+ python -m lidar_slam --no-model /working/eb25fd27-67ab-4fce-86e4-7b0b1ef33361 Lidar SLAM 0.0.7 ===================================================== The recording path: /working/eb25fd27-67ab-4fce-86e4-7b0b1ef33361 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 0.025529293 Adjusted end_distance from 9.223372036854776e+18 to 64.795529293 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025529293 meters 0.027621969618265248 Centerline is valid? [0, True] SLAMing on 0.085529293 meters 0.027489361797775207 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.00, Z:-0.02 [[ 9.99983491e-01 -1.36759420e-03 -5.58100305e-03 -6.16825584e-02] [ 1.36671501e-03 9.99999053e-01 -1.61343301e-04 -4.68149690e-03] [ 5.58121841e-03 1.53712997e-04 9.99984413e-01 -1.73580119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145529293 meters 0.028712863342495402 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.01, Z:-0.01 [[ 9.99990130e-01 4.06858479e-03 1.78533586e-03 -1.21436136e-01] [-4.06868507e-03 9.99991721e-01 5.25428006e-05 8.73559125e-03] [-1.78510730e-03 -5.98062513e-05 9.99998405e-01 -9.86347736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20552929300000003 meters 0.02988427791694447 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.00, Z:-0.01 [[ 9.99982751e-01 5.78536294e-03 -1.01368565e-03 -1.81759995e-01] [-5.78539609e-03 9.99983264e-01 -2.97734441e-05 6.39264114e-04] [ 1.01349643e-03 3.56375035e-05 9.99999486e-01 -1.09862749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265529293 meters 0.029724809533794926 Centerline is valid? [True, True] Translation: X:-0.24, Y:0.01, Z:-0.01 [[ 9.99940134e-01 1.04476069e-02 -3.25214125e-03 -2.42783762e-01] [-1.04479696e-02 9.99945414e-01 -9.45675872e-05 9.90452335e-03] [ 3.25097573e-03 1.28540199e-04 9.99994707e-01 -1.33397694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32552929300000005 meters 0.0301484002831399 Centerline is valid? [True, True] Translation: X:-0.30, Y:0.01, Z:-0.01 [[ 9.99867391e-01 1.62713874e-02 -6.64403025e-04 -3.03734917e-01] [-1.62714045e-02 9.99867612e-01 -2.03704502e-05 1.29473623e-02] [ 6.63983610e-04 3.11785193e-05 9.99999779e-01 -1.11036952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38552929300000005 meters 0.03107427302329773 Centerline is valid? [True, True] Translation: X:-0.36, Y:0.01, Z:-0.01 [[ 9.99795558e-01 1.97271338e-02 -4.43653768e-03 -3.63996711e-01] [-1.97278959e-02 9.99805378e-01 -1.28074841e-04 5.73279873e-03] [ 4.43314768e-03 2.15572210e-04 9.99990150e-01 -9.53015113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44552929300000005 meters 0.032147694804061024 Centerline is valid? [True, True] Translation: X:-0.43, Y:0.02, Z:-0.01 [[ 9.99741410e-01 2.24811932e-02 -3.42182217e-03 -4.26117127e-01] [-2.24816694e-02 9.99747250e-01 -1.00743950e-04 1.58518501e-02] [ 3.41869246e-03 1.77646173e-04 9.99994140e-01 -8.87230416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.505529293 meters 0.03132997499366569 Centerline is valid? [True, True] Translation: X:-0.49, Y:0.00, Z:-0.01 [[ 9.99724545e-01 2.34328851e-02 -1.31653659e-03 -4.86700481e-01] [-2.34329580e-02 9.99725410e-01 -3.99765022e-05 2.52044549e-04] [ 1.31523831e-03 7.08158371e-05 9.99999133e-01 -1.26838270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.565529293 meters 0.03147469604942953 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.01, Z:-0.01 [[ 9.99805909e-01 1.96896245e-02 -6.80714236e-04 -5.47128948e-01] [-1.96896429e-02 9.99806140e-01 -2.03502491e-05 -6.04643964e-03] [ 6.80181584e-04 3.37493195e-05 9.99999768e-01 -1.11308853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.625529293 meters 0.03152667434198951 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.00, Z:-0.02 [[ 9.99889518e-01 1.46987604e-02 -2.21325875e-03 -6.08283752e-01] [-1.46989417e-02 9.99891963e-01 -6.56788933e-05 -4.46848098e-03] [ 2.21205424e-03 9.82041982e-05 9.99997549e-01 -1.68550146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.685529293 meters 0.031112595701387816 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.02, Z:-0.02 [[ 9.99907773e-01 1.32646637e-02 -2.91455465e-03 -6.68815861e-01] [-1.32649778e-02 9.99912012e-01 -8.84633068e-05 -2.36541558e-02] [ 2.91312477e-03 1.27116651e-04 9.99995749e-01 -1.69013445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.745529293 meters 0.030674998501359324 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.03, Z:-0.01 [[ 9.99916091e-01 1.19213290e-02 -5.06879658e-03 -7.29974445e-01] [-1.19222537e-02 9.99928916e-01 -1.52247223e-04 -3.40526787e-02] [ 5.06662128e-03 2.12665926e-04 9.99987142e-01 -1.32374698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.805529293 meters 0.03240638747784051 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.03, Z:-0.02 [[ 9.99763802e-01 2.03590251e-02 -7.60589665e-03 -7.90553978e-01] [-2.03613082e-02 9.99792662e-01 -2.22852227e-04 -3.47621155e-02] [ 7.59978261e-03 3.77665596e-04 9.99971050e-01 -1.72937125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.865529293 meters 0.03397409969348981 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.04, Z:-0.00 [[ 9.99652089e-01 2.63301747e-02 -1.55672069e-03 -8.48306225e-01] [-2.63302637e-02 9.99653298e-01 -3.66469589e-05 -4.32539083e-02] [ 1.55521605e-03 7.76230753e-05 9.99998788e-01 -8.52686662e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.925529293 meters 0.03662227950100835 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.05, Z:-0.01 [[ 9.99505243e-01 3.02528706e-02 -8.60422494e-03 -9.09154217e-01] [-3.02561427e-02 9.99542147e-01 -2.50345812e-04 -5.36296592e-02] [ 8.59271179e-03 5.10552609e-04 9.99962952e-01 -1.44148066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.985529293 meters 0.03481169122180725 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.07, Z:-0.01 [[ 9.99595174e-01 2.67673469e-02 -9.64348111e-03 -9.68789100e-01] [-2.67712960e-02 9.99641545e-01 -2.80636286e-04 -7.37238511e-02] [ 9.63251247e-03 5.38691165e-04 9.99953461e-01 -6.83918860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.045529293 meters 0.03052690608514898 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.13, Z:0.01 [[ 9.99908846e-01 1.31402068e-02 -3.10385054e-03 -1.02609211e+00] [-1.31405494e-02 9.99913655e-01 -9.00134259e-05 -1.32080907e-01] [ 3.10239975e-03 1.30791522e-04 9.99995179e-01 1.49862725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.105529293 meters 0.029293722516746425 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.18, Z:0.03 [[ 9.99977850e-01 -1.05493608e-03 -6.57172215e-03 -1.08519349e+00] [ 1.05370450e-03 9.99999427e-01 -1.90865466e-04 -1.79185346e-01] [ 6.57191974e-03 1.83936585e-04 9.99978388e-01 2.69339780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.165529293 meters 0.030880825738745486 Centerline is valid? [True, True] Translation: X:-1.14, Y:-0.20, Z:0.03 [[ 9.99952605e-01 7.82560711e-03 -5.79201899e-03 -1.14485895e+00] [-7.82670987e-03 9.99969357e-01 -1.67751336e-04 -2.02531892e-01] [ 5.79052875e-03 2.13075838e-04 9.99983212e-01 3.08450438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2255292930000001 meters 0.033084864507801084 Centerline is valid? [True, True] Translation: X:-1.20, Y:-0.24, Z:0.04 [[ 9.99829684e-01 1.77313170e-02 -5.11892110e-03 -1.20254275e+00] [-1.77323005e-02 9.99842760e-01 -1.46802302e-04 -2.39221386e-01] [ 5.11551320e-03 2.37547547e-04 9.99986887e-01 4.37391382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285529293 meters 0.03349943070813413 Centerline is valid? [True, True] Translation: X:-1.26, Y:-0.28, Z:0.03 [[ 9.99821003e-01 1.67225830e-02 -8.84968905e-03 -1.26097126e+00] [-1.67254569e-02 9.99860088e-01 -2.50828294e-04 -2.82155262e-01] [ 8.84425637e-03 3.98798490e-04 9.99960809e-01 3.26514127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.345529293 meters 0.03117753882350394 Centerline is valid? [True, True] Translation: X:-1.32, Y:-0.34, Z:0.04 [[ 9.99918583e-01 7.32219624e-03 -1.04504639e-02 -1.31855154e+00] [-7.32574614e-03 9.99973121e-01 -3.01449023e-04 -3.36911891e-01] [ 1.04479757e-02 3.77981925e-04 9.99945347e-01 4.27906342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.405529293 meters 0.030522992854268304 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.40, Z:0.05 [[ 9.99963650e-01 -1.89776563e-03 -8.31250117e-03 -1.37644459e+00] [ 1.89584424e-03 9.99998174e-01 -2.39018922e-04 -4.01686771e-01] [ 8.31293960e-03 2.23251026e-04 9.99965422e-01 4.89137876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4655292930000001 meters 0.031588989666145026 Centerline is valid? [True, True] Translation: X:-1.43, Y:-0.44, Z:0.05 [[ 9.99949672e-01 3.44645076e-03 -9.42206676e-03 -1.43431781e+00] [-3.44914835e-03 9.99994015e-01 -2.70071695e-04 -4.42336172e-01] [ 9.42107958e-03 3.02556209e-04 9.99955575e-01 5.12269337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5255292930000002 meters 0.03253159280576474 Centerline is valid? [True, True] Translation: X:-1.49, Y:-0.47, Z:0.06 [[ 9.99974909e-01 3.94185454e-03 -5.88591551e-03 -1.49253457e+00] [-3.94290758e-03 9.99992213e-01 -1.67314655e-04 -4.70900212e-01] [ 5.88521015e-03 1.90518078e-04 9.99982664e-01 6.09454729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.585529293 meters 0.031521376825190135 Centerline is valid? [True, True] Translation: X:-1.55, Y:-0.51, Z:0.05 [[ 9.99955276e-01 5.52288616e-03 -7.67743654e-03 -1.55065130e+00] [-5.52471947e-03 9.99984715e-01 -2.17604846e-04 -5.08435788e-01] [ 7.67611739e-03 2.60010797e-04 9.99970504e-01 5.15359622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.645529293 meters 0.030607868475589856 Centerline is valid? [True, True] Translation: X:-1.61, Y:-0.55, Z:0.07 [[ 9.99983389e-01 5.74852645e-04 -5.73510773e-03 -1.60914508e+00] [-5.75799178e-04 9.99999821e-01 -1.63392034e-04 -5.52872397e-01] [ 5.73501277e-03 1.66691591e-04 9.99983541e-01 6.62914686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7055292930000001 meters 0.031862334062001944 Centerline is valid? [True, True] Translation: X:-1.67, Y:-0.59, Z:0.05 [[ 9.99968140e-01 -7.40954241e-04 -7.94798939e-03 -1.66746618e+00] [ 7.39254153e-04 9.99999703e-01 -2.16837330e-04 -5.86450119e-01] [ 7.94814770e-03 2.10954838e-04 9.99968391e-01 5.46149387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7655292930000002 meters 0.031124249190581876 Centerline is valid? [True, True] Translation: X:-1.73, Y:-0.61, Z:0.06 [[ 9.99970040e-01 -9.48803347e-04 -7.68241467e-03 -1.72580901e+00] [ 9.47236938e-04 9.99999530e-01 -2.07531410e-04 -6.07811076e-01] [ 7.68260797e-03 2.00248125e-04 9.99970468e-01 5.77696048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.825529293 meters 0.03158657268315824 Centerline is valid? [True, True] Translation: X:-1.78, Y:-0.64, Z:0.07 [[ 9.99996292e-01 5.09542634e-04 -2.67508728e-03 -1.78368243e+00] [-5.09740469e-04 9.99999867e-01 -7.32735053e-05 -6.44129909e-01] [ 2.67504959e-03 7.46368338e-05 9.99996419e-01 6.55441852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.885529293 meters 0.03132892227063691 Centerline is valid? [True, True] Translation: X:-1.84, Y:-0.65, Z:0.07 [[ 9.99985627e-01 7.86746587e-04 -5.30344106e-03 -1.84162006e+00] [-7.87532170e-04 9.99999679e-01 -1.46040446e-04 -6.54892163e-01] [ 5.30332446e-03 1.50214977e-04 9.99985926e-01 6.62899308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.945529293 meters 0.030076737556064964 Centerline is valid? [True, True] Translation: X:-1.90, Y:-0.69, Z:0.06 [[ 9.99985402e-01 -2.93603149e-03 -4.53603747e-03 -1.90020232e+00] [ 2.93549219e-03 9.99995684e-01 -1.25545611e-04 -6.94978210e-01] [ 4.53638650e-03 1.12228275e-04 9.99989704e-01 6.38316194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0055292930000004 meters 0.029341784039371863 Centerline is valid? [True, True] Translation: X:-1.96, Y:-0.71, Z:0.07 [[ 9.99984840e-01 -5.38186781e-03 -1.16455223e-03 -1.95986453e+00] [ 5.38183428e-03 9.99985517e-01 -3.19157891e-05 -7.08073897e-01] [ 1.16470713e-03 2.56478781e-05 9.99999321e-01 6.84293852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.065529293 meters 0.02929510969901755 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.73, Z:0.06 [[ 9.99938207e-01 -1.05613930e-02 -3.46971489e-03 -2.01817390e+00] [ 1.05611530e-02 9.99944226e-01 -8.75008550e-05 -7.34438178e-01] [ 3.47044550e-03 5.08512584e-05 9.99993977e-01 6.45923337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.125529293 meters 0.02907296085162955 Centerline is valid? [True, True] Translation: X:-2.08, Y:-0.74, Z:0.07 [[ 9.99944866e-01 -9.98458454e-03 -3.25172974e-03 -2.07559848e+00] [ 9.98435770e-03 9.99950151e-01 -8.59873778e-05 -7.44376182e-01] [ 3.25242620e-03 5.35162040e-05 9.99994709e-01 6.63307443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.185529293 meters 0.028731397873781067 Centerline is valid? [True, True] Translation: X:-2.13, Y:-0.76, Z:0.06 [[ 9.99943187e-01 -1.01515405e-02 -3.25086877e-03 -2.13484465e+00] [ 1.01513112e-02 9.99948470e-01 -8.70127557e-05 -7.55734890e-01] [ 3.25158457e-03 5.40072316e-05 9.99994712e-01 5.73626396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.245529293 meters 0.028662608196689622 Centerline is valid? [True, True] Translation: X:-2.19, Y:-0.76, Z:0.06 [[ 9.99959896e-01 -8.83575165e-03 -1.46162208e-03 -2.19244612e+00] [ 8.83570686e-03 9.99960964e-01 -3.70958472e-05 -7.61029449e-01] [ 1.46189280e-03 2.41798952e-05 9.99998931e-01 6.19152438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.305529293 meters 0.028961580200288186 Centerline is valid? [True, True] Translation: X:-2.25, Y:-0.77, Z:0.07 [[ 9.99980246e-01 -6.25276223e-03 6.41289249e-04 -2.24965485e+00] [ 6.25275035e-03 9.99980451e-01 2.05306367e-05 -7.71372180e-01] [-6.41405085e-04 -1.65204096e-05 9.99999794e-01 6.95448280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3655292930000003 meters 0.029457550756812223 Centerline is valid? [True, True] Translation: X:-2.31, Y:-0.77, Z:0.06 [[ 9.99965458e-01 -7.51442004e-03 -3.55200517e-03 -2.31170897e+00] [ 7.51411575e-03 9.99971764e-01 -9.90053124e-05 -7.68852732e-01] [ 3.55264884e-03 7.23117146e-05 9.99993687e-01 6.38391683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4255292930000003 meters 0.027992705046472926 Centerline is valid? [True, True] Translation: X:-2.37, Y:-0.78, Z:0.07 [[ 9.99888086e-01 -1.49297991e-02 -9.57471091e-04 -2.37023744e+00] [ 1.49297820e-02 9.99888544e-01 -2.49775671e-05 -7.80928011e-01] [ 9.57737285e-04 1.06799371e-05 9.99999541e-01 6.57177799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4855292930000004 meters 0.028135022615814343 Centerline is valid? [True, True] Translation: X:-2.43, Y:-0.80, Z:0.06 [[ 9.99740131e-01 -2.25020479e-02 -3.65077330e-03 -2.42866081e+00] [ 2.25018382e-02 9.99746797e-01 -9.84908705e-05 -7.98832528e-01] [ 3.65206515e-03 1.63161657e-05 9.99993331e-01 6.45208944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.545529293 meters 0.02852159818296523 Centerline is valid? [True, True] Translation: X:-2.49, Y:-0.78, Z:0.07 [[ 9.99853126e-01 -1.71383877e-02 5.02340788e-05 -2.48779904e+00] [ 1.71383876e-02 9.99853127e-01 3.82087650e-06 -7.79977067e-01] [-5.02921844e-05 -2.95938420e-06 9.99999999e-01 7.26866692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.605529293 meters 0.03053622820429274 Centerline is valid? [True, True] Translation: X:-2.55, Y:-0.76, Z:0.06 [[ 9.99980281e-01 -4.92865266e-03 -3.89171006e-03 -2.54978946e+00] [ 4.92827538e-03 9.99987850e-01 -1.06526129e-04 -7.59782961e-01] [ 3.89218781e-03 8.73446097e-05 9.99992422e-01 5.93743155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.665529293 meters 0.03023507882892886 Centerline is valid? [True, True] Translation: X:-2.61, Y:-0.76, Z:0.07 [[ 9.99957400e-01 -8.90735272e-03 2.41999657e-03 -2.61028157e+00] [ 8.90721923e-03 9.99960328e-01 6.59366647e-05 -7.60383518e-01] [-2.42048788e-03 -4.43784159e-05 9.99997070e-01 6.95703752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.725529293 meters 0.02902021033893318 Centerline is valid? [True, True] Translation: X:-2.67, Y:-0.75, Z:0.05 [[ 9.99950902e-01 -8.15186337e-03 -5.63382407e-03 -2.67118616e+00] [ 8.15112803e-03 9.99966767e-01 -1.53470819e-04 -7.54388406e-01] [ 5.63488791e-03 1.07541263e-04 9.99984118e-01 5.03361208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.785529293 meters 0.030215630072979466 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.75, Z:0.05 [[ 9.99965250e-01 -7.52202090e-03 -3.59420169e-03 -2.72985764e+00] [ 7.52173604e-03 9.99971707e-01 -9.27660242e-05 -7.47739295e-01] [ 3.59479779e-03 6.57281642e-05 9.99993537e-01 5.07954701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8455292930000002 meters 0.028639347059857562 Centerline is valid? [True, True] Translation: X:-2.79, Y:-0.73, Z:0.07 [[ 9.99987877e-01 -4.83665995e-03 9.23637509e-04 -2.78803627e+00] [ 4.83663680e-03 9.99988303e-01 2.72989694e-05 -7.34528940e-01] [-9.23758741e-04 -2.28313393e-05 9.99999573e-01 6.82693878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9055292930000003 meters 0.030098833591806876 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.73, Z:0.06 [[ 9.99995170e-01 -2.07296397e-03 2.31578543e-03 -2.85099647e+00] [ 2.07284341e-03 9.99997850e-01 5.44578353e-05 -7.28236776e-01] [-2.31589334e-03 -4.96573117e-05 9.99997317e-01 6.30704641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9655292930000003 meters 0.02921732707767279 Centerline is valid? [True, True] Translation: X:-2.91, Y:-0.73, Z:0.06 [[ 9.99994636e-01 -3.19933665e-03 7.02261044e-04 -2.91311517e+00] [ 3.19932564e-03 9.99994882e-01 1.67971134e-05 -7.25163911e-01] [-7.02311190e-04 -1.45502615e-05 9.99999753e-01 5.99474046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0255292930000004 meters 0.02849506555547471 Centerline is valid? [True, True] Translation: X:-2.97, Y:-0.73, Z:0.05 [[ 9.99895591e-01 -1.27071374e-02 -6.88015883e-03 -2.97450616e+00] [ 1.27061327e-02 9.99919256e-01 -1.89718785e-04 -7.29017329e-01] [ 6.88201408e-03 1.02278766e-04 9.99976313e-01 4.83189429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.085529293 meters 0.02825438723341194 Centerline is valid? [True, True] Translation: X:-3.03, Y:-0.71, Z:0.07 [[ 9.99918858e-01 -1.21418618e-02 3.85383836e-03 -3.03385332e+00] [ 1.21415446e-02 9.99926283e-01 1.05692552e-04 -7.14619758e-01] [-3.85483757e-03 -5.88924257e-05 9.99992568e-01 7.31318689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.145529293 meters 0.028926301950467262 Centerline is valid? [True, True] Translation: X:-3.09, Y:-0.71, Z:0.06 [[ 9.99981351e-01 -5.55726719e-03 -2.53261554e-03 -3.09392411e+00] [ 5.55711096e-03 9.99984557e-01 -6.87198038e-05 -7.06179488e-01] [ 2.53295832e-03 5.46444967e-05 9.99996791e-01 5.95456764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.205529293 meters 0.031065179838376426 Centerline is valid? [True, True] Translation: X:-3.15, Y:-0.80, Z:0.03 [[ 9.99955232e-01 -7.13554911e-03 -6.21425773e-03 -3.15127423e+00] [ 7.13464821e-03 9.99974534e-01 -1.67130543e-04 -8.01471308e-01] [ 6.21529204e-03 1.22786519e-04 9.99980677e-01 3.05218491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.265529293 meters 0.03032767389860253 Centerline is valid? [True, True] Translation: X:-3.21, Y:-0.79, Z:0.02 [[ 9.99985015e-01 1.70888517e-03 -5.20086069e-03 -3.21212461e+00] [-1.70963796e-03 9.99998529e-01 -1.40302010e-04 -7.93924196e-01] [ 5.20061328e-03 1.49191496e-04 9.99986466e-01 2.03164737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.325529293 meters 0.030640949995896085 Centerline is valid? [True, True] Translation: X:-3.27, Y:-0.79, Z:0.02 [[ 9.99969574e-01 4.72226587e-03 -6.20894440e-03 -3.27110506e+00] [-4.72339427e-03 9.99988831e-01 -1.67086661e-04 -7.87690745e-01] [ 6.20808603e-03 1.96408870e-04 9.99980710e-01 2.12776139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3855292930000003 meters 0.030485506013054022 Centerline is valid? [True, True] Translation: X:-3.33, Y:-0.78, Z:0.02 [[ 9.99983206e-01 2.74618730e-03 -5.10353049e-03 -3.33094602e+00] [-2.74692427e-03 9.99996218e-01 -1.37400361e-04 -7.80552541e-01] [ 5.10313386e-03 1.51417066e-04 9.99986967e-01 2.12333151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4455292930000003 meters 0.030089133401485047 Centerline is valid? [True, True] Translation: X:-3.39, Y:-0.79, Z:0.01 [[ 9.99992259e-01 -9.48591438e-04 -3.81867127e-03 -3.39078261e+00] [ 9.48207363e-04 9.99999545e-01 -1.02387465e-04 -7.88300241e-01] [ 3.81876666e-03 9.87657800e-05 9.99992704e-01 1.10344581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5055292930000004 meters 0.029528784820719155 Centerline is valid? [True, True] Translation: X:-3.45, Y:-0.79, Z:0.01 [[ 9.99996929e-01 -1.30352987e-03 -2.10757184e-03 -3.44832945e+00] [ 1.30341890e-03 9.99999149e-01 -5.40219492e-05 -7.87000137e-01] [ 2.10764047e-03 5.12747343e-05 9.99997778e-01 1.48648289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5655292930000004 meters 0.029583572096749028 Centerline is valid? [True, True] Translation: X:-3.51, Y:-0.77, Z:0.01 [[ 9.99991315e-01 4.14184535e-03 4.63768139e-04 -3.50763793e+00] [-4.14185271e-03 9.99991422e-01 1.49091078e-05 -7.70026840e-01] [-4.63702410e-04 -1.68298376e-05 9.99999892e-01 1.34840494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.625529293 meters 0.030744405661942288 Centerline is valid? [True, True] Translation: X:-3.57, Y:-0.76, Z:0.02 [[ 9.99956668e-01 9.16315104e-03 1.64283757e-03 -3.56941666e+00] [-9.16323338e-03 9.99958016e-01 4.25975752e-05 -7.60343490e-01] [-1.64237827e-03 -5.76494334e-05 9.99998650e-01 1.86387058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.685529293 meters 0.030882027598652422 Centerline is valid? [True, True] Translation: X:-3.63, Y:-0.75, Z:0.01 [[ 9.99933854e-01 1.14969106e-02 3.28686843e-04 -3.63164140e+00] [-1.14969136e-02 9.99933908e-01 7.07257089e-06 -7.49720284e-01] [-3.28583807e-04 -1.08509873e-05 9.99999946e-01 9.35448391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745529293 meters 0.03135413682856851 Centerline is valid? [True, True] Translation: X:-3.69, Y:-0.75, Z:0.01 [[ 9.99935701e-01 1.10782536e-02 2.42200430e-03 -3.69318264e+00] [-1.10784422e-02 9.99938630e-01 6.44599348e-05 -7.49146842e-01] [-2.42114156e-03 -9.12878248e-05 9.99997065e-01 5.37686940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.805529293 meters 0.031456408777973274 Centerline is valid? [True, True] Translation: X:-3.76, Y:-0.75, Z:0.01 [[ 9.99960250e-01 8.74918372e-03 1.71784588e-03 -3.75538032e+00] [-8.74927290e-03 9.99961723e-01 4.44027788e-05 -7.50308309e-01] [-1.71739164e-03 -5.94309161e-05 9.99998524e-01 5.65507767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8655292930000003 meters 0.030149491477854663 Centerline is valid? [True, True] Translation: X:-3.82, Y:-0.74, Z:0.01 [[ 9.99965201e-01 7.86456067e-03 2.78303949e-03 -3.81723620e+00] [-7.86479355e-03 9.99969069e-01 7.27436227e-05 -7.35892075e-01] [-2.78238131e-03 -9.46291223e-05 9.99996125e-01 6.32139473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9255292930000003 meters 0.02998729521198969 Centerline is valid? [True, True] Translation: X:-3.88, Y:-0.75, Z:0.00 [[ 9.99948395e-01 9.14095730e-03 4.43296968e-03 -3.87948296e+00] [-9.14157170e-03 9.99958208e-01 1.18353826e-04 -7.52294219e-01] [-4.43170255e-03 -1.58872029e-04 9.99990167e-01 8.71607900e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9855292930000004 meters 0.02994846784880993 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.74, Z:0.01 [[ 9.99924376e-01 1.05147155e-02 6.37824827e-03 -3.94244845e+00] [-1.05160240e-02 9.99944690e-01 1.71646577e-04 -7.44959542e-01] [-6.37609068e-03 -2.38707409e-04 9.99979644e-01 1.12047703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.045529293 meters 0.030137011935040744 Centerline is valid? [True, True] Translation: X:-4.00, Y:-0.74, Z:0.00 [[ 9.99907008e-01 1.29221854e-02 4.35813555e-03 -4.00463097e+00] [-1.29228230e-02 9.99916490e-01 1.18163122e-04 -7.41461905e-01] [-4.35624467e-03 -1.74471548e-04 9.99990496e-01 3.87383249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105529293 meters 0.030690114903104023 Centerline is valid? [True, True] Translation: X:-4.07, Y:-0.74, Z:0.01 [[ 9.99921886e-01 1.12890639e-02 5.36456620e-03 -4.06558077e+00] [-1.12900103e-02 9.99936255e-01 1.46165614e-04 -7.41666472e-01] [-5.36257416e-03 -2.06720204e-04 9.99985600e-01 6.07700504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1655292930000005 meters 0.02956118872331289 Centerline is valid? [True, True] Translation: X:-4.13, Y:-0.74, Z:0.01 [[ 9.99910195e-01 1.16763926e-02 6.57746464e-03 -4.12751431e+00] [-1.16778253e-02 9.99931796e-01 1.79461379e-04 -7.37056750e-01] [-6.57492056e-03 -2.56255746e-04 9.99978352e-01 1.00376957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.225529293 meters 0.03253859240352031 Centerline is valid? [True, True] Translation: X:-4.19, Y:-0.74, Z:0.00 [[ 9.99921372e-01 1.17171075e-02 4.46751536e-03 -4.19049806e+00] [-1.17177647e-02 9.99931337e-01 1.20968062e-04 -7.36386716e-01] [-4.46579122e-03 -1.73307844e-04 9.99990013e-01 4.42162241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.285529293000001 meters 0.031215608045524736 Centerline is valid? [True, True] Translation: X:-4.25, Y:-0.74, Z:0.01 [[ 9.99887706e-01 1.26615885e-02 8.01621275e-03 -4.25085569e+00] [-1.26637525e-02 9.99919787e-01 2.19249395e-04 -7.39904399e-01] [-8.01279370e-03 -3.20740108e-04 9.99967846e-01 1.49501474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.345529293 meters 0.030973465493175055 Centerline is valid? [True, True] Translation: X:-4.31, Y:-0.73, Z:0.02 [[ 9.99910429e-01 1.21782693e-02 5.55185476e-03 -4.31317361e+00] [-1.21792761e-02 9.99925819e-01 1.47576211e-04 -7.27352386e-01] [-5.54964570e-03 -2.15180565e-04 9.99984577e-01 1.78859402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.405529293000001 meters 0.030226644388215394 Centerline is valid? [True, True] Translation: X:-4.38, Y:-0.74, Z:0.01 [[ 9.99883015e-01 1.37102394e-02 6.78120536e-03 -4.37507331e+00] [-1.37118359e-02 9.99905971e-01 1.88986707e-04 -7.37838024e-01] [-6.77797668e-03 -2.81947374e-04 9.99976990e-01 9.31944645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.465529293 meters 0.030002342748969787 Centerline is valid? [True, True] Translation: X:-4.44, Y:-0.74, Z:0.02 [[ 9.99864316e-01 1.45120982e-02 7.79419004e-03 -4.43575040e+00] [-1.45142255e-02 9.99894640e-01 2.16438748e-04 -7.39915252e-01] [-7.79022786e-03 -3.29536013e-04 9.99969601e-01 2.46699285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.525529293 meters 0.02969792743230771 Centerline is valid? [True, True] Translation: X:-4.50, Y:-0.74, Z:0.02 [[ 9.99893831e-01 1.27888960e-02 6.98368576e-03 -4.49783304e+00] [-1.27905446e-02 9.99918179e-01 1.91460833e-04 -7.36530576e-01] [-6.98066577e-03 -2.80765650e-04 9.99975595e-01 2.16122353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5855292930000005 meters 0.029581633752745928 Centerline is valid? [True, True] Translation: X:-4.56, Y:-0.74, Z:0.03 [[ 9.99867182e-01 1.36325544e-02 8.93146531e-03 -4.55992083e+00] [-1.36353241e-02 9.99907004e-01 2.49279741e-04 -7.39249274e-01] [-8.92723640e-03 -3.71030056e-04 9.99960083e-01 3.07565151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.645529293 meters 0.029895255635649317 Centerline is valid? [True, True] Translation: X:-4.62, Y:-0.73, Z:0.02 [[ 9.99906135e-01 1.22161678e-02 6.20369545e-03 -4.62301149e+00] [-1.22174724e-02 9.99925349e-01 1.72440228e-04 -7.34300502e-01] [-6.20112578e-03 -2.48217520e-04 9.99980742e-01 2.25476161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.705529293000001 meters 0.030378426315687768 Centerline is valid? [True, True] Translation: X:-4.68, Y:-0.74, Z:0.03 [[ 9.99907377e-01 1.19428548e-02 6.52725771e-03 -4.68438660e+00] [-1.19443396e-02 9.99928646e-01 1.88531709e-04 -7.44677017e-01] [-6.52454035e-03 -2.66478030e-04 9.99978679e-01 3.27228201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.765529293 meters 0.03171230841738045 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.74, Z:0.04 [[ 9.99930971e-01 9.80558243e-03 6.47324800e-03 -4.74617018e+00] [-9.80700097e-03 9.99951893e-01 1.87432213e-04 -7.44932722e-01] [-6.47109871e-03 -2.50902425e-04 9.99979031e-01 3.88775873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.825529293000001 meters 0.030759450218084773 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.75, Z:0.04 [[ 9.99936868e-01 9.26441496e-03 6.35843004e-03 -4.80857825e+00] [-9.26574080e-03 9.99957056e-01 1.79089976e-04 -7.46305207e-01] [-6.35649782e-03 -2.37994234e-04 9.99979769e-01 4.30204865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.885529293 meters 0.03141472776779764 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.74, Z:0.05 [[ 9.99926322e-01 8.34531027e-03 8.81511601e-03 -4.87018887e+00] [-8.34788312e-03 9.99965123e-01 2.55113531e-04 -7.43233863e-01] [-8.81267957e-03 -3.28682293e-04 9.99961114e-01 4.93422206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.945529293000001 meters 0.03078229426842635 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.75, Z:0.05 [[ 9.99946844e-01 7.28214264e-03 7.29934679e-03 -4.93294753e+00] [-7.28387298e-03 9.99973450e-01 2.10498195e-04 -7.47859702e-01] [-7.29762011e-03 -2.63654521e-04 9.99973337e-01 5.07941558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.005529293 meters 0.029429327441288577 Centerline is valid? [True, True] Translation: X:-4.99, Y:-0.75, Z:0.06 [[ 9.99957598e-01 6.04655434e-03 6.94556086e-03 -4.99367366e+00] [-6.04811099e-03 9.99981689e-01 2.03139201e-04 -7.49300679e-01] [-6.94420539e-03 -2.45138110e-04 9.99975859e-01 5.72391263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065529293 meters 0.029209863062222174 Centerline is valid? [True, True] Translation: X:-5.06, Y:-0.75, Z:0.07 [[ 9.99959355e-01 5.02948622e-03 7.48284057e-03 -5.05553883e+00] [-5.03127800e-03 9.99987319e-01 2.20646023e-04 -7.48960274e-01] [-7.48163594e-03 -2.58285306e-04 9.99971979e-01 6.61154641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1255292930000005 meters 0.029598470689607737 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.74, Z:0.06 [[ 9.99969378e-01 3.46282535e-03 7.01797184e-03 -5.11797134e+00] [-3.46437214e-03 9.99993977e-01 2.08259381e-04 -7.36857119e-01] [-7.01720841e-03 -2.32565870e-04 9.99975352e-01 6.12678739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185529293 meters 0.03087012719515232 Centerline is valid? [True, True] Translation: X:-5.18, Y:-0.75, Z:0.07 [[ 9.99981163e-01 3.63428676e-03 4.94636780e-03 -5.18001318e+00] [-3.63505293e-03 9.99993383e-01 1.45915384e-04 -7.46943145e-01] [-4.94580477e-03 -1.63892944e-04 9.99987756e-01 6.53921071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245529293000001 meters 0.030822047325971838 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.74, Z:0.07 [[ 9.99961154e-01 3.83755626e-03 7.93494571e-03 -5.24225292e+00] [-3.83962621e-03 9.99992598e-01 2.45647984e-04 -7.41396347e-01] [-7.93394429e-03 -2.76105667e-04 9.99968488e-01 6.95630068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305529293 meters 0.030117332360702864 Centerline is valid? [True, True] Translation: X:-5.30, Y:-0.74, Z:0.06 [[ 9.99979690e-01 5.79545243e-03 2.65184780e-03 -5.30292845e+00] [-5.79569260e-03 9.99983201e-01 8.28916260e-05 -7.39200856e-01] [-2.65132286e-03 -9.82592372e-05 9.99996480e-01 6.40017130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365529293000001 meters 0.029564844937968505 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.74, Z:0.08 [[ 9.99963653e-01 5.29967809e-03 6.67872124e-03 -5.36321285e+00] [-5.30118722e-03 9.99985927e-01 2.08278039e-04 -7.42085923e-01] [-6.67752344e-03 -2.43675621e-04 9.99977675e-01 7.73706726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425529293 meters 0.030140181150121587 Centerline is valid? [True, True] Translation: X:-5.43, Y:-0.74, Z:0.07 [[ 9.99961207e-01 7.12628037e-03 5.17702494e-03 -5.42535033e+00] [-7.12720596e-03 9.99974588e-01 1.60361148e-04 -7.37164805e-01] [-5.17575060e-03 -1.97252650e-04 9.99986586e-01 6.98961730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485529293000001 meters 0.030692529619846455 Centerline is valid? [True, True] Translation: X:-5.49, Y:-0.74, Z:0.07 [[ 9.99973810e-01 6.49222671e-03 3.19838172e-03 -5.48738691e+00] [-6.49257344e-03 9.99978918e-01 9.80360247e-05 -7.44801160e-01] [-3.19767782e-03 -1.18799185e-04 9.99994880e-01 7.01255878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.545529293 meters 0.03004219451381447 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.74, Z:0.07 [[ 9.99980231e-01 4.73860316e-03 4.13325790e-03 -5.54933541e+00] [-4.73917382e-03 9.99988762e-01 1.28283691e-04 -7.37589457e-01] [-4.13260357e-03 -1.47869383e-04 9.99991450e-01 7.33735454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605529293 meters 0.030430737566273718 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.74, Z:0.08 [[ 9.99946185e-01 9.29310882e-03 4.61135989e-03 -5.60977667e+00] [-9.29387199e-03 9.99956801e-01 1.44096431e-04 -7.42102018e-01] [-4.60982158e-03 -1.86946065e-04 9.99989357e-01 7.52100002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6655292930000005 meters 0.031797326458944446 Centerline is valid? [True, True] Translation: X:-5.67, Y:-0.76, Z:0.09 [[ 9.99929603e-01 7.70592911e-03 9.02261581e-03 -5.66893046e+00] [-7.70880662e-03 9.99970246e-01 2.84187381e-04 -7.55722610e-01] [-9.02015743e-03 -3.53720975e-04 9.99959255e-01 9.14477032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725529293 meters 0.02987327155772154 Centerline is valid? [True, True] Translation: X:-5.73, Y:-0.75, Z:0.09 [[ 9.99951048e-01 4.93031199e-03 8.57863478e-03 -5.73136850e+00] [-4.93279556e-03 9.99987798e-01 2.68371834e-04 -7.51866140e-01] [-8.57720694e-03 -3.10675348e-04 9.99963167e-01 9.25902131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785529293000001 meters 0.028594439590157724 Centerline is valid? [True, True] Translation: X:-5.79, Y:-0.76, Z:0.09 [[ 9.99969838e-01 -8.49597957e-04 7.72022865e-03 -5.79106594e+00] [ 8.47741352e-04 9.99999611e-01 2.43755005e-04 -7.64986615e-01] [-7.72043274e-03 -2.37202896e-04 9.99970169e-01 9.23467014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845529293 meters 0.03003616833874671 Centerline is valid? [True, True] Translation: X:-5.85, Y:-0.76, Z:0.10 [[ 9.99970492e-01 -2.83512020e-03 7.13979806e-03 -5.85345321e+00] [ 2.83363157e-03 9.99995961e-01 2.18604871e-04 -7.58734538e-01] [-7.14038900e-03 -1.98366863e-04 9.99974487e-01 9.56892361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905529293000001 meters 0.029394318431693343 Centerline is valid? [True, True] Translation: X:-5.92, Y:-0.76, Z:0.10 [[ 9.99987458e-01 -1.29807054e-03 4.83714186e-03 -5.91500685e+00] [ 1.29734545e-03 9.99999147e-01 1.53036104e-04 -7.59297524e-01] [-4.83733638e-03 -1.46758741e-04 9.99988289e-01 9.84058498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.965529293 meters 0.02976311145065321 Centerline is valid? [True, True] Translation: X:-5.98, Y:-0.76, Z:0.09 [[ 9.99983743e-01 1.65415563e-04 5.69965063e-03 -5.97770244e+00] [-1.66414939e-04 9.99999971e-01 1.74866124e-04 -7.57628023e-01] [-5.69962154e-03 -1.75811789e-04 9.99983742e-01 9.41752284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025529293000001 meters 0.028686976475115394 Centerline is valid? [True, True] Translation: X:-6.04, Y:-0.75, Z:0.11 [[ 9.99972878e-01 -1.00058458e-03 7.29669189e-03 -6.03854513e+00] [ 9.98944839e-04 9.99999475e-01 2.28365549e-04 -7.53180551e-01] [-7.29691655e-03 -2.21070362e-04 9.99973353e-01 1.05289610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0855292930000005 meters 0.029284999959680518 Centerline is valid? [True, True] Translation: X:-6.10, Y:-0.76, Z:0.10 [[ 9.99985096e-01 -1.80027106e-03 5.15438143e-03 -6.10048349e+00] [ 1.79947213e-03 9.99998368e-01 1.59634657e-04 -7.57095435e-01] [-5.15466041e-03 -1.50357112e-04 9.99986703e-01 1.00680094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145529293 meters 0.028522872168211342 Centerline is valid? [True, True] Translation: X:-6.16, Y:-0.76, Z:0.10 [[ 9.99958999e-01 -5.41768728e-03 7.25593926e-03 -6.16145196e+00] [ 5.41611815e-03 9.99985305e-01 2.35887088e-04 -7.63555666e-01] [-7.25711059e-03 -1.96578392e-04 9.99973648e-01 1.03522924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.205529293000001 meters 0.028238942272518153 Centerline is valid? [True, True] Translation: X:-6.22, Y:-0.77, Z:0.11 [[ 9.99939509e-01 -8.87127852e-03 6.50219730e-03 -6.22379031e+00] [ 8.87012780e-03 9.99960638e-01 2.05792460e-04 -7.66381563e-01] [-6.50376701e-03 -1.48104691e-04 9.99978839e-01 1.07189899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265529293 meters 0.02769272204214404 Centerline is valid? [True, True] Translation: X:-6.28, Y:-0.77, Z:0.11 [[ 9.99887953e-01 -1.24804427e-02 8.26555992e-03 -6.28480498e+00] [ 1.24786266e-02 9.99922102e-01 2.71259103e-04 -7.71018932e-01] [-8.26830148e-03 -1.68085873e-04 9.99965803e-01 1.08801050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325529293000001 meters 0.027370613069667333 Centerline is valid? [True, True] Translation: X:-6.35, Y:-0.77, Z:0.12 [[ 9.99844565e-01 -1.51959831e-02 8.94019749e-03 -6.34670592e+00] [ 1.51940105e-02 9.99884523e-01 2.88532373e-04 -7.68403466e-01] [-8.94354963e-03 -1.52650070e-04 9.99959994e-01 1.16354621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385529293 meters 0.027513204288024548 Centerline is valid? [True, True] Translation: X:-6.41, Y:-0.77, Z:0.12 [[ 9.99813441e-01 -1.57067021e-02 1.12419846e-02 -6.40855240e+00] [ 1.57035582e-02 9.99876624e-01 3.67884513e-04 -7.74941257e-01] [-1.12463759e-02 -1.91276722e-04 9.99936739e-01 1.17764063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445529293000001 meters 0.02823594634123742 Centerline is valid? [True, True] Translation: X:-6.47, Y:-0.76, Z:0.12 [[ 9.99885556e-01 -1.18699669e-02 9.37971195e-03 -6.46923009e+00] [ 1.18675662e-02 9.99929529e-01 3.11555420e-04 -7.64395918e-01] [-9.38274911e-03 -2.00205411e-04 9.99955961e-01 1.22862238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505529293 meters 0.029253564838724974 Centerline is valid? [True, True] Translation: X:-6.53, Y:-0.76, Z:0.11 [[ 9.99955081e-01 -8.72793633e-03 3.69579325e-03 -6.53136679e+00] [ 8.72753896e-03 9.99961907e-01 1.23635096e-04 -7.56418958e-01] [-3.69673154e-03 -9.13743626e-05 9.99993163e-01 1.05135981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565529293000001 meters 0.028308226830102215 Centerline is valid? [True, True] Translation: X:-6.59, Y:-0.75, Z:0.11 [[ 9.99939873e-01 -9.61610011e-03 5.27080020e-03 -6.59393041e+00] [ 9.61533592e-03 9.99953757e-01 1.70306000e-04 -7.53663289e-01] [-5.27219414e-03 -1.19615245e-04 9.99986095e-01 1.09823137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6255292930000005 meters 0.028366969858916888 Centerline is valid? [True, True] Translation: X:-6.66, Y:-0.76, Z:0.12 [[ 9.99921178e-01 -8.84775955e-03 8.90812936e-03 -6.65625988e+00] [ 8.84547611e-03 9.99960834e-01 2.95699050e-04 -7.56759901e-01] [-8.91039674e-03 -2.16879097e-04 9.99960278e-01 1.15703257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685529293 meters 0.029887167275113362 Centerline is valid? [True, True] Translation: X:-6.72, Y:-0.76, Z:0.12 [[ 9.99903732e-01 -1.08326891e-02 8.67062984e-03 -6.71726292e+00] [ 1.08305809e-02 9.99941305e-01 2.90055176e-04 -7.56288521e-01] [-8.67326300e-03 -1.96119295e-04 9.99962367e-01 1.18847954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745529293000001 meters 0.028227159344846955 Centerline is valid? [True, True] Translation: X:-6.78, Y:-0.76, Z:0.12 [[ 9.99897359e-01 -1.13152904e-02 8.78838279e-03 -6.78034149e+00] [ 1.13131361e-02 9.99935961e-01 2.94804749e-04 -7.56811810e-01] [-8.79115579e-03 -1.95350319e-04 9.99961338e-01 1.17958219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805529293 meters 0.02722019556407623 Centerline is valid? [True, True] Translation: X:-6.84, Y:-0.75, Z:0.11 [[ 9.99763215e-01 -2.12566526e-02 4.65488434e-03 -6.84298782e+00] [ 2.12561653e-02 9.99774050e-01 1.54134462e-04 -7.53664502e-01] [-4.65710895e-03 -5.51529748e-05 9.99989154e-01 1.05905268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865529293000001 meters 0.026985636270211326 Centerline is valid? [True, True] Translation: X:-6.90, Y:-0.77, Z:0.11 [[ 9.99508427e-01 -3.07959804e-02 5.87476992e-03 -6.90373746e+00] [ 3.07953432e-02 9.99525691e-01 1.98900611e-04 -7.74181906e-01] [-5.87810880e-03 -1.78872807e-05 9.99982724e-01 1.12403159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925529293 meters 0.026863244931725448 Centerline is valid? [True, True] Translation: X:-6.97, Y:-0.77, Z:0.12 [[ 9.99314143e-01 -3.61315035e-02 8.10917480e-03 -6.96549348e+00] [ 3.61304253e-02 9.99347044e-01 2.79465250e-04 -7.71696500e-01] [-8.11397737e-03 1.37143569e-05 9.99967081e-01 1.19994152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985529293000001 meters 0.027002225633752326 Centerline is valid? [True, True] Translation: X:-7.03, Y:-0.76, Z:0.12 [[ 9.99295357e-01 -3.65981868e-02 8.32839791e-03 -7.02866983e+00] [ 3.65970597e-02 9.99330062e-01 2.87754748e-04 -7.61688211e-01] [-8.33334970e-03 1.72428913e-05 9.99965277e-01 1.15956737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.045529293 meters 0.026857525974915752 Centerline is valid? [True, True] Translation: X:-7.09, Y:-0.75, Z:0.12 [[ 9.99434317e-01 -3.27390675e-02 7.69407380e-03 -7.09036410e+00] [ 3.27379675e-02 9.99463933e-01 2.68905011e-04 -7.54340099e-01] [-7.69875295e-03 -1.68645586e-05 9.99970364e-01 