.99994122e-01 -1.11610550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.787806574 meters 0.030705669480534006 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.01, Z:-0.01 [[ 9.99971549e-01 4.44139613e-03 6.09708696e-03 -7.93302091e-01] [-4.44271379e-03 9.99990111e-01 2.02586988e-04 -7.29399229e-03] [-6.09612690e-03 -2.29668837e-04 9.99981392e-01 -9.59270034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8478065739999999 meters 0.03260524571075041 Centerline is valid? [True, True] Translation: X:-0.86, Y:-0.01, Z:-0.01 [[ 9.99979804e-01 5.02258213e-03 3.89431550e-03 -8.55548523e-01] [-5.02312382e-03 9.99987376e-01 1.29328822e-04 -1.23234444e-02] [-3.89361677e-03 -1.48887839e-04 9.99992409e-01 -8.51409327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9078065739999999 meters 0.030392094810793135 Centerline is valid? [True, True] Translation: X:-0.92, Y:-0.02, Z:-0.00 [[ 9.99985358e-01 1.85168660e-03 5.08476940e-03 -9.15489202e-01] [-1.85257520e-03 9.99998270e-01 1.70053915e-04 -1.51171987e-02] [-5.08444571e-03 -1.79471343e-04 9.99987058e-01 -2.26471802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9678065739999999 meters 0.030462559795700967 Centerline is valid? [True, True] Translation: X:-0.98, Y:-0.02, Z:0.00 [[ 9.99982977e-01 1.45237609e-03 5.65126781e-03 -9.77937147e-01] [-1.45346433e-03 9.99998926e-01 1.88463852e-04 -1.67420513e-02] [-5.65098802e-03 -1.96674560e-04 9.99984014e-01 8.84144464e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.027806574 meters 0.030603654225213252 Centerline is valid? [True, True] Translation: X:-1.04, Y:-0.02, Z:0.00 [[ 9.99988136e-01 1.95223706e-03 4.46276634e-03 -1.04004882e+00] [-1.95291435e-03 9.99998082e-01 1.47410324e-04 -1.56351345e-02] [-4.46247000e-03 -1.56123976e-04 9.99990031e-01 3.93827556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.087806574 meters 0.031044058446666998 Centerline is valid? [True, True] Translation: X:-1.10, Y:-0.01, Z:0.01 [[ 9.99979405e-01 2.39904050e-03 5.95266905e-03 -1.10290589e+00] [-2.40027540e-03 9.99997099e-01 2.00317147e-04 -1.07173271e-02] [-5.95217122e-03 -2.14601066e-04 9.99982263e-01 6.97951071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1478065739999999 meters 0.03204317205267551 Centerline is valid? [True, True] Translation: X:-1.17, Y:-0.01, Z:0.01 [[ 9.99983893e-01 3.59372982e-03 4.39300262e-03 -1.16546561e+00] [-3.59440811e-03 9.99993529e-01 1.46515942e-04 -7.43517357e-03] [-4.39244766e-03 -1.62303826e-04 9.99990340e-01 6.43098389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.207806574 meters 0.032472394763995764 Centerline is valid? [True, True] Translation: X:-1.22, Y:-0.00, Z:0.01 [[ 9.99943403e-01 8.71371861e-03 6.10432149e-03 -1.22491055e+00] [-8.71515201e-03 9.99962001e-01 2.08255437e-04 -2.41216549e-03] [-6.10227485e-03 -2.61443740e-04 9.99981347e-01 1.46496878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.267806574 meters 0.03384481348916658 Centerline is valid? [True, True] Translation: X:-1.29, Y:0.00, Z:0.01 [[ 9.99926897e-01 1.10624430e-02 4.88098388e-03 -1.28688696e+00] [-1.10633834e-02 9.99938785e-01 1.65696967e-04 2.24336872e-03] [-4.87885208e-03 -2.19685050e-04 9.99988074e-01 1.45185023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3278065739999998 meters 0.03454419832663894 Centerline is valid? [True, True] Translation: X:-1.35, Y:0.01, Z:0.02 [[ 9.99861552e-01 1.55380780e-02 5.95363368e-03 -1.34767224e+00] [-1.55395628e-02 9.99879233e-01 2.03216883e-04 7.73061155e-03] [-5.94975708e-03 -2.95705612e-04 9.99982256e-01 1.55905070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3878065739999998 meters 0.03470890403003483 Centerline is valid? [True, True] Translation: X:-1.41, Y:0.01, Z:0.01 [[ 9.99770622e-01 2.09617394e-02 4.39423042e-03 -1.40756606e+00] [-2.09626019e-02 9.99780249e-01 1.50305271e-04 8.70892002e-03] [-4.39011412e-03 -2.42385297e-04 9.99990334e-01 1.42285449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.447806574 meters 0.038052219536871344 Centerline is valid? [True, True] Translation: X:-1.47, Y:0.02, Z:0.02 [[ 9.99618380e-01 2.71383389e-02 5.15795836e-03 -1.46845498e+00] [-2.71396079e-02 9.99631637e-01 1.76173492e-04 1.78434636e-02] [-5.15127731e-03 -3.16091228e-04 9.99986682e-01 2.47493721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.507806574 meters 0.03701723167998874 Centerline is valid? [True, True] Translation: X:-1.53, Y:0.02, Z:0.02 [[ 9.99581875e-01 2.80536859e-02 7.00472919e-03 -1.53022317e+00] [-2.80560456e-02 9.99606323e-01 2.38810689e-04 1.91398387e-02] [-6.99527207e-03 -4.35235837e-04 9.99975438e-01 2.29268465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.567806574 meters 0.038963102185385054 Centerline is valid? [True, True] Translation: X:-1.59, Y:0.02, Z:0.02 [[ 9.99554957e-01 2.94747652e-02 4.59621848e-03 -1.59184245e+00] [-2.94757968e-02 9.99565482e-01 1.56842820e-04 1.72737666e-02] [-4.58959844e-03 -2.92250220e-04 9.99989425e-01 2.28898982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6278065739999998 meters 0.03806286438328236 Centerline is valid? [True, True] Translation: X:-1.65, Y:0.02, Z:0.03 [[ 9.99543774e-01 2.96598907e-02 5.70392770e-03 -1.65313309e+00] [-2.96614815e-02 9.99559983e-01 1.94485857e-04 2.08476321e-02] [-5.69564945e-03 -3.63584073e-04 9.99983714e-01 3.07690566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.687806574 meters 0.03848935513626805 Centerline is valid? [True, True] Translation: X:-1.71, Y:0.01, Z:0.02 [[ 9.99611843e-01 2.77432531e-02 2.54449536e-03 -1.71450744e+00] [-2.77435623e-02 9.99615070e-01 8.63177170e-05 7.27377803e-03] [-2.54112118e-03 -1.56877578e-04 9.99996759e-01 2.43464654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.747806574 meters 0.03816031980185211 Centerline is valid? [True, True] Translation: X:-1.78, Y:0.02, Z:0.04 [[ 9.99585515e-01 2.78199135e-02 7.40618101e-03 -1.77734440e+00] [-2.78225658e-02 9.99612845e-01 2.55307798e-04 1.78443614e-02] [-7.39621103e-03 -4.61260935e-04 9.99972541e-01 3.83098331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8078065739999998 meters 0.0373460895239214 Centerline is valid? [True, True] Translation: X:-1.84, Y:0.00, Z:0.03 [[ 9.99618819e-01 2.74892106e-02 2.56116263e-03 -1.83794354e+00] [-2.74895238e-02 9.99622088e-01 8.71404868e-05 3.35709245e-03] [-2.55779932e-03 -1.57512412e-04 9.99996716e-01 2.63868272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8678065739999998 meters 0.037221365943667165 Centerline is valid? [True, True] Translation: X:-1.90, Y:-0.00, Z:0.04 [[ 9.99680263e-01 2.45095577e-02 6.21718722e-03 -1.89900294e+00] [-2.45113714e-02 9.99699528e-01 2.15676975e-04 -1.62416538e-04] [-6.21003298e-03 -3.67999800e-04 9.99980650e-01 4.34782093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9278065739999999 meters 0.03611215343315223 Centerline is valid? [True, True] Translation: X:-1.96, Y:-0.01, Z:0.04 [[ 9.99717300e-01 2.29164361e-02 6.33698402e-03 -1.95962764e+00] [-2.29182816e-02 9.99737318e-01 2.18752399e-04 -1.01339443e-02] [-6.33030638e-03 -3.63923342e-04 9.99979897e-01 4.39585975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.987806574 meters 0.03727622254016649 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.01, Z:0.04 [[ 9.99702192e-01 2.43857392e-02 9.29165471e-04 -2.02111091e+00] [-2.43857795e-02 9.99702622e-01 3.20781712e-05 -9.16582434e-03] [-9.28106908e-04 -5.47270424e-05 9.99999568e-01 4.01672527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.047806574 meters 0.036466018073383163 Centerline is valid? [True, True] Translation: X:-2.08, Y:-0.02, Z:0.05 [[ 9.99647362e-01 2.55262870e-02 7.31850020e-03 -2.08157126e+00] [-2.55288429e-02 9.99674053e-01 2.56015748e-04 -1.76318006e-02] [-7.30957963e-03 -4.42758309e-04 9.99973187e-01 5.17147322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.107806574 meters 0.03626158184785607 Centerline is valid? [True, True] Translation: X:-2.14, Y:-0.02, Z:0.05 [[ 9.99631211e-01 2.69990604e-02 2.91417252e-03 -2.14209646e+00] [-2.69994716e-02 9.99635443e-01 1.01849802e-04 -2.35399093e-02] [-2.91036029e-03 -1.80493359e-04 9.99995749e-01 4.89992369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.167806574 meters 0.037126560540304346 Centerline is valid? [True, True] Translation: X:-2.20, Y:-0.03, Z:0.05 [[ 9.99624062e-01 2.67617588e-02 5.96179283e-03 -2.20423819e+00] [-2.67634782e-02 9.99641772e-01 2.08795888e-04 -3.24083701e-02] [-5.95406941e-03 -3.68275706e-04 9.99982207e-01 5.45291018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2278065739999997 meters 0.03798479077308914 Centerline is valid? [True, True] Translation: X:-2.27, Y:-0.03, Z:0.06 [[ 9.99677609e-01 2.46857433e-02 5.94073882e-03 -2.26585837e+00] [-2.46874182e-02 9.99695197e-01 2.08752035e-04 -2.91447133e-02] [-5.93377487e-03 -3.55346238e-04 9.99982332e-01 5.56989825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2878065739999998 meters 0.03604709286256842 Centerline is valid? [True, True] Translation: X:-2.33, Y:-0.05, Z:0.06 [[ 9.99692903e-01 2.40387625e-02 6.01984110e-03 -2.32628877e+00] [-2.40404637e-02 9.99710964e-01 2.10377167e-04 -5.04193181e-02] [-6.01304394e-03 -3.55032332e-04 9.99981858e-01 5.95149128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.347806574 meters 0.03622716770320064 Centerline is valid? [True, True] Translation: X:-2.39, Y:-0.06, Z:0.06 [[ 9.99730651e-01 2.25211035e-02 5.60585020e-03 -2.38810566e+00] [-2.25225675e-02 9.99746315e-01 1.98143709e-04 -5.51543701e-02] [-5.59996566e-03 -3.24348478e-04 9.99984267e-01 6.33870201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.407806574 meters 0.03680047137553588 Centerline is valid? [True, True] Translation: X:-2.45, Y:-0.07, Z:0.07 [[ 9.99689555e-01 2.41083305e-02 6.29137486e-03 -2.44910626e+00] [-2.41102107e-02 9.99709282e-01 2.23171323e-04 -6.55407536e-02] [-6.28416555e-03 -3.74788414e-04 9.99980184e-01 6.76204161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.467806574 meters 0.03778814117334426 Centerline is valid? [True, True] Translation: X:-2.51, Y:-0.06, Z:0.06 [[ 9.99689102e-01 2.45445384e-02 4.38926861e-03 -2.51159487e+00] [-2.45454565e-02 9.99698703e-01 1.55421702e-04 -6.45400084e-02] [-4.38413138e-03 -2.63109984e-04 9.99990355e-01 6.36973328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.527806574 meters 0.03785879137889306 Centerline is valid? [True, True] Translation: X:-2.57, Y:-0.07, Z:0.07 [[ 9.99639476e-01 2.60850696e-02 6.36294749e-03 -2.57293013e+00] [-2.60870363e-02 9.99659650e-01 2.26277721e-04 -7.26927887e-02] [-6.35487939e-03 -3.92186585e-04 9.99979731e-01 7.28534969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.587806574 meters 0.036932260177577315 Centerline is valid? [True, True] Translation: X:-2.63, Y:-0.09, Z:0.07 [[ 9.99617459e-01 2.71839038e-02 5.09609635e-03 -2.63329442e+00] [-2.71851809e-02 9.99630398e-01 1.81482272e-04 -8.68776551e-02] [-5.08927943e-03 -3.19951149e-04 9.99986998e-01 7.44121804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6478065739999996 meters 0.036943443774433815 Centerline is valid? [True, True] Translation: X:-2.70, Y:-0.10, Z:0.08 [[ 9.99646391e-01 2.60963826e-02 5.10614673e-03 -2.69545471e+00] [-2.60976500e-02 9.99659382e-01 1.81728886e-04 -9.52777476e-02] [-5.09966501e-03 -3.14923055e-04 9.99986947e-01 7.96638137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7078065739999997 meters 0.03628701541215661 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.11, Z:0.09 [[ 9.99649907e-01 2.53542035e-02 7.56489420e-03 -2.75741812e+00] [-2.53569715e-02 9.99678424e-01 2.70204515e-04 -1.10734849e-01] [-7.55561069e-03 -4.61932725e-04 9.99971349e-01 8.62603187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7678065739999997 meters 0.03847742272517504 Centerline is valid? [True, True] Translation: X:-2.82, Y:-0.12, Z:0.09 [[ 9.99639584e-01 2.56635915e-02 7.87922827e-03 -2.81961081e+00] [-2.56666011e-02 9.99670519e-01 2.81069975e-04 -1.17573762e-01] [-7.86941895e-03 -4.83201682e-04 9.99968919e-01 8.89704838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.827806574 meters 0.035836500839814205 Centerline is valid? [True, True] Translation: X:-2.88, Y:-0.13, Z:0.09 [[ 9.99663428e-01 2.52417464e-02 5.99036968e-03 -2.88103221e+00] [-2.52434901e-02 9.99681309e-01 2.15648003e-04 -1.26924934e-01] [-5.98301727e-03 -3.66793260e-04 9.99982034e-01 9.19021961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.887806574 meters 0.03740123503860585 Centerline is valid? [True, True] Translation: X:-2.94, Y:-0.14, Z:0.10 [[ 9.99611612e-01 2.72891508e-02 5.65036859e-03 -2.94244966e+00] [-2.72907375e-02 9.99627518e-01 2.03879809e-04 -1.36434184e-01] [-5.64270022e-03 -3.58003350e-04 9.99984016e-01 9.62175073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.947806574 meters 0.03698187477756878 Centerline is valid? [True, True] Translation: X:-3.00, Y:-0.14, Z:0.10 [[ 9.99668472e-01 2.47470498e-02 7.10848360e-03 -3.00331175e+00] [-2.47495024e-02 9.99693651e-01 2.57258502e-04 -1.43179201e-01] [-7.09993954e-03 -4.33104645e-04 9.99974701e-01 1.00447931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.007806574 meters 0.036781838004176254 Centerline is valid? [True, True] Translation: X:-3.06, Y:-0.16, Z:0.11 [[ 9.99730568e-01 2.28576095e-02 4.03985888e-03 -3.06323987e+00] [-2.28583824e-02 9.99738702e-01 1.45242956e-04 -1.60537918e-01] [-4.03548337e-03 -2.37548462e-04 9.99991829e-01 1.05094367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.067806574 meters 0.03675256920773813 Centerline is valid? [True, True] Translation: X:-3.12, Y:-0.17, Z:0.10 [[ 9.99840864e-01 1.72971643e-02 4.36517540e-03 -3.12382463e+00] [-1.72980212e-02 9.99850365e-01 1.58610947e-04 -1.70837762e-01] [-4.36177870e-03 -2.34094603e-04 9.99990460e-01 1.04690778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.127806574 meters 0.03317321933931145 Centerline is valid? [True, True] Translation: X:-3.18, Y:-0.20, Z:0.10 [[ 9.99943319e-01 1.05895825e-02 -1.10407200e-03 -3.18218050e+00] [-1.05896335e-02 9.99943927e-01 -4.03349537e-05 -1.99201095e-01] [ 1.10358296e-03 5.20243853e-05 9.99999390e-01 9.71960086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1878065739999997 meters 0.03165282121189258 Centerline is valid? [True, True] Translation: X:-3.24, Y:-0.22, Z:0.11 [[ 9.99973688e-01 1.93191947e-03 6.99218787e-03 -3.24111964e+00] [-1.93374528e-03 9.99998098e-01 2.54369101e-04 -2.21198728e-01] [-6.99168315e-03 -2.67883519e-04 9.99975522e-01 1.08171709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2478065739999997 meters 0.031713291187596554 Centerline is valid? [True, True] Translation: X:-3.30, Y:-0.23, Z:0.11 [[ 9.99968682e-01 2.10614846e-03 7.62880008e-03 -3.30355358e+00] [-2.10831411e-03 9.99997739e-01 2.75847160e-04 -2.28168695e-01] [-7.62820186e-03 -2.91922428e-04 9.99970862e-01 1.06845298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3078065739999998 meters 0.03499537471827418 Centerline is valid? [True, True] Translation: X:-3.36, Y:-0.24, Z:0.11 [[ 9.99972038e-01 5.34172095e-03 5.23339523e-03 -3.36376558e+00] [-5.34279434e-03 9.99985709e-01 1.91144481e-04 -2.36790840e-01] [-5.23229940e-03 -2.19100091e-04 9.99986287e-01 1.10926093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.367806574 meters 0.03204116898378311 Centerline is valid? [True, True] Translation: X:-3.43, Y:-0.24, Z:0.11 [[ 9.99979612e-01 5.38350300e-03 3.43405311e-03 -3.42639649e+00] [-5.38396409e-03 9.99985499e-01 1.25039317e-04 -2.37006054e-01] [-3.43333016e-03 -1.43525587e-04 9.99994096e-01 1.06833369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.427806574 meters 0.031614610117638865 Centerline is valid? [True, True] Translation: X:-3.49, Y:-0.26, Z:0.11 [[ 9.99996844e-01 2.40976232e-03 7.10467109e-04 -3.48779539e+00] [-2.40978083e-03 9.99997096e-01 2.51982336e-05 -2.55614373e-01] [-7.10404324e-04 -2.69102241e-05 9.99999747e-01 1.05104405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.487806574 meters 0.03023805207622433 Centerline is valid? [True, True] Translation: X:-3.55, Y:-0.25, Z:0.11 [[ 9.99988664e-01 -1.67450545e-03 4.45733670e-03 -3.54751434e+00] [ 1.67379381e-03 9.99998586e-01 1.63382581e-04 -2.52373226e-01] [-4.45760399e-03 -1.55920066e-04 9.99990053e-01 1.13280015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.547806574 meters 0.03290258549363124 Centerline is valid? [True, True] Translation: X:-3.61, Y:-0.26, Z:0.11 [[ 9.99992481e-01 -1.53773240e-03 3.56003457e-03 -3.60942354e+00] [ 1.53728455e-03 9.99998810e-01 1.28532661e-04 -2.63369231e-01] [-3.56022798e-03 -1.23058909e-04 9.99993655e-01 1.10764052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6078065739999996 meters 0.029674484823463722 Centerline is valid? [True, True] Translation: X:-3.66, Y:-0.45, Z:0.11 [[ 9.99899802e-01 -6.67530639e-03 -1.24830465e-02 -3.66372110e+00] [ 6.67004058e-03 9.99977648e-01 -4.63423073e-04 -4.54538413e-01] [ 1.24858610e-02 3.80114212e-04 9.99921976e-01 1.09943802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6678065739999997 meters 0.027298640325050316 Centerline is valid? [True, True] Translation: X:-3.72, Y:-0.42, Z:0.13 [[ 9.99796488e-01 -2.01717702e-02 2.85219485e-04 -3.72479390e+00] [ 2.01717680e-02 9.99796529e-01 1.05718854e-05 -4.15784742e-01] [-2.85374705e-04 -4.81635260e-06 9.99999959e-01 1.29728963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7278065739999997 meters 0.02799685692405236 Centerline is valid? [True, True] Translation: X:-3.79, Y:-0.34, Z:0.12 [[ 9.99765032e-01 -1.92422475e-02 -9.98080382e-03 -3.78823462e+00] [ 1.92395106e-02 9.99814835e-01 -3.70166385e-04 -3.37892193e-01] [ 9.98607856e-03 1.78053627e-04 9.99950122e-01 1.16387739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7878065739999998 meters 0.030459860699688184 Centerline is valid? [True, True] Translation: X:-3.85, Y:-0.28, Z:0.12 [[ 9.99954100e-01 -4.19999836e-03 -8.61151865e-03 -3.85089546e+00] [ 4.19740502e-03 9.99991140e-01 -3.19200187e-04 -2.80555875e-01] [ 8.61278299e-03 2.83039504e-04 9.99962869e-01 1.16640458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.847806574 meters 0.03481700447159967 Centerline is valid? [True, True] Translation: X:-3.91, Y:-0.22, Z:0.11 [[ 9.99808283e-01 1.33599650e-02 -1.43146206e-02 -3.91388511e+00] [-1.33689297e-02 9.99910491e-01 -5.30749004e-04 -2.21299988e-01] [ 1.43062485e-02 7.22018406e-04 9.99897400e-01 1.09188779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.907806574 meters 0.03428554641212712 Centerline is valid? [True, True] Translation: X:-3.97, Y:-0.20, Z:0.12 [[ 9.99881488e-01 1.20629600e-02 -9.56526684e-03 -3.97499169e+00] [-1.20669035e-02 9.99927129e-01 -3.54664833e-04 -2.00844577e-01] [ 9.56029151e-03 4.70045954e-04 9.99954189e-01 1.21673828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.967806574 meters 0.034553010895420094 Centerline is valid? [True, True] Translation: X:-4.03, Y:-0.18, Z:0.12 [[ 9.99881135e-01 1.21444505e-02 -9.49890233e-03 -4.03403537e+00] [-1.21482906e-02 9.99926147e-01 -3.46672119e-04 -1.83543789e-01] [ 9.49399066e-03 4.62026338e-04 9.99954824e-01 1.21128692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0278065739999995 meters 0.03570818268143003 Centerline is valid? [True, True] Translation: X:-4.09, Y:-0.18, Z:0.14 [[ 9.99890753e-01 1.47053910e-02 -1.49443557e-03 -4.09276454e+00] [-1.47054842e-02 9.99891867e-01 -5.14359204e-05 -1.75916371e-01] [ 1.49351759e-03 7.34066999e-05 9.99998882e-01 1.38638359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.087806574 meters 0.037004332838801106 Centerline is valid? [True, True] Translation: X:-4.15, Y:-0.17, Z:0.14 [[ 9.99817392e-01 1.90635498e-02 -1.32831330e-03 -4.15394665e+00] [-1.90636314e-02 9.99818271e-01 -4.88047801e-05 -1.66186150e-01] [ 1.32714152e-03 7.41183431e-05 9.99999117e-01 1.42420561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.147806574 meters 0.037066618168970465 Centerline is valid? [True, True] Translation: X:-4.21, Y:-0.17, Z:0.15 [[ 9.99635778e-01 2.69336185e-02 1.70044253e-03 -4.21337947e+00] [-2.69337636e-02 9.99637218e-01 6.24638612e-05 -1.66749359e-01] [-1.69814326e-03 -1.08240428e-04 9.99998552e-01 1.47269217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.207806574 meters 0.03949412761267318 Centerline is valid? [True, True] Translation: X:-4.27, Y:-0.17, Z:0.13 [[ 9.99506041e-01 3.02832299e-02 -8.40234488e-03 -4.27387981e+00] [-3.02868790e-02 9.99541200e-01 -3.07369038e-04 -1.70617188e-01] [ 8.38918176e-03 5.61698013e-04 9.99964652e-01 1.31354252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.267806574 meters 0.03607534309709231 Centerline is valid? [True, True] Translation: X:-4.33, Y:-0.21, Z:0.16 [[ 9.99781037e-01 2.09060728e-02 9.01850463e-04 -4.33162600e+00] [-2.09061111e-02 9.99781443e-01 3.30433508e-05 -2.06497787e-01] [-9.00962551e-04 -5.18903015e-05 9.99999593e-01 1.55090440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.327806574 meters 0.03488851660611244 Centerline is valid? [True, True] Translation: X:-4.39, Y:-0.21, Z:0.15 [[ 9.99867175e-01 1.61789793e-02 1.96818640e-03 -4.39214527e+00] [-1.61791521e-02 9.99869106e-01 7.19315485e-05 -2.11028256e-01] [-1.96676500e-03 -1.03765581e-04 9.99998061e-01 1.51242882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.387806574 meters 0.03525765352458521 Centerline is valid? [True, True] Translation: X:-4.45, Y:-0.24, Z:0.17 [[ 9.99823071e-01 1.32578078e-02 1.33438311e-02 -4.45168835e+00] [-1.32655009e-02 9.99911890e-01 4.88183205e-04 -2.35102188e-01] [-1.33361832e-02 -6.65109435e-04 9.99910848e-01 1.73481544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4478065739999995 meters 0.03640511383845687 Centerline is valid? [True, True] Translation: X:-4.51, Y:-0.24, Z:0.15 [[ 9.99862400e-01 1.65038968e-02 -1.67424756e-03 -4.51185641e+00] [-1.65040225e-02 9.99863797e-01 -6.13142234e-05 -2.44138783e-01] [ 1.67300759e-03 8.89376059e-05 9.99998597e-01 1.49060427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.507806574 meters 0.035911536974495305 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.26, Z:0.16 [[ 9.99820622e-01 1.89388481e-02 2.10938910e-04 -4.57044171e+00] [-1.89388502e-02 9.99820644e-01 7.94666217e-06 -2.61824712e-01] [-2.10750576e-04 -1.19401771e-05 9.99999978e-01 1.57900347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567806574 meters 0.03497472717629578 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.28, Z:0.17 [[ 9.99909025e-01 1.24486445e-02 5.19359974e-03 -4.63105453e+00] [-1.24497978e-02 9.99922480e-01 1.89783656e-04 -2.80584100e-01] [-5.19083458e-03 -2.54425657e-04 9.99986495e-01 1.66399238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.627806574 meters 0.03295162766009869 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.29, Z:0.18 [[ 9.99854350e-01 8.48355291e-03 1.48090781e-02 -4.69077673e+00] [-8.49251346e-03 9.99963791e-01 5.42288896e-04 -2.94121924e-01] [-1.48039414e-02 -6.67976207e-04 9.99890193e-01 1.82580343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.687806574 meters 0.03268763233372221 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.31, Z:0.18 [[ 9.99957844e-01 6.33642141e-03 6.64536339e-03 -4.75209357e+00] [-6.33816809e-03 9.99979884e-01 2.41814682e-04 -3.14145310e-01] [-6.64369748e-03 -2.83923918e-04 9.99977890e-01 1.75113299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.747806574 meters 0.03679596988346518 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.31, Z:0.19 [[ 9.99864484e-01 1.04630094e-02 1.27097777e-02 -4.81215668e+00] [-1.04698113e-02 9.99945080e-01 4.68753343e-04 -3.06184966e-01] [-1.27041752e-02 -6.01758794e-04 9.99919118e-01 1.85507436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.807806574 meters 0.03347553190984795 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.31, Z:0.18 [[ 9.99915744e-01 8.40594938e-03 9.89170319e-03 -4.87442265e+00] [-8.40996645e-03 9.99964569e-01 3.64578546e-04 -3.07647231e-01] [-9.88828809e-03 -4.47736720e-04 9.99951009e-01 1.84233111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867806573999999 meters 0.032753828943223706 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.31, Z:0.19 [[ 9.99985135e-01 2.08605433e-03 5.03776076e-03 -4.93404510e+00] [-2.08701908e-03 9.99997805e-01 1.86254414e-04 -3.14884324e-01] [-5.03736117e-03 -1.96765548e-04 9.99987293e-01 1.89499798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927806574 meters 0.030843529953372556 Centerline is valid? [True, True] Translation: X:-4.99, Y:-0.33, Z:0.20 [[ 9.99911157e-01 -8.24654586e-03 1.04724404e-02 -4.99424063e+00] [ 8.24294673e-03 9.99965952e-01 3.86793641e-04 -3.31663051e-01] [-1.04752736e-02 -3.00435508e-04 9.99945088e-01 2.03014843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9878065739999995 meters 0.03081578420743644 Centerline is valid? [True, True] Translation: X:-5.05, Y:-0.33, Z:0.21 [[ 9.99792564e-01 -1.67580311e-02 1.15756799e-02 -5.05499021e+00] [ 1.67541997e-02 9.99859547e-01 4.27891633e-04 -3.34330826e-01] [-1.15812247e-02 -2.33861620e-04 9.99932908e-01 2.12140907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.047806574 meters 0.030005087889570584 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.33, Z:0.21 [[ 9.99782844e-01 -1.84868926e-02 9.61771938e-03 -5.11607939e+00] [ 1.84843319e-02 9.99829087e-01 3.55083276e-04 -3.34950898e-01] [-9.62263997e-03 -1.77229051e-04 9.99953686e-01 2.12547966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.107806574 meters 0.030268951262333168 Centerline is valid? [True, True] Translation: X:-5.18, Y:-0.32, Z:0.22 [[ 9.99812440e-01 -1.63369189e-02 1.04014725e-02 -5.17882688e+00] [ 1.63337805e-02 9.99866520e-01 3.86616627e-04 -3.22031155e-01] [-1.04064002e-02 -2.16648745e-04 9.99945828e-01 2.15013151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.167806574 meters 0.03048592996437472 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.32, Z:0.22 [[ 9.99828356e-01 -1.21333261e-02 1.40014457e-02 -5.24032569e+00] [ 1.21271635e-02 9.99926325e-01 5.24965000e-04 -3.17558856e-01] [-1.40067838e-02 -3.55077072e-04 9.99901837e-01 2.19766893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.227806574 meters 0.03183376786996556 Centerline is valid? [True, True] Translation: X:-5.30, Y:-0.30, Z:0.22 [[ 9.99906895e-01 -8.16186298e-03 1.09354792e-02 -5.30293003e+00] [ 8.15786390e-03 9.99966640e-01 4.10255322e-04 -2.95373445e-01] [-1.09384628e-02 -3.21006974e-04 9.99940122e-01 2.15980152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.287806573999999 meters 0.030726407314794722 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.29, Z:0.23 [[ 9.99847832e-01 -1.15293075e-02 1.30915146e-02 -5.36374294e+00] [ 1.15238532e-02 9.99933477e-01 4.91994419e-04 -2.90779513e-01] [-1.30963161e-02 -3.41054860e-04 9.99914181e-01 2.29040177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347806574 meters 0.030379773826100073 Centerline is valid? [True, True] Translation: X:-5.43, Y:-0.27, Z:0.23 [[ 9.99767397e-01 -1.66463348e-02 1.37132198e-02 -5.42571180e+00] [ 1.66408242e-02 9.99861399e-01 5.15858290e-04 -2.71236750e-01] [-1.37199063e-02 -2.87539019e-04 9.99905836e-01 2.29480220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407806573999999 meters 0.030597207332698082 Centerline is valid? [True, True] Translation: X:-5.49, Y:-0.26, Z:0.23 [[ 9.99792815e-01 -1.69867542e-02 1.12150598e-02 -5.48843591e+00] [ 1.69830918e-02 9.99855688e-01 4.21726250e-04 -2.63080916e-01] [-1.12206050e-02 -2.31172486e-04 9.99937020e-01 2.30988543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.467806574 meters 0.03036672011826021 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.26, Z:0.24 [[ 9.99765743e-01 -1.63661053e-02 1.41636482e-02 -5.55059765e+00] [ 1.63601347e-02 9.99866020e-01 5.37320683e-04 -2.57700286e-01] [-1.41705444e-02 -3.05475621e-04 9.99899546e-01 2.42621577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5278065739999995 meters 0.03130317781195184 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.22, Z:0.24 [[ 9.99791865e-01 -1.40373233e-02 1.48047702e-02 -5.61409831e+00] [ 1.40304866e-02 9.99901408e-01 5.65556797e-04 -2.20578264e-01] [-1.48112495e-02 -3.57720954e-04 9.99890243e-01 2.40204058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.587806574 meters 0.031082882299526035 Centerline is valid? [True, True] Translation: X:-5.68, Y:-0.22, Z:0.25 [[ 9.99814410e-01 -1.12408688e-02 1.56456998e-02 -5.67548404e+00] [ 1.12328306e-02 9.99936729e-01 6.01551303e-04 -2.16994482e-01] [-1.56514718e-02 -4.25694166e-04 9.99877418e-01 2.51589619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.647806574 meters 0.031220609354370984 Centerline is valid? [True, True] Translation: X:-5.74, Y:-0.21, Z:0.26 [[ 9.99827874e-01 -1.09918852e-02 1.49465920e-02 -5.73813484e+00] [ 1.09844884e-02 9.99939502e-01 5.76890804e-04 -2.06494843e-01] [-1.49520289e-02 -4.12610840e-04 9.99888127e-01 2.55722375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.707806574 meters 0.03222180579747009 Centerline is valid? [True, True] Translation: X:-5.80, Y:-0.19, Z:0.26 [[ 9.99785852e-01 -1.34737040e-02 1.57069686e-02 -5.79958163e+00] [ 1.34657772e-02 9.99909146e-01 6.10324274e-04 -1.93835481e-01] [-1.57137649e-02 -3.98687035e-04 9.99876452e-01 2.62842094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.767806574 meters 0.030840266743107154 Centerline is valid? [True, True] Translation: X:-5.86, Y:-0.18, Z:0.26 [[ 9.99728562e-01 -1.52995494e-02 1.75706210e-02 -5.86212960e+00] [ 1.52898313e-02 9.99882867e-01 6.87299326e-04 -1.84633762e-01] [-1.75790782e-02 -4.18460936e-04 9.99845388e-01 2.63281913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827806573999999 meters 0.030804389085941856 Centerline is valid? [True, True] Translation: X:-5.92, Y:-0.17, Z:0.27 [[ 9.99713281e-01 -1.77116258e-02 1.61138131e-02 -5.92372520e+00] [ 1.77037046e-02 9.99843076e-01 6.34099686e-04 -1.67530438e-01] [-1.61225153e-02 -3.48643690e-04 9.99869963e-01 2.65302728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887806574 meters 0.030835866712970856 Centerline is valid? [True, True] Translation: X:-5.99, Y:-0.18, Z:0.27 [[ 9.99781797e-01 -1.81716534e-02 1.03028831e-02 -5.98634222e+00] [ 1.81684280e-02 9.99834858e-01 4.06575701e-04 -1.75607072e-01] [-1.03085698e-02 -2.19299796e-04 9.99946841e-01 2.65186019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9478065739999995 meters 0.03074693763410248 Centerline is valid? [True, True] Translation: X:-6.05, Y:-0.16, Z:0.25 [[ 9.99804434e-01 -1.85185773e-02 6.93949200e-03 -6.04859686e+00] [ 1.85171139e-02 9.99828506e-01 2.75067286e-04 -1.58075991e-01] [-6.94339577e-03 -1.46514128e-04 9.99975884e-01 2.54100343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.007806574 meters 0.03125932986657832 Centerline is valid? [True, True] Translation: X:-6.11, Y:-0.16, Z:0.29 [[ 9.99718781e-01 -1.39703474e-02 1.91621819e-02 -6.10962948e+00] [ 1.39581854e-02 9.99902285e-01 7.68298212e-04 -1.57898699e-01] [-1.91710428e-02 -5.00612865e-04 9.99816093e-01 2.87187548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.067806574 meters 0.03125151973759784 Centerline is valid? [True, True] Translation: X:-6.17, Y:-0.15, Z:0.27 [[ 9.99782661e-01 -1.36810157e-02 1.57308739e-02 -6.17259917e+00] [ 1.36727674e-02 9.99906324e-01 6.31771159e-04 -1.45038046e-01] [-1.57380435e-02 -4.16549270e-04 9.99876063e-01 2.67518733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.127806574 meters 0.031570578150813114 Centerline is valid? [True, True] Translation: X:-6.23, Y:-0.16, Z:0.27 [[ 9.99799279e-01 -1.45581819e-02 1.37644716e-02 -6.23400935e+00] [ 1.45519063e-02 9.99893961e-01 5.55975166e-04 -1.55267030e-01] [-1.37711060e-02 -3.55564269e-04 9.99905111e-01 2.70413457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.187806574 meters 0.03137037403416725 Centerline is valid? [True, True] Translation: X:-6.30, Y:-0.15, Z:0.28 [[ 9.99712354e-01 -1.68434686e-02 1.70735617e-02 -6.29651395e+00] [ 1.68340596e-02 9.99858056e-01 6.94666161e-04 -1.52226812e-01] [-1.70828388e-02 -4.07048988e-04 9.99853995e-01 2.80063766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.247806574 meters 0.031883793462321036 Centerline is valid? [True, True] Translation: X:-6.36, Y:-0.15, Z:0.27 [[ 9.99724235e-01 -1.77340257e-02 1.53934593e-02 -6.35874625e+00] [ 1.77264305e-02 9.99842676e-01 6.29720127e-04 -1.47035818e-01] [-1.54022050e-02 -3.56675386e-04 9.99881315e-01 2.71315369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.307806574 meters 0.03127077885426739 Centerline is valid? [True, True] Translation: X:-6.42, Y:-0.15, Z:0.28 [[ 9.99708631e-01 -1.79386626e-02 1.61510727e-02 -6.42040309e+00] [ 1.79302617e-02 9.99839019e-01 6.64813138e-04 -1.45404760e-01] [-1.61603985e-02 -3.75026473e-04 9.99869342e-01 2.83340307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.367806573999999 meters 0.0310887085573571 Centerline is valid? [True, True] Translation: X:-6.48, Y:-0.15, Z:0.28 [[ 9.99770034e-01 -1.53506696e-02 1.49745150e-02 -6.48201161e+00] [ 1.53431046e-02 9.99882095e-01 6.19952010e-04 -1.45329746e-01] [-1.49822662e-02 -3.90053892e-04 9.99887683e-01 2.82420928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.427806574 meters 0.03107995719182349 Centerline is valid? [True, True] Translation: X:-6.54, Y:-0.15, Z:0.29 [[ 9.99760194e-01 -1.18279270e-02 1.84297281e-02 -6.54210451e+00] [ 1.18157992e-02 9.99929897e-01 7.66811059e-04 -1.47074261e-01] [-1.84375059e-02 -5.48865206e-04 9.99829864e-01 2.90751517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4878065739999995 meters 0.03234598162372329 Centerline is valid? [True, True] Translation: X:-6.61, Y:-0.12, Z:0.29 [[ 9.99802805e-01 -8.88285871e-03 1.77608014e-02 -6.60507631e+00] [ 8.87112103e-03 9.99960377e-01 7.39553134e-04 -1.23084002e-01] [-1.77666670e-02 -5.81849079e-04 9.99841991e-01 2.86535394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547806574 meters 0.03198678182526033 Centerline is valid? [True, True] Translation: X:-6.66, Y:-0.14, Z:0.29 [[ 9.99811105e-01 -4.22679492e-03 1.89707347e-02 -6.66421604e+00] [ 4.21254588e-03 9.99990814e-01 7.91005185e-04 -1.35235933e-01] [-1.89739039e-02 -7.10940677e-04 9.99819727e-01 2.92099803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.607806574 meters 0.03036564455578957 Centerline is valid? [True, True] Translation: X:-6.72, Y:-0.16, Z:0.29 [[ 9.99700295e-01 -2.12031660e-02 1.22370477e-02 -6.72378244e+00] [ 2.11985081e-02 9.99775156e-01 5.10229721e-04 -1.56470522e-01] [-1.22451148e-02 -2.50669647e-04 9.99924994e-01 2.87789314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.667806574 meters 0.03237789756226595 Centerline is valid? [True, True] Translation: X:-6.78, Y:-0.15, Z:0.28 [[ 9.99868351e-01 -1.03706742e-02 1.24791375e-02 -6.78478156e+00] [ 1.03649858e-02 9.99946147e-01 5.20418440e-04 -1.49220248e-01] [-1.24838626e-02 -3.91003844e-04 9.99921997e-01 2.81648363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.727806574 meters 0.032032973943448034 Centerline is valid? [True, True] Translation: X:-6.85, Y:-0.15, Z:0.28 [[ 9.99867185e-01 -8.76196983e-03 1.37419057e-02 -6.84718211e+00] [ 8.75491786e-03 9.99961511e-01 5.73247589e-04 -1.54872974e-01] [-1.37463996e-02 -4.52862197e-04 9.99905411e-01 2.84540024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.787806573999999 meters 0.030976559667777202 Centerline is valid? [True, True] Translation: X:-6.91, Y:-0.18, Z:0.29 [[ 9.99795176e-01 -1.48147088e-02 1.37887570e-02 -6.90642204e+00] [ 1.48081368e-02 9.99890186e-01 5.78604407e-04 -1.76479903e-01] [-1.37958146e-02 -3.74300096e-04 9.99904763e-01 2.89622613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.847806574 meters 0.030174888746167385 Centerline is valid? [True, True] Translation: X:-6.97, Y:-0.19, Z:0.29 [[ 9.99678986e-01 -2.07315165e-02 1.45646533e-02 -6.96667086e+00] [ 2.07248104e-02 9.99785031e-01 6.11231693e-04 -1.90355692e-01] [-1.45741941e-02 -3.09185800e-04 9.99893743e-01 2.86421315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.907806573999999 meters 0.03049478304569547 Centerline is valid? [True, True] Translation: X:-7.03, Y:-0.19, Z:0.29 [[ 9.99676394e-01 -2.14050077e-02 1.37452796e-02 -7.02868867e+00] [ 2.13990878e-02 9.99770846e-01 5.77633322e-04 -1.86170541e-01] [-1.37544940e-02 -2.83309951e-04 9.99905362e-01 2.89084985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.967806574 meters 0.030590745915088587 Centerline is valid? [True, True] Translation: X:-7.09, Y:-0.20, Z:0.29 [[ 9.99756587e-01 -1.77963117e-02 1.30406635e-02 -7.08975185e+00] [ 1.77906324e-02 9.99841582e-01 5.51397590e-04 -1.98663563e-01] [-1.30484104e-02 -3.19261723e-04 9.99914815e-01 2.93208147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0278065739999995 meters 0.03233068219695824 Centerline is valid? [True, True] Translation: X:-7.15, Y:-0.20, Z:0.29 [[ 9.99745510e-01 -1.72182469e-02 1.45755960e-02 -7.15164892e+00] [ 1.72110291e-02 9.99851687e-01 6.20502900e-04 -2.01577446e-01] [-1.45841182e-02 -3.69483981e-04 9.99893578e-01 2.90203169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.087806574 meters 0.030731333390034688 Centerline is valid? [True, True] Translation: X:-7.21, Y:-0.21, Z:0.31 [[ 9.99611266e-01 -2.14214139e-02 1.78448974e-02 -7.21342624e+00] [ 2.14111810e-02 9.99770462e-01 7.64311261e-04 -2.11641710e-01] [-1.78571739e-02 -3.81933818e-04 9.99840475e-01 3.09972211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.147806574 meters 0.030314586062904367 Centerline is valid? [True, True] Translation: X:-7.28, Y:-0.21, Z:0.29 [[ 9.99588294e-01 -2.42840529e-02 1.52816289e-02 -7.27557279e+00] [ 2.42768627e-02 9.99705058e-01 6.55868597e-04 -2.12745337e-01] [-1.52930489e-02 -2.84608564e-04 9.99883014e-01 2.93781150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.207806573999999 meters 0.029779112967159526 Centerline is valid? [True, True] Translation: X:-7.34, Y:-0.23, Z:0.31 [[ 9.99547564e-01 -2.33809022e-02 1.89208860e-02 -7.33633530e+00] [ 2.33696132e-02 9.99726559e-01 8.17561593e-04 -2.32296014e-01] [-1.89348276e-02 -3.75017913e-04 9.99820650e-01 3.10140087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.267806574 meters 0.032306984214791744 Centerline is valid? [True, True] Translation: X:-7.40, Y:-0.23, Z:0.30 [[ 9.99586005e-01 -2.22853647e-02 1.81983567e-02 -7.39918914e+00] [ 2.22746590e-02 9.99751576e-01 7.90789369e-04 -2.28932501e-01] [-1.82114589e-02 -3.85099796e-04 9.99834083e-01 3.02830063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.327806573999999 meters 0.02991562444448166 Centerline is valid? [True, True] Translation: X:-7.46, Y:-0.24, Z:0.32 [[ 9.99491067e-01 -2.40675281e-02 2.09370673e-02 -7.46084160e+00] [ 2.40536258e-02 9.99710250e-01 9.15621910e-04 -2.43736852e-01] [-2.09530375e-02 -4.11543538e-04 9.99780376e-01 3.19002247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.387806574 meters 0.03017955746561768 Centerline is valid? [True, True] Translation: X:-7.52, Y:-0.24, Z:0.32 [[ 9.99379608e-01 -2.56871082e-02 2.40950408e-02 -7.52395688e+00] [ 2.56689976e-02 9.99669934e-01 1.06067418e-03 -2.39410117e-01] [-2.41143335e-02 -4.41520602e-04 9.99709110e-01 3.23072940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4478065739999995 meters 0.030674013056889656 Centerline is valid? [True, True] Translation: X:-7.58, Y:-0.24, Z:0.32 [[ 9.99570485e-01 -1.89657106e-02 2.23416274e-02 -7.58423838e+00] [ 1.89483800e-02 9.99819976e-01 9.87167507e-04 -2.39758974e-01] [-2.23563277e-02 -5.63405857e-04 9.99749907e-01 3.21185222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.507806574 meters 0.031664534264933895 Centerline is valid? [True, True] Translation: X:-7.64, Y:-0.24, Z:0.33 [[ 9.99650109e-01 -1.22675674e-02 2.34342828e-02 -7.64487616e+00] [ 1.22466492e-02 9.99924470e-01 1.03594378e-03 -2.39055071e-01] [-2.34452213e-02 -7.48589876e-04 9.99724843e-01 3.27245896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.567806574 meters 0.031818926845566586 Centerline is valid? [True, True] Translation: X:-7.71, Y:-0.23, Z:0.32 [[ 9.99775792e-01 -1.36864644e-02 1.61569164e-02 -7.70733008e+00] [ 1.36767002e-02 9.99906214e-01 7.14674815e-04 -2.34435471e-01] [-1.61651825e-02 -4.93541277e-04 9.99869213e-01 3.20650014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.627806574 meters 0.03120972378189578 Centerline is valid? [True, True] Translation: X:-7.77, Y:-0.26, Z:0.33 [[ 9.99556265e-01 -2.02339937e-02 2.18599941e-02 -7.76778542e+00] [ 2.02176460e-02 9.99795133e-01 9.68605585e-04 -2.55832277e-01] [-2.18751145e-02 -5.26218158e-04 9.99760573e-01 3.29848700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.687806574 meters 0.03060907396520485 Centerline is valid? [True, True] Translation: X:-7.83, Y:-0.27, Z:0.34 [[ 9.99355952e-01 -2.56945915e-02 2.50493387e-02 -7.82935073e+00] [ 2.56748027e-02 9.99669730e-01 1.11134424e-03 -2.67015221e-01] [-2.50696212e-02 -4.67491651e-04 9.99685598e-01 3.35971223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.747806573999999 meters 0.03033208519971988 Centerline is valid? [True, True] Translation: X:-7.89, Y:-0.28, Z:0.33 [[ 9.99246963e-01 -3.07575007e-02 2.36534077e-02 -7.89026312e+00] [ 3.07411948e-02 9.99526823e-01 1.05276361e-03 -2.83817694e-01] [-2.36745958e-02 -3.24836826e-04 9.99719665e-01 3.32086857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.807806574 meters 0.030499863183529246 Centerline is valid? [True, True] Translation: X:-7.95, Y:-0.29, Z:0.34 [[ 9.99160714e-01 -3.19942910e-02 2.55779905e-02 -7.95232917e+00] [ 3.19754614e-02 9.99487998e-01 1.14493300e-03 -2.90600036e-01] [-2.56015258e-02 -3.26104024e-04 9.99672174e-01 3.35426862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.867806573999999 meters 0.031811128083111574 Centerline is valid? [True, True] Translation: X:-8.01, Y:-0.30, Z:0.33 [[ 9.99141107e-01 -3.31100019e-02 2.49153871e-02 -8.01276375e+00] [ 3.30923892e-02 9.99451670e-01 1.11899862e-03 -2.98563648e-01] [-2.49387753e-02 -2.93527837e-04 9.99688937e-01 3.34328640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.927806574 meters 0.030321906873991538 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.30, Z:0.33 [[ 9.99117221e-01 -3.59981056e-02 2.16544494e-02 -8.07450184e+00] [ 3.59854274e-02 9.99351839e-01 9.74989929e-04 -3.02972475e-01] [-2.16755117e-02 -1.94884610e-04 9.99765040e-01 3.29109076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9878065739999995 meters 0.029350254197785707 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.31, Z:0.35 [[ 9.98875652e-01 -3.57476893e-02 3.11373512e-02 -8.13453770e+00] [ 3.57211962e-02 9.99360804e-01 1.40687421e-03 -3.08010218e-01] [-3.11677408e-02 -2.93028957e-04 9.99514125e-01 3.45109738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.047806573999999 meters 0.0294940961281789 Centerline is valid? [True, True] Translation: X:-8.19, Y:-0.31, Z:0.34 [[ 9.98887690e-01 -4.00663123e-02 2.48610775e-02 -8.19448365e+00] [ 4.00507573e-02 9.99197015e-01 1.12349159e-03 -3.13797369e-01] [-2.48861286e-02 -1.26536938e-04 9.99690284e-01 3.36711476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.107806574 meters 0.03226873449128398 Centerline is valid? [True, True] Translation: X:-8.26, Y:-0.30, Z:0.35 [[ 9.98678030e-01 -4.18094885e-02 2.99024981e-02 -8.25752433e+00] [ 4.17877160e-02 9.99125596e-01 1.35293795e-03 -3.03993995e-01] [-2.99329169e-02 -1.01592307e-04 9.99551905e-01 3.49575651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.167806574 meters 0.0305889758877817 Centerline is valid? [True, True] Translation: X:-8.32, Y:-0.32, Z:0.35 [[ 9.98407734e-01 -4.73396995e-02 3.06748980e-02 -8.31901286e+00] [ 4.73192161e-02 9.98878846e-01 1.39375037e-03 -3.17062498e-01] [-3.07064865e-02 5.99809754e-05 9.99528443e-01 3.49269188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.227806573999999 meters 0.029593732172740857 Centerline is valid? [True, True] Translation: X:-8.38, Y:-0.31, Z:0.35 [[ 9.98381486e-01 -4.86046113e-02 2.95296481e-02 -8.38142365e+00] [ 4.85859619e-02 9.98818094e-01 1.34916297e-03 -3.07617722e-01] [-2.95603224e-02 8.77470244e-05 9.99562994e-01 3.53407230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.287806574 meters 0.029874519310332286 Centerline is valid? [True, True] Translation: X:-8.44, Y:-0.31, Z:0.36 [[ 9.98331769e-01 -4.83210686e-02 3.16030472e-02 -8.44372364e+00] [ 4.82993055e-02 9.98831852e-01 1.45211528e-03 -3.11294831e-01] [-3.16362979e-02 7.67124151e-05 9.99499444e-01 3.55126425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.347806574 meters 0.030553672873286905 Centerline is valid? [True, True] Translation: X:-8.51, Y:-0.30, Z:0.37 [[ 9.98394625e-01 -4.61247200e-02 3.28737551e-02 -8.50617825e+00] [ 4.60997005e-02 9.98935689e-01 1.51901365e-03 -3.02669905e-01] [-3.29088313e-02 -1.10479704e-06 9.99458358e-01 3.70782151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407806574 meters 0.029397291994233354 Centerline is valid? [True, True] Translation: X:-8.57, Y:-0.30, Z:0.37 [[ 9.98469104e-01 -4.50290380e-02 3.21221804e-02 -8.56752793e+00] [ 4.50043902e-02 9.98985678e-01 1.49027330e-03 -2.96607822e-01] [-3.21567037e-02 -4.23527109e-05 9.99482839e-01 3.70562407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.467806573999999 meters 0.030637984253543797 Centerline is valid? [True, True] Translation: X:-8.63, Y:-0.30, Z:0.38 [[ 9.98438807e-01 -4.49106540e-02 3.32111759e-02 -8.62949540e+00] [ 4.48840023e-02 9.98991006e-01 1.54796525e-03 -3.01902090e-01] [-3.32471861e-02 -5.48980818e-05 9.99447158e-01 3.79834549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.527806574 meters 0.029027941006508184 Centerline is valid? [True, True] Translation: X:-8.69, Y:-0.29, Z:0.38 [[ 9.98405004e-01 -4.55525607e-02 3.33528571e-02 -8.69273689e+00] [ 4.55257229e-02 9.98961942e-01 1.56403475e-03 -2.89407302e-01] [-3.33894807e-02 -4.31271896e-05 9.99442415e-01 3.84808884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.587806574 meters 0.030017506569842974 Centerline is valid? [True, True] Translation: X:-8.75, Y:-0.29, Z:0.38 [[ 9.98460610e-01 -4.57652251e-02 3.13361615e-02 -8.75446957e+00] [ 4.57413848e-02 9.98952222e-01 1.47760055e-03 -2.86517931e-01] [-3.13709509e-02 -4.19665242e-05 9.99507810e-01 3.79666900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.647806574 meters 0.028672839681202024 Centerline is valid? [True, True] Translation: X:-8.82, Y:-0.30, Z:0.40 [[ 9.98485395e-01 -4.44040647e-02 3.24837806e-02 -8.81647969e+00] [ 4.43774481e-02 9.99013648e-01 1.54024188e-03 -2.97973816e-01] [-3.25201331e-02 -9.63617316e-05 9.99471076e-01 3.95149077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.707806574 meters 0.02887351958770085 Centerline is valid? [True, True] Translation: X:-8.88, Y:-0.29, Z:0.39 [[ 9.98449322e-01 -4.65946424e-02 3.04612913e-02 -8.87864891e+00] [ 4.65720266e-02 9.98913879e-01 1.45189402e-03 -2.90617342e-01] [-3.04958571e-02 -3.09985324e-05 9.99534893e-01 3.90735296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.767806574 meters 0.030312417018786734 Centerline is valid? [True, True] Translation: X:-8.94, Y:-0.30, Z:0.39 [[ 9.98009498e-01 -5.47901264e-02 3.12263395e-02 -8.94047699e+00] [ 5.47701143e-02 9.98497869e-01 1.49649814e-03 -2.98879287e-01] [-3.12614268e-02 2.16750827e-04 9.99511219e-01 3.94821943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827806574 meters 0.029667965831189566 Centerline is valid? [True, True] Translation: X:-9.00, Y:-0.30, Z:0.39 [[ 9.97531718e-01 -6.12361562e-02 3.43599408e-02 -9.00168349e+00] [ 6.12155852e-02 9.98123201e-01 1.65135477e-03 -3.02307381e-01] [-3.43965768e-02 4.56085122e-04 9.99408159e-01 3.92207374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.887806573999999 meters 0.029585403648026323 Centerline is valid? [True, True] Translation: X:-9.06, Y:-0.30, Z:0.40 [[ 9.97649369e-01 -5.93129234e-02 3.43178334e-02 -9.06373108e+00] [ 5.92910601e-02 9.98239365e-01 1.65530145e-03 -3.02185508e-01] [-3.43555930e-02 3.83330278e-04 9.99409599e-01 3.96397014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.947806574 meters 0.028974538219677413 Centerline is valid? [True, True] Translation: X:-9.13, Y:-0.30, Z:0.40 [[ 9.98055316e-01 -5.30886033e-02 3.26678251e-02 -9.12515127e+00] [ 5.30651948e-02 9.98589794e-01 1.58375117e-03 -3.01675202e-01] [-3.27058359e-02 1.52853223e-04 9.99465009e-01 3.99949826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.007806574 meters 0.031157804846277087 Centerline is valid? [True, True] Translation: X:-9.19, Y:-0.28, Z:0.42 [[ 9.98519632e-01 -4.05564370e-02 3.62452615e-02 -9.18746052e+00] [ 4.05191985e-02 9.99177207e-01 1.76167172e-03 -2.76137601e-01] [-3.62868863e-02 -2.90434850e-04 9.99341372e-01 4.16427684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.067806574 meters 0.030873437626255808 Centerline is valid? [True, True] Translation: X:-9.25, Y:-0.28, Z:0.42 [[ 9.98880207e-01 -3.56742211e-02 3.10754169e-02 -9.24930575e+00] [ 3.56443307e-02 9.99363390e-01 1.51547704e-03 -2.81131110e-01] [-3.11096974e-02 -4.06117582e-04 9.99515894e-01 4.16436711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.127806574 meters 0.029051371090056247 Centerline is valid? [True, True] Translation: X:-9.31, Y:-0.28, Z:0.42 [[ 9.98804916e-01 -3.84075663e-02 3.02258067e-02 -9.31083429e+00] [ 3.83803124e-02 9.99262106e-01 1.48154526e-03 -2.79703621e-01] [-3.02604058e-02 -3.19698789e-04 9.99541998e-01 4.20971877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.187806574 meters 0.028529055446573786 Centerline is valid? [True, True] Translation: X:-9.37, Y:-0.29, Z:0.42 [[ 9.98542116e-01 -4.46673085e-02 3.03063411e-02 -9.37258151e+00] [ 4.46425539e-02 9.99001908e-01 1.49329135e-03 -2.90682425e-01] [-3.03427939e-02 -1.38161836e-04 9.99539542e-01 4.23532745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247806574 meters 0.028564059403982284 Centerline is valid? [True, True] Translation: X:-9.44, Y:-0.29, Z:0.43 [[ 9.98381055e-01 -4.90218441e-02 2.88466423e-02 -9.43504827e+00] [ 4.90010168e-02 9.98797707e-01 1.42888961e-03 -2.94444180e-01] [-2.88820070e-02 -1.30615130e-05 9.99582828e-01 4.28421537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.307806573999999 meters 0.02805792460898117 Centerline is valid? [True, True] Translation: X:-9.50, Y:-0.30, Z:0.44 [[ 9.98208110e-01 -4.90162240e-02 3.43216979e-02 -9.49631207e+00] [ 4.89865485e-02 9.98797982e-01 1.70549877e-03 -3.01499653e-01] [-3.43640397e-02 -2.11411828e-05 9.99409382e-01 4.40148949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.367806574 meters 0.02841292555226908 Centerline is valid? [True, True] Translation: X:-9.56, Y:-0.30, Z:0.43 [[ 9.98753377e-01 -4.27521591e-02 2.57671404e-02 -9.55737322e+00] [ 4.27332937e-02 9.99085692e-01 1.28260621e-03 -2.98322750e-01] [-2.57984155e-02 -1.79892504e-04 9.99667149e-01 4.31773057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.427806574 meters 0.030648282808303756 Centerline is valid? [True, True] Translation: X:-9.62, Y:-0.30, Z:0.44 [[ 9.98743514e-01 -3.78371578e-02 3.28594247e-02 -9.61906743e+00] [ 3.78037056e-02 9.99283840e-01 1.63893822e-03 -2.97382626e-01] [-3.28979048e-02 -3.94670900e-04 9.99458640e-01 4.39022926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.487806574 meters 0.028383646614698096 Centerline is valid? [True, True] Translation: X:-9.68, Y:-0.30, Z:0.45 [[ 9.98787264e-01 -3.64734780e-02 3.30709213e-02 -9.68065168e+00] [ 3.64386615e-02 9.99334521e-01 1.65506701e-03 -2.99711596e-01] [-3.31092794e-02 -4.47999741e-04 9.99451637e-01 4.45763339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.547806573999999 meters 0.029909257512301102 Centerline is valid? [True, True] Translation: X:-9.74, Y:-0.31, Z:0.44 [[ 9.98817659e-01 -3.90345058e-02 2.89757190e-02 -9.74221614e+00] [ 3.90086629e-02 9.99237810e-01 1.45683116e-03 -3.07472500e-01] [-2.90105007e-02 -3.24804637e-04 9.99579054e-01 4.44417870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.607806574 meters 0.0274433905493563 Centerline is valid? [True, True] Translation: X:-9.80, Y:-0.33, Z:0.46 [[ 9.98505535e-01 -4.41772544e-02 3.21724392e-02 -9.80232049e+00] [ 4.41477925e-02 9.99023688e-01 1.62587877e-03 -3.26557397e-01] [-3.22128557e-02 -2.03106780e-04 9.99481011e-01 4.60912369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.667806574 meters 0.02729785133905355 Centerline is valid? [True, True] Translation: X:-9.87, Y:-0.32, Z:0.46 [[ 9.98619629e-01 -4.35441060e-02 2.93725475e-02 -9.86520228e+00] [ 4.35190594e-02 9.99051483e-01 1.49175744e-03 -3.16908698e-01] [-2.94096444e-02 -2.11432621e-04 9.99567420e-01 4.55647046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.727806573999999 meters 0.027137134080306814 Centerline is valid? [True, True] Translation: X:-9.93, Y:-0.33, Z:0.46 [[ 9.98753632e-01 -4.13770327e-02 2.79127775e-02 -9.92625429e+00] [ 4.13533557e-02 9.99143568e-01 1.42522201e-03 -3.32923382e-01] [-2.79478436e-02 -2.69158640e-04 9.99609346e-01 4.64727876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.787806574 meters 0.026694795782322138 Centerline is valid? [True, True] Translation: X:-9.99, Y:-0.33, Z:0.48 [[ 9.98878602e-01 -3.89834444e-02 2.68668838e-02 -9.98825053e+00] [ 3.89604455e-02 9.99239802e-01 1.37916587e-03 -3.32184631e-01] [-2.69002243e-02 -3.30873510e-04 9.99638069e-01 4.77329974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.847806574 meters 0.027002660209219393 Centerline is valid? [True, True] Translation: X:-10.05, Y:-0.34, Z:0.48 [[ 9.98764531e-01 -4.03846826e-02 2.89566866e-02 -1.00503750e+01] [ 4.03583190e-02 9.99184153e-01 1.49455535e-03 -3.36066204e-01] [-2.89934196e-02 -3.24065679e-04 9.99579550e-01 4.78362702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907806574 meters 0.029139897980256256 Centerline is valid? [True, True] Translation: X:-10.11, Y:-0.35, Z:0.48 [[ 9.98573437e-01 -4.46825295e-02 2.92328972e-02 -1.01123978e+01] [ 4.46572732e-02 9.99001215e-01 1.51659556e-03 -3.47163266e-01] [-2.92714652e-02 -2.08970561e-04 9.99571477e-01 4.84840735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.967806573999999 meters 0.02685290146960368 Centerline is valid? [True, True] Translation: X:-10.17, Y:-0.35, Z:0.48 [[ 9.98298915e-01 -5.07453133e-02 2.87087092e-02 -1.01740944e+01] [ 5.07232543e-02 9.98711626e-01 1.49657368e-03 -3.50503092e-01] [-2.87476657e-02 -3.78287243e-05 9.99586700e-01 4.80109422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.027806574 meters 0.026796397775050322 Centerline is valid? [True, True] Translation: X:-10.24, Y:-0.37, Z:0.49 [[ 9.97903889e-01 -5.69079474e-02 3.08109390e-02 -1.02356300e+01] [ 5.68853168e-02 9.98379419e-01 1.61126716e-03 -3.70027949e-01] [-3.08527012e-02 1.44800257e-04 9.99523932e-01 4.91117044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.087806574 meters 0.027751088631655013 Centerline is valid? [True, True] Translation: X:-10.30, Y:-0.36, Z:0.48 [[ 9.97825171e-01 -5.88222965e-02 2.97467025e-02 -1.02992081e+01] [ 5.88018668e-02 9.98268451e-01 1.56185660e-03 -3.63674484e-01] [-2.97870666e-02 1.90701806e-04 9.99556249e-01 4.84514545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.147806573999999 meters 0.02677584476759599 Centerline is valid? [True, True] Translation: X:-10.36, Y:-0.38, Z:0.50 [[ 9.97872462e-01 -5.81855324e-02 2.94107776e-02 -1.03591070e+01] [ 5.81650969e-02 9.98305773e-01 1.55060358e-03 -3.78696231e-01] [-2.94511718e-02 1.63376116e-04 9.99566207e-01 4.97513107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.207806574 meters 0.02613983712549907 Centerline is valid? [True, True] Translation: X:-10.42, Y:-0.37, Z:0.50 [[ 9.98089148e-01 -5.56041498e-02 2.69486708e-02 -1.04216010e+01] [ 5.55859029e-02 9.98452890e-01 1.42632658e-03 -3.71321521e-01] [-2.69862879e-02 7.43651182e-05 9.99635801e-01 4.98511438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.267806574 meters 0.025872429661329688 Centerline is valid? [True, True] Translation: X:-10.48, Y:-0.38, Z:0.52 [[ 9.97942697e-01 -5.58905386e-02 3.14105168e-02 -1.04822084e+01] [ 5.58656166e-02 9.98436898e-01 1.67115837e-03 -3.77072299e-01] [-3.14548209e-02 8.70475932e-05 9.99505171e-01 5.17252888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327806574 meters 0.026129351253731194 Centerline is valid? [True, True] Translation: X:-10.54, Y:-0.38, Z:0.52 [[ 9.98029143e-01 -5.76000734e-02 2.49010207e-02 -1.05441616e+01] [ 5.75848067e-02 9.98339732e-01 1.33033024e-03 -3.77767658e-01] [-2.49363055e-02 1.06212118e-04 9.99689036e-01 5.15515570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.387806573999999 meters 0.027521490119838253 Centerline is valid? [True, True] Translation: X:-10.61, Y:-0.38, Z:0.53 [[ 9.97733238e-01 -6.16215535e-02 2.70401386e-02 -1.06060490e+01] [ 6.16048295e-02 9.98099563e-01 1.45189722e-03 -3.80781828e-01] [-2.70782187e-02 2.17197018e-04 9.99633294e-01 5.26347035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.447806574 meters 0.026329504702119044 Centerline is valid? [True, True] Translation: X:-10.67, Y:-0.38, Z:0.54 [[ 9.97624906e-01 -6.19023261e-02 3.02100795e-02 -1.06672061e+01] [ 6.18813812e-02 9.98082182e-01 1.62864873e-03 -3.82177690e-01] [-3.02529592e-02 2.44660905e-04 9.99542245e-01 5.37747121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.507806574 meters 0.026180898307821745 Centerline is valid? [True, True] Translation: X:-10.73, Y:-0.37, Z:0.54 [[ 9.97917261e-01 -5.93366198e-02 2.53042569e-02 -1.07294184e+01] [ 5.93209802e-02 9.98238021e-01 1.36893295e-03 -3.74670673e-01] [-2.53408992e-02 1.34991503e-04 9.99678859e-01 5.36662146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.567806573999999 meters 0.025860185148601656 Centerline is valid? [True, True] Translation: X:-10.79, Y:-0.38, Z:0.55 [[ 9.98111368e-01 -5.49479718e-02 2.74666493e-02 -1.07912673e+01] [ 5.49276757e-02 9.98489219e-01 1.49344505e-03 -3.77696506e-01] [-2.75072150e-02 1.80547222e-05 9.99621605e-01 5.51226134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.627806574 meters 0.026120361674087995 Centerline is valid? [True, True] Translation: X:-10.85, Y:-0.37, Z:0.55 [[ 9.98548964e-01 -4.71309760e-02 2.60506685e-02 -1.08532585e+01] [ 4.71099177e-02 9.98888700e-01 1.42183802e-03 -3.66884506e-01] [-2.60887310e-02 -1.92530034e-04 9.99659613e-01 5.54587999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.687806574 meters 0.028121947766881854 Centerline is valid? [True, True] Translation: X:-10.92, Y:-0.36, Z:0.57 [[ 9.98820481e-01 -4.02164404e-02 2.72081816e-02 -1.09160806e+01] [ 4.01907886e-02 9.99190914e-01 1.48922448e-03 -3.64465475e-01] [-2.72460591e-02 -3.93949632e-04 9.99628680e-01 5.65077839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.747806574 meters 0.02625160292159232 Centerline is valid? [True, True] Translation: X:-10.98, Y:-0.36, Z:0.57 [[ 9.98762696e-01 -4.22292551e-02 2.62634210e-02 -1.09785984e+01] [ 4.22059060e-02 9.99107892e-01 1.44297818e-03 -3.63485710e-01] [-2.63009271e-02 -3.32721303e-04 9.99654015e-01 5.71740914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.807806573999999 meters 0.028535896851803275 Centerline is valid? [True, True] Translation: X:-11.04, Y:-0.37, Z:0.57 [[ 9.98703622e-01 -4.45272657e-02 2.46657220e-02 -1.10399746e+01] [ 4.45072163e-02 9.99008135e-01 1.36150401e-03 -3.73145891e-01] [-2.47018809e-02 -2.61936368e-04 9.99694828e-01 5.74517558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.867806574 meters 0.026010045118036545 Centerline is valid? [True, True] Translation: X:-11.10, Y:-0.38, Z:0.59 [[ 9.98451002e-01 -4.89523508e-02 2.64436067e-02 -1.11022209e+01] [ 4.89306678e-02 9.98801100e-01 1.46680538e-03 -3.78750948e-01] [-2.64837070e-02 -1.70629972e-04 9.99649231e-01 5.87570437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.927806574 meters 0.027998528828887884 Centerline is valid? [True, True] Translation: X:-11.16, Y:-0.38, Z:0.58 [[ 9.98599550e-01 -4.79492793e-02 2.23563466e-02 -1.11635881e+01] [ 4.79334124e-02 9.98849757e-01 1.24537099e-03 -3.80266805e-01] [-2.23903460e-02 -1.72010925e-04 9.99749290e-01 5.84666796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987806574 meters 0.026447614109307883 Centerline is valid? [True, True] Translation: X:-11.22, Y:-0.39, Z:0.60 [[ 9.98758761e-01 -4.18327443e-02 2.70362432e-02 -1.12246585e+01] [ 4.18071733e-02 9.99124556e-01 1.51061555e-03 -3.86975704e-01] [-2.70757676e-02 -3.78431607e-04 9.99633313e-01 6.01935413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.047806573999999 meters 0.026601213325398835 Centerline is valid? [True, True] Translation: X:-11.29, Y:-0.38, Z:0.60 [[ 9.98993139e-01 -3.82136940e-02 2.35036560e-02 -1.12877837e+01] [ 3.81932903e-02 9.99269503e-01 1.31656509e-03 -3.81365864e-01] [-2.35367975e-02 -4.17557534e-04 9.99722884e-01 6.03193463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.107806574 meters 0.026472217239398885 Centerline is valid? [True, True] Translation: X:-11.35, Y:-0.40, Z:0.62 [[ 9.99087381e-01 -3.37256732e-02 2.62103708e-02 -1.13478245e+01] [ 3.36986325e-02 9.99430955e-01 1.47282627e-03 -3.96193761e-01] [-2.62451279e-02 -5.88228491e-04 9.99655364e-01 6.15087655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.167806574 meters 0.026288337755577807 Centerline is valid? [True, True] Translation: X:-11.41, Y:-0.39, Z:0.61 [[ 9.99108005e-01 -3.42834561e-02 2.46543953e-02 -1.14101816e+01] [ 3.42596088e-02 9.99412002e-01 1.38912684e-03 -3.92727243e-01] [-2.46875227e-02 -5.43237804e-04 9.99695069e-01 6.13173329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.227806573999999 meters 0.026653617976685088 Centerline is valid? [True, True] Translation: X:-11.47, Y:-0.41, Z:0.63 [[ 9.99089708e-01 -3.46554268e-02 2.48748285e-02 -1.14727398e+01] [ 3.46310786e-02 9.99399171e-01 1.40907638e-03 -4.06237212e-01] [-2.49087152e-02 -5.46351564e-04 9.99689581e-01 6.25351897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.287806574 meters 0.029129466591294957 Centerline is valid? [True, True] Translation: X:-11.53, Y:-0.41, Z:0.64 [[ 9.99199019e-01 -3.01322477e-02 2.63318967e-02 -1.15337061e+01] [ 3.01032611e-02 9.99545674e-01 1.49661975e-03 -4.10549876e-01] [-2.63650300e-02 -7.02745019e-04 9.99652135e-01 6.38188517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.347806574 meters 0.0259686158102608 Centerline is valid? [True, True] Translation: X:-11.60, Y:-0.42, Z:0.63 [[ 9.99244221e-01 -2.82371220e-02 2.67142647e-02 -1.15953483e+01] [ 2.82064937e-02 9.99600958e-01 1.52272310e-03 -4.15986631e-01] [-2.67466019e-02 -7.68056521e-04 9.99641951e-01 6.34055965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407806574 meters 0.025808413344806106 Centerline is valid? [True, True] Translation: X:-11.66, Y:-0.43, Z:0.64 [[ 9.99300800e-01 -2.89628286e-02 2.36445577e-02 -1.16567021e+01] [ 2.89388882e-02 9.99580265e-01 1.35412815e-03 -4.34210712e-01] [-2.36738526e-02 -6.68934135e-04 9.99719511e-01 6.42602252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.467806573999999 meters 0.02523248192699667 Centerline is valid? [True, True] Translation: X:-11.72, Y:-0.45, Z:0.64 [[ 9.99151991e-01 -3.42884306e-02 2.27948076e-02 -1.17168958e+01] [ 3.42674760e-02 9.99411840e-01 1.30936209e-03 -4.46085514e-01] [-2.28262965e-02 -5.27131216e-04 9.99739307e-01 6.41908590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.527806574 meters 0.025274393118077085 Centerline is valid? [True, True] Translation: X:-11.78, Y:-0.46, Z:0.65 [[ 9.98958767e-01 -3.86146827e-02 2.42958562e-02 -1.17773114e+01] [ 3.85920790e-02 9.99254069e-01 1.39872287e-03 -4.60866763e-01] [-2.43317444e-02 -4.59638876e-04 9.99703834e-01 6.50262743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.587806574 meters 0.02514189607708885 Centerline is valid? [True, True] Translation: X:-11.84, Y:-0.48, Z:0.64 [[ 9.98686660e-01 -4.64654029e-02 2.15852135e-02 -1.18380535e+01] [ 4.64492819e-02 9.98919870e-01 1.24789323e-03 -4.79367618e-01] [-2.16198825e-02 -2.43636660e-04 9.99766233e-01 6.44270362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.647806573999999 meters 0.024813498883352037 Centerline is valid? [True, True] Translation: X:-11.90, Y:-0.49, Z:0.66 [[ 9.98207491e-01 -5.14578918e-02 3.05596057e-02 -1.18982389e+01] [ 5.14276254e-02 9.98675145e-01 1.77608826e-03 -4.92905545e-01] [-3.06105124e-02 -2.01296649e-04 9.99531368e-01 6.62404414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.707806574 meters 0.026938904926564627 Centerline is valid? [True, True] Translation: X:-11.96, Y:-0.50, Z:0.66 [[ 9.98315102e-01 -5.17744920e-02 2.61984661e-02 -1.19601635e+01] [ 5.17521851e-02 9.98658787e-01 1.52922823e-03 -5.00274484e-01] [-2.62425034e-02 -1.70823770e-04 9.99655592e-01 6.58220890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.767806574 meters 0.02467518178272426 Centerline is valid? [True, True] Translation: X:-12.02, Y:-0.51, Z:0.67 [[ 9.98393451e-01 -5.16751494e-02 2.32421075e-02 -1.20219641e+01] [ 5.16574258e-02 9.98663934e-01 1.36271549e-03 -5.13379487e-01] [-2.32814730e-02 -1.59898775e-04 9.99728937e-01 6.71156305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.827806574 meters 0.02616457600035529 Centerline is valid? [True, True] Translation: X:-12.08, Y:-0.50, Z:0.68 [[ 9.98498916e-01 -4.91802496e-02 2.41084507e-02 -1.20843479e+01] [ 4.91602922e-02 9.98789892e-01 1.42015382e-03 -5.01381006e-01] [-2.41491204e-02 -2.32843564e-04 9.99708340e-01 6.84733777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.887806573999999 meters 0.025253062897304425 Centerline is valid? [True, True] Translation: X:-12.15, Y:-0.52, Z:0.69 [[ 9.98687966e-01 -4.53131794e-02 2.38550408e-02 -1.21460942e+01] [ 4.52924277e-02 9.98972777e-01 1.40977155e-03 -5.18298792e-01] [-2.38944175e-02 -3.27469177e-04 9.99714434e-01 6.88987445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.947806574 meters 0.026239585728445227 Centerline is valid? [True, True] Translation: X:-12.21, Y:-0.52, Z:0.70 [[ 9.98493116e-01 -5.04987059e-02 2.14796885e-02 -1.22079662e+01] [ 5.04830075e-02 9.98724109e-01 1.27280745e-03 -5.20360984e-01] [-2.15165579e-02 -1.86530204e-04 9.99768475e-01 6.95689890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.007806574 meters 0.025130021326712014 Centerline is valid? [True, True] Translation: X:-12.27, Y:-0.53, Z:0.71 [[ 9.98086001e-01 -5.67045122e-02 2.46765647e-02 -1.22700925e+01] [ 5.66854967e-02 9.98391002e-01 1.46998326e-03 -5.31942303e-01] [-2.47202149e-02 -6.83663848e-05 9.99694406e-01 7.05136757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.067806573999999 meters 0.024847795231766147 Centerline is valid? [True, True] Translation: X:-12.33, Y:-0.54, Z:0.70 [[ 9.97924093e-01 -6.18046920e-02 1.81020715e-02 -1.23320963e+01] [ 6.17952197e-02 9.98088262e-01 1.08269945e-03 -5.42573937e-01] [-1.81343810e-02 3.81696120e-05 9.99835558e-01 7.02264283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.127806574 meters 0.02499693250994161 Centerline is valid? [True, True] Translation: X:-12.39, Y:-0.54, Z:0.72 [[ 9.97563656e-01 -6.51513823e-02 2.49409346e-02 -1.23942025e+01] [ 6.51342428e-02 9.97875383e-01 1.49983235e-03 -5.43403360e-01] [-2.49856608e-02 1.28330643e-04 9.99687801e-01 7.17532345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.187806574 meters 0.024620254827396243 Centerline is valid? [True, True] Translation: X:-12.46, Y:-0.55, Z:0.72 [[ 9.97996671e-01 -5.98976027e-02 2.03696342e-02 -1.24563647e+01] [ 5.98849762e-02 9.98204527e-01 1.22983497e-03 -5.49507289e-01] [-2.04067252e-02 -7.53615028e-06 9.99791761e-01 7.18054969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247806574 meters 0.02484060030403382 Centerline is valid? [True, True] Translation: X:-12.52, Y:-0.54, Z:0.73 [[ 9.98162441e-01 -5.74931015e-02 1.91385668e-02 -1.25191809e+01] [ 5.74814143e-02 9.98345902e-01 1.16066865e-03 -5.38046456e-01] [-1.91736402e-02 -5.84239651e-05 9.99816167e-01 7.25485784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.307806573999999 meters 0.025027796051879426 Centerline is valid? [True, True] Translation: X:-12.58, Y:-0.54, Z:0.73 [[ 9.98192232e-01 -5.55345602e-02 2.29821842e-02 -1.25814727e+01] [ 5.55170134e-02 9.98456758e-01 1.40131986e-03 -5.39974512e-01] [-2.30245388e-02 -1.22884373e-04 9.99734893e-01 7.32851230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.367806574 meters 0.024805540143328243 Centerline is valid? [True, True] Translation: X:-12.64, Y:-0.55, Z:0.74 [[ 9.98175914e-01 -5.76906650e-02 1.77941616e-02 -1.26434560e+01] [ 5.76804137e-02 9.98334505e-01 1.08921883e-03 -5.49889440e-01] [-1.78273633e-02 -6.08573938e-05 9.99841078e-01 7.41162135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.427806574 meters 0.024822685114218444 Centerline is valid? [True, True] Translation: X:-12.71, Y:-0.54, Z:0.74 [[ 9.97968761e-01 -6.12978747e-02 1.73471361e-02 -1.27070813e+01] [ 6.12885898e-02 9.98119517e-01 1.06686716e-03 -5.44891825e-01] [-1.73799118e-02 -1.51859111e-06 9.99848958e-01 7.41726501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487806574 meters 0.024609992700964537 Centerline is valid? [True, True] Translation: X:-12.77, Y:-0.56, Z:0.75 [[ 9.97392700e-01 -6.86795656e-02 2.21566857e-02 -1.27685419e+01] [ 6.86660975e-02 9.97638759e-01 1.36898699e-03 -5.64123470e-01] [-2.21983898e-02 1.55995510e-04 9.99753573e-01 7.53111749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.547806573999999 meters 0.025311149851660653 Centerline is valid? [True, True] Translation: X:-12.83, Y:-0.56, Z:0.76 [[ 9.97499205e-01 -6.88740001e-02 1.58653000e-02 -1.28309291e+01] [ 6.88670932e-02 9.97625360e-01 9.81918235e-04 -5.64704782e-01] [-1.58952542e-02 1.13134433e-04 9.99873656e-01 7.55020138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.607806574 meters 0.024698209965517855 Centerline is valid? [True, True] Translation: X:-12.89, Y:-0.57, Z:0.77 [[ 9.97276426e-01 -7.04574088e-02 2.18055786e-02 -1.28926256e+01] [ 7.04445794e-02 9.97514772e-01 1.35688891e-03 -5.74452113e-01] [-2.18469896e-02 1.82891490e-04 9.99761309e-01 7.73050753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.667806574 meters 0.02482128501890912 Centerline is valid? [True, True] Translation: X:-12.96, Y:-0.57, Z:0.77 [[ 9.97776436e-01 -6.43383421e-02 1.74000547e-02 -1.29556498e+01] [ 6.43291727e-02 9.97928142e-01 1.08675159e-03 -5.68945014e-01] [-1.74339240e-02 3.49959998e-05 9.99848017e-01 7.71692666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.727806573999999 meters 0.024859453698268 Centerline is valid? [True, True] Translation: X:-13.02, Y:-0.57, Z:0.77 [[ 9.98190312e-01 -5.88207203e-02 1.24989172e-02 -1.30190756e+01] [ 5.88155264e-02 9.98268561e-01 7.83038199e-04 -5.65287364e-01] [-1.25233349e-02 -4.64907512e-05 9.99921579e-01 7.73196210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.787806574 meters 0.025003274195450752 Centerline is valid? [True, True] Translation: X:-13.08, Y:-0.57, Z:0.80 [[ 9.98010669e-01 -5.91444240e-02 2.18321184e-02 -1.30809688e+01] [ 5.91284775e-02 9.98249433e-01 1.37578716e-03 -5.74977783e-01] [-2.18752700e-02 -8.21503453e-05 9.99760704e-01 7.98888520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.847806574 meters 0.025796210827889472 Centerline is valid? [True, True] Translation: X:-13.14, Y:-0.58, Z:0.78 [[ 9.98130649e-01 -5.94469778e-02 1.41867785e-02 -1.31436391e+01] [ 5.94402595e-02 9.98231463e-01 8.95119763e-04 -5.77046017e-01] [-1.42149008e-02 -5.01806762e-05 9.99898962e-01 7.84477012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.907806574 meters 0.026744058549358348 Centerline is valid? [True, True] Translation: X:-13.21, Y:-0.58, Z:0.80 [[ 9.97566705e-01 -6.78162464e-02 1.61748788e-02 -1.32060163e+01] [ 6.78085281e-02 9.97697826e-01 1.02576432e-03 -5.83092467e-01] [-1.62072049e-02 7.35263933e-05 9.99868652e-01 8.00743219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.967806573999999 meters 0.02476350625240678 Centerline is valid? [True, True] Translation: X:-13.27, Y:-0.61, Z:0.81 [[ 9.97044827e-01 -7.40792665e-02 2.03439422e-02 -1.32658313e+01] [ 7.40682122e-02 9.97252334e-01 1.29736760e-03 -6.06508142e-01] [-2.03841519e-02 2.13305770e-04 9.99792199e-01 8.06444258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.027806574 meters 0.026045597455816312 Centerline is valid? [True, True] Translation: X:-13.33, Y:-0.60, Z:0.81 [[ 9.96990390e-01 -7.60171363e-02 1.52169995e-02 -1.33298835e+01] [ 7.60111285e-02 9.97106494e-01 9.73619172e-04 -5.98510168e-01] [-1.52469808e-02 1.85972348e-04 9.99883741e-01 8.08730347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087806574 meters 0.026778560692190922 Centerline is valid? [True, True] Translation: X:-13.39, Y:-0.62, Z:0.83 [[ 9.97109943e-01 -7.38695600e-02 1.77496144e-02 -1.33908937e+01] [ 7.38609341e-02 9.97267897e-01 1.14193888e-03 -6.18806196e-01] [-1.77854752e-02 1.72364491e-04 9.99841811e-01 8.30420394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.147806573999999 meters 0.025977312946673433 Centerline is valid? [True, True] Translation: X:-13.45, Y:-0.60, Z:0.82 [[ 9.97732004e-01 -6.51882283e-02 1.67733041e-02 -1.34540678e+01] [ 6.51792241e-02 9.97872985e-01 1.08351921e-03 -5.99117317e-01] [-1.68082597e-02 1.22091560e-05 9.99858731e-01 8.24965723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.207806574 meters 0.024668283648825038 Centerline is valid? [True, True] Translation: X:-13.51, Y:-0.62, Z:0.84 [[ 9.97989435e-01 -6.14438838e-02 1.55478587e-02 -1.35146098e+01] [ 6.14356371e-02 9.98110538e-01 1.00792838e-03 -6.15100422e-01] [-1.55804127e-02 -5.07092690e-05 9.99878617e-01 8.37053840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.267806574 meters 0.024777376646087906 Centerline is valid? [True, True] Translation: X:-13.58, Y:-0.61, Z:0.84 [[ 9.98144035e-01 -5.85995146e-02 1.65705408e-02 -1.35774310e+01] [ 5.85896929e-02 9.98281566e-01 1.07798239e-03 -6.05473998e-01] [-1.66052347e-02 -1.05118800e-04 9.99862118e-01 8.42005143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327806574 meters 0.025156985157224896 Centerline is valid? [True, True] Translation: X:-13.64, Y:-0.62, Z:0.86 [[ 9.97746463e-01 -6.52182991e-02 1.57660797e-02 -1.36385204e+01] [ 6.52101657e-02 9.97871020e-01 1.02996697e-03 -6.23071210e-01] [-1.57996867e-02 4.62769493e-07 9.99875177e-01 8.58587143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.387806573999999 meters 0.024288650297683526 Centerline is valid? [True, True] Translation: X:-13.70, Y:-0.62, Z:0.86 [[ 9.97533636e-01 -6.83467853e-02 1.59800563e-02 -1.37020182e+01] [ 6.83387554e-02 9.97661623e-01 1.04865794e-03 -6.23711620e-01] [-1.60143613e-02 4.59855936e-05 9.99871761e-01 8.57485793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.447806574 meters 0.024318935738861822 Centerline is valid? [True, True] Translation: X:-13.76, Y:-0.65, Z:0.86 [[ 9.97381680e-01 -7.10057511e-02 1.37101044e-02 -1.37638919e+01] [ 7.10000393e-02 9.97475904e-01 9.03507221e-04 -6.45726594e-01] [-1.37396530e-02 7.22764048e-05 9.99905604e-01 8.64632579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.507806574 meters 0.025402234856188383 Centerline is valid? [True, True] Translation: X:-13.83, Y:-0.64, Z:0.88 [[ 9.97325826e-01 -7.13628221e-02 1.57652608e-02 -1.38269490e+01] [ 7.13552251e-02 9.97450420e-01 1.04457714e-03 -6.37767685e-01] [-1.57996100e-02 8.31499722e-05 9.99875175e-01 8.78523159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.567806573999999 meters 0.024057335764400622 Centerline is valid? [True, True] Translation: X:-13.89, Y:-0.66, Z:0.88 [[ 9.97687101e-01 -6.66900336e-02 1.31486793e-02 -1.38877813e+01] [ 6.66843000e-02 9.97773742e-01 8.74484247e-04 -6.55270843e-01] [-1.31777264e-02 4.34882452e-06 9.99913170e-01 8.75617336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.627806574 meters 0.023992681773091086 Centerline is valid? [True, True] Translation: X:-13.95, Y:-0.65, Z:0.89 [[ 9.97832291e-01 -6.39841871e-02 1.53864368e-02 -1.39514073e+01] [ 6.39759354e-02 9.97950912e-01 1.02841119e-03 -6.48529048e-01] [-1.54207107e-02 -4.18202068e-05 9.99881093e-01 8.90074084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.687806574 meters 0.024284184693532794 Centerline is valid? [True, True] Translation: X:-14.01, Y:-0.66, Z:0.89 [[ 9.97866418e-01 -6.39288446e-02 1.32557620e-02 -1.40136601e+01] [ 6.39226659e-02 9.97954458e-01 8.89718805e-04 -6.57195249e-01] [-1.32855255e-02 -4.04768700e-05 9.99911743e-01 8.88533175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.747806574 meters 0.024258740483448053 Centerline is valid? [True, True] Translation: X:-14.08, Y:-0.66, Z:0.90 [[ 9.97894365e-01 -6.31021277e-02 1.49985704e-02 -1.40750800e+01] [ 6.30940421e-02 9.98007073e-01 1.01213893e-03 -6.61456284e-01] [-1.50325475e-02 -6.36872984e-05 9.99887003e-01 9.00419156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.807806573999999 meters 0.024719793012616727 Centerline is valid? [True, True] Translation: X:-14.14, Y:-0.67, Z:0.90 [[ 9.97798470e-01 -6.52713448e-02 1.17416160e-02 -1.41364313e+01] [ 6.52665092e-02 9.97867552e-01 7.94956915e-04 -6.71213437e-01] [-1.17684655e-02 -2.68725035e-05 9.99930749e-01 9.04421578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.867806574 meters 0.02428527769711557 Centerline is valid? [True, True] Translation: X:-14.20, Y:-0.68, Z:0.92 [[ 9.97698204e-01 -6.66158344e-02 1.26737346e-02 -1.41987585e+01] [ 6.66102561e-02 9.97778698e-01 8.62226688e-04 -6.79156196e-01] [-1.27030203e-02 -1.60413136e-05 9.99919313e-01 9.15107145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.927806574 meters 0.025152518717711826 Centerline is valid? [True, True] Translation: X:-14.26, Y:-0.68, Z:0.92 [[ 9.97932970e-01 -6.34340155e-02 1.02913988e-02 -1.42607504e+01] [ 6.34301402e-02 9.97986034e-01 7.02849078e-04 -6.79207119e-01] [-1.03152568e-02 -4.86114005e-05 9.99946795e-01 9.16066694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987806573999999 meters 0.024436710556562494 Centerline is valid? [True, True] Translation: X:-14.32, Y:-0.69, Z:0.92 [[ 9.98117308e-01 -6.07997634e-02 8.07645068e-03 -1.43213347e+01] [ 6.07972772e-02 9.98149981e-01 5.53215009e-04 -6.88235011e-01] [-8.09514444e-03 -6.11472644e-05 9.99967232e-01 9.17416251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047806573999999 meters 0.026063003045866947 Centerline is valid? [True, True] Translation: X:-14.38, Y:-0.69, Z:0.93 [[ 9.98212955e-01 -5.88146963e-02 1.05701899e-02 -1.43834283e+01] [ 5.88102867e-02 9.98268912e-01 7.27787470e-04 -6.86180520e-01] [-1.05946966e-02 -1.04850983e-04 9.99943869e-01 9.29616551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107806574 meters 0.024732063200134782 Centerline is valid? [True, True] Translation: X:-14.45, Y:-0.70, Z:0.92 [[ 9.98134221e-01 -6.06932617e-02 6.66376876e-03 -1.44456939e+01] [ 6.06915493e-02 9.98156463e-01 4.59081372e-04 -7.03349028e-01] [-6.67934701e-03 -5.37903773e-05 9.99977691e-01 9.17167099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167806574 meters 0.02593677476752432 Centerline is valid? [True, True] Translation: X:-14.51, Y:-0.71, Z:0.94 [[ 9.97739418e-01 -6.60015946e-02 1.26428875e-02 -1.45068744e+01] [ 6.59957543e-02 9.97819517e-01 8.79051491e-04 -7.07159799e-01] [-1.26733387e-02 -4.26874236e-05 9.99919689e-01 9.35663576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227806573999999 meters 0.02447656406557482 Centerline is valid? [True, True] Translation: X:-14.57, Y:-0.73, Z:0.93 [[ 9.97418612e-01 -7.13289750e-02 8.26371896e-03 -1.45679831e+01] [ 7.13266573e-02 9.97452845e-01 5.75217160e-04 -7.33399510e-01] [-8.28369963e-03 1.56911487e-05 9.99965689e-01 9.30717695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287806574 meters 0.025634752362951686 Centerline is valid? [True, True] Translation: X:-14.63, Y:-0.73, Z:0.94 [[ 9.97412462e-01 -7.13003106e-02 9.20031597e-03 -1.46318262e+01] [ 7.12974039e-02 9.97454894e-01 6.43961390e-04 -7.30008207e-01] [-9.22281483e-03 1.36635281e-05 9.99957469e-01 9.35307483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347806574 meters 0.02612240239765003 Centerline is valid? [True, True] Translation: X:-14.70, Y:-0.74, Z:0.93 [[ 9.97479424e-01 -7.04071354e-02 8.81107008e-03 -1.46950814e+01] [ 7.04044112e-02 9.97518338e-01 6.19366515e-04 -7.35274524e-01] [-8.83281181e-03 2.53284651e-06 9.99960990e-01 9.32550139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407806573999999 meters 0.02452012403331543 Centerline is valid? [True, True] Translation: X:-14.76, Y:-0.74, Z:0.94 [[ 9.97876180e-01 -6.45586961e-02 8.67776523e-03 -1.47563786e+01] [ 6.45558070e-02 9.97913910e-01 6.12922490e-04 -7.43343588e-01] [-8.69923211e-03 -5.14206157e-05 9.99962160e-01 9.39726405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467806573999999 meters 0.024841679758432312 Centerline is valid? [True, True] Translation: X:-14.82, Y:-0.75, Z:0.94 [[ 9.98249284e-01 -5.88474719e-02 5.94490165e-03 -1.48186144e+01] [ 5.88460116e-02 9.98266983e-01 4.20402669e-04 -7.48389856e-01] [-5.95933867e-03 -6.98329117e-05 9.99982241e-01 9.39194331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527806574 meters 0.024871410130418273 Centerline is valid? [True, True] Translation: X:-14.88, Y:-0.74, Z:0.94 [[ 9.98618556e-01 -5.23062304e-02 5.00378899e-03 -1.48800458e+01] [ 5.23050992e-02 9.98631088e-01 3.56739116e-04 -7.39575387e-01] [-5.01559892e-03 -9.45226208e-05 9.99987417e-01 9.40914601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587806574 meters 0.025771630392485066 Centerline is valid? [True, True] Translation: X:-14.94, Y:-0.76, Z:0.95 [[ 9.98827187e-01 -4.82393235e-02 4.14953344e-03 -1.49399890e+01] [ 4.82385110e-02 9.98835802e-01 2.95720439e-04 -7.64954306e-01] [-4.15896792e-03 -9.52062995e-05 9.99991347e-01 9.51042898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647806573999999 meters 0.025340238512304856 Centerline is valid? [True, True] Translation: X:-15.00, Y:-0.76, Z:0.95 [[ 9.98682533e-01 -5.11837396e-02 3.66379298e-03 -1.50022643e+01] [ 5.11831334e-02 9.98689251e-01 2.59078958e-04 -7.61927037e-01] [-3.67225130e-03 -7.12132251e-05 9.99993255e-01 9.46298403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707806574 meters 0.026775236223088347 Centerline is valid? [True, True] Translation: X:-15.06, Y:-0.79, Z:0.94 [[ 9.98586092e-01 -5.31436481e-02 1.25249666e-03 -1.50635249e+01] [ 5.31435814e-02 9.98586878e-01 8.64441935e-05 -7.85256469e-01] [-1.25532069e-03 -1.97598111e-05 9.99999212e-01 9.39570779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767806574 meters 0.02512339885779021 Centerline is valid? [True, True] Translation: X:-15.12, Y:-0.80, Z:0.94 [[ 9.98362913e-01 -5.71790358e-02 1.43239437e-03 -1.51218101e+01] [ 5.71789457e-02 9.98363940e-01 1.03793942e-04 -7.99278398e-01] [-1.43598573e-03 -2.17212225e-05 9.99998969e-01 9.43676070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827806574 meters 0.02529978233962863 Centerline is valid? [True, True] Translation: X:-15.18, Y:-0.80, Z:0.95 [[ 9.98343639e-01 -5.75192497e-02 1.23044387e-03 -1.51817803e+01] [ 5.75191836e-02 9.98344397e-01 8.90507748e-05 -8.02666538e-01] [-1.23352888e-03 -1.81291477e-05 9.99999239e-01 9.45987922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887806573999999 meters 0.025605728892028397 Centerline is valid? [True, True] Translation: X:-15.24, Y:-0.82, Z:0.94 [[ 9.98689969e-01 -5.11669131e-02 5.40389395e-04 -1.52410669e+01] [ 5.11668995e-02 9.98690116e-01 3.88769097e-05 -8.24958857e-01] [-5.41670759e-04 -1.11759299e-05 9.99999853e-01 9.42434948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947806574 meters 0.026167096499753614 Centerline is valid? [True, True] Translation: X:-15.30, Y:-0.81, Z:0.94 [[ 9.99011576e-01 -4.43871208e-02 -2.37804969e-03 -1.53020845e+01] [ 4.43868407e-02 9.99014404e-01 -1.70455019e-04 -8.09818874e-01] [ 2.38327190e-03 6.47324240e-05 9.99997158e-01 9.36668851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007806574 meters 0.02625123246545489 Centerline is valid? [True, True] Translation: X:-15.36, Y:-0.84, Z:0.95 [[ 9.99177823e-01 -4.03643774e-02 3.79416375e-03 -1.53582522e+01] [ 4.03636285e-02 9.99185019e-01 2.73767118e-04 -8.37570673e-01] [-3.80212202e-03 -1.20395817e-04 9.99992765e-01 9.46698066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067806573999999 meters 0.02675163325958674 Centerline is valid? [True, True] Translation: X:-15.42, Y:-0.84, Z:0.93 [[ 9.99214479e-01 -3.92874566e-02 -5.18854823e-03 -1.54205719e+01] [ 3.92860453e-02 9.99227935e-01 -3.73674277e-04 -8.36907884e-01] [ 5.19922305e-03 1.69543207e-04 9.99986470e-01 9.32233832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.127806574 meters 0.02651166607841498 Centerline is valid? [True, True] Translation: X:-15.48, Y:-0.86, Z:0.94 [[ 9.99049514e-01 -4.35847935e-02 -6.58613965e-04 -1.54795884e+01] [ 4.35847717e-02 9.99049731e-01 -4.73293304e-05 -8.58460002e-01] [ 6.60050943e-04 1.85788052e-05 9.99999782e-01 9.39963492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187806574 meters 0.025604739354668254 Centerline is valid? [True, True] Translation: X:-15.54, Y:-0.88, Z:0.93 [[ 9.98612153e-01 -5.26242425e-02 -2.11121128e-03 -1.55373980e+01] [ 5.26240400e-02 9.98614384e-01 -1.51411884e-04 -8.84314243e-01] [ 2.11625389e-03 4.01012807e-05 9.99997760e-01 9.32052261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247806574 meters 0.025569032868448475 Centerline is valid? [True, True] Translation: X:-15.59, Y:-0.89, Z:0.94 [[ 9.98385855e-01 -5.66918386e-02 -3.42339801e-03 -1.55944901e+01] [ 5.66913344e-02 9.98391723e-01 -2.44225396e-04 -8.91774253e-01] [ 3.43173782e-03 4.97541793e-05 9.99994110e-01 9.37800353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307806573999999 meters 0.02565207808583758 Centerline is valid? [True, True] Translation: X:-15.65, Y:-0.91, Z:0.94 [[ 9.98388653e-01 -5.66310051e-02 3.60925768e-03 -1.56525000e+01] [ 5.66304361e-02 9.98395175e-01 2.59728418e-04 -9.09651518e-01] [-3.61817414e-03 -5.49160690e-05 9.99993453e-01 9.37539587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367806574 meters 0.02614364679318133 Centerline is valid? [True, True] Translation: X:-15.71, Y:-0.90, Z:0.93 [[ 9.98907654e-01 -4.62925239e-02 -6.36403513e-03 -1.57143663e+01] [ 4.62905568e-02 9.98927913e-01 -4.56116595e-04 -9.00349442e-01] [ 6.37832713e-03 1.61023628e-04 9.99979645e-01 9.27388167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427806574 meters 0.02613385231039035 Centerline is valid? [True, True] Translation: X:-15.77, Y:-0.91, Z:0.93 [[ 9.99164370e-01 -4.08679581e-02 -6.09178025e-04 -1.57723635e+01] [ 4.08679398e-02 9.99164556e-01 -4.25208466e-05 -9.11629099e-01] [ 6.10406831e-04 1.75894640e-05 9.99999814e-01 9.31102529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487806573999999 meters 0.02823073863701709 Centerline is valid? [True, True] Translation: X:-15.83, Y:-0.91, Z:0.92 [[ 9.99223094e-01 -3.83136519e-02 -9.23427763e-03 -1.58331256e+01] [ 3.83091820e-02 9.99265716e-01 -6.60516435e-04 -9.12440379e-01] [ 9.25280384e-03 3.06245654e-04 9.99957145e-01 9.15732761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547806573999999 meters 0.028110045262178626 Centerline is valid? [True, True] Translation: X:-15.89, Y:-0.92, Z:0.93 [[ 9.99214237e-01 -3.93462870e-02 -4.77268848e-03 -1.58918766e+01] [ 3.93451075e-02 9.99225623e-01 -3.40802457e-04 -9.23604176e-01] [ 4.78240194e-03 1.52752725e-04 9.99988553e-01 9.29118305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607806574 meters 0.028062731566749783 Centerline is valid? [True, True] Translation: X:-15.95, Y:-0.94, Z:0.93 [[ 9.99006073e-01 -4.44792495e-02 -2.90894510e-03 -1.59492748e+01] [ 4.44788360e-02 9.99010305e-01 -2.06719994e-04 -9.39545472e-01] [ 2.91526088e-03 7.71280375e-05 9.99995748e-01 9.27282872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667806574 meters 0.026084815070907166 Centerline is valid? [True, True] Translation: X:-16.01, Y:-0.95, Z:0.93 [[ 9.98959955e-01 -4.55132185e-02 -2.74850383e-03 -1.60075067e+01] [ 4.55128542e-02 9.98963734e-01 -1.94980300e-04 -9.54146207e-01] [ 2.75452983e-03 6.96852571e-05 9.99996204e-01 9.29348239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727806573999999 meters 0.026091985754116923 Centerline is valid? [True, True] Translation: X:-16.07, Y:-0.96, Z:0.92 [[ 9.98754257e-01 -4.97607964e-02 -3.71451616e-03 -1.60660159e+01] [ 4.97601599e-02 9.98761161e-01 -2.63645845e-04 -9.63566145e-01] [ 3.72303370e-03 7.84824917e-05 9.99993066e-01 9.17352691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787806574 meters 0.026088374572410953 Centerline is valid? [True, True] Translation: X:-16.12, Y:-0.97, Z:0.92 [[ 9.98819716e-01 -4.84741149e-02 -3.07162539e-03 -1.61239159e+01] [ 4.84736748e-02 9.98824437e-01 -2.17603324e-04 -9.73270790e-01] [ 3.07856263e-03 6.84535200e-05 9.99995259e-01 9.17283296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.847806574 meters 0.026526965088284137 Centerline is valid? [True, True] Translation: X:-16.18, Y:-0.97, Z:0.91 [[ 9.98937492e-01 -4.55954440e-02 -6.70394188e-03 -1.61844252e+01] [ 4.55932699e-02 9.98959972e-01 -4.76846650e-04 -9.72004268e-01] [ 6.71871163e-03 1.70685365e-04 9.99977415e-01 9.05430902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907806573999999 meters 0.026895061377944143 Centerline is valid? [True, True] Translation: X:-16.24, Y:-0.98, Z:0.91 [[ 9.99177259e-01 -4.02417326e-02 -5.04072741e-03 -1.62417718e+01] [ 4.02404439e-02 9.99189962e-01 -3.56867660e-04 -9.78702374e-01] [ 5.05100520e-03 1.53732941e-04 9.99987232e-01 9.06051714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967806573999999 meters 0.028655758678485275 Centerline is valid? [True, True] Translation: X:-16.30, Y:-0.98, Z:0.89 [[ 9.99435570e-01 -3.29319061e-02 -6.63553782e-03 -1.63021411e+01] [ 3.29295018e-02 9.99457566e-01 -4.71293743e-04 -9.78479601e-01] [ 6.64745908e-03 2.52522776e-04 9.99977874e-01 8.93532340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.027806574 meters 0.0284069544872845 Centerline is valid? [True, True] Translation: X:-16.36, Y:-0.97, Z:0.89 [[ 9.99584907e-01 -2.70642392e-02 -9.87622606e-03 -1.63620582e+01] [ 2.70586299e-02 9.99633602e-01 -7.01172222e-04 -9.73933896e-01] [ 9.89158413e-03 4.33644025e-04 9.99950983e-01 8.89099962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087806574 meters 0.02873234635171739 Centerline is valid? [True, True] Translation: X:-16.42, Y:-0.98, Z:0.88 [[ 9.99718971e-01 -2.29602637e-02 -5.89967241e-03 -1.64210705e+01] [ 2.29582195e-02 9.99736340e-01 -4.14005173e-04 -9.83229546e-01] [ 5.90762257e-03 2.78442851e-04 9.99982511e-01 8.80390317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.147806574 meters 0.02914481100684922 Centerline is valid? [True, True] Translation: X:-16.48, Y:-0.99, Z:0.87 [[ 9.99663244e-01 -2.38388185e-02 -1.02522685e-02 -1.64790125e+01] [ 2.38326531e-02 9.99715700e-01 -7.23134424e-04 -9.85078300e-01] [ 1.02665924e-02 4.78552146e-04 9.99947183e-01 8.74488734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207806574 meters 0.028663549176384334 Centerline is valid? [True, True] Translation: X:-16.54, Y:-0.99, Z:0.88 [[ 9.99711368e-01 -2.26144624e-02 -8.10970889e-03 -1.65367072e+01] [ 2.26106130e-02 9.99744187e-01 -5.66054709e-04 -9.85958438e-01] [ 8.12043534e-03 3.82525839e-04 9.99966956e-01 8.77039382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267806573999998 meters 0.02906109587999917 Centerline is valid? [True, True] Translation: X:-16.60, Y:-1.00, Z:0.86 [[ 9.99605467e-01 -2.62788719e-02 -9.91621857e-03 -1.65955537e+01] [ 2.62732577e-02 9.99654556e-01 -6.96032757e-04 -9.97572313e-01] [ 9.93108403e-03 4.35226783e-04 9.99950591e-01 8.63912528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.327806574 meters 0.027887649610484507 Centerline is valid? [True, True] Translation: X:-16.65, Y:-1.01, Z:0.86 [[ 9.99486429e-01 -3.01757524e-02 -1.07843041e-02 -1.66531938e+01] [ 3.01693539e-02 9.99544516e-01 -7.55546658e-04 -1.00524666e+00] [ 1.08021912e-02 4.29803146e-04 9.99941562e-01 8.58634782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387806574 meters 0.027909876435032916 Centerline is valid? [True, True] Translation: X:-16.71, Y:-1.01, Z:0.86 [[ 9.99347457e-01 -3.44102467e-02 -1.09815968e-02 -1.67121017e+01] [ 3.44038693e-02 9.99407716e-01 -7.69169107e-04 -1.01380464e+00] [ 1.10015598e-02 3.90857771e-04 9.99939405e-01 8.55348265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447806573999998 meters 0.02742654009291326 Centerline is valid? [True, True] Translation: X:-16.77, Y:-1.04, Z:0.85 [[ 9.99268101e-01 -3.72554902e-02 -8.67702654e-03 -1.67687640e+01] [ 3.72516254e-02 9.99305733e-01 -6.06654793e-04 -1.03559777e+00] [ 8.69360359e-03 2.82977440e-04 9.99962170e-01 8.54018436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.507806574 meters 0.02699645579683257 Centerline is valid? [True, True] Translation: X:-16.83, Y:-1.02, Z:0.85 [[ 9.98939862e-01 -4.43928826e-02 -1.21829651e-02 -1.68289797e+01] [ 4.43857948e-02 9.99014102e-01 -8.51685062e-04 -1.02189263e+00] [ 1.22087627e-02 3.10031567e-04 9.99925422e-01 8.52091409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567806574 meters 0.026622823029688908 Centerline is valid? [True, True] Translation: X:-16.89, Y:-1.05, Z:0.85 [[ 9.98911141e-01 -4.58425431e-02 -8.65983490e-03 -1.68859578e+01] [ 4.58390229e-02 9.98948657e-01 -6.04644032e-04 -1.05333974e+00] [ 8.67844885e-03 2.07027290e-04 9.99962320e-01 8.49437427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.627806574 meters 0.027261513904341703 Centerline is valid? [True, True] Translation: X:-16.95, Y:-1.04, Z:0.84 [[ 9.99033237e-01 -4.21363889e-02 -1.25346070e-02 -1.69467816e+01] [ 4.21287208e-02 9.99111808e-01 -8.75285467e-04 -1.04064395e+00] [ 1.25603552e-02 3.46372315e-04 9.99921056e-01 8.39492250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.687806574 meters 0.027368692224626845 Centerline is valid? [True, True] Translation: X:-17.01, Y:-1.04, Z:0.83 [[ 9.99192549e-01 -3.83760178e-02 -1.18966589e-02 -1.70061579e+01] [ 3.83689172e-02 9.99263302e-01 -8.24601953e-04 -1.04136768e+00] [ 1.19195396e-02 3.67474205e-04 9.99928892e-01 8.29705473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747806574 meters 0.03148490202735696 Centerline is valid? [True, True] Translation: X:-17.07, Y:-1.04, Z:0.83 [[ 9.99441423e-01 -3.16165939e-02 -1.08274150e-02 -1.70664150e+01] [ 3.16102929e-02 9.99499986e-01 -7.52635759e-04 -1.03878709e+00] [ 1.08457970e-02 4.09957594e-04 9.99941099e-01 8.28543897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.807806574 meters 0.028725371020585783 Centerline is valid? [True, True] Translation: X:-17.13, Y:-1.04, Z:0.82 [[ 9.99585071e-01 -2.51533494e-02 -1.40354869e-02 -1.71257443e+01] [ 2.51421241e-02 9.99683411e-01 -9.75680591e-04 -1.04418554e+00] [ 1.40555851e-02 6.22393798e-04 9.99901022e-01 8.20820190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.867806574 meters 0.028968907422517676 Centerline is valid? [True, True] Translation: X:-17.18, Y:-1.04, Z:0.82 [[ 9.99682818e-01 -2.29416362e-02 -1.03896188e-02 -1.71842931e+01] [ 2.29354432e-02 9.99736693e-01 -7.14845299e-04 -1.04256187e+00] [ 1.04032828e-02 4.76328052e-04 9.99945771e-01 8.17724161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.927806573999998 meters 0.02922683088507379 Centerline is valid? [True, True] Translation: X:-17.24, Y:-1.05, Z:0.81 [[ 9.99549696e-01 -2.47791713e-02 -1.69233151e-02 -1.72427053e+01] [ 2.47629241e-02 9.99692668e-01 -1.16895704e-03 -1.05236897e+00] [ 1.69470799e-02 7.49359890e-04 9.99856107e-01 8.10252566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.987806574 meters 0.027714949110619454 Centerline is valid? [True, True] Translation: X:-17.30, Y:-1.06, Z:0.81 [[ 9.99430998e-01 -3.15265460e-02 -1.19898625e-02 -1.73017607e+01] [ 3.15188731e-02 9.99502814e-01 -8.28417379e-04 -1.06378274e+00] [ 1.20100185e-02 4.50039052e-04 9.99927776e-01 8.13886212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047806574 meters 0.027737390291169322 Centerline is valid? [True, True] Translation: X:-17.36, Y:-1.07, Z:0.80 [[ 9.99146459e-01 -3.74583956e-02 -1.74132651e-02 -1.73602634e+01] [ 3.74432580e-02 9.99298041e-01 -1.19464940e-03 -1.07393737e+00] [ 1.74457914e-02 5.41620336e-04 9.99847664e-01 8.03138809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107806573999998 meters 0.027269343762705085 Centerline is valid? [True, True] Translation: X:-17.42, Y:-1.08, Z:0.81 [[ 9.99063757e-01 -4.06607844e-02 -1.47753452e-02 -1.74188083e+01] [ 4.06502128e-02 9.99172923e-01 -1.01523685e-03 -1.07735411e+00] [ 1.48044051e-02 4.13665411e-04 9.99890323e-01 8.06863118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.167806574 meters 0.028614441904674232 Centerline is valid? [True, True] Translation: X:-17.48, Y:-1.08, Z:0.80 [[ 9.99136674e-01 -3.92323863e-02 -1.36647854e-02 -1.74768151e+01] [ 3.92233209e-02 9.99230036e-01 -9.30889063e-04 -1.07889328e+00] [ 1.36907850e-02 3.94107139e-04 9.99906199e-01 7.99190119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227806574 meters 0.027161251042059006 Centerline is valid? [True, True] Translation: X:-17.53, Y:-1.09, Z:0.79 [[ 9.99039474e-01 -4.00723852e-02 -1.77294342e-02 -1.75348526e+01] [ 4.00572003e-02 9.99196655e-01 -1.21092242e-03 -1.08866062e+00] [ 1.77637159e-02 4.99567802e-04 9.99842088e-01 7.92505660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287806574 meters 0.02646738178010261 Centerline is valid? [True, True] Translation: X:-17.59, Y:-1.09, Z:0.79 [[ 9.98875860e-01 -4.45371897e-02 -1.62312954e-02 -1.75934640e+01] [ 4.45250760e-02 9.99007654e-01 -1.10711096e-03 -1.08782997e+00] [ 1.62644960e-02 3.83166752e-04 9.99867651e-01 7.86544944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.347806574 meters 0.026829496903380396 Centerline is valid? [True, True] Translation: X:-17.65, Y:-1.10, Z:0.79 [[ 9.98968682e-01 -4.11394049e-02 -1.92125455e-02 -1.76527710e+01] [ 4.11217919e-02 9.99153281e-01 -1.31107793e-03 -1.09888139e+00] [ 1.92502148e-02 5.19671497e-04 9.99814562e-01 7.85188536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407806574 meters 0.02658865030402397 Centerline is valid? [True, True] Translation: X:-17.71, Y:-1.09, Z:0.78 [[ 9.98998673e-01 -4.21726326e-02 -1.49372358e-02 -1.77129138e+01] [ 4.21621165e-02 9.99110264e-01 -1.01836906e-03 -1.09277892e+00] [ 1.49668929e-02 3.87563866e-04 9.99887915e-01 7.82410884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.467806574 meters 0.02820577007950998 Centerline is valid? [True, True] Translation: X:-17.77, Y:-1.09, Z:0.77 [[ 9.99067395e-01 -3.72457143e-02 -2.18425457e-02 -1.77737709e+01] [ 3.72220395e-02 9.99305910e-01 -1.48958642e-03 -1.08549541e+00] [ 2.18828657e-02 6.75173127e-04 9.99760313e-01 7.70735161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527806574 meters 0.027583222311030265 Centerline is valid? [True, True] Translation: X:-17.83, Y:-1.09, Z:0.77 [[ 9.99244034e-01 -3.42908949e-02 -1.83165039e-02 -1.78314457e+01] [ 3.42738093e-02 9.99411704e-01 -1.24599135e-03 -1.09126689e+00] [ 1.83484545e-02 6.17273063e-04 9.99831462e-01 7.70924637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587806574 meters 0.028407442777456986 Centerline is valid? [True, True] Translation: X:-17.89, Y:-1.08, Z:0.76 [[ 9.99256595e-01 -3.32659062e-02 -1.94842544e-02 -1.78912669e+01] [ 3.32465384e-02 9.99446313e-01 -1.31719021e-03 -1.07514351e+00] [ 1.95172837e-02 6.68426993e-04 9.99809296e-01 7.63895450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.647806574 meters 0.027723793126217592 Centerline is valid? [True, True] Translation: X:-17.95, Y:-1.09, Z:0.76 [[ 9.99269896e-01 -3.24545418e-02 -2.01588152e-02 -1.79497557e+01] [ 3.24337533e-02 9.99472966e-01 -1.35741124e-03 -1.08743801e+00] [ 2.01922449e-02 7.02594149e-04 9.99795869e-01 7.56532891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707806574 meters 0.027485360419960643 Centerline is valid? [True, True] Translation: X:-18.01, Y:-1.07, Z:0.76 [[ 9.99207712e-01 -3.42531761e-02 -2.02649672e-02 -1.80100668e+01] [ 3.42326531e-02 9.99412967e-01 -1.35886652e-03 -1.06690924e+00] [ 2.02996165e-02 6.64066317e-04 9.99793721e-01 7.56766155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767806573999998 meters 0.027431299241853585 Centerline is valid? [True, True] Translation: X:-18.07, Y:-1.09, Z:0.74 [[ 9.99141687e-01 -3.58417448e-02 -2.07667459e-02 -1.80682265e+01] [ 3.58206531e-02 9.99357272e-01 -1.38685760e-03 -1.08699932e+00] [ 2.08031059e-02 6.41788840e-04 9.99783386e-01 7.43231210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.827806574 meters 0.027760195588126372 Centerline is valid? [True, True] Translation: X:-18.13, Y:-1.07, Z:0.75 [[ 9.99075453e-01 -3.81968182e-02 -1.97292491e-02 -1.81290168e+01] [ 3.81781976e-02 9.99270075e-01 -1.31973691e-03 -1.06929110e+00] [ 1.97652580e-02 5.65289585e-04 9.99804488e-01 7.48652090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887806574 meters 0.027212056756523283 Centerline is valid? [True, True] Translation: X:-18.19, Y:-1.08, Z:0.74 [[ 9.99125418e-01 -3.50813862e-02 -2.27529033e-02 -1.81874886e+01] [ 3.50558293e-02 9.99384198e-01 -1.52125257e-03 -1.07593484e+00] [ 2.27922597e-02 7.22300219e-04 9.99739962e-01 7.35708641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947806573999998 meters 0.02913607751625084 Centerline is valid? [True, True] Translation: X:-18.25, Y:-1.08, Z:0.74 [[ 9.99224352e-01 -3.44602750e-02 -1.90573861e-02 -1.82466429e+01] [ 3.44422783e-02 9.99405879e-01 -1.27185704e-03 -1.07505133e+00] [ 1.90898923e-02 6.14490735e-04 9.99817583e-01 7.39609865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.007806574 meters 0.028767008956418195 Centerline is valid? [True, True] Translation: X:-18.31, Y:-1.06, Z:0.73 [[ 9.99150674e-01 -3.34923123e-02 -2.40040732e-02 -1.83080479e+01] [ 3.34634633e-02 9.99438657e-01 -1.60262852e-03 -1.05812469e+00] [ 2.40442744e-02 7.98007941e-04 9.99710576e-01 7.28298791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067806574 meters 0.028691681902849306 Centerline is valid? [True, True] Translation: X:-18.37, Y:-1.07, Z:0.73 [[ 9.99265944e-01 -3.26063349e-02 -2.01097008e-02 -1.83660676e+01] [ 3.25859460e-02 9.99468038e-01 -1.34081953e-03 -1.06661766e+00] [ 2.01427224e-02 6.84541665e-04 9.99796880e-01 7.31472274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.127806574 meters 0.029547034475939555 Centerline is valid? [True, True] Translation: X:-18.43, Y:-1.06, Z:0.73 [[ 9.99344010e-01 -3.12412032e-02 -1.83176791e-02 -1.84251278e+01] [ 3.12242102e-02 9.99511669e-01 -1.21302192e-03 -1.06266251e+00] [ 1.83466303e-02 6.40271122e-04 9.99831481e-01 7.30405614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.187806574 meters 0.028200162714742183 Centerline is valid? [True, True] Translation: X:-18.49, Y:-1.05, Z:0.70 [[ 9.99088488e-01 -3.34713951e-02 -2.64926280e-02 -1.84869021e+01] [ 3.34365034e-02 9.99439296e-01 -1.75905200e-03 -1.04676890e+00] [ 2.65366514e-02 8.71627752e-04 9.99647461e-01 7.04634315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247806574 meters 0.0304480659329553 Centerline is valid? [True, True] Translation: X:-18.55, Y:-1.06, Z:0.72 [[ 9.99289266e-01 -3.29441069e-02 -1.83207352e-02 -1.85461767e+01] [ 3.29273405e-02 9.99457008e-01 -1.21614325e-03 -1.05511366e+00] [ 1.83508519e-02 6.12025812e-04 9.99831422e-01 7.19097994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.307806574 meters 0.02801199043841238 Centerline is valid? [True, True] Translation: X:-18.60, Y:-1.05, Z:0.71 [[ 9.99251032e-01 -3.21758078e-02 -2.14963538e-02 -1.86049409e+01] [ 3.21526012e-02 9.99481956e-01 -1.42440014e-03 -1.04781208e+00] [ 2.15310490e-02 7.32169615e-04 9.99767912e-01 7.14440819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367806574 meters 0.028025692058450617 Centerline is valid? [True, True] Translation: X:-18.66, Y:-1.05, Z:0.71 [[ 9.99184416e-01 -3.31316721e-02 -2.30823462e-02 -1.86632130e+01] [ 3.31054205e-02 9.99450712e-01 -1.51860613e-03 -1.04827309e+00] [ 2.31199813e-02 7.53216808e-04 9.99732414e-01 7.09321225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427806573999998 meters 0.02808986655899171 Centerline is valid? [True, True] Translation: X:-18.72, Y:-1.05, Z:0.71 [[ 9.99321664e-01 -3.14568021e-02 -1.91489197e-02 -1.87211418e+01] [ 3.14384228e-02 9.99504896e-01 -1.26016044e-03 -1.05234310e+00] [ 1.91790796e-02 6.57293789e-04 9.99815848e-01 7.12294975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.487806574 meters 0.031691564999542114 Centerline is valid? [True, True] Translation: X:-18.78, Y:-1.03, Z:0.71 [[ 9.99268576e-01 -3.13996359e-02 -2.18260263e-02 -1.87818169e+01] [ 3.13759322e-02 9.99506635e-01 -1.42771043e-03 -1.03094894e+00] [ 2.18600877e-02 7.41854249e-04 9.99760764e-01 7.09900747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547806574 meters 0.02869014144860913 Centerline is valid? [True, True] Translation: X:-18.84, Y:-1.05, Z:0.71 [[ 9.99418279e-01 -2.91925794e-02 -1.76322720e-02 -1.88398974e+01] [ 2.91768663e-02 9.99573606e-01 -1.14780354e-03 -1.04597369e+00] [ 1.76582610e-02 6.32681395e-04 9.99843881e-01 7.09847404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607806573999998 meters 0.027930514309010886 Centerline is valid? [True, True] Translation: X:-18.90, Y:-1.03, Z:0.71 [[ 9.99412660e-01 -2.85085828e-02 -1.90156599e-02 -1.88987692e+01] [ 2.84902007e-02 9.99593307e-01 -1.23694402e-03 -1.03130343e+00] [ 1.90431898e-02 6.94457547e-04 9.99818421e-01 7.11948210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.667806574 meters 0.02903602454230645 Centerline is valid? [True, True] Translation: X:-18.96, Y:-1.03, Z:0.71 [[ 9.99598087e-01 -2.20960207e-02 -1.77603795e-02 -1.89592658e+01] [ 2.20789531e-02 9.99755561e-01 -1.15652201e-03 -1.03230825e+00] [ 1.77815927e-02 7.63926607e-04 9.99841603e-01 7.05237022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727806574 meters 0.029354922454685215 Centerline is valid? [True, True] Translation: X:-19.02, Y:-1.02, Z:0.72 [[ 9.99740377e-01 -1.81880180e-02 -1.37249839e-02 -1.90183508e+01] [ 1.81775612e-02 9.99834382e-01 -8.86258653e-04 -1.02186662e+00] [ 1.37388301e-02 6.36541825e-04 9.99905415e-01 7.22189859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787806573999998 meters 0.02970453613785089 Centerline is valid? [True, True] Translation: X:-19.08, Y:-1.01, Z:0.71 [[ 9.99651875e-01 -1.46463858e-02 -2.19456600e-02 -1.90782318e+01] [ 1.46187039e-02 9.99892131e-01 -1.42128901e-03 -1.01223412e+00] [ 2.19641095e-02 1.09997711e-03 9.99758155e-01 7.10461460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.847806574 meters 0.02939517279637505 Centerline is valid? [True, True] Translation: X:-19.14, Y:-1.01, Z:0.74 [[ 9.99814351e-01 -1.45643878e-02 -1.26151882e-02 -1.91385316e+01] [ 1.45552292e-02 9.99893733e-01 -8.17512748e-04 -1.01474736e+00] [ 1.26257542e-02 6.33744022e-04 9.99920091e-01 7.36346116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907806574 meters 0.030307360059563564 Centerline is valid? [True, True] Translation: X:-19.20, Y:-1.01, Z:0.73 [[ 9.99779170e-01 -1.43131601e-02 -1.53865100e-02 -1.91971700e+01] [ 1.42995510e-02 9.99897262e-01 -9.94138327e-04 -1.00777898e+00] [ 1.53991584e-02 7.73898606e-04 9.99881126e-01 7.31224855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.967806574 meters 0.02877343614610035 Centerline is valid? [True, True] Translation: X:-19.25, Y:-1.02, Z:0.74 [[ 9.99714079e-01 -1.78099206e-02 -1.59551380e-02 -1.92549043e+01] [ 1.77957476e-02 9.99841113e-01 -1.02984944e-03 -1.01883895e+00] [ 1.59709445e-02 7.45621375e-04 9.99872178e-01 7.36900660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027806574 meters 0.028341018316331613 Centerline is valid? [True, True] Translation: X:-19.31, Y:-1.01, Z:0.74 [[ 9.99752625e-01 -1.74825338e-02 -1.37495447e-02 -1.93145684e+01] [ 1.74720746e-02 9.99846964e-01 -8.80458369e-04 -1.01096816e+00] [ 1.37628332e-02 6.40007495e-04 9.99905083e-01 7.41581450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087806574 meters 0.028614361424164795 Centerline is valid? [True, True] Translation: X:-19.37, Y:-1.01, Z:0.74 [[ 9.99725167e-01 -1.77635734e-02 -1.52985549e-02 -1.93730917e+01] [ 1.77507163e-02 9.99841967e-01 -9.75797943e-04 -1.01240517e+00] [ 1.53134709e-02 7.03969453e-04 9.99882494e-01 7.40128739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.147806574 meters 0.02803973617719955 Centerline is valid? [True, True] Translation: X:-19.43, Y:-1.02, Z:0.75 [[ 9.99831602e-01 -1.61736086e-02 -8.67073851e-03 -1.94312066e+01] [ 1.61694122e-02 9.99869113e-01 -5.53856075e-04 -1.02002534e+00] [ 8.67856147e-03 4.13562062e-04 9.99962255e-01 7.53787744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207806574 meters 0.0291733993660515 Centerline is valid? [True, True] Translation: X:-19.49, Y:-1.01, Z:0.74 [[ 9.99727125e-01 -1.73358959e-02 -1.56570159e-02 -1.94905860e+01] [ 1.73223687e-02 9.99849457e-01 -9.99184909e-04 -1.01106780e+00] [ 1.56719806e-02 7.27695655e-04 9.99876922e-01 7.44840419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267806573999998 meters 0.02912138283005999 Centerline is valid? [True, True] Translation: X:-19.55, Y:-1.01, Z:0.76 [[ 9.99822278e-01 -1.72475327e-02 -7.61147233e-03 -1.95510213e+01] [ 1.72443294e-02 9.99851187e-01 -4.86276012e-04 -1.01230841e+00] [ 7.61872671e-03 3.54934854e-04 9.99970914e-01 7.58157869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.327806574 meters 0.02850113187601122 Centerline is valid? [True, True] Translation: X:-19.61, Y:-1.02, Z:0.75 [[ 9.99677834e-01 -1.96928158e-02 -1.60131613e-02 -1.96088805e+01] [ 1.96789961e-02 9.99805829e-01 -1.02014978e-03 -1.01654008e+00] [ 1.60301417e-02 7.04698183e-04 9.99871261e-01 7.49588924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387806574 meters 0.028398994739752596 Centerline is valid? [True, True] Translation: X:-19.67, Y:-1.02, Z:0.76 [[ 9.99738355e-01 -1.95661913e-02 -1.18484830e-02 -1.96672380e+01] [ 1.95586305e-02 9.99808428e-01 -7.53667668e-04 -1.01522236e+00] [ 1.18609595e-02 5.21730374e-04 9.99929520e-01 7.57769716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447806573999998 meters 0.030215996839096333 Centerline is valid? [True, True] Translation: X:-19.73, Y:-1.02, Z:0.76 [[ 9.99794959e-01 -1.77530031e-02 -9.74017826e-03 -1.97255573e+01] [ 1.77478638e-02 9.99842306e-01 -6.13836403e-04 -1.02199776e+00] [ 9.74953973e-03 4.40843184e-04 9.99952375e-01 7.60179483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.507806574 meters 0.029181392255089575 Centerline is valid? [True, True] Translation: X:-19.78, Y:-1.02, Z:0.75 [[ 9.99716105e-01 -1.94489024e-02 -1.37640691e-02 -1.97836477e+01] [ 1.94388434e-02 9.99810674e-01 -8.64238461e-04 -1.02174566e+00] [ 1.37782717e-02 5.96435525e-04 9.99904897e-01 7.54449388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567806574 meters 0.02989449289028566 Centerline is valid? [True, True] Translation: X:-19.84, Y:-1.03, Z:0.76 [[ 9.99741707e-01 -2.12323394e-02 -8.10594857e-03 -1.98430961e+01] [ 2.12288928e-02 9.99774511e-01 -5.11014373e-04 -1.02785261e+00] [ 8.11497080e-03 3.38802069e-04 9.99967016e-01 7.60026751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.627806574 meters 0.027265044991922845 Centerline is valid? [True, True] Translation: X:-19.90, Y:-1.04, Z:0.76 [[ 9.99576463e-01 -2.57201711e-02 -1.36149562e-02 -1.99006662e+01] [ 2.57108936e-02 9.99669054e-01 -8.56044301e-04 -1.03872896e+00] [ 1.36324680e-02 5.05629043e-04 9.99906946e-01 7.56925978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687806574 meters 0.026530031457472722 Centerline is valid? [True, True] Translation: X:-19.96, Y:-1.05, Z:0.76 [[ 9.99510207e-01 -2.96529983e-02 -1.00023052e-02 -1.99605565e+01] [ 2.96481780e-02 9.99560198e-01 -6.29881878e-04 -1.04938012e+00] [ 1.00165840e-02 3.33023242e-04 9.99949777e-01 7.63967567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747806574 meters 0.02754923297868368 Centerline is valid? [True, True] Translation: X:-20.02, Y:-1.05, Z:0.76 [[ 9.99346926e-01 -3.39136443e-02 -1.24734519e-02 -2.00188043e+01] [ 3.39065131e-02 9.99424702e-01 -7.82803795e-04 -1.05188280e+00] [ 1.24928237e-02 3.59361307e-04 9.99921897e-01 7.58109317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.807806574 meters 0.025323417306418478 Centerline is valid? [True, True] Translation: X:-20.08, Y:-1.06, Z:0.77 [[ 9.99181862e-01 -3.95523297e-02 -8.43920491e-03 -2.00772723e+01] [ 3.95492659e-02 9.99217481e-01 -5.29683769e-04 -1.06361754e+00] [ 8.45355130e-03 1.95486056e-04 9.99964249e-01 7.68720009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867806574 meters 0.025352097740692327 Centerline is valid? [True, True] Translation: X:-20.14, Y:-1.07, Z:0.76 [[ 9.99042389e-01 -4.17466057e-02 -1.30967830e-02 -2.01361886e+01] [ 4.17395041e-02 9.99128195e-01 -8.15228791e-04 -1.06940250e+00] [ 1.31193981e-02 2.67794893e-04 9.99913901e-01 7.59219125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927806573999998 meters 0.025226034487932897 Centerline is valid? [True, True] Translation: X:-20.19, Y:-1.08, Z:0.76 [[ 9.98948573e-01 -4.36431998e-02 -1.40363366e-02 -2.01944490e+01] [ 4.36352804e-02 9.99047149e-01 -8.70113311e-04 -1.07842338e+00] [ 1.40609366e-02 2.56718966e-04 9.99901107e-01 7.59194640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.987806574 meters 0.025338480573743404 Centerline is valid? [True, True] Translation: X:-20.25, Y:-1.08, Z:0.77 [[ 9.99068237e-01 -4.17817661e-02 -1.08139858e-02 -2.02520756e+01] [ 4.17769524e-02 9.99126737e-01 -6.70745715e-04 -1.07572595e+00] [ 1.08325673e-02 2.18345370e-04 9.99941302e-01 7.70595237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047806574 meters 0.025582745577313253 Centerline is valid? [True, True] Translation: X:-20.31, Y:-1.08, Z:0.77 [[ 9.99107740e-01 -4.08050140e-02 -1.08937658e-02 -2.03105481e+01] [ 4.08001337e-02 9.99167103e-01 -6.69949996e-04 -1.07825517e+00] [ 1.09120297e-02 2.24885126e-04 9.99940437e-01 7.68058585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107806573999998 meters 0.02561440203956718 Centerline is valid? [True, True] Translation: X:-20.37, Y:-1.09, Z:0.77 [[ 9.99113071e-01 -3.99136608e-02 -1.34153588e-02 -2.03675808e+01] [ 3.99061508e-02 9.99203090e-01 -8.27139830e-04 -1.08852948e+00] [ 1.34376821e-02 2.91050884e-04 9.99909668e-01 7.68722725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.167806574 meters 0.0256261964238781 Centerline is valid? [True, True] Translation: X:-20.43, Y:-1.08, Z:0.76 [[ 9.99203486e-01 -3.82338725e-02 -1.14265195e-02 -2.04269287e+01] [ 3.82283821e-02 9.99268784e-01 -6.98603105e-04 -1.07692419e+00] [ 1.14448745e-02 2.61229305e-04 9.99934471e-01 7.62604663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227806574 meters 0.025771138204770793 Centerline is valid? [True, True] Translation: X:-20.48, Y:-1.09, Z:0.77 [[ 9.99205635e-01 -3.70288221e-02 -1.47297745e-02 -2.04841165e+01] [ 3.70195290e-02 9.99314134e-01 -9.03157279e-04 -1.09275993e+00] [ 1.47531147e-02 3.57150526e-04 9.99891103e-01 7.67511091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287806573999998 meters 0.027602211580528575 Centerline is valid? [True, True] Translation: X:-20.54, Y:-1.09, Z:0.77 [[ 9.99236340e-01 -3.70375754e-02 -1.24481143e-02 -2.05429982e+01] [ 3.70309609e-02 9.99313829e-01 -7.61520008e-04 -1.08666309e+00] [ 1.24677776e-02 2.99972833e-04 9.99922229e-01 7.67981808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.347806574 meters 0.025736976584514563 Centerline is valid? [True, True] Translation: X:-20.60, Y:-1.10, Z:0.78 [[ 9.99242798e-01 -3.72270160e-02 -1.13128017e-02 -2.06009192e+01] [ 3.72216314e-02 9.99306799e-01 -6.86226938e-04 -1.10440663e+00] [ 1.13305059e-02 2.64626390e-04 9.99935773e-01 7.77223662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407806574 meters 0.025597280754566496 Centerline is valid? [True, True] Translation: X:-20.66, Y:-1.10, Z:0.77 [[ 9.99195281e-01 -3.78389202e-02 -1.33043817e-02 -2.06603662e+01] [ 3.78315704e-02 9.99283807e-01 -8.03761929e-04 -1.09736340e+00] [ 1.33252667e-02 2.99789474e-04 9.99911170e-01 7.70657164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.467806574 meters 0.0268613186171368 Centerline is valid? [True, True] Translation: X:-20.72, Y:-1.11, Z:0.77 [[ 9.99184385e-01 -3.76542171e-02 -1.45850925e-02 -2.07188848e+01] [ 3.76454217e-02 9.99290775e-01 -8.77213807e-04 -1.10528432e+00] [ 1.46077792e-02 3.27436381e-04 9.99893247e-01 7.71070504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527806574 meters 0.025120938391954787 Centerline is valid? [True, True] Translation: X:-20.78, Y:-1.11, Z:0.77 [[ 9.99170385e-01 -3.87057922e-02 -1.26650210e-02 -2.07778567e+01] [ 3.86992986e-02 9.99250614e-01 -7.57478319e-04 -1.10609521e+00] [ 1.26848488e-02 2.66722476e-04 9.99919508e-01 7.68244404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587806574 meters 0.025070987446787457 Centerline is valid? [True, True] Translation: X:-20.84, Y:-1.11, Z:0.77 [[ 9.99013903e-01 -4.15380251e-02 -1.56784450e-02 -2.08370894e+01] [ 4.15284681e-02 9.99136884e-01 -9.34781421e-04 -1.10940212e+00] [ 1.57037416e-02 2.82757834e-04 9.99876649e-01 7.65361289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.647806574 meters 0.026163675434901706 Centerline is valid? [True, True] Translation: X:-20.90, Y:-1.11, Z:0.77 [[ 9.99062288e-01 -4.11255699e-02 -1.35363545e-02 -2.08957466e+01] [ 4.11184664e-02 9.99153956e-01 -8.02777241e-04 -1.11080202e+00] [ 1.35579168e-02 2.45430327e-04 9.99908057e-01 7.74556523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707806574 meters 0.0267736007941469 Centerline is valid? [True, True] Translation: X:-20.95, Y:-1.11, Z:0.77 [[ 9.99053317e-01 -4.00508717e-02 -1.69822560e-02 -2.09534986e+01] [ 4.00395095e-02 9.99197588e-01 -1.00867768e-03 -1.11485980e+00] [ 1.70090277e-02 3.27761582e-04 9.99855282e-01 7.66980287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767806573999998 meters 0.02561675469003638 Centerline is valid? [True, True] Translation: X:-21.01, Y:-1.12, Z:0.77 [[ 9.99043143e-01 -4.10036608e-02 -1.52150900e-02 -2.10118730e+01] [ 4.09947569e-02 9.99158959e-01 -8.96761632e-04 -1.11846023e+00] [ 1.52390640e-02 2.72164644e-04 9.99883842e-01 7.72150238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.827806574 meters 0.025672481328188643 Centerline is valid? [True, True] Translation: X:-21.07, Y:-1.13, Z:0.77 [[ 9.99108506e-01 -3.87495390e-02 -1.67531007e-02 -2.10692649e+01] [ 3.87384334e-02 9.99248898e-01 -9.87034651e-04 -1.12547840e+00] [ 1.67787645e-02 3.37165841e-04 9.99859170e-01 7.72748340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887806574 meters 0.027535102014143418 Centerline is valid? [True, True] Translation: X:-21.13, Y:-1.12, Z:0.78 [[ 9.99238015e-01 -3.61274243e-02 -1.47715693e-02 -2.11279390e+01] [ 3.61186159e-02 9.99347138e-01 -8.62736351e-04 -1.11796106e+00] [ 1.47930939e-02 3.28550322e-04 9.99890522e-01 7.77097720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947806573999998 meters 0.025812159272620597 Centerline is valid? [True, True] Translation: X:-21.19, Y:-1.13, Z:0.78 [[ 9.99305864e-01 -3.37281298e-02 -1.58178303e-02 -2.11862093e+01] [ 3.37177891e-02 9.99430970e-01 -9.20046017e-04 -1.12731113e+00] [ 1.58398609e-02 3.86065113e-04 9.99874467e-01 7.75367720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.007806574 meters 0.028501595733627996 Centerline is valid? [True, True] Translation: X:-21.25, Y:-1.12, Z:0.77 [[ 9.99386210e-01 -3.11978943e-02 -1.59340482e-02 -2.12451558e+01] [ 3.11871553e-02 9.99513137e-01 -9.22068195e-04 -1.12380431e+00] [ 1.59550571e-02 4.24564604e-04 9.99872620e-01 7.74918475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067806574 meters 0.02614996383958484 Centerline is valid? [True, True] Translation: X:-21.30, Y:-1.13, Z:0.78 [[ 9.99264418e-01 -3.45503551e-02 -1.66401697e-02 -2.13033952e+01] [ 3.45390890e-02 9.99402883e-01 -9.64036419e-04 -1.12655498e+00] [ 1.66635414e-02 3.88590987e-04 9.99861078e-01 7.76018166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127806573999997 meters 0.026126179298862993 Centerline is valid? [True, True] Translation: X:-21.36, Y:-1.14, Z:0.77 [[ 9.99225772e-01 -3.59194393e-02 -1.60514653e-02 -2.13605411e+01] [ 3.59091839e-02 9.99354628e-01 -9.26762613e-04 -1.14084564e+00] [ 1.60743950e-02 3.49650066e-04 9.99870737e-01 7.74835871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187806574 meters 0.025847188638088648 Centerline is valid? [True, True] Translation: X:-21.42, Y:-1.15, Z:0.78 [[ 9.99124716e-01 -3.88267068e-02 -1.55656446e-02 -2.14190007e+01] [ 3.88175122e-02 9.99245918e-01 -8.92508647e-04 -1.14829545e+00] [ 1.55885600e-02 2.87507850e-04 9.99878450e-01 7.81233768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247806574 meters 0.027348403307982754 Centerline is valid? [True, True] Translation: X:-21.48, Y:-1.15, Z:0.78 [[ 9.99084575e-01 -4.00058359e-02 -1.51507467e-02 -2.14768229e+01] [ 3.99972502e-02 9.99199412e-01 -8.69391974e-04 -1.14616168e+00] [ 1.51733979e-02 2.62607906e-04 9.99884843e-01 7.80134015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.307806574 meters 0.027239901692606185 Centerline is valid? [True, True] Translation: X:-21.54, Y:-1.16, Z:0.77 [[ 9.99089326e-01 -3.82996616e-02 -1.88057183e-02 -2.15354300e+01] [ 3.82861822e-02 9.99266236e-01 -1.07641417e-03 -1.15855798e+00] [ 1.88331457e-02 3.55434749e-04 9.99822577e-01 7.73581559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367806574 meters 0.02567831791780464 Centerline is valid? [True, True] Translation: X:-21.60, Y:-1.16, Z:0.78 [[ 9.99150929e-01 -3.92255852e-02 -1.26005408e-02 -2.15953501e+01] [ 3.92195996e-02 9.99230355e-01 -7.21875695e-04 -1.15931306e+00] [ 1.26191589e-02 2.27074605e-04 9.99920349e-01 7.83553596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427806573999998 meters 0.02620717474700708 Centerline is valid? [True, True] Translation: X:-21.66, Y:-1.17, Z:0.77 [[ 9.99069741e-01 -3.87258695e-02 -1.89725994e-02 -2.16552445e+01] [ 3.87122124e-02 9.99249810e-01 -1.08671175e-03 -1.16962160e+00] [ 1.90004502e-02 3.51229535e-04 9.99819413e-01 7.73239972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.487806574 meters 0.027219023210166747 Centerline is valid? [True, True] Translation: X:-21.72, Y:-1.17, Z:0.79 [[ 9.99058814e-01 -4.21688854e-02 -1.01622164e-02 -2.17151678e+01] [ 4.21651469e-02 9.99110485e-01 -5.81951536e-04 -1.16797825e+00] [ 1.01777172e-02 1.52912464e-04 9.99948194e-01 7.86635594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547806574 meters 0.02672673197217159 Centerline is valid? [True, True] Translation: X:-21.77, Y:-1.19, Z:0.78 [[ 9.98962422e-01 -4.23511125e-02 -1.67470322e-02 -2.17729826e+01] [ 4.23410098e-02 9.99102759e-01 -9.57516488e-04 -1.18513250e+00] [ 1.67725580e-02 2.47436734e-04 9.99859300e-01 7.81525824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607806573999998 meters 0.02567700788294047 Centerline is valid? [True, True] Translation: X:-21.83, Y:-1.19, Z:0.79 [[ 9.98745912e-01 -4.78989774e-02 -1.45702313e-02 -2.18325490e+01] [ 4.78919272e-02 9.98852176e-01 -8.32612896e-04 -1.18958100e+00] [ 1.45933885e-02 1.33772270e-04 9.99893502e-01 7.86310186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.667806574 meters 0.025315742420886002 Centerline is valid? [True, True] Translation: X:-21.89, Y:-1.19, Z:0.79 [[ 9.98759818e-01 -4.82233307e-02 -1.23829293e-02 -2.18901933e+01] [ 4.82182899e-02 9.98836573e-01 -7.05482247e-04 -1.19358715e+00] [ 1.24025434e-02 1.07523646e-04 9.99923080e-01 7.91800330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727806574 meters 0.025176265843170616 Centerline is valid? [True, True] Translation: X:-21.95, Y:-1.21, Z:0.80 [[ 9.98917599e-01 -4.54773348e-02 -9.76942786e-03 -2.19486472e+01] [ 4.54741210e-02 9.98965365e-01 -5.50957795e-04 -1.20673543e+00] [ 9.78437616e-03 1.06105293e-04 9.99952126e-01 7.96522860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787806573999998 meters 0.02614198443371856 Centerline is valid? [True, True] Translation: X:-22.01, Y:-1.19, Z:0.79 [[ 9.98976310e-01 -4.35273876e-02 -1.23166280e-02 -2.20088533e+01] [ 4.35221564e-02 9.99052222e-01 -6.92561713e-04 -1.19492919e+00] [ 1.23350999e-02 1.55806535e-04 9.99923908e-01 7.87906185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847806574 meters 0.026689541977291988 Centerline is valid? [True, True] Translation: X:-22.07, Y:-1.21, Z:0.80 [[ 9.99135210e-01 -3.98065714e-02 -1.20112031e-02 -2.20660351e+01] [ 3.98013335e-02 9.99207385e-01 -6.74900671e-04 -1.20637325e+00] [ 1.20285483e-02 1.96255122e-04 9.99927635e-01 8.04253629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907806574 meters 0.02677510953974696 Centerline is valid? [True, True] Translation: X:-22.12, Y:-1.20, Z:0.80 [[ 9.99180150e-01 -3.95211461e-02 -8.78108178e-03 -2.21247008e+01] [ 3.95183432e-02 9.99218724e-01 -4.92553941e-04 -1.20055517e+00] [ 8.79368762e-03 1.45136318e-04 9.99961324e-01 8.04887244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.967806574 meters 0.02720590273669775 Centerline is valid? [True, True] Translation: X:-22.18, Y:-1.20, Z:0.81 [[ 9.99198435e-01 -3.91023885e-02 -8.57268731e-03 -2.21824615e+01] [ 3.90997516e-02 9.99235199e-01 -4.75040671e-04 -1.20472126e+00] [ 8.58470613e-03 1.39469951e-04 9.99963141e-01 8.09170693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027806574 meters 0.025930565411554272 Centerline is valid? [True, True] Translation: X:-22.24, Y:-1.21, Z:0.81 [[ 9.99223381e-01 -3.77554750e-02 -1.12764672e-02 -2.22410782e+01] [ 3.77508393e-02 9.99286988e-01 -6.23742450e-04 -1.20917081e+00] [ 1.12919767e-02 1.97561938e-04 9.99936224e-01 8.07615550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087806574 meters 0.02529005896876711 Centerline is valid? [True, True] Translation: X:-22.30, Y:-1.22, Z:0.82 [[ 9.99133263e-01 -4.08726581e-02 -7.88343843e-03 -2.23004315e+01] [ 4.08704757e-02 9.99164357e-01 -4.37801524e-04 -1.21747976e+00] [ 7.89474480e-03 1.15222186e-04 9.99968829e-01 8.22451214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.147806574 meters 0.02511285205427259 Centerline is valid? [True, True] Translation: X:-22.36, Y:-1.21, Z:0.82 [[ 9.99117614e-01 -4.12472924e-02 -7.91544784e-03 -2.23590705e+01] [ 4.12451170e-02 9.99148962e-01 -4.37947778e-04 -1.21112884e+00] [ 7.92677566e-03 1.11087767e-04 9.99968576e-01 8.22582228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207806574 meters 0.024912959021720117 Centerline is valid? [True, True] Translation: X:-22.42, Y:-1.23, Z:0.83 [[ 9.99004417e-01 -4.35524923e-02 -9.66199983e-03 -2.24159570e+01] [ 4.35494168e-02 9.99051134e-01 -5.28578239e-04 -1.23132512e+00] [ 9.67585279e-03 1.07277539e-04 9.99953182e-01 8.33327073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267806573999998 meters 0.026709753957688105 Centerline is valid? [True, True] Translation: X:-22.47, Y:-1.22, Z:0.85 [[ 9.98916106e-01 -4.63082155e-02 -4.70763105e-03 -2.24747002e+01] [ 4.63075111e-02 9.98927198e-01 -2.58573637e-04 -1.22421111e+00] [ 4.71455478e-03 4.02946937e-05 9.99988886e-01 8.49054696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.327806574 meters 0.02474200041827323 Centerline is valid? [True, True] Translation: X:-22.53, Y:-1.23, Z:0.84 [[ 9.98898199e-01 -4.50590098e-02 -1.31176872e-02 -2.25348058e+01] [ 4.50534097e-02 9.98984319e-01 -7.22257175e-04 -1.22567076e+00] [ 1.31369080e-02 1.30464855e-04 9.99913699e-01 8.35662496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387806574 meters 0.027174521658363045 Centerline is valid? [True, True] Translation: X:-22.59, Y:-1.23, Z:0.87 [[ 9.98977174e-01 -4.48844050e-02 -5.47688070e-03 -2.25926509e+01] [ 4.48834318e-02 9.98992186e-01 -3.00539900e-04 -1.23304976e+00] [ 5.48485058e-03 5.44112990e-05 9.99984957e-01 8.70902731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447806573999998 meters 0.02567995213407075 Centerline is valid? [True, True] Translation: X:-22.65, Y:-1.23, Z:0.86 [[ 9.99016299e-01 -4.31440871e-02 -1.02480204e-02 -2.26518090e+01] [ 4.31405924e-02 9.99068853e-01 -5.61927737e-04 -1.23116082e+00] [ 1.02627219e-02 1.19269295e-04 9.99947330e-01 8.60499418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.507806574 meters 0.028627270552391938 Centerline is valid? [True, True] Translation: X:-22.71, Y:-1.24, Z:0.87 [[ 9.99101514e-01 -4.15026847e-02 -8.58437968e-03 -2.27101556e+01] [ 4.15002184e-02 9.99138386e-01 -4.65315448e-04 -1.23663817e+00] [ 8.59629510e-03 1.08643738e-04 9.99963045e-01 8.73298129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567806574 meters 0.024487540242998602 Centerline is valid? [True, True] Translation: X:-22.77, Y:-1.24, Z:0.87 [[ 9.99019113e-01 -4.35570001e-02 -7.97496456e-03 -2.27688095e+01] [ 4.35549580e-02 9.99050940e-01 -4.29644658e-04 -1.24059593e+00] [ 7.98610988e-03 8.18739791e-05 9.99968107e-01 8.72291046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627806573999997 meters 0.0261302687292521 Centerline is valid? [True, True] Translation: X:-22.83, Y:-1.24, Z:0.88 [[ 9.99044459e-01 -4.25974954e-02 -9.77863625e-03 -2.28266071e+01] [ 4.25943560e-02 9.99092308e-01 -5.29175176e-04 -1.24027515e+00] [ 9.79230181e-03 1.12154813e-04 9.99952048e-01 8.78451899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687806574 meters 0.025557942821855358 Centerline is valid? [True, True] Translation: X:-22.88, Y:-1.25, Z:0.88 [[ 9.98879999e-01 -4.61552540e-02 -1.04134809e-02 -2.28844135e+01] [ 4.61519443e-02 9.98934275e-01 -5.58041564e-04 -1.25377630e+00] [ 1.04281396e-02 7.68141651e-05 9.99945623e-01 8.79199739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747806574 meters 0.025340650750109217 Centerline is valid? [True, True] Translation: X:-22.94, Y:-1.25, Z:0.89 [[ 9.98849551e-01 -4.72123584e-02 -8.40049291e-03 -2.29436957e+01] [ 4.72102682e-02 9.98884874e-01 -4.47051344e-04 -1.24736364e+00] [ 8.41223165e-03 4.99475106e-05 9.99964615e-01 8.85348478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.807806574 meters 0.024085369083534498 Centerline is valid? [True, True] Translation: X:-23.00, Y:-1.26, Z:0.89 [[ 9.98678303e-01 -5.03135463e-02 -1.04973632e-02 -2.30020948e+01] [ 5.03104690e-02 9.98733471e-01 -5.57181592e-04 -1.26487045e+00] [ 1.05121017e-02 2.83179032e-05 9.99944746e-01 8.88900150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867806574 meters 0.025007804755040997 Centerline is valid? [True, True] Translation: X:-23.06, Y:-1.26, Z:0.90 [[ 9.98666949e-01 -5.06277857e-02 -1.00574507e-02 -2.30614339e+01] [ 5.06250091e-02 9.98717591e-01 -5.30630788e-04 -1.25503514e+00] [ 1.00714176e-02 2.07648984e-05 9.99949282e-01 8.99809747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927806573999998 meters 0.024106583765072978 Centerline is valid? [True, True] Translation: X:-23.12, Y:-1.27, Z:0.89 [[ 9.98754565e-01 -4.80304765e-02 -1.35052349e-02 -2.31202071e+01] [ 4.80252587e-02 9.98845869e-01 -7.10587984e-04 -1.26592857e+00] [ 1.35237780e-02 6.11105926e-05 9.99908548e-01 8.89262882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.987806574 meters 0.024520740686256173 Centerline is valid? [True, True] Translation: X:-23.18, Y:-1.26, Z:0.91 [[ 9.98706536e-01 -4.96543512e-02 -1.09407652e-02 -2.31774721e+01] [ 4.96510256e-02 9.98766461e-01 -5.75543151e-04 -1.26401736e+00] [ 1.09558475e-02 3.15784952e-05 9.99939982e-01 9.06863476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047806574 meters 0.02397898189536011 Centerline is valid? [True, True] Translation: X:-23.24, Y:-1.26, Z:0.91 [[ 9.98697467e-01 -4.90354191e-02 -1.41030651e-02 -2.32366703e+01] [ 4.90299108e-02 9.98797039e-01 -7.36269723e-04 -1.26369256e+00] [ 1.41222030e-02 4.38386822e-05 9.99900276e-01 9.05123296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107806573999998 meters 0.02348219570344868 Centerline is valid? [True, True] Translation: X:-23.29, Y:-1.27, Z:0.91 [[ 9.98748899e-01 -4.85056198e-02 -1.21590371e-02 -2.32945484e+01] [ 4.85015339e-02 9.98822909e-01 -6.30864558e-04 -1.27302979e+00] [ 1.21753253e-02 4.03433329e-05 9.99925877e-01 9.14102372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.167806574 meters 0.023755970874528277 Centerline is valid? [True, True] Translation: X:-23.35, Y:-1.26, Z:0.91 [[ 9.98713068e-01 -4.93365412e-02 -1.17521981e-02 -2.33537838e+01] [ 4.93328226e-02 9.98782211e-01 -6.06283240e-04 -1.26197031e+00] [ 1.17677983e-02 2.57338929e-05 9.99930757e-01 9.14080119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227806574 meters 0.025361469866597826 Centerline is valid? [True, True] Translation: X:-23.41, Y:-1.28, Z:0.92 [[ 9.98687882e-01 -4.88943347e-02 -1.52268827e-02 -2.34123679e+01] [ 4.88880265e-02 9.98803956e-01 -7.86455267e-04 -1.27603392e+00] [ 1.52471238e-02 4.10111012e-05 9.99883755e-01 9.17902215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287806573999998 meters 0.023709885807535983 Centerline is valid? [True, True] Translation: X:-23.47, Y:-1.27, Z:0.93 [[ 9.98718285e-01 -4.93063340e-02 -1.14312111e-02 -2.34708139e+01] [ 4.93028128e-02 9.98783703e-01 -5.89808925e-04 -1.26868176e+00] [ 1.14463886e-02 2.54620990e-05 9.99934488e-01 9.27244469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347806574 meters 0.023826670569229075 Centerline is valid? [True, True] Translation: X:-23.53, Y:-1.27, Z:0.92 [[ 9.98736428e-01 -4.79870993e-02 -1.49259745e-02 -2.35294275e+01] [ 4.79809621e-02 9.98847954e-01 -7.69207142e-04 -1.27119642e+00] [ 1.49456911e-02 5.20725763e-05 9.99888306e-01 9.24271836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407806574 meters 0.02487179213493347 Centerline is valid? [True, True] Translation: X:-23.59, Y:-1.28, Z:0.92 [[ 9.98669347e-01 -4.95739306e-02 -1.42113057e-02 -2.35882264e+01] [ 4.95686250e-02 9.98770457e-01 -7.25540292e-04 -1.27586848e+00] [ 1.42298002e-02 2.01399635e-05 9.99898751e-01 9.23307852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.467806574 meters 0.024301154190912905 Centerline is valid? [True, True] Translation: X:-23.65, Y:-1.28, Z:0.94 [[ 9.98545732e-01 -5.25291778e-02 -1.21287633e-02 -2.36459227e+01] [ 5.25255220e-02 9.98619390e-01 -6.19986768e-04 -1.27990838e+00] [ 1.21445856e-02 -1.79844808e-05 9.99926252e-01 9.35596251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527806574 meters 0.024166953811301323 Centerline is valid? [True, True] Translation: X:-23.70, Y:-1.29, Z:0.94 [[ 9.98405954e-01 -5.47750798e-02 -1.36103805e-02 -2.37043737e+01] [ 5.47707656e-02 9.98498717e-01 -6.89796192e-04 -1.28894061e+00] [ 1.36277311e-02 -5.67543368e-05 9.99907137e-01 9.35295076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587806574 meters 0.025930435030094064 Centerline is valid? [True, True] Translation: X:-23.76, Y:-1.29, Z:0.95 [[ 9.98227600e-01 -5.83285808e-02 -1.18082540e-02 -2.37618609e+01] [ 5.83255746e-02 9.98297435e-01 -5.99089173e-04 -1.29253939e+00] [ 1.18230937e-02 -9.06958512e-05 9.99930101e-01 9.45285700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.647806574 meters 0.024057971561917756 Centerline is valid? [True, True] Translation: X:-23.82, Y:-1.29, Z:0.94 [[ 9.98177777e-01 -5.83123635e-02 -1.55175527e-02 -2.38208043e+01] [ 5.83071793e-02 9.98298379e-01 -7.86682553e-04 -1.29225679e+00] [ 1.55370210e-02 -1.19535685e-04 9.99879286e-01 9.35531187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707806574 meters 0.025620662029634863 Centerline is valid? [True, True] Translation: X:-23.88, Y:-1.29, Z:0.95 [[ 9.98251168e-01 -5.75298521e-02 -1.35985670e-02 -2.38786881e+01] [ 5.75258218e-02 9.98343782e-01 -6.87664859e-04 -1.29399579e+00] [ 1.36156060e-02 -9.58064907e-05 9.99907299e-01 9.45285791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767806573999998 meters 0.024114870835872278 Centerline is valid? [True, True] Translation: X:-23.94, Y:-1.29, Z:0.94 [[ 9.98377609e-01 -5.44286757e-02 -1.67232846e-02 -2.39375969e+01] [ 5.44222616e-02 9.98517658e-01 -8.38731961e-04 -1.29110522e+00] [ 1.67441461e-02 -7.27477615e-05 9.99859804e-01 9.38896285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.827806574 meters 0.02426237659960288 Centerline is valid? [True, True] Translation: X:-24.00, Y:-1.29, Z:0.95 [[ 9.98486529e-01 -5.30327683e-02 -1.45663146e-02 -2.39956579e+01] [ 5.30277461e-02 9.98592772e-01 -7.31066010e-04 -1.29046743e+00] [ 1.45845870e-02 -4.24592719e-05 9.99893638e-01 9.50679382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887806574 meters 0.02441528607702021 Centerline is valid? [True, True] Translation: X:-24.05, Y:-1.29, Z:0.94 [[ 9.98690300e-01 -4.80229097e-02 -1.76489395e-02 -2.40549172e+01] [ 4.80147703e-02 9.98846234e-01 -8.84874980e-04 -1.28998494e+00] [ 1.76710710e-02 3.63062829e-05 9.99843854e-01 9.39860041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947806573999998 meters 0.024185293265990608 Centerline is valid? [True, True] Translation: X:-24.11, Y:-1.28, Z:0.94 [[ 9.98912372e-01 -4.34783409e-02 -1.68435871e-02 -2.41136489e+01] [ 4.34704255e-02 9.99054365e-01 -8.35946124e-04 -1.28307326e+00] [ 1.68640047e-02 1.02839029e-04 9.99857787e-01 9.43480354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007806574 meters 0.026755749130583185 Centerline is valid? [True, True] Translation: X:-24.17, Y:-1.30, Z:0.96 [[ 9.98913049e-01 -4.46212896e-02 -1.34781603e-02 -2.41710340e+01] [ 4.46163096e-02 9.99003972e-01 -6.70092718e-04 -1.29592149e+00] [ 1.34946361e-02 6.80185866e-05 9.99908941e-01 9.56377381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067806574 meters 0.024054218083508442 Centerline is valid? [True, True] Translation: X:-24.23, Y:-1.29, Z:0.94 [[ 9.98861384e-01 -4.55948481e-02 -1.40372896e-02 -2.42291664e+01] [ 4.55896542e-02 9.98960013e-01 -6.89947937e-04 -1.29110645e+00] [ 1.40541491e-02 4.92071729e-05 9.99901234e-01 9.42082100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127806573999997 meters 0.02631734807908953 Centerline is valid? [True, True] Translation: X:-24.29, Y:-1.30, Z:0.95 [[ 9.98722157e-01 -4.79157642e-02 -1.60664819e-02 -2.42867369e+01] [ 4.79092257e-02 9.98851380e-01 -7.91837092e-04 -1.29780068e+00] [ 1.60859691e-02 2.10925423e-05 9.99870612e-01 9.50509919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187806574 meters 0.025105304382059178 Centerline is valid? [True, True] Translation: X:-24.35, Y:-1.31, Z:0.94 [[ 9.98611306e-01 -4.98834110e-02 -1.69441403e-02 -2.43451814e+01] [ 4.98765433e-02 9.98755048e-01 -8.27924883e-04 -1.31032251e+00] [ 1.69643453e-02 -1.83399965e-05 9.99856095e-01 9.43846675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247806574 meters 0.024056959055711778 Centerline is valid? [True, True] Translation: X:-24.40, Y:-1.30, Z:0.96 [[ 9.98591793e-01 -5.12438652e-02 -1.37294650e-02 -2.44030353e+01] [ 5.12394801e-02 9.98686170e-01 -6.71195443e-04 -1.30298993e+00] [ 1.37458214e-02 -3.32403865e-05 9.99905521e-01 9.57161520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.307806574 meters 0.025595433120063543 Centerline is valid? [True, True] Translation: X:-24.46, Y:-1.31, Z:0.94 [[ 9.98709778e-01 -4.70430111e-02 -1.91241671e-02 -2.44625261e+01] [ 4.70337224e-02 9.98892864e-01 -9.35449137e-04 -1.31296578e+00] [ 1.91470004e-02 3.47614325e-05 9.99816679e-01 9.41946945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367806574 meters 0.02551745031126344 Centerline is valid? [True, True] Translation: X:-24.52, Y:-1.31, Z:0.95 [[ 9.98870057e-01 -4.51427355e-02 -1.48574369e-02 -2.45225792e+01] [ 4.51369292e-02 9.98980546e-01 -7.26067299e-04 -1.30658067e+00] [ 1.48750671e-02 5.46278079e-05 9.99889359e-01 9.53987053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427806573999998 meters 0.025040486114122865 Centerline is valid? [True, True] Translation: X:-24.58, Y:-1.30, Z:0.95 [[ 9.99106574e-01 -3.89203878e-02 -1.64698916e-02 -2.45817234e+01] [ 3.89124366e-02 9.99242302e-01 -8.03085494e-04 -1.30394480e+00] [ 1.64886688e-02 1.61484384e-04 9.99864040e-01 9.48335295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.487806574 meters 0.02459718765915129 Centerline is valid? [True, True] Translation: X:-24.64, Y:-1.31, Z:0.95 [[ 9.99085756e-01 -3.82713217e-02 -1.90514731e-02 -2.46401176e+01] [ 3.82605906e-02 9.99267365e-01 -9.27575996e-04 -1.31039373e+00] [ 1.90730149e-02 1.97807351e-04 9.99818074e-01 9.49114500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547806574 meters 0.02535576336257222 Centerline is valid? [True, True] Translation: X:-24.70, Y:-1.31, Z:0.95 [[ 9.99026944e-01 -4.03770215e-02 -1.77443276e-02 -2.46984060e+01] [ 4.03680825e-02 9.99184505e-01 -8.61805150e-04 -1.31390851e+00] [ 1.77646543e-02 1.44662084e-04 9.99842186e-01 9.51286329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607806573999998 meters 0.024269848823248244 Centerline is valid? [True, True] Translation: X:-24.76, Y:-1.32, Z:0.94 [[ 9.98962626e-01 -4.13004067e-02 -1.91819603e-02 -2.47568177e+01] [ 4.12902777e-02 9.99146766e-01 -9.23968345e-04 -1.31835609e+00] [ 1.92037539e-02 1.30981376e-04 9.99815582e-01 9.42091495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667806574 meters 0.02455491919085299 Centerline is valid? [True, True] Translation: X:-24.81, Y:-1.33, Z:0.95 [[ 9.98772513e-01 -4.61991765e-02 -1.78634729e-02 -2.48145181e+01] [ 4.61912699e-02 9.98932248e-01 -8.55180132e-04 -1.33393748e+00] [ 1.78839077e-02 2.89939131e-05 9.99840070e-01 9.53762910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727806574 meters 0.02781814567109633 Centerline is valid? [True, True] Translation: X:-24.87, Y:-1.33, Z:0.95 [[ 9.98799669e-01 -4.59416941e-02 -1.69877230e-02 -2.48737839e+01] [ 4.59345934e-02 9.98944123e-01 -8.08151365e-04 -1.33007799e+00] [ 1.70069139e-02 2.68571684e-05 9.99855372e-01 9.49516985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787806573999998 meters 0.02434667345917403 Centerline is valid? [True, True] Translation: X:-24.93, Y:-1.34, Z:0.94 [[ 9.98676298e-01 -4.73884923e-02 -1.99995441e-02 -2.49311039e+01] [ 4.73789185e-02 9.98876534e-01 -9.52524646e-04 -1.33988343e+00] [ 2.00222140e-02 3.70701770e-06 9.99799535e-01 9.41600929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847806574 meters 0.02457267813176683 Centerline is valid? [True, True] Translation: X:-24.99, Y:-1.34, Z:0.94 [[ 9.98690053e-01 -4.68300723e-02 -2.06185148e-02 -2.49897215e+01] [ 4.68199498e-02 9.98902870e-01 -9.73661787e-04 -1.34381842e+00] [ 2.06414903e-02 7.02851181e-06 9.99786942e-01 9.38763815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907806574 meters 0.02458293099453368 Centerline is valid? [True, True] Translation: X:-25.05, Y:-1.35, Z:0.94 [[ 9.98623816e-01 -4.85056702e-02 -1.99417619e-02 -2.50476179e+01] [ 4.84965277e-02 9.98822907e-01 -9.42087502e-04 -1.34920891e+00] [ 1.99639852e-02 -2.63151938e-05 9.99800699e-01 9.39968490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.967806574 meters 0.024817523517539054 Centerline is valid? [True, True] Translation: X:-25.11, Y:-1.34, Z:0.94 [[ 9.98752428e-01 -4.56240619e-02 -2.02985873e-02 -2.51055316e+01] [ 4.56141867e-02 9.98958680e-01 -9.49470866e-04 -1.34402603e+00] [ 2.03207687e-02 2.23827823e-05 9.99793512e-01 9.38969399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027806574 meters 0.02456053983179508 Centerline is valid? [True, True] Translation: X:-25.16, Y:-1.35, Z:0.94 [[ 9.98805536e-01 -4.45952108e-02 -1.99691880e-02 -2.51635116e+01] [ 4.45855771e-02 9.99005138e-01 -9.27604384e-04 -1.35449613e+00] [ 1.99906882e-02 3.61586209e-05 9.99800166e-01 9.37717097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087806574 meters 0.026441618328625377 Centerline is valid? [True, True] Translation: X:-25.22, Y:-1.35, Z:0.93 [[ 9.98999582e-01 -4.04288718e-02 -1.91138978e-02 -2.52221562e+01] [ 4.04193765e-02 9.99182413e-01 -8.82989390e-04 -1.35246909e+00] [ 1.91339687e-02 1.09534201e-04 9.99816923e-01 9.34372680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.147806574 meters 0.025424972183313202 Centerline is valid? [True, True] Translation: X:-25.28, Y:-1.36, Z:0.94 [[ 9.98940589e-01 -4.14957587e-02 -1.98947855e-02 -2.52808581e+01] [ 4.14857907e-02 9.99138676e-01 -9.13671538e-04 -1.35509015e+00] [ 1.99155631e-02 8.73526774e-05 9.99801662e-01 9.37685336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207806574 meters 0.025885609561035743 Centerline is valid? [True, True] Translation: X:-25.34, Y:-1.36, Z:0.93 [[ 9.98994820e-01 -4.00685732e-02 -2.00962596e-02 -2.53386937e+01] [ 4.00582548e-02 9.99196926e-01 -9.15896856e-04 -1.35972190e+00] [ 2.01168195e-02 1.09955126e-04 9.99797630e-01 9.28750308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267806573999998 meters 0.024697004575327083 Centerline is valid? [True, True] Translation: X:-25.40, Y:-1.36, Z:0.93 [[ 9.98913286e-01 -4.15786520e-02 -2.10585586e-02 -2.53961226e+01] [ 4.15676333e-02 9.99135230e-01 -9.60888884e-04 -1.36420659e+00] [ 2.10803003e-02 8.44902306e-05 9.99777782e-01 9.30036462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.327806574 meters 0.024718346135640196 Centerline is valid? [True, True] Translation: X:-25.45, Y:-1.37, Z:0.93 [[ 9.98844991e-01 -4.47065106e-02 -1.76071565e-02 -2.54541357e+01] [ 4.46993181e-02 9.99000164e-01 -8.02029853e-04 -1.36939510e+00] [ 1.76254081e-02 1.40756140e-05 9.99844660e-01 9.32456346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387806574 meters 0.025659735070570098 Centerline is valid? [True, True] Translation: X:-25.51, Y:-1.37, Z:0.93 [[ 9.98731201e-01 -4.60645951e-02 -2.03480034e-02 -2.55129211e+01] [ 4.60553012e-02 9.98938463e-01 -9.25375127e-04 -1.37374225e+00] [ 2.03690303e-02 -1.29324145e-05 9.99792530e-01 9.31111221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447806573999998 meters 0.02495676210325785 Centerline is valid? [True, True] Translation: X:-25.57, Y:-1.38, Z:0.92 [[ 9.98788084e-01 -4.49492105e-02 -2.00482192e-02 -2.55703115e+01] [ 4.49401544e-02 9.98989273e-01 -9.02242285e-04 -1.38020820e+00] [ 2.00685110e-02 1.78775588e-07 9.99798607e-01 9.21455269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507806574 meters 0.02665239199133257 Centerline is valid? [True, True] Translation: X:-25.63, Y:-1.38, Z:0.93 [[ 9.98793161e-01 -4.54006559e-02 -1.87350459e-02 -2.56287453e+01] [ 4.53928445e-02 9.98968859e-01 -8.42205546e-04 -1.37656779e+00] [ 1.87539641e-02 -9.24788841e-06 9.99824129e-01 9.25936572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567806574 meters 0.02510989334024228 Centerline is valid? [True, True] Translation: X:-25.69, Y:-1.38, Z:0.93 [[ 9.98808432e-01 -4.43572028e-02 -2.03508110e-02 -2.56859147e+01] [ 4.43477919e-02 9.99015735e-01 -9.13725675e-04 -1.38352892e+00] [ 2.03713107e-02 1.01233782e-05 9.99792483e-01 9.25281393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627806573999997 meters 0.024901232507593 Centerline is valid? [True, True] Translation: X:-25.75, Y:-1.37, Z:0.92 [[ 9.99007167e-01 -4.12549567e-02 -1.68139614e-02 -2.57463028e+01] [ 4.12480956e-02 9.99148650e-01 -7.54794380e-04 -1.37192164e+00] [ 1.68307859e-02 6.05011061e-05 9.99858350e-01 9.22555471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687806574 meters 0.026264661708252843 Centerline is valid? [True, True] Translation: X:-25.81, Y:-1.38, Z:0.92 [[ 9.99021177e-01 -4.03670651e-02 -1.80883402e-02 -2.58051388e+01] [ 4.03591175e-02 9.99184915e-01 -8.04354558e-04 -1.38386692e+00] [ 1.81060661e-02 7.35377902e-05 9.99836069e-01 9.19176372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747806574 meters 0.024855159868018062 Centerline is valid? [True, True] Translation: X:-25.86, Y:-1.38, Z:0.93 [[ 9.99041119e-01 -4.10357864e-02 -1.52612967e-02 -2.58633566e+01] [ 4.10302282e-02 9.99157676e-01 -6.77257639e-04 -1.38453583e+00] [ 1.52762335e-02 5.04337453e-05 9.99883310e-01 9.25202878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.807806574 meters 0.025998205905125485 Centerline is valid? [True, True] Translation: X:-25.92, Y:-1.39, Z:0.92 [[ 9.99030490e-01 -4.03034356e-02 -1.77119240e-02 -2.59209270e+01] [ 4.02958738e-02 9.99187484e-01 -7.83753723e-04 -1.38643529e+00] [ 1.77291208e-02 6.92764103e-05 9.99842824e-01 9.20367978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867806574 meters 0.02474366360722471 Centerline is valid? [True, True] Translation: X:-25.98, Y:-1.39, Z:0.93 [[ 9.99070514e-01 -4.06570448e-02 -1.43217364e-02 -2.59798851e+01] [ 4.06521388e-02 9.99173159e-01 -6.33631180e-04 -1.38898400e+00] [ 1.43356562e-02 5.08330115e-05 9.99897238e-01 9.29031525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927806573999998 meters 0.026971739451422293 Centerline is valid? [True, True] Translation: X:-26.04, Y:-1.40, Z:0.93 [[ 9.99060806e-01 -4.06840416e-02 -1.49102518e-02 -2.60385805e+01] [ 4.06788344e-02 9.99172061e-01 -6.52479348e-04 -1.39568949e+00] [ 1.49244526e-02 4.53348774e-05 9.99888623e-01 9.25683486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.987806574 meters 0.02484128834870579 Centerline is valid? [True, True] Translation: X:-26.10, Y:-1.39, Z:0.93 [[ 9.99104927e-01 -4.03319049e-02 -1.27547192e-02 -2.60969725e+01] [ 4.03280568e-02 9.99186337e-01 -5.58854958e-04 -1.38974277e+00] [ 1.27668809e-02 4.39817003e-05 9.99918499e-01 9.32452348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047806574 meters 0.026097635922572096 Centerline is valid? [True, True] Translation: X:-26.16, Y:-1.39, Z:0.93 [[ 9.99054294e-01 -3.99801171e-02 -1.70911916e-02 -2.61561091e+01] [ 3.99732593e-02 9.99200474e-01 -7.42815894e-04 -1.39207181e+00] [ 1.71072246e-02 5.89227735e-05 9.99853659e-01 9.32264325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107806573999998 meters 0.02467289234910786 Centerline is valid? [True, True] Translation: X:-26.21, Y:-1.40, Z:0.94 [[ 9.99034172e-01 -4.13970216e-02 -1.47312831e-02 -2.62140465e+01] [ 4.13920793e-02 9.99142775e-01 -6.40368880e-04 -1.40240976e+00] [ 1.47451645e-02 2.99919553e-05 9.99891284e-01 9.39496074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167806574 meters 0.024743400397644503 Centerline is valid? [True, True] Translation: X:-26.27, Y:-1.40, Z:0.94 [[ 9.99004160e-01 -4.22948174e-02 -1.42069039e-02 -2.62715979e+01] [ 4.22903523e-02 9.99105174e-01 -6.14695065e-04 -1.39884471e+00] [ 1.42201896e-02 1.32679573e-05 9.99898888e-01 9.41640272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227806574 meters 0.024796276186262768 Centerline is valid? [True, True] Translation: X:-26.33, Y:-1.40, Z:0.95 [[ 9.99003898e-01 -4.26263125e-02 -1.31988037e-02 -2.63303966e+01] [ 4.26225624e-02 9.99091086e-01 -5.65416032e-04 -1.40448969e+00] [ 1.32109087e-02 2.28598448e-06 9.99912732e-01 9.47418257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287806573999998 meters 0.026394339304385814 Centerline is valid? [True, True] Translation: X:-26.39, Y:-1.41, Z:0.95 [[ 9.98974917e-01 -4.30632393e-02 -1.39525020e-02 -2.63892603e+01] [ 4.30591381e-02 9.99072348e-01 -5.94351990e-04 -1.40977580e+00] [ 1.39651537e-02 -7.03998232e-06 9.99902482e-01 9.50177106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347806574 meters 0.024882042377334126 Centerline is valid? [True, True] Translation: X:-26.45, Y:-1.41, Z:0.96 [[ 9.98966803e-01 -4.34468479e-02 -1.33303097e-02 -2.64472905e+01] [ 4.34431452e-02 