+ python -m lidar_slam --no-model /working/257abb88-dd8d-4f98-ac2e-4ca5e8f8e7d8 Lidar SLAM 0.0.7 ===================================================== The recording path: /working/257abb88-dd8d-4f98-ac2e-4ca5e8f8e7d8 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 0.028033874 Adjusted end_distance from 9.223372036854776e+18 to 33.495073874 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028033874 meters 0.04509071308962491 Centerline is valid? [0, True] SLAMing on 0.088033874 meters 0.04562381472912021 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.01, Z:-0.00 [[ 9.99997494e-01 1.73317802e-03 1.41723907e-03 -6.10940060e-02] [-1.73332666e-03 9.99998492e-01 1.03662224e-04 5.24710978e-03] [-1.41705727e-03 -1.06118502e-04 9.99998990e-01 -1.34490513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148033874 meters 0.04937173413912485 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.01, Z:-0.00 [[ 9.99970601e-01 7.63656630e-03 6.92960475e-04 -1.22336844e-01] [-7.63660312e-03 9.99970839e-01 5.04986321e-05 7.47024867e-03] [-6.92554631e-04 -5.57890116e-05 9.99999759e-01 -2.59661635e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208033874 meters 0.04896513514955393 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.01, Z:0.00 [[ 9.99911712e-01 1.30293200e-02 2.60871769e-03 -1.82661409e-01] [-1.30298610e-02 9.99915090e-01 1.90496059e-04 8.49172531e-03] [-2.60601415e-03 -2.24470469e-04 9.99996579e-01 2.67994504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268033874 meters 0.05743085424120031 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.02, Z:-0.01 [[ 9.99900246e-01 1.40820938e-02 1.09204167e-03 -2.45183646e-01] [-1.40821883e-02 9.99900838e-01 7.88339682e-05 1.59947111e-02] [-1.09082323e-03 -9.42044406e-05 9.99999401e-01 -1.00199388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328033874 meters 0.04856347694775955 Centerline is valid? [True, True] Translation: X:-0.30, Y:-0.01, Z:0.00 [[ 9.99945031e-01 1.00415790e-02 3.01691950e-03 -3.02656862e-01] [-1.00422922e-02 9.99949550e-01 2.21346049e-04 -7.31118830e-03] [-3.01454464e-03 -2.51630669e-04 9.99995425e-01 2.61106405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388033874 meters 0.04759799711839702 Centerline is valid? [True, True] Translation: X:-0.36, Y:-0.02, Z:0.01 [[ 9.99959607e-01 8.33439091e-03 3.36491739e-03 -3.63254697e-01] [-8.33526304e-03 9.99965231e-01 2.45241786e-04 -1.95358451e-02] [-3.36275646e-03 -2.73279351e-04 9.99994309e-01 5.19320022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448033874 meters 0.051225115482724834 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.02, Z:0.00 [[ 9.99929130e-01 1.10019825e-02 4.54874014e-03 -4.23814611e-01] [-1.10036103e-02 9.99939403e-01 3.32992914e-04 -2.25873440e-02] [-4.54480092e-03 -3.83021879e-04 9.99989599e-01 2.67934128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508033874 meters 0.051038517662770795 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.02, Z:-0.00 [[ 9.99831256e-01 1.82220079e-02 2.32768899e-03 -4.83873176e-01] [-1.82224534e-02 9.99833943e-01 1.70361384e-04 -2.28446606e-02] [-2.32419813e-03 -2.12748841e-04 9.99997276e-01 -2.51668275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.568033874 meters 0.05177632168244835 Centerline is valid? [True, True] Translation: X:-0.54, Y:-0.03, Z:-0.01 [[ 9.99724689e-01 2.34635776e-02 -7.73910657e-05 -5.43588648e-01] [-2.34635781e-02 9.99724692e-01 -5.89406262e-06 -3.18058171e-02] [ 7.72314635e-05 7.70831124e-06 9.99999997e-01 -6.62516120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.628033874 meters 0.053435678769437264 Centerline is valid? [True, True] Translation: X:-0.60, Y:-0.04, Z:-0.01 [[ 9.99764062e-01 2.17001532e-02 9.60998414e-04 -6.03477059e-01] [-2.17002302e-02 9.99764520e-01 6.98313844e-05 -4.31564819e-02] [-9.59256766e-04 -9.06687954e-05 9.99999536e-01 -7.12659390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6880338739999999 meters 0.04994219419130663 Centerline is valid? [True, True] Translation: X:-0.66, Y:-0.07, Z:-0.01 [[ 9.99890126e-01 1.48133886e-02 5.46668757e-04 -6.62246795e-01] [-1.48134128e-02 9.99890275e-01 4.02410701e-05 -7.06696846e-02] [-5.46012667e-04 -4.83346786e-05 9.99999850e-01 -7.52102082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.748033874 meters 0.04711553686367007 Centerline is valid? [True, True] Translation: X:-0.72, Y:-0.09, Z:0.00 [[ 9.99959785e-01 8.46078051e-03 2.97380385e-03 -7.21558121e-01] [-8.46146465e-03 9.99964178e-01 2.17548719e-04 -8.74656205e-02] [-2.97185669e-03 -2.42702707e-04 9.99995555e-01 3.06722765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.808033874 meters 0.047850300745777175 Centerline is valid? [True, True] Translation: X:-0.78, Y:-0.12, Z:0.00 [[ 9.99948744e-01 9.62033329e-03 3.15557448e-03 -7.80720361e-01] [-9.62110695e-03 9.99953690e-01 2.30082048e-04 -1.18339666e-01] [-3.15321488e-03 -2.60430375e-04 9.99994995e-01 1.50892988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.868033874 meters 0.050752793437511025 Centerline is valid? [True, True] Translation: X:-0.84, Y:-0.12, Z:0.00 [[ 9.99911300e-01 1.31010489e-02 2.39886021e-03 -8.41812796e-01] [-1.31015080e-02 9.99914156e-01 1.75770505e-04 -1.15461423e-01] [-2.39635151e-03 -2.07183601e-04 9.99997107e-01 1.46487803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9280338739999999 meters 0.0534545437746436 Centerline is valid? [True, True] Translation: X:-0.90, Y:-0.14, Z:0.00 [[ 9.99805349e-01 1.97230505e-02 -5.15273449e-04 -9.00650660e-01] [-1.97230726e-02 9.99805481e-01 -3.78436739e-05 -1.42442210e-01] [ 5.14426825e-04 4.79990832e-05 9.99999867e-01 1.88691722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.988033874 meters 0.05004280127382569 Centerline is valid? [True, True] Translation: X:-0.96, Y:-0.16, Z:0.01 [[ 9.99836589e-01 1.78814428e-02 2.65510871e-03 -9.59144064e-01] [-1.78820230e-02 9.99840085e-01 1.94936627e-04 -1.59298145e-01] [-2.65119837e-03 -2.42383487e-04 9.99996456e-01 8.38022057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.048033874 meters 0.046647460233775015 Centerline is valid? [True, True] Translation: X:-1.02, Y:-0.19, Z:0.00 [[ 9.99975540e-01 6.99404533e-03 -4.90917579e-05 -1.01780126e+00] [-6.99404551e-03 9.99975541e-01 -3.55936154e-06 -1.94662144e-01] [ 4.90656629e-05 3.90262447e-06 9.99999999e-01 4.90095493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.108033874 meters 0.04206900642175084 Centerline is valid? [True, True] Translation: X:-1.08, Y:-0.17, Z:-0.00 [[ 9.99995674e-01 -2.82247358e-03 -8.27996490e-04 -1.07971690e+00] [ 2.82242377e-03 9.99996015e-01 -6.13151227e-05 -1.71146553e-01] [ 8.28166251e-04 5.89779005e-05 9.99999655e-01 -1.16646226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1680338739999998 meters 0.04376057523687991 Centerline is valid? [True, True] Translation: X:-1.14, Y:-0.16, Z:0.00 [[ 9.99991744e-01 -1.03567786e-03 3.92920047e-03 -1.13953674e+00] [ 1.03454979e-03 9.99999423e-01 2.89119606e-04 -1.63228052e-01] [-3.92949763e-03 -2.85052265e-04 9.99992239e-01 2.78780613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2280338739999999 meters 0.04534322763783249 Centerline is valid? [True, True] Translation: X:-1.20, Y:-0.15, Z:0.00 [[ 9.99971407e-01 4.54076954e-03 6.04698222e-03 -1.20153816e+00] [-4.54352722e-03 9.99989580e-01 4.42383853e-04 -1.51926205e-01] [-6.04491045e-03 -4.69845833e-04 9.99981619e-01 4.68551789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.288033874 meters 0.04732582535273902 Centerline is valid? [True, True] Translation: X:-1.26, Y:-0.15, Z:0.01 [[ 9.99946927e-01 4.80863618e-03 9.11153070e-03 -1.26393555e+00] [-4.81490081e-03 9.99988187e-01 6.65738563e-04 -1.45187712e-01] [-9.10822177e-03 -7.09574347e-04 9.99958268e-01 9.63666719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3480338739999997 meters 0.04417985833624703 Centerline is valid? [True, True] Translation: X:-1.32, Y:-0.15, Z:-0.00 [[ 9.99986222e-01 2.24019697e-03 4.74736165e-03 -1.32486711e+00] [-2.24185852e-03 9.99997428e-01 3.44703020e-04 -1.54209412e-01] [-4.74657724e-03 -3.55341183e-04 9.99988672e-01 -1.40498897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4080338739999998 meters 0.04302599163663457 Centerline is valid? [True, True] Translation: X:-1.39, Y:-0.16, Z:0.01 [[ 9.99972540e-01 -1.56708244e-03 7.24322590e-03 -1.38589312e+00] [ 1.56327679e-03 9.99998637e-01 5.31039013e-04 -1.57040598e-01] [-7.24404821e-03 -5.19701263e-04 9.99973626e-01 8.50181295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4680338739999998 meters 0.04292178273745248 Centerline is valid? [True, True] Translation: X:-1.45, Y:-0.16, Z:0.01 [[ 9.99973716e-01 -4.53008829e-04 7.23613135e-03 -1.44755427e+00] [ 4.49184492e-04 9.99999759e-01 5.30122232e-04 -1.63049083e-01] [-7.23636976e-03 -5.26857941e-04 9.99973678e-01 1.05367371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.528033874 meters 0.04121566231703271 Centerline is valid? [True, True] Translation: X:-1.51, Y:-0.17, Z:0.02 [[ 9.99956176e-01 2.02108238e-03 9.14117322e-03 -1.50763995e+00] [-2.02728439e-03 9.99997721e-01 6.69253775e-04 -1.65219679e-01] [-9.13979977e-03 -6.87756203e-04 9.99957995e-01 2.04706195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.588033874 meters 0.045031677972010305 Centerline is valid? [True, True] Translation: X:-1.57, Y:-0.16, Z:0.02 [[ 9.99890276e-01 8.15992151e-03 1.23633091e-02 -1.56881211e+00] [-8.17179042e-03 9.99966196e-01 9.09796707e-04 -1.57192772e-01] [-1.23554673e-02 -1.01072725e-03 9.99923157e-01 2.42864423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6480338739999998 meters 0.047985773634119204 Centerline is valid? [True, True] Translation: X:-1.63, Y:-0.15, Z:0.02 [[ 9.99881091e-01 1.19757182e-02 9.71521623e-03 -1.63061651e+00] [-1.19832219e-02 9.99927943e-01 7.14522421e-04 -1.50686354e-01] [-9.70595926e-03 -8.30857050e-04 9.99952551e-01 2.27587127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7080338739999998 meters 0.05149972985208877 Centerline is valid? [True, True] Translation: X:-1.69, Y:-0.14, Z:0.02 [[ 9.99823750e-01 1.70166530e-02 7.93105921e-03 -1.69146722e+00] [-1.70218139e-02 9.99854948e-01 5.83669700e-04 -1.43692814e-01] [-7.91997669e-03 -7.18567842e-04 9.99968378e-01 2.35947194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.768033874 meters 0.054657605538226677 Centerline is valid? [True, True] Translation: X:-1.75, Y:-0.14, Z:0.02 [[ 9.99587581e-01 2.83040827e-02 4.85247816e-03 -1.75195325e+00] [-2.83061457e-02 9.99599237e-01 3.56993555e-04 -1.44404128e-01] [-4.84042909e-03 -4.94201278e-04 9.99988163e-01 1.89412199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8280338739999997 meters 0.05473906164672208 Centerline is valid? [True, True] Translation: X:-1.81, Y:-0.15, Z:0.03 [[ 9.99475465e-01 3.11180314e-02 8.97015055e-03 -1.81183186e+00] [-3.11251965e-02 9.99515276e-01 6.60247116e-04 -1.50714064e-01] [-8.94525691e-03 -9.39098492e-04 9.99959549e-01 2.94961897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8880338739999998 meters 0.052036591704133515 Centerline is valid? [True, True] Translation: X:-1.87, Y:-0.16, Z:0.04 [[ 9.99401947e-01 3.18384180e-02 1.34930811e-02 -1.87305090e+00] [-3.18546293e-02 9.99492024e-01 9.88190269e-04 -1.62952150e-01] [-1.34547645e-02 -1.41741637e-03 9.99908476e-01 4.01885699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9480338739999998 meters 0.051146209153190826 Centerline is valid? [True, True] Translation: X:-1.93, Y:-0.17, Z:0.04 [[ 9.99631691e-01 2.41145790e-02 1.24486990e-02 -1.93320966e+00] [-2.41278760e-02 9.99708458e-01 9.19041215e-04 -1.72079796e-01] [-1.24229074e-02 -1.21906339e-03 9.99922090e-01 4.00172274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008033874 meters 0.050924512456595065 Centerline is valid? [True, True] Translation: X:-1.99, Y:-0.18, Z:0.04 [[ 9.99735425e-01 1.93047940e-02 1.25062252e-02 -1.99353141e+00] [-1.93178429e-02 9.99812967e-01 9.23424707e-04 -1.77316902e-01] [-1.24860596e-02 -1.16477369e-03 9.99921368e-01 3.98841282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068033874 meters 0.04896222552785544 Centerline is valid? [True, True] Translation: X:-2.05, Y:-0.18, Z:0.04 [[ 9.99841813e-01 1.41620408e-02 1.07604049e-02 -2.05426590e+00] [-1.41714057e-02 9.99899265e-01 7.94556512e-04 -1.81922461e-01] [-1.07480684e-02 -9.46920887e-04 9.99941789e-01 3.70067212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128033874 meters 0.050992286312674266 Centerline is valid? [True, True] Translation: X:-2.12, Y:-0.18, Z:0.04 [[ 9.99807560e-01 1.80670363e-02 7.64367438e-03 -2.11538541e+00] [-1.80718730e-02 9.99836531e-01 5.64165481e-04 -1.77560449e-01] [-7.63223208e-03 -7.02192425e-04 9.99970628e-01 3.77697781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1880338740000003 meters 0.05101108805990032 Centerline is valid? [True, True] Translation: X:-2.17, Y:-0.17, Z:0.04 [[ 9.99672109e-01 2.21587945e-02 1.28320784e-02 -2.17467067e+00] [-2.21727744e-02 9.99753704e-01 9.48193563e-04 -1.74270205e-01] [-1.28079071e-02 -1.23240544e-03 9.99917216e-01 4.38321476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.248033874 meters 0.051306203962377006 Centerline is valid? [True, True] Translation: X:-2.23, Y:-0.18, Z:0.05 [[ 9.99621372e-01 2.51975043e-02 1.10543773e-02 -2.23474069e+00] [-2.52080585e-02 9.99681893e-01 8.16431922e-04 -1.81033478e-01] [-1.10302888e-02 -1.09478219e-03 9.99938565e-01 4.70124686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308033874 meters 0.051971554434633006 Centerline is valid? [True, True] Translation: X:-2.30, Y:-0.18, Z:0.05 [[ 9.99649028e-01 2.39025287e-02 1.14231964e-02 -2.29567129e+00] [-2.39137037e-02 9.99713671e-01 8.42669352e-04 -1.84627417e-01] [-1.13997837e-02 -1.11554453e-03 9.99934398e-01 5.07739851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368033874 meters 0.05060627281405312 Centerline is valid? [True, True] Translation: X:-2.36, Y:-0.19, Z:0.06 [[ 9.99651831e-01 2.26366937e-02 1.35571614e-02 -2.35602066e+00] [-2.26523375e-02 9.99742901e-01 1.00144727e-03 -1.88354140e-01] [-1.35310064e-02 -1.30820000e-03 9.99907596e-01 5.62630067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.428033874 meters 0.04981411970534321 Centerline is valid? [True, True] Translation: X:-2.41, Y:-0.19, Z:0.06 [[ 9.99590134e-01 2.45540934e-02 1.47193988e-02 -2.41490918e+00] [-2.45727538e-02 9.99697452e-01 1.08819744e-03 -1.94645251e-01] [-1.46882257e-02 -1.44944759e-03 9.99891072e-01 6.05490636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488033874 meters 0.05272459815866811 Centerline is valid? [True, True] Translation: X:-2.48, Y:-0.19, Z:0.06 [[ 9.99633056e-01 2.48529419e-02 1.07742889e-02 -2.47757773e+00] [-2.48629401e-02 9.99690553e-01 7.94996939e-04 -1.85564588e-01] [-1.07511968e-02 -1.06258572e-03 9.99941640e-01 5.67576670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548033874 meters 0.050837963530026155 Centerline is valid? [True, True] Translation: X:-2.54, Y:-0.19, Z:0.06 [[ 9.99531068e-01 2.71354624e-02 1.41883706e-02 -2.53770865e+00] [-2.71530602e-02 9.99630737e-01 1.04909421e-03 -1.86072847e-01] [-1.41546637e-02 -1.43385994e-03 9.99898790e-01 6.10367959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608033874 meters 0.052287761184206596 Centerline is valid? [True, True] Translation: X:-2.60, Y:-0.17, Z:0.06 [[ 9.99437383e-01 2.97265810e-02 1.55321242e-02 -2.59910795e+00] [-2.97479782e-02 9.99556771e-01 1.14834113e-03 -1.74713533e-01] [-1.54911037e-02 -1.60974435e-03 9.99878710e-01 6.27136204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.668033874 meters 0.05514845174063379 Centerline is valid? [True, True] Translation: X:-2.66, Y:-0.17, Z:0.06 [[ 9.99433152e-01 3.15144973e-02 1.18411174e-02 -2.65965907e+00] [-3.15270564e-02 9.99502515e-01 8.75418606e-04 -1.72369035e-01] [-1.18076382e-02 -1.24823795e-03 9.99929508e-01 6.25895685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728033874 meters 0.05220903413111071 Centerline is valid? [True, True] Translation: X:-2.72, Y:-0.17, Z:0.06 [[ 9.99526053e-01 2.83919407e-02 1.18981779e-02 -2.72102984e+00] [-2.84043981e-02 9.99596127e-01 8.79290599e-04 -1.71392019e-01] [-1.18684078e-02 -1.21683444e-03 9.99928828e-01 6.16579635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788033874 meters 0.04939296683155905 Centerline is valid? [True, True] Translation: X:-2.78, Y:-0.18, Z:0.07 [[ 9.99697659e-01 2.03288320e-02 1.38322099e-02 -2.78068116e+00] [-2.03449202e-02 9.99792497e-01 1.02336236e-03 -1.82150237e-01] [-1.38085359e-02 -1.30446816e-03 9.99903807e-01 7.10445085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848033874 meters 0.04429894382887217 Centerline is valid? [True, True] Translation: X:-2.84, Y:-0.19, Z:0.07 [[ 9.99827677e-01 9.69546155e-03 1.58308262e-02 -2.84111131e+00] [-9.71521004e-03 9.99952121e-01 1.17104090e-03 -1.91779447e-01] [-1.58187145e-02 -1.32463890e-03 9.99873999e-01 7.45286779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908033874 meters 0.04276552998893443 Centerline is valid? [True, True] Translation: X:-2.90, Y:-0.20, Z:0.07 [[ 9.99882136e-01 3.49307845e-03 1.49503147e-02 -2.90134954e+00] [-3.51000420e-03 9.99993228e-01 1.10604387e-03 -1.98085499e-01] [-1.49463500e-02 -1.15838917e-03 9.99887626e-01 7.36505415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968033874 meters 0.041122245317397804 Centerline is valid? [True, True] Translation: X:-2.96, Y:-0.21, Z:0.07 [[ 9.99936998e-01 -6.90678668e-03 8.84856590e-03 -2.96102295e+00] [ 6.90126165e-03 9.99975972e-01 6.54780202e-04 -2.12611224e-01] [-8.85287571e-03 -5.93672680e-04 9.99960636e-01 6.56826658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028033874 meters 0.035359444294651106 Centerline is valid? [True, True] Translation: X:-3.02, Y:-0.22, Z:0.08 [[ 9.99739474e-01 -1.76423268e-02 1.44821272e-02 -3.01964266e+00] [ 1.76286461e-02 9.99844029e-01 1.07178355e-03 -2.24250896e-01] [-1.44987771e-02 -8.16204026e-04 9.99894554e-01 7.79885504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088033874 meters 0.033883033228937244 Centerline is valid? [True, True] Translation: X:-3.08, Y:-0.23, Z:0.08 [[ 9.99494009e-01 -2.71939908e-02 1.64988808e-02 -3.07974063e+00] [ 2.71775427e-02 9.99629877e-01 1.22035891e-03 -2.27027515e-01] [-1.65259606e-02 -7.71342380e-04 9.99863139e-01 7.71528959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1480338740000002 meters 0.030776660905021708 Centerline is valid? [True, True] Translation: X:-3.14, Y:-0.23, Z:0.07 [[ 9.99335867e-01 -3.44279008e-02 1.19391872e-02 -3.13952366e+00] [ 3.44198075e-02 9.99407073e-01 8.82753983e-04 -2.32455036e-01] [-1.19624995e-02 -4.71223191e-04 9.99928336e-01 7.49535118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208033874 meters 0.030550025032238002 Centerline is valid? [True, True] Translation: X:-3.20, Y:-0.23, Z:0.09 [[ 9.99246752e-01 -3.50703411e-02 1.66132334e-02 -3.20073251e+00] [ 3.50547459e-02 9.99384638e-01 1.22908634e-03 -2.30685919e-01] [-1.66461147e-02 -6.45787858e-04 9.99861235e-01 8.76395586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268033874 meters 0.03139213091085702 Centerline is valid? [True, True] Translation: X:-3.26, Y:-0.22, Z:0.08 [[ 9.99353421e-01 -3.44354386e-02 1.03412191e-02 -3.26233279e+00] [ 3.44293551e-02 9.99406841e-01 7.65778869e-04 -2.23526111e-01] [-1.03614551e-02 -4.09242227e-04 9.99946235e-01 7.90794667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328033874 meters 0.03208861907000933 Centerline is valid? [True, True] Translation: X:-3.32, Y:-0.22, Z:0.08 [[ 9.99371906e-01 -3.35767620e-02 1.13311565e-02 -3.32459930e+00] [ 3.35694631e-02 9.99436039e-01 8.33780357e-04 -2.19531037e-01] [-1.13527618e-02 -4.52875826e-04 9.99935453e-01 8.25466707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388033874 meters 0.03203832108473625 Centerline is valid? [True, True] Translation: X:-3.39, Y:-0.21, Z:0.09 [[ 9.99381277e-01 -3.22134302e-02 1.41193947e-02 -3.38804462e+00] [ 3.22018978e-02 9.99480840e-01 1.04342230e-03 -2.14910011e-01] [-1.41456767e-02 -5.88105408e-04 9.99899772e-01 8.82146525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448033874 meters 0.03027425732773201 Centerline is valid? [True, True] Translation: X:-3.45, Y:-0.22, Z:0.08 [[ 9.99202577e-01 -3.83095197e-02 1.12512455e-02 -3.44881241e+00] [ 3.83025112e-02 9.99265838e-01 8.37813089e-04 -2.18798726e-01] [-1.12750814e-02 -4.06194043e-04 9.99936352e-01 8.45588804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508033874 meters 0.041274748337911144 Centerline is valid? [True, True] Translation: X:-3.51, Y:-0.18, Z:0.09 [[ 9.99860764e-01 -6.15806666e-03 1.55090286e-02 -3.51167680e+00] [ 6.14086662e-03 9.99980476e-01 1.15641268e-03 -1.81169903e-01] [-1.55158471e-02 -1.06101279e-03 9.99879059e-01 9.44812766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568033874 meters 0.039666242968387236 Centerline is valid? [True, True] Translation: X:-3.57, Y:-0.18, Z:0.09 [[ 9.99858466e-01 -1.00411709e-02 1.34990246e-02 -3.57256299e+00] [ 1.00284926e-02 9.99949207e-01 1.00656465e-03 -1.81524556e-01] [-1.35084461e-02 -8.71047315e-04 9.99908377e-01 9.26722169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6280338739999998 meters 0.04021066281754074 Centerline is valid? [True, True] Translation: X:-3.64, Y:-0.18, Z:0.09 [[ 9.99861206e-01 -1.11586026e-02 1.23715094e-02 -3.63565148e+00] [ 1.11481004e-02 9.99937437e-01 9.17538876e-04 -1.76517407e-01] [-1.23809739e-02 -7.79492699e-04 9.99923049e-01 9.43492650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.688033874 meters 0.038873862447328225 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.18, Z:0.10 [[ 9.99798592e-01 -1.36142998e-02 1.47453675e-02 -3.69601966e+00] [ 1.35995094e-02 9.99906914e-01 1.10286449e-03 -1.84938681e-01] [-1.47590096e-02 -9.02112597e-04 9.99890673e-01 1.00306627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748033874 meters 0.03885461311989676 Centerline is valid? [True, True] Translation: X:-3.76, Y:-0.18, Z:0.10 [[ 9.99769513e-01 -1.62497268e-02 1.40309470e-02 -3.75824424e+00] [ 1.62365957e-02 9.99867627e-01 1.04927658e-03 -1.76660163e-01] [-1.40461402e-02 -8.21219922e-04 9.99901011e-01 9.83977796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.808033874 meters 0.03666616720502015 Centerline is valid? [True, True] Translation: X:-3.82, Y:-0.19, Z:0.10 [[ 9.99743704e-01 -1.88709904e-02 1.25065105e-02 -3.81868258e+00] [ 1.88608099e-02 9.99821685e-01 9.31475436e-04 -1.94455169e-01] [-1.25218582e-02 -6.95353786e-04 9.99921357e-01 9.91096142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868033874 meters 0.03682057537385851 Centerline is valid? [True, True] Translation: X:-3.88, Y:-0.19, Z:0.10 [[ 9.99709482e-01 -1.99616246e-02 1.35086950e-02 -3.88099895e+00] [ 1.99497555e-02 9.99800471e-01 1.01282410e-03 -1.93503091e-01] [-1.35262172e-02 -7.43034694e-04 9.99908240e-01 1.04710853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928033874 meters 0.03729418716933473 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.19, Z:0.11 [[ 9.99693701e-01 -1.81719933e-02 1.68012987e-02 -3.94332737e+00] [ 1.81534027e-02 9.99834422e-01 1.25835975e-03 -1.92520066e-01] [-1.68213837e-02 -9.52973576e-04 9.99858056e-01 1.12176796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988033874 meters 0.04037050178609215 Centerline is valid? [True, True] Translation: X:-4.00, Y:-0.18, Z:0.11 [[ 9.99800554e-01 -1.46759325e-02 1.35450800e-02 -4.00470234e+00] [ 1.46634409e-02 9.99891965e-01 1.02108854e-03 -1.81464543e-01] [-1.35586021e-02 -8.22267404e-04 9.99907740e-01 1.10939399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048033874 meters 0.040701742651007865 Centerline is valid? [True, True] Translation: X:-4.07, Y:-0.18, Z:0.11 [[ 9.99834836e-01 -1.22420249e-02 1.34325849e-02 -4.06565076e+00] [ 1.22295202e-02 9.99924704e-01 1.01267402e-03 -1.79591733e-01] [-1.34439706e-02 -8.48232698e-04 9.99909266e-01 1.10638882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108033874 meters 0.04118592994293402 Centerline is valid? [True, True] Translation: X:-4.13, Y:-0.18, Z:0.12 [[ 9.99786839e-01 -1.28390063e-02 1.61689978e-02 -4.12737783e+00] [ 1.28209845e-02 9.99917066e-01 1.21775477e-03 -1.83473601e-01] [-1.61832916e-02 -1.01019272e-03 9.99868532e-01 1.15680766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168033874 meters 0.038238240898272324 Centerline is valid? [True, True] Translation: X:-4.19, Y:-0.19, Z:0.12 [[ 9.99669996e-01 -1.98000691e-02 1.63663407e-02 -4.18626363e+00] [ 1.97824927e-02 9.99803544e-01 1.23515230e-03 -1.94959512e-01] [-1.63875815e-02 -9.10977678e-04 9.99865300e-01 