1.17950654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105529293000001 meters 0.02733842739262986 Centerline is valid? [True, True] Translation: X:-7.15, Y:-0.74, Z:0.11 [[ 9.99596582e-01 -2.70649191e-02 8.61183370e-03 -7.15215410e+00] [ 2.70633070e-02 9.99633675e-01 3.03698473e-04 -7.35720066e-01] [-8.61689855e-03 -7.05112564e-05 9.99962871e-01 1.12446006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1655292930000005 meters 0.0290788760817685 Centerline is valid? [True, True] Translation: X:-7.21, Y:-0.73, Z:0.11 [[ 9.99748616e-01 -2.12527168e-02 7.14329779e-03 -7.21463890e+00] [ 2.12514275e-02 9.99774130e-01 2.56354001e-04 -7.29539557e-01] [-7.14713255e-03 -1.04484283e-04 9.99974453e-01 1.05403596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225529293 meters 0.027889673451431386 Centerline is valid? [True, True] Translation: X:-7.28, Y:-0.72, Z:0.10 [[ 9.99781242e-01 -1.97519537e-02 6.87950050e-03 -7.27630925e+00] [ 1.97507315e-02 9.99804905e-01 2.45559754e-04 -7.15705670e-01] [-6.88300863e-03 -1.09630869e-04 9.99976306e-01 9.99671882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285529293000001 meters 0.027448646486582854 Centerline is valid? [True, True] Translation: X:-7.34, Y:-0.71, Z:0.09 [[ 9.99746516e-01 -2.11761181e-02 7.64692633e-03 -7.33892464e+00] [ 2.11746596e-02 9.99775755e-01 2.71657752e-04 -7.08985931e-01] [-7.65096420e-03 -1.09667830e-04 9.99970725e-01 9.35225160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345529293 meters 0.027655014279046836 Centerline is valid? [True, True] Translation: X:-7.40, Y:-0.72, Z:0.09 [[ 9.99631553e-01 -2.59725062e-02 7.88586454e-03 -7.40060504e+00] [ 2.59710798e-02 9.99662654e-01 2.83250858e-04 -7.17232941e-01] [-7.89056101e-03 -7.83420775e-05 9.99968866e-01 8.72174562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405529293000001 meters 0.028227346979175685 Centerline is valid? [True, True] Translation: X:-7.46, Y:-0.71, Z:0.09 [[ 9.99540309e-01 -2.87095649e-02 9.74330345e-03 -7.46225354e+00] [ 2.87074528e-02 9.99587793e-01 3.56593005e-04 -7.09598604e-01] [-9.74952482e-03 -7.67236591e-05 9.99952469e-01 9.30633368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465529293 meters 0.028848109064243788 Centerline is valid? [True, True] Translation: X:-7.52, Y:-0.71, Z:0.09 [[ 9.99456422e-01 -3.12096163e-02 1.06217314e-02 -7.52458358e+00] [ 3.12072589e-02 9.99512860e-01 3.87651198e-04 -7.10262246e-01] [-1.06286556e-02 -5.59653577e-05 9.99943513e-01 8.53595285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525529293000001 meters 0.029298650560983547 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.71, Z:0.08 [[ 9.99451446e-01 -3.12697583e-02 1.09091577e-02 -7.58818006e+00] [ 3.12672490e-02 9.99510980e-01 4.00537997e-04 -7.08637825e-01] [-1.09163476e-02 -5.92189316e-05 9.99940413e-01 8.46339513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5855292930000005 meters 0.027214589995620448 Centerline is valid? [True, True] Translation: X:-7.65, Y:-0.70, Z:0.08 [[ 9.99518001e-01 -2.95058712e-02 9.65237418e-03 -7.65169673e+00] [ 2.95037629e-02 9.99564604e-01 3.60775562e-04 -6.96186733e-01] [-9.65881657e-03 -7.58203096e-05 9.99953350e-01 7.60349860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645529293000001 meters 0.028211192587057808 Centerline is valid? [True, True] Translation: X:-7.71, Y:-0.70, Z:0.07 [[ 9.99523083e-01 -3.04775407e-02 4.97255826e-03 -7.71306775e+00] [ 3.04769905e-02 9.99535451e-01 1.86411805e-04 -6.99834672e-01] [-4.97592964e-03 -3.47742907e-05 9.99987619e-01 6.68043831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.705529293000001 meters 0.027231379591299475 Centerline is valid? [True, True] Translation: X:-7.77, Y:-0.69, Z:0.09 [[ 9.99497621e-01 -2.91765587e-02 1.23787639e-02 -7.77263357e+00] [ 2.91730118e-02 9.99574268e-01 4.67042492e-04 -6.88861665e-01] [-1.23871206e-02 -1.05682034e-04 9.99923271e-01 8.60358755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765529293 meters 0.02845911320107369 Centerline is valid? [True, True] Translation: X:-7.84, Y:-0.68, Z:0.09 [[ 9.99555788e-01 -2.74162952e-02 1.16864724e-02 -7.83558745e+00] [ 2.74130369e-02 9.99624096e-01 4.38938162e-04 -6.82974511e-01] [-1.16941135e-02 -1.18381481e-04 9.99931615e-01 8.84748320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825529293000001 meters 0.03040638749229311 Centerline is valid? [True, True] Translation: X:-7.90, Y:-0.68, Z:0.09 [[ 9.99600350e-01 -2.56395582e-02 1.19059961e-02 -7.89817758e+00] [ 2.56360764e-02 9.99671243e-01 4.44990791e-04 -6.78234387e-01] [-1.19134913e-02 -1.39589925e-04 9.99929022e-01 8.58867771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885529293 meters 0.027665739117715225 Centerline is valid? [True, True] Translation: X:-7.96, Y:-0.68, Z:0.09 [[ 9.99640797e-01 -2.40760200e-02 1.17738040e-02 -7.95925496e+00] [ 2.40724442e-02 9.99710118e-01 4.45351719e-04 -6.76240401e-01] [-1.17811133e-02 -1.61767506e-04 9.99930587e-01 8.69586663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945529293000001 meters 0.02775414912694434 Centerline is valid? [True, True] Translation: X:-8.02, Y:-0.67, Z:0.09 [[ 9.99653440e-01 -2.27812443e-02 1.31914635e-02 -8.02274172e+00] [ 2.27766485e-02 9.99740454e-01 4.98541878e-04 -6.67075906e-01] [-1.31993971e-02 -1.97911775e-04 9.99912865e-01 8.51871525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005529293 meters 0.02719965863894987 Centerline is valid? [True, True] Translation: X:-8.09, Y:-0.65, Z:0.07 [[ 9.99696801e-01 -2.05607830e-02 1.35484174e-02 -8.08613457e+00] [ 2.05556647e-02 9.99788576e-01 5.16934115e-04 -6.52958001e-01] [-1.35561815e-02 -2.38280657e-04 9.99908082e-01 7.14832578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065529293 meters 0.027389271627128217 Centerline is valid? [True, True] Translation: X:-8.15, Y:-0.66, Z:0.06 [[ 9.99749154e-01 -1.88406134e-02 1.21103130e-02 -8.14902655e+00] [ 1.88363282e-02 9.99822471e-01 4.67822921e-04 -6.62084765e-01] [-1.21169772e-02 -2.39591739e-04 9.99926558e-01 5.73592324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125529293000001 meters 0.02702220834147758 Centerline is valid? [True, True] Translation: X:-8.21, Y:-0.65, Z:0.06 [[ 9.99720205e-01 -2.03263056e-02 1.20976657e-02 -8.21124873e+00] [ 2.03221664e-02 9.99793375e-01 4.64994143e-04 -6.52781101e-01] [-1.21046176e-02 -2.19013265e-04 9.99926712e-01 5.90998050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185529293 meters 0.027081204031426782 Centerline is valid? [True, True] Translation: X:-8.27, Y:-0.64, Z:0.06 [[ 9.99734355e-01 -1.84236570e-02 1.38487958e-02 -8.27454617e+00] [ 1.84179378e-02 9.99830229e-01 5.40410092e-04 -6.42742237e-01] [-1.38564010e-02 -2.85200275e-04 9.99903955e-01 5.54708549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245529293 meters 0.02744928849161318 Centerline is valid? [True, True] Translation: X:-8.34, Y:-0.65, Z:0.06 [[ 9.99775407e-01 -1.53868764e-02 1.45732827e-02 -8.33703963e+00] [ 1.53802090e-02 9.99881555e-01 5.69478922e-04 -6.48057173e-01] [-1.45803190e-02 -3.45210888e-04 9.99893642e-01 6.06275562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305529293000001 meters 0.027545867830148195 Centerline is valid? [True, True] Translation: X:-8.40, Y:-0.63, Z:0.06 [[ 9.99834189e-01 -1.22878683e-02 1.34388212e-02 -8.39872676e+00] [ 1.22818741e-02 9.99924435e-01 5.28475310e-04 -6.33462425e-01] [-1.34442995e-02 -3.63333772e-04 9.99909555e-01 5.58932971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365529293 meters 0.029225468482476803 Centerline is valid? [True, True] Translation: X:-8.46, Y:-0.64, Z:0.05 [[ 9.99843918e-01 -9.46323198e-03 1.49193788e-02 -8.46094742e+00] [ 9.45558097e-03 9.99955125e-01 5.83281389e-04 -6.35505187e-01] [-1.49242290e-02 -4.42118955e-04 9.99888530e-01 5.48239201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425529293 meters 0.027565285555510122 Centerline is valid? [True, True] Translation: X:-8.52, Y:-0.63, Z:0.06 [[ 9.99829968e-01 -8.79372160e-03 1.62081643e-02 -8.52288301e+00] [ 8.78452448e-03 9.99961211e-01 6.38546775e-04 -6.28417974e-01] [-1.62131508e-02 -4.96057186e-04 9.99868435e-01 6.08136044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485529293 meters 0.029150515564524533 Centerline is valid? [True, True] Translation: X:-8.59, Y:-0.63, Z:0.05 [[ 9.99853915e-01 -7.81030476e-03 1.52035315e-02 -8.58507808e+00] [ 7.80203743e-03 9.99969382e-01 6.03014335e-04 -6.28325670e-01] [-1.52077757e-02 -4.84307722e-04 9.99884238e-01 5.38632672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545529293000001 meters 0.028342528506806845 Centerline is valid? [True, True] Translation: X:-8.65, Y:-0.63, Z:0.06 [[ 9.99863309e-01 -5.62575995e-03 1.55471828e-02 -8.64763700e+00] [ 5.61673413e-03 9.99984031e-01 6.24147758e-04 -6.27428547e-01] [-1.55504458e-02 -5.36738050e-04 9.99878940e-01 6.10690848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605529293 meters 0.02821764276588521 Centerline is valid? [True, True] Translation: X:-8.71, Y:-0.63, Z:0.05 [[ 9.99905062e-01 -3.78552591e-03 1.32490106e-02 -8.70865612e+00] [ 3.77878596e-03 9.99992718e-01 5.33710804e-04 -6.31873387e-01] [-1.32509345e-02 -4.83594960e-04 9.99912086e-01 5.29104523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665529293 meters 0.031694673398802026 Centerline is valid? [True, True] Translation: X:-8.77, Y:-0.64, Z:0.05 [[ 9.99964732e-01 2.57801768e-03 7.99303070e-03 -8.76970000e+00] [-2.58067834e-03 9.99996618e-01 3.22576353e-04 -6.36020918e-01] [-7.99217206e-03 -3.43192418e-04 9.99968003e-01 4.72201912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725529293000001 meters 0.03166306597320499 Centerline is valid? [True, True] Translation: X:-8.83, Y:-0.64, Z:0.06 [[ 9.99865978e-01 7.41642687e-03 1.45952959e-02 -8.83098201e+00] [-7.42574848e-03 9.99972258e-01 5.84582309e-04 -6.42938277e-01] [-1.45905555e-02 -6.92884958e-04 9.99893312e-01 6.42125468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785529293000002 meters 0.02966802573273565 Centerline is valid? [True, True] Translation: X:-8.89, Y:-0.66, Z:0.07 [[ 9.99884961e-01 -1.14036029e-03 1.51249683e-02 -8.89061248e+00] [ 1.13119459e-03 9.99999171e-01 6.14539418e-04 -6.63655313e-01] [-1.51256566e-02 -5.97359440e-04 9.99885422e-01 6.63468003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845529293 meters 0.027437271661465267 Centerline is valid? [True, True] Translation: X:-8.95, Y:-0.70, Z:0.06 [[ 9.99817436e-01 -1.31200417e-02 1.38909917e-02 -8.95060030e+00] [ 1.31134685e-02 9.99913856e-01 5.64179032e-04 -7.04776643e-01] [-1.38971972e-02 -3.81916951e-04 9.99903356e-01 6.38471796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905529293 meters 0.02692398437311384 Centerline is valid? [True, True] Translation: X:-9.01, Y:-0.72, Z:0.07 [[ 9.99759249e-01 -1.72005959e-02 1.36229107e-02 -9.01138943e+00] [ 1.71947022e-02 9.99852009e-01 5.49650953e-04 -7.19349500e-01] [-1.36303489e-02 -3.15276732e-04 9.99907053e-01 7.10102758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965529293000001 meters 0.028743392422450824 Centerline is valid? [True, True] Translation: X:-9.07, Y:-0.72, Z:0.06 [[ 9.99951894e-01 -4.16695804e-03 8.87950636e-03 -9.07258921e+00] [ 4.16389901e-03 9.99991265e-01 3.62964221e-04 -7.16428775e-01] [-8.88094125e-03 -3.25973392e-04 9.99960511e-01 5.92466492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025529293 meters 0.03099105625552023 Centerline is valid? [True, True] Translation: X:-9.13, Y:-0.73, Z:0.06 [[ 9.99922496e-01 4.60416510e-03 1.15673774e-02 -9.13266296e+00] [-4.60994930e-03 9.99989262e-01 4.73430569e-04 -7.26256400e-01] [-1.15650735e-02 -5.26718900e-04 9.99932984e-01 6.06162042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085529293 meters 0.029072443213021774 Centerline is valid? [True, True] Translation: X:-9.19, Y:-0.76, Z:0.06 [[ 9.99892314e-01 -4.18963712e-03 1.40644341e-02 -9.19101129e+00] [ 4.18194950e-03 9.99991090e-01 5.75965716e-04 -7.58952514e-01] [-1.40667219e-02 -5.17086939e-04 9.99900925e-01 6.48071358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145529293000001 meters 0.03016532748571459 Centerline is valid? [True, True] Translation: X:-9.25, Y:-0.78, Z:0.06 [[ 9.99850730e-01 -1.03150199e-02 1.38606319e-02 -9.25179739e+00] [ 1.03081539e-02 9.99946709e-01 5.66713632e-04 -7.80236885e-01] [-1.38657389e-02 -4.23751512e-04 9.99903776e-01 6.11948397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205529293000001 meters 0.02959901971590021 Centerline is valid? [True, True] Translation: X:-9.31, Y:-0.78, Z:0.05 [[ 9.99989423e-01 -6.97755305e-04 4.54602275e-03 -9.31174651e+00] [ 6.96913910e-04 9.99999740e-01 1.86665139e-04 -7.82953143e-01] [-4.54615182e-03 -1.83494978e-04 9.99989649e-01 5.08967667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265529293 meters 0.03132969092512885 Centerline is valid? [True, True] Translation: X:-9.37, Y:-0.81, Z:0.06 [[ 9.99893467e-01 9.10961811e-03 1.14047780e-02 -9.37036298e+00] [-9.11554082e-03 9.99958343e-01 4.67442546e-04 -8.05092413e-01] [-1.14000447e-02 -5.71353468e-04 9.99934854e-01 6.29631715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325529293 meters 0.030952010029577457 Centerline is valid? [True, True] Translation: X:-9.43, Y:-0.82, Z:0.06 [[ 9.99925173e-01 5.93123334e-03 1.06989785e-02 -9.43129412e+00] [-5.93625083e-03 9.99982285e-01 4.37273534e-04 -8.21796399e-01] [-1.06961954e-02 -5.00752635e-04 9.99942669e-01 5.92756092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385529293000001 meters 0.029389071980727002 Centerline is valid? [True, True] Translation: X:-9.49, Y:-0.86, Z:0.05 [[ 9.99963573e-01 -1.34065205e-03 8.42943309e-03 -9.49095327e+00] [ 1.33778871e-03 9.99999046e-01 3.45312930e-04 -8.57389561e-01] [-8.42988799e-03 -3.34023550e-04 9.99964412e-01 5.31567268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445529293 meters 0.028570518084714905 Centerline is valid? [True, True] Translation: X:-9.55, Y:-0.87, Z:0.05 [[ 9.99938731e-01 -8.52129104e-03 7.06554225e-03 -9.55114472e+00] [ 8.51946041e-03 9.99963667e-01 2.89151019e-04 -8.73103359e-01] [-7.06774947e-03 -2.28938695e-04 9.99974997e-01 5.37770071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505529293 meters 0.028361297039489503 Centerline is valid? [True, True] Translation: X:-9.61, Y:-0.89, Z:0.06 [[ 9.99945425e-01 -6.59570664e-03 8.10202099e-03 -9.61206524e+00] [ 6.59327915e-03 9.99978211e-01 3.26289575e-04 -8.85103415e-01] [-8.10399657e-03 -2.72852882e-04 9.99967125e-01 5.89798780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565529293 meters 0.031314679865126614 Centerline is valid? [True, True] Translation: X:-9.67, Y:-0.89, Z:0.05 [[ 9.99970178e-01 3.65296642e-03 6.80433941e-03 -9.67308402e+00] [-3.65495764e-03 9.99993281e-01 2.80227344e-04 -8.89828014e-01] [-6.80327003e-03 -3.05088560e-04 9.99976811e-01 5.35093492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625529293000001 meters 0.03346005870655537 Centerline is valid? [True, True] Translation: X:-9.73, Y:-0.88, Z:0.05 [[ 9.99938960e-01 1.02067819e-02 4.23054725e-03 -9.73307614e+00] [-1.02076139e-02 9.99947886e-01 1.75115678e-04 -8.84227665e-01] [-4.22853941e-03 -2.18288782e-04 9.99991036e-01 4.76908878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685529293 meters 0.03370250417611559 Centerline is valid? [True, True] Translation: X:-9.79, Y:-0.89, Z:0.05 [[ 9.99855069e-01 1.51524796e-02 7.76170389e-03 -9.79385525e+00] [-1.51554165e-02 9.99885099e-01 3.19707002e-04 -8.86978692e-01] [-7.75596771e-03 -4.37292522e-04 9.99969826e-01 5.26686101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745529293 meters 0.0331539339768987 Centerline is valid? [True, True] Translation: X:-9.86, Y:-0.90, Z:0.05 [[ 9.99896001e-01 1.34745863e-02 5.14037449e-03 -9.85716875e+00] [-1.34758145e-02 9.99909176e-01 2.04363879e-04 -8.95246309e-01] [-5.13715390e-03 -2.73613359e-04 9.99986767e-01 4.77236567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805529293000001 meters 0.031889503336918916 Centerline is valid? [True, True] Translation: X:-9.92, Y:-0.91, Z:0.05 [[ 9.99917890e-01 1.02599034e-02 7.67773600e-03 -9.91661139e+00] [-1.02626477e-02 9.99947287e-01 3.18131835e-04 -9.08249630e-01] [-7.67406728e-03 -3.96899613e-04 9.99970475e-01 4.69102471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865529293000002 meters 0.03175683264065498 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.92, Z:0.04 [[ 9.99955693e-01 8.06609541e-03 4.85289846e-03 -9.97876930e+00] [-8.06715985e-03 9.99967440e-01 1.99806022e-04 -9.20960205e-01] [-4.85112879e-03 -2.38946277e-04 9.99988205e-01 4.38892105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925529293 meters 0.03217227168209452 Centerline is valid? [True, True] Translation: X:-10.04, Y:-0.93, Z:0.05 [[ 9.99961275e-01 7.22840520e-03 5.01985815e-03 -1.00388549e+01] [-7.22952758e-03 9.99973846e-01 2.05477306e-04 -9.32351480e-01] [-5.01824159e-03 -2.41760552e-04 9.99987379e-01 5.00411144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985529293 meters 0.03153933861947349 Centerline is valid? [True, True] Translation: X:-10.10, Y:-0.93, Z:0.05 [[ 9.99934720e-01 7.68127387e-03 8.45889546e-03 -1.01014162e+01] [-7.68452261e-03 9.99970412e-01 3.51626920e-04 -9.29483466e-01] [-8.45594424e-03 -4.16606539e-04 9.99964161e-01 5.20280014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045529293000001 meters 0.032227101630304046 Centerline is valid? [True, True] Translation: X:-10.16, Y:-0.94, Z:0.05 [[ 9.99957564e-01 8.60152902e-03 3.29919822e-03 -1.01620913e+01] [-8.60202942e-03 9.99962992e-01 1.37513520e-04 -9.44601654e-01] [-3.29789330e-03 -1.65887485e-04 9.99994548e-01 4.58948713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105529293 meters 0.03112654804599225 Centerline is valid? [True, True] Translation: X:-10.22, Y:-0.95, Z:0.05 [[ 9.99954535e-01 6.23120774e-03 7.21796777e-03 -1.02225414e+01] [-6.23354563e-03 9.99980526e-01 3.01446970e-04 -9.48802767e-01] [-7.21594883e-03 -3.46426797e-04 9.99973905e-01 5.05033233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165529293 meters 0.031826101245591716 Centerline is valid? [True, True] Translation: X:-10.28, Y:-0.95, Z:0.04 [[ 9.99935442e-01 1.05110623e-02 4.31622472e-03 -1.02835894e+01] [-1.05119404e-02 9.99944732e-01 1.80793294e-04 -9.52998042e-01] [-4.31408584e-03 -2.26153519e-04 9.99990669e-01 4.23511566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225529293000001 meters 0.03216790955500571 Centerline is valid? [True, True] Translation: X:-10.34, Y:-0.96, Z:0.04 [[ 9.99948122e-01 1.00927820e-02 -1.37419722e-03 -1.03444109e+01] [-1.00928724e-02 9.99949064e-01 -5.88536091e-05 -9.60449305e-01] [ 1.37353323e-03 7.27201531e-05 9.99999054e-01 4.37266522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285529293000002 meters 0.03125191125519172 Centerline is valid? [True, True] Translation: X:-10.40, Y:-0.97, Z:0.06 [[ 9.99948974e-01 7.89102009e-03 6.30726421e-03 -1.04036097e+01] [-7.89284890e-03 9.99968816e-01 2.65114792e-04 -9.72418011e-01] [-6.30497550e-03 -3.14883547e-04 9.99980074e-01 5.66797988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345529293 meters 0.03109914188420758 Centerline is valid? [True, True] Translation: X:-10.47, Y:-0.98, Z:0.05 [[ 9.99963696e-01 5.69188791e-03 6.34107177e-03 -1.04652491e+01] [-5.69367948e-03 9.99983756e-01 2.64517192e-04 -9.83631022e-01] [-6.33946316e-03 -3.00611619e-04 9.99979860e-01 5.18258771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405529293 meters 0.031076603616343526 Centerline is valid? [True, True] Translation: X:-10.52, Y:-1.00, Z:0.06 [[ 9.99962737e-01 -2.01357752e-03 8.39463444e-03 -1.05246640e+01] [ 2.01069677e-03 9.99997917e-01 3.51591544e-04 -9.95343166e-01] [-8.39532491e-03 -3.34699378e-04 9.99964703e-01 6.07201689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465529293000001 meters 0.029072321341051054 Centerline is valid? [True, True] Translation: X:-10.59, Y:-0.99, Z:0.06 [[ 9.99966932e-01 -1.82261932e-03 7.92551585e-03 -1.05867460e+01] [ 1.82008627e-03 9.99998290e-01 3.26807794e-04 -9.94085154e-01] [-7.92609794e-03 -3.12371865e-04 9.99968539e-01 6.12228831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525529293 meters 0.03061258192274092 Centerline is valid? [True, True] Translation: X:-10.65, Y:-1.00, Z:0.04 [[ 9.99991052e-01 -4.18126169e-04 4.20968289e-03 -1.06486615e+01] [ 4.17386980e-04 9.99999897e-01 1.76469583e-04 -1.00387220e+00] [-4.20975624e-03 -1.74710937e-04 9.99991124e-01 4.33286525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585529293 meters 0.03284810515037027 Centerline is valid? [True, True] Translation: X:-10.71, Y:-1.00, Z:0.04 [[ 9.99989780e-01 3.77916172e-03 2.48134218e-03 -1.07099571e+01] [-3.77943272e-03 9.99992852e-01 1.04533020e-04 -1.00029074e+00] [-2.48092940e-03 -1.13910018e-04 9.99996916e-01 4.37250699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645529293000001 meters 0.03273228018830281 Centerline is valid? [True, True] Translation: X:-10.77, Y:-0.99, Z:0.05 [[ 9.99927321e-01 1.13549298e-02 4.05203334e-03 -1.07715419e+01] [-1.13557164e-02 9.99935507e-01 1.71175393e-04 -9.88464983e-01] [-4.04982833e-03 -2.17176694e-04 9.99991776e-01 4.55972565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705529293000001 meters 0.033863246453784475 Centerline is valid? [True, True] Translation: X:-10.83, Y:-0.99, Z:0.06 [[ 9.99830136e-01 1.71121033e-02 6.84660115e-03 -1.08314077e+01] [-1.71144887e-02 9.99853494e-01 2.89965732e-04 -9.94464398e-01] [-6.84063616e-03 -4.07092555e-04 9.99976520e-01 5.59889210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765529293 meters 0.03268235265233119 Centerline is valid? [True, True] Translation: X:-10.89, Y:-1.00, Z:0.06 [[ 9.99804068e-01 1.70979670e-02 9.97424552e-03 -1.08926043e+01] [-1.71029798e-02 9.99853646e-01 4.17490680e-04 -9.95139574e-01] [-9.96564751e-03 -5.87998199e-04 9.99950169e-01 5.77236258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825529293 meters 0.034335950362570644 Centerline is valid? [True, True] Translation: X:-10.95, Y:-1.00, Z:0.04 [[ 9.99856464e-01 1.69424350e-02 -7.47209279e-05 -1.09542105e+01] [-1.69424353e-02 9.99856467e-01 -3.45268096e-06 -9.99595362e-01] [ 7.46517061e-05 4.71813986e-06 9.99999997e-01 3.69827657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885529293000001 meters 0.03362545392526827 Centerline is valid? [True, True] Translation: X:-11.01, Y:-1.01, Z:0.04 [[ 9.99909983e-01 1.34022246e-02 6.37041666e-04 -1.10145702e+01] [-1.34022443e-02 9.99910186e-01 2.67431674e-05 -1.00846451e+00] [-6.36626033e-04 -3.52785481e-05 9.99999797e-01 3.98966642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945529293000002 meters 0.03137183702935205 Centerline is valid? [True, True] Translation: X:-11.07, Y:-1.01, Z:0.06 [[ 9.99941517e-01 5.01278783e-03 9.58302713e-03 -1.10737803e+01] [-5.01693550e-03 9.99987332e-01 4.08823536e-04 -1.01296633e+00] [-9.58085638e-03 -4.56877056e-04 9.99953998e-01 5.84415631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005529293 meters 0.03266547925493767 Centerline is valid? [True, True] Translation: X:-11.14, Y:-1.02, Z:0.04 [[ 9.99974912e-01 1.40296805e-03 6.94312696e-03 -1.11361436e+01] [-1.40504492e-03 9.99998970e-01 2.94256719e-04 -1.01863700e+00] [-6.94270697e-03 -3.04004742e-04 9.99975853e-01 4.43641248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065529293 meters 0.030450097729552494 Centerline is valid? [True, True] Translation: X:-11.20, Y:-1.03, Z:0.05 [[ 9.99950781e-01 -3.00038645e-04 9.91691196e-03 -1.11965790e+01] [ 2.95855036e-04 9.99999867e-01 4.23330433e-04 -1.02810054e+00] [-9.91703765e-03 -4.20375629e-04 9.99950737e-01 5.40857142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125529293000001 meters 0.03111997564349314 Centerline is valid? [True, True] Translation: X:-11.26, Y:-1.01, Z:0.04 [[ 9.99984386e-01 7.30439616e-04 5.54029459e-03 -1.12590880e+01] [-7.31757346e-04 9.99999704e-01 2.35821427e-04 -1.01448204e+00] [-5.54012070e-03 -2.39871896e-04 9.99984625e-01 4.08132483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185529293 meters 0.03343244347330146 Centerline is valid? [True, True] Translation: X:-11.32, Y:-1.02, Z:0.05 [[ 9.99956970e-01 2.77271860e-03 8.85267305e-03 -1.13213675e+01] [-2.77612591e-03 9.99996077e-01 3.72625790e-04 -1.01744912e+00] [-8.85160514e-03 -3.97185891e-04 9.99960745e-01 4.74328150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245529293 meters 0.03308628343346835 Centerline is valid? [True, True] Translation: X:-11.38, Y:-1.01, Z:0.05 [[ 9.99914731e-01 9.38925278e-03 9.07595131e-03 -1.13826509e+01] [-9.39318452e-03 9.99955807e-01 3.90673002e-04 -1.00851021e+00] [-9.07188209e-03 -4.75891775e-04 9.99958736e-01 4.67807145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305529293000001 meters 0.036018726096523485 Centerline is valid? [True, True] Translation: X:-11.44, Y:-0.99, Z:0.04 [[ 9.99822719e-01 1.81837562e-02 4.88683448e-03 -1.14444642e+01] [-1.81849984e-02 9.99834617e-01 2.09867841e-04 -9.91845714e-01] [-4.88221010e-03 -2.98697712e-04 9.99988037e-01 4.30339946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365529293000002 meters 0.03733866359655188 Centerline is valid? [True, True] Translation: X:-11.50, Y:-1.00, Z:0.06 [[ 9.99577591e-01 2.58834713e-02 1.32168973e-02 -1.15041456e+01] [-2.58932480e-02 9.99664552e-01 5.69098202e-04 -9.96703390e-01] [-1.31977335e-02 -9.11086210e-04 9.99912491e-01 5.66274147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425529293 meters 0.03712092999212456 Centerline is valid? [True, True] Translation: X:-11.56, Y:-0.99, Z:0.05 [[ 9.99508777e-01 2.94668928e-02 1.06726788e-02 -1.15646712e+01] [-2.94734715e-02 9.99565457e-01 4.59616326e-04 -9.92210415e-01] [-1.06544976e-02 -7.73951447e-04 9.99942940e-01 5.16924501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485529293 meters 0.03740710033532655 Centerline is valid? [True, True] Translation: X:-11.63, Y:-0.99, Z:0.05 [[ 9.99496468e-01 3.05985995e-02 8.39857224e-03 -1.16263991e+01] [-3.06027060e-02 9.99531562e-01 3.60845949e-04 -9.87814772e-01] [-8.38359665e-03 -6.17683289e-04 9.99964666e-01 4.92072072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545529293000001 meters 0.036485945136282644 Centerline is valid? [True, True] Translation: X:-11.69, Y:-1.00, Z:0.04 [[ 9.99496790e-01 2.92890391e-02 1.21786684e-02 -1.16872335e+01] [-2.92975897e-02 9.99570596e-01 5.24241225e-04 -1.00393671e+00] [-1.21580843e-02 -8.80783051e-04 9.99925700e-01 4.46072124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605529293 meters 0.03754877074500254 Centerline is valid? [True, True] Translation: X:-11.75, Y:-0.99, Z:0.04 [[ 9.99763423e-01 2.02320024e-02 7.98528413e-03 -1.17485672e+01] [-2.02353958e-02 9.99795184e-01 3.44378002e-04 -9.92709151e-01] [-7.97668116e-03 -5.05881915e-04 9.99968058e-01 4.48733400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665529293 meters 0.0340221096292743 Centerline is valid? [True, True] Translation: X:-11.81, Y:-1.01, Z:0.06 [[ 9.99811268e-01 1.09133627e-02 1.60725529e-02 -1.18069624e+01] [-1.09259070e-02 9.99940070e-01 6.92874736e-04 -1.01496386e+00] [-1.60640281e-02 -8.68351186e-04 9.99870588e-01 5.80036526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725529293000001 meters 0.032118378213442544 Centerline is valid? [True, True] Translation: X:-11.87, Y:-1.01, Z:0.05 [[ 9.99886241e-01 5.06710185e-03 1.42066437e-02 -1.18685674e+01] [-5.07632858e-03 9.99986927e-01 6.13479685e-04 -1.00967905e+00] [-1.42033494e-02 -6.85527488e-04 9.99898892e-01 5.29477759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785529293000002 meters 0.03204227267273417 Centerline is valid? [True, True] Translation: X:-11.93, Y:-1.02, Z:0.04 [[ 9.99956573e-01 1.44834149e-03 9.20619131e-03 -1.19309435e+01] [-1.45200794e-03 9.99998869e-01 3.91587562e-04 -1.02199483e+00] [-9.20561374e-03 -4.04938020e-04 9.99957545e-01 3.99232327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845529293 meters 0.03094163100681814 Centerline is valid? [True, True] Translation: X:-11.99, Y:-1.03, Z:0.05 [[ 9.99949744e-01 -4.58389108e-03 8.91610724e-03 -1.19917547e+01] [ 4.58062422e-03 9.99989434e-01 3.86787214e-04 -1.03043557e+00] [-8.91778602e-03 -3.45926439e-04 9.99960176e-01 4.70366917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905529293 meters 0.030248440681342813 Centerline is valid? [True, True] Translation: X:-12.05, Y:-1.04, Z:0.06 [[ 9.99879623e-01 -7.02116961e-03 1.38363117e-02 -1.20523473e+01] [ 7.01352309e-03 9.99975224e-01 6.01087974e-04 -1.03642252e+00] [-1.38401893e-02 -5.03974325e-04 9.99904093e-01 6.31762211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965529293000001 meters 0.03024722369937274 Centerline is valid? [True, True] Translation: X:-12.12, Y:-1.02, Z:0.06 [[ 9.99838829e-01 -6.93394865e-03 1.65600789e-02 -1.21151381e+01] [ 6.92302953e-03 9.99975779e-01 7.16600748e-04 -1.02303054e+00] [-1.65646467e-02 -6.01839337e-04 9.99862616e-01 6.21399800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025529293000002 meters 0.03157041143407609 Centerline is valid? [True, True] Translation: X:-12.18, Y:-1.03, Z:0.06 [[ 9.99932399e-01 -2.88064113e-03 1.12649694e-02 -1.21756834e+01] [ 2.87526828e-03 9.99995745e-01 4.93117683e-04 -1.03443315e+00] [-1.12663419e-02 -4.60694538e-04 9.99936427e-01 5.65517193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085529293 meters 0.03208963791691821 Centerline is valid? [True, True] Translation: X:-12.24, Y:-1.03, Z:0.06 [[ 9.99871148e-01 -5.96768743e-03 1.49021345e-02 -1.22372675e+01] [ 5.95862870e-03 9.99982035e-01 6.52208386e-04 -1.02777382e+00] [-1.49057590e-02 -5.63328062e-04 9.99888744e-01 6.21647674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145529293000001 meters 0.03044931898126024 Centerline is valid? [True, True] Translation: X:-12.30, Y:-1.03, Z:0.05 [[ 9.99910606e-01 -7.24401912e-03 1.12385191e-02 -1.22993113e+01] [ 7.23900096e-03 9.99973679e-01 4.87129686e-04 -1.03133687e+00] [-1.12417521e-02 -4.05730488e-04 9.99936727e-01 5.25505452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205529293000001 meters 0.029810301700874724 Centerline is valid? [True, True] Translation: X:-12.36, Y:-1.03, Z:0.06 [[ 9.99858591e-01 -1.05924739e-02 1.30613225e-02 -1.23588528e+01] [ 1.05858498e-02 9.99943802e-01 5.76186065e-04 -1.02674673e+00] [-1.30666918e-02 -4.37839388e-04 9.99914531e-01 6.48369311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265529293 meters 0.02930540314708951 Centerline is valid? [True, True] Translation: X:-12.42, Y:-1.02, Z:0.06 [[ 9.99823225e-01 -9.60016744e-03 1.61664864e-02 -1.24215930e+01] [ 9.58995995e-03 9.99953764e-01 7.08804779e-04 -1.01996119e+00] [-1.61725435e-02 -5.53643523e-04 9.99869063e-01 6.48099805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325529293 meters 0.032018892889068416 Centerline is valid? [True, True] Translation: X:-12.48, Y:-1.01, Z:0.06 [[ 9.99873874e-01 -7.42940466e-03 1.40370849e-02 -1.24833789e+01] [ 7.42140008e-03 9.99972267e-01 6.22249830e-04 -1.01494341e+00] [-1.40413186e-02 -5.17996525e-04 9.99901282e-01 5.65693049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385529293000001 meters 0.0296992789021827 Centerline is valid? [True, True] Translation: X:-12.55, Y:-1.00, Z:0.06 [[ 9.99861849e-01 -1.20095635e-02 1.14914696e-02 -1.25462080e+01] [ 1.20045077e-02 9.99927814e-01 5.08839462e-04 -1.00229853e+00] [-1.14967510e-02 -3.70819731e-04 9.99933841e-01 5.58205296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445529293000002 meters 0.031814225063086246 Centerline is valid? [True, True] Translation: X:-12.61, Y:-1.00, Z:0.07 [[ 9.99786397e-01 -1.46406124e-02 1.45881110e-02 -1.26063355e+01] [ 1.46327034e-02 9.99892726e-01 6.48751375e-04 -1.00260736e+00] [-1.45960441e-02 -4.35149299e-04 9.99893377e-01 6.81787524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505529293 meters 0.02989865090984383 Centerline is valid? [True, True] Translation: X:-12.67, Y:-1.00, Z:0.06 [[ 9.99770044e-01 -1.61242213e-02 1.41374633e-02 -1.26691322e+01] [ 1.61170025e-02 9.99869918e-01 6.24404028e-04 -9.99454238e-01] [-1.41456923e-02 -3.96406911e-04 9.99899866e-01 6.12785313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565529293 meters 0.02905172529731556 Centerline is valid? [True, True] Translation: X:-12.73, Y:-1.00, Z:0.07 [[ 9.99775388e-01 -1.79958858e-02 1.11946820e-02 -1.27298317e+01] [ 1.79914586e-02 9.99838018e-01 4.96068048e-04 -1.00020682e+00] [-1.12017959e-02 -2.94547967e-04 9.99937215e-01 6.65827235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625529293000001 meters 0.029377321415930135 Centerline is valid? [True, True] Translation: X:-12.79, Y:-1.00, Z:0.07 [[ 9.99717259e-01 -1.88669880e-02 1.44720205e-02 -1.27923182e+01] [ 1.88595993e-02 9.99821933e-01 6.46865845e-04 -9.96378621e-01] [-1.44816479e-02 -3.73746441e-04 9.99895066e-01 7.21430339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685529293 meters 0.03028787721638087 Centerline is valid? [True, True] Translation: X:-12.85, Y:-0.98, Z:0.07 [[ 9.99705769e-01 -2.11205696e-02 1.19288159e-02 -1.28549112e+01] [ 2.11156961e-02 9.99776896e-01 5.34359420e-04 -9.80621797e-01] [-1.19374405e-02 -2.82316944e-04 9.99928706e-01 6.87486201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745529293 meters 0.02962976282854675 Centerline is valid? [True, True] Translation: X:-12.92, Y:-0.98, Z:0.07 [[ 9.99685296e-01 -2.25956917e-02 1.08969549e-02 -1.29181182e+01] [ 2.25916930e-02 9.99744655e-01 4.89921859e-04 -9.84586797e-01] [-1.09052425e-02 -2.43587020e-04 9.99940506e-01 6.81869536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805529293000001 meters 0.029007993506479483 Centerline is valid? [True, True] Translation: X:-12.98, Y:-0.99, Z:0.07 [[ 9.99578714e-01 -2.70840634e-02 1.04330338e-02 -1.29803399e+01] [ 2.70806033e-02 9.99633141e-01 4.72799594e-04 -9.92159887e-01] [-1.04420117e-02 -1.90067561e-04 9.99945463e-01 6.69398591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865529293000002 meters 0.028060840887767703 Centerline is valid? [True, True] Translation: X:-13.04, Y:-1.00, Z:0.08 [[ 9.99420455e-01 -3.19285666e-02 1.18034526e-02 -1.30417250e+01] [ 3.19244227e-02 9.99490140e-01 5.39369826e-04 -9.96048119e-01] [-1.18146558e-02 -1.62238827e-04 9.99930191e-01 7.52599289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925529293 meters 0.027627697588947862 Centerline is valid? [True, True] Translation: X:-13.11, Y:-0.97, Z:0.07 [[ 9.99355363e-01 -3.41049657e-02 1.12120125e-02 -1.31057489e+01] [ 3.41013419e-02 9.99418248e-01 5.14285754e-04 -9.66879396e-01] [-1.12230296e-02 -1.31609556e-04 9.99937011e-01 7.39715043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985529293 meters 0.027969503743471322 Centerline is valid? [True, True] Translation: X:-13.17, Y:-0.99, Z:0.07 [[ 9.99496446e-01 -3.05587458e-02 8.54497513e-03 -1.31650946e+01] [ 3.05564590e-02 9.99532963e-01 3.98080191e-04 -9.86100370e-01] [-8.55314914e-03 -1.36775554e-04 9.99963412e-01 6.96482580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045529293000001 meters 0.0271445275151543 Centerline is valid? [True, True] Translation: X:-13.23, Y:-0.97, Z:0.08 [[ 9.99409164e-01 -3.30166843e-02 9.55096947e-03 -1.32264412e+01] [ 3.30139887e-02 9.99454793e-01 4.39804991e-04 -9.74357709e-01] [-9.56028312e-03 -1.24229540e-04 9.99954292e-01 7.62930065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105529293000002 meters 0.02750006105734751 Centerline is valid? [True, True] Translation: X:-13.29, Y:-0.97, Z:0.07 [[ 9.99245161e-01 -3.83864524e-02 5.96563642e-03 -1.32894997e+01] [ 3.83855099e-02 9.99262968e-01 2.72444736e-04 -9.67390949e-01] [-5.97169774e-03 -4.32450880e-05 9.99982168e-01 6.75567871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165529293 meters 0.026277317287151842 Centerline is valid? [True, True] Translation: X:-13.35, Y:-0.98, Z:0.07 [[ 9.98985905e-01 -4.46951671e-02 5.43178090e-03 -1.33518248e+01] [ 4.46944741e-02 9.99000672e-01 2.48949771e-04 -9.75219295e-01] [-5.43747962e-03 -5.92672079e-06 9.99985217e-01 7.08750666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225529293000001 meters 0.028730441220983925 Centerline is valid? [True, True] Translation: X:-13.41, Y:-0.98, Z:0.07 [[ 9.98642312e-01 -5.17902833e-02 5.59463015e-03 -1.34139958e+01] [ 5.17896491e-02 9.98657982e-01 2.58264860e-04 -9.80492786e-01] [-5.60049767e-03 3.18297152e-05 9.99984317e-01 7.33393380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285529293000002 meters 0.026211698189723402 Centerline is valid? [True, True] Translation: X:-13.48, Y:-0.98, Z:0.07 [[ 9.98448743e-01 -5.54452805e-02 5.09194743e-03 -1.34765386e+01] [ 5.54447977e-02 9.98461726e-01 2.36047576e-04 -9.82201235e-01] [-5.09720234e-03 4.66405893e-05 9.99987008e-01 7.15166151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345529293 meters 0.026949784355703603 Centerline is valid? [True, True] Translation: X:-13.54, Y:-0.97, Z:0.07 [[ 9.98418086e-01 -5.61937786e-02 1.89354748e-03 -1.35361885e+01] [ 5.61937062e-02 9.98419881e-01 9.14346134e-05 -9.74952848e-01] [-1.89569351e-03 1.51154793e-05 9.99998203e-01 7.29133538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405529293 meters 0.027146124662496683 Centerline is valid? [True, True] Translation: X:-13.59, Y:-0.97, Z:0.08 [[ 9.98555459e-01 -5.36454437e-02 3.02679254e-03 -1.35945821e+01] [ 5.36452417e-02 9.98560046e-01 1.47956955e-04 -9.70861851e-01] [-3.03037131e-03 1.46297925e-05 9.99995408e-01 8.09111698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465529293000001 meters 0.02940687809003938 Centerline is valid? [True, True] Translation: X:-13.65, Y:-0.98, Z:0.08 [[ 9.98510989e-01 -5.45380618e-02 1.18476362e-03 -1.36542615e+01] [ 5.45380316e-02 9.98511692e-01 5.78538036e-05 -9.75605638e-01] [-1.18615556e-03 6.84701695e-06 9.99999296e-01 8.33925367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525529293000002 meters 0.02608819099674271 Centerline is valid? [True, True] Translation: X:-13.71, Y:-0.98, Z:0.09 [[ 9.98390076e-01 -5.67082377e-02 -1.19638509e-03 -1.37120381e+01] [ 5.67082135e-02 9.98390793e-01 -5.41510807e-05 -9.81288871e-01] [ 1.19753067e-03 -1.37809596e-05 9.99999283e-01 8.73365804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585529293 meters 0.025866716011532776 Centerline is valid? [True, True] Translation: X:-13.77, Y:-0.98, Z:0.10 [[ 9.98101627e-01 -6.15407819e-02 2.42355929e-03 -1.37698522e+01] [ 6.15406755e-02 9.98104569e-01 1.18503578e-04 -9.82431595e-01] [-2.42625840e-03 3.08688615e-05 9.99997056e-01 1.03031793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645529293000001 meters 0.03082808577132552 Centerline is valid? [True, True] Translation: X:-13.83, Y:-0.97, Z:0.11 [[ 9.98215408e-01 -5.96905620e-02 1.74245910e-03 -1.38293468e+01] [ 5.96905039e-02 9.98216929e-01 8.53603979e-05 -9.73860084e-01] [-1.74444738e-03 1.88001973e-05 9.99998478e-01 1.06955302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705529293000001 meters 0.02724154369220217 Centerline is valid? [True, True] Translation: X:-13.89, Y:-0.97, Z:0.11 [[ 9.98226936e-01 -5.95200706e-02 -5.87124960e-04 -1.38878180e+01] [ 5.95200659e-02 9.98227109e-01 -2.54122059e-05 -9.73092968e-01] [ 5.87596587e-04 -9.57856782e-06 9.99999827e-01 1.06274403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765529293 meters 0.025868464089007306 Centerline is valid? [True, True] Translation: X:-13.95, Y:-0.99, Z:0.11 [[ 9.98149656e-01 -6.07904202e-02 -1.33749551e-03 -1.39456439e+01] [ 6.07903931e-02 9.98150552e-01 -6.09153251e-05 -9.88741757e-01] [ 1.33872495e-03 -2.05042672e-05 9.99999104e-01 1.11668598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825529293 meters 0.0285748513741501 Centerline is valid? [True, True] Translation: X:-14.00, Y:-0.98, Z:0.12 [[ 9.98215619e-01 -5.97123857e-02 -9.73392484e-05 -1.40031720e+01] [ 5.97123859e-02 9.98215623e-01 -1.01331337e-06 -9.78408084e-01] [ 9.72260659e-05 -4.80085353e-06 9.99999995e-01 1.23712377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885529293000001 meters 0.026366274849619894 Centerline is valid? [True, True] Translation: X:-14.06, Y:-0.98, Z:0.13 [[ 9.98024512e-01 -6.28231012e-02 -5.75843139e-04 -1.40622792e+01] [ 6.28230970e-02 9.98024678e-01 -2.53787115e-05 -9.82785322e-01] [ 5.76300032e-04 -1.08476732e-05 9.99999834e-01 1.28317789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945529293000002 meters 0.026539305711786577 Centerline is valid? [True, True] Translation: X:-14.12, Y:-0.99, Z:0.14 [[ 9.98119388e-01 -6.12965536e-02 6.47686764e-04 -1.41195793e+01] [ 6.12965437e-02 9.98119598e-01 3.50529795e-05 -9.85997888e-01] [-6.48617479e-04 4.71390157e-06 9.99999790e-01 1.40471399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005529293 meters 0.025985400979842966 Centerline is valid? [True, True] Translation: X:-14.18, Y:-0.99, Z:0.14 [[ 9.98302407e-01 -5.82407205e-02 5.67622174e-04 -1.41786782e+01] [ 5.82407133e-02 9.98302569e-01 2.92686640e-05 -9.86402772e-01] [-5.68363302e-04 3.83974257e-06 9.99999838e-01 1.42605308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065529293 meters 0.025909059381490917 Centerline is valid? [True, True] Translation: X:-14.24, Y:-0.97, Z:0.15 [[ 9.98526046e-01 -5.42693173e-02 -7.59472442e-04 -1.42379357e+01] [ 5.42693077e-02 9.98526335e-01 -3.32425843e-05 -9.74855254e-01] [ 7.60157286e-04 -8.02245743e-06 9.99999711e-01 1.53110528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125529293000001 meters 0.025981560914474625 Centerline is valid? [True, True] Translation: X:-14.30, Y:-0.98, Z:0.16 [[ 9.98634568e-01 -5.21871921e-02 -2.34454311e-03 -1.42965612e+01] [ 5.21870836e-02 9.98637320e-01 -1.07469426e-04 -9.84993407e-01] [ 2.34695677e-03 -1.50321830e-05 9.99997246e-01 1.58100835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185529293000002 meters 0.02574463516136173 Centerline is valid? [True, True] Translation: X:-14.35, Y:-0.98, Z:0.18 [[ 9.98691350e-01 -5.11427832e-02 -5.51846300e-05 -1.43542199e+01] [ 5.11427833e-02 9.98691352e-01 5.37403804e-07 -9.81605172e-01] [ 5.50849284e-05 -3.35899610e-06 9.99999998e-01 1.75452575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245529293 meters 0.02643587058138229 Centerline is valid? [True, True] Translation: X:-14.41, Y:-0.98, Z:0.17 [[ 9.98808576e-01 -4.87960898e-02 6.08685435e-04 -1.44132114e+01] [ 4.87960800e-02 9.98808761e-01 3.09795985e-05 -9.84516802e-01] [-6.09472028e-04 -1.24122550e-06 9.99999814e-01 1.73107841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305529293000001 meters 0.027557442511475405 Centerline is valid? [True, True] Translation: X:-14.47, Y:-0.99, Z:0.18 [[ 9.98823679e-01 -4.84894395e-02 1.79442675e-04 -1.44719301e+01] [ 4.84894384e-02 9.98823695e-01 1.09301248e-05 -9.89821237e-01] [-1.79761591e-04 -2.21619297e-06 9.99999984e-01 1.75067886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365529293000002 meters 0.02579541170059764 Centerline is valid? [True, True] Translation: X:-14.53, Y:-0.98, Z:0.19 [[ 9.98910797e-01 -4.66540466e-02 7.86524854e-04 -1.45300039e+01] [ 4.66540293e-02 9.98911107e-01 4.03263669e-05 -9.79571227e-01] [-7.87549800e-04 -3.58788969e-06 9.99999690e-01 1.87259122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425529293 meters 0.025803097586208773 Centerline is valid? [True, True] Translation: X:-14.59, Y:-0.98, Z:0.19 [[ 9.99084103e-01 -4.26521302e-02 3.42803189e-03 -1.45887160e+01] [ 4.26518262e-02 9.99089984e-01 1.61772273e-04 -9.83736313e-01] [-3.43181226e-03 -1.54122852e-05 9.99994111e-01 1.91009225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485529293 meters 0.02560289414209302 Centerline is valid? [True, True] Translation: X:-14.65, Y:-0.99, Z:0.19 [[ 9.99159850e-01 -4.09827991e-02 6.11167758e-05 -1.46469759e+01] [ 4.09827989e-02 9.99159852e-01 4.70802862e-06 -9.92359684e-01] [-6.12583769e-05 -2.19933664e-06 9.99999998e-01 1.91321510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545529293000001 meters 0.02621819074258789 Centerline is valid? [True, True] Translation: X:-14.71, Y:-1.00, Z:0.21 [[ 9.99116453e-01 -4.19455579e-02 2.62351238e-03 -1.47052425e+01] [ 4.19453768e-02 9.99119898e-01 1.24058964e-04 -9.96793762e-01] [-2.62640714e-03 -1.39051373e-05 9.99996551e-01 2.06611586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605529293000002 meters 0.0271873389888831 Centerline is valid? [True, True] Translation: X:-14.76, Y:-1.00, Z:0.20 [[ 9.99121527e-01 -4.18187267e-02 2.71431716e-03 -1.47638586e+01] [ 4.18185331e-02 9.99125214e-01 1.28069531e-04 -9.96855755e-01] [-2.71729842e-03 -1.44482630e-05 9.99996308e-01 2.04880548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665529293 meters 0.025734439142742052 Centerline is valid? [True, True] Translation: X:-14.82, Y:-1.00, Z:0.21 [[ 9.99160139e-01 -4.09073343e-02 2.36773631e-03 -1.48226536e+01] [ 4.09071844e-02 9.99162945e-01 1.11710248e-04 -9.95803801e-01] [-2.37032415e-03 -1.47590007e-05 9.99997191e-01 2.13367196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725529293000001 meters 0.02605316969201873 Centerline is valid? [True, True] Translation: X:-14.88, Y:-1.00, Z:0.21 [[ 9.99370633e-01 -3.54608918e-02 -9.29138546e-04 -1.48820720e+01] [ 3.54608684e-02 9.99371065e-01 -4.16585196e-05 -1.00385262e+00] [ 9.30031426e-04 8.68424144e-06 9.99999567e-01 2.11087453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785529293000002 meters 0.026003044880378228 Centerline is valid? [True, True] Translation: X:-14.94, Y:-1.00, Z:0.22 [[ 9.99459383e-01 -3.27918566e-02 2.37389597e-03 -1.49395193e+01] [ 3.27916802e-02 9.99462202e-01 1.13202160e-04 -1.00417764e+00] [-2.37633140e-03 -3.52969239e-05 9.99997176e-01 2.17417481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845529293 meters 0.025939321661375626 Centerline is valid? [True, True] Translation: X:-15.00, Y:-1.00, Z:0.23 [[ 9.99465313e-01 -3.21584306e-02 5.90955355e-03 -1.49985770e+01] [ 3.21573764e-02 9.99482780e-01 2.73341610e-04 -1.00164442e+00] [-5.91528725e-03 -8.31597197e-05 9.99982501e-01 2.25813582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905529293 meters 0.03016902987098229 Centerline is valid? [True, True] Translation: X:-15.06, Y:-1.01, Z:0.23 [[ 9.99554598e-01 -2.84024003e-02 9.16015068e-03 -1.50600716e+01] [ 2.83997895e-02 9.99596558e-01 4.14984635e-04 -1.00634460e+00] [-9.16824165e-03 -1.54653449e-04 9.99957959e-01 2.30604162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965529293000001 meters 0.028972501304391683 Centerline is valid? [True, True] Translation: X:-15.12, Y:-1.01, Z:0.22 [[ 9.99628018e-01 -2.72291433e-02 1.54891688e-03 -1.51198734e+01] [ 2.72290651e-02 9.99629218e-01 7.15418978e-05 -1.01453213e+00] [-1.55029060e-03 -2.93397268e-05 9.99998798e-01 2.24038512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025529293000002 meters 0.02666691433828303 Centerline is valid? [True, True] Translation: X:-15.18, Y:-1.01, Z:0.23 [[ 9.99594655e-01 -2.80421650e-02 4.91554088e-03 -1.51790899e+01] [ 2.80413794e-02 9.99606737e-01 2.28683169e-04 -1.01045914e+00] [-4.92002055e-03 -9.07519265e-05 9.99987893e-01 2.32456922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085529293 meters 0.027314588841469117 Centerline is valid? [True, True] Translation: X:-15.24, Y:-1.01, Z:0.23 [[ 9.99640618e-01 -2.67642209e-02 1.52033907e-03 -1.52392711e+01] [ 2.67641507e-02 9.99641774e-01 6.65288938e-05 -1.01169248e+00] [-1.52157503e-03 -2.58144007e-05 9.99998842e-01 2.30837447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145529293000001 meters 0.025907789171905855 Centerline is valid? [True, True] Translation: X:-15.30, Y:-1.03, Z:0.24 [[ 9.99576260e-01 -2.84925060e-02 5.95637929e-03 -1.52972660e+01] [ 2.84913609e-02 9.99594000e-01 2.77031357e-04 -1.02837229e+00] [-5.96185432e-03 -1.07208615e-04 9.99982222e-01 2.41617417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205529293000001 meters 0.027455512605605522 Centerline is valid? [True, True] Translation: X:-15.36, Y:-1.03, Z:0.24 [[ 9.99629898e-01 -2.70162689e-02 3.19176804e-03 -1.53591538e+01] [ 2.70159412e-02 9.99634992e-01 1.45733086e-04 -1.02818683e+00] [-3.19454019e-03 -5.94505322e-05 9.99994896e-01 2.37982124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265529293000002 meters 0.026331250188898744 Centerline is valid? [True, True] Translation: X:-15.42, Y:-1.03, Z:0.25 [[ 9.99616763e-01 -2.58873765e-02 9.80663300e-03 -1.54200338e+01] [ 2.58841847e-02 9.99664846e-01 4.52276663e-04 -1.02865764e+00] [-9.81505453e-03 -1.98266635e-04 9.99951812e-01 2.45073014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325529293 meters 0.027924446728524437 Centerline is valid? [True, True] Translation: X:-15.48, Y:-1.04, Z:0.25 [[ 9.99596903e-01 -2.79778095e-02 4.82428780e-03 -1.54804617e+01] [ 2.79770773e-02 9.99608541e-01 2.19212593e-04 -1.04159673e+00] [-4.82853238e-03 -8.41547559e-05 9.99988339e-01 2.48463932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385529293000001 meters 0.026049951979218968 Centerline is valid? [True, True] Translation: X:-15.54, Y:-1.04, Z:0.25 [[ 9.99473353e-01 -3.17497239e-02 6.70604305e-03 -1.55427856e+01] [ 3.17483620e-02 9.99495846e-01 3.09476874e-04 -1.04120567e+00] [-6.71248798e-03 -9.64080073e-05 9.99977466e-01 2.51576633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445529293000002 meters 0.025915692791702374 Centerline is valid? [True, True] Translation: X:-15.60, Y:-1.05, Z:0.26 [[ 9.99470423e-01 -3.16146609e-02 7.70631694e-03 -1.56044034e+01] [ 3.16128861e-02 9.99500126e-01 3.52036248e-04 -1.05367337e+00] [-7.71359426e-03 -1.08230898e-04 9.99970244e-01 2.59942871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505529293 meters 0.02549566404445409 Centerline is valid? [True, True] Translation: X:-15.67, Y:-1.06, Z:0.25 [[ 9.99512169e-01 -3.12281445e-02 4.75410288e-04 -1.56651937e+01] [ 3.12281377e-02 9.99512283e-01 2.16574904e-05 -1.06009532e+00] [-4.75854745e-04 -6.80074730e-06 9.99999887e-01 2.53611708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565529293 meters 0.02615885064235589 Centerline is valid? [True, True] Translation: X:-15.72, Y:-1.06, Z:0.28 [[ 9.99467044e-01 -3.03908606e-02 1.19173652e-02 -1.57239086e+01] [ 3.03863705e-02 9.99538072e-01 5.57698941e-04 -1.05863685e+00] [-1.19288092e-02 -1.95276236e-04 9.99928830e-01 2.82289755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625529293000001 meters 0.027907195407497032 Centerline is valid? [True, True] Translation: X:-15.78, Y:-1.06, Z:0.27 [[ 9.99608791e-01 -2.76601715e-02 4.14486917e-03 -1.57838689e+01] [ 2.76596048e-02 9.99617381e-01 1.93992665e-04 -1.06127446e+00] [-4.14864914e-03 -7.92713297e-05 9.99991391e-01 2.72512396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685529293000002 meters 0.02481521092810803 Centerline is valid? [True, True] Translation: X:-15.84, Y:-1.08, Z:0.28 [[ 9.99404309e-01 -3.40054060e-02 5.88725479e-03 -1.58436622e+01] [ 3.40043758e-02 9.99421646e-01 2.75021402e-04 -1.08249874e+00] [-5.89320209e-03 -7.46651495e-05 9.99982632e-01 2.80814005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745529293 meters 0.02499826587815453 Centerline is valid? [True, True] Translation: X:-15.91, Y:-1.08, Z:0.29 [[ 9.99233653e-01 -3.80413438e-02 9.21756522e-03 -1.59052076e+01] [ 3.80390344e-02 9.99276163e-01 4.25791096e-04 -1.08116578e+00] [-9.22709088e-03 -7.48375115e-05 9.99957427e-01 2.91558686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805529293000001 meters 0.024453051801313377 Centerline is valid? [True, True] Translation: X:-15.96, Y:-1.09, Z:0.29 [[ 9.99216527e-01 -3.95175618e-02 2.16647467e-03 -1.59642936e+01] [ 3.95174323e-02 9.99218876e-01 1.02567853e-04 -1.09095933e+00] [-2.16883561e-03 -1.68739778e-05 9.99997648e-01 2.88017368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865529293000002 meters 0.024524627377665684 Centerline is valid? [True, True] Translation: X:-16.02, Y:-1.09, Z:0.30 [[ 9.99219622e-01 -3.89313168e-02 6.67080503e-03 -1.60234552e+01] [ 3.89300820e-02 9.99241887e-01 3.14911632e-04 -1.08725395e+00] [-6.67800773e-03 -5.49708953e-05 9.99977700e-01 3.03473919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925529293000002 meters 0.024679860789550975 Centerline is valid? [True, True] Translation: X:-16.09, Y:-1.09, Z:0.30 [[ 9.99224530e-01 -3.90487676e-02 5.05299673e-03 -1.60854124e+01] [ 3.90481019e-02 9.99237305e-01 2.30356749e-04 -1.09464892e+00] [-5.05813798e-03 -3.28681826e-05 9.99987207e-01 3.02747229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985529293 meters 0.025024103172479106 Centerline is valid? [True, True] Translation: X:-16.15, Y:-1.09, Z:0.32 [[ 9.99328754e-01 -3.63535370e-02 4.52339842e-03 -1.61479840e+01] [ 3.63529533e-02 9.99338991e-01 2.11239604e-04 -1.08815413e+00] [-4.52808772e-03 -4.66589192e-05 9.99989747e-01 3.16964706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045529293 meters 0.024977140161181487 Centerline is valid? [True, True] Translation: X:-16.21, Y:-1.09, Z:0.32 [[ 9.99365654e-01 -3.56130425e-02 -3.97581018e-05 -1.62098152e+01] [ 3.56130424e-02 9.99365654e-01 -3.71351562e-06 -1.08741772e+00] [ 3.98651310e-05 2.29525300e-06 9.99999999e-01 3.20210827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105529293000004 meters 0.025424047129731217 Centerline is valid? [True, True] Translation: X:-16.27, Y:-1.09, Z:0.34 [[ 9.99466809e-01 -3.16707285e-02 7.94114912e-03 -1.62694873e+01] [ 3.16687358e-02 9.99498349e-01 3.76584093e-04 -1.08825598e+00] [-7.94909213e-03 -1.24897149e-04 9.99968398e-01 3.43890770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165529293000002 meters 0.02553300762594822 Centerline is valid? [True, True] Translation: X:-16.33, Y:-1.09, Z:0.34 [[ 9.99470032e-01 -3.24992488e-02 -1.85865259e-03 -1.63298780e+01] [ 3.24991408e-02 9.99471760e-01 -8.82968167e-05 -1.09399075e+00] [ 1.86054035e-03 2.78454100e-05 9.99998269e-01 3.35308188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225529293000005 meters 0.025717908264510234 Centerline is valid? [True, True] Translation: X:-16.39, Y:-1.10, Z:0.34 [[ 9.99399883e-01 -3.45777211e-02 -2.06259250e-03 -1.63872704e+01] [ 3.45775997e-02 9.99402012e-01 -9.45327203e-05 -1.10301526e+00] [ 2.06462782e-03 2.31564918e-05 9.99997868e-01 3.39879847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285529293000003 meters 0.02578317770957294 Centerline is valid? [True, True] Translation: X:-16.45, Y:-1.10, Z:0.36 [[ 9.99421568e-01 -3.35719336e-02 5.42718733e-03 -1.64474707e+01] [ 3.35710308e-02 9.99436301e-01 2.57400462e-04 -1.09500653e+00] [-5.43276946e-03 -7.50553006e-05 9.99985240e-01 3.56760816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345529293000002 meters 0.025922205469509792 Centerline is valid? [True, True] Translation: X:-16.51, Y:-1.10, Z:0.34 [[ 9.99408824e-01 -3.38185821e-02 -6.18912037e-03 -1.65079115e+01] [ 3.38174152e-02 9.99427985e-01 -2.93112581e-04 -1.10425661e+00] [ 6.19549275e-03 8.36392460e-05 9.99980804e-01 3.40644625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405529293000004 meters 0.02591430557826046 Centerline is valid? [True, True] Translation: X:-16.57, Y:-1.10, Z:0.36 [[ 9.99479711e-01 -3.20484700e-02 3.63368333e-03 -1.65674510e+01] [ 3.20480564e-02 9.99486314e-01 1.71990166e-04 -1.10483104e+00] [-3.63732878e-03 -5.54481927e-05 9.99993383e-01 3.61659001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465529293000003 meters 0.025877153407192835 Centerline is valid? [True, True] Translation: X:-16.63, Y:-1.11, Z:0.35 [[ 9.99473291e-01 -3.24403271e-02 -8.75595282e-04 -1.66284991e+01] [ 3.24403021e-02 9.99473674e-01 -4.27227667e-05 -1.10898467e+00] [ 8.76520374e-04 1.42956888e-05 9.99999616e-01 3.50996067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525529293 meters 0.025839328095864752 Centerline is valid? [True, True] Translation: X:-16.69, Y:-1.12, Z:0.36 [[ 9.99486644e-01 -3.20115151e-02 -1.30819068e-03 -1.66871263e+01] [ 3.20114649e-02 9.99487500e-01 -5.92944061e-05 -1.11823833e+00] [ 1.30941834e-03 1.73868669e-05 9.99999143e-01 3.56761193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585529293000004 meters 0.027106333816085442 Centerline is valid? [True, True] Translation: X:-16.75, Y:-1.12, Z:0.36 [[ 9.99433489e-01 -3.32886619e-02 4.95632640e-03 -1.67468351e+01] [ 3.32879065e-02 9.99445776e-01 2.34847087e-04 -1.11761280e+00] [-4.96139723e-03 -6.97283141e-05 9.99987690e-01 3.64583717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645529293000003 meters 0.026394589055517496 Centerline is valid? [True, True] Translation: X:-16.81, Y:-1.13, Z:0.34 [[ 9.99514654e-01 -3.10416125e-02 -2.62203629e-03 -1.68080095e+01] [ 3.10413933e-02 9.99518092e-01 -1.24276936e-04 -1.13011755e+00] [ 2.62463047e-03 4.28249593e-05 9.99996555e-01 3.44827220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705529293 meters 0.02571912588520822 Centerline is valid? [True, True] Translation: X:-16.87, Y:-1.13, Z:0.35 [[ 9.99419993e-01 -3.40537139e-02 -1.47750979e-04 -1.68664086e+01] [ 3.40537135e-02 9.99420004e-01 -5.20474289e-06 -1.13356280e+00] [ 1.47842525e-04 1.70254593e-07 9.99999989e-01 3.53320955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765529293000004 meters 0.026351033186317974 Centerline is valid? [True, True] Translation: X:-16.93, Y:-1.14, Z:0.34 [[ 9.99505513e-01 -3.13717895e-02 -2.13092878e-03 -1.69261616e+01] [ 3.13716504e-02 9.99507784e-01 -9.86787836e-05 -1.13564272e+00] [ 2.13297563e-03 3.17792357e-05 9.99997725e-01 3.43293960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825529293000002 meters 0.02596021576639958 Centerline is valid? [True, True] Translation: X:-16.98, Y:-1.14, Z:0.34 [[ 9.99555206e-01 -2.97020955e-02 -2.67859269e-03 -1.69841812e+01] [ 2.97018741e-02 9.99558795e-01 -1.22405854e-04 -1.13801173e+00] [ 2.68104659e-03 4.27921854e-05 9.99996405e-01 3.43136287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885529293000005 meters 0.026606441147468327 Centerline is valid? [True, True] Translation: X:-17.04, Y:-1.14, Z:0.36 [[ 9.99634151e-01 -2.70207045e-02 1.20210219e-03 -1.70421383e+01] [ 2.70206524e-02 9.99634874e-01 5.95026279e-05 -1.14138818e+00] [-1.20327108e-03 -2.69992733e-05 9.99999276e-01 3.56698794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945529293000003 meters 0.02720877707778499 Centerline is valid? [True, True] Translation: X:-17.10, Y:-1.15, Z:0.35 [[ 9.99706309e-01 -2.42334891e-02 -1.84837973e-04 -1.71017118e+01] [ 2.42334881e-02 9.99706326e-01 -7.44738605e-06 -1.15076770e+00] [ 1.84964167e-04 2.96593001e-06 9.99999983e-01 3.50557595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005529293000002 meters 0.02669413739038868 Centerline is valid? [True, True] Translation: X:-17.16, Y:-1.15, Z:0.35 [[ 9.99643976e-01 -2.64210175e-02 3.72171915e-03 -1.71598372e+01] [ 2.64205425e-02 9.99650901e-01 1.76746862e-04 -1.14802017e+00] [-3.72508973e-03 -7.83540969e-05 9.99993059e-01 3.54308042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065529293000004 meters 0.026763836061199756 Centerline is valid? [True, True] Translation: X:-17.22, Y:-1.16, Z:0.34 [[ 9.99666654e-01 -2.56105552e-02 -3.26802860e-03 -1.72204239e+01] [ 2.56101883e-02 9.99671993e-01 -1.54061508e-04 -1.15960232e+00] [ 3.27090227e-03 7.03153243e-05 9.99994648e-01 3.38911586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125529293000003 meters 0.026182243572532883 Centerline is valid? [True, True] Translation: X:-17.28, Y:-1.17, Z:0.35 [[ 9.99627949e-01 -2.72518172e-02 1.14076808e-03 -1.72791104e+01] [ 2.72517733e-02 9.99628600e-01 5.40723029e-05 -1.16963838e+00] [-1.14181797e-03 -2.29642322e-05 9.99999348e-01 3.52238121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185529293000002 meters 0.026436249967986443 Centerline is valid? [True, True] Translation: X:-17.34, Y:-1.17, Z:0.35 [[ 9.99643831e-01 -2.66186547e-02 1.91283994e-03 -1.73384851e+01] [ 2.66185273e-02 9.99645660e-01 9.20451160e-05 -1.16849877e+00] [-1.91461226e-03 -4.10953503e-05 9.99998166e-01 3.46907183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245529293000004 meters 0.026495437059712478 Centerline is valid? [True, True] Translation: X:-17.40, Y:-1.17, Z:0.34 [[ 9.99682017e-01 -2.52090864e-02 6.05629463e-04 -1.73992620e+01] [ 2.52090738e-02 9.99682200e-01 2.83261194e-05 -1.17446710e+00] [-6.06151070e-04 -1.30497543e-05 9.99999816e-01 3.42376903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305529293000003 meters 0.02630246680508855 Centerline is valid? [True, True] Translation: X:-17.46, Y:-1.18, Z:0.35 [[ 9.99634282e-01 -2.65123930e-02 5.32876613e-03 -1.74589573e+01] [ 2.65114382e-02 9.99648479e-01 2.49752544e-04 -1.18342070e+00] [-5.33351450e-03 -1.08387951e-04 9.99985771e-01 3.46225884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365529293 meters 0.027689919058545242 Centerline is valid? [True, True] Translation: X:-17.52, Y:-1.18, Z:0.35 [[ 9.99645626e-01 -2.63353712e-02 3.88220813e-03 -1.75207462e+01] [ 2.63348945e-02 9.99653161e-01 1.73868071e-04 -1.18325057e+00] [-3.88544051e-03 -7.15689150e-05 9.99992449e-01 3.46445758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425529293000004 meters 0.0257069121947775 Centerline is valid? [True, True] Translation: X:-17.58, Y:-1.19, Z:0.35 [[ 9.99630340e-01 -2.69375457e-02 3.68140293e-03 -1.75838365e+01] [ 2.69371236e-02 9.99637116e-01 1.64201823e-04 -1.19397424e+00] [-3.68449020e-03 -6.49747185e-05 9.99993210e-01 3.49077883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485529293000003 meters 0.02576582366308513 Centerline is valid? [True, True] Translation: X:-17.64, Y:-1.20, Z:0.35 [[ 9.99520933e-01 -3.01142804e-02 7.14386958e-03 -1.76449487e+01] [ 3.01126398e-02 9.99546455e-01 3.37114927e-04 -1.20074713e+00] [-7.15078148e-03 -1.21832655e-04 9.99974425e-01 3.53836285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545529293000005 meters 0.025412157227087985 Centerline is valid? [True, True] Translation: X:-17.71, Y:-1.20, Z:0.35 [[ 9.99560490e-01 -2.94772306e-02 3.14961500e-03 -1.77064661e+01] [ 2.94769103e-02 9.99565450e-01 1.48076740e-04 -1.20446680e+00] [-3.15261123e-03 -5.51707398e-05 9.99995029e-01 3.45190089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605529293000004 meters 0.024917831138231254 Centerline is valid? [True, True] Translation: X:-17.77, Y:-1.21, Z:0.35 [[ 9.99494662e-01 -3.14998023e-02 4.26419252e-03 -1.77676768e+01] [ 3.14992569e-02 9.99503756e-01 1.95006478e-04 -1.20889610e+00] [-4.26821911e-03 -6.05890378e-05 9.99990889e-01 3.51602889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665529293000002 meters 0.02507961851164418 Centerline is valid? [True, True] Translation: X:-17.83, Y:-1.22, Z:0.36 [[ 9.99474549e-01 -3.16958546e-02 6.78221167e-03 -1.78294325e+01] [ 3.16944397e-02 9.99497555e-01 3.16026692e-04 -1.22088198e+00] [-6.78882072e-03 -1.00902237e-04 9.99976951e-01 3.57136051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725529293000005 meters 0.025215212380630184 Centerline is valid? [True, True] Translation: X:-17.89, Y:-1.22, Z:0.36 [[ 9.99523884e-01 -3.04610479e-02 4.91212838e-03 -1.78923909e+01] [ 3.04602713e-02 9.99535951e-01 2.32843739e-04 -1.21788638e+00] [-4.91694157e-03 -8.31081158e-05 9.99987908e-01 3.56189817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785529293000003 meters 0.024871071814706814 Centerline is valid? [True, True] Translation: X:-17.95, Y:-1.23, Z:0.35 [[ 9.99470466e-01 -3.20935792e-02 5.36566028e-03 -1.79542368e+01] [ 3.20926967e-02 9.99484865e-01 2.50506483e-04 -1.22547729e+00] [-5.37093589e-03 -7.81753238e-05 9.99985573e-01 3.54410325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845529293000002 meters 0.026393522568998018 Centerline is valid? [True, True] Translation: X:-18.02, Y:-1.22, Z:0.36 [[ 9.99507952e-01 -3.05282219e-02 7.20288150e-03 -1.80163175e+01] [ 3.05265555e-02 9.99533898e-01 3.41193754e-04 -1.22330449e+00] [-7.20994026e-03 -1.21146708e-04 9.99974001e-01 3.60600399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905529293000004 meters 0.026892431120739895 Centerline is valid? [True, True] Translation: X:-18.08, Y:-1.24, Z:0.36 [[ 9.99445252e-01 -3.23852285e-02 7.77074957e-03 -1.80771305e+01] [ 3.23833208e-02 9.99475454e-01 3.71224054e-04 -1.23705920e+00] [-7.77869563e-03 -1.19375442e-04 9.99969738e-01 3.64529760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965529293000003 meters 0.024846710514585476 Centerline is valid? [True, True] Translation: X:-18.14, Y:-1.24, Z:0.37 [[ 9.99370942e-01 -3.44833329e-02 8.28370498e-03 -1.81386864e+01] [ 3.44812208e-02 9.99405267e-01 3.97687922e-04 -1.24334461e+00] [-8.29249199e-03 -1.11805493e-04 9.99965610e-01 3.66806055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025529293 meters 0.024314034078784852 Centerline is valid? [True, True] Translation: X:-18.20, Y:-1.24, Z:0.36 [[ 9.99376415e-01 -3.51850038e-02 2.96587512e-03 -1.82010825e+01] [ 3.51847340e-02 9.99380815e-01 1.43110977e-04 -1.24091713e+00] [-2.96907406e-03 -3.86682078e-05 9.99995592e-01 3.62928903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085529293000004 meters 0.024470988759762217 Centerline is valid? [True, True] Translation: X:-18.26, Y:-1.25, Z:0.37 [[ 9.99273761e-01 -3.76306194e-02 5.99060932e-03 -1.82616927e+01] [ 3.76295365e-02 9.99291715e-01 2.93426105e-04 -1.25201317e+00] [-5.99740807e-03 -6.77891560e-05 9.99982013e-01 3.70053891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145529293000003 meters 0.02407085469595166 Centerline is valid? [True, True] Translation: X:-18.32, Y:-1.25, Z:0.38 [[ 9.99242879e-01 -3.80184206e-02 8.26246560e-03 -1.83237393e+01] [ 3.80164125e-02 9.99277035e-01 4.00015676e-04 -1.25474812e+00] [-8.27170009e-03 -8.56035157e-05 9.99965785e-01 3.80623857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205529293 meters 0.024545384435400358 Centerline is valid? [True, True] Translation: X:-18.38, Y:-1.26, Z:0.38 [[ 9.99278088e-01 -3.74865156e-02 6.16952757e-03 -1.83847143e+01] [ 3.74853707e-02 9.99297131e-01 3.01133738e-04 -1.25762097e+00] [-6.17647966e-03 -6.96493175e-05 9.99980923e-01 3.76262462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265529293000004 meters 0.024441824727204516 Centerline is valid? [True, True] Translation: X:-18.45, Y:-1.26, Z:0.38 [[ 9.99241537e-01 -3.85425247e-02 5.55192741e-03 -1.84476079e+01] [ 3.85416360e-02 9.99256959e-01 2.67016386e-04 -1.25700382e+00] [-5.55809359e-03 -5.28334988e-05 9.99984552e-01 3.80462715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325529293000002 meters 0.024912370013586243 Centerline is valid? [True, True] Translation: X:-18.51, Y:-1.26, Z:0.39 [[ 9.99362399e-01 -3.48302355e-02 7.85179321e-03 -1.85106485e+01] [ 3.48282894e-02 9.99393237e-01 3.84494127e-04 -1.25735763e+00] [-7.86042106e-03 -1.10784447e-04 9.99969100e-01 3.89630466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385529293000005 meters 0.02457142746399917 Centerline is valid? [True, True] Translation: X:-18.57, Y:-1.26, Z:0.38 [[ 9.99456291e-01 -3.28141732e-02 3.21755040e-03 -1.85712340e+01] [ 3.28138265e-02 9.99461469e-01 1.60483578e-04 -1.26327060e+00] [-3.22108378e-03 -5.48161809e-05 9.99994811e-01 3.83092523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445529293000003 meters 0.024836385018624937 Centerline is valid? [True, True] Translation: X:-18.63, Y:-1.27, Z:0.39 [[ 9.99397420e-01 -3.42328859e-02 5.73643869e-03 -1.86324097e+01] [ 3.42318008e-02 9.99413879e-01 2.87267835e-04 -1.26701930e+00] [-5.74291045e-03 -9.07261062e-05 9.99983505e-01 3.89263789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505529293000002 meters 0.026283442218707327 Centerline is valid? [True, True] Translation: X:-18.69, Y:-1.27, Z:0.39 [[ 9.99303856e-01 -3.66007364e-02 7.22426909e-03 -1.86938525e+01] [ 3.65991103e-02 9.99329964e-01 3.57212896e-04 -1.27150287e+00] [-7.23250282e-03 -9.25624028e-05 9.99973841e-01 3.91668667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565529293000004 meters 0.024263284459733334 Centerline is valid? [True, True] Translation: X:-18.76, Y:-1.28, Z:0.39 [[ 9.99180258e-01 -4.03247191e-02 3.56782630e-03 -1.87554671e+01] [ 4.03243591e-02 9.99186627e-01 1.72815876e-04 -1.28103887e+00] [-3.57189308e-03 -2.88039027e-05 9.99993620e-01 3.88958465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625529293000003 meters 0.024505336411375363 Centerline is valid? [True, True] Translation: X:-18.82, Y:-1.29, Z:0.40 [[ 9.99065627e-01 -4.28359995e-02 5.74030061e-03 -1.88170330e+01] [ 4.28350422e-02 9.99082116e-01 2.89661772e-04 -1.28700527e+00] [-5.74743963e-03 -4.35051010e-05 9.99983482e-01 4.01741132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685529293000002 meters 0.02541320654006321 Centerline is valid? [True, True] Translation: X:-18.88, Y:-1.29, Z:0.39 [[ 9.99101045e-01 -4.23433509e-02 2.03529353e-03 -1.88780809e+01] [ 4.23432301e-02 9.99103118e-01 1.02403978e-04 -1.29234406e+00] [-2.03780424e-03 -1.61310188e-05 9.99997924e-01 3.93640675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745529293000004 meters 0.027747698663241987 Centerline is valid? [True, True] Translation: X:-18.94, Y:-1.30, Z:0.41 [[ 9.99146267e-01 -4.07631884e-02 6.71568849e-03 -1.89361595e+01] [ 4.07618046e-02 9.99168833e-01 3.42851461e-04 -1.29738722e+00] [-6.72408235e-03 -6.88151754e-05 9.99977391e-01 4.12808261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805529293000003 meters 0.02573572279699023 Centerline is valid? [True, True] Translation: X:-19.00, Y:-1.29, Z:0.41 [[ 9.99318836e-01 -3.64937008e-02 5.48395173e-03 -1.89991286e+01] [ 3.64927594e-02 9.99333880e-01 2.71661872e-04 -1.28708318e+00] [-5.49021271e-03 -7.13522951e-05 9.99984926e-01 4.10124300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865529293 meters 0.025559171279692514 Centerline is valid? [True, True] Translation: X:-19.06, Y:-1.29, Z:0.41 [[ 9.99472306e-01 -3.23511417e-02 2.91774630e-03 -1.90604221e+01] [ 3.23508489e-02 9.99476563e-01 1.47514559e-04 -1.29443542e+00] [-2.92099131e-03 -5.30451468e-05 9.99995732e-01 4.10664680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925529293000004 meters 0.025482006010214817 Centerline is valid? [True, True] Translation: X:-19.12, Y:-1.29, Z:0.41 [[ 9.99429984e-01 -3.37147903e-02 1.73794759e-03 -1.91208918e+01] [ 3.37146918e-02 9.99431494e-01 8.59861077e-05 -1.28905589e+00] [-1.73985856e-03 -2.73427269e-05 9.99998486e-01 4.08690695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985529293000003 meters 0.02731887176186312 Centerline is valid? [True, True] Translation: X:-19.18, Y:-1.30, Z:0.41 [[ 9.99409060e-01 -3.41894515e-02 3.55145410e-03 -1.91804219e+01] [ 3.41890200e-02 9.99415368e-01 1.82164635e-04 -1.30470704e+00] [-3.55560591e-03 -6.06362513e-05 9.99993677e-01 4.14808441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045529293000005 meters 0.025466241889240338 Centerline is valid? [True, True] Translation: X:-19.24, Y:-1.30, Z:0.42 [[ 9.99312582e-01 -3.70295021e-02 1.78303927e-03 -1.92425882e+01] [ 3.70294125e-02 9.99314173e-01 8.32333391e-05 -1.30357460e+00] [-1.78489850e-03 -1.71512263e-05 9.99998407e-01 4.22093915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105529293000004 meters 0.025809978489082033 Centerline is valid? [True, True] Translation: X:-19.30, Y:-1.30, Z:0.42 [[ 9.99400546e-01 -3.44761639e-02 3.15315872e-03 -1.93024896e+01] [ 3.44758189e-02 9.99405519e-01 1.63721963e-04 -1.30288720e+00] [-3.15692874e-03 -5.49160903e-05 9.99995015e-01 4.21666554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165529293000002 meters 0.02568910462564735 Centerline is valid? [True, True] Translation: X:-19.36, Y:-1.32, Z:0.43 [[ 9.99377219e-01 -3.49269209e-02 5.02830747e-03 -1.93629546e+01] [ 3.49260921e-02 9.99389866e-01 2.52567052e-04 -1.31710157e+00] [-5.03406092e-03 -7.67906287e-05 9.99987326e-01 4.27326446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225529293000005 meters 0.02555725459715946 Centerline is valid? [True, True] Translation: X:-19.42, Y:-1.31, Z:0.42 [[ 9.99400027e-01 -3.46348822e-02 -1.04794120e-04 -1.94236196e+01] [ 3.46348817e-02 9.99400032e-01 -6.03133192e-06 -1.31316727e+00] [ 1.04940142e-04 2.39818133e-06 9.99999994e-01 4.23612909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285529293000003 meters 0.027312657874338328 Centerline is valid? [True, True] Translation: X:-19.48, Y:-1.32, Z:0.44 [[ 9.99246028e-01 -3.83452753e-02 6.08410033e-03 -1.94825482e+01] [ 3.83440649e-02 9.99264546e-01 3.15511215e-04 -1.32407936e+00] [-6.09172412e-03 -8.19841906e-05 9.99981442e-01 4.41755137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345529293000002 meters 0.026138754080019942 Centerline is valid? [True, True] Translation: X:-19.54, Y:-1.33, Z:0.43 [[ 9.99352140e-01 -3.58734430e-02 2.89778682e-03 -1.95439468e+01] [ 3.58731622e-02 9.99356340e-01 1.48851358e-04 -1.32617319e+00] [-2.90126145e-03 -4.48021462e-05 9.99995790e-01 4.33391630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405529293000004 meters 0.026043478050277107 Centerline is valid? [True, True] Translation: X:-19.61, Y:-1.33, Z:0.44 [[ 9.99210717e-01 -3.97135886e-02 8.79652484e-04 -1.96055636e+01] [ 3.97135659e-02 9.99211104e-01 4.33238544e-05 -1.33106148e+00] [-8.80679076e-04 -8.35552273e-06 9.99999612e-01 4.35932461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465529293000003 meters 0.025797261683180417 Centerline is valid? [True, True] Translation: X:-19.66, Y:-1.34, Z:0.45 [[ 9.99163126e-01 -4.07462405e-02 3.57658159e-03 -1.96648314e+01] [ 4.07458337e-02 9.99169526e-01 1.86575990e-04 -1.34174990e+00] [-3.58121360e-03 -4.06890510e-05 9.99993587e-01 4.45047670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525529293 meters 0.025868469620385505 Centerline is valid? [True, True] Translation: X:-19.73, Y:-1.34, Z:0.45 [[ 9.99098186e-01 -4.24592626e-02 -1.57511271e-04 -1.97268387e+01] [ 4.24592616e-02 9.99098199e-01 -9.96738830e-06 -1.33936048e+00] [ 1.57792435e-04 3.27058731e-06 9.99999988e-01 4.47387406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585529293000004 meters 0.026283149274542186 Centerline is valid? [True, True] Translation: X:-19.78, Y:-1.34, Z:0.46 [[ 9.99253297e-01 -3.83965523e-02 4.30726221e-03 -1.97847476e+01] [ 3.83959432e-02 9.99262579e-01 2.24028475e-04 -1.34282586e+00] [-4.31268787e-03 -5.84797972e-05 9.99990699e-01 4.57604923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645529293000003 meters 0.026960449754301823 Centerline is valid? [True, True] Translation: X:-19.85, Y:-1.35, Z:0.46 [[ 9.99431671e-01 -3.37030464e-02 -6.62322451e-04 -1.98455714e+01] [ 3.37030306e-02 9.99431891e-01 -3.49860926e-05 -1.34584976e+00] [ 6.63125318e-04 1.26439351e-05 9.99999780e-01 4.56494667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705529293000005 meters 0.0277441688491237 Centerline is valid? [True, True] Translation: X:-19.90, Y:-1.34, Z:0.46 [[ 9.99546668e-01 -3.00898220e-02 -1.02989821e-03 -1.99048391e+01] [ 3.00897856e-02 9.99547199e-01 -5.08460163e-05 -1.33571649e+00] [ 1.03096182e-03 1.98335498e-05 9.99999468e-01 4.57417791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765529293000004 meters 0.029069450881761456 Centerline is valid? [True, True] Translation: X:-19.96, Y:-1.34, Z:0.46 [[ 9.99735434e-01 -2.29489987e-02 -1.55082411e-03 -1.99643071e+01] [ 2.29489037e-02 9.99736636e-01 -7.90758330e-05 -1.33987035e+00] [ 1.55223039e-03 4.34651991e-05 9.99998794e-01 4.60731474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825529293000002 meters 0.02913243214607183 Centerline is valid? [True, True] Translation: X:-20.02, Y:-1.34, Z:0.46 [[ 9.99751521e-01 -2.19472126e-02 -3.90083340e-03 -2.00231245e+01] [ 2.19466023e-02 9.99759124e-01 -1.99188222e-04 -1.34268074e+00] [ 3.90426541e-03 1.13528688e-04 9.99992372e-01 4.57364939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885529293000005 meters 0.029406984378486073 Centerline is valid? [True, True] Translation: X:-20.08, Y:-1.34, Z:0.46 [[ 9.99782443e-01 -2.08548674e-02 -3.75804013e-04 -2.00830780e+01] [ 2.08548621e-02 9.99782514e-01 -1.81810562e-05 -1.33996050e+00] [ 3.76101444e-04 1.03397599e-05 9.99999929e-01 4.63784845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945529293000003 meters 0.02994955793159938 Centerline is valid? [True, True] Translation: X:-20.14, Y:-1.35, Z:0.46 [[ 9.99733238e-01 -2.25157161e-02 -5.14733988e-03 -2.01427669e+01] [ 2.25146525e-02 9.99746478e-01 -2.64489303e-04 -1.34846048e+00] [ 5.15199009e-03 1.48528178e-04 9.99986717e-01 4.58565313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005529293000002 meters 0.029420249742273124 Centerline is valid? [True, True] Translation: X:-20.20, Y:-1.35, Z:0.47 [[ 9.99712744e-01 -2.39297140e-02 1.34108706e-03 -2.02025168e+01] [ 2.39296423e-02 9.99713643e-01 6.95073698e-05 -1.34955342e+00] [-1.34236632e-03 -3.73956698e-05 9.99999098e-01 4.74042529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065529293000004 meters 0.02961967225077275 Centerline is valid? [True, True] Translation: X:-20.26, Y:-1.35, Z:0.47 [[ 9.99722681e-01 -2.33729805e-02 -2.87494222e-03 -2.02632756e+01] [ 2.33726503e-02 9.99726811e-01 -1.48375406e-04 -1.34929554e+00] [ 2.87762480e-03 8.11392397e-05 9.99995856e-01 4.67155588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125529293000003 meters 0.029409821452026027 Centerline is valid? [True, True] Translation: X:-20.32, Y:-1.36, Z:0.46 [[ 9.99705462e-01 -2.37858198e-02 -4.81921223e-03 -2.03216731e+01] [ 2.37849100e-02 9.99717069e-01 -2.46006400e-04 -1.36109960e+00] [ 4.82370019e-03 1.31309412e-04 9.99988357e-01 4.57878426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185529293000002 meters 0.028912251534784453 Centerline is valid? [True, True] Translation: X:-20.38, Y:-1.37, Z:0.48 [[ 9.99715977e-01 -2.34717499e-02 4.12819121e-03 -2.03801204e+01] [ 2.34710689e-02 9.99724494e-01 2.13345586e-04 -1.36740602e+00] [-4.13206146e-03 -1.16391931e-04 9.99991456e-01 4.77406134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245529293000004 meters 0.029421424379642742 Centerline is valid? [True, True] Translation: X:-20.44, Y:-1.36, Z:0.47 [[ 9.99728620e-01 -2.29691038e-02 -3.88672397e-03 -2.04412719e+01] [ 2.29684977e-02 9.99736169e-01 -2.00521389e-04 -1.36055561e+00] [ 3.89030433e-03 1.11194761e-04 9.99992427e-01 4.66671201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305529293000003 meters 0.029264144743374007 Centerline is valid? [True, True] Translation: X:-20.50, Y:-1.38, Z:0.47 [[ 9.99754422e-01 -2.21334572e-02 -1.09806078e-03 -2.04990278e+01] [ 2.21334111e-02 9.99755025e-01 -5.40815913e-05 -1.37643005e+00] [ 1.09898880e-03 2.97644793e-05 9.99999396e-01 4.71122766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365529293 meters 0.030285558674514733 Centerline is valid? [True, True] Translation: X:-20.56, Y:-1.37, Z:0.47 [[ 9.99701625e-01 -2.43306133e-02 -2.16383612e-03 -2.05584158e+01] [ 2.43304350e-02 9.99703965e-01 -1.08689326e-04 -1.37376086e+00] [ 2.16584003e-03 5.60098216e-05 9.99997653e-01 4.65423105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425529293000004 meters 0.03058612629647292 Centerline is valid? [True, True] Translation: X:-20.62, Y:-1.38, Z:0.47 [[ 9.99657557e-01 -2.60490566e-02 -2.49308523e-03 -2.06159812e+01] [ 2.60488261e-02 9.99660664e-01 -1.24894849e-04 -1.38464861e+00] [ 2.49549263e-03 5.99101356e-05 9.99996884e-01 4.71867899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485529293000003 meters 0.02894921831130592 Centerline is valid? [True, True] Translation: X:-20.68, Y:-1.39, Z:0.47 [[ 9.99633351e-01 -2.70692885e-02 -6.46608052e-04 -2.06752855e+01] [ 2.70692735e-02 9.99633560e-01 -3.19313174e-05 -1.39213817e+00] [ 6.47235467e-04 1.44163996e-05 9.99999790e-01 4.72337202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545529293000005 meters 0.028520636485920042 Centerline is valid? [True, True] Translation: X:-20.73, Y:-1.39, Z:0.48 [[ 9.99597158e-01 -2.83815200e-02 -1.04606545e-04 -2.07342932e+01] [ 2.83815199e-02 9.99597164e-01 -2.92488989e-06 -1.38865278e+00] [ 1.04647418e-04 -4.51811101e-08 9.99999995e-01 4.76279345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605529293000004 meters 0.028806449117070684 Centerline is valid? [True, True] Translation: X:-20.79, Y:-1.41, Z:0.47 [[ 9.99646584e-01 -2.65335595e-02 -1.63650981e-03 -2.07927399e+01] [ 2.65334621e-02 9.99647922e-01 -8.12310431e-05 -1.40684158e+00] [ 1.63808898e-03 3.77800638e-05 9.99998658e-01 4.70697308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665529293000002 meters 0.027971431609654967 Centerline is valid? [True, True] Translation: X:-20.85, Y:-1.41, Z:0.48 [[ 9.99526224e-01 -3.06254519e-02 3.06736678e-03 -2.08521228e+01] [ 3.06251134e-02 9.99530929e-01 1.57270779e-04 -1.41017575e+00] [-3.07074445e-03 -6.32578121e-05 9.99995283e-01 4.77884213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725529293000005 meters 0.02815485048603208 Centerline is valid? [True, True] Translation: X:-20.91, Y:-1.40, Z:0.48 [[ 9.99581031e-01 -2.89399450e-02 4.91509489e-04 -2.09146882e+01] [ 2.89399370e-02 9.99581152e-01 2.33191690e-05 -1.40052085e+00] [-4.91978477e-04 -9.08514532e-06 9.99999879e-01 4.77550447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785529293000003 meters 0.028489291836084504 Centerline is valid? [True, True] Translation: X:-20.97, Y:-1.42, Z:0.47 [[ 9.99502834e-01 -3.14782435e-02 -1.79018199e-03 -2.09728566e+01] [ 3.14781346e-02 9.99504437e-01 -8.90143270e-05 -1.41790910e+00] [ 1.79209686e-03 3.26184824e-05 9.99998394e-01 4.68504037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845529293000002 meters 0.02740289930843935 Centerline is valid? [True, True] Translation: X:-21.03, Y:-1.41, Z:0.48 [[ 9.99321206e-01 -3.68116565e-02 1.42454930e-03 -2.10325551e+01] [ 3.68115894e-02 9.99322221e-01 7.33129651e-05 -1.41035975e+00] [-1.42628254e-03 -2.08232766e-05 9.99998983e-01 4.82755028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905529293000004 meters 0.028228480321059388 Centerline is valid? [True, True] Translation: X:-21.09, Y:-1.42, Z:0.47 [[ 9.99453681e-01 -3.30034543e-02 -1.76376282e-03 -2.10930309e+01] [ 3.30033468e-02 9.99455237e-01 -9.00290235e-05 -1.42270504e+00] [ 1.76577325e-03 3.17697631e-05 9.99998441e-01 4.70773598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965529293000003 meters 0.027534212452686273 Centerline is valid? [True, True] Translation: X:-21.15, Y:-1.41, Z:0.48 [[ 9.99386669e-01 -3.49282057e-02 2.51105696e-03 -2.11535282e+01] [ 3.49279925e-02 9.99389823e-01 1.28728221e-04 -1.40836897e+00] [-2.51402102e-03 -4.09430891e-05 9.99996839e-01 4.81440136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025529293 meters 0.02809550229666532 Centerline is valid? [True, True] Translation: X:-21.21, Y:-1.41, Z:0.48 [[ 9.99579992e-01 -2.89778352e-02 3.51967978e-04 -2.12129126e+01] [ 2.89778305e-02 9.99580054e-01 1.85572267e-05 -1.41397272e+00] [-3.52357918e-04 -8.35016415e-06 9.99999938e-01 4.78568445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085529293000004 meters 0.028409075838633665 Centerline is valid? [True, True] Translation: X:-21.27, Y:-1.41, Z:0.49 [[ 9.99619626e-01 -2.74623589e-02 2.53434714e-03 -2.12719627e+01] [ 2.74621137e-02 9.99622836e-01 1.31529944e-04 -1.41022912e+00] [-2.53700340e-03 -6.18813845e-05 9.99996780e-01 4.88486282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145529293000003 meters 0.028292968930456366 Centerline is valid? [True, True] Translation: X:-21.33, Y:-1.41, Z:0.49 [[ 9.99633793e-01 -2.65518482e-02 5.22297884e-03 -2.13331010e+01] [ 2.65508259e-02 9.99647430e-01 2.64978034e-04 -1.41092161e+00] [-5.22817303e-03 -1.26206595e-04 9.99986325e-01 4.87276934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205529293000005 meters 0.028773559643710478 Centerline is valid? [True, True] Translation: X:-21.39, Y:-1.40, Z:0.48 [[ 9.99625601e-01 -2.73590963e-02 3.70527752e-04 -2.13949867e+01] [ 2.73590916e-02 9.99625670e-01 1.76986256e-05 -1.40156129e+00] [-3.70873270e-04 -7.55469651e-06 9.99999931e-01 4.80891400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265529293000004 meters 0.029081871920302153 Centerline is valid? [True, True] Translation: X:-21.45, Y:-1.41, Z:0.49 [[ 9.99591649e-01 -2.85202863e-02 1.76893462e-03 -2.14528830e+01] [ 2.85201682e-02 9.99593213e-01 9.19623373e-05 -1.40893224e+00] [-1.77083783e-03 -4.14744715e-05 9.99998431e-01 4.86628227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325529293000002 meters 0.02795826794440132 Centerline is valid? [True, True] Translation: X:-21.51, Y:-1.41, Z:0.48 [[ 9.99504896e-01 -3.14052591e-02 -1.91624408e-03 -2.15129955e+01] [ 3.14051322e-02 9.99506733e-01 -9.62809572e-05 -1.41013077e+00] [ 1.91832258e-03 3.60533896e-05 9.99998159e-01 4.84247862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385529293000005 meters 0.02769293295885406 Centerline is valid? [True, True] Translation: X:-21.57, Y:-1.40, Z:0.49 [[ 9.99490178e-01 -3.18100542e-02 2.73953369e-03 -2.15723500e+01] [ 3.18097847e-02 9.99493931e-01 1.41889485e-04 -1.40493036e+00] [-2.74266081e-03 -5.46731697e-05 9.99996237e-01 4.94159533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445529293000003 meters 0.029817482651414238 Centerline is valid? [True, True] Translation: X:-21.63, Y:-1.41, Z:0.50 [[ 9.99500614e-01 -3.14420968e-02 3.14906321e-03 -2.16324196e+01] [ 3.14417502e-02 9.99505573e-01 1.59505441e-04 -1.40967920e+00] [-3.15252142e-03 -6.04137271e-05 9.99995029e-01 4.98159001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505529293000002 meters 0.02822029188122474 Centerline is valid? [True, True] Translation: X:-21.69, Y:-1.40, Z:0.49 [[ 9.99577994e-01 -2.90480393e-02 2.11068036e-04 -2.16941215e+01] [ 2.90480378e-02 9.99578017e-01 1.01091558e-05 -1.39932052e+00] [-2.11272620e-04 -3.97377740e-06 9.99999978e-01 4.93076218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565529293000004 meters 0.028676391935861547 Centerline is valid? [True, True] Translation: X:-21.75, Y:-1.40, Z:0.50 [[ 9.99581537e-01 -2.87160189e-02 3.48431820e-03 -2.17534032e+01] [ 2.87155716e-02 9.99587607e-01 1.78352655e-04 -1.40456431e+00] [-3.48800287e-03 -7.82238325e-05 9.99993914e-01 4.98729711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625529293000003 meters 0.02906602034066428 Centerline is valid? [True, True] Translation: X:-21.81, Y:-1.41, Z:0.49 [[ 9.99638297e-01 -2.68042233e-02 -2.19271850e-03 -2.18147619e+01] [ 2.68040418e-02 9.99640701e-01 -1.12121984e-04 -1.40527092e+00] [ 2.19493600e-03 5.33077109e-05 9.99997590e-01 4.93867165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685529293000002 meters 0.030801496594083218 Centerline is valid? [True, True] Translation: X:-21.87, Y:-1.40, Z:0.51 [[ 9.99611000e-01 -2.76828079e-02 3.39273111e-03 -2.18732956e+01] [ 2.76823803e-02 9.99616755e-01 1.72940528e-04 -1.40086271e+00] [-3.39621834e-03 -7.89543809e-05 9.99994230e-01 5.12437082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745529293000004 meters 0.02840546928345447 Centerline is valid? [True, True] Translation: X:-21.93, Y:-1.41, Z:0.50 [[ 9.99683771e-01 -2.51352017e-02 -7.61430349e-04 -2.19336045e+01] [ 2.51351795e-02 9.99684061e-01 -3.87065282e-05 -1.40540167e+00] [ 7.62162680e-04 1.95555995e-05 9.99999709e-01 4.99758979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805529293000003 meters 0.0307540029323125 Centerline is valid? [True, True] Translation: X:-21.99, Y:-1.41, Z:0.51 [[ 9.99572813e-01 -2.90450869e-02 3.25172213e-03 -2.19932936e+01] [ 2.90447009e-02 9.99578100e-01 1.65870774e-04 -1.40992056e+00] [-3.25516796e-03 -7.13546196e-05 9.99994699e-01 5.10192764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865529293000005 meters 0.028701860414597904 Centerline is valid? [True, True] Translation: X:-22.05, Y:-1.40, Z:0.51 [[ 9.99629075e-01 -2.70439707e-02 3.21486796e-03 -2.20547374e+01] [ 2.70435885e-02 9.99634242e-01 1.62307280e-04 -1.40299701e+00] [-3.21808153e-03 -7.53055102e-05 9.99994819e-01 5.10107575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925529293000004 meters 0.029271679268935213 Centerline is valid? [True, True] Translation: X:-22.12, Y:-1.41, Z:0.50 [[ 9.99685483e-01 -2.50701817e-02 -6.49025359e-04 -2.21157578e+01] [ 2.50701651e-02 9.99685693e-01 -3.36022491e-05 -1.41288735e+00] [ 6.49663780e-04 1.73205077e-05 9.99999789e-01 5.03507003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985529293000003 meters 0.030772767841651748 Centerline is valid? [True, True] Translation: X:-22.17, Y:-1.42, Z:0.52 [[ 9.99646625e-01 -2.63744727e-02 3.31842039e-03 -2.21746501e+01] [ 2.63740540e-02 9.99652130e-01 1.69879338e-04 -1.41868551e+00] [-3.32174649e-03 -8.22991077e-05 9.99994480e-01 5.18193927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045529293000005 meters 0.02849617328090286 Centerline is valid? [True, True] Translation: X:-22.24, Y:-1.42, Z:0.52 [[ 9.99662319e-01 -2.56775190e-02 3.98909682e-03 -2.22356459e+01] [ 2.56769312e-02 9.99670274e-01 1.98518798e-04 -1.41824047e+00] [-3.99287898e-03 -9.60239975e-05 9.99992024e-01 5.20246978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105529293000004 meters 0.02901592837992752 Centerline is valid? [True, True] Translation: X:-22.30, Y:-1.42, Z:0.52 [[ 9.99720845e-01 -2.35908685e-02 -1.30514182e-03 -2.22969179e+01] [ 2.35908006e-02 9.99721696e-01 -6.73991794e-05 -1.41848181e+00] [ 1.30636860e-03 3.65910241e-05 9.99999146e-01 5.15412026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165529293000002 meters 0.0285132216679124 Centerline is valid? [True, True] Translation: X:-22.36, Y:-1.43, Z:0.53 [[ 9.99671417e-01 -2.53760449e-02 3.62139186e-03 -2.23567593e+01] [ 2.53755422e-02 9.99677972e-01 1.84712738e-04 -1.42704904e+00] [-3.62491295e-03 -9.27572626e-05 9.99993426e-01 5.26460093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225529293000005 meters 0.029322367407012887 Centerline is valid? [True, True] Translation: X:-22.42, Y:-1.42, Z:0.53 [[ 9.99696805e-01 -2.46189940e-02 4.51754910e-04 -2.24184278e+01] [ 2.46189866e-02 9.99696907e-01 2.17878283e-05 -1.41871791e+00] [-4.52154380e-04 -1.06594742e-05 9.99999898e-01 5.25590699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285529293000003 meters 0.031157214060134806 Centerline is valid? [True, True] Translation: X:-22.48, Y:-1.43, Z:0.53 [[ 9.99644224e-01 -2.66156680e-02 1.74139399e-03 -2.24775464e+01] [ 2.66155515e-02 9.99645739e-01 9.00486076e-05 -1.42857416e+00] [-1.74317379e-03 -4.36684089e-05 9.99998480e-01 5.30382529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345529293000002 meters 0.029140654830431094 Centerline is valid? [True, True] Translation: X:-22.54, Y:-1.42, Z:0.53 [[ 9.99628685e-01 -2.71724751e-02 2.03671086e-03 -2.25374397e+01] [ 2.71723175e-02 9.99630759e-01 1.05030683e-04 -1.42252896e+00] [-2.03881277e-03 -4.96495290e-05 9.99997920e-01 5.28136134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405529293000004 meters 0.02968439833745972 Centerline is valid? [True, True] Translation: X:-22.60, Y:-1.42, Z:0.53 [[ 9.99724701e-01 -2.34606336e-02 3.47046563e-04 -2.25969123e+01] [ 2.34606285e-02 9.99724761e-01 1.88338489e-05 -1.42381543e+00] [-3.47392897e-04 -1.06867335e-05 9.99999940e-01 5.27559818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465529293000003 meters 0.029187487541182694 Centerline is valid? [True, True] Translation: X:-22.65, Y:-1.43, Z:0.54 [[ 9.99702362e-01 -2.41147148e-02 3.69695358e-03 -2.26541271e+01] [ 2.41141801e-02 9.99709193e-01 1.89128570e-04 -1.43309939e+00] [-3.70043926e-03 -9.99232738e-05 9.99993148e-01 5.42475435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525529293 meters 0.03090338328019892 Centerline is valid? [True, True] Translation: X:-22.72, Y:-1.43, Z:0.54 [[ 9.99686962e-01 -2.49646571e-02 1.65633718e-03 -2.27157321e+01] [ 2.49645645e-02 9.99688334e-01 7.65829124e-05 -1.42983268e+00] [-1.65773282e-03 -3.52092027e-05 9.99998625e-01 5.44119370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585529293000004 meters 0.029429697796678905 Centerline is valid? [True, True] Translation: X:-22.78, Y:-1.43, Z:0.54 [[ 9.99704781e-01 -2.41680147e-02 2.50150996e-03 -2.27753234e+01] [ 2.41677671e-02 9.99707909e-01 1.29138681e-04 -1.43176785e+00] [-2.50390032e-03 -6.86446463e-05 9.99996863e-01 5.44164388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645529293000003 meters 0.029496932451666506 Centerline is valid? [True, True] Translation: X:-22.84, Y:-1.43, Z:0.55 [[ 9.99687131e-01 -2.48724130e-02 2.64629454e-03 -2.28359808e+01] [ 2.48721420e-02 9.99690631e-01 1.35271222e-04 -1.43224981e+00] [-2.64884038e-03 -6.94098864e-05 9.99996489e-01 5.45034531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705529293000005 meters 0.029531843753594064 Centerline is valid? [True, True] Translation: X:-22.90, Y:-1.43, Z:0.54 [[ 9.99731688e-01 -2.31417168e-02 1.00673354e-03 -2.28971382e+01] [ 2.31416773e-02 9.99732194e-01 5.08864183e-05 -1.43145488e+00] [-1.00764153e-03 -2.75752620e-05 9.99999492e-01 5.42997473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765529293000004 meters 0.031467990186079986 Centerline is valid? [True, True] Translation: X:-22.96, Y:-1.44, Z:0.56 [[ 9.99676484e-01 -2.51071568e-02 4.06919010e-03 -2.29551599e+01] [ 2.51065119e-02 9.99684760e-01 2.09476480e-04 -1.43658974e+00] [-4.07316669e-03 -1.07245541e-04 9.99991699e-01 5.59588401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825529293000002 meters 0.029263512756019332 Centerline is valid? [True, True] Translation: X:-23.02, Y:-1.44, Z:0.55 [[ 9.99656952e-01 -2.61035640e-02 2.14039501e-03 -2.30177216e+01] [ 2.61034063e-02 9.99659243e-01 1.01588865e-04 -1.44087689e+00] [-2.14231748e-03 -4.56824145e-05 9.99997704e-01 5.51751086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885529293000005 meters 0.0294808431649147 Centerline is valid? [True, True] Translation: X:-23.08, Y:-1.45, Z:0.56 [[ 9.99552400e-01 -2.97060477e-02 3.54275792e-03 -2.30767703e+01] [ 2.97055876e-02 9.99558675e-01 1.82427619e-04 -1.44860717e+00] [-3.54661361e-03 -7.71062585e-05 9.99993708e-01 5.59869084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945529293000003 meters 0.028183495043575212 Centerline is valid? [True, True] Translation: X:-23.14, Y:-1.45, Z:0.56 [[ 9.99467551e-01 -3.25499833e-02 2.26116401e-03 -2.31381083e+01] [ 3.25498066e-02 9.99470108e-01 1.14905192e-04 -1.45386842e+00] [-2.26370600e-03 -4.12435600e-05 9.99997437e-01 5.58876580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005529293000002 meters 0.03227727330501573 Centerline is valid? [True, True] Translation: X:-23.20, Y:-1.46, Z:0.57 [[ 9.99312688e-01 -3.68562414e-02 3.97092042e-03 -2.31982298e+01] [ 3.68557219e-02 9.99320576e-01 2.03949692e-04 -1.46088887e+00] [-3.97573930e-03 -5.74583767e-05 9.99992095e-01 5.67634734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065529293000004 meters 0.028315832635327658 Centerline is valid? [True, True] Translation: X:-23.26, Y:-1.46, Z:0.56 [[ 9.99404022e-01 -3.43445565e-02 3.47161385e-03 -2.32607309e+01] [ 3.43441696e-02 9.99410050e-01 1.71020966e-04 -1.45730965e+00] [-3.47543941e-03 -5.16893470e-05 9.99993959e-01 5.61839561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125529293000003 meters 0.028149066450779848 Centerline is valid? [True, True] Translation: X:-23.32, Y:-1.46, Z:0.57 [[ 9.99475192e-01 -3.23662413e-02 1.32966112e-03 -2.33204998e+01] [ 3.23661794e-02 9.99476076e-01 6.80440242e-05 -1.46348665e+00] [-1.33116681e-03 -2.49722637e-05 9.99999114e-01 5.70903596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185529293000002 meters 0.028002609656657875 Centerline is valid? [True, True] Translation: X:-23.38, Y:-1.46, Z:0.57 [[ 9.99564610e-01 -2.91826670e-02 4.35459636e-03 -2.33797303e+01] [ 2.91819550e-02 9.99574090e-01 2.26968661e-04 -1.45602822e+00] [-4.35936525e-03 -9.97942057e-05 9.99990493e-01 5.70240646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245529293000004 meters 0.02837865181375189 Centerline is valid? [True, True] Translation: X:-23.44, Y:-1.45, Z:0.58 [[ 9.99682112e-01 -2.49093617e-02 3.89854817e-03 -2.34416990e+01] [ 2.49087735e-02 9.99689708e-01 1.99366349e-04 -1.45403064e+00] [-3.90230457e-03 -1.02194919e-04 9.99992381e-01 5.75172093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305529293000003 meters 0.028541581191773833 Centerline is valid? [True, True] Translation: X:-23.50, Y:-1.45, Z:0.57 [[ 9.99726945e-01 -2.33566317e-02 7.09217113e-04 -2.35032817e+01] [ 2.33566124e-02 9.99727196e-01 3.54286743e-05 -1.45232350e+00] [-7.09851131e-04 -1.88540911e-05 9.99999748e-01 5.68959868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365529293000005 meters 0.028238231406329698 Centerline is valid? [True, True] Translation: X:-23.56, Y:-1.46, Z:0.58 [[ 9.99687065e-01 -2.48872072e-02 2.52954240e-03 -2.35616028e+01] [ 2.48869520e-02 9.99690263e-01 1.32311798e-04 -1.45841550e+00] [-2.53205177e-03 -6.93177932e-05 9.99996792e-01 5.82380157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425529293000004 meters 0.027449634800740808 Centerline is valid? [True, True] Translation: X:-23.62, Y:-1.46, Z:0.58 [[ 9.99606551e-01 -2.78780367e-02 3.09171716e-03 -2.36210559e+01] [ 2.78776767e-02 9.99611329e-01 1.59463594e-04 -1.46161348e+00] [-3.09496103e-03 -7.32109615e-05 9.99995208e-01 5.83409400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485529293000003 meters 0.028589106514528846 Centerline is valid? [True, True] Translation: X:-23.68, Y:-1.46, Z:0.59 [[ 9.99568435e-01 -2.87944492e-02 5.81574769e-03 -2.36814372e+01] [ 2.87931905e-02 9.99585345e-01 3.00054361e-04 -1.46317150e+00] [-5.82197607e-03 -1.32470937e-04 9.99983043e-01 5.89183439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545529293000005 meters 0.02740815043586415 Centerline is valid? [True, True] Translation: X:-23.74, Y:-1.47, Z:0.58 [[ 9.99583318e-01 -2.88034830e-02 -1.88386212e-03 -2.37413987e+01] [ 2.88033509e-02 9.99585093e-01 -9.71949053e-05 -1.46641545e+00] [ 1.88588005e-03 4.28928641e-05 9.99998221e-01 5.79253162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605529293000004 meters 0.02838611750683807 Centerline is valid? [True, True] Translation: X:-23.80, Y:-1.46, Z:0.60 [[ 9.99615782e-01 -2.67592623e-02 7.22703952e-03 -2.38016466e+01] [ 2.67572654e-02 9.99641891e-01 3.72867745e-04 -1.46373986e+00] [-7.23442911e-03 -1.79348667e-04 9.99973815e-01 5.99463287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665529293000002 meters 0.029369183006034177 Centerline is valid? [True, True] Translation: X:-23.86, Y:-1.46, Z:0.59 [[ 9.99707722e-01 -2.41258603e-02 1.55328357e-03 -2.38630842e+01] [ 2.41257658e-02 9.99708928e-01 7.95645284e-05 -1.46452289e+00] [-1.55475102e-03 -4.20671178e-05 9.99998790e-01 5.89218515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725529293000005 meters 0.028099323502688345 Centerline is valid? [True, True] Translation: X:-23.92, Y:-1.46, Z:0.60 [[ 9.99778724e-01 -2.08323637e-02 2.91801624e-03 -2.39216945e+01] [ 2.08320079e-02 9.99782979e-01 1.52286464e-04 -1.46247975e+00] [-2.92055546e-03 -9.14646296e-05 9.99995731e-01 5.99383870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785529293000003 meters 0.028167320941664502 Centerline is valid? [True, True] Translation: X:-23.98, Y:-1.47, Z:0.60 [[ 9.99801202e-01 -1.95857392e-02 3.73569680e-03 -2.39823438e+01] [ 1.95851604e-02 9.99808174e-01 1.91476116e-04 -1.46973110e+00] [-3.73873040e-03 -1.18273830e-04 9.99993004e-01 6.00703869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845529293000002 meters 0.029856403530252637 Centerline is valid? [True, True] Translation: X:-24.05, Y:-1.47, Z:0.60 [[ 9.99770477e-01 -2.10719959e-02 3.86846290e-03 -2.40451388e+01] [ 2.10714117e-02 9.99777955e-01 1.91704573e-04 -1.46786152e+00] [-3.87164352e-03 -1.10146598e-04 9.99992499e-01 5.95880638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905529293000004 meters 0.029466847676441543 Centerline is valid? [True, True] Translation: X:-24.11, Y:-1.46, Z:0.59 [[ 9.99800183e-01 -1.99027346e-02 1.86427190e-03 -2.41067663e+01] [ 1.99025909e-02 9.99801919e-01 9.55807775e-05 -1.46275133e+00] [-1.86580494e-03 -5.84578378e-05 9.99998258e-01 5.90493427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965529293000003 meters 0.02978692757416101 Centerline is valid? [True, True] Translation: X:-24.17, Y:-1.47, Z:0.60 [[ 9.99770632e-01 -2.13141255e-02 2.09551618e-03 -2.41651430e+01] [ 2.13139480e-02 9.99772826e-01 1.07008414e-04 -1.46978393e+00] [-2.09732093e-03 -6.23201472e-05 9.99997799e-01 6.02429539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025529293000005 meters 0.02899920025323441 Centerline is valid? [True, True] Translation: X:-24.22, Y:-1.48, Z:0.60 [[ 9.99762483e-01 -2.16839559e-02 2.18696134e-03 -2.42245072e+01] [ 2.16837566e-02 9.99764873e-01 1.14829029e-04 -1.47512513e+00] [-2.18893708e-03 -6.73802176e-05 9.99997602e-01 6.04290873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085529293000004 meters 0.028962580505354947 Centerline is valid? [True, True] Translation: X:-24.29, Y:-1.47, Z:0.61 [[ 9.99741473e-01 -2.23710082e-02 4.06515957e-03 -2.42855470e+01] [ 2.23703347e-02 9.99749730e-01 2.11079832e-04 -1.46714566e+00] [-4.06886426e-03 -1.20086282e-04 9.99991715e-01 6.09048131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145529293000003 meters 0.02951337346536564 Centerline is valid? [True, True] Translation: X:-24.35, Y:-1.48, Z:0.60 [[ 9.99778007e-01 -2.09805325e-02 1.93769522e-03 -2.43465921e+01] [ 2.09803790e-02 9.99779883e-01 9.95097032e-05 -1.47751045e+00] [-1.93935646e-03 -5.88340327e-05 9.99998118e-01 6.00647353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205529293000005 meters 0.029910504535812607 Centerline is valid? [True, True] Translation: X:-24.41, Y:-1.47, Z:0.61 [[ 9.99693122e-01 -2.43842385e-02 4.36708544e-03 -2.44073017e+01] [ 2.43834797e-02 9.99702653e-01 2.26914525e-04 -1.47286517e+00] [-4.37132004e-03 -1.20360150e-04 9.99990438e-01 6.10786600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265529293000004 meters 0.02878167350773326 Centerline is valid? [True, True] Translation: X:-24.47, Y:-1.48, Z:0.60 [[ 9.99722487e-01 -2.34480299e-02 2.26708095e-03 -2.44678589e+01] [ 2.34478243e-02 9.99725055e-01 1.17256068e-04 -1.48162442e+00] [-2.26920705e-03 -6.40654123e-05 9.99997423e-01 6.01369028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325529293000002 meters 0.0286820246211837 Centerline is valid? [True, True] Translation: X:-24.53, Y:-1.48, Z:0.61 [[ 9.99690077e-01 -2.48251230e-02 1.86099949e-03 -2.45271206e+01] [ 2.48249838e-02 9.99691808e-01 9.78444747e-05 -1.48148059e+00] [-1.86285495e-03 -5.16148681e-05 9.99998264e-01 6.06463193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385529293000005 meters 0.028061871882915895 Centerline is valid? [True, True] Translation: X:-24.59, Y:-1.49, Z:0.61 [[ 9.99661683e-01 -2.56613983e-02 4.24415137e-03 -2.45858068e+01] [ 2.56606992e-02 9.99670686e-01 2.19110757e-04 -1.49209981e+00] [-4.24837640e-03 -1.10128736e-04 9.99990970e-01 6.06611886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445529293000003 meters 0.028181960300616645 Centerline is valid? [True, True] Translation: X:-24.65, Y:-1.48, Z:0.61 [[ 9.99624073e-01 -2.72748290e-02 2.79235624e-03 -2.46486938e+01] [ 2.72745515e-02 9.99627971e-01 1.37398203e-04 -1.48270904e+00] [-2.79506492e-03 -6.11862871e-05 9.99996092e-01 6.13237512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505529293000002 meters 0.027405212194794172 Centerline is valid? [True, True] Translation: X:-24.71, Y:-1.49, Z:0.61 [[ 9.99604156e-01 -2.74497898e-02 6.16773914e-03 -2.47081591e+01] [ 2.74483241e-02 9.99623172e-01 3.22184433e-04 -1.49062635e+00] [-6.17425886e-03 -1.52762796e-04 9.99980927e-01 6.08549221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565529293000004 meters 0.02777158017814242 Centerline is valid? [True, True] Translation: X:-24.77, Y:-1.50, Z:0.60 [[ 9.99623620e-01 -2.74203277e-02 8.62073495e-04 -2.47693828e+01] [ 2.74203001e-02 9.99623992e-01 4.38528787e-05 -1.49696234e+00] [-8.62951809e-04 -2.01980595e-05 9.99999627e-01 6.00550161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625529293000003 meters 0.026711048343391157 Centerline is valid? [True, True] Translation: X:-24.83, Y:-1.50, Z:0.62 [[ 9.99422623e-01 -3.27577748e-02 9.01940060e-03 -2.48291939e+01] [ 3.27548520e-02 9.99463305e-01 4.71625120e-04 -1.49678143e+00] [-9.03000932e-03 -1.75923682e-04 9.99959213e-01 6.15939093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685529293000005 meters 0.027019999213472336 Centerline is valid? [True, True] Translation: X:-24.89, Y:-1.51, Z:0.60 [[ 9.99423100e-01 -3.38824533e-02 2.33383328e-03 -2.48911450e+01] [ 3.38822662e-02 9.99425824e-01 1.19633939e-04 -1.50735430e+00] [-2.33654674e-03 -4.04893622e-05 9.99997269e-01 6.00865856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745529293000004 meters 0.026448970598107236 Centerline is valid? [True, True] Translation: X:-24.95, Y:-1.51, Z:0.61 [[ 9.99202355e-01 -3.97715694e-02 3.58824948e-03 -2.49509858e+01] [ 3.97711474e-02 9.99208797e-01 1.88928846e-04 -1.50558464e+00] [-3.59292445e-03 -4.60693492e-05 9.99993544e-01 6.07973968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805529293000003 meters 0.026429612716329466 Centerline is valid? [True, True] Translation: X:-25.01, Y:-1.52, Z:0.61 [[ 9.99254570e-01 -3.81689769e-02 5.78223563e-03 -2.50098892e+01] [ 3.81678592e-02 9.99271296e-01 3.03559963e-04 -1.51554915e+00] [-5.78960866e-03 -8.26381244e-05 9.99983237e-01 6.12228271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865529293000005 meters 0.02643706919748599 Centerline is valid? [True, True] Translation: X:-25.07, Y:-1.51, Z:0.61 [[ 9.99285774e-01 -3.75765339e-02 3.99324201e-03 -2.50723773e+01] [ 3.75760273e-02 9.99293751e-01 2.01829217e-04 -1.50752457e+00] [-3.99800583e-03 -5.16348947e-05 9.99992007e-01 6.10555388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925529293000004 meters 0.028057172068641095 Centerline is valid? [True, True] Translation: X:-25.13, Y:-1.51, Z:0.63 [[ 9.99290414e-01 -3.67390622e-02 8.30119893e-03 -2.51316113e+01] [ 3.67367058e-02 9.99324884e-01 4.36206146e-04 -1.51432522e+00] [-8.31162046e-03 -1.30937917e-04 9.99965449e-01 6.27805944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985529293000003 meters 0.028140908741158478 Centerline is valid? [True, True] Translation: X:-25.19, Y:-1.51, Z:0.62 [[ 9.99415177e-01 -3.38469327e-02 4.86722436e-03 -2.51940037e+01] [ 3.38460934e-02 9.99427024e-01 2.54742896e-04 -1.50508264e+00] [-4.87305782e-03 -8.98573861e-05 9.99988123e-01 6.18285027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045529293000005 meters 0.027535078462460123 Centerline is valid? [True, True] Translation: X:-25.26, Y:-1.51, Z:0.63 [[ 9.99282727e-01 -3.72175902e-02 6.99153279e-03 -2.52558748e+01] [ 3.72159418e-02 9.99307180e-01 3.65775032e-04 -1.51186730e+00] [-7.00030218e-03 -1.05316195e-04 9.99975492e-01 6.27292785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105529293000004 meters 0.027668526267617274 Centerline is valid? [True, True] Translation: X:-25.32, Y:-1.51, Z:0.62 [[ 9.99314650e-01 -3.68736677e-02 3.24993008e-03 -2.53175932e+01] [ 3.68733096e-02 9.99319934e-01 1.70039798e-04 -1.51076605e+00] [-3.25398991e-03 -5.00875828e-05 9.99994705e-01 6.18272287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165529293000002 meters 0.025820184142773265 Centerline is valid? [True, True] Translation: X:-25.38, Y:-1.52, Z:0.63 [[ 9.99197623e-01 -3.97504253e-02 4.90039219e-03 -2.53766581e+01] [ 3.97496318e-02 9.99209637e-01 2.59243169e-04 -1.51860156e+00] [-4.90682413e-03 -6.42463725e-05 9.99987959e-01 6.26729195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225529293000005 meters 0.026840211059797593 Centerline is valid? [True, True] Translation: X:-25.44, Y:-1.51, Z:0.63 [[ 9.99249081e-01 -3.86570256e-02 2.62859029e-03 -2.54378385e+01] [ 3.86567966e-02 9.99252537e-01 1.37882131e-04 -1.51099278e+00] [-2.63195563e-03 -3.61657127e-05 9.99996536e-01 6.25552607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285529293000003 meters 0.02583338801634126 Centerline is valid? [True, True] Translation: X:-25.50, Y:-1.52, Z:0.64 [[ 9.99255737e-01 -3.77878197e-02 7.74933419e-03 -2.54951399e+01] [ 3.77857827e-02 9.99285779e-01 4.09154776e-04 -1.52106101e+00] [-7.75926052e-03 -1.16035599e-04 9.99969890e-01 6.37122336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345529293000002 meters 0.026274689758961932 Centerline is valid? [True, True] Translation: X:-25.56, Y:-1.52, Z:0.64 [[ 9.99370007e-01 -3.50031577e-02 5.86248173e-03 -2.55560635e+01] [ 3.50019525e-02 9.99387196e-01 3.08086760e-04 -1.51550924e+00] [-5.86967319e-03 -1.02694361e-04 9.99982768e-01 6.35653693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405529293000004 meters 0.026503779950715074 Centerline is valid? [True, True] Translation: X:-25.62, Y:-1.51, Z:0.64 [[ 9.99318779e-01 -3.64269748e-02 5.92057002e-03 -2.56180432e+01] [ 3.64258088e-02 9.99336314e-01 3.04686692e-04 -1.51448229e+00] [-5.92773943e-03 -8.88175817e-05 9.99982427e-01 6.39287817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465529293000003 meters 0.026493729200305675 Centerline is valid? [True, True] Translation: X:-25.68, Y:-1.52, Z:0.64 [[ 9.99263292e-01 -3.78277622e-02 6.47562200e-03 -2.56798585e+01] [ 3.78263778e-02 9.99284270e-01 3.36163681e-04 -1.51879643e+00] [-6.48370353e-03 -9.09667015e-05 9.99978976e-01 6.39109846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525529293000005 meters 0.026299490509364785 Centerline is valid? [True, True] Translation: X:-25.74, Y:-1.53, Z:0.63 [[ 9.99130024e-01 -4.16136339e-02 2.73857610e-03 -2.57417382e+01] [ 4.16134113e-02 9.99133777e-01 1.38268046e-04 -1.53232679e+00] [-2.74195772e-03 -2.41862628e-05 9.99996241e-01 6.33414653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585529293000004 meters 0.026207079081760416 Centerline is valid? [True, True] Translation: X:-25.80, Y:-1.53, Z:0.65 [[ 9.98989181e-01 -4.43243622e-02 7.48110338e-03 -2.58013007e+01] [ 4.43226057e-02 9.99017190e-01 4.00509236e-04 -1.53098600e+00] [-7.49150320e-03 -6.85223979e-05 9.99971936e-01 6.47617199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645529293000003 meters 0.026747400386796707 Centerline is valid? [True, True] Translation: X:-25.86, Y:-1.53, Z:0.65 [[ 9.99024438e-01 -4.40065795e-02 3.68676589e-03 -2.58611837e+01] [ 4.40061650e-02 9.99031241e-01 1.93526931e-04 -1.53306127e+00] [-3.69171076e-03 -3.10977054e-05 9.99993185e-01 6.54694893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705529293000005 meters 0.026860254107011566 Centerline is valid? [True, True] Translation: X:-25.92, Y:-1.53, Z:0.66 [[ 9.99076015e-01 -4.27151410e-02 4.74678988e-03 -2.59196802e+01] [ 4.27144063e-02 9.99087290e-01 2.56106975e-04 -1.53404442e+00] [-4.75339709e-03 -5.31140246e-05 9.99988701e-01 6.58349385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765529293000004 meters 0.027286637689994446 Centerline is valid? [True, True] Translation: X:-25.98, Y:-1.54, Z:0.66 [[ 9.99009986e-01 -4.40902244e-02 5.92451516e-03 -2.59792798e+01] [ 4.40891199e-02 9.99027552e-01 3.16973164e-04 -1.54042994e+00] [-5.93272930e-03 -5.54526964e-05 9.99982400e-01 6.62629298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825529293000002 meters 0.027250152582480494 Centerline is valid? [True, True] Translation: X:-26.04, Y:-1.54, Z:0.66 [[ 9.99042118e-01 -4.34970243e-02 4.78069525e-03 -2.60407149e+01] [ 4.34963055e-02 9.99053555e-01 2.54271098e-04 -1.53554468e+00] [-4.78723063e-03 -4.60849549e-05 9.99988540e-01 6.61191227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885529293000005 meters 0.03124620736512993 Centerline is valid? [True, True] Translation: X:-26.10, Y:-1.54, Z:0.66 [[ 9.99094143e-01 -4.23783388e-02 3.86917278e-03 -2.61005497e+01] [ 4.23778538e-02 9.99101634e-01 2.07267193e-04 -1.53558458e+00] [-3.87448049e-03 -4.31122002e-05 9.99992493e-01 6.64169091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945529293000003 meters 0.027833428632232364 Centerline is valid? [True, True] Translation: X:-26.16, Y:-1.54, Z:0.67 [[ 9.99171589e-01 -4.03108478e-02 5.58313687e-03 -2.61583622e+01] [ 4.03098042e-02 9.99187185e-01 2.99373070e-04 -1.54370756e+00] [-5.59066679e-03 -7.40699119e-05 9.99984369e-01 6.67199842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005529293000002 meters 0.02871792005629207 Centerline is valid? [True, True] Translation: X:-26.22, Y:-1.53, Z:0.66 [[ 9.99289887e-01 -3.74299810e-02 4.32654970e-03 -2.62204847e+01] [ 3.74293365e-02 9.99299250e-01 2.29854494e-04 -1.53122060e+00] [-4.33212132e-03 -6.77513864e-05 9.99990614e-01 6.64976772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065529293000004 meters 0.028821637687264985 Centerline is valid? [True, True] Translation: X:-26.28, Y:-1.54, Z:0.67 [[ 9.99442164e-01 -3.32840919e-02 2.74392680e-03 -2.62791798e+01] [ 3.32838118e-02 9.99445930e-01 1.47679693e-04 -1.53837212e+00] [-2.74732186e-03 -5.62689685e-05 9.99996225e-01 6.67272372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125529293000003 meters 0.029010478007572813 Centerline is valid? [True, True] Translation: X:-26.34, Y:-1.53, Z:0.67 [[ 9.99498341e-01 -3.11606712e-02 5.66390259e-03 -2.63372323e+01] [ 3.11594435e-02 9.99514380e-01 3.04894339e-04 -1.52814900e+00] [-5.67065280e-03 -1.28257333e-04 9.99983913e-01 6.74657811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185529293000005 meters 0.029350651100387894 Centerline is valid? [True, True] Translation: X:-26.40, Y:-1.54, Z:0.67 [[ 9.99433945e-01 -3.34831570e-02 3.26611566e-03 -2.63988697e+01] [ 3.34827932e-02 9.99439280e-01 1.66013453e-04 -1.54440982e+00] [-3.26984294e-03 -5.65608049e-05 9.99994652e-01 6.65915799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245529293000004 meters 0.02907996616403127 Centerline is valid? [True, True] Translation: X:-26.46, Y:-1.54, Z:0.66 [[ 9.99433727e-01 -3.35264476e-02 2.86400780e-03 -2.64595265e+01] [ 3.35261426e-02 9.99437829e-01 1.54454035e-04 -1.53642837e+00] [-2.86757603e-03 -5.83474384e-05 9.99995887e-01 6.61633317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305529293000003 meters 0.028895221299425396 Centerline is valid? [True, True] Translation: X:-26.52, Y:-1.55, Z:0.67 [[ 9.99339354e-01 -3.57729116e-02 6.41522292e-03 -2.65172847e+01] [ 3.57714352e-02 9.99359938e-01 3.44768602e-04 -1.54985442e+00] [-6.42345015e-03 -1.15059100e-04 9.99979363e-01 6.68188617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365529293000005 meters 0.02892349348203944 Centerline is valid? [True, True] Translation: X:-26.58, Y:-1.56, Z:0.66 [[ 9.99343752e-01 -3.60616121e-02 3.40975153e-03 -2.65799315e+01] [ 3.60612092e-02 9.99349567e-01 1.79607939e-04 -1.55575851e+00] [-3.41401067e-03 -5.65303082e-05 9.99994171e-01 6.63146000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425529293000004 meters 0.029047769791442735 Centerline is valid? [True, True] Translation: X:-26.64, Y:-1.55, Z:0.67 [[ 9.99269915e-01 -3.77031480e-02 6.17331981e-03 -2.66385477e+01] [ 3.77018158e-02 9.99288979e-01 3.32074049e-04 -1.55486045e+00] [-6.18145069e-03 -9.90862403e-05 9.99980890e-01 6.71525350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485529293000003 meters 0.03143623684496562 Centerline is valid? [True, True] Translation: X:-26.70, Y:-1.57, Z:0.67 [[ 9.99414961e-01 -3.39803214e-02 3.88238822e-03 -2.66996991e+01] [ 3.39797749e-02 9.99422499e-01 2.06662888e-04 -1.56630456e+00] [-3.88716861e-03 -7.46193049e-05 9.99992442e-01 6.67660044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545529293000005 meters 0.028809317871737496 Centerline is valid? [True, True] Translation: X:-26.76, Y:-1.57, Z:0.68 [[ 9.99240091e-01 -3.82323385e-02 7.58476304e-03 -2.67598623e+01] [ 3.82303572e-02 9.99268870e-01 4.06091546e-04 -1.57009444e+00] [-7.59474343e-03 -1.15814754e-04 9.99971153e-01 6.79152442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605529293000004 meters 0.028543962380600245 Centerline is valid? [True, True] Translation: X:-26.82, Y:-1.58, Z:0.68 [[ 9.99203428e-01 -3.89390682e-02 8.73257919e-03 -2.68217258e+01] [ 3.89365230e-02 9.99241580e-01 4.61340535e-04 -1.57822425e+00] [-8.74392040e-03 -1.20956773e-04 9.99961764e-01 6.78208141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665529293000002 meters 0.02943392102679833 Centerline is valid? [True, True] Translation: X:-26.88, Y:-1.58, Z:0.68 [[ 9.99193090e-01 -3.94222429e-02 7.68476282e-03 -2.68840017e+01] [ 3.94202780e-02 9.99222636e-01 4.07046904e-04 -1.57766235e+00] [-7.69483566e-03 -1.03782967e-04 9.99970389e-01 6.75685967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725529293000005 meters 0.02860078815779181 Centerline is valid? [True, True] Translation: X:-26.95, Y:-1.59, Z:0.68 [[ 9.99139840e-01 -4.03284354e-02 9.65391231e-03 -2.69456380e+01] [ 4.03253305e-02 9.99186470e-01 5.16139951e-04 -1.58676046e+00] [-9.66687368e-03 -1.26398783e-04 9.99953267e-01 6.84020384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785529293000003 meters 0.02866580687573899 Centerline is valid? [True, True] Translation: X:-27.01, Y:-1.59, Z:0.68 [[ 9.99073819e-01 -4.27920869e-02 4.51018551e-03 -2.70075555e+01] [ 4.27914239e-02 9.99083998e-01 2.43441914e-04 -1.59334550e+00] [-4.51647156e-03 -5.02191828e-05 9.99989799e-01 6.78337232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845529293000006 meters 0.028461295943029038 Centerline is valid? [True, True] Translation: X:-27.07, Y:-1.60, Z:0.69 [[ 9.98931359e-01 -4.49444096e-02 1.07768522e-02 -2.70670302e+01] [ 4.49407001e-02 9.98989484e-01 5.86250031e-04 -1.59545319e+00] [-1.07923107e-02 -1.01304258e-04 9.99941756e-01 6.91900345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905529293000004 meters 0.028613675440185424 Centerline is valid? [True, True] Translation: X:-27.13, Y:-1.60, Z:0.69 [[ 9.99172436e-01 -4.01915659e-02 6.25148169e-03 -2.71277384e+01] [ 4.01902329e-02 9.99191989e-01 3.38768317e-04 -1.60202049e+00] [-6.26004605e-03 -8.72394595e-05 9.99980402e-01 6.88283262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965529293000003 meters 0.03049032048926309 Centerline is valid? [True, True] Translation: X:-27.19, Y:-1.59, Z:0.70 [[ 9.99224925e-01 -3.73716005e-02 1.23657487e-02 -2.71899398e+01] [ 3.73662004e-02 9.99301417e-01 6.67533328e-04 -1.58781324e+00] [-1.23820569e-02 -2.04954897e-04 9.99923318e-01 7.00120915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025529293000005 meters 0.030493263137551727 Centerline is valid? [True, True] Translation: X:-27.25, Y:-1.59, Z:0.69 [[ 9.99445063e-01 -3.24410495e-02 7.55939126e-03 -2.72507633e+01] [ 3.24388569e-02 9.99473637e-01 4.12507062e-04 -1.59057576e+00] [-7.56879443e-03 -1.67060135e-04 9.99971342e-01 6.92752133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085529293000004 meters 0.032225802850112985 Centerline is valid? [True, True] Translation: X:-27.31, Y:-1.60, Z:0.71 [[ 9.99318292e-01 -3.63442464e-02 6.48437910e-03 -2.73115005e+01] [ 3.63427504e-02 9.99339323e-01 3.48422806e-04 -1.59875449e+00] [-6.49275819e-03 -1.12525112e-04 9.99978915e-01 7.07244615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145529293000003 meters 0.029841744500034344 Centerline is valid? [True, True] Translation: X:-27.37, Y:-1.60, Z:0.72 [[ 9.99188336e-01 -3.89484044e-02 1.02806448e-02 -2.73728330e+01] [ 3.89446695e-02 9.99241210e-01 5.63313743e-04 -1.59775802e+00] [-1.02947841e-02 -1.62480208e-04 9.99946994e-01 7.20208931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205529293000005 meters 0.031598384004273894 Centerline is valid? [True, True] Translation: X:-27.43, Y:-1.61, Z:0.72 [[ 9.99257580e-01 -3.78983987e-02 6.92828280e-03 -2.74336598e+01] [ 3.78966782e-02 9.99281591e-01 3.79489631e-04 -1.60813142e+00] [-6.93768751e-03 -1.16648986e-04 9.99975927e-01 7.22371608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265529293000004 meters 0.03218518146584705 Centerline is valid? [True, True] Translation: X:-27.49, Y:-1.61, Z:0.73 [[ 9.99073465e-01 -4.22972450e-02 7.94701490e-03 -2.74948365e+01] [ 4.22951562e-02 9.99105067e-01 4.30798243e-04 -1.60857365e+00] [-7.95812443e-03 -9.42788563e-05 9.99968329e-01 7.34650542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325529293000002 meters 0.03137097897993529 Centerline is valid? [True, True] Translation: X:-27.56, Y:-1.60, Z:0.73 [[ 9.99371243e-01 -3.51189124e-02 4.87656092e-03 -2.75563601e+01] [ 3.51180199e-02 9.99383136e-01 2.68570494e-04 -1.60340772e+00] [-4.88298465e-03 -9.71464649e-05 9.99988073e-01 7.28975703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385529293000005 meters 0.031403120311262196 Centerline is valid? [True, True] Translation: X:-27.62, Y:-1.61, Z:0.75 [[ 9.99367960e-01 -3.47178616e-02 7.63882067e-03 -2.76161828e+01] [ 3.47156561e-02 9.99397141e-01 4.21169157e-04 -1.60804399e+00] [-7.64883764e-03 -1.55716290e-04 9.99970735e-01 7.45031942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445529293000003 meters 0.031367064733896964 Centerline is valid? [True, True] Translation: X:-27.68, Y:-1.61, Z:0.75 [[ 9.99349899e-01 -3.39828402e-02 1.20393221e-02 -2.76785877e+01] [ 3.39773155e-02 9.99422384e-01 6.63192535e-04 -1.60901222e+00] [-1.20549052e-02 -2.53697548e-04 9.99927305e-01 7.48883311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505529293000002 meters 0.03190296871070731 Centerline is valid? [True, True] Translation: X:-27.74, Y:-1.62, Z:0.74 [[ 9.99316861e-01 -3.67673530e-02 3.73802729e-03 -2.77403758e+01] [ 3.67668432e-02 9.99323850e-01 2.05034818e-04 -1.61827678e+00] [-3.74303841e-03 -6.74592870e-05 9.99992993e-01 7.38500828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565529293000004 meters 0.03142501421690312 Centerline is valid? [True, True] Translation: X:-27.80, Y:-1.61, Z:0.75 [[ 9.99164934e-01 -4.01928227e-02 7.34658120e-03 -2.78006257e+01] [ 4.01909181e-02 9.99191936e-01 4.06767125e-04 -1.61352356e+00] [-7.35699381e-03 -1.11161604e-04 9.99972931e-01 7.49887209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625529293000003 meters 0.031155690902907804 Centerline is valid? [True, True] Translation: X:-27.86, Y:-1.63, Z:0.75 [[ 9.99015386e-01 -4.36554802e-02 7.90301462e-03 -2.78613850e+01] [ 4.36534304e-02 9.99046641e-01 4.31768469e-04 -1.62542546e+00] [-7.91432927e-03 -8.63496450e-05 9.99968677e-01 7.51232802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685529293000005 meters 0.03165686075858435 Centerline is valid? [True, True] Translation: X:-27.92, Y:-1.63, Z:0.75 [[ 9.98941929e-01 -4.58053195e-02 4.11026944e-03 -2.79228030e+01] [ 4.58047967e-02 9.98950385e-01 2.21293001e-04 -1.63258898e+00] [-4.11609164e-03 -3.27888016e-05 9.99991528e-01 7.49043567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745529293000004 meters 0.03095156268377664 Centerline is valid? [True, True] Translation: X:-27.98, Y:-1.64, Z:0.76 [[ 9.98877098e-01 -4.69028658e-02 6.68312129e-03 -2.79822579e+01] [ 4.69014131e-02 9.98899453e-01 3.74015336e-04 -1.64082214e+00] [-6.69330859e-03 -6.01475212e-05 9.99977598e-01 7.55451948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805529293000003 meters 0.030954692714875262 Centerline is valid? [True, True] Translation: X:-28.04, Y:-1.63, Z:0.76 [[ 9.99070236e-01 -4.26827219e-02 6.07032751e-03 -2.80446191e+01] [ 4.26814932e-02 9.99088675e-01 3.31878999e-04 -1.62968568e+00] [-6.07896097e-03 -7.24797880e-05 9.99981520e-01 7.56001263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865529293000005 meters 0.031190732427107577 Centerline is valid? [True, True] Translation: X:-28.11, Y:-1.63, Z:0.75 [[ 9.99277020e-01 -3.76193850e-02 5.49717871e-03 -2.81064361e+01] [ 3.76182708e-02 9.99292136e-01 3.05975288e-04 -1.63283283e+00] [-5.50479805e-03 -9.89597168e-05 9.99984844e-01 7.54004918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925529293000004 meters 0.032566509453186704 Centerline is valid? [True, True] Translation: X:-28.17, Y:-1.64, Z:0.76 [[ 9.99323748e-01 -3.62438288e-02 6.19924508e-03 -2.81674012e+01] [ 3.62423738e-02 9.99342969e-01 3.46908944e-04 -1.63919136e+00] [-6.20774529e-03 -1.21998989e-04 9.99980724e-01 7.58982918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985529293000003 meters 0.030860233054252048 Centerline is valid? [True, True] Translation: X:-28.23, Y:-1.64, Z:0.76 [[ 9.99176482e-01 -3.99100290e-02 7.31761634e-03 -2.82277982e+01] [ 3.99080962e-02 9.99203270e-01 4.10018581e-04 -1.64269043e+00] [-7.32815004e-03 -1.17648786e-04 9.99973142e-01 7.63990846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045529293000005 meters 0.033141878331596826 Centerline is valid? [True, True] Translation: X:-28.29, Y:-1.64, Z:0.77 [[ 9.99127450e-01 -4.14394848e-02 5.20657226e-03 -2.82890160e+01] [ 4.14385574e-02 9.99141013e-01 2.85916231e-04 -1.63793004e+00] [-5.21394810e-03 -6.99139111e-05 9.99986405e-01 7.69265810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105529293000004 meters 0.03117580001980581 Centerline is valid? [True, True] Translation: X:-28.35, Y:-1.66, Z:0.76 [[ 9.99041243e-01 -4.36924552e-02 2.75037044e-03 -2.83493059e+01] [ 4.36921950e-02 9.99045028e-01 1.54656568e-04 -1.65943300e+00] [-2.75450124e-03 -3.43385684e-05 9.99996206e-01 7.59304215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165529293000002 meters 0.031217527740928872 Centerline is valid? [True, True] Translation: X:-28.41, Y:-1.65, Z:0.77 [[ 9.98907081e-01 -4.66266156e-02 3.25611238e-03 -2.84077223e+01] [ 4.66262550e-02 9.98912387e-01 1.86621693e-04 -1.65225424e+00] [-3.26127253e-03 -3.45974038e-05 9.99994681e-01 7.73669493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225529293000005 meters 0.03172325813324254 Centerline is valid? [True, True] Translation: X:-28.47, Y:-1.65, Z:0.77 [[ 9.99035580e-01 -4.38342147e-02 2.54396041e-03 -2.84668441e+01] [ 4.38339860e-02 9.99038818e-01 1.45631991e-04 -1.65472497e+00] [-2.54789886e-03 -3.39796158e-05 9.99996754e-01 7.69816808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285529293000003 meters 0.03142068217165603 Centerline is valid? [True, True] Translation: X:-28.53, Y:-1.65, Z:0.78 [[ 9.99218682e-01 -3.90625338e-02 6.01197788e-03 -2.85259912e+01] [ 3.90611928e-02 9.99236762e-01 3.40359293e-04 -1.65349378e+00] [-6.02068461e-03 -1.05258337e-04 9.99981870e-01 7.76287958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345529293000006 meters 0.032925588088823156 Centerline is valid? [True, True] Translation: X:-28.59, Y:-1.64, Z:0.77 [[ 9.99499232e-01 -3.16165890e-02 1.29465424e-03 -2.85877353e+01] [ 3.16165214e-02 9.99500070e-01 7.26758453e-05 -1.64011419e+00] [-1.29630476e-03 -3.17069883e-05 9.99999159e-01 7.71086760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405529293000004 meters 0.03244172401913923 Centerline is valid? [True, True] Translation: X:-28.65, Y:-1.65, Z:0.77 [[ 9.99548020e-01 -3.00616835e-02 -2.25664517e-04 -2.86454346e+01] [ 3.00616820e-02 9.99548045e-01 -9.65453126e-06 -1.64861538e+00] [ 2.25852758e-04 2.86631266e-06 9.99999974e-01 7.68318798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465529293000003 meters 0.03242902056821169 Centerline is valid? [True, True] Translation: X:-28.70, Y:-1.65, Z:0.78 [[ 9.99383630e-01 -3.50989944e-02 -6.48485967e-04 -2.87047199e+01] [ 3.50989794e-02 9.99383840e-01 -3.45090613e-05 -1.64580368e+00] [ 6.49297629e-04 1.17265954e-05 9.99999789e-01 7.75182644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525529293000005 meters 0.03229078765093278 Centerline is valid? [True, True] Translation: X:-28.76, Y:-1.66, Z:0.78 [[ 9.99239815e-01 -3.89515127e-02 1.60394239e-03 -2.87630137e+01] [ 3.89514158e-02 9.99241101e-01 9.16106561e-05 -1.66087781e+00] [-1.60629354e-03 -2.90651879e-05 9.99998709e-01 7.77789489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585529293000004 meters 0.03186952470372012 Centerline is valid? [True, True] Translation: X:-28.82, Y:-1.66, Z:0.78 [[ 9.99191498e-01 -4.01553979e-02 -1.97361463e-03 -2.88208276e+01] [ 4.01552633e-02 9.99193446e-01 -1.07785957e-04 -1.66064699e+00] [ 1.97635099e-03 2.84477971e-05 9.99998047e-01 7.80353975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645529293000003 meters 0.03209335692043114 Centerline is valid? [True, True] Translation: X:-28.88, Y:-1.67, Z:0.78 [[ 9.99282634e-01 -3.78699750e-02 2.85700330e-04 -2.88797262e+01] [ 3.78699713e-02 9.99282675e-01 1.84715166e-05 -1.66683634e+00] [-2.86194906e-04 -7.63880245e-06 9.99999959e-01 7.81974144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705529293000005 meters 0.0323632693639839 Centerline is valid? [True, True] Translation: X:-28.94, Y:-1.66, Z:0.79 [[ 9.99396957e-01 -3.47114183e-02 -9.16627827e-04 -2.89376258e+01] [ 3.47113888e-02 9.99397377e-01 -4.80781654e-05 -1.66103455e+00] [ 9.17744307e-04 1.62317473e-05 9.99999579e-01 7.86587006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765529293000004 meters 0.033581822803879356 Centerline is valid? [True, True] Translation: X:-29.00, Y:-1.66, Z:0.78 [[ 9.99567449e-01 -2.92159619e-02 -3.36773077e-03 -2.89980274e+01] [ 2.92154973e-02 9.99573119e-01 -1.87100573e-04 -1.65947844e+00] [ 3.37175947e-03 8.86297133e-05 9.99994312e-01 7.82912836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825529293000002 meters 0.033929536294684065 Centerline is valid? [True, True] Translation: X:-29.06, Y:-1.66, Z:0.78 [[ 9.99597691e-01 -2.81530682e-02 -3.44400493e-03 -2.90573034e+01] [ 2.81525828e-02 9.99603620e-01 -1.89357258e-04 -1.66349791e+00] [ 3.44797079e-03 9.23234441e-05 9.99994051e-01 7.76507783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885529293000005 meters 0.034823295210160504 Centerline is valid? [True, True] Translation: X:-29.12, Y:-1.67, Z:0.78 [[ 9.99481444e-01 -3.21106051e-02 -2.39832676e-03 -2.91166914e+01] [ 3.21103801e-02 9.99484320e-01 -1.32264953e-04 -1.66518623e+00] [ 2.40133710e-03 5.51851826e-05 9.99997115e-01 7.81174592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945529293000003 meters 0.03280107682533218 Centerline is valid? [True, True] Translation: X:-29.17, Y:-1.68, Z:0.78 [[ 9.99382754e-01 -3.46873059e-02 -5.55900458e-03 -2.91738147e+01] [ 3.46861409e-02 9.99398208e-01 -3.05874844e-04 -1.67857572e+00] [ 5.56626919e-03 1.12865628e-04 9.99984502e-01 7.75663637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005529293000006 meters 0.032739495567691325 Centerline is valid? [True, True] Translation: X:-29.23, Y:-1.68, Z:0.79 [[ 9.99335963e-01 -3.64357847e-02 2.59914041e-04 -2.92334978e+01] [ 3.64357820e-02 9.99335996e-01 1.50021421e-05 -1.68227485e+00] [-2.60288072e-04 -5.52200874e-06 9.99999966e-01 7.92391575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065529293000004 meters 0.032766891302005254 Centerline is valid? [True, True] Translation: X:-29.29, Y:-1.68, Z:0.79 [[ 9.99358493e-01 -3.56594808e-02 -3.31734216e-03 -2.92940457e+01] [ 3.56590679e-02 9.99363996e-01 -1.83550342e-04 -1.68360927e+00] [ 3.32177763e-03 6.51392642e-05 9.99994481e-01 7.88156683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125529293000003 meters 0.03316646403263479 Centerline is valid? [True, True] Translation: X:-29.35, Y:-1.69, Z:0.79 [[ 9.99354509e-01 -3.53349206e-02 -6.48139103e-03 -2.93529111e+01] [ 3.53333907e-02 9.99375519e-01 -3.50428243e-04 -1.69029435e+00] [ 6.48972588e-03 1.21192524e-04 9.99978934e-01 7.89014693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185529293000005 meters 0.03304066302429386 Centerline is valid? [True, True] Translation: X:-29.41, Y:-1.70, Z:0.79 [[ 9.99458563e-01 -3.26715836e-02 -3.89203810e-03 -2.94105634e+01] [ 3.26710063e-02 9.99466138e-01 -2.11830927e-04 -1.69842271e+00] [ 3.89688114e-03 8.45594325e-05 9.99992404e-01 7.91591810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245529293000004 meters 0.033109763820070505 Centerline is valid? [True, True] Translation: X:-29.47, Y:-1.70, Z:0.80 [[ 9.99422947e-01 -3.39017751e-02 -2.10757929e-03 -2.94694313e+01] [ 3.39016107e-02 9.99425169e-01 -1.13680145e-04 -1.70372314e+00] [ 2.11022174e-03 4.21642129e-05 9.99997773e-01 7.97052246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305529293000003 meters 0.032977282017817786 Centerline is valid? [True, True] Translation: X:-29.53, Y:-1.72, Z:0.80 [[ 9.99367781e-01 -3.54475160e-02 -2.74093199e-03 -2.95267893e+01] [ 3.54472440e-02 9.99371538e-01 -1.47779474e-04 -1.71965591e+00] [ 2.74444783e-03 5.05275604e-05 9.99996233e-01 7.96148819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365529293000005 meters 0.034555108062051684 Centerline is valid? [True, True] Translation: X:-29.59, Y:-1.73, Z:0.79 [[ 9.99277248e-01 -3.79874260e-02 -1.39175941e-03 -2.95862104e+01] [ 3.79873580e-02 9.99278217e-01 -7.52894065e-05 -1.72705065e+00] [ 1.39361491e-03 2.23657281e-05 9.99999029e-01 7.94949406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425529293000004 meters 0.03284700575808658 Centerline is valid? [True, True] Translation: X:-29.65, Y:-1.73, Z:0.79 [[ 9.99340557e-01 -3.56230334e-02 -7.03214206e-03 -2.96457014e+01] [ 3.56212009e-02 9.99365289e-01 -3.85696944e-04 -1.72540427e+00] [ 7.04141837e-03 1.34949254e-04 9.99975200e-01 7.86088228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485529293000003 meters 0.03350198626756729 Centerline is valid? [True, True] Translation: X:-29.70, Y:-1.72, Z:0.78 [[ 9.99553992e-01 -2.98027688e-02 -1.90061445e-03 -2.97045749e+01] [ 2.98026408e-02 9.99555798e-01 -9.56106608e-05 -1.72398309e+00] [ 1.90261966e-03 3.89246878e-05 9.99998189e-01 7.82573303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545529293000005 meters 0.03326949181931979 Centerline is valid? [True, True] Translation: X:-29.76, Y:-1.74, Z:0.78 [[ 9.99565588e-01 -2.73497617e-02 -1.09830035e-02 -2.97632673e+01] [ 2.73448272e-02 9.99625881e-01 -5.99231907e-04 -1.73684695e+00] [ 1.09952834e-02 2.98643259e-04 9.99939505e-01 7.75537188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605529293000004 meters 0.033007001443657535 Centerline is valid? [True, True] Translation: X:-29.82, Y:-1.73, Z:0.78 [[ 9.99619223e-01 -2.73332283e-02 -3.78213620e-03 -2.98240727e+01] [ 2.73326432e-02 9.99626372e-01 -2.06329883e-04 -1.72874708e+00] [ 3.78636275e-03 1.02875538e-04 9.99992826e-01 7.84212312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665529293000002 meters 0.03304021724452879 Centerline is valid? [True, True] Translation: X:-29.88, Y:-1.74, Z:0.78 [[ 9.99667552e-01 -2.56478734e-02 -2.64035367e-03 -2.98821440e+01] [ 2.56475919e-02 9.99671037e-01 -1.40437206e-04 -1.73532947e+00] [ 2.64308701e-03 7.26718049e-05 9.99996504e-01 7.83951241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725529293000005 meters 0.032783681554443944 Centerline is valid? [True, True] Translation: X:-29.94, Y:-1.75, Z:0.79 [[ 9.99609286e-01 -2.76230351e-02 -4.27120050e-03 -2.99389755e+01] [ 2.76223121e-02 9.99618405e-01 -2.28169463e-04 -1.74645616e+00] [ 4.27587336e-03 1.10099881e-04 9.99990852e-01 7.87469567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785529293000003 meters 0.03211424049667177 Centerline is valid? [True, True] Translation: X:-30.00, Y:-1.75, Z:0.79 [[ 9.99507595e-01 -3.12553739e-02 -2.76932956e-03 -2.99978649e+01] [ 3.12550819e-02 9.99511430e-01 -1.48691868e-04 -1.75427969e+00] [ 2.77262396e-03 6.20630290e-05 9.99996154e-01 7.87745050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845529293000006 meters 0.031177474315847963 Centerline is valid? [True, True] Translation: X:-30.06, Y:-1.77, Z:0.79 [[ 9.99420867e-01 -3.40265673e-02 -3.52013130e-04 -3.00552147e+01] [ 3.40265636e-02 9.99420929e-01 -1.62572374e-05 -1.76934096e+00] [ 3.52362467e-04 4.27002510e-06 9.99999938e-01 7.94269181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905529293000004 meters 0.033443144481112755 Centerline is valid? [True, True] Translation: X:-30.12, Y:-1.75, Z:0.79 [[ 9.99439451e-01 -3.33217428e-02 -3.23185616e-03 -3.01158062e+01] [ 3.33213640e-02 9.99444675e-01 -1.70996933e-04 -1.75303357e+00] [ 3.23575934e-03 6.32112255e-05 9.99994763e-01 7.88492147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965529293000003 meters 0.034676634048201614 Centerline is valid? [True, True] Translation: X:-30.18, Y:-1.76, Z:0.77 [[ 9.99707148e-01 -2.34615575e-02 -5.93067187e-03 -3.01761391e+01] [ 2.34600711e-02 9.99724723e-01 -3.20097028e-04 -1.76202230e+00] [ 5.93654927e-03 1.80869303e-04 9.99982362e-01 7.71574747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025529293000005 meters 0.03288120889348399 Centerline is valid? [True, True] Translation: X:-30.23, Y:-1.76, Z:0.79 [[ 9.99804188e-01 -1.96337662e-02 -2.47012437e-03 -3.02336833e+01] [ 1.96335038e-02 9.99807236e-01 -1.30442928e-04 -1.76460619e+00] [ 2.47220930e-03 8.19201899e-05 9.99996941e-01 7.87950252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085529293000004 meters 0.0330443810835119 Centerline is valid? [True, True] Translation: X:-30.29, Y:-1.75, Z:0.78 [[ 9.99883984e-01 -1.51438330e-02 -1.63819997e-03 -3.02941640e+01] [ 1.51437104e-02 9.99885324e-01 -8.72242436e-05 -1.75389271e+00] [ 1.63933301e-03 6.24056982e-05 9.99998654e-01 7.80130295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145529293000003 meters 0.03368479045498765 Centerline is valid? [True, True] Translation: X:-30.35, Y:-1.77, Z:0.78 [[ 9.99906803e-01 -1.36049371e-02 -1.13614328e-03 -3.03524836e+01] [ 1.36048790e-02 9.99907448e-01 -5.88526492e-05 -1.76505625e+00] [ 1.13683881e-03 4.33900725e-05 9.99999353e-01 7.76899552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205529293000005 meters 0.032526131932432895 Centerline is valid? [True, True] Translation: X:-30.41, Y:-1.77, Z:0.77 [[ 9.99843397e-01 -1.76945533e-02 -2.89873752e-04 -3.04116214e+01] [ 1.76945496e-02 9.99843439e-01 -1.53198182e-05 -1.76785614e+00] [ 2.90099447e-04 1.01882336e-05 9.99999958e-01 7.71646128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265529293000004 meters 0.03427781212604325 Centerline is valid? [True, True] Translation: X:-30.47, Y:-1.78, Z:0.77 [[ 9.99805709e-01 -1.94081282e-02 -3.44504558e-03 -3.04701249e+01] [ 1.94076125e-02 9.99811638e-01 -1.83069777e-04 -1.78253293e+00] [ 3.44794970e-03 1.16174099e-04 9.99994049e-01 7.67380616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325529293000002 meters 0.03227845082289413 Centerline is valid? [True, True] Translation: X:-30.53, Y:-1.78, Z:0.76 [[ 9.99821827e-01 -1.83716269e-02 -4.33563766e-03 -3.05288043e+01] [ 1.83707991e-02 9.99831216e-01 -2.30675482e-04 -1.77845245e+00] [ 4.33914376e-03 1.50985254e-04 9.99990574e-01 7.63293599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385529293000005 meters 0.03349968684779901 Centerline is valid? [True, True] Translation: X:-30.59, Y:-1.79, Z:0.76 [[ 9.99841954e-01 -1.74367647e-02 -3.46785984e-03 -3.05857096e+01] [ 1.74362393e-02 9.99847961e-01 -1.81690751e-04 -1.78982173e+00] [ 3.47050069e-03 1.21195602e-04 9.99993970e-01 7.64935817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445529293000003 meters 0.03293975657184933 Centerline is valid? [True, True] Translation: X:-30.64, Y:-1.79, Z:0.76 [[ 9.99865623e-01 -1.56143948e-02 -4.99272096e-03 -3.06445217e+01] [ 1.56132625e-02 9.99878070e-01 -2.65694007e-04 -1.78856118e+00] [ 4.99626085e-03 1.87705641e-04 9.99987501e-01 7.64372093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505529293000006 meters 0.03236728107703063 Centerline is valid? [True, True] Translation: X:-30.70, Y:-1.80, Z:0.77 [[ 9.99824379e-01 -1.87281275e-02 6.84705950e-04 -3.07041585e+01] [ 1.87281067e-02 9.99824613e-01 3.68361458e-05 -1.79777926e+00] [-6.85275734e-04 -2.40064305e-05 9.99999765e-01 7.70100835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565529293000004 meters 0.03384732417488626 Centerline is valid? [True, True] Translation: X:-30.77, Y:-1.80, Z:0.76 [[ 9.99812198e-01 -1.77685547e-02 -7.73614149e-03 -3.07652482e+01] [ 1.77658804e-02 9.99842088e-01 -4.14278752e-04 -1.80002295e+00] [ 7.74228100e-03 2.76761585e-04 9.99969990e-01 7.56068446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625529293000003 meters 0.032157163594294526 Centerline is valid? [True, True] Translation: X:-30.82, Y:-1.82, Z:0.77 [[ 9.99764883e-01 -2.16568251e-02 1.07763844e-03 -3.08228250e+01] [ 2.16567753e-02 9.99765463e-01 5.78565833e-05 -1.82336220e+00] [-1.07863868e-03 -3.45048067e-05 9.99999418e-01 7.70485949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685529293000005 meters 0.0325071942284814 Centerline is valid? [True, True] Translation: X:-30.88, Y:-1.81, Z:0.76 [[ 9.99770686e-01 -2.13801555e-02 -1.20975319e-03 -3.08831065e+01] [ 2.13800949e-02 9.99771418e-01 -6.30134717e-05 -1.81397324e+00] [ 1.21082390e-03 3.71343839e-05 9.99999266e-01 7.62933353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745529293000004 meters 0.03293418134932166 Centerline is valid? [True, True] Translation: X:-30.94, Y:-1.82, Z:0.74 [[ 9.99836765e-01 -1.64197319e-02 -7.53893791e-03 -3.09422029e+01] [ 1.64171705e-02 9.99865149e-01 -4.01515891e-04 -1.82028275e+00] [ 7.54451406e-03 2.77682320e-04 9.99971501e-01 7.43545151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805529293000003 meters 0.033622579661053614 Centerline is valid? [True, True] Translation: X:-31.00, Y:-1.82, Z:0.76 [[ 9.99924195e-01 -1.20668750e-02 -2.44834818e-03 -3.10004124e+01] [ 1.20666117e-02 9.99927188e-01 -1.22283279e-04 -1.82413070e+00] [ 2.44964549e-03 9.27307426e-05 9.99996995e-01 7.57191560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865529293000005 meters 0.034537525776339034 Centerline is valid? [True, True] Translation: X:-31.06, Y:-1.82, Z:0.74 [[ 9.99974799e-01 -6.31938596e-03 -3.23531403e-03 -3.10615225e+01] [ 6.31886232e-03 9.99980021e-01 -1.72047276e-04 -1.81857570e+00] [ 3.23633662e-03 1.51599436e-04 9.99994752e-01 7.41241476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925529293000004 meters 0.03453053233409519 Centerline is valid? [True, True] Translation: X:-31.12, Y:-1.82, Z:0.75 [[ 9.99987112e-01 -4.14369417e-03 -2.93348073e-03 -3.11186936e+01] [ 4.14326345e-03 9.99991405e-01 -1.52888676e-04 -1.82030662e+00] [ 2.93408904e-03 1.40732523e-04 9.99995686e-01 7.50033595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985529293000003 meters 0.03378122086023393 Centerline is valid? [True, True] Translation: X:-31.18, Y:-1.83, Z:0.75 [[ 9.99994769e-01 -2.41658620e-03 -2.15012263e-03 -3.11765802e+01] [ 2.41635415e-03 9.99997075e-01 -1.10514372e-04 -1.82675016e+00] [ 2.15038341e-03 1.05318336e-04 9.99997682e-01 7.45942109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045529293000005 meters 0.03369818446335332 Centerline is valid? [True, True] Translation: X:-31.24, Y:-1.83, Z:0.75 [[ 9.99991204e-01 -4.17107491e-03 -4.41579099e-04 -3.12351597e+01] [ 4.17106581e-03 9.99991301e-01 -2.15440175e-05 -1.83498333e+00] [ 4.41665119e-04 1.97019725e-05 9.99999902e-01 7.48441476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105529293000004 meters 0.03581370703354507 Centerline is valid? [True, True] Translation: X:-31.30, Y:-1.82, Z:0.74 [[ 9.99973969e-01 -3.95337507e-03 -6.03587717e-03 -3.12968862e+01] [ 3.95152186e-03 9.99992142e-01 -3.18926356e-04 -1.81880461e+00] [ 6.03709057e-03 2.95067153e-04 9.99981733e-01 7.35115891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165529293000006 meters 0.033360219657899544 Centerline is valid? [True, True] Translation: X:-31.35, Y:-1.85, Z:0.75 [[ 9.99960263e-01 -8.51613422e-03 -2.63586574e-03 -3.13549074e+01] [ 8.51579757e-03 9.99963730e-01 -1.38916382e-04 -1.84781447e+00] [ 2.63695317e-03 1.16464363e-04 9.99996516e-01 7.46662010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225529293000005 meters 0.032867656593089274 Centerline is valid? [True, True] Translation: X:-31.41, Y:-1.84, Z:0.75 [[ 9.99953560e-01 -9.58920220e-03 -9.61494415e-04 -3.14147876e+01] [ 9.58915889e-03 9.99954022e-01 -4.96447464e-05 -1.84197092e+00] [ 9.61926261e-04 4.04225182e-05 9.99999537e-01 7.54603638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285529293000003 meters 0.03412143819579855 Centerline is valid? [True, True] Translation: X:-31.48, Y:-1.84, Z:0.74 [[ 9.99972560e-01 -6.41632091e-03 -3.70272123e-03 -3.14751335e+01] [ 6.41564190e-03 9.99979401e-01 -1.95229698e-04 -1.83949092e+00] [ 3.70389761e-03 1.71469008e-04 9.99993126e-01 7.43982989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345529293000006 meters 0.034040102769378223 Centerline is valid? [True, True] Translation: X:-31.53, Y:-1.85, Z:0.76 [[ 9.99985583e-01 -5.26355125e-03 1.06228255e-03 -3.15342387e+01] [ 5.26349337e-03 9.99986146e-01 5.72817940e-05 -1.84535019e+00] [-1.06256934e-03 -5.16896510e-05 9.99999434e-01 7.55521413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405529293000004 meters 0.03404773704979742 Centerline is valid? [True, True] Translation: X:-31.59, Y:-1.86, Z:0.76 [[ 9.99993980e-01 -3.45099371e-03 -3.60542387e-04 -3.15943364e+01] [ 3.45098662e-03 9.99994045e-01 -2.02806686e-05 -1.86056031e+00] [ 3.60610229e-04 1.90363196e-05 9.99999935e-01 7.58566984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465529293000003 meters 0.03505560176297212 Centerline is valid? [True, True] Translation: X:-31.66, Y:-1.84, Z:0.75 [[ 9.99979733e-01 -2.63569691e-03 -5.79543935e-03 -3.16563045e+01] [ 2.63396948e-03 9.99996484e-01 -3.05679997e-04 -1.84182198e+00] [ 5.79622465e-03 2.90408792e-04 9.99983160e-01 7.47121431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525529293000005 meters 0.0345788376603832 Centerline is valid? [True, True] Translation: X:-31.72, Y:-1.85, Z:0.75 [[ 9.99984214e-01 -4.73539744e-03 -3.02454514e-03 -3.17159524e+01] [ 4.73493745e-03 9.99988777e-01 -1.59229060e-04 -1.85461686e+00] [ 3.02526521e-03 1.44905515e-04 9.99995413e-01 7.49578514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585529293000004 meters 0.03260268926677588 Centerline is valid? [True, True] Translation: X:-31.77, Y:-1.87, Z:0.75 [[ 9.99942881e-01 -9.73070435e-03 -4.42139024e-03 -3.17743379e+01] [ 9.72976753e-03 9.99952637e-01 -2.33344072e-04 -1.87153888e+00] [ 4.42345144e-03 1.90311644e-04 9.99990198e-01 7.54210150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645529293000003 meters 0.03187093327856465 Centerline is valid? [True, True] Translation: X:-31.83, Y:-1.88, Z:0.76 [[ 9.99885899e-01 -1.50144635e-02 -1.65981579e-03 -3.18338532e+01] [ 1.50143387e-02 9.99887275e-01 -8.76480119e-05 -1.88229845e+00] [ 1.66094467e-03 6.27169749e-05 9.99998619e-01 7.64355863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705529293000005 meters 0.032976972879082564 Centerline is valid? [True, True] Translation: X:-31.89, Y:-1.88, Z:0.77 [[ 9.99878057e-01 -1.55725142e-02 1.16958165e-03 -3.18936151e+01] [ 1.55724513e-02 9.99878740e-01 6.29340750e-05 -1.88197615e+00] [-1.17041987e-03 -4.47131473e-05 9.99999314e-01 7.70985704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765529293000004 meters 0.032203002567768355 Centerline is valid? [True, True] Translation: X:-31.95, Y:-1.88, Z:0.77 [[ 9.99899859e-01 -1.41396417e-02 5.84588029e-04 -3.19529294e+01] [ 1.41396254e-02 9.99900030e-01 3.19978909e-05 -1.88109373e+00] [-5.84982027e-04 -2.37288309e-05 9.99999829e-01 7.73461592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825529293000006 meters 0.032724822498850836 Centerline is valid? [True, True] Translation: X:-32.01, Y:-1.88, Z:0.76 [[ 9.99951405e-01 -9.31771754e-03 -3.21997426e-03 -3.20132329e+01] [ 9.31721910e-03 9.99956579e-01 -1.69762135e-04 -1.88480290e+00] [ 3.22141624e-03 1.39752680e-04 9.99994801e-01 7.62273714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885529293000005 meters 0.03383661725954532 Centerline is valid? [True, True] Translation: X:-32.07, Y:-1.88, Z:0.76 [[ 9.99948146e-01 -1.01816101e-02 -2.00631152e-04 -3.20727982e+01] [ 1.01816086e-02 9.99948166e-01 -8.76543436e-06 -1.87570731e+00] [ 2.00709999e-04 6.72223197e-06 9.99999980e-01 7.64142196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945529293000003 meters 0.034938389003648325 Centerline is valid? [True, True] Translation: X:-32.13, Y:-1.87, Z:0.76 [[ 9.99964108e-01 -8.17967797e-03 -2.20787139e-03 -3.21329209e+01] [ 8.17944360e-03 9.99966541e-01 -1.15160275e-04 -1.87466886e+00] [ 2.20873950e-03 9.70969817e-05 9.99997556e-01 7.59478978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005529293 meters 0.035423484422206795 Centerline is valid? [True, True] Translation: X:-32.19, Y:-1.87, Z:0.77 [[ 9.99974979e-01 -6.28208750e-03 -3.25210012e-03 -3.21902897e+01] [ 6.28157409e-03 9.99980257e-01 -1.68060807e-04 -1.87022111e+00] [ 3.25309169e-03 1.47628294e-04 9.99994698e-01 7.74732195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065529293 meters 0.032252056735860256 Centerline is valid? [True, True] Translation: X:-32.25, Y:-1.88, Z:0.78 [[ 9.99976286e-01 -6.61951953e-03 1.89992441e-03 -3.22488156e+01] [ 6.61934110e-03 9.99978087e-01 1.00190547e-04 -1.88361939e+00] [-1.90054599e-03 -8.76119231e-05 9.99998190e-01 7.75024676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125529293 meters 0.03311633507168595 Centerline is valid? [True, True] Translation: X:-32.31, Y:-1.87, Z:0.77 [[ 9.99974384e-01 -5.94055871e-03 -3.99255438e-03 -3.23108224e+01] [ 5.93976535e-03 9.99982337e-01 -2.10538703e-04 -1.87154214e+00] [ 3.99373458e-03 1.86818474e-04 9.99992008e-01 7.72709369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185529293 meters 0.032715874720594534 Centerline is valid? [True, True] Translation: X:-32.37, Y:-1.88, Z:0.78 [[ 9.99918913e-01 -1.24368096e-02 2.73730659e-03 -3.23708741e+01] [ 1.24364623e-02 9.99922654e-01 1.43863796e-04 -1.88113326e+00] [-2.73888408e-03 -1.09809721e-04 9.99996243e-01 7.78131819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245529293000004 meters 0.031676356531857165 Centerline is valid? [True, True] Translation: X:-32.43, Y:-1.87, Z:0.78 [[ 9.99938495e-01 -1.07558281e-02 -2.70509013e-03 -3.24308174e+01] [ 1.07554826e-02 9.99942148e-01 -1.42229890e-04 -1.87207786e+00] [ 2.70646343e-03 1.13126592e-04 9.99996331e-01 7.83803284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305529293 meters 0.03279905922976406 Centerline is valid? [True, True] Translation: X:-32.49, Y:-1.87, Z:0.78 [[ 9.99948625e-01 -1.01363039e-02 -5.86211399e-05 -3.24894441e+01] [ 1.01363038e-02 9.99948626e-01 -6.05201980e-07 -1.87471783e+00] [ 5.86242628e-05 1.09692010e-08 9.99999998e-01 7.79605474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365529293 meters 0.03281307667913534 Centerline is valid? [True, True] Translation: X:-32.55, Y:-1.87, Z:0.79 [[ 9.99954710e-01 -9.25185104e-03 2.23184671e-03 -3.25474795e+01] [ 9.25160651e-03 9.99957196e-01 1.19865021e-04 -1.87346487e+00] [-2.23286015e-03 -9.92114243e-05 9.99997502e-01 7.91959606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425529293000004 meters 0.034088036846056324 Centerline is valid? [True, True] Translation: X:-32.61, Y:-1.86, Z:0.79 [[ 9.99986185e-01 -4.96295761e-03 -1.73169286e-03 -3.26086410e+01] [ 4.96280785e-03 9.99987681e-01 -9.07678995e-05 -1.86389236e+00] [ 1.73212201e-03 8.21725866e-05 9.99998496e-01 7.87796267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485529293 meters 0.034264141718555484 Centerline is valid? [True, True] Translation: X:-32.67, Y:-1.87, Z:0.80 [[ 9.99990416e-01 -4.22797795e-03 -1.13668993e-03 -3.26662857e+01] [ 4.22791643e-03 9.99991061e-01 -5.65196474e-05 -1.86953866e+00] [ 1.13691873e-03 5.17132757e-05 9.99999352e-01 7.97581976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545529293 meters 0.03652020754236195 Centerline is valid? [True, True] Translation: X:-32.73, Y:-1.84, Z:0.80 [[ 9.99996716e-01 -1.87117637e-03 1.75110247e-03 -3.27265762e+01] [ 1.87101478e-03 9.99998245e-01 9.39094042e-05 -1.84246700e+00] [-1.75127512e-03 -9.06327572e-05 9.99998462e-01 7.96869012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605529293000004 meters 0.034737341678170025 Centerline is valid? [True, True] Translation: X:-32.79, Y:-1.87, Z:0.80 [[ 9.99997281e-01 -1.92193148e-03 -1.32050120e-03 -3.27857495e+01] [ 1.92184045e-03 9.99998151e-01 -7.02003552e-05 -1.87209242e+00] [ 1.32063368e-03 6.76623717e-05 9.99999126e-01 7.98433229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665529293 meters 0.033791033074987986 Centerline is valid? [True, True] Translation: X:-32.85, Y:-1.87, Z:0.81 [[ 9.99944889e-01 -1.04979140e-02 -1.15985679e-04 -3.28452003e+01] [ 1.04979134e-02 9.99944895e-01 -5.51795752e-06 -1.86892910e+00] [ 1.16037215e-04 4.30004580e-06 9.99999993e-01 8.09760865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725529293 meters 0.03429208690304772 Centerline is valid? [True, True] Translation: X:-32.91, Y:-1.86, Z:0.80 [[ 9.99925376e-01 -1.19700922e-02 -2.44103893e-03 -3.29051705e+01] [ 1.19698228e-02 9.99928351e-01 -1.24958390e-04 -1.86221451e+00] [ 2.44235979e-03 9.57302618e-05 9.99997013e-01 7.96174168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785529293 meters 0.03315892834215295 Centerline is valid? [True, True] Translation: X:-32.96, Y:-1.87, Z:0.81 [[ 9.99892280e-01 -1.46693510e-02 4.88123659e-04 -3.29647669e+01] [ 1.46693400e-02 9.99892399e-01 2.60138381e-05 -1.86545582e+00] [-4.88452743e-04 -1.88505839e-05 9.99999881e-01 8.08557302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845529293 meters 0.0322404240041978 Centerline is valid? [True, True] Translation: X:-33.02, Y:-1.87, Z:0.81 [[ 9.99937453e-01 -1.11777844e-02 3.83227155e-04 -3.30231507e+01] [ 1.11777771e-02 9.99937526e-01 2.11595876e-05 -1.87411205e+00] [-3.83439731e-04 -1.68746365e-05 9.99999926e-01 8.13826961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905529293 meters 0.03486435383799174 Centerline is valid? [True, True] Translation: X:-33.08, Y:-1.85, Z:0.81 [[ 9.99972501e-01 -7.40842748e-03 3.36693753e-04 -3.30840406e+01] [ 7.40842158e-03 9.99972557e-01 1.87499891e-05 -1.85261705e+00] [-3.36823422e-04 -1.62551042e-05 9.99999943e-01 8.12160613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965529293 meters 0.03364204107867042 Centerline is valid? [True, True] Translation: X:-33.14, Y:-1.86, Z:0.82 [[ 9.99991801e-01 -2.55293565e-03 3.14327032e-03 -3.31420865e+01] [ 2.55242835e-03 9.99996729e-01 1.65393406e-04 -1.85741285e+00] [-3.14368227e-03 -1.57369078e-04 9.99995046e-01 8.17880990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025529293 meters 0.035732885895333064 Centerline is valid? [True, True] Translation: X:-33.20, Y:-1.84, Z:0.80 [[ 9.99999649e-01 -7.18393488e-04 -4.32198755e-04 -3.32041341e+01] [ 7.18383832e-04 9.99999742e-01 -2.24963598e-05 -1.83799403e+00] [ 4.32214804e-04 2.21858673e-05 9.99999906e-01 8.04773250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085529293 meters 0.033907376480889734 Centerline is valid? [True, True] Translation: X:-33.26, Y:-1.86, Z:0.81 [[ 9.99994059e-01 -3.27858174e-03 1.06437191e-03 -3.32620572e+01] [ 3.27852343e-03 9.99994624e-01 5.65263795e-05 -1.85758961e+00] [-1.06455152e-03 -5.30364754e-05 9.99999432e-01 8.09937342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145529293 meters 0.032253409804193174 Centerline is valid? [True, True] Translation: X:-33.32, Y:-1.85, Z:0.81 [[ 9.99967204e-01 -7.99805587e-03 -1.27336606e-03 -3.33220181e+01] [ 7.99797800e-03 9.99968013e-01 -6.62344202e-05 -1.85433634e+00] [ 1.27385508e-03 5.60478943e-05 9.99999187e-01 8.14557277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205529293 meters 0.03257752962797214 Centerline is valid? [True, True] Translation: X:-33.38, Y:-1.86, Z:0.82 [[ 9.99908058e-01 -1.35146528e-02 1.10908636e-03 -3.33824199e+01] [ 1.35145969e-02 9.99908672e-01 5.78527760e-05 -1.85544535e+00] [-1.10976693e-03 -4.28586018e-05 9.99999383e-01 8.19975933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265529293 meters 0.03204581610002251 Centerline is valid? [True, True] Translation: X:-33.44, Y:-1.86, Z:0.82 [[ 9.99885749e-01 -1.47443875e-02 3.33035888e-03 -3.34415221e+01] [ 1.47438872e-02 9.99891288e-01 1.74738701e-04 -1.85627094e+00] [-3.33257324e-03 -1.25616301e-04 9.99994439e-01 8.22411664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325529293 meters 0.032355731298492695 Centerline is valid? [True, True] Translation: X:-33.50, Y:-1.85, Z:0.82 [[ 9.99945641e-01 -1.04257019e-02 -1.40228922e-04 -3.35012934e+01] [ 1.04257011e-02 9.99945651e-01 -6.79414241e-06 -1.84963305e+00] [ 1.40292134e-04 5.33178826e-06 9.99999990e-01 8.21212965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385529293 meters 0.032052823302970115 Centerline is valid? [True, True] Translation: X:-33.56, Y:-1.85, Z:0.82 [[ 9.99956630e-01 -9.31033162e-03 2.34610788e-04 -3.35588778e+01] [ 9.31032832e-03 9.99956658e-01 1.51669172e-05 -1.85291139e+00] [-2.34741828e-04 -1.29819559e-05 9.99999972e-01 8.23200566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445529293 meters 0.03213338414621631 Centerline is valid? [True, True] Translation: X:-33.62, Y:-1.85, Z:0.83 [[ 9.99977453e-01 -5.54382822e-03 3.78932498e-03 -3.36175459e+01] [ 5.54311523e-03 9.99984617e-01 1.98633919e-04 -1.84992051e+00] [-3.79036788e-03 -1.77624775e-04 9.99992801e-01 8.31447699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505529293 meters 0.03296783681044584 Centerline is valid? [True, True] Translation: X:-33.68, Y:-1.84, Z:0.83 [[ 9.99983116e-01 -5.75581029e-03 7.98481924e-04 -3.36804123e+01] [ 5.75578591e-03 9.99983435e-01 3.28381255e-05 -1.84215484e+00] [-7.98657707e-04 -2.82416800e-05 9.99999681e-01 8.30860392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565529293 meters 0.03201086962798809 Centerline is valid? [True, True] Translation: X:-33.74, Y:-1.85, Z:0.84 [[ 9.99967334e-01 -7.14392024e-03 3.78103959e-03 -3.37389791e+01] [ 7.14322313e-03 9.99974467e-01 1.97842078e-04 -1.84579406e+00] [-3.78235642e-03 -1.70826806e-04 9.99992832e-01 8.36535018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625529293 meters 0.03451749220356408 Centerline is valid? [True, True] Translation: X:-33.80, Y:-1.84, Z:0.84 [[ 9.99967894e-01 -7.43272455e-03 2.99432865e-03 -3.38013271e+01] [ 7.43231489e-03 9.99972369e-01 1.47916186e-04 -1.84024094e+00] [-2.99534533e-03 -1.25656643e-04 9.99995506e-01 8.42275455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685529293 meters 0.033200913386480665 Centerline is valid? [True, True] Translation: X:-33.86, Y:-1.83, Z:0.84 [[ 9.99940719e-01 -1.04627628e-02 -3.01472652e-03 -3.38636007e+01] [ 1.04623079e-02 9.99945255e-01 -1.66652264e-04 -1.83330323e+00] [ 3.01630512e-03 1.35101388e-04 9.99995442e-01 8.39076118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745529293000004 meters 0.03422894247216899 Centerline is valid? [True, True] Translation: X:-33.92, Y:-1.84, Z:0.85 [[ 9.99955573e-01 -8.96910257e-03 2.89968293e-03 -3.39228764e+01] [ 8.96869534e-03 9.99959769e-01 1.53411009e-04 -1.83604490e+00] [-2.90094223e-03 -1.27397820e-04 9.99995784e-01 8.51558140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805529293 meters 0.03407850072675106 Centerline is valid? [True, True] Translation: X:-33.98, Y:-1.83, Z:0.85 [[ 9.99969591e-01 -6.51265211e-03 -4.28980601e-03 -3.39829817e+01] [ 6.51174898e-03 9.99978773e-01 -2.24462783e-04 -1.82882919e+00] [ 4.29117680e-03 1.96521817e-04 9.99990774e-01 8.46612471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865529293 meters 0.033952442605567394 Centerline is valid? [True, True] Translation: X:-34.04, Y:-1.84, Z:0.86 [[ 9.99992557e-01 -3.10507152e-03 2.29012485e-03 -3.40408989e+01] [ 3.10479800e-03 9.99995173e-01 1.22983077e-04 -1.83514186e+00] [-2.29049566e-03 -1.15871787e-04 9.99997370e-01 8.55165179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925529293000004 meters 0.03415494459677929 Centerline is valid? [True, True] Translation: X:-34.10, Y:-1.84, Z:0.85 [[ 9.99988977e-01 -4.03231073e-03 -2.40568794e-03 -3.41024336e+01] [ 4.03201605e-03 9.99991863e-01 -1.27327411e-04 -1.83553760e+00] [ 2.40618179e-03 1.17626235e-04 9.99997098e-01 8.53340451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985529293 meters 0.033864144448867046 Centerline is valid? [True, True] Translation: X:-34.16, Y:-1.83, Z:0.86 [[ 9.99983530e-01 -4.96237868e-03 2.88363325e-03 -3.41626329e+01] [ 4.96196180e-03 9.99987678e-01 1.51705756e-04 -1.83052079e+00] [-2.88435054e-03 -1.37394779e-04 9.99995831e-01 8.60736551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045529293 meters 0.03634298556149104 Centerline is valid? [True, True] Translation: X:-34.22, Y:-1.83, Z:0.86 [[ 9.99994172e-01 -3.17950914e-03 -1.24326900e-03 -3.42234639e+01] [ 3.17942982e-03 9.99994943e-01 -6.57732404e-05 -1.83368605e+00] [ 1.24347184e-03 6.18199706e-05 9.99999225e-01 8.56528771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105529293000004 meters 0.034449455528167194 Centerline is valid? [True, True] Translation: X:-34.28, Y:-1.83, Z:0.85 [[ 9.99985499e-01 -4.83790358e-03 -2.36586865e-03 -3.42828733e+01] [ 4.83762979e-03 9.99988291e-01 -1.21436441e-04 -1.83158327e+00] [ 2.36642845e-03 1.09989484e-04 9.99997194e-01 8.50828522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165529293 meters 0.03486609322089149 Centerline is valid? [True, True] Translation: X:-34.34, Y:-1.83, Z:0.85 [[ 9.99954482e-01 -9.33459143e-03 1.97474165e-03 -3.43432651e+01] [ 9.33440512e-03 9.99956428e-01 1.03541933e-04 -1.83416736e+00] [-1.97562213e-03 -8.51041812e-05 9.99998045e-01 8.53658325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225529293 meters 0.03412845921590926 Centerline is valid? [True, True] Translation: X:-34.40, Y:-1.83, Z:0.86 [[ 9.99958763e-01 -7.68508496e-03 -4.83850318e-03 -3.44026695e+01] [ 7.68395258e-03 9.99970446e-01 -2.52581162e-04 -1.83032704e+00] [ 4.84030129e-03 2.15391917e-04 9.99988262e-01 8.55861751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285529293 meters 0.03450520350868769 Centerline is valid? [True, True] Translation: X:-34.46, Y:-1.83, Z:0.86 [[ 9.99985994e-01 -5.09226079e-03 1.44236040e-03 -3.44617017e+01] [ 5.09215469e-03 9.99987032e-01 7.72236019e-05 -1.83403169e+00] [-1.44273494e-03 -6.98777981e-05 9.99998957e-01 8.59163355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345529293 meters 0.03698265097322042 Centerline is valid? [True, True] Translation: X:-34.52, Y:-1.83, Z:0.85 [[ 9.99999599e-01 -6.77630883e-04 5.85652477e-04 -3.45234728e+01] [ 6.77613380e-04 9.99999770e-01 3.00841857e-05 -1.82809109e+00] [-5.85672729e-04 -2.96873276e-05 9.99999828e-01 8.54444200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405529293 meters 0.038207883972530325 Centerline is valid? [True, True] Translation: X:-34.58, Y:-1.82, Z:0.85 [[ 9.99996684e-01 2.56957335e-03 1.68541258e-04 -3.45847725e+01] [-2.56957488e-03 9.99996699e-01 8.81081515e-06 -1.81550359e+00] [-1.68518061e-04 -9.24386532e-06 9.99999986e-01 8.54560069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465529293 meters 0.037035937778548626 Centerline is valid? [True, True] Translation: X:-34.65, Y:-1.83, Z:0.86 [[ 9.99982424e-01 4.26933809e-03 4.11397555e-03 -3.46454155e+01] [-4.27023281e-03 9.99990861e-01 2.08722773e-04 -1.82529604e+00] [-4.11304685e-03 -2.26286738e-04 9.99991516e-01 8.57470257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525529293 meters 0.03551588536358291 Centerline is valid? [True, True] Translation: X:-34.71, Y:-1.84, Z:0.86 [[ 9.99997660e-01 2.15586616e-03 1.81374193e-04 -3.47056822e+01] [-2.15586709e-03 9.99997676e-01 4.93475525e-06 -1.83983165e+00] [-1.81363133e-04 -5.32576236e-06 9.99999984e-01 8.58175398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585529293 meters 0.036253464202492286 Centerline is valid? [True, True] Translation: X:-34.77, Y:-1.83, Z:0.86 [[ 9.99998622e-01 1.89781495e-04 -1.64930221e-03 -3.47681700e+01] [-1.89927019e-04 9.99999978e-01 -8.80771747e-05 -1.82946247e+00] [ 1.64928546e-03 8.83903004e-05 9.99998636e-01 8.56642756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645529293 meters 0.03732988784101597 Centerline is valid? [True, True] Translation: X:-34.83, Y:-1.83, Z:0.85 [[ 9.99999512e-01 -9.87517686e-04 2.79276875e-05 -3.48274413e+01] [ 9.87517597e-04 9.99999512e-01 3.22452834e-06 -1.83217532e+00] [-2.79308582e-05 -3.19694768e-06 1.00000000e+00 8.53904881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705529293 meters 0.03806634886854896 Centerline is valid? [True, True] Translation: X:-34.89, Y:-1.83, Z:0.85 [[ 9.99996374e-01 -2.66124968e-04 -2.67961668e-03 -3.48879547e+01] [ 2.65749631e-04 9.99999955e-01 -1.40425991e-04 -1.82958616e+00] [ 2.67965393e-03 1.39713375e-04 9.99996400e-01 8.53401403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765529293 meters 0.0367177450002092 Centerline is valid? [True, True] Translation: X:-34.95, Y:-1.85, Z:0.87 [[ 9.99996244e-01 9.91134968e-04 2.55542241e-03 -3.49452511e+01] [-9.91485951e-04 9.99999499e-01 1.36085038e-04 -1.84599819e+00] [-2.55528625e-03 -1.38618192e-04 9.99996726e-01 8.65636947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825529293 meters 0.03598768005903654 Centerline is valid? [True, True] Translation: X:-35.01, Y:-1.85, Z:0.85 [[ 9.99986215e-01 7.33664772e-05 -5.25009448e-03 -3.50058439e+01] [-7.48160463e-05 9.99999959e-01 -2.75907573e-04 -1.85101701e+00] [ 5.25007403e-03 2.76296561e-04 9.99986180e-01 8.54933503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885529293 meters 0.0357071716639814 Centerline is valid? [True, True] Translation: X:-35.06, Y:-1.86, Z:0.85 [[ 9.99985034e-01 -1.07019735e-04 -5.46991602e-03 -3.50645200e+01] [ 1.05501282e-04 9.99999956e-01 -2.77888507e-04 -1.86032273e+00] [ 5.46994552e-03 2.77307265e-04 9.99985001e-01 8.54650322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945529293 meters 0.03499700521277084 Centerline is valid? [True, True] Translation: X:-35.12, Y:-1.88, Z:0.87 [[ 9.99977557e-01 -6.24093398e-03 2.43642050e-03 -3.51232747e+01] [ 6.24064159e-03 9.99980519e-01 1.27589029e-04 -1.87758038e+00] [-2.43716931e-03 -1.12381339e-04 9.99997024e-01 8.70537298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005529293 meters 0.03714568503699652 Centerline is valid? [True, True] Translation: X:-35.19, Y:-1.87, Z:0.87 [[ 9.99987142e-01 -5.06841224e-03 -1.67222095e-04 -3.51853463e+01] [ 5.06841057e-03 9.99987155e-01 -1.04167372e-05 -1.87394585e+00] [ 1.67272743e-04 9.56905304e-06 9.99999986e-01 8.67106862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065529293000004 meters 0.036198396955343784 Centerline is valid? [True, True] Translation: X:-35.24, Y:-1.89, Z:0.86 [[ 9.99990851e-01 -3.68584464e-03 -2.17089513e-03 -3.52447997e+01] [ 3.68560791e-03 9.99993202e-01 -1.13034969e-04 -1.88896687e+00] [ 2.17129700e-03 1.05032867e-04 9.99997637e-01 8.61000532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125529293 meters 0.03556217613049028 Centerline is valid? [True, True] Translation: X:-35.30, Y:-1.89, Z:0.87 [[ 9.99998939e-01 -9.06047237e-04 -1.14074533e-03 -3.53027553e+01] [ 9.05982390e-04 9.99999588e-01 -5.73624710e-05 -1.88977267e+00] [ 1.14079684e-03 5.63289149e-05 