+ python -m lidar_slam --no-model /working/9ade07f4-a36b-4d52-a8c0-2563be467474 Lidar SLAM 0.0.7 ===================================================== The recording path: /working/9ade07f4-a36b-4d52-a8c0-2563be467474 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 0.023741732 Adjusted end_distance from 9.223372036854776e+18 to 58.453901732 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.023741732 meters 0.22173425968443145 Centerline is valid? [0, False] SLAMing on 0.083741732 meters 0.23891125750853537 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:0.04 [[ 0.99627409 0.07764064 -0.03754827 0.13216169] [-0.07989193 0.99482812 -0.06272391 0.05000132] [ 0.03248415 0.06549001 0.99732434 0.03852821] [ 0. 0. 0. 1. ]] SLAMing on 0.143741732 meters 0.20121831279924066 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:0.05 [[ 0.9968158 0.06900164 -0.0399628 0.13207422] [-0.06956412 0.99749461 -0.01285831 0.0190088 ] [ 0.03897544 0.01559734 0.99911843 0.05233545] [ 0. 0. 0. 1. ]] SLAMing on 0.203741732 meters 0.20468574119286465 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:0.02 [[ 0.99948197 0.01375299 0.02909707 0.06319884] [-0.013945 0.99988224 0.00640641 0.02375402] [-0.02900553 -0.00680885 0.99955606 0.01607449] [ 0. 0. 0. 1. ]] SLAMing on 0.263741732 meters 0.1638937883596547 Centerline is valid? [False, False] Translation: X:0.01, Y:0.08, Z:0.02 [[ 0.99780692 0.06212899 0.02283297 0.00898554] [-0.06176092 0.99795479 -0.01648716 0.07797697] [-0.02381061 0.01504082 0.99960334 0.0203452 ] [ 0. 0. 0. 1. ]] SLAMing on 0.323741732 meters 0.11773274294812112 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.08, Z:0.03 [[ 0.99455979 0.09982647 0.02975721 -0.0225293 ] [-0.09966693 0.99499761 -0.00680101 0.07666237] [-0.03028727 0.0037982 0.99953402 0.02799274] [ 0. 0. 0. 1. ]] SLAMing on 0.383741732 meters 0.10084055740973218 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.09, Z:0.04 [[ 0.99504741 0.09624253 0.02486024 -0.04573436] [-0.09596628 0.9953113 -0.01207885 0.09240337] [-0.02590617 0.00963328 0.99961796 0.03716385] [ 0. 0. 0. 1. ]] SLAMing on 0.443741732 meters 0.1219280834845369 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:0.06 [[ 0.99856598 0.0514034 0.0149558 -0.03937181] [-0.05109714 0.99848967 -0.02018582 0.11293655] [-0.01597083 0.01939267 0.99968438 0.06044827] [ 0. 0. 0. 1. ]] SLAMing on 0.5037417319999999 meters 0.11639074636114331 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:0.06 [[ 0.99911238 0.0384312 0.01724782 -0.10106497] [-0.03820916 0.99918489 -0.0130235 0.12013556] [-0.01773427 0.01235291 0.99976642 0.06051768] [ 0. 0. 0. 1. ]] SLAMing on 0.563741732 meters 0.08080802063603269 Centerline is valid? [False, True] Translation: X:-0.18, Y:0.15, Z:0.07 [[ 0.99643483 0.08257857 0.01727479 -0.1769331 ] [-0.08266676 0.9965673 0.00445339 0.15471396] [-0.01684774 -0.00586557 0.99984086 0.06808542] [ 0. 0. 0. 1. ]] SLAMing on 0.6237417319999999 meters 0.10661867719852457 Centerline is valid? [True, False] Translation: X:-0.24, Y:0.18, Z:0.06 [[ 0.99896531 0.03823457 0.02462574 -0.24323243] [-0.03840962 0.99923978 0.00667501 0.18079377] [-0.02435181 -0.00761397 0.99967446 0.06274327] [ 0. 0. 0. 1. ]] SLAMing on 0.6837417319999999 meters 0.11142979695764797 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.21, Z:0.07 [[ 0.99979162 0.0110199 0.01718362 -0.2952315 ] [-0.01108351 0.99993206 0.00361082 0.21466252] [-0.01714267 -0.00380052 0.99984583 0.0711976 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7437417319999999 meters 0.09108915504248927 Centerline is valid? [False, True] Translation: X:-0.35, Y:0.26, Z:0.09 [[ 0.99929757 0.03135249 0.02052777 -0.35477242] [-0.03101359 0.9993807 -0.01662439 0.26001171] [-0.02103627 0.01597607 0.99965106 0.08590784] [ 0. 0. 0. 1. ]] SLAMing on 0.803741732 meters 0.08096078048931166 Centerline is valid? [True, True] Translation: X:-0.41, Y:0.32, Z:0.08 [[ 0.99941076 0.03199566 0.01242645 -0.40766224] [-0.03197381 0.9994868 -0.0019528 0.32181432] [-0.01248256 0.00155433 0.99992088 0.0805413 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8637417319999999 meters 0.09727313855181642 Centerline is valid? [True, True] Translation: X:-0.47, Y:0.35, Z:0.07 [[ 0.9995792 0.01801237 0.02273706 -0.46528329] [-0.01793574 0.99983277 -0.00356995 0.34656391] [-0.02279756 0.00316065 0.99973511 0.07481882] [ 0. 0. 0. 1. ]] SLAMing on 0.9237417319999999 meters 0.09337800728208044 Centerline is valid? [True, True] Translation: X:-0.52, Y:0.40, Z:0.09 [[ 0.99960131 0.01943557 0.02048123 -0.51840382] [-0.01937368 0.99980714 -0.00321585 0.40260675] [-0.02053978 0.00281778 0.99978507 0.08677363] [ 0. 0. 0. 1. ]] SLAMing on 0.9837417319999999 meters 0.08444604209270358 Centerline is valid? [True, True] Translation: X:-0.57, Y:0.44, Z:0.09 [[ 0.99949148 0.02277923 0.02231358 -0.57188726] [-0.02270661 0.99973604 -0.00350272 0.44487955] [-0.02238748 0.00299428 0.99974488 0.08507254] [ 0. 0. 0. 1. ]] SLAMing on 1.043741732 meters 0.08746140972544014 Centerline is valid? [True, True] Translation: X:-0.62, Y:0.50, Z:0.08 [[ 0.99949966 0.02501788 0.01935274 -0.62460342] [-0.02496369 0.99968375 -0.0030369 0.50370909] [-0.0194226 0.00255227 0.99980811 0.08252216] [ 0. 0. 0. 1. ]] SLAMing on 1.103741732 meters 0.08102465755455601 Centerline is valid? [True, True] Translation: X:-0.68, Y:0.57, Z:0.09 [[ 0.99934545 0.03093545 0.01875272 -0.67624647] [-0.0308856 0.9995186 -0.00294219 0.56619647] [-0.01883471 0.00236108 0.99981982 0.09026814] [ 0. 0. 0. 1. ]] SLAMing on 1.1637417319999999 meters 0.08033108860264127 Centerline is valid? [True, True] Translation: X:-0.73, Y:0.62, Z:0.08 [[ 0.99884979 0.04202894 0.02307951 -0.72948535] [-0.04195636 0.99911288 -0.00362051 0.61765138] [-0.0232112 0.00264801 0.99972708 0.08261324] [ 0. 0. 0. 1. ]] SLAMing on 1.223741732 meters 0.03228582893439958 Centerline is valid? [True, True] Translation: X:-0.78, Y:0.68, Z:0.08 [[ 9.92588087e-01 1.19368554e-01 2.28043596e-02 -7.80253657e-01] [-1.19317828e-01 9.92849666e-01 -3.57712733e-03 6.84257001e-01] [-2.30682973e-02 8.29647313e-04 9.99733547e-01 7.79882210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.283741732 meters 0.02609968035404535 Centerline is valid? [True, True] Translation: X:-0.85, Y:0.65, Z:0.08 [[ 9.87572572e-01 1.56416996e-01 1.53015892e-02 -8.46828190e-01] [-1.56398577e-01 9.87691107e-01 -2.40045804e-03 6.50415043e-01] [-1.54887161e-02 -2.25202689e-05 9.99880042e-01 7.90255651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3437417319999998 meters 0.02643679696925634 Centerline is valid? [True, True] Translation: X:-0.92, Y:0.55, Z:0.08 [[ 9.90788746e-01 1.34324109e-01 1.71666486e-02 -9.24132125e-01] [-1.34297611e-01 9.90937386e-01 -2.69239533e-03 5.53762965e-01] [-1.73727275e-02 3.62155095e-04 9.99849017e-01 8.11740214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4037417319999999 meters 0.03505078596079906 Centerline is valid? [True, True] Translation: X:-1.00, Y:0.44, Z:0.08 [[ 9.92967283e-01 1.18206552e-01 6.57159065e-03 -1.00338963e+00] [-1.18202318e-01 9.92988998e-01 -1.03042422e-03 4.43421683e-01] [-6.64732011e-03 2.46400291e-04 9.99977876e-01 7.77238996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.463741732 meters 0.04289338242985217 Centerline is valid? [True, True] Translation: X:-1.07, Y:0.37, Z:0.10 [[ 9.95002165e-01 9.90598692e-02 1.25631962e-02 -1.07471029e+00] [-9.90428793e-02 9.95081218e-01 -1.96892591e-03 3.68056239e-01] [-1.26964421e-02 7.14790413e-04 9.99919141e-01 1.01745050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.523741732 meters 0.04947558251799742 Centerline is valid? [True, True] Translation: X:-1.14, Y:0.35, Z:0.11 [[ 0.99617502 0.08570041 0.01705185 -1.13932293] [-0.08566714 0.99632023 -0.00267352 0.34867998] [-0.01721823 0.00120251 0.99985103 0.10943446] [ 0. 0. 0. 1. ]] SLAMing on 1.583741732 meters 0.04801055979286224 Centerline is valid? [True, True] Translation: X:-1.20, Y:0.37, Z:0.10 [[ 9.95369561e-01 9.55777923e-02 1.02138582e-02 -1.19799852e+00] [-9.55663742e-02 9.95421772e-01 -1.60130119e-03 3.68550635e-01] [-1.03201457e-02 6.17785063e-04 9.99946555e-01 1.00217677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6437417319999998 meters 0.06041501529826046 Centerline is valid? [True, True] Translation: X:-1.26, Y:0.36, Z:0.11 [[ 0.9972976 0.0718991 0.01510044 -1.25973846] [-0.07187144 0.99741109 -0.00236723 0.36227867] [-0.01523154 0.00127554 0.99988318 0.11184663] [ 0. 0. 0. 1. ]] SLAMing on 1.703741732 meters 0.07736468945896124 Centerline is valid? [True, True] Translation: X:-1.32, Y:0.36, Z:0.11 [[ 0.99891403 0.04412799 0.0149493 -1.32112667] [-0.0440978 0.99902447 -0.00234343 0.36203342] [-0.01503813 0.00168165 0.99988551 0.11394159] [ 0. 0. 0. 1. ]] SLAMing on 1.763741732 meters 0.08035428753499205 Centerline is valid? [True, True] Translation: X:-1.37, Y:0.42, Z:0.11 [[ 0.99923836 0.03708974 0.01212637 -1.37385557] [-0.03706936 0.99931089 -0.00190085 0.41692792] [-0.01218851 0.00144989 0.99992467 0.11379405] [ 0. 0. 0. 1. ]] SLAMing on 1.8237417319999998 meters 0.07362528503844111 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.47, Z:0.12 [[ 0.99863586 0.04909973 0.01776592 -1.42572791] [-0.04905787 0.99879206 -0.00278473 0.47340675] [-0.01788119 0.00190937 0.9998383 0.12247232] [ 0. 0. 0. 1. ]] SLAMing on 1.8837417319999998 meters 0.05964263765178613 Centerline is valid? [True, True] Translation: X:-1.47, Y:0.56, Z:0.13 [[ 0.99723721 0.07078912 0.02251346 -1.47389518] [-0.07072737 0.99748944 -0.00352866 0.55776191] [-0.02270673 0.0019266 0.99974031 0.12800186] [ 0. 0. 0. 1. ]] SLAMing on 1.9437417319999999 meters 0.061041859010218566 Centerline is valid? [True, True] Translation: X:-1.53, Y:0.63, Z:0.13 [[ 0.99733276 0.07029573 0.01964392 -1.52522361] [-0.07024856 0.99752476 -0.00308165 0.63403786] [-0.01981193 0.00169347 0.99980229 0.126953 ] [ 0. 0. 0. 1. ]] SLAMing on 2.003741732 meters 0.06188770655695315 Centerline is valid? [True, True] Translation: X:-1.58, Y:0.70, Z:0.13 [[ 0.99778825 0.06375637 0.0188077 -1.5762257 ] [-0.06371214 0.99796398 -0.00294241 0.70036958] [-0.018957 0.00173762 0.99981879 0.12774043] [ 0. 0. 0. 1. ]] SLAMing on 2.063741732 meters 0.06112121435658143 Centerline is valid? [True, True] Translation: X:-1.63, Y:0.77, Z:0.13 [[ 0.99722719 0.07137614 0.02105672 -1.62674176] [-0.07132238 0.99744788 -0.0032942 0.76766189] [-0.02123811 0.00178325 0.99977286 0.12920235] [ 0. 0. 0. 1. ]] SLAMing on 2.123741732 meters 0.055700513348128006 Centerline is valid? [True, True] Translation: X:-1.68, Y:0.83, Z:0.14 [[ 0.99632504 0.08250386 0.02301156 -1.67715645] [-0.08244261 0.99658931 -0.00359923 0.83411984] [-0.02323002 0.00168887 0.99972872 0.13890492] [ 0. 0. 0. 1. ]] SLAMing on 2.183741732 meters 0.05103266967440163 Centerline is valid? [True, True] Translation: X:-1.73, Y:0.89, Z:0.14 [[ 9.95918552e-01 8.70573536e-02 2.38171248e-02 -1.72971346e+00] [-8.69930445e-02 9.96201955e-01 -3.72500558e-03 8.90201129e-01] [-2.40509554e-02 1.63787796e-03 9.99709392e-01 1.42961259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2437417319999997 meters 0.05163860003997402 Centerline is valid? [True, True] Translation: X:-1.78, Y:0.97, Z:0.14 [[ 9.95705002e-01 8.91721251e-02 2.48974216e-02 -1.77949053e+00] [-8.91025190e-02 9.96014850e-01 -3.89345481e-03 9.65776587e-01] [-2.51453893e-02 1.65830945e-03 9.99682429e-01 1.43116602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3037417319999998 meters 0.047913251192061336 Centerline is valid? [True, True] Translation: X:-1.83, Y:1.03, Z:0.14 [[ 9.95783387e-01 8.86439823e-02 2.36154901e-02 -1.83139373e+00] [-8.85811872e-02 9.96062110e-01 -3.69407974e-03 1.02954515e+00] [-2.38499528e-02 1.58661509e-03 9.99714290e-01 1.38423183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.363741732 meters 0.04496222150612984 Centerline is valid? [True, True] Translation: X:-1.89, Y:1.08, Z:0.15 [[ 9.95266232e-01 9.40098113e-02 2.46431246e-02 -1.88577521e+00] [-9.39432651e-02 9.95570120e-01 -3.84690346e-03 1.07684071e+00] [-2.48956052e-02 1.51363752e-03 9.99688910e-01 1.46637455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.423741732 meters 0.03553298970712252 Centerline is valid? [True, True] Translation: X:-1.94, Y:1.14, Z:0.14 [[ 9.92959755e-01 1.16957897e-01 1.87556619e-02 -1.93726200e+00] [-1.16923429e-01 9.93136617e-01 -2.92767553e-03 1.14382340e+00] [-1.89693493e-02 7.14087682e-04 9.99819811e-01 1.42222643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.483741732 meters 0.09290522887785994 Centerline is valid? [True, True] Translation: X:-2.07, Y:0.69, Z:0.17 [[ 0.95585344 0.29343329 0.01552768 -2.06739684] [-0.29343184 0.95597693 -0.00242329 0.68998421] [-0.01555518 -0.00224001 0.9998765 0.17202384] [ 0. 0. 0. 1. ]] SLAMing on 2.543741732 meters 0.06931983846862358 Centerline is valid? [True, True] Translation: X:-2.13, Y:0.67, Z:0.17 [[ 9.67230985e-01 2.53603549e-01 1.22254682e-02 -2.13114703e+00] [-2.53599474e-01 9.67307431e-01 -1.90814364e-03 6.71716498e-01] [-1.23096982e-02 -1.25475665e-03 9.99923446e-01 1.69098851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.603741732 meters 0.055879289919578475 Centerline is valid? [True, True] Translation: X:-2.19, Y:0.66, Z:0.17 [[ 9.72786151e-01 2.31510031e-01 9.49787702e-03 -2.19418919e+00] [-2.31506523e-01 9.72832222e-01 -1.48224371e-03 6.62162030e-01] [-9.58299510e-03 -7.56914330e-04 9.99953796e-01 1.72167605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6637417319999996 meters 0.057409719318285174 Centerline is valid? [True, True] Translation: X:-2.25, Y:0.68, Z:0.17 [[ 9.72784058e-01 2.31527115e-01 9.29360209e-03 -2.25464778e+00] [-2.31523712e-01 9.72828172e-01 -1.45518873e-03 6.78263385e-01] [-9.37799359e-03 -7.36104861e-04 9.99955755e-01 1.73384513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7237417319999997 meters 0.05985809113392251 Centerline is valid? [True, True] Translation: X:-2.31, Y:0.69, Z:0.18 [[ 9.71596711e-01 2.36203681e-01 1.44101350e-02 -2.31360293e+00] [-2.36196207e-01 9.71702795e-01 -2.24282419e-03 6.91161670e-01] [-1.45321318e-02 -1.22449862e-03 9.99893653e-01 1.83063177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7837417319999997 meters 0.05554615783624 Centerline is valid? [True, True] Translation: X:-2.37, Y:0.70, Z:0.19 [[ 9.72889911e-01 2.30796948e-01 1.47644663e-02 -2.37365426e+00] [-2.30788495e-01 9.73001230e-01 -2.29708138e-03 6.98439332e-01] [-1.48960033e-02 -1.17266167e-03 9.99888361e-01 1.85195621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.843741732 meters 0.05102555214166177 Centerline is valid? [True, True] Translation: X:-2.43, Y:0.71, Z:0.19 [[ 9.75301278e-01 2.20592911e-01 1.12332327e-02 -2.43321294e+00] [-2.20587334e-01 9.75365660e-01 -1.74845507e-03 7.09027843e-01] [-1.13422062e-02 -7.72638390e-04 9.99935377e-01 1.89216740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.903741732 meters 0.048508974988876866 Centerline is valid? [True, True] Translation: X:-2.49, Y:0.71, Z:0.19 [[ 9.76227267e-01 2.16441470e-01 1.15504543e-02 -2.49333667e+00] [-2.16435306e-01 9.76295310e-01 -1.79597226e-03 7.12570052e-01] [-1.16653772e-02 -7.46649021e-04 9.99931678e-01 1.91798177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.963741732 meters 0.045936230828198484 Centerline is valid? [True, True] Translation: X:-2.56, Y:0.72, Z:0.18 [[ 9.77369758e-01 2.11494423e-01 4.29708338e-03 -2.55538071e+00] [-2.11493512e-01 9.77379171e-01 -6.70441709e-04 7.21613978e-01] [-4.34167447e-03 -2.53535805e-04 9.99990543e-01 1.84720207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.023741732 meters 0.05090678379691511 Centerline is valid? [True, True] Translation: X:-2.61, Y:0.74, Z:0.19 [[ 9.75871002e-01 2.18040336e-01 1.15844660e-02 -2.61407209e+00] [-2.18034255e-01 9.75939456e-01 -1.80069640e-03 7.39188625e-01] [-1.16983619e-02 -7.68563008e-04 9.99931276e-01 1.93408564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.083741732 meters 0.04819004303630895 Centerline is valid? [True, True] Translation: X:-2.68, Y:0.74, Z:0.20 [[ 9.76684235e-01 2.14342879e-01 1.20430272e-02 -2.67563455e+00] [-2.14336026e-01 9.76758191e-01 -1.87206130e-03 7.41419501e-01] [-1.21643885e-02 -7.52841833e-04 9.99925728e-01 1.98281985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.143741732 meters 0.04298070841147822 Centerline is valid? [True, True] Translation: X:-2.74, Y:0.74, Z:0.20 [[ 9.78744007e-01 2.04892075e-01 8.91100915e-03 -2.73769751e+00] [-2.04887938e-01 9.78784458e-01 -1.38455637e-03 7.35659657e-01] [-9.00564189e-03 -4.70632041e-04 9.99959338e-01 1.98114350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2037417319999997 meters 0.037350511234365315 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.73, Z:0.20 [[ 9.81440626e-01 1.91504250e-01 1.00209467e-02 -2.80046257e+00] [-1.91498321e-01 9.81491706e-01 -1.55686358e-03 7.27283661e-01] [-1.01336220e-02 -3.91025294e-04 9.99948577e-01 2.00703513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2637417319999997 meters 0.03342019328139803 Centerline is valid? [True, True] Translation: X:-2.86, Y:0.73, Z:0.21 [[ 9.83431994e-01 1.80929662e-01 1.12236330e-02 -2.86222032e+00] [-1.80921534e-01 9.83495988e-01 -1.74375822e-03 7.25600958e-01] [-1.13538956e-02 -3.15729283e-04 9.99935493e-01 2.06580241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.323741732 meters 0.030155065320771265 Centerline is valid? [True, True] Translation: X:-2.92, Y:0.74, Z:0.21 [[ 9.83829015e-01 1.78844303e-01 9.75621480e-03 -2.92351083e+00] [-1.78838008e-01 9.83877357e-01 -1.52099662e-03 7.35222690e-01] [-9.87094041e-03 -2.48381410e-04 9.99951250e-01 2.09403427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.383741732 meters 0.0328151648235189 Centerline is valid? [True, True] Translation: X:-2.98, Y:0.75, Z:0.22 [[ 9.82740534e-01 1.84863813e-01 6.81280227e-03 -2.98107619e+00] [-1.84860931e-01 9.82764123e-01 -1.05576113e-03 7.51198940e-01] [-6.89054968e-03 -2.21881720e-04 9.99976235e-01 2.17997675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.443741732 meters 0.0392264843580376 Centerline is valid? [True, True] Translation: X:-3.04, Y:0.78, Z:0.22 [[ 9.79960767e-01 1.99164678e-01 3.21351579e-03 -3.03881811e+00] [-1.99164112e-01 9.79966024e-01 -4.98438456e-04 7.76102659e-01] [-3.24840763e-03 -1.51566888e-04 9.99994712e-01 2.16765544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.503741732 meters 0.052033691457938194 Centerline is valid? [True, True] Translation: X:-3.10, Y:0.80, Z:0.23 [[ 9.75478357e-01 2.19955867e-01 7.83525549e-03 -3.09576898e+00] [-2.19953172e-01 9.75509675e-01 -1.21471217e-03 8.02626065e-01] [-7.91055060e-03 -5.38463870e-04 9.99968566e-01 2.25994376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.563741732 meters 0.05606337028939947 Centerline is valid? [True, True] Translation: X:-3.15, Y:0.82, Z:0.23 [[ 9.74169086e-01 2.25553385e-01 1.09664216e-02 -3.15459426e+00] [-2.25548467e-01 9.74230466e-01 -1.69938367e-03 8.18082115e-01] [-1.10671238e-02 -8.17972543e-04 9.99938423e-01 2.33898271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6237417319999996 meters 0.05179351107621689 Centerline is valid? [True, True] Translation: X:-3.22, Y:0.82, Z:0.24 [[ 9.75242613e-01 2.20978848e-01 8.37815950e-03 -3.21542847e+00] [-2.20975814e-01 9.75278425e-01 -1.29774133e-03 8.16188018e-01] [-8.45781158e-03 -5.85757969e-04 9.99964061e-01 2.36281721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6837417319999997 meters 0.05104923041830774 Centerline is valid? [True, True] Translation: X:-3.28, Y:0.82, Z:0.24 [[ 9.76446000e-01 2.15571823e-01 9.05528423e-03 -3.27612353e+00] [-2.15568040e-01 9.76487814e-01 -1.40328549e-03 8.24227328e-01] [-9.14488351e-03 -5.81797376e-04 9.99958015e-01 2.43432433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7437417319999997 meters 0.049770090118258184 Centerline is valid? [True, True] Translation: X:-3.34, Y:0.83, Z:0.25 [[ 9.76680625e-01 2.14581735e-01 7.04520632e-03 -3.33830595e+00] [-2.14579370e-01 9.76705937e-01 -1.09880738e-03 8.34668885e-01] [-7.11687883e-03 -4.38572054e-04 9.99974579e-01 2.46071858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8037417319999998 meters 0.051303876897184186 Centerline is valid? [True, True] Translation: X:-3.40, Y:0.85, Z:0.24 [[ 9.75985776e-01 2.17793532e-01 4.21208539e-03 -3.39765040e+00] [-2.17792740e-01 9.75994825e-01 -6.51459031e-04 8.52243051e-01] [-4.25285710e-03 -2.81546867e-04 9.99990917e-01 2.43662437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.863741732 meters 0.05170398282680939 Centerline is valid? [True, True] Translation: X:-3.46, Y:0.86, Z:0.25 [[ 9.75345896e-01 2.20614248e-01 5.45313406e-03 -3.45766264e+00] [-2.20612962e-01 9.75361066e-01 -8.43613205e-04 8.62593298e-01] [-5.50488774e-03 -3.80217381e-04 9.99984776e-01 2.52406713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.923741732 meters 0.0468332702366307 Centerline is valid? [True, True] Translation: X:-3.52, Y:0.86, Z:0.26 [[ 9.77034600e-01 2.12968124e-01 6.92591749e-03 -3.51907161e+00] [-2.12965864e-01 9.77059054e-01 -1.07072939e-03 8.60095647e-01] [-6.99506161e-03 -4.28844345e-04 9.99975442e-01 2.58600945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.983741732 meters 0.045592346170294284 Centerline is valid? [True, True] Translation: X:-3.58, Y:0.85, Z:0.26 [[ 9.79984203e-01 1.98893977e-01 8.49395255e-03 -3.58128671e+00] [-1.98890059e-01 9.80020930e-01 -1.31200381e-03 8.54330205e-01] [-8.58520093e-03 -4.03619716e-04 9.99963065e-01 2.58549937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.043741732 meters 0.033319519281828504 Centerline is valid? [True, True] Translation: X:-3.64, Y:0.85, Z:0.27 [[ 9.82920567e-01 1.83933982e-01 5.95400631e-03 -3.64334779e+00] [-1.83931778e-01 9.82938581e-01 -9.20285277e-04 8.45790027e-01] [-6.02169425e-03 -1.90563644e-04 9.99981851e-01 2.65389583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1037417320000005 meters 0.03439117520266954 Centerline is valid? [True, True] Translation: X:-3.70, Y:0.85, Z:0.27 [[ 9.83986322e-01 1.78042152e-01 8.48001864e-03 -3.70442859e+00] [-1.78037472e-01 9.84022837e-01 -1.30963321e-03 8.50964037e-01] [-8.57770191e-03 -2.21099922e-04 9.99963186e-01 2.68879667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.163741732 meters 0.034940183177160127 Centerline is valid? [True, True] Translation: X:-3.77, Y:0.86, Z:0.27 [[ 9.84323177e-01 1.76258721e-01 6.38331960e-03 -3.76540982e+00] [-1.76255989e-01 9.84343863e-01 -9.92364458e-04 8.63386943e-01] [-6.45829437e-03 -1.48290976e-04 9.99979134e-01 2.67248911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.223741732000001 meters 0.032676704982916256 Centerline is valid? [True, True] Translation: X:-3.83, Y:0.88, Z:0.27 [[ 9.83803406e-01 1.79144440e-01 6.17481344e-03 -3.82556866e+00] [-1.79141954e-01 9.83822770e-01 -9.57935729e-04 8.75726461e-01] [-6.24653092e-03 -1.63747711e-04 9.99980477e-01 2.73141761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.283741732 meters 0.03656357358140963 Centerline is valid? [True, True] Translation: X:-3.89, Y:0.89, Z:0.28 [[ 9.82866720e-01 1.84086204e-01 9.23478032e-03 -3.88554716e+00] [-1.84080917e-01 9.82910057e-01 -1.42652181e-03 8.94665638e-01] [-9.33956144e-03 -2.97866024e-04 9.99956341e-01 2.80580327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.343741732000001 meters 0.036805221705610916 Centerline is valid? [True, True] Translation: X:-3.95, Y:0.91, Z:0.28 [[ 9.82678367e-01 1.85145632e-01 8.02013732e-03 -3.94707596e+00] [-1.85141726e-01 9.82711056e-01 -1.23328027e-03 9.07937329e-01] [-8.10981407e-03 -2.72944224e-04 9.99967078e-01 2.79702632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.403741732 meters 0.03351334356718887 Centerline is valid? [True, True] Translation: X:-4.01, Y:0.91, Z:0.29 [[ 9.83816720e-01 1.78935158e-01 9.32040976e-03 -4.00869533e+00] [-1.78929631e-01 9.83860834e-01 -1.43037870e-03 9.10458373e-01] [-9.42593116e-03 -2.60467000e-04 9.99955541e-01 2.86288953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.463741732 meters 0.027025971027810288 Centerline is valid? [True, True] Translation: X:-4.07, Y:0.91, Z:0.29 [[ 9.86087809e-01 1.66080235e-01 6.94186218e-03 -4.07050197e+00] [-1.66076853e-01 9.86112238e-01 -1.06488709e-03 9.08040815e-01] [-7.02231195e-03 -1.02810446e-04 9.99975338e-01 2.88230987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.523741732 meters 0.029531787114975293 Centerline is valid? [True, True] Translation: X:-4.13, Y:0.91, Z:0.29 [[ 9.87139632e-01 1.59759628e-01 5.67525690e-03 -4.13299719e+00] [-1.59757224e-01 9.87155945e-01 -8.77296766e-04 9.11654448e-01] [-5.74252019e-03 -4.06488838e-05 9.99983511e-01 2.87175070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.583741732 meters 0.029854239319439396 Centerline is valid? [True, True] Translation: X:-4.20, Y:0.92, Z:0.29 [[ 9.88049506e-01 1.54010655e-01 6.23634855e-03 -4.19552647e+00] [-1.54007654e-01 9.88069187e-01 -9.61405744e-04 9.16253862e-01] [-6.31001057e-03 -1.05289426e-05 9.99980092e-01 2.89626174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6437417320000005 meters 0.027407632230803905 Centerline is valid? [True, True] Translation: X:-4.26, Y:0.93, Z:0.29 [[ 9.88015902e-01 1.54212116e-01 6.57268163e-03 -4.25770583e+00] [-1.54208798e-01 9.88037764e-01 -1.01164313e-03 9.29394859e-01] [-6.65006529e-03 -1.40458314e-05 9.99977888e-01 2.91339763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.703741732 meters 0.026989571795004948 Centerline is valid? [True, True] Translation: X:-4.32, Y:0.95, Z:0.30 [[ 9.86976961e-01 1.60785851e-01 4.93837080e-03 -4.31658450e+00] [-1.60784064e-01 9.86989315e-01 -7.59410893e-04 9.48258445e-01] [-4.99622174e-03 -4.44902718e-05 9.99987518e-01 2.95054761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.763741732000001 meters 0.02781201148590948 Centerline is valid? [True, True] Translation: X:-4.38, Y:0.97, Z:0.30 [[ 9.86112091e-01 1.66017960e-01 4.58046654e-03 -4.37670251e+00] [-1.66016479e-01 9.86122727e-01 -7.04412574e-04 9.68139528e-01] [-4.63384729e-03 -6.58031688e-05 9.99989262e-01 2.97394696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.823741732 meters 0.028001837674423564 Centerline is valid? [True, True] Translation: X:-4.44, Y:0.98, Z:0.30 [[ 9.86308587e-01 1.64850695e-01 4.42933392e-03 -4.43909308e+00] [-1.64849298e-01 9.86318531e-01 -6.81029387e-04 9.77938681e-01] [-4.48100230e-03 -5.84674559e-05 9.99989959e-01 2.98143487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.883741732 meters 0.03203341533084015 Centerline is valid? [True, True] Translation: X:-4.50, Y:0.99, Z:0.30 [[ 9.86882760e-01 1.61304215e-01 6.58537486e-03 -4.50048561e+00] [-1.61301108e-01 9.86904729e-01 -1.00383127e-03 9.85609470e-01] [-6.66105981e-03 -7.15644835e-05 9.99977812e-01 3.01352922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.943741732 meters 0.02908219165984394 Centerline is valid? [True, True] Translation: X:-4.56, Y:1.00, Z:0.31 [[ 9.87772623e-01 1.55647475e-01 8.89430707e-03 -4.56107210e+00] [-1.55641625e-01 9.87812665e-01 -1.35044045e-03 9.96804873e-01] [-8.99610182e-03 -5.03963001e-05 9.99959533e-01 3.08020955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.003741732 meters 0.02996970345186766 Centerline is valid? [True, True] Translation: X:-4.62, Y:1.01, Z:0.31 [[ 9.87668349e-01 1.56255997e-01 9.76196930e-03 -4.62025078e+00] [-1.56249038e-01 9.87716588e-01 -1.47626242e-03 1.01389306e+00] [-9.87273387e-03 -6.72406444e-05 9.99951261e-01 3.12476132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.063741732 meters 0.025458821280420825 Centerline is valid? [True, True] Translation: X:-4.68, Y:1.03, Z:0.31 [[ 9.87382023e-01 1.58297585e-01 4.31465257e-03 -4.67924995e+00] [-1.58296249e-01 9.87391449e-01 -6.51431881e-04 1.03269672e+00] [-4.36337114e-03 -3.97811895e-05 9.99990480e-01 3.11325917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.123741732 meters 0.032841708317034 Centerline is valid? [True, True] Translation: X:-4.74, Y:1.06, Z:0.31 [[ 9.85208124e-01 1.71242817e-01 6.39137040e-03 -4.73808348e+00] [-1.71240161e-01 9.85228845e-01 -9.64571216e-04 1.05825794e+00] [-6.46213837e-03 -1.44155897e-04 9.99979110e-01 3.14180886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1837417320000005 meters 0.03211645763465119 Centerline is valid? [True, True] Translation: X:-4.80, Y:1.07, Z:0.32 [[ 9.84576391e-01 1.74778275e-01 7.86667180e-03 -4.79895344e+00] [-1.74774354e-01 9.84607796e-01 -1.18845807e-03 1.07463402e+00] [-7.95330304e-03 -2.04764723e-04 9.99968351e-01 3.18221101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.243741732 meters 0.028839982339286228 Centerline is valid? [True, True] Translation: X:-4.86, Y:1.08, Z:0.32 [[ 9.85417224e-01 1.70083377e-01 4.95369130e-03 -4.86067626e+00] [-1.70081740e-01 9.85429670e-01 -7.52983351e-04 1.08323443e+00] [-5.00958433e-03 -1.00529670e-04 9.99987447e-01 3.19703278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.303741732 meters 0.030858137129666195 Centerline is valid? [True, True] Translation: X:-4.92, Y:1.09, Z:0.32 [[ 9.86567463e-01 1.63158088e-01 8.00490892e-03 -4.92230845e+00] [-1.63153698e-01 9.86599931e-01 -1.20284979e-03 1.08602453e+00] [-8.09389726e-03 -1.19338029e-04 9.99967237e-01 3.24499466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.363741732 meters 0.02641014192215147 Centerline is valid? [True, True] Translation: X:-4.98, Y:1.09, Z:0.32 [[ 9.87816980e-01 1.55448131e-01 7.31387386e-03 -4.98403641e+00] [-1.55444236e-01 9.87844055e-01 -1.10137391e-03 1.09101395e+00] [-7.39617333e-03 -4.89436932e-05 9.99972647e-01 3.23306935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.423741732 meters 0.028802319810794532 Centerline is valid? [True, True] Translation: X:-5.04, Y:1.11, Z:0.33 [[ 9.87433628e-01 1.57804218e-01 8.52407450e-03 -5.04451600e+00] [-1.57799005e-01 9.87470416e-01 -1.28500987e-03 1.10550802e+00] [-8.62005138e-03 -7.62285157e-05 9.99962844e-01 3.28025775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.483741732 meters 0.02677143668753084 Centerline is valid? [True, True] Translation: X:-5.10, Y:1.12, Z:0.33 [[ 9.86563191e-01 1.63334322e-01 3.86903020e-03 -5.10412787e+00] [-1.63333303e-01 9.86570776e-01 -5.80058289e-04 1.12282959e+00] [-3.91181555e-03 -5.96773255e-05 9.99992347e-01 3.28831212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.543741732 meters 0.03243600137788624 Centerline is valid? [True, True] Translation: X:-5.16, Y:1.14, Z:0.33 [[ 9.84896269e-01 1.73033143e-01 6.23458816e-03 -5.16278532e+00] [-1.73030697e-01 9.84915989e-01 -9.33629790e-04 1.14404026e+00] [-6.30209446e-03 -1.59246638e-04 9.99980129e-01 3.31730810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6037417320000005 meters 0.0344309857517861 Centerline is valid? [True, True] Translation: X:-5.22, Y:1.16, Z:0.33 [[ 9.84154947e-01 1.77164897e-01 7.18599819e-03 -5.22324778e+00] [-1.77161719e-01 9.84181160e-01 -1.08156556e-03 1.16225628e+00] [-7.26393949e-03 -2.08655694e-04 9.99973595e-01 3.33273738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.663741732 meters 0.031773852377316746 Centerline is valid? [True, True] Translation: X:-5.28, Y:1.17, Z:0.34 [[ 9.84618707e-01 1.74629134e-01 5.53773558e-03 -5.28414595e+00] [-1.74627208e-01 9.84634269e-01 -8.33196774e-04 1.17188155e+00] [-5.59814466e-03 -1.46658171e-04 9.99984320e-01 3.37379483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.723741732000001 meters 0.03349502764040592 Centerline is valid? [True, True] Translation: X:-5.35, Y:1.18, Z:0.33 [[ 9.85090863e-01 1.71982777e-01 4.23265552e-03 -5.34516074e+00] [-1.71981624e-01 9.85099951e-01 -6.37753866e-04 1.17817149e+00] [-4.27927143e-03 -9.96934631e-05 9.99990839e-01 3.34540578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.783741732 meters 0.03705753167030212 Centerline is valid? [True, True] Translation: X:-5.40, Y:1.20, Z:0.33 [[ 9.83522303e-01 1.80771217e-01 2.37612165e-03 -5.40440961e+00] [-1.80770889e-01 9.83525170e-01 -3.53834574e-04 1.19576840e+00] [-2.40093856e-03 -8.15294286e-05 9.99997114e-01 3.34827283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.843741732 meters 0.043182908471030707 Centerline is valid? [True, True] Translation: X:-5.46, Y:1.22, Z:0.34 [[ 9.80357052e-01 1.97207656e-01 3.03154331e-03 -5.46259803e+00] [-1.97207200e-01 9.80361727e-01 -4.51569788e-04 1.21748483e+00] [-3.06106205e-03 -1.55142541e-04 9.99995303e-01 3.40088371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.903741732 meters 0.04542649887720737 Centerline is valid? [True, True] Translation: X:-5.52, Y:1.22, Z:0.35 [[ 9.78931494e-01 2.04092056e-01 6.28985437e-03 -5.52229208e+00] [-2.04090247e-01 9.78951632e-01 -9.34892477e-04 1.22132774e+00] [-6.34826732e-03 -3.68502241e-04 9.99979782e-01 3.45312042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.963741732 meters 0.04818566089666798 Centerline is valid? [True, True] Translation: X:-5.59, Y:1.21, Z:0.33 [[ 9.79216584e-01 2.02797891e-01 -2.81000994e-03 -5.58601814e+00] [-2.02797529e-01 9.79220603e-01 4.16250556e-04 1.21250439e+00] [ 2.83603436e-03 1.62263624e-04 9.99995965e-01 3.32663659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.023741732 meters 0.049872217716578286 Centerline is valid? [True, True] Translation: X:-5.65, Y:1.20, Z:0.34 [[ 9.77776089e-01 2.09642859e-01 -1.94725835e-03 -5.64864193e+00] [-2.09642696e-01 9.77778020e-01 2.89466433e-04 1.19864387e+00] [ 1.96467098e-03 1.25195133e-04 9.99998062e-01 3.41604577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.083741732 meters 0.04913984387591985 Centerline is valid? [True, True] Translation: X:-5.71, Y:1.17, Z:0.35 [[ 9.78076828e-01 2.08238930e-01 1.50569533e-03 -5.71450095e+00] [-2.08238829e-01 9.78077982e-01 -2.24988639e-04 1.17265661e+00] [-1.51953884e-03 -9.34880586e-05 9.99998841e-01 3.49553877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1437417320000005 meters 0.04885501797191841 Centerline is valid? [True, True] Translation: X:-5.78, Y:1.14, Z:0.35 [[ 9.78582810e-01 2.05825323e-01 -3.40897490e-03 -5.78278277e+00] [-2.05824837e-01 9.78588724e-01 4.96565213e-04 1.13620813e+00] [ 3.43819009e-03 2.15721521e-04 9.99994066e-01 3.45491955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.203741732 meters 0.05105257486644885 Centerline is valid? [True, True] Translation: X:-5.85, Y:1.09, Z:0.35 [[ 9.77565352e-01 2.10621901e-01 2.09695073e-03 -5.85047984e+00] [-2.10621714e-01 9.77567592e-01 -3.12039778e-04 1.09355681e+00] [-2.11563348e-03 -1.36624081e-04 9.99997753e-01 3.54544714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.263741732000001 meters 0.047279563244860906 Centerline is valid? [True, True] Translation: X:-5.92, Y:1.06, Z:0.36 [[ 9.79041045e-01 2.03661712e-01 7.34480239e-04 -5.91652030e+00] [-2.03661687e-01 9.79041319e-01 -1.09675456e-04 1.06302729e+00] [-7.41423193e-04 -4.22087113e-05 9.99999724e-01 3.56297015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.323741732 meters 0.04551730109004381 Centerline is valid? [True, True] Translation: X:-5.98, Y:1.04, Z:0.35 [[ 9.80067765e-01 1.98592228e-01 5.32002507e-03 -5.98044043e+00] [-1.98590854e-01 9.80082164e-01 -7.90668538e-04 1.04012549e+00] [-5.37108231e-03 -2.81599572e-04 9.99985536e-01 3.53701703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.383741732 meters 0.04233436939458734 Centerline is valid? [True, True] Translation: X:-6.05, Y:1.02, Z:0.36 [[ 9.80382727e-01 1.97081613e-01 2.92326668e-03 -6.04736511e+00] [-1.97081169e-01 9.80387075e-01 -4.42006664e-04 1.02132063e+00] [-2.95304426e-03 -1.42785116e-04 9.99995630e-01 3.57603840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.443741732 meters 0.04758080285511889 Centerline is valid? [True, True] Translation: X:-6.11, Y:1.02, Z:0.35 [[ 9.79261230e-01 2.02554091e-01 4.39124995e-03 -6.10944501e+00] [-2.02553209e-01 9.79271043e-01 -6.49395683e-04 1.01685163e+00] [-4.43176167e-03 -2.53533751e-04 9.99990148e-01 3.54955983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.503741732 meters 0.04942627475389826 Centerline is valid? [True, True] Translation: X:-6.17, Y:1.01, Z:0.35 [[ 9.78172916e-01 2.07724715e-01 5.30927441e-03 -6.17158059e+00] [-2.07723504e-01 9.78187267e-01 -7.84660147e-04 1.00945401e+00] [-5.35645794e-03 -3.35327781e-04 9.99985598e-01 3.54671144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.563741732 meters 0.04650009061540859 Centerline is valid? [True, True] Translation: X:-6.23, Y:1.00, Z:0.36 [[ 9.79189413e-01 2.02748864e-01 8.99952049e-03 -6.23461446e+00] [-2.02745176e-01 9.79230629e-01 -1.32981421e-03 9.95249063e-01] [-9.08222443e-03 -5.22469371e-04 9.99958619e-01 3.62594782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.623741732 meters 0.042624606577709584 Centerline is valid? [True, True] Translation: X:-6.30, Y:0.98, Z:0.36 [[ 9.80814026e-01 1.94861972e-01 5.71464750e-03 -6.29873384e+00] [-1.94860353e-01 9.80830633e-01 -8.44237976e-04 9.78254744e-01] [-5.76961120e-03 -2.85517779e-04 9.99983315e-01 3.58218375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6837417320000005 meters 0.04314092189057138 Centerline is valid? [True, True] Translation: X:-6.36, Y:0.98, Z:0.36 [[ 9.81044978e-01 1.93663803e-01 6.71435117e-03 -6.36068965e+00] [-1.93661517e-01 9.81067901e-01 -9.95176458e-04 9.80637184e-01] [-6.77996407e-03 -3.23998568e-04 9.99976963e-01 3.60485900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.743741732 meters 0.04466972380994459 Centerline is valid? [True, True] Translation: X:-6.42, Y:0.99, Z:0.36 [[ 9.80985934e-01 1.93887305e-01 8.62038741e-03 -6.42299219e+00] [-1.93883580e-01 9.81023718e-01 -1.27374204e-03 9.86201233e-01] [-8.70376692e-03 -4.21828549e-04 9.99962033e-01 3.64084363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.803741732 meters 0.039476398696612555 Centerline is valid? [True, True] Translation: X:-6.48, Y:0.98, Z:0.36 [[ 9.81116028e-01 1.93417104e-01 1.07828854e-03 -6.48411033e+00] [-1.93417045e-01 9.81116620e-01 -1.59627133e-04 9.84221589e-01] [-1.08880142e-03 -5.19466433e-05 9.99999406e-01 3.63709030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.863741732 meters 0.04240756453177946 Centerline is valid? [True, True] Translation: X:-6.54, Y:0.99, Z:0.37 [[ 9.81617044e-01 1.90636396e-01 9.25977813e-03 -6.54495682e+00] [-1.90631978e-01 9.81660626e-01 -1.36552266e-03 9.85238631e-01] [-9.35027791e-03 -4.24789505e-04 9.99956195e-01 3.71761200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.923741732 meters 0.040353539423599656 Centerline is valid? [True, True] Translation: X:-6.61, Y:0.99, Z:0.38 [[ 9.81836235e-01 1.89505515e-01 9.23408811e-03 -6.60674226e+00] [-1.89501057e-01 9.81879570e-01 -1.36335498e-03 9.90366583e-01] [-9.32512575e-03 -4.11278137e-04 9.99956435e-01 3.76031033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.983741732 meters 0.042519975768680975 Centerline is valid? [True, True] Translation: X:-6.67, Y:1.00, Z:0.37 [[ 9.81438593e-01 1.91614372e-01 7.88796121e-03 -6.66772593e+00] [-1.91611189e-01 9.81470222e-01 -1.16441613e-03 1.00196314e+00] [-7.96491791e-03 -3.68618695e-04 9.99968212e-01 3.74756872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.043741732 meters 0.03934352590880809 Centerline is valid? [True, True] Translation: X:-6.73, Y:1.02, Z:0.38 [[ 9.81113157e-01 1.93377397e-01 4.70701339e-03 -6.72717098e+00] [-1.93376286e-01 9.81124421e-01 -6.94328661e-04 1.01503219e+00] [-4.75243326e-03 -2.29009783e-04 9.99988681e-01 3.77740832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1037417320000005 meters 0.041593455447139265 Centerline is valid? [True, True] Translation: X:-6.79, Y:1.03, Z:0.38 [[ 9.81523821e-01 1.91200151e-01 7.31377553e-03 -6.78661337e+00] [-1.91197420e-01 9.81551010e-01 -1.07739411e-03 1.02804297e+00] [-7.38484168e-03 -3.40887027e-04 9.99972674e-01 3.78552670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.163741732 meters 0.04097381271071111 Centerline is valid? [True, True] Translation: X:-6.85, Y:1.04, Z:0.38 [[ 9.82237505e-01 1.87579870e-01 4.82453944e-03 -6.84770282e+00] [-1.87578630e-01 9.82249332e-01 -7.12374541e-04 1.03885778e+00] [-4.87252776e-03 -2.05259505e-04 9.99988108e-01 3.76381479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.223741732 meters 0.03284244822556569 Centerline is valid? [True, True] Translation: X:-6.91, Y:1.04, Z:0.38 [[ 9.83343084e-01 1.81704128e-01 4.47098617e-03 -6.90766394e+00] [-1.81703012e-01 9.83353234e-01 -6.57864199e-04 1.04034830e+00] [-4.51609535e-03 -1.65485446e-04 9.99989789e-01 3.84498669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.283741732 meters 0.037681143540164753 Centerline is valid? [True, True] Translation: X:-6.97, Y:1.06, Z:0.39 [[ 9.83983981e-01 1.78030116e-01 8.98906936e-03 -6.96646834e+00] [-1.78025444e-01 9.84024994e-01 -1.32372080e-03 1.05652043e+00] [-9.08113109e-03 -2.97762999e-04 9.99958721e-01 3.86103829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.343741732 meters 0.03792594819971314 Centerline is valid? [True, True] Translation: X:-7.02, Y:1.08, Z:0.39 [[ 9.83687893e-01 1.79546749e-01 1.10042556e-02 -7.02492903e+00] [-1.79539850e-01 9.83749368e-01 -1.61979664e-03 1.07563933e+00] [-1.11162587e-02 -3.82328051e-04 9.99938139e-01 3.90274736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.403741732 meters 0.037425800654558694 Centerline is valid? [True, True] Translation: X:-7.08, Y:1.10, Z:0.38 [[ 9.83747164e-01 1.79470927e-01 5.63054607e-03 -7.08435416e+00] [-1.79469119e-01 9.83763258e-01 -8.28878033e-04 1.09526691e+00] [-5.68788386e-03 -1.95102730e-04 9.99983805e-01 3.84776287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.463741732 meters 0.03562420790609037 Centerline is valid? [True, True] Translation: X:-7.14, Y:1.11, Z:0.39 [[ 9.84791918e-01 1.73585545e-01 7.27580714e-03 -7.14258735e+00] [-1.73582364e-01 9.84818773e-01 -1.07128862e-03 1.10864443e+00] [-7.35131168e-03 -2.07955425e-04 9.99972957e-01 3.90508254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.523741732 meters 0.0317339866774701 Centerline is valid? [True, True] Translation: X:-7.20, Y:1.12, Z:0.40 [[ 9.85459147e-01 1.69777593e-01 6.77040474e-03 -7.20292264e+00] [-1.69774751e-01 9.85482390e-01 -9.96586620e-04 1.12335081e+00] [-6.84131272e-03 -1.67348375e-04 9.99976584e-01 3.98965704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.583741732 meters 0.031374259653019695 