1.20270294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228033874 meters 0.03631217709792425 Centerline is valid? [True, True] Translation: X:-4.25, Y:-0.19, Z:0.12 [[ 9.99521877e-01 -2.73218225e-02 1.44753368e-02 -4.24816955e+00] [ 2.73088732e-02 9.99626447e-01 1.09152122e-03 -1.88326156e-01] [-1.44997519e-02 -6.95694202e-04 9.99894631e-01 1.15660248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288033874 meters 0.03339214169445435 Centerline is valid? [True, True] Translation: X:-4.31, Y:-0.21, Z:0.11 [[ 9.99103438e-01 -4.06245163e-02 1.19150868e-02 -4.30764822e+00] [ 4.06166786e-02 9.99174398e-01 8.99144952e-04 -2.07482541e-01] [-1.19417770e-02 -4.14387561e-04 9.99928609e-01 1.14938967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348033874 meters 0.031095548597088206 Centerline is valid? [True, True] Translation: X:-4.37, Y:-0.22, Z:0.12 [[ 9.98686753e-01 -4.86910181e-02 1.59359675e-02 -4.36636809e+00] [ 4.86780428e-02 9.98813799e-01 1.20132715e-03 -2.21956560e-01] [-1.59755581e-02 -4.24017799e-04 9.99872293e-01 1.20389242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408033874 meters 0.03034199906536446 Centerline is valid? [True, True] Translation: X:-4.43, Y:-0.22, Z:0.13 [[ 9.98352045e-01 -5.52305118e-02 1.55815324e-02 -4.42748533e+00] [ 5.52188689e-02 9.98473581e-01 1.17678637e-03 -2.21294490e-01] [-1.56227430e-02 -3.14452484e-04 9.99877908e-01 1.25504467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468033874 meters 0.030361689755239778 Centerline is valid? [True, True] Translation: X:-4.49, Y:-0.22, Z:0.13 [[ 9.98404966e-01 -5.43571527e-02 1.52585366e-02 -4.48699607e+00] [ 5.43458722e-02 9.98521505e-01 1.15327018e-03 -2.17996725e-01] [-1.52986654e-02 -3.22192196e-04 9.99882917e-01 1.29015253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528033874 meters 0.03552994519090094 Centerline is valid? [True, True] Translation: X:-4.55, Y:-0.21, Z:0.14 [[ 9.98650951e-01 -4.92238821e-02 1.65314133e-02 -4.54774130e+00] [ 4.92099481e-02 9.98787676e-01 1.24885690e-03 -2.06554596e-01] [-1.65728455e-02 -4.33662142e-04 9.99862567e-01 1.43307201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588033874 meters 0.033008458657650466 Centerline is valid? [True, True] Translation: X:-4.61, Y:-0.19, Z:0.14 [[ 9.98896766e-01 -4.38666089e-02 1.67622266e-02 -4.61036689e+00] [ 4.38515341e-02 9.99037257e-01 1.26599970e-03 -1.90788523e-01] [-1.68016240e-02 -5.29553659e-04 9.99858703e-01 1.40396085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648033874 meters 0.03526449698822689 Centerline is valid? [True, True] Translation: X:-4.67, Y:-0.18, Z:0.15 [[ 9.99043359e-01 -4.13408052e-02 1.42584782e-02 -4.67151817e+00] [ 4.13296437e-02 9.99144985e-01 1.07670039e-03 -1.82146398e-01] [-1.42907986e-02 -4.86372557e-04 9.99897763e-01 1.48379990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708033874 meters 0.03441948709874249 Centerline is valid? [True, True] Translation: X:-4.73, Y:-0.17, Z:0.15 [[ 9.99155218e-01 -3.82359202e-02 1.50620054e-02 -4.73443853e+00] [ 3.82231043e-02 9.99268582e-01 1.13793386e-03 -1.67534319e-01] [-1.50944988e-02 -5.61255948e-04 9.99885914e-01 1.47758597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768033874 meters 0.03484602458869482 Centerline is valid? [True, True] Translation: X:-4.80, Y:-0.17, Z:0.16 [[ 9.99176111e-01 -3.68977068e-02 1.69014359e-02 -4.79515140e+00] [ 3.68814222e-02 9.99318836e-01 1.27429306e-03 -1.70304470e-01] [-1.69369418e-02 -6.49894192e-04 9.99856349e-01 1.61982410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.828033874 meters 0.03798473763116261 Centerline is valid? [True, True] Translation: X:-4.86, Y:-0.16, Z:0.17 [[ 9.99145125e-01 -3.71958877e-02 1.80412046e-02 -4.85822737e+00] [ 3.71773061e-02 9.99307754e-01 1.36436951e-03 -1.61441199e-01] [-1.80794646e-02 -6.92479763e-04 9.99836313e-01 1.71032641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888033874 meters 0.038127860060968057 Centerline is valid? [True, True] Translation: X:-4.92, Y:-0.14, Z:0.17 [[ 9.99309083e-01 -3.29024139e-02 1.72854879e-02 -4.92093284e+00] [ 3.28845764e-02 9.99458291e-01 1.31523601e-03 -1.35167584e-01] [-1.73193987e-02 -7.45901346e-04 9.99849730e-01 1.67555053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948033874 meters 0.0383550817949148 Centerline is valid? [True, True] Translation: X:-4.98, Y:-0.14, Z:0.17 [[ 9.99343315e-01 -3.07999448e-02 1.90867075e-02 -4.98173723e+00] [ 3.07778753e-02 9.99525199e-01 1.44901966e-03 -1.37615147e-01] [-1.91222748e-02 -8.60619807e-04 9.99816782e-01 1.73105076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008033874 meters 0.037703283068952126 Centerline is valid? [True, True] Translation: X:-5.04, Y:-0.14, Z:0.18 [[ 9.99211050e-01 -3.56161488e-02 1.75717900e-02 -5.04245196e+00] [ 3.55980745e-02 9.99365289e-01 1.34041271e-03 -1.43598838e-01] [-1.76083773e-02 -7.13833305e-04 9.99844706e-01 1.76300438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068033874 meters 0.03616216719970536 Centerline is valid? [True, True] Translation: X:-5.10, Y:-0.14, Z:0.18 [[ 9.98943060e-01 -4.40571676e-02 1.31045712e-02 -5.10325418e+00] [ 4.40478364e-02 9.99028923e-01 9.99969004e-04 -1.42501586e-01] [-1.31359014e-02 -4.21684088e-04 9.99913631e-01 1.75247358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128033874 meters 0.03501482127287188 Centerline is valid? [True, True] Translation: X:-5.16, Y:-0.15, Z:0.17 [[ 9.98681663e-01 -4.94397320e-02 1.38075757e-02 -5.16222592e+00] [ 4.94298815e-02 9.98777040e-01 1.05397787e-03 -1.46473072e-01] [-1.38427979e-02 -3.70081548e-04 9.99904115e-01 1.73583551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188033874 meters 0.034376874532055283 Centerline is valid? [True, True] Translation: X:-5.22, Y:-0.16, Z:0.18 [[ 9.98353516e-01 -5.52212790e-02 1.55198858e-02 -5.22123284e+00] [ 5.52095326e-02 9.98474088e-01 1.18461660e-03 -1.61474312e-01] [-1.55616199e-02 -3.25820506e-04 9.99878858e-01 1.84292781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248033874 meters 0.0366433410408609 Centerline is valid? [True, True] Translation: X:-5.28, Y:-0.16, Z:0.20 [[ 9.98149813e-01 -5.71693061e-02 2.07031489e-02 -5.28092667e+00] [ 5.71488272e-02 9.98364420e-01 1.57994990e-03 -1.58244334e-01] [-2.07596118e-02 -3.93866021e-04 9.99784418e-01 1.99635343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3080338739999995 meters 0.03495405078142804 Centerline is valid? [True, True] Translation: X:-5.34, Y:-0.15, Z:0.18 [[ 9.98449545e-01 -5.29160502e-02 1.72741971e-02 -5.34324467e+00] [ 5.29011786e-02 9.98598884e-01 1.31705006e-03 -1.52039827e-01] [-1.73196870e-02 -4.01182646e-04 9.99849922e-01 1.84841613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368033874 meters 0.03642401885394462 Centerline is valid? [True, True] Translation: X:-5.41, Y:-0.13, Z:0.19 [[ 9.98911902e-01 -4.36842701e-02 1.63308349e-02 -5.40576518e+00] [ 4.36697359e-02 9.99045245e-01 1.24570218e-03 -1.26007429e-01] [-1.63696606e-02 -5.31183484e-04 9.99865867e-01 1.90685714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428033874 meters 0.036801757412843965 Centerline is valid? [True, True] Translation: X:-5.47, Y:-0.13, Z:0.20 [[ 9.99056566e-01 -3.80251138e-02 2.09777959e-02 -5.46575639e+00] [ 3.79998860e-02 9.99276462e-01 1.60005474e-03 -1.25869858e-01] [-2.10234599e-02 -8.01391347e-04 9.99778661e-01 1.97684107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488033874 meters 0.03906892909156301 Centerline is valid? [True, True] Translation: X:-5.53, Y:-0.11, Z:0.19 [[ 9.99393133e-01 -3.18015472e-02 1.42136335e-02 -5.52797486e+00] [ 3.17893378e-02 9.99494003e-01 1.08415442e-03 -1.05322292e-01] [-1.42409192e-02 -6.31654484e-04 9.99898393e-01 1.91392923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548033874 meters 0.03804107750261114 Centerline is valid? [True, True] Translation: X:-5.59, Y:-0.10, Z:0.20 [[ 9.99292275e-01 -3.36729110e-02 1.67655866e-02 -5.58836556e+00] [ 3.36561871e-02 9.99432652e-01 1.27875130e-03 -1.01589142e-01] [-1.67991339e-02 -7.13580577e-04 9.99858630e-01 1.96441722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608033874 meters 0.03812951946370281 Centerline is valid? [True, True] Translation: X:-5.65, Y:-0.10, Z:0.19 [[ 9.99272398e-01 -3.49672382e-02 1.52304538e-02 -5.65063395e+00] [ 3.49536559e-02 9.99388264e-01 1.15715178e-03 -1.02809198e-01] [-1.52615992e-02 -6.23949792e-04 9.99883340e-01 1.94212702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668033874 meters 0.037330454497031804 Centerline is valid? [True, True] Translation: X:-5.71, Y:-0.10, Z:0.20 [[ 9.99122735e-01 -3.88807502e-02 1.55578707e-02 -5.71189688e+00] [ 3.88669282e-02 9.99243687e-01 1.18991988e-03 -1.00304410e-01] [-1.55923690e-02 -5.84189361e-04 9.99878261e-01 2.03095433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728033874 meters 0.038313716878644294 Centerline is valid? [True, True] Translation: X:-5.77, Y:-0.09, Z:0.20 [[ 9.99289462e-01 -3.51261755e-02 1.36646315e-02 -5.77238343e+00] [ 3.51151479e-02 9.99382725e-01 1.04618825e-03 -9.43558134e-02] [-1.36929452e-02 -5.65609343e-04 9.99906087e-01 2.00155256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788033874 meters 0.03963764984320168 Centerline is valid? [True, True] Translation: X:-5.83, Y:-0.09, Z:0.20 [[ 9.99491470e-01 -2.97496949e-02 1.14785749e-02 -5.83313910e+00] [ 2.97415679e-02 9.99557236e-01 8.78103104e-04 -9.03890077e-02] [-1.14996159e-02 -5.36265747e-04 9.99933733e-01 1.98522547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8480338739999995 meters 0.04149361967275508 Centerline is valid? [True, True] Translation: X:-5.89, Y:-0.08, Z:0.21 [[ 9.99579723e-01 -2.35469747e-02 1.69090950e-02 -5.89367434e+00] [ 2.35284449e-02 9.99722330e-01 1.29397981e-03 -7.75360538e-02] [-1.69348692e-02 -8.95591265e-04 9.99856194e-01 2.06464425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908033874 meters 0.04112739236096864 Centerline is valid? [True, True] Translation: X:-5.95, Y:-0.08, Z:0.21 [[ 9.99608029e-01 -2.19213758e-02 1.74138267e-02 -5.95387276e+00] [ 2.19015276e-02 9.99759248e-01 1.32971397e-03 -8.06559822e-02] [-1.74387835e-02 -9.47803358e-04 9.99847484e-01 2.11669274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968033874 meters 0.04126756978945084 Centerline is valid? [True, True] Translation: X:-6.01, Y:-0.08, Z:0.21 [[ 9.99649152e-01 -2.19560837e-02 1.48156417e-02 -6.01494217e+00] [ 2.19417178e-02 9.99758611e-01 1.13151401e-03 -8.31879687e-02] [-1.48369090e-02 -8.06036392e-04 9.99889602e-01 2.13079009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028033874 meters 0.0415611445915954 Centerline is valid? [True, True] Translation: X:-6.08, Y:-0.08, Z:0.22 [[ 9.99551437e-01 -2.45114600e-02 1.72079497e-02 -6.07625463e+00] [ 2.44923691e-02 9.99699146e-01 1.31932763e-03 -7.77209788e-02] [-1.72351113e-02 -8.97272373e-04 9.99851062e-01 2.16584380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088033874 meters 0.04261390595873285 Centerline is valid? [True, True] Translation: X:-6.14, Y:-0.08, Z:0.22 [[ 9.99550623e-01 -2.48829997e-02 1.67149248e-02 -6.13919689e+00] [ 2.48651080e-02 9.99689999e-01 1.27740336e-03 -7.88433489e-02] [-1.67415288e-02 -8.61210910e-04 9.99859480e-01 2.24041162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148033874 meters 0.041839397796070696 Centerline is valid? [True, True] Translation: X:-6.20, Y:-0.08, Z:0.23 [[ 9.99633705e-01 -2.24674949e-02 1.50886435e-02 -6.19875468e+00] [ 2.24525178e-02 9.99747236e-01 1.16129043e-03 -8.21864862e-02] [-1.51109209e-02 -8.22087014e-04 9.99885486e-01 2.31443267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208033874 meters 0.04487592556387359 Centerline is valid? [True, True] Translation: X:-6.26, Y:-0.08, Z:0.25 [[ 9.99755828e-01 -1.62098325e-02 1.50174950e-02 -6.25853525e+00] [ 1.61942924e-02 9.99868196e-01 1.15583861e-03 -8.16690299e-02] [-1.50342516e-02 -9.12358678e-04 9.99886563e-01 2.46140123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268033874 meters 0.04948301362411364 Centerline is valid? [True, True] Translation: X:-6.32, Y:-0.06, Z:0.23 [[ 9.99926057e-01 -4.68201032e-03 1.12231683e-02 -6.32108522e+00] [ 4.67261018e-03 9.99988710e-01 8.63640770e-04 -6.42542459e-02] [-1.12270851e-02 -8.11135419e-04 9.99936645e-01 2.28809350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328033874 meters 0.04863372308589213 Centerline is valid? [True, True] Translation: X:-6.38, Y:-0.07, Z:0.24 [[ 9.99842521e-01 -2.84076885e-03 1.75175154e-02 -6.38283502e+00] [ 2.81764834e-03 9.99995127e-01 1.34439086e-03 -6.68680463e-02] [-1.75212491e-02 -1.29482094e-03 9.99845653e-01 2.39508362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388033874 meters 0.046559517001638094 Centerline is valid? [True, True] Translation: X:-6.44, Y:-0.09, Z:0.25 [[ 9.99872946e-01 -7.65466054e-03 1.39820515e-02 -6.44047288e+00] [ 7.64031629e-03 9.99970230e-01 1.07903375e-03 -8.97487913e-02] [-1.39898949e-02 -9.72069355e-04 9.99901664e-01 2.48151617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448033874 meters 0.0468951656857473 Centerline is valid? [True, True] Translation: X:-6.50, Y:-0.09, Z:0.24 [[ 9.99781419e-01 -1.21024156e-02 1.70483553e-02 -6.50121263e+00] [ 1.20817242e-02 9.99926147e-01 1.31616681e-03 -9.46968092e-02] [-1.70630250e-02 -1.10990559e-03 9.99853800e-01 2.44654795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508033874 meters 0.0432980736141469 Centerline is valid? [True, True] Translation: X:-6.56, Y:-0.12, Z:0.25 [[ 9.99762880e-01 -1.59683271e-02 1.48052647e-02 -6.55943938e+00] [ 1.59531592e-02 9.99872088e-01 1.14204176e-03 -1.19144038e-01] [-1.48216075e-02 -9.05580217e-04 9.99889744e-01 2.48919662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568033874 meters 0.042695922758588405 Centerline is valid? [True, True] Translation: X:-6.62, Y:-0.13, Z:0.26 [[ 9.99645421e-01 -1.85819032e-02 1.90720837e-02 -6.61898235e+00] [ 1.85571531e-02 9.99826715e-01 1.47388863e-03 -1.31184134e-01] [-1.90961664e-02 -1.11944244e-03 9.99817025e-01 2.57780646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628033874 meters 0.04297078914549606 Centerline is valid? [True, True] Translation: X:-6.68, Y:-0.14, Z:0.26 [[ 9.99667909e-01 -1.87114288e-02 1.77187414e-02 -6.68154834e+00] [ 1.86901559e-02 9.99824391e-01 1.36543983e-03 -1.35376096e-01] [-1.77411792e-02 -1.03382034e-03 9.99842078e-01 2.61307209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688033874 meters 0.043557625941959874 Centerline is valid? [True, True] Translation: X:-6.74, Y:-0.14, Z:0.26 [[ 9.99749180e-01 -1.52545238e-02 1.63974310e-02 -6.74267251e+00] [ 1.52357209e-02 9.99883122e-01 1.27101737e-03 -1.37946259e-01] [-1.64149033e-02 -1.02087189e-03 9.99864745e-01 2.64638861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748033874 meters 0.046133828688359274 Centerline is valid? [True, True] Translation: X:-6.81, Y:-0.14, Z:0.26 [[ 9.99765729e-01 -1.48430409e-02 1.57534391e-02 -6.80562192e+00] [ 1.48257013e-02 9.99889353e-01 1.21690586e-03 -1.35688360e-01] [-1.57697586e-02 -9.83064996e-04 9.99875166e-01 2.58644860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8080338739999995 meters 0.04562323156087533 Centerline is valid? [True, True] Translation: X:-6.87, Y:-0.14, Z:0.26 [[ 9.99778739e-01 -1.38419811e-02 1.58389455e-02 -6.86635871e+00] [ 1.38242578e-02 9.99903686e-01 1.22791432e-03 -1.44176624e-01] [-1.58544167e-02 -1.00868096e-03 9.99873802e-01 2.62570707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868033874 meters 0.04602971928187734 Centerline is valid? [True, True] Translation: X:-6.93, Y:-0.15, Z:0.26 [[ 9.99763659e-01 -1.66005662e-02 1.40373872e-02 -6.92709362e+00] [ 1.65868301e-02 9.99861830e-01 1.09440974e-03 -1.52941093e-01] [-1.40536155e-02 -8.61315329e-04 9.99900872e-01 2.58317489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928033874 meters 0.04354605310314958 Centerline is valid? [True, True] Translation: X:-6.99, Y:-0.17, Z:0.26 [[ 9.99498304e-01 -2.81856161e-02 1.44468255e-02 -6.98640138e+00] [ 2.81722659e-02 9.99602448e-01 1.12680650e-03 -1.66517043e-01] [-1.44728418e-02 -7.19241377e-04 9.99895004e-01 2.62214120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988033874 meters 0.039322678426384504 Centerline is valid? [True, True] Translation: X:-7.04, Y:-0.19, Z:0.27 [[ 9.99166252e-01 -3.66853715e-02 1.79160421e-02 -7.04405804e+00] [ 3.66662049e-02 9.99326592e-01 1.39722587e-03 -1.89030472e-01] [-1.79552350e-02 -7.39147669e-04 9.99838519e-01 2.74344512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048033874 meters 0.0388202800744404 Centerline is valid? [True, True] Translation: X:-7.10, Y:-0.20, Z:0.28 [[ 9.98937764e-01 -4.27128811e-02 1.72902967e-02 -7.10435043e+00] [ 4.26959190e-02 9.99087203e-01 1.34914116e-03 -1.96883254e-01] [-1.73321399e-02 -6.09482948e-04 9.99849601e-01 2.81023053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108033874 meters 0.039629201832533274 Centerline is valid? [True, True] Translation: X:-7.17, Y:-0.20, Z:0.28 [[ 9.99101185e-01 -3.78978788e-02 1.89887458e-02 -7.16545473e+00] [ 3.78765537e-02 9.99281328e-01 1.48155861e-03 -1.95464108e-01] [-1.90312470e-02 -7.60998709e-04 9.99818600e-01 2.82961398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168033874 meters 0.04004333971829744 Centerline is valid? [True, True] Translation: X:-7.23, Y:-0.20, Z:0.28 [[ 9.99365259e-01 -3.26079929e-02 1.43456727e-02 -7.22539146e+00] [ 3.25952651e-02 9.99468005e-01 1.12020086e-03 -1.98460646e-01] [-1.43745684e-02 -6.51888815e-04 9.99896468e-01 2.75309792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228033873999999 meters 0.044828453897421947 Centerline is valid? [True, True] Translation: X:-7.29, Y:-0.18, Z:0.29 [[ 9.99456677e-01 -2.70220328e-02 1.88722286e-02 -7.28764361e+00] [ 2.69990308e-02 9.99634375e-01 1.47260127e-03 -1.81392422e-01] [-1.89051211e-02 -9.62269290e-04 9.99820819e-01 2.88293165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288033874 meters 0.04313311397613475 Centerline is valid? [True, True] Translation: X:-7.35, Y:-0.17, Z:0.28 [[ 9.99526382e-01 -2.50389113e-02 1.78903500e-02 -7.34948333e+00] [ 2.50179235e-02 9.99686028e-01 1.39602002e-03 -1.74349390e-01] [-1.79196877e-02 -9.47779428e-04 9.99838980e-01 2.79694609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3480338739999995 meters 0.044391135434174354 Centerline is valid? [True, True] Translation: X:-7.41, Y:-0.17, Z:0.27 [[ 9.99588686e-01 -2.46900176e-02 1.45897801e-02 -7.41203310e+00] [ 2.46760241e-02 9.99694852e-01 1.13839684e-03 -1.72313491e-01] [-1.46134351e-02 -7.77910831e-04 9.99892915e-01 2.70769340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408033874 meters 0.04224239370066222 Centerline is valid? [True, True] Translation: X:-7.47, Y:-0.17, Z:0.28 [[ 9.99416767e-01 -2.85122057e-02 1.87930700e-02 -7.47135907e+00] [ 2.84896155e-02 9.99593009e-01 1.46873742e-03 -1.74013768e-01] [-1.88272984e-02 -9.32473465e-04 9.99822316e-01 2.84672296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468033874 meters 0.042505082165274294 Centerline is valid? [True, True] Translation: X:-7.53, Y:-0.17, Z:0.28 [[ 9.99441543e-01 -3.04834650e-02 1.36879463e-02 -7.53423632e+00] [ 3.04717357e-02 9.99535062e-01 1.06470123e-03 -1.70825861e-01] [-1.37140381e-02 -6.47011153e-04 9.99905749e-01 2.77664348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528033874 meters 0.0412556628591428 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.17, Z:0.29 [[ 9.99315971e-01 -3.15043274e-02 1.93666473e-02 -7.59350903e+00] [ 3.14808415e-02 9.99503205e-01 1.51644868e-03 -1.74084601e-01] [-1.94048008e-02 -9.05733028e-04 9.99811299e-01 2.88390345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588033874 meters 0.04193372953256454 Centerline is valid? [True, True] Translation: X:-7.66, Y:-0.17, Z:0.27 [[ 9.99329952e-01 -3.53350706e-02 9.54361158e-03 -7.65701532e+00] [ 3.53295865e-02 9.99375439e-01 7.42665890e-04 -1.74833400e-01] [-9.56389316e-03 -4.04996417e-04 9.99954183e-01 2.68845764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648033874 meters 0.04134021151085697 Centerline is valid? [True, True] Translation: X:-7.72, Y:-0.17, Z:0.29 [[ 9.99234055e-01 -3.33437369e-02 2.04816829e-02 -7.71620946e+00] [ 3.33176961e-02 9.99443512e-01 1.61143659e-03 -1.66583237e-01] [-2.05240164e-02 -9.27799835e-04 9.99788930e-01 2.91548571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708033874 meters 0.04263467439479107 Centerline is valid? [True, True] Translation: X:-7.78, Y:-0.16, Z:0.27 [[ 9.99529647e-01 -2.84884746e-02 1.13530135e-02 -7.77663427e+00] [ 2.84801678e-02 9.99593959e-01 8.92719818e-04 -1.64305689e-01] [-1.13738359e-02 -5.68964196e-04 9.99935154e-01 2.72209066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7680338739999995 meters 0.04214154395766274 Centerline is valid? [True, True] Translation: X:-7.83, Y:-0.16, Z:0.29 [[ 9.99529716e-01 -2.54574373e-02 1.70958044e-02 -7.83470627e+00] [ 2.54381480e-02 9.99675493e-01 1.34485245e-03 -1.59287568e-01] [-1.71244932e-02 -9.09334385e-04 9.99852952e-01 2.88164295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828033874 meters 0.044238809551320486 Centerline is valid? [True, True] Translation: X:-7.90, Y:-0.14, Z:0.28 [[ 9.99643159e-01 -2.08901225e-02 1.66480385e-02 -7.89728743e+00] [ 2.08712475e-02 9.99781318e-01 1.30672241e-03 -1.41389325e-01] [-1.66716955e-02 -9.58790788e-04 9.99860558e-01 2.84441588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888033874 meters 0.04310271024626029 Centerline is valid? [True, True] Translation: X:-7.96, Y:-0.15, Z:0.29 [[ 9.99666462e-01 -2.11206590e-02 1.48621188e-02 -7.95798935e+00] [ 2.11057051e-02 9.99776574e-01 1.16231968e-03 -1.50537002e-01] [-1.48833472e-02 -8.48256504e-04 9.99888877e-01 2.86779507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948033874 meters 0.04226623799895407 Centerline is valid? [True, True] Translation: X:-8.02, Y:-0.15, Z:0.29 [[ 9.99569132e-01 -2.59359676e-02 1.37431992e-02 -8.01848815e+00] [ 2.59235393e-02 9.99663343e-01 1.08172557e-03 -1.50057867e-01] [-1.37666281e-02 -7.24987123e-04 9.99904973e-01 2.87031615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008033873999999 meters 0.039534924017971186 Centerline is valid? [True, True] Translation: X:-8.08, Y:-0.16, Z:0.29 [[ 9.99244577e-01 -3.58292258e-02 1.50513365e-02 -8.07740172e+00] [ 3.58154319e-02 9.99357719e-01 1.18509982e-03 -1.57655121e-01] [-1.50841305e-02 -6.45134450e-04 9.99886020e-01 2.90673274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068033874 meters 0.0393927718036293 Centerline is valid? [True, True] Translation: X:-8.14, Y:-0.16, Z:0.28 [[ 9.99093071e-01 -4.03364698e-02 1.36383256e-02 -8.13732622e+00] [ 4.03255551e-02 9.99186016e-01 1.07446367e-03 -1.55415425e-01] [-1.36705643e-02 -5.23516156e-04 9.99906416e-01 2.84804994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128033874 meters 0.040626610724401546 Centerline is valid? [True, True] Translation: X:-8.20, Y:-0.15, Z:0.29 [[ 9.99184634e-01 -3.66641780e-02 1.69058007e-02 -8.19696738e+00] [ 3.66469036e-02 9.99327391e-01 1.33057019e-03 -1.50563821e-01] [-1.69432140e-02 -7.09940034e-04 9.99856201e-01 2.93866356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188033874 meters 0.04190919377503328 Centerline is valid? [True, True] Translation: X:-8.26, Y:-0.14, Z:0.29 [[ 9.99506179e-01 -2.79582773e-02 1.43434175e-02 -8.25728797e+00] [ 2.79449590e-02 9.99608827e-01 1.12815559e-03 -1.37661182e-01] [-1.43693480e-02 -7.26772274e-04 9.99896491e-01 2.89037084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248033873999999 meters 0.044668666651804766 Centerline is valid? [True, True] Translation: X:-8.32, Y:-0.13, Z:0.29 [[ 9.99725113e-01 -1.85842098e-02 1.42942516e-02 -8.31894469e+00] [ 1.85700440e-02 9.99826931e-01 1.12312106e-03 -1.28462704e-01] [-1.43126500e-02 -8.57367446e-04 9.99897201e-01 2.90761242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308033874 meters 0.045550475804970805 Centerline is valid? [True, True] Translation: X:-8.38, Y:-0.12, Z:0.29 [[ 9.99815766e-01 -1.36827254e-02 1.34616995e-02 -8.38052812e+00] [ 1.36697192e-02 9.99906006e-01 1.05770752e-03 -1.19184430e-01] [-1.34749065e-02 -8.73495003e-04 9.99908828e-01 2.93443211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368033874 meters 0.04445117952241023 Centerline is valid? [True, True] Translation: X:-8.44, Y:-0.13, Z:0.31 [[ 9.99748667e-01 -1.48063985e-02 1.68337277e-02 -8.43906472e+00] [ 1.47862443e-02 9.99889805e-01 1.32109366e-03 -1.31826041e-01] [-1.68514334e-02 -1.07185401e-03 9.99857430e-01 3.12141815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428033874 meters 