9.99055740e-01 -5.67344871e-04 -1.40854884e+00] [ 1.33423717e-02 -1.23518870e-05 9.99910987e-01 9.57589043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407806574 meters 0.024715051472094764 Centerline is valid? [True, True] Translation: X:-26.51, Y:-1.41, Z:0.96 [[ 9.99100462e-01 -3.94648792e-02 -1.55173859e-02 -2.65064288e+01] [ 3.94594615e-02 9.99220957e-01 -6.55275640e-04 -1.41144268e+00] [ 1.55311575e-02 4.23785051e-05 9.99879383e-01 9.55193994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467806573999997 meters 0.025198293262900233 Centerline is valid? [True, True] Translation: X:-26.56, Y:-1.40, Z:0.97 [[ 9.99092668e-01 -3.98457658e-02 -1.50385053e-02 -2.65641847e+01] [ 3.98407350e-02 9.99205842e-01 -6.34088367e-04 -1.40209651e+00] [ 1.50518281e-02 3.43679329e-05 9.99886714e-01 9.66813036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527806574 meters 0.024991095386066677 Centerline is valid? [True, True] Translation: X:-26.62, Y:-1.41, Z:0.96 [[ 9.99125525e-01 -3.88123496e-02 -1.55494772e-02 -2.66225170e+01] [ 3.88069411e-02 9.99246516e-01 -6.49520087e-04 -1.40923532e+00] [ 1.55629703e-02 4.55244519e-05 9.99878889e-01 9.60629362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587806574 meters 0.025539909490876072 Centerline is valid? [True, True] Translation: X:-26.68, Y:-1.41, Z:0.97 [[ 9.99059572e-01 -4.01484870e-02 -1.63728740e-02 -2.66809305e+01] [ 4.01427410e-02 9.99193724e-01 -6.79578933e-04 -1.40720651e+00] [ 1.63869571e-02 2.16877959e-05 9.99865725e-01 9.69750768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.647806574 meters 0.02675611477848508 Centerline is valid? [True, True] Translation: X:-26.74, Y:-1.41, Z:0.97 [[ 9.99113249e-01 -4.02955529e-02 -1.22058769e-02 -2.67398261e+01] [ 4.02923618e-02 9.99187804e-01 -5.07335474e-04 -1.41465014e+00] [ 1.22164067e-02 1.50819867e-05 9.99925377e-01 9.74906110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707806574 meters 0.027228418231227316 Centerline is valid? [True, True] Translation: X:-26.80, Y:-1.41, Z:0.97 [[ 9.99088925e-01 -4.00511683e-02 -1.47385484e-02 -2.67993573e+01] [ 4.00465728e-02 9.99197630e-01 -6.06920002e-04 -1.41098381e+00] [ 1.47510305e-02 1.61387013e-05 9.99891198e-01 9.68880389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767806573999998 meters 0.025660395177307397 Centerline is valid? [True, True] Translation: X:-26.86, Y:-1.41, Z:0.97 [[ 9.99182542e-01 -3.60579771e-02 -1.82775853e-02 -2.68584590e+01] [ 3.60503123e-02 9.99349696e-01 -7.48773136e-04 -1.41394297e+00] [ 1.82926985e-02 8.92483883e-05 9.99832671e-01 9.72799451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827806574 meters 0.025312186932876398 Centerline is valid? [True, True] Translation: X:-26.92, Y:-1.41, Z:0.98 [[ 9.99158266e-01 -3.87382919e-02 -1.34946196e-02 -2.69182902e+01] [ 3.87343391e-02 9.99249390e-01 -5.54255552e-04 -1.41248565e+00] [ 1.35059613e-02 3.10838463e-05 9.99908790e-01 9.79844979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887806574 meters 0.025892731158520785 Centerline is valid? [True, True] Translation: X:-26.98, Y:-1.42, Z:0.98 [[ 9.99217982e-01 -3.54337704e-02 -1.75462903e-02 -2.69773966e+01] [ 3.54265874e-02 9.99372022e-01 -7.20133721e-04 -1.41552609e+00] [ 1.75607887e-02 9.79653774e-05 9.99845793e-01 9.81080563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947806573999998 meters 0.026703597020296496 Centerline is valid? [True, True] Translation: X:-27.04, Y:-1.42, Z:0.98 [[ 9.99136129e-01 -3.78811504e-02 -1.70884473e-02 -2.70358688e+01] [ 3.78748307e-02 9.99282251e-01 -6.93423617e-04 -1.41640072e+00] [ 1.71024498e-02 4.56025381e-05 9.99853741e-01 9.79884568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007806574 meters 0.02693407478411618 Centerline is valid? [True, True] Translation: X:-27.09, Y:-1.42, Z:0.99 [[ 9.99157465e-01 -3.86201745e-02 -1.38867380e-02 -2.70947666e+01] [ 3.86160532e-02 9.99253962e-01 -5.64897062e-04 -1.42010354e+00] [ 1.38981944e-02 2.81701054e-05 9.99903415e-01 9.87392478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067806574 meters 0.025848000437964185 Centerline is valid? [True, True] Translation: X:-27.15, Y:-1.42, Z:0.98 [[ 9.99169089e-01 -3.74654088e-02 -1.60460069e-02 -2.71527701e+01] [ 3.74597842e-02 9.99297924e-01 -6.51046334e-04 -1.42356368e+00] [ 1.60591331e-02 4.94254161e-05 9.99871043e-01 9.80802304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127806573999997 meters 0.025949187607691316 Centerline is valid? [True, True] Translation: X:-27.21, Y:-1.43, Z:0.99 [[ 9.99140134e-01 -3.90355686e-02 -1.39720111e-02 -2.72103104e+01] [ 3.90314797e-02 9.99237822e-01 -5.65318091e-04 -1.42813310e+00] [ 1.39834295e-02 1.94837247e-05 9.99902227e-01 9.91297725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187806574 meters 0.027474742084296674 Centerline is valid? [True, True] Translation: X:-27.27, Y:-1.43, Z:0.99 [[ 9.99055126e-01 -4.00988263e-02 -1.67612463e-02 -2.72693515e+01] [ 4.00932022e-02 9.99195719e-01 -6.71570032e-04 -1.42595525e+00] [ 1.67746947e-02 -1.07655234e-06 9.99859295e-01 9.87902350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247806574 meters 0.02616074522729652 Centerline is valid? [True, True] Translation: X:-27.33, Y:-1.43, Z:0.99 [[ 9.99155352e-01 -3.77466514e-02 -1.62410696e-02 -2.73281379e+01] [ 3.77411287e-02 9.99287341e-01 -6.46520267e-04 -1.43055277e+00] [ 1.62538992e-02 3.30178879e-05 9.99867896e-01 9.91964748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.307806574 meters 0.02757754484656325 Centerline is valid? [True, True] Translation: X:-27.39, Y:-1.42, Z:1.00 [[ 9.99187349e-01 -3.73544822e-02 -1.51421329e-02 -2.73864776e+01] [ 3.73496303e-02 9.99302077e-01 -6.03192934e-04 -1.42320204e+00] [ 1.51540968e-02 3.71496823e-05 9.99885169e-01 1.00250576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367806574 meters 0.026499057039132363 Centerline is valid? [True, True] Translation: X:-27.45, Y:-1.44, Z:1.00 [[ 9.99218844e-01 -3.51814391e-02 -1.79991293e-02 -2.74453410e+01] [ 3.51743492e-02 9.99380939e-01 -7.10432146e-04 -1.43635902e+00] [ 1.80129808e-02 7.67695275e-05 9.99837750e-01 1.00265616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427806573999998 meters 0.026295087487412133 Centerline is valid? [True, True] Translation: X:-27.50, Y:-1.43, Z:1.01 [[ 9.99181816e-01 -3.71614961e-02 -1.59600147e-02 -2.75045953e+01] [ 3.71562532e-02 9.99309273e-01 -6.25005981e-04 -1.43086013e+00] [ 1.59722168e-02 3.14802632e-05 9.99872436e-01 1.00857087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.487806574 meters 0.03056330936502322 Centerline is valid? [True, True] Translation: X:-27.56, Y:-1.43, Z:1.00 [[ 9.99164149e-01 -3.63931384e-02 -1.86156640e-02 -2.75639673e+01] [ 3.63859407e-02 9.99337549e-01 -7.25320690e-04 -1.43279495e+00] [ 1.86297287e-02 4.73659849e-05 9.99826450e-01 1.00063849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547806574 meters 0.02621698327045036 Centerline is valid? [True, True] Translation: X:-27.62, Y:-1.44, Z:1.01 [[ 9.99163981e-01 -3.72505250e-02 -1.68445106e-02 -2.76220126e+01] [ 3.72448397e-02 9.99305958e-01 -6.51203068e-04 -1.44140499e+00] [ 1.68570774e-02 2.32875533e-05 9.99857909e-01 1.00842804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607806573999998 meters 0.027276618903212726 Centerline is valid? [True, True] Translation: X:-27.68, Y:-1.44, Z:1.01 [[ 9.99260592e-01 -3.51089839e-02 -1.56725377e-02 -2.76794534e+01] [ 3.51037994e-02 9.99383488e-01 -6.05863097e-04 -1.44128832e+00] [ 1.56841466e-02 5.52494984e-05 9.99876995e-01 1.00584410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667806574 meters 0.027842777213760442 Centerline is valid? [True, True] Translation: X:-27.74, Y:-1.44, Z:1.01 [[ 9.99254624e-01 -3.48091675e-02 -1.66888777e-02 -2.77377565e+01] [ 3.48033567e-02 9.99393976e-01 -6.38577397e-04 -1.44376955e+00] [ 1.67009922e-02 5.72724518e-05 9.99860527e-01 1.01013317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727806574 meters 0.026152406884929612 Centerline is valid? [True, True] Translation: X:-27.80, Y:-1.44, Z:1.01 [[ 9.99283173e-01 -3.34331912e-02 -1.77584202e-02 -2.77966210e+01] [ 3.34264754e-02 9.99440951e-01 -6.74949746e-04 -1.44051447e+00] [ 1.77710581e-02 8.08645279e-05 9.99842079e-01 1.00765881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787806573999998 meters 0.02637896975042764 Centerline is valid? [True, True] Translation: X:-27.86, Y:-1.44, Z:1.00 [[ 9.99251331e-01 -3.36559189e-02 -1.90802930e-02 -2.78552270e+01] [ 3.36482975e-02 9.99433476e-01 -7.20427546e-04 -1.44275822e+00] [ 1.90937302e-02 7.78688107e-05 9.99817695e-01 1.00486606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847806574 meters 0.026908490653629928 Centerline is valid? [True, True] Translation: X:-27.91, Y:-1.45, Z:1.01 [[ 9.99360929e-01 -3.21185189e-02 -1.56886884e-02 -2.79143564e+01] [ 3.21131489e-02 9.99484063e-01 -5.94150988e-04 -1.44807219e+00] [ 1.56996773e-02 8.99580968e-05 9.99876748e-01 1.01419184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907806574 meters 0.026243146710000064 Centerline is valid? [True, True] Translation: X:-27.97, Y:-1.45, Z:1.01 [[ 9.99315231e-01 -3.25213428e-02 -1.76474306e-02 -2.79732918e+01] [ 3.25147491e-02 9.99471038e-01 -6.60505354e-04 -1.44692459e+00] [ 1.76595763e-02 8.62512813e-05 9.99844054e-01 1.01141345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967806573999997 meters 0.02643428632851744 Centerline is valid? [True, True] Translation: X:-28.03, Y:-1.45, Z:1.02 [[ 9.99348655e-01 -3.24684702e-02 -1.57500769e-02 -2.80313625e+01] [ 3.24632062e-02 9.99472757e-01 -5.89839099e-04 -1.45048927e+00] [ 1.57609240e-02 7.81569151e-05 9.99875786e-01 1.01745502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027806574 meters 0.026506159152118555 Centerline is valid? [True, True] Translation: X:-28.09, Y:-1.46, Z:1.02 [[ 9.99421790e-01 -3.10183046e-02 -1.39266453e-02 -2.80897845e+01] [ 3.10141337e-02 9.99518813e-01 -5.15412224e-04 -1.45742273e+00] [ 1.39359312e-02 8.31913671e-05 9.99902887e-01 1.01765212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087806574 meters 0.026289270442038052 Centerline is valid? [True, True] Translation: X:-28.15, Y:-1.46, Z:1.02 [[ 9.99385137e-01 -3.07125027e-02 -1.69141977e-02 -2.81473659e+01] [ 3.07062830e-02 9.99528254e-01 -6.27363021e-04 -1.45736985e+00] [ 1.69254864e-02 1.07605138e-04 9.99856748e-01 1.01663910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.147806574 meters 0.028081238326201095 Centerline is valid? [True, True] Translation: X:-28.21, Y:-1.46, Z:1.02 [[ 9.99417822e-01 -3.09416684e-02 -1.43746335e-02 -2.82060526e+01] [ 3.09372947e-02 9.99521189e-01 -5.26585602e-04 -1.45965211e+00] [ 1.43840442e-02 8.15667632e-05 9.99896541e-01 1.01976841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207806574 meters 0.026531243876859904 Centerline is valid? [True, True] Translation: X:-28.26, Y:-1.46, Z:1.02 [[ 9.99364384e-01 -3.19892833e-02 -1.57325604e-02 -2.82636857e+01] [ 3.19841546e-02 9.99488209e-01 -5.77561480e-04 -1.45976586e+00] [ 1.57429844e-02 7.40017284e-05 9.99876069e-01 1.02411677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267806573999998 meters 0.02793617789681297 Centerline is valid? [True, True] Translation: X:-28.32, Y:-1.47, Z:1.03 [[ 9.99274494e-01 -3.52585752e-02 -1.43985704e-02 -2.83216577e+01] [ 3.52547113e-02 9.99378223e-01 -5.22168774e-04 -1.47481898e+00] [ 1.44080286e-02 1.41724941e-05 9.99896199e-01 1.02955833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327806574 meters 0.02841214729646704 Centerline is valid? [True, True] Translation: X:-28.38, Y:-1.47, Z:1.03 [[ 9.99256982e-01 -3.56786111e-02 -1.45781097e-02 -2.83798988e+01] [ 3.56747669e-02 9.99363316e-01 -5.23742253e-04 -1.46978988e+00] [ 1.45875145e-02 3.28243690e-06 9.99893597e-01 1.02824346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387806574 meters 0.026633486197040382 Centerline is valid? [True, True] Translation: X:-28.44, Y:-1.48, Z:1.03 [[ 9.99318094e-01 -3.38766262e-02 -1.46874256e-02 -2.84370188e+01] [ 3.38725250e-02 9.99426022e-01 -5.27979292e-04 -1.47584339e+00] [ 1.46968815e-02 3.01190706e-05 9.99891995e-01 1.03300749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447806573999998 meters 0.02669582430887427 Centerline is valid? [True, True] Translation: X:-28.50, Y:-1.48, Z:1.04 [[ 9.99290892e-01 -3.49450902e-02 -1.40197701e-02 -2.84960241e+01] [ 3.49415404e-02 9.99389234e-01 -4.98141126e-04 -1.47660275e+00] [ 1.40286149e-02 7.91552739e-06 9.99901594e-01 1.03751638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507806574 meters 0.027257719789511612 Centerline is valid? [True, True] Translation: X:-28.55, Y:-1.48, Z:1.05 [[ 9.99347114e-01 -3.40511812e-02 -1.20773710e-02 -2.85532285e+01] [ 3.40484743e-02 9.99420090e-01 -4.29733730e-04 -1.48100794e+00] [ 1.20850002e-02 1.82371066e-05 9.99926974e-01 1.04545613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567806574 meters 0.02701292405481566 Centerline is valid? [True, True] Translation: X:-28.61, Y:-1.48, Z:1.04 [[ 9.99369852e-01 -3.16623104e-02 -1.60435798e-02 -2.86125881e+01] [ 3.16573230e-02 9.99498622e-01 -5.64793538e-04 -1.47569331e+00] [ 1.60534185e-02 5.65408473e-05 9.99871134e-01 1.04250272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627806573999997 meters 0.028865253982429957 Centerline is valid? [True, True] Translation: X:-28.67, Y:-1.48, Z:1.05 [[ 9.99425857e-01 -3.08347594e-02 -1.40418297e-02 -2.86705776e+01] [ 3.08308701e-02 9.99524494e-01 -4.93418735e-04 -1.47757719e+00] [ 1.40503672e-02 6.02136137e-05 9.99901287e-01 1.04747027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687806574 meters 0.02712181901976754 Centerline is valid? [True, True] Translation: X:-28.73, Y:-1.48, Z:1.05 [[ 9.99539955e-01 -2.80501674e-02 -1.15354260e-02 -2.87293903e+01] [ 2.80474173e-02 9.99606514e-01 -4.00148696e-04 -1.47963695e+00] [ 1.15421112e-02 7.64257049e-05 9.99933385e-01 1.04890996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747806574 meters 0.027030293936851024 Centerline is valid? [True, True] Translation: X:-28.79, Y:-1.48, Z:1.05 [[ 9.99536346e-01 -2.69974519e-02 -1.40794083e-02 -2.87880953e+01] [ 2.69932947e-02 9.99635497e-01 -4.85257697e-04 -1.48421279e+00] [ 1.40873770e-02 1.04983090e-04 9.99900762e-01 1.04869051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807806573999997 meters 0.027043292685306832 Centerline is valid? [True, True] Translation: X:-28.85, Y:-1.48, Z:1.06 [[ 9.99600687e-01 -2.65021141e-02 -9.80328580e-03 -2.88474287e+01] [ 2.65000630e-02 9.99648754e-01 -3.39083522e-04 -1.48055268e+00] [ 9.80882887e-03 7.91604299e-05 9.99951889e-01 1.05894916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867806574 meters 0.027304591763192394 Centerline is valid? [True, True] Translation: X:-28.91, Y:-1.49, Z:1.06 [[ 9.99544160e-01 -2.80586195e-02 -1.11438363e-02 -2.89062067e+01] [ 2.80561303e-02 9.99606277e-01 -3.79669952e-04 -1.49384751e+00] [ 1.11501017e-02 6.68439617e-05 9.99937833e-01 1.06006361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927806573999998 meters 0.027154185179904377 Centerline is valid? [True, True] Translation: X:-28.96, Y:-1.49, Z:1.07 [[ 9.99446110e-01 -3.18921216e-02 -9.50613369e-03 -2.89645957e+01] [ 3.18905141e-02 9.99491317e-01 -3.20674067e-04 -1.49486428e+00] [ 9.51152505e-03 1.73409579e-05 9.99954764e-01 1.07197109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987806574 meters 0.028850363781664033 Centerline is valid? [True, True] Translation: X:-29.02, Y:-1.51, Z:1.07 [[ 9.99337235e-01 -3.41693179e-02 -1.25518493e-02 -2.90218414e+01] [ 3.41666803e-02 9.99416058e-01 -4.24575009e-04 -1.50877992e+00] [ 1.25590272e-02 -4.56140864e-06 9.99921132e-01 1.07394565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047806574 meters 0.027257618238022422 Centerline is valid? [True, True] Translation: X:-29.08, Y:-1.50, Z:1.09 [[ 9.99528618e-01 -2.92411392e-02 -9.35405822e-03 -2.90800067e+01] [ 2.92394661e-02 9.99572386e-01 -3.15598576e-04 -1.50371181e+00] [ 9.35928675e-03 4.19421405e-05 9.99956200e-01 1.09367492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107806573999998 meters 0.027028970186096825 Centerline is valid? [True, True] Translation: X:-29.14, Y:-1.50, Z:1.09 [[ 9.99655680e-01 -2.47815590e-02 -8.62530341e-03 -2.91382462e+01] [ 2.47800195e-02 9.99692887e-01 -2.85328580e-04 -1.49732237e+00] [ 8.62972536e-03 7.14951491e-05 9.99962761e-01 1.09154044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167806574 meters 0.026997566699756656 Centerline is valid? [True, True] Translation: X:-29.20, Y:-1.51, Z:1.11 [[ 9.99709161e-01 -2.36284203e-02 -4.82600603e-03 -2.91964315e+01] [ 2.36279381e-02 9.99720809e-01 -1.56922791e-04 -1.51278200e+00] [ 4.82836649e-03 4.28485800e-05 9.99988342e-01 1.10558752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227806574 meters 0.02856391956465664 Centerline is valid? [True, True] Translation: X:-29.26, Y:-1.50, Z:1.12 [[ 9.99787955e-01 -1.92682029e-02 -7.26512130e-03 -2.92560738e+01] [ 1.92669921e-02 9.99814346e-01 -2.36613890e-04 -1.49738552e+00] [ 7.26833163e-03 9.65866820e-05 9.99973581e-01 1.11918080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287806573999998 meters 0.027757324184665436 Centerline is valid? [True, True] Translation: X:-29.32, Y:-1.51, Z:1.13 [[ 9.99800684e-01 -1.76894837e-02 -9.25608677e-03 -2.93150210e+01] [ 1.76874648e-02 9.99843520e-01 -2.99935892e-04 -1.50518207e+00] [ 9.25994409e-03 1.36159401e-04 9.99957117e-01 1.12774585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347806574 meters 0.029285808156503314 Centerline is valid? [True, True] Translation: X:-29.37, Y:-1.51, Z:1.15 [[ 9.99819634e-01 -1.84164960e-02 -4.64019087e-03 -2.93729647e+01] [ 1.84159935e-02 9.99830400e-01 -1.51002677e-04 -1.51111661e+00] [ 4.64218484e-03 6.55217163e-05 9.99989223e-01 1.15187697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407806574 meters 0.02742467680530018 Centerline is valid? [True, True] Translation: X:-29.43, Y:-1.52, Z:1.16 [[ 9.99754815e-01 -2.07082654e-02 -7.84081502e-03 -2.94317922e+01] [ 2.07069039e-02 9.99785557e-01 -2.54783341e-04 -1.51572851e+00] [ 7.84440973e-03 9.23618682e-05 9.99969228e-01 1.15524098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467806573999997 meters 0.027116513450745196 Centerline is valid? [True, True] Translation: X:-29.49, Y:-1.52, Z:1.18 [[ 9.99787602e-01 -2.05756453e-02 -1.18043702e-03 -2.94901333e+01] [ 2.05756156e-02 9.99788299e-01 -3.72794412e-05 -1.51934320e+00] [ 1.18095417e-03 1.29833048e-05 9.99999303e-01 1.18230968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527806574 meters 0.028358143713400598 Centerline is valid? [True, True] Translation: X:-29.55, Y:-1.53, Z:1.19 [[ 9.99757551e-01 -1.97021263e-02 -9.83186417e-03 -2.95495410e+01] [ 1.96999412e-02 9.99805886e-01 -3.19047656e-04 -1.52792754e+00] [ 9.83624159e-03 1.25283156e-04 9.99951615e-01 1.18693763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587806574 meters 0.027360445994686143 Centerline is valid? [True, True] Translation: X:-29.61, Y:-1.53, Z:1.20 [[ 9.99793711e-01 -1.82645715e-02 -8.88483889e-03 -2.96071384e+01] [ 1.82627891e-02 9.99833182e-01 -2.81708005e-04 -1.52823909e+00] [ 8.88850202e-03 1.19387953e-04 9.99960489e-01 1.19827683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.647806574 meters 0.028677764998250355 Centerline is valid? [True, True] Translation: X:-29.67, Y:-1.53, Z:1.24 [[ 9.99878953e-01 -1.53043227e-02 -2.80307032e-03 -2.96651886e+01] [ 1.53041421e-02 9.99882881e-01 -8.58528460e-05 -1.52530308e+00] [ 2.80405595e-03 4.29438671e-05 9.99996068e-01 1.23620893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707806574 meters 0.02781811478128796 Centerline is valid? [True, True] Translation: X:-29.72, Y:-1.52, Z:1.24 [[ 9.99872692e-01 -1.28662996e-02 -9.43703085e-03 -2.97241541e+01] [ 1.28640387e-02 9.99917210e-01 -3.00245900e-04 -1.52491769e+00] [ 9.44011261e-03 1.78809346e-04 9.99955425e-01 1.24319819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767806573999998 meters 0.027698729019561188 Centerline is valid? [True, True] Translation: X:-29.78, Y:-1.53, Z:1.27 [[ 9.99919366e-01 -1.19988116e-02 -4.15821643e-03 -2.97820732e+01] [ 1.19983716e-02 9.99928008e-01 -1.30754911e-04 -1.52563719e+00] [ 4.15948598e-03 8.08525423e-05 9.99991346e-01 1.27265952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827806574 meters 0.027953307415528064 Centerline is valid? [True, True] Translation: X:-29.84, Y:-1.53, Z:1.29 [[ 9.99912662e-01 -1.04875037e-02 -8.04238604e-03 -2.98407932e+01] [ 1.04858000e-02 9.99944990e-01 -2.53972480e-04 -1.52553304e+00] [ 8.04460716e-03 1.69619447e-04 9.99967627e-01 1.29441142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887806574 meters 0.028768164024595227 Centerline is valid? [True, True] Translation: X:-29.90, Y:-1.53, Z:1.32 [[ 9.99876962e-01 -1.40358356e-02 -7.00404781e-03 -2.98983246e+01] [ 1.40346359e-02 9.99901485e-01 -2.20405023e-04 -1.52973727e+00] [ 7.00645138e-03 1.22078644e-04 9.99975447e-01 1.32363327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947806573999998 meters 0.02725492970795922 Centerline is valid? [True, True] Translation: X:-29.96, Y:-1.54, Z:1.32 [[ 9.99823674e-01 -1.71847432e-02 -7.57010346e-03 -2.99561617e+01] [ 1.71834381e-02 9.99852326e-01 -2.37410214e-04 -1.54466089e+00] [ 7.57306539e-03 1.07287948e-04 9.99971318e-01 1.32281917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007806574 meters 0.027217988772715567 Centerline is valid? [True, True] Translation: X:-30.01, Y:-1.55, Z:1.35 [[ 9.99790159e-01 -1.87299759e-02 -8.29620016e-03 -3.00133886e+01] [ 1.87284674e-02 9.99824573e-01 -2.59487926e-04 -1.54823077e+00] [ 8.29960499e-03 1.04058360e-04 9.99965552e-01 1.34919358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067806574 meters 0.027219121437873747 Centerline is valid? [True, True] Translation: X:-30.07, Y:-1.56, Z:1.36 [[ 9.99688643e-01 -2.31984432e-02 -9.18958243e-03 -3.00715195e+01] [ 2.31968239e-02 9.99730877e-01 -2.82780834e-04 -1.55541936e+00] [ 9.19366939e-03 6.95236632e-05 9.99957735e-01 1.35647895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127806573999997 meters 0.02712716854432792 Centerline is valid? [True, True] Translation: X:-30.13, Y:-1.56, Z:1.37 [[ 9.99619565e-01 -2.63030296e-02 -8.29911243e-03 -3.01299382e+01] [ 2.63018370e-02 9.99654015e-01 -2.52824516e-04 -1.56399406e+00] [ 8.30289111e-03 3.44464304e-05 9.99965530e-01 1.37352599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187806574 meters 0.027073941185493472 Centerline is valid? [True, True] Translation: X:-30.19, Y:-1.56, Z:1.39 [[ 9.99549038e-01 -2.86915333e-02 -8.86090779e-03 -3.01872558e+01] [ 2.86902606e-02 9.99588313e-01 -2.70744222e-04 -1.55786891e+00] [ 8.86502794e-03 1.64003733e-05 9.99960705e-01 1.38756896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247806574 meters 0.02710944945585327 Centerline is valid? [True, True] Translation: X:-30.25, Y:-1.58, Z:1.40 [[ 9.99439968e-01 -3.14618576e-02 -1.13974308e-02 -3.02454208e+01] [ 3.14599821e-02 9.99504953e-01 -3.43850222e-04 -1.58141156e+00] [ 1.14026068e-02 -1.49053154e-05 9.99934988e-01 1.39556332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307806573999997 meters 0.026951669958543537 Centerline is valid? [True, True] Translation: X:-30.30, Y:-1.56, Z:1.42 [[ 9.99508632e-01 -3.00300088e-02 -8.98294028e-03 -3.03043013e+01] [ 3.00288138e-02 9.99548998e-01 -2.67903320e-04 -1.55892873e+00] [ 8.98693409e-03 -1.97536013e-06 9.99959617e-01 1.41603437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367806574 meters 0.02706475339565448 Centerline is valid? [True, True] Translation: X:-30.36, Y:-1.57, Z:1.43 [[ 9.99654308e-01 -2.45298356e-02 -9.46315793e-03 -3.03624273e+01] [ 2.45282862e-02 9.99699097e-01 -2.79779476e-04 -1.57362336e+00] [ 9.46717339e-03 4.75677127e-05 9.99955184e-01 1.42902442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427806573999998 meters 0.027519092402094818 Centerline is valid? [True, True] Translation: X:-30.42, Y:-1.56, Z:1.43 [[ 9.99715209e-01 -1.99403491e-02 -1.31104577e-02 -3.04223745e+01] [ 1.99370009e-02 9.99801164e-01 -3.86046137e-04 -1.55711195e+00] [ 1.31155487e-02 1.24552988e-04 9.99913980e-01 1.42688445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487806574 meters 0.027495635361296074 Centerline is valid? [True, True] Translation: X:-30.48, Y:-1.56, Z:1.44 [[ 9.99805822e-01 -1.64393549e-02 -1.08657696e-02 -3.04805230e+01] [ 1.64368831e-02 9.99864855e-01 -3.16750586e-04 -1.55910932e+00] [ 1.08695083e-02 1.38089695e-04 9.99940916e-01 1.44324634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547806574 meters 0.0282390913777515 Centerline is valid? [True, True] Translation: X:-30.54, Y:-1.55, Z:1.45 [[ 9.99819286e-01 -1.07715781e-02 -1.56642638e-02 -3.05405899e+01] [ 1.07656800e-02 9.99941942e-01 -4.60809836e-04 -1.55333020e+00] [ 1.56683180e-02 2.92090110e-04 9.99877202e-01 1.44585938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607806573999998 meters 0.028474171803344165 Centerline is valid? [True, True] Translation: X:-30.60, Y:-1.55, Z:1.46 [[ 9.99777866e-01 -1.54836689e-02 -1.42994688e-02 -3.06003606e+01] [ 1.54792469e-02 9.99880101e-01 -4.19877504e-04 -1.54993097e+00] [ 1.43042556e-02 1.98439227e-04 9.99897669e-01 1.45914374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667806574 meters 0.02715766481266771 Centerline is valid? [True, True] Translation: X:-30.66, Y:-1.58, Z:1.47 [[ 9.99498691e-01 -2.99793743e-02 -1.01786097e-02 -3.06584858e+01] [ 2.99778911e-02 9.99550518e-01 -2.98285742e-04 -1.57684463e+00] [ 1.01829771e-02 -6.99704616e-06 9.99948152e-01 1.47148076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727806574 meters 0.029765901318396164 Centerline is valid? [True, True] Translation: X:-30.72, Y:-1.59, Z:1.48 [[ 9.98516978e-01 -5.29223496e-02 -1.27698763e-02 -3.07184328e+01] [ 5.29218835e-02 9.98598585e-01 -3.74656845e-04 -1.59494714e+00] [ 1.27718081e-02 -3.01704683e-04 9.99918392e-01 1.48081527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787806573999998 meters 0.031185989444143213 Centerline is valid? [True, True] Translation: X:-30.78, Y:-1.61, Z:1.49 [[ 9.97285030e-01 -7.30158441e-02 -9.55279083e-03 -3.07785486e+01] [ 7.30165007e-02 9.97330693e-01 -2.80479676e-04 -1.60729025e+00] [ 9.54777097e-03 -4.17793176e-04 9.99954332e-01 1.48724990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847806574 meters 0.03118978835755683 Centerline is valid? [True, True] Translation: X:-30.84, Y:-1.61, Z:1.47 [[ 9.96375087e-01 -8.37195993e-02 -1.50902389e-02 -3.08375347e+01] [ 8.37224790e-02 9.96489012e-01 -4.41912828e-04 -1.61108755e+00] [ 1.50742540e-02 -8.23081273e-04 9.99886038e-01 1.47480570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907806574 meters 0.030630791080183906 Centerline is valid? [True, True] Translation: X:-30.90, Y:-1.60, Z:1.48 [[ 9.96535513e-01 -8.26145525e-02 -9.58156774e-03 -3.08979149e+01] [ 8.26156645e-02 9.96581443e-01 -2.80371687e-04 -1.59610785e+00] [ 9.57197539e-03 -5.12187243e-04 9.99954056e-01 1.48479102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967806573999997 meters 0.029255659438990663 Centerline is valid? [True, True] Translation: X:-30.96, Y:-1.56, Z:1.48 [[ 9.97584579e-01 -6.78421082e-02 -1.49149663e-02 -3.09590105e+01] [ 6.78431509e-02 9.97695904e-01 -4.36632980e-04 -1.56436814e+00] [ 1.49102229e-02 -5.76299982e-04 9.99888670e-01 1.47823941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027806574 meters 0.029015418356040417 Centerline is valid? [True, True] Translation: X:-31.02, Y:-1.52, Z:1.49 [[ 9.98481107e-01 -5.42643823e-02 -9.53182982e-03 -3.10205228e+01] [ 5.42641930e-02 9.98526574e-01 -2.78678880e-04 -1.52021562e+00] [ 9.53290771e-03 -2.38981456e-04 9.99954532e-01 1.48865366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087806574 meters 0.02757907809301262 Centerline is valid? [True, True] Translation: X:-31.08, Y:-1.51, Z:1.48 [[ 9.98728622e-01 -4.85756575e-02 -1.34738756e-02 -3.10793249e+01] [ 4.85747893e-02 9.98819471e-01 -3.91877014e-04 -1.50611540e+00] [ 1.34770050e-02 -2.63111878e-04 9.99909146e-01 1.47900640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147806574 meters 0.02818912517004165 Centerline is valid? [True, True] Translation: X:-31.14, Y:-1.48, Z:1.48 [[ 9.98606697e-01 -5.13011305e-02 -1.23635859e-02 -3.11387098e+01] [ 5.13006764e-02 9.98683191e-01 -3.54077419e-04 -1.47667292e+00] [ 1.23654700e-02 -2.80676236e-04 9.99923505e-01 1.48130077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207806574 meters 0.02929536229342118 Centerline is valid? [True, True] Translation: X:-31.20, Y:-1.49, Z:1.47 [[ 9.98377597e-01 -5.53830934e-02 -1.32244693e-02 -3.11982640e+01] [ 5.53828957e-02 9.98465117e-01 -3.81451577e-04 -1.48610338e+00] [ 1.32252972e-02 -3.51576692e-04 9.99912480e-01 1.47433594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267806573999998 meters 0.029940932600972144 Centerline is valid? [True, True] Translation: X:-31.26, Y:-1.46, Z:1.48 [[ 9.98066926e-01 -6.06874508e-02 -1.33956603e-02 -3.12589157e+01] [ 6.06877241e-02 9.98156727e-01 -3.86468508e-04 -1.45732107e+00] [ 1.33944222e-02 -4.27230698e-04 9.99910199e-01 1.48471013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327806574 meters 0.029389782566032106 Centerline is valid? [True, True] Translation: X:-31.32, Y:-1.43, Z:1.49 [[ 9.98068377e-01 -6.05364487e-02 -1.39589576e-02 -3.13172685e+01] [ 6.05367724e-02 9.98165888e-01 -3.99729595e-04 -1.43425181e+00] [ 1.39575536e-02 -4.46072774e-04 9.99902489e-01 1.48814446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387806574 meters 0.02974067506624077 Centerline is valid? [True, True] Translation: X:-31.38, Y:-1.42, Z:1.48 [[ 9.98293332e-01 -5.56202036e-02 -1.77993538e-02 -3.13765389e+01] [ 5.56200363e-02 9.98451880e-01 -5.04823717e-04 -1.42342003e+00] [ 1.77998767e-02 -4.86038553e-04 9.99841452e-01 1.48435550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447806573999998 meters 0.029812621949580956 Centerline is valid? [True, True] Translation: X:-31.44, Y:-1.40, Z:1.49 [[ 9.98390080e-01 -5.30846105e-02 -1.99818024e-02 -3.14353020e+01] [ 5.30839931e-02 9.98589893e-01 -5.61684685e-04 -1.40480954e+00] [ 1.99834427e-02 -4.99933440e-04 9.99800186e-01 1.49122696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507806574 meters 0.029543550489618205 Centerline is valid? [True, True] Translation: X:-31.50, Y:-1.37, Z:1.50 [[ 9.98675644e-01 -4.86336127e-02 -1.67847936e-02 -3.14953561e+01] [ 4.86325175e-02 9.98816627e-01 -4.73654638e-04 -1.37100901e+00] [ 1.67879665e-02 -3.43259419e-04 9.99859013e-01 1.49567922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567806574 meters 0.02966423762755748 Centerline is valid? [True, True] Translation: X:-31.56, Y:-1.36, Z:1.49 [[ 9.98696552e-01 -4.52241902e-02 -2.36636823e-02 -3.15552564e+01] [ 4.52210717e-02 9.98976781e-01 -6.67166728e-04 -1.36307763e+00] [ 2.36696412e-02 -4.03799960e-04 9.99719753e-01 1.48702488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627806573999997 meters 0.03020256447043162 Centerline is valid? [True, True] Translation: X:-31.61, Y:-1.34, Z:1.49 [[ 9.98773349e-01 -4.33808452e-02 -2.38725739e-02 -3.16140736e+01] [ 4.33773361e-02 9.99058539e-01 -6.65056683e-04 -1.34460373e+00] [ 2.38789495e-02 -3.71287768e-04 9.99714788e-01 1.48905177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687806574 meters 0.030169213636834422 Centerline is valid? [True, True] Translation: X:-31.67, Y:-1.31, Z:1.49 [[ 9.99074978e-01 -3.61164966e-02 -2.33406601e-02 -3.16737148e+01] [ 3.61111335e-02 9.99347568e-01 -6.51358167e-04 -1.30880050e+00] [ 2.33489567e-02 -1.92102044e-04 9.99727357e-01 1.49038759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747806574 meters 0.03072403628729507 Centerline is valid? [True, True] Translation: X:-31.73, Y:-1.30, Z:1.48 [[ 9.99164663e-01 -3.24087127e-02 -2.48927831e-02 -3.17316669e+01] [ 3.24015246e-02 9.99474693e-01 -6.92158036e-04 -1.29967125e+00] [ 2.49021387e-02 -1.14984271e-04 9.99689887e-01 1.48463048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807806573999997 meters 0.03156879741297746 Centerline is valid? [True, True] Translation: X:-31.79, Y:-1.28, Z:1.50 [[ 9.99242875e-01 -3.11897346e-02 -2.32567628e-02 -3.17908686e+01] [ 3.11833093e-02 9.99513478e-01 -6.38973375e-04 -1.28421528e+00] [ 2.32653773e-02 -8.67332356e-05 9.99729321e-01 1.49719541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867806574 meters 0.03157467316598209 Centerline is valid? [True, True] Translation: X:-31.85, Y:-1.28, Z:1.48 [[ 9.99213893e-01 -2.93175005e-02 -2.66848474e-02 -3.18497851e+01] [ 2.93083320e-02 9.99570149e-01 -7.34716604e-04 -1.27534161e+00] [ 2.66949170e-02 -4.79493305e-05 9.99643626e-01 1.47542022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927806573999998 meters 0.0318549962850058 Centerline is valid? [True, True] Translation: X:-31.91, Y:-1.26, Z:1.48 [[ 9.99170588e-01 -3.11231109e-02 -2.62580967e-02 -3.19084399e+01] [ 3.11149303e-02 9.99515554e-01 -7.20167620e-04 -1.26072078e+00] [ 2.62677899e-02 -9.74485429e-05 9.99654937e-01 1.47572823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.987806574 meters 0.032994177788982434 Centerline is valid? [True, True] Translation: X:-31.97, Y:-1.25, Z:1.46 [[ 9.99228542e-01 -2.47110075e-02 -3.05235432e-02 -3.19684956e+01] [ 2.46969681e-02 9.99694633e-01 -8.36934226e-04 -1.25043735e+00] [ 3.05349038e-02 8.24495946e-05 9.99533698e-01 1.45624466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.047806574 meters 0.03427857749831837 Centerline is valid? [True, True] Translation: X:-32.03, Y:-1.23, Z:1.43 [[ 9.99336365e-01 -1.80061902e-02 -3.16639695e-02 -3.20279007e+01] [ 1.79878042e-02 9.99837832e-01 -8.65440722e-04 -1.22920472e+00] [ 3.16744179e-02 2.95301099e-04 9.99498196e-01 1.43493959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.107806574 meters 0.03611463610554161 Centerline is valid? [True, True] Translation: X:-32.09, Y:-1.22, Z:1.43 [[ 9.99515713e-01 -7.38772163e-03 -3.02284892e-02 -3.20873310e+01] [ 7.36639984e-03 9.99972534e-01 -8.16658085e-04 -1.21819201e+00] [ 3.02336922e-02 5.93587450e-04 9.99542681e-01 1.43308387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167806574 meters 0.037233356309720606 Centerline is valid? [True, True] Translation: X:-32.15, Y:-1.21, Z:1.41 [[ 9.99356026e-01 7.64283311e-04 -3.58740837e-02 -3.21470803e+01] [-7.99641581e-04 9.99999209e-01 -9.71284087e-04 -1.20522217e+00] [ 3.58733130e-02 9.99345014e-04 9.99355846e-01 1.41052584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.227806574 meters 0.04028795005416783 Centerline is valid? [True, True] Translation: X:-32.21, Y:-1.20, Z:1.39 [[ 9.99301785e-01 3.74609545e-03 -3.71740353e-02 -3.22077218e+01] [-3.78603760e-03 9.99992329e-01 -1.00412610e-03 -1.19783414e+00] [ 3.71699886e-02 1.14416730e-03 9.99308302e-01 1.38515600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.287806574 meters 0.04212675932408964 Centerline is valid? [True, True] Translation: X:-32.27, Y:-1.19, Z:1.36 [[ 9.99158016e-01 9.09715716e-03 -4.00062529e-02 -3.22680600e+01] [-9.14768012e-03 9.99957576e-01 -1.07999853e-03 -1.18565240e+00] [ 3.99947308e-02 1.44505359e-03 9.99198846e-01 1.36306345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.347806573999996 meters 0.04389510160343093 Centerline is valid? [True, True] Translation: X:-32.33, Y:-1.19, Z:1.35 [[ 9.99132447e-01 1.03940592e-02 -4.03276213e-02 -3.23263403e+01] [-1.04462578e-02 9.99944849e-01 -1.08385044e-03 -1.18585254e+00] [ 4.03141316e-02 1.50418287e-03 9.99185923e-01 1.34673454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.407806574 meters 0.04576030837294613 Centerline is valid? [True, True] Translation: X:-32.39, Y:-1.18, Z:1.33 [[ 9.99100458e-01 1.79586804e-02 -3.84156418e-02 -3.23872500e+01] [-1.80116300e-02 9.99837244e-01 -1.03265940e-03 -1.17600634e+00] [ 3.83908443e-02 1.72365881e-03 9.99261313e-01 1.33140040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.467806574 meters 0.04891716256711656 Centerline is valid? [True, True] Translation: X:-32.45, Y:-1.16, Z:1.31 [[ 9.98886628e-01 2.28645225e-02 -4.12640069e-02 -3.24481647e+01] [-2.29297033e-02 9.99736467e-01 -1.10694619e-03 -1.16414323e+00] [ 4.12278227e-02 2.05188518e-03 9.99147665e-01 1.31310908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.527806573999996 meters 0.0515303298767962 Centerline is valid? [True, True] Translation: X:-32.51, Y:-1.15, Z:1.31 [[ 9.98655370e-01 3.53018694e-02 -3.79635379e-02 -3.25076854e+01] [-3.53659359e-02 9.99373912e-01 -1.01714534e-03 -1.15361041e+00] [ 3.79038622e-02 2.35839370e-03 9.99278607e-01 1.31287169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.587806574 meters 0.0531527462165017 Centerline is valid? [True, True] Translation: X:-32.57, Y:-1.16, Z:1.30 [[ 9.98534109e-01 3.61439770e-02 -4.02895378e-02 -3.25667662e+01] [-3.62167613e-02 9.99343377e-01 -1.07788415e-03 -1.15954452e+00] [ 4.02241237e-02 2.53546066e-03 9.99187466e-01 1.29904869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.647806574 meters 0.057036024084231744 Centerline is valid? [True, True] Translation: X:-32.63, Y:-1.15, Z:1.27 [[ 9.98527891e-01 3.17825330e-02 -4.39536398e-02 -3.26256576e+01] [-3.18647425e-02 9.99491504e-01 -1.17083354e-03 -1.14897901e+00] [ 4.38940776e-02 2.56968136e-03 9.99032886e-01 1.27231552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.707806573999996 meters 0.06096211335593276 Centerline is valid? [True, True] Translation: X:-32.69, Y:-1.15, Z:1.27 [[ 9.98670410e-01 3.17074613e-02 -4.06454049e-02 -3.26853540e+01] [-3.17776650e-02 9.99494377e-01 -1.08215149e-03 -1.14955180e+00] [ 4.05905413e-02 2.37232873e-03 9.99173048e-01 1.26730751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767806574 meters 0.06637316611903658 Centerline is valid? [True, True] Translation: X:-32.75, Y:-1.16, Z:1.26 [[ 9.98770774e-01 2.61053777e-02 -4.21360897e-02 -3.27454763e+01] [-2.61758161e-02 9.99656726e-01 -1.12074417e-03 -1.16149887e+00] [ 4.20923680e-02 2.22231306e-03 9.99111252e-01 1.25564249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.827806574 meters 0.07145430435212027 Centerline is valid? [True, True] Translation: X:-32.80, Y:-1.16, Z:1.25 [[ 9.98778887e-01 2.64740350e-02 -4.17116406e-02 -3.28030043e+01] [-2.65431816e-02 9.99647057e-01 -1.10468418e-03 -1.15918394e+00] [ 4.16676733e-02 2.21049489e-03 9.99129080e-01 1.24987139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.887806573999995 meters 0.0794548639921243 Centerline is valid? [True, True] Translation: X:-32.86, Y:-1.15, Z:1.24 [[ 9.98731961e-01 2.61627046e-02 -4.30114265e-02 -3.28619367e+01] [-2.62353569e-02 9.99655160e-01 -1.12543884e-03 -1.15396868e+00] [ 4.29671499e-02 2.25243186e-03 9.99073947e-01 1.23915591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947806574 meters 0.08853297240471496 Centerline is valid? [True, True] Translation: X:-32.92, Y:-1.16, Z:1.23 [[ 9.98827824e-01 2.77058482e-02 -3.96908586e-02 -3.29216730e+01] [-2.77689705e-02 9.99613827e-01 -1.03982078e-03 -1.15867015e+00] [ 3.96467220e-02 2.14077620e-03 9.99211466e-01 1.22856670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.007806574 meters 0.09870595462390601 Centerline is valid? [True, True] Translation: X:-32.98, Y:-1.16, Z:1.22 [[ 9.98739117e-01 2.46633986e-02 -4.37251923e-02 -3.29797590e+01] [-2.47367867e-02 9.99693351e-01 -1.13803757e-03 -1.15503635e+00] [ 4.36837161e-02 2.21822340e-03 9.99042948e-01 1.22151559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.067806574 meters 0.10852510412795446 Centerline is valid? [True, False] Translation: X:-33.03, Y:-1.15, Z:1.22 [[ 9.99461236e-01 -2.24625840e-03 -3.27443442e-02 -3.30277058e+01] [ 2.24599224e-03 9.99997477e-01 -4.49100546e-05 -1.14594008e+00] [ 3.27443625e-02 -2.86576844e-05 9.99463759e-01 1.22250590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127806574 meters 0.12009628009312787 Centerline is valid? [False, False] Translation: X:-33.09, Y:-1.14, Z:1.22 [[ 9.99392904e-01 -6.37749303e-03 -3.42512809e-02 -3.30926770e+01] [ 6.39124176e-03 9.99979533e-01 2.91935450e-04 -1.14218924e+00] [ 3.42487181e-02 -5.10666435e-04 9.99413210e-01 1.22171473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.187806574 meters 0.13134575774918505 Centerline is valid? [False, False] Translation: X:-33.15, Y:-1.14, Z:1.22 [[ 9.99293011e-01 -6.61887048e-03 -3.70090231e-02 -3.31536280e+01] [ 6.76273250e-03 9.99970051e-01 3.76338167e-03 -1.14251605e+00] [ 3.69830054e-02 -4.01100313e-03 9.99307845e-01 1.22147719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.247806574 meters 0.14444544590720232 Centerline is valid? [False, False] Translation: X:-33.22, Y:-1.14, Z:1.22 [[ 9.99232945e-01 -9.11103809e-03 -3.80855668e-02 -3.32151000e+01] [ 9.25622894e-03 9.99950544e-01 3.63763549e-03 -1.14048002e+00] [ 3.80505406e-02 -3.98737395e-03 9.99267861e-01 1.22357526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307806574 meters 0.16135584409557957 Centerline is valid? [False, False] Translation: X:-33.16, Y:-1.14, Z:1.22 [[ 9.99155245e-01 5.43437137e-03 -4.07340626e-02 -3.31605908e+01] [-5.39565535e-03 9.99984881e-01 1.06033789e-03 -1.13943625e+00] [ 4.07392090e-02 -8.39655201e-04 9.99169461e-01 1.22012793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.367806574 meters 0.16441471829017665 Centerline is valid? [False, False] Translation: X:-33.17, Y:-1.14, Z:1.22 [[ 9.99168093e-01 3.91003183e-03 -4.05935249e-02 -3.31676005e+01] [-3.88387858e-03 9.99992196e-01 7.23114422e-04 -1.13911284e+00] [ 4.05960355e-02 -5.64852536e-04 9.99175482e-01 1.22455102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.427806574 meters 0.17660833403231194 Centerline is valid? [False, False] Translation: X:-33.23, Y:-1.14, Z:1.22 [[ 9.99085067e-01 -3.16192307e-03 -4.26500937e-02 -3.32287707e+01] [ 3.23335996e-03 9.99993483e-01 1.60607360e-03 -1.13607651e+00] [ 4.26447374e-02 -1.74250726e-03 9.99088780e-01 1.22424910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487806574 meters 0.1927579360926908 Centerline is valid? [False, False] Translation: X:-33.30, Y:-1.13, Z:1.23 [[ 9.99140507e-01 -6.09048740e-03 -4.10018634e-02 -3.32989383e+01] [ 6.25492278e-03 9.99972897e-01 3.88334507e-03 -1.13405410e+00] [ 4.09771007e-02 -4.13647085e-03 9.99151523e-01 1.22516270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.547806574 meters 0.20329180972695204 Centerline is valid? [False, False] Translation: X:-33.35, Y:-1.13, Z:1.22 [[ 9.98962747e-01 -8.78787237e-03 -4.46789030e-02 -3.33539219e+01] [ 9.01444427e-03 9.99947500e-01 4.87216539e-03 -1.13264101e+00] [ 4.46337413e-02 -5.26986720e-03 9.98989518e-01 1.22302877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.607806574 meters 0.2152052721413416 Centerline is valid? [False, False] Translation: X:-33.41, Y:-1.13, Z:1.22 [[ 9.99218208e-01 -9.11705916e-03 -3.84688454e-02 -3.34094093e+01] [ 9.36833321e-03 9.99935911e-01 6.35668316e-03 -1.13488583e+00] [ 3.84084257e-02 -6.71210252e-03 9.99239581e-01 1.22454253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667806574 meters 0.2298637044228702 Centerline is valid? [False, False] Translation: X:-33.47, Y:-1.14, Z:1.22 [[ 9.99064605e-01 -1.13246118e-02 -4.17332872e-02 -3.34713135e+01] [ 1.17007682e-02 9.99892995e-01 8.78012286e-03 -1.13525725e+00] [ 4.16293900e-02 -9.26022150e-03 9.99090207e-01 1.22195312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727806574 meters 0.23121466347370564 Centerline is valid? [False, False] Translation: X:-33.53, Y:-1.14, Z:1.22 [[ 9.98946439e-01 -1.34118771e-02 -4.38877304e-02 -3.35309355e+01] [ 1.38106231e-02 9.99865948e-01 8.79502377e-03 -1.13698797e+00] [ 4.37638893e-02 -9.39187458e-03 9.98997755e-01 1.22237565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.787806574 meters 0.2338993981089051 Centerline is valid? [False, False] Translation: X:-33.60, Y:-1.14, Z:1.22 [[ 9.98915448e-01 -1.47324508e-02 -4.41688035e-02 -3.35989382e+01] [ 1.52292466e-02 9.99824262e-01 1.09323293e-02 -1.13508264e+00] [ 4.39999814e-02 -1.15931303e-02 9.98964264e-01 1.22149493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.847806573999996 meters 0.21650456141694588 Centerline is valid? [False, False] Translation: X:-33.67, Y:-1.14, Z:1.22 [[ 9.98669528e-01 -7.56738891e-03 -5.10088972e-02 -3.36665035e+01] [ 8.01366477e-03 9.99931336e-01 8.55014586e-03 -1.13996769e+00] [ 5.09406924e-02 -8.94753833e-03 9.98661598e-01 1.22087607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.907806574 meters 0.19491991672858058 Centerline is valid? [False, False] Translation: X:-33.74, Y:-1.14, Z:1.22 [[ 9.98738315e-01 -9.36687541e-03 -4.93359937e-02 -3.37408270e+01] [ 9.95969914e-03 9.99880964e-01 1.17839465e-02 -1.14208933e+00] [ 4.92197422e-02 -1.22604505e-02 9.98712721e-01 1.22361594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.967806574 meters 0.17684599466287085 Centerline is valid? [False, False] Translation: X:-33.81, Y:-1.15, Z:1.22 [[ 9.98748542e-01 -3.76148279e-03 -4.98718431e-02 -3.38066190e+01] [ 4.15207446e-03 9.99961498e-01 7.73062169e-03 -1.14553433e+00] [ 4.98408443e-02 -7.92801874e-03 9.98725706e-01 1.22332170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.027806573999996 meters 0.15936299058695066 Centerline is valid? [False, False] Translation: X:-33.87, Y:-1.15, Z:1.23 [[ 9.98758359e-01 -4.03822101e-03 -4.96531194e-02 -3.38683124e+01] [ 4.57165451e-03 9.99933003e-01 1.06343308e-02 -1.14760334e+00] [ 4.96068490e-02 -1.08481237e-02 9.98709907e-01 1.22569680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087806574 meters 0.1376612521239027 Centerline is valid? [False, False] Translation: X:-33.92, Y:-1.15, Z:1.22 [[ 9.98413304e-01 -1.56483085e-03 -5.62887695e-02 -3.39194581e+01] [ 1.74436399e-03 9.99993547e-01 3.14051024e-03 -1.15086771e+00] [ 5.62834919e-02 -3.23371531e-03 9.98409591e-01 1.22168037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.147806574 meters 0.12490792927864293 Centerline is valid? [False, False] Translation: X:-33.95, Y:-1.16, Z:1.23 [[ 9.98520039e-01 -2.81709432e-03 -5.43120220e-02 -3.39507616e+01] [ 3.20002109e-03 9.99970625e-01 6.96482281e-03 -1.15502902e+00] [ 5.42908061e-02 -7.12831476e-03 9.98499722e-01 1.23037181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.207806573999996 meters 0.10795120761908357 Centerline is valid? [False, False] Translation: X:-34.00, Y:-1.15, Z:1.23 [[ 9.98479161e-01 -5.76474011e-03 -5.48282167e-02 -3.39971200e+01] [ 6.00953280e-03 9.99972694e-01 4.30089804e-03 -1.15424466e+00] [ 5.48019260e-02 -4.62384903e-03 9.98486539e-01 1.22859507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267806574 meters 0.08544470709912108 Centerline is valid? [False, True] Translation: X:-34.05, Y:-1.16, Z:1.23 [[ 9.98294678e-01 -7.31227283e-03 -5.79160325e-02 -3.40522277e+01] [ 7.67177656e-03 9.99952646e-01 5.98741189e-03 -1.16124168e+00] [ 5.78695084e-02 -6.42152029e-03 9.98303503e-01 1.22969069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.327806574 meters 0.06698178999836224 Centerline is valid? [True, True] Translation: X:-34.11, Y:-1.18, Z:1.25 [[ 9.98475487e-01 -7.89426149e-03 -5.46295040e-02 -3.41109141e+01] [ 7.76513462e-03 9.99966534e-01 -2.57554464e-03 -1.18248947e+00] [ 5.46480078e-02 2.14741273e-03 9.98503372e-01 1.24993873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.387806573999995 meters 0.04798834689494425 Centerline is valid? [True, True] Translation: X:-34.17, Y:-1.18, Z:1.24 [[ 9.98321322e-01 -1.23391876e-02 -5.65887092e-02 -3.41704817e+01] [ 1.22079065e-02 9.99921929e-01 -2.66503660e-03 -1.18462769e+00] [ 5.66171756e-02 1.96973320e-03 9.98394018e-01 1.24064090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447806574 meters 0.037925810144894746 Centerline is valid? [True, True] Translation: X:-34.23, Y:-1.19, Z:1.24 [[ 9.98104308e-01 -1.08249919e-02 -6.05855576e-02 -3.42302926e+01] [ 1.06721767e-02 9.99939003e-01 -2.84533337e-03 -1.18832637e+00] [ 6.06126628e-02 2.19335972e-03 9.98158952e-01 1.24387688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.507806574 meters 0.03349265541791696 Centerline is valid? [True, True] Translation: X:-34.29, Y:-1.19, Z:1.25 [[ 9.98051576e-01 -8.85938664e-03 -6.17621424e-02 -3.42890367e+01] [ 8.69737127e-03 9.99957996e-01 -2.89156759e-03 -1.19276414e+00] [ 6.17851657e-02 2.34876531e-03 9.98086708e-01 1.25058479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.567806574 meters 0.030264869612184442 Centerline is valid? [True, True] Translation: X:-34.35, Y:-1.20, Z:1.26 [[ 9.97720820e-01 -6.96741082e-03 -6.71164746e-02 -3.43476447e+01] [ 6.77205284e-03 9.99972146e-01 -3.13780844e-03 -1.19631324e+00] [ 6.71364676e-02 2.67614049e-03 9.97740213e-01 1.25649641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627806574 meters 0.02968628484874141 Centerline is valid? [True, True] Translation: X:-34.41, Y:-1.20, Z:1.26 [[ 9.97919767e-01 -7.58094094e-03 -6.40208335e-02 -3.44072677e+01] [ 7.40470795e-03 9.99968116e-01 -2.98957056e-03 -1.19614961e+00] [ 6.40414560e-02 2.50929598e-03 9.97944084e-01 1.26352112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.687806574 meters 0.02986669499187055 Centerline is valid? [True, True] Translation: X:-34.47, Y:-1.21, Z:1.25 [[ 9.97798481e-01 -1.17214075e-02 -6.52748072e-02 -3.44663886e+01] [ 1.15474384e-02 9.99928699e-01 -3.04183568e-03 -1.20802272e+00] [ 6.53058076e-02 2.28138220e-03 9.97862689e-01 1.25423944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.747806574 meters 0.02784283912994821 Centerline is valid? [True, True] Translation: X:-34.53, Y:-1.20, Z:1.23 [[ 9.97489102e-01 -1.84795772e-02 -6.83666266e-02 -3.45254751e+01] [ 1.83053321e-02 9.99827404e-01 -3.17433223e-03 -1.20473340e+00] [ 6.84134871e-02 1.91488800e-03 9.97655215e-01 1.23025291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807806574 meters 0.027356226611486352 Centerline is valid? [True, True] Translation: X:-34.58, Y:-1.21, Z:1.24 [[ 9.98028896e-01 -1.80871814e-02 -6.00930693e-02 -3.45842498e+01] [ 1.79526598e-02 9.99834979e-01 -2.77774792e-03 -1.21199215e+00] [ 6.01333943e-02 1.69344226e-03 9.98188914e-01 1.23676015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 421.03 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 ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/1162 [00:00