Centerline is valid? [True, True] Translation: X:-7.26, Y:1.14, Z:0.39 [[ 9.85794702e-01 1.67901389e-01 4.23431333e-03 -7.26311349e+00] [-1.67900257e-01 9.85803791e-01 -6.23913627e-04 1.14211670e+00] [-4.27895810e-03 -9.58915488e-05 9.99990841e-01 3.94407618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6437417320000005 meters 0.031203516262382134 Centerline is valid? [True, True] Translation: X:-7.32, Y:1.17, Z:0.40 [[ 9.84794906e-01 1.73690092e-01 3.27795616e-03 -7.32111680e+00] [-1.73689446e-01 9.84800357e-01 -4.82745652e-04 1.17069007e+00] [-3.31198053e-03 -9.39409315e-05 9.99994511e-01 4.01640690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.703741732 meters 0.03748825403557641 Centerline is valid? [True, True] Translation: X:-7.38, Y:1.20, Z:0.41 [[ 9.83304332e-01 1.81868356e-01 6.04084352e-03 -7.37806883e+00] [-1.81866337e-01 9.83322861e-01 -8.86514530e-04 1.20137871e+00] [-6.10132848e-03 -2.26912508e-04 9.99981361e-01 4.06199465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.763741732 meters 0.04165754469252594 Centerline is valid? [True, True] Translation: X:-7.44, Y:1.23, Z:0.40 [[ 9.82193888e-01 1.87784278e-01 5.67728099e-03 -7.43593246e+00] [-1.87782594e-01 9.82210264e-01 -8.33053073e-04 1.22917002e+00] [-5.73271793e-03 -2.47874914e-04 9.99983537e-01 4.03541993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.823741732 meters 0.04175614521065257 Centerline is valid? [True, True] Translation: X:-7.50, Y:1.25, Z:0.41 [[ 9.82072045e-01 1.88416709e-01 5.80020840e-03 -7.49504156e+00] [-1.88414928e-01 9.82089141e-01 -8.56891968e-04 1.24897965e+00] [-5.85777445e-03 -2.51316200e-04 9.99982812e-01 4.10866607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.883741732 meters 0.03817598136330471 Centerline is valid? [True, True] Translation: X:-7.55, Y:1.26, Z:0.41 [[ 9.82726624e-01 1.85053813e-01 1.86237825e-03 -7.55465165e+00] [-1.85053613e-01 9.82728386e-01 -2.80281808e-04 1.26303770e+00] [-1.88207919e-03 -6.91994292e-05 9.99998226e-01 4.13829479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.943741732 meters 0.043137299445862615 Centerline is valid? [True, True] Translation: X:-7.61, Y:1.29, Z:0.41 [[ 9.82854359e-01 1.84352995e-01 3.35884175e-03 -7.61403932e+00] [-1.84352366e-01 9.82860090e-01 -4.98687144e-04 1.28656433e+00] [-3.39320598e-03 -1.29073590e-04 9.99994235e-01 4.09984713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.003741732 meters 0.037055404036753004 Centerline is valid? [True, True] Translation: X:-7.67, Y:1.30, Z:0.41 [[ 9.83223721e-01 1.82396867e-01 -1.58023367e-03 -7.67424657e+00] [-1.82396745e-01 9.83224989e-01 2.21775428e-04 1.29681853e+00] [ 1.59417638e-03 7.01746167e-05 9.99998727e-01 4.13376558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.063741731999999 meters 0.0398269495697995 Centerline is valid? [True, True] Translation: X:-7.73, Y:1.31, Z:0.42 [[ 9.83674230e-01 1.79958223e-01 2.14978258e-04 -7.73466807e+00] [-1.79958221e-01 9.83674254e-01 -3.25439954e-05 1.30598866e+00] [-2.17325137e-04 -6.67441521e-06 9.99999976e-01 4.16193805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.123741732 meters 0.036658895996483074 Centerline is valid? [True, True] Translation: X:-7.80, Y:1.32, Z:0.43 [[ 9.83961848e-01 1.78370444e-01 1.75086389e-03 -7.79538973e+00] [-1.78370269e-01 9.83963404e-01 -2.57108658e-04 1.31760929e+00] [-1.76864658e-03 -5.93169526e-05 9.99998434e-01 4.25137347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.183741732 meters 0.03865097988798632 Centerline is valid? [True, True] Translation: X:-7.86, Y:1.34, Z:0.43 [[ 9.83392057e-01 1.81493523e-01 4.02961835e-04 -7.85501550e+00] [-1.81493513e-01 9.83392140e-01 -6.05003767e-05 1.33794221e+00] [-4.07249928e-04 -1.36393692e-05 9.99999917e-01 4.25311064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.243741731999998 meters 0.04197930622882799 Centerline is valid? [True, True] Translation: X:-7.91, Y:1.36, Z:0.42 [[ 9.82879122e-01 1.84213717e-01 -3.73322497e-03 -7.91367177e+00] [-1.84212987e-01 9.82886200e-01 5.41599397e-04 1.35687842e+00] [ 3.76910534e-03 1.55381781e-04 9.99992885e-01 4.21829470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.303741731999999 meters 0.039118487636290916 Centerline is valid? [True, True] Translation: X:-7.97, Y:1.37, Z:0.43 [[ 9.83274461e-01 1.82110323e-01 -2.67686794e-03 -7.97284606e+00] [-1.82109962e-01 9.83278098e-01 3.79996471e-04 1.37208322e+00] [ 2.70130689e-03 1.13843493e-04 9.99996345e-01 4.31222706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.363741732 meters 0.03793272083708554 Centerline is valid? [True, True] Translation: X:-8.03, Y:1.38, Z:0.42 [[ 9.84305305e-01 1.76365951e-01 -6.17396729e-03 -8.03460794e+00] [-1.76363869e-01 9.84324643e-01 8.84441431e-04 1.38250531e+00] [ 6.23317350e-03 2.18304362e-04 9.99980550e-01 4.24654892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.423741732 meters 0.03866278551689266 Centerline is valid? [True, True] Translation: X:-8.10, Y:1.38, Z:0.42 [[ 9.85542684e-01 1.69278703e-01 -7.09495029e-03 -8.09630272e+00] [-1.69275706e-01 9.85568204e-01 1.02522702e-03 1.38402306e+00] [ 7.16610651e-03 1.90597730e-04 9.99974305e-01 4.22521405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.483741731999999 meters 0.032444345208442735 Centerline is valid? [True, True] Translation: X:-8.16, Y:1.39, Z:0.43 [[ 9.85727568e-01 1.68206765e-01 -6.90262070e-03 -8.15768401e+00] [-1.68203970e-01 9.85751718e-01 9.87547541e-04 1.39434938e+00] [ 6.97038238e-03 1.87595372e-04 9.99975689e-01 4.33955926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.543741731999999 meters 0.0349708336012507 Centerline is valid? [True, True] Translation: X:-8.22, Y:1.41, Z:0.43 [[ 9.85008778e-01 1.72415919e-01 -5.51884423e-03 -8.21798374e+00] [-1.72414217e-01 9.85024223e-01 7.86193299e-04 1.41152667e+00] [ 5.57174749e-03 1.77119907e-04 9.99984462e-01 4.32063320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.603741732 meters 0.03827184963537274 Centerline is valid? [True, True] Translation: X:-8.28, Y:1.43, Z:0.44 [[ 9.84182750e-01 1.77095485e-01 -4.63728798e-03 -8.27707253e+00] [-1.77094307e-01 9.84193661e-01 6.66664155e-04 1.42812096e+00] [ 4.68205265e-03 1.65117943e-04 9.99989025e-01 4.39776749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.663741732 meters 0.03830991298162172 Centerline is valid? [True, True] Translation: X:-8.34, Y:1.45, Z:0.44 [[ 9.83155505e-01 1.82557220e-01 -8.83821521e-03 -8.33522955e+00] [-1.82553150e-01 9.83195164e-01 1.27199338e-03 1.45375079e+00] [ 8.92190202e-03 3.62876728e-04 9.99960133e-01 4.36775764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.723741731999999 meters 0.040198900775654405 Centerline is valid? [True, True] Translation: X:-8.39, Y:1.48, Z:0.44 [[ 9.82770878e-01 1.84563027e-01 -9.89399361e-03 -8.39456586e+00] [-1.84558044e-01 9.82820587e-01 1.42224116e-03 1.47560046e+00] [ 9.98651374e-03 4.28278909e-04 9.99950042e-01 4.35460724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.783741732 meters 0.042495667870810744 Centerline is valid? [True, True] Translation: X:-8.46, Y:1.49, Z:0.43 [[ 9.83152640e-01 1.82519929e-01 -9.86724437e-03 -8.45574570e+00] [-1.82514972e-01 9.83202066e-01 1.40824077e-03 1.49110786e+00] [ 9.95852706e-03 4.16404193e-04 9.99950326e-01 4.30261443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.843741732 meters 0.04096549512204733 Centerline is valid? [True, True] Translation: X:-8.52, Y:1.50, Z:0.43 [[ 9.83635463e-01 1.79859766e-01 -1.05707270e-02 -8.51752582e+00] [-1.79853945e-01 9.83692172e-01 1.50660449e-03 1.49842703e+00] [ 1.06693189e-02 4.19237339e-04 9.99942993e-01 4.33825829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.903741731999999 meters 0.04080986295813044 Centerline is valid? [True, True] Translation: X:-8.58, Y:1.51, Z:0.43 [[ 9.83275072e-01 1.81627108e-01 -1.34806040e-02 -8.57691612e+00] [-1.81617654e-01 9.83367324e-01 1.93246720e-03 1.51174197e+00] [ 1.36073739e-02 5.48168857e-04 9.99907265e-01 4.31608747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.963741731999999 meters 0.04166969429244049 Centerline is valid? [True, True] Translation: X:-8.64, Y:1.52, Z:0.44 [[ 9.83217075e-01 1.82245648e-01 -8.40876122e-03 -8.63669120e+00] [-1.82242000e-01 9.83252970e-01 1.20458951e-03 1.52403917e+00] [ 8.48747064e-03 3.48056482e-04 9.99963920e-01 4.37361897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.023741732 meters 0.041202209100035116 Centerline is valid? [True, True] Translation: X:-8.70, Y:1.54, Z:0.44 [[ 9.83297401e-01 1.81791606e-01 -8.83360853e-03 -8.69716851e+00] [-1.81787658e-01 9.83337009e-01 1.25456150e-03 1.53814627e+00] [ 8.91448294e-03 3.72233942e-04 9.99960196e-01 4.37350089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.083741732 meters 0.03890967671090992 Centerline is valid? [True, True] Translation: X:-8.76, Y:1.54, Z:0.44 [[ 9.83873131e-01 1.78559198e-01 -1.05012020e-02 -8.75841787e+00] [-1.78553446e-01 9.83929086e-01 1.49031162e-03 1.54448015e+00] [ 1.05985469e-02 4.08748235e-04 9.99943750e-01 4.41847182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.143741731999999 meters 0.03920589472542499 Centerline is valid? [True, True] Translation: X:-8.82, Y:1.56, Z:0.44 [[ 9.84484929e-01 1.75129474e-01 -1.09129525e-02 -8.81935027e+00] [-1.75123092e-01 9.84545334e-01 1.54510180e-03 1.55807136e+00] [ 1.10148893e-02 3.89980544e-04 9.99939258e-01 4.36714436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.203741732 meters 0.04191218846611234 Centerline is valid? [True, True] Translation: X:-8.88, Y:1.58, Z:0.44 [[ 9.83008548e-01 1.83263142e-01 -1.04314156e-02 -8.87717826e+00] [-1.83257672e-01 9.83063791e-01 1.48605486e-03 1.57871956e+00] [ 1.05270861e-02 4.50832317e-04 9.99944487e-01 4.41803119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.263741732 meters 0.051678734997365354 Centerline is valid? [True, True] Translation: X:-8.93, Y:1.61, Z:0.44 [[ 9.79480524e-01 2.00931730e-01 -1.56314503e-02 -8.93484973e+00] [-2.00921702e-01 9.79604776e-01 2.22551192e-03 1.60641933e+00] [ 1.57598194e-02 9.60852025e-04 9.99875345e-01 4.37169621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.323741731999998 meters 0.055906635102831975 Centerline is valid? [True, True] Translation: X:-8.99, Y:1.62, Z:0.44 [[ 9.75910014e-01 2.17758011e-01 -1.34571086e-02 -8.99329166e+00] [-2.17752163e-01 9.76002215e-01 1.91614053e-03 1.61659726e+00] [ 1.35514227e-02 1.06033377e-03 9.99907613e-01 4.42721014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.383741731999999 meters 0.05477729587971167 Centerline is valid? [True, True] Translation: X:-9.06, Y:1.60, Z:0.44 [[ 9.77614807e-01 2.10094280e-01 -1.13878413e-02 -9.05608934e+00] [-2.10089578e-01 9.77680797e-01 1.62103881e-03 1.60433363e+00] [ 1.14742447e-02 8.07715230e-04 9.99933842e-01 4.44022132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.443741732 meters 0.04707261183830444 Centerline is valid? [True, True] Translation: X:-9.12, Y:1.58, Z:0.45 [[ 9.79997582e-01 1.98590710e-01 -1.29022979e-02 -9.12011057e+00] [-1.98583671e-01 9.80082216e-01 1.83732797e-03 1.57664777e+00] [ 1.30101890e-02 7.61608710e-04 9.99915074e-01 4.47055214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.503741732 meters 0.05171626858103787 Centerline is valid? [True, True] Translation: X:-9.18, Y:1.56, Z:0.45 [[ 9.78810579e-01 2.04611584e-01 -7.99686687e-03 -9.18456424e+00] [-2.04609109e-01 9.78843105e-01 1.13514418e-03 1.56290934e+00] [ 8.05994165e-03 5.25140671e-04 9.99967380e-01 4.45223352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.563741731999999 meters 0.0511657213925548 Centerline is valid? [True, True] Translation: X:-9.25, Y:1.54, Z:0.45 [[ 9.77530700e-01 2.10619061e-01 -8.56392987e-03 -9.24874415e+00] [-2.10616430e-01 9.77568021e-01 1.21818288e-03 1.54215766e+00] [ 8.62839651e-03 6.12893173e-04 9.99962587e-01 4.46524113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.623741732 meters 0.05346243519539073 Centerline is valid? [True, True] Translation: X:-9.31, Y:1.53, Z:0.44 [[ 9.78179743e-01 2.07696279e-01 -5.16191542e-03 -9.31265759e+00] [-2.07695283e-01 9.78193299e-01 7.34147904e-04 1.52636077e+00] [ 5.20183086e-03 3.53976874e-04 9.99986408e-01 4.43013529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.683741732 meters 0.05294469400676406 Centerline is valid? [True, True] Translation: X:-9.37, Y:1.52, Z:0.44 [[ 9.78589005e-01 2.05781830e-01 -4.17107314e-03 -9.37436186e+00] [-2.05781165e-01 9.78597855e-01 5.92744244e-04 1.52373207e+00] [ 4.20377922e-03 2.78275288e-04 9.99991125e-01 4.42580718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.743741731999998 meters 0.04886330910525988 Centerline is valid? [True, True] Translation: X:-9.44, Y:1.51, Z:0.44 [[ 9.79544072e-01 2.01211596e-01 -2.70276334e-03 -9.43634820e+00] [-2.01211297e-01 9.79547786e-01 3.84857080e-04 1.51055126e+00] [ 2.72492355e-03 1.66842045e-04 9.99996273e-01 4.44642190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.803741731999999 meters 0.052100374561222317 Centerline is valid? [True, True] Translation: X:-9.50, Y:1.51, Z:0.45 [[ 9.80007884e-01 1.98958658e-01 -1.32603966e-05 -9.49901936e+00] [-1.98958658e-01 9.80007884e-01 6.38517658e-07 1.50547905e+00] [ 1.31223318e-05 2.01251837e-06 1.00000000e+00 4.46447120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.863741732 meters 0.047495675225083675 Centerline is valid? [True, True] Translation: X:-9.56, Y:1.50, Z:0.45 [[ 9.79430142e-01 2.01749905e-01 -3.68421498e-03 -9.56059182e+00] [-2.01749354e-01 9.79437044e-01 5.24380196e-04 1.49787338e+00] [ 3.71425029e-03 2.29694223e-04 9.99993076e-01 4.49618418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.923741732 meters 0.05167767941415883 Centerline is valid? [True, True] Translation: X:-9.62, Y:1.50, Z:0.45 [[ 9.79011165e-01 2.03805129e-01 -7.79864971e-04 -9.62310218e+00] [-2.03805112e-01 9.79011474e-01 1.02009891e-04 1.49751868e+00] [ 7.84286893e-04 5.90716461e-05 9.99999691e-01 4.49991326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.983741731999999 meters 0.049941469951158446 Centerline is valid? [True, True] Translation: X:-9.69, Y:1.49, Z:0.45 [[ 9.79837314e-01 1.99796975e-01 8.69569012e-05 -9.68547489e+00] [-1.99796974e-01 9.79837318e-01 -1.25557072e-05 1.49154387e+00] [-8.77122092e-05 -5.07117532e-06 9.99999996e-01 4.53423920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.043741731999999 meters 0.04847897390986084 Centerline is valid? [True, True] Translation: X:-9.75, Y:1.49, Z:0.45 [[ 9.80238515e-01 1.97800333e-01 -2.73537056e-03 -9.74905740e+00] [-1.97800025e-01 9.80242318e-01 3.85595890e-04 1.48939161e+00] [ 2.75759697e-03 1.63080421e-04 9.99996185e-01 4.52544884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.103741732 meters 0.046331019542252834 Centerline is valid? [True, True] Translation: X:-9.81, Y:1.48, Z:0.46 [[ 9.80916745e-01 1.94421027e-01 -1.67423801e-03 -9.81067061e+00] [-1.94420905e-01 9.80918170e-01 2.36857204e-04 1.48349486e+00] [ 1.68834051e-03 9.31696723e-05 9.99998570e-01 4.60185074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.163741731999998 meters 0.04361229102553293 Centerline is valid? [True, True] Translation: X:-9.87, Y:1.48, Z:0.46 [[ 9.81973149e-01 1.88956637e-01 -4.91167091e-03 -9.87259150e+00] [-1.88955517e-01 9.81985402e-01 6.95208021e-04 1.48288541e+00] [ 4.95455330e-03 2.45411707e-04 9.99987696e-01 4.59464096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.223741731999999 meters 0.042142009482640394 Centerline is valid? [True, True] Translation: X:-9.93, Y:1.48, Z:0.46 [[ 9.83105196e-01 1.83038015e-01 -1.12178879e-03 -9.93444566e+00] [-1.83037954e-01 9.83105835e-01 1.58112883e-04 1.47992898e+00] [ 1.13177777e-03 4.98883275e-05 9.99999358e-01 4.62855971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.283741732 meters 0.041109295389268566 Centerline is valid? [True, True] Translation: X:-10.00, Y:1.49, Z:0.47 [[ 9.83027809e-01 1.83450959e-01 -1.43943555e-03 -9.99605922e+00] [-1.83450860e-01 9.83028861e-01 2.01433671e-04 1.49001975e+00] [ 1.45195989e-03 6.60507894e-05 9.99998944e-01 4.68748345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.343741732 meters 0.04263215548585963 Centerline is valid? [True, True] Translation: X:-10.06, Y:1.50, Z:0.47 [[ 9.82183220e-01 1.87906103e-01 -2.72383495e-03 -1.00557184e+01] [-1.87905755e-01 9.82186988e-01 3.85259288e-04 1.50357343e+00] [ 2.74770782e-03 1.33429055e-04 9.99996216e-01 4.70341756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.403741731999999 meters 0.04353689173349579 Centerline is valid? [True, True] Translation: X:-10.11, Y:1.52, Z:0.47 [[ 9.81465384e-01 1.91470345e-01 -8.05032107e-03 -1.01149699e+01] [-1.91467414e-01 9.81498308e-01 1.14046016e-03 1.51642713e+00] [ 8.11974081e-03 4.22051986e-04 9.99966945e-01 4.66451785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.463741731999999 meters 0.045185802984746025 Centerline is valid? [True, True] Translation: X:-10.17, Y:1.53, Z:0.47 [[ 9.81668934e-01 1.90574057e-01 -2.76279912e-03 -1.01749392e+01] [-1.90573710e-01 9.81672811e-01 3.90707728e-04 1.52743382e+00] [ 2.78662354e-03 1.42971239e-04 9.99996107e-01 4.72584553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.523741732 meters 0.04219124288262142 Centerline is valid? [True, True] Translation: X:-10.24, Y:1.54, Z:0.48 [[ 9.82079759e-01 1.88370853e-01 -5.98070393e-03 -1.02359305e+01] [-1.88369196e-01 9.82097924e-01 8.44170284e-04 1.53709053e+00] [ 6.03265400e-03 2.97537845e-04 9.99981759e-01 4.75233155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.583741731999998 meters 0.040963198046376215 Centerline is valid? [True, True] Translation: X:-10.30, Y:1.54, Z:0.47 [[ 9.83613089e-01 1.80228471e-01 -4.79474497e-03 -1.02968779e+01] [-1.80227307e-01 9.83624755e-01 6.77186800e-04 1.54093391e+00] [ 4.83827819e-03 1.98054175e-04 9.99988276e-01 4.74650004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.643741731999999 meters 0.03762665239033898 Centerline is valid? [True, True] Translation: X:-10.36, Y:1.55, Z:0.49 [[ 9.83857036e-01 1.78954309e-01 -8.29862992e-04 -1.03565666e+01] [-1.78954274e-01 9.83857385e-01 1.16809829e-04 1.55244075e+00] [ 8.37370456e-04 3.35833575e-05 9.99999649e-01 4.85950135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.703741732 meters 0.03950508107386804 Centerline is valid? [True, True] Translation: X:-10.41, Y:1.57, Z:0.48 [[ 9.83094482e-01 1.83008254e-01 -5.76356723e-03 -1.04149856e+01] [-1.83006612e-01 9.83111344e-01 8.15478881e-04 1.57104919e+00] [ 5.81546769e-03 2.53078126e-04 9.99983058e-01 4.81484977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.763741732 meters 0.041528239704672926 Centerline is valid? [True, True] Translation: X:-10.47, Y:1.58, Z:0.49 [[ 9.82382692e-01 1.86879412e-01 -5.76604038e-04 -1.04746973e+01] [-1.86879398e-01 9.82382860e-01 7.96305477e-05 1.58444188e+00] [ 5.81327234e-04 2.95277435e-05 9.99999831e-01 4.93170130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.823741731999998 meters 0.04716796874210072 Centerline is valid? [True, True] Translation: X:-10.53, Y:1.61, Z:0.48 [[ 9.81419807e-01 1.91779066e-01 -5.99608244e-03 -1.05330251e+01] [-1.91777458e-01 9.81438072e-01 8.47288720e-04 1.61110298e+00] [ 6.04727583e-03 3.18367519e-04 9.99981664e-01 4.82130090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.883741731999999 meters 0.0447750120476813 Centerline is valid? [True, True] Translation: X:-10.59, Y:1.62, Z:0.48 [[ 9.82520734e-01 1.86037224e-01 -6.56955377e-03 -1.05934704e+01] [-1.86035164e-01 9.82542648e-01 9.28704072e-04 1.61682719e+00] [ 6.62764029e-03 3.09697006e-04 9.99977989e-01 4.83534519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.943741732 meters 0.037786087579767445 Centerline is valid? [True, True] Translation: X:-10.65, Y:1.62, Z:0.50 [[ 9.83991318e-01 1.78213690e-01 9.83544357e-04 -1.06530515e+01] [-1.78213640e-01 9.83991808e-01 -1.39171799e-04 1.62325448e+00] [-9.92601910e-04 -3.83371780e-05 9.99999507e-01 4.97592583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.003741732 meters 0.041009239679668304 Centerline is valid? [True, True] Translation: X:-10.71, Y:1.64, Z:0.49 [[ 9.83135740e-01 1.82693875e-01 -8.18937356e-03 -1.07108631e+01] [-1.82690559e-01 9.83169782e-01 1.15742453e-03 1.64203274e+00] [ 8.26299899e-03 3.58215815e-04 9.99965797e-01 4.93869187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.063741731999999 meters 0.04062143937389039 Centerline is valid? [True, True] Translation: X:-10.77, Y:1.66, Z:0.51 [[ 9.81979968e-01 1.88941475e-01 -4.05715750e-03 -1.07697445e+01] [-1.88940720e-01 9.81988328e-01 5.72188550e-04 1.66022104e+00] [ 4.09219146e-03 2.04684564e-04 9.99991606e-01 5.05845174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.123741732 meters 0.04728826506967117 Centerline is valid? [True, True] Translation: X:-10.83, Y:1.68, Z:0.50 [[ 9.81358951e-01 1.92066055e-01 -6.72612011e-03 -1.08286382e+01] [-1.92064043e-01 9.81381934e-01 9.49907512e-04 1.67899810e+00] [ 6.78333775e-03 3.59645582e-04 9.99976928e-01 4.96166809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.183741732 meters 0.041731800639401836 Centerline is valid? [True, True] Translation: X:-10.89, Y:1.69, Z:0.51 [[ 9.82235832e-01 1.87623662e-01 -3.18313449e-03 -1.08882745e+01] [-1.87623188e-01 9.82240977e-01 4.49647873e-04 1.68829474e+00] [ 3.21096971e-03 1.55569588e-04 9.99994833e-01 5.10477726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.243741731999998 meters 0.0406803327987295 Centerline is valid? [True, True] Translation: X:-10.95, Y:1.69, Z:0.50 [[ 9.83831918e-01 1.78993619e-01 -6.00338917e-03 -1.09492395e+01] [-1.78991770e-01 9.83850205e-01 8.48116524e-04 1.69186033e+00] [ 6.05824311e-03 2.40153148e-04 9.99981620e-01 5.02231711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.303741731999999 meters 0.03910755391993263 Centerline is valid? [True, True] Translation: X:-11.01, Y:1.70, Z:0.50 [[ 9.84640863e-01 1.74456065e-01 -6.88855136e-03 -1.10106068e+01] [-1.74453529e-01 9.84664929e-01 9.71877114e-04 1.69776889e+00] [ 6.95246479e-03 2.44782178e-04 9.99975801e-01 5.04436210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.363741732 meters 0.03784155731856123 Centerline is valid? [True, True] Translation: X:-11.07, Y:1.72, Z:0.51 [[ 9.83938843e-01 1.78291241e-01 -8.75140176e-03 -1.10694718e+01] [-1.78287294e-01 9.83977700e-01 1.23547515e-03 1.71537811e+00] [ 8.83145858e-03 3.44631751e-04 9.99960943e-01 5.08957906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.423741732 meters 0.04209951738984113 Centerline is valid? [True, True] Translation: X:-11.13, Y:1.74, Z:0.51 [[ 9.82318195e-01 1.87052791e-01 -7.88778417e-03 -1.11273931e+01] [-1.87049861e-01 9.82349789e-01 1.11409739e-03 1.73686947e+00] [ 7.95695814e-03 3.81010797e-04 9.99968270e-01 5.12939248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.483741731999999 meters 0.04588315026106861 Centerline is valid? [True, True] Translation: X:-11.19, Y:1.75, Z:0.51 [[ 9.81780911e-01 1.89861027e-01 -7.68332517e-03 -1.11868735e+01] [-1.89858345e-01 9.81810895e-01 1.08368064e-03 1.75459266e+00] [ 7.74932109e-03 3.94806433e-04 9.99969896e-01 5.13528510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.543741731999999 meters 0.042107903751042695 Centerline is valid? [True, True] Translation: X:-11.25, Y:1.76, Z:0.52 [[ 9.83493701e-01 1.80897480e-01 -4.03014973e-03 -1.12479497e+01] [-1.80896665e-01 9.83501943e-01 5.68879155e-04 1.75669016e+00] [ 4.06656889e-03 1.69551581e-04 9.99991717e-01 5.18018838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.603741732 meters 0.039981021373081335 Centerline is valid? [True, True] Translation: X:-11.31, Y:1.76, Z:0.51 [[ 9.83717671e-01 1.79323433e-01 -1.19435787e-02 -1.13075317e+01] [-1.79316153e-01 9.83790055e-01 1.68641731e-03 1.76434135e+00] [ 1.20523881e-02 4.82718088e-04 9.99927251e-01 5.13734385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.663741731999998 meters 0.04203967991762273 Centerline is valid? [True, True] Translation: X:-11.37, Y:1.77, Z:0.53 [[ 9.83606345e-01 1.80299785e-01 -3.24744600e-03 -1.13674599e+01] [-1.80299255e-01 9.83611696e-01 4.57578733e-04 1.77450652e+00] [ 3.27672722e-03 1.35434751e-04 9.99994622e-01 5.26687053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.723741731999999 meters 0.039905672278202006 Centerline is valid? [True, True] Translation: X:-11.43, Y:1.79, Z:0.54 [[ 9.83258170e-01 1.82217801e-01 2.10932824e-04 -1.14275355e+01] [-1.82217798e-01 9.83258192e-01 -3.80458142e-05 1.78536054e+00] [-2.14334052e-04 -1.02685699e-06 9.99999977e-01 5.36762570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.783741732 meters 0.04061728110013699 Centerline is valid? [True, True] Translation: X:-11.49, Y:1.80, Z:0.52 [[ 9.83764406e-01 1.79022195e-01 -1.25955312e-02 -1.14867302e+01] [-1.79014125e-01 9.83844904e-01 1.77440332e-03 1.80146774e+00] [ 1.27097067e-02 5.09183163e-04 9.99919099e-01 5.17434400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.843741732 meters 0.03483499887831008 Centerline is valid? [True, True] Translation: X:-11.55, Y:1.80, Z:0.53 [[ 9.85001413e-01 1.72384532e-01 -7.46919304e-03 -1.15463361e+01] [-1.72381501e-01 9.85029700e-01 1.05261645e-03 1.80467073e+00] [ 7.53883178e-03 2.50722018e-04 9.99971551e-01 5.33022127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.903741731999999 meters 0.03957514936497109 Centerline is valid? [True, True] Translation: X:-11.61, Y:1.82, Z:0.53 [[ 9.84662276e-01 1.74465478e-01 -1.41428138e-03 -1.16061053e+01] [-1.74465384e-01 9.84663289e-01 1.90468543e-04 1.82414105e+00] [ 1.42582114e-03 5.91959552e-05 9.99998982e-01 5.33766058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.963741731999999 meters 0.039242916106759416 Centerline is valid? [True, True] Translation: X:-11.67, Y:1.84, Z:0.53 [[ 9.84599561e-01 1.74767927e-01 -4.45824301e-03 -1.16651283e+01] [-1.74766881e-01 9.84609641e-01 6.26181896e-04 1.83960452e+00] [ 4.49906556e-03 1.62614807e-04 9.99989866e-01 5.32633113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.023741732 meters 0.04045844565277009 Centerline is valid? [True, True] Translation: X:-11.72, Y:1.86, Z:0.53 [[ 9.84533783e-01 1.75019862e-01 -7.82796914e-03 -1.17247080e+01] [-1.75016649e-01 9.84564861e-01 1.09896230e-03 1.85853698e+00] [ 7.89948358e-03 2.88059415e-04 9.99968757e-01 5.27528112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.083741731999998 meters 0.03922715623570098 Centerline is valid? [True, True] Translation: X:-11.78, Y:1.88, Z:0.53 [[ 9.84859631e-01 1.73050934e-01 -1.02411405e-02 -1.17847124e+01] [-1.73045431e-01 9.84912808e-01 1.42776723e-03 1.87608855e+00] [ 1.03337069e-02 3.66032263e-04 9.99946539e-01 5.28598918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.143741731999999 meters 0.038455155106502506 Centerline is valid? [True, True] Translation: X:-11.84, Y:1.89, Z:0.54 [[ 9.84993046e-01 1.72438625e-01 -7.32253796e-03 -1.18449904e+01] [-1.72435822e-01 9.85020230e-01 1.01717415e-03 1.88961011e+00] [ 7.38824814e-03 2.60758381e-04 9.99972673e-01 5.35014116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.203741732 meters 0.03898594801792054 Centerline is valid? [True, True] Translation: X:-11.90, Y:1.92, Z:0.54 [[ 9.83584520e-01 1.80285585e-01 -7.65502398e-03 -1.19018340e+01] [-1.80282690e-01 9.83614255e-01 1.07223051e-03 1.91538732e+00] [ 7.72289841e-03 3.25438990e-04 9.99970125e-01 5.42959640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.263741732 meters 0.04452671719711921 Centerline is valid? [True, True] Translation: X:-11.96, Y:1.94, Z:0.53 [[ 9.83023606e-01 1.83159514e-01 -1.08250540e-02 -1.19596797e+01] [-1.83153919e-01 9.83083083e-01 1.51448028e-03 1.94215318e+00] [ 1.09193190e-02 4.93881195e-04 9.99940260e-01 5.33511097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.323741731999998 meters 0.04088440775475956 Centerline is valid? [True, True] Translation: X:-12.02, Y:1.94, Z:0.54 [[ 9.84629472e-01 1.74627335e-01 -3.17742719e-03 -1.20196123e+01] [-1.74626810e-01 9.84634592e-01 4.44013961e-04 1.94091842e+00] [ 3.20614170e-03 1.17674742e-04 9.99994853e-01 5.44818169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.383741731999999 meters 0.044397625594767516 Centerline is valid? [True, True] Translation: X:-12.08, Y:1.96, Z:0.54 [[ 9.83784082e-01 1.79073568e-01 -1.00765348e-02 -1.20783334e+01] [-1.79068505e-01 9.83835598e-01 1.40987755e-03 1.95680352e+00] [ 1.01661254e-02 4.17374925e-04 9.99948237e-01 5.39868061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.443741732 meters 0.04037681255811739 Centerline is valid? [True, True] Translation: X:-12.14, Y:1.97, Z:0.55 [[ 9.83429047e-01 1.81130156e-01 -7.69264214e-03 -1.21396843e+01] [-1.81127359e-01 9.83459072e-01 1.06462186e-03 1.96568932e+00] [ 7.75823383e-03 3.46367895e-04 9.99969844e-01 5.53349266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.503741732 meters 0.045825243051937796 Centerline is valid? [True, True] Translation: X:-12.20, Y:1.98, Z:0.55 [[ 9.82172725e-01 1.87781481e-01 -8.65179982e-03 -1.21980673e+01] [-1.87778108e-01 9.82210733e-01 1.20783998e-03 1.98476508e+00] [ 8.72470062e-03 4.38311114e-04 9.99961843e-01 5.49236046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.563741731999999 meters 0.04195106127612141 Centerline is valid? [True, True] Translation: X:-12.26, Y:1.99, Z:0.55 [[ 9.83206532e-01 1.82130221e-01 -1.15541338e-02 -1.22596133e+01] [-1.82123944e-01 9.83274276e-01 1.60193702e-03 1.98918621e+00] [ 1.16526437e-02 5.29249476e-04 9.99931966e-01 5.50213870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.623741732 meters 0.03989539328625237 Centerline is valid? [True, True] Translation: X:-12.32, Y:1.99, Z:0.56 [[ 9.84476595e-01 1.75330205e-01 -8.07176174e-03 -1.23210150e+01] [-1.75326877e-01 9.84509636e-01 1.12359027e-03 1.99010612e+00] [ 8.14372653e-03 3.09048449e-04 9.99966792e-01 5.58122742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.683741732 meters 0.03937333342969051 Centerline is valid? [True, True] Translation: X:-12.38, Y:2.00, Z:0.56 [[ 9.85124106e-01 1.71513726e-01 -1.06554336e-02 -1.23822872e+01] [-1.71507818e-01 9.85181658e-01 1.47260394e-03 2.00310074e+00] [ 1.07501096e-02 3.76792533e-04 9.99942145e-01 5.57555812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.743741731999998 meters 0.04933351260882594 Centerline is valid? [True, True] Translation: X:-12.44, Y:2.03, Z:0.55 [[ 9.81367624e-01 1.91405512e-01 -1.67784784e-02 -1.24390894e+01] [-1.91393498e-01 9.81510612e-01 2.33391382e-03 2.02668864e+00] [ 1.69149786e-02 9.20864202e-04 9.99856507e-01 5.51933621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.803741731999999 meters 0.04842536940121606 Centerline is valid? [True, True] Translation: X:-12.50, Y:2.03, Z:0.56 [[ 9.81273551e-01 1.91731713e-01 -1.84707379e-02 -1.24998017e+01] [-1.91717264e-01 9.81446842e-01 2.56642745e-03 2.03395245e+00] [ 1.86201129e-02 1.02279197e-03 9.99826108e-01 5.57496359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.863741732 meters 0.043572980193517956 Centerline is valid? [True, True] Translation: X:-12.56, Y:2.03, Z:0.57 [[ 9.82528651e-01 1.85686287e-01 -1.25718701e-02 -1.25601670e+01] [-1.85679109e-01 9.82608884e-01 1.74606779e-03 2.02996231e+00] [ 1.26774521e-02 6.18772017e-04 9.99919446e-01 5.69526702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.923741732 meters 0.03734101332912252 Centerline is valid? [True, True] Translation: X:-12.62, Y:2.03, Z:0.57 [[ 9.84960399e-01 1.72528768e-01 -9.31861288e-03 -1.26215272e+01] [-1.72524224e-01 9.85004423e-01 1.29539870e-03 2.02505598e+00] [ 9.40236845e-03 3.31770036e-04 9.99955742e-01 5.74417983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.983741731999999 meters 0.044264503049499235 Centerline is valid? [True, True] Translation: X:-12.68, Y:2.04, Z:0.56 [[ 9.84329724e-01 1.75708562e-01 -1.48826992e-02 -1.26803017e+01] [-1.75697342e-01 9.84442058e-01 2.06830279e-03 2.04434604e+00] [ 1.50145736e-02 5.78958791e-04 9.99887107e-01 5.57915731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.043741731999999 meters 0.048600852627261416 Centerline is valid? [True, True] Translation: X:-12.74, Y:2.07, Z:0.56 [[ 9.82536452e-01 1.85598102e-01 -1.32462982e-02 -1.27378902e+01] [-1.85590115e-01 9.82625525e-01 1.84048690e-03 2.07004968e+00] [ 1.33577416e-02 6.50036541e-04 9.99910570e-01 5.63144522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.103741732 meters 0.05105920128466043 Centerline is valid? [True, True] Translation: X:-12.80, Y:2.09, Z:0.57 [[ 9.81398891e-01 1.91614332e-01 -1.18391172e-02 -1.27960049e+01] [-1.91608384e-01 9.81470081e-01 1.64529104e-03 2.08914150e+00] [ 1.19350007e-02 6.53787318e-04 9.99928562e-01 5.66703097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.163741731999998 meters 0.046336601424236026 Centerline is valid? [True, True] Translation: X:-12.86, Y:2.09, Z:0.56 [[ 9.82385713e-01 1.86011123e-01 -1.78373847e-02 -1.28589354e+01] [-1.85996975e-01 9.82547229e-01 2.46346837e-03 2.09324597e+00] [ 1.79843054e-02 8.97623459e-04 9.99837866e-01 5.62971154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.223741731999999 meters 0.041648390169687105 Centerline is valid? [True, True] Translation: X:-12.92, Y:2.09, Z:0.57 [[ 9.84182316e-01 1.76583614e-01 -1.42617021e-02 -1.29197920e+01] [-1.76573491e-01 9.84285476e-01 1.97588179e-03 2.08930405e+00] [ 1.43864946e-02 5.73610609e-04 9.99896345e-01 5.68158416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.283741732 meters 0.03974488730812047 Centerline is valid? [True, True] Translation: X:-12.98, Y:2.10, Z:0.57 [[ 9.84786474e-01 1.73420342e-01 -1.09993610e-02 -1.29794431e+01] [-1.73414121e-01 9.84847816e-01 1.52405843e-03 2.09951556e+00] [ 1.10969994e-02 4.06572398e-04 9.99938344e-01 5.72473859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.343741732 meters 0.042759209762980574 Centerline is valid? [True, True] Translation: X:-13.04, Y:2.12, Z:0.56 [[ 9.83701821e-01 1.78544008e-01 -2.12782606e-02 -1.30381201e+01] [-1.78521920e-01 9.83931517e-01 2.94846949e-03 2.12260019e+00] [ 2.14627828e-02 8.98221122e-04 9.99769244e-01 5.59307734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.403741731999999 meters 0.04856448231793951 Centerline is valid? [True, True] Translation: X:-13.10, Y:2.15, Z:0.57 [[ 9.81534537e-01 1.90502273e-01 -1.72868703e-02 -1.30951914e+01] [-1.90489538e-01 9.81686303e-01 2.39555409e-03 2.14837739e+00] [ 1.74266423e-02 9.41648855e-04 9.99847701e-01 5.65886380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.463741731999999 meters 0.048918211488831846 Centerline is valid? [True, True] Translation: X:-13.16, Y:2.15, Z:0.56 [[ 9.81595030e-01 1.89841675e-01 -2.07686045e-02 -1.31568246e+01] [-1.89823186e-01 9.81814079e-01 2.87611826e-03 2.15276406e+00] [ 2.09369154e-02 1.11917929e-03 9.99780172e-01 5.60754630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.523741732 meters 0.04316184059509019 Centerline is valid? [True, True] Translation: X:-13.22, Y:2.14, Z:0.58 [[ 9.83483142e-01 1.80700770e-01 -1.03991403e-02 -1.32178580e+01] [-1.80695630e-01 9.83538010e-01 1.43950037e-03 2.14264230e+00] [ 1.04880685e-02 4.63354857e-04 9.99944891e-01 5.78030039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.583741731999998 meters 0.051343237753230665 Centerline is valid? [True, True] Translation: X:-13.28, Y:2.16, Z:0.55 [[ 9.81940520e-01 1.88045100e-01 -2.07811275e-02 -1.32781934e+01] [-1.88026196e-01 9.82159799e-01 2.87749380e-03 2.15831633e+00] [ 2.09514866e-02 1.08186859e-03 9.99779908e-01 5.54677676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.643741731999999 meters 0.053059225597045775 Centerline is valid? [True, True] Translation: X:-13.34, Y:2.17, Z:0.57 [[ 9.80478718e-01 1.96054413e-01 -1.49716640e-02 -1.33371624e+01] [-1.96045537e-01 9.80592602e-01 2.07258815e-03 2.16759911e+00] [ 1.50874430e-02 9.02999340e-04 9.99885770e-01 5.72202539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.703741732 meters 0.044610011791670574 Centerline is valid? [True, True] Translation: X:-13.40, Y:2.16, Z:0.58 [[ 9.82996750e-01 1.83184372e-01 -1.26836599e-02 -1.33993336e+01] [-1.83176939e-01 9.83078394e-01 1.75521254e-03 2.15582948e+00] [ 1.27905595e-02 5.97985773e-04 9.99918019e-01 5.75996576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.763741732 meters 0.041884454266968546 Centerline is valid? [True, True] Translation: X:-13.46, Y:2.15, Z:0.57 [[ 9.84880301e-01 1.72647739e-01 -1.42670952e-02 -1.34618216e+01] [-1.72637226e-01 9.84983497e-01 1.97453860e-03 2.15076982e+00] [ 1.43937529e-02 5.18347561e-04 9.99896270e-01 5.68280632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.823741731999998 meters 0.03957654533478855 Centerline is valid? [True, True] Translation: X:-13.52, Y:2.15, Z:0.58 [[ 9.84606706e-01 1.74644888e-01 -6.98549309e-03 -1.35220261e+01] [-1.74642416e-01 9.84631450e-01 9.67010921e-04 2.15152837e+00] [ 7.04701970e-03 2.67837951e-04 9.99975134e-01 5.82732479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.883741731999999 meters 0.04907806328646748 Centerline is valid? [True, True] Translation: X:-13.58, Y:2.17, Z:0.57 [[ 9.82532914e-01 1.85622682e-01 -1.31640379e-02 -1.35816073e+01] [-1.85614891e-01 9.82620880e-01 1.82185642e-03 2.16835640e+00] [ 1.32734363e-02 6.53407560e-04 9.99911691e-01 5.71355206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.943741732 meters 0.051844484196997984 Centerline is valid? [True, True] Translation: X:-13.64, Y:2.18, Z:0.58 [[ 9.81205658e-01 1.92543017e-01 -1.27531604e-02 -1.36411583e+01] [-1.92536285e-01 9.81288267e-01 1.76513474e-03 2.17977890e+00] [ 1.28543910e-02 7.23485918e-04 9.99917117e-01 5.75552011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.003741731999998 meters 0.0483458425726712 Centerline is valid? [True, True] Translation: X:-13.70, Y:2.18, Z:0.56 [[ 9.82189408e-01 1.86347645e-01 -2.40524759e-02 -1.37035001e+01] [-1.86321867e-01 9.82483122e-01 3.32819370e-03 2.17901850e+00] [ 2.42513527e-02 1.21258562e-03 9.99705157e-01 5.60079791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.063741731999999 meters 0.03915913938052042 Centerline is valid? [True, True] Translation: X:-13.77, Y:2.16, Z:0.57 [[ 9.85573241e-01 1.68547449e-01 -1.53995054e-02 -1.37650823e+01] [-1.68534723e-01 9.85693416e-01 2.12976617e-03 2.16452133e+00] [ 1.55381578e-02 4.96310836e-04 9.99879152e-01 5.71451397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.123741732 meters 0.05102406758938292 Centerline is valid? [True, True] Translation: X:-13.82, Y:2.20, Z:0.57 [[ 9.84517659e-01 1.75157657e-01 -6.69131522e-03 -1.38229621e+01] [-1.75155424e-01 9.84540363e-01 9.22839457e-04 2.20004112e+00] [ 6.74951232e-03 2.63468415e-04 9.99977187e-01 5.70245703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.183741732 meters 0.04663907371782205 Centerline is valid? [True, True] Translation: X:-13.88, Y:2.21, Z:0.57 [[ 9.83553129e-01 1.79882751e-01 -1.62922999e-02 -1.38824056e+01] [-1.79870052e-01 9.83687799e-01 2.25349090e-03 2.20626308e+00] [ 1.64319008e-02 7.14068826e-04 9.99864732e-01 5.69604294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.243741731999998 meters 0.04336183418546693 Centerline is valid? [True, True] Translation: X:-13.94, Y:2.21, Z:0.57 [[ 9.85998250e-01 1.66482884e-01 -9.53412281e-03 -1.39430991e+01] [-1.66477912e-01 9.86044303e-01 1.31834299e-03 2.21063039e+00] [ 9.62054902e-03 2.87336974e-04 9.99953680e-01 5.67289485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.303741731999999 meters 0.03916196914671281 Centerline is valid? [True, True] Translation: X:-14.00, Y:2.22, Z:0.57 [[ 9.86550077e-01 1.63116369e-01 -1.05827709e-02 -1.40037684e+01] [-1.63110148e-01 9.86606794e-01 1.45414095e-03 2.22069125e+00] [ 1.06782279e-02 2.91574468e-04 9.99942944e-01 5.69864555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.363741732 meters 0.0402496523594507 Centerline is valid? [True, True] Translation: X:-14.06, Y:2.23, Z:0.56 [[ 9.86407715e-01 1.63574343e-01 -1.55966133e-02 -1.40641519e+01] [-1.63560740e-01 9.86530918e-01 2.15246111e-03 2.23199348e+00] [ 1.57386286e-02 4.27789364e-04 9.99876049e-01 5.63628398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.423741731999998 meters 0.04296430606469113 Centerline is valid? [True, True] Translation: X:-14.12, Y:2.25, Z:0.56 [[ 9.85952992e-01 1.66403025e-01 -1.43781060e-02 -1.41246135e+01] [-1.66391922e-01 9.86057723e-01 1.97347346e-03 2.24531192e+00] [ 1.45060344e-02 4.46648630e-04 9.99894682e-01 5.63753965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.483741731999999 meters 0.04069365855297172 Centerline is valid? [True, True] Translation: X:-14.19, Y:2.25, Z:0.56 [[ 9.86429308e-01 1.63530925e-01 -1.46580148e-02 -1.41866030e+01] [-1.63519126e-01 9.86538121e-01 2.00803438e-03 2.25231357e+00] [ 1.47890661e-02 4.16081793e-04 9.99890549e-01 5.63047147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.543741731999999 meters 0.0422718153195651 Centerline is valid? [True, True] Translation: X:-14.25, Y:2.26, Z:0.58 [[ 9.86252349e-01 1.65050207e-01 -8.04570956e-03 -1.42465134e+01] [-1.65046673e-01 9.86285138e-01 1.10582339e-03 2.26237455e+00] [ 8.11788014e-03 2.37296680e-04 9.99967021e-01 5.75607191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.603741732 meters 0.03943793382485602 Centerline is valid? [True, True] Translation: X:-14.31, Y:2.28, Z:0.58 [[ 9.85723974e-01 1.68282428e-01 -5.41031126e-03 -1.43050965e+01] [-1.68280925e-01 9.85738804e-01 7.35183870e-04 2.28132842e+00] [ 5.45687228e-03 1.85763816e-04 9.99985094e-01 5.84668306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.663741731999998 meters 0.041066835964696645 Centerline is valid? [True, True] Translation: X:-14.37, Y:2.29, Z:0.58 [[ 9.85701306e-01 1.68400106e-01 -5.86004182e-03 -1.43654657e+01] [-1.68398350e-01 9.85718704e-01 7.95256523e-04 2.29063037e+00] [ 5.91027411e-03 2.02935980e-04 9.99982514e-01 5.82231027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.723741731999999 meters 0.043483856991736 Centerline is valid? [True, True] Translation: X:-14.43, Y:2.30, Z:0.57 [[ 9.85941365e-01 1.66691015e-01 -1.15642012e-02 -1.44263698e+01] [-1.66683905e-01 9.86009113e-01 1.58274625e-03 2.30247145e+00] [ 1.16662374e-02 3.67071224e-04 9.99931880e-01 5.65424471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.783741732 meters 0.045123287894538844 Centerline is valid? [True, True] Translation: X:-14.49, Y:2.31, Z:0.56 [[ 9.85623029e-01 1.68252273e-01 -1.54407821e-02 -1.44859621e+01] [-1.68239763e-01 9.85743836e-01 2.11490485e-03 2.31370179e+00] [ 1.55764933e-02 5.13254594e-04 9.99878547e-01 5.63742599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.843741732 meters 0.04185418151824122 Centerline is valid? [True, True] Translation: X:-14.54, Y:2.32, Z:0.58 [[ 9.85929490e-01 1.67152317e-01 -1.77327131e-03 -1.45444257e+01] [-1.67152151e-01 9.85931083e-01 2.42147835e-04 2.32421837e+00] [ 1.78879887e-03 5.76654224e-05 9.99998398e-01 5.84600305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.903741731999999 meters 0.04589993186461007 Centerline is valid? [True, True] Translation: X:-14.60, Y:2.35, Z:0.58 [[ 9.84481752e-01 1.75362757e-01 -6.60182821e-03 -1.46022107e+01] [-1.75360630e-01 9.84503851e-01 9.04164468e-04 2.34637068e+00] [ 6.65808207e-03 2.67567338e-04 9.99977799e-01 5.78786584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.963741731999999 meters 0.04444145342614827 Centerline is valid? [True, True] Translation: X:-14.66, Y:2.36, Z:0.58 [[ 9.84227617e-01 1.76638235e-01 -9.74333509e-03 -1.46620140e+01] [-1.76633666e-01 9.84275758e-01 1.33432701e-03 2.35545314e+00] [ 9.82582170e-03 4.07719499e-04 9.99951642e-01 5.81577317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.023741732 meters 0.047535966546512626 Centerline is valid? [True, True] Translation: X:-14.72, Y:2.37, Z:0.59 [[ 9.83688802e-01 1.79782426e-01 -5.88383140e-03 -1.47240082e+01] [-1.79780880e-01 9.83706360e-01 7.94893053e-04 2.36911038e+00] [ 5.93087017e-03 2.75872992e-04 9.99982374e-01 5.85045678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.083741731999998 meters 0.04021894426490368 Centerline is valid? [True, True] Translation: X:-14.78, Y:2.37, Z:0.58 [[ 9.85242121e-01 1.71063527e-01 -5.93566537e-03 -1.47846387e+01] [-1.71061742e-01 9.85259977e-01 8.10952746e-04 2.37357863e+00] [ 5.98689797e-03 2.16380453e-04 9.99982055e-01 5.82451627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.143741731999999 meters 0.045674488281573875 Centerline is valid? [True, True] Translation: X:-14.84, Y:2.38, Z:0.57 [[ 9.84596191e-01 1.74340326e-01 -1.32586526e-02 -1.48443504e+01] [-1.74331711e-01 9.84685316e-01 1.81170317e-03 2.38373254e+00] [ 1.33714535e-02 5.27607554e-04 9.99910459e-01 5.72842325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.203741732 meters 0.04466233767621983 Centerline is valid? [True, True] Translation: X:-14.90, Y:2.40, Z:0.58 [[ 9.84757661e-01 1.73551852e-01 -1.14936175e-02 -1.49049594e+01] [-1.73545387e-01 9.84824629e-01 1.56506714e-03 2.39524074e+00] [ 1.15908179e-02 4.53452442e-04 9.99932721e-01 5.78713316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.263741732 meters 0.040744107897725916 Centerline is valid? [True, True] Translation: X:-14.96, Y:2.40, Z:0.59 [[ 9.85458449e-01 1.69916348e-01 -2.83542096e-04 -1.49644787e+01] [-1.69916344e-01 9.85458490e-01 3.80376987e-05 2.40123749e+00] [ 2.85882192e-04 1.06938648e-05 9.99999959e-01 5.92944570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.323741731999998 meters 0.03912266005297218 Centerline is valid? [True, True] Translation: X:-15.02, Y:2.41, Z:0.58 [[ 9.86000580e-01 1.66288481e-01 -1.22880951e-02 -1.50244797e+01] [-1.66280473e-01 9.86077071e-01 1.67771901e-03 2.40715025e+00] [ 1.23959942e-02 3.89038348e-04 9.99923091e-01 5.81650253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.383741731999999 meters 0.04060437588407774 Centerline is valid? [True, True] Translation: X:-15.08, Y:2.42, Z:0.59 [[ 9.85690849e-01 1.68524962e-01 -3.58985709e-03 -1.50836672e+01] [-1.68524298e-01 9.85697379e-01 4.88705813e-04 2.42237097e+00] [ 3.62087186e-03 1.23265299e-04 9.99993437e-01 5.93042792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.443741732 meters 0.038557591320300816 Centerline is valid? [True, True] Translation: X:-15.14, Y:2.44, Z:0.59 [[ 9.85768924e-01 1.67831429e-01 -9.60411624e-03 -1.51424714e+01] [-1.67826617e-01 9.85815657e-01 1.31060081e-03 2.43897319e+00] [ 9.68784816e-03 3.19876786e-04 9.99953021e-01 5.88276806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.503741731999998 meters 0.041531067450867945 Centerline is valid? [True, True] Translation: X:-15.20, Y:2.45, Z:0.59 [[ 9.85185904e-01 1.71375859e-01 -6.24898362e-03 -1.52034582e+01] [-1.71373964e-01 9.85205692e-01 8.41449143e-04 2.45146955e+00] [ 6.30073830e-03 2.41929262e-04 9.99980121e-01 5.90594406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.563741731999999 meters 0.03988735193584629 Centerline is valid? [True, True] Translation: X:-15.26, Y:2.46, Z:0.59 [[ 9.84709148e-01 1.73862064e-01 -1.09488338e-02 -1.52631443e+01] [-1.73856228e-01 9.84769918e-01 1.48995353e-03 2.46455209e+00] [ 1.10411285e-02 4.36352063e-04 9.99938950e-01 5.92636077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.623741732 meters 0.04234751325426068 Centerline is valid? [True, True] Translation: X:-15.32, Y:2.48, Z:0.59 [[ 9.84486729e-01 1.75147428e-01 -1.04527352e-02 -1.53237761e+01] [-1.75142302e-01 9.84542119e-01 1.41097281e-03 2.47962262e+00] [ 1.05382863e-02 4.41632090e-04 9.99944373e-01 5.91072917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.683741732 meters 0.03737158615248409 Centerline is valid? [True, True] Translation: X:-15.38, Y:2.48, Z:0.59 [[ 9.86013571e-01 1.66385820e-01 -9.64352612e-03 -1.53845731e+01] [-1.66380964e-01 9.86060678e-01 1.30933506e-03 2.48302255e+00] [ 9.72695669e-03 3.13477028e-04 9.99952643e-01 5.92947549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.743741731999998 meters 0.03949331612585201 Centerline is valid? [True, True] Translation: X:-15.45, Y:2.49, Z:0.59 [[ 9.86712510e-01 1.62186202e-01 -9.69836930e-03 -1.54470170e+01] [-1.62181115e-01 9.86760133e-01 1.31395050e-03 2.48835268e+00] [ 9.78306882e-03 2.76400950e-04 9.99952106e-01 5.90455287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.803741731999999 meters 0.042038140175990356 Centerline is valid? [True, True] Translation: X:-15.51, Y:2.51, Z:0.59 [[ 9.85137189e-01 1.71419479e-01 -1.09581424e-02 -1.55050352e+01] [-1.71413530e-01 9.85198047e-01 1.48677648e-03 2.51028961e+00] [ 1.10508030e-02 4.13695074e-04 9.99938852e-01 5.91929968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.863741732 meters 0.042736925202817806 Centerline is valid? [True, True] Translation: X:-15.57, Y:2.52, Z:0.60 [[ 9.84921500e-01 1.72803927e-01 -8.27289287e-03 -1.55657208e+01] [-1.72800676e-01 9.84956187e-01 1.11161414e-03 2.52283132e+00] [ 8.34052831e-03 3.34708811e-04 9.99965161e-01 5.96941410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.923741731999998 meters 0.038760612226883644 Centerline is valid? [True, True] Translation: X:-15.63, Y:2.53, Z:0.60 [[ 9.86325808e-01 1.64564414e-01 -8.94168363e-03 -1.56257976e+01] [-1.64560217e-01 9.86366299e-01 1.20812647e-03 2.52543434e+00] [ 9.01859001e-03 2.79839088e-04 9.99959293e-01 5.97718137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.983741731999999 meters 0.03788456063386199 Centerline is valid? [True, True] Translation: X:-15.69, Y:2.54, Z:0.60 [[ 9.86601754e-01 1.62818411e-01 -1.03510205e-02 -1.56869641e+01] [-1.62812793e-01 9.86656002e-01 1.38872937e-03 2.53563401e+00] [ 1.04390072e-02 3.15155727e-04 9.99945462e-01 5.97102933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.043741732 meters 0.04064464410268437 Centerline is valid? [True, True] Translation: X:-15.75, Y:2.55, Z:0.59 [[ 9.86127746e-01 1.65614498e-01 -1.11313021e-02 -1.57464622e+01] [-1.65608088e-01 9.86190502e-01 1.50154463e-03 2.55492948e+00] [ 1.12262620e-02 3.62718841e-04 9.99936918e-01 5.94991733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.103741732 meters 0.041220464601504095 Centerline is valid? [True, True] Translation: X:-15.81, Y:2.57, Z:0.59 [[ 9.85500416e-01 1.68750370e-01 -1.76703770e-02 -1.58055023e+01] [-1.68734669e-01 9.85658620e-01 2.38648504e-03 2.56607009e+00] [ 1.78196796e-02 6.29723204e-04 9.99841019e-01 5.88180717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.163741732000002 meters 0.04523163675519031 Centerline is valid? [True, True] Translation: X:-15.86, Y:2.59, Z:0.60 [[ 9.84481229e-01 1.75251382e-01 -9.14671215e-03 -1.58646501e+01] [-1.75247560e-01 9.84523638e-01 1.22399393e-03 2.58692911e+00] [ 9.21966096e-03 3.97939937e-04 9.99957419e-01 5.98355090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.223741732 meters 0.049318764466739315 Centerline is valid? [True, True] Translation: X:-15.92, Y:2.60, Z:0.59 [[ 9.83709228e-01 1.79152346e-01 -1.48523422e-02 -1.59242989e+01] [-1.79142506e-01 9.83821100e-01 2.00115410e-03 2.59769024e+00] [ 1.49705591e-02 6.92132057e-04 9.99887695e-01 5.91040875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.283741732 meters 0.057335972109001945 Centerline is valid? [True, True] Translation: X:-15.98, Y:2.62, Z:0.59 [[ 9.80141838e-01 1.97189858e-01 -2.09317252e-02 -1.59819747e+01] [-1.97174419e-01 9.80364371e-01 2.81933308e-03 2.62353043e+00] [ 2.10766615e-02 1.36385446e-03 9.99776932e-01 5.93404715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.343741732 meters 0.061104794144107626 Centerline is valid? [True, True] Translation: X:-16.04, Y:2.63, Z:0.60 [[ 9.78525164e-01 2.05861973e-01 -1.04571237e-02 -1.60411127e+01] [-2.05858661e-01 9.78580728e-01 1.40379573e-03 2.63300368e+00] [ 1.05221279e-02 7.79040039e-04 9.99944337e-01 6.01632063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.403741732 meters 0.059148709670706075 Centerline is valid? [True, True] Translation: X:-16.10, Y:2.63, Z:0.59 [[ 9.78834885e-01 2.03170399e-01 -2.45775668e-02 -1.61030250e+01] [-2.03151076e-01 9.79141821e-01 3.30687082e-03 2.63192784e+00] [ 2.47367818e-02 1.75607862e-03 9.99692457e-01 5.88713543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.463741732 meters 0.05080724408916197 Centerline is valid? [True, True] Translation: X:-16.17, Y:2.62, Z:0.61 [[ 9.82649592e-01 1.85224093e-01 -9.58201306e-03 -1.61652215e+01] [-1.85220309e-01 9.82696177e-01 1.28855960e-03 2.61765125e+00] [ 9.65487988e-03 5.08580855e-04 9.99953261e-01 6.09148162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.523741732 meters 0.05594430127873821 Centerline is valid? [True, True] Translation: X:-16.23, Y:2.63, Z:0.59 [[ 9.80271450e-01 1.96234251e-01 -2.36643885e-02 -1.62252037e+01] [-1.96214347e-01 9.80555862e-01 3.18298104e-03 2.63137733e+00] [ 2.38288647e-02 1.52310708e-03 9.99714892e-01 5.94794434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.583741732 meters 0.064810090900013 Centerline is valid? [True, True] Translation: X:-16.28, Y:2.64, Z:0.60 [[ 9.77940299e-01 2.08243732e-01 -1.63499065e-02 -1.62845563e+01] [-2.08235905e-01 9.78076160e-01 2.19857459e-03 2.64401411e+00] [ 1.64492931e-02 1.25456288e-03 9.99863914e-01 6.02441751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.643741732000002 meters 0.05674748088041489 Centerline is valid? [True, True] Translation: X:-16.35, Y:2.62, Z:0.61 [[ 9.81376301e-01 1.91849304e-01 -9.71599894e-03 -1.63474806e+01] [-1.91845745e-01 9.81424223e-01 1.30575493e-03 2.62428324e+00] [ 9.78602489e-03 5.82536108e-04 9.99951946e-01 6.09720309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.703741732 meters 0.05400319462971774 Centerline is valid? [True, True] Translation: X:-16.41, Y:2.62, Z:0.60 [[ 9.83018639e-01 1.82444166e-01 -1.97099262e-02 -1.64119486e+01] [-1.82427889e-01 9.83215702e-01 2.63591311e-03 2.61796050e+00] [ 1.98600159e-02 1.00448850e-03 9.99802266e-01 5.97533889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.763741732 meters 0.07799376334239021 Centerline is valid? [True, True] Translation: X:-16.47, Y:2.65, Z:0.59 [[ 9.73668917e-01 2.26743089e-01 -2.35883695e-02 -1.64685774e+01] [-2.26732354e-01 9.73951965e-01 3.16392964e-03 2.65480240e+00] [ 2.36913380e-02 2.26762659e-03 9.99716749e-01 5.94667531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.823741732000002 meters 0.06925991942010219 Centerline is valid? [True, True] Translation: X:-16.53, Y:2.62, Z:0.61 [[ 9.77060443e-01 2.12587233e-01 -1.26316958e-02 -1.65348529e+01] [-2.12582983e-01 9.77141549e-01 1.69376141e-03 2.61669829e+00] [ 1.27030269e-02 1.03037631e-03 9.99918782e-01 6.05283893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.883741732 meters 0.06828430679825213 Centerline is valid? [True, True] Translation: X:-16.60, Y:2.59, Z:0.60 [[ 9.79686601e-01 2.00070486e-01 -1.36369012e-02 -1.66000421e+01] [-2.00064325e-01 9.79781059e-01 1.82839863e-03 2.58869428e+00] [ 1.37269861e-02 9.36999798e-04 9.99905341e-01 5.97355741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.943741732 meters 0.08082248524612493 Centerline is valid? [True, True] Translation: X:-16.67, Y:2.56, Z:0.60 [[ 9.76325144e-01 2.16106847e-01 -9.32973879e-03 -1.66658295e+01] [-2.16104690e-01 9.76369397e-01 1.25068527e-03 2.55602458e+00] [ 9.37955308e-03 7.95124835e-04 9.99955695e-01 6.01638403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.003741732 meters 0.08430019438588857 Centerline is valid? [True, True] Translation: X:-16.73, Y:2.53, Z:0.60 [[ 9.76658896e-01 2.14611146e-01 -8.91386322e-03 -1.67304627e+01] [-2.14609126e-01 9.76699287e-01 1.19385069e-03 2.53480882e+00] [ 8.96237752e-03 7.47011491e-04 9.99959558e-01 6.01193130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.063741732 meters 0.08554231467045989 Centerline is valid? [True, True] Translation: X:-16.79, Y:2.52, Z:0.60 [[ 9.77200437e-01 2.12260435e-01 -4.98135177e-03 -1.67940913e+01] [-2.12259773e-01 9.77213049e-01 6.67337097e-04 2.51765879e+00] [ 5.00949121e-03 4.05218490e-04 9.99987370e-01 6.04335016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.123741732 meters 0.08744599976968091 Centerline is valid? [True, True] Translation: X:-16.86, Y:2.51, Z:0.60 [[ 9.77362463e-01 2.11471324e-01 -6.51886053e-03 -1.68567883e+01] [-2.11470235e-01 9.77384056e-01 8.63781896e-04 2.51476834e+00] [ 6.55409545e-03 5.34316967e-04 9.99978379e-01 6.04657970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.183741732 meters 0.08718220588758875 Centerline is valid? [True, True] Translation: X:-16.92, Y:2.50, Z:0.61 [[ 9.76643727e-01 2.14814883e-01 -4.64712986e-03 -1.69200960e+01] [-2.14814343e-01 9.76654705e-01 6.20998063e-04 2.50042528e+00] [ 4.67204087e-03 3.91776283e-04 9.99989009e-01 6.08320639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.243741732 meters 0.08477044088773716 Centerline is valid? [True, True] Translation: X:-16.98, Y:2.48, Z:0.62 [[ 9.77442793e-01 2.11192644e-01 1.80360200e-03 -1.69818934e+01] [-2.11192557e-01 9.77444447e-01 -2.40820409e-04 2.48352316e+00] [-1.81378025e-03 -1.45519143e-04 9.99998345e-01 6.19733965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.303741732000002 meters 0.0913026682766458 Centerline is valid? [True, True] Translation: X:-17.04, Y:2.48, Z:0.62 [[ 9.76955134e-01 2.13419970e-01 3.25318977e-03 -1.70443566e+01] [-2.13419691e-01 9.76960513e-01 -4.36787708e-04 2.48405787e+00] [-3.27145716e-03 -2.67572761e-04 9.99994613e-01 6.20536293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.363741732 meters 0.0938758646050014 Centerline is valid? [True, True] Translation: X:-17.10, Y:2.49, Z:0.62 [[ 9.76376168e-01 2.16076651e-01 6.78117880e-04 -1.71048058e+01] [-2.16076639e-01 9.76376402e-01 -9.07625464e-05 2.48763466e+00] [-6.81709962e-04 -5.79070453e-05 9.99999766e-01 6.15632240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.423741732 meters 0.09510071789677052 Centerline is valid? [True, True] Translation: X:-17.16, Y:2.50, Z:0.61 [[ 9.75367354e-01 2.20580499e-01 -1.66378615e-03 -1.71645721e+01] [-2.20580437e-01 9.75368762e-01 2.22516557e-04 2.49628537e+00] [ 1.67188785e-03 1.49963290e-04 9.99998591e-01 6.14645024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.483741732000002 meters 0.09497746090845592 Centerline is valid? [True, True] Translation: X:-17.22, Y:2.50, Z:0.63 [[ 9.74154348e-01 2.25871859e-01 2.28260869e-03 -1.72242980e+01] [-2.25871760e-01 9.74156997e-01 -3.04639612e-04 2.49832199e+00] [-2.29242875e-03 -2.18810841e-04 9.99997348e-01 6.25338107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.543741732 meters 0.10088185317898297 Centerline is valid? [True, False] Translation: X:-17.25, Y:2.52, Z:0.63 [[ 9.84205584e-01 1.76976839e-01 4.30897354e-03 -1.72466394e+01] [-1.76900390e-01 9.84126263e-01 -1.42038628e-02 2.52280066e+00] [-6.75432877e-03 1.32172619e-02 9.99889835e-01 6.26523660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.603741732 meters 0.09442564636714126 Centerline is valid? [False, True] Translation: X:-17.28, Y:2.55, Z:0.62 [[ 9.94192222e-01 1.07587354e-01 -2.60520084e-03 -1.72819852e+01] [-1.07617998e-01 9.93991282e-01 -1.99924379e-02 2.54840503e+00] [ 4.38613422e-04 2.01566928e-02 9.99796737e-01 6.22460683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.663741732000002 meters 0.0936576098271839 Centerline is valid? [True, True] Translation: X:-17.34, Y:2.56, Z:0.62 [[ 9.94850830e-01 1.01350018e-01 -1.00544940e-05 -1.73420412e+01] [-1.01350018e-01 9.94850830e-01 2.48909871e-07 2.56298831e+00] [ 1.00279488e-05 7.71394964e-07 1.00000000e+00 6.19771229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.723741732 meters 0.08740332070494769 Centerline is valid? [True, True] Translation: X:-17.40, Y:2.54, Z:0.62 [[ 9.95721815e-01 9.23759910e-02 -2.17792945e-03 -1.74024480e+01] [-9.23761002e-02 9.95724185e-01 5.06027997e-05 2.54467984e+00] [ 2.17329152e-03 1.50802318e-04 9.99997627e-01 6.21870721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.783741732 meters 0.07842291883407088 Centerline is valid? [True, True] Translation: X:-17.46, Y:2.54, Z:0.65 [[ 9.95973920e-01 8.89520383e-02 1.11124078e-02 -1.74615453e+01] [-8.89546793e-02 9.96035641e-01 -2.57362930e-04 2.53912386e+00] [-1.10912472e-02 -7.32173902e-04 9.99938222e-01 6.45554130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.843741732 meters 0.07835428325802546 Centerline is valid? [True, True] Translation: X:-17.52, Y:2.55, Z:0.62 [[ 9.96241688e-01 8.65439734e-02 -3.55513987e-03 -1.75226844e+01] [-8.65442284e-02 9.96248006e-01 8.23397555e-05 2.55051235e+00] [ 3.54892702e-03 2.25646540e-04 9.99993677e-01 6.20881075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.903741732 meters 0.07266394849403539 Centerline is valid? [True, True] Translation: X:-17.58, Y:2.55, Z:0.64 [[ 9.96873909e-01 7.84991321e-02 8.96075251e-03 -1.75829495e+01] [-7.85004216e-02 9.96914059e-01 -2.08270294e-04 2.54850081e+00] [-8.94944919e-03 -4.95803627e-04 9.99959830e-01 6.41377138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.963741732 meters 0.0711367135265434 Centerline is valid? [True, True] Translation: X:-17.64, Y:2.57, Z:0.64 [[ 9.96360535e-01 8.49998249e-02 6.38069819e-03 -1.76432739e+01] [-8.50006123e-02 9.96380888e-01 -1.48183464e-04 2.56782230e+00] [-6.37020130e-03 -3.94719097e-04 9.99979632e-01 6.37980710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.023741732 meters 0.06747259685008868 Centerline is valid? [True, True] Translation: X:-17.70, Y:2.57, Z:0.62 [[ 9.96582505e-01 8.25005040e-02 -4.12030959e-03 -1.77042774e+01] [-8.25008240e-02 9.96590992e-01 9.25304292e-05 2.56806882e+00] [ 4.11389723e-03 2.47714729e-04 9.99991507e-01 6.22653697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.083741732 meters 0.06927019306641173 Centerline is valid? [True, True] Translation: X:-17.76, Y:2.59, Z:0.65 [[ 9.95759274e-01 9.15284346e-02 9.27440559e-03 -1.77637985e+01] [-9.15303834e-02 9.95802261e-01 -2.14995568e-04 2.59166990e+00] [-9.25515226e-03 -6.34806069e-04 9.99956969e-01 6.47549361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.143741732000002 meters 0.07473991096339572 Centerline is valid? [True, True] Translation: X:-17.82, Y:2.61, Z:0.64 [[ 9.95511554e-01 9.44094732e-02 6.60279721e-03 -1.78244263e+01] [-9.44105247e-02 9.95533339e-01 -1.52969146e-04 2.61210250e+00] [-6.58774649e-03 -4.71090997e-04 9.99978190e-01 6.42491143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.203741732 meters 0.06555746090759852 Centerline is valid? [True, True] Translation: X:-17.88, Y:2.61, Z:0.64 [[ 9.95309517e-01 9.67380109e-02 8.50309359e-04 -1.78845240e+01] [-9.67380297e-02 9.95309878e-01 -1.91604017e-05 2.61186188e+00] [-8.48174843e-04 -6.31867218e-05 9.99999638e-01 6.40190060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.263741732 meters 0.055489744059727286 Centerline is valid? [True, True] Translation: X:-17.94, Y:2.62, Z:0.64 [[ 9.96254537e-01 8.63798212e-02 -3.92734584e-03 -1.79447355e+01] [-8.63801323e-02 9.96262247e-01 9.06638941e-05 2.62086219e+00] [ 3.92049792e-03 2.48920337e-04 9.99992284e-01 6.39329668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.323741732000002 meters 0.05335497815203279 Centerline is valid? [True, True] Translation: X:-18.01, Y:2.63, Z:0.65 [[ 9.96376890e-01 8.50324318e-02 -1.60590969e-03 -1.80050801e+01] [-8.50324829e-02 9.96378179e-01 3.65518763e-05 2.62668089e+00] [ 1.60320147e-03 1.00135044e-04 9.99998710e-01 6.50407007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.383741732 meters 0.051055486482973124 Centerline is valid? [True, True] Translation: X:-18.06, Y:2.64, Z:0.65 [[ 9.95918858e-01 8.99077600e-02 -7.88813130e-03 -1.80648123e+01] [-8.99091293e-02 9.95949956e-01 1.81560706e-04 2.63907851e+00] [ 7.87250774e-03 5.28395287e-04 9.99968872e-01 6.50310824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.443741732 meters 0.06444521730146541 Centerline is valid? [True, True] Translation: X:-18.13, Y:2.67, Z:0.64 [[ 9.94060340e-01 1.07828817e-01 -1.47304964e-02 -1.81256076e+01] [-1.07835538e-01 9.94168689e-01 3.39534076e-04 2.66644919e+00] [ 1.46812099e-02 1.25095365e-03 9.99891443e-01 6.39501589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.503741732 meters 0.06924015964209586 Centerline is valid? [True, True] Translation: X:-18.19, Y:2.67, Z:0.66 [[ 9.92936569e-01 1.18630031e-01 1.97133100e-03 -1.81854487e+01] [-1.18630172e-01 9.92938508e-01 -4.54328080e-05 2.67377665e+00] [-1.96280016e-03 -1.88747440e-04 9.99998056e-01 6.63066465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.563741732 meters 0.06485354505838008 Centerline is valid? [True, True] Translation: X:-18.25, Y:2.67, Z:0.66 [[ 9.93686017e-01 1.12192179e-01 1.00734477e-03 -1.82462711e+01] [-1.12192212e-01 9.93686524e-01 -2.33189478e-05 2.66800066e+00] [-1.00360112e-03 -8.98445252e-05 9.99999492e-01 6.61192063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.623741732 meters 0.07098844201217115 Centerline is valid? [True, True] Translation: X:-18.31, Y:2.67, Z:0.65 [[ 9.92831808e-01 1.19344718e-01 -6.46831515e-03 -1.83069087e+01] [-1.19346256e-01 9.92852682e-01 1.49098375e-04 2.67245720e+00] [ 6.43987816e-03 6.23939587e-04 9.99979069e-01 6.50077778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.683741732 meters 0.07519002635606055 Centerline is valid? [True, True] Translation: X:-18.37, Y:2.67, Z:0.65 [[ 9.92232387e-01 1.24083410e-01 -8.84293177e-03 -1.83681073e+01] [-1.24086472e-01 9.92271387e-01 2.03677914e-04 2.66922583e+00] [ 8.79986122e-03 8.95192378e-04 9.99960880e-01 6.48453484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.743741732 meters 0.06703852284892284 Centerline is valid? [True, True] Translation: X:-18.43, Y:2.65, Z:0.66 [[ 9.93636777e-01 1.12605637e-01 -2.43414999e-03 -1.84282631e+01] [-1.12605835e-01 9.93639735e-01 5.60118450e-05 2.64504051e+00] [ 2.42497540e-03 2.18444064e-04 9.99997036e-01 6.60954815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.803741732 meters 0.0568760656887038 Centerline is valid? [True, True] Translation: X:-18.49, Y:2.63, Z:0.68 [[ 9.95020699e-01 9.94101811e-02 7.17101703e-03 -1.84875273e+01] [-9.94115517e-02 9.95046389e-01 -1.65950499e-04 2.63061489e+00] [-7.15199176e-03 -5.47757748e-04 9.99974274e-01 6.76948325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.863741732 meters 0.05803213346028311 Centerline is valid? [True, True] Translation: X:-18.55, Y:2.64, Z:0.66 [[ 9.95394868e-01 9.55773455e-02 -7.35034554e-03 -1.85491198e+01] [-9.55786986e-02 9.95421862e-01 1.67772785e-04 2.64383309e+00] [ 7.33272992e-03 5.35536291e-04 9.99972972e-01 6.55054600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.923741732 meters 0.04889743223856913 Centerline is valid? [True, True] Translation: X:-18.61, Y:2.63, Z:0.67 [[ 9.95897235e-01 9.04539072e-02 -2.60520041e-03 -1.86085494e+01] [-9.04540565e-02 9.95900628e-01 6.07041823e-05 2.62728940e+00] [ 2.60001166e-03 1.75195818e-04 9.99996605e-01 6.66854013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.983741732000002 meters 0.04846824981673418 Centerline is valid? [True, True] Translation: X:-18.67, Y:2.63, Z:0.68 [[ 9.96368635e-01 8.46027920e-02 9.58704898e-03 -1.86690032e+01] [-8.46045704e-02 9.96414581e-01 -2.20638438e-04 2.63298216e+00] [-9.57134202e-03 -5.91270940e-04 9.99954019e-01 6.79195827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.043741732 meters 0.05550722392643869 Centerline is valid? [True, True] Translation: X:-18.73, Y:2.66, Z:0.66 [[ 9.95730954e-01 9.22046907e-02 -4.26169414e-03 -1.87298761e+01] [-9.22051139e-02 9.95740030e-01 9.74997434e-05 2.66474136e+00] [ 4.25252939e-03 2.95866481e-04 9.99990914e-01 6.60366968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.103741732 meters 0.05407351837455726 Centerline is valid? [True, True] Translation: X:-18.79, Y:2.68, Z:0.68 [[ 9.95507055e-01 9.46389671e-02 3.02803632e-03 -1.87896536e+01] [-9.46391880e-02 9.95511637e-01 -7.05640843e-05 2.68361153e+00] [-3.02112351e-03 -2.16323855e-04 9.99995413e-01 6.77381287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.163741732000002 meters 0.05173064981177827 Centerline is valid? [True, True] Translation: X:-18.85, Y:2.69, Z:0.66 [[ 9.96728483e-01 8.07406862e-02 -3.64322494e-03 -1.88503671e+01] [-8.07409165e-02 9.96735119e-01 8.40666789e-05 2.68594962e+00] [ 3.63811784e-03 2.10365667e-04 9.99993360e-01 6.63000470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.223741732 meters 0.04073027172888419 Centerline is valid? [True, True] Translation: X:-18.91, Y:2.68, Z:0.68 [[ 9.97366365e-01 7.24585784e-02 3.17626373e-03 -1.89097901e+01] [-7.24587139e-02 9.97371410e-01 -7.25430318e-05 2.68214934e+00] [-3.17317100e-03 -1.57796005e-04 9.99994953e-01 6.81355366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.283741732 meters 0.0447852269296635 Centerline is valid? [True, True] Translation: X:-18.97, Y:2.70, Z:0.68 [[ 9.97345432e-01 7.27662102e-02 2.67747478e-03 -1.89712075e+01] [-7.27663012e-02 9.97349017e-01 -6.35554926e-05 2.70012874e+00] [-2.67500153e-03 -1.31443156e-04 9.99996414e-01 6.80042181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.343741732 meters 0.04783635305540252 Centerline is valid? [True, True] Translation: X:-19.03, Y:2.73, Z:0.69 [[ 9.96610863e-01 8.17863095e-02 8.81967380e-03 -1.90306679e+01] [-8.17877139e-02 9.96649752e-01 -2.01928468e-04 2.72990777e+00] [-8.80664069e-03 -5.20096853e-04 9.99961086e-01 6.90374255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.403741732 meters 0.053498568908880446 Centerline is valid? [True, True] Translation: X:-19.09, Y:2.76, Z:0.67 [[ 9.95982541e-01 8.90665051e-02 -9.27012081e-03 -1.90912651e+01] [-8.90683724e-02 9.96025492e-01 2.12042724e-04 2.75573492e+00] [ 9.25216254e-03 6.14483721e-04 9.99957009e-01 6.74544351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.463741732 meters 0.050774431401125655 Centerline is valid? [True, True] Translation: X:-19.15, Y:2.77, Z:0.71 [[ 9.95775449e-01 9.04584557e-02 1.57646330e-02 -1.91499948e+01] [-9.04640258e-02 9.95899658e-01 -3.60887021e-04 2.77049616e+00] [-1.57326379e-02 -1.06676973e-03 9.99875665e-01 7.11621675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.523741732 meters 0.05631766971532696 Centerline is valid? [True, True] Translation: X:-19.21, Y:2.79, Z:0.68 [[ 9.95987235e-01 8.92503077e-02 -6.61893486e-03 -1.92115585e+01] [-8.92512655e-02 9.96009131e-01 1.51114307e-04 2.79081752e+00] [ 6.60600655e-03 4.40240391e-04 9.99978083e-01 6.81248734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.583741732 meters 0.048810563125652934 Centerline is valid? [True, True] Translation: X:-19.27, Y:2.79, Z:0.70 [[ 9.96782225e-01 7.99739918e-02 5.41820693e-03 -1.92710943e+01] [-7.99744938e-02 9.96796903e-01 -1.24299512e-04 2.78585320e+00] [-5.41079262e-03 -3.09418813e-04 9.99985314e-01 7.00862330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.643741732000002 meters 0.048575454572582444 Centerline is valid? [True, True] Translation: X:-19.33, Y:2.79, Z:0.70 [[ 9.96654327e-01 8.17313154e-02 -3.81266667e-04 -1.93313909e+01] [-8.17313180e-02 9.96654399e-01 8.71641924e-06 2.79390980e+00] [ 3.80703505e-04 2.24741702e-05 9.99999927e-01 7.00699957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.703741732 meters 0.04779904670816375 Centerline is valid? [True, True] Translation: X:-19.39, Y:2.80, Z:0.70 [[ 9.96926959e-01 7.82703415e-02 3.22358478e-03 -1.93918385e+01] [-7.82705108e-02 9.96932155e-01 -7.37925563e-05 2.80306136e+00] [-3.21947109e-03 -1.78745839e-04 9.99994802e-01 7.02521588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.763741732 meters 0.05279107233729806 Centerline is valid? [True, True] Translation: X:-19.45, Y:2.82, Z:0.70 [[ 9.96393496e-01 8.48318368e-02 1.88700430e-03 -1.94520989e+01] [-8.48319067e-02 9.96395276e-01 -4.30972236e-05 2.82172007e+00] [-1.88385818e-03 -1.17136379e-04 9.99998219e-01 7.03118092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.823741732000002 meters 0.04992745598550045 Centerline is valid? [True, True] Translation: X:-19.51, Y:2.83, Z:0.70 [[ 9.96791442e-01 7.99901578e-02 -2.89750274e-03 -1.95128906e+01] [-7.99903038e-02 9.96795640e-01 6.56308559e-05 2.82780879e+00] [ 2.89346792e-03 1.66351849e-04 9.99995800e-01 7.03604846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.883741732 meters 0.04999313548822884 Centerline is valid? [True, True] Translation: X:-19.57, Y:2.84, Z:0.72 [[ 9.96625725e-01 8.20305640e-02 2.85490394e-03 -1.95743285e+01] [-8.20307069e-02 9.96629800e-01 -6.71815285e-05 2.84174149e+00] [-2.85079328e-03 -1.67234949e-04 9.99995922e-01 7.15330061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.943741732 meters 0.05741131174399349 Centerline is valid? [True, True] Translation: X:-19.64, Y:2.86, Z:0.70 [[ 9.96434916e-01 8.42204481e-02 -4.93700330e-03 -1.96353231e+01] [-8.42209216e-02 9.96447100e-01 1.12286405e-04 2.85822381e+00] [ 4.92891943e-03 3.03912873e-04 9.99987807e-01 7.01821101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.003741732 meters 0.05328154127911582 Centerline is valid? [True, True] Translation: X:-19.70, Y:2.86, Z:0.71 [[ 9.96715137e-01 8.07614728e-02 -6.04324717e-03 -1.96953020e+01] [-8.07621352e-02 9.96733394e-01 1.34749304e-04 2.86100219e+00] [ 6.03438882e-03 3.53758874e-04 9.99981730e-01 7.08678829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.063741732 meters 0.05137451196727902 Centerline is valid? [True, True] Translation: X:-19.76, Y:2.85, Z:0.70 [[ 9.97031951e-01 7.63024477e-02 -1.02579431e-02 -1.97572245e+01] [-7.63041782e-02 9.97084561e-01 2.23135175e-04 2.85450754e+00] [ 1.02450624e-02 5.60251016e-04 9.99947361e-01 7.03101755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.123741732 meters 0.04766629995831296 Centerline is valid? [True, True] Translation: X:-19.82, Y:2.87, Z:0.73 [[ 9.97219639e-01 7.44461723e-02 3.28011236e-03 -1.98172905e+01] [-7.44463300e-02 9.97225019e-01 -7.41364322e-05 2.86610273e+00] [-3.27652929e-03 -1.70262021e-04 9.99994618e-01 7.27497375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.183741732 meters 0.053358724811564534 Centerline is valid? [True, True] Translation: X:-19.88, Y:2.88, Z:0.71 [[ 9.96681118e-01 8.10315053e-02 -7.78746541e-03 -1.98773936e+01] [-8.10326092e-02 9.96711436e-01 1.74185635e-04 2.88415960e+00] [ 7.77597035e-03 4.57431108e-04 9.99969662e-01 7.12354203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.243741732 meters 0.06510732403609076 Centerline is valid? [True, True] Translation: X:-19.94, Y:2.91, Z:0.72 [[ 9.94466378e-01 1.04708056e-01 -8.53494100e-03 -1.99375488e+01] [-1.04710249e-01 9.94502754e-01 1.90739025e-04 2.91250879e+00] [ 8.50799424e-03 7.04012252e-04 9.99963559e-01 7.19976805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.303741732 meters 0.06520484407737785 Centerline is valid? [True, True] Translation: X:-20.00, Y:2.90, Z:0.73 [[ 9.94378293e-01 1.05885788e-01 9.93007196e-05 -1.99986134e+01] [-1.05885788e-01 9.94378298e-01 -2.76306250e-06 2.89565344e+00] [-9.90350496e-05 -7.76700555e-06 9.99999995e-01 7.28342665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.363741732 meters 0.052614103119575435 Centerline is valid? [True, True] Translation: X:-20.06, Y:2.86, Z:0.73 [[ 9.96526088e-01 8.32499409e-02 -2.28113192e-03 -2.00599786e+01] [-8.32500419e-02 9.96528689e-01 5.08004195e-05 2.86002049e+00] [ 2.27744254e-03 1.39280385e-04 9.99997397e-01 7.27544119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.423741732 meters 0.045000521079170214 Centerline is valid? [True, True] Translation: X:-20.12, Y:2.84, Z:0.73 [[ 9.97153534e-01 7.53240485e-02 -3.33441880e-03 -2.01198480e+01] [-7.53242287e-02 9.97159092e-01 7.16882335e-05 2.84031320e+00] [ 3.33034587e-03 1.79678349e-04 9.99994438e-01 7.34458231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.483741732000002 meters 0.05725263845923791 Centerline is valid? [True, True] Translation: X:-20.18, Y:2.86, Z:0.73 [[ 9.95733085e-01 9.20885219e-02 -5.94373353e-03 -2.01806840e+01] [-9.20893676e-02 9.95750737e-01 1.31813733e-04 2.85667556e+00] [ 5.93061557e-03 4.16103367e-04 9.99982327e-01 7.30627237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.543741732 meters 0.05253902832533528 Centerline is valid? [True, True] Translation: X:-20.24, Y:2.84, Z:0.72 [[ 9.96786926e-01 7.93741174e-02 -1.07505570e-02 -2.02417819e+01] [-7.93761404e-02 9.96844708e-01 2.39050459e-04 2.83740128e+00] [ 1.07356103e-02 6.15055352e-04 9.99942183e-01 7.22368805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.603741732 meters 0.04578707156687721 Centerline is valid? [True, True] Translation: X:-20.30, Y:2.83, Z:0.74 [[ 9.97424753e-01 7.16257057e-02 -3.69061268e-03 -2.03016979e+01] [-7.16258917e-02 9.97431564e-01 8.19230891e-05 2.83113727e+00] [ 3.68700137e-03 1.82631307e-04 9.99993186e-01 7.38435343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.663741732000002 meters 0.04274944988103811 Centerline is valid? [True, True] Translation: X:-20.36, Y:2.83, Z:0.75 [[ 9.97364969e-01 7.25453353e-02 -5.41846290e-04 -2.03622429e+01] [-7.25453403e-02 9.97365115e-01 1.03499030e-05 2.83187124e+00] [ 5.41169425e-04 2.89857928e-05 9.99999853e-01 7.53992314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.723741732 meters 0.05352711735938844 Centerline is valid? [True, True] Translation: X:-20.42, Y:2.86, Z:0.74 [[ 9.96428595e-01 8.41382069e-02 -7.12857481e-03 -2.04226000e+01] [-8.41392240e-02 9.96453996e-01 1.57627027e-04 2.85541844e+00] [ 7.11655931e-03 4.42728675e-04 9.99974579e-01 7.39707725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.783741732 meters 0.04081244618976342 Centerline is valid? [True, True] Translation: X:-20.48, Y:2.84, Z:0.76 [[ 9.97617285e-01 6.89129177e-02 3.28070402e-03 -2.04820615e+01] [-6.89130480e-02 9.97622667e-01 -7.34453077e-05 2.83772392e+00] [-3.27796602e-03 -1.52813005e-04 9.99994616e-01 7.62315984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.843741732 meters 0.04142591403678819 Centerline is valid? [True, True] Translation: X:-20.54, Y:2.85, Z:0.75 [[ 9.97558743e-01 6.98260066e-02 -9.39966623e-04 -2.05435102e+01] [-6.98260190e-02 9.97559185e-01 1.96371879e-05 2.84740972e+00] [ 9.39043524e-04 4.60448788e-05 9.99999558e-01 7.54391157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.903741732 meters 0.048140044609820784 Centerline is valid? [True, True] Translation: X:-20.60, Y:2.88, Z:0.75 [[ 9.97054085e-01 7.62302805e-02 -8.49087434e-03 -2.06034488e+01] [-7.62314426e-02 9.97090132e-01 1.87157602e-04 2.87786878e+00] [ 8.48043410e-03 4.60665348e-04 9.99963934e-01 7.47257455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.963741732 meters 0.05882575681906201 Centerline is valid? [True, True] Translation: X:-20.66, Y:2.91, Z:0.75 [[ 9.95609243e-01 9.28406421e-02 -1.19519762e-02 -2.06636327e+01] [-9.28441335e-02 9.95680620e-01 2.63607316e-04 2.90983484e+00] [ 1.19248246e-02 8.47220998e-04 9.99928538e-01 7.51836711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.023741732 meters 0.057956163926368404 Centerline is valid? [True, True] Translation: X:-20.73, Y:2.91, Z:0.76 [[ 9.95436336e-01 9.53190339e-02 -4.55884116e-03 -2.07254515e+01] [-9.53196074e-02 9.95446716e-01 9.17909929e-05 2.91147768e+00] [ 4.54683289e-03 3.43174860e-04 9.99989604e-01 7.63268392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.083741732 meters 0.052392826237642784 Centerline is valid? [True, True] Translation: X:-20.79, Y:2.89, Z:0.75 [[ 9.96691538e-01 8.12145384e-02 -3.19012935e-03 -2.07862409e+01] [-8.12147317e-02 9.96696625e-01 6.91410451e-05 2.89421242e+00] [ 3.18520641e-03 1.90173204e-04 9.99994909e-01 7.54761100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.143741732 meters 0.043082546362397875 Centerline is valid? [True, True] Translation: X:-20.85, Y:2.88, Z:0.75 [[ 9.97886305e-01 6.35742402e-02 -1.34624866e-02 -2.08478309e+01] [-6.35760710e-02 9.97976953e-01 2.92362585e-04 2.88144405e+00] [ 1.34538381e-02 5.64147383e-04 9.99909334e-01 7.48047072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.203741732 meters 0.043639819316036894 Centerline is valid? [True, True] Translation: X:-20.91, Y:2.91, Z:0.77 [[ 9.97459191e-01 7.12397578e-02 2.42323491e-04 -2.09076119e+01] [-7.12397583e-02 9.97459221e-01 -6.92769019e-06 2.90655429e+00] [-2.42201327e-04 -1.03529786e-05 9.99999971e-01 7.72079756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.263741732 meters 0.05132564034608683 Centerline is valid? [True, True] Translation: X:-20.97, Y:2.93, Z:0.75 [[ 9.97110416e-01 7.49339577e-02 -1.24787896e-02 -2.09687371e+01] [-7.49364211e-02 9.97188277e-01 2.70711571e-04 2.93333444e+00] [ 1.24639881e-02 6.65186501e-04 9.99922100e-01 7.45525705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.323741732000002 meters 0.045744586955027845 Centerline is valid? [True, True] Translation: X:-21.03, Y:2.93, Z:0.76 [[ 9.97688153e-01 6.76574686e-02 -6.38871514e-03 -2.10289969e+01] [-6.76579658e-02 9.97708565e-01 1.38523809e-04 2.93052477e+00] [ 6.38344798e-03 2.94043907e-04 9.99979582e-01 7.58612615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.383741732 meters 0.04243449864969293 Centerline is valid? [True, True] Translation: X:-21.09, Y:2.94, Z:0.76 [[ 9.97956550e-01 6.37639159e-02 -4.10936390e-03 -2.10886839e+01] [-6.37640883e-02 9.97964996e-01 8.91888476e-05 2.93788461e+00] [ 4.10668836e-03 1.73023248e-04 9.99991553e-01 7.64615896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.443741732 meters 0.04660244701224104 Centerline is valid? [True, True] Translation: X:-21.15, Y:2.97, Z:0.76 [[ 9.97608529e-01 6.89843702e-02 -4.28709507e-03 -2.11490288e+01] [-6.89846088e-02 9.97617720e-01 9.23782168e-05 2.96500521e+00] [ 4.28325466e-03 2.03586279e-04 9.99990806e-01 7.64679899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.503741732 meters 0.05364576778003945 Centerline is valid? [True, True] Translation: X:-21.21, Y:2.99, Z:0.75 [[ 9.96754915e-01 8.00936714e-02 -8.04012822e-03 -2.12092574e+01] [-8.00948615e-02 9.96787230e-01 1.74382970e-04 2.99438401e+00] [ 8.02826412e-03 4.70155874e-04 9.99967662e-01 7.53806030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.563741732 meters 0.04353177857344287 Centerline is valid? [True, True] Translation: X:-21.27, Y:2.99, Z:0.77 [[ 9.97266013e-01 7.38670301e-02 -2.03997828e-03 -2.12687285e+01] [-7.38670969e-02 9.97268093e-01 4.26731980e-05 2.98616126e+00] [ 2.03755740e-03 1.08130744e-04 9.99997918e-01 7.72997166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.623741732 meters 0.0483168261478555 Centerline is valid? [True, True] Translation: X:-21.33, Y:3.00, Z:0.76 [[ 9.97249481e-01 7.29945978e-02 -1.28554249e-02 -2.13299097e+01] [-7.29970642e-02 9.97332117e-01 2.77888070e-04 2.99971811e+00] [ 1.28414125e-02 6.61284545e-04 9.99917327e-01 7.59135964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.683741732 meters 0.05160252091370287 Centerline is valid? [True, True] Translation: X:-21.39, Y:3.01, Z:0.76 [[ 9.96804765e-01 7.86008615e-02 -1.42184904e-02 -2.13892645e+01] [-7.86044333e-02 9.96905837e-01 3.08331853e-04 3.01074467e+00] [ 1.41987312e-02 8.10289720e-04 9.99898865e-01 7.56322278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.743741732 meters 0.05301143824868266 Centerline is valid? [True, True] Translation: X:-21.45, Y:3.01, Z:0.76 [[ 9.96665344e-01 8.08808692e-02 -1.07924392e-02 -2.14504175e+01] [-8.08831768e-02 9.96723563e-01 2.23212519e-04 3.01180363e+00] [ 1.07751321e-02 6.50458583e-04 9.99941735e-01 7.58064238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.803741732 meters 0.051580420830629484 Centerline is valid? [True, True] Translation: X:-21.51, Y:3.01, Z:0.77 [[ 9.97007260e-01 7.72426214e-02 -3.17816515e-03 -2.15107778e+01] [-7.72427974e-02 9.97012310e-01 6.75127965e-05 3.01130473e+00] [ 3.17388464e-03 1.78179618e-04 9.99994947e-01 7.73078141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.863741732 meters 0.052782030112015745 Centerline is valid? [True, True] Translation: X:-21.57, Y:3.02, Z:0.77 [[ 9.96675239e-01 8.06030078e-02 -1.19005894e-02 -2.15712718e+01] [-8.06057040e-02 9.96746034e-01 2.53690380e-04 3.01873491e+00] [ 1.18823135e-02 7.06408470e-04 9.99929153e-01 7.65043272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.923741732 meters 0.07327180922845807 Centerline is valid? [True, True] Translation: X:-21.63, Y:3.03, Z:0.76 [[ 9.92449749e-01 1.22175616e-01 -1.07988105e-02 -2.16306299e+01] [-1.22180270e-01 9.92507899e-01 2.30162004e-04 3.03006684e+00] [ 1.07460249e-02 1.09097736e-03 9.99941665e-01 7.63913427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.983741732000002 meters 0.07477452970916261 Centerline is valid? [True, True] Translation: X:-21.69, Y:3.02, Z:0.77 [[ 9.92844251e-01 1.19087060e-01 -8.86368444e-03 -2.16919384e+01] [-1.19090079e-01 9.92883436e-01 1.88283251e-04 3.02210062e+00] [ 8.82302756e-03 8.68640938e-04 