0.044862548578354894 Centerline is valid? [True, True] Translation: X:-8.50, Y:-0.12, Z:0.29 [[ 9.99829188e-01 -1.42031223e-02 1.18264732e-02 -8.50218452e+00] [ 1.41931184e-02 9.99898841e-01 9.29393699e-04 -1.18140156e-01] [-1.18384771e-02 -7.61380414e-04 9.99929633e-01 2.92466748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488033874 meters 0.0440314571894757 Centerline is valid? [True, True] Translation: X:-8.56, Y:-0.12, Z:0.30 [[ 9.99740618e-01 -1.90961632e-02 1.24109815e-02 -8.56200815e+00] [ 1.90855016e-02 9.99817378e-01 9.76924915e-04 -1.21497664e-01] [-1.24273705e-02 -7.39801712e-04 9.99922504e-01 2.97797648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548033874 meters 0.04235204414724477 Centerline is valid? [True, True] Translation: X:-8.62, Y:-0.13, Z:0.30 [[ 9.99651468e-01 -2.37629668e-02 1.15006020e-02 -8.62223912e+00] [ 2.37541260e-02 9.99717422e-01 9.04733904e-04 -1.29201660e-01] [-1.15188514e-02 -6.31231826e-04 9.99933457e-01 2.98796243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608033874 meters 0.042064663738074944 Centerline is valid? [True, True] Translation: X:-8.68, Y:-0.13, Z:0.30 [[ 9.99628454e-01 -2.35922824e-02 1.36513115e-02 -8.68214769e+00] [ 2.35797979e-02 9.99721380e-01 1.07478211e-03 -1.27274286e-01] [-1.36728645e-02 -7.52487615e-04 9.99906239e-01 3.02897337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668033874 meters 0.04393578666860155 Centerline is valid? [True, True] Translation: X:-8.74, Y:-0.13, Z:0.30 [[ 9.99763433e-01 -1.80379224e-02 1.21536375e-02 -8.74296762e+00] [ 1.80276304e-02 9.99837032e-01 9.55850714e-04 -1.29418653e-01] [-1.21688984e-02 -7.36523306e-04 9.99925685e-01 2.99766092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728033874 meters 0.04464852711534912 Centerline is valid? [True, True] Translation: X:-8.80, Y:-0.13, Z:0.31 [[ 9.99792057e-01 -1.55298704e-02 1.32161421e-02 -8.80385479e+00] [ 1.55174920e-02 9.99879057e-01 1.03864319e-03 -1.28084552e-01] [-1.32306737e-02 -8.33345831e-04 9.99912124e-01 3.09574825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788033874 meters 0.04597550949368372 Centerline is valid? [True, True] Translation: X:-8.87, Y:-0.12, Z:0.30 [[ 9.99836239e-01 -1.19015959e-02 1.36325980e-02 -8.86570202e+00] [ 1.18880727e-02 9.99928759e-01 1.07259206e-03 -1.19047587e-01] [-1.36443924e-02 -9.10351090e-04 9.99906497e-01 2.96458077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848033874 meters 0.04593082828478857 Centerline is valid? [True, True] Translation: X:-8.93, Y:-0.13, Z:0.30 [[ 9.99857121e-01 -1.06771524e-02 1.31048343e-02 -8.92567466e+00] [ 1.06645561e-02 9.99942601e-01 1.03070424e-03 -1.25198402e-01] [-1.31150871e-02 -8.90799738e-04 9.99913597e-01 2.96994918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908033874 meters 0.04422003469083593 Centerline is valid? [True, True] Translation: X:-8.99, Y:-0.13, Z:0.30 [[ 9.99781245e-01 -1.59805561e-02 1.34938349e-02 -8.98589714e+00] [ 1.59676764e-02 9.99871945e-01 1.06168839e-03 -1.31233404e-01] [-1.35090733e-02 -8.45990952e-04 9.99908390e-01 2.99886583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968033874 meters 0.04403397305514289 Centerline is valid? [True, True] Translation: X:-9.05, Y:-0.14, Z:0.30 [[ 9.99714675e-01 -2.04612453e-02 1.23250214e-02 -9.04551323e+00] [ 2.04508369e-02 9.99790389e-01 9.69954261e-04 -1.41410798e-01] [-1.23422844e-02 -7.17620507e-04 9.99923574e-01 2.99323500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028033874 meters 0.04530554342537083 Centerline is valid? [True, True] Translation: X:-9.11, Y:-0.15, Z:0.29 [[ 9.99758460e-01 -2.01067368e-02 8.87364890e-03 -9.10679062e+00] [ 2.01013308e-02 9.99797704e-01 6.97997654e-04 -1.46050561e-01] [-8.88588826e-03 -5.19456907e-04 9.99960385e-01 2.89105905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088033874 meters 0.04360645140044933 Centerline is valid? [True, True] Translation: X:-9.16, Y:-0.16, Z:0.31 [[ 9.99715250e-01 -1.84366981e-02 1.51494722e-02 -9.16277222e+00] [ 1.84207068e-02 9.99829611e-01 1.19444652e-03 -1.61093146e-01] [-1.51689126e-02 -9.15042414e-04 9.99884527e-01 3.05235953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148033874 meters 0.04404651336057394 Centerline is valid? [True, True] Translation: X:-9.22, Y:-0.16, Z:0.30 [[ 9.99812356e-01 -1.53132504e-02 1.18640912e-02 -9.22383641e+00] [ 1.53032548e-02 9.99882463e-01 9.32836890e-04 -1.61310538e-01] [-1.18769815e-02 -7.51102638e-04 9.99929184e-01 3.02046257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208033874 meters 0.046359371537584716 Centerline is valid? [True, True] Translation: X:-9.28, Y:-0.17, Z:0.29 [[ 9.99886571e-01 -1.13102944e-02 9.94598454e-03 -9.28345791e+00] [ 1.13030732e-02 9.99935812e-01 7.81955633e-04 -1.73630191e-01] [-9.95419028e-03 -6.69446745e-04 9.99950232e-01 2.94292664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268033874 meters 0.04778663189400643 Centerline is valid? [True, True] Translation: X:-9.34, Y:-0.19, Z:0.30 [[ 9.99955436e-01 -3.88770130e-03 8.60302168e-03 -9.34196110e+00] [ 3.88202360e-03 9.99992236e-01 6.76566964e-04 -1.89328373e-01] [-8.60558517e-03 -6.43139680e-04 9.99962764e-01 2.97262794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328033873999999 meters 0.04989924691237363 Centerline is valid? [True, True] Translation: X:-9.40, Y:-0.20, Z:0.30 [[ 9.99943871e-01 3.65211042e-03 9.94565697e-03 -9.40241087e+00] [-3.66006887e-03 9.99992996e-01 7.82109306e-04 -1.96273158e-01] [-9.94273096e-03 -8.18467197e-04 9.99950235e-01 3.03904033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388033874 meters 0.04972761299715321 Centerline is valid? [True, True] Translation: X:-9.46, Y:-0.22, Z:0.30 [[ 9.99940365e-01 3.95255408e-03 1.01805101e-02 -9.46300783e+00] [-3.96084820e-03 9.99991840e-01 7.94671474e-04 -2.22900857e-01] [-1.01772860e-02 -8.34947539e-04 9.99947861e-01 3.04610464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448033874 meters 0.052901228337969924 Centerline is valid? [True, True] Translation: X:-9.52, Y:-0.24, Z:0.31 [[ 9.99958927e-01 3.28154772e-03 8.44846273e-03 -9.52436832e+00] [-3.28724046e-03 9.99994379e-01 6.60020980e-04 -2.40901209e-01] [-8.44624935e-03 -6.87765999e-04 9.99964093e-01 3.05458131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508033874 meters 0.04956740587824591 Centerline is valid? [True, True] Translation: X:-9.58, Y:-0.29, Z:0.31 [[ 9.99961967e-01 1.57684199e-03 8.57773645e-03 -9.58126396e+00] [-1.58271754e-03 9.99998518e-01 6.78231444e-04 -2.86872266e-01] [-8.57665427e-03 -6.91781783e-04 9.99962981e-01 3.13368568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568033874 meters 0.04843191769084541 Centerline is valid? [True, True] Translation: X:-9.64, Y:-0.32, Z:0.32 [[ 9.99917376e-01 -1.24354154e-04 1.28540303e-02 -9.63943159e+00] [ 1.11288974e-04 9.99999477e-01 1.01713706e-03 -3.20853678e-01] [-1.28541501e-02 -1.01562250e-03 9.99916866e-01 3.21802017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628033874 meters 0.05145250697130402 Centerline is valid? [True, True] Translation: X:-9.70, Y:-0.34, Z:0.32 [[ 9.99975912e-01 2.19041977e-03 6.58615483e-03 -9.69859898e+00] [-2.19390016e-03 9.99997458e-01 5.21262547e-04 -3.44130722e-01] [-6.58499630e-03 -5.35699357e-04 9.99978175e-01 3.15542455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688033874 meters 0.053295694753123325 Centerline is valid? [True, True] Translation: X:-9.76, Y:-0.37, Z:0.32 [[ 9.99871927e-01 9.17859731e-03 1.31103896e-02 -9.75667415e+00] [-9.19298520e-03 9.99957205e-01 1.03759827e-03 -3.72146476e-01] [-1.31003049e-02 -1.15798900e-03 9.99913517e-01 3.23958360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748033873999999 meters 0.05299967010342649 Centerline is valid? [True, True] Translation: X:-9.81, Y:-0.41, Z:0.33 [[ 9.99919909e-01 1.03486387e-02 7.28571480e-03 -9.81330371e+00] [-1.03531143e-02 9.99946239e-01 5.76849793e-04 -4.14343836e-01] [-7.27935350e-03 -6.52233430e-04 9.99973292e-01 3.32708187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808033874 meters 0.05580368636708036 Centerline is valid? [True, True] Translation: X:-9.87, Y:-0.45, Z:0.32 [[ 9.99857627e-01 1.55675823e-02 6.50963357e-03 -9.87229786e+00] [-1.55712614e-02 9.99878628e-01 5.14867605e-04 -4.45652602e-01] [-6.50082824e-03 -6.16157508e-04 9.99978680e-01 3.16202826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868033874 meters 0.05430874421429811 Centerline is valid? [True, True] Translation: X:-9.93, Y:-0.48, Z:0.33 [[ 9.99677430e-01 2.19598613e-02 1.27593267e-02 -9.92871512e+00] [-2.19745214e-02 9.99758021e-01 1.00990243e-03 -4.80672253e-01] [-1.27340619e-02 -1.28995676e-03 9.99918086e-01 3.34276269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928033874 meters 0.054560410572050064 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.54, Z:0.34 [[ 9.99751385e-01 1.95103680e-02 1.07941198e-02 -9.98491417e+00] [-1.95207072e-02 9.99809089e-01 8.53315443e-04 -5.37971054e-01] [-1.07754106e-02 -1.06381215e-03 9.99941378e-01 3.35160188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988033874 meters 0.05495770868991475 Centerline is valid? [True, True] Translation: X:-10.04, Y:-0.58, Z:0.33 [[ 9.99817897e-01 1.66861156e-02 9.25998463e-03 -1.00426936e+01] [-1.66936111e-02 9.99860383e-01 7.32737085e-04 -5.78070861e-01] [-9.24646525e-03 -8.87186233e-04 9.99956857e-01 3.32759286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048033874 meters 0.05236267381454799 Centerline is valid? [True, True] Translation: X:-10.10, Y:-0.63, Z:0.34 [[ 9.99798929e-01 1.59311380e-02 1.21778859e-02 -1.00984314e+01] [-1.59440535e-02 9.99872421e-01 9.64214528e-04 -6.25419806e-01] [-1.21609713e-02 -1.15818552e-03 9.99925382e-01 3.43562881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108033874 meters 0.05174878090966469 Centerline is valid? [True, True] Translation: X:-10.16, Y:-0.67, Z:0.35 [[ 9.99791788e-01 1.58598695e-02 1.28391759e-02 -1.01580131e+01] [-1.58741447e-02 9.99873487e-01 1.01069081e-03 -6.68289691e-01] [-1.28215221e-02 -1.21429131e-03 9.99917064e-01 3.51637728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168033873999999 meters 0.05429442330382547 Centerline is valid? [True, True] Translation: X:-10.22, Y:-0.70, Z:0.36 [[ 9.99811724e-01 1.54829098e-02 1.16959547e-02 -1.02181377e+01] [-1.54947658e-02 9.99879522e-01 9.23741374e-04 -6.95304704e-01] [-1.16802434e-02 -1.10479354e-03 9.99931173e-01 3.56453981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228033874 meters 0.057062378180974795 Centerline is valid? [True, True] Translation: X:-10.28, Y:-0.71, Z:0.34 [[ 9.99761958e-01 1.78062957e-02 1.26080324e-02 -1.02782456e+01] [-1.78203588e-02 9.99840701e-01 1.00393446e-03 -7.14062017e-01] [-1.25881476e-02 -1.22837514e-03 9.99920012e-01 3.44851733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288033874 meters 0.05926829831661653 Centerline is valid? [True, True] Translation: X:-10.34, Y:-0.74, Z:0.35 [[ 9.99623221e-01 2.54954286e-02 1.01685454e-02 -1.03371317e+01] [-2.55049763e-02 9.99674367e-01 8.10358788e-04 -7.36336574e-01] [-1.01445738e-02 -1.06940197e-03 9.99947971e-01 3.49591327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348033874 meters 0.05424923252559617 Centerline is valid? [True, True] Translation: X:-10.39, Y:-0.78, Z:0.36 [[ 9.99562211e-01 2.53424111e-02 1.52692069e-02 -1.03948572e+01] [-2.53638695e-02 9.99677549e-01 1.21329478e-03 -7.77932389e-01] [-1.52335356e-02 -1.60004979e-03 9.99882683e-01 3.61200522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408033874 meters 0.052956097139927674 Centerline is valid? [True, True] Translation: X:-10.45, Y:-0.81, Z:0.38 [[ 9.99673289e-01 2.03829984e-02 1.54223253e-02 -1.04507106e+01] [-2.04044012e-02 9.99791050e-01 1.23168981e-03 -8.14107437e-01] [-1.53939973e-02 -1.54597072e-03 9.99880310e-01 3.79890022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468033874 meters 0.0541696475289511 Centerline is valid? [True, True] Translation: X:-10.51, Y:-0.84, Z:0.37 [[ 9.99794462e-01 1.45074377e-02 1.41622354e-02 -1.05101954e+01] [-1.45249246e-02 9.99893866e-01 1.13267536e-03 -8.36192121e-01] [-1.41443001e-02 -1.33814795e-03 9.99899069e-01 3.66282544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528033874 meters 0.05039031128649785 Centerline is valid? [True, True] Translation: X:-10.57, Y:-0.86, Z:0.37 [[ 9.99830506e-01 1.33574772e-02 1.26703204e-02 -1.05700703e+01] [-1.33713261e-02 9.99910091e-01 1.00893362e-03 -8.58680098e-01] [-1.26557044e-02 -1.17818160e-03 9.99919219e-01 3.67298309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588033873999999 meters 0.05336632493305982 Centerline is valid? [True, True] Translation: X:-10.63, Y:-0.88, Z:0.37 [[ 9.99841071e-01 1.17137149e-02 1.34395289e-02 -1.06291551e+01] [-1.17292485e-02 9.99930629e-01 1.07757414e-03 -8.77258684e-01] [-1.34259742e-02 -1.23503845e-03 9.99909105e-01 3.73933332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648033874 meters 0.05002557154897576 Centerline is valid? [True, True] Translation: X:-10.69, Y:-0.90, Z:0.37 [[ 9.99849811e-01 1.42426371e-02 9.87434396e-03 -1.06872549e+01] [-1.42511487e-02 9.99898133e-01 7.92157715e-04 -9.04240015e-01] [-9.86205568e-03 -9.32759486e-04 9.99950934e-01 3.74877298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708033874 meters 0.05472148764464589 Centerline is valid? [True, True] Translation: X:-10.75, Y:-0.92, Z:0.38 [[ 9.99814874e-01 1.60310034e-02 1.06406851e-02 -1.07468299e+01] [-1.60409832e-02 9.99870971e-01 8.53202797e-04 -9.23904502e-01] [-1.06256345e-02 -1.02373190e-03 9.99943022e-01 3.76254769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768033874 meters 0.04867213040142467 Centerline is valid? [True, True] Translation: X:-10.80, Y:-0.96, Z:0.39 [[ 9.99810600e-01 1.36246937e-02 1.38971889e-02 -1.08029304e+01] [-1.36414818e-02 9.99906330e-01 1.11393959e-03 -9.59859905e-01] [-1.38807101e-02 -1.30330686e-03 9.99902809e-01 3.87761529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828033873999999 meters 0.05119392939007667 Centerline is valid? [True, True] Translation: X:-10.86, Y:-0.97, Z:0.39 [[ 9.99835472e-01 1.11892880e-02 1.42768422e-02 -1.08632495e+01] [-1.12067860e-02 9.99936545e-01 1.14620553e-03 -9.65534300e-01] [-1.42631111e-02 -1.30601446e-03 9.99897424e-01 3.91526802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888033874 meters 0.053893052363778615 Centerline is valid? [True, True] Translation: X:-10.92, Y:-0.97, Z:0.39 [[ 9.99844998e-01 1.39678404e-02 1.07181916e-02 -1.09247124e+01] [-1.39778580e-02 9.99901935e-01 8.60294565e-04 -9.66653467e-01] [-1.07051240e-02 -1.00997858e-03 9.99942188e-01 3.85460569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948033874 meters 0.05537043998586704 Centerline is valid? [True, True] Translation: X:-10.98, Y:-0.97, Z:0.39 [[ 9.99724922e-01 2.19016406e-02 8.39035274e-03 -1.09842113e+01] [-2.19080599e-02 9.99759763e-01 6.73929852e-04 -9.69640725e-01] [-8.37357689e-03 -8.57560820e-04 9.99964573e-01 3.91669323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008033874 meters 0.05510279175464117 Centerline is valid? [True, True] Translation: X:-11.04, Y:-0.98, Z:0.39 [[ 9.99695219e-01 2.32303500e-02 8.35580083e-03 -1.10445223e+01] [-2.32367547e-02 9.99729766e-01 6.70219388e-04 -9.82596528e-01] [-8.33797338e-03 -8.64176812e-04 9.99964865e-01 3.87553705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068033874 meters 0.053398378250839276 Centerline is valid? [True, True] Translation: X:-11.10, Y:-0.99, Z:0.40 [[ 9.99785391e-01 1.73544304e-02 1.13135085e-02 -1.11040817e+01] [-1.73658165e-02 9.99848790e-01 9.08950382e-04 -9.91011719e-01] [-1.12960235e-02 -1.10522363e-03 9.99935587e-01 3.97675849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128033874 meters 0.05293644577048578 Centerline is valid? [True, True] Translation: X:-11.16, Y:-0.99, Z:0.40 [[ 9.99914845e-01 5.86640314e-03 1.16571032e-02 -1.11640401e+01] [-5.87771509e-03 9.99982288e-01 9.36368224e-04 -9.94102569e-01] [-1.16514036e-02 -1.00480562e-03 9.99931615e-01 4.00519802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188033874 meters 0.0464900398283719 Centerline is valid? [True, True] Translation: X:-11.22, Y:-1.01, Z:0.40 [[ 9.99936475e-01 -1.78721483e-03 1.11288696e-02 -1.12219938e+01] [ 1.77738426e-03 9.99998022e-01 8.93166981e-04 -1.01185052e+00] [-1.11304438e-02 -8.73329965e-04 9.99937673e-01 4.01919035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248033873999999 meters 0.049278162241790206 Centerline is valid? [True, True] Translation: X:-11.29, Y:-1.00, Z:0.41 [[ 9.99939595e-01 -2.94712404e-03 1.05886771e-02 -1.12854977e+01] [ 2.93833333e-03 9.99995326e-01 8.45659619e-04 -9.99237411e-01] [-1.05911198e-02 -8.14495474e-04 9.99943581e-01 4.11618094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308033874 meters 0.049999782014832815 Centerline is valid? [True, True] Translation: X:-11.35, Y:-1.00, Z:0.39 [[ 9.99925231e-01 8.54285904e-03 8.74937362e-03 -1.13460012e+01] [-8.54935942e-03 9.99963204e-01 7.05821263e-04 -9.96672366e-01] [-8.74302195e-03 -7.80570029e-04 9.99961474e-01 3.94501146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368033874 meters 0.05651491028552946 Centerline is valid? [True, True] Translation: X:-11.41, Y:-0.96, Z:0.39 [[ 9.99909751e-01 1.22165242e-02 5.58985579e-03 -1.14099911e+01] [-1.22192301e-02 9.99925241e-01 4.50181393e-04 -9.60030018e-01] [-5.58393825e-03 -5.18444499e-04 9.99984275e-01 3.89999015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428033874 meters 0.05217586199211265 Centerline is valid? [True, True] Translation: X:-11.47, Y:-0.96, Z:0.40 [[ 9.99850887e-01 1.19206580e-02 1.24940938e-02 -1.14701421e+01] [-1.19341645e-02 9.99928278e-01 1.00703012e-03 -9.62627996e-01] [-1.24811932e-02 -1.15598653e-03 9.99921439e-01 3.98293267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488033874 meters 0.0503312622926868 Centerline is valid? [True, True] Translation: X:-11.53, Y:-0.96, Z:0.39 [[ 9.99937908e-01 6.31776880e-03 9.17962888e-03 -1.15307722e+01] [-6.32482777e-03 9.99979724e-01 7.40154509e-04 -9.62755078e-01] [-9.17476663e-03 -7.98168123e-04 9.99957592e-01 3.90359903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548033874 meters 0.04827742457785729 Centerline is valid? [True, True] Translation: X:-11.59, Y:-0.96, Z:0.39 [[ 9.99953867e-01 1.77302294e-03 9.44037619e-03 -1.15921921e+01] [-1.78028644e-03 9.99998126e-01 7.61059983e-04 -9.59070892e-01] [-9.43900912e-03 -7.77831447e-04 9.99955149e-01 3.88668721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608033874 meters 0.051521515100958266 Centerline is valid? [True, True] Translation: X:-11.66, Y:-0.94, Z:0.38 [[ 9.99931974e-01 3.86059961e-03 1.10065186e-02 -1.16560836e+01] [-3.87059066e-03 9.99992116e-01 8.86581718e-04 -9.36727712e-01] [-1.10030091e-02 -9.29123135e-04 9.99939033e-01 3.84475401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668033873999999 meters 0.048842733353675755 Centerline is valid? [True, True] Translation: X:-11.72, Y:-0.93, Z:0.39 [[ 9.99887437e-01 4.82424463e-03 1.42070358e-02 -1.17180282e+01] [-4.84095764e-03 9.99987630e-01 1.14223508e-03 -9.30461326e-01] [-1.42013497e-02 -1.21088217e-03 9.99898423e-01 3.88743860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728033874 meters 0.05554534710912119 Centerline is valid? [True, True] Translation: X:-11.78, Y:-0.88, Z:0.37 [[ 9.99918811e-01 1.09301114e-02 6.55015418e-03 -1.17841847e+01] [-1.09338143e-02 9.99940084e-01 5.29774937e-04 -8.78733765e-01] [-6.54397122e-03 -6.01350095e-04 9.99978407e-01 3.65800565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788033874 meters 0.05250870122208744 Centerline is valid? [True, True] Translation: X:-11.85, Y:-0.86, Z:0.37 [[ 9.99831418e-01 1.25295554e-02 1.34218388e-02 -1.18469755e+01] [-1.25451877e-02 9.99920722e-01 1.08112707e-03 -8.63859440e-01] [-1.34072287e-02 -1.24932430e-03 9.99909339e-01 3.73702367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848033874 meters 0.053355151785592095 Centerline is valid? [True, True] Translation: X:-11.91, Y:-0.86, Z:0.36 [[ 9.99903846e-01 1.20570789e-02 6.85027800e-03 -1.19096288e+01] [-1.20611629e-02 9.99927107e-01 5.55177894e-04 -8.59358975e-01] [-6.84308484e-03 -6.37746830e-04 9.99976382e-01 3.56541597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908033874 meters 0.05224304815462024 Centerline is valid? [True, True] Translation: X:-11.97, Y:-0.85, Z:0.36 [[ 9.99902956e-01 6.77322184e-03 1.21738653e-02 -1.19710320e+01] [-6.78575566e-03 9.99976488e-01 9.88555786e-04 -8.50242455e-01] [-1.21668833e-02 -1.07106873e-03 9.99925407e-01 3.64512264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968033874 meters 0.04877796238546472 Centerline is valid? [True, True] Translation: X:-12.03, Y:-0.84, Z:0.36 [[ 9.99980713e-01 3.69594023e-03 4.99144477e-03 -1.20332296e+01] [-3.69799194e-03 9.99993082e-01 4.01880140e-04 -8.39003238e-01] [-4.98992491e-03 -4.20330711e-04 9.99987462e-01 3.59674509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028033874 meters 0.051267778700331036 Centerline is valid? [True, True] Translation: X:-12.10, Y:-0.82, Z:0.36 [[ 9.99934511e-01 5.30235494e-03 1.01419621e-02 -1.20972254e+01] [-5.31093219e-03 9.99985562e-01 8.18973183e-04 -8.19630525e-01] [-1.01374732e-02 -8.72782823e-04 9.99948234e-01 3.63767935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088033873999999 meters 0.05264495048538082 Centerline is valid? [True, True] Translation: X:-12.16, Y:-0.81, Z:0.37 [[ 9.99863652e-01 1.15371600e-02 1.18140119e-02 -1.21591329e+01] [-1.15493445e-02 9.99932840e-01 9.63654836e-04 -8.07432317e-01] [-1.18021007e-02 -1.09996754e-03 9.99929748e-01 3.66326298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148033874 meters 0.05669698063996318 Centerline is valid? [True, True] Translation: X:-12.22, Y:-0.79, Z:0.35 [[ 9.99715183e-01 2.27302670e-02 7.27233444e-03 -1.22218334e+01] [-2.27351762e-02 9.99741347e-01 5.93081439e-04 -7.85567266e-01] [-7.25697252e-03 -7.58250324e-04 9.99973380e-01 3.54720929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208033874 meters 0.0614333635283495 Centerline is valid? [True, True] Translation: X:-12.29, Y:-0.76, Z:0.35 [[ 9.99492643e-01 3.18300865e-02 1.14138198e-03 -1.22853031e+01] [-3.18302128e-02 9.99493286e-01 9.27208809e-05 -7.64062812e-01] [-1.13785232e-03 -1.29004270e-04 9.99999344e-01 3.46590647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268033874 meters 0.05894918046673676 Centerline is valid? [True, True] Translation: X:-12.34, Y:-0.77, Z:0.36 [[ 9.99451492e-01 2.95041402e-02 1.50406405e-02 -1.23443914e+01] [-2.95259072e-02 9.99563262e-01 1.22716676e-03 -7.73161567e-01] [-1.49978652e-02 -1.67058221e-03 9.99886130e-01 3.63776707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328033873999999 meters 0.06234926703405318 Centerline is valid? [True, True] Translation: X:-12.41, Y:-0.76, Z:0.35 [[ 9.99674655e-01 2.51330339e-02 4.34915630e-03 -1.24071080e+01] [-2.51348107e-02 9.99684008e-01 3.54354874e-04 -7.59314459e-01] [-4.33887598e-03 -4.63554807e-04 9.99990480e-01 3.49164284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388033874 meters 0.05500238062972684 Centerline is valid? [True, True] Translation: X:-12.46, Y:-0.78, Z:0.36 [[ 9.99827410e-01 1.55620028e-02 1.01476419e-02 -1.24641333e+01] [-1.55711931e-02 9.99878419e-01 8.27277000e-04 -7.82016641e-01] [-1.01335340e-02 -9.85145111e-04 9.99948169e-01 3.63569895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448033874 meters 0.05288535115518074 Centerline is valid? [True, True] Translation: X:-12.52, Y:-0.79, Z:0.37 [[ 9.99844458e-01 1.38177107e-02 1.09603961e-02 -1.25243331e+01] [-1.38283325e-02 9.99903984e-01 8.93911008e-04 -7.87086893e-01] [-1.09469919e-02 -1.04533597e-03 9.99939533e-01 3.67981975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508033874 meters 0.053473607016431904 Centerline is valid? [True, True] Translation: X:-12.59, Y:-0.77, Z:0.36 [[ 9.99849720e-01 1.51061544e-02 8.50535490e-03 -1.25870780e+01] [-1.51126046e-02 9.99885557e-01 6.94614436e-04 -7.68231034e-01] [-8.49388857e-03 -8.23048115e-04 9.99963588e-01 3.55369289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568033874 meters 0.05750220839280251 Centerline is valid? [True, True] Translation: X:-12.65, Y:-0.76, Z:0.34 [[ 9.99828137e-01 1.84032791e-02 2.23959872e-03 -1.26491123e+01] [-1.84037340e-02 9.99830620e-01 1.82669959e-04 -7.61109594e-01] [-2.23585765e-03 -2.23855544e-04 9.99997475e-01 3.40020396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628033874 meters 0.057071281191399585 Centerline is valid? [True, True] Translation: X:-12.71, Y:-0.75, Z:0.35 [[ 9.99666697e-01 2.49011163e-02 6.81394082e-03 -1.27095355e+01] [-2.49054846e-02 9.99689655e-01 5.56965146e-04 -7.48011950e-01] [-6.79795710e-03 -7.26484006e-04 9.99976630e-01 3.46747949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688033874 meters 0.06116735974316908 Centerline is valid? [True, True] Translation: X:-12.77, Y:-0.74, Z:0.33 [[ 9.99420999e-01 3.37702362e-02 4.15190110e-03 -1.27715542e+01] [-3.37719321e-02 9.99429508e-01 3.39015898e-04 -7.39474382e-01] [-4.13808383e-03 -4.79037329e-04 9.99991323e-01 3.34527006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748033873999999 meters 0.0624172954510986 Centerline is valid? [True, True] Translation: X:-12.83, Y:-0.74, Z:0.34 [[ 9.99260784e-01 3.78770336e-02 6.57383987e-03 -1.28328216e+01] [-3.78813703e-02 9.99282099e-01 5.36383034e-04 -7.38985824e-01] [-6.54880391e-03 -7.85012594e-04 9.99978248e-01 3.38218660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808033874 meters 0.06121779160746075 Centerline is valid? [True, True] Translation: X:-12.89, Y:-0.74, Z:0.33 [[ 9.99468379e-01 3.21483535e-02 5.42610623e-03 -1.28930797e+01] [-3.21512242e-02 9.99482918e-01 4.42639214e-04 -7.44712075e-01] [-5.40907036e-03 -6.16859856e-04 9.99985181e-01 3.33428949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868033874 meters 0.062350553015753915 Centerline is valid? [True, True] Translation: X:-12.95, Y:-0.74, Z:0.34 [[ 9.99648516e-01 2.48769734e-02 9.16414604e-03 -1.29548027e+01] [-2.48848663e-02 9.99690044e-01 7.48244707e-04 -7.38481768e-01] [-9.14269149e-03 -9.76030259e-04 9.99957728e-01 3.36916887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928033874 meters 0.05448407671274058 Centerline is valid? [True, True] Translation: X:-13.01, Y:-0.75, Z:0.33 [[ 9.99677524e-01 2.51127101e-02 3.76818373e-03 -1.30141163e+01] [-2.51140470e-02 9.99684545e-01 3.07900877e-04 -7.52570698e-01] [-3.75926281e-03 -4.02435930e-04 9.99992853e-01 3.33363624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988033874 meters 0.05710731290912736 Centerline is valid? [True, True] Translation: X:-13.07, Y:-0.77, Z:0.33 [[ 9.99739108e-01 2.18693770e-02 6.59135096e-03 -1.30740048e+01] [-2.18733942e-02 9.99760604e-01 5.37978565e-04 -7.65012399e-01] [-6.57800776e-03 -6.82013429e-04 9.99978132e-01 3.26932189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048033874 meters 0.05830674123432634 Centerline is valid? [True, True] Translation: X:-13.14, Y:-0.76, Z:0.33 [[ 9.99727854e-01 2.23588290e-02 6.65581188e-03 -1.31372062e+01] [-2.23628972e-02 9.99749775e-01 5.37411099e-04 -7.58718811e-01] [-6.64213055e-03 -6.86108082e-04 9.99977705e-01 3.29642772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108033874 meters 0.06265039384139859 Centerline is valid? [True, True] Translation: X:-13.20, Y:-0.76, Z:0.32 [[ 9.99507324e-01 3.13848275e-02 -3.18113274e-04 -1.31985388e+01] [-3.13848375e-02 9.99507374e-01 -2.63854995e-05 -7.56432866e-01] [ 3.17128458e-04 3.63564334e-05 9.99999949e-01 3.17836248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168033873999999 meters 0.06106481068963506 Centerline is valid? [True, True] Translation: X:-13.26, Y:-0.78, Z:0.33 [[ 9.99302836e-01 3.63819935e-02 8.37812991e-03 -1.32562732e+01] [-3.63890161e-02 9.99337464e-01 6.87247438e-04 -7.75428747e-01] [-8.34757566e-03 -9.91640218e-04 9.99964667e-01 3.28958119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228033874 meters 0.0642546281785325 Centerline is valid? [True, True] Translation: X:-13.32, Y:-0.76, Z:0.32 [[ 9.99338465e-01 3.62674538e-02 2.70259988e-03 -1.33186245e+01] [-3.62681822e-02 9.99342069e-01 2.20969831e-04 -7.63262015e-01] [-2.69280774e-03 -3.18842036e-04 9.99996324e-01 3.17466395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288033874 meters 0.06145000496543141 Centerline is valid? [True, True] Translation: X:-13.38, Y:-0.79, Z:0.32 [[ 9.99414107e-01 3.37276495e-02 5.82132415e-03 -1.33767609e+01] [-3.37309926e-02 9.99430834e-01 4.77031667e-04 -7.86816108e-01] [-5.80192170e-03 -6.73111219e-04 9.99982942e-01 3.22187846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348033874 meters 0.06018096237547916 Centerline is valid? [True, True] Translation: X:-13.44, Y:-0.79, Z:0.31 [[ 9.99661200e-01 2.57648018e-02 3.69599668e-03 -1.34378097e+01] [-2.57660952e-02 9.99667953e-01 3.02750571e-04 -7.91589416e-01] [-3.68696913e-03 -3.97879401e-04 9.99993124e-01 3.12105854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408033874 meters 0.06164220466989242 Centerline is valid? [True, True] Translation: X:-13.50, Y:-0.80, Z:0.31 [[ 9.99674335e-01 2.51952968e-02 4.05223565e-03 -1.34997780e+01] [-2.51968215e-02 9.99682457e-01 3.25639307e-04 -7.95504781e-01] [-4.04274431e-03 -4.27636717e-04 9.99991737e-01 3.06218410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468033874 meters 0.05828404913842076 Centerline is valid? [True, True] Translation: X:-13.56, Y:-0.81, Z:0.31 [[ 9.99663972e-01 2.52553963e-02 5.84018076e-03 -1.35594314e+01] [-2.52586062e-02 9.99680837e-01 4.76506057e-04 -8.14839447e-01] [-5.82628244e-03 -6.23860764e-04 9.99982832e-01 3.08794460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528033874 meters 0.061235764369658795 Centerline is valid? [True, True] Translation: X:-13.62, Y:-0.80, Z:0.30 [[ 9.99440802e-01 3.33062919e-02 2.96229371e-03 -1.36211648e+01] [-3.33071583e-02 9.99445133e-01 2.43608721e-04 -8.03481860e-01] [-2.95253633e-03 -3.42138081e-04 9.99995583e-01 3.02488403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588033873999999 meters 0.06421461164392174 Centerline is valid? [True, True] Translation: X:-13.68, Y:-0.80, Z:0.30 [[ 9.99230937e-01 3.89969134e-02 4.09568833e-03 -1.36826075e+01] [-3.89986172e-02 9.99239208e-01 3.36916442e-04 -8.02090608e-01] [-4.07943366e-03 -4.96383513e-04 9.99991556e-01 3.02635750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648033874 meters 0.06417441797412066 Centerline is valid? [True, True] Translation: X:-13.74, Y:-0.80, Z:0.30 [[ 9.99123917e-01 4.17684145e-02 2.60729051e-03 -1.37438911e+01] [-4.17691136e-02 9.99127267e-01 2.14231183e-04 -8.01447064e-01] [-2.59606695e-03 -3.22947713e-04 9.99996578e-01 2.95205701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708033874 meters 0.06524288128352845 Centerline is valid? [True, True] Translation: X:-13.80, Y:-0.81, Z:0.29 [[ 9.99044380e-01 4.36925455e-02 1.13521269e-03 -1.38043959e+01] [-4.36926794e-02 9.99045015e-01 9.34570459e-05 -8.09082712e-01] [-1.13004520e-03 -1.42968220e-04 9.99999351e-01 2.89029417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768033874 meters 0.06266839855090461 Centerline is valid? [True, True] Translation: X:-13.86, Y:-0.82, Z:0.30 [[ 9.99259442e-01 3.78706131e-02 6.81054126e-03 -1.38640846e+01] [-3.78753001e-02 9.99282316e-01 5.60505089e-04 -8.21531471e-01] [-6.78442677e-03 -8.18041296e-04 9.99976651e-01 2.98428326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828033873999999 meters 0.061794028206468544 Centerline is valid? [True, True] Translation: X:-13.93, Y:-0.82, Z:0.29 [[ 9.99541376e-01 3.02668794e-02 9.77075873e-04 -1.39253278e+01] [-3.02669722e-02 9.99541847e-01 8.03287166e-05 -8.20063860e-01] [-9.74196923e-04 -1.09865004e-04 9.99999519e-01 2.94690609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888033874 meters 0.06342873768070142 Centerline is valid? [True, True] Translation: X:-13.99, Y:-0.83, Z:0.28 [[ 9.99656804e-01 2.61586628e-02 1.41350158e-03 -1.39854379e+01] [-2.61588529e-02 9.99657792e-01 1.16121764e-04 -8.31203561e-01] [-1.40998028e-03 -1.53057492e-04 9.99998994e-01 2.84058629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948033874 meters 0.06013668324197021 Centerline is valid? [True, True] Translation: X:-14.05, Y:-0.85, Z:0.29 [[ 9.99675258e-01 2.54379448e-02 1.51286011e-03 -1.40455100e+01] [-2.54381565e-02 9.99676390e-01 1.20878193e-04 -8.45795787e-01] [-1.50929564e-03 -1.59323311e-04 9.99998848e-01 2.86630886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008033873999999 meters 0.06140242902775138 Centerline is valid? [True, True] Translation: X:-14.11, Y:-0.84, Z:0.28 [[ 9.99606293e-01 2.79892438e-02 1.96485524e-03 -1.41073718e+01] [-2.79896160e-02 9.99608201e-01 1.62166866e-04 -8.40176414e-01] [-1.95954649e-03 -2.17098564e-04 9.99998057e-01 2.83312217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068033874 meters 0.0625011183330422 Centerline is valid? [True, True] Translation: X:-14.17, Y:-0.85, Z:0.28 [[ 9.99429955e-01 3.37330681e-02 1.35805109e-03 -1.41673428e+01] [-3.37332504e-02 9.99430866e-01 1.11548270e-04 -8.52852438e-01] [-1.35351531e-03 -1.57296160e-04 9.99999072e-01 2.81013881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128033874 meters 0.06649110685981034 Centerline is valid? [True, True] Translation: X:-14.23, Y:-0.85, Z:0.27 [[ 9.99358423e-01 3.57428147e-02 -2.27886927e-03 -1.42294392e+01] [-3.57433359e-02 9.99360985e-01 -1.88409889e-04 -8.46591072e-01] [ 2.27067873e-03 2.69743399e-04 9.99997386e-01 2.72464487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188033874 meters 0.06166988423113645 Centerline is valid? [True, True] Translation: X:-14.29, Y:-0.87, Z:0.28 [[ 9.99353659e-01 3.59466963e-02 -3.14269549e-04 -1.42885059e+01] [-3.59467075e-02 9.99353708e-01 -3.00020059e-05 -8.67314356e-01] [ 3.12987966e-04 4.12795699e-05 9.99999950e-01 2.77652954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248033873999999 meters 0.06125553058477992 Centerline is valid? [True, True] Translation: X:-14.35, Y:-0.88, Z:0.27 [[ 9.99419051e-01 3.39963556e-02 -2.41009985e-03 -1.43492189e+01] [-3.39969349e-02 9.99421917e-01 -1.99813766e-04 -8.76356879e-01] [ 2.40191367e-03 2.81633692e-04 9.99997076e-01 2.74596939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308033874 meters 0.06241444854887871 Centerline is valid? [True, True] Translation: X:-14.41, Y:-0.89, Z:0.28 [[ 9.99610497e-01 2.78512726e-02 1.77768053e-03 -1.44087301e+01] [-2.78515774e-02 9.99612059e-01 1.46890979e-04 -8.94474080e-01] [-1.77289979e-03 -1.96344971e-04 9.99998409e-01 2.80917278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368033874 meters 0.060143503144668806 Centerline is valid? [True, True] Translation: X:-14.47, Y:-0.90, Z:0.29 [[ 9.99643329e-01 2.67004198e-02 5.50585366e-04 -1.44691322e+01] [-2.67004449e-02 9.99643479e-01 3.81561594e-05 -9.04362682e-01] [-5.49370285e-04 -5.28434244e-05 9.99999848e-01 2.90756153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428033873999999 meters 0.06497853237091482 Centerline is valid? [True, True] Translation: X:-14.53, Y:-0.90, Z:0.28 [[ 9.99584042e-01 2.87477247e-02 -2.30477815e-03 -1.45307973e+01] [-2.87482412e-02 9.99586666e-01 -1.91243375e-04 -9.01597314e-01] [ 2.29832769e-03 2.57422144e-04 9.99997326e-01 2.78118264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488033874 meters 0.06028562755911458 Centerline is valid? [True, True] Translation: X:-14.59, Y:-0.91, Z:0.29 [[ 9.99594616e-01 2.84166460e-02 1.75995197e-03 -1.45907207e+01] [-2.84169454e-02 9.99596146e-01 1.45336436e-04 -9.08438711e-01] [-1.75511123e-03 -1.95289978e-04 9.99998441e-01 2.85982506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548033874 meters 0.06380579711773236 Centerline is valid? [True, True] Translation: X:-14.65, Y:-0.90, Z:0.27 [[ 9.99554691e-01 2.97212513e-02 -2.65839482e-03 -1.46529751e+01] [-2.97219412e-02 9.99558181e-01 -2.20383826e-04 -8.96427351e-01] [ 2.65067021e-03 2.99298341e-04 9.99996442e-01 2.74098802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608033874 meters 0.06568248213615877 Centerline is valid? [True, True] Translation: X:-14.71, Y:-0.90, Z:0.27 [[ 9.99506002e-01 3.09244506e-02 -5.60628180e-03 -1.47132790e+01] [-3.09275383e-02 9.99521521e-01 -4.64865340e-04 -9.03726876e-01] [ 5.58922361e-03 6.38024193e-04 9.99984177e-01 2.66230853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668033873999999 meters 0.06257044056047947 Centerline is valid? [True, True] Translation: X:-14.77, Y:-0.91, Z:0.27 [[ 9.99643138e-01 2.67058866e-02 -6.26999164e-04 -1.47732427e+01] [-2.67059243e-02 9.99643332e-01 -5.19061039e-05 -9.06722906e-01] [ 6.25389335e-04 6.86321728e-05 9.99999802e-01 2.70501491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728033874 meters 0.0659400290271001 Centerline is valid? [True, True] Translation: X:-14.83, Y:-0.90, Z:0.26 [[ 9.99544327e-01 2.96882347e-02 -5.45416295e-03 -1.48345241e+01] [-2.96911386e-02 9.99559019e-01 -4.52212098e-04 -9.02833915e-01] [ 5.43833239e-03 6.13946345e-04 9.99985024e-01 2.60553056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788033874 meters 0.06488548481410136 Centerline is valid? [True, True] Translation: X:-14.90, Y:-0.91, Z:0.26 [[ 9.99478999e-01 3.21340631e-02 -3.02204515e-03 -1.48950451e+01] [-3.21349674e-02 9.99483507e-01 -2.51147771e-04 -9.09525980e-01] [ 3.01241388e-03 3.48130246e-04 9.99995402e-01 2.62802508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848033874 meters 0.06168461652864706 Centerline is valid? [True, True] Translation: X:-14.96, Y:-0.91, Z:0.27 [[ 9.99487210e-01 3.18662674e-02 -3.13964808e-03 -1.49573852e+01] [-3.18672699e-02 9.99492073e-01 -2.69778401e-04 -9.14781938e-01] [ 3.12945654e-03 3.69692074e-04 9.99995035e-01 2.65061709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908033874 meters 0.06462150560953683 Centerline is valid? [True, True] Translation: X:-15.02, Y:-0.92, Z:0.26 [[ 9.99629590e-01 2.71044132e-02 -2.45628043e-03 -1.50179333e+01] [-2.71049962e-02 9.99632571e-01 -2.04332783e-04 -9.16279434e-01] [ 2.44983960e-03 2.70834568e-04 9.99996962e-01 2.59210183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968033874 meters 0.060782370038547646 Centerline is valid? [True, True] Translation: X:-15.08, Y:-0.93, Z:0.26 [[ 9.99725773e-01 2.34164871e-02 2.18522501e-04 -1.50767759e+01] [-2.34164915e-02 9.99725796e-01 1.76417476e-05 -9.28455781e-01] [-2.18049473e-04 -2.27539400e-05 9.99999976e-01 2.63666959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028033874 meters 0.06112324222365756 Centerline is valid? [True, True] Translation: X:-15.14, Y:-0.92, Z:0.25 [[ 9.99675317e-01 2.45692748e-02 -6.75359224e-03 -1.51392429e+01] [-2.45736279e-02 9.99697865e-01 -5.62311358e-04 -9.17484404e-01] [ 6.73773615e-03 7.28089047e-04 9.99977036e-01 2.52007030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088033873999999 meters 0.0622274665006611 Centerline is valid? [True, True] Translation: X:-15.20, Y:-0.92, Z:0.26 [[ 9.99583980e-01 2.88010543e-02 -1.53817042e-03 -1.51996126e+01] [-2.88012850e-02 9.99585149e-01 -1.28048471e-04 -9.16487435e-01] [ 1.53384437e-03 1.72296484e-04 9.99998809e-01 2.58630909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148033874 meters 0.06669565699867744 Centerline is valid? [True, True] Translation: X:-15.26, Y:-0.89, Z:0.25 [[ 9.99384414e-01 3.49744313e-02 -2.75351153e-03 -1.52631051e+01] [-3.49751937e-02 9.99388154e-01 -2.29179073e-04 -8.92727594e-01] [ 2.74381140e-03 3.25342592e-04 9.99996183e-01 2.49880516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208033874 meters 0.06569828562799997 Centerline is valid? [True, True] Translation: X:-15.32, Y:-0.91, Z:0.25 [[ 9.99317400e-01 3.68671100e-02 -2.35603523e-03 -1.53213180e+01] [-3.68676787e-02 9.99320136e-01 -1.98400747e-04 -9.11609060e-01] [ 2.34711899e-03 2.85126868e-04 9.99997205e-01 2.47685968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268033874 meters 0.06190107889688649 Centerline is valid? [True, True] Translation: X:-15.38, Y:-0.90, Z:0.24 [[ 9.99464655e-01 3.22237160e-02 -5.65991205e-03 -1.53819150e+01] [-3.22268918e-02 9.99480468e-01 -4.70774183e-04 -9.00703223e-01] [ 5.64180145e-03 6.52923530e-04 9.99983872e-01 2.41223840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328033873999999 meters 0.06556784869326211 Centerline is valid? [True, True] Translation: X:-15.44, Y:-0.90, Z:0.24 [[ 9.99713451e-01 2.38705067e-02 -1.79321196e-03 -1.54428129e+01] [-2.38708126e-02 9.99715040e-01 -1.49385893e-04 -8.98066630e-01] [ 1.78913505e-03 1.92148513e-04 9.99998381e-01 2.43222320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388033874 meters 0.05864725232442793 Centerline is valid? [True, True] Translation: X:-15.50, Y:-0.90, Z:0.24 [[ 9.99767215e-01 2.15478939e-02 -1.09746818e-03 -1.55018293e+01] [-2.15480075e-02 9.99767811e-01 -9.17571930e-05 -9.04044717e-01] [ 1.09523619e-03 1.15384086e-04 9.99999394e-01 2.44956956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448033874 meters 0.0624143140714499 Centerline is valid? [True, True] Translation: X:-15.56, Y:-0.91, Z:0.24 [[ 9.99747055e-01 2.24091573e-02 -1.91215579e-03 -1.55641615e+01] [-2.24095074e-02 9.99748862e-01 -1.61853533e-04 -9.05921149e-01] [ 1.90804858e-03 2.04663062e-04 9.99998159e-01 2.41173882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508033873999999 meters 0.05838722603903718 Centerline is valid? [True, True] Translation: X:-15.63, Y:-0.89, Z:0.25 [[ 9.99790018e-01 2.04532113e-02 1.25936583e-03 -1.56253723e+01] [-2.04533580e-02 9.99790803e-01 1.03721017e-04 -8.91565602e-01] [-1.25698095e-03 -1.29457497e-04 9.99999202e-01 2.50487153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568033874 meters 0.057762472657902936 Centerline is valid? [True, True] Translation: X:-15.69, Y:-0.89, Z:0.25 [[ 9.99749569e-01 2.23591839e-02 9.30299693e-04 -1.56852740e+01] [-2.23592656e-02 9.99749997e-01 7.75652565e-05 -8.93687654e-01] [-9.28332820e-04 -9.83466497e-05 9.99999564e-01 2.46262291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628033874 meters 0.061168530446291315 Centerline is valid? [True, True] Translation: X:-15.75, Y:-0.88, Z:0.24 [[ 9.99746154e-01 2.25123963e-02 9.05149949e-04 -1.57488364e+01] [-2.25124717e-02 9.99746560e-01 7.31641533e-05 -8.81716361e-01] [-9.03273447e-04 -9.35227436e-05 9.99999588e-01 2.42011811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688033874 meters 0.05964818538217479 Centerline is valid? [True, True] Translation: X:-15.81, Y:-0.88, Z:0.24 [[ 9.99733940e-01 2.30661587e-02 4.84511715e-05 -1.58102099e+01] [-2.30661589e-02 9.99733941e-01 2.90868348e-06 -8.82632478e-01] [-4.83711885e-05 -4.02549202e-06 9.99999999e-01 2.42306506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748033873999999 meters 0.06058762280090323 Centerline is valid? [True, True] Translation: X:-15.87, Y:-0.87, Z:0.25 [[ 9.99673732e-01 2.53678352e-02 2.98383597e-03 -1.58719413e+01] [-2.53686903e-02 9.99678132e-01 2.49083303e-04 -8.67414801e-01] [-2.97655686e-03 -3.24698045e-04 9.99995517e-01 2.46864311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808033874 meters 0.06098297768780236 Centerline is valid? [True, True] Translation: X:-15.93, Y:-0.86, Z:0.24 [[ 9.99551254e-01 2.99423086e-02 8.65794395e-04 -1.59332025e+01] [-2.99423822e-02 9.99551624e-01 7.20761250e-05 -8.63920612e-01] [-8.63248068e-04 -9.79677277e-05 9.99999623e-01 2.41101471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868033874 meters 0.06355501774529293 Centerline is valid? [True, True] Translation: X:-16.00, Y:-0.86, Z:0.25 [[ 9.99535592e-01 3.04729484e-02 -9.64477562e-06 -1.59953250e+01] [-3.04729484e-02 9.99535592e-01 -1.97329005e-06 -8.57483944e-01] [ 9.58016451e-06 2.26627838e-06 1.00000000e+00 2.48256847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928033873999999 meters 0.05996259787921883 Centerline is valid? [True, True] Translation: X:-16.05, Y:-0.87, Z:0.25 [[ 9.99543782e-01 2.95519467e-02 6.23779539e-03 -1.60548988e+01] [-2.95557649e-02 9.99562997e-01 5.20801931e-04 -8.69648450e-01] [-6.21967874e-03 -7.04927146e-04 9.99980409e-01 2.48346016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988033874 meters 0.06010972615679571 Centerline is valid? [True, True] Translation: X:-16.12, Y:-0.86, Z:0.24 [[ 9.99615333e-01 2.77223636e-02 -8.10310452e-04 -1.61184174e+01] [-2.77224342e-02 9.99615657e-01 -7.60011850e-05 -8.57675770e-01] [ 8.07892082e-04 9.84357280e-05 9.99999669e-01 2.42279266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048033873999998 meters 0.0676658110526681 Centerline is valid? [True, True] Translation: X:-16.18, Y:-0.84, Z:0.25 [[ 9.99674661e-01 2.48964412e-02 5.54426059e-03 -1.61807431e+01] [-2.48993943e-02 9.99689854e-01 4.64255738e-04 -8.43355417e-01] [-5.53098275e-03 -6.02153428e-04 9.99984523e-01 2.48498990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108033873999997 meters 0.05659946908347011 Centerline is valid? [True, True] Translation: X:-16.24, Y:-0.87, Z:0.25 [[ 9.99753659e-01 2.18424993e-02 3.94049903e-03 -1.62383065e+01] [-2.18439662e-02 9.99761338e-01 3.29610633e-04 -8.73089305e-01] [-3.93235906e-03 -4.15605563e-04 9.99992182e-01 2.53499109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168033874 meters 0.058823343468754806 Centerline is valid? [True, True] Translation: X:-16.30, Y:-0.86, Z:0.26 [[ 9.99710071e-01 2.37565815e-02 3.92412683e-03 -1.63001600e+01] [-2.37580529e-02 9.99717684e-01 3.28746103e-04 -8.57094624e-01] [-3.91520910e-03 -4.21880402e-04 9.99992247e-01 2.57594812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228033873999998 meters 0.0625911975634719 Centerline is valid? [True, True] Translation: X:-16.36, Y:-0.85, Z:0.25 [[ 9.99729959e-01 2.30166016e-02 3.20090850e-03 -1.63634185e+01] [-2.30175529e-02 9.99735027e-01 2.60684895e-04 -8.51881568e-01] [-3.19406026e-03 -3.34291580e-04 9.99994843e-01 2.53901561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288033873999996 meters 0.06089067906131759 Centerline is valid? [True, True] Translation: X:-16.43, Y:-0.86, Z:0.25 [[ 9.99746797e-01 2.22783182e-02 3.16506117e-03 -1.64256273e+01] [-2.22792477e-02 9.99751753e-01 2.58713473e-04 -8.56138497e-01] [-3.15851175e-03 -3.29163148e-04 9.99994958e-01 2.54170255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348033874 meters 0.061484702351076045 Centerline is valid? [True, True] Translation: X:-16.49, Y:-0.86, Z:0.26 [[ 9.99637182e-01 2.69339160e-02 2.62840690e-04 -1.64864408e+01] [-2.69339227e-02 9.99637216e-01 2.18839972e-05 -8.59077320e-01] [-2.62155914e-04 -2.89553882e-05 9.99999965e-01 2.56082983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408033873999997 meters 0.06243235999379544 Centerline is valid? [True, True] Translation: X:-16.55, Y:-0.86, Z:0.26 [[ 9.99625570e-01 2.73555594e-02 6.27155899e-04 -1.65485872e+01] [-2.73555929e-02 9.99625765e-01 4.49625772e-05 -8.62807840e-01] [-6.25691219e-04 -6.21019633e-05 9.99999802e-01 2.56820256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468033873999996 meters 0.05966863165975801 Centerline is valid? [True, True] Translation: X:-16.61, Y:-0.88, Z:0.26 [[ 9.99669189e-01 2.51385948e-02 5.43717379e-03 -1.66086812e+01] [-2.51414574e-02 9.99683798e-01 4.58780986e-04 -8.76093711e-01] [-5.42392144e-03 -5.95327689e-04 9.99985113e-01 2.64392324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528033874 meters 0.06080742763483019 Centerline is valid? [True, True] Translation: X:-16.67, Y:-0.89, Z:0.27 [[ 9.99721619e-01 2.33827319e-02 3.15142887e-03 -1.66700142e+01] [-2.33836646e-02 9.99726531e-01 2.59431375e-04 -8.85027704e-01] [-3.14450084e-03 -3.33051111e-04 9.99995001e-01 2.65532447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588033873999997 meters 0.0582301709996119 Centerline is valid? [True, True] Translation: X:-16.73, Y:-0.90, Z:0.27 [[ 9.99811146e-01 1.89124526e-02 4.47123823e-03 -1.67292192e+01] [-1.89143330e-02 9.99821036e-01 3.78659384e-04 -9.00914134e-01] [-4.46327667e-03 -4.63158362e-04 9.99989932e-01 2.69214042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648033874 meters 0.057948132411620334 Centerline is valid? [True, True] Translation: X:-16.79, Y:-0.90, Z:0.27 [[ 9.99818585e-01 1.90285275e-02 8.43841860e-04 -1.67911770e+01] [-1.90285924e-02 9.99818938e-01 6.90418517e-05 -8.99004041e-01] [-8.42375307e-04 -8.50864493e-05 9.99999642e-01 2.72463064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708033873999998 meters 0.0607845303017914 Centerline is valid? [True, True] Translation: X:-16.85, Y:-0.89, Z:0.27 [[ 9.99628121e-01 2.72611173e-02 6.72368336e-04 -1.68533341e+01] [-2.72611615e-02 9.99628344e-01 5.65354978e-05 -8.89896210e-01] [-6.70577225e-04 -7.48440152e-05 9.99999772e-01 2.72262749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768033873999997 meters 0.06206861705656561 Centerline is valid? [True, True] Translation: X:-16.91, Y:-0.90, Z:0.28 [[ 9.99530461e-01 3.03562661e-02 4.16599633e-03 -1.69137991e+01] [-3.03579979e-02 9.99539027e-01 3.53078723e-04 -8.95621336e-01] [-4.15335777e-03 -4.79384247e-04 9.99991260e-01 2.76960611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828033874 meters 0.06868728573150296 Centerline is valid? [True, True] Translation: X:-16.98, Y:-0.89, Z:0.27 [[ 9.99584455e-01 2.88240372e-02 -3.03362067e-04 -1.69779145e+01] [-2.88240491e-02 9.99584500e-01 -3.50860701e-05 -8.92875391e-01] [ 3.02224698e-04 4.38156134e-05 9.99999953e-01 2.71008345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888033873999998 meters 0.05887221295638855 Centerline is valid? [True, True] Translation: X:-17.04, Y:-0.91, Z:0.29 [[ 9.99668528e-01 2.50689188e-02 5.86379495e-03 -1.70351571e+01] [-2.50722622e-02 9.99685518e-01 4.97366460e-04 -9.13197489e-01] [-5.84948245e-03 -6.44220202e-04 9.99982684e-01 2.89194484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948033873999997 meters 0.05891272530277541 Centerline is valid? [True, True] Translation: X:-17.10, Y:-0.92, Z:0.28 [[ 9.99703044e-01 2.43684395e-02 5.03906852e-05 -1.70971246e+01] [-2.43684397e-02 9.99703045e-01 2.52848999e-06 -9.18546970e-01] [-5.03141061e-05 -3.75568152e-06 9.99999999e-01 2.80744056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008033874 meters 0.06669405165098125 Centerline is valid? [True, True] Translation: X:-17.16, Y:-0.91, Z:0.29 [[ 9.99547845e-01 3.00636247e-02 5.32486049e-04 -1.71581630e+01] [-3.00636529e-02 9.99547985e-01 4.51007859e-05 -9.12340310e-01] [-5.30889464e-04 -6.10888691e-05 9.99999857e-01 2.86064387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068033873999997 meters 0.0666342954646836 Centerline is valid? [True, True] Translation: X:-17.22, Y:-0.91, Z:0.28 [[ 9.99488358e-01 3.18794680e-02 -2.59265359e-03 -1.72194653e+01] [-3.18801482e-02 9.99491674e-01 -2.21438046e-04 -9.14355561e-01] [ 2.58427636e-03 3.03978930e-04 9.99996615e-01 2.81026904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128033873999996 meters 0.06333738691994639 Centerline is valid? [True, True] Translation: X:-17.28, Y:-0.93, Z:0.30 [[ 9.99211994e-01 3.92077675e-02 6.17594128e-03 -1.72775853e+01] [-3.92117606e-02 9.99230784e-01 5.26757463e-04 -9.25867481e-01] [-6.15053766e-03 -7.68511905e-04 9.99980790e-01 3.01917444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188033874 meters 0.06529554882329859 Centerline is valid? [True, True] Translation: X:-17.34, Y:-0.93, Z:0.29 [[ 9.99261372e-01 3.84236042e-02 -5.80603165e-04 -1.73396775e+01] [-3.84236400e-02 9.99261538e-01 -5.06379363e-05 -9.27349276e-01] [ 5.78228719e-04 7.29094206e-05 9.99999830e-01 2.89247132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248033873999997 meters 0.06017750771841966 Centerline is valid? [True, True] Translation: X:-17.40, Y:-0.95, Z:0.30 [[ 9.99410803e-01 3.43013184e-02 1.21100807e-03 -1.73963244e+01] [-3.43014659e-02 9.99411526e-01 1.01267718e-04 -9.54446423e-01] [-1.20682180e-03 -1.42747404e-04 9.99999262e-01 3.02948004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308033874 meters 0.06413888422271928 Centerline is valid? [True, True] Translation: X:-17.46, Y:-0.95, Z:0.31 [[ 9.99472897e-01 3.23962489e-02 2.10025205e-03 -1.74578206e+01] [-3.23966954e-02 9.99475073e-01 1.78926687e-04 -9.46816853e-01] [-2.09335302e-03 -2.46873600e-04 9.99997778e-01 3.07394687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368033873999998 meters 0.06972314157963136 Centerline is valid? [True, True] Translation: X:-17.52, Y:-0.94, Z:0.29 [[ 9.99431817e-01 3.32168112e-02 -5.71715653e-03 -1.75194796e+01] [-3.32201359e-02 9.99447940e-01 -4.87527754e-04 -9.41593670e-01] [ 5.69780619e-03 6.77175466e-04 9.99983538e-01 2.90370521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428033873999997 meters 0.06316127650385052 Centerline is valid? [True, True] Translation: X:-17.58, Y:-0.99, Z:0.30 [[ 9.99459552e-01 3.27899573e-02 -2.32880629e-03 -1.75757288e+01] [-3.27905079e-02 9.99462227e-01 -1.98610355e-04 -9.85790196e-01] [ 2.32104149e-03 2.74865757e-04 9.99997269e-01 3.00102264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488033874 meters 0.06198334783023003 Centerline is valid? [True, True] Translation: X:-17.63, Y:-1.01, Z:0.31 [[ 9.99647155e-01 2.65619135e-02 1.75400546e-04 -1.76348945e+01] [-2.65619165e-02 9.99647170e-01 1.48281595e-05 -1.00541068e+00] [-1.74944795e-04 -1.94819022e-05 9.99999985e-01 3.08854914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548033873999998 meters 0.056480328596726664 Centerline is valid? [True, True] Translation: X:-17.69, Y:-1.03, Z:0.31 [[ 9.99942953e-01 1.06057905e-02 1.26826780e-03 -1.76935344e+01] [-1.06059359e-02 9.99943750e-01 1.07957741e-04 -1.03417477e+00] [-1.26705148e-03 -1.21402749e-04 9.99999190e-01 3.10200603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608033873999997 meters 0.05639876956828101 Centerline is valid? [True, True] Translation: X:-17.75, Y:-1.04, Z:0.32 [[ 9.99995389e-01 1.89315393e-03 2.37452159e-03 -1.77535233e+01] [-1.89363974e-03 9.99998187e-01 2.02360732e-04 -1.04246544e+00] [-2.37413418e-03 -2.06856287e-04 9.99997160e-01 3.18443363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668033874 meters 0.05418474716367034 Centerline is valid? [True, True] Translation: X:-17.81, Y:-1.05, Z:0.32 [[ 9.99976941e-01 6.79082431e-03 3.88630558e-05 -1.78125926e+01] [-6.79082447e-03 9.99976942e-01 3.83883387e-06 -1.05085220e+00] [-3.88360909e-05 -4.10265755e-06 9.99999999e-01 3.22728414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728033873999998 meters 0.0614179645732571 Centerline is valid? [True, True] Translation: X:-17.88, Y:-1.03, Z:0.31 [[ 9.99908941e-01 1.30845715e-02 -3.30193223e-03 -1.78751850e+01] [-1.30855733e-02 9.99914340e-01 -2.81981077e-04 -1.03473282e+00] [ 3.29795979e-03 3.25163077e-04 9.99994509e-01 3.13153037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788033873999996 meters 0.05459371558589363 Centerline is valid? [True, True] Translation: X:-17.94, Y:-1.02, Z:0.33 [[ 9.99900851e-01 1.40305060e-02 1.19723609e-03 -1.79366243e+01] [-1.40306336e-02 9.99901561e-01 9.81974341e-05 -1.02489750e+00] [-1.19574048e-03 -1.14985679e-04 9.99999278e-01 3.26199042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848033874 meters 0.05661612349716541 Centerline is valid? [True, True] Translation: X:-18.00, Y:-1.02, Z:0.32 [[ 9.99941749e-01 1.03004641e-02 -3.22490201e-03 -1.79986144e+01] [-1.03014097e-02 9.99946901e-01 -2.76770152e-04 -1.01542400e+00] [ 3.22187990e-03 3.09975067e-04 9.99994762e-01 3.21109735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908033873999997 meters 0.0557794958453629 Centerline is valid? [True, True] Translation: X:-18.06, Y:-1.00, Z:0.33 [[ 9.99978006e-01 6.63138181e-03 -1.07804097e-04 -1.80606548e+01] [-6.63138286e-03 9.99978012e-01 -9.45434867e-06 -9.97858392e-01] [ 1.07739031e-04 1.01690310e-05 9.99999994e-01 3.26806696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968033873999996 meters 0.05258354555600363 Centerline is valid? [True, True] Translation: X:-18.12, Y:-1.00, Z:0.33 [[ 9.99992428e-01 3.86776722e-03 4.29849434e-04 -1.81204556e+01] [-3.86778317e-03 9.99992519e-01 3.62867142e-05 -1.00231004e+00] [-4.29705870e-04 -3.79490038e-05 9.99999907e-01 3.30229584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028033874 meters 0.051826792374743906 Centerline is valid? [True, True] Translation: X:-18.18, Y:-1.00, Z:0.33 [[ 9.99992279e-01 1.50529800e-03 -3.62987151e-03 -1.81834741e+01] [-1.50644338e-03 9.99998816e-01 -3.12828786e-04 -9.96952079e-01] [ 3.62939631e-03 3.18294567e-04 9.99993363e-01 3.25425150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088033873999997 meters 0.052129097454180706 Centerline is valid? [True, True] Translation: X:-18.24, Y:-0.98, Z:0.33 [[ 9.99993421e-01 3.15949276e-03 1.78214459e-03 -1.82435116e+01] [-3.15977342e-03 9.99994996e-01 1.54693042e-04 -9.84262592e-01] [-1.78164692e-03 -1.60323197e-04 9.99998400e-01 3.31335446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148033874 meters 0.055147917449515235 Centerline is valid? [True, True] Translation: X:-18.31, Y:-0.97, Z:0.34 [[ 9.99968823e-01 6.75588744e-03 4.08797007e-03 -1.83056477e+01] [-6.75737115e-03 9.99977108e-01 3.49243872e-04 -9.71260892e-01] [-4.08551704e-03 -3.76856915e-04 9.99991583e-01 3.38762834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208033873999998 meters 0.05513895282493876 Centerline is valid? [True, True] Translation: X:-18.37, Y:-0.96, Z:0.33 [[ 9.99946597e-01 9.83361904e-03 -3.17861595e-03 -1.83666369e+01] [-9.83452996e-03 9.99951603e-01 -2.71072771e-04 -9.59822452e-01] [ 3.17579649e-03 3.02318489e-04 9.99994911e-01 3.27655659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268033873999997 meters 0.05457537782135305 Centerline is valid? [True, True] Translation: X:-18.43, Y:-0.95, Z:0.33 [[ 9.99927778e-01 1.18505462e-02 2.00079280e-03 -1.84297990e+01] [-1.18509073e-02 9.99929761e-01 1.68732330e-04 -9.46507360e-01] [-1.99865269e-03 -1.92431354e-04 9.99997984e-01 3.34235399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328033874 meters 0.05816914330406746 Centerline is valid? [True, True] Translation: X:-18.49, Y:-0.93, Z:0.33 [[ 9.99886946e-01 1.50147473e-02 8.07426022e-04 -1.84922505e+01] [-1.50148077e-02 9.99887269e-01 6.88067818e-05 -9.26151197e-01] [-8.06301883e-04 -8.09223494e-05 9.99999672e-01 3.31622658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388033873999998 meters 0.057492179020799845 Centerline is valid? [True, True] Translation: X:-18.55, Y:-0.92, Z:0.33 [[ 9.99802382e-01 1.97589303e-02 2.18666392e-03 -1.85534748e+01] [-1.97593862e-02 9.99804747e-01 1.87081274e-04 -9.16264166e-01] [-2.18254044e-03 -2.30251440e-04 9.99997592e-01 3.29374663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448033873999997 meters 0.060816606528296686 Centerline is valid? [True, True] Translation: X:-18.62, Y:-0.90, Z:0.32 [[ 9.99738863e-01 2.24914668e-02 -4.04212149e-03 -1.86158322e+01] [-2.24930475e-02 9.99746940e-01 -3.46010714e-04 -9.04775164e-01] [ 4.03331630e-03 4.36839989e-04 9.99991771e-01 3.21593067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508033874 meters 0.05777338250153949 Centerline is valid? [True, True] Translation: X:-18.68, Y:-0.90, Z:0.33 [[ 9.99803458e-01 1.94099613e-02 4.03716197e-03 -1.86764207e+01] [-1.94115115e-02 9.99811519e-01 3.45148101e-04 -9.01600612e-01] [-4.02970173e-03 -4.23447681e-04 9.99991791e-01 3.30640262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568033873999997 meters 0.056790180920255326 Centerline is valid? [True, True] Translation: X:-18.74, Y:-0.90, Z:0.33 [[ 9.99840768e-01 1.78174658e-02 9.87854790e-04 -1.87395013e+01] [-1.78175498e-02 9.99841252e-01 7.63591784e-05 -8.99219008e-01] [-9.86337443e-04 -9.39481715e-05 9.99999509e-01 3.26403423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628033873999996 meters 0.05439467400564161 Centerline is valid? [True, True] Translation: X:-18.80, Y:-0.91, Z:0.33 [[ 9.99876634e-01 1.55612738e-02 2.13635916e-03 -1.87989448e+01] [-1.55617004e-02 9.99878893e-01 1.83166748e-04 -9.09198923e-01] [-2.13325012e-03 -2.16389532e-04 9.99997701e-01 3.32883056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688033874 meters 0.0597787832849772 Centerline is valid? [True, True] Translation: X:-18.86, Y:-0.89, Z:0.33 [[ 9.99751456e-01 2.22666312e-02 -1.10568879e-03 -1.88614083e+01] [-2.22667497e-02 9.99752061e-01 -9.49394344e-05 -8.94922008e-01] [ 1.10330067e-03 1.19535933e-04 9.99999384e-01 3.25595918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748033873999997 meters 0.06225526116904841 Centerline is valid? [True, True] Translation: X:-18.92, Y:-0.89, Z:0.32 [[ 9.99595066e-01 2.82635182e-02 -3.29806840e-03 -1.89231891e+01] [-2.82646046e-02 9.99600436e-01 -2.83267626e-04 -8.91546179e-01] [ 3.28874447e-03 3.76371520e-04 9.99994521e-01 3.19758090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808033873999996 meters 0.0667683342459456 Centerline is valid? [True, True] Translation: X:-18.98, Y:-0.91, Z:0.34 [[ 9.99567988e-01 2.89252673e-02 5.21210760e-03 -1.89823822e+01] [-2.89279844e-02 9.99581398e-01 4.46675010e-04 -9.08664782e-01] [-5.19700561e-03 -5.97257808e-04 9.99986317e-01 3.38293005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868033873999998 meters 0.06124714017287824 Centerline is valid? [True, True] Translation: X:-19.04, Y:-0.93, Z:0.33 [[ 9.99654529e-01 2.60823120e-02 -3.24572435e-03 -1.90436851e+01] [-2.60833836e-02 9.99659729e-01 -2.88248624e-04 -9.25138790e-01] [ 3.23710173e-03 3.72808516e-04 9.99994691e-01 3.26202702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928033873999997 meters 0.060633901029583354 Centerline is valid? [True, True] Translation: X:-19.10, Y:-0.95, Z:0.33 [[ 9.99761362e-01 2.17826255e-02 -1.65433481e-03 -1.91017625e+01] [-2.17828908e-02 9.99762715e-01 -1.42531681e-04 -9.54735288e-01] [ 1.65083754e-03 1.78533862e-04 9.99998621e-01 3.31038460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988033874 meters 0.05985851776775135 Centerline is valid? [True, True] Translation: X:-19.16, Y:-0.97, Z:0.35 [[ 9.99797487e-01 1.91242795e-02 6.26481044e-03 -1.91608409e+01] [-1.91280291e-02 9.99816897e-01 5.39140804e-04 -9.72732026e-01] [-6.25335265e-03 -6.58865097e-04 9.99980231e-01 3.46407068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048033873999998 meters 0.07247093587390212 Centerline is valid? [True, True] Translation: X:-19.22, Y:-0.97, Z:0.32 [[ 9.99560473e-01 2.87417315e-02 -7.26457925e-03 -1.92227520e+01] [-2.87470275e-02 9.99586523e-01 -6.25634500e-04 -9.71005256e-01] [ 7.24359369e-03 8.34194576e-04 9.99973417e-01 3.17427552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108033873999997 meters 0.06743532869773831 Centerline is valid? [True, True] Translation: X:-19.28, Y:-1.01, Z:0.33 [[ 9.99633741e-01 2.61583897e-02 -6.93700539e-03 -1.92782768e+01] [-2.61631481e-02 9.99657509e-01 -5.96075699e-04 -1.01209010e+00] [ 6.91903714e-03 7.77351281e-04 9.99975761e-01 3.25540070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168033874 meters 0.062252413011149914 Centerline is valid? [True, True] Translation: X:-19.33, Y:-1.05, Z:0.35 [[ 9.99679558e-01 2.53127345e-02 2.18421550e-04 -1.93342892e+01] [-2.53127387e-02 9.99679581e-01 1.61878988e-05 -1.05103013e+00] [-2.17941804e-04 -2.17115591e-05 9.99999976e-01 3.46641103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228033873999998 meters 0.07156772721023569 Centerline is valid? [True, True] Translation: X:-19.39, Y:-1.06, Z:0.35 [[ 9.99354110e-01 3.55348710e-02 5.35117250e-03 -1.93949868e+01] [-3.55378410e-02 9.99368225e-01 4.60923527e-04 -1.05581262e+00] [-5.33141291e-03 -6.50794938e-04 9.99985576e-01 3.53649781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288033873999996 meters 0.06555412512675603 Centerline is valid? [True, True] Translation: X:-19.45, Y:-1.10, Z:0.34 [[ 9.99138164e-01 4.13847312e-02 -3.19898906e-03 -1.94514225e+01] [-4.13858208e-02 9.99143202e-01 -2.75121028e-04 -1.10087359e+00] [ 3.18486237e-03 4.07276707e-04 9.99994845e-01 3.39553849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348033874 meters 0.06689958074613714 Centerline is valid? [True, True] Translation: X:-19.51, Y:-1.13, Z:0.34 [[ 9.99271013e-01 3.76908927e-02 -6.06957242e-03 -1.95099771e+01] [-3.76947547e-02 9.99289163e-01 -5.23116772e-04 -1.12970079e+00] [ 6.04554121e-03 7.51526471e-04 9.99981443e-01 3.42183714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408033873999997 meters 0.07312667895285693 Centerline is valid? [True, True] Translation: X:-19.57, Y:-1.17, Z:0.35 [[ 9.98866093e-01 4.75616780e-02 -2.10116375e-03 -1.95670304e+01] [-4.75621627e-02 9.98868263e-01 -1.81282724e-04 -1.17274827e+00] [ 2.09016368e-03 2.81013058e-04 9.99997776e-01 3.46737586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468033873999996 meters 0.07282562483838116 Centerline is valid? [True, True] Translation: X:-19.62, Y:-1.24, Z:0.36 [[ 9.98876614e-01 4.73694405e-02 -1.28296478e-03 -1.96238432e+01] [-4.73696311e-02 9.98877422e-01 -1.18525368e-04 -1.23543611e+00] [ 1.27591007e-03 1.79165786e-04 9.99999170e-01 3.55067099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528033874 meters 0.07038673340612565 Centerline is valid? [True, True] Translation: X:-19.68, Y:-1.32, Z:0.36 [[ 9.99056498e-01 4.34224497e-02 -7.77918609e-04 -1.96773162e+01] [-4.34225152e-02 9.99056795e-01 -6.74322245e-05 -1.32023587e+00] [ 7.74256800e-04 1.01147785e-04 9.99999695e-01 3.57665837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588033873999997 meters 0.06764509211395592 Centerline is valid? [True, True] Translation: X:-19.73, Y:-1.39, Z:0.36 [[ 9.98851911e-01 4.78718443e-02 -1.77394704e-03 -1.97312252e+01] [-4.78721904e-02 9.98853458e-01 -1.53133958e-04 -1.38726896e+00] [ 1.76458233e-03 2.37880877e-04 9.99998415e-01 3.64067953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648033874 meters 0.07159420003197624 Centerline is valid? [True, True] Translation: X:-19.79, Y:-1.45, Z:0.36 [[ 9.98802088e-01 4.86528092e-02 -5.22436879e-03 -1.97871814e+01] [-4.86558237e-02 9.98815502e-01 -4.51387209e-04 -1.45020249e+00] [ 5.19621928e-03 7.05042453e-04 9.99986251e-01 3.60817105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708033873999998 meters 0.06419008850008444 Centerline is valid? [True, True] Translation: X:-19.84, Y:-1.54, Z:0.38 [[ 9.99022332e-01 4.42010099e-02 -8.07271422e-04 -1.98391105e+01] [-4.42010807e-02 9.99022652e-01 -7.00749652e-05 -1.53654281e+00] [ 8.03385053e-04 1.05688724e-04 9.99999672e-01 3.78297242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768033873999997 meters 0.07025403903285381 Centerline is valid? [True, True] Translation: X:-19.90, Y:-1.58, Z:0.38 [[ 9.99029120e-01 4.40379766e-02 1.21397456e-03 -1.98982239e+01] [-4.40381334e-02 9.99029846e-01 1.02729734e-04 -1.57867435e+00] [-1.20827281e-03 -1.56091169e-04 9.99999258e-01 3.80419759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828033874 meters 0.06511878671974691 Centerline is valid? [True, True] Translation: X:-19.95, Y:-1.65, Z:0.39 [[ 9.99155547e-01 4.10839654e-02 5.47918477e-04 -1.99517095e+01] [-4.10839962e-02 9.99155695e-01 4.50754192e-05 -1.65008278e+00] [-5.45603990e-04 -6.75480358e-05 9.99999849e-01 3.86114593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888033873999998 meters 0.06484624490066274 Centerline is valid? [True, True] Translation: X:-20.01, Y:-1.69, Z:0.39 [[ 9.99175368e-01 4.06014091e-02 -3.30183468e-04 -2.00103453e+01] [-4.06014214e-02 9.99175422e-01 -3.07243958e-05 -1.69167019e+00] [ 3.28663752e-04 4.41049776e-05 9.99999945e-01 3.86601474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948033873999997 meters 0.06471689094461996 Centerline is valid? [True, True] Translation: X:-20.07, Y:-1.71, Z:0.40 [[ 9.99291779e-01 3.75794418e-02 1.93013886e-03 -2.00691744e+01] [-3.75798333e-02 9.99293615e-01 1.66919749e-04 -1.71369193e+00] [-1.92250269e-03 -2.39335830e-04 9.99998123e-01 3.98930765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008033874 meters 0.06191654874907661 Centerline is valid? [True, True] Translation: X:-20.13, Y:-1.74, Z:0.41 [[ 9.99365995e-01 3.52024110e-02 5.32906727e-03 -2.01272143e+01] [-3.52053633e-02 9.99379993e-01 4.61170832e-04 -1.74387469e+00] [-5.30952889e-03 -6.48490196e-04 9.99985694e-01 4.05273573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068033873999997 meters 0.07192782410334678 Centerline is valid? [True, True] Translation: X:-20.19, Y:-1.74, Z:0.39 [[ 9.99293444e-01 3.75071647e-02 2.41348845e-03 -2.01891475e+01] [-3.75077761e-02 9.99296314e-01 2.08550459e-04 -1.73733080e+00] [-2.40396798e-03 -2.98927691e-04 9.99997066e-01 3.94250819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128033873999996 meters 0.06880496163021829 Centerline is valid? [True, True] Translation: X:-20.25, Y:-1.76, Z:0.40 [[ 9.98946741e-01 4.58663121e-02 1.30008168e-03 -2.02462196e+01] [-4.58664971e-02 9.98947572e-01 1.12851070e-04 -1.76184753e+00] [-1.29353737e-03 -1.72362401e-04 9.99999149e-01 3.98384394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188033874 meters 0.0675387346283795 Centerline is valid? [True, True] Translation: X:-20.31, Y:-1.77, Z:0.41 [[ 9.98849150e-01 4.78912432e-02 2.60856843e-03 -2.03057611e+01] [-4.78919931e-02 9.98852495e-01 2.25738387e-04 -1.77446575e+00] [-2.59476419e-03 -3.50408137e-04 9.99996572e-01 4.07868718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248033873999997 meters 0.06956926272611659 Centerline is valid? [True, True] Translation: X:-20.36, Y:-1.80, Z:0.40 [[ 9.98946220e-01 4.58940864e-02 4.27564228e-04 -2.03647279e+01] [-4.58941063e-02 9.98946310e-01 3.66925337e-05 -1.79783586e+00] [-4.25429738e-04 -5.62765460e-05 9.99999908e-01 4.01205590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308033873999996 meters 0.06067641884016576 Centerline is valid? [True, True] Translation: X:-20.42, Y:-1.81, Z:0.41 [[ 9.99540559e-01 3.00313091e-02 4.09775412e-03 -2.04234182e+01] [-3.00330123e-02 9.99548844e-01 3.54734015e-04 -1.80904936e+00] [-4.08525227e-03 -4.77638935e-04 9.99991541e-01 4.12995344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368033873999998 meters 0.06041633456212094 Centerline is valid? [True, True] Translation: X:-20.48, Y:-1.82, Z:0.41 [[ 9.99698467e-01 2.41107203e-02 4.65285858e-03 -2.04840598e+01] [-2.41128535e-02 9.99709162e-01 4.02908777e-04 -1.81648437e+00] [-4.64179093e-03 -5.14980984e-04 9.99989094e-01 4.12904695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428033873999997 meters 0.058551486611861873 Centerline is valid? [True, True] Translation: X:-20.54, Y:-1.81, Z:0.41 [[ 9.99665881e-01 2.54620208e-02 4.45098283e-03 -2.05442128e+01] [-2.54639866e-02 9.99675666e-01 3.85528617e-04 -1.81414772e+00] [-4.43972289e-03 -4.98739572e-04 9.99990020e-01 4.14040544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488033874 meters 0.06368672479257592 Centerline is valid? [True, True] Translation: X:-20.61, Y:-1.79, Z:0.41 [[ 9.99599094e-01 2.82645123e-02 1.66396099e-03 -2.06071452e+01] [-2.82647902e-02 9.99600461e-01 1.43736287e-04 -1.78977125e+00] [-1.65923354e-03 -1.90710170e-04 9.99998605e-01 4.07284174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548033873999998 meters 0.06329559283341618 Centerline is valid? [True, True] Translation: X:-20.67, Y:-1.78, Z:0.41 [[ 9.99575500e-01 2.90728370e-02 1.89467779e-03 -2.06702764e+01] [-2.90731968e-02 9.99577272e-01 1.62656341e-04 -1.77600986e+00] [-1.88914797e-03 -2.17671634e-04 9.99998192e-01 4.09000014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608033873999997 meters 0.07088425666011781 Centerline is valid? [True, True] Translation: X:-20.73, Y:-1.75, Z:0.41 [[ 9.99601289e-01 2.80107114e-02 3.55849690e-03 -2.07336438e+01] [-2.80119810e-02 9.99607540e-01 3.07456474e-04 -1.75054415e+00] [-3.54848826e-03 -4.07014435e-04 9.99993621e-01 4.05011299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668033874 meters 0.060156750375447716 Centerline is valid? [True, True] Translation: X:-20.79, Y:-1.75, Z:0.41 [[ 9.99667688e-01 2.49202765e-02 6.59492044e-03 -2.07933082e+01] [-2.49245867e-02 9.99689170e-01 5.72167779e-04 -1.74818565e+00] [-6.57861196e-03 -7.36353307e-04 9.99978090e-01 4.13739531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728033873999998 meters 0.06362757549638057 Centerline is valid? [True, True] Translation: X:-20.86, Y:-1.73, Z:0.41 [[ 9.99648720e-01 2.63168659e-02 3.13999576e-03 -2.08556623e+01] [-2.63178490e-02 9.99653588e-01 2.72199930e-04 -1.72936942e+00] [-3.13174458e-03 -3.54742246e-04 9.99995033e-01 4.05563348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788033873999996 meters 0.060684715671313234 Centerline is valid? [True, True] Translation: X:-20.92, Y:-1.71, Z:0.41 [[ 9.99726463e-01 2.31451471e-02 3.36163169e-03 -2.09186274e+01] [-2.31462535e-02 9.99732047e-01 2.90609722e-04 -1.71163911e+00] [-3.35400473e-03 -3.68339409e-04 9.99994307e-01 4.06325242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848033874 meters 0.06114880047691553 Centerline is valid? [True, True] Translation: X:-20.98, Y:-1.70, Z:0.41 [[ 9.99650243e-01 2.60981025e-02 4.27553814e-03 -2.09806579e+01] [-2.60999240e-02 9.99659270e-01 3.70787071e-04 -1.69968124e+00] [-4.26440449e-03 -4.82248606e-04 9.99990791e-01 4.07589226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908033873999997 meters 0.06503314722588721 Centerline is valid? [True, True] Translation: X:-21.04, Y:-1.67, Z:0.40 [[ 9.99547563e-01 2.99404786e-02 2.87015669e-03 -2.10443180e+01] [-2.99413145e-02 9.99551627e-01 2.48736491e-04 -1.66721549e+00] [-2.86142250e-03 -3.34560218e-04 9.99995850e-01 4.02073832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968033873999996 meters 0.06731128323542511 Centerline is valid? [True, True] Translation: X:-21.11, Y:-1.65, Z:0.40 [[ 9.99394070e-01 3.43877547e-02 5.38284153e-03 -2.11068352e+01] [-3.43907600e-02 9.99408354e-01 4.66706626e-04 -1.64702753e+00] [-5.36360780e-03 -6.51543845e-04 9.99985403e-01 4.03410913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028033874 meters 0.06481592154558356 Centerline is valid? [True, True] Translation: X:-21.17, Y:-1.63, Z:0.41 [[ 9.99327465e-01 3.62781927e-02 5.33944469e-03 -2.11679008e+01] [-3.62811787e-02 9.99341514e-01 4.63411180e-04 -1.63235226e+00] [-5.31911702e-03 -6.56820867e-04 9.99985638e-01 4.06903331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088033873999997 meters 0.0636329715715801 Centerline is valid? [True, True] Translation: X:-21.23, Y:-1.63, Z:0.41 [[ 9.99446226e-01 3.27439691e-02 5.92228311e-03 -2.12291817e+01] [-3.27475756e-02 9.99463523e-01 5.13002256e-04 -1.63430872e+00] [-5.90230820e-03 -7.06658583e-04 9.99982332e-01 4.05584717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148033873999996 meters 0.06787392228762965 Centerline is valid? [True, True] Translation: X:-21.29, Y:-1.60, Z:0.39 [[ 9.99545783e-01 3.01033145e-02 -1.42047442e-03 -2.12948087e+01] [-3.01035307e-02 9.99546777e-01 -1.31109328e-04 -1.60328531e+00] [ 1.41588381e-03 1.73811072e-04 9.99998983e-01 3.88122072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208033873999998 meters 0.06067603433760116 Centerline is valid? [True, True] Translation: X:-21.35, Y:-1.61, Z:0.40 [[ 9.99513281e-01 3.05797189e-02 6.17099449e-03 -2.13535012e+01] [-3.05836065e-02 9.99532068e-01 5.36585567e-04 -1.61163338e+00] [-6.15169825e-03 -7.25055668e-04 9.99980815e-01 4.02956775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268033873999997 meters 0.06273680520617768 Centerline is valid? [True, True] Translation: X:-21.42, Y:-1.59, Z:0.40 [[ 9.99590642e-01 2.80758720e-02 5.50394929e-03 -2.14163649e+01] [-2.80789265e-02 9.99605595e-01 4.78464668e-04 -1.58946607e+00] [-5.48834519e-03 -6.32813792e-04 9.99984739e-01 4.01122795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328033874 meters 0.06165155106081641 Centerline is valid? [True, True] Translation: X:-21.48, Y:-1.59, Z:0.40 [[ 9.99679961e-01 2.48626207e-02 4.67186659e-03 -2.14780530e+01] [-2.48647839e-02 9.99690741e-01 4.05495178e-04 -1.58765172e+00] [-4.66034010e-03 -5.21530357e-04 9.99989005e-01 3.98656340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388033873999998 meters 0.06080178652043008 Centerline is valid? [True, True] Translation: X:-21.54, Y:-1.57, Z:0.40 [[ 9.99790699e-01 1.89098101e-02 7.80882042e-03 -2.15408193e+01] [-1.89156846e-02 9.99820852e-01 6.79118649e-04 -1.56768212e+00] [-7.79457947e-03 -8.26685693e-04 9.99969280e-01 4.03081021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448033873999997 meters 0.058611299257154824 Centerline is valid? [True, True] Translation: X:-21.60, Y:-1.56, Z:0.40 [[ 9.99775114e-01 2.05016449e-02 5.42259028e-03 -2.16015966e+01] [-2.05045033e-02 9.99789649e-01 4.72041003e-04 -1.55821348e+00] [-5.41177201e-03 -5.83122367e-04 9.99985186e-01 3.97383386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508033874 meters 0.06160414846116787 Centerline is valid? [True, True] Translation: X:-21.67, Y:-1.54, Z:0.39 [[ 9.99820511e-01 1.89442729e-02 -2.45435558e-04 -2.16657545e+01] [-1.89442793e-02 9.99820541e-01 -2.35832050e-05 -1.53938985e+00] [ 2.44944745e-04 2.82285718e-05 9.99999970e-01 3.85069900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568033873999997 meters 0.05532233665920411 Centerline is valid? [True, True] Translation: X:-21.73, Y:-1.54, Z:0.40 [[ 9.99816928e-01 1.84694756e-02 4.99884557e-03 -2.17251291e+01] [-1.84718755e-02 9.99829286e-01 4.34331385e-04 -1.53605830e+00] [-4.98997032e-03 -5.26589924e-04 9.99987411e-01 3.99732310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628033873999996 meters 0.05932207151676837 Centerline is valid? [True, True] Translation: X:-21.79, Y:-1.51, Z:0.39 [[ 9.99864469e-01 1.55950084e-02 5.27621357e-03 -2.17882758e+01] [-1.55976491e-02 9.99878244e-01 4.59705083e-04 -1.50764368e+00] [-5.26840206e-03 -5.41939307e-04 9.99985975e-01 3.93075972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688033874 meters 0.05801488858298111 Centerline is valid? [True, True] Translation: X:-21.85, Y:-1.52, Z:0.40 [[ 9.99945675e-01 1.01825856e-02 2.22773822e-03 -2.18472527e+01] [-1.01830409e-02 9.99948133e-01 1.93135621e-04 -1.51523624e+00] [-2.22565606e-03 -2.15810279e-04 9.99997500e-01 3.96472530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748033873999997 meters 0.054937826210646745 Centerline is valid? [True, True] Translation: X:-21.91, Y:-1.50, Z:0.40 [[ 9.99927723e-01 6.20645303e-03 1.02970316e-02 -2.19092918e+01] [-6.21601274e-03 9.99980278e-01 8.96649943e-04 -1.49833971e+00] [-1.02912635e-02 -9.60591615e-04 9.99946582e-01 4.03235928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808033873999996 meters 0.05741198273145391 Centerline is valid? [True, True] Translation: X:-21.97, Y:-1.48, Z:0.39 [[ 9.99958951e-01 8.44100711e-03 3.29334697e-03 -2.19723977e+01] [-8.44199710e-03 9.99964325e-01 2.86817339e-04 -1.47694896e+00] [-3.29080845e-03 -3.14607991e-04 9.99994536e-01 3.90786960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868033873999998 meters 0.056354193751634106 Centerline is valid? [True, True] Translation: X:-22.03, Y:-1.46, Z:0.40 [[ 9.99912740e-01 1.27966939e-02 3.27978363e-03 -2.20335693e+01] [-1.27976990e-02 9.99918065e-01 2.85633372e-04 -1.46197657e+00] [-3.27585974e-03 -3.27582131e-04 9.99994581e-01 3.96317117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928033873999997 meters 0.05558544476851874 Centerline is valid? [True, True] Translation: X:-22.10, Y:-1.44, Z:0.39 [[ 9.99843034e-01 1.73396275e-02 3.63923376e-03 -2.20953882e+01] [-1.73408947e-02 9.99849585e-01 3.16932540e-04 -1.43887768e+00] [-3.63319088e-03 -3.79990362e-04 9.99993328e-01 3.94653495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988033874 meters 0.059927662311595215 Centerline is valid? [True, True] Translation: X:-22.16, Y:-1.43, Z:0.39 [[ 9.99869961e-01 1.55152030e-02 4.39772494e-03 -2.21574565e+01] [-1.55170335e-02 9.99879530e-01 3.82408299e-04 -1.42578724e+00] [-4.39126201e-03 -4.50598216e-04 9.99990257e-01 3.92556131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048033873999998 meters 0.05281807024239962 Centerline is valid? [True, True] Translation: X:-22.22, Y:-1.43, Z:0.40 [[ 9.99959289e-01 5.56944661e-03 7.09936691e-03 -2.22167007e+01] [-5.57397349e-03 9.99984274e-01 6.18018422e-04 -1.43136544e+00] [-7.09581325e-03 -6.57564945e-04 9.99974608e-01 3.98255690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108033873999997 meters 0.0580070480666358 Centerline is valid? [True, True] Translation: X:-22.28, Y:-1.40, Z:0.38 [[ 9.99985624e-01 5.25285516e-03 1.07641373e-03 -2.22815211e+01] [-5.25295849e-03 9.99986199e-01 9.31834394e-05 -1.39568668e+00] [-1.07590940e-03 -9.88364565e-05 9.99999416e-01 3.82505645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168033874 meters 0.05782150490252184 Centerline is valid? [True, True] Translation: X:-22.34, Y:-1.39, Z:0.39 [[ 9.99961007e-01 8.79763222e-03 7.66175359e-04 -2.23423990e+01] [-8.79768595e-03 9.99961297e-01 6.67853418e-05 -1.38881190e+00] [-7.65558154e-04 -7.35233079e-05 9.99999704e-01 3.89857373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228033873999998 meters 0.06199740323738376 Centerline is valid? [True, True] Translation: X:-22.41, Y:-1.35, Z:0.39 [[ 9.99865672e-01 1.54184667e-02 5.55958878e-03 -2.24060470e+01] [-1.54213951e-02 9.99880966e-01 4.84250886e-04 -1.35480372e+00] [-5.55146060e-03 -5.69922453e-04 9.99984428e-01 3.91698704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288033873999996 meters 0.057754874218990046 Centerline is valid? [True, True] Translation: X:-22.47, Y:-1.36, Z:0.40 [[ 9.99840694e-01 1.68147087e-02 5.98759930e-03 -2.24660803e+01] [-1.68181276e-02 9.99858429e-01 5.21103002e-04 -1.35900780e+00] [-5.97798944e-03 -6.21720196e-04 9.99981938e-01 3.96514248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348033874 meters 0.06787157910030843 Centerline is valid? [True, True] Translation: X:-22.53, Y:-1.33, Z:0.38 [[ 9.99874598e-01 1.56745391e-02 2.25778466e-03 -2.25313315e+01] [-1.56750058e-02 9.99877122e-01 1.89156778e-04 -1.33425277e+00] [-2.25454228e-03 -2.24523845e-04 9.99997433e-01 3.84950299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408033873999997 meters 0.05694859000678829 Centerline is valid? [True, True] Translation: X:-22.59, Y:-1.34, Z:0.39 [[ 9.99963910e-01 6.08480832e-03 5.92908402e-03 -2.25902984e+01] [-6.08798317e-03 9.99981334e-01 5.17570520e-04 -1.33957568e+00] [-5.92582403e-03 -5.53648005e-04 9.99982289e-01 3.89770076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468033873999996 meters 0.054778137106562666 Centerline is valid? [True, True] Translation: X:-22.65, Y:-1.35, Z:0.40 [[ 9.99968467e-01 1.59460386e-03 7.77957149e-03 -2.26499358e+01] [-1.59993939e-03 9.99998489e-01 6.79663136e-04 -1.35242924e+00] [-7.77847594e-03 -6.92088548e-04 9.99969508e-01 3.98880116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528033874 meters 0.054387069691851565 Centerline is valid? [True, True] Translation: X:-22.71, Y:-1.33, Z:0.39 [[ 9.99994672e-01 1.30149867e-03 2.99375129e-03 -2.27144859e+01] [-1.30228293e-03 9.99999118e-01 2.60029302e-04 -1.32770392e+00] [-2.99341022e-03 -2.63926628e-04 9.99995485e-01 3.86132668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588033873999997 meters 0.05811908923949057 Centerline is valid? [True, True] Translation: X:-22.78, Y:-1.32, Z:0.39 [[ 9.99939916e-01 1.06769768e-02 2.48329547e-03 -2.27760988e+01] [-1.06775477e-02 9.99942970e-01 2.16756011e-04 -1.32280489e+00] [-2.48083955e-03 -2.43258493e-04 9.99996893e-01 3.90634418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648033873999996 meters 0.058890913310672255 Centerline is valid? [True, True] Translation: X:-22.84, Y:-1.31, Z:0.40 [[ 9.99836500e-01 1.47099162e-02 1.05162806e-02 -2.28384362e+01] [-1.47203881e-02 9.99891227e-01 9.19062658e-04 -1.30995963e+00] [-1.05016174e-02 -1.07371612e-03 9.99944280e-01 3.98534937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708033873999998 meters 0.05945333757909094 Centerline is valid? [True, True] Translation: X:-22.90, Y:-1.32, Z:0.39 [[ 9.99831579e-01 1.79661330e-02 3.74583530e-03 -2.28982499e+01] [-1.79674866e-02 9.99838518e-01 3.28011655e-04 -1.31535534e+00] [-3.73933731e-03 -3.95259657e-04 9.99992931e-01 3.89797331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768033873999997 meters 0.059774685461197415 Centerline is valid? [True, True] Translation: X:-22.96, Y:-1.32, Z:0.40 [[ 9.99829408e-01 1.61030197e-02 9.04699751e-03 -2.29586396e+01] [-1.61108234e-02 9.99869900e-01 7.90358374e-04 -1.31853920e+00] [-9.03309333e-03 -9.35978124e-04 9.99958763e-01 4.04219434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828033874 meters 0.05985356795946291 Centerline is valid? [True, True] Translation: X:-23.02, Y:-1.32, Z:0.39 [[ 9.99921215e-01 1.12999120e-02 5.46580482e-03 -2.30207302e+01] [-1.13026878e-02 9.99936009e-01 4.77213288e-04 -1.31705011e+00] [-5.46006259e-03 -5.38953976e-04 9.99984949e-01 3.91860677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888033873999998 meters 0.05690776653323954 Centerline is valid? [True, True] Translation: X:-23.08, Y:-1.33, Z:0.40 [[ 9.99952751e-01 7.69054200e-03 5.94574153e-03 -2.30812844e+01] [-7.69376516e-03 9.99970268e-01 5.19412093e-04 -1.32824840e+00] [-5.94157019e-03 -5.65132690e-04 9.99982189e-01 3.96159637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948033873999997 meters 0.05894848700277627 Centerline is valid? [True, True] Translation: X:-23.14, Y:-1.33, Z:0.40 [[ 9.99952930e-01 7.24157017e-03 6.45743325e-03 -2.31442896e+01] [-7.24535727e-03 9.99973593e-01 5.63270207e-04 -1.32535554e+00] [-6.45318377e-03 -6.10030105e-04 9.99978992e-01 3.96437755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008033874 meters 0.055012674053465084 Centerline is valid? [True, True] Translation: X:-23.20, Y:-1.33, Z:0.41 [[ 9.99902480e-01 1.07051099e-02 8.96834111e-03 -2.32028290e+01] [-1.07125847e-02 9.99942310e-01 7.85842211e-04 -1.33307024e+00] [-8.95941120e-03 -8.81839689e-04 9.99959475e-01 4.06216725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068033873999997 meters 0.06298879184925384 Centerline is valid? [True, True] Translation: X:-23.26, Y:-1.32, Z:0.41 [[ 9.99795653e-01 1.69026307e-02 1.10884275e-02 -2.32646620e+01] [-1.69144262e-02 9.99856470e-01 9.70844832e-04 -1.31831748e+00] [-1.10704261e-02 -1.15820083e-03 9.99938050e-01 4.07250258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128033873999996 meters 0.06265783903174979 Centerline is valid? [True, True] Translation: X:-23.32, Y:-1.32, Z:0.40 [[ 9.99780450e-01 2.03510869e-02 4.98859215e-03 -2.33240742e+01] [-2.03535193e-02 9.99792750e-01 4.37312830e-04 -1.32406422e+00] [-4.97865847e-03 -5.38752224e-04 9.99987461e-01 4.04085122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188033874 meters 0.06191189133418762 Centerline is valid? [True, True] Translation: X:-23.38, Y:-1.33, Z:0.42 [[ 9.99567290e-01 2.71823171e-02 1.12407758e-02 -2.33832554e+01] [-2.71950796e-02 9.99629661e-01 9.84050735e-04 -1.33047502e+00] [-1.12098642e-02 -1.28931872e-03 9.99936336e-01 4.17298414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248033873999997 meters 0.0599572852279574 Centerline is valid? [True, True] Translation: X:-23.45, Y:-1.33, Z:0.41 [[ 9.99596066e-01 2.67566837e-02 9.58045077e-03 -2.34452548e+01] [-2.67658850e-02 9.99641382e-01 8.33482067e-04 -1.33172939e+00] [-9.55471383e-03 -1.08957464e-03 9.99953759e-01 4.13286207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308033873999996 meters 0.05781444120597609 Centerline is valid? [True, True] Translation: X:-23.50, Y:-1.34, Z:0.41 [[ 9.99691542e-01 2.37956544e-02 7.11256208e-03 -2.35042320e+01] [-2.38006933e-02 9.99716528e-01 6.24634866e-04 -1.33920485e+00] [-7.09568227e-03 -7.93726101e-04 9.99974510e-01 4.10888225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368033873999998 meters 0.05922041215652152 Centerline is valid? [True, True] Translation: X:-23.56, Y:-1.35, Z:0.42 [[ 9.99742805e-01 2.15264903e-02 7.13676126e-03 -2.35636725e+01] [-2.15315025e-02 9.99767974e-01 6.26215463e-04 -1.35086642e+00] [-7.12162512e-03 -7.79719597e-04 9.99974337e-01 4.19158452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428033873999997 meters 0.058298394247317656 Centerline is valid? [True, True] Translation: X:-23.62, Y:-1.36, Z:0.42 [[ 9.99760589e-01 1.94905615e-02 9.94395358e-03 -2.36238431e+01] [-1.95001946e-02 9.99809472e-01 8.72689920e-04 -1.36123562e+00] [-9.92504977e-03 -1.06639002e-03 9.99950177e-01 4.24914983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488033874 meters 0.05977904576604096 Centerline is valid? [True, True] Translation: X:-23.68, Y:-1.37, Z:0.42 [[ 9.99747785e-01 2.11929340e-02 7.43147713e-03 -2.36846071e+01] [-2.11983603e-02 9.99775077e-01 6.52160027e-04 -1.36549322e+00] [-7.41598443e-03 -8.09530672e-04 9.99972174e-01 4.21077746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548033873999998 meters 0.06309397775970671 Centerline is valid? [True, True] Translation: X:-23.74, Y:-1.38, Z:0.43 [[ 9.99617866e-01 2.65823768e-02 7.58279335e-03 -2.37432958e+01] [-2.65881814e-02 9.99646250e-01 6.65709935e-04 -1.38096990e+00] [-7.56241479e-03 -8.67068230e-04 9.99971029e-01 4.34467392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608033873999997 meters 0.05949284557097667 Centerline is valid? [True, True] Translation: X:-23.80, Y:-1.39, Z:0.43 [[ 9.99488020e-01 3.05894138e-02 9.38001700e-03 -2.38031321e+01] [-3.05984702e-02 9.99531418e-01 8.23481772e-04 -1.38710376e+00] [-9.35043187e-03 -1.11007434e-03 9.99955668e-01 4.31417780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668033874 meters 0.060181327939297063 Centerline is valid? [True, True] Translation: X:-23.86, Y:-1.40, Z:0.44 [[ 9.99520316e-01 2.98074715e-02 8.40546907e-03 -2.38644728e+01] [-2.98146627e-02 9.99555176e-01 7.31504425e-04 -1.40286834e+00] [-8.37992583e-03 -9.81759760e-04 9.99964406e-01 4.41497766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728033873999998 meters 0.05992305041624443 Centerline is valid? [True, True] Translation: X:-23.93, Y:-1.40, Z:0.43 [[ 9.99584428e-01 2.77101933e-02 7.94452723e-03 -2.39265376e+01] [-2.77166128e-02 9.99615576e-01 6.99062057e-04 -1.39721952e+00] [-7.92210203e-03 -9.18966932e-04 9.99968197e-01 4.34675216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788033873999996 meters 0.06014662416751526 Centerline is valid? [True, True] Translation: X:-23.99, Y:-1.42, Z:0.44 [[ 9.99585996e-01 2.63460204e-02 1.15639406e-02 -2.39853318e+01] [-2.63595360e-02 9.99652009e-01 1.01789534e-03 -1.42162406e+00] [-1.15330990e-02 -1.32229403e-03 9.99932617e-01 4.43772337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848033874 meters 0.06931796441797085 Centerline is valid? [True, True] Translation: X:-24.05, Y:-1.41, Z:0.44 [[ 9.99611450e-01 2.71898412e-02 6.13690700e-03 -2.40479426e+01] [-2.71936622e-02 9.99630038e-01 5.40022489e-04 -1.40920677e+00] [-6.11995345e-03 -7.06697639e-04 9.99981023e-01 4.39946216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908033873999997 meters 0.06254672083361539 Centerline is valid? [True, True] Translation: X:-24.11, Y:-1.41, Z:0.44 [[ 9.99660768e-01 2.58078851e-02 3.50752772e-03 -2.41090664e+01] [-2.58091220e-02 9.99666842e-01 3.07823584e-04 -1.40859027e+00] [-3.49841488e-03 -3.98245371e-04 9.99993801e-01 4.37526254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968033873999996 meters 0.06565086774171619 Centerline is valid? [True, True] Translation: X:-24.17, Y:-1.43, Z:0.46 [[ 9.99522187e-01 2.78136900e-02 1.34831819e-02 -2.41701107e+01] [-2.78321319e-02 9.99611912e-01 1.18202572e-03 -1.42541719e+00] [-1.34450727e-02 -1.55672663e-03 9.99908399e-01 4.59649439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028033874 meters 0.07277953395989993 Centerline is valid? [True, True] Translation: X:-24.23, Y:-1.41, Z:0.43 [[ 9.99475952e-01 3.23437123e-02 -1.30575779e-03 -2.42331398e+01] [-3.23438906e-02 9.99476793e-01 -1.15616870e-04 -1.40698037e+00] [ 1.30133513e-03 1.57789569e-04 9.99999141e-01 4.33477451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088033873999997 meters 0.06205172818871029 Centerline is valid? [True, True] Translation: X:-24.29, Y:-1.44, Z:0.46 [[ 9.99201959e-01 3.85119130e-02 1.05961356e-02 -2.42898201e+01] [-3.85239729e-02 9.99257238e-01 9.36320253e-04 -1.43976137e+00] [-1.05522057e-02 -1.34377827e-03 9.99943421e-01 4.58417831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148033873999996 meters 0.07118681454012654 Centerline is valid? [True, True] Translation: X:-24.35, Y:-1.43, Z:0.46 [[ 9.99129463e-01 4.11574117e-02 6.81059557e-03 -2.43518069e+01] [-4.11624510e-02 9.99152286e-01 6.01350953e-04 -1.42762908e+00] [-6.78007209e-03 -8.81168261e-04 9.99976627e-01 4.58561799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208033873999998 meters 0.07512412543466966 Centerline is valid? [True, True] Translation: X:-24.41, Y:-1.42, Z:0.45 [[ 9.99144359e-01 4.12210702e-02 3.37234740e-03 -2.44149364e+01] [-4.12223019e-02 9.99149956e-01 2.96526113e-04 -1.42306953e+00] [-3.35725763e-03 -4.35288316e-04 9.99994270e-01 4.45562471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268033873999997 meters 0.0657761308093732 Centerline is valid? [True, True] Translation: X:-24.47, Y:-1.45, Z:0.47 [[ 9.99255282e-01 3.76783755e-02 8.31988470e-03 -2.44714394e+01] [-3.76857811e-02 9.99289368e-01 7.35082886e-04 -1.45496341e+00] [-8.28627559e-03 -1.04807681e-03 9.99965119e-01 4.66920751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328033874 meters 0.06530221416646369 Centerline is valid? [True, True] Translation: X:-24.53, Y:-1.46, Z:0.46 [[ 9.99485242e-01 3.20411080e-02 1.61824707e-03 -2.45325262e+01] [-3.20413805e-02 9.99486533e-01 1.42691518e-04 -1.45928221e+00] [-1.61284415e-03 -1.94468936e-04 9.99998680e-01 4.56812816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388033873999998 meters 0.063343700259333 Centerline is valid? [True, True] Translation: X:-24.59, Y:-1.47, Z:0.47 [[ 9.99583747e-01 2.72077062e-02 9.59545012e-03 -2.45915060e+01] [-2.72170893e-02 9.99629186e-01 8.48619099e-04 -1.47340800e+00] [-9.56880301e-03 -1.10942608e-03 9.99953603e-01 4.70923245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448033873999997 meters 0.06292352624354994 Centerline is valid? [True, True] Translation: X:-24.65, Y:-1.47, Z:0.47 [[ 9.99546573e-01 2.92670304e-02 7.07733667e-03 -2.46511603e+01] [-2.92721900e-02 9.99571281e-01 6.26527825e-04 -1.47182959e+00] [-7.05596587e-03 -8.33412884e-04 9.99974759e-01 4.67128026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508033874 meters 0.06579275318641184 Centerline is valid? [True, True] Translation: X:-24.71, Y:-1.47, Z:0.47 [[ 9.99524244e-01 3.03625674e-02 5.42223265e-03 -2.47120876e+01] [-3.03656069e-02 9.99538744e-01 4.79105377e-04 -1.47161430e+00] [-5.40518475e-03 -6.43526825e-04 9.99985185e-01 4.66855605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568033873999997 meters 0.06666224966416627 Centerline is valid? [True, True] Translation: X:-24.77, Y:-1.45, Z:0.47 [[ 9.99166043e-01 4.05400392e-02 4.87066052e-03 -2.47734130e+01] [-4.05426153e-02 9.99177717e-01 4.31296729e-04 -1.45357107e+00] [-4.84917067e-03 -6.28406362e-04 9.99988045e-01 4.67775118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628033873999996 meters 0.07182882297103482 Centerline is valid? [True, True] Translation: X:-24.83, Y:-1.46, Z:0.47 [[ 9.99059516e-01 4.31073238e-02 4.67362448e-03 -2.48341216e+01] [-4.31097211e-02 9.99070258e-01 4.13385610e-04 -1.45510593e+00] [-4.65145927e-03 -6.14475476e-04 9.99988993e-01 4.67737123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688033874 meters 0.07451512325242822 Centerline is valid? [True, True] Translation: X:-24.90, Y:-1.45, Z:0.48 [[ 9.98971518e-01 4.40977542e-02 1.05496289e-02 -2.48983245e+01] [-4.41099590e-02 9.99026252e-01 9.26919393e-04 -1.44621693e+00] [-1.04984811e-02 -1.39130977e-03 9.99943922e-01 4.75146321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748033873999997 meters 0.07220037865227712 Centerline is valid? [True, True] Translation: X:-24.96, Y:-1.44, Z:0.46 [[ 9.99156285e-01 4.09908072e-02 2.54416058e-03 -2.49588746e+01] [-4.09915076e-02 9.99159470e-01 2.23721655e-04 -1.44349810e+00] [-2.53285161e-03 -3.27821875e-04 9.99996739e-01 4.63270980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808033873999996 meters 0.062294961344724134 Centerline is valid? [True, True] Translation: X:-25.02, Y:-1.47, Z:0.48 [[ 9.99308017e-01 3.58628076e-02 9.86637990e-03 -2.50160158e+01] [-3.58731711e-02 9.99355967e-01 8.75363657e-04 -1.46953735e+00] [-9.82863264e-03 -1.22869625e-03 9.99950943e-01 4.80616070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868033873999998 meters 0.062403553781200355 Centerline is valid? [True, True] Translation: X:-25.08, Y:-1.47, Z:0.47 [[ 9.99623633e-01 2.72603494e-02 3.07676912e-03 -2.50774730e+01] [-2.72613163e-02 9.99628304e-01 2.72768962e-04 -1.46649571e+00] [-3.06818972e-03 -3.56543077e-04 9.99995230e-01 4.70095299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928033873999997 meters 0.06318868383609223 Centerline is valid? [True, True] Translation: X:-25.14, Y:-1.46, Z:0.48 [[ 9.99689144e-01 2.30866630e-02 9.41385074e-03 -2.51386790e+01] [-2.30955422e-02 9.99732913e-01 8.35576867e-04 -1.45936189e+00] [-9.39204574e-03 -1.05273511e-03 9.99955340e-01 4.80177996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988033874 meters 0.06155591743253841 Centerline is valid? [True, True] Translation: X:-25.20, Y:-1.46, Z:0.48 [[ 9.99695143e-01 2.31908881e-02 8.47375184e-03 -2.52004916e+01] [-2.31980429e-02 9.99730610e-01 7.47028339e-04 -1.45601667e+00] [-8.45414485e-03 -9.43375061e-04 9.99963818e-01 4.75145795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048033873999998 meters 0.06381056002321009 Centerline is valid? [True, True] Translation: X:-25.26, Y:-1.45, Z:0.49 [[ 9.99476043e-01 3.06588023e-02 1.03767757e-02 -2.52617324e+01] [-3.06700220e-02 9.99529137e-01 9.23787554e-04 -1.45127568e+00] [-1.03435675e-02 -1.24155947e-03 9.99945733e-01 4.87856468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108033873999997 meters 0.06669836174378015 Centerline is valid? [True, True] Translation: X:-25.33, Y:-1.42, Z:0.47 [[ 9.99221273e-01 3.84606328e-02 8.81062995e-03 -2.53260941e+01] [-3.84690180e-02 9.99259486e-01 7.84170061e-04 -1.42247216e+00] [-8.77394587e-03 -1.12249569e-03 9.99960878e-01 4.70667279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168033874 meters 0.06605533499761113 Centerline is valid? [True, True] Translation: X:-25.39, Y:-1.43, Z:0.48 [[ 9.99072837e-01 4.20741684e-02 9.12303574e-03 -2.53853914e+01] [-4.20833119e-02 9.99113775e-01 8.12519059e-04 -1.42802686e+00] [-9.08076461e-03 -1.19569328e-03 9.99958054e-01 4.82142254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228033873999998 meters 0.06603648688153924 Centerline is valid? [True, True] Translation: X:-25.45, Y:-1.41, Z:0.47 [[ 9.99140678e-01 4.08214948e-02 7.17717337e-03 -2.54501150e+01] [-4.08271080e-02 9.99166023e-01 6.37262382e-04 -1.40850646e+00] [-7.14517376e-03 -9.29738001e-04 9.99974041e-01 4.67948740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288033873999996 meters 0.06825744323316446 Centerline is valid? [True, True] Translation: X:-25.51, Y:-1.41, Z:0.47 [[ 9.99329516e-01 3.56774585e-02 8.22423017e-03 -2.55109568e+01] [-3.56846747e-02 9.99362831e-01 7.32320015e-04 -1.41249981e+00] [-8.19286263e-03 -1.02530799e-03 9.99965912e-01 4.73661802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348033874 meters 0.07289902800499416 Centerline is valid? [True, True] Translation: X:-25.57, Y:-1.39, Z:0.47 [[ 9.99530027e-01 2.83084601e-02 1.17625208e-02 -2.55741607e+01] [-2.83227287e-02 9.99598281e-01 1.04821862e-03 -1.38727726e+00] [-1.17281221e-02 -1.38087267e-03 9.99930270e-01 4.70107006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408033873999997 meters 0.05841506811323198 Centerline is valid? [True, True] Translation: X:-25.63, Y:-1.41, Z:0.47 [[ 9.99643858e-01 2.57960508e-02 6.83520613e-03 -2.56320021e+01] [-2.58007978e-02 9.99666920e-01 6.07208420e-04 -1.41477911e+00] [-6.81726588e-03 -7.83345939e-04 9.99976455e-01 4.69285593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468033873999996 meters 0.05660780223821698 Centerline is valid? [True, True] Translation: X:-25.69, Y:-1.42, Z:0.48 [[ 9.99585472e-01 2.57426938e-02 1.28917859e-02 -2.56923956e+01] [-2.57596388e-02 9.99667504e-01 1.15005252e-03 -1.41727354e+00] [-1.28578940e-02 -1.48166354e-03 9.99916236e-01 4.82684473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528033874 meters 0.06874268516098257 Centerline is valid? [True, True] Translation: X:-25.76, Y:-1.38, Z:0.48 [[ 9.99605551e-01 2.64005872e-02 9.57867959e-03 -2.57570107e+01] [-2.64099673e-02 9.99650831e-01 8.54081836e-04 -1.38484222e+00] [-9.55278675e-03 -1.10671756e-03 9.99953759e-01 4.75368383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588033873999997 meters 0.061941830558994174 Centerline is valid? [True, True] Translation: X:-25.82, Y:-1.39, Z:0.47 [[ 9.99581790e-01 2.69179545e-02 1.05673451e-02 -2.58187752e+01] [-2.69293534e-02 9.99636899e-01 9.37866103e-04 -1.38962651e+00] [-1.05382626e-02 -1.22204565e-03 9.99943724e-01 4.73977643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648033873999996 meters 0.057585235733997125 Centerline is valid? [True, True] Translation: X:-25.88, Y:-1.39, Z:0.48 [[ 9.99600550e-01 2.65462186e-02 9.69739204e-03 -2.58798631e+01] [-2.65558407e-02 9.99646957e-01 8.64799519e-04 -1.39173824e+00] [-9.67101129e-03 -1.12197647e-03 9.99952605e-01 4.78537894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708033873999998 meters 0.06215760964642522 Centerline is valid? [True, True] Translation: X:-25.94, Y:-1.38, Z:0.48 [[ 9.99622822e-01 2.40084009e-02 1.33345527e-02 -2.59421702e+01] [-2.40264469e-02 9.99710609e-01 1.19476125e-03 -1.37707512e+00] [-1.33020095e-02 -1.51469254e-03 9.99910377e-01 4.82489744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768033873999997 meters 0.0584858557222897 Centerline is valid? [True, True] Translation: X:-26.00, Y:-1.38, Z:0.48 [[ 9.99738578e-01 2.17471020e-02 7.05966770e-03 -2.60041237e+01] [-2.17520659e-02 9.99763199e-01 6.27105663e-04 -1.38023023e+00] [-7.04435823e-03 -7.80504081e-04 9.99974884e-01 4.75697176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828033874 meters 0.05393642132540281 Centerline is valid? [True, True] Translation: X:-26.06, Y:-1.38, Z:0.49 [[ 9.99740322e-01 1.89265280e-02 1.26915128e-02 -2.60637219e+01] [-1.89425095e-02 9.99819924e-01 1.14018563e-03 -1.37764743e+00] [-1.26676476e-02 -1.38029865e-03 9.99918809e-01 4.88688477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888033873999998 meters 0.0537970710802734 Centerline is valid? [True, True] Translation: X:-26.13, Y:-1.37, Z:0.48 [[ 9.99806374e-01 1.74952901e-02 9.00718410e-03 -2.61267265e+01] [-1.75032392e-02 9.99846483e-01 8.04447168e-04 -1.37044596e+00] [-8.99172731e-03 -9.61946304e-04 9.99959111e-01 4.84133602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948033873999997 meters 0.05752278537192597 Centerline is valid? [True, True] Translation: X:-26.19, Y:-1.35, Z:0.48 [[ 9.99831336e-01 1.68133533e-02 7.38987593e-03 -2.61930167e+01] [-1.68186766e-02 9.99858339e-01 6.58793605e-04 -1.34816128e+00] [-7.37775254e-03 -7.82970424e-04 9.99972477e-01 4.78271191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008033874 meters 0.05708141010639787 Centerline is valid? [True, True] Translation: X:-26.25, Y:-1.34, Z:0.48 [[ 9.99746743e-01 2.00991202e-02 1.01230035e-02 -2.62543795e+01] [-2.01094120e-02 9.99797366e-01 9.15909019e-04 -1.34111121e+00] [-1.01025433e-02 -1.11924471e-03 9.99948342e-01 4.83982913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068033873999997 meters 0.05552806281676871 Centerline is valid? [True, True] Translation: X:-26.32, Y:-1.33, Z:0.48 [[ 9.99752344e-01 2.06668606e-02 8.25413501e-03 -2.63168267e+01] [-2.06737150e-02 9.99785998e-01 7.45951729e-04 -1.32954088e+00] [-8.23695213e-03 -9.16410624e-04 9.99965656e-01 4.82223697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128033873999996 meters 0.056106381673690094 Centerline is valid? [True, True] Translation: X:-26.38, Y:-1.32, Z:0.48 [[ 9.99780752e-01 1.91768473e-02 8.40810999e-03 -2.63795893e+01] [-1.91839103e-02 9.99815683e-01 7.60168383e-04 -1.31938130e+00] [-8.39198260e-03 -9.21302145e-04 9.99964362e-01 4.81918017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188033874 meters 0.05671745177102792 Centerline is valid? [True, True] Translation: X:-26.44, Y:-1.31, Z:0.48 [[ 9.99821911e-01 1.50540564e-02 1.13807212e-02 -2.64413423e+01] [-1.50667499e-02 9.99885959e-01 1.03043176e-03 -1.31076274e+00] [-1.13639112e-02 -1.20171873e-03 9.99934707e-01 4.84923587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248033873999997 meters 0.05191719404039883 Centerline is valid? [True, True] Translation: X:-26.50, Y:-1.32, Z:0.48 [[ 9.99889551e-01 1.20984461e-02 8.63206450e-03 -2.65004202e+01] [-1.21056430e-02 9.99926418e-01 7.81972333e-04 -1.31623661e+00] [-8.62196869e-03 -8.86382656e-04 9.99962437e-01 4.84224330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308033873999996 meters 0.05448653282710336 Centerline is valid? [True, True] Translation: X:-26.56, Y:-1.30, Z:0.49 [[ 9.99903498e-01 1.07641928e-02 8.78214106e-03 -2.65626365e+01] [-1.07715843e-02 9.99941669e-01 7.94780194e-04 -1.30314886e+00] [-8.77307362e-03 -8.89301069e-04 9.99961120e-01 4.86910086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368033873999998 meters 0.04997805269411338 Centerline is valid? [True, True] Translation: X:-26.62, Y:-1.30, Z:0.48 [[ 9.99880801e-01 1.05702924e-02 1.12539927e-02 -2.66248653e+01] [-1.05823673e-02 9.99943491e-01 1.01393293e-03 -1.30164606e+00] [-1.12426392e-02 -1.13290596e-03 9.99936158e-01 4.83010325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428033873999997 meters 0.05552878030445831 Centerline is valid? [True, True] Translation: X:-26.69, Y:-1.28, Z:0.48 [[ 9.99933434e-01 9.48103017e-03 6.57554192e-03 -2.66896821e+01] [-9.48511317e-03 9.99954841e-01 5.90029824e-04 -1.27872227e+00] [-6.56965089e-03 -6.52360307e-04 9.99978207e-01 4.77936444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488033873999996 meters 0.05725595664883289 Centerline is valid? [True, True] Translation: X:-26.75, Y:-1.27, Z:0.48 [[ 9.99868321e-01 8.78706348e-03 1.36428512e-02 -2.67520646e+01] [-8.80482039e-03 9.99960465e-01 1.24203525e-03 -1.26575932e+00] [-1.36313980e-02 -1.36199456e-03 9.99906161e-01 4.80957795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548033873999998 meters 0.04980016583480153 Centerline is valid? [True, True] Translation: X:-26.81, Y:-1.29, Z:0.49 [[ 9.99899976e-01 9.98441329e-03 1.00174938e-02 -2.68102667e+01] [-9.99404698e-03 9.99949642e-01 9.12088232e-04 -1.28561447e+00] [-1.00078827e-02 -1.01211230e-03 9.99949408e-01 4.90457751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608033873999997 meters 0.05440854298893451 Centerline is valid? [True, True] Translation: X:-26.87, Y:-1.27, Z:0.49 [[ 9.99830402e-01 1.46372058e-02 1.11767385e-02 -2.68732338e+01] [-1.46494818e-02 9.99892173e-01 1.01726536e-03 -1.26997237e+00] [-1.11606434e-02 -1.18082626e-03 9.99937021e-01 4.86223854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668033874 meters 0.05649114419775642 Centerline is valid? [True, True] Translation: X:-26.94, Y:-1.26, Z:0.49 [[ 9.99741555e-01 2.09854047e-02 8.74278139e-03 -2.69352359e+01] [-2.09931575e-02 9.99779303e-01 7.95929674e-04 -1.25696214e+00] [-8.72414898e-03 -9.79262556e-04 9.99961464e-01 4.85899544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728033873999998 meters 0.05385261384047462 Centerline is valid? [True, True] Translation: X:-26.99, Y:-1.27, Z:0.49 [[ 9.99516760e-01 2.84585954e-02 1.25041820e-02 -2.69932526e+01] [-2.84750391e-02 9.99593855e-01 1.13895519e-03 -1.27184609e+00] [-1.24666904e-02 -1.49446187e-03 9.99921171e-01 4.93743354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788033873999996 meters 0.060260342772830114 Centerline is valid? [True, True] Translation: X:-27.05, Y:-1.27, Z:0.49 [[ 9.99550606e-01 2.92464583e-02 6.57499689e-03 -2.70548540e+01] [-2.92510173e-02 9.99571918e-01 5.98274567e-04 -1.26760949e+00] [-6.55468485e-03 -7.90331054e-04 9.99978206e-01 4.86997595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848033874 meters 0.052174925656536496 Centerline is valid? [True, True] Translation: X:-27.11, Y:-1.30, Z:0.50 [[ 9.99735883e-01 1.86734074e-02 1.33965599e-02 -2.71124382e+01] [-1.86914086e-02 9.99824556e-01 1.21976322e-03 -1.29503578e+00] [-1.33714324e-02 -1.46984164e-03 9.99909518e-01 4.97545680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908033873999997 meters 0.049747071388683686 Centerline is valid? [True, True] Translation: X:-27.17, Y:-1.32, Z:0.50 [[ 9.99933609e-01 5.83267013e-03 9.93771089e-03 -2.71710141e+01] [-5.84194967e-03 9.99982526e-01 9.04997705e-04 -1.32035408e+00] [-9.93225869e-03 -9.62993228e-04 9.99950210e-01 4.99003688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968033873999996 meters 0.04671322626397802 Centerline is valid? [True, True] Translation: X:-27.23, Y:-1.35, Z:0.50 [[ 9.99896112e-01 -1.04329502e-02 9.94580389e-03 -2.72291704e+01] [ 1.04244500e-02 9.99945253e-01 9.06114378e-04 -1.34547089e+00] [-9.95471283e-03 -8.02340708e-04 9.99950129e-01 4.99661103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028033874 meters 0.04247055995540242 Centerline is valid? [True, True] Translation: X:-27.29, Y:-1.36, Z:0.50 [[ 9.99799697e-01 -1.62109900e-02 1.17375509e-02 -2.72873837e+01] [ 1.61995437e-02 9.99868207e-01 1.06961153e-03 -1.35660469e+00] [-1.17533434e-02 -8.79254310e-04 9.99930541e-01 4.99635583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088033873999997 meters 0.0442932103134766 Centerline is valid? [True, True] Translation: X:-27.35, Y:-1.37, Z:0.51 [[ 9.99906840e-01 -9.54384126e-03 9.75842240e-03 -2.73470466e+01] [ 9.53561679e-03 9.99954140e-01 8.88989392e-04 -1.36806255e+00] [-9.76645925e-03 -7.95853997e-04 9.99951990e-01 5.10856366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148033873999996 meters 0.051488487250789944 Centerline is valid? [True, True] Translation: X:-27.41, Y:-1.34, Z:0.50 [[ 9.99958223e-01 3.97085759e-03 8.23310818e-03 -2.74105211e+01] [-3.97717029e-03 9.99991809e-01 7.50515124e-04 -1.34123392e+00] [-8.23006056e-03 -7.83228243e-04 9.99965826e-01 5.01006570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208033873999998 meters 0.05934559845336689 Centerline is valid? [True, True] Translation: X:-27.47, Y:-1.34, Z:0.50 [[ 9.99897971e-01 1.38681231e-02 3.42373049e-03 -2.74711321e+01] [-1.38692713e-02 9.99903768e-01 3.11853639e-04 -1.33910328e+00] [-3.41907620e-03 -3.59306468e-04 9.99994090e-01 5.01851836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268033873999997 meters 0.05274195263198597 Centerline is valid? [True, True] Translation: X:-27.53, Y:-1.36, Z:0.51 [[ 9.99919949e-01 6.93791378e-03 1.05811768e-02 -2.75289359e+01] [-6.94849428e-03 9.99975395e-01 9.63500926e-04 -1.35776807e+00] [-1.05742318e-02 -1.03694704e-03 9.99943554e-01 5.13727335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328033874 meters 0.051263864403006044 Centerline is valid? [True, True] Translation: X:-27.59, Y:-1.38, Z:0.51 [[ 9.99949676e-01 -3.76299273e-03 9.29978361e-03 -2.75881801e+01] [ 3.75526929e-03 9.99992590e-01 8.47818899e-04 -1.37616965e+00] [-9.30290503e-03 -8.12853042e-04 9.99956397e-01 5.14692133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388033873999998 meters 0.05115579433174449 Centerline is valid? [True, True] Translation: X:-27.65, Y:-1.36, Z:0.51 [[ 9.99961256e-01 -5.08371578e-03 7.18625695e-03 -2.76523802e+01] [ 5.07918164e-03 9.99986890e-01 6.49055431e-04 -1.36478887e+00] [-7.18946235e-03 -6.12529979e-04 9.99973968e-01 5.13450218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448033873999997 meters 0.05320781438958115 Centerline is valid? [True, True] Translation: X:-27.71, Y:-1.36, Z:0.52 [[ 9.99938741e-01 5.03344522e-03 9.85796733e-03 -2.77121067e+01] [-5.04257323e-03 9.99986880e-01 9.01315927e-04 -1.35953369e+00] [-9.85330127e-03 -9.50970235e-04 9.99951003e-01 5.20914614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508033874 meters 0.05421852337021217 Centerline is valid? [True, True] Translation: X:-27.77, Y:-1.35, Z:0.52 [[ 9.99863491e-01 1.41207994e-02 8.57923692e-03 -2.77734141e+01] [-1.41280445e-02 9.99899886e-01 7.84473240e-04 -1.34877894e+00] [-8.56730063e-03 -9.05573993e-04 9.99962890e-01 5.23767648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568033873999997 meters 0.055465825953139994 Centerline is valid? [True, True] Translation: X:-27.83, Y:-1.35, Z:0.53 [[ 9.99839354e-01 1.59819912e-02 8.11430493e-03 -2.78342127e+01] [-1.59885319e-02 9.99871900e-01 7.41842908e-04 -1.34711986e+00] [-8.10140936e-03 -8.71459557e-04 9.99966803e-01 5.25811374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628033873999996 meters 0.05297343920525413 Centerline is valid? [True, True] Translation: X:-27.90, Y:-1.35, Z:0.53 [[ 9.99854647e-01 1.48035948e-02 8.45808807e-03 -2.78954686e+01] [-1.48106101e-02 9.99890022e-01 7.67391678e-04 -1.35383607e+00] [-8.44579772e-03 -8.92549580e-04 9.99963935e-01 5.25338972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688033874 meters 0.05191899191809666 Centerline is valid? [True, True] Translation: X:-27.96, Y:-1.36, Z:0.53 [[ 9.99886878e-01 1.14454491e-02 9.75873887e-03 -2.79556012e+01] [-1.14547084e-02 9.99933994e-01 8.93450024e-04 -1.36273463e+00] [-9.74786879e-03 -1.00513246e-03 9.99951983e-01 5.32756579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748033873999997 meters 0.05213297925563104 Centerline is valid? [True, True] Translation: X:-28.02, Y:-1.37, Z:0.54 [[ 9.99887418e-01 9.58800167e-03 1.15421450e-02 -2.80159201e+01] [-9.60084465e-03 9.99953351e-01 1.05780760e-03 -1.36780223e+00] [-1.15314643e-02 -1.16850285e-03 9.99932828e-01 5.35361710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808033873999996 meters 0.05570166428903084 Centerline is valid? [True, True] Translation: X:-28.08, Y:-1.37, Z:0.53 [[ 9.99900238e-01 1.29603332e-02 5.61633885e-03 -2.80763396e+01] [-1.29634298e-02 9.99915838e-01 5.15311385e-04 -1.37000616e+00] [-5.60918757e-03 -5.88066991e-04 9.99984095e-01 5.30921876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868033873999998 meters 0.05410896794333797 Centerline is valid? [True, True] Translation: X:-28.14, Y:-1.38, Z:0.55 [[ 9.99734063e-01 1.76500812e-02 1.48417544e-02 -2.81359493e+01] [-1.76722059e-02 9.99842908e-01 1.36086680e-03 -1.37523374e+00] [-1.48154035e-02 -1.62279143e-03 9.99888929e-01 5.52963951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928033873999997 meters 0.05834359988807373 Centerline is valid? [True, True] Translation: X:-28.20, Y:-1.37, Z:0.54 [[ 9.99542894e-01 2.94272350e-02 6.93116050e-03 -2.81981733e+01] [-2.94323367e-02 9.99566573e-01 6.35185900e-04 -1.36886650e+00] [-6.90946459e-03 -8.38895802e-04 9.99975777e-01 5.37937081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988033873999996 meters 0.05720025597743333 Centerline is valid? [True, True] Translation: X:-28.26, Y:-1.38, Z:0.56 [[ 9.99429469e-01 3.03970478e-02 1.47226586e-02 -2.82589352e+01] [-3.04201143e-02 9.99536296e-01 1.34528064e-03 -1.38494019e+00] [-1.46749390e-02 -1.79237807e-03 9.99890711e-01 5.55441732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048033873999998 meters 0.062207546559104133 Centerline is valid? [True, True] Translation: X:-28.32, Y:-1.38, Z:0.55 [[ 9.99462803e-01 3.02372860e-02 1.26416766e-02 -2.83219517e+01] [-3.02543029e-02 9.99541564e-01 1.15698985e-03 -1.38322442e+00] [-1.26008970e-02 -1.53883343e-03 9.99919421e-01 5.54573716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108033873999997 meters 0.05596906829126782 Centerline is valid? [True, True] Translation: X:-28.38, Y:-1.40, Z:0.56 [[ 9.99489782e-01 2.95318757e-02 1.21673388e-02 -2.83822739e+01] [-2.95476261e-02 9.99562750e-01 1.11671624e-03 -1.40097781e+00] [-1.21290399e-02 -1.47566245e-03 9.99925352e-01 5.58476602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168033874 meters 0.05919497037482543 Centerline is valid? [True, True] Translation: X:-28.44, Y:-1.41, Z:0.57 [[ 9.99686976e-01 2.38150665e-02 7.66766767e-03 -2.84426106e+01] [-2.38211918e-02 9.99715984e-01 7.08511711e-04 -1.40748968e+00] [-7.64861667e-03 -8.90942912e-04 9.99970352e-01 5.65905500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228033873999998 meters 0.0587301761361297 Centerline is valid? [True, True] Translation: X:-28.51, Y:-1.41, Z:0.56 [[ 9.99691840e-01 2.33447264e-02 8.44088405e-03 -2.85050848e+01] [-2.33520869e-02 9.99727003e-01 7.74487323e-04 -1.40855745e+00] [-8.42049952e-03 -9.71360915e-04 9.99964075e-01 5.60467736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288033873999996 meters 0.057303922880084894 Centerline is valid? [True, True] Translation: X:-28.57, Y:-1.42, Z:0.58 [[ 9.99670407e-01 2.30877112e-02 1.12265095e-02 -2.85658411e+01] [-2.31007685e-02 9.99732606e-01 1.03477498e-03 -1.42436249e+00] [-1.11996170e-02 -1.29377492e-03 9.99936445e-01 5.75501444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348033874 meters 0.060275566273524005 Centerline is valid? [True, True] Translation: X:-28.63, Y:-1.42, Z:0.58 [[ 9.99481077e-01 3.00504947e-02 1.15993163e-02 -2.86275645e+01] [-3.00649945e-02 9.99547365e-01 1.07767305e-03 -1.41973115e+00] [-1.15616814e-02 -1.42584720e-03 9.99932145e-01 5.77495182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408033873999997 meters 0.059887226062007796 Centerline is valid? [True, True] Translation: X:-28.69, Y:-1.41, Z:0.59 [[ 9.99220468e-01 3.72553222e-02 1.30574740e-02 -2.86888833e+01] [-3.72743014e-02 9.99304335e-01 1.21308587e-03 -1.40865522e+00] [-1.30031965e-02 -1.69884845e-03 9.99914012e-01 5.85995801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468033873999996 meters 0.07368975143834128 Centerline is valid? [True, True] Translation: X:-28.75, Y:-1.38, Z:0.57 [[ 9.99223384e-01 3.85478717e-02 8.16639875e-03 -2.87529499e+01] [-3.85553374e-02 9.99256179e-01 7.58692667e-04 -1.37742350e+00] [-8.13107842e-03 -1.07296171e-03 9.99966367e-01 5.72035480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528033874 meters 0.059213083007438966 Centerline is valid? [True, True] Translation: X:-28.81, Y:-1.42, Z:0.59 [[ 9.99404158e-01 3.39827559e-02 6.04154806e-03 -2.88085360e+01] [-3.39867553e-02 9.99422126e-01 5.60532550e-04 -1.41822381e+00] [-6.01900836e-03 -7.65531177e-04 9.99981593e-01 5.88605595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588033873999997 meters 0.06423803186253664 Centerline is valid? [True, True] Translation: X:-28.87, Y:-1.41, Z:0.58 [[ 9.99236129e-01 3.75318629e-02 1.08865773e-02 -2.88715091e+01] [-3.75450757e-02 9.99294423e-01 1.01177863e-03 -1.40603302e+00] [-1.08409220e-02 -1.41974313e-03 9.99940228e-01 5.79297931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648033873999996 meters 0.06407803788593971 Centerline is valid? [True, True] Translation: X:-28.93, Y:-1.42, Z:0.60 [[ 9.99029023e-01 4.25747035e-02 1.13316432e-02 -2.89306282e+01] [-4.25893419e-02 9.99092107e-01 1.05354511e-03 -1.42097527e+00] [-1.12765009e-02 -1.53512936e-03 9.99935240e-01 5.99063580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708033873999998 meters 0.06252223512011207 Centerline is valid? [True, True] Translation: X:-28.99, Y:-1.42, Z:0.59 [[ 9.98941579e-01 4.44549981e-02 1.18099591e-02 -2.89916934e+01] [-4.44710355e-02 9.99010070e-01 1.09870574e-03 -1.41909849e+00] [-1.17494251e-02 -1.62274396e-03 9.99929656e-01 5.90093237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768033873999997 meters 0.05709903856066939 Centerline is valid? [True, True] Translation: X:-29.05, Y:-1.44, Z:0.60 [[ 9.99622467e-01 2.56153113e-02 9.93878035e-03 -2.90499522e+01] [-2.56257463e-02 9.99671180e-01 9.23982968e-04 -1.44116535e+00] [-9.91184416e-03 -1.17832280e-03 9.99950182e-01 6.00520807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828033873999996 meters 0.056341570578193625 Centerline is valid? [True, True] Translation: X:-29.11, Y:-1.44, Z:0.61 [[ 9.99761549e-01 1.69799673e-02 1.37305047e-02 -2.91108856e+01] [-1.69990928e-02 9.99854689e-01 1.27740267e-03 -1.44157468e+00] [-1.37068192e-02 -1.51050420e-03 9.99904916e-01 6.06424011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888033873999998 meters 0.05346430405590297 Centerline is valid? [True, True] Translation: X:-29.17, Y:-1.44, Z:0.60 [[ 9.99834693e-01 1.43259319e-02 1.11961404e-02 -2.91710639e+01] [-1.43384886e-02 9.99896656e-01 1.04204455e-03 -1.44226191e+00] [-1.11800551e-02 -1.20240803e-03 9.99936778e-01 6.00382932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948033873999997 meters 0.052713891591302124 Centerline is valid? [True, True] Translation: X:-29.23, Y:-1.46, Z:0.62 [[ 9.99787351e-01 1.63466663e-02 1.25713855e-02 -2.92302459e+01] [-1.63626469e-02 9.99865439e-01 1.16937880e-03 -1.45764988e+00] [-1.25505784e-02 -1.37483128e-03 9.99920293e-01 6.21820140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008033874 meters 0.05311555010341677 Centerline is valid? [True, True] Translation: X:-29.29, Y:-1.44, Z:0.62 [[ 9.99625607e-01 2.28823769e-02 1.50013951e-02 -2.92925908e+01] [-2.29058715e-02 9.99736651e-01 1.39619200e-03 -1.44019704e+00] [-1.49654963e-02 -1.73928931e-03 9.99886498e-01 6.19225650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068033873999997 meters 0.05784782051338513 Centerline is valid? [True, True] Translation: X:-29.35, Y:-1.44, Z:0.62 [[ 9.99517950e-01 2.63676002e-02 1.63895467e-02 -2.93536794e+01] [-2.63961017e-02 9.99650399e-01 1.52508128e-03 -1.43799591e+00] [-1.63436041e-02 -1.95696626e-03 9.99864519e-01 6.24864707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128033873999996 meters 0.05799258539263538 Centerline is valid? [True, True] Translation: X:-29.42, Y:-1.44, Z:0.62 [[ 9.99619529e-01 2.53905978e-02 1.07757033e-02 -2.94165936e+01] [-2.54028015e-02 9.99676799e-01 9.97145897e-04 -1.43685856e+00] [-1.07469024e-02 -1.27049956e-03 9.99941443e-01 6.18881955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188033874 meters 0.06024447019166848 Centerline is valid? [True, True] Translation: X:-29.48, Y:-1.44, Z:0.62 [[ 9.99472148e-01 2.89346757e-02 1.47718983e-02 -2.94778067e+01] [-2.89581572e-02 9.99579675e-01 1.37814900e-03 -1.43660171e+00] [-1.47258130e-02 -1.80518850e-03 9.99889940e-01 6.22968221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248033873999997 meters 0.05669612731368808 Centerline is valid? [True, True] Translation: X:-29.54, Y:-1.46, Z:0.64 [[ 9.99377230e-01 3.32761660e-02 1.17408788e-02 -2.95356686e+01] [-3.32912988e-02 9.99445090e-01 1.09576981e-03 -1.45731098e+00] [-1.16979007e-02 -1.48595651e-03 9.99930473e-01 6.40816331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308033873999996 meters 0.06022466798328318 Centerline is valid? [True, True] Translation: X:-29.60, Y:-1.44, Z:0.63 [[ 9.99191042e-01 3.78145880e-02 1.36864257e-02 -2.95982311e+01] [-3.78355700e-02 9.99283162e-01 1.27729523e-03 -1.44340466e+00] [-1.36283143e-02 -1.79409567e-03 9.99905521e-01 6.28115200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368033873999998 meters 0.06113914129161516 Centerline is valid? [True, True] Translation: X:-29.66, Y:-1.46, Z:0.65 [[ 9.99019423e-01 4.16489304e-02 1.50186049e-02 -2.96572476e+01] [-4.16746296e-02 9.99130251e-01 1.40213673e-03 -1.45509254e+00] [-1.49471450e-02 -2.02665663e-03 9.99886231e-01 6.47090506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428033873999997 meters 0.06128267439569056 Centerline is valid? [True, True] Translation: X:-29.72, Y:-1.46, Z:0.64 [[ 9.98793595e-01 4.80632869e-02 1.00635369e-02 -2.97163343e+01] [-4.80751421e-02 9.98843280e-01 9.39320691e-04 -1.46362306e+00] [-1.00067494e-02 -1.42199346e-03 9.99948920e-01 6.43295141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488033873999996 meters 0.06614173128593208 Centerline is valid? [True, True] Translation: X:-29.78, Y:-1.46, Z:0.64 [[ 9.98760762e-01 4.82577466e-02 1.21708849e-02 -2.97799647e+01] [-4.82750347e-02 9.98833441e-01 1.13051133e-03 -1.45782418e+00] [-1.21021309e-02 -1.71666024e-03 9.99925293e-01 6.44171260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548033873999998 meters 0.06803193209667117 Centerline is valid? [True, True] Translation: X:-29.84, Y:-1.46, Z:0.65 [[ 9.98771830e-01 4.68824029e-02 1.60272352e-02 -2.98404959e+01] [-4.69123907e-02 9.98897881e-01 1.50003398e-03 -1.46052460e+00] [-1.59392461e-02 -2.25006760e-03 9.99870430e-01 6.53863888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608033873999997 meters 0.06427876191627295 Centerline is valid? [True, True] Translation: X:-29.90, Y:-1.48, Z:0.66 [[ 9.98943027e-01 4.30345361e-02 1.61510768e-02 -2.98995104e+01] [-4.30645097e-02 9.99071149e-01 1.51248748e-03 -1.47667228e+00] [-1.60709856e-02 -2.20642702e-03 9.99868419e-01 6.56795908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668033874 meters 0.05587353963633647 Centerline is valid? [True, True] Translation: X:-29.96, Y:-1.50, Z:0.66 [[ 9.99597448e-01 2.49556000e-02 1.34966642e-02 -2.99578763e+01] [-2.49749012e-02 9.99687280e-01 1.26339081e-03 -1.49850098e+00] [-1.34609149e-02 -1.59996009e-03 9.99908118e-01 6.57569953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728033873999998 meters 0.04892970278918211 Centerline is valid? [True, True] Translation: X:-30.02, Y:-1.52, Z:0.67 [[ 9.99865120e-01 4.95633515e-03 1.56581315e-02 -3.00167474e+01] [-4.97990158e-03 9.99986525e-01 1.46642820e-03 -1.52212125e+00] [-1.56506524e-02 -1.54420636e-03 9.99876329e-01 6.67548336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788033873999996 meters 0.04269257149199812 Centerline is valid? [True, True] Translation: X:-30.08, Y:-1.53, Z:0.68 [[ 9.99713794e-01 -7.01855396e-03 2.28707229e-02 -3.00752132e+01] [ 6.97136693e-03 9.99973405e-01 2.14228511e-03 -1.53297948e+00] [-2.28851504e-02 -1.98223177e-03 9.99736136e-01 6.84307522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848033874 meters 0.04127038318896152 Centerline is valid? [True, True] Translation: X:-30.13, Y:-1.54, Z:0.70 [[ 9.99574777e-01 8.75739906e-04 2.91461581e-02 -3.01334993e+01] [-9.55764414e-04 9.99995812e-01 2.73180987e-03 -1.54071380e+00] [-2.91436437e-02 -2.75850510e-03 9.99571428e-01 6.98694594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908033873999997 meters 0.0477808253786788 Centerline is valid? [True, True] Translation: X:-30.20, Y:-1.53, Z:0.70 [[ 9.99515797e-01 1.67669381e-02 2.62114874e-02 -3.01955185e+01] [-1.68370392e-02 9.99855231e-01 2.45601746e-03 -1.53225743e+00] [-2.61665129e-02 -2.89615209e-03 9.99653403e-01 7.02542664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968033873999996 meters 0.05320870231242397 Centerline is valid? [True, True] Translation: X:-30.26, Y:-1.52, Z:0.70 [[ 9.99364633e-01 2.56001368e-02 2.47984529e-02 -3.02568759e+01] [-2.56655715e-02 9.99667884e-01 2.32393159e-03 -1.52499596e+00] [-2.47307240e-02 -2.95892151e-03 9.99689770e-01 7.00683772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028033874 meters 0.049521095120331454 Centerline is valid? [True, True] Translation: X:-30.32, Y:-1.54, Z:0.71 [[ 9.99381912e-01 2.19500639e-02 2.74588394e-02 -3.03156040e+01] [-2.20289537e-02 9.99754020e-01 2.57378787e-03 -1.53542795e+00] [-2.73955903e-02 -3.17708655e-03 9.99619622e-01 7.09101809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088033873999997 meters 0.048111485257279055 Centerline is valid? [True, True] Translation: X:-30.38, Y:-1.52, Z:0.73 [[ 9.98077043e-01 3.17143487e-02 5.32580226e-02 -3.03778045e+01] [-3.20251336e-02 9.99474597e-01 4.99201358e-03 -1.51978261e+00] [-5.30717222e-02 -6.68800944e-03 9.98568307e-01 7.33996555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148033873999996 meters 0.05548747904041853 Centerline is valid? [True, True] Translation: X:-30.44, Y:-1.51, Z:0.74 [[ 9.98139953e-01 3.98148952e-02 4.61671816e-02 -3.04396735e+01] [-4.00569026e-02 9.99188025e-01 4.32836391e-03 -1.50843337e+00] [-4.59573617e-02 -6.16962725e-03 9.98924350e-01 7.40172939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208033873999998 meters 0.05508702696502109 Centerline is valid? [True, True] Translation: X:-30.50, Y:-1.52, Z:0.74 [[ 9.98215389e-01 3.75528743e-02 4.64308052e-02 -3.05006262e+01] [-3.77953182e-02 9.99276014e-01 4.35447163e-03 -1.51648049e+00] [-4.62336670e-02 -6.10156764e-03 9.98912018e-01 7.42044591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268033873999997 meters 0.04978042273282845 Centerline is valid? [True, True] Translation: X:-30.56, Y:-1.54, Z:0.74 [[ 9.98386584e-01 3.80162730e-02 4.21780905e-02 -3.05610162e+01] [-3.82168161e-02 9.99261631e-01 3.95829923e-03 -1.53742353e+00] [-4.19964677e-02 -5.56382518e-03 9.99102267e-01 7.42210784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328033873999996 meters 0.049986417841679155 Centerline is valid? [True, True] Translation: X:-30.62, Y:-1.54, Z:0.74 [[ 9.98598180e-01 3.67858079e-02 3.80588924e-02 -3.06216452e+01] [-3.69484878e-02 9.99310760e-01 3.57968942e-03 -1.54282844e+00] [-3.79009789e-02 -4.98088986e-03 9.99269086e-01 7.41647274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388033873999998 meters 0.05370162036674362 Centerline is valid? [True, True] Translation: X:-30.68, Y:-1.54, Z:0.74 [[ 9.98767208e-01 3.76509741e-02 3.23491628e-02 -3.06839093e+01] [-3.77689374e-02 9.99281866e-01 3.04306366e-03 -1.54181051e+00] [-3.22113575e-02 -4.26110570e-03 9.99471996e-01 7.42707072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448033873999997 meters 0.05344877289152928 Centerline is valid? [True, True] Translation: X:-30.74, Y:-1.55, Z:0.74 [[ 9.98917322e-01 3.65446105e-02 2.87867326e-02 -3.07446510e+01] [-3.66376062e-02 9.99324944e-01 2.70953387e-03 -1.54755887e+00] [-2.86682811e-02 -3.76127729e-03 9.99581904e-01 7.41256144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508033874 meters 0.05095307930388435 Centerline is valid? [True, True] Translation: X:-30.81, Y:-1.49, Z:0.77 [[ 9.95754270e-01 4.48475944e-02 8.03873582e-02 -3.08105399e+01] [-4.56017476e-02 9.98931021e-01 7.56937014e-03 -1.48639381e+00] [-7.99619577e-02 -1.12030367e-02 9.96734958e-01 7.66406626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568033873999997 meters 0.04815184950721938 Centerline is valid? [True, True] Translation: X:-30.87, Y:-1.50, Z:0.77 [[ 9.96796888e-01 4.04358211e-02 6.89993419e-02 -3.08695731e+01] [-4.09807691e-02 9.99138792e-01 6.50014330e-03 -1.49933062e+00] [-6.86770805e-02 -9.30696871e-03 9.97595529e-01 7.72890740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628033873999996 meters 0.04651866632069215 Centerline is valid? [True, True] Translation: X:-30.93, Y:-1.51, Z:0.77 [[ 9.97423353e-01 3.71554329e-02 6.13687965e-02 -3.09285658e+01] [-3.75804564e-02 9.99276856e-01 5.78568621e-03 -1.51279252e+00] [-6.11094484e-02 -8.07704591e-03 9.98098390e-01 7.71273729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688033874 meters 0.04414692984133262 Centerline is valid? [True, True] Translation: X:-30.99, Y:-1.52, Z:0.77 [[ 9.97267754e-01 4.37066255e-02 5.95546635e-02 -3.09883691e+01] [-4.41184853e-02 9.99010510e-01 5.61777037e-03 -1.52458742e+00] [-5.92502010e-02 -8.22988279e-03 9.98209238e-01 7.68281086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748033873999997 meters 0.04629369630854568 Centerline is valid? [True, True] Translation: X:-31.05, Y:-1.52, Z:0.79 [[ 9.97159099e-01 3.86298521e-02 6.46642595e-02 -3.10497212e+01] [-3.91051815e-02 9.99216476e-01 6.10078620e-03 -1.51539772e+00] [-6.43779210e-02 -8.61216207e-03 9.97888428e-01 7.85124626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808033873999996 meters 0.045790092042453795 Centerline is valid? [True, True] Translation: X:-31.11, Y:-1.53, Z:0.79 [[ 9.97334881e-01 3.78190598e-02 6.23927324e-02 -3.11086256e+01] [-3.82601561e-02 9.99250455e-01 5.88971671e-03 -1.52725069e+00] [-6.21232227e-02 -8.26117560e-03 9.98034297e-01 7.85631627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868033873999998 meters 0.044891189677187845 Centerline is valid? [True, True] Translation: X:-31.17, Y:-1.53, Z:0.79 [[ 9.97298458e-01 3.84891651e-02 6.25649322e-02 -3.11702508e+01] [-3.89342813e-02 9.99224293e-01 5.91049815e-03 -1.53292060e+00] [-6.22889100e-02 -8.33045136e-03 9.98023394e-01 7.90529996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928033873999997 meters 0.04461603473194784 Centerline is valid? [True, True] Translation: X:-31.23, Y:-1.54, Z:0.79 [[ 9.97137265e-01 3.89746824e-02 6.47938880e-02 -3.12309707e+01] [-3.94533564e-02 9.99202646e-01 6.12412945e-03 -1.54170684e+00] [-6.45035384e-02 -8.66293405e-03 9.97879876e-01 7.87578150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988033873999996 meters 0.04716158682566572 Centerline is valid? [True, True] Translation: X:-31.29, Y:-1.54, Z:0.79 [[ 9.97172458e-01 3.89765442e-02 6.42488706e-02 -3.12943434e+01] [-3.94477547e-02 9.99203127e-01 6.08150287e-03 -1.53925215e+00] [-6.39606364e-02 -8.59878085e-03 9.97915376e-01 7.92874238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048033873999998 meters 0.04659734008364527 Centerline is valid? [True, True] Translation: X:-31.36, Y:-1.55, Z:0.80 [[ 9.97122241e-01 3.98190183e-02 6.45110952e-02 -3.13559607e+01] [-4.02965464e-02 9.99169036e-01 6.11759165e-03 -1.54630449e+00] [-6.42138924e-02 -8.69956104e-03 9.97898238e-01 7.95400826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108033873999997 meters 0.04521646058222623 Centerline is valid? [True, True] Translation: X:-31.42, Y:-1.55, Z:0.80 [[ 9.97160953e-01 3.92149698e-02 6.42823426e-02 -3.14177019e+01] [-3.96881840e-02 9.99193490e-01 6.10066243e-03 -1.55453827e+00] [-6.39912609e-02 -8.63459180e-03 9.97913104e-01 7.98308618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168033874 meters 0.05514325942494889 Centerline is valid? [True, True] Translation: X:-31.35, Y:-2.89, Z:0.75 [[ 9.99360212e-01 -2.98496486e-02 1.97019306e-02 -3.13542331e+01] [ 2.98185541e-02 9.99553578e-01 1.87020249e-03 -2.88746006e+00] [-1.97489601e-02 -1.28152288e-03 9.99804149e-01 7.49161179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228033873999998 meters 0.06692250362584229 Centerline is valid? [True, True] Translation: X:-31.42, Y:-2.86, Z:0.74 [[ 9.99576467e-01 -2.49620418e-02 1.49593835e-02 -3.14174199e+01] [ 2.49435620e-02 9.99687851e-01 1.42066866e-03 -2.86405444e+00] [-1.49901768e-02 -1.04692665e-03 9.99887093e-01 7.40771100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288033873999996 meters 0.06535266490917509 Centerline is valid? [True, True] Translation: X:-31.48, Y:-2.85, Z:0.74 [[ 9.99607858e-01 -2.23518946e-02 1.68677911e-02 -3.14791725e+01] [ 2.23280297e-02 9.99749415e-01 1.60184732e-03 -2.85166550e+00] [-1.68993686e-02 -1.22459463e-03 9.99856446e-01 7.41114692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348033874 meters 0.07052372382294399 Centerline is valid? [True, True] Translation: X:-31.54, Y:-2.84, Z:0.75 [[ 9.99638978e-01 -1.94284059e-02 1.85593815e-02 -3.15411010e+01] [ 1.93990168e-02 9.99810268e-01 1.76225320e-03 -2.84179866e+00] [-1.85900980e-02 -1.40158323e-03 9.99826207e-01 7.47786864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408033873999997 meters 0.07098558706007582 Centerline is valid? [True, True] Translation: X:-31.60, Y:-2.83, Z:0.74 [[ 9.99802781e-01 -1.55084118e-02 1.24051522e-02 -3.16032083e+01] [ 1.54949811e-02 9.99879252e-01 1.17805444e-03 -2.83358605e+00] [-1.24219241e-02 -9.85604509e-04 9.99922359e-01 7.40174790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468033873999996 meters 0.07077335822527768 Centerline is valid? [True, True] Translation: X:-31.66, Y:-2.84, Z:0.75 [[ 9.99779595e-01 -1.30410219e-02 1.64527267e-02 -3.16638388e+01] [ 1.30170665e-02 9.99914054e-01 1.56227124e-03 -2.83662660e+00] [-1.64716862e-02 -1.34776067e-03 9.99863424e-01 7.48768298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528033874 meters 0.0691647205018814 Centerline is valid? [True, True] Translation: X:-31.72, Y:-2.84, Z:0.75 [[ 9.99853557e-01 -8.79059756e-03 1.46829649e-02 -3.17232355e+01] [ 8.77104588e-03 9.99960560e-01 1.39545595e-03 -2.84013831e+00] [-1.46946526e-02 -1.26646664e-03 9.99891226e-01 7.46191793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588033873999997 meters 0.07084201769256565 Centerline is valid? [True, True] Translation: X:-31.78, Y:-2.85, Z:0.75 [[ 9.99699527e-01 -1.26623047e-02 2.09886150e-02 -3.17836931e+01] [ 1.26232158e-02 9.99918336e-01 1.99383364e-03 -2.84649314e+00] [-2.10121475e-02 -1.72829074e-03 9.99777727e-01 7.52774086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648033873999996 meters 0.0700858636524904 Centerline is valid? [True, True] Translation: X:-31.84, Y:-2.86, Z:0.75 [[ 9.99698250e-01 -1.74843141e-02 1.72542330e-02 -3.18440437e+01] [ 1.74586189e-02 9.99846244e-01 1.63873255e-03 -2.85625098e+00] [-1.72802322e-02 -1.33700298e-03 9.99849792e-01 7.49755239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708033873999998 meters 0.07453628639521469 Centerline is valid? [True, True] Translation: X:-31.90, Y:-2.87, Z:0.76 [[ 9.99466790e-01 -2.51263528e-02 2.08519029e-02 -3.19034690e+01] [ 2.50904492e-02 9.99683221e-01 1.98171726e-03 -2.86560815e+00] [-2.08950908e-02 -1.45747698e-03 9.99780611e-01 7.56720639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768033873999997 meters 0.07461414053529739 Centerline is valid? [True, True] Translation: X:-31.96, Y:-2.88, Z:0.76 [[ 9.99325605e-01 -2.95750002e-02 2.17636188e-02 -3.19638842e+01] [ 2.95369428e-02 9.99561550e-01 2.06812243e-03 -2.87764200e+00] [-2.18152412e-02 -1.42389694e-03 9.99761005e-01 7.58725848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828033873999996 meters 0.08484423689529597 Centerline is valid? [True, True] Translation: X:-32.03, Y:-2.87, Z:0.76 [[ 9.99273661e-01 -3.23753807e-02 2.00993953e-02 -3.20255392e+01] [ 3.23434753e-02 9.99474987e-01 1.91051601e-03 -2.87186665e+00] [-2.01506966e-02 -1.25904403e-03 9.99796161e-01 7.57286005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888033873999998 meters 0.083590358502381 Centerline is valid? [True, True] Translation: X:-32.09, Y:-2.88, Z:0.76 [[ 9.99517639e-01 -2.42210591e-02 1.94378406e-02 -3.20851055e+01] [ 2.41896766e-02 9.99705679e-01 1.84803623e-03 -2.87614189e+00] [-1.94768810e-02 -1.37694973e-03 9.99809359e-01 7.62273892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948033873999997 meters 0.08467530843467494 Centerline is valid? [True, True] Translation: X:-32.15, Y:-2.86, Z:0.77 [[ 9.99573299e-01 -1.74436871e-02 2.34294150e-02 -3.21471583e+01] [ 1.73962327e-02 9.99846192e-01 2.22772997e-03 -2.86423260e+00] [-2.34646712e-02 -1.81919584e-03 9.99723012e-01 7.72932423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008033874 meters 0.08597558749162626 Centerline is valid? [True, True] Translation: X:-32.21, Y:-2.86, Z:0.76 [[ 9.99727296e-01 -1.64824372e-02 1.65427555e-02 -3.22091052e+01] [ 1.64586542e-02 9.99863310e-01 1.57279874e-03 -2.86373458e+00] [-1.65664179e-02 -1.30009834e-03 9.99861922e-01 7.60850360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068033874 meters 0.08804879630339632 Centerline is valid? [True, True] Translation: X:-32.27, Y:-2.89, Z:0.77 [[ 9.99466035e-01 -2.42742722e-02 2.18724800e-02 -3.22661368e+01] [ 2.42345277e-02 9.99704136e-01 2.08037908e-03 -2.89069572e+00] [-2.19165085e-02 -1.54919900e-03 9.99758604e-01 7.70971186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128033874 meters 0.09503960317215138 Centerline is valid? [True, True] Translation: X:-32.33, Y:-2.91, Z:0.77 [[ 9.99019333e-01 -3.76070720e-02 2.33683640e-02 -3.23250376e+01] [ 3.75653479e-02 9.99291703e-01 2.22207366e-03 -2.90738360e+00] [-2.34353779e-02 -1.34205382e-03 9.99724453e-01 7.73527379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188033874 meters 0.08226531444799082 Centerline is valid? [True, True] Translation: X:-32.38, Y:-2.92, Z:0.78 [[ 9.98740057e-01 -4.36651859e-02 2.47315602e-02 -3.23832822e+01] [ 4.36203089e-02 9.99045414e-01 2.35140540e-03 -2.92376639e+00] [-2.48106264e-02 -1.26964447e-03 9.99691363e-01 7.77832852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248033874 meters 0.08761070247207396 Centerline is valid? [True, True] Translation: X:-32.45, Y:-2.92, Z:0.78 [[ 9.98707621e-01 -4.42014300e-02 2.50862654e-02 -3.24458429e+01] [ 4.41554186e-02 9.99021826e-01 2.38537513e-03 -2.92046244e+00] [-2.51671636e-02 -1.27459777e-03 9.99682444e-01 7.83516622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308033874 meters 0.08780679452947093 Centerline is valid? [True, True] Translation: X:-32.51, Y:-2.91, Z:0.79 [[ 9.98849152e-01 -4.02382954e-02 2.61008023e-02 -3.25074869e+01] [ 4.01869397e-02 9.99189078e-01 2.48937204e-03 -2.91495362e+00] [-2.61798047e-02 -1.43759578e-03 9.99656216e-01 7.87182810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368033874 meters 0.09269462307928333 Centerline is valid? [True, True] Translation: X:-32.57, Y:-2.91, Z:0.79 [[ 9.98933024e-01 -3.84653392e-02 2.55583979e-02 -3.25694184e+01] [ 3.84155157e-02 9.99258878e-01 2.43772887e-03 -2.90992732e+00] [-2.56332241e-02 -1.45328883e-03 9.99670359e-01 7.94201968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428033874 meters 0.10194820084024749 Centerline is valid? [True, False] Translation: X:-32.59, Y:-2.91, Z:0.80 [[ 9.99173649e-01 -3.25525225e-02 2.43383051e-02 -3.25887046e+01] [ 3.26216102e-02 9.99464778e-01 -2.44690531e-03 -2.90601445e+00] [-2.42456258e-02 3.23883801e-03 9.99700785e-01 7.96973496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488033874 meters 0.1034302833541007 Centerline is valid? [False, False] Translation: X:-32.63, Y:-2.90, Z:0.80 [[ 9.99310223e-01 -3.07621670e-02 2.08030387e-02 -3.26287555e+01] [ 3.07963950e-02 9.99524798e-01 -1.32690284e-03 -2.90470891e+00] [-2.07523346e-02 1.96664617e-03 9.99782713e-01 8.00697233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548033874 meters 0.10284801358767047 Centerline is valid? [False, False] Translation: X:-32.61, Y:-2.92, Z:0.81 [[ 9.99979983e-01 -5.06266128e-03 3.79520281e-03 -3.26109046e+01] [ 5.05157123e-03 9.99982960e-01 2.92603510e-03 -2.91549989e+00] [-3.80995166e-03 -2.90680479e-03 9.99988517e-01 8.08043900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608033874 meters 0.10631443481325617 Centerline is valid? [False, False] Translation: X:-32.56, Y:-2.92, Z:0.80 [[ 9.99946729e-01 -4.98835213e-03 9.03631341e-03 -3.25594206e+01] [ 4.94626453e-03 9.99976844e-01 4.67398361e-03 -2.91767472e+00] [-9.05941964e-03 -4.62903863e-03 9.99948248e-01 8.01302051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668033874 meters 0.10112637041694711 Centerline is valid? [False, False] Translation: X:-32.61, Y:-2.93, Z:0.81 [[ 9.99966665e-01 -5.33435288e-03 6.18175817e-03 -3.26125815e+01] [ 5.30770573e-03 9.99976587e-01 4.31902789e-03 -2.92931846e+00] [-6.20465265e-03 -4.28607296e-03 9.99971566e-01 8.08360427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728033874 meters 0.10098080100847101 Centerline is valid? [False, False] Translation: X:-32.64, Y:-2.94, Z:0.81 [[ 9.99990200e-01 -3.84080930e-03 -2.20203050e-03 -3.26404373e+01] [ 3.84808525e-03 9.99987120e-01 3.30953915e-03 -2.94162421e+00] [ 2.18929083e-03 -3.31798031e-03 9.99992099e-01 8.07028909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788033874 meters 0.10072490779044055 Centerline is valid? [False, False] Translation: X:-32.59, Y:-2.94, Z:0.81 [[ 9.99956945e-01 -1.98569480e-03 9.06454481e-03 -3.25920334e+01] [ 1.96773579e-03 9.99996084e-01 1.98972556e-03 -2.94078422e+00] [-9.06846030e-03 -1.97180326e-03 9.99956937e-01 8.05427219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848033874 meters 0.10600985008201513 Centerline is valid? [False, False] Translation: X:-32.59, Y:-2.94, Z:0.81 [[ 9.99964831e-01 -2.26579428e-03 8.07479205e-03 -3.25934203e+01] [ 2.25246970e-03 9.99996087e-01 1.65885683e-03 -2.93975013e+00] [-8.07851909e-03 -1.64061027e-03 9.99966022e-01 8.07918524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908033874 meters 0.09636753114055994 Centerline is valid? [False, True] Translation: X:-32.60, Y:-2.94, Z:0.82 [[ 9.99957650e-01 -2.73683870e-03 8.78680656e-03 -3.26020263e+01] [ 2.72430158e-03 9.99995254e-01 1.43846470e-03 -2.94187891e+00] [-8.79070170e-03 -1.41446587e-03 9.99960361e-01 8.16163958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968033874 meters 0.10171671854941759 Centerline is valid? [True, False] Translation: X:-32.63, Y:-2.94, Z:0.82 [[ 9.99994727e-01 -2.98486196e-04 3.23368339e-03 -3.26308929e+01] [ 3.13949601e-04 9.99988514e-01 -4.78252699e-03 -2.94353417e+00] [-3.23221873e-03 4.78351698e-03 9.99983335e-01 8.23461977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028033874 meters 0.10812078820090976 Centerline is valid? [False, False] Translation: X:-32.62, Y:-2.94, Z:0.82 [[ 9.99987494e-01 1.43168447e-03 4.79192969e-03 -3.26211283e+01] [-1.41656000e-03 9.99994010e-01 -3.15814445e-03 -2.93772094e+00] [-4.79642245e-03 3.15131689e-03 9.99983532e-01 8.16398785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088033874000004 meters 0.10426702287546116 Centerline is valid? [False, False] Translation: X:-32.69, Y:-2.93, Z:0.82 [[ 9.99994729e-01 -2.60145240e-03 1.94274947e-03 -3.26914681e+01] [ 2.60486382e-03 9.99995066e-01 -1.75551412e-03 -2.92894120e+00] [-1.93817300e-03 1.76056547e-03 9.99996572e-01 8.21763754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148033874 meters 0.09780076875273115 Centerline is valid? [False, True] Translation: X:-32.72, Y:-2.93, Z:0.84 [[ 9.99998118e-01 1.92495844e-03 2.41985701e-04 -3.27243275e+01] [-1.92484158e-03 9.99998031e-01 -4.82226781e-04 -2.92867482e+00] [-2.42913491e-04 4.81760090e-04 9.99999854e-01 8.35247047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208033874 meters 0.10316644057805005 Centerline is valid? [True, False] Translation: X:-32.78, Y:-2.93, Z:0.84 [[ 9.99991969e-01 1.05495976e-03 -3.86649594e-03 -3.27781284e+01] [-1.06085089e-03 9.99998279e-01 -1.52190160e-03 -2.92864985e+00] [ 3.86488374e-03 1.52599115e-03 9.99991367e-01 8.43577429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268033874000004 meters 0.10249890115918359 Centerline is valid? [False, False] Translation: X:-32.74, Y:-2.92, Z:0.84 [[ 9.99998274e-01 -1.82845754e-03 3.29403112e-04 -3.27418422e+01] [ 1.82738299e-03 9.99993103e-01 3.23341583e-03 -2.91519387e+00] [-3.35313004e-04 -3.23280830e-03 9.99994718e-01 8.36921841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328033874 meters 0.10172531557976727 Centerline is valid? [False, False] Translation: X:-32.79, Y:-2.92, Z:0.84 [[ 9.99985699e-01 -3.53449151e-03 -4.01358566e-03 -3.27891394e+01] [ 3.53954372e-03 9.99992952e-01 1.25237281e-03 -2.91569527e+00] [ 4.00913087e-03 -1.26656116e-03 9.99991161e-01 8.41347476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388033874 meters 0.09866902411751621 Centerline is valid? [False, True] Translation: X:-32.80, Y:-2.91, Z:0.85 [[ 9.99984675e-01 -3.42597455e-03 -4.34887002e-03 -3.27998579e+01] [ 3.43221874e-03 9.99993089e-01 1.42916718e-03 -2.91415017e+00] [ 4.34394368e-03 -1.44407155e-03 9.99989522e-01 8.51172485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448033874000004 meters 0.09451385907346169 Centerline is valid? [True, True] Translation: X:-32.86, Y:-2.91, Z:0.86 [[ 9.99994161e-01 7.70158983e-04 -3.32928218e-03 -3.28592880e+01] [-7.70648591e-04 9.99999692e-01 -1.45780599e-04 -2.91426565e+00] [ 3.32916889e-03 1.48345455e-04 9.99994447e-01 8.56916917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 349.27 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%| | 0/1116 [00:00