9.99999348e-01 8.67695640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185529293 meters 0.03880504090314457 Centerline is valid? [True, True] Translation: X:-35.36, Y:-1.89, Z:0.86 [[ 9.99964449e-01 5.32821605e-03 -6.53540681e-03 -3.53629826e+01] [-5.33055626e-03 9.99985734e-01 -3.40713975e-04 -1.88767627e+00] [ 6.53349818e-03 3.75539216e-04 9.99978586e-01 8.60481698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245529293000004 meters 0.03911138436576152 Centerline is valid? [True, True] Translation: X:-35.42, Y:-1.90, Z:0.87 [[ 9.99973900e-01 4.89844603e-03 -5.31084239e-03 -3.54209322e+01] [-4.89993809e-03 9.99987959e-01 -2.67970229e-04 -1.90472331e+00] [ 5.30946580e-03 2.93986033e-04 9.99985861e-01 8.68449922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305529293 meters 0.038376574131402864 Centerline is valid? [True, True] Translation: X:-35.48, Y:-1.92, Z:0.86 [[ 9.99957632e-01 5.92166591e-03 -7.04757569e-03 -3.54790000e+01] [-5.92438408e-03 9.99982384e-01 -3.64874922e-04 -1.91928946e+00] [ 7.04529088e-03 4.06612008e-04 9.99975099e-01 8.64053334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365529293 meters 0.035782659536554386 Centerline is valid? [True, True] Translation: X:-35.54, Y:-1.95, Z:0.89 [[ 9.99995477e-01 2.95437081e-03 5.64254600e-04 -3.55360229e+01] [-2.95438779e-03 9.99995635e-01 2.92562007e-05 -1.95164984e+00] [-5.64165704e-04 -3.09230953e-05 9.99999840e-01 8.86160238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425529293000004 meters 0.03437415684544426 Centerline is valid? [True, True] Translation: X:-35.60, Y:-1.97, Z:0.89 [[ 9.99994575e-01 -1.53664021e-03 2.91364650e-03 -3.55955883e+01] [ 1.53620592e-03 9.99998809e-01 1.51283122e-04 -1.97260869e+00] [-2.91387550e-03 -1.46806340e-04 9.99995744e-01 8.91394642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485529293 meters 0.036016546237698135 Centerline is valid? [True, True] Translation: X:-35.66, Y:-1.98, Z:0.88 [[ 9.99993379e-01 -1.50347836e-03 -3.31382188e-03 -3.56565491e+01] [ 1.50291386e-03 9.99998856e-01 -1.72831326e-04 -1.97904357e+00] [ 3.31407793e-03 1.67849792e-04 9.99994494e-01 8.82841707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545529293 meters 0.036272990788818606 Centerline is valid? [True, True] Translation: X:-35.71, Y:-2.00, Z:0.88 [[ 9.99991055e-01 -2.47412667e-03 -3.43054557e-03 -3.57143811e+01] [ 2.47356134e-03 9.99996926e-01 -1.69026097e-04 -2.00327856e+00] [ 3.43095322e-03 1.60538921e-04 9.99994101e-01 8.83519481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605529293000004 meters 0.03420586069276862 Centerline is valid? [True, True] Translation: X:-35.77, Y:-2.01, Z:0.90 [[ 9.99994310e-01 -3.35962258e-03 -3.03949608e-04 -3.57726864e+01] [ 3.35961875e-03 9.99994356e-01 -1.31028079e-05 -2.01029521e+00] [ 3.03991914e-04 1.20815786e-05 9.99999954e-01 8.97557234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665529293 meters 0.0373223166728511 Centerline is valid? [True, True] Translation: X:-35.83, Y:-2.00, Z:0.88 [[ 9.99993919e-01 -1.98885266e-03 -2.86480847e-03 -3.58337558e+01] [ 1.98843888e-03 9.99998012e-01 -1.47274456e-04 -2.00490917e+00] [ 2.86509569e-03 1.41577064e-04 9.99995886e-01 8.82979046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725529293 meters 0.03448458636708001 Centerline is valid? [True, True] Translation: X:-35.89, Y:-2.03, Z:0.91 [[ 9.99973851e-01 -5.35857567e-03 4.85613932e-03 -3.58904231e+01] [ 5.35742353e-03 9.99985618e-01 2.50232840e-04 -2.03055001e+00] [-4.85741036e-03 -2.24209902e-04 9.99988178e-01 9.14389988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785529293 meters 0.03392362314853391 Centerline is valid? [True, True] Translation: X:-35.95, Y:-2.03, Z:0.91 [[ 9.99984839e-01 -4.64990510e-03 2.94961373e-03 -3.59523414e+01] [ 4.64948096e-03 9.99989180e-01 1.50636145e-04 -2.03395314e+00] [-2.95028226e-03 -1.36919689e-04 9.99995639e-01 9.11897436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845529293 meters 0.035726998578603356 Centerline is valid? [True, True] Translation: X:-36.01, Y:-2.04, Z:0.91 [[ 9.99975087e-01 -7.00688913e-03 -8.53682601e-04 -3.60145394e+01] [ 7.00684667e-03 9.99975450e-01 -5.27154523e-05 -2.03564910e+00] [ 8.54031014e-04 4.67325159e-05 9.99999634e-01 9.05771669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905529293 meters 0.033795192670143505 Centerline is valid? [True, True] Translation: X:-36.07, Y:-2.05, Z:0.92 [[ 9.99950155e-01 -9.97291384e-03 -4.77151880e-04 -3.60722379e+01] [ 9.97290403e-03 9.99950269e-01 -2.29428615e-05 -2.05111684e+00] [ 4.77356958e-04 1.81831280e-05 9.99999886e-01 9.18122947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965529293 meters 0.03284733222119715 Centerline is valid? [True, True] Translation: X:-36.13, Y:-2.05, Z:0.92 [[ 9.99946627e-01 -1.03208390e-02 -4.72710556e-04 -3.61312959e+01] [ 1.03208298e-02 9.99946739e-01 -2.20050449e-05 -2.05411232e+00] [ 4.72912489e-04 1.71251053e-05 9.99999888e-01 9.17317333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025529293 meters 0.034369457299313344 Centerline is valid? [True, True] Translation: X:-36.19, Y:-2.05, Z:0.92 [[ 9.99950883e-01 -9.73609336e-03 1.85458185e-03 -3.61903766e+01] [ 9.73592764e-03 9.99952600e-01 9.83631524e-05 -2.04891471e+00] [-1.85545162e-03 -8.03022464e-05 9.99998275e-01 9.20962578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085529293 meters 0.03232762670127077 Centerline is valid? [True, True] Translation: X:-36.25, Y:-2.06, Z:0.93 [[ 9.99942101e-01 -9.81363107e-03 4.41454475e-03 -3.62501085e+01] [ 9.81272041e-03 9.99951828e-01 2.27899056e-04 -2.06014134e+00] [-4.41656861e-03 -1.84567167e-04 9.99990230e-01 9.33145776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145529293 meters 0.035239439160392245 Centerline is valid? [True, True] Translation: X:-36.31, Y:-2.06, Z:0.92 [[ 9.99926957e-01 -1.20395545e-02 -1.06316423e-03 -3.63127230e+01] [ 1.20394935e-02 9.99927521e-01 -6.37617022e-05 -2.06076384e+00] [ 1.06385483e-03 5.09570861e-05 9.99999433e-01 9.24734850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205529293 meters 0.032037088343531084 Centerline is valid? [True, True] Translation: X:-36.37, Y:-2.06, Z:0.94 [[ 9.99879261e-01 -1.51693793e-02 3.36937265e-03 -3.63727520e+01] [ 1.51688741e-02 9.99884931e-01 1.75442376e-04 -2.05898881e+00] [-3.37164629e-03 -1.24311604e-04 9.99994308e-01 9.40019351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265529293 meters 0.032122025156259504 Centerline is valid? [True, True] Translation: X:-36.43, Y:-2.06, Z:0.94 [[ 9.99898637e-01 -1.37110790e-02 3.83686223e-03 -3.64340706e+01] [ 1.37104406e-02 9.99905989e-01 1.92641595e-04 -2.05599209e+00] [-3.83914284e-03 -1.40016997e-04 9.99992621e-01 9.42730344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325529293 meters 0.03399305925660598 Centerline is valid? [True, True] Translation: X:-36.50, Y:-2.06, Z:0.94 [[ 9.99904808e-01 -1.37906106e-02 4.39458752e-04 -3.64961779e+01] [ 1.37906026e-02 9.99904905e-01 2.11439074e-05 -2.05559747e+00] [-4.39708549e-04 -1.50814937e-05 9.99999903e-01 9.37465605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385529293 meters 0.03358275041457729 Centerline is valid? [True, True] Translation: X:-36.56, Y:-2.05, Z:0.95 [[ 9.99873958e-01 -1.52216408e-02 4.51336532e-03 -3.65555260e+01] [ 1.52207254e-02 9.99884130e-01 2.37098166e-04 -2.05071577e+00] [-4.51645138e-03 -1.68371588e-04 9.99989787e-01 9.48047565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445529293 meters 0.033254172566497237 Centerline is valid? [True, True] Translation: X:-36.62, Y:-2.05, Z:0.94 [[ 9.99889127e-01 -1.48899677e-02 -1.50206976e-04 -3.66179058e+01] [ 1.48899665e-02 9.99889138e-01 -9.65207911e-06 -2.04514959e+00] [ 1.50334043e-04 7.41443212e-06 9.99999989e-01 9.40741951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505529293 meters 0.03190516567785554 Centerline is valid? [True, True] Translation: X:-36.68, Y:-2.05, Z:0.94 [[ 9.99813791e-01 -1.90604775e-02 -3.01350002e-03 -3.66756195e+01] [ 1.90601005e-02 9.99818328e-01 -1.53757559e-04 -2.04710838e+00] [ 3.01588325e-03 9.62913145e-05 9.99995448e-01 9.40693700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565529293000004 meters 0.03105430475081441 Centerline is valid? [True, True] Translation: X:-36.74, Y:-2.05, Z:0.95 [[ 9.99672952e-01 -2.49617937e-02 5.55861572e-03 -3.67358792e+01] [ 2.49605635e-02 9.99688394e-01 2.90575795e-04 -2.05433534e+00] [-5.56413691e-03 -1.51734582e-04 9.99984509e-01 9.47635250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625529293 meters 0.029581664268899757 Centerline is valid? [True, True] Translation: X:-36.79, Y:-2.07, Z:0.96 [[ 9.99394651e-01 -3.44130986e-02 5.10594389e-03 -3.67947625e+01] [ 3.44121959e-02 9.99407690e-01 2.64558448e-04 -2.06832506e+00] [-5.11202386e-03 -8.86915565e-05 9.99986930e-01 9.58001640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685529293 meters 0.029508905837607118 Centerline is valid? [True, True] Translation: X:-36.86, Y:-2.05, Z:0.96 [[ 9.99368174e-01 -3.47857675e-02 7.29404836e-03 -3.68565719e+01] [ 3.47839105e-02 9.99394784e-01 3.81337954e-04 -2.04865927e+00] [-7.30289902e-03 -1.27381490e-04 9.99973325e-01 9.57885350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745529293000004 meters 0.030417504568696324 Centerline is valid? [True, True] Translation: X:-36.92, Y:-2.04, Z:0.94 [[ 9.99575616e-01 -2.90883047e-02 1.56822270e-03 -3.69184697e+01] [ 2.90882119e-02 9.99576845e-01 8.19138140e-05 -2.03982352e+00] [-1.56994183e-03 -3.62622568e-05 9.99998767e-01 9.42263867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805529293 meters 0.0294912697874959 Centerline is valid? [True, True] Translation: X:-36.98, Y:-2.03, Z:0.96 [[ 9.99622516e-01 -2.68856675e-02 5.65560537e-03 -3.69756503e+01] [ 2.68844078e-02 9.99638504e-01 2.98645378e-04 -2.03432011e+00] [-5.66159017e-03 -1.46485043e-04 9.99983962e-01 9.59589467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865529293 meters 0.029142069668035137 Centerline is valid? [True, True] Translation: X:-37.04, Y:-2.02, Z:0.96 [[ 9.99671986e-01 -2.48414950e-02 6.23058260e-03 -3.70379233e+01] [ 2.48399572e-02 9.99691388e-01 3.24093859e-04 -2.01849630e+00] [-6.23671075e-03 -1.69220146e-04 9.99980537e-01 9.57379801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925529293000004 meters 0.03195528971124136 Centerline is valid? [True, True] Translation: X:-37.10, Y:-2.01, Z:0.95 [[ 9.99624225e-01 -2.73479626e-02 1.87009666e-03 -3.71010941e+01] [ 2.73478427e-02 9.99625974e-01 8.96521304e-05 -2.01150572e+00] [-1.87184900e-03 -3.84753319e-05 9.99998247e-01 9.50362932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985529293 meters 0.028726206693724797 Centerline is valid? [True, True] Translation: X:-37.16, Y:-2.01, Z:0.97 [[ 9.99567334e-01 -2.82513704e-02 8.18570121e-03 -3.71612033e+01] [ 2.82487962e-02 9.99600831e-01 4.29953932e-04 -2.00616167e+00] [-8.19458052e-03 -1.98531701e-04 9.99966404e-01 9.70097236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045529293 meters 0.02866633183059727 Centerline is valid? [True, True] Translation: X:-37.22, Y:-1.99, Z:0.97 [[ 9.99621934e-01 -2.53343854e-02 1.06844306e-02 -3.72242114e+01] [ 2.53299008e-02 9.99678993e-01 5.54866084e-04 -1.98867085e+00] [-1.06950580e-02 -2.84020741e-04 9.99942766e-01 9.72099440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105529293000004 meters 0.03255825743735042 Centerline is valid? [True, True] Translation: X:-37.29, Y:-1.99, Z:0.97 [[ 9.99645472e-01 -2.54553701e-02 7.80736991e-03 -3.72861280e+01] [ 2.54529803e-02 9.99675938e-01 4.05326477e-04 -1.99167175e+00] [-7.81515757e-03 -2.06461944e-04 9.99969440e-01 9.70364878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165529293 meters 0.029032655524586802 Centerline is valid? [True, True] Translation: X:-37.35, Y:-1.98, Z:0.98 [[ 9.99606038e-01 -2.64826231e-02 9.29725069e-03 -3.73471975e+01] [ 2.64791963e-02 9.99649244e-01 4.91510381e-04 -1.98210481e+00] [-9.30700610e-03 -2.45133018e-04 9.99956659e-01 9.77373194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225529293 meters 0.028579175733523945 Centerline is valid? [True, True] Translation: X:-37.41, Y:-1.99, Z:0.98 [[ 9.99589009e-01 -2.71513439e-02 9.19875443e-03 -3.74102905e+01] [ 2.71480701e-02 9.99631308e-01 4.80601393e-04 -1.98522123e+00] [-9.20841189e-03 -2.30675441e-04 9.99957575e-01 9.80582016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285529293 meters 0.02783965443915261 Centerline is valid? [True, True] Translation: X:-37.47, Y:-1.97, Z:0.98 [[ 9.99599828e-01 -2.72986032e-02 7.41422469e-03 -3.74725627e+01] [ 2.72964675e-02 9.99627306e-01 3.89116069e-04 -1.96759213e+00] [-7.42208378e-03 -1.86578212e-04 9.99972439e-01 9.81472421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345529293 meters 0.028239578459642766 Centerline is valid? [True, True] Translation: X:-37.53, Y:-1.96, Z:0.99 [[ 9.99641855e-01 -2.49743346e-02 9.61481927e-03 -3.75348953e+01] [ 2.49705965e-02 9.99688057e-01 5.08655017e-04 -1.96234721e+00] [-9.62452331e-03 -2.68385072e-04 9.99953647e-01 9.88133181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405529293 meters 0.02837660197403049 Centerline is valid? [True, True] Translation: X:-37.60, Y:-1.96, Z:1.00 [[ 9.99657356e-01 -2.41209250e-02 1.01661821e-02 -3.75972194e+01] [ 2.41166686e-02 9.99709004e-01 5.41081980e-04 -1.95578315e+00] [-1.01762752e-02 -2.95722136e-04 9.99948177e-01 9.95410831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465529293 meters 0.028608039406326315 Centerline is valid? [True, True] Translation: X:-37.66, Y:-1.95, Z:1.00 [[ 9.99735354e-01 -2.16953625e-02 7.65068667e-03 -3.76584881e+01] [ 2.16928402e-02 9.99764598e-01 4.12518628e-04 -1.95236472e+00] [-7.65783542e-03 -2.46444333e-04 9.99970648e-01 9.96323439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525529293 meters 0.02862894497724745 Centerline is valid? [True, True] Translation: X:-37.72, Y:-1.94, Z:0.99 [[ 9.99785859e-01 -1.97752422e-02 6.09726835e-03 -3.77210451e+01] [ 1.97736078e-02 9.99804429e-01 3.28231515e-04 -1.94097720e+00] [-6.10256676e-03 -2.07596234e-04 9.99981358e-01 9.92574862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585529293 meters 0.029236669921533377 Centerline is valid? [True, True] Translation: X:-37.78, Y:-1.95, Z:1.00 [[ 9.99790326e-01 -1.97574676e-02 5.38027603e-03 -3.77827573e+01] [ 1.97562246e-02 9.99804786e-01 2.84088193e-04 -1.94727578e+00] [-5.38483859e-03 -1.77734686e-04 9.99985486e-01 9.99463740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645529293 meters 0.02871407842957916 Centerline is valid? [True, True] Translation: X:-37.84, Y:-1.95, Z:1.01 [[ 9.99807737e-01 -1.84434942e-02 6.65780948e-03 -3.78438006e+01] [ 1.84415337e-02 9.99829877e-01 3.55739460e-04 -1.94803832e+00] [-6.66323791e-03 -2.32890847e-04 9.99977773e-01 1.00831402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705529293 meters 0.029893146507843794 Centerline is valid? [True, True] Translation: X:-37.91, Y:-1.94, Z:1.01 [[ 9.99832656e-01 -1.66117812e-02 7.66215921e-03 -3.79068287e+01] [ 1.66091118e-02 9.99861974e-01 4.11884883e-04 -1.93695301e+00] [-7.66794377e-03 -2.84554297e-04 9.99970560e-01 1.00527687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765529293 meters 0.030173658142535288 Centerline is valid? [True, True] Translation: X:-37.97, Y:-1.94, Z:1.01 [[ 9.99899270e-01 -1.25217331e-02 6.68254148e-03 -3.79666856e+01] [ 1.25195597e-02 9.99921560e-01 3.66969758e-04 -1.93588755e+00] [-6.68661240e-03 -2.83270316e-04 9.99977604e-01 1.00836796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825529293 meters 0.031039874850729676 Centerline is valid? [True, True] Translation: X:-38.03, Y:-1.94, Z:1.01 [[ 9.99904776e-01 -1.21067200e-02 6.62316093e-03 -3.80284408e+01] [ 1.21046215e-02 9.99926673e-01 3.56831768e-04 -1.94061499e+00] [-6.62699534e-03 -2.76626932e-04 9.99978003e-01 1.01032085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885529293 meters 0.03274473636495397 Centerline is valid? [True, True] Translation: X:-38.09, Y:-1.93, Z:1.00 [[ 9.99857692e-01 -1.63768989e-02 4.04871248e-03 -3.80914272e+01] [ 1.63761368e-02 9.99865878e-01 2.21323736e-04 -1.93385437e+00] [-4.05179405e-03 -1.54989970e-04 9.99991779e-01 1.00009437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945529293 meters 0.029191057360648462 Centerline is valid? [True, True] Translation: X:-38.15, Y:-1.96, Z:1.02 [[ 9.99679483e-01 -2.44604018e-02 6.52837983e-03 -3.81492042e+01] [ 2.44585649e-02 9.99700779e-01 3.61081051e-04 -1.96171952e+00] [-6.53525859e-03 -2.01290517e-04 9.99978625e-01 1.01533645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005529293 meters 0.02927668750950276 Centerline is valid? [True, True] Translation: X:-38.21, Y:-1.96, Z:1.01 [[ 9.99715459e-01 -2.36250257e-02 3.29530383e-03 -3.82110486e+01] [ 2.36245572e-02 9.99720885e-01 1.81025146e-04 -1.95647106e+00] [-3.29866078e-03 -1.03123543e-04 9.99994554e-01 1.00612145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065529293000004 meters 0.02939984931707401 Centerline is valid? [True, True] Translation: X:-38.27, Y:-1.97, Z:1.02 [[ 9.99780938e-01 -2.07950102e-02 2.37564887e-03 -3.82687882e+01] [ 2.07947549e-02 9.99783757e-01 1.32109651e-04 -1.97343795e+00] [-2.37788237e-03 -8.26796750e-05 9.99997169e-01 1.01528839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125529293 meters 0.03113792655604938 Centerline is valid? [True, True] Translation: X:-38.33, Y:-1.95, Z:1.01 [[ 9.99890287e-01 -1.37002322e-02 5.63179584e-03 -3.83307234e+01] [ 1.36986939e-02 9.99906120e-01 3.11637251e-04 -1.94837580e+00] [-5.63553663e-03 -2.34454813e-04 9.99984093e-01 1.01312204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185529293 meters 0.03155117947877915 Centerline is valid? [True, True] Translation: X:-38.39, Y:-1.98, Z:1.02 [[ 9.99894646e-01 -1.35545354e-02 5.19340455e-03 -3.83916707e+01] [ 1.35532632e-02 9.99908111e-01 2.80070928e-04 -1.97865226e+00] [-5.19672357e-03 -2.09653842e-04 9.99986475e-01 1.01892618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245529293000004 meters 0.031749632633046795 Centerline is valid? [True, True] Translation: X:-38.45, Y:-1.98, Z:1.02 [[ 9.99770353e-01 -2.02021307e-02 7.14950466e-03 -3.84505335e+01] [ 2.01998204e-02 9.99795885e-01 3.95214354e-04 -1.98319292e+00] [-7.15602950e-03 -2.50704884e-04 9.99974364e-01 1.02274974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305529293 meters 0.02937491915973708 Centerline is valid? [True, True] Translation: X:-38.51, Y:-2.00, Z:1.02 [[ 9.99774302e-01 -2.07792767e-02 4.42345809e-03 -3.85126068e+01] [ 2.07784040e-02 9.99784076e-01 2.43143270e-04 -1.99840616e+00] [-4.42755530e-03 -1.51175993e-04 9.99990187e-01 1.01692342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365529293 meters 0.029564487139075862 Centerline is valid? [True, True] Translation: X:-38.57, Y:-2.00, Z:1.01 [[ 9.99749387e-01 -2.20609441e-02 -3.80499706e-03 -3.85731295e+01] [ 2.20603003e-02 9.99756620e-01 -2.11085026e-04 -2.00103920e+00] [ 3.80872773e-03 1.27092747e-04 9.99992739e-01 1.00670842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425529293000004 meters 0.029926778995119377 Centerline is valid? [True, True] Translation: X:-38.63, Y:-2.00, Z:1.02 [[ 9.99827864e-01 -1.85270919e-02 9.94540121e-04 -3.86311037e+01] [ 1.85270432e-02 9.99828358e-01 5.81546661e-05 -1.99762394e+00] [-9.95446853e-04 -3.97187678e-05 9.99999504e-01 1.02456676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485529293 meters 0.030731881176748514 Centerline is valid? [True, True] Translation: X:-38.69, Y:-2.02, Z:1.02 [[ 9.99863878e-01 -1.59594448e-02 4.18593262e-03 -3.86873663e+01] [ 1.59585997e-02 9.99872626e-01 2.35225480e-04 -2.02201649e+00] [-4.18915351e-03 -1.68391838e-04 9.99991211e-01 1.02443134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545529293 meters 0.029147594675739623 Centerline is valid? [True, True] Translation: X:-38.75, Y:-2.02, Z:1.03 [[ 9.99813207e-01 -1.92895286e-02 1.21081245e-03 -3.87489010e+01] [ 1.92894629e-02 9.99813939e-01 6.59189740e-05 -2.02302053e+00] [-1.21185871e-03 -4.25507390e-05 9.99999265e-01 1.02929958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605529293000004 meters 0.029040327465924404 Centerline is valid? [True, True] Translation: X:-38.81, Y:-2.02, Z:1.02 [[ 9.99691484e-01 -2.47553741e-02 2.02711883e-03 -3.88089171e+01] [ 2.47551955e-02 9.99693537e-01 1.13126378e-04 -2.02332998e+00] [-2.02929808e-03 -6.29097532e-05 9.99997939e-01 1.02489337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665529293 meters 0.027435486334379765 Centerline is valid? [True, True] Translation: X:-38.87, Y:-2.05, Z:1.04 [[ 9.99454093e-01 -3.29286143e-02 2.68739594e-03 -3.88659678e+01] [ 3.29283299e-02 9.99457704e-01 1.50018464e-04 -2.04696327e+00] [-2.69087848e-03 -6.14451074e-05 9.99996378e-01 1.03691813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725529293 meters 0.027983541823068683 Centerline is valid? [True, True] Translation: X:-38.93, Y:-2.03, Z:1.03 [[ 9.99351915e-01 -3.57579216e-02 4.13787362e-03 -3.89264134e+01] [ 3.57572747e-02 9.99360478e-01 2.30243824e-04 -2.03484184e+00] [-4.14346039e-03 -8.21355231e-05 9.99991412e-01 1.03182408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785529293 meters 0.028347481529399306 Centerline is valid? [True, True] Translation: X:-38.99, Y:-2.04, Z:1.03 [[ 9.99587597e-01 -2.86808017e-02 -1.43097436e-03 -3.89870025e+01] [ 2.86807177e-02 9.99588620e-01 -7.92296128e-05 -2.03830222e+00] [ 1.43265806e-03 3.81555666e-05 9.99998973e-01 1.02781529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845529293 meters 0.027449773564054362 Centerline is valid? [True, True] Translation: X:-39.04, Y:-2.04, Z:1.04 [[ 9.99644237e-01 -2.65307990e-02 2.74148833e-03 -3.90447807e+01] [ 2.65304711e-02 9.99647993e-01 1.55904521e-04 -2.03522346e+00] [-2.74465957e-03 -8.31160788e-05 9.99996230e-01 1.03649398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905529293 meters 0.02809403233801573 Centerline is valid? [True, True] Translation: X:-39.11, Y:-2.02, Z:1.03 [[ 9.99624190e-01 -2.73825696e-02 -1.29383982e-03 -3.91055694e+01] [ 2.73825025e-02 9.99625027e-01 -6.95530587e-05 -2.01759051e+00] [ 1.29525921e-03 3.40983477e-05 9.99999161e-01 1.02707554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965529293 meters 0.027954404681651786 Centerline is valid? [True, True] Translation: X:-39.16, Y:-2.03, Z:1.04 [[ 9.99683658e-01 -2.48691540e-02 3.75631584e-03 -3.91639698e+01] [ 2.48685451e-02 9.99690708e-01 2.08719796e-04 -2.02833992e+00] [-3.76034473e-03 -1.15239659e-04 9.99992923e-01 1.03965240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025529293 meters 0.028250169103827785 Centerline is valid? [True, True] Translation: X:-39.22, Y:-2.02, Z:1.03 [[ 9.99644937e-01 -2.66329011e-02 8.29352779e-04 -3.92232202e+01] [ 2.66328705e-02 9.99645281e-01 4.79727993e-05 -2.02193228e+00] [-8.30336247e-04 -2.58677208e-05 9.99999655e-01 1.03387886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085529293 meters 0.027467590682899886 Centerline is valid? [True, True] Translation: X:-39.28, Y:-2.04, Z:1.04 [[ 9.99620610e-01 -2.73718926e-02 3.06854338e-03 -3.92812862e+01] [ 2.73714981e-02 9.99625316e-01 1.70493188e-04 -2.03508435e+00] [-3.07206037e-03 -8.64378757e-05 9.99995277e-01 1.04377101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145529293 meters 0.02732721135210725 Centerline is valid? [True, True] Translation: X:-39.34, Y:-2.02, Z:1.04 [[ 9.99603662e-01 -2.81304063e-02 -1.09504832e-03 -3.93415649e+01] [ 2.81303600e-02 9.99604261e-01 -5.77167687e-05 -2.01802982e+00] [ 1.09623856e-03 2.68897900e-05 9.99999399e-01 1.03769991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205529293 meters 0.027782693795264414 Centerline is valid? [True, True] Translation: X:-39.40, Y:-2.03, Z:1.03 [[ 9.99630519e-01 -2.71759211e-02 -5.42419681e-04 -3.94003788e+01] [ 2.71759103e-02 9.99630666e-01 -2.73165970e-05 -2.02883972e+00] [ 5.42961701e-04 1.25657554e-05 9.99999853e-01 1.03486684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265529293 meters 0.02924595315371223 Centerline is valid? [True, True] Translation: X:-39.46, Y:-2.03, Z:1.04 [[ 9.99501404e-01 -3.15099812e-02 2.01629799e-03 -3.94603107e+01] [ 3.15098211e-02 9.99503436e-01 1.11118729e-04 -2.02618383e+00] [-2.01879812e-03 -4.75301367e-05 9.99997961e-01 1.04206994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325529293 meters 0.02735829576614853 Centerline is valid? [True, True] Translation: X:-39.52, Y:-2.02, Z:1.04 [[ 9.99622865e-01 -2.74385410e-02 -1.12028127e-03 -3.95199083e+01] [ 2.74384907e-02 9.99623492e-01 -6.01796815e-05 -2.02141936e+00] [ 1.12151072e-03 2.94181582e-05 9.99999371e-01 1.04000155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385529293000005 meters 0.027098932052559477 Centerline is valid? [True, True] Translation: X:-39.58, Y:-2.02, Z:1.05 [[ 9.99634479e-01 -2.64661996e-02 5.51806196e-03 -3.95789834e+01] [ 2.64649308e-02 9.99649697e-01 3.02838994e-04 -2.02426699e+00] [-5.52414396e-03 -1.56693172e-04 9.99984730e-01 1.05471233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445529293 meters 0.028110985733840126 Centerline is valid? [True, True] Translation: X:-39.64, Y:-2.02, Z:1.04 [[ 9.99632264e-01 -2.71020886e-02 -9.02234758e-04 -3.96396667e+01] [ 2.71020562e-02 9.99632671e-01 -4.81359453e-05 -2.01554295e+00] [ 9.03207925e-04 2.36658269e-05 9.99999592e-01 1.04118478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505529293 meters 0.02752386871954335 Centerline is valid? [True, True] Translation: X:-39.70, Y:-2.02, Z:1.05 [[ 9.99601882e-01 -2.81649599e-02 1.67683627e-03 -3.96977748e+01] [ 2.81648426e-02 9.99603288e-01 9.34866521e-05 -2.01825125e+00] [-1.67880409e-03 -4.62216038e-05 9.99998590e-01 1.04863557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565529293000004 meters 0.02967450150710462 Centerline is valid? [True, True] Translation: X:-39.76, Y:-2.00, Z:1.04 [[ 9.99625378e-01 -2.73544659e-02 9.14405994e-04 -3.97579520e+01] [ 2.73544294e-02 9.99625796e-01 5.23843900e-05 -2.00042964e+00] [-9.15496767e-04 -2.73517114e-05 9.99999581e-01 1.04113656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625529293 meters 0.02806449015754705 Centerline is valid? [True, True] Translation: X:-39.82, Y:-2.02, Z:1.04 [[ 9.99676597e-01 -2.53946251e-02 -1.34728635e-03 -3.98165445e+01] [ 2.53945507e-02 9.99677504e-01 -7.23042754e-05 -2.01675381e+00] [ 1.34868799e-03 3.80671605e-05 9.99999090e-01 1.03805907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685529293 meters 0.030683567059806734 Centerline is valid? [True, True] Translation: X:-39.88, Y:-2.00, Z:1.05 [[ 9.99735493e-01 -2.29592664e-02 -1.34752606e-03 -3.98764948e+01] [ 2.29591916e-02 9.99736401e-01 -7.09704152e-05 -1.99905329e+00] [ 1.34880029e-03 4.00135339e-05 9.99999090e-01 1.04564928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745529293000004 meters 0.02996072002866637 Centerline is valid? [True, True] Translation: X:-39.94, Y:-2.00, Z:1.04 [[ 9.99859145e-01 -1.66872981e-02 -1.79558984e-03 -3.99357027e+01] [ 1.66871516e-02 9.99860755e-01 -9.65557222e-05 -1.99718273e+00] [ 1.79695107e-03 6.65788421e-05 9.99998383e-01 1.04398005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805529293 meters 0.029653247658987514 Centerline is valid? [True, True] Translation: X:-40.00, Y:-2.00, Z:1.05 [[ 9.99811346e-01 -1.93384238e-02 1.81582210e-03 -3.99956491e+01] [ 1.93382750e-02 9.99812993e-01 9.94269937e-05 -1.99718943e+00] [-1.81740529e-03 -6.42933692e-05 9.99998346e-01 1.04533104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865529293 meters 0.029547902617424966 Centerline is valid? [True, True] Translation: X:-40.05, Y:-2.00, Z:1.04 [[ 9.99816133e-01 -1.91546095e-02 -8.94867493e-04 -4.00546089e+01] [ 1.91545758e-02 9.99816533e-01 -4.62309997e-05 -2.00020974e+00] [ 8.95588852e-04 2.90816921e-05 9.99999599e-01 1.03771066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925529293000004 meters 0.028773785725269733 Centerline is valid? [True, True] Translation: X:-40.11, Y:-2.01, Z:1.05 [[ 9.99724340e-01 -2.33493882e-02 2.45959255e-03 -4.01145217e+01] [ 2.33491299e-02 9.99727363e-01 1.33659118e-04 -2.00887579e+00] [-2.46204284e-03 -7.61929279e-05 9.99996966e-01 1.04760848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985529293 meters 0.030693335431556 Centerline is valid? [True, True] Translation: X:-40.18, Y:-2.00, Z:1.04 [[ 9.99768960e-01 -2.13203367e-02 -2.73311262e-03 -4.01758805e+01] [ 2.13200120e-02 9.99772692e-01 -1.47899158e-04 -2.00030692e+00] [ 2.73564462e-03 8.95949934e-05 9.99996254e-01 1.03580291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045529293 meters 0.029694437058987524 Centerline is valid? [True, True] Translation: X:-40.23, Y:-2.00, Z:1.04 [[ 9.99813902e-01 -1.91792891e-02 2.07757905e-03 -4.02344655e+01] [ 1.91790924e-02 9.99816058e-01 1.14552610e-04 -2.00455201e+00] [-2.07939393e-03 -7.46852110e-05 9.99997835e-01 1.04416796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105529293000004 meters 0.03208594006887345 Centerline is valid? [True, True] Translation: X:-40.30, Y:-2.00, Z:1.03 [[ 9.99911016e-01 -1.31614676e-02 -2.17616757e-03 -4.02952418e+01] [ 1.31612437e-02 9.99913380e-01 -1.17167815e-04 -1.99705568e+00] [ 2.17752117e-03 8.85163175e-05 9.99997625e-01 1.03470997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165529293 meters 0.03190707764194304 Centerline is valid? [True, True] Translation: X:-40.35, Y:-1.99, Z:1.03 [[ 9.99945374e-01 -1.04435835e-02 4.24637341e-04 -4.03549571e+01] [ 1.04435736e-02 9.99945464e-01 2.53950291e-05 -1.99102079e+00] [-4.24879398e-04 -2.09589105e-05 9.99999910e-01 1.03303555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225529293 meters 0.03160273513579028 Centerline is valid? [True, True] Translation: X:-40.41, Y:-2.00, Z:1.04 [[ 9.99944820e-01 -9.31129017e-03 4.86378947e-03 -4.04135633e+01] [ 9.31011113e-03 9.99956625e-01 2.64996616e-04 -1.99804120e+00] [-4.86604597e-03 -2.19699573e-04 9.99988137e-01 1.03769499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285529293 meters 0.0315169475301314 Centerline is valid? [True, True] Translation: X:-40.48, Y:-2.00, Z:1.02 [[ 9.99930799e-01 -1.17579499e-02 -3.83410843e-04 -4.04763825e+01] [ 1.17579396e-02 9.99930873e-01 -2.92210208e-05 -1.99983846e+00] [ 3.83727918e-04 2.47108772e-05 9.99999926e-01 1.02454027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345529293 meters 0.029326110805977888 Centerline is valid? [True, True] Translation: X:-40.53, Y:-2.03, Z:1.03 [[ 9.99681097e-01 -2.52501936e-02 -3.63707715e-04 -4.05348273e+01] [ 2.52501882e-02 9.99681163e-01 -1.92343958e-05 -2.02767217e+00] [ 3.64077424e-04 1.00445736e-05 9.99999934e-01 1.03087603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405529293 meters 0.028612692529103312 Centerline is valid? [True, True] Translation: X:-40.59, Y:-2.02, Z:1.03 [[ 9.99576896e-01 -2.90755018e-02 8.02564867e-04 -4.05949341e+01] [ 2.90754747e-02 9.99577218e-01 4.53854843e-05 -2.01707641e+00] [-8.03545163e-04 -2.20313270e-05 9.99999677e-01 1.02955896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465529293 meters 0.028793051935018913 Centerline is valid? [True, True] Translation: X:-40.65, Y:-2.03, Z:1.04 [[ 9.99621077e-01 -2.67004864e-02 6.69219708e-03 -4.06522402e+01] [ 2.66986389e-02 9.99643461e-01 3.65279057e-04 -2.03254280e+00] [-6.69956418e-03 -1.86468091e-04 9.99977540e-01 1.03509914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525529293 meters 0.02818755703882097 Centerline is valid? [True, True] Translation: X:-40.71, Y:-2.02, Z:1.02 [[ 9.99632375e-01 -2.70317017e-02 -2.09791367e-03 -4.07141935e+01] [ 2.70315227e-02 9.99634575e-01 -1.13622237e-04 -2.02093555e+00] [ 2.10021844e-03 5.68706657e-05 9.99997793e-01 1.02042205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585529293 meters 0.029495791804596425 Centerline is valid? [True, True] Translation: X:-40.77, Y:-2.01, Z:1.02 [[ 9.99795611e-01 -1.92534400e-02 6.16781520e-03 -4.07735647e+01] [ 1.92517000e-02 9.99814611e-01 3.41356494e-04 -2.01229450e+00] [-6.17324404e-03 -2.22545796e-04 9.99980921e-01 1.02367884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645529293 meters 0.028896565242282242 Centerline is valid? [True, True] Translation: X:-40.83, Y:-2.01, Z:1.02 [[ 9.99783911e-01 -2.03115824e-02 4.42401539e-03 -4.08346134e+01] [ 2.03107245e-02 9.99793687e-01 2.38747833e-04 -2.01316071e+00] [-4.42795201e-03 -1.48841285e-04 9.99990185e-01 1.02167233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705529293 meters 0.028088422355099847 Centerline is valid? [True, True] Translation: X:-40.89, Y:-2.02, Z:1.02 [[ 9.99661915e-01 -2.57162026e-02 3.83819314e-03 -4.08943859e+01] [ 2.57155927e-02 9.99669278e-01 2.08184260e-04 -2.01701548e+00] [-3.84227747e-03 -1.09412465e-04 9.99992612e-01 1.01580267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765529293 meters 0.02712338710259445 Centerline is valid? [True, True] Translation: X:-40.95, Y:-2.02, Z:1.02 [[ 9.99507972e-01 -3.10328514e-02 4.55804447e-03 -4.09540034e+01] [ 3.10320482e-02 9.99518360e-01 2.46842147e-04 -2.02012232e+00] [-4.56350934e-03 -1.05275238e-04 9.99989582e-01 1.01762115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825529293 meters 0.026912073726876234 Centerline is valid? [True, True] Translation: X:-41.01, Y:-2.01, Z:1.01 [[ 9.99585422e-01 -2.83749147e-02 4.88351235e-03 -4.10131885e+01] [ 2.83739575e-02 9.99597343e-01 2.65194932e-04 -2.01331085e+00] [-4.88907085e-03 -1.26520417e-04 9.99988040e-01 1.01342898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885529293000005 meters 0.02750888399344173 Centerline is valid? [True, True] Translation: X:-41.07, Y:-2.01, Z:1.02 [[ 9.99612040e-01 -2.76903274e-02 3.00238040e-03 -4.10721002e+01] [ 2.76899604e-02 9.99616546e-01 1.63760640e-04 -2.01008658e+00] [-3.00576371e-03 -8.05613136e-05 9.99995479e-01 1.01583936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945529293 meters 0.028217041457858714 Centerline is valid? [True, True] Translation: X:-41.13, Y:-2.00, Z:1.02 [[ 9.99597087e-01 -2.74471287e-02 7.23323680e-03 -4.11320055e+01] [ 2.74450268e-02 9.99623238e-01 3.89703107e-04 -2.00444087e+00] [-7.24120782e-03 -1.91029713e-04 9.99973764e-01 1.02215282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005529293 meters 0.027304783295434402 Centerline is valid? [True, True] Translation: X:-41.19, Y:-2.01, Z:1.02 [[ 9.99595745e-01 -2.78244578e-02 5.84341090e-03 -4.11909639e+01] [ 2.78230868e-02 9.99612813e-01 3.15801634e-04 -2.00522859e+00] [-5.84993542e-03 -1.53092241e-04 9.99982877e-01 1.01738842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065529293000004 meters 0.02716934786420096 Centerline is valid? [True, True] Translation: X:-41.25, Y:-2.00, Z:1.02 [[ 9.99495860e-01 -3.14644078e-02 4.24454267e-03 -4.12494819e+01] [ 3.14637135e-02 9.99504868e-01 2.30261339e-04 -2.00118833e+00] [-4.24968610e-03 -9.65961804e-05 9.99990965e-01 1.02066164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125529293 meters 0.026543284224715125 Centerline is valid? [True, True] Translation: X:-41.31, Y:-2.01, Z:1.02 [[ 9.99339189e-01 -3.59061906e-02 5.65080504e-03 -4.13084596e+01] [ 3.59050450e-02 9.99355160e-01 3.04070423e-04 -2.01088139e+00] [-5.65807918e-03 -1.00977081e-04 9.99983988e-01 1.01786709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185529293 meters 0.027846195546636636 Centerline is valid? [True, True] Translation: X:-41.37, Y:-2.00, Z:1.01 [[ 9.99199536e-01 -3.99970932e-02 7.20381450e-04 -4.13680773e+01] [ 3.99970741e-02 9.99199796e-01 4.09033547e-05 -1.99776715e+00] [-7.21441013e-04 -1.20574628e-05 9.99999740e-01 1.00585514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245529293000004 meters 0.02824783966922843 Centerline is valid? [True, True] Translation: X:-41.43, Y:-2.00, Z:1.01 [[ 9.99252881e-01 -3.84293162e-02 4.10700845e-03 -4.14265630e+01] [ 3.84287086e-02 9.99261319e-01 2.26784135e-04 -2.00068238e+00] [-4.11268984e-03 -6.87876692e-05 9.99991540e-01 1.01127571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305529293 meters 0.029274677758634314 Centerline is valid? [True, True] Translation: X:-41.49, Y:-2.00, Z:1.01 [[ 9.99328723e-01 -3.65926447e-02 1.75534756e-03 -4.14858704e+01] [ 3.65925332e-02 9.99330264e-01 9.56337837e-05 -1.99808814e+00] [-1.75767144e-03 -3.13369731e-05 9.99998455e-01 1.00574423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365529293 meters 0.027232336415822487 Centerline is valid? [True, True] Translation: X:-41.55, Y:-1.99, Z:1.00 [[ 9.99415323e-01 -3.41217562e-02 2.17192212e-03 -4.15452037e+01] [ 3.41215693e-02 9.99417682e-01 1.23079872e-04 -1.98632076e+00] [-2.17485707e-03 -4.88985190e-05 9.99997634e-01 1.00072752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425529293000004 meters 0.027162475186173422 Centerline is valid? [True, True] Translation: X:-41.60, Y:-1.98, Z:1.00 [[ 9.99505025e-01 -3.13004959e-02 3.15978108e-03 -4.16037965e+01] [ 3.13001177e-02 9.99510017e-01 1.69069419e-04 -1.98389892e+00] [-3.16352480e-03 -7.00842143e-05 9.99994994e-01 1.00100267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485529293 meters 0.027939345693259798 Centerline is valid? [True, True] Translation: X:-41.66, Y:-1.98, Z:1.00 [[ 9.99496221e-01 -3.15690102e-02 3.27145429e-03 -4.16626830e+01] [ 3.15686073e-02 9.99501572e-01 1.74721772e-04 -1.98478330e+00] [-3.27533950e-03 -7.13584954e-05 9.99994634e-01 9.97340546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545529293 meters 0.027281896583633784 Centerline is valid? [True, True] Translation: X:-41.72, Y:-1.98, Z:0.99 [[ 9.99455722e-01 -3.29771374e-02 8.76824664e-04 -4.17219878e+01] [ 3.29771075e-02 9.99456106e-01 4.85548737e-05 -1.98425300e+00] [-8.77948966e-04 -1.96133051e-05 9.99999614e-01 9.93626160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605529293000004 meters 0.026590123312800435 Centerline is valid? [True, True] Translation: X:-41.78, Y:-1.99, Z:0.98 [[ 9.99380859e-01 -3.51672678e-02 -1.07838067e-03 -4.17812310e+01] [ 3.51672364e-02 9.99381440e-01 -4.80124779e-05 -1.98626612e+00] [ 1.07940209e-03 1.00590836e-05 9.99999417e-01 9.83513661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665529293 meters 0.02823800490721479 Centerline is valid? [True, True] Translation: X:-41.84, Y:-1.98, Z:0.98 [[ 9.99397631e-01 -3.46628027e-02 -1.69289709e-03 -4.18407500e+01] [ 3.46627163e-02 9.99399064e-01 -8.03356123e-05 -1.98078971e+00] [ 1.69466443e-03 2.16068089e-05 9.99998564e-01 9.83036447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725529293 meters 0.02663634204538626 Centerline is valid? [True, True] Translation: X:-41.90, Y:-1.99, Z:1.00 [[ 9.99374390e-01 -3.51859543e-02 3.57448130e-03 -4.18990013e+01] [ 3.51855094e-02 9.99380781e-01 1.87277195e-04 -1.99411741e+00] [-3.57885744e-03 -6.13900869e-05 9.99993594e-01 9.95174926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785529293 meters 0.027055183908629536 Centerline is valid? [True, True] Translation: X:-41.96, Y:-1.98, Z:0.98 [[ 9.99434084e-01 -3.36089604e-02 1.39636180e-03 -4.19593569e+01] [ 3.36088884e-02 9.99435059e-01 7.50110050e-05 -1.98148272e+00] [-1.39809398e-03 -2.80383872e-05 9.99999022e-01 9.79451149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845529293 meters 0.027450082391747566 Centerline is valid? [True, True] Translation: X:-42.02, Y:-1.99, Z:0.97 [[ 9.99469066e-01 -3.25177241e-02 -2.04550755e-03 -4.20188136e+01] [ 3.25175770e-02 9.99471158e-01 -1.05113073e-04 -1.99099840e+00] [ 2.04784384e-03 3.85423155e-05 9.99997902e-01 9.74007628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905529293 meters 0.02788669128669382 Centerline is valid? [True, True] Translation: X:-42.08, Y:-1.99, Z:0.98 [[ 9.99525891e-01 -3.07692408e-02 1.11712608e-03 -4.20775906e+01] [ 3.07691864e-02 9.99526514e-01 6.58774281e-05 -1.99123015e+00] [-1.11862414e-03 -3.14731344e-05 9.99999374e-01 9.78956094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965529293 meters 0.028106989080407194 Centerline is valid? [True, True] Translation: X:-42.14, Y:-1.99, Z:0.96 [[ 9.99558173e-01 -2.90345857e-02 -6.36020443e-03 -4.21389319e+01] [ 2.90330816e-02 9.99578397e-01 -3.28697706e-04 -1.98771380e+00] [ 6.36706655e-03 1.43896145e-04 9.99979720e-01 9.61503359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025529293 meters 0.02951698653567504 Centerline is valid? [True, True] Translation: X:-42.20, Y:-1.99, Z:0.97 [[ 9.99628445e-01 -2.72491200e-02 -6.76495192e-04 -4.21970054e+01] [ 2.72491038e-02 9.99628674e-01 -3.31501458e-05 -1.99491273e+00] [ 6.77147304e-04 1.47039410e-05 9.99999771e-01 9.70215711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085529293 meters 0.028611737591707005 Centerline is valid? [True, True] Translation: X:-42.26, Y:-2.01, Z:0.97 [[ 9.99712895e-01 -2.38884355e-02 -1.86283357e-03 -4.22557386e+01] [ 2.38883132e-02 9.99714630e-01 -8.78339244e-05 -2.00760864e+00] [ 1.86440019e-03 4.33087549e-05 9.99998261e-01 9.69308349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145529293 meters 0.029379129647325194 Centerline is valid? [True, True] Translation: X:-42.32, Y:-2.02, Z:0.97 [[ 9.99585976e-01 -2.87310155e-02 -1.55071559e-03 -4.23153273e+01] [ 2.87309283e-02 9.99587179e-01 -7.84286944e-05 -2.01579494e+00] [ 1.55232876e-03 3.38427246e-05 9.99998795e-01 9.67755832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205529293000005 meters 0.027823541368494454 Centerline is valid? [True, True] Translation: X:-42.37, Y:-2.02, Z:0.96 [[ 9.99526584e-01 -3.07667768e-02 -1.11217981e-04 -4.23749071e+01] [ 3.07667765e-02 9.99526591e-01 -4.53835536e-06 -2.02135043e+00] [ 1.11304959e-04 