9.99960699e-01 7.70187282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.043741732 meters 0.07595493747700428 Centerline is valid? [True, True] Translation: X:-21.75, Y:2.99, Z:0.77 [[ 9.92754177e-01 1.19714514e-01 -1.03720225e-02 -2.17540223e+01] [-1.19718690e-01 9.92807830e-01 2.19601173e-04 2.99471342e+00] [ 1.03237146e-02 1.02371497e-03 9.99946185e-01 7.66647962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.103741732 meters 0.07194478236499263 Centerline is valid? [True, True] Translation: X:-21.82, Y:2.93, Z:0.78 [[ 9.92942320e-01 1.18590444e-01 1.36221741e-03 -2.18163457e+01] [-1.18590513e-01 9.92943246e-01 -2.97295738e-05 2.93314571e+00] [-1.35613022e-03 -1.32026310e-04 9.99999072e-01 7.78414832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.163741732000002 meters 0.06262164429770738 Centerline is valid? [True, True] Translation: X:-21.88, Y:2.85, Z:0.78 [[ 9.93506620e-01 1.13735209e-01 2.98284936e-03 -2.18782466e+01] [-1.13735526e-01 9.93511060e-01 -6.35814958e-05 2.85274051e+00] [-2.97072528e-03 -2.76087304e-04 9.99995549e-01 7.80483511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.223741732 meters 0.06992109283856356 Centerline is valid? [True, True] Translation: X:-21.94, Y:2.83, Z:0.77 [[ 9.93967923e-01 1.09562621e-01 -4.87853153e-03 -2.19398762e+01] [-1.09563432e-01 9.93979801e-01 1.01610836e-04 2.83489226e+00] [ 4.86029455e-03 4.33510744e-04 9.99988095e-01 7.67273075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.283741732 meters 0.06442560368632394 Centerline is valid? [True, True] Translation: X:-22.00, Y:2.82, Z:0.79 [[ 9.93294228e-01 1.15278927e-01 8.79459293e-03 -2.20000999e+01] [-1.15281736e-01 9.93332817e-01 -1.88536870e-04 2.81645433e+00] [-8.75769210e-03 -8.26583359e-04 9.99961309e-01 7.88652781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.343741732 meters 0.07461951726588067 Centerline is valid? [True, True] Translation: X:-22.06, Y:2.81, Z:0.76 [[ 9.91092799e-01 1.32733173e-01 -1.08151695e-02 -2.20615332e+01] [-1.32738495e-01 9.91151068e-01 2.27388701e-04 2.81096148e+00] [ 1.07496488e-02 1.21022602e-03 9.99941488e-01 7.57360190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.403741732 meters 0.07425135566568956 Centerline is valid? [True, True] Translation: X:-22.12, Y:2.79, Z:0.77 [[ 9.91928014e-01 1.26681065e-01 -5.54280307e-03 -2.21220857e+01] [-1.26682370e-01 9.91943327e-01 1.16322642e-04 2.78723274e+00] [ 5.51288239e-03 5.86791743e-04 9.99984632e-01 7.65416731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.463741732 meters 0.06377606114624426 Centerline is valid? [True, True] Translation: X:-22.18, Y:2.75, Z:0.78 [[ 9.93836062e-01 1.10634622e-01 7.06135710e-03 -2.21825490e+01] [-1.10636335e-01 9.93860946e-01 -1.48680560e-04 2.75389318e+00] [-7.03445626e-03 -6.33478570e-04 9.99975057e-01 7.82999994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.523741732 meters 0.061014853477219765 Centerline is valid? [True, True] Translation: X:-22.24, Y:2.74, Z:0.79 [[ 9.94966268e-01 9.94038185e-02 1.26888219e-02 -2.22436547e+01] [-9.94084457e-02 9.95046677e-01 -2.67083191e-04 2.74068797e+00] [-1.26525192e-02 -9.95637298e-04 9.99919458e-01 7.86503649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.583741732 meters 0.06267909622687175 Centerline is valid? [True, True] Translation: X:-22.30, Y:2.75, Z:0.77 [[ 9.94719729e-01 1.02620259e-01 -1.31991310e-03 -2.23048418e+01] [-1.02620313e-01 9.94720599e-01 2.75327783e-05 2.74736008e+00] [ 1.31577017e-03 1.08062497e-04 9.99999129e-01 7.66246686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.643741732 meters 0.06801978538251517 Centerline is valid? [True, True] Translation: X:-22.37, Y:2.76, Z:0.76 [[ 9.93757821e-01 1.11467078e-01 -4.52593464e-03 -2.23652357e+01] [-1.11467792e-01 9.93768042e-01 9.48885822e-05 2.75756667e+00] [ 4.50830616e-03 4.10199672e-04 9.99989753e-01 7.64471711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.703741732 meters 0.057313409736498115 Centerline is valid? [True, True] Translation: X:-22.42, Y:2.74, Z:0.78 [[ 9.94611865e-01 1.03657581e-01 1.53082603e-03 -2.24248192e+01] [-1.03657652e-01 9.94613035e-01 -3.28830787e-05 2.74081412e+00] [-1.52598810e-03 -1.25975932e-04 9.99998828e-01 7.80974880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.763741732 meters 0.0559279979215072 Centerline is valid? [True, True] Translation: X:-22.49, Y:2.74, Z:0.78 [[ 9.95499313e-01 9.47553761e-02 1.59283406e-03 -2.24850369e+01] [-9.47554430e-02 9.95500580e-01 -3.35960677e-05 2.73830814e+00] [-1.58885063e-03 -1.17484834e-04 9.99998731e-01 7.77755219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.823741732000002 meters 0.05781770018255372 Centerline is valid? [True, True] Translation: X:-22.55, Y:2.76, Z:0.78 [[ 9.95677519e-01 9.28400485e-02 2.64659119e-03 -2.25461474e+01] [-9.28402246e-02 9.95681018e-01 -5.65106972e-05 2.75601380e+00] [-2.64040706e-03 -1.89443689e-04 9.99996496e-01 7.82633953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.883741732 meters 0.058737495873993656 Centerline is valid? [True, True] Translation: X:-22.61, Y:2.76, Z:0.78 [[ 9.95236599e-01 9.74767965e-02 1.54451630e-03 -2.26057216e+01] [-9.74768638e-02 9.95237791e-01 -3.18091657e-05 2.76314532e+00] [-1.54026165e-03 -1.18896959e-04 9.99998807e-01 7.81683529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.943741732 meters 0.05859584393050501 Centerline is valid? [True, True] Translation: X:-22.67, Y:2.78, Z:0.79 [[ 9.94693071e-01 1.02709502e-01 6.03758025e-03 -2.26656444e+01] [-1.02710613e-01 9.94711272e-01 -1.26613916e-04 2.78349136e+00] [-6.01865358e-03 -4.94181584e-04 9.99981766e-01 7.94644487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.003741732 meters 0.06377082200914748 Centerline is valid? [True, True] Translation: X:-22.73, Y:2.80, Z:0.78 [[ 9.94625887e-01 1.03527111e-01 -1.21746372e-03 -2.27265756e+01] [-1.03527157e-01 9.94626627e-01 2.49350904e-05 2.80329682e+00] [ 1.21350329e-03 1.01239472e-04 9.99999259e-01 7.75632397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.063741732 meters 0.05523334252939362 Centerline is valid? [True, True] Translation: X:-22.79, Y:2.80, Z:0.79 [[ 9.95457668e-01 9.52051488e-02 1.00398354e-04 -2.27856537e+01] [-9.52051489e-02 9.95457673e-01 -3.59426049e-06 2.79956267e+00] [-1.00284504e-04 -5.98050609e-06 9.99999995e-01 7.86923369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.123741732 meters 0.053195594886556855 Centerline is valid? [True, True] Translation: X:-22.85, Y:2.82, Z:0.80 [[ 9.95656030e-01 9.26799557e-02 8.91606062e-03 -2.28455012e+01] [-9.26819772e-02 9.95695745e-01 -1.87088094e-04 2.81864778e+00] [-8.89502294e-03 -6.40082738e-04 9.99960234e-01 8.03513269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.183741732 meters 0.058919288850720966 Centerline is valid? [True, True] Translation: X:-22.91, Y:2.84, Z:0.78 [[ 9.95503180e-01 9.46985829e-02 2.36559268e-03 -2.29065415e+01] [-9.46987312e-02 9.95505976e-01 -4.95099592e-05 2.84418103e+00] [-2.35965018e-03 -1.74731304e-04 9.99997201e-01 7.82630053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.243741732 meters 0.059189871009861866 Centerline is valid? [True, True] Translation: X:-22.97, Y:2.85, Z:0.77 [[ 9.95799777e-01 9.12219128e-02 -7.83366236e-03 -2.29693620e+01] [-9.12234791e-02 9.95830433e-01 1.57887708e-04 2.85318321e+00] [ 7.81540220e-03 5.57389390e-04 9.99969304e-01 7.68351780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.303741732 meters 0.056105460068511255 Centerline is valid? [True, True] Translation: X:-23.03, Y:2.86, Z:0.80 [[ 9.95946220e-01 8.92970082e-02 1.08245632e-02 -2.30288226e+01] [-8.92998237e-02 9.96004765e-01 -2.23915454e-04 2.85924089e+00] [-1.08013115e-02 -7.43623833e-04 9.99941388e-01 8.04671836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.363741732 meters 0.052352256571690466 Centerline is valid? [True, True] Translation: X:-23.09, Y:2.87, Z:0.80 [[ 9.96057488e-01 8.85964718e-02 4.48832670e-03 -2.30903720e+01] [-8.85969405e-02 9.96067555e-01 -9.46683021e-05 2.87308047e+00] [-4.47906387e-03 -3.03356942e-04 9.99989923e-01 7.98505604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.423741732 meters 0.055775482583504066 Centerline is valid? [True, True] Translation: X:-23.15, Y:2.91, Z:0.79 [[ 9.96289736e-01 8.59626423e-02 4.14567180e-03 -2.31512836e+01] [-8.59630240e-02 9.96298324e-01 -8.63662709e-05 2.90926883e+00] [-4.13775014e-03 -2.70328655e-04 9.99991403e-01 7.92378057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.483741732000002 meters 0.04750403507713258 Centerline is valid? [True, True] Translation: X:-23.21, Y:2.92, Z:0.81 [[ 9.96981329e-01 7.73224436e-02 7.03339247e-03 -2.32107046e+01] [-7.73233384e-02 9.97006058e-01 -1.45034431e-04 2.92128609e+00] [-7.02354932e-03 -3.99248766e-04 9.99975255e-01 8.08171782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.543741732 meters 0.04906791875317628 Centerline is valid? [True, True] Translation: X:-23.27, Y:2.93, Z:0.80 [[ 9.97061540e-01 7.65976161e-02 -1.04414641e-03 -2.32724725e+01] [-7.65976373e-02 9.97062085e-01 1.97278364e-05 2.93303100e+00] [ 1.04258990e-03 6.03092812e-05 9.99999455e-01 7.95976302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.603741732 meters 0.05407501653954009 Centerline is valid? [True, True] Translation: X:-23.33, Y:2.96, Z:0.80 [[ 9.96591746e-01 8.24798561e-02 1.40161784e-03 -2.33327233e+01] [-8.24798966e-02 9.96592728e-01 -2.89522039e-05 2.95898715e+00] [-1.39923012e-03 -8.67517668e-05 9.99999017e-01 7.99031714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.663741732000002 meters 0.05377458046043161 Centerline is valid? [True, True] Translation: X:-23.39, Y:2.98, Z:0.81 [[ 9.95946995e-01 8.92753725e-02 1.09312199e-02 -2.33915694e+01] [-8.92782678e-02 9.96006697e-01 -2.23800569e-04 2.97595326e+00] [-1.09075482e-02 -7.53026878e-04 9.99940227e-01 8.12584617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.723741732 meters 0.05407060349562233 Centerline is valid? [True, True] Translation: X:-23.45, Y:3.00, Z:0.81 [[ 9.95942496e-01 8.99022257e-02 4.01679914e-03 -2.34515155e+01] [-8.99026217e-02 9.95950557e-01 -8.22380245e-05 3.00158933e+00] [-4.00792672e-03 -2.79216430e-04 9.99991929e-01 8.08274454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.783741732 meters 0.05639965554160566 Centerline is valid? [True, True] Translation: X:-23.51, Y:3.02, Z:0.80 [[ 9.96291981e-01 8.60096849e-02 -2.15004131e-03 -2.35137117e+01] [-8.60097947e-02 9.96294291e-01 4.15313464e-05 3.01940848e+00] [ 2.14564598e-03 1.43547264e-04 9.99997688e-01 7.98792490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.843741732 meters 0.05168098729719829 Centerline is valid? [True, True] Translation: X:-23.57, Y:3.02, Z:0.80 [[ 9.96657328e-01 8.16508144e-02 -2.70471792e-03 -2.35748646e+01] [-8.16509669e-02 9.96660984e-01 5.41689673e-05 3.02083739e+00] [ 2.70010977e-03 1.66854936e-04 9.99996341e-01 8.00849612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.903741732 meters 0.05589182086049846 Centerline is valid? [True, True] Translation: X:-23.64, Y:3.03, Z:0.81 [[ 9.96100085e-01 8.81846573e-02 2.84391959e-03 -2.36357866e+01] [-8.81848478e-02 9.96104126e-01 -5.85550800e-05 3.03373225e+00] [-2.83800370e-03 -1.92463896e-04 9.99995954e-01 8.06372706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.963741732 meters 0.058098343271187555 Centerline is valid? [True, True] Translation: X:-23.70, Y:3.04, Z:0.82 [[ 9.95352086e-01 9.62652422e-02 2.68844528e-03 -2.36963461e+01] [-9.62654427e-02 9.95355696e-01 -5.50019604e-05 3.04454104e+00] [-2.68125410e-03 -2.04058059e-04 9.99996385e-01 8.18021196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.023741732 meters 0.05798851429977261 Centerline is valid? [True, True] Translation: X:-23.76, Y:3.04, Z:0.80 [[ 9.95727036e-01 9.22747589e-02 -3.61089584e-03 -2.37594282e+01] [-9.22751056e-02 9.95733549e-01 7.08243350e-05 3.03910686e+00] [ 3.60202543e-03 2.62674090e-04 9.99993478e-01 8.03386410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.083741732 meters 0.04612095162070654 Centerline is valid? [True, True] Translation: X:-23.82, Y:3.02, Z:0.82 [[ 9.97344404e-01 7.26275143e-02 5.42068210e-03 -2.38193817e+01] [-7.26279850e-02 9.97359095e-01 -1.10223099e-04 3.01811627e+00] [-5.41437182e-03 -2.83762827e-04 9.99985302e-01 8.16230582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.143741732 meters 0.04655339743123627 Centerline is valid? [True, True] Translation: X:-23.88, Y:3.02, Z:0.80 [[ 9.97596360e-01 6.86410060e-02 -9.48237981e-03 -2.38811359e+01] [-6.86422871e-02 9.97641318e-01 1.90670887e-04 3.02223741e+00] [ 9.47310173e-03 4.60679654e-04 9.99955023e-01 7.99669219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.203741732 meters 0.048706932905313256 Centerline is valid? [True, True] Translation: X:-23.94, Y:3.04, Z:0.82 [[ 9.97325604e-01 7.30123711e-02 3.29141171e-03 -2.39411414e+01] [-7.30125467e-02 9.97331020e-01 -6.69353811e-05 3.04447327e+00] [-3.28751411e-03 -1.73557982e-04 9.99994581e-01 8.16284044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.263741732 meters 0.04711451127071089 Centerline is valid? [True, True] Translation: X:-24.00, Y:3.06, Z:0.82 [[ 9.97247741e-01 7.38961480e-02 6.02518667e-03 -2.40029461e+01] [-7.38967319e-02 9.97265891e-01 -1.25964596e-04 3.06132839e+00] [-6.01802145e-03 -3.19623695e-04 9.99981840e-01 8.23247924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.323741732000002 meters 0.051224425145071334 Centerline is valid? [True, True] Translation: X:-24.06, Y:3.10, Z:0.81 [[ 9.97092571e-01 7.61008431e-02 -3.88145009e-03 -2.40633750e+01] [-7.61011162e-02 9.97100102e-01 7.75079558e-05 3.09697501e+00] [ 3.87609270e-03 2.18100077e-04 9.99992464e-01 8.08006406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.383741732 meters 0.04817779726494151 Centerline is valid? [True, True] Translation: X:-24.12, Y:3.10, Z:0.82 [[ 9.97216016e-01 7.45451783e-02 -1.79832454e-03 -2.41231383e+01] [-7.45452344e-02 9.97217633e-01 3.59099124e-05 3.09685602e+00] [ 1.79599785e-03 9.82465848e-05 9.99998382e-01 8.15853088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.443741732 meters 0.04838634138347588 Centerline is valid? [True, True] Translation: X:-24.18, Y:3.11, Z:0.83 [[ 9.97119789e-01 7.54376171e-02 7.82894164e-03 -2.41840678e+01] [-7.54387013e-02 9.97150429e-01 -1.57155764e-04 3.10516527e+00] [-7.81848797e-03 -4.33902068e-04 9.99969341e-01 8.32991429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.503741732 meters 0.051616350417440025 Centerline is valid? [True, True] Translation: X:-24.24, Y:3.14, Z:0.83 [[ 9.96576393e-01 8.26520472e-02 2.03293050e-03 -2.42440076e+01] [-8.26521349e-02 9.96578458e-01 -4.09719285e-05 3.13863961e+00] [-2.02936116e-03 -1.27194390e-04 9.99997933e-01 8.32778653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.563741732 meters 0.05211353457381951 Centerline is valid? [True, True] Translation: X:-24.31, Y:3.15, Z:0.82 [[ 9.96639783e-01 8.18873596e-02 -1.89839723e-03 -2.43051633e+01] [-8.18874507e-02 9.96641583e-01 2.98213436e-05 3.14796900e+00] [ 1.89446361e-03 1.25733772e-04 9.99998198e-01 8.24786381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.623741732 meters 0.04964590090957581 Centerline is valid? [True, True] Translation: X:-24.36, Y:3.15, Z:0.84 [[ 9.97019898e-01 7.68232858e-02 7.03603878e-03 -2.43649286e+01] [-7.68242157e-02 9.97044643e-01 -1.38424962e-04 3.15222696e+00] [-7.02587904e-03 -4.02525719e-04 9.99975237e-01 8.44053672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.683741732 meters 0.05675253876985735 Centerline is valid? [True, True] Translation: X:-24.43, Y:3.17, Z:0.83 [[ 9.96351182e-01 8.52743292e-02 -3.55110870e-03 -2.44251973e+01] [-8.52746213e-02 9.96357483e-01 6.93702915e-05 3.17367351e+00] [ 3.54408923e-03 2.33702277e-04 9.99993692e-01 8.28947069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.743741732 meters 0.06614120532943948 Centerline is valid? [True, True] Translation: X:-24.49, Y:3.20, Z:0.84 [[ 9.94579189e-01 1.03926647e-01 3.38966265e-03 -2.44853111e+01] [-1.03927019e-01 9.94584924e-01 -6.67717294e-05 3.19585744e+00] [-3.37824673e-03 -2.85867760e-04 9.99994253e-01 8.42632568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.803741732 meters 0.05893422359572532 Centerline is valid? [True, True] Translation: X:-24.55, Y:3.18, Z:0.85 [[ 9.95734241e-01 9.17746418e-02 9.52558361e-03 -2.45467788e+01] [-9.17770276e-02 9.95779565e-01 -1.87282359e-04 3.17625611e+00] [-9.50256927e-03 -6.87746292e-04 9.99954613e-01 8.47742851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.863741732 meters 0.05076954531433689 Centerline is valid? [True, True] Translation: X:-24.61, Y:3.16, Z:0.86 [[ 9.96574080e-01 8.23774074e-02 7.35298786e-03 -2.46066940e+01] [-8.23785724e-02 9.96601099e-01 -1.44802383e-04 3.15690098e+00] [-7.33992423e-03 -4.61422341e-04 9.99972956e-01 8.56349586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.923741732 meters 0.06602808473780702 Centerline is valid? [True, True] Translation: X:-24.67, Y:3.18, Z:0.85 [[ 9.94751131e-01 1.02274257e-01 3.18810364e-03 -2.46666652e+01] [-1.02274578e-01 9.94756205e-01 -6.27379835e-05 3.18363480e+00] [-3.17780236e-03 -2.63653274e-04 9.99994916e-01 8.49060589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.983741732000002 meters 0.06818135174161817 Centerline is valid? [True, True] Translation: X:-24.73, Y:3.19, Z:0.85 [[ 9.93744697e-01 1.11553159e-01 5.23166874e-03 -2.47261639e+01] [-1.11554154e-01 9.93758351e-01 -1.02180960e-04 3.18769540e+00] [-5.21041311e-03 -4.82072595e-04 9.99986310e-01 8.53840005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.043741732 meters 0.07898872605557512 Centerline is valid? [True, True] Translation: X:-24.79, Y:3.20, Z:0.85 [[ 9.92102401e-01 1.25430308e-01 2.51070978e-04 -2.47867033e+01] [-1.25430311e-01 9.92102433e-01 -5.51286319e-06 3.20232862e+00] [-2.49779608e-04 -2.60225860e-05 9.99999968e-01 8.50846246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.103741732 meters 0.07074802137408047 Centerline is valid? [True, True] Translation: X:-24.85, Y:3.18, Z:0.85 [[ 9.94014540e-01 1.09216135e-01 -2.63250706e-03 -2.48481713e+01] [-1.09216380e-01 9.94017998e-01 5.07214507e-05 3.18371802e+00] [ 2.62229900e-03 2.37095033e-04 9.99996534e-01 8.45274367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.163741732000002 meters 0.05526117361906848 Centerline is valid? [True, True] Translation: X:-24.91, Y:3.17, Z:0.85 [[ 9.96090592e-01 8.82942035e-02 -2.76879663e-03 -2.49083174e+01] [-8.82943950e-02 9.96094422e-01 5.32489543e-05 3.17099985e+00] [ 2.76268445e-03 1.91428441e-04 9.99996165e-01 8.48665885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.223741732 meters 0.045540227354815985 Centerline is valid? [True, True] Translation: X:-24.97, Y:3.14, Z:0.86 [[ 9.97772752e-01 6.66033921e-02 3.67737655e-03 -2.49692950e+01] [-6.66035780e-02 9.97779514e-01 -7.20295766e-05 3.14270749e+00] [-3.67400840e-03 -1.73057287e-04 9.99993236e-01 8.55522587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.283741732 meters 0.04453709407021942 Centerline is valid? [True, True] Translation: X:-25.03, Y:3.14, Z:0.86 [[ 9.97451443e-01 7.13081390e-02 2.40188890e-03 -2.50288815e+01] [-7.13082327e-02 9.97454327e-01 -4.67167141e-05 3.13668587e+00] [-2.39910576e-03 -1.24676798e-04 9.99997114e-01 8.59387751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.343741732 meters 0.055647712587031696 Centerline is valid? [True, True] Translation: X:-25.09, Y:3.14, Z:0.85 [[ 9.96684476e-01 8.13245614e-02 -2.52403561e-03 -2.50901055e+01] [-8.13246987e-02 9.96687660e-01 4.83679427e-05 3.13990570e+00] [ 2.51960864e-03 1.57058858e-04 9.99996813e-01 8.49073002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.403741732 meters 0.060982199443855134 Centerline is valid? [True, True] Translation: X:-25.15, Y:3.15, Z:0.85 [[ 9.95521668e-01 9.44371508e-02 -4.27009344e-03 -2.51510763e+01] [-9.44376598e-02 9.95530774e-01 8.27106793e-05 3.14666732e+00] [ 4.25882038e-03 3.20917358e-04 9.99990880e-01 8.48451683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.463741732 meters 0.05482926875718213 Centerline is valid? [True, True] Translation: X:-25.21, Y:3.12, Z:0.87 [[ 9.96359093e-01 8.49391984e-02 7.34105547e-03 -2.52119322e+01] [-8.49404418e-02 9.96386020e-01 -1.42798752e-04 3.12130219e+00] [-7.32665426e-03 -4.81273660e-04 9.99973044e-01 8.65277243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.523741732 meters 0.04898501561616871 Centerline is valid? [True, True] Translation: X:-25.27, Y:3.10, Z:0.85 [[ 9.97571765e-01 6.91535492e-02 -8.26801249e-03 -2.52741481e+01] [-6.91545989e-02 9.97605942e-01 1.59206867e-04 3.09616904e+00] [ 8.25922811e-03 4.12950812e-04 9.99965807e-01 8.49485005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.583741732 meters 0.049832981707999255 Centerline is valid? [True, True] Translation: X:-25.33, Y:3.08, Z:0.87 [[ 9.96828508e-01 7.95735202e-02 9.89978980e-04 -2.53334883e+01] [-7.95735400e-02 9.96828998e-01 -1.94909566e-05 3.07969389e+00] [-9.88390719e-04 -5.93469907e-05 9.99999510e-01 8.65725775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.643741732 meters 0.06527617634883624 Centerline is valid? [True, True] Translation: X:-25.39, Y:3.10, Z:0.86 [[ 9.94990243e-01 9.99242556e-02 -3.09181512e-03 -2.53944111e+01] [-9.99245500e-02 9.94995015e-01 5.94985061e-05 3.09558090e+00] [ 3.08228598e-03 2.49747802e-04 9.99995219e-01 8.61218056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.703741732 meters 0.07536800277689878 Centerline is valid? [True, True] Translation: X:-25.46, Y:3.10, Z:0.86 [[ 9.92967445e-01 1.17904732e-01 -1.06830455e-02 -2.54555587e+01] [-1.17909270e-01 9.93024351e-01 2.06251965e-04 3.09841035e+00] [ 1.06328424e-02 1.05482861e-03 9.99942913e-01 8.57662612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.763741732 meters 0.07795642374907685 Centerline is valid? [True, True] Translation: X:-25.52, Y:3.10, Z:0.86 [[ 9.93028599e-01 1.17189980e-01 -1.26771483e-02 -2.55178851e+01] [-1.17196450e-01 9.93108724e-01 2.33886536e-04 3.09543586e+00] [ 1.26171958e-02 1.25346076e-03 9.99919614e-01 8.59906530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.823741732000002 meters 0.059926233485421476 Centerline is valid? [True, True] Translation: X:-25.58, Y:3.04, Z:0.88 [[ 9.95372523e-01 9.58203955e-02 7.21054495e-03 -2.55774700e+01] [-9.58218948e-02 9.95398486e-01 -1.38056510e-04 3.04487856e+00] [-7.19059416e-03 -5.53510423e-04 9.99973994e-01 8.84364251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.883741732 meters 0.05936982864219538 Centerline is valid? [True, True] Translation: X:-25.64, Y:3.02, Z:0.88 [[ 9.95614109e-01 9.34754380e-02 3.85845538e-03 -2.56402862e+01] [-9.34758440e-02 9.95621545e-01 -7.53738654e-05 3.02229523e+00] [-3.84860692e-03 -2.85629090e-04 9.99992553e-01 8.83538005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.943741732 meters 0.07429805125117217 Centerline is valid? [True, True] Translation: X:-25.70, Y:3.03, Z:0.87 [[ 9.94405929e-01 1.05605839e-01 -2.06300672e-03 -2.57010468e+01] [-1.05605984e-01 9.94408052e-01 3.87253088e-05 3.02533136e+00] [ 2.05556012e-03 1.79357179e-04 9.99997871e-01 8.74265122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.003741732 meters 0.062001025860641365 Centerline is valid? [True, True] Translation: X:-25.76, Y:3.00, Z:0.90 [[ 9.94171184e-01 1.07111766e-01 1.22770917e-02 -2.57611427e+01] [-1.07116994e-01 9.94246396e-01 -2.32831058e-04 2.99885797e+00] [-1.22313932e-02 -1.08361123e-03 9.99924607e-01 8.99004034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.063741732 meters 0.06925127810997891 Centerline is valid? [True, True] Translation: X:-25.82, Y:2.99, Z:0.88 [[ 9.93429276e-01 1.14443637e-01 9.63261096e-04 -2.58224167e+01] [-1.14443672e-01 9.93429739e-01 -1.85582977e-05 2.98815919e+00] [-9.59056098e-04 -9.18027807e-05 9.99999536e-01 8.83189965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.123741732 meters 0.07637890768587577 Centerline is valid? [True, True] Translation: X:-25.88, Y:2.99, Z:0.89 [[ 9.91654041e-01 1.28894954e-01 2.89030067e-03 -2.58827514e+01] [-1.28895334e-01 9.91658202e-01 -5.49853876e-05 2.98662562e+00] [-2.87327771e-03 -3.18019790e-04 9.99995822e-01 8.85696160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.183741732 meters 0.05843848367457019 Centerline is valid? [True, True] Translation: X:-25.94, Y:2.94, Z:0.89 [[ 9.95104008e-01 9.85506349e-02 7.46901076e-03 -2.59444394e+01] [-9.85523325e-02 9.95131860e-01 -1.41324061e-04 2.94132758e+00] [-7.44657814e-03 -5.95456292e-04 9.99972097e-01 8.91289559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.243741732 meters 0.05175121961709902 Centerline is valid? [True, True] Translation: X:-26.01, Y:2.92, Z:0.90 [[ 9.96430523e-01 8.36821601e-02 1.11134309e-02 -2.60057898e+01] [-8.36850000e-02 9.96492236e-01 -2.10056711e-04 2.92283862e+00] [-1.10920256e-02 -7.20720547e-04 9.99938222e-01 8.96781962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.303741732 meters 0.069359381858471 Centerline is valid? [True, True] Translation: X:-26.07, Y:2.95, Z:0.89 [[ 9.93548158e-01 1.13366450e-01 -3.17901585e-03 -2.60655200e+01] [-1.13366834e-01 9.93553198e-01 5.98367266e-05 2.95300474e+00] [ 3.16530484e-03 3.00944291e-04 9.99994945e-01 8.91947565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.363741732 meters 0.0627280207743861 Centerline is valid? [True, True] Translation: X:-26.13, Y:2.95, Z:0.92 [[ 9.92804055e-01 1.17175786e-01 2.46970202e-02 -2.61255353e+01] [-1.17200081e-01 9.93108213e-01 -4.66430758e-04 2.94569695e+00] [-2.45814680e-02 -2.43141842e-03 9.99694873e-01 9.24462851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.423741732 meters 0.07082899829772481 Centerline is valid? [True, True] Translation: X:-26.19, Y:2.96, Z:0.89 [[ 9.93470533e-01 1.13981273e-01 4.95681066e-03 -2.61885241e+01] [-1.13982183e-01 9.93482789e-01 -9.95436517e-05 2.95634643e+00] [-4.93585220e-03 -4.66094415e-04 9.99987710e-01 8.92251901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.483741732 meters 0.059147378313316595 Centerline is valid? [True, True] Translation: X:-26.25, Y:2.95, Z:0.92 [[ 9.94344414e-01 1.04256782e-01 2.02412728e-02 -2.62472290e+01] [-1.04270619e-01 9.94548892e-01 -3.73449965e-04 2.94922405e+00] [-2.01698702e-02 -1.73923216e-03 9.99795055e-01 9.22242912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.543741732 meters 0.06818319547991344 Centerline is valid? [True, True] Translation: X:-26.31, Y:2.97, Z:0.90 [[ 9.93789284e-01 1.11175037e-01 4.79278426e-03 -2.63084775e+01] [-1.11175892e-01 9.93800741e-01 -8.85529991e-05 2.96554547e+00] [-4.77291743e-03 -4.44839044e-04 9.99988511e-01 9.00794079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.603741732 meters 0.06362504655915814 Centerline is valid? [True, True] Translation: X:-26.37, Y:2.97, Z:0.91 [[ 9.93851454e-01 1.10570850e-01 5.77711288e-03 -2.63703124e+01] [-1.10572050e-01 9.93868105e-01 -1.12314853e-04 2.97315789e+00] [-5.75410698e-03 -5.27162932e-04 9.99983306e-01 9.08763146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.663741732000002 meters 0.06842082966691061 Centerline is valid? [True, True] Translation: X:-26.43, Y:2.99, Z:0.91 [[ 9.93689404e-01 1.12143898e-01 2.26136408e-03 -2.64312878e+01] [-1.12144091e-01 9.93691955e-01 -4.14436405e-05 2.98919124e+00] [-2.25174694e-03 -2.12416513e-04 9.99997442e-01 9.05455415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.723741732 meters 0.06375689243360887 Centerline is valid? [True, True] Translation: X:-26.49, Y:2.99, Z:0.93 [[ 9.93528424e-01 1.12571296e-01 1.51318856e-02 -2.64903306e+01] [-1.12580051e-01 9.93642620e-01 -2.74687161e-04 2.98886172e+00] [-1.50666083e-02 -1.43063896e-03 9.99885469e-01 9.27177509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.783741732 meters 0.0659206012183114 Centerline is valid? [True, True] Translation: X:-26.55, Y:3.01, Z:0.93 [[ 9.93657801e-01 1.11820183e-01 1.18499677e-02 -2.65528315e+01] [-1.11825459e-01 9.93727839e-01 -2.18510140e-04 3.00778626e+00] [-1.18000766e-02 -1.10800377e-03 9.99929763e-01 9.27311130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.843741732 meters 0.07019479739772068 Centerline is valid? [True, True] Translation: X:-26.61, Y:3.02, Z:0.93 [[ 9.93286516e-01 1.15082203e-01 1.17466124e-02 -2.66128149e+01] [-1.15087719e-01 9.93355311e-01 -2.07548496e-04 3.02120000e+00] [-1.16924450e-02 -1.14573571e-03 9.99930985e-01 9.28599223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.903741732 meters 0.06874908670807088 Centerline is valid? [True, True] Translation: X:-26.67, Y:3.04, Z:0.93 [[ 9.93633913e-01 1.12405866e-01 7.52114747e-03 -2.66738605e+01] [-1.12408046e-01 9.93662122e-01 -1.33590629e-04 3.03702323e+00] [-7.48849573e-03 -7.12697315e-04 9.99971707e-01 9.26568733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.963741732 meters 0.06672001501915471 Centerline is valid? [True, True] Translation: X:-26.73, Y:3.04, Z:0.94 [[ 9.93532516e-01 1.13191378e-01 8.99176411e-03 -2.67346858e+01] [-1.13194493e-01 9.93572836e-01 -1.63315518e-04 3.04335913e+00] [-8.95245847e-03 -8.55558903e-04 9.99959560e-01 9.37499405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.023741732 meters 0.07031863413077934 Centerline is valid? [True, True] Translation: X:-26.80, Y:3.06, Z:0.93 [[ 9.93701756e-01 1.11975074e-01 4.28988817e-03 -2.67967103e+01] [-1.11975758e-01 9.93710935e-01 -8.11780589e-05 3.05824466e+00] [-4.27199870e-03 -3.99696701e-04 9.99990795e-01 9.29167306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.083741732 meters 0.06876722091759715 Centerline is valid? [True, True] Translation: X:-26.86, Y:3.07, Z:0.94 [[ 9.93880076e-01 1.10224710e-01 7.27375198e-03 -2.68579112e+01] [-1.10226721e-01 9.93906462e-01 -1.25006249e-04 3.06577348e+00] [-7.24320787e-03 -6.77520614e-04 9.99973538e-01 9.35352929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.143741732 meters 0.061835355636996756 Centerline is valid? [True, True] Translation: X:-26.92, Y:3.06, Z:0.93 [[ 9.95388495e-01 9.59134525e-02 -1.53445611e-03 -2.69193042e+01] [-9.59135262e-02 9.95389670e-01 2.56936248e-05 3.05773572e+00] [ 1.52984612e-03 1.21599958e-04 9.99998822e-01 9.27226738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.203741732 meters 0.05712792344141279 Centerline is valid? [True, True] Translation: X:-26.98, Y:3.07, Z:0.96 [[ 9.94951346e-01 9.86909860e-02 1.82183323e-02 -2.69786302e+01] [-9.87017372e-02 9.95117014e-01 -3.10288450e-04 3.06824870e+00] [-1.81599951e-02 -1.48945914e-03 9.99833984e-01 9.55869837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.263741732 meters 0.060502238140567606 Centerline is valid? [True, True] Translation: X:-27.04, Y:3.09, Z:0.94 [[ 9.94049585e-01 1.08928514e-01 3.34760717e-05 -2.70384383e+01] [-1.08928514e-01 9.94049586e-01 -9.06335092e-07 3.09189402e+00] [-3.33756010e-05 -2.74555671e-06 9.99999999e-01 9.40407287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.323741732000002 meters 0.06365836322742657 Centerline is valid? [True, True] Translation: X:-27.10, Y:3.11, Z:0.95 [[ 9.94115987e-01 1.07943899e-01 9.02876131e-03 -2.70987520e+01] [-1.07946919e-01 9.94156647e-01 -1.53628696e-04 3.11231495e+00] [-8.99258635e-03 -8.21902221e-04 9.99959228e-01 9.51682526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.383741732 meters 0.06150743218185259 Centerline is valid? [True, True] Translation: X:-27.16, Y:3.12, Z:0.94 [[ 9.94759740e-01 1.02233119e-01 1.20407370e-03 -2.71595020e+01] [-1.02233168e-01 9.94760463e-01 -2.08267479e-05 3.11601895e+00] [-1.19989409e-03 -1.02378659e-04 9.99999275e-01 9.44054412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.443741732 meters 0.05809547250350824 Centerline is valid? [True, True] Translation: X:-27.22, Y:3.12, Z:0.94 [[ 9.95734478e-01 9.22478888e-02 -1.78209469e-03 -2.72204460e+01] [-9.22479823e-02 9.95736064e-01 2.97914094e-05 3.11638966e+00] [ 1.77724415e-03 1.34730306e-04 9.99998412e-01 9.44662385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.503741732 meters 0.058275606294772145 Centerline is valid? [True, True] Translation: X:-27.28, Y:3.14, Z:0.96 [[ 9.95461439e-01 9.49012428e-02 7.09061964e-03 -2.72828523e+01] [-9.49027317e-02 9.95486542e-01 -1.26945481e-04 3.13562400e+00] [-7.07066371e-03 -5.46549842e-04 9.99974853e-01 9.57603369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.563741732 meters 0.0534516113791559 Centerline is valid? [True, True] Translation: X:-27.34, Y:3.14, Z:0.95 [[ 9.95625928e-01 9.34115796e-02 1.81340218e-03 -2.73444777e+01] [-9.34116706e-02 9.95627570e-01 -3.46280592e-05 3.14281041e+00] [-1.80870787e-03 -1.34916334e-04 9.99998355e-01 9.54254898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.623741732 meters 0.06566459186286193 Centerline is valid? [True, True] Translation: X:-27.40, Y:3.19, Z:0.97 [[ 9.94783820e-01 1.01047707e-01 1.39467636e-02 -2.74043144e+01] [-1.01054348e-01 9.94880880e-01 -2.29528701e-04 3.18845817e+00] [-1.38985618e-02 -1.18104967e-03 9.99902713e-01 9.68653379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.683741732 meters 0.06297245808110817 Centerline is valid? [True, True] Translation: X:-27.47, Y:3.19, Z:0.96 [[ 9.95009671e-01 9.93383921e-02 9.36156479e-03 -2.74661029e+01] [-9.93412651e-02 9.95053410e-01 -1.58772440e-04 3.19013658e+00] [-9.33102917e-03 -7.72009577e-04 9.99956167e-01 9.62469014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.743741732 meters 0.05681995926989695 Centerline is valid? [True, True] Translation: X:-27.53, Y:3.19, Z:0.96 [[ 9.96078243e-01 8.82858996e-02 5.80810156e-03 -2.75270304e+01] [-8.82868407e-02 9.96095088e-01 -9.46536607e-05 3.19027445e+00] [-5.79377802e-03 -4.18496486e-04 9.99983128e-01 9.58986378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.803741732 meters 0.05880349758332889 Centerline is valid? [True, True] Translation: X:-27.59, Y:3.20, Z:0.96 [[ 9.95841191e-01 9.11059862e-02 -1.43840795e-04 -2.75872879e+01] [-9.11059868e-02 9.95841202e-01 2.19277993e-06 3.19788816e+00] [ 1.43442366e-04 1.09210970e-05 9.99999990e-01 9.57913347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.863741732 meters 0.0721752110078746 Centerline is valid? [True, True] Translation: X:-27.65, Y:3.23, Z:0.96 [[ 9.93284678e-01 1.15686206e-01 -1.49996413e-03 -2.76477099e+01] [-1.15686301e-01 9.93285799e-01 2.38029876e-05 3.22687858e+00] [ 1.49264675e-03 1.49882159e-04 9.99998875e-01 9.56107933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.923741732 meters 0.07655813559094116 Centerline is valid? [True, True] Translation: X:-27.71, Y:3.24, Z:0.98 [[ 9.91363938e-01 1.30736943e-01 1.02661487e-02 -2.77075546e+01] [-1.30742141e-01 9.91416393e-01 -1.66007641e-04 3.24010932e+00] [-1.01997315e-02 -1.17764428e-03 9.99947288e-01 9.77737226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.983741732 meters 0.08665002913252738 Centerline is valid? [True, True] Translation: X:-27.77, Y:3.25, Z:0.96 [[ 9.92000758e-01 1.26230686e-01 -5.56071534e-04 -2.77691942e+01] [-1.26230701e-01 9.92000912e-01 8.40151493e-06 3.24736986e+00] [ 5.52683998e-04 6.18589903e-05 9.99999845e-01 9.60819263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.043741732 meters 0.08482215443549698 Centerline is valid? [True, True] Translation: X:-27.83, Y:3.24, Z:0.96 [[ 9.92188742e-01 1.24743494e-01 7.49667786e-04 -2.78301461e+01] [-1.24743519e-01 9.92189021e-01 -1.25900218e-05 3.23966607e+00] [-7.45382670e-04 -8.10245200e-05 9.99999719e-01 9.64327665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.103741732 meters 0.07136203264923452 Centerline is valid? [True, True] Translation: X:-27.89, Y:3.19, Z:0.97 [[ 9.93889801e-01 1.10367304e-01 1.45655519e-03 -2.78907990e+01] [-1.10367386e-01 9.93890859e-01 -2.44026057e-05 3.18914125e+00] [-1.45035014e-03 -1.36502687e-04 9.99998939e-01 9.65768895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.163741732000002 meters 0.06245933169117044 Centerline is valid? [True, True] Translation: X:-27.95, Y:3.16, Z:0.97 [[ 9.95348094e-01 9.63284011e-02 1.73530687e-03 -2.79514283e+01] [-9.63284974e-02 9.95349597e-01 -2.82354564e-05 3.15987856e+00] [-1.72995687e-03 -1.39055396e-04 9.99998494e-01 9.74489119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.223741732 meters 0.058236910318325646 Centerline is valid? [True, True] Translation: X:-28.01, Y:3.15, Z:0.99 [[ 9.95301456e-01 9.67839064e-02 2.80852270e-03 -2.80122417e+01] [-9.67841433e-02 9.95305394e-01 -5.17552835e-05 3.14933115e+00] [-2.80034687e-03 -2.20308355e-04 9.99996055e-01 9.85697676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.283741732 meters 0.07577539465077053 Centerline is valid? [True, True] Translation: X:-28.07, Y:3.19, Z:0.98 [[ 9.93247286e-01 1.15923469e-01 -4.64521518e-03 -2.80728498e+01] [-1.15924383e-01 9.93258039e-01 7.27646716e-05 3.18649554e+00] [ 4.62233245e-03 4.66220392e-04 9.99989208e-01 9.75943361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.343741732 meters 0.09012274423341125 Centerline is valid? [True, True] Translation: X:-28.13, Y:3.21, Z:0.98 [[ 9.91652903e-01 1.28936079e-01 8.12472626e-05 -2.81325933e+01] [-1.28936080e-01 9.91652907e-01 -1.76260541e-06 3.21430627e+00] [-8.07963475e-05 -8.72781075e-06 9.99999997e-01 9.81892466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.403741732 meters 0.08096257577878141 Centerline is valid? [True, True] Translation: X:-28.19, Y:3.20, Z:0.99 [[ 9.90667972e-01 1.36296487e-01 4.86355990e-04 -2.81921832e+01] [-1.36296500e-01 9.90668090e-01 -7.53788205e-06 3.19574738e+00] [-4.82844746e-04 -5.88210806e-05 9.99999882e-01 9.92274103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.463741732 meters 0.08242670678504613 Centerline is valid? [True, True] Translation: X:-28.25, Y:3.19, Z:0.99 [[ 9.90523136e-01 1.37344448e-01 -6.47165403e-04 -2.82534936e+01] [-1.37344471e-01 9.90523345e-01 9.04774005e-06 3.18613912e+00] [ 6.42275096e-04 7.99225939e-05 9.99999791e-01 9.91868338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.523741732 meters 0.07319860724909395 Centerline is valid? [True, True] Translation: X:-28.31, Y:3.16, Z:0.99 [[ 9.92303029e-01 1.23817462e-01 1.98363149e-03 -2.83136421e+01] [-1.23817642e-01 9.92304989e-01 -3.19348328e-05 3.16220619e+00] [-1.97232151e-03 -2.13919543e-04 9.99998032e-01 9.92282370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.583741732 meters 0.062336876847690424 Centerline is valid? [True, True] Translation: X:-28.37, Y:3.13, Z:1.00 [[ 9.94963467e-01 1.00232715e-01 1.05025887e-03 -2.83742736e+01] [-1.00232752e-01 9.94964017e-01 -1.70121719e-05 3.13368814e+00] [-1.04667496e-03 -8.83438472e-05 9.99999448e-01 9.97880237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.643741732 meters 0.06259512250170682 Centerline is valid? [True, True] Translation: X:-28.43, Y:3.14, Z:1.00 [[ 9.95291049e-01 9.69305037e-02 4.52685837e-04 -2.84346635e+01] [-9.69305102e-02 9.95291151e-01 -7.62998100e-06 3.13787669e+00] [-4.51293786e-04 -3.62850174e-05 9.99999898e-01 1.00023149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.703741732 meters 0.06650049195528387 Centerline is valid? [True, True] Translation: X:-28.50, Y:3.14, Z:0.98 [[ 9.94734740e-01 1.02051612e-01 -9.39498926e-03 -2.84955123e+01] [-1.02054746e-01 9.94778773e-01 1.46473574e-04 3.14191956e+00] [ 9.36088376e-03 8.13100892e-04 9.99955855e-01 9.83433938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.763741732 meters 0.06675765445553042 Centerline is valid? [True, True] Translation: X:-28.56, Y:3.15, Z:1.00 [[ 9.94126230e-01 1.08025772e-01 6.59328898e-03 -2.85572767e+01] [-1.08027406e-01 9.94147910e-01 -1.08965067e-04 3.14898914e+00] [-6.56647550e-03 -6.03930872e-04 9.99978258e-01 1.00499396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.823741732 meters 0.07339224013017567 Centerline is valid? [True, True] Translation: X:-28.62, Y:3.17, Z:1.01 [[ 9.93704694e-01 1.11737569e-01 8.10537431e-03 -2.86171097e+01] [-1.11740236e-01 9.93737442e-01 -1.24531776e-04 3.17214923e+00] [-8.06852882e-03 -7.81948624e-04 9.99967143e-01 1.01377980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.883741732 meters 0.06629725666797254 Centerline is valid? [True, True] Translation: X:-28.68, Y:3.18, Z:0.99 [[ 9.94434232e-01 1.05103868e-01 -7.33039070e-03 -2.86778770e+01] [-1.05105877e-01 9.94461031e-01 1.11695579e-04 3.18150259e+00] [ 7.30152753e-03 6.59393234e-04 9.99973126e-01 9.94958996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.943741732 meters 0.0601298038536508 Centerline is valid? [True, True] Translation: X:-28.74, Y:3.18, Z:1.00 [[ 9.95648304e-01 9.31810293e-02 -1.32342663e-03 -2.87384733e+01] [-9.31810848e-02 9.95649178e-01 1.97476894e-05 3.17872612e+00] [ 1.31950874e-03 1.03656575e-04 9.99999124e-01 9.99569989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.003741732 meters 0.07590785551034608 Centerline is valid? [True, True] Translation: X:-28.80, Y:3.22, Z:1.00 [[ 9.94004661e-01 1.09334883e-01 7.85355455e-04 -2.87980678e+01] [-1.09334907e-01 9.94004969e-01 -1.21197286e-05 3.22003562e+00] [-7.81972333e-04 -7.38196990e-05 9.99999692e-01 1.00489026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.063741732 meters 0.07462333670288362 Centerline is valid? [True, True] Translation: X:-28.86, Y:3.24, Z:1.00 [[ 9.92772501e-01 1.19840623e-01 -6.40213033e-03 -2.88579465e+01] [-1.19842460e-01 9.92792917e-01 9.73131263e-05 3.24170329e+00] [ 6.36765171e-03 6.70637252e-04 9.99979501e-01 1.00172897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.123741732 meters 0.06391960807256371 Centerline is valid? [True, True] Translation: X:-28.92, Y:3.24, Z:1.02 [[ 9.94634125e-01 1.02857036e-01 1.11080379e-02 -2.89178802e+01] [-1.02861502e-01 9.94695673e-01 -1.70056867e-04 3.23694308e+00] [-1.10666088e-02 -9.73445095e-04 9.99938289e-01 1.01809148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.183741732 meters 0.058090995613787756 Centerline is valid? [True, True] Translation: X:-28.98, Y:3.25, Z:1.01 [[ 9.95256402e-01 9.71711400e-02 -4.73951876e-03 -2.89796205e+01] [-9.71719334e-02 9.95267608e-01 6.31337599e-05 3.25227814e+00] [ 4.72322428e-03 3.97713923e-04 9.99988766e-01 1.00523473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.243741732 meters 0.06371060130751692 Centerline is valid? [True, True] Translation: X:-29.04, Y:3.29, Z:1.01 [[ 9.94607824e-01 1.03669654e-01 2.80704574e-03 -2.90395785e+01] [-1.03669944e-01 9.94611754e-01 -4.23023482e-05 3.28930397e+00] [-2.79630616e-03 -2.48932028e-04 9.99996059e-01 1.01475780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.303741732 meters 0.05959647487117752 Centerline is valid? [True, True] Translation: X:-29.10, Y:3.31, Z:1.02 [[ 9.94168151e-01 1.07660580e-01 6.23589681e-03 -2.90985801e+01] [-1.07662097e-01 9.94187540e-01 -9.28317796e-05 3.31044791e+00] [-6.20964523e-03 -5.79079329e-04 9.99980552e-01 1.01943485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.363741732 meters 0.06466724396552441 Centerline is valid? [True, True] Translation: X:-29.16, Y:3.34, Z:1.01 [[ 9.94736361e-01 1.02317187e-01 5.54664363e-03 -2.91600489e+01] [-1.02318298e-01 9.94751707e-01 -8.39040625e-05 3.33583927e+00] [-5.52611805e-03 -4.84060713e-04 9.99984614e-01 1.00790286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.423741732 meters 0.05728520392520254 Centerline is valid? [True, True] Translation: X:-29.22, Y:3.33, Z:1.02 [[ 9.95232376e-01 9.73114480e-02 6.55740735e-03 -2.92198829e+01] [-9.73128984e-02 9.95253832e-01 -9.82846245e-05 3.33399462e+00] [-6.53584901e-03 -5.40304275e-04 9.99978495e-01 1.01646825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.483741732 meters 0.059518905092041746 Centerline is valid? [True, True] Translation: X:-29.28, Y:3.37, Z:1.01 [[ 9.94799324e-01 1.01799879e-01 3.32999870e-03 -2.92799537e+01] [-1.01800278e-01 9.94804856e-01 -4.98522163e-05 3.36503156e+00] [-3.31777382e-03 -2.89401843e-04 9.99994454e-01 1.01094028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.543741732 meters 0.07175840193836153 Centerline is valid? [True, True] Translation: X:-29.34, Y:3.42, Z:1.02 [[ 9.94505208e-01 1.03655093e-01 1.46632966e-02 -2.93416172e+01] [-1.03662980e-01 9.94612456e-01 -2.23216758e-04 3.41798123e+00] [-1.46074350e-02 -1.29805079e-03 9.99892463e-01 1.02129028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.603741732 meters 0.06820740322254926 Centerline is valid? [True, True] Translation: X:-29.40, Y:3.43, Z:1.01 [[ 9.93649278e-01 1.12355912e-01 6.10412260e-03 -2.94011837e+01] [-1.12357462e-01 9.93667848e-01 -8.96282376e-05 3.42523008e+00] [-6.07554064e-03 -5.96784687e-04 9.99981366e-01 1.01146314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.663741732000002 meters 0.08178628049769111 Centerline is valid? [True, True] Translation: X:-29.46, Y:3.46, Z:1.02 [[ 9.89946327e-01 1.41214257e-01 8.05001547e-03 -2.94612541e+01] [-1.41217890e-01 9.89978532e-01 -1.18151567e-04 3.45661713e+00] [-7.98602718e-03 -1.01984249e-03 9.99967591e-01 1.02461197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.723741732 meters 0.08490461862544832 Centerline is valid? [True, True] Translation: X:-29.52, Y:3.44, Z:1.01 [[ 9.89009782e-01 1.47829201e-01 2.48551376e-03 -2.95225146e+01] [-1.47829567e-01 9.89012850e-01 -3.67524393e-05 3.43648699e+00] [-2.46363813e-03 -3.31083901e-04 9.99996910e-01 1.01342519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.783741732 meters 0.07025414216529664 Centerline is valid? [True, True] Translation: X:-29.58, Y:3.36, Z:1.02 [[ 9.92873992e-01 1.18801702e-01 9.34837975e-03 -2.95843957e+01] [-1.18805624e-01 9.92917522e-01 -1.36607859e-04 3.36241137e+00] [-9.29839930e-03 -9.75005704e-04 9.99956294e-01 1.02228243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.843741732 meters 0.07651682718441177 Centerline is valid? [True, True] Translation: X:-29.65, Y:3.33, Z:1.03 [[ 9.92208357e-01 1.24261828e-01 9.03180587e-03 -2.96458957e+01] [-1.24265717e-01 9.92248968e-01 -1.31452755e-04 3.32777604e+00] [-8.97813462e-03 -9.91915313e-04 9.99959204e-01 1.02863248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.903741732 meters 0.06825409354582698 Centerline is valid? [True, True] Translation: X:-29.71, Y:3.28, Z:1.04 [[ 9.93445940e-01 1.13632445e-01 1.23625403e-02 -2.97065279e+01] [-1.13638921e-01 9.93522100e-01 -1.79636742e-04 3.28136274e+00] [-1.23028695e-02 -1.22640635e-03 9.99923565e-01 1.04061038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.963741732 meters 0.06655253463249565 Centerline is valid? [True, True] Translation: X:-29.77, Y:3.28, Z:1.05 [[ 9.93602087e-01 1.12021696e-01 1.43538091e-02 -2.97676076e+01] [-1.12030268e-01 9.93704773e-01 -2.07986098e-04 3.27825799e+00] [-1.42867476e-02 -1.40140567e-03 9.99896957e-01 1.04657122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.023741732 meters 0.0660631237513538 Centerline is valid? [True, True] Translation: X:-29.83, Y:3.26, Z:1.05 [[ 9.94434365e-01 1.04925824e-01 9.53236627e-03 -2.98283252e+01] [-1.04929280e-01 9.94479677e-01 -1.38200031e-04 3.25889761e+00] [-9.49424528e-03 -8.62793471e-04 9.99954556e-01 1.04612719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.083741732 meters 0.07159081735707232 Centerline is valid? [True, True] Translation: X:-29.89, Y:3.27, Z:1.03 [[ 9.93919182e-01 1.10046607e-01 -3.79515188e-03 -2.98896646e+01] [-1.10047195e-01 9.93926361e-01 5.41719001e-05 3.26677671e+00] [ 3.77806293e-03 3.63803327e-04 9.99992797e-01 1.03368006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.143741732 meters 0.08009458453804791 Centerline is valid? [True, True] Translation: X:-29.95, Y:3.28, Z:1.06 [[ 9.90882404e-01 1.34438496e-01 8.85166380e-03 -2.99488186e+01] [-1.34442641e-01 9.90921369e-01 -1.27820044e-04 3.28226302e+00] [-8.78848675e-03 -1.06338643e-03 9.99960815e-01 1.05665403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.203741732 meters 0.07519851906022744 Centerline is valid? [True, True] Translation: X:-30.01, Y:3.28, Z:1.05 [[ 9.92047558e-01 1.25449811e-01 1.01974308e-02 -3.00101148e+01] [-1.25454842e-01 9.92099320e-01 -1.47264356e-04 3.27760932e+00] [-1.01353384e-02 -1.13322382e-03 9.99947994e-01 1.05332519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.263741732 meters 0.07574115339546653 Centerline is valid? [True, True] Translation: X:-30.07, Y:3.28, Z:1.06 [[ 9.93895873e-01 1.09998550e-01 8.44467694e-03 -3.00704467e+01] [-1.10001450e-01 9.93931419e-01 -1.21760992e-04 3.28321702e+00] [-8.40682327e-03 -8.07908957e-04 9.99964336e-01 1.06102403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.323741732 meters 0.09516701034080184 Centerline is valid? [True, True] Translation: X:-30.13, Y:3.32, Z:1.06 [[ 9.88523127e-01 1.51069608e-01 -2.51383013e-05 -3.01301060e+01] [-1.51069608e-01 9.88523127e-01 -2.28087908e-07 3.31578510e+00] [ 2.48153351e-05 4.02310351e-06 1.00000000e+00 1.05793027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.383741732 meters 0.08559577132590997 Centerline is valid? [True, True] Translation: X:-30.19, Y:3.30, Z:1.08 [[ 9.88179105e-01 1.52770226e-01 1.27794371e-02 -3.01922938e+01] [-1.52780329e-01 9.88260156e-01 -1.87712704e-04 3.30000285e+00] [-1.26580854e-02 -1.76695283e-03 9.99918322e-01 1.08121136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.443741732 meters 0.08675874244360042 Centerline is valid? [True, True] Translation: X:-30.25, Y:3.29, Z:1.06 [[ 9.90746870e-01 1.35718640e-01 1.04373387e-03 -3.02538017e+01] [-1.35718698e-01 9.90747412e-01 -1.55687349e-05 3.28640780e+00] [-1.03618959e-03 -1.26229526e-04 9.99999455e-01 1.05968631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.503741732 meters 0.07548212982687597 Centerline is valid? [True, True] Translation: X:-30.31, Y:3.24, Z:1.08 [[ 9.91822293e-01 1.27473423e-01 6.25018468e-03 -3.03135739e+01] [-1.27475362e-01 9.91841733e-01 -8.88086557e-05 3.24277067e+00] [-6.21051475e-03 -7.08662147e-04 9.99980463e-01 1.07693549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.563741732 meters 0.08224832428603997 Centerline is valid? [True, True] Translation: X:-30.37, Y:3.23, Z:1.07 [[ 9.90981124e-01 1.33999226e-01 -7.86610708e-04 -3.03742331e+01] [-1.33999259e-01 9.90981432e-01 1.05889510e-05 3.23337946e+00] [ 7.80935517e-04 9.49118012e-05 9.99999691e-01 1.07284743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.623741732 meters 0.0744787438950493 Centerline is valid? [True, True] Translation: X:-30.43, Y:3.22, Z:1.09 [[ 9.91876874e-01 1.26859944e-01 9.31782214e-03 -3.04338526e+01] [-1.26864242e-01 9.91920081e-01 -1.30757428e-04 3.21515899e+00] [-9.25912277e-03 -1.05240318e-03 9.99956580e-01 1.08926548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.683741732 meters 0.06822486655752355 Centerline is valid? [True, True] Translation: X:-30.49, Y:3.21, Z:1.10 [[ 9.92681066e-01 1.20202121e-01 1.16512149e-02 -3.04934790e+01] [-1.20208401e-01 9.92748666e-01 -1.62351970e-04 3.21281757e+00] [-1.15862431e-02 -1.23941019e-03 9.99932109e-01 1.09825079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.743741732 meters 0.07190538812679144 Centerline is valid? [True, True] Translation: X:-30.55, Y:3.22, Z:1.10 [[ 9.92460237e-01 1.22450153e-01 5.35151589e-03 -3.05542158e+01] [-1.22451515e-01 9.92474494e-01 -7.36985697e-05 3.22111050e+00] [-5.32026743e-03 -5.82158327e-04 9.99985678e-01 1.09874350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.803741732 meters 0.07415603104719434 Centerline is valid? [True, True] Translation: X:-30.61, Y:3.24, Z:1.11 [[ 9.91495289e-01 1.29426169e-01 1.36366332e-02 -3.06132551e+01] [-1.29435668e-01 9.91587804e-01 -1.87421005e-04 3.23877963e+00] [-1.35461763e-02 -1.57923967e-03 9.99906999e-01 1.10755513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.863741732 meters 0.07460626125727596 Centerline is valid? [True, True] Translation: X:-30.67, Y:3.25, Z:1.09 [[ 9.91572726e-01 1.29537314e-01 1.90074592e-03 -3.06746731e+01] [-1.29537498e-01 9.91574524e-01 -2.66211092e-05 3.24502675e+00] [-1.88817966e-03 -2.19821104e-04 9.99998193e-01 1.09413013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.923741732 meters 0.07545832211437738 Centerline is valid? [True, True] Translation: X:-30.73, Y:3.27, Z:1.11 [[ 9.90838436e-01 1.34818636e-01 7.94532996e-03 -3.07347923e+01] [-1.34822030e-01 9.90869824e-01 -1.09262513e-04 3.27299031e+00] [-7.88751832e-03 -9.62944021e-04 9.99968429e-01 1.10723060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.983741732 meters 0.07604898721778697 Centerline is valid? [True, True] Translation: X:-30.79, Y:3.29, Z:1.11 [[ 9.90333626e-01 1.38589013e-01 5.69169051e-03 -3.07949448e+01] [-1.38590818e-01 9.90349726e-01 -7.78528268e-05 3.29301341e+00] [-5.64755368e-03 -7.11715774e-04 9.99983799e-01 1.11223935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.043741732 meters 0.10580151606023866 Centerline is valid? [True, False] Translation: X:-30.82, Y:3.32, Z:1.10 [[ 9.93104781e-01 1.14930740e-01 2.31045354e-02 -3.08150495e+01] [-1.14861641e-01 9.93372191e-01 -4.30031644e-03 3.32270976e+00] [-2.34456415e-02 1.61683996e-03 9.99723806e-01 1.09854063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.103741732 meters 0.09086025776017143 Centerline is valid? [False, True] Translation: X:-30.86, Y:3.31, Z:1.10 [[ 9.95912333e-01 8.16607506e-02 3.86024296e-02 -3.08566759e+01] [-8.18715405e-02 9.96635224e-01 3.90898574e-03 3.31237443e+00] [-3.81533304e-02 -7.05344748e-03 9.99247003e-01 1.09747978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.163741732000002 meters 0.08617907787906373 Centerline is valid? [True, True] Translation: X:-30.91, Y:3.27, Z:1.11 [[ 9.96454443e-01 7.44464542e-02 3.91952579e-02 -3.09146446e+01] [-7.46151329e-02 9.97208315e-01 2.85640622e-03 3.27187870e+00] [-3.88731878e-02 -5.77083805e-03 9.99227488e-01 1.10792988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.223741732 meters 0.08944938065908875 Centerline is valid? [True, True] Translation: X:-30.97, Y:3.24, Z:1.11 [[ 9.96448842e-01 7.58672907e-02 3.65220533e-02 -3.09738003e+01] [-7.60146851e-02 9.97103144e-01 2.66224887e-03 3.23897301e+00] [-3.62142765e-02 -5.42900717e-03 9.99329301e-01 1.10872226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.283741732 meters 0.08982408881287653 Centerline is valid? [True, True] Translation: X:-31.03, Y:3.19, Z:1.12 [[ 9.97137405e-01 6.59295054e-02 3.70175062e-02 -3.10306022e+01] [-6.60742649e-02 9.97811056e-01 2.69957751e-03 3.18934164e+00] [-3.67584951e-02 -5.13775422e-03 9.99310971e-01 1.11565706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.343741732 meters 0.08253887466702609 Centerline is valid? [True, True] Translation: X:-31.09, Y:3.16, Z:1.12 [[ 9.97098527e-01 6.64175546e-02 3.71918843e-02 -3.10900635e+01] [-6.65638064e-02 9.97778499e-01 2.70664977e-03 3.16442173e+00] [-3.69294934e-02 -5.17442988e-03 9.99304477e-01 1.12439167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.403741732 meters 0.08819581941226444 Centerline is valid? [True, True] Translation: X:-31.15, Y:3.16, Z:1.13 [[ 9.96572415e-01 7.56754053e-02 3.34163760e-02 -3.11508525e+01] [-7.57990331e-02 9.97120113e-01 2.44660661e-03 3.16429331e+00] [-3.31349927e-02 -4.97114965e-03 9.99438522e-01 1.12791966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.463741732 meters 0.08836265265327538 Centerline is valid? [True, True] Translation: X:-31.21, Y:3.15, Z:1.13 [[ 9.96596397e-01 7.57244118e-02 3.25796850e-02 -3.12121530e+01] [-7.58416929e-02 9.97117037e-01 2.37745479e-03 3.15064336e+00] [-3.23057276e-02 -4.84026134e-03 9.99466314e-01 1.13110437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.523741732 meters 0.08882726775346157 Centerline is valid? [True, True] Translation: X:-31.27, Y:3.14, Z:1.14 [[ 9.96758810e-01 6.97611195e-02 4.00657113e-02 -3.12723712e+01] [-6.99347019e-02 9.97547222e-01 2.94564219e-03 3.14395878e+00] [-3.97619477e-02 -5.73807838e-03 9.99192705e-01 1.14310622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.583741732 meters 0.08450943821834374 Centerline is valid? [True, True] Translation: X:-31.33, Y:3.14, Z:1.15 [[ 9.97018285e-01 6.66499242e-02 3.88886474e-02 -3.13312332e+01] [-6.68111780e-02 9.97761537e-01 2.86035345e-03 3.13561060e+00] [-3.86109543e-02 -5.45002103e-03 9.99239457e-01 1.15155869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.643741732 meters 0.09305610931266099 Centerline is valid? [True, True] Translation: X:-31.39, Y:3.17, Z:1.16 [[ 9.95978865e-01 7.96527823e-02 4.10065271e-02 -3.13942261e+01] [-7.98428277e-02 9.96802905e-01 3.01523079e-03 3.16775314e+00] [-4.06352538e-02 -6.27718322e-03 9.99154329e-01 1.16185288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.703741732 meters 0.09201258163393865 Centerline is valid? [True, True] Translation: X:-31.46, Y:3.19, Z:1.16 [[ 9.95274408e-01 8.62766726e-02 4.45554483e-02 -3.14558704e+01] [-8.65075780e-02 9.96245803e-01 3.27693940e-03 3.18567251e+00] [-4.41054549e-02 -7.11583784e-03 9.99001538e-01 1.16445880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.763741732 meters 0.09430326663505145 Centerline is valid? [True, True] Translation: X:-31.52, Y:3.19, Z:1.15 [[ 9.96281990e-01 7.78453884e-02 3.69092449e-02 -3.15186303e+01] [-7.79981360e-02 9.96949809e-01 2.71457819e-03 3.19402045e+00] [-3.65853473e-02 -5.58333767e-03 9.99314935e-01 1.15495631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.823741732 meters 0.08585457602865641 Centerline is valid? [True, True] Translation: X:-31.58, Y:3.18, Z:1.17 [[ 9.96616275e-01 6.87121367e-02 4.51070160e-02 -3.15782260e+01] [-6.89312914e-02 9.97615887e-01 3.31938565e-03 3.18481180e+00] [-4.47713937e-02 -6.41743862e-03 9.98976646e-01 1.17375031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.883741732 meters 0.07974641554887081 Centerline is valid? [True, True] Translation: X:-31.64, Y:3.18, Z:1.16 [[ 9.98042455e-01 5.14081247e-02 3.56154867e-02 -3.16395401e+01] [-5.15338740e-02 9.98667807e-01 2.62119020e-03 3.17551479e+00] [-3.54332895e-02 -4.45146311e-03 9.99362130e-01 1.16310700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.943741732 meters 0.08234057797209571 Centerline is valid? [True, True] Translation: X:-31.70, Y:3.21, Z:1.18 [[ 9.96797631e-01 6.57325170e-02 4.55381131e-02 -3.17020890e+01] [-6.59529144e-02 9.97817103e-01 3.35277643e-03 3.21200356e+00] [-4.52183217e-02 -6.34541088e-03 9.98956976e-01 1.17731857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.003741732 meters 0.07775300009750528 Centerline is valid? [True, True] Translation: X:-31.76, Y:3.23, Z:1.17 [[ 9.97716858e-01 5.52080972e-02 3.88990547e-02 -3.17636632e+01] [-5.53609900e-02 9.98462298e-01 2.86354937e-03 3.23131723e+00] [-3.86811484e-02 -5.01050166e-03 9.99239042e-01 1.17271704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.063741732 meters 0.07860465385503283 Centerline is valid? [True, True] Translation: X:-31.83, Y:3.27, Z:1.20 [[ 9.96492020e-01 6.06326421e-02 5.76830791e-02 -3.18260734e+01] [-6.09783344e-02 9.98130041e-01 4.25015568e-03 3.27480020e+00] [-5.73175159e-02 -7.75266431e-03 9.98325898e-01 1.19932438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.123741732 meters 0.07893820005146458 Centerline is valid? [True, True] Translation: X:-31.89, Y:3.31, Z:1.18 [[ 9.97414689e-01 5.84885169e-02 4.17496330e-02 -3.18920545e+01] [-5.86673747e-02 9.98272863e-01 3.07073288e-03 3.30784213e+00] [-4.14979231e-02 -5.51213544e-03 9.99123385e-01 1.17858724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.183741731999994 meters 0.08758404929050492 Centerline is valid? [True, True] Translation: X:-31.95, Y:3.33, Z:1.19 [[ 9.96665730e-01 6.83282140e-02 4.45945850e-02 -3.19546509e+01] [-6.85427894e-02 9.97642724e-01 3.29868921e-03 3.33140550e+00] [-4.42640697e-02 -6.34432774e-03 9.98999721e-01 1.18542667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.243741732 meters 0.08829209027592 Centerline is valid? [True, True] Translation: X:-32.02, Y:3.34, Z:1.20 [[ 9.95829972e-01 7.56050128e-02 5.10543749e-02 -3.20156508e+01] [-7.58957643e-02 9.97108601e-01 3.77770417e-03 3.34126485e+00] [-5.06211429e-02 -7.63676184e-03 9.98688730e-01 1.19549825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.303741732 meters 0.08458181462414947 Centerline is valid? [True, True] Translation: X:-32.08, Y:3.34, Z:1.20 [[ 9.95658942e-01 7.74095729e-02 5.16819969e-02 -3.20753044e+01] [-7.77099844e-02 9.96968667e-01 3.82574504e-03 3.34450440e+00] [-5.12291822e-02 -7.82534443e-03 9.98656265e-01 1.19981563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.363741731999994 meters 0.08762760045822454 Centerline is valid? [True, True] Translation: X:-32.14, Y:3.35, Z:1.19 [[ 9.97273847e-01 5.99222829e-02 4.30603502e-02 -3.21374677e+01] [-6.01146758e-02 9.98186393e-01 3.18591363e-03 3.34761905e+00] [-4.27913484e-02 -5.76578733e-03 9.99067393e-01 1.18612702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.423741731999996 meters 0.07735913978189696 Centerline is valid? [True, True] Translation: X:-32.19, Y:3.33, Z:1.22 [[ 9.96973394e-01 4.98963134e-02 5.96188749e-02 -3.21937359e+01] [-5.02479723e-02 9.98727023e-01 4.41294567e-03 3.33101289e+00] [-5.93227918e-02 -7.39531699e-03 9.98211458e-01 1.22100727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.483741732 meters 0.0827986164237725 Centerline is valid? [True, True] Translation: X:-32.26, Y:3.36, Z:1.20 [[ 9.96539606e-01 6.56792264e-02 5.09416684e-02 -3.22574875e+01] [-6.59562282e-02 9.97815380e-01 3.77395104e-03 3.36453798e+00] [-5.05825100e-02 -7.12081199e-03 9.98694500e-01 1.20331586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.543741731999994 meters 0.0866170383381689 Centerline is valid? [True, True] Translation: X:-32.32, Y:3.37, Z:1.21 [[ 9.96461804e-01 7.02319617e-02 4.61664966e-02 -3.23187927e+01] [-7.04642145e-02 9.97508443e-01 3.42074047e-03 3.36645520e+00] [-4.58112248e-02 -6.66172314e-03 9.98927902e-01 1.20842342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.603741731999996 meters 0.08549758583421374 Centerline is valid? [True, True] Translation: X:-32.38, Y:3.37, Z:1.21 [[ 9.96422063e-01 6.72825846e-02 5.11480852e-02 -3.23801625e+01] [-6.75639874e-02 9.97707742e-01 3.79079947e-03 3.36659131e+00] [-5.07757858e-02 -7.23300481e-03 9.98683886e-01 1.21288318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.663741732 meters 0.07900363134511312 Centerline is valid? [True, True] Translation: X:-32.44, Y:3.35, Z:1.22 [[ 9.96665177e-01 6.53664454e-02 4.88441714e-02 -3.24387161e+01] [-6.56208839e-02 9.97838053e-01 3.62219804e-03 3.34921879e+00] [-4.85018027e-02 -6.81531636e-03 9.98799843e-01 1.21630260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72374173199999 meters 0.07897386920585586 Centerline is valid? [True, True] Translation: X:-32.50, Y:3.36, Z:1.22 [[ 9.97202147e-01 5.41901531e-02 5.14908203e-02 -3.25003795e+01] [-5.44583040e-02 9.98508746e-01 3.81807657e-03 3.36337487e+00] [-5.12071323e-02 -6.61149690e-03 9.98666169e-01 1.21781297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.783741731999996 meters 0.07416634441927526 Centerline is valid? [True, True] Translation: X:-32.56, Y:3.37, Z:1.23 [[ 9.97471347e-01 4.77817689e-02 5.26100237e-02 -3.25609988e+01] [-4.80530648e-02 9.98837158e-01 3.90322989e-03 3.37338721e+00] [-5.23623433e-02 -6.42143285e-03 9.98607506e-01 1.22718211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.843741732 meters 0.0716790361334116 Centerline is valid? [True, True] Translation: X:-32.62, Y:3.39, Z:1.23 [[ 9.97659178e-01 4.47209754e-02 5.17319861e-02 -3.26227230e+01] [-4.49792328e-02 9.98980549e-01 3.83824130e-03 3.38946784e+00] [-5.15075980e-02 -6.15612171e-03 9.98653628e-01 1.23205049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90374173199999 meters 0.0818890174999137 Centerline is valid? [True, True] Translation: X:-32.68, Y:3.41, Z:1.23 [[ 9.97186661e-01 5.83405111e-02 4.70653568e-02 -3.26849190e+01] [-5.85691535e-02 9.98277245e-01 3.49246174e-03 3.41135994e+00] [-4.67805227e-02 -6.23921436e-03 9.98885707e-01 1.23401604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.963741731999995 meters 0.08096779116301815 Centerline is valid? [True, True] Translation: X:-32.75, Y:3.42, Z:1.24 [[ 9.96185895e-01 6.65281096e-02 5.64594760e-02 -3.27458015e+01] [-6.68702715e-02 9.97752877e-01 4.19076559e-03 3.41734369e+00] [-5.60538010e-02 -7.95024206e-03 9.98396096e-01 1.23601740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.023741732 meters 0.08517396268684724 Centerline is valid? [True, True] Translation: X:-32.81, Y:3.42, Z:1.23 [[ 9.97493496e-01 5.41228810e-02 4.55789390e-02 -3.28078622e+01] [-5.43330425e-02 9.98517136e-01 3.38385303e-03 3.42093009e+00] [-4.53282077e-02 -5.85181382e-03 9.98955009e-01 1.23061310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.083741732 meters 0.0769703591601587 Centerline is valid? [True, True] Translation: X:-32.87, Y:3.43, Z:1.25 [[ 9.96337870e-01 6.31425092e-02 5.76530337e-02 -3.28673748e+01] [-6.34939526e-02 9.97973034e-01 4.28265341e-03 3.42921608e+00] [-5.72657555e-02 -7.92758876e-03 9.98327495e-01 1.25339483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.143741731999995 meters 0.09478713549985503 Centerline is valid? [True, True] Translation: X:-32.93, Y:3.46, Z:1.24 [[ 9.95093203e-01 9.02682081e-02 4.05113337e-02 -3.29313881e+01] [-9.04634287e-02 9.95895235e-01 3.00816403e-03 3.46140538e+00] [-4.00735026e-02 -6.65819773e-03 9.99174551e-01 1.24024815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.203741732 meters 0.107086188954477 Centerline is valid? [True, False] Translation: X:-32.94, Y:3.45, Z:1.24 [[ 9.93912500e-01 9.55256240e-02 5.48889544e-02 -3.29412327e+01] [-9.61906118e-02 9.95316659e-01 9.59767783e-03 3.44868001e+00] [-5.37150665e-02 -1.48190541e-02 9.98446337e-01 1.24156999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.263741732 meters 0.09319709442437349 Centerline is valid? [False, True] Translation: X:-32.99, Y:3.44, Z:1.24 [[ 9.95918601e-01 4.95689164e-02 7.54258700e-02 -3.29903129e+01] [-5.07323033e-02 9.98619874e-01 1.35860489e-02 3.43731117e+00] [-7.46483270e-02 -1.73571269e-02 9.97058854e-01 1.24423764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.323741731999995 meters 0.08878435106235753 Centerline is valid? [True, True] Translation: X:-33.05, Y:3.39, Z:1.24 [[ 9.97148688e-01 3.09690963e-02 6.88143149e-02 -3.30470653e+01] [-3.16233637e-02 9.99464234e-01 8.43852675e-03 3.39379988e+00] [-6.85161130e-02 -1.05906060e-02 9.97593796e-01 1.24209507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.383741732 meters 0.08767303740151683 Centerline is valid? [True, True] Translation: X:-33.10, Y:3.37, Z:1.26 [[ 9.96800550e-01 3.40054769e-02 7.23345775e-02 -3.31042326e+01] [-3.47365429e-02 9.99357119e-01 8.87251536e-03 3.36922080e+00] [-7.19863608e-02 -1.13567813e-02 9.97340958e-01 1.25922279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.443741732 meters 0.09694637676558933 Centerline is valid? [True, True] Translation: X:-33.16, Y:3.36, Z:1.26 [[ 9.96154410e-01 4.75059497e-02 7.36177716e-02 -3.31637458e+01] [-4.82991323e-02 9.98792090e-01 9.03079253e-03 3.35868917e+00] [-7.30998316e-02 -1.25517383e-02 9.97245641e-01 1.26320876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.503741731999995 meters 0.09788912309799883 Centerline is valid? [True, True] Translation: X:-33.22, Y:3.35, Z:1.28 [[ 9.95854707e-01 4.69673045e-02 7.78940038e-02 -3.32245561e+01] [-4.78540661e-02 9.98808627e-01 9.55590893e-03 3.35307435e+00] [-7.73523877e-02 -1.32438417e-02 9.96915848e-01 1.27718387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.563741732 meters 0.09132295398554673 Centerline is valid? [True, True] Translation: X:-33.28, Y:3.31, Z:1.27 [[ 9.96785605e-01 3.86283300e-02 7.01876693e-02 -3.32809394e+01] [-3.93282185e-02 9.99189192e-01 8.61678728e-03 3.31360077e+00] [-6.97979085e-02 -1.13494455e-02 9.97496587e-01 1.26841889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.623741732 meters 0.09423093178009018 Centerline is valid? [True, True] Translation: X:-33.34, Y:3.31, Z:1.29 [[ 9.96310249e-01 3.66925413e-02 7.75857256e-02 -3.33402482e+01] [-3.75428518e-02 9.99249584e-01 9.52909056e-03 3.31231078e+00] [-7.71778575e-02 -1.24067200e-02 9.96940144e-01 1.28713296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.683741731999994 meters 0.08668611209039004 Centerline is valid? [True, True] Translation: X:-33.40, Y:3.30, Z:1.28 [[ 9.96862688e-01 3.58187868e-02 7.05818400e-02 -3.34022348e+01] [-3.65195977e-02 9.99295384e-01 8.66336262e-03 3.30352058e+00] [-7.02217957e-02 -1.12138033e-02 9.97468370e-01 1.28262234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.743741732 meters 0.11102149027847882 Centerline is valid? [True, False] Translation: X:-33.42, Y:3.31, Z:1.30 [[ 9.96680795e-01 4.68836402e-02 6.65531151e-02 -3.34191692e+01] [-4.72657626e-02 9.98873612e-01 4.17781804e-03 3.31489964e+00] [-6.62822791e-02 -7.30963474e-03 9.97774137e-01 1.29640591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.803741732 meters 0.09663589917667853 Centerline is valid? [False, True] Translation: X:-33.45, Y:3.31, Z:1.31 [[ 9.95385331e-01 5.64798658e-02 7.75761987e-02 -3.34485542e+01] [-5.68985514e-02 9.98374851e-01 3.19564304e-03 3.30732322e+00] [-7.72696363e-02 -7.59486954e-03 9.96981304e-01 1.31347780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.863741731999994 meters 0.09396036119296253 Centerline is valid? [True, True] Translation: X:-33.51, Y:3.28, Z:1.31 [[ 9.96997896e-01 3.14660199e-02 7.07466268e-02 -3.35070473e+01] [-3.22435392e-02 9.99431258e-01 9.87491491e-03 3.27800236e+00] [-7.03956660e-02 -1.21263910e-02 9.97445438e-01 1.30580197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.923741731999996 meters 0.09868857164950427 Centerline is valid? [True, True] Translation: X:-33.57, Y:3.29, Z:1.33 [[ 9.96213544e-01 3.07485563e-02 8.13209803e-02 -3.35686831e+01] [-3.17746229e-02 9.99430576e-01 1.13533101e-02 3.28642005e+00] [-8.09255763e-02 -1.38942648e-02 9.96623299e-01 1.32556227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.983741732 meters 0.09628708210710993 Centerline is valid? [True, True] Translation: X:-33.63, Y:3.27, Z:1.32 [[ 9.97267746e-01 4.00828777e-02 6.20516340e-02 -3.36274003e+01] [-4.06970854e-02 9.99133951e-01 8.66579283e-03 3.26851318e+00] [-6.16505443e-02 -1.11674363e-02 9.98035319e-01 1.31502646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.043741731999994 meters 0.0946100141560349 Centerline is valid? [True, True] Translation: X:-33.69, Y:3.27, Z:1.33 [[ 9.96211897e-01 4.73923280e-02 7.29096940e-02 -3.36876293e+01] [-4.82599209e-02 9.98782900e-01 1.01832901e-02 3.26652811e+00] [-7.23383457e-02 -1.36633309e-02 9.97286557e-01 1.33024998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.103741731999996 meters 0.09671045229408612 Centerline is valid? [True, True] Translation: X:-33.75, Y:3.29, Z:1.33 [[ 9.96713014e-01 3.72923258e-02 7.19197466e-02 -3.37520253e+01] [-3.81111752e-02 9.99222999e-01 1.00466797e-02 3.28874405e+00] [-7.14892009e-02 -1.27546025e-02 9.97359822e-01 1.33171655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.163741732 meters 0.0867976362098152 Centerline is valid? [True, True] Translation: X:-33.81, Y:3.28, Z:1.34 [[ 9.97143381e-01 1.62547011e-02 7.37622062e-02 -3.38113943e+01] [-1.70604057e-02 9.99801344e-01 1.03060723e-02 3.27865350e+00] [-7.35800308e-02 -1.15350449e-02 9.97222604e-01 1.34130784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22374173199999 meters 0.10171024754291906 Centerline is valid? [True, False] Translation: X:-33.80, Y:3.33, Z:1.36 [[ 9.94272403e-01 4.16085005e-02 9.84434920e-02 -3.37950141e+01] [-4.11809091e-02 9.99131386e-01 -6.37235912e-03 3.32932560e+00] [-9.86231269e-02 2.28186832e-03 9.95122240e-01 1.35811620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.283741731999996 meters 0.10357599734262367 Centerline is valid? [False, False] Translation: X:-33.75, Y:3.37, Z:1.34 [[ 9.96122216e-01 2.32174733e-02 8.48615306e-02 -3.37545327e+01] [-2.34287362e-02 9.99724393e-01 1.49431969e-03 3.36929735e+00] [-8.48034478e-02 -3.47672345e-03 9.96391634e-01 1.33787011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.343741732 meters 0.10746088930754277 Centerline is valid? [False, False] Translation: X:-33.75, Y:3.37, Z:1.34 [[ 9.97340076e-01 2.29098228e-02 6.91947479e-02 -3.37505188e+01] [-2.30405462e-02 9.99733935e-01 1.09159671e-03 3.36733318e+00] [-6.91513294e-02 -2.68297793e-03 9.97602574e-01 1.33906030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40374173199999 meters 0.1033523887515166 Centerline is valid? [False, False] Translation: X:-33.75, Y:3.36, Z:1.34 [[ 9.96976516e-01 3.39602761e-02 6.98893833e-02 -3.37507340e+01] [-3.49859272e-02 9.99296571e-01 1.35036296e-02 3.35942293e+00] [-6.93816341e-02 -1.59079464e-02 9.97463346e-01 1.33947913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.463741731999995 meters 0.10508079029847225 Centerline is valid? [False, False] Translation: X:-33.80, Y:3.32, Z:1.35 [[ 9.98091906e-01 2.39164317e-02 5.69258453e-02 -3.37985667e+01] [-2.46686861e-02 9.99616919e-01 1.25487131e-02 3.32081702e+00] [-5.66039177e-02 -1.39290548e-02 9.98299543e-01 1.34527406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.523741732 meters 0.0930106350594226 Centerline is valid? [False, True] Translation: X:-33.80, Y:3.32, Z:1.35 [[ 9.97748396e-01 1.89527159e-02 6.43345409e-02 -3.37965514e+01] [-2.03047267e-02 9.99585144e-01 2.04268990e-02 3.31870469e+00] [-6.39207061e-02 -2.16872010e-02 9.97719304e-01 1.34828614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.583741732 meters 0.08888817383128095 Centerline is valid? [True, True] Translation: X:-33.85, Y:3.29, Z:1.37 [[ 9.98055426e-01 1.26199602e-02 6.10418196e-02 -3.38517303e+01] [-1.33078455e-02 9.99852300e-01 1.08756783e-02 3.28514188e+00] [-6.08955530e-02 -1.16668649e-02 9.98075957e-01 1.36684862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.643741731999995 meters 0.0904916632245496 Centerline is valid? [True, True] Translation: X:-33.91, Y:3.27, Z:1.36 [[ 9.98634988e-01 1.23963670e-02 5.07394325e-02 -3.39130870e+01] [-1.28710203e-02 9.99876312e-01 9.03867972e-03 3.26762132e+00] [-5.06211098e-02 -9.67941008e-03 9.98671023e-01 1.35576488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.703741732 meters 0.09147310263843061 Centerline is valid? [True, True] Translation: X:-33.97, Y:3.26, Z:1.35 [[ 9.98757353e-01 1.66917480e-02 4.69588687e-02 -3.39727092e+01] [-1.71036793e-02 9.99818569e-01 8.38405716e-03 3.25731401e+00] [-4.68104044e-02 -9.17680816e-03 9.98861638e-01 1.35481281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.763741732 meters 0.09761368047121569 Centerline is valid? [True, True] Translation: X:-34.04, Y:3.28, Z:1.38 [[ 9.97622824e-01 2.70400117e-02 6.33840529e-02 -3.40361691e+01] [-2.78112160e-02 9.99549135e-01 1.13164669e-02 3.27757622e+00] [-6.30494778e-02 -1.30523533e-02 9.97925047e-01 1.38183698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.823741731999995 meters 0.0934788322813185 Centerline is valid? [True, True] Translation: X:-34.10, Y:3.29, Z:1.39 [[ 9.97897128e-01 2.21525059e-02 6.09146038e-02 -3.40994026e+01] [-2.28559940e-02 9.99679604e-01 1.08762497e-02 3.28766134e+00] [-6.06541508e-02 -1.22456421e-02 9.98083723e-01 1.39214222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.883741732 meters 0.09152923851281203 Centerline is valid? [True, True] Translation: X:-34.16, Y:3.29, Z:1.37 [[ 9.98878480e-01 6.11250198e-05 4.73474208e-02 -3.41617769e+01] [-4.61950638e-04 9.99964151e-01 8.45473134e-03 3.28602057e+00] [-4.73452067e-02 -8.46712136e-03 9.98842700e-01 1.36976494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.943741732 meters 0.09107121840707573 Centerline is valid? [True, True] Translation: X:-34.22, Y:3.29, Z:1.39 [[ 9.98185293e-01 9.03033965e-03 5.95363300e-02 -3.42231468e+01] [-9.68000957e-03 9.99896615e-01 1.06327874e-02 3.29213823e+00] [-5.94341572e-02 -1.11898042e-02 9.98169509e-01 1.39038421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.003741731999995 meters 0.10621031863274612 Centerline is valid? [True, False] Translation: X:-34.28, Y:3.30, Z:1.39 [[ 9.98569960e-01 7.57300468e-03 5.29214973e-02 -3.42762756e+01] [-9.45575508e-03 9.99327888e-01 3.54169533e-02 3.30181533e+00] [-5.26177153e-02 -3.58667184e-02 9.97970418e-01 1.39128472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.063741732 meters 0.09248344923104516 Centerline is valid? [False, True] Translation: X:-34.32, Y:3.31, Z:1.37 [[ 9.98680120e-01 -1.02297959e-02 5.03325936e-02 -3.43157609e+01] [ 7.88597489e-03 9.98884980e-01 4.65468387e-02 3.31478459e+00] [-5.07526364e-02 -4.60884809e-02 9.97647243e-01 1.37434211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.123741732 meters 0.0947460576028294 Centerline is valid? [True, True] Translation: X:-34.38, Y:3.32, Z:1.42 [[ 9.98501028e-01 -9.22510067e-03 5.39499223e-02 -3.43763005e+01] [ 8.70194279e-03 9.99912892e-01 9.92398578e-03 3.31691932e+00] [-5.40367725e-02 -9.43964087e-03 9.98494327e-01 1.41869080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.183741731999994 meters 0.09654258020207727 Centerline is valid? [True, True] Translation: X:-34.44, Y:3.34, Z:1.43 [[ 9.98083281e-01 -3.24851967e-03 6.17997704e-02 -3.44407946e+01] [ 2.54999048e-03 9.99932010e-01 1.13786173e-02 3.33654472e+00] [-6.18325323e-02 -1.11992188e-02 9.98023705e-01 1.42843484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.243741732 meters 0.10040909728163963 Centerline is valid? [True, False] Translation: X:-34.38, Y:3.37, Z:1.41 [[ 9.98796044e-01 -1.01218028e-02 4.80001178e-02 -3.43769123e+01] [ 8.79770538e-03 9.99577101e-01 2.77167855e-02 3.37282482e+00] [-4.82603624e-02 -2.72611248e-02 9.98462703e-01 1.40977342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.303741732 meters 0.08952119925754051 Centerline is valid? [False, True] Translation: X:-34.41, Y:3.38, Z:1.40 [[ 9.98872845e-01 -1.49300238e-02 4.50570055e-02 -3.44052825e+01] [ 1.29656776e-02 9.98965864e-01 4.35785922e-02 3.37828882e+00] [-4.56610398e-02 -4.29452777e-02 9.98033453e-01 1.39905765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.363741731999994 meters 0.10263577529483711 Centerline is valid? [True, False] Translation: X:-34.46, Y:3.38, Z:1.41 [[ 9.99040362e-01 1.70414637e-03 4.37658747e-02 -3.44557531e+01] [-3.58056847e-03 9.99075891e-01 4.28315642e-02 3.38401119e+00] [-4.36524390e-02 -4.29471681e-02 9.98123242e-01 1.40992253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.423741731999996 meters 0.10062379143483825 Centerline is valid? [False, False] Translation: X:-34.51, Y:3.39, Z:1.41 [[ 9.99394077e-01 6.77733506e-04 3.47996961e-02 -3.45136751e+01] [-2.55649539e-03 9.98539187e-01 5.39718185e-02 3.38760832e+00] [-3.47122817e-02 -5.40280810e-02 9.97935882e-01 1.40919127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.483741732 meters 0.09976709027494911 Centerline is valid? [False, True] Translation: X:-34.57, Y:3.38, Z:1.42 [[ 9.98985943e-01 -1.47767984e-02 4.25291852e-02 -3.45697475e+01] [ 1.28832303e-02 9.98928147e-01 4.44587370e-02 3.38433504e+00] [-4.31405580e-02 -4.38657400e-02 9.98105550e-01 1.42079363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.543741731999994 meters 0.10354852628192923 Centerline is valid? [True, False] Translation: X:-34.63, Y:3.40, Z:1.42 [[ 9.99456081e-01 -8.78012194e-03 3.17876041e-02 -3.46340830e+01] [ 6.74413347e-03 9.97952703e-01 6.35996727e-02 3.39562221e+00] [-3.22809383e-02 -6.33506998e-02 9.97469112e-01 1.41692547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.603741731999996 meters 0.09333242319198165 Centerline is valid? [False, True] Translation: X:-34.67, Y:3.39, Z:1.43 [[ 9.99226096e-01 -1.28495583e-03 3.93135965e-02 -3.46665991e+01] [-6.04350680e-04 9.98846781e-01 4.80077413e-02 3.38625981e+00] [-3.93299471e-02 -4.79943471e-02 9.98072992e-01 1.42949419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.663741732 meters 0.13649193794448888 Centerline is valid? [True, False] Translation: X:-34.69, Y:3.38, Z:1.42 [[ 9.99190366e-01 4.39843100e-03 3.99908158e-02 -3.46870871e+01] [-7.07355557e-03 9.97727890e-01 6.70001659e-02 3.38396602e+00] [-3.96052567e-02 -6.72287976e-02 9.96951209e-01 1.41800450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72374173199999 meters 0.09129323372406989 Centerline is valid? [False, True] Translation: X:-34.69, Y:3.38, Z:1.43 [[ 9.99434281e-01 1.53874523e-03 3.35968779e-02 -3.46886810e+01] [-3.03705666e-03 9.99000693e-01 4.45913751e-02 3.37590581e+00] [-3.34946896e-02 -4.46681845e-02 9.98440213e-01 1.42937776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.783741731999996 meters 0.09230036068581055 Centerline is valid? [True, True] Translation: X:-34.75, Y:3.36, Z:1.48 [[ 9.99174298e-01 5.52931762e-03 4.02510653e-02 -3.47454331e+01] [-5.78975842e-03 9.99963035e-01 6.35671586e-03 3.35863534e+00] [-4.02144291e-02 -6.58451106e-03 9.99169377e-01 1.47736910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.843741732 meters 0.1844133414533512 Centerline is valid? [True, False] Translation: X:-34.87, Y:2.71, Z:1.58 [[ 9.79951363e-01 -1.86748420e-01 6.94287619e-02 -3.48739286e+01] [ 1.97667306e-01 9.54945364e-01 -2.21375221e-01 2.70965003e+00] [-2.49592014e-02 2.30660746e-01 9.72714068e-01 1.58058384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90374173199999 meters 0.1222682956575124 Centerline is valid? [False, False] Translation: X:-34.86, Y:2.64, Z:1.59 [[ 9.95517867e-01 -9.44426747e-02 -4.97578616e-03 -3.48573380e+01] [ 9.25111692e-02 9.83386472e-01 -1.56181724e-01 2.64279913e+00] [ 1.96433406e-02 1.55021381e-01 9.87715805e-01 1.59273260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.963741731999995 meters 0.10436093276732578 Centerline is valid? [False, False] Translation: X:-34.91, Y:2.59, Z:1.58 [[ 9.99685044e-01 2.50385172e-02 -1.69856391e-03 -3.49059901e+01] [-2.50302370e-02 9.89877491e-01 -1.39699824e-01 2.58721385e+00] [-1.81650626e-03 1.39698340e-01 9.90192443e-01 1.58243406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.023741732 meters 0.13224953212509608 Centerline is valid? [False, False] Translation: X:-34.96, Y:2.56, Z:1.57 [[ 9.94887823e-01 9.81795166e-02 2.36432280e-02 -3.49594132e+01] [-9.42969527e-02 9.86959890e-01 -1.30454054e-01 2.56421881e+00] [-3.61428337e-02 1.27557665e-01 9.91172406e-01 1.56677051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08374173199999 meters 0.11162235633413145 Centerline is valid? [False, False] Translation: X:-34.91, Y:2.56, Z:1.55 [[ 9.97324628e-01 7.17682201e-02 1.38891626e-02 -3.49070726e+01] [-6.98521431e-02 9.91659643e-01 -1.08313578e-01 2.55569082e+00] [-2.15467947e-02 1.07053611e-01 9.94019748e-01 1.55168267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.143741731999995 meters 0.15839564795820327 Centerline is valid? [False, False] Translation: X:-34.85, Y:2.62, Z:1.55 [[ 9.92310080e-01 1.23728805e-01 3.44798997e-03 -3.48511910e+01] [-1.23770452e-01 9.91590837e-01 3.77953385e-02 2.61729340e+00] [ 1.25737680e-03 -3.79314546e-02 9.99279552e-01 1.54517292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.203741732 meters 0.20878222176808856 Centerline is valid? [False, False] Translation: X:-34.97, Y:2.65, Z:1.49 [[ 0.98478615 0.16697271 0.04812858 -34.97177797] [ -0.16912621 0.98457601 0.04479296 2.64962057] [ -0.03990704 -0.0522513 0.99783627 1.48888693] [ 0. 0. 0. 1. ]] SLAMing on 36.263741732 meters 0.21339622243478198 Centerline is valid? [False, False] Translation: X:-35.11, Y:2.66, Z:1.46 [[ 9.71360844e-01 1.88931660e-01 1.44093509e-01 -3.51127147e+01] [-1.92530545e-01 9.81225613e-01 1.13263164e-02 2.65972322e+00] [-1.39248342e-01 -3.87443421e-02 9.89499255e-01 1.46246329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.323741731999995 meters 0.2152838394790216 Centerline is valid? [False, False] Translation: X:-35.18, Y:2.67, Z:1.45 [[ 9.82811072e-01 5.87721040e-02 1.75009246e-01 -3.51843551e+01] [-6.44272840e-02 9.97562355e-01 2.68043531e-02 2.66670857e+00] [-1.73007287e-01 -3.76189854e-02 9.84201855e-01 1.44638687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.383741732 meters 0.2262453073605378 Centerline is valid? [False, False] Translation: X:-35.11, Y:2.65, Z:1.47 [[ 9.95288257e-01 1.63118376e-02 9.55782940e-02 -3.51091909e+01] [-2.14762119e-02 9.98349934e-01 5.32558096e-02 2.65117097e+00] [-9.45518834e-02 -5.50575416e-02 9.93996282e-01 1.46537753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.443741732 meters 0.22462966043836502 Centerline is valid? [False, False] Translation: X:-35.18, Y:2.59, Z:1.47 [[ 0.99106781 0.06128214 0.11844452 -35.18392151] [ -0.06713795 0.99667837 0.04609481 2.59020727] [ -0.1152263 -0.05363521 0.9918902 1.47275402] [ 0. 0. 0. 