1.11438808e-06 9.99999994e-01 9.61665640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265529293 meters 0.026927214291558234 Centerline is valid? [True, True] Translation: X:-42.43, Y:-2.05, Z:0.96 [[ 9.99406197e-01 -3.44443741e-02 -9.16226011e-04 -4.24312150e+01] [ 3.44443483e-02 9.99406616e-01 -4.40143272e-05 -2.04764437e+00] [ 9.17198383e-04 1.24293835e-05 9.99999579e-01 9.61764294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325529293 meters 0.02729845661594387 Centerline is valid? [True, True] Translation: X:-42.49, Y:-2.05, Z:0.95 [[ 9.99206135e-01 -3.91137984e-02 -7.56376575e-03 -4.24920572e+01] [ 3.91119907e-02 9.99234758e-01 -3.86814459e-04 -2.04532360e+00] [ 7.57310743e-03 9.06734440e-05 9.99971320e-01 9.46707546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385529293000005 meters 0.027184946273244286 Centerline is valid? [True, True] Translation: X:-42.55, Y:-2.05, Z:0.96 [[ 9.99402662e-01 -3.44435546e-02 -2.82164500e-03 -4.25499806e+01] [ 3.44432912e-02 9.99406644e-01 -1.41878322e-04 -2.05466981e+00] [ 2.82485755e-03 4.46068326e-05 9.99996009e-01 9.58949940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445529293 meters 0.027923229298410478 Centerline is valid? [True, True] Translation: X:-42.61, Y:-2.05, Z:0.96 [[ 9.99564228e-01 -2.90017080e-02 -5.50040304e-03 -4.26103860e+01] [ 2.90006026e-02 9.99579355e-01 -2.80640974e-04 -2.04819000e+00] [ 5.50622839e-03 1.21003676e-04 9.99984833e-01 9.55291723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505529293 meters 0.029713881994973768 Centerline is valid? [True, True] Translation: X:-42.67, Y:-2.07, Z:0.96 [[ 9.99583073e-01 -2.88713958e-02 -3.48828296e-04 -4.26689434e+01] [ 2.88713916e-02 9.99583134e-01 -1.71360747e-05 -2.06539052e+00] [ 3.49177624e-04 7.05777190e-06 9.99999939e-01 9.59616385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565529293000004 meters 0.030889299440107057 Centerline is valid? [True, True] Translation: X:-42.73, Y:-2.06, Z:0.94 [[ 9.99567883e-01 -2.83454980e-02 -7.78335748e-03 -4.27302771e+01] [ 2.83432608e-02 9.99598170e-01 -3.97609753e-04 -2.06294631e+00] [ 7.79150034e-03 1.76832208e-04 9.99969630e-01 9.44016954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625529293 meters 0.026898829972688235 Centerline is valid? [True, True] Translation: X:-42.79, Y:-2.08, Z:0.96 [[ 9.99452288e-01 -3.30726251e-02 1.15096853e-03 -4.27882156e+01] [ 3.30725797e-02 9.99452951e-01 5.84534315e-05 -2.08011798e+00] [-1.15227211e-03 -2.03559173e-05 9.99999336e-01 9.62643454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685529293 meters 0.026838505261180895 Centerline is valid? [True, True] Translation: X:-42.85, Y:-2.08, Z:0.95 [[ 9.99344077e-01 -3.58537978e-02 -5.09123043e-03 -4.28490321e+01] [ 3.58529463e-02 9.99357043e-01 -2.58446656e-04 -2.08427822e+00] [ 5.09722328e-03 7.57415235e-05 9.99987006e-01 9.45049897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745529293000004 meters 0.027696593994605518 Centerline is valid? [True, True] Translation: X:-42.91, Y:-2.08, Z:0.93 [[ 9.99421509e-01 -3.18944846e-02 -1.18063436e-02 -4.29104050e+01] [ 3.18895851e-02 9.99491216e-01 -6.03063510e-04 -2.07853642e+00] [ 1.18195711e-02 2.26215246e-04 9.99930121e-01 9.32596944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805529293 meters 0.02780848794457579 Centerline is valid? [True, True] Translation: X:-42.97, Y:-2.08, Z:0.95 [[ 9.99595535e-01 -2.80662813e-02 -4.58799844e-03 -4.29686619e+01] [ 2.80655074e-02 9.99606059e-01 -2.32984463e-04 -2.08332455e+00] [ 4.59273005e-03 1.04125725e-04 9.99989448e-01 9.49590317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865529293 meters 0.029962303040739584 Centerline is valid? [True, True] Translation: X:-43.03, Y:-2.07, Z:0.94 [[ 9.99726395e-01 -2.26051191e-02 -6.01201462e-03 -4.30300041e+01] [ 2.26036867e-02 9.99744457e-01 -3.06114268e-04 -2.07388819e+00] [ 6.01739805e-03 1.70136819e-04 9.99981881e-01 9.37102877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925529293000004 meters 0.03107642708498952 Centerline is valid? [True, True] Translation: X:-43.09, Y:-2.08, Z:0.93 [[ 9.99717910e-01 -2.09170045e-02 -1.12507662e-02 -4.30901625e+01] [ 2.09118715e-02 9.99781158e-01 -5.73691763e-04 -2.07957217e+00] [ 1.12603040e-02 3.38255353e-04 9.99936544e-01 9.34042289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985529293 meters 0.02910722735288686 Centerline is valid? [True, True] Translation: X:-43.15, Y:-2.09, Z:0.94 [[ 9.99705759e-01 -2.22782770e-02 -9.59554358e-03 -4.31496700e+01] [ 2.22746190e-02 9.99751771e-01 -4.87937095e-04 -2.08726914e+00] [ 9.60403208e-03 2.74056447e-04 9.99953843e-01 9.37848115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045529293 meters 0.028294953260173672 Centerline is valid? [True, True] Translation: X:-43.21, Y:-2.09, Z:0.93 [[ 9.99574009e-01 -2.65301665e-02 -1.21634737e-02 -4.32079861e+01] [ 2.65247405e-02 9.99647973e-01 -6.07219387e-04 -2.08980050e+00] [ 1.21753015e-02 2.84327733e-04 9.99925838e-01 9.32611183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105529293000004 meters 0.03206857636601911 Centerline is valid? [True, True] Translation: X:-43.27, Y:-2.09, Z:0.94 [[ 9.99543125e-01 -2.92202497e-02 -7.72777769e-03 -4.32672082e+01] [ 2.92181036e-02 9.99572984e-01 -3.90477481e-04 -2.08991141e+00] [ 7.73588765e-03 1.64508073e-04 9.99970064e-01 9.39827791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165529293 meters 0.02800014680532713 Centerline is valid? [True, True] Translation: X:-43.33, Y:-2.10, Z:0.94 [[ 9.99463543e-01 -3.20581234e-02 -6.70102409e-03 -4.33261856e+01] [ 3.20565774e-02 9.99485999e-01 -3.38009191e-04 -2.09820808e+00] [ 6.70841570e-03 1.23015966e-04 9.99977491e-01 9.44217887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225529293 meters 0.02834267055897279 Centerline is valid? [True, True] Translation: X:-43.38, Y:-2.11, Z:0.95 [[ 9.99369849e-01 -3.50481750e-02 -5.61511199e-03 -4.33836540e+01] [ 3.50471480e-02 9.99385620e-01 -2.81229443e-04 -2.10905632e+00] [ 5.62151876e-03 8.42585648e-05 9.99984196e-01 9.49769877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285529293 meters 0.02702843567467149 Centerline is valid? [True, True] Translation: X:-43.45, Y:-2.10, Z:0.93 [[ 9.99423272e-01 -3.16541176e-02 -1.22938868e-02 -4.34455439e+01] [ 3.16488737e-02 9.99498856e-01 -6.20916634e-04 -2.09544170e+00] [ 1.23073804e-02 2.31470864e-04 9.99924235e-01 9.34858676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345529293 meters 0.02708179982978751 Centerline is valid? [True, True] Translation: X:-43.50, Y:-2.10, Z:0.94 [[ 9.99541182e-01 -2.81291028e-02 -1.12329506e-02 -4.35031901e+01] [ 2.81245446e-02 9.99604268e-01 -5.63578566e-04 -2.09846390e+00] [ 1.12443583e-02 2.47398366e-04 9.99936750e-01 9.43984024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405529293 meters 0.031179624227942973 Centerline is valid? [True, True] Translation: X:-43.56, Y:-2.08, Z:0.94 [[ 9.99756867e-01 -1.98373454e-02 -9.62736615e-03 -4.35644588e+01] [ 1.98335957e-02 9.99803177e-01 -4.84802747e-04 -2.07950051e+00] [ 9.63508846e-03 2.93739587e-04 9.99953538e-01 9.38810481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465529293 meters 0.029737684501237812 Centerline is valid? [True, True] Translation: X:-43.62, Y:-2.08, Z:0.94 [[ 9.99823275e-01 -1.75738771e-02 -6.67665736e-03 -4.36222015e+01] [ 1.75720549e-02 9.99845545e-01 -3.31498672e-04 -2.07972390e+00] [ 6.68145183e-03 2.14117499e-04 9.99977656e-01 9.41395953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525529293 meters 0.03130804613648545 Centerline is valid? [True, True] Translation: X:-43.68, Y:-2.08, Z:0.93 [[ 9.99675533e-01 -1.82128017e-02 -1.78079331e-02 -4.36833227e+01] [ 1.81997396e-02 9.99833970e-01 -8.95300978e-04 -2.07517463e+00] [ 1.78212823e-02 5.70910738e-04 9.99841025e-01 9.27031509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585529293 meters 0.02846728082064828 Centerline is valid? [True, True] Translation: X:-43.74, Y:-2.10, Z:0.94 [[ 9.99607287e-01 -2.46496037e-02 -1.33292253e-02 -4.37407266e+01] [ 2.46428510e-02 9.99696094e-01 -6.70639562e-04 -2.09618296e+00] [ 1.33417054e-02 3.41906081e-04 9.99910937e-01 9.43636383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645529293 meters 0.028452578913321667 Centerline is valid? [True, True] Translation: X:-43.80, Y:-2.08, Z:0.94 [[ 9.99565187e-01 -2.78545466e-02 -9.67272536e-03 -4.38014723e+01] [ 2.78511498e-02 9.99611963e-01 -4.85726272e-04 -2.08170961e+00] [ 9.68250168e-03 2.16118549e-04 9.99953100e-01 9.40900097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705529293000005 meters 0.029906666087474845 Centerline is valid? [True, True] Translation: X:-43.86, Y:-2.09, Z:0.95 [[ 9.99575802e-01 -2.65412872e-02 -1.19906859e-02 -4.38599100e+01] [ 2.65359832e-02 9.99647678e-01 -6.01254787e-04 -2.09377173e+00] [ 1.20024194e-02 2.82815096e-04 9.99927928e-01 9.49526705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765529293 meters 0.027721622448768534 Centerline is valid? [True, True] Translation: X:-43.92, Y:-2.09, Z:0.96 [[ 9.99550300e-01 -2.76852152e-02 -1.15206928e-02 -4.39170039e+01] [ 2.76804637e-02 9.99616659e-01 -5.71709230e-04 -2.09006615e+00] [ 1.15321043e-02 2.52554014e-04 9.99933471e-01 9.60394867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825529293 meters 0.029305212058640753 Centerline is valid? [True, True] Translation: X:-43.98, Y:-2.07, Z:0.95 [[ 9.99700732e-01 -2.23996763e-02 -9.83363897e-03 -4.39767573e+01] [ 2.23960228e-02 9.99749062e-01 -4.81507369e-04 -2.07425936e+00] [ 9.84195694e-03 2.61128867e-04 9.99951533e-01 9.47729655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885529293000005 meters 0.02943963779567759 Centerline is valid? [True, True] Translation: X:-44.04, Y:-2.09, Z:0.95 [[ 9.99599972e-01 -2.35983481e-02 -1.55889263e-02 -4.40364898e+01] [ 2.35891120e-02 9.99721437e-01 -7.76108965e-04 -2.08827421e+00] [ 1.56028987e-02 4.08069571e-04 9.99878184e-01 9.47643424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945529293 meters 0.02849457594407352 Centerline is valid? [True, True] Translation: X:-44.10, Y:-2.09, Z:0.96 [[ 9.99675617e-01 -2.44814499e-02 -7.02278271e-03 -4.40951848e+01] [ 2.44796057e-02 9.99700269e-01 -3.48459883e-04 -2.08513612e+00] [ 7.02920857e-03 1.76431897e-04 9.99975279e-01 9.64955152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005529293 meters 0.03288612570342012 Centerline is valid? [True, True] Translation: X:-44.16, Y:-2.08, Z:0.95 [[ 9.99644585e-01 -2.31723011e-02 -1.31813526e-02 -4.41559145e+01] [ 2.31656660e-02 9.99731425e-01 -6.55847705e-04 -2.08179397e+00] [ 1.31930099e-02 3.50259796e-04 9.99912907e-01 9.53025723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065529293000004 meters 0.028964714511382248 Centerline is valid? [True, True] Translation: X:-44.21, Y:-2.09, Z:0.96 [[ 9.99654369e-01 -2.42526835e-02 -1.01463903e-02 -4.42147357e+01] [ 2.42488139e-02 9.99705827e-01 -5.04239981e-04 -2.08819825e+00] [ 1.01556347e-02 2.58027770e-04 9.99948397e-01 9.63146148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125529293 meters 0.02937757385446642 Centerline is valid? [True, True] Translation: X:-44.27, Y:-2.09, Z:0.97 [[ 9.99607391e-01 -2.58683119e-02 -1.07654275e-02 -4.42724991e+01] [ 2.58640845e-02 9.99665327e-01 -5.31744810e-04 -2.09109549e+00] [ 1.07755800e-02 2.53098114e-04 9.99941910e-01 9.68546875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185529293 meters 0.029594204078621365 Centerline is valid? [True, True] Translation: X:-44.33, Y:-2.09, Z:0.97 [[ 9.99629914e-01 -2.33524300e-02 -1.39534860e-02 -4.43327530e+01] [ 2.33450421e-02 9.99727228e-01 -6.92130829e-04 -2.08731831e+00] [ 1.39658429e-02 3.66129961e-04 9.99902406e-01 9.65983826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245529293000004 meters 0.030066802766843866 Centerline is valid? [True, True] Translation: X:-44.39, Y:-2.08, Z:0.97 [[ 9.99661664e-01 -2.38449924e-02 -1.03910356e-02 -4.43927640e+01] [ 2.38409256e-02 9.99715632e-01 -5.15086870e-04 -2.08366762e+00] [ 1.04003630e-02 2.67180691e-04 9.99945879e-01 9.67000399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305529293 meters 0.02983303308624507 Centerline is valid? [True, True] Translation: X:-44.45, Y:-2.09, Z:0.98 [[ 9.99766345e-01 -1.93340041e-02 -9.66699751e-03 -4.44494345e+01] [ 1.93303051e-02 9.99813039e-01 -4.75936341e-04 -2.09375499e+00] [ 9.67439191e-03 2.88959125e-04 9.99953160e-01 9.77730864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365529293 meters 0.030505205928774804 Centerline is valid? [True, True] Translation: X:-44.51, Y:-2.08, Z:0.98 [[ 9.99807857e-01 -1.79645857e-02 -7.84368449e-03 -4.45086920e+01] [ 1.79621710e-02 9.99838596e-01 -3.78194528e-04 -2.08479590e+00] [ 7.84921259e-03 2.37232258e-04 9.99969166e-01 9.83049997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425529293000004 meters 0.03134139969486797 Centerline is valid? [True, True] Translation: X:-44.57, Y:-2.09, Z:0.98 [[ 9.99810771e-01 -1.73942791e-02 -8.70981877e-03 -4.45673265e+01] [ 1.73912899e-02 9.99848672e-01 -4.18823367e-04 -2.09018978e+00] [ 8.71578587e-03 2.67269130e-04 9.99961981e-01 9.76831267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485529293 meters 0.030002006878012837 Centerline is valid? [True, True] Translation: X:-44.62, Y:-2.10, Z:0.99 [[ 9.99713842e-01 -2.09841692e-02 -1.14847124e-02 -4.46237391e+01] [ 2.09791833e-02 9.99779759e-01 -5.54445431e-04 -2.10397566e+00] [ 1.14938176e-02 3.13346885e-04 9.99933895e-01 9.85894372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545529293 meters 0.028640562748619997 Centerline is valid? [True, True] Translation: X:-44.68, Y:-2.11, Z:0.99 [[ 9.99634950e-01 -2.61132394e-02 -6.93295244e-03 -4.46834518e+01] [ 2.61115207e-02 9.99658979e-01 -3.38324283e-04 -2.10690702e+00] [ 6.93942290e-03 1.57170846e-04 9.99975910e-01 9.90052840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605529293000004 meters 0.02937185003717912 Centerline is valid? [True, True] Translation: X:-44.74, Y:-2.11, Z:0.99 [[ 9.99670447e-01 -2.35632658e-02 -1.01867373e-02 -4.47435363e+01] [ 2.35594279e-02 9.99722315e-01 -4.96608457e-04 -2.10844611e+00] [ 1.01956103e-02 2.56451097e-04 9.99947991e-01 9.87356342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665529293 meters 0.029716982094171653 Centerline is valid? [True, True] Translation: X:-44.80, Y:-2.11, Z:1.00 [[ 9.99811345e-01 -1.81809218e-02 -6.83579345e-03 -4.48007899e+01] [ 1.81790894e-02 9.99834692e-01 -3.30101182e-04 -2.11078405e+00] [ 6.84066499e-03 2.05770407e-04 9.99976581e-01 1.00065328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725529293 meters 0.029816748451813126 Centerline is valid? [True, True] Translation: X:-44.86, Y:-2.11, Z:1.00 [[ 9.99850163e-01 -1.60677391e-02 -6.44050871e-03 -4.48593590e+01] [ 1.60661152e-02 9.99870885e-01 -3.03800253e-04 -2.11282129e+00] [ 6.44455853e-03 2.00280777e-04 9.99979214e-01 9.97091124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785529293 meters 0.030255768640077205 Centerline is valid? [True, True] Translation: X:-44.92, Y:-2.12, Z:1.01 [[ 9.99874550e-01 -1.50648935e-02 -4.89217395e-03 -4.49172903e+01] [ 1.50639605e-02 9.99886506e-01 -2.27501194e-04 -2.12373516e+00] [ 4.89504600e-03 1.53777138e-04 9.99988007e-01 1.00742476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845529293 meters 0.030668074516490337 Centerline is valid? [True, True] Translation: X:-44.98, Y:-2.12, Z:1.00 [[ 9.99854315e-01 -1.54069365e-02 -7.34683403e-03 -4.49763922e+01] [ 1.54047712e-02 9.99881278e-01 -3.51232326e-04 -2.12003390e+00] [ 7.35137321e-03 2.38004860e-04 9.99972950e-01 1.00143541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905529293 meters 0.029565534328419123 Centerline is valid? [True, True] Translation: X:-45.03, Y:-2.14, Z:1.00 [[ 9.99784079e-01 -1.88487111e-02 -8.74762875e-03 -4.50338129e+01] [ 1.88457798e-02 9.99822315e-01 -4.17411343e-04 -2.13588363e+00] [ 8.75394210e-03 2.52465330e-04 9.99961652e-01 1.00022259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965529293 meters 0.028622574403822314 Centerline is valid? [True, True] Translation: X:-45.09, Y:-2.14, Z:1.02 [[ 9.99818526e-01 -1.89459087e-02 1.99166718e-03 -4.50919223e+01] [ 1.89457535e-02 9.99820508e-01 9.67624274e-05 -2.14009573e+00] [-1.99314294e-03 -5.90112323e-05 9.99998012e-01 1.02053339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025529293 meters 0.02986732723935272 Centerline is valid? [True, True] Translation: X:-45.15, Y:-2.14, Z:1.01 [[ 9.99817735e-01 -1.72450975e-02 -8.19172312e-03 -4.51526966e+01] [ 1.72424577e-02 9.99851261e-01 -3.92780279e-04 -2.14025645e+00] [ 8.19727822e-03 2.51463249e-04 9.99966370e-01 1.00548352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085529293 meters 0.02988807753701938 Centerline is valid? [True, True] Translation: X:-45.21, Y:-2.16, Z:1.02 [[ 9.99858864e-01 -1.62990550e-02 -4.07341150e-03 -4.52110956e+01] [ 1.62984019e-02 9.99867154e-01 -1.93494936e-04 -2.15522658e+00] [ 4.07602414e-03 1.27077530e-04 9.99991685e-01 1.01520871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145529293 meters 0.03038390230485113 Centerline is valid? [True, True] Translation: X:-45.27, Y:-2.14, Z:1.01 [[ 9.99862180e-01 -1.56078279e-02 -5.65833122e-03 -4.52707602e+01] [ 1.56065974e-02 9.99878175e-01 -2.61561471e-04 -2.14238717e+00] [ 5.66172431e-03 1.73218125e-04 9.99983957e-01 1.01495226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205529293000005 meters 0.029525478615001235 Centerline is valid? [True, True] Translation: X:-45.33, Y:-2.16, Z:1.02 [[ 9.99833581e-01 -1.78466138e-02 -3.78255229e-03 -4.53286029e+01] [ 1.78460665e-02 9.99840730e-01 -1.78396784e-04 -2.15958718e+00] [ 3.78513362e-03 1.10863415e-04 9.99992830e-01 1.01692285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265529293 meters 0.02933987095218286 Centerline is valid? [True, True] Translation: X:-45.39, Y:-2.16, Z:1.02 [[ 9.99776893e-01 -2.01988156e-02 -6.17843197e-03 -4.53872253e+01] [ 2.01974441e-02 9.99795970e-01 -2.84299012e-04 -2.16003154e+00] [ 6.18291389e-03 1.59447049e-04 9.99980873e-01 1.01769881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325529293 meters 0.03021942491779447 Centerline is valid? [True, True] Translation: X:-45.45, Y:-2.16, Z:1.00 [[ 9.99679092e-01 -2.32268158e-02 -1.01108333e-02 -4.54466621e+01] [ 2.32231900e-02 9.99730192e-01 -4.75875234e-04 -2.16079199e+00] [ 1.01191583e-02 2.40916720e-04 9.99948771e-01 1.00291817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385529293000005 meters 0.028009302303791048 Centerline is valid? [True, True] Translation: X:-45.50, Y:-2.17, Z:1.02 [[ 9.99584907e-01 -2.78042231e-02 -7.54576885e-03 -4.55049056e+01] [ 2.78023315e-02 9.99613377e-01 -3.55477191e-04 -2.16910722e+00] [ 7.55273525e-03 1.45539667e-04 9.99971467e-01 1.01568927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445529293 meters 0.02802145066505258 Centerline is valid? [True, True] Translation: X:-45.56, Y:-2.18, Z:1.01 [[ 9.99564372e-01 -2.86190578e-02 -7.21224398e-03 -4.55638155e+01] [ 2.86174168e-02 9.99590383e-01 -3.30645482e-04 -2.17627340e+00] [ 7.21875249e-03 1.24105651e-04 9.99973937e-01 1.01247034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505529293 meters 0.027962357708983043 Centerline is valid? [True, True] Translation: X:-45.62, Y:-2.18, Z:1.02 [[ 9.99520618e-01 -3.01361748e-02 -7.09539347e-03 -4.56209065e+01] [ 3.01345917e-02 9.99545796e-01 -3.29945902e-04 -2.18410243e+00] [ 7.10211402e-03 1.15970947e-04 9.99974773e-01 1.02015669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565529293000004 meters 0.02865607605748932 Centerline is valid? [True, True] Translation: X:-45.68, Y:-2.17, Z:1.02 [[ 9.99616519e-01 -2.71760834e-02 -5.31751996e-03 -4.56802641e+01] [ 2.71751926e-02 9.99630658e-01 -2.39721127e-04 -2.17336145e+00] [ 5.32207066e-03 9.51245694e-05 9.99985833e-01 1.01764396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625529293 meters 0.02908511710822306 Centerline is valid? [True, True] Translation: X:-45.74, Y:-2.18, Z:1.02 [[ 9.99756267e-01 -2.08890827e-02 -7.14508503e-03 -4.57393883e+01] [ 2.08872435e-02 9.99781783e-01 -3.31935323e-04 -2.17807333e+00] [ 7.15045967e-03 1.82613289e-04 9.99974418e-01 1.02301418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685529293 meters 0.03001700530298565 Centerline is valid? [True, True] Translation: X:-45.80, Y:-2.17, Z:1.02 [[ 9.99794220e-01 -1.88407575e-02 -7.51951877e-03 -4.57988471e+01] [ 1.88387318e-02 9.99822477e-01 -3.40137394e-04 -2.16722036e+00] [ 7.52459233e-03 1.98409203e-04 9.99971670e-01 1.01528848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745529293000004 meters 0.029786465226035532 Centerline is valid? [True, True] Translation: X:-45.86, Y:-2.16, Z:1.01 [[ 9.99794154e-01 -1.82239650e-02 -8.91838911e-03 -4.58572978e+01] [ 1.82210342e-02 9.99833899e-01 -4.09768322e-04 -2.16202670e+00] [ 8.92437536e-03 2.47181700e-04 9.99960146e-01 1.01007483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805529293 meters 0.02902088488746461 Centerline is valid? [True, True] Translation: X:-45.92, Y:-2.17, Z:1.02 [[ 9.99736514e-01 -2.11435866e-02 -8.93594537e-03 -4.59154333e+01] [ 2.11408289e-02 9.99776426e-01 -4.02964138e-04 -2.17387220e+00] [ 8.94246764e-03 2.13944670e-04 9.99959992e-01 1.01676372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865529293 meters 0.02863440988422862 Centerline is valid? [True, True] Translation: X:-45.98, Y:-2.17, Z:1.01 [[ 9.99677841e-01 -2.43322258e-02 -7.22196421e-03 -4.59755650e+01] [ 2.43304701e-02 9.99703916e-01 -3.30889480e-04 -2.16805006e+00] [ 7.22787718e-03 1.55069098e-04 9.99973867e-01 1.01292432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925529293000004 meters 0.029309063767728318 Centerline is valid? [True, True] Translation: X:-46.04, Y:-2.17, Z:1.01 [[ 9.99704382e-01 -2.17106412e-02 -1.09451354e-02 -4.60358599e+01] [ 2.17064399e-02 9.99764261e-01 -5.02514723e-04 -2.17401992e+00] [ 1.09534652e-02 2.64786247e-04 9.99939974e-01 1.01213686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985529293 meters 0.028519821300586497 Centerline is valid? [True, True] Translation: X:-46.10, Y:-2.17, Z:1.02 [[ 9.99636950e-01 -2.57815170e-02 -7.82826709e-03 -4.60963418e+01] [ 2.57794894e-02 9.99667589e-01 -3.59822969e-04 -2.17388614e+00] [ 7.83494167e-03 1.57883607e-04 9.99969294e-01 1.01844854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045529293 meters 0.02887722941642114 Centerline is valid? [True, True] Translation: X:-46.15, Y:-2.17, Z:1.02 [[ 9.99738972e-01 -2.24463412e-02 -4.26025804e-03 -4.61549906e+01] [ 2.24457497e-02 9.99748045e-01 -1.86618221e-04 -2.16589515e+00] [ 4.26337354e-03 9.09448228e-05 9.99990908e-01 1.02404435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105529293000004 meters 0.028799985202258366 Centerline is valid? [True, True] Translation: X:-46.22, Y:-2.17, Z:1.01 [[ 9.99736294e-01 -2.11291717e-02 -8.99448436e-03 -4.62153090e+01] [ 2.11263336e-02 9.99776730e-01 -4.10443860e-04 -2.16831821e+00] [ 9.00114850e-03 2.20315147e-04 9.99959465e-01 1.01496059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165529293 meters 0.02935969855429528 Centerline is valid? [True, True] Translation: X:-46.27, Y:-2.16, Z:1.01 [[ 9.99752193e-01 -1.98175652e-02 -1.01398665e-02 -4.62744828e+01] [ 1.98139935e-02 9.99803581e-01 -4.52583873e-04 -2.16222932e+00] [ 1.01468440e-02 2.51560470e-04 9.99948488e-01 1.01233101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225529293 meters 0.029644157943212783 Centerline is valid? [True, True] Translation: X:-46.33, Y:-2.16, Z:1.01 [[ 9.99813178e-01 -1.64723801e-02 -1.01128811e-02 -4.63326762e+01] [ 1.64686116e-02 9.99864279e-01 -4.55809736e-04 -2.15573723e+00] [ 1.01190169e-02 2.89179469e-04 9.99948760e-01 1.01134106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285529293 meters 0.029556579873429654 Centerline is valid? [True, True] Translation: X:-46.39, Y:-2.17, Z:1.02 [[ 9.99807918e-01 -1.64683388e-02 -1.06264319e-02 -4.63906471e+01] [ 1.64642606e-02 9.99864344e-01 -4.71149373e-04 -2.16774310e+00] [ 1.06327494e-02 2.96102529e-04 9.99943427e-01 1.02001252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345529293 meters 0.02949820065510624 Centerline is valid? [True, True] Translation: X:-46.45, Y:-2.16, Z:1.02 [[ 9.99838782e-01 -1.58142641e-02 -8.50403296e-03 -4.64492849e+01] [ 1.58116046e-02 9.99874917e-01 -3.79879444e-04 -2.16076751e+00] [ 8.50897676e-03 2.45355794e-04 9.99963768e-01 1.02248209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405529293 meters 0.029311357113503758 Centerline is valid? [True, True] Translation: X:-46.51, Y:-2.16, Z:1.03 [[ 9.99800999e-01 -1.55008288e-02 -1.25573726e-02 -4.65080858e+01] [ 1.54949713e-02 9.99879787e-01 -5.63619341e-04 -2.16368191e+00] [ 1.25645996e-02 3.68931052e-04 9.99920994e-01 1.02590351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465529293 meters 0.02983447192562987 Centerline is valid? [True, True] Translation: X:-46.57, Y:-2.16, Z:1.02 [[ 9.99817555e-01 -1.51448571e-02 -1.16399780e-02 -4.65671066e+01] [ 1.51399217e-02 9.99885254e-01 -5.12012464e-04 -2.16190187e+00] [ 1.16463967e-02 3.35690695e-04 9.99932122e-01 1.01880871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525529293000005 meters 0.031240949859616392 Centerline is valid? [True, True] Translation: X:-46.63, Y:-2.16, Z:1.02 [[ 9.99739867e-01 -1.26013232e-02 -1.90106616e-02 -4.66275410e+01] [ 1.25874420e-02 9.99920414e-01 -8.49669395e-04 -2.16137270e+00] [ 1.90198556e-02 6.10152768e-04 9.99818920e-01 1.01824268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585529293 meters 0.030684083062805744 Centerline is valid? [True, True] Translation: X:-46.69, Y:-2.16, Z:1.03 [[ 9.99902966e-01 -9.03356466e-03 -1.06044117e-02 -4.66866213e+01] [ 9.02904780e-03 9.99959125e-01 -4.73739743e-04 -2.16193739e+00] [ 1.06082578e-02 3.77946034e-04 9.99943659e-01 1.03075364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645529293 meters 0.030735430264971164 Centerline is valid? [True, True] Translation: X:-46.75, Y:-2.18, Z:1.03 [[ 9.99856130e-01 -1.31626053e-02 -1.06988628e-02 -4.67454764e+01] [ 1.31582578e-02 9.99913313e-01 -4.76644590e-04 -2.17709652e+00] [ 1.07042092e-02 3.35797620e-04 9.99942652e-01 1.03342059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705529293000005 meters 0.030456991955214566 Centerline is valid? [True, True] Translation: X:-46.80, Y:-2.19, Z:1.05 [[ 9.99847361e-01 -1.65237379e-02 -5.67632068e-03 -4.68042282e+01] [ 1.65225689e-02 9.99863461e-01 -2.52786540e-04 -2.18991107e+00] [ 5.67972262e-03 1.58960555e-04 9.99983858e-01 1.04821612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765529293 meters 0.03002509525342211 Centerline is valid? [True, True] Translation: X:-46.87, Y:-2.19, Z:1.04 [[ 9.99732413e-01 -1.80516489e-02 -1.44651572e-02 -4.68652191e+01] [ 1.80441982e-02 9.99836982e-01 -6.45440572e-04 -2.18899867e+00] [ 1.44744504e-02 3.84255697e-04 9.99895166e-01 1.03736636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825529293 meters 0.03052877672701749 Centerline is valid? [True, True] Translation: X:-46.92, Y:-2.20, Z:1.05 [[ 9.99811609e-01 -1.16356021e-02 -1.55357306e-02 -4.69239255e+01] [ 1.16262520e-02 9.99932173e-01 -6.92028047e-04 -2.19612481e+00] [ 1.55427290e-02 5.11275357e-04 9.99879074e-01 1.04528448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885529293000005 meters 0.03570256211062798 Centerline is valid? [True, True] Translation: X:-46.99, Y:-2.17, Z:1.03 [[ 9.99734385e-01 4.02889334e-04 -2.30433559e-02 -4.69863282e+01] [-4.26673196e-04 9.99999381e-01 -1.02722799e-03 -2.17115415e+00] [ 2.30429278e-02 1.03678713e-03 9.99733939e-01 1.02962335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945529293 meters 0.04099377487513648 Centerline is valid? [True, True] Translation: X:-47.05, Y:-2.18, Z:1.03 [[ 9.99742495e-01 1.13950831e-02 -1.96238329e-02 -4.70458290e+01] [-1.14144207e-02 9.99934472e-01 -8.73686478e-04 -2.18137735e+00] [ 1.96125912e-02 1.09745618e-03 9.99807052e-01 1.03279032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005529293 meters 0.03799335710324981 Centerline is valid? [True, True] Translation: X:-47.10, Y:-2.21, Z:1.05 [[ 9.99746276e-01 1.40589514e-02 -1.75991275e-02 -4.71022347e+01] [-1.40748495e-02 9.99900640e-01 -7.79803741e-04 -2.20707780e+00] [ 1.75864156e-02 1.02731096e-03 9.99844819e-01 1.05093244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065529293000004 meters 0.03981788973357631 Centerline is valid? [True, True] Translation: X:-47.16, Y:-2.25, Z:1.05 [[ 9.99663591e-01 1.71604375e-02 -1.94480119e-02 -4.71611898e+01] [-1.71804927e-02 9.99852031e-01 -8.64598277e-04 -2.25009884e+00] [ 1.94302973e-02 1.19843384e-03 9.99810496e-01 1.04702114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125529293 meters 0.04246856178295181 Centerline is valid? [True, True] Translation: X:-47.22, Y:-2.28, Z:1.05 [[ 9.99525858e-01 2.17366545e-02 -2.18077078e-02 -4.72203026e+01] [-2.17629490e-02 9.99762689e-01 -9.69111080e-04 -2.27903630e+00] [ 2.17814673e-02 1.44325162e-03 9.99761714e-01 1.05017350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185529293 meters 0.04357721608738041 Centerline is valid? [True, True] Translation: X:-47.28, Y:-2.32, Z:1.05 [[ 9.99358975e-01 2.55807661e-02 -2.50452259e-02 -4.72789569e+01] [-2.56166296e-02 9.99671222e-01 -1.11211104e-03 -2.32187567e+00] [ 2.50085429e-02 1.75297242e-03 9.99685701e-01 1.05422148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245529293000004 meters 0.040656748740668755 Centerline is valid? [True, True] Translation: X:-47.34, Y:-2.38, Z:1.08 [[ 9.99678244e-01 1.99242053e-02 -1.56982341e-02 -4.73358578e+01] [-1.99376043e-02 9.99800983e-01 -6.97479480e-04 -2.38157892e+00] [ 1.56812131e-02 1.01024024e-03 9.99876532e-01 1.08059279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305529293 meters 0.042648755768113306 Centerline is valid? [True, True] Translation: X:-47.39, Y:-2.43, Z:1.08 [[ 9.99688344e-01 1.37779392e-02 -2.08178682e-02 -4.73931851e+01] [-1.38001195e-02 9.99904349e-01 -9.22151802e-04 -2.42585455e+00] [ 2.08031716e-02 1.20915348e-03 9.99782859e-01 1.07964074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365529293 meters 0.04058616567250235 Centerline is valid? [True, True] Translation: X:-47.45, Y:-2.46, Z:1.08 [[ 9.99596483e-01 1.67351744e-02 -2.29522441e-02 -4.74512185e+01] [-1.67629279e-02 9.99858975e-01 -1.01730811e-03 -2.45571030e+00] [ 2.29319824e-02 1.40164442e-03 9.99736045e-01 1.08425180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425529293000004 meters 0.043813983289055655 Centerline is valid? [True, True] Translation: X:-47.51, Y:-2.48, Z:1.08 [[ 9.99483842e-01 1.73495613e-02 -2.70377975e-02 -4.75108139e+01] [-1.73883093e-02 9.99848093e-01 -1.19863408e-03 -2.48415677e+00] [ 2.70128945e-02 1.66815698e-03 9.99633693e-01 1.07521996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485529293 meters 0.041609233789083246 Centerline is valid? [True, True] Translation: X:-47.57, Y:-2.51, Z:1.10 [[ 9.99627368e-01 1.80293694e-02 -2.04955161e-02 -4.75681862e+01] [-1.80517573e-02 9.99836642e-01 -9.07831941e-04 -2.51074872e+00] [ 2.04758003e-02 1.27747374e-03 9.99789533e-01 1.10135528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545529293 meters 0.04300359362953692 Centerline is valid? [True, True] Translation: X:-47.63, Y:-2.54, Z:1.10 [[ 9.99642612e-01 1.62647433e-02 -2.12156961e-02 -4.76261490e+01] [-1.62880684e-02 9.99866911e-01 -9.27075400e-04 -2.53664188e+00] [ 2.11977939e-02 1.27230678e-03 9.99774492e-01 1.09851291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605529293000004 meters 0.0409193130437332 Centerline is valid? [True, True] Translation: X:-47.68, Y:-2.57, Z:1.10 [[ 9.99622144e-01 1.37257250e-02 -2.38153919e-02 -4.76832681e+01] [-1.37542917e-02 9.99904868e-01 -1.03610672e-03 -2.56577576e+00] [ 2.37989050e-02 1.36327907e-03 9.99715836e-01 1.10291273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665529293 meters 0.040860800629899996 Centerline is valid? [True, True] Translation: X:-47.74, Y:-2.58, Z:1.10 [[ 9.99686314e-01 1.22992734e-02 -2.18174411e-02 -4.77432021e+01] [-1.23230446e-02 9.99923612e-01 -9.55435351e-04 -2.57982241e+00] [ 2.18040233e-02 1.22399294e-03 9.99761515e-01 1.09739866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725529293 meters 0.044761158569329045 Centerline is valid? [True, True] Translation: X:-47.80, Y:-2.60, Z:1.10 [[ 9.99680614e-01 1.00043601e-02 -2.32073807e-02 -4.78010809e+01] [-1.00303465e-02 9.99949191e-01 -1.00360775e-03 -2.59566086e+00] [ 2.31961611e-02 1.23606528e-03 9.99730169e-01 1.09773031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785529293 meters 0.04015040868042269 Centerline is valid? [True, True] Translation: X:-47.86, Y:-2.62, Z:1.10 [[ 9.99716028e-01 9.77264006e-03 -2.17337971e-02 -4.78586057e+01] [-9.79545364e-03 9.99951578e-01 -9.43468698e-04 -2.61508654e+00] [ 2.17235245e-02 1.15609318e-03 9.99763348e-01 1.10066502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845529293 meters 0.040204468889361016 Centerline is valid? [True, True] Translation: X:-47.92, Y:-2.63, Z:1.10 [[ 9.99710501e-01 1.17149115e-02 -2.10160704e-02 -4.79167783e+01] [-1.17364441e-02 9.99930719e-01 -9.01525155e-04 -2.62633938e+00] [ 2.10040531e-02 1.14791810e-03 9.99778732e-01 1.09937727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905529293 meters 0.04053347929194961 Centerline is valid? [True, True] Translation: X:-47.98, Y:-2.64, Z:1.10 [[ 9.99613826e-01 1.30164166e-02 -2.45514173e-02 -4.79766061e+01] [-1.30464124e-02 9.99914328e-01 -1.06196557e-03 -2.64005017e+00] [ 2.45354909e-02 1.38186338e-03 9.99698004e-01 1.09668971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965529293 meters 0.040078505740507905 Centerline is valid? [True, True] Translation: X:-48.04, Y:-2.65, Z:1.10 [[ 9.99744558e-01 1.04704819e-02 -2.00296627e-02 -4.80361406e+01] [-1.04899267e-02 9.99944604e-01 -8.65979964e-04 -2.64933562e+00] [ 2.00194859e-02 1.07586845e-03 9.99799011e-01 1.10234345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025529293000005 meters 0.042348882657441037 Centerline is valid? [True, True] Translation: X:-48.10, Y:-2.64, Z:1.10 [[ 9.99795828e-01 1.11464028e-02 -1.68540653e-02 -4.80965227e+01] [-1.11602417e-02 9.99937458e-01 -7.27267226e-04 -2.64417293e+00] [ 1.68449048e-02 9.15214181e-04 9.99857696e-01 1.09715036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085529293 meters 0.04020895294682002 Centerline is valid? [True, True] Translation: X:-48.16, Y:-2.67, Z:1.09 [[ 9.99638616e-01 6.93098395e-03 -2.59730379e-02 -4.81555516e+01] [-6.96244962e-03 9.99975133e-01 -1.12123587e-03 -2.66817089e+00] [ 2.59646207e-02 1.30166665e-03 9.99662015e-01 1.08557039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145529293 meters 0.03811660422443924 Centerline is valid? [True, True] Translation: X:-48.21, Y:-2.67, Z:1.10 [[ 9.99815223e-01 5.84231065e-03 -1.83136079e-02 -4.82142437e+01] [-5.85774948e-03 9.99982532e-01 -7.89495175e-04 -2.66957751e+00] [ 1.83086755e-02 8.96625821e-04 9.99831980e-01 1.09932637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205529293000005 meters 0.03879237688728934 Centerline is valid? [True, True] Translation: X:-48.27, Y:-2.68, Z:1.09 [[ 9.99723826e-01 7.47074019e-03 -2.22813760e-02 -4.82744525e+01] [-7.49401834e-03 9.99971457e-01 -9.61418355e-04 -2.68343355e+00] [ 2.22735575e-02 1.12812988e-03 9.99751277e-01 1.09217449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265529293 meters 0.03909008231575075 Centerline is valid? [True, True] Translation: X:-48.33, Y:-2.69, Z:1.09 [[ 9.99679475e-01 6.87086413e-03 -2.43667583e-02 -4.83336232e+01] [-6.89821787e-03 9.99975668e-01 -1.03870463e-03 -2.68772183e+00] [ 2.43590286e-02 1.20645891e-03 9.99702547e-01 1.08966226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325529293 meters 0.04003611796002838 Centerline is valid? [True, True] Translation: X:-48.39, Y:-2.68, Z:1.09 [[ 9.99814541e-01 4.62865657e-03 -1.86938090e-02 -4.83938194e+01] [-4.64445418e-03 9.99988893e-01 -8.01745199e-04 -2.68244371e+00] [ 1.86898904e-02 8.88419048e-04 9.99824934e-01 1.08898910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385529293000005 meters 0.038403664203511136 Centerline is valid? [True, True] Translation: X:-48.45, Y:-2.70, Z:1.09 [[ 9.99845716e-01 4.92553204e-03 -1.68607225e-02 -4.84516426e+01] [-4.93839127e-03 9.99987546e-01 -7.21122950e-04 -2.69928988e+00] [ 1.68569606e-02 8.04276536e-04 9.99857588e-01 1.09077442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445529293 meters 0.037976861020127026 Centerline is valid? [True, True] Translation: X:-48.51, Y:-2.70, Z:1.08 [[ 9.99844484e-01 3.29427421e-03 -1.73250117e-02 -4.85106964e+01] [-3.30743199e-03 9.99994263e-01 -7.30869614e-04 -2.70076481e+00] [ 1.73225047e-02 7.88057250e-04 9.99849644e-01 1.07768085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505529293 meters 0.03749549528132644 Centerline is valid? [True, True] Translation: X:-48.57, Y:-2.70, Z:1.08 [[ 9.99867719e-01 7.71397502e-04 -1.62465179e-02 -4.85710418e+01] [-7.82752629e-04 9.99999454e-01 -6.92579489e-04 -2.70338777e+00] [ 1.62459747e-02 7.05204878e-04 9.99867777e-01 1.08237210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565529293000004 meters 0.03567242144524441 Centerline is valid? [True, True] Translation: X:-48.63, Y:-2.71, Z:1.09 [[ 9.99887588e-01 -2.70544991e-03 -1.47475863e-02 -4.86300798e+01] [ 2.69649466e-03 9.99996168e-01 -6.27085459e-04 -2.71055790e+00] [ 1.47492264e-02 5.87248180e-04 9.99891052e-01 1.08582272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625529293 meters 0.03555641784406468 Centerline is valid? [True, True] Translation: X:-48.69, Y:-2.71, Z:1.09 [[ 9.99897755e-01 -3.08273329e-03 -1.39633906e-02 -4.86885356e+01] [ 3.07488280e-03 9.99995102e-01 -5.83653680e-04 -2.70934487e+00] [ 1.39651215e-02 5.40658215e-04 9.99902337e-01 1.09237792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685529293 meters 0.03755583507229182 Centerline is valid? [True, True] Translation: X:-48.75, Y:-2.70, Z:1.08 [[ 9.99827895e-01 -2.40878883e-03 -1.83950764e-02 -4.87500633e+01] [ 2.39486748e-03 9.99996829e-01 -7.78788538e-04 -2.69850918e+00] [ 1.83968940e-02 7.34600735e-04 9.99830493e-01 1.07705984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745529293000004 meters 0.03586073501523516 Centerline is valid? [True, True] Translation: X:-48.81, Y:-2.70, Z:1.10 [[ 9.99914410e-01 -5.00402513e-03 -1.20885159e-02 -4.88083725e+01] [ 4.99820072e-03 9.99987378e-01 -5.11977067e-04 -2.70384345e+00] [ 1.20909253e-02 4.51512418e-04 9.99926800e-01 1.09729967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805529293 meters 0.03551004206465603 Centerline is valid? [True, True] Translation: X:-48.87, Y:-2.69, Z:1.09 [[ 9.99934251e-01 -3.30614137e-03 -1.09801029e-02 -4.88670005e+01] [ 3.30129675e-03 9.99994445e-01 -4.59313288e-04 -2.69297991e+00] [ 1.09815604e-02 4.23034511e-04 9.99939611e-01 1.09291521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865529293 meters 0.03552250168755004 Centerline is valid? [True, True] Translation: X:-48.93, Y:-2.69, Z:1.09 [[ 9.99954265e-01 -3.91038561e-03 -8.72793279e-03 -4.89268698e+01] [ 3.90733060e-03 9.99992299e-01 -3.67051180e-04 -2.69122891e+00] [ 8.72930088e-03 3.32931474e-04 9.99961844e-01 1.09250937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925529293000004 meters 0.03663118389246358 Centerline is valid? [True, True] Translation: X:-48.99, Y:-2.68, Z:1.09 [[ 9.99927525e-01 -2.38806696e-03 -1.18000638e-02 -4.89866666e+01] [ 2.38237660e-03 9.99997039e-01 -4.96264119e-04 -2.68080261e+00] [ 1.18012140e-02 4.68115957e-04 9.99930254e-01 1.08533094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985529293 meters 0.036709146881715685 Centerline is valid? [True, True] Translation: X:-49.05, Y:-2.67, Z:1.08 [[ 9.99955087e-01 -1.28831423e-03 -9.38959865e-03 -4.90457172e+01] [ 1.28474925e-03 9.99999100e-01 -3.85695198e-04 -2.67126029e+00] [ 9.39008710e-03 3.73614596e-04 9.99955842e-01 1.08245693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045529293 meters 0.035356510579444396 Centerline is valid? [True, True] Translation: X:-49.10, Y:-2.67, Z:1.09 [[ 9.99942273e-01 -4.03257883e-03 -9.95933620e-03 -4.91046257e+01] [ 4.02864274e-03 9.99991799e-01 -4.15246137e-04 -2.67104981e+00] [ 9.96092904e-03 3.75099558e-04 9.99950318e-01 1.08591711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105529293000004 meters 0.03426990267914475 Centerline is valid? [True, True] Translation: X:-49.16, Y:-2.67, Z:1.08 [[ 9.99930703e-01 -8.33525752e-03 -8.31337759e-03 -4.91639389e+01] [ 8.33266383e-03 9.99965223e-01 -3.46579005e-04 -2.67101563e+00] [ 8.31597730e-03 2.77282408e-04 9.99965383e-01 1.08303979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165529293 meters 0.034427032228175294 Centerline is valid? [True, True] Translation: X:-49.22, Y:-2.67, Z:1.08 [[ 9.99931886e-01 -1.00980166e-02 -5.85270243e-03 -4.92237494e+01] [ 1.00967643e-02 9.99948997e-01 -2.43478380e-04 -2.66699445e+00] [ 5.85486258e-03 1.84368438e-04 9.99982843e-01 1.08378716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225529293 meters 0.034488905296946856 Centerline is valid? [True, True] Translation: X:-49.28, Y:-2.67, Z:1.08 [[ 9.99916645e-01 -1.00417647e-02 -8.11583812e-03 -4.92834453e+01] [ 1.00394134e-02 9.99949549e-01 -3.30404034e-04 -2.66529140e+00] [ 8.11874651e-03 2.48898239e-04 9.99967011e-01 1.07549919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285529293 meters 0.034049976736534086 Centerline is valid? [True, True] Translation: X:-49.34, Y:-2.64, Z:1.09 [[ 9.99975045e-01 -6.05486186e-03 -3.63976177e-03 -4.93416366e+01] [ 6.05436860e-03 9.99981661e-01 -1.46522768e-04 -2.64186369e+00] [ 3.64058220e-03 1.24482652e-04 9.99993365e-01 1.08899660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345529293000006 meters 0.03635414264848731 Centerline is valid? [True, True] Translation: X:-49.40, Y:-2.63, Z:1.07 [[ 9.99968595e-01 -4.61815797e-04 -7.91176984e-03 -4.94024599e+01] [ 4.59244967e-04 9.99999841e-01 -3.26751118e-04 -2.63064919e+00] [ 7.91191948e-03 3.23107415e-04 9.99968648e-01 1.06667992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405529293 meters 0.03689773787075008 Centerline is valid? [True, True] Translation: X:-49.46, Y:-2.61, Z:1.07 [[ 9.99967578e-01 3.23674827e-03 -7.37331023e-03 -4.94616424e+01] [-3.23907250e-03 9.99994708e-01 -3.03302643e-04 -2.61232543e+00] [ 7.37228950e-03 3.27175495e-04 9.99972771e-01 1.06880414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465529293 meters 0.038758009672169434 Centerline is valid? [True, True] Translation: X:-49.52, Y:-2.61, Z:1.06 [[ 9.99922170e-01 6.97602447e-03 -1.03435717e-02 -4.95228576e+01] [-6.98082130e-03 9.99975542e-01 -4.27717911e-04 -2.60570489e+00] [ 1.03403350e-02 4.99891248e-04 9.99946412e-01 1.06220135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525529293000005 meters 0.04085486000270865 Centerline is valid? [True, True] Translation: X:-49.58, Y:-2.60, Z:1.06 [[ 9.99927952e-01 9.40929365e-03 -7.45365024e-03 -4.95821187e+01] [-9.41178111e-03 9.99955664e-01 -2.98717417e-04 -2.60366417e+00] [ 7.45050905e-03 3.68848019e-04 9.99972177e-01 1.06172445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585529293 meters 0.040572323357060125 Centerline is valid? [True, True] Translation: X:-49.64, Y:-2.60, Z:1.06 [[ 9.99876845e-01 9.27570665e-03 -1.26592356e-02 -4.96414686e+01] [-9.28302391e-03 9.99956777e-01 -5.19377749e-04 -2.60102921e+00] [ 1.26538708e-02 6.36829772e-04 9.99919734e-01 1.05570490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645529293 meters 0.03963109514049888 Centerline is valid? [True, True] Translation: X:-49.70, Y:-2.61, Z:1.07 [[ 9.99886161e-01 1.33253323e-02 -7.07822095e-03 -4.96989550e+01] [-1.33277006e-02 9.99911141e-01 -2.87526902e-04 -2.60658850e+00] [ 7.07376059e-03 3.81830580e-04 9.99974908e-01 1.07011348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705529293000005 meters 0.03889671928699471 Centerline is valid? [True, True] Translation: X:-49.76, Y:-2.62, Z:1.08 [[ 9.99944072e-01 1.04069789e-02 -1.88330861e-03 -4.97585119e+01] [-1.04071429e-02 9.99945841e-01 -7.72668994e-05 -2.61925257e+00] [ 1.88240250e-03 9.68624399e-05 9.99998224e-01 1.07902763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765529293 meters 0.03772195336839808 Centerline is valid? [True, True] Translation: X:-49.82, Y:-2.61, Z:1.06 [[ 9.99956201e-01 7.90984684e-03 -5.00298463e-03 -4.98206258e+01] [-7.91097857e-03 9.99968686e-01 -2.06460275e-04 -2.60638651e+00] [ 5.00119489e-03 2.46029737e-04 9.99987464e-01 1.06294806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825529293 meters 0.03790707161436989 Centerline is valid? [True, True] Translation: X:-49.88, Y:-2.62, Z:1.05 [[ 9.99924347e-01 9.26743401e-03 -8.08792643e-03 -4.98798496e+01] [-9.27041023e-03 9.99956974e-01 -3.30571104e-04 -2.62391994e+00] [ 8.08451490e-03 4.05524492e-04 9.99967238e-01 1.05224391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885529293000005 meters 0.038923487879697426 Centerline is valid? [True, True] Translation: X:-49.94, Y:-2.62, Z:1.05 [[ 9.99916057e-01 1.17518796e-02 -5.45647832e-03 -4.99375505e+01] [-1.17532170e-02 9.99930906e-01 -2.13110456e-04 -2.62249256e+00] [ 5.45359686e-03 2.77223741e-04 9.99985091e-01 1.04686435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945529293 meters 0.04039584116614845 Centerline is valid? [True, True] Translation: X:-50.00, Y:-2.62, Z:1.03 [[ 9.99915746e-01 9.24694822e-03 -9.11013921e-03 -4.99957388e+01] [-9.25060750e-03 9.99957148e-01 -3.59614880e-04 -2.61857700e+00] [ 9.10642348e-03 4.43858903e-04 9.99958437e-01 1.03332018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005529293 meters 0.03925353794758609 Centerline is valid? [True, True] Translation: X:-50.05, Y:-2.63, Z:1.05 [[ 9.99889298e-01 1.43293994e-02 -4.00748938e-03 -5.00526931e+01] [-1.43301516e-02 9.99897305e-01 -1.59022735e-04 -2.62832044e+00] [ 4.00479913e-03 2.16433061e-04 9.99991957e-01 1.04743513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065529293000004 meters 0.038872841278190115 Centerline is valid? [True, True] Translation: X:-50.11, Y:-2.63, Z:1.04 [[ 9.99906214e-01 1.22560129e-02 -6.11165767e-03 -5.01134238e+01] [-1.22577493e-02 9.99924841e-01 -2.46731621e-04 -2.63232467e+00] [ 6.10817438e-03 3.21623649e-04 9.99981293e-01 1.03985513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125529293 meters 0.03876954881889104 Centerline is valid? [True, True] Translation: X:-50.17, Y:-2.65, Z:1.05 [[ 9.99957887e-01 9.08010544e-03 -1.33282724e-03 -5.01729714e+01] [-9.08018492e-03 9.99958773e-01 -5.35927181e-05 -2.64699597e+00] [ 1.33228567e-03 6.56927789e-05 9.99999110e-01 1.04759188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185529293 meters 0.037784645039744526 Centerline is valid? [True, True] Translation: X:-50.23, Y:-2.64, Z:1.04 [[ 9.99949378e-01 9.53174412e-03 -3.22281365e-03 -5.02345678e+01] [-9.53221676e-03 9.99954559e-01 -1.31325272e-04 -2.64283022e+00] [ 3.22141545e-03 1.62039182e-04 9.99994798e-01 1.03739614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245529293000004 meters 0.036504258674639294 Centerline is valid? [True, True] Translation: X:-50.29, Y:-2.65, Z:1.03 [[ 9.99963277e-01 7.81234474e-03 -3.52308919e-03 -5.02927970e+01] [-7.81288802e-03 9.99969469e-01 -1.40468733e-04 -2.65035344e+00] [ 3.52188423e-03 1.67989075e-04 9.99993784e-01 1.03358301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305529293 meters 0.03495060203600321 Centerline is valid? [True, True] Translation: X:-50.35, Y:-2.67, Z:1.02 [[ 9.99981894e-01 3.97572767e-03 -4.51727040e-03 -5.03514379e+01] [-3.97657791e-03 9.99992077e-01 -1.79255372e-04 -2.66815061e+00] [ 4.51652194e-03 1.97215404e-04 9.99989781e-01 1.02398245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365529293 meters 0.03618674369284991 Centerline is valid? [True, True] Translation: X:-50.41, Y:-2.66, Z:1.03 [[ 9.99996738e-01 1.43784277e-03 -2.11106790e-03 -5.04122226e+01] [-1.43802542e-03 9.99998962e-01 -8.50049407e-05 -2.66254009e+00] [ 2.11094349e-03 8.80404327e-05 9.99997768e-01 1.02545906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425529293000004 meters 0.03696913890372506 Centerline is valid? [True, True] Translation: X:-50.47, Y:-2.66, Z:1.02 [[ 9.99991333e-01 4.08596411e-03 -7.98699848e-04 -5.04710957e+01] [-4.08598928e-03 9.99991652e-01 -2.98757149e-05 -2.66195857e+00] [ 7.98571109e-04 3.31389350e-05 9.99999681e-01 1.02010551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485529293 meters 0.034614468510084075 Centerline is valid? [True, True] Translation: X:-50.53, Y:-2.67, Z:1.02 [[ 9.99992247e-01 3.78115943e-03 -1.09910224e-03 -5.05308516e+01] [-3.78121090e-03 9.99992850e-01 -4.47566180e-05 -2.67129008e+00] [ 1.09892515e-03 4.89122084e-05 9.99999395e-01 1.01693047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545529293 meters 0.03577925891983188 Centerline is valid? [True, True] Translation: X:-50.59, Y:-2.67, Z:1.02 [[ 9.99992700e-01 3.75140046e-03 7.26002384e-04 -5.05916352e+01] [-3.75142264e-03 9.99992963e-01 2.91961162e-05 -2.66627998e+00] [-7.25887749e-04 -3.19194449e-05 9.99999736e-01 1.02014503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605529293000004 meters 0.035354798703693 Centerline is valid? [True, True] Translation: X:-50.65, Y:-2.66, Z:1.01 [[ 9.99984373e-01 5.58603602e-03 2.21974522e-04 -5.06523740e+01] [-5.58603802e-03 9.99984398e-01 8.38359424e-06 -2.66485539e+00] [-2.21924227e-04 -9.62342136e-06 9.99999975e-01 1.01174139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665529293 meters 0.03463514591358652 Centerline is valid? [True, True] Translation: X:-50.71, Y:-2.67, Z:1.01 [[ 9.99989189e-01 3.72568099e-03 2.78212249e-03 -5.07131856e+01] [-3.72600381e-03 9.99993052e-01 1.10860017e-04 -2.67294418e+00] [-2.78169013e-03 -1.21225017e-04 9.99996124e-01 1.01400448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725529293 meters 0.034063186739053286 Centerline is valid? [True, True] Translation: X:-50.78, Y:-2.67, Z:1.00 [[ 9.99999029e-01 5.89188897e-04 -1.26252380e-03 -5.07766772e+01] [-5.89257897e-04 9.99999825e-01 -5.42815424e-05 -2.67173192e+00] [ 1.26249159e-03 5.50254419e-05 9.99999202e-01 1.00274994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785529293 meters 0.03273703598089144 Centerline is valid? [True, True] Translation: X:-50.84, Y:-2.67, Z:1.01 [[ 9.99991435e-01 -2.76421787e-03 3.08035335e-03 -5.08355208e+01] [ 2.76384815e-03 9.99996173e-01 1.24275629e-04 -2.67257546e+00] [-3.08068509e-03 -1.15760936e-04 9.99995248e-01 1.01372056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845529293000006 meters 0.03375838161035686 Centerline is valid? [True, True] Translation: X:-50.90, Y:-2.67, Z:0.99 [[ 9.99987252e-01 -4.72825362e-03 -1.77181621e-03 -5.08984460e+01] [ 4.72813008e-03 9.99988820e-01 -7.39035013e-05 -2.66695576e+00] [ 1.77214584e-03 6.55251816e-05 9.99998428e-01 9.94078657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905529293 meters 0.0312874388440655 Centerline is valid? [True, True] Translation: X:-50.96, Y:-2.67, Z:1.00 [[ 9.99966482e-01 -7.96202776e-03 1.90830529e-03 -5.09575040e+01] [ 7.96189301e-03 9.99968301e-01 7.82006836e-05 -2.66771824e+00] [-1.90886744e-03 -6.30043399e-05 9.99998176e-01 1.00360785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965529293 meters 0.03057059903500995 Centerline is valid? [True, True] Translation: X:-51.02, Y:-2.68, Z:1.00 [[ 9.99941852e-01 -1.06300689e-02 1.81518972e-03 -5.10175673e+01] [ 1.06299533e-02 9.99943498e-01 7.33474769e-05 -2.67808048e+00] [-1.81586685e-03 -5.40478300e-05 9.99998350e-01 1.00424050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025529293000005 meters 0.030791646167972916 Centerline is valid? [True, True] Translation: X:-51.08, Y:-2.67, Z:1.01 [[ 9.99889556e-01 -1.38182248e-02 5.47099908e-03 -5.10786213e+01] [ 1.38172219e-02 9.99904513e-01 2.21069993e-04 -2.66717985e+00] [-5.47353147e-03 -1.45451569e-04 9.99985010e-01 1.00561541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085529293 meters 0.03024593091950807 Centerline is valid? [True, True] Translation: X:-51.14, Y:-2.67, Z:1.00 [[ 9.99907855e-01 -1.30270782e-02 3.81795143e-03 -5.11396348e+01] [ 1.30265992e-02 9.99915139e-01 1.50294479e-04 -2.66889213e+00] [-3.81958533e-03 -1.00545707e-04 9.99992700e-01 1.00314528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145529293 meters 0.03170265359218816 Centerline is valid? [True, True] Translation: X:-51.20, Y:-2.66, Z:1.00 [[ 9.99948355e-01 -1.00651483e-02 1.40749484e-03 -5.12009402e+01] [ 1.00650779e-02 9.99949344e-01 5.70683931e-05 -2.65529743e+00] [-1.40799794e-03 -4.28989006e-05 9.99999008e-01 1.00006122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205529293000005 meters 0.031593335208866376 Centerline is valid? [True, True] Translation: X:-51.26, Y:-2.66, Z:1.00 [[ 9.99953744e-01 -9.59916223e-03 6.04326230e-04 -5.12607533e+01] [ 9.59914851e-03 9.99953927e-01 2.56030890e-05 -2.65738083e+00] [-6.04544155e-04 -1.98008875e-05 9.99999817e-01 9.96955332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265529293 meters 0.032497548605651384 Centerline is valid? [True, True] Translation: X:-51.32, Y:-2.65, Z:1.00 [[ 9.99963396e-01 -8.31848095e-03 2.00222950e-03 -5.13201719e+01] [ 8.31833098e-03 9.99965399e-01 8.32196323e-05 -2.64786685e+00] [-2.00285248e-03 -6.65613785e-05 9.99997992e-01 9.98055679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325529293 meters 0.031925278917022876 Centerline is valid? [True, True] Translation: X:-51.38, Y:-2.65, Z:1.00 [[ 9.99963626e-01 -8.19191390e-03 2.37482676e-03 -5.13793229e+01] [ 8.19170764e-03 9.99966443e-01 9.65648833e-05 -2.65446459e+00] [-2.37553812e-03 -7.71074843e-05 9.99997175e-01 1.00018637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385529293000005 meters 0.03197642373710185 Centerline is valid? [True, True] Translation: X:-51.44, Y:-2.64, Z:0.99 [[ 9.99933968e-01 -1.14521518e-02 -9.53298857e-04 -5.14414325e+01] [ 1.14521202e-02 9.99934422e-01 -3.85375672e-05 -2.64021889e+00] [ 9.53677679e-04 2.76177294e-05 9.99999545e-01 9.85176483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445529293 meters 0.02974150535941718 Centerline is valid? [True, True] Translation: X:-51.50, Y:-2.65, Z:0.99 [[ 9.99906477e-01 -1.33221108e-02 3.09183143e-03 -5.14997251e+01] [ 1.33217849e-02 9.99911253e-01 1.25986395e-04 -2.65066459e+00] [-3.09323545e-03 -8.47858990e-05 9.99995212e-01 9.93439750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505529293 meters 0.03096757706191077 Centerline is valid? [True, True] Translation: X:-51.56, Y:-2.64, Z:0.99 [[ 9.99905693e-01 -1.34856678e-02 2.59644441e-03 -5.15604406e+01] [ 1.34854382e-02 9.99909062e-01 1.05911573e-04 -2.63685597e+00] [-2.59763658e-03 -7.08873943e-05 9.99996624e-01 9.87897265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565529293000004 meters 0.029718240601082017 Centerline is valid? [True, True] Translation: X:-51.62, Y:-2.64, Z:0.99 [[ 9.99887544e-01 -1.49844916e-02 6.04259754e-04 -5.16188655e+01] [ 1.49844783e-02 9.99887726e-01 2.65358166e-05 -2.63639026e+00] [-6.04589537e-04 -1.74783153e-05 9.99999817e-01 9.87427718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625529293 meters 0.03007186886552258 Centerline is valid? [True, True] Translation: X:-51.68, Y:-2.64, Z:0.99 [[ 9.99879449e-01 -1.54383972e-02 -1.65610026e-03 -5.16775032e+01] [ 1.54383117e-02 9.99880820e-01 -6.43853554e-05 -2.63731101e+00] [ 1.65689689e-03 3.88102017e-05 9.99998627e-01 9.87402530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685529293 meters 0.02966799545932347 Centerline is valid? [True, True] Translation: X:-51.74, Y:-2.63, Z:1.00 [[ 9.99847618e-01 -1.72525738e-02 2.66267351e-03 -5.17375013e+01] [ 1.72523484e-02 9.99851161e-01 1.07612813e-04 -2.63464491e+00] [-2.66413380e-03 -6.16590434e-05 9.99996449e-01 9.96844665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745529293000004 meters 0.029819167276997453 Centerline is valid? [True, True] Translation: X:-51.80, Y:-2.63, Z:1.00 [[ 9.99879737e-01 -1.53779010e-02 2.00784987e-03 -5.17953414e+01] [ 1.53777647e-02 9.99881752e-01 8.32992919e-05 -2.63215769e+00] [-2.00889341e-03 -5.24130312e-05 9.99997981e-01 9.96337438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805529293 meters 0.030819048314805638 Centerline is valid? [True, True] Translation: X:-51.86, Y:-2.62, Z:0.98 [[ 9.99920991e-01 -1.16874472e-02 -4.62760218e-03 -5.18571503e+01] [ 1.16867105e-02 9.99931691e-01 -1.86193249e-04 -2.62210738e+00] [ 4.62946219e-03 1.32097091e-04 9.99989275e-01 9.84051561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865529293 meters 0.03355128095766606 Centerline is valid? [True, True] Translation: X:-51.92, Y:-2.61, Z:0.99 [[ 9.99969729e-01 -7.46408859e-03 -2.19747975e-03 -5.19164347e+01] [ 7.46391808e-03 9.99972141e-01 -8.57828662e-05 -2.61139295e+00] [ 2.19805882e-03 6.93784606e-05 9.99997582e-01 9.87107787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925529293000004 meters 0.0319069313565042 Centerline is valid? [True, True] Translation: X:-51.97, Y:-2.61, Z:1.00 [[ 9.99985950e-01 -5.28864128e-03 3.59768089e-04 -5.19742097e+01] [ 5.28863546e-03 9.99986015e-01 1.71272154e-05 -2.61442397e+00] [-3.59853637e-04 -1.52242925e-05 9.99999935e-01 9.96420917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985529293 meters 0.032931163308191846 Centerline is valid? [True, True] Translation: X:-52.03, Y:-2.61, Z:0.99 [[ 9.99983415e-01 -4.99931155e-03 -2.85933752e-03 -5.20347991e+01] [ 4.99900683e-03 9.99987498e-01 -1.13708701e-04 -2.61400656e+00] [ 2.85987024e-03 9.94129679e-05 9.99995906e-01 9.91533796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045529293 meters 0.03126236690435838 Centerline is valid? [True, True] Translation: X:-52.09, Y:-2.63, Z:1.00 [[ 9.99965144e-01 -7.98484704e-03 2.44001015e-03 -5.20949361e+01] [ 7.98463270e-03 9.99968118e-01 9.75720724e-05 -2.62776203e+00] [-2.44071145e-03 -7.80860866e-05 9.99997018e-01 1.00148388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105529293000004 meters 0.030018192634812594 Centerline is valid? [True, True] Translation: X:-52.16, Y:-2.64, Z:1.00 [[ 9.99911728e-01 -1.32845811e-02 2.37685291e-04 -5.21551061e+01] [ 1.32845792e-02 9.99911756e-01 9.49821584e-06 -2.63964207e+00] [-2.37790497e-04 -6.33982834e-06 9.99999972e-01 1.00451728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165529293 meters 0.02995498861890106 Centerline is valid? [True, True] Translation: X:-52.21, Y:-2.63, Z:1.00 [[ 9.99869877e-01 -1.60238862e-02 -1.86124451e-03 -5.22141021e+01] [ 1.60237821e-02 9.99871608e-01 -7.07795664e-05 -2.62533204e+00] [ 1.86213971e-03 4.09461798e-05 9.99998265e-01 9.97346102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225529293 meters 0.030343690739683706 Centerline is valid? [True, True] Translation: X:-52.27, Y:-2.63, Z:1.00 [[ 9.99867326e-01 -1.62165642e-02 -1.53383892e-03 -5.22725031e+01] [ 1.62164931e-02 9.99868502e-01 -5.88148998e-05 -2.62922649e+00] [ 1.53459100e-03 3.39336085e-05 9.99998822e-01 9.95546538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285529293 meters 0.02862554600984184 Centerline is valid? [True, True] Translation: X:-52.33, Y:-2.63, Z:1.00 [[ 9.99800137e-01 -1.93254097e-02 -5.11995206e-03 -5.23301017e+01] [ 1.93246436e-02 9.99813242e-01 -1.99077638e-04 -2.63455012e+00] [ 5.12284313e-03 1.00096601e-04 9.99986873e-01 9.96194340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345529293000006 meters 0.02986223349751275 Centerline is valid? [True, True] Translation: X:-52.39, Y:-2.62, Z:1.01 [[ 9.99857518e-01 -1.68615215e-02 7.95671550e-04 -5.23898105e+01] [ 1.68615008e-02 9.99857834e-01 3.26657746e-05 -2.62484630e+00] [-7.96109228e-04 -1.92449038e-05 9.99999683e-01 1.00938531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405529293 meters 0.030628345643163003 Centerline is valid? [True, True] Translation: X:-52.45, Y:-2.62, Z:1.00 [[ 9.99900203e-01 -1.39779825e-02 -2.04928431e-03 -5.24498874e+01] [ 1.39778477e-02 9.99902302e-01 -8.00565143e-05 -2.62172766e+00] [ 2.05020313e-03 5.14039409e-05 9.99997897e-01 9.99271856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465529293 meters 0.029973890359957855 Centerline is valid? [True, True] Translation: X:-52.51, Y:-2.63, Z:1.01 [[ 9.99916191e-01 -1.26267484e-02 2.85928359e-03 -5.25079707e+01] [ 1.26264720e-02 9.99920276e-01 1.14702387e-04 -2.62977116e+00] [-2.86050395e-03 -7.85901101e-05 9.99995906e-01 1.01425445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525529293000005 meters 0.031206123917616874 Centerline is valid? [True, True] Translation: X:-52.57, Y:-2.61, Z:1.01 [[ 9.99957228e-01 -8.76930776e-03 -2.93975108e-03 -5.25686642e+01] [ 8.76900590e-03 9.99961545e-01 -1.15554791e-04 -2.61109352e+00] [ 2.94065137e-03 8.97711540e-05 9.99995672e-01 1.00941541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585529293 meters 0.033594538676103666 Centerline is valid? [True, True] Translation: X:-52.63, Y:-2.61, Z:1.02 [[ 9.99980894e-01 -6.04856258e-03 1.27545082e-03 -5.26267619e+01] [ 6.04849974e-03 9.99981706e-01 5.31224050e-05 -2.61049326e+00] [-1.27574880e-03 -4.54068261e-05 9.99999185e-01 1.01538518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645529293 meters 0.03303705470292915 Centerline is valid? [True, True] Translation: X:-52.69, Y:-2.60, Z:1.01 [[ 9.99976134e-01 -6.39851864e-03 -2.60583311e-03 -5.26865162e+01] [ 6.39827569e-03 9.99979526e-01 -1.01560493e-04 -2.60494463e+00] [ 2.60642959e-03 8.48852308e-05 9.99996600e-01 1.01348039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705529293000005 meters 0.03197791731769615 Centerline is valid? [True, True] Translation: X:-52.74, Y:-2.60, Z:1.02 [[ 9.99987091e-01 -4.30096944e-03 -2.70545894e-03 -5.27443939e+01] [ 4.30070494e-03 9.99990747e-01 -1.03576288e-04 -2.60418694e+00] [ 2.70587938e-03 9.19395703e-05 9.99996335e-01 1.02003964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765529293 meters 0.03128444534895971 Centerline is valid? [True, True] Translation: X:-52.80, Y:-2.61, Z:1.02 [[ 9.99983763e-01 -5.38271087e-03 -1.87079605e-03 -5.28020319e+01] [ 5.38258831e-03 9.99985511e-01 -7.05416279e-05 -2.61176175e+00] [ 1.87114865e-03 6.04707576e-05 9.99998248e-01 1.02408378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825529293 meters 0.0320441109192798 Centerline is valid? [True, True] Translation: X:-52.86, Y:-2.61, Z:1.03 [[ 9.99995665e-01 -2.84793734e-03 7.47251452e-04 -5.28601910e+01] [ 2.84791367e-03 9.99995944e-01 3.27284495e-05 -2.60702755e+00] [-7.47341630e-04 -3.06002000e-05 9.99999720e-01 1.03202791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885529293000005 meters 0.0331129059469415 Centerline is valid? [True, True] Translation: X:-52.92, Y:-2.60, Z:1.03 [[ 9.99998758e-01 1.53486836e-03 -3.57698249e-04 -5.29208350e+01] [-1.53487334e-03 9.99998822e-01 -1.36425960e-05 -2.60396812e+00] [ 3.57676888e-04 1.41916005e-05 9.99999936e-01 1.03020005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945529293 meters 0.03419468955772869 Centerline is valid? [True, True] Translation: X:-52.98, Y:-2.61, Z:1.03 [[ 9.99977332e-01 2.19692655e-03 -6.36460728e-03 -5.29813649e+01] [-2.19855867e-03 9.99997552e-01 -2.49452154e-04 -2.60510017e+00] [ 6.36404367e-03 2.63439462e-04 9.99979715e-01 1.02861159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005529293 meters 0.034375589699846706 Centerline is valid? [True, True] Translation: X:-53.04, Y:-2.59, Z:1.05 [[ 9.99977907e-01 3.87013599e-03 5.40436996e-03 -5.30413270e+01] [-3.87133775e-03 9.99992484e-01 2.11924700e-04 -2.58896582e+00] [-5.40350916e-03 -2.32842160e-04 9.99985374e-01 1.04915340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065529293000004 meters 0.03641315259621099 Centerline is valid? [True, True] Translation: X:-53.10, Y:-2.59, Z:1.04 [[ 9.99972267e-01 6.32450214e-03 -3.93270398e-03 -5.31024029e+01] [-6.32515810e-03 9.99979984e-01 -1.54380482e-04 -2.59452743e+00] [ 3.93164889e-03 1.79251175e-04 9.99992255e-01 1.03507465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125529293 meters 0.03547975585685385 Centerline is valid? [True, True] Translation: X:-53.16, Y:-2.60, Z:1.04 [[ 9.99984070e-01 5.40495237e-03 -1.62661957e-03 -5.31601762e+01] [-5.40505856e-03 9.99985391e-01 -6.08913811e-05 -2.59594656e+00] [ 1.62626669e-03 6.96823852e-05 9.99998675e-01 1.04448293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185529293 meters 0.0367153920670422 Centerline is valid? [True, True] Translation: X:-53.22, Y:-2.60, Z:1.04 [[ 9.99994893e-01 2.72410029e-03 -1.67139152e-03 -5.32215398e+01] [-2.72421511e-03 9.99996287e-01 -6.64278326e-05 -2.59573151e+00] [ 1.67120436e-03 7.09807234e-05 9.99998601e-01 1.04288538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245529293000004 meters 0.03378175179175138 Centerline is valid? [True, True] Translation: X:-53.28, Y:-2.61, Z:1.05 [[ 9.99985861e-01 2.01603041e-03 -4.92076368e-03 -5.32804345e+01] [-2.01699787e-03 9.99997947e-01 -1.91652647e-04 -2.60824386e+00] [ 4.92036721e-03 2.01575107e-04 9.99987875e-01 1.04866908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305529293 meters 0.032471523073624796 Centerline is valid? [True, True] Translation: X:-53.34, Y:-2.62, Z:1.06 [[ 9.99990961e-01 -4.25163307e-03 4.72290862e-05 -5.33402146e+01] [ 4.25163299e-03 9.99990962e-01 1.78798034e-06 -2.61834975e+00] [-4.72362612e-05 -1.58716344e-06 9.99999999e-01 1.05739273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365529293 meters 0.031713228261198094 Centerline is valid? [True, True] Translation: X:-53.40, Y:-2.63, Z:1.06 [[ 9.99976840e-01 -6.80125474e-03 -2.51198881e-04 -5.33986767e+01] [ 6.80125305e-03 9.99976871e-01 -7.57209345e-06 -2.62552100e+00] [ 2.51244571e-04 5.86345092e-06 9.99999968e-01 1.05910726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425529293000004 meters 0.03132351680386084 Centerline is valid? [True, True] Translation: X:-53.46, Y:-2.63, Z:1.05 [[ 9.99949296e-01 -8.87068210e-03 -4.76610079e-03 -5.34577055e+01] [ 8.86990616e-03 9.99960645e-01 -1.83917162e-04 -2.63277037e+00] [ 4.76754469e-03 1.41632970e-04 9.99988625e-01 1.05486486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485529293 meters 0.030493835875690895 Centerline is valid? [True, True] Translation: X:-53.52, Y:-2.64, Z:1.07 [[ 9.99945786e-01 -1.00741436e-02 2.63394861e-03 -5.35176349e+01] [ 1.00739083e-02 9.99949252e-01 1.02609530e-04 -2.63538913e+00] [-2.63484864e-03 -7.60698102e-05 9.99996526e-01 1.07161692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545529293 meters 0.0326703362740756 Centerline is valid? [True, True] Translation: X:-53.58, Y:-2.64, Z:1.06 [[ 9.99959114e-01 -8.53410484e-03 -2.99004756e-03 -5.35787489e+01] [ 8.53379536e-03 9.99963580e-01 -1.16244729e-04 -2.63585812e+00] [ 2.99093071e-03 9.07235221e-05 9.99995523e-01 1.05959658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605529293000004 meters 0.03176085106984386 Centerline is valid? [True, True] Translation: X:-53.64, Y:-2.64, Z:1.07 [[ 9.99972263e-01 -5.83585071e-03 -4.62779247e-03 -5.36369809e+01] [ 5.83508833e-03 9.99982960e-01 -1.78225760e-04 -2.64193475e+00] [ 4.62875371e-03 1.51217239e-04 9.99989276e-01 1.06995136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665529293000006 meters 0.033032774590044646 Centerline is valid? [True, True] Translation: X:-53.70, Y:-2.64, Z:1.08 [[ 9.99998649e-01 9.46958618e-04 1.34329161e-03 -5.36959133e+01] [-9.47031904e-04 9.99999550e-01 5.39219249e-05 -2.63965593e+00] [-1.34323994e-03 -5.51939921e-05 9.99999096e-01 1.08390948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725529293 meters 0.03598330134933184 Centerline is valid? [True, True] Translation: X:-53.76, Y:-2.63, Z:1.08 [[ 9.99979840e-01 5.86904548e-03 -2.42376717e-03 -5.37571238e+01] [-5.86929080e-03 9.99982771e-01 -9.41128643e-05 -2.63398013e+00] [ 2.42317306e-03 1.08336761e-04 9.99997058e-01 1.07528016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785529293 meters 0.036972929821949704 Centerline is valid? [True, True] Translation: X:-53.82, Y:-2.64, Z:1.08 [[ 9.99947368e-01 9.89762669e-03 -2.70150057e-03 -5.38168280e+01] [-9.89794613e-03 9.99951009e-01 -1.04899567e-04 -2.63550564e+00] [ 2.70032997e-03 1.31633353e-04 9.99996345e-01 1.07789926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845529293000006 meters 0.03892858963198919 Centerline is valid? [True, True] Translation: X:-53.88, Y:-2.64, Z:1.08 [[ 9.99934222e-01 1.14601649e-02 -4.65125003e-04 -5.38791638e+01] [-1.14601756e-02 9.99934330e-01 -2.03541963e-05 -2.63734869e+00] [ 4.64861196e-04 2.56832717e-05 9.99999892e-01 1.08488195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905529293 meters 0.03738918047526027 Centerline is valid? [True, True] Translation: X:-53.94, Y:-2.65, Z:1.09 [[ 9.99916776e-01 1.27830272e-02 -1.74214610e-03 -5.39393245e+01] [-1.27831657e-02 9.99918290e-01 -6.83635316e-05 -2.64690124e+00] [ 1.74112985e-03 9.06279843e-05 9.99998480e-01 1.08613603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965529293 meters 0.03662222112792767 Centerline is valid? [True, True] Translation: X:-54.00, Y:-2.65, Z:1.09 [[ 9.99941178e-01 1.04175585e-02 3.01907783e-03 -5.39994948e+01] [-1.04179603e-02 9.99945725e-01 1.17400408e-04 -2.65465521e+00] [-3.01769095e-03 -1.48846135e-04 9.99995436e-01 1.09417222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025529293000005 meters 0.03710330852192589 Centerline is valid? [True, True] Translation: X:-54.06, Y:-2.66, Z:1.09 [[ 9.99949800e-01 9.25546246e-03 -3.83857383e-03 -5.40598042e+01] [-9.25610400e-03 9.99957150e-01 -1.49397449e-04 -2.66271625e+00] [ 3.83702661e-03 1.84920188e-04 9.99992621e-01 1.08601542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085529293 meters 0.036338685707059525 Centerline is valid? [True, True] Translation: X:-54.12, Y:-2.67, Z:1.09 [[ 9.99981493e-01 6.07397755e-03 -3.47310730e-04 -5.41195531e+01] [-6.07398258e-03 9.99981553e-01 -1.34367942e-05 -2.66887765e+00] [ 3.47222708e-04 1.55461049e-05 9.99999940e-01 1.09342046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145529293 meters 0.03658104353523969 Centerline is valid? [True, True] Translation: X:-54.18, Y:-2.67, Z:1.10 [[ 9.99970964e-01 7.61995803e-03 -8.90801127e-05 -5.41807244e+01] [-7.61995852e-03 9.99970968e-01 -5.14480174e-06 -2.66877722e+00] [ 8.90383233e-05 5.82343912e-06 9.99999996e-01 1.09744335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205529293000005 meters 0.0369047181354206 Centerline is valid? [True, True] Translation: X:-54.24, Y:-2.69, Z:1.10 [[ 9.99966843e-01 8.05284570e-03 -1.20990703e-03 -5.42425758e+01] [-8.05291276e-03 9.99967573e-01 -5.05690409e-05 -2.68976087e+00] [ 1.20946057e-03 6.03106400e-05 9.99999267e-01 1.10096309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265529293 meters 0.03741496380698284 Centerline is valid? [True, True] Translation: X:-54.31, Y:-2.68, Z:1.11 [[ 9.99961250e-01 8.80113544e-03 1.96564315e-04 -5.43051595e+01] [-8.80113668e-03 9.99961269e-01 5.47523869e-06 -2.68323650e+00] [-1.96508513e-04 -7.20501593e-06 9.99999981e-01 1.10769641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325529293 meters 0.04110356152771302 Centerline is valid? [True, True] Translation: X:-54.37, Y:-2.68, Z:1.10 [[ 9.99942395e-01 1.07334373e-02 -2.71092988e-05 -5.43674334e+01] [-1.07334374e-02 9.99942395e-01 -3.31903347e-06 -2.68212391e+00] [ 2.70721125e-05 3.60981824e-06 1.00000000e+00 1.10352118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385529293000005 meters 0.038317835577288004 Centerline is valid? [True, True] Translation: X:-54.43, Y:-2.70, Z:1.11 [[ 9.99948641e-01 1.01316533e-02 2.53046910e-04 -5.44283286e+01] [-1.01316557e-02 9.99948673e-01 8.30919906e-06 -2.69733180e+00] [-2.52949737e-04 -1.08725565e-05 9.99999968e-01 1.10877652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445529293 meters 0.038107903161227905 Centerline is valid? [True, True] Translation: X:-54.49, Y:-2.71, Z:1.11 [[ 9.99929230e-01 1.15027898e-02 3.03673038e-03 -5.44899668e+01] [-1.15031987e-02 9.99933829e-01 1.17224924e-04 -2.70733912e+00] [-3.03518102e-03 -1.52148741e-04 9.99995382e-01 1.11313305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505529293 meters 0.038429938554943664 Centerline is valid? [True, True] Translation: X:-54.55, Y:-2.71, Z:1.11 [[ 9.99917935e-01 1.27895663e-02 -7.42065756e-04 -5.45511365e+01] [-1.27895919e-02 9.99918209e-01 -2.97408963e-05 -2.71420505e+00] [ 7.41624689e-04 3.92291738e-05 9.99999724e-01 1.11036218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565529293000004 meters 0.0382979308512942 Centerline is valid? [True, True] Translation: X:-54.61, Y:-2.72, Z:1.11 [[ 9.99885114e-01 1.47597170e-02 -3.45089975e-03 -5.46110541e+01] [-1.47602732e-02 9.99891052e-01 -1.35764595e-04 -2.72186598e+00] [ 3.44851993e-03 1.86685221e-04 9.99994036e-01 1.11247123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625529293 meters 0.04363812146694668 Centerline is valid? [True, True] Translation: X:-54.67, Y:-2.74, Z:1.10 [[ 9.99580624e-01 2.76572176e-02 -8.58225315e-03 -5.46710438e+01] [-2.76611348e-02 9.99617300e-01 -3.38046569e-04 -2.74111358e+00] [ 8.56961930e-03 5.75299661e-04 9.99963115e-01 1.10350651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685529293 meters 0.04056272274276855 Centerline is valid? [True, True] Translation: X:-54.73, Y:-2.77, Z:1.12 [[ 9.99736592e-01 2.29402957e-02 -6.98975675e-04 -5.47298437e+01] [-2.29403203e-02 9.99736836e-01 -2.72400472e-05 -2.77443509e+00] [ 6.98166835e-04 4.32675979e-05 9.99999755e-01 1.11604794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745529293000004 meters 0.03555430676831775 Centerline is valid? [True, True] Translation: X:-54.79, Y:-2.82, Z:1.13 [[ 9.99928319e-01 1.07529232e-02 5.26599402e-03 -5.47883228e+01] [-1.07541622e-02 9.99942151e-01 2.07031778e-04 -2.81539361e+00] [-5.26346319e-03 -2.63648292e-04 9.99986113e-01 1.12641848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805529293 meters 0.036987434615550735 Centerline is valid? [True, True] Translation: X:-54.85, Y:-2.84, Z:1.11 [[ 9.99910967e-01 1.10213331e-02 -7.52255972e-03 -5.48487415e+01] [-1.10238757e-02 9.99939191e-01 -2.96620210e-04 -2.83837330e+00] [ 7.51883313e-03 3.79521565e-04 9.99971661e-01 1.11078438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865529293 meters 0.03946481121639803 Centerline is valid? [True, True] Translation: X:-54.91, Y:-2.85, Z:1.13 [[ 9.99729171e-01 2.32227388e-02 1.51274048e-03 -5.49071926e+01] [-2.32228566e-02 9.99730311e-01 6.03861666e-05 -2.85414608e+00] [-1.51093017e-03 -9.54999674e-05 9.99998854e-01 1.12813120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925529293000004 meters 0.04215126835186772 Centerline is valid? [True, True] Translation: X:-54.97, Y:-2.88, Z:1.12 [[ 9.99735538e-01 2.23420163e-02 -5.44873535e-03 -5.49672296e+01] [-2.23435151e-02 9.99750330e-01 -2.14339820e-04 -2.87763938e+00] [ 5.44258617e-03 3.36027035e-04 9.99985133e-01 1.11841330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985529293 meters 0.041700631379258404 Centerline is valid? [True, True] Translation: X:-55.03, Y:-2.92, Z:1.13 [[ 9.99878040e-01 1.54852601e-02 2.02757316e-03 -5.50254231e+01] [-1.54854544e-02 9.99880090e-01 8.01672646e-05 -2.92124412e+00] [-2.02608862e-03 -1.11555379e-04 9.99997941e-01 1.13348858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045529293 meters 0.04230053467561465 Centerline is valid? [True, True] Translation: X:-55.09, Y:-2.93, Z:1.12 [[ 9.99785301e-01 1.98708598e-02 -5.87374092e-03 -5.50857031e+01] [-1.98725586e-02 9.99802495e-01 -2.30989046e-04 -2.93181862e+00] [ 5.86799087e-03 3.47665713e-04 9.99982723e-01 1.12138911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105529293000004 meters 0.04082095615551005 Centerline is valid? [True, True] Translation: X:-55.14, Y:-2.97, Z:1.14 [[ 9.99640016e-01 2.68252219e-02 -4.95304177e-04 -5.51431008e+01] [-2.68252345e-02 9.99640138e-01 -1.88259523e-05 -2.97365456e+00] [ 4.94620926e-04 3.21058259e-05 9.99999877e-01 1.13813567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165529293000006 meters 0.03902684607370924 Centerline is valid? [True, True] Translation: X:-55.20, Y:-3.00, Z:1.15 [[ 9.99712138e-01 2.39841940e-02 -6.32178602e-04 -5.52033132e+01] [-2.39842152e-02 9.99712337e-01 -2.59466530e-05 -2.99996789e+00] [ 6.31374438e-04 4.11014916e-05 9.99999800e-01 1.14507178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225529293 meters 0.038336695950378495 Centerline is valid? [True, True] Translation: X:-55.26, Y:-3.03, Z:1.15 [[ 9.99803875e-01 1.97612719e-02 -1.30526368e-03 -5.52628971e+01] [-1.97613559e-02 9.99804724e-01 -5.14836115e-05 -3.02927658e+00] [ 1.30399141e-03 7.72672944e-05 9.99999147e-01 1.14600604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285529293 meters 0.03962318578543747 Centerline is valid? [True, True] Translation: X:-55.32, Y:-3.05, Z:1.15 [[ 9.99756750e-01 2.20381212e-02 -8.73521768e-04 -5.53229688e+01] [-2.20381606e-02 9.99757130e-01 -3.54772397e-05 -3.05151223e+00] [ 8.72527764e-04 5.47194228e-05 9.99999618e-01 1.15493172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345529293000006 meters 0.04207912159707377 Centerline is valid? [True, True] Translation: X:-55.38, Y:-3.07, Z:1.15 [[ 9.99541654e-01 2.97889216e-02 -5.39468223e-03 -5.53832823e+01] [-2.97905026e-02 9.99556142e-01 -2.12930564e-04 -3.06813250e+00] [ 5.38594478e-03 3.73543263e-04 9.99985426e-01 1.14908650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405529293 meters 0.04357972217173243 Centerline is valid? [True, True] Translation: X:-55.44, Y:-3.10, Z:1.16 [[ 9.99371952e-01 3.54259101e-02 -8.40293640e-04 -5.54419988e+01] [-3.54259503e-02 9.99372303e-01 -3.29928455e-05 -3.09596710e+00] [ 8.38597389e-04 6.27403252e-05 9.99999646e-01 1.16022951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465529293 meters 0.04492688657907275 Centerline is valid? [True, True] Translation: X:-55.50, Y:-3.10, Z:1.16 [[ 9.99412472e-01 3.42648693e-02 -7.92972083e-04 -5.55037027e+01] [-3.42649066e-02 9.99412785e-01 -3.34183874e-05 -3.10454032e+00] [ 7.91361361e-04 6.05698674e-05 9.99999685e-01 1.16219297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525529293000005 meters 0.040793934623870404 Centerline is valid? [True, True] Translation: X:-55.56, Y:-3.16, Z:1.17 [[ 9.99679096e-01 2.52936536e-02 1.39111355e-03 -5.55615988e+01] [-2.52937541e-02 9.99680060e-01 5.46911990e-05 -3.15616086e+00] [-1.38928514e-03 -8.98601324e-05 9.99999031e-01 1.17240241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585529293 meters 0.0419057775245928 Centerline is valid? [True, True] Translation: X:-55.62, Y:-3.16, Z:1.18 [[ 9.99695029e-01 2.45435353e-02 2.73206564e-03 -5.56236001e+01] [-2.45439160e-02 9.99698747e-01 1.05873201e-04 -3.16002067e+00] [-2.72864410e-03 -1.72896502e-04 9.99996262e-01 1.17723462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645529293 meters 0.04523107406708279 Centerline is valid? [True, True] Translation: X:-55.68, Y:-3.17, Z:1.16 [[ 9.99641033e-01 2.67067757e-02 -2.13393189e-03 -5.56848113e+01] [-2.67070175e-02 9.99643300e-01 -8.48631421e-05 -3.16633529e+00] [ 2.13090430e-03 1.41823635e-04 9.99997720e-01 1.16477609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705529293000005 meters 0.04269212172117978 Centerline is valid? [True, True] Translation: X:-55.74, Y:-3.19, Z:1.17 [[ 9.99548297e-01 2.96899406e-02 -4.65924613e-03 -5.57430767e+01] [-2.96911171e-02 9.99559105e-01 -1.83520838e-04 -3.18808446e+00] [ 4.65174317e-03 3.21776163e-04 9.99989129e-01 1.16983366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765529293 meters 0.04859090382791224 Centerline is valid? [True, True] Translation: X:-55.80, Y:-3.19, Z:1.17 [[ 9.99468415e-01 3.22552736e-02 -4.74180551e-03 -5.58029778e+01] [-3.22565181e-02 9.99479606e-01 -1.86182114e-04 -3.18777771e+00] [ 4.73333255e-03 3.39037277e-04 9.99988740e-01 1.16527962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825529293 meters 0.04504258617458102 Centerline is valid? [True, True] Translation: X:-55.86, Y:-3.22, Z:1.18 [[ 9.99599795e-01 2.82654053e-02 1.14719929e-03 -5.58606052e+01] [-2.82654758e-02 9.99600451e-01 4.52684756e-05 -3.21893251e+00] [-1.14546139e-03 -7.76764926e-05 9.99999341e-01 1.18068514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885529293000005 meters 0.04338068239520571 Centerline is valid? [True, True] Translation: X:-55.92, Y:-3.25, Z:1.19 [[ 9.99786293e-01 2.04835915e-02 2.79115569e-03 -5.59184615e+01] [-2.04839750e-02 9.99790175e-01 1.08890248e-04 -3.24749734e+00] [-2.78833958e-03 -1.66040941e-04 9.99996099e-01 1.18874453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945529293 meters 0.03737115325073265 Centerline is valid? [True, True] Translation: X:-55.98, Y:-3.26, Z:1.20 [[ 9.99896648e-01 1.35908761e-02 4.68842005e-03 -5.59786273e+01] [-1.35918919e-02 9.99907609e-01 1.84857558e-04 -3.26426655e+00] [-4.68547450e-03 -2.48562952e-04 9.99988992e-01 1.19720248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005529293 meters 0.03963156443613268 Centerline is valid? [True, True] Translation: X:-56.04, Y:-3.27, Z:1.19 [[ 9.99881741e-01 1.52787986e-02 1.75002576e-03 -5.60400525e+01] [-1.52789422e-02 9.99883268e-01 6.87143311e-05 -3.26935829e+00] [-1.74877161e-03 -9.54447475e-05 9.99998466e-01 1.18736472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065529293000004 meters 0.043826140571845654 Centerline is valid? [True, True] Translation: X:-56.10, Y:-3.27, Z:1.19 [[ 9.99651827e-01 2.62063590e-02 -3.07426636e-03 -5.60995772e+01] [-2.62068563e-02 9.99656534e-01 -1.21590574e-04 -3.26688401e+00] [ 3.07002401e-03 2.02115096e-04 9.99995267e-01 1.18546423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125529293 meters 0.04579107642651528 Centerline is valid? [True, True] Translation: X:-56.16, Y:-3.26, Z:1.18 [[ 9.99179425e-01 4.04285965e-02 -2.45059322e-03 -5.61599896e+01] [-4.04289548e-02 9.99182411e-01 -9.68121240e-05 -3.26442027e+00] [ 2.44467567e-03 1.95807605e-04 9.99996993e-01 1.18039378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185529293 meters 0.047149196225847255 Centerline is valid? [True, True] Translation: X:-56.22, Y:-3.27, Z:1.18 [[ 9.99137495e-01 4.13196058e-02 -4.11785476e-03 -5.62202420e+01] [-4.13206234e-02 9.99145925e-01 -1.62305153e-04 -3.26596198e+00] [ 4.10763142e-03 3.32317490e-04 9.99991508e-01 1.18145862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245529293000004 meters 0.047370917752199905 Centerline is valid? [True, True] Translation: X:-56.28, Y:-3.27, Z:1.19 [[ 9.99404976e-01 3.44899166e-02 3.73863606e-04 -5.62801450e+01] [-3.44899247e-02 9.99405045e-01 1.52310598e-05 -3.27484361e+00] [-3.73115857e-04 -2.81165246e-05 9.99999930e-01 1.18840291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305529293 meters 0.03956290748801596 Centerline is valid? [True, True] Translation: X:-56.34, Y:-3.31, Z:1.19 [[ 9.99783571e-01 2.06431361e-02 2.58286836e-03 -5.63378678e+01] [-2.06434689e-02 9.99786896e-01 1.02233749e-04 -3.30885716e+00] [-2.58020751e-03 -1.55530985e-04 9.99996659e-01 1.19276861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365529293 meters 0.036655634350954626 Centerline is valid? [True, True] Translation: X:-56.