1. ]] SLAMing on 36.503741731999995 meters 0.2155956295827732 Centerline is valid? [False, False] Translation: X:-35.22, Y:2.58, Z:1.48 [[ 9.84170720e-01 1.09634930e-01 1.39241433e-01 -3.52220193e+01] [-1.11980718e-01 9.93668695e-01 9.10178587e-03 2.58265035e+00] [-1.37361979e-01 -2.45500668e-02 9.90216633e-01 1.47554090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.563741732 meters 0.21088066087654733 Centerline is valid? [False, False] Translation: X:-35.27, Y:2.58, Z:1.46 [[ 9.85236101e-01 7.47761261e-02 1.54007652e-01 -3.52696028e+01] [-7.64706812e-02 9.97058786e-01 5.10028069e-03 2.58460571e+00] [-1.53173303e-01 -1.68020507e-02 9.88056491e-01 1.46455474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.623741732 meters 0.2377484345428207 Centerline is valid? [False, False] Translation: X:-35.23, Y:2.61, Z:1.46 [[ 9.87013053e-01 3.50962750e-02 1.56759319e-01 -3.52287750e+01] [-3.62540644e-02 9.99332330e-01 4.53174051e-03 2.61019447e+00] [-1.56495608e-01 -1.01560495e-02 9.87626437e-01 1.45915196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.683741731999994 meters 0.22466701738504838 Centerline is valid? [False, False] Translation: X:-35.16, Y:2.66, Z:1.45 [[ 9.89262411e-01 3.47645750e-02 1.41955295e-01 -3.51608943e+01] [-3.32024965e-02 9.99359366e-01 -1.33585848e-02 2.65583140e+00] [-1.42328759e-01 8.50187567e-03 9.89782927e-01 1.45173333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.743741732 meters 0.17886366135575837 Centerline is valid? [False, False] Translation: X:-35.24, Y:2.63, Z:1.47 [[ 9.90176297e-01 2.62769776e-02 1.37333252e-01 -3.52441909e+01] [-2.70746697e-02 9.99625636e-01 3.94336872e-03 2.62683753e+00] [-1.37178220e-01 -7.62288268e-03 9.90517051e-01 1.46974858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.803741732 meters 0.15800541617160707 Centerline is valid? [False, False] Translation: X:-35.29, Y:2.64, Z:1.46 [[ 9.81128670e-01 1.01991371e-01 1.64268964e-01 -3.52927896e+01] [-1.01694334e-01 9.94762995e-01 -1.02394022e-02 2.64201671e+00] [-1.64453017e-01 -6.65905175e-03 9.86362440e-01 1.46227457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.863741731999994 meters 0.16180599356399955 Centerline is valid? [False, False] Translation: X:-35.38, Y:2.63, Z:1.45 [[ 9.66347479e-01 1.44926410e-01 2.12529730e-01 -3.53789860e+01] [-1.42270049e-01 9.89436766e-01 -2.78230017e-02 2.63455314e+00] [-2.14317017e-01 -3.34992762e-03 9.76758411e-01 1.45406371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.923741731999996 meters 0.166950537524447 Centerline is valid? [False, False] Translation: X:-35.43, Y:2.67, Z:1.45 [[ 9.66472382e-01 9.03985986e-02 2.40331498e-01 -3.54310058e+01] [-8.45530969e-02 9.95819937e-01 -3.45460082e-02 2.67011817e+00] [-2.42449807e-01 1.30669904e-02 9.70075948e-01 1.44893706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.983741732 meters 0.16707835937139554 Centerline is valid? [False, False] Translation: X:-35.51, Y:2.65, Z:1.47 [[ 9.74763143e-01 2.15318945e-02 2.22200795e-01 -3.55075236e+01] [-1.78269832e-02 9.99666831e-01 -1.86661558e-02 2.65497847e+00] [-2.22528682e-01 1.42339109e-02 9.74822231e-01 1.46893955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.043741731999994 meters 0.1459725963131425 Centerline is valid? [False, False] Translation: X:-35.59, Y:2.64, Z:1.49 [[ 9.75014874e-01 4.52510679e-02 2.17481805e-01 -3.55905136e+01] [-4.18983354e-02 9.98921579e-01 -2.00052045e-02 2.64062265e+00] [-2.18152525e-01 1.03932464e-02 9.75859343e-01 1.49439034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.103741731999996 meters 0.15528483233963863 Centerline is valid? [False, False] Translation: X:-35.63, Y:2.65, Z:1.49 [[ 9.56363028e-01 1.26188069e-01 2.63526714e-01 -3.56263293e+01] [-1.19984076e-01 9.91986791e-01 -3.95730791e-02 2.65359757e+00] [-2.66408670e-01 6.22722051e-03 9.63840050e-01 1.48886849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.163741732 meters 0.14637913593714177 Centerline is valid? [False, False] Translation: X:-35.68, Y:2.67, Z:1.51 [[ 9.54533343e-01 1.30823083e-01 2.67864552e-01 -3.56791498e+01] [-1.23456130e-01 9.91363425e-01 -4.42396237e-02 2.66514852e+00] [-2.71338684e-01 9.15867494e-03 9.62440355e-01 1.50532575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22374173199999 meters 0.1402033358200063 Centerline is valid? [False, False] Translation: X:-35.72, Y:2.68, Z:1.52 [[ 9.59367665e-01 9.27306390e-02 2.66485855e-01 -3.57208516e+01] [-8.50784679e-02 9.95565214e-01 -4.01442219e-02 2.67937100e+00] [-2.69026647e-01 1.58408601e-02 9.63002456e-01 1.51591169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.283741731999996 meters 0.1523716129877726 Centerline is valid? [False, False] Translation: X:-35.76, Y:2.72, Z:1.54 [[ 9.54231181e-01 1.24360543e-01 2.71987699e-01 -3.57632195e+01] [-1.15176884e-01 9.92108982e-01 -4.95384096e-02 2.72098547e+00] [-2.76002063e-01 1.59443994e-02 9.61024785e-01 1.53767857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.343741732 meters 0.11809413687629708 Centerline is valid? [False, False] Translation: X:-35.91, Y:2.71, Z:1.57 [[ 9.25621352e-01 1.68544727e-01 3.38847735e-01 -3.59067043e+01] [-1.57429974e-01 9.85691047e-01 -6.02408723e-02 2.71178590e+00] [-3.44152460e-01 2.41544749e-03 9.38910672e-01 1.56868767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40374173199999 meters 0.11211831469544163 Centerline is valid? [False, False] Translation: X:-35.97, Y:2.71, Z:1.58 [[ 8.99447117e-01 2.04717860e-01 3.86115892e-01 -3.59725875e+01] [-1.98313655e-01 9.78489865e-01 -5.68267356e-02 2.71447104e+00] [-3.89443935e-01 -2.54594104e-02 9.20698235e-01 1.57946456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.463741731999995 meters 0.11556130870457286 Centerline is valid? [False, False] Translation: X:-36.03, Y:2.65, Z:1.56 [[ 9.08558979e-01 1.26220819e-01 3.98232203e-01 -3.60346381e+01] [-1.31576090e-01 9.91207524e-01 -1.39777436e-02 2.64717475e+00] [-3.96495038e-01 -3.96982316e-02 9.17178137e-01 1.55537765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.523741732 meters 0.13244228501051242 Centerline is valid? [False, False] Translation: X:-36.07, Y:2.55, Z:1.54 [[ 9.23986464e-01 -8.25290482e-03 3.82336113e-01 -3.60741936e+01] [-9.84868318e-03 9.98922003e-01 4.53633794e-02 2.54764099e+00] [-3.82298335e-01 -4.56806558e-02 9.22909129e-01 1.54064949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58374173199999 meters 0.1276439692187196 Centerline is valid? [False, False] Translation: X:-36.14, Y:2.48, Z:1.57 [[ 9.24874561e-01 -4.00188317e-02 3.78160733e-01 -3.61385519e+01] [ 1.03743584e-02 9.96732332e-01 8.01063690e-02 2.48395524e+00] [-3.80130793e-01 -7.01651679e-02 9.22267548e-01 1.56597775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.643741731999995 meters 0.13043615284185373 Centerline is valid? [False, False] Translation: X:-36.20, Y:2.43, Z:1.60 [[ 9.32745021e-01 3.49995149e-02 3.58833888e-01 -3.61963255e+01] [-7.09836913e-02 9.93623572e-01 8.75985871e-02 2.42866689e+00] [-3.53479902e-01 -1.07178500e-01 9.29281835e-01 1.59543557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.703741732 meters 0.130385924360493 Centerline is valid? [False, False] Translation: X:-36.21, Y:2.36, Z:1.61 [[ 9.33994711e-01 -2.08054191e-02 3.56680549e-01 -3.62147395e+01] [-1.87309673e-02 9.94078935e-01 1.07033740e-01 2.36084906e+00] [-3.56795502e-01 -1.06649919e-01 9.28074762e-01 1.61282388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.763741732 meters 0.12363510758032226 Centerline is valid? [False, False] Translation: X:-36.30, Y:2.33, Z:1.67 [[ 9.35806806e-01 -2.90802966e-02 3.51311767e-01 -3.63048193e+01] [-6.00284311e-03 9.95132449e-01 9.83634806e-02 2.33124034e+00] [-3.52462179e-01 -9.41580841e-02 9.31077155e-01 1.66708290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.823741731999995 meters 0.12371186716478633 Centerline is valid? [False, False] Translation: X:-36.33, Y:2.35, Z:1.69 [[ 9.33542022e-01 1.30047620e-02 3.58232006e-01 -3.63285010e+01] [-4.26328762e-02 9.96276844e-01 7.49325516e-02 2.34777790e+00] [-3.55923772e-01 -8.52251464e-02 9.30620730e-01 1.68697390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.883741732 meters 0.08949665322925503 Centerline is valid? [False, True] Translation: X:-36.35, Y:2.35, Z:1.71 [[ 9.43764977e-01 -4.35808018e-02 3.27732179e-01 -3.63516303e+01] [ 2.16251755e-02 9.97288456e-01 7.03426417e-02 2.34700762e+00] [-3.29909107e-01 -5.92996558e-02 9.42148360e-01 1.71024361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.943741732 meters 0.09008127290650482 Centerline is valid? [True, True] Translation: X:-36.40, Y:2.37, Z:1.76 [[ 9.37142502e-01 -3.82695623e-02 3.46841998e-01 -3.64022268e+01] [ 1.73074588e-02 9.97842202e-01 6.33355511e-02 2.36737754e+00] [-3.48517407e-01 -5.33514833e-02 9.35782686e-01 1.76250967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.003741731999995 meters 0.10870428829598527 Centerline is valid? [True, False] Translation: X:-36.43, Y:2.41, Z:1.80 [[ 9.36144891e-01 6.67371698e-02 3.45222961e-01 -3.64318526e+01] [-7.86348670e-02 9.96691480e-01 2.05584830e-02 2.41038236e+00] [-3.42708769e-01 -4.63922805e-02 9.38295505e-01 1.79835997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.063741732 meters 0.11592865949993565 Centerline is valid? [False, False] Translation: X:-36.51, Y:2.47, Z:1.84 [[ 9.23651537e-01 8.88672559e-02 3.72787405e-01 -3.65050865e+01] [-9.24138639e-02 9.95685381e-01 -8.38445754e-03 2.46566719e+00] [-3.71924073e-01 -2.67064074e-02 9.27878899e-01 1.83505605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.123741732 meters 0.10681989033623272 Centerline is valid? [False, False] Translation: X:-36.48, Y:2.52, Z:1.81 [[ 9.28559630e-01 5.14194180e-02 3.67604483e-01 -3.64792710e+01] [-5.93549139e-02 9.98183740e-01 1.03060492e-02 2.51922594e+00] [-3.66406887e-01 -3.13889137e-02 9.29925120e-01 1.81391453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.183741731999994 meters 0.08327665000602162 Centerline is valid? [False, True] Translation: X:-36.45, Y:2.53, Z:1.79 [[ 9.45025569e-01 2.90676575e-02 3.25701926e-01 -3.64461182e+01] [-4.78700241e-02 9.97608243e-01 4.98623456e-02 2.52602996e+00] [-3.23473545e-01 -6.27125506e-02 9.44156767e-01 1.78726307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.243741732 meters 0.0665010624617501 Centerline is valid? [True, True] Translation: X:-36.49, Y:2.52, Z:1.83 [[ 9.43528211e-01 3.34875489e-03 3.31275264e-01 -3.64946710e+01] [-1.51510024e-02 9.99338833e-01 3.30506337e-02 2.51551317e+00] [-3.30945557e-01 -3.62033577e-02 9.42955118e-01 1.82978444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.303741732 meters 0.08576081152802421 Centerline is valid? [True, True] Translation: X:-36.56, Y:2.60, Z:1.86 [[ 9.39573084e-01 2.83172517e-02 3.41175254e-01 -3.65562525e+01] [-4.24644471e-02 9.98516968e-01 3.40681074e-02 2.60485183e+00] [-3.39704565e-01 -4.64972952e-02 9.39382143e-01 1.86330356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.363741731999994 meters 0.095281935417686 Centerline is valid? [True, True] Translation: X:-36.62, Y:2.63, Z:1.88 [[ 9.40720322e-01 4.81418187e-02 3.35749373e-01 -3.66196010e+01] [-6.30200530e-02 9.97448090e-01 3.35526448e-02 2.63368678e+00] [-3.33277286e-01 -5.27225981e-02 9.41353588e-01 1.87711487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.423741731999996 meters 0.10222825175810582 Centerline is valid? [True, False] Translation: X:-36.66, Y:2.63, Z:1.88 [[ 0.94144216 0.05047747 0.33337469 -36.66010322] [ -0.07059737 0.99632473 0.04850814 2.63061995] [ -0.32970088 -0.06920298 0.94154569 1.88148933] [ 0. 0. 0. 1. ]] SLAMing on 38.483741732 meters 0.10310282148292464 Centerline is valid? [False, False] Translation: X:-36.70, Y:2.62, Z:1.89 [[ 0.94249016 0.04511626 0.33117491 -36.70203725] [ -0.06776353 0.99606304 0.05715355 2.62431658] [ -0.32729253 -0.07630824 0.94183685 1.88861001] [ 0. 0. 0. 1. ]] SLAMing on 38.543741731999994 meters 0.09903727287685489 Centerline is valid? [False, True] Translation: X:-36.77, Y:2.62, Z:1.92 [[ 0.94322231 0.03723547 0.33006846 -36.77060863] [ -0.06289757 0.99574091 0.06740877 2.62392483] [ -0.32615267 -0.08434196 0.94154706 1.91648797] [ 0. 0. 0. 1. ]] SLAMing on 38.603741731999996 meters 0.10262049245611055 Centerline is valid? [True, False] Translation: X:-36.85, Y:2.63, Z:1.94 [[ 9.44554151e-01 2.93705997e-02 3.27039482e-01 -3.68474319e+01] [-5.72130407e-02 9.95477165e-01 7.58411602e-02 2.62636832e+00] [-3.23332836e-01 -9.03470059e-02 9.41962470e-01 1.94328542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.663741732 meters 0.09892180592041558 Centerline is valid? [False, True] Translation: X:-36.89, Y:2.62, Z:1.96 [[ 9.47074520e-01 3.01610361e-02 3.19593751e-01 -3.68895262e+01] [-5.88283322e-02 9.95022997e-01 8.04267602e-02 2.62257494e+00] [-3.15577377e-01 -9.49713026e-02 9.44135250e-01 1.96032310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72374173199999 meters 0.11590681679194666 Centerline is valid? [True, False] Translation: X:-36.92, Y:2.61, Z:1.98 [[ 0.94788996 0.06466673 0.31196608 -36.91931265] [ -0.09247053 0.99287506 0.07515529 2.60866057] [ -0.30488329 -0.10008661 0.94711607 1.97914253] [ 0. 0. 0. 1. ]] SLAMing on 38.783741731999996 meters 0.11813993105899802 Centerline is valid? [False, False] Translation: X:-36.96, Y:2.59, Z:2.01 [[ 0.94656412 0.07860987 0.31278882 -36.95845632] [ -0.10668062 0.99156268 0.07363892 2.59402607] [ -0.30436098 -0.10307246 0.94696381 2.00605337] [ 0. 0. 0. 1. ]] SLAMing on 38.843741732 meters 0.12230333566503993 Centerline is valid? [False, False] Translation: X:-37.03, Y:2.58, Z:2.04 [[ 0.94775197 0.05940165 0.31342885 -37.02903421] [ -0.08280603 0.99464243 0.06188381 2.58040995] [ -0.30807363 -0.0846043 0.94759314 2.04024082] [ 0. 0. 0. 1. ]] SLAMing on 38.90374173199999 meters 0.13251768462571878 Centerline is valid? [False, False] Translation: X:-37.09, Y:2.55, Z:2.07 [[ 0.94862835 0.0612192 0.31041339 -37.09040447] [ -0.0828522 0.99493161 0.05697895 2.55025933] [ -0.30535189 -0.07977028 0.94889247 2.07397972] [ 0. 0. 0. 1. ]] SLAMing on 38.963741731999995 meters 0.11738719876777587 Centerline is valid? [False, False] Translation: X:-37.13, Y:2.53, Z:2.09 [[ 0.95038021 0.05991502 0.30526651 -37.12759009] [ -0.08041587 0.99524173 0.05501989 2.53039215] [ -0.30051746 -0.07683808 0.95067616 2.09340424] [ 0. 0. 0. 1. ]] SLAMing on 39.023741732 meters 0.11167421938627371 Centerline is valid? [False, False] Translation: X:-37.16, Y:2.49, Z:2.13 [[ 9.49244878e-01 6.99577143e-02 3.06659549e-01 -3.71648812e+01] [-8.27228581e-02 9.96156013e-01 2.88119241e-02 2.49199879e+00] [-3.03465137e-01 -5.27173257e-02 9.51383095e-01 2.13051606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08374173199999 meters 0.10908025138369676 Centerline is valid? [False, False] Translation: X:-37.20, Y:2.47, Z:2.15 [[ 9.51460525e-01 6.84040630e-02 3.00072915e-01 -3.71952310e+01] [-7.86766986e-02 9.96651395e-01 2.22704808e-02 2.46959839e+00] [-2.97544697e-01 -4.47982296e-02 9.53656265e-01 2.15036054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.143741731999995 meters 0.1111871821820193 Centerline is valid? [False, False] Translation: X:-37.25, Y:2.43, Z:2.18 [[ 9.54426880e-01 5.92293499e-02 2.92508488e-01 -3.72540855e+01] [-6.78331732e-02 9.97509020e-01 1.93498421e-02 2.43169897e+00] [-2.90633777e-01 -3.83097884e-02 9.56067136e-01 2.18013403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.203741732 meters 0.12028406038552655 Centerline is valid? [False, False] Translation: X:-37.21, Y:2.41, Z:2.17 [[ 9.63115404e-01 6.87163818e-02 2.60166826e-01 -3.72112439e+01] [-7.96522437e-02 9.96318093e-01 3.17139908e-02 2.41081542e+00] [-2.57029646e-01 -5.12671045e-02 9.65042717e-01 2.17432496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.263741732 meters 0.11672957924174343 Centerline is valid? [False, False] Translation: X:-37.27, Y:2.39, Z:2.19 [[ 9.65107116e-01 6.08812969e-02 2.54679647e-01 -3.72670361e+01] [-7.15608046e-02 9.96894447e-01 3.28711581e-02 2.38786228e+00] [-2.51887487e-01 -4.99492690e-02 9.66466639e-01 2.19439083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.323741731999995 meters 0.1025126709053433 Centerline is valid? [False, False] Translation: X:-37.34, Y:2.37, Z:2.22 [[ 0.96348642 0.05827663 0.26133839 -37.33680989] [ -0.07060541 0.99677915 0.03802895 2.36538873] [ -0.25828046 -0.05509228 0.96449782 2.22165107] [ 0. 0. 0. 1. ]] SLAMing on 39.383741732 meters 0.10840511795000772 Centerline is valid? [False, False] Translation: X:-37.41, Y:2.35, Z:2.25 [[ 9.62412887e-01 5.48502951e-02 2.65994135e-01 -3.74110401e+01] [-6.63866178e-02 9.97195000e-01 3.45680423e-02 2.34786444e+00] [-2.63351954e-01 -5.09271804e-02 9.63354644e-01 2.25071535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.443741732 meters 0.1126421006224197 Centerline is valid? [False, False] Translation: X:-37.47, Y:2.33, Z:2.27 [[ 9.61974409e-01 5.84042133e-02 2.66822384e-01 -3.74740943e+01] [-7.08809373e-02 9.96784790e-01 3.73627437e-02 2.32822491e+00] [-2.63782353e-01 -5.48546239e-02 9.63021205e-01 2.27450834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.503741731999995 meters 0.11262583652916608 Centerline is valid? [False, False] Translation: X:-37.54, Y:2.31, Z:2.29 [[ 0.96011349 0.06002129 0.27309253 -37.53822303] [ -0.07404795 0.9963975 0.04133902 2.31031404] [ -0.2696275 -0.05991209 0.96109914 2.2938442 ] [ 0. 0. 0. 1. ]] SLAMing on 39.563741732 meters 0.11692105781659975 Centerline is valid? [False, False] Translation: X:-37.59, Y:2.29, Z:2.31 [[ 0.96089196 0.06580811 0.26899058 -37.58912037] [ -0.07956318 0.99600489 0.04054575 2.29010221] [ -0.26524769 -0.06036183 0.962289 2.30981682] [ 0. 0. 0. 1. ]] SLAMing on 39.623741732 meters 0.13973024899507527 Centerline is valid? [False, False] Translation: X:-37.65, Y:2.27, Z:2.33 [[ 0.9590931 0.07421672 0.27318914 -37.64621969] [ -0.09030618 0.99481471 0.04678134 2.27020894] [ -0.26830062 -0.06953833 0.96082215 2.32717935] [ 0. 0. 0. 1. ]] SLAMing on 39.683741731999994 meters 0.11680818199264863 Centerline is valid? [False, False] Translation: X:-37.67, Y:2.25, Z:2.34 [[ 0.95768738 0.09187552 0.27275221 -37.67234322] [ -0.10677179 0.99346849 0.04025104 2.24977771] [ -0.26727264 -0.06767016 0.96124195 2.34167571] [ 0. 0. 0. 1. ]] SLAMing on 39.743741732 meters 0.13896029242977748 Centerline is valid? [False, False] Translation: X:-37.71, Y:2.23, Z:2.35 [[ 0.95603105 0.08907619 0.27941022 -37.71288532] [ -0.10806786 0.99271436 0.05328731 2.23418417] [ -0.27262791 -0.08113958 0.95869202 2.34541528] [ 0. 0. 0. 1. ]] SLAMing on 39.803741732 meters 0.12823220261289756 Centerline is valid? [False, False] Translation: X:-37.78, Y:2.21, Z:2.37 [[ 0.95796026 0.06939115 0.27838286 -37.7765967 ] [ -0.08759453 0.99471972 0.0534779 2.21044061] [ -0.27320202 -0.07561452 0.95898024 2.37337124] [ 0. 0. 0. 1. ]] SLAMing on 39.863741731999994 meters 0.12879355087137154 Centerline is valid? [False, False] Translation: X:-37.73, Y:2.23, Z:2.35 [[ 0.96167445 0.05994626 0.26756063 -37.72856105] [ -0.07500802 0.99610179 0.04642209 2.23087663] [ -0.2637348 -0.06471213 0.9624221 2.35453319] [ 0. 0. 0. 1. ]] SLAMing on 39.923741731999996 meters 0.1165257957541976 Centerline is valid? [False, False] Translation: X:-37.75, Y:2.22, Z:2.36 [[ 0.95646877 0.08069807 0.28045556 -37.75374808] [ -0.09728689 0.99420586 0.04571626 2.22079968] [ -0.27514135 -0.07101083 0.95877771 2.36486645] [ 0. 0. 0. 1. ]] SLAMing on 39.983741732 meters 0.12108988476121114 Centerline is valid? [False, False] Translation: X:-37.82, Y:2.21, Z:2.37 [[ 0.94899751 0.08935944 0.30235511 -37.81619601] [ -0.10836313 0.99301683 0.04663693 2.21310292] [ -0.29607626 -0.07702248 0.95205377 2.37327214] [ 0. 0. 0. 1. ]] SLAMing on 40.043741731999994 meters 0.1307405341999422 Centerline is valid? [False, False] Translation: X:-37.86, Y:2.19, Z:2.39 [[ 0.95517548 0.06840866 0.28802787 -37.85655799] [ -0.08706364 0.99482112 0.05244868 2.19035064] [ -0.28294826 -0.07517445 0.95618465 2.38986438] [ 0. 0. 0. 1. ]] SLAMing on 40.103741731999996 meters 0.12415665269594854 Centerline is valid? [False, False] Translation: X:-37.82, Y:2.22, Z:2.38 [[ 0.95148561 0.07684968 0.29794171 -37.82403399] [ -0.09361268 0.99470607 0.04238506 2.21926969] [ -0.29310715 -0.0682199 0.95364262 2.38263093] [ 0. 0. 0. 1. ]] SLAMing on 40.163741732 meters 0.13326840430886908 Centerline is valid? [False, False] Translation: X:-37.82, Y:2.25, Z:2.38 [[ 9.44546659e-01 9.18999312e-02 3.15255471e-01 -3.78188540e+01] [-1.06045765e-01 9.93967622e-01 2.79760940e-02 2.25454693e+00] [-3.10782730e-01 -5.98562337e-02 9.48594395e-01 2.38279583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22374173199999 meters 0.15851090946907287 Centerline is valid? [False, False] Translation: X:-37.88, Y:2.25, Z:2.40 [[ 9.44657294e-01 9.95654133e-02 3.12584910e-01 -3.78764916e+01] [-1.14794941e-01 9.92916157e-01 3.06533380e-02 2.24531431e+00] [-3.07318595e-01 -6.48400657e-02 9.49395095e-01 2.40101690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.283741731999996 meters 0.13602351499749935 Centerline is valid? [False, False] Translation: X:-37.88, Y:2.23, Z:2.40 [[ 0.94446837 0.11582307 0.30751345 -37.87826409] [ -0.13452654 0.99009177 0.04026032 2.22876785] [ -0.29980347 -0.07939332 0.95069163 2.39550878] [ 0. 0. 0. 1. ]] SLAMing on 40.343741732 meters 0.1470915243393933 Centerline is valid? [False, False] Translation: X:-37.91, Y:2.20, Z:2.40 [[ 0.94738654 0.09788415 0.304758 -37.90556605] [ -0.12271591 0.99041643 0.06337267 2.20375409] [ -0.29563415 -0.09743707 0.95031914 2.40261407] [ 0. 0. 0. 1. ]] SLAMing on 40.40374173199999 meters 0.1328392534480381 Centerline is valid? [False, False] Translation: X:-37.97, Y:2.19, Z:2.43 [[ 0.94951787 0.08548578 0.301841 -37.96990221] [ -0.10763328 0.99252708 0.05748979 2.18669747] [ -0.29467081 -0.08707572 0.95162331 2.42579728] [ 0. 0. 0. 1. ]] SLAMing on 40.463741731999995 meters 0.14501651226082307 Centerline is valid? [False, False] Translation: X:-38.04, Y:2.18, Z:2.46 [[ 0.94618273 0.09293912 0.31000091 -38.04473691] [ -0.11437946 0.99209218 0.0516763 2.18057695] [ -0.30274673 -0.08435296 0.94933082 2.45895783] [ 0. 0. 0. 1. ]] SLAMing on 40.523741732 meters 0.1482256291433822 Centerline is valid? [False, False] Translation: X:-38.09, Y:2.18, Z:2.48 [[ 0.9482298 0.08705414 0.30542073 -38.0881057 ] [ -0.1083149 0.99268479 0.05333656 2.18105017] [ -0.29854334 -0.08365694 0.95072256 2.47568063] [ 0. 0. 0. 1. ]] SLAMing on 40.58374173199999 meters 0.17026433158326768 Centerline is valid? [False, False] Translation: X:-38.10, Y:2.19, Z:2.49 [[ 0.94783664 0.09456943 0.30440486 -38.10350564] [ -0.11430207 0.9923037 0.04762767 2.18776089] [ -0.29755795 -0.07993736 0.9513513 2.48848516] [ 0. 0. 0. 1. ]] SLAMing on 40.643741731999995 meters 0.16202543511096756 Centerline is valid? [False, False] Translation: X:-38.07, Y:2.25, Z:2.48 [[ 0.94978168 0.10774079 0.29377997 -38.06515563] [ -0.12694712 0.99079283 0.04705306 2.24770724] [ -0.28600556 -0.08198466 0.95471427 2.47898817] [ 0. 0. 0. 1. ]] SLAMing on 40.703741732 meters 0.19210388977542445 Centerline is valid? [False, False] Translation: X:-38.03, Y:2.34, Z:2.43 [[ 0.96220196 0.06329992 0.26487828 -38.03099238] [ -0.09247042 0.99076775 0.09913874 2.33819248] [ -0.25615739 -0.1198849 0.95917204 2.42964002] [ 0. 0. 0. 1. ]] SLAMing on 40.763741732 meters 0.14646999454643567 Centerline is valid? [False, False] Translation: X:-38.11, Y:2.26, Z:2.49 [[ 0.95492735 0.09036731 0.28274991 -38.1072329 ] [ -0.11129545 0.99204528 0.05881739 2.26378903] [ -0.27518555 -0.08763512 0.95738864 2.48567056] [ 0. 0. 0. 1. ]] SLAMing on 40.823741731999995 meters 0.15354041568856341 Centerline is valid? [False, False] Translation: X:-38.17, Y:2.25, Z:2.50 [[ 0.95016934 0.1053634 0.29338845 -38.16743851] [ -0.12755133 0.99016413 0.05749477 2.24543756] [ -0.28444488 -0.09205185 0.95426284 2.50040698] [ 0. 0. 0. 1. ]] SLAMing on 40.883741732 meters 0.21539543803819616 Centerline is valid? [False, False] Translation: X:-38.16, Y:2.40, Z:2.39 [[ 0.96598209 0.05232601 0.25325991 -38.15568662] [ -0.09887345 0.97964147 0.17471873 2.39686808] [ -0.23896158 -0.19381585 0.95148977 2.39288691] [ 0. 0. 0. 1. ]] SLAMing on 40.943741732 meters 0.14529444491412466 Centerline is valid? [False, False] Translation: X:-38.12, Y:2.47, Z:2.31 [[ 9.75307117e-01 -2.83713780e-02 2.19023040e-01 -3.81172608e+01] [-2.77444599e-02 9.68118357e-01 2.48951988e-01 2.46881327e+00] [-2.19103336e-01 -2.48881321e-01 9.43425575e-01 2.30545449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.003741731999995 meters 0.09282905862403973 Centerline is valid? [False, True] Translation: X:-38.16, Y:2.46, Z:2.34 [[ 9.72307147e-01 -8.03839453e-02 2.19447563e-01 -3.81587615e+01] [ 3.13668865e-02 9.75376501e-01 2.18304376e-01 2.45871058e+00] [-2.31592163e-01 -2.05375518e-01 9.50886937e-01 2.34353721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.063741732 meters 0.0759489560042258 Centerline is valid? [True, True] Translation: X:-38.16, Y:2.27, Z:2.52 [[ 9.61897887e-01 -1.29680660e-01 2.40697698e-01 -3.81559414e+01] [ 1.26996548e-01 9.91543772e-01 2.66987998e-02 2.27334088e+00] [-2.42124621e-01 4.88625764e-03 9.70232855e-01 2.51529227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.123741732 meters 0.07977144985018557 Centerline is valid? [True, True] Translation: X:-38.20, Y:2.23, Z:2.55 [[ 9.58301592e-01 -1.53019789e-01 2.41335870e-01 -3.82049129e+01] [ 1.51044498e-01 9.88164206e-01 2.67780134e-02 2.22608415e+00] [-2.42577034e-01 1.07910424e-02 9.70072129e-01 2.54875116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.183741731999994 meters 0.06628086095217436 Centerline is valid? [True, True] Translation: X:-38.27, Y:2.31, Z:2.58 [[ 9.62936947e-01 -1.09174231e-01 2.46644327e-01 -3.82675002e+01] [ 1.05687845e-01 9.94022587e-01 2.73710764e-02 2.30660021e+00] [-2.48158248e-01 -2.89313289e-04 9.68719464e-01 2.58465043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.243741732 meters 0.07483865639654412 Centerline is valid? [True, True] Translation: X:-38.33, Y:2.36, Z:2.62 [[ 9.60983196e-01 -1.12519635e-01 2.52686818e-01 -3.83278061e+01] [ 1.08970125e-01 9.93649330e-01 2.80449965e-02 2.36352208e+00] [-2.54237700e-01 5.84543690e-04 9.67141587e-01 2.62434102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.303741732 meters 0.07448578175484871 Centerline is valid? [True, True] Translation: X:-38.39, Y:2.39, Z:2.65 [[ 9.61439316e-01 -1.02302310e-01 2.55281569e-01 -3.83900268e+01] [ 9.83082314e-02 9.94750921e-01 2.83918590e-02 2.39499671e+00] [-2.56846129e-01 -2.20076995e-03 9.66449804e-01 2.64583924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.363741731999994 meters 0.08099084314507488 Centerline is valid? [True, True] Translation: X:-38.45, Y:2.38, Z:2.64 [[ 9.56243031e-01 -1.24811731e-01 2.64615377e-01 -3.84537320e+01] [ 1.21340738e-01 9.92172744e-01 2.94902061e-02 2.38067150e+00] [-2.66224889e-01 3.90882119e-03 9.63903019e-01 2.63992068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.423741731999996 meters 0.07456796617693806 Centerline is valid? [True, True] Translation: X:-38.51, Y:2.42, Z:2.67 [[ 9.60938077e-01 -8.43408462e-02 2.63599382e-01 -3.85130578e+01] [ 7.93939984e-02 9.96410170e-01 2.93830765e-02 2.41506198e+00] [-2.65131298e-01 -7.30710812e-03 9.64184630e-01 2.67060030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.483741732 meters 0.07889318551667242 Centerline is valid? [True, True] Translation: X:-38.57, Y:2.38, Z:2.67 [[ 9.58209409e-01 -1.13541941e-01 2.62569909e-01 -3.85724810e+01] [ 1.09706486e-01 9.93532916e-01 2.92717040e-02 2.38478284e+00] [-2.64195413e-01 7.57199851e-04 9.64468875e-01 2.67441639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.543741731999994 meters 0.07544427885983371 Centerline is valid? [True, True] Translation: X:-38.63, Y:2.41, Z:2.69 [[ 9.62610446e-01 -8.22380985e-02 2.58104677e-01 -3.86324739e+01] [ 7.74233813e-02 9.96582798e-01 2.87810308e-02 2.40800345e+00] [-2.59589578e-01 -7.72158408e-03 9.65688163e-01 2.69110276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.603741731999996 meters 0.28081201100894165 Centerline is valid? [True, False] Translation: X:-38.90, Y:1.71, Z:2.92 [[ 0.96991768 -0.12706631 0.20763875 -38.90479216] [ 0.16301818 0.97249659 -0.16635941 1.71012388] [ -0.1807893 0.19520382 0.96395576 2.92454757] [ 0. 0. 0. 1. ]] SLAMing on 41.663741732 meters 0.2465154964987329 Centerline is valid? [False, False] Translation: X:-38.99, Y:1.68, Z:2.91 [[ 0.9742594 -0.08743272 0.20778389 -38.99163445] [ 0.10997497 0.98893956 -0.09951915 1.68215323] [ -0.19678448 0.11980849 0.97309907 2.90988769] [ 0. 0. 0. 1. ]] SLAMing on 41.72374173199999 meters 0.21228713298724067 Centerline is valid? [False, False] Translation: X:-39.06, Y:1.67, Z:2.89 [[ 0.97486853 -0.06063738 0.21436989 -39.05536626] [ 0.07664821 0.99479272 -0.06717505 1.67107423] [ -0.20918029 0.08191791 0.97443987 2.893803 ] [ 0. 0. 0. 1. ]] SLAMing on 41.783741731999996 meters 0.17010031813763105 Centerline is valid? [False, False] Translation: X:-39.08, Y:1.69, Z:2.93 [[ 9.79639453e-01 3.97125028e-03 2.00725611e-01 -3.90810343e+01] [ 9.72109291e-03 9.97693343e-01 -6.71825386e-02 1.68845166e+00] [-2.00529405e-01 6.77659377e-02 9.77341156e-01 2.92812979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.843741732 meters 0.1530342842589823 Centerline is valid? [False, False] Translation: X:-39.11, Y:1.72, Z:2.93 [[ 9.78682070e-01 2.55359697e-02 2.03787437e-01 -3.91089836e+01] [-1.20504010e-02 9.97670565e-01 -6.71433636e-02 1.72308260e+00] [-2.05027298e-01 6.32562857e-02 9.76710013e-01 2.93002043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90374173199999 meters 0.14586127825787187 Centerline is valid? [False, False] Translation: X:-39.15, Y:1.74, Z:2.95 [[ 0.97752793 0.05190551 0.20431583 -39.14682992] [ -0.04031308 0.99735384 -0.06049942 1.73932988] [ -0.20691543 0.05090327 0.97703371 2.94754783] [ 0. 0. 0. 1. ]] SLAMing on 41.963741731999995 meters 0.10417549767831859 Centerline is valid? [False, False] Translation: X:-39.17, Y:1.75, Z:2.95 [[ 0.97727407 0.0715969 0.19952263 -39.16533222] [ -0.05911959 0.99594482 -0.06781444 1.74621295] [ -0.20356884 0.0544776 0.97754382 2.95057315] [ 0. 0. 0. 1. ]] SLAMing on 42.023741732 meters 0.14423664121095112 Centerline is valid? [False, False] Translation: X:-39.23, Y:1.71, Z:2.94 [[ 9.78383590e-01 2.83118407e-02 2.04851142e-01 -3.92310680e+01] [-2.32195424e-02 9.99359751e-01 -2.72202283e-02 1.70627104e+00] [-2.05490641e-01 2.18752749e-02 9.78414569e-01 2.94417671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08374173199999 meters 0.1574953337092542 Centerline is valid? [False, False] Translation: X:-39.31, Y:1.69, Z:2.94 [[ 9.74861992e-01 -2.38678513e-02 2.21527475e-01 -3.93134919e+01] [ 2.52888416e-02 9.99673776e-01 -3.57998686e-03 1.69418651e+00] [-2.21369761e-01 9.09216634e-03 9.75147559e-01 2.94038265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.143741731999995 meters 0.11931976533505602 Centerline is valid? [False, False] Translation: X:-39.33, Y:1.73, Z:2.97 [[ 9.82497437e-01 3.74853173e-02 1.82465439e-01 -3.93303724e+01] [-3.14848868e-02 9.98867437e-01 -3.56727404e-02 1.73231197e+00] [-1.83595990e-01 2.93034723e-02 9.82564918e-01 2.97305199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.203741732 meters 0.04970584167275816 Centerline is valid? [False, True] Translation: X:-39.30, Y:1.77, Z:2.99 [[ 9.76636619e-01 1.32286251e-01 1.69355430e-01 -3.93013705e+01] [-1.23958603e-01 9.90538773e-01 -5.88829660e-02 1.76507970e+00] [-1.75542526e-01 3.65141984e-02 9.83794458e-01 2.99148565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26374173199999 meters 0.056057723080454 Centerline is valid? [True, True] Translation: X:-39.37, Y:1.76, Z:2.98 [[ 9.79323248e-01 1.00657949e-01 1.75482061e-01 -3.93692425e+01] [-9.68493264e-02 9.94842087e-01 -3.01567414e-02 1.76186509e+00] [-1.77612455e-01 1.25378785e-02 9.84020639e-01 2.97918432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.323741731999995 meters 0.05324402799137033 Centerline is valid? [True, True] Translation: X:-39.44, Y:1.76, Z:2.97 [[ 9.83120215e-01 1.02965937e-01 1.51237092e-01 -3.94362487e+01] [-1.00174427e-01 9.94630574e-01 -2.59828083e-02 1.75714343e+00] [-1.53100380e-01 1.03941350e-02 9.88155977e-01 2.96779209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.383741732 meters 0.03449461576827216 Centerline is valid? [True, True] Translation: X:-39.48, Y:1.83, Z:3.00 [[ 9.75343572e-01 1.46847553e-01 1.64744388e-01 -3.94785451e+01] [-1.44147159e-01 9.89151643e-01 -2.82953088e-02 1.83371121e+00] [-1.67112279e-01 3.85021202e-03 9.85930354e-01 2.99902017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.443741732 meters 0.03811925155195531 Centerline is valid? [True, True] Translation: X:-39.53, Y:1.85, Z:3.02 [[ 9.75817647e-01 1.23012690e-01 1.80687014e-01 -3.95337021e+01] [-1.19354400e-01 9.92366895e-01 -3.10237634e-02 1.85417441e+00] [-1.83124128e-01 8.70774567e-03 9.83051234e-01 3.02374203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.503741731999995 meters 0.04000524257125164 Centerline is valid? [True, True] Translation: X:-39.59, Y:1.89, Z:3.02 [[ 9.78387282e-01 1.22736486e-01 1.66415390e-01 -3.95935580e+01] [-1.19637867e-01 9.92406805e-01 -2.85571950e-02 1.89035401e+00] [-1.68656775e-01 8.03041415e-03 9.85642128e-01 3.01615669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.563741732 meters 0.03299754231341528 Centerline is valid? [True, True] Translation: X:-39.63, Y:2.00, Z:3.04 [[ 9.67854851e-01 1.88615133e-01 1.66377038e-01 -3.96329463e+01] [-1.86473512e-01 9.82045208e-01 -2.85453716e-02 2.00047614e+00] [-1.68773862e-01 -3.39713409e-03 9.85648945e-01 3.03731535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.623741732 meters 0.05178914369740263 Centerline is valid? [True, True] Translation: X:-39.69, Y:2.05, Z:3.04 [[ 9.59065657e-01 2.28301393e-01 1.67545632e-01 -3.96877802e+01] [-2.26725693e-01 9.73534661e-01 -2.87354182e-02 2.04786064e+00] [-1.69671816e-01 -1.04277468e-02 9.85445451e-01 3.04171614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.683741731999994 meters 0.030519481298292732 Centerline is valid? [True, True] Translation: X:-39.77, Y:1.95, Z:3.05 [[ 9.70138304e-01 1.74800439e-01 1.68156110e-01 -3.97668704e+01] [-1.72410643e-01 9.84603346e-01 -2.88239778e-02 1.95162628e+00] [-1.70605513e-01 -1.02865811e-03 9.85338876e-01 3.04736915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.743741732 meters 0.028646103397745228 Centerline is valid? [True, True] Translation: X:-39.83, Y:1.89, Z:3.08 [[ 9.70160547e-01 1.75919564e-01 1.66855684e-01 -3.98328785e+01] [-1.73582818e-01 9.84403797e-01 -2.86036678e-02 1.89260801e+00] [-1.69285314e-01 -1.21312987e-03 9.85566340e-01 3.08217429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.803741732 meters 0.031403401728305684 Centerline is valid? [True, True] Translation: X:-39.91, Y:1.82, Z:3.08 [[ 9.76475463e-01 1.45669125e-01 1.58984831e-01 -3.99088376e+01] [-1.43159689e-01 9.89326115e-01 -2.71871597e-02 1.81710157e+00] [-1.61248174e-01 3.78737541e-03 9.86906623e-01 3.08466759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.863741731999994 meters 0.046004398477293734 Centerline is valid? [True, True] Translation: X:-39.98, Y:1.74, Z:3.11 [[ 9.79150659e-01 1.07606392e-01 1.72292924e-01 -3.99798619e+01] [-1.04069519e-01 9.94133675e-01 -2.94579754e-02 1.73963324e+00] [-1.74452064e-01 1.09133544e-02 9.84605188e-01 3.10994352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.923741731999996 meters 0.08076084987869568 Centerline is valid? [True, True] Translation: X:-40.05, Y:1.66, Z:3.13 [[ 9.84094750e-01 4.39039313e-02 1.72133573e-01 -4.00514364e+01] [-3.94132329e-02 9.98789752e-01 -2.94215765e-02 1.66472608e+00] [-1.73216972e-01 2.21692784e-02 9.84634147e-01 3.12832433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.983741732 meters 0.038714181497785424 Centerline is valid? [True, True] Translation: X:-40.09, Y:1.79, Z:3.14 [[ 9.77933852e-01 1.29301838e-01 1.64092704e-01 -4.00910540e+01] [-1.26401380e-01 9.91582778e-01 -2.80407817e-02 1.78781759e+00] [-1.66337224e-01 6.68048559e-03 9.86046297e-01 3.13942152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.043741731999994 meters 0.028816698211986527 Centerline is valid? [True, True] Translation: X:-40.14, Y:1.85, Z:3.16 [[ 9.73109405e-01 1.49482418e-01 1.75251512e-01 -4.01381903e+01] [-1.46493953e-01 9.88758318e-01 -2.99417714e-02 1.85165954e+00] [-1.77757159e-01 3.46333266e-03 9.84068289e-01 3.16008900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.103741731999996 meters 0.03854811465676799 Centerline is valid? [True, True] Translation: X:-40.20, Y:1.84, Z:3.17 [[ 9.78227103e-01 1.24931597e-01 1.65722148e-01 -4.02025240e+01] [-1.21913852e-01 9.92137165e-01 -2.82994544e-02 1.84221691e+00] [-1.67954599e-01 7.47946778e-03 9.85766357e-01 3.16554790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.163741732 meters 0.03141255224020135 Centerline is valid? [True, True] Translation: X:-40.25, Y:1.92, Z:3.18 [[ 9.67041591e-01 1.89018994e-01 1.70594200e-01 -4.02495638e+01] [-1.86798728e-01 9.81966446e-01 -2.91227403e-02 1.91848007e+00] [-1.73022531e-01 -3.70387838e-03 9.84910902e-01 3.17968883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22374173199999 meters 0.037163179711990714 Centerline is valid? [True, True] Translation: X:-40.32, Y:1.83, Z:3.20 [[ 9.76780761e-01 1.25908430e-01 1.73339010e-01 -4.03227688e+01] [-1.22623343e-01 9.92012498e-01 -2.95756555e-02 1.82799622e+00] [-1.75678288e-01 7.63352251e-03 9.84418035e-01 3.20348431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.283741731999996 meters 0.04679866081605538 Centerline is valid? [True, True] Translation: X:-40.39, Y:1.80, Z:3.22 [[ 9.78625766e-01 9.95117660e-02 1.79969492e-01 -4.03871381e+01] [-9.55267701e-02 9.94953416e-01 -3.06974967e-02 1.80096203e+00] [-1.82116023e-01 1.28494570e-02 9.83193087e-01 3.21807895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.343741732 meters 0.0402398564535315 Centerline is valid? [True, True] Translation: X:-40.44, Y:1.84, Z:3.24 [[ 9.78255291e-01 1.13337104e-01 1.73698839e-01 -4.04395911e+01] [-1.09844675e-01 9.93507299e-01 -2.96208390e-02 1.83922315e+00] [-1.75928204e-01 9.89684989e-03 9.84353249e-01 3.23584403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40374173199999 meters 0.030909999417866464 Centerline is valid? [True, True] Translation: X:-40.49, Y:1.91, Z:3.25 [[ 9.70628253e-01 1.57301267e-01 1.82036001e-01 -4.04889888e+01] [-1.54223345e-01 9.87548541e-01 -3.10328776e-02 1.90748950e+00] [-1.84650898e-01 2.04718689e-03 9.82802043e-01 3.24575695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.463741731999995 meters 0.043592218081621045 Centerline is valid? [True, True] Translation: X:-40.56, Y:1.87, Z:3.26 [[ 9.77772431e-01 1.09135571e-01 1.79026534e-01 -4.05551836e+01] [-1.05356931e-01 9.93966346e-01 -3.05093408e-02 1.87316125e+00] [-1.81276004e-01 1.09695061e-02 9.83371080e-01 3.25593138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.523741732 meters 0.03036045249319487 Centerline is valid? [True, True] Translation: X:-40.60, Y:1.94, Z:3.28 [[ 9.71846238e-01 1.52184043e-01 1.79874698e-01 -4.06025448e+01] [-1.49096220e-01 9.88347731e-01 -3.06444056e-02 1.93774152e+00] [-1.82442340e-01 2.96301265e-03 9.83212090e-01 3.27571886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58374173199999 meters 0.028005836081328415 Centerline is valid? [True, True] Translation: X:-40.66, Y:1.96, Z:3.29 [[ 9.69237963e-01 1.64212275e-01 1.83336031e-01 -4.06600016e+01] [-1.61217050e-01 9.86424768e-01 -3.12288334e-02 1.96062626e+00] [-1.85975360e-01 7.11276832e-04 9.82554151e-01 3.28541133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.643741731999995 meters 0.045753363807955694 Centerline is valid? [True, True] Translation: X:-40.73, Y:1.90, Z:3.30 [[ 9.77936921e-01 1.00356837e-01 1.83215401e-01 -4.07289391e+01] [-9.62559544e-02 9.94868651e-01 -3.11634240e-02 1.89926837e+00] [-1.85402722e-01 1.28402897e-02 9.82578729e-01 3.30469132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.703741732 meters 0.0551029936544175 Centerline is valid? [True, True] Translation: X:-40.79, Y:1.90, Z:3.32 [[ 9.79867561e-01 8.65833513e-02 1.79896878e-01 -4.07891811e+01] [-8.24045215e-02 9.96129440e-01 -3.05881228e-02 1.90248499e+00] [-1.81848999e-01 1.51479931e-02 9.83209784e-01 3.31729033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76374173199999 meters 0.025657669278321322 Centerline is valid? [True, True] Translation: X:-40.83, Y:2.01, Z:3.34 [[ 9.68909381e-01 1.65656704e-01 1.83772868e-01 -4.08281536e+01] [-1.62685057e-01 9.86183411e-01 -3.12386434e-02 2.00926183e+00] [-1.86408644e-01 3.70315125e-04 9.82472229e-01 3.34124216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.823741731999995 meters 0.028505294906105098 Centerline is valid? [True, True] Translation: X:-40.89, Y:2.02, Z:3.34 [[ 9.68467578e-01 1.66704011e-01 1.85149461e-01 -4.08907022e+01] [-1.63706431e-01 9.86006970e-01 -3.14715822e-02 2.01888255e+00] [-1.87805098e-01 1.69049596e-04 9.82206300e-01 3.34330780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.883741732 meters 0.03925799884130728 Centerline is valid? [True, True] Translation: X:-40.96, Y:1.97, Z:3.36 [[ 9.75145996e-01 1.19843460e-01 1.86354046e-01 -4.09599819e+01] [-1.15967368e-01 9.92750105e-01 -3.16037836e-02 1.96586174e+00] [-1.88790506e-01 9.20731473e-03 9.81974221e-01 3.35680572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.943741732 meters 0.03580736334334515 Centerline is valid? [True, True] Translation: X:-41.02, Y:1.98, Z:3.38 [[ 9.73861748e-01 1.30540575e-01 1.85882903e-01 -4.10155384e+01] [-1.26878729e-01 9.91417506e-01 -3.15137644e-02 1.97573307e+00] [-1.88401389e-01 7.10546318e-03 9.82066408e-01 3.37900387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.003741731999995 meters 0.027632540630775016 Centerline is valid? [True, True] Translation: X:-41.07, Y:2.01, Z:3.39 [[ 9.70636741e-01 1.49735057e-01 1.88265052e-01 -4.10708331e+01] [-1.46338309e-01 9.88720282e-01 -3.18951848e-02 2.00686559e+00] [-1.90917303e-01 3.40824900e-03 9.81600208e-01 3.39320293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.063741732 meters 0.0333704444707445 Centerline is valid? [True, True] Translation: X:-41.13, Y:2.00, Z:3.40 [[ 9.72872236e-01 1.37326589e-01 1.86174702e-01 -4.11336935e+01] [-1.33782392e-01 9.90509032e-01 -3.15298043e-02 2.00420712e+00] [-1.88737604e-01 5.76757436e-03 9.82010617e-01 3.40120544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.123741732 meters 0.042266925397690135 Centerline is valid? [True, True] Translation: X:-41.20, Y:1.99, Z:3.41 [[ 9.75853640e-01 1.15649780e-01 1.85296523e-01 -4.11973480e+01] [-1.11753714e-01 9.93240664e-01 -3.13702354e-02 1.98639366e+00] [-1.87672003e-01 9.90518364e-03 9.82181809e-01 3.41378011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.183741731999994 meters 0.035801417537613026 Centerline is valid? [True, True] Translation: X:-41.25, Y:2.01, Z:3.44 [[ 9.72558200e-01 1.28458604e-01 1.93981790e-01 -4.12499543e+01] [-1.24435596e-01 9.91684226e-01 -3.28356197e-02 2.00525830e+00] [-1.96586699e-01 7.79631156e-03 9.80455449e-01 3.44314335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.243741732 meters 0.031434243153576145 Centerline is valid? [True, True] Translation: X:-41.31, Y:2.03, Z:3.45 [[ 9.71959852e-01 1.42495076e-01 1.87053999e-01 -4.13085630e+01] [-1.39016579e-01 9.89784056e-01 -3.16530061e-02 2.02812454e+00] [-1.89653464e-01 4.76184416e-03 9.81839543e-01 3.44692980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.303741732 meters 0.03211051407268693 Centerline is valid? [True, True] Translation: X:-41.36, Y:2.03, Z:3.47 [[ 9.71208492e-01 1.38123806e-01 1.94102752e-01 -4.13647980e+01] [-1.34294559e-01 9.90397968e-01 -3.28151985e-02 2.03348574e+00] [-1.96771531e-01 5.80345596e-03 9.80432193e-01 3.46871257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.363741731999994 meters 0.03144693475985763 Centerline is valid? [True, True] Translation: X:-41.42, Y:2.03, Z:3.49 [[ 9.71703312e-01 1.32767135e-01 1.95360083e-01 -4.14241170e+01] [-1.28785219e-01 9.91123170e-01 -3.30034647e-02 2.03146364e+00] [-1.98007681e-01 6.91008484e-03 9.80176111e-01 3.48766512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.423741731999996 meters 0.03835805924993277 Centerline is valid? [True, True] Translation: X:-41.49, Y:2.02, Z:3.49 [[ 9.74006719e-01 1.23492847e-01 1.89895836e-01 -4.14881166e+01] [-1.19560431e-01 9.92308762e-01 -3.20721659e-02 2.02409550e+00] [-1.92395985e-01 8.53447710e-03 9.81280259e-01 3.49211299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.483741732 meters 0.03906801346862963 Centerline is valid? [True, True] Translation: X:-41.55, Y:2.03, Z:3.51 [[ 9.74838138e-01 1.15105323e-01 1.90896225e-01 -4.15468239e+01] [-1.10973076e-01 9.93300524e-01 -3.22342180e-02 2.02898460e+00] [-1.93327651e-01 1.02388037e-02 9.81080826e-01 3.51089041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.543741731999994 meters 0.04048745354064073 Centerline is valid? [True, True] Translation: X:-41.60, Y:2.04, Z:3.53 [[ 9.73708082e-01 1.13762851e-01 1.97359023e-01 -4.16029109e+01] [-1.09317002e-01 9.93448546e-01 -3.33133537e-02 2.04254989e+00] [-1.99855856e-01 1.08627851e-02 9.79765093e-01 3.53376057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.603741731999996 meters 0.04053701186439482 Centerline is valid? [True, True] Translation: X:-41.66, Y:2.05, Z:3.54 [[ 9.73443239e-01 1.16471162e-01 1.97085588e-01 -4.16633196e+01] [-1.12094195e-01 9.93140831e-01 -3.32593081e-02 2.05183967e+00] [-1.99607495e-01 1.02838983e-02 9.79821968e-01 3.54407985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.663741732 meters 0.037835136193975674 Centerline is valid? [True, True] Translation: X:-41.72, Y:2.06, Z:3.55 [[ 9.73052777e-01 1.24564158e-01 1.94041399e-01 -4.17240413e+01] [-1.20485063e-01 9.92175403e-01 -3.27310008e-02 2.06110285e+00] [-1.96600213e-01 8.46990115e-03 9.80447152e-01 3.55203560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72374173199999 meters 0.029036010458966654 Centerline is valid? [True, True] Translation: X:-41.78, Y:2.08, Z:3.58 [[ 9.70064595e-01 1.38835408e-01 1.99247110e-01 -4.17776019e+01] [-1.34830187e-01 9.90298899e-01 -3.35992862e-02 2.08026914e+00] [-2.01978964e-01 5.72895287e-03 9.79373104e-01 3.57752238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.783741731999996 meters 0.03081759138853784 Centerline is valid? [True, True] Translation: X:-41.84, Y:2.09, Z:3.58 [[ 9.69801234e-01 1.40670762e-01 1.99241822e-01 -4.18395107e+01] [-1.36705841e-01 9.90042042e-01 -3.35897119e-02 2.08916105e+00] [-2.01982871e-01 5.33782322e-03 9.79374508e-01 3.58474759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.843741732 meters 0.03240871306562354 Centerline is valid? [True, True] Translation: X:-41.90, Y:2.09, Z:3.60 [[ 9.70756490e-01 1.34897050e-01 1.98581527e-01 -4.18994921e+01] [-1.30853992e-01 9.90838665e-01 -3.34061830e-02 2.09380685e+00] [-2.01268651e-01 6.44408341e-03 9.79514882e-01 3.59807805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90374173199999 meters 0.033446175693598465 Centerline is valid? [True, True] Translation: X:-41.96, Y:2.10, Z:3.61 [[ 9.71618084e-01 1.27987377e-01 1.98941024e-01 -4.19574311e+01] [-1.23788763e-01 9.91744509e-01 -3.34540220e-02 2.09854863e+00] [-2.01580361e-01 7.87786954e-03 9.79440298e-01 3.61490980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.963741731999995 meters 0.03579922285455078 Centerline is valid? [True, True] Translation: X:-42.02, Y:2.10, Z:3.63 [[ 9.70835077e-01 1.25700889e-01 2.04153225e-01 -4.20178038e+01] [-1.21225646e-01 9.92031061e-01 -3.43324325e-02 2.10301553e+00] [-2.06841958e-01 8.58252311e-03 9.78336724e-01 3.63080819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.023741732 meters 0.032364582654414616 Centerline is valid? [True, True] Translation: X:-42.08, Y:2.11, Z:3.64 [[ 9.71463716e-01 1.28859546e-01 1.99131781e-01 -4.20780743e+01] [-1.24683220e-01 9.91633394e-01 -3.34261315e-02 2.11269847e+00] [-2.01773000e-01 7.64388228e-03 9.79402485e-01 3.64188956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08374173199999 meters 0.032924857184388825 Centerline is valid? [True, True] Translation: X:-42.13, Y:2.13, Z:3.66 [[ 9.68913182e-01 1.37721247e-01 2.05523976e-01 -4.21331355e+01] [-1.33479880e-01 9.90453302e-01 -3.44293104e-02 2.12776070e+00] [-2.08303548e-01 5.92569696e-03 9.78046276e-01 3.66111867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.143741731999995 meters 0.03484299451290609 Centerline is valid? [True, True] Translation: X:-42.19, Y:2.13, Z:3.68 [[ 9.68769260e-01 1.35952515e-01 2.07371730e-01 -4.21942108e+01] [-1.31597224e-01 9.90695023e-01 -3.47209091e-02 2.13399628e+00] [-2.10162536e-01 6.34700541e-03 9.77645858e-01 3.67639595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.203741732 meters 0.03584917821973662 Centerline is valid? [True, True] Translation: X:-42.26, Y:2.13, Z:3.69 [[ 9.70536083e-01 1.25838835e-01 2.05485520e-01 -4.22558387e+01] [-1.21356789e-01 9.92015348e-01 -3.43231650e-02 2.13250672e+00] [-2.08163977e-01 8.37480727e-03 9.78058087e-01 3.68593621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26374173199999 meters 0.03864500485728669 Centerline is valid? [True, True] Translation: X:-42.32, Y:2.14, Z:3.70 [[ 9.71409456e-01 1.21485490e-01 2.03972899e-01 -4.23163734e+01] [-1.16978105e-01 9.92550353e-01 -3.40576049e-02 2.13531561e+00] [-2.06590878e-01 9.22351628e-03 9.78383941e-01 3.69830782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.323741731999995 meters 0.03727107931606575 Centerline is valid? [True, True] Translation: X:-42.37, Y:2.14, Z:3.72 [[ 9.70355527e-01 1.22196281e-01 2.08514317e-01 -4.23730784e+01] [-1.17500276e-01 9.92462599e-01 -3.48091046e-02 2.14237406e+00] [-2.11196204e-01 9.27671730e-03 9.77399665e-01 3.71792611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.383741732 meters 0.03377370330655453 Centerline is valid? [True, True] Translation: X:-42.43, Y:2.16, Z:3.74 [[ 9.69074812e-01 1.28414221e-01 2.10722086e-01 -4.24292620e+01] [-1.23766779e-01 9.91688465e-01 -3.51535685e-02 2.15781391e+00] [-2.13484880e-01 7.98604397e-03 9.76913727e-01 3.73559160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.443741732 meters 0.03415336392283062 Centerline is valid? [True, True] Translation: X:-42.49, Y:2.17, Z:3.74 [[ 9.69910444e-01 1.29130016e-01 2.06395664e-01 -4.24907928e+01] [-1.24689491e-01 9.91598051e-01 -3.44359583e-02 2.16598391e+00] [-2.09108254e-01 7.66442520e-03 9.77862462e-01 3.74495356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.503741731999995 meters 0.033107486483907766 Centerline is valid? [True, True] Translation: X:-42.55, Y:2.17, Z:3.76 [[ 9.70369297e-01 1.24835198e-01 2.06880645e-01 -4.25486465e+01] [-1.20292699e-01 9.92140763e-01 -3.44437609e-02 2.17387132e+00] [-2.09554515e-01 8.53693694e-03 9.77759697e-01 3.76003512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.563741732 meters 0.034466965948886666 Centerline is valid? [True, True] Translation: X:-42.61, Y:2.18, Z:3.78 [[ 9.69499451e-01 1.26276939e-01 2.10059393e-01 -4.26073913e+01] [-1.21624735e-01 9.91959813e-01 -3.49736076e-02 2.18232098e+00] [-2.12786836e-01 8.35847544e-03 9.77062894e-01 3.77726872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.623741732 meters 0.03184077488607365 Centerline is valid? [True, True] Translation: X:-42.67, Y:2.20, Z:3.79 [[ 9.69128365e-01 1.31796387e-01 2.08374481e-01 -4.26654395e+01] [-1.27359696e-01 9.91251950e-01 -3.46277125e-02 2.19658437e+00] [-2.11115419e-01 7.02018771e-03 9.77435930e-01 3.78837820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.683741731999994 meters 0.03200382887567058 Centerline is valid? [True, True] Translation: X:-42.72, Y:2.20, Z:3.81 [[ 9.68189172e-01 1.34124452e-01 2.11235314e-01 -4.27247740e+01] [-1.29620886e-01 9.90942566e-01 -3.50892572e-02 2.20404356e+00] [-2.14028391e-01 6.59253024e-03 9.76805194e-01 3.80508635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.743741732 meters 0.031134789417443645 Centerline is valid? [True, True] Translation: X:-42.78, Y:2.21, Z:3.82 [[ 9.69398375e-01 1.27507281e-01 2.09782466e-01 -4.27846724e+01] [-1.22917604e-01 9.91805562e-01 -3.48280044e-02 2.20537085e+00] [-2.12504241e-01 7.97625261e-03 9.77127590e-01 3.81932980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.803741732 meters 0.03539247728908503 Centerline is valid? [True, True] Translation: X:-42.85, Y:2.21, Z:3.83 [[ 9.69178685e-01 1.27114858e-01 2.11031965e-01 -4.28451263e+01] [-1.22461345e-01 9.91854868e-01 -3.50305481e-02 2.21224119e+00] [-2.13765985e-01 8.10760229e-03 9.76851253e-01 3.83298830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.863741731999994 meters 0.031171756481916633 Centerline is valid? [True, True] Translation: X:-42.90, Y:2.22, Z:3.85 [[ 9.69339946e-01 1.30927706e-01 2.07937505e-01 -4.29045696e+01] [-1.26511986e-01 9.91366560e-01 -3.44537554e-02 2.22397834e+00] [-2.10653240e-01 7.09081471e-03 9.77535131e-01 3.84654616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.923741731999996 meters 0.03142464205935771 Centerline is valid? [True, True] Translation: X:-42.96, Y:2.23, Z:3.87 [[ 9.69358913e-01 1.31418401e-01 2.07539158e-01 -4.29636175e+01] [-1.27044808e-01 9.91302944e-01 -3.43233076e-02 2.23255018e+00] [-2.10244893e-01 6.90483159e-03 9.77624370e-01 3.86641154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.983741732 meters 0.03377214982058286 Centerline is valid? [True, True] Translation: X:-43.02, Y:2.23, Z:3.88 [[ 9.69580506e-01 1.25644779e-01 2.10064352e-01 -4.30236340e+01] [-1.21044310e-01 9.92041513e-01 -3.46685851e-02 2.23369231e+00] [-2.12748484e-01 8.18688982e-03 9.77072698e-01 3.88145245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.043741731999994 meters 0.035203249442924876 Centerline is valid? [True, True] Translation: X:-43.08, Y:2.24, Z:3.89 [[ 9.70807027e-01 1.20776950e-01 2.07235722e-01 -4.30827201e+01] [-1.16193972e-01 9.92637826e-01 -3.41921959e-02 2.23714559e+00] [-2.09839646e-01 9.11448234e-03 9.77693331e-01 3.89304752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.103741731999996 meters 0.037151161691707714 Centerline is valid? [True, True] Translation: X:-43.14, Y:2.24, Z:3.91 [[ 9.71043311e-01 1.17625732e-01 2.07940076e-01 -4.31416571e+01] [-1.12940496e-01 9.93009378e-01 -3.43047954e-02 2.24163785e+00] [-2.10521572e-01 9.82658674e-03 9.77539823e-01 3.90986290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.163741732 meters 0.03264533569915648 Centerline is valid? [True, True] Translation: X:-43.20, Y:2.25, Z:3.93 [[ 9.71083160e-01 1.20876961e-01 2.05879229e-01 -4.31997673e+01] [-1.16358376e-01 9.92626480e-01 -3.39617206e-02 2.25178490e+00] [-2.08466364e-01 9.02388216e-03 9.77987906e-01 3.92677576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22374173199999 meters 0.034439221255514296 Centerline is valid? [True, True] Translation: X:-43.26, Y:2.26, Z:3.94 [[ 9.69884554e-01 1.26536258e-01 2.08116617e-01 -4.32584628e+01] [-1.22059982e-01 9.91931075e-01 -3.42651876e-02 2.26372309e+00] [-2.10773129e-01 7.83056555e-03 9.77503642e-01 3.94137385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.283741731999996 meters 0.031995341848555056 Centerline is valid? [True, True] Translation: X:-43.32, Y:2.28, Z:3.96 [[ 9.69525162e-01 1.31612659e-01 2.06637530e-01 -4.33154267e+01] [-1.27317087e-01 9.91278814e-01 -3.40098949e-02 2.27599855e+00] [-2.09311538e-01 6.66496050e-03 9.77826293e-01 3.95592524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.343741732 meters 0.03293598772457016 Centerline is valid? [True, True] Translation: X:-43.37, Y:2.29, Z:3.97 [[ 9.69254089e-01 1.32705629e-01 2.07209379e-01 -4.33744034e+01] [-1.28409888e-01 9.91134503e-01 -3.41071388e-02 2.28559507e+00] [-2.09898574e-01 6.45075065e-03 9.77701885e-01 3.97121653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40374173199999 meters 0.03226516495810405 Centerline is valid? [True, True] Translation: X:-43.44, Y:2.28, Z:3.98 [[ 9.70389977e-01 1.25461806e-01 2.06404040e-01 -4.34352225e+01] [-1.21052068e-01 9.92066849e-01 -3.39081766e-02 2.28420762e+00] [-2.09020786e-01 7.91851874e-03 9.77879138e-01 3.98238609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.463741731999995 meters 0.03667457566090591 Centerline is valid? [True, True] Translation: X:-43.50, Y:2.29, Z:4.00 [[ 9.69957480e-01 1.25587747e-01 2.08351156e-01 -4.34954778e+01] [-1.21095387e-01 9.92050485e-01 -3.42307135e-02 2.29098748e+00] [-2.10993824e-01 7.97197270e-03 9.77454886e-01 3.99612101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.523741732 meters 0.03414662717125138 Centerline is valid? [True, True] Translation: X:-43.55, Y:2.30, Z:4.01 [[ 9.70160983e-01 1.24686255e-01 2.07944716e-01 -4.35534123e+01] [-1.20205205e-01 9.92163274e-01 -3.40990745e-02 2.29922239e+00] [-2.10566796e-01 8.08555428e-03 9.77546034e-01 4.01439126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58374173199999 meters 0.033018584261797886 Centerline is valid? [True, True] Translation: X:-43.61, Y:2.31, Z:4.03 [[ 9.69768742e-01 1.26931357e-01 2.08415494e-01 -4.36130938e+01] [-1.22488743e-01 9.91882548e-01 -3.41397061e-02 2.30772604e+00] [-2.11057090e-01 7.57906799e-03 9.77444353e-01 4.02834250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.643741731999995 meters 0.035366446500225156 Centerline is valid? [True, True] Translation: X:-43.67, Y:2.32, Z:4.04 [[ 9.70141794e-01 1.27352834e-01 2.06412584e-01 -4.36726154e+01] [-1.23012269e-01 9.91830006e-01 -3.37819487e-02 2.31644906e+00] [-2.09028422e-01 7.38199998e-03 9.77881703e-01 4.03883757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.703741732 meters 0.03494104220259166 Centerline is valid? [True, True] Translation: X:-43.73, Y:2.32, Z:4.05 [[ 9.70276407e-01 1.26651335e-01 2.06211379e-01 -4.37337919e+01] [-1.22310602e-01 9.91918998e-01 -3.37167335e-02 2.32069188e+00] [-2.08815253e-01 7.49271319e-03 9.77926403e-01 4.05126151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76374173199999 meters 0.033424910256435465 Centerline is valid? [True, True] Translation: X:-43.79, Y:2.33, Z:4.07 [[ 9.70024352e-01 1.24846746e-01 2.08485123e-01 -4.37918145e+01] [-1.20381008e-01 9.92144534e-01 -3.40240441e-02 2.33359484e+00] [-2.11095166e-01 7.90650203e-03 9.77433536e-01 4.07108609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.823741731999995 meters 0.036352362015443354 Centerline is valid? [True, True] Translation: X:-43.85, Y:2.34, Z:4.08 [[ 9.71252595e-01 1.18765841e-01 2.06308196e-01 -4.38518686e+01] [-1.14274622e-01 9.92881019e-01 -3.35945268e-02 2.33615116e+00] [-2.08829374e-01 9.05298024e-03 9.77910188e-01 4.08273879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.883741732 meters 0.038240280802333264 Centerline is valid? [True, True] Translation: X:-43.91, Y:2.34, Z:4.10 [[ 9.71510485e-01 1.14605183e-01 2.07444039e-01 -4.39121377e+01] [-1.09971448e-01 9.93360813e-01 -3.37723976e-02 2.33946340e+00] [-2.09937271e-01 9.99731704e-03 9.77663744e-01 4.09728611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.943741732 meters 0.036215970049698454 Centerline is valid? [True, True] Translation: X:-43.97, Y:2.35, Z:4.11 [[ 9.71145399e-01 1.18356615e-01 2.07046675e-01 -4.39703531e+01] [-1.13827643e-01 9.92928945e-01 -3.36953795e-02 2.34893486e+00] [-2.09570708e-01 9.15547761e-03 9.77750631e-01 4.11254647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.003741731999995 meters 0.03428946964207291 Centerline is valid? [True, True] Translation: X:-44.03, Y:2.37, Z:4.13 [[ 9.70106839e-01 1.25588792e-01 2.07653982e-01 -4.40267651e+01] [-1.21202112e-01 9.92053355e-01 -3.37666759e-02 2.36511105e+00] [-2.10244546e-01 7.58918199e-03 9.77619371e-01 4.12576626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.063741732 meters 0.030599450169133374 Centerline is valid? [True, True] Translation: X:-44.09, Y:2.38, Z:4.14 [[ 9.69775473e-01 1.29829123e-01 2.06591216e-01 -4.40858923e+01] [-1.25582779e-01 9.91514185e-01 -3.35944459e-02 2.37777324e+00] [-2.09199658e-01 6.63477067e-03 9.77850440e-01 4.13867263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.123741732 meters 0.033517583357715035 Centerline is valid? [True, True] Translation: X:-44.15, Y:2.39, Z:4.15 [[ 9.69669219e-01 1.29579456e-01 2.07245677e-01 -4.41468107e+01] [-1.25305940e-01 9.91546518e-01 -3.36737813e-02 2.38532326e+00] [-2.09857160e-01 6.68331471e-03 9.77709213e-01 4.14830896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.183741731999994 meters 0.03291028798545693 Centerline is valid? [True, True] Translation: X:-44.21, Y:2.40, Z:4.17 [[ 9.69446522e-01 1.28221694e-01 2.09123500e-01 -4.42057156e+01] [-1.23852391e-01 9.91720997e-01 -3.39123824e-02 2.39531088e+00] [-2.11740469e-01 6.97579561e-03 9.77301034e-01 4.16663180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.243741732 meters 0.0336433517395708 Centerline is valid? [True, True] Translation: X:-44.27, Y:2.40, Z:4.18 [[ 9.69438153e-01 1.27021594e-01 2.09893265e-01 -4.42666182e+01] [-1.22607086e-01 9.91873861e-01 -3.39668452e-02 2.39910276e+00] [-2.12502166e-01 7.19435400e-03 9.77134111e-01 4.17898273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.303741732 meters 0.03304200123281259 Centerline is valid? [True, True] Translation: X:-44.33, Y:2.41, Z:4.19 [[ 9.69606483e-01 1.27579914e-01 2.08774120e-01 -4.43290288e+01] [-1.23239820e-01 9.91803824e-01 -3.37212216e-02 2.40525610e+00] [-2.11365122e-01 6.96703009e-03 9.77382344e-01 4.18983148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.363741731999994 meters 0.03400177387975539 Centerline is valid? [True, True] Translation: X:-44.39, Y:2.42, Z:4.21 [[ 9.68922977e-01 1.29117075e-01 2.10990627e-01 -4.43857495e+01] [-1.24736242e-01 9.91607226e-01 -3.39996791e-02 2.41909664e+00] [-2.13609770e-01 6.62489227e-03 9.76896605e-01 4.20795647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.423741731999996 meters 0.032550725300209866 Centerline is valid? [True, True] Translation: X:-44.45, Y:2.43, Z:4.22 [[ 9.69383929e-01 1.27575068e-01 2.09808007e-01 -4.44450116e+01] [-1.23214503e-01 9.91804952e-01 -3.37805279e-02 2.42882824e+00] [-2.12398173e-01 6.89491156e-03 9.77158880e-01 4.22039150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.483741732 meters 0.03446148421117453 Centerline is valid? [True, True] Translation: X:-44.50, Y:2.43, Z:4.24 [[ 9.69784547e-01 1.22701963e-01 2.10860523e-01 -4.45042732e+01] [-1.18197368e-01 9.92411822e-01 -3.38844737e-02 2.43434718e+00] [-2.13418167e-01 7.93748007e-03 9.76928699e-01 4.23525920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.543741731999994 meters 0.035891016900172 Centerline is valid? [True, True] Translation: X:-44.56, Y:2.44, Z:4.25 [[ 9.70269862e-01 1.19878463e-01 2.10251157e-01 -4.45647479e+01] [-1.15336877e-01 9.92751987e-01 -3.37771582e-02 2.43845658e+00] [-2.12776407e-01 8.52324678e-03 9.77063741e-01 4.24725857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.603741731999996 meters 0.035094974494673296 Centerline is valid? [True, True] Translation: X:-44.63, Y:2.45, Z:4.26 [[ 9.70060446e-01 1.19374726e-01 2.11500369e-01 -4.46251715e+01] [-1.14767342e-01 9.92811305e-01 -3.39730768e-02 2.44613513e+00] [-2.14035484e-01 8.68260285e-03 9.76787297e-01 4.26237914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.663741732 meters 0.03208911797681129 Centerline is valid? [True, True] Translation: X:-44.68, Y:2.46, Z:4.28 [[ 9.70039208e-01 1.19979360e-01 2.11255504e-01 -4.46827757e+01] [-1.15411956e-01 9.92740261e-01 -3.38652418e-02 2.45666188e+00] [-2.13784975e-01 8.46920126e-03 9.76844029e-01 4.27878716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72374173199999 meters 0.03402481353580141 Centerline is valid? [True, True] Translation: X:-44.74, Y:2.47, Z:4.29 [[ 9.70163244e-01 1.21146452e-01 2.10016229e-01 -4.47425583e+01] [-1.16666994e-01 9.92601347e-01 -3.36359773e-02 2.46667176e+00] [-2.12537271e-01 8.13042667e-03 9.77119135e-01 4.29200694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.783741731999996 meters 0.033034013165667 Centerline is valid? [True, True] Translation: X:-44.80, Y:2.47, Z:4.30 [[ 9.70701921e-01 1.17362138e-01 2.09675725e-01 -4.48036986e+01] [-1.12826431e-01 9.93049587e-01 -3.35069284e-02 2.46941871e+00] [-2.12150837e-01 8.86827599e-03 9.77196693e-01 4.30364405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.843741732 meters 0.03826512860383669 Centerline is valid? [True, True] Translation: X:-44.86, Y:2.48, Z:4.32 [[ 9.70544441e-01 1.14225205e-01 2.12122820e-01 -4.48648071e+01] [-1.09511957e-01 9.93408024e-01 -3.38766675e-02 2.47548820e+00] [-2.14594080e-01 9.64882633e-03 9.76655661e-01 4.31711575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90374173199999 meters 0.03708546372707222 Centerline is valid? [True, True] Translation: X:-44.92, Y:2.48, Z:4.33 [[ 9.71211665e-01 1.11462900e-01 2.10532478e-01 -4.49243150e+01] [-1.06762450e-01 9.93716715e-01 -3.35986672e-02 2.48113594e+00] [-2.12954647e-01 1.01544544e-02 9.77009317e-01 4.32928983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.963741731999995 meters 0.03807364798654588 Centerline is valid? [True, True] Translation: X:-44.98, Y:2.49, Z:4.34 [[ 9.71318608e-01 1.08315530e-01 2.11678784e-01 -4.49837087e+01] [-1.03491209e-01 9.94056844e-01 -3.37721921e-02 2.48704992e+00] [-2.14078797e-01 1.08966654e-02 9.76755615e-01 4.34409872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.023741732 meters 0.038459542638999804 Centerline is valid? [True, True] Translation: X:-45.05, Y:2.49, Z:4.36 [[ 9.71287245e-01 1.09837337e-01 2.11037550e-01 -4.50456320e+01] [-1.05079054e-01 9.93893867e-01 -3.36656258e-02 2.48984442e+00] [-2.13446669e-01 1.05233669e-02 9.76898039e-01 4.35565899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08374173199999 meters 0.03633591132278554 Centerline is valid? [True, True] Translation: X:-45.10, Y:2.50, Z:4.37 [[ 9.71306209e-01 1.12107857e-01 2.09752416e-01 -4.51038875e+01] [-1.07475225e-01 9.93646811e-01 -3.33929920e-02 2.50067612e+00] [-2.12163436e-01 9.89163229e-03 9.77184134e-01 4.37068429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.143741731999995 meters 0.03743084267046303 Centerline is valid? [True, True] Translation: X:-45.16, Y:2.51, Z:4.38 [[ 9.71494111e-01 1.09468977e-01 2.10275380e-01 -4.51636223e+01] [-1.04765914e-01 9.93935496e-01 -3.34115839e-02 2.50740445e+00] [-2.12657696e-01 1.04294646e-02 9.77071098e-01 4.38305354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.203741732 meters 0.035366840257838005 Centerline is valid? [True, True] Translation: X:-45.22, Y:2.52, Z:4.40 [[ 9.71712397e-01 1.09085720e-01 2.09464371e-01 -4.52233628e+01] [-1.04411518e-01 9.93977236e-01 -3.32789583e-02 2.51530191e+00] [-2.11833075e-01 1.04670834e-02 9.77249809e-01 4.40011688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26374173199999 meters 0.03586458786890448 Centerline is valid? [True, True] Translation: X:-45.28, Y:2.53, Z:4.41 [[ 9.71557382e-01 1.09540737e-01 2.09945424e-01 -4.52823107e+01] [-1.04869562e-01 9.93928677e-01 -3.32890421e-02 2.52615396e+00] [-2.12317283e-01 1.03253299e-02 9.77146232e-01 4.41320451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.323741731999995 meters 0.03722363477428216 Centerline is valid? [True, True] Translation: X:-45.34, Y:2.53, Z:4.43 [[ 9.71898229e-01 1.06641632e-01 2.09860417e-01 -4.53434678e+01] [-1.01921843e-01 9.94237911e-01 -3.32101484e-02 2.52822328e+00] [-2.12192767e-01 1.08875240e-02 9.77167177e-01 4.42564859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.383741732 meters 0.03750364238799651 Centerline is valid? [True, True] Translation: X:-45.40, Y:2.53, Z:4.44 [[ 9.71236636e-01 1.11694220e-01 2.10294551e-01 -4.54032837e+01] [-1.07075982e-01 9.93694466e-01 -3.32572167e-02 2.53489732e+00] [-2.12683171e-01 9.78313155e-03 9.77072238e-01 4.43911038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.443741732 meters 0.031341284001439255 Centerline is valid? [True, True] Translation: X:-45.46, Y:2.55, Z:4.45 [[ 9.71168064e-01 1.19073753e-01 2.06528528e-01 -4.54599414e+01] [-1.14788758e-01 9.92853154e-01 -3.26520262e-02 2.55091253e+00] [-2.08940500e-01 8.00345178e-03 9.77895604e-01 4.45467261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.503741731999995 meters 0.03463280626289702 Centerline is valid? [True, True] Translation: X:-45.52, Y:2.56, Z:4.47 [[ 9.70132556e-01 1.19331840e-01 2.11193596e-01 -4.55187856e+01] [-1.14856534e-01 9.92821192e-01 -3.33775118e-02 2.56095620e+00] [-2.13660478e-01 8.12364640e-03 9.76874202e-01 4.46858790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.563741732 meters 0.034526045288565135 Centerline is valid? [True, True] Translation: X:-45.58, Y:2.57, Z:4.48 [[ 9.70572270e-01 1.15954367e-01 2.11054621e-01 -4.55787541e+01] [-1.11420486e-01 9.93215605e-01 -3.32902115e-02 2.56596069e+00] [-2.13482889e-01 8.79474773e-03 9.76907216e-01 4.48374408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.623741732 meters 0.03249650906316014 Centerline is valid? [True, True] Translation: X:-45.64, Y:2.57, Z:4.50 [[ 9.71346854e-01 1.14497225e-01 2.08268276e-01 -4.56379174e+01] [-1.10054243e-01 9.93383029e-01 -3.28362873e-02 2.57299410e+00] [-2.10649835e-01 8.97461691e-03 9.77520385e-01 4.49944447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.683741731999994 meters 0.03848653356502306 Centerline is valid? [True, True] Translation: X:-45.70, Y:2.57, Z:4.51 [[ 9.71536433e-01 1.11262491e-01 2.09135407e-01 -4.56996513e+01] [-1.06709925e-01 9.93743632e-01 -3.29633910e-02 2.57403072e+00] [-2.11494568e-01 9.70831183e-03 9.77330955e-01 4.50799885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.743741732 meters 0.04050964411170258 Centerline is valid? [True, True] Translation: X:-45.76, Y:2.57, Z:4.52 [[ 9.72265857e-01 1.03546950e-01 2.09707252e-01 -4.57589088e+01] [-9.87939336e-02 9.94559120e-01 -3.30441348e-02 2.57482966e+00] [-2.11987880e-01 1.14098796e-02 9.77205686e-01 4.52286461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.803741732 meters 0.04079652226369852 Centerline is valid? [True, True] Translation: X:-45.82, Y:2.58, Z:4.54 [[ 9.72527224e-01 1.01174416e-01 2.09653369e-01 -4.58184071e+01] [-9.63720178e-02 9.94797385e-01 -3.30241950e-02 2.57861011e+00] [-2.11903827e-01 1.19122105e-02 9.77217922e-01 4.53820141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.863741731999994 meters 0.04097069077475446 Centerline is valid? [True, True] Translation: X:-45.88, Y:2.59, Z:4.55 [[ 9.72227761e-01 1.01449783e-01 2.10905481e-01 -4.58776833e+01] [-9.65961184e-02 9.94769223e-01 -3.32172216e-02 2.58688028e+00] [-2.13172162e-01 1.19220541e-02 9.76941909e-01 4.55486527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.923741731999996 meters 0.04058104050916729 Centerline is valid? [True, True] Translation: X:-45.94, Y:2.59, Z:4.57 [[ 9.72534238e-01 1.00045444e-01 2.10161996e-01 -4.59385131e+01] [-9.52093432e-02 9.94909121e-01 -3.30306089e-02 2.59253036e+00] [-2.12396649e-01 1.21140124e-02 9.77108445e-01 4.56891719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.983741732 meters 0.04053209864484494 Centerline is valid? [True, True] Translation: X:-46.00, Y:2.60, Z:4.58 [[ 9.72588847e-01 1.01093940e-01 2.09406186e-01 -4.59991519e+01] [-9.63213513e-02 9.94806661e-01 -3.28923098e-02 2.59740214e+00] [-2.11643882e-01 1.18204068e-02 9.77275368e-01 4.58453500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.043741731999994 meters 0.039864954396734584 Centerline is valid? [True, True] Translation: X:-46.06, Y:2.61, Z:4.60 [[ 9.72343336e-01 1.02427477e-01 2.09897709e-01 -4.60579659e+01] [-9.76770149e-02 9.94674098e-01 -3.29034749e-02 2.61002362e+00] [-2.12150034e-01 1.14912929e-02 9.77169542e-01 4.59646640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.103741731999996 meters 0.03973213321800696 Centerline is valid? [True, True] Translation: X:-46.12, Y:2.61, Z:4.61 [[ 9.72684956e-01 1.01442645e-01 2.08790245e-01 -4.61195704e+01] [-9.67332208e-02 9.94773963e-01 -3.26717993e-02 2.61438427e+00] [-2.11013413e-01 1.15824148e-02 9.77414542e-01 4.60827677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.163741732 meters 0.039220494749615836 Centerline is valid? [True, True] Translation: X:-46.18, Y:2.62, Z:4.63 [[ 9.71921074e-01 1.04636795e-01 2.10761874e-01 -4.61761953e+01] [-9.99257507e-02 9.94450490e-01 -3.29099806e-02 2.62238612e+00] [-2.13035844e-01 1.09253652e-02 9.76983299e-01 4.62646821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22374173199999 meters 0.03591498263867205 Centerline is valid? [True, True] Translation: X:-46.24, Y:2.63, Z:4.64 [[ 9.71603280e-01 1.08372023e-01 2.10339180e-01 -4.62351151e+01] [-1.03771366e-01 9.94059483e-01 -3.28214551e-02 2.63204565e+00] [-2.12646584e-01 1.00622494e-02 9.77077367e-01 4.63996121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.283741731999996 meters 0.03602620176019482 Centerline is valid? [True, True] Translation: X:-46.30, Y:2.64, Z:4.65 [[ 9.71446991e-01 1.07859071e-01 2.11322417e-01 -4.62956323e+01] [-1.03203354e-01 9.94113654e-01 -3.29713600e-02 2.63855575e+00] [-2.13634760e-01 1.02207464e-02 9.76860136e-01 4.65498380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.343741732 meters 0.03623039226455791 Centerline is valid? [True, True] Translation: X:-46.36, Y:2.64, Z:4.67 [[ 9.71733856e-01 1.06283830e-01 2.10800997e-01 -4.63572384e+01] [-1.01632606e-01 9.94280843e-01 -3.28088169e-02 2.64131978e+00] [-2.13082439e-01 1.04571835e-02 9.76978260e-01 4.66864331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40374173199999 meters 0.04261788088416342 Centerline is valid? [True, True] Translation: X:-46.42, Y:2.64, Z:4.68 [[ 9.71582754e-01 1.04093544e-01 2.12582895e-01 -4.64187889e+01] [-9.93148540e-02 9.94506535e-01 -3.30652694e-02 2.64173411e+00] [-2.14856959e-01 1.10130064e-02 9.76583433e-01 4.68066316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.463741731999995 meters 0.03956143701025724 Centerline is valid? [True, True] Translation: X:-46.48, Y:2.65, Z:4.70 [[ 9.71921680e-01 1.01166012e-01 2.12446902e-01 -4.64760668e+01] [-9.63402489e-02 9.94802163e-01 -3.29729048e-02 2.65162873e+00] [-2.14678375e-01 1.15798935e-02 9.76616148e-01 4.69751830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.523741732 meters 0.039033919832126465 Centerline is valid? [True, True] Translation: X:-46.54, Y:2.66, Z:4.71 [[ 9.71745523e-01 1.03663638e-01 2.12048315e-01 -4.65362498e+01] [-9.89148347e-02 9.94551509e-01 -3.29112709e-02 2.65521763e+00] [-2.14304674e-01 1.10066561e-02 9.76704848e-01 4.71135384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58374173199999 meters 0.038347560909301796 Centerline is valid? [True, True] Translation: X:-46.59, Y:2.66, Z:4.73 [[ 9.71117481e-01 1.06260635e-01 2.13634068e-01 -4.65943776e+01] [-1.01515793e-01 9.94283416e-01 -3.30912859e-02 2.66207426e+00] [-2.15929112e-01 1.04482943e-02 9.76353139e-01 4.72880255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.643741731999995 meters 0.03387328955547869 Centerline is valid? [True, True] Translation: X:-46.65, Y:2.67, Z:4.75 [[ 9.71637134e-01 1.07419398e-01 2.10671195e-01 -4.66529055e+01] [-1.02838402e-01 9.94163265e-01 -3.26139000e-02 2.67029396e+00] [-2.12944929e-01 1.00237872e-02 9.77012784e-01 4.74651176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.703741732 meters 0.036188670468990734 Centerline is valid? [True, True] Translation: X:-46.71, Y:2.68, Z:4.76 [[ 9.71633005e-01 1.05966172e-01 2.11424866e-01 -4.67133008e+01] [-1.01331168e-01 9.94316192e-01 -3.26696354e-02 2.67673619e+00] [-2.13685044e-01 1.03189674e-02 9.76848105e-01 4.76114677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76374173199999 meters 0.036987495106602944 Centerline is valid? [True, True] Translation: X:-46.77, Y:2.68, Z:4.78 [[ 9.71831967e-01 1.05582013e-01 2.10701366e-01 -4.67743627e+01] [-1.00984784e-01 9.94357268e-01 -3.24914891e-02 2.68061257e+00] [-2.12942952e-01 1.02986359e-02 9.77010357e-01 4.77505719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.823741731999995 meters 0.036768606098801025 Centerline is valid? [True, True] Translation: X:-46.83, Y:2.69, Z:4.79 [[ 9.71881346e-01 1.05218418e-01 2.10655486e-01 -4.68347397e+01] [-1.00629461e-01 9.94395716e-01 -3.24171364e-02 2.68873885e+00] [-2.12885793e-01 1.03074620e-02 9.77022720e-01 4.79095677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.883741732 meters 0.03523199108782258 Centerline is valid? [True, True] Translation: X:-46.89, Y:2.70, Z:4.81 [[ 9.72443862e-01 1.03684094e-01 2.08812221e-01 -4.68931998e+01] [-9.91573232e-02 9.94555152e-01 -3.20604766e-02 2.69709179e+00] [-2.10999432e-01 1.04717528e-02 9.77430091e-01 4.80716244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.943741732 meters 0.03755278372579278 Centerline is valid? [True, True] Translation: X:-46.95, Y:2.70, Z:4.82 [[ 9.72444757e-01 1.02835522e-01 2.09227270e-01 -4.69544481e+01] [-9.82842051e-02 9.94641721e-01 -3.20634121e-02 2.69704497e+00] [-2.11403429e-01 1.06161611e-02 9.77341234e-01 4.82101838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.003741731999995 meters 0.03471988575461744 Centerline is valid? [True, True] Translation: X:-47.01, Y:2.70, Z:4.84 [[ 9.72707622e-01 1.04254523e-01 2.07294178e-01 -4.70135517e+01] [-9.98345040e-02 9.94498959e-01 -3.17000287e-02 2.70403162e+00] [-2.09458716e-01 1.01397481e-02 9.77764916e-01 4.83794466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.063741732 meters 0.036823782154187974 Centerline is valid? [True, True] Translation: X:-47.08, Y:2.71, Z:4.85 [[ 9.72598467e-01 1.03532810e-01 2.08166231e-01 -4.70750642e+01] [-9.90711473e-02 9.94572902e-01 -3.17749957e-02 2.71023202e+00] [-2.10326247e-01 1.02810449e-02 9.77577194e-01 4.85280345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.123741732 meters 0.03954169241162297 Centerline is valid? [True, True] Translation: X:-47.14, Y:2.71, Z:4.87 [[ 9.72764286e-01 1.01836402e-01 2.08228220e-01 -4.71355550e+01] [-9.73498548e-02 9.94744953e-01 -3.17093679e-02 2.71426000e+00] [-2.10363139e-01 1.05747536e-02 9.77566123e-01 4.86818657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.183741731999994 meters 0.03392257188215832 Centerline is valid? [True, True] Translation: X:-47.19, Y:2.73, Z:4.89 [[ 9.73514572e-01 9.80412436e-02 2.06536420e-01 -4.71908173e+01] [-9.35593372e-02 9.95119028e-01 -3.13810464e-02 2.72816041e+00] [-2.08604959e-01 1.12264953e-02 9.77935548e-01 4.88821042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.243741732 meters 0.04108255101743901 Centerline is valid? [True, True] Translation: X:-47.25, Y:2.72, Z:4.90 [[ 9.73523833e-01 9.69723002e-02 2.06996908e-01 -4.72536700e+01] [-9.24451898e-02 9.95220789e-01 -3.14558017e-02 2.72373526e+00] [-2.09057967e-01 1.14871042e-02 9.77835780e-01 4.89855643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.303741732 meters 0.03852491481203766 Centerline is valid? [True, True] Translation: X:-47.31, Y:2.73, Z:4.92 [[ 9.73375462e-01 9.78358272e-02 2.07288111e-01 -4.73118240e+01] [-9.33303566e-02 9.95139030e-01 -3.14285809e-02 2.73329307e+00] [-2.09355331e-01 1.12455361e-02 9.77774966e-01 4.91577534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.363741731999994 meters 0.0378699105457713 Centerline is valid? [True, True] Translation: X:-47.37, Y:2.74, Z:4.93 [[ 9.72996471e-01 1.01604557e-01 2.07254389e-01 -4.73707867e+01] [-9.71985778e-02 9.94770840e-01 -3.13594186e-02 2.74324800e+00] [-2.09356882e-01 1.03677718e-02 9.77784335e-01 4.92921450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.423741731999996 meters 0.03282594161622117 Centerline is valid? [True, True] Translation: X:-47.43, Y:2.76, Z:4.94 [[ 9.72609552e-01 1.09028398e-01 2.05288745e-01 -4.74277878e+01] [-1.04872043e-01 9.94000798e-01 -3.10526723e-02 2.75878641e+00] [-2.07442799e-01 8.67307568e-03 9.78208701e-01 4.94459607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.483741732 meters 0.03270995367632466 Centerline is valid? [True, True] Translation: X:-47.49, Y:2.77, Z:4.96 [[ 9.71824640e-01 1.13335789e-01 2.06668496e-01 -4.74857676e+01] [-1.09219368e-01 9.93526086e-01 -3.12577368e-02 2.77268667e+00] [-2.08873162e-01 7.80483631e-03 9.77911594e-01 4.95757777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.543741731999994 meters 0.03308768849825411 Centerline is valid? [True, True] Translation: X:-47.55, Y:2.78, Z:4.97 [[ 9.71807522e-01 1.14526032e-01 2.06092040e-01 -4.75463240e+01] [-1.10464844e-01 9.93391930e-01 -3.11446725e-02 2.78099035e+00] [-2.08297045e-01 7.50070187e-03 9.78036850e-01 4.97084566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.603741731999996 meters 0.030855969128013534 Centerline is valid? [True, True] Translation: X:-47.61, Y:2.79, Z:4.99 [[ 9.72004498e-01 1.11673549e-01 2.06727536e-01 -4.76050100e+01] [-1.07536994e-01 9.93712160e-01 -3.11759230e-02 2.78776761e+00] [-2.08909192e-01 8.07227966e-03 9.77901727e-01 4.98936673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.663741732 meters 0.035769868689511916 Centerline is valid? [True, True] Translation: X:-47.67, Y:2.79, Z:5.00 [[ 9.72208172e-01 1.10563233e-01 2.06366282e-01 -4.76674651e+01] [-1.06431179e-01 9.93835045e-01 -3.10532952e-02 2.79030800e+00] [-2.08527396e-01 8.22646058e-03 9.77981927e-01 4.99891741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72374173199999 meters 0.03533225414908831 Centerline is valid? [True, True] Translation: X:-47.73, Y:2.80, Z:5.02 [[ 9.72211730e-01 1.10787255e-01 2.06229330e-01 -4.77272943e+01] [-1.06669739e-01 9.93810697e-01 -3.10139588e-02 2.79783526e+00] [-2.08388866e-01 8.15370581e-03 9.78012064e-01 5.01520469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.783741731999996 meters 0.03111702908883681 Centerline is valid? [True, True] Translation: X:-47.79, Y:2.81, Z:5.03 [[ 9.72374966e-01 1.11985030e-01 2.04807909e-01 -4.77857809e+01] [-1.07963750e-01 9.93679439e-01 -3.07408697e-02 2.80790797e+00] [-2.06955925e-01 7.77982219e-03 9.78319334e-01 5.03174695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.843741732 meters 0.03275371649656011 Centerline is valid? [True, True] Translation: X:-47.84, Y:2.82, Z:5.05 [[ 9.71490161e-01 1.16756499e-01 2.06336588e-01 -4.78442855e+01] [-1.12793853e-01 9.93137620e-01 -3.09065543e-02 2.81753229e+00] [-2.08529169e-01 6.75191460e-03 9.77992841e-01 5.04579810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90374173199999 meters 0.02948753602397207 Centerline is valid? [True, True] Translation: X:-47.90, Y:2.84, Z:5.06 [[ 9.70713307e-01 1.24943427e-01 2.05194578e-01 -4.79008561e+01] [-1.21207642e-01 9.92151491e-01 -3.07266269e-02 2.83752240e+00] [-2.07423197e-01 4.95559470e-03 9.78238754e-01 5.05949941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.963741731999995 meters 0.02978809242762133 Centerline is valid? [True, True] Translation: X:-47.96, Y:2.85, Z:5.08 [[ 9.69743564e-01 1.30143507e-01 2.06543184e-01 -4.79585518e+01] [-1.26481309e-01 9.91487744e-01 -3.08955074e-02 2.85143899e+00] [-2.08805885e-01 3.83686716e-03 9.77949580e-01 5.07512127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.023741732 meters 0.027467001824176242 Centerline is valid? [True, True] Translation: X:-48.02, Y:2.86, Z:5.09 [[ 9.70269566e-01 1.27273124e-01 2.05860440e-01 -4.80182073e+01] [-1.23572109e-01 9.91857786e-01 -3.07906783e-02 2.85870211e+00] [-2.08103106e-01 4.43664927e-03 9.78096832e-01 5.08999433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08374173199999 meters 0.02973976154108605 Centerline is valid? [True, True] Translation: X:-48.08, Y:2.86, Z:5.10 [[ 9.71416264e-01 1.20933542e-01 2.04268258e-01 -4.80774898e+01] [-1.17166269e-01 9.92644363e-01 -3.04833405e-02 2.86017216e+00] [-2.06452194e-01 5.67866294e-03 9.78440210e-01 5.10364980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.143741731999995 meters 0.029686296891503653 Centerline is valid? [True, True] Translation: X:-48.14, Y:2.86, Z:5.12 [[ 9.71889963e-01 1.16707443e-01 2.04473160e-01 -4.81375398e+01] [-1.12841457e-01 9.93144563e-01 -3.05070954e-02 2.85945568e+00] [-2.06631812e-01 6.57649038e-03 9.78396670e-01 5.12009677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.203741732 meters 0.02927919827314143 Centerline is valid? [True, True] Translation: X:-48.20, Y:2.86, Z:5.14 [[ 9.72245018e-01 1.14706846e-01 2.03916564e-01 -4.81977429e+01] [-1.10819160e-01 9.93374866e-01 -3.04218616e-02 2.86255899e+00] [-2.06055185e-01 6.97964116e-03 9.78515480e-01 5.13678729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26374173199999 meters 0.034209662877457754 Centerline is valid? [True, True] Translation: X:-48.26, Y:2.87, Z:5.15 [[ 9.71701167e-01 1.15130606e-01 2.06256600e-01 -4.82579269e+01] [-1.11175010e-01 9.93326351e-01 -3.07063038e-02 2.86980552e+00] [-2.08415351e-01 6.90677172e-03 9.78016021e-01 5.15069484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.323741731999995 meters 0.03428650234561931 Centerline is valid? [True, True] Translation: X:-48.32, Y:2.87, Z:5.17 [[ 9.72398454e-01 1.12101432e-01 2.04632636e-01 -4.83162244e+01] [-1.08157384e-01 9.93669045e-01 -3.03942233e-02 2.87491234e+00] [-2.06744352e-01 7.42276526e-03 9.78366841e-01 5.16728759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.383741732 meters 0.03497794326479148 Centerline is valid? [True, True] Translation: X:-48.38, Y:2.87, Z:5.18 [[ 9.72933755e-01 1.10302308e-01 2.03059868e-01 -4.83782141e+01] [-1.06382539e-01 9.93867989e-01 -3.01525359e-02 2.87425946e+00] [-2.05140597e-01 7.73439554e-03 9.78701954e-01 5.17688228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44374173199999 meters 0.03477974998644073 Centerline is valid? [True, True] Translation: X:-48.44, Y:2.89, Z:5.20 [[ 9.73278910e-01 1.08092633e-01 2.02593550e-01 -4.84354898e+01] [-1.04145377e-01 9.94107230e-01 -3.00758297e-02 2.88615985e+00] [-2.04650688e-01 8.17298923e-03 9.78800949e-01 5.19604660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.503741731999995 meters 0.03668193123801767 Centerline is valid? [True, True] Translation: X:-48.50, Y:2.89, Z:5.21 [[ 9.73560480e-01 1.05424125e-01 2.02646851e-01 -4.84960157e+01] [-1.01429454e-01 9.94389475e-01 -3.00272718e-02 2.88902696e+00] [-2.04675494e-01 8.67900564e-03 9.78791406e-01 5.20994301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.563741732 meters 0.036369725212305394 Centerline is valid? [True, True] Translation: X:-48.55, Y:2.89, Z:5.23 [[ 9.73958626e-01 1.01672809e-01 2.02650523e-01 -4.85544672e+01] [-9.76125385e-02 9.94773521e-01 -2.99572080e-02 2.89276114e+00] [-2.04637208e-01 9.39584915e-03 9.78792793e-01 5.22919146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.623741732 meters 0.03638723810087123 Centerline is valid? [True, True] Translation: X:-48.61, Y:2.90, Z:5.24 [[ 9.74300390e-01 1.00354221e-01 2.01662541e-01 -4.86145860e+01] [-9.63064084e-02 9.94905240e-01 -2.98100418e-02 2.89880704e+00] [-2.03626683e-01 9.62254031e-03 9.79001318e-01 5.24383619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.683741731999994 meters 0.03706098772832749 Centerline is valid? [True, True] Translation: X:-48.68, Y:2.90, Z:5.26 [[ 9.74548210e-01 9.79313782e-02 2.01656223e-01 -4.86751910e+01] [-9.38454614e-02 9.95142265e-01 -2.97472952e-02 2.90329705e+00] [-2.03589824e-01 1.00656520e-02 9.79004528e-01 5.25865171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.743741732 meters 0.03813245441480761 Centerline is valid? [True, True] Translation: X:-48.73, Y:2.91, Z:5.27 [[ 9.74989429e-01 9.68228945e-02 2.00052344e-01 -4.87347107e+01] [-9.27924056e-02 9.95249878e-01 -2.94490898e-02 2.91039018e+00] [-2.01953417e-01 1.01492130e-02 9.79342540e-01 5.27347845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.803741732 meters 0.03738779936428236 Centerline is valid? [True, True] Translation: X:-48.80, Y:2.92, Z:5.29 [[ 9.75107267e-01 9.68529888e-02 1.99462567e-01 -4.87956189e+01] [-9.28597356e-02 9.95247957e-01 -2.93014188e-02 2.91704869e+00] [-2.01352642e-01 1.00499852e-02 9.79467259e-01 5.28924431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.863741731999994 meters 0.038085407258184455 Centerline is valid? [True, True] Translation: X:-48.86, Y:2.92, Z:5.30 [[ 9.75225423e-01 9.77202490e-02 1.98459383e-01 -4.88562774e+01] [-9.38005050e-02 9.95166219e-01 -2.90802755e-02 2.92338832e+00] [-2.00341806e-01 9.74423362e-03 9.79677606e-01 5.30260507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.923741731999996 meters 0.03691005828572205 Centerline is valid? [True, True] Translation: X:-48.91, Y:2.93, Z:5.32 [[ 9.75203584e-01 9.82635791e-02 1.98298357e-01 -4.89137198e+01] [-9.43742443e-02 9.95114498e-01 -2.89937400e-02 2.93451439e+00] [-2.00178599e-01 9.56054157e-03 9.79712777e-01 5.32033104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.983741732 meters 0.03670469619542088 Centerline is valid? [True, True] Translation: X:-48.97, Y:2.94, Z:5.34 [[ 9.75389718e-01 9.74411102e-02 1.97788087e-01 -4.89733867e+01] [-9.35665749e-02 9.95194532e-01 -2.88641498e-02 2.93983570e+00] [-1.99650178e-01 9.64744105e-03 9.79819745e-01 5.33745915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.043741731999994 meters 0.03641236599129986 Centerline is valid? [True, True] Translation: X:-49.03, Y:2.95, Z:5.35 [[ 9.75557555e-01 9.83276149e-02 1.96517524e-01 -4.90335767e+01] [-9.45334506e-02 9.95110255e-01 -2.86182930e-02 2.94618889e+00] [-1.98370572e-01 9.34131226e-03 9.80082576e-01 5.35004175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.103741731999996 meters 0.03578273722653945 Centerline is valid? [True, True] Translation: X:-49.09, Y:2.96, Z:5.37 [[ 9.75691166e-01 9.93138006e-02 1.95354852e-01 -4.90905491e+01] [-9.55978979e-02 9.95015304e-01 -2.83828481e-02 2.95700522e+00] [-1.97199876e-01 9.01738093e-03 9.80321833e-01 5.36867201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.163741732 meters 0.03673317020511259 Centerline is valid? [True, True] Translation: X:-49.15, Y:2.96, Z:5.38 [[ 9.75795794e-01 9.84552319e-02 1.95266831e-01 -4.91513976e+01] [-9.47307968e-02 9.95099313e-01 -2.83449086e-02 2.96203167e+00] [-1.97100593e-01 9.16106010e-03 9.80340467e-01 5.38135239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22374173199999 meters 0.03704943183848282 Centerline is valid? [True, True] Translation: X:-49.21, Y:2.98, Z:5.40 [[ 9.75580724e-01 1.01972430e-01 1.94535020e-01 -4.92100131e+01] [-9.83597088e-02 9.94752225e-01 -2.81669883e-02 2.97554281e+00] [-1.96386401e-01 8.34476285e-03 9.80491074e-01 5.39698934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.283741731999996 meters 0.036242019320853525 Centerline is valid? [True, True] Translation: X:-49.27, Y:2.99, Z:5.41 [[ 9.75838089e-01 1.02501443e-01 1.92959785e-01 -4.92691657e+01] [-9.89597352e-02 9.94699384e-01 -2.79303963e-02 2.98674052e+00] [-1.94799885e-01 8.16029539e-03 9.80809061e-01 5.41388695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.343741732 meters 0.03692619761641422 Centerline is valid? [True, True] Translation: X:-49.33, Y:2.99, Z:5.43 [[ 9.75949826e-01 1.01958918e-01 1.92681905e-01 -4.93289680e+01] [-9.84290668e-02 9.94754855e-01 -2.78297961e-02 2.99385641e+00] [-1.94508757e-01 8.19498447e-03 9.80866548e-01 5.43040816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40374173199999 meters 0.038177092574153915 Centerline is valid? [True, True] Translation: X:-49.39, Y:3.00, Z:5.44 [[ 9.76341678e-01 1.00165488e-01 1.91634554e-01 -4.93900690e+01] [-9.66537831e-02 9.94935039e-01 -2.76100363e-02 2.99829042e+00] [-1.93429505e-01 8.43462453e-03 9.81077919e-01 5.44074323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.463741731999995 meters 0.03906327912507107 Centerline is valid? [True, True] Translation: X:-49.45, Y:3.00, Z:5.46 [[ 9.76457441e-01 9.93314829e-02 1.91478779e-01 -4.94502830e+01] [-9.58103544e-02 9.95017327e-01 -2.75843262e-02 3.00436601e+00] [-1.93264695e-01 8.58927093e-03 9.81109057e-01 5.45552131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.523741732 meters 0.03721521189464366 Centerline is valid? [True, True] Translation: X:-49.51, Y:3.01, Z:5.48 [[ 9.76295654e-01 9.95498812e-02 1.92189014e-01 -4.95075846e+01] [-9.60181710e-02 9.94996108e-01 -2.76270799e-02 3.01169594e+00] [-1.93977593e-01 8.51856050e-03 9.80968974e-01 5.47558427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58374173199999 meters 0.03616390011959034 Centerline is valid? [True, True] Translation: X:-49.57, Y:3.02, Z:5.49 [[ 9.76485522e-01 1.00108804e-01 1.90929969e-01 -4.95685527e+01] [-9.66446789e-02 9.94941898e-01 -2.73938856e-02 3.01671333e+00] [-1.92706595e-01 8.29736711e-03 9.81221342e-01 5.48693059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.643741731999995 meters 0.03689190046324596 Centerline is valid? [True, True] Translation: X:-49.63, Y:3.03, Z:5.50 [[ 9.75696822e-01 1.02641284e-01 1.93598756e-01 -4.96253946e+01] [-9.91418195e-02 9.94687556e-01 -2.77049791e-02 3.02866414e+00] [-1.95413948e-01 7.83792722e-03 9.80689531e-01 5.50442987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.703741732 meters 0.03781960421256657 Centerline is valid? [True, True] Translation: X:-49.69, Y:3.03, Z:5.52 [[ 9.75850231e-01 1.01797120e-01 1.93270983e-01 -4.96864819e+01] [-9.82919834e-02 9.94773016e-01 -2.76646488e-02 3.03379757e+00] [-1.95076941e-01 7.99956565e-03 9.80755318e-01 5.51700830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76374173199999 meters 0.03857593914149976 Centerline is valid? [True, True] Translation: X:-49.75, Y:3.04, Z:5.53 [[ 9.75791581e-01 9.97811269e-02 1.94613765e-01 -4.97453065e+01] [-9.61992715e-02 9.94973954e-01 -2.77944531e-02 3.04054890e+00] [-1.96408989e-01 8.39989090e-03 9.80486079e-01 5.53242625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.823741731999995 meters 0.03956563933841218 Centerline is valid? [True, True] Translation: X:-49.81, Y:3.04, Z:5.55 [[ 9.75968313e-01 9.68404555e-02 1.95212138e-01 -4.98061730e+01] [-9.31886200e-02 9.95259523e-01 -2.78273953e-02 3.04239313e+00] [-1.96981557e-01 8.96710628e-03 9.80366185e-01 5.54760321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.883741732 meters 0.040098934430752825 Centerline is valid? [True, True] Translation: X:-49.86, Y:3.04, Z:5.57 [[ 9.76342047e-01 9.34244191e-02 1.95007913e-01 -4.98641727e+01] [-8.97259473e-02 9.95580281e-01 -2.77337174e-02 3.04279140e+00] [-1.96737039e-01 9.58032468e-03 9.80409483e-01 5.56574746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94374173199999 meters 0.042170931667193906 Centerline is valid? [True, True] Translation: X:-49.93, Y:3.04, Z:5.58 [[ 9.76128775e-01 9.27719069e-02 1.96382247e-01 -4.99252928e+01] [-8.90112312e-02 9.95639520e-01 -2.79096145e-02 3.04457011e+00] [-1.98115155e-01 9.76315219e-03 9.80130127e-01 5.57930550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.003741731999995 meters 0.04059627933858834 Centerline is valid? [True, True] Translation: X:-49.98, Y:3.05, Z:5.60 [[ 9.76397877e-01 9.16676332e-02 1.95561321e-01 -4.99846736e+01] [-8.79290547e-02 9.95740618e-01 -2.77326997e-02 3.05126718e+00] [-1.97270542e-01 9.88262702e-03 9.80299274e-01 5.59768448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.063741732 meters 0.04143321900127472 Centerline is valid? [True, True] Translation: X:-50.04, Y:3.06, Z:5.61 [[ 9.76301255e-01 8.92961552e-02 1.97134613e-01 -5.00435803e+01] [-8.54605944e-02 9.95950947e-01 -2.78961905e-02 3.05957647e+00] [-1.98827427e-01 1.03878446e-02 9.79979463e-01 5.61490211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.123741732 meters 0.03824720462998706 Centerline is valid? [True, True] Translation: X:-50.10, Y:3.07, Z:5.63 [[ 9.76740111e-01 9.02124190e-02 1.94526282e-01 -5.01031219e+01] [-8.65086685e-02 9.95872316e-01 -2.74696256e-02 3.06855723e+00] [-1.96201440e-01 1.00024756e-02 9.80512593e-01 5.63172294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.183741731999994 meters 0.03976371786374416 Centerline is valid? [True, True] Translation: X:-50.16, Y:3.08, Z:5.65 [[ 9.75226812e-01 9.92034846e-02 1.97715285e-01 -5.01602647e+01] [-9.55719786e-02 9.95032851e-01 -2.78499969e-02 3.08430733e+00] [-1.99496020e-01 8.26402272e-03 9.79863788e-01 5.64689536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.243741732 meters 0.03423133729208774 Centerline is valid? [True, True] Translation: X:-50.22, Y:3.09, Z:5.66 [[ 9.74662329e-01 1.06997735e-01 1.96430216e-01 -5.02188409e+01] [-1.03572330e-01 9.94237268e-01 -2.76591183e-02 3.09413107e+00] [-1.98257704e-01 6.61356542e-03 9.80127616e-01 5.66098572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.303741732 meters 0.03113885397516581 Centerline is valid? [True, True] Translation: X:-50.28, Y:3.10, Z:5.68 [[ 9.74339454e-01 1.13168018e-01 1.94565230e-01 -5.02780613e+01] [-1.09931505e-01 9.93561747e-01 -2.73883043e-02 3.10349630e+00] [-1.96412050e-01 5.29665692e-03 9.80507140e-01 5.67685679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.363741731999994 meters 0.029805430718340638 Centerline is valid? [True, True] Translation: X:-50.34, Y:3.11, Z:5.69 [[ 9.74100860e-01 1.15657685e-01 1.94295687e-01 -5.03357333e+01] [-1.12481074e-01 9.93277638e-01 -2.73412192e-02 3.11499309e+00] [-1.96151783e-01 4.77851769e-03 9.80561902e-01 5.69335786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.423741731999996 meters 0.03121026849123928 Centerline is valid? [True, True] Translation: X:-50.39, Y:3.12, Z:5.71 [[ 9.72881652e-01 1.20117017e-01 1.97669403e-01 -5.03941939e+01] [-1.16932680e-01 9.92752156e-01 -2.77471789e-02 3.12474547e+00] [-1.99569635e-01 3.88070806e-03 9.79875962e-01 5.70908173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.483741732 meters 0.03071503794832699 Centerline is valid? [True, True] Translation: X:-50.45, Y:3.13, Z:5.72 [[ 9.73222001e-01 1.19671094e-01 1.96259437e-01 -5.04545925e+01] [-1.16524999e-01 9.92805791e-01 -2.75424309e-02 3.13218800e+00] [-1.98143538e-01 3.93576903e-03 9.80165113e-01 5.72390920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.543741731999994 meters 0.02812268028030548 Centerline is valid? [True, True] Translation: X:-50.51, Y:3.14, Z:5.74 [[ 9.73837368e-01 1.16294177e-01 1.95234335e-01 -5.05144926e+01] [-1.13118880e-01 9.93204281e-01 -2.73747007e-02 3.13726874e+00] [-1.97091096e-01 4.57381705e-03 9.80374510e-01 5.73923152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.603741731999996 meters 0.03317487369218926 Centerline is valid? [True, True] Translation: X:-50.57, Y:3.14, Z:5.75 [[ 9.74253304e-01 1.10005087e-01 1.96797818e-01 -5.05743546e+01] [-1.06653864e-01 9.93913628e-01 -2.75799584e-02 3.13733436e+00] [-1.98633969e-01 5.88061787e-03 9.80056103e-01 5.75420786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.663741732 meters 0.03392402389023878 Centerline is valid? [True, True] Translation: X:-50.64, Y:3.14, Z:5.77 [[ 9.75007932e-01 1.05712027e-01 1.95408546e-01 -5.06356783e+01] [-1.02324873e-01 9.94374228e-01 -2.73772687e-02 3.13862734e+00] [-1.97203329e-01 6.69789937e-03 9.80339729e-01 5.76549216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72374173199999 meters 0.03524652600103051 Centerline is valid? [True, True] Translation: X:-50.69, Y:3.15, Z:5.78 [[ 9.74780103e-01 1.03970153e-01 1.97468878e-01 -5.06932526e+01] [-1.00475901e-01 9.94554916e-01 -2.76606468e-02 3.14903547e+00] [-1.99269525e-01 7.12218461e-03 9.79918839e-01 5.78316762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.783741731999996 meters 0.037000258014981184 Centerline is valid? [True, True] Translation: X:-50.75, Y:3.15, Z:5.79 [[ 9.75012710e-01 1.04239805e-01 1.96174102e-01 -5.07548651e+01] [-1.00808647e-01 9.94527827e-01 -2.74229575e-02 3.15104111e+00] [-1.97959167e-01 6.96168620e-03 9.80185545e-01 5.79327991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.843741732 meters 0.035704143456377783 Centerline is valid? [True, True] Translation: X:-50.81, Y:3.17, Z:5.81 [[ 9.75414488e-01 1.02610068e-01 1.95032693e-01 -5.08122964e+01] [-9.91996506e-02 9.94695709e-01 -2.72006610e-02 3.16528749e+00] [-1.96789245e-01 7.18474378e-03 9.80419488e-01 5.81217441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90374173199999 meters 0.03623010580481051 Centerline is valid? [True, True] Translation: X:-50.87, Y:3.17, Z:5.82 [[ 9.76093492e-01 9.81460663e-02 1.93929998e-01 -5.08734261e+01] [-9.47016038e-02 9.95140140e-01 -2.69760788e-02 3.16706077e+00] [-1.95635121e-01 7.96569310e-03 9.80644404e-01 5.82135623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.963741731999995 meters 0.03613156349407541 Centerline is valid? [True, True] Translation: X:-50.93, Y:3.17, Z:5.84 [[ 9.76143791e-01 9.69574663e-02 1.94274416e-01 -5.09335523e+01] [-9.34771194e-02 9.95254581e-01 -2.70249318e-02 3.17182495e+00] [-1.95972771e-01 8.22000664e-03 9.80574885e-01 5.83544454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.023741732 meters 0.03530102674929707 Centerline is valid? [True, True] Translation: X:-50.99, Y:3.18, Z:5.85 [[ 9.76681783e-01 9.58177643e-02 1.92124053e-01 -5.09914583e+01] [-9.24066501e-02 9.95364429e-01 -2.66583094e-02 3.17752608e+00] [-1.93787787e-01 8.28314508e-03 9.81008503e-01 5.85094661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08374173199999 meters 0.03823898350765637 Centerline is valid? [True, True] Translation: X:-51.05, Y:3.18, Z:5.87 [[ 9.76063118e-01 9.52977366e-02 1.95497141e-01 -5.10513701e+01] [-9.17541045e-02 9.95412203e-01 -2.71243488e-02 3.18037308e+00] [-1.97185129e-01 8.53741140e-03 9.80329097e-01 5.86763229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.143741731999995 meters 0.03424941149981407 Centerline is valid? [True, True] Translation: X:-51.11, Y:3.19, Z:5.88 [[ 9.76102689e-01 9.69158893e-02 1.94501545e-01 -5.11098709e+01] [-9.34434493e-02 9.95259188e-01 -2.69716479e-02 3.18855300e+00] [-1.96193431e-01 8.15220274e-03 9.80531325e-01 5.88402092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.203741732 meters 0.0364542943266981 Centerline is valid? [True, True] Translation: X:-51.17, Y:3.19, Z:5.90 [[ 9.75900512e-01 9.57602055e-02 1.96082061e-01 -5.11693670e+01] [-9.22129480e-02 9.95368765e-01 -2.71623739e-02 3.19444589e+00] [-1.97775033e-01 8.42646968e-03 9.80211217e-01 5.89944862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26374173199999 meters 0.036504780921423126 Centerline is valid? [True, True] Translation: X:-51.23, Y:3.20, Z:5.91 [[ 9.76559295e-01 9.26417037e-02 1.94292196e-01 -5.12295653e+01] [-8.91119371e-02 9.95659682e-01 -2.68488335e-02 3.19862027e+00] [-1.95936228e-01 8.90572395e-03 9.80576199e-01 5.91245113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.323741731999995 meters 0.0435599590633638 Centerline is valid? [True, True] Translation: X:-51.29, Y:3.20, Z:5.92 [[ 9.76463355e-01 9.14518950e-02 1.95335268e-01 -5.12939372e+01] [-8.78598405e-02 9.95767029e-01 -2.69939332e-02 3.19521127e+00] [-1.96977066e-01 9.19646109e-03 9.80364963e-01 5.91717374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.383741732 meters 0.036528838055177947 Centerline is valid? [True, True] Translation: X:-51.35, Y:3.21, Z:5.94 [[ 9.77137088e-01 8.97288801e-02 1.92748123e-01 -5.13487607e+01] [-8.62149254e-02 9.95922489e-01 -2.65590573e-02 3.21147674e+00] [-1.94345305e-01 9.33407486e-03 9.80888769e-01 5.93985865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44374173199999 meters 0.04156439385578992 Centerline is valid? [True, True] Translation: X:-51.41, Y:3.21, Z:5.95 [[ 9.76432942e-01 9.04388696e-02 1.95957956e-01 -5.14105325e+01] [-8.68253058e-02 9.95858384e-01 -2.69711826e-02 3.21181589e+00] [-1.97585617e-01 9.32144167e-03 9.80241315e-01 5.94802025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.503741731999995 meters 0.041684452528361456 Centerline is valid? [True, True] Translation: X:-51.47, Y:3.22, Z:5.96 [[ 9.76184843e-01 9.22044518e-02 1.96370802e-01 -5.14708173e+01] [-8.86122786e-02 9.95699640e-01 -2.70201890e-02 3.21834125e+00] [-1.98017718e-01 8.97583474e-03 9.80157343e-01 5.96240380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.563741732 meters 0.036378822922983785 Centerline is valid? [True, True] Translation: X:-51.53, Y:3.23, Z:5.98 [[ 9.75731625e-01 9.75032057e-02 1.96063564e-01 -5.15270353e+01] [-9.40319704e-02 9.95204108e-01 -2.69587242e-02 3.23446974e+00] [-1.97751826e-01 7.86823656e-03 9.80220540e-01 5.97756968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.623741732 meters 0.036107824434977974 Centerline is valid? [True, True] Translation: X:-51.59, Y:3.25, Z:5.99 [[ 9.75340496e-01 1.00278714e-01 1.96608993e-01 -5.15859698e+01] [-9.68416507e-02 9.94932337e-01 -2.70432802e-02 3.24530815e+00] [-1.98324511e-01 7.33646694e-03 9.80108956e-01 5.99253375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.683741731999994 meters 0.035182836258596056 Centerline is valid? [True, True] Translation: X:-51.65, Y:3.25, Z:6.01 [[ 9.75746493e-01 9.93568693e-02 1.95056387e-01 -5.16469938e+01] [-9.59685724e-02 9.95024343e-01 -2.67692111e-02 3.25081448e+00] [-1.96745558e-01 7.40068084e-03 9.80426650e-01 6.00584874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.743741732 meters 0.037697203262697876 Centerline is valid? [True, True] Translation: X:-51.71, Y:3.26, Z:6.02 [[ 9.75582663e-01 9.54961693e-02 1.97785109e-01 -5.17075985e+01] [-9.19357426e-02 9.95395342e-01 -2.71280563e-02 3.25524507e+00] [-1.99465002e-01 8.28214055e-03 9.79869950e-01 6.02049498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.803741732 meters 0.038422576807664754 Centerline is valid? [True, True] Translation: X:-51.77, Y:3.26, Z:6.03 [[ 9.75934860e-01 9.38642133e-02 1.96826468e-01 -5.17682607e+01] [-9.03178945e-02 9.95548618e-01 -2.69374652e-02 3.26104508e+00] [-1.98478782e-01 8.51225919e-03 9.80068219e-01 6.03374336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.863741731999994 meters 0.03677488028842495 Centerline is valid? [True, True] Translation: X:-51.83, Y:3.27, Z:6.05 [[ 9.75861934e-01 9.38297371e-02 1.97204125e-01 -5.18278221e+01] [-9.02812500e-02 9.95552191e-01 -2.69282659e-02 3.26839533e+00] [-1.98853670e-01 8.47443474e-03 9.79992552e-01 6.04683061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.923741731999996 meters 0.037643561646117006 Centerline is valid? [True, True] Translation: X:-51.89, Y:3.28, Z:6.06 [[ 9.75593393e-01 9.50460706e-02 1.97948923e-01 -5.18861005e+01] [-9.15075272e-02 9.95439128e-01 -2.69687690e-02 3.27612619e+00] [-1.99609379e-01 8.19673639e-03 9.79841267e-01 6.06160493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.983741732 meters 0.036377296174830535 Centerline is valid? [True, True] Translation: X:-51.95, Y:3.28, Z:6.07 [[ 9.75226178e-01 9.94861809e-02 1.97576319e-01 -5.19482615e+01] [-9.60582635e-02 9.95012616e-01 -2.68831409e-02 3.28082693e+00] [-1.99265431e-01 7.23830469e-03 9.79918821e-01 6.06543745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.043741731999994 meters 0.03518040825422256 Centerline is valid? [True, True] Translation: X:-52.01, Y:3.29, Z:6.08 [[ 9.75605476e-01 9.78791459e-02 1.96503506e-01 -5.20071339e+01] [-9.44566867e-02 9.95169868e-01 -2.67370087e-02 3.29022499e+00] [-1.98171363e-01 7.52370205e-03 9.80138513e-01 6.08162892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.103741731999996 meters 0.03868735935797537 Centerline is valid? [True, True] Translation: X:-52.07, Y:3.29, Z:6.10 [[ 9.75501350e-01 9.30278092e-02 1.99356321e-01 -5.20670658e+01] [-8.94177676e-02 9.95626651e-01 -2.70561429e-02 3.29358796e+00] [-2.01001440e-01 8.56730672e-03 9.79553481e-01 6.09759772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.163741732 meters 0.03632464853634265 Centerline is valid? [True, True] Translation: X:-52.13, Y:3.30, Z:6.11 [[ 9.76043773e-01 9.06974231e-02 1.97768883e-01 -5.21259687e+01] [-8.71011571e-02 9.95838207e-01 -2.68263501e-02 3.29850380e+00] [-1.99378891e-01 8.95779340e-03 9.79881532e-01 6.11068810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22374173199999 meters 0.04019174338909041 Centerline is valid? [True, True] Translation: X:-52.19, Y:3.30, Z:6.12 [[ 9.76267508e-01 9.00753811e-02 1.96947146e-01 -5.21877357e+01] [-8.64971480e-02 9.95893884e-01 -2.67135932e-02 3.30317571e+00] [-1.98544695e-01 9.04424667e-03 9.80050104e-01 6.12138814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.283741731999996 meters 0.04106046780190099 Centerline is valid? [True, True] Translation: X:-52.25, Y:3.31, Z:6.13 [[ 9.75991782e-01 9.21276612e-02 1.97363966e-01 -5.22498747e+01] [-8.85802321e-02 9.95709875e-01 -2.67467433e-02 3.30683938e+00] [-1.98981365e-01 8.62205570e-03 9.79965345e-01 6.12888161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.343741732 meters 0.038381640965881966 Centerline is valid? [True, True] Translation: X:-52.31, Y:3.32, Z:6.14 [[ 9.76244033e-01 9.24588191e-02 1.95956514e-01 -5.23080607e+01] [-8.89721229e-02 9.95680432e-01 -2.65412609e-02 3.31703533e+00] [-1.97564041e-01 8.47608050e-03 9.80253338e-01 6.14497086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40374173199999 meters 0.04152603515352748 Centerline is valid? [True, True] Translation: X:-52.37, Y:3.32, Z:6.16 [[ 9.75684602e-01 9.32928716e-02 1.98333045e-01 -5.23672686e+01] [-8.97440529e-02 9.95603475e-01 -2.68276858e-02 3.32425561e+00] [-1.99963901e-01 8.37614863e-03 9.79767461e-01 6.16135044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.463741731999995 meters 0.03993486642321929 Centerline is valid? [True, True] Translation: X:-52.43, Y:3.33, Z:6.17 [[ 9.75462103e-01 9.35157189e-02 1.99320086e-01 -5.24279599e+01] [-8.99413511e-02 9.95582831e-01 -2.69328839e-02 3.32860440e+00] [-2.00958304e-01 8.34488968e-03 9.79564252e-01 6.17267707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.523741732 meters 0.03790606224535399 Centerline is valid? [True, True] Translation: X:-52.49, Y:3.34, Z:6.18 [[ 9.75459857e-01 9.49285300e-02 1.98662129e-01 -5.24876511e+01] [-9.14136405e-02 9.95451999e-01 -2.68116442e-02 3.33692123e+00] [-2.00303803e-01 7.99325422e-03 9.79701227e-01 6.18486805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58374173199999 meters 0.03917986642841705 Centerline is valid? [True, True] Translation: X:-52.55, Y:3.34, Z:6.19 [[ 9.76033605e-01 9.48756837e-02 1.95849449e-01 -5.25517159e+01] [-9.14666153e-02 9.95458154e-01 -2.63992712e-02 3.33984272e+00] [-1.97464580e-01 7.85288971e-03 9.80278569e-01 6.18719071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.643741731999995 meters 0.038960487175077996 Centerline is valid? [True, True] Translation: X:-52.61, Y:3.35, Z:6.20 [[ 9.75770573e-01 9.47747105e-02 1.97204318e-01 -5.26122731e+01] [-9.13196680e-02 9.95467324e-01 -2.65617036e-02 3.34505146e+00] [-1.98827833e-01 7.90949587e-03 9.80002517e-01 6.19814691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.703741732 meters 0.03819690116296839 Centerline is valid? [True, True] Translation: X:-52.67, Y:3.35, Z:6.21 [[ 9.75579492e-01 9.53403621e-02 1.97875895e-01 -5.26729420e+01] [-9.18785906e-02 9.95414224e-01 -2.66241816e-02 3.35054251e+00] [-1.99506839e-01 7.79344721e-03 9.79865441e-01 6.20889797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76374173199999 meters 0.0374666796095797 Centerline is valid? [True, True] Translation: X:-52.73, Y:3.36, Z:6.22 [[ 9.75175228e-01 9.85559187e-02 1.98292729e-01 -5.27315410e+01] [-9.51584284e-02 9.95106295e-01 -2.66145563e-02 3.36000635e+00] [-1.99945365e-01 7.08463154e-03 9.79781434e-01 6.22080681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.823741731999995 meters 0.03453017855181563 Centerline is valid? [True, True] Translation: X:-52.79, Y:3.37, Z:6.24 [[ 9.74622898e-01 1.02368597e-01 1.99075056e-01 -5.27889965e+01] [-9.90230742e-02 9.94726424e-01 -2.67165234e-02 3.37022278e+00] [-2.00760151e-01 6.32551143e-03 9.79620003e-01 6.23503461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.883741732 meters 0.03479065278520325 Centerline is valid? [True, True] Translation: X:-52.85, Y:3.38, Z:6.25 [[ 9.74356382e-01 1.01533337e-01 2.00799954e-01 -5.28493302e+01] [-9.81146119e-02 9.94810644e-01 -2.69315121e-02 3.37722363e+00] [-2.02492378e-01 6.53948116e-03 9.79262004e-01 6.24703400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94374173199999 meters 0.035247431600172054 Centerline is valid? [True, True] Translation: X:-52.91, Y:3.38, Z:6.26 [[ 9.74301631e-01 1.00214450e-01 2.01726042e-01 -5.29109691e+01] [-9.67490032e-02 9.94942751e-01 -2.69917004e-02 3.38246910e+00] [-2.03410821e-01 6.78126431e-03 9.79069994e-01 6.26058390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.003741731999995 meters 0.03447198721700831 Centerline is valid? [True, True] Translation: X:-52.97, Y:3.39, Z:6.27 [[ 9.74354656e-01 9.94027638e-02 2.01871479e-01 -5.29716190e+01] [-9.59308800e-02 9.95023506e-01 -2.69348940e-02 3.38720654e+00] [-2.03544270e-01 6.87843073e-03 9.79041581e-01 6.27473904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.063741732 meters 0.035105869278329635 Centerline is valid? [True, True] Translation: X:-53.03, Y:3.39, Z:6.29 [[ 9.74234363e-01 9.88376498e-02 2.02727713e-01 -5.30320148e+01] [-9.53377400e-02 9.95079238e-01 -2.69819591e-02 3.39400253e+00] [-2.04396971e-01 6.95914981e-03 9.78863345e-01 6.28984910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.123741732 meters 0.043403552730305967 Centerline is valid? [True, True] Translation: X:-53.10, Y:3.39, Z:6.29 [[ 9.74139764e-01 9.71776585e-02 2.03980939e-01 -5.30958323e+01] [-9.36119297e-02 9.95240383e-01 -2.70810946e-02 3.38746105e+00] [-2.05641745e-01 7.28572177e-03 9.78600220e-01 6.29436269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.183741731999994 meters 0.04236105465898659 Centerline is valid? [True, True] Translation: X:-53.15, Y:3.39, Z:6.31 [[ 9.74498793e-01 9.29843723e-02 2.04220492e-01 -5.31541823e+01] [-8.93349377e-02 9.95634585e-01 -2.70377767e-02 3.39354306e+00] [-2.05843076e-01 8.10425577e-03 9.78551455e-01 6.31079391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.243741732 meters 0.043429230128664044 Centerline is valid? [True, True] Translation: X:-53.22, Y:3.40, Z:6.32 [[ 9.74600693e-01 9.17274220e-02 2.04302640e-01 -5.32156177e+01] [-8.80480647e-02 9.95748962e-01 -2.70470336e-02 3.39548574e+00] [-2.05915097e-01 8.37160561e-03 9.78534051e-01 6.32319600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.303741732 meters 0.0457645669006573 Centerline is valid? [True, True] Translation: X:-53.28, Y:3.40, Z:6.34 [[ 9.74002150e-01 9.22961569e-02 2.06884584e-01 -5.32755638e+01] [-8.85477891e-02 9.95697039e-01 -2.73257343e-02 3.40319608e+00] [-2.08516428e-01 8.29615140e-03 9.77983677e-01 6.33909872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.363741731999994 meters 0.044090077269570475 Centerline is valid? [True, True] Translation: X:-53.33, Y:3.41, Z:6.35 [[ 9.73604897e-01 9.55439009e-02 2.07279686e-01 -5.33325631e+01] [-9.18568468e-02 9.95396200e-01 -2.73628359e-02 3.41495183e+00] [-2.08939764e-01 7.60053260e-03 9.77898976e-01 6.35483326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.423741731999996 meters 0.04330303993737236 Centerline is valid? [True, True] Translation: X:-53.39, Y:3.42, Z:6.37 [[ 9.73130640e-01 9.74155626e-02 2.08631173e-01 -5.33924913e+01] [-9.37253421e-02 9.95217518e-01 -2.75254759e-02 3.42461340e+00] [-2.10314808e-01 7.23185587e-03 9.77606967e-01 6.36718575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.483741732 meters 0.050459906967221975 Centerline is valid? [True, True] Translation: X:-53.45, Y:3.43, Z:6.39 [[ 9.73172065e-01 9.62556161e-02 2.08976045e-01 -5.34503510e+01] [-9.25379160e-02 9.95328828e-01 -2.75183438e-02 3.43307824e+00] [-2.10648677e-01 7.44187580e-03 9.77533505e-01 6.38638975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.543741731999994 meters 0.049893095931248486 Centerline is valid? [True, True] Translation: X:-53.51, Y:3.44, Z:6.40 [[ 9.73636823e-01 9.46346995e-02 2.07546647e-01 -5.35093577e+01] [-9.09436830e-02 9.95482426e-01 -2.72760930e-02 3.43919483e+00] [-2.09190305e-01 7.68195205e-03 9.77844775e-01 6.40237669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.603741731999996 meters 0.06522038569170771 Centerline is valid? [True, True] Translation: X:-53.57, Y:3.45, Z:6.43 [[ 9.74110224e-01 9.99930686e-02 2.02757631e-01 -5.35650495e+01] [-9.65948925e-02 9.94967948e-01 -2.66121965e-02 3.45009915e+00] [-2.04398379e-01 6.33786116e-03 9.78867271e-01 6.42654706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.663741732 meters 0.07802393704039322 Centerline is valid? [True, True] Translation: X:-53.62, Y:3.45, Z:6.45 [[ 9.74793011e-01 9.87599420e-02 2.00062640e-01 -5.36234592e+01] [-9.54287886e-02 9.95090078e-01 -2.62503898e-02 3.45247174e+00] [-2.01672835e-01 6.49696116e-03 9.79431395e-01 6.44689695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72374173199999 meters 0.09573138183600233 Centerline is valid? [True, True] Translation: X:-53.68, Y:3.45, Z:6.48 [[ 9.76356684e-01 9.31141631e-02 1.95083006e-01 -5.36775144e+01] [-8.98393788e-02 9.95627516e-01 -2.55877998e-02 3.45315919e+00] [-1.96612595e-01 7.45668331e-03 9.80452898e-01 6.48105543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.783741731999996 meters 0.10913234976199593 Centerline is valid? [True, False] Translation: X:-53.70, Y:3.47, Z:6.50 [[ 9.80784249e-01 4.30485803e-02 1.90286827e-01 -5.37023569e+01] [-3.93607955e-02 9.98957575e-01 -2.31190837e-02 3.46982217e+00] [-1.91083710e-01 1.51849923e-02 9.81456281e-01 6.49743533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.843741732 meters 0.12172593903204688 Centerline is valid? [False, False] Translation: X:-53.74, Y:3.49, Z:6.51 [[ 9.81357892e-01 -1.46848484e-03 1.92183589e-01 -5.37387887e+01] [ 4.05605337e-03 9.99906340e-01 -1.30713174e-02 3.48587333e+00] [-1.92146394e-01 1.36071473e-02 9.81271934e-01 6.51224754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90374173199999 meters 0.12375481143314984 Centerline is valid? [False, False] Translation: X:-53.79, Y:3.49, Z:6.53 [[ 9.82406545e-01 -1.19983803e-03 1.86751010e-01 -5.37871596e+01] [ 3.42547069e-03 9.99926904e-01 -1.15954098e-02 3.48807692e+00] [-1.86723447e-01 1.20311166e-02 9.82338845e-01 6.52607355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.963741731999995 meters 0.12488574498813591 Centerline is valid? [False, False] Translation: X:-53.80, Y:3.49, Z:6.54 [[ 9.83689640e-01 -5.26895870e-03 1.79796915e-01 -5.38040542e+01] [ 6.36825258e-03 9.99964390e-01 -5.53743104e-03 3.48908800e+00] [-1.79761336e-01 6.59210571e-03 9.83688165e-01 6.53842643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.023741732 meters 0.12321277487797037 Centerline is valid? [False, False] Translation: X:-53.81, Y:3.49, Z:6.54 [[ 9.83751964e-01 -4.02436070e-03 1.79487823e-01 -5.38064000e+01] [ 4.82095769e-03 9.99980370e-01 -4.00219290e-03 3.48930736e+00] [-1.79468193e-01 4.80246832e-03 9.83752054e-01 6.54266721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08374173199999 meters 0.12303875939050683 Centerline is valid? [False, False] Translation: X:-53.81, Y:3.49, Z:6.55 [[ 9.83838938e-01 -1.52446492e-03 1.79049211e-01 -5.38098831e+01] [ 1.69253592e-03 9.99998259e-01 -7.85931816e-04 3.48902874e+00] [-1.79047701e-01 1.07627754e-03 9.83839805e-01 6.54877237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.143741731999995 meters 0.12277649286337923 Centerline is valid? [False, False] Translation: X:-53.88, Y:3.49, Z:6.57 [[ 9.82529186e-01 -4.80499507e-04 1.86107946e-01 -5.38787332e+01] [ 7.42761482e-04 9.99998827e-01 -1.33946936e-03 3.48719369e+00] [-1.86107084e-01 1.45430156e-03 9.82528391e-01 6.56692919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.203741732 meters 0.13282902906686858 Centerline is valid? [False, False] Translation: X:-53.83, Y:3.48, Z:6.56 [[ 9.83988804e-01 -1.16516318e-03 1.78226474e-01 -5.38288631e+01] [ 2.04374765e-03 9.99986649e-01 -4.74608044e-03 3.47876010e+00] [-1.78218564e-01 5.03433996e-03 9.83978048e-01 6.55938654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26374173199999 meters 0.1390856078579458 Centerline is valid? [False, False] Translation: X:-53.85, Y:3.47, Z:6.57 [[ 9.84103151e-01 -6.03742086e-03 1.77495175e-01 -5.38544307e+01] [ 6.21230233e-03 9.99980611e-01 -4.29546859e-04 3.47237491e+00] [-1.77489140e-01 1.52537211e-03 9.84121577e-01 6.56557302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.323741731999995 meters 0.13627794006479105 Centerline is valid? [False, False] Translation: X:-53.91, Y:3.47, Z:6.58 [[ 9.84564165e-01 -2.76372202e-03 1.75002192e-01 -5.39066054e+01] [ 2.66742253e-03 9.99996134e-01 7.85491264e-04 3.47072011e+00] [-1.75003686e-01 -3.06561759e-04 9.84567730e-01 6.57903423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.383741732 meters 0.14037929599920335 Centerline is valid? [False, False] Translation: X:-53.98, Y:3.47, Z:6.60 [[ 9.84782552e-01 6.91452721e-03 1.73653433e-01 -5.39804815e+01] [-7.09871752e-03 9.99974707e-01 4.39616000e-04 3.47075305e+00] [-1.73646001e-01 -1.66564283e-03 9.84806728e-01 6.59960315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44374173199999 meters 0.14382033073726905 Centerline is valid? [False, False] Translation: X:-54.06, Y:3.47, Z:6.62 [[ 9.85510268e-01 6.81268162e-03 1.69478907e-01 -5.40570300e+01] [-7.20149691e-03 9.99972658e-01 1.67958246e-03 3.47201870e+00] [-1.69462831e-01 -2.87574759e-03 9.85532384e-01 6.61907263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.503741731999995 meters 0.14856093572892912 Centerline is valid? [False, False] Translation: X:-54.13, Y:3.47, Z:6.64 [[ 9.85503588e-01 6.10961217e-03 1.69544541e-01 -5.41329750e+01] [-6.65118623e-03 9.99974431e-01 2.62651888e-03 3.47292679e+00] [-1.69524159e-01 -3.71611610e-03 9.85519026e-01 6.63601739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.563741732 meters 0.15032809931996477 Centerline is valid? [False, False] Translation: X:-54.20, Y:3.47, Z:6.66 [[ 9.86079036e-01 -2.64287389e-03 1.66256275e-01 -5.41959619e+01] [ 2.45714300e-03 9.99996106e-01 1.32281564e-03 3.47318040e+00] [-1.66259124e-01 -8.95885328e-04 9.86081691e-01 6.65502299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62374173199999 meters 0.15480737134446132 Centerline is valid? [False, False] Translation: X:-54.17, Y:3.47, Z:6.64 [[ 9.86056283e-01 -9.13554056e-03 1.66161213e-01 -5.41701149e+01] [ 9.55882632e-03 9.99952786e-01 -1.74788997e-03 3.46512776e+00] [-1.66137400e-01 3.31182406e-03 9.86097052e-01 6.64120491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.683741731999994 meters 0.15890881729915102 Centerline is valid? [False, False] Translation: X:-54.24, Y:3.46, Z:6.66 [[ 9.86451185e-01 -3.98482594e-03 1.64006649e-01 -5.42390660e+01] [ 4.98868546e-03 9.99971257e-01 -5.70942264e-03 3.46385080e+00] [-1.63979184e-01 6.45024431e-03 9.86442711e-01 6.66239284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.743741732 meters 0.16127021743466752 Centerline is valid? [False, False] Translation: X:-54.32, Y:3.47, Z:6.69 [[ 9.87680871e-01 -2.03719112e-03 1.56468359e-01 -5.43209480e+01] [ 2.85980656e-03 9.99983248e-01 -5.03245034e-03 3.46726220e+00] [-1.56455486e-01 5.41792418e-03 9.87670151e-01 6.68590836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.803741732 meters 0.1675052332127755 Centerline is valid? [False, False] Translation: X:-54.32, Y:3.47, Z:6.68 [[ 9.87500037e-01 1.16330960e-04 1.57618731e-01 -5.43160428e+01] [ 3.43489244e-04 9.99995765e-01 -2.89005060e-03 3.46519489e+00] [-1.57618400e-01 2.90806541e-03 9.87495814e-01 6.68066672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.863741731999994 meters 0.1734846773653473 Centerline is valid? [False, False] Translation: X:-54.42, Y:3.46, Z:6.70 [[ 9.84025861e-01 5.17943960e-03 1.77950212e-01 -5.44189304e+01] [-4.26905165e-03 9.99975771e-01 -5.49848676e-03 3.45687897e+00] [-1.77974379e-01 4.65097452e-03 9.84024130e-01 6.69618593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.923741731999996 meters 0.1846832542154494 Centerline is valid? [False, False] Translation: X:-54.45, Y:3.45, Z:6.71 [[ 9.84092457e-01 -1.44887854e-03 1.77651168e-01 -5.44450488e+01] [ 1.93020547e-03 9.99994920e-01 -2.53659723e-03 3.44755756e+00] [-1.77646591e-01 2.83914945e-03 9.84090254e-01 6.70987574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.983741732 meters 0.19028302878632988 Centerline is valid? [False, False] Translation: X:-54.46, Y:3.44, Z:6.72 [[ 9.81111752e-01 -5.68007250e-04 1.93440966e-01 -5.44642789e+01] [ 1.18035815e-03 9.99994651e-01 -3.05033133e-03 3.44021250e+00] [-1.93438199e-01 3.22104554e-03 9.81107175e-01 6.72393540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.043741731999994 meters 0.18738648074305825 Centerline is valid? [False, False] Translation: X:-54.50, Y:3.43, Z:6.75 [[ 9.75575110e-01 -3.85813794e-04 2.19665781e-01 -5.44958573e+01] [ 1.16634915e-03 9.99993459e-01 -3.42360982e-03 3.43275736e+00] [-2.19663024e-01 3.59619553e-03 9.75569179e-01 6.74613393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.103741731999996 meters 0.20043084076802278 Centerline is valid? [False, False] Translation: X:-54.57, Y:3.42, Z:6.79 [[ 9.64002840e-01 -1.70257994e-03 2.65886490e-01 -5.45651854e+01] [ 3.60398360e-03 9.99971305e-01 -6.66344251e-03 3.42329764e+00] [-2.65867515e-01 7.38182805e-03 9.63981314e-01 6.78822244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.163741732 meters 0.20901932251872463 Centerline is valid? [False, False] Translation: X:-54.62, Y:3.42, Z:6.82 [[ 9.60874071e-01 -3.41456509e-03 2.76964546e-01 -5.46184115e+01] [ 5.71292962e-03 9.99955616e-01 -7.49190623e-03 3.42264892e+00] [-2.76926671e-01 8.78105740e-03 9.60850931e-01 6.81688920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22374173199999 meters 0.19116566334049237 Centerline is valid? [False, False] Translation: X:-54.74, Y:3.42, Z:6.88 [[ 9.41803244e-01 -7.61859781e-03 3.36078274e-01 -5.47386418e+01] [ 1.06227458e-02 9.99918362e-01 -7.10120466e-03 3.41908975e+00] [-3.35996736e-01 1.02580117e-02 9.41807287e-01 6.87876719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.283741731999996 meters 0.18859543939901668 Centerline is valid? [False, False] Translation: X:-54.77, Y:3.41, Z:6.92 [[ 9.14315331e-01 -1.15902251e-02 4.04837179e-01 -5.47677330e+01] [ 1.53584960e-02 9.99863679e-01 -6.06135838e-03 3.41445911e+00] [-4.04711739e-01 1.17596831e-02 9.14368699e-01 6.92366507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.343741732 meters 0.18755148543515898 Centerline is valid? [False, False] Translation: X:-54.75, Y:3.41, Z:6.94 [[ 8.94618369e-01 -8.79903006e-03 4.46744392e-01 -5.47534424e+01] [ 1.32102567e-02 9.99889888e-01 -6.76019039e-03 3.41054175e+00] [-4.46635717e-01 1.19493986e-02 8.94636098e-01 6.93988071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40374173199999 meters 0.1896351043418072 Centerline is valid? [False, False] Translation: X:-54.73, Y:3.41, Z:6.93 [[ 8.98681136e-01 -6.68767345e-03 4.38551582e-01 -5.47253663e+01] [ 9.72688069e-03 9.99941723e-01 -4.68378307e-03 3.40779986e+00] [-4.38494701e-01 8.47496641e-03 8.98693814e-01 6.92920499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1101.08 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%| | 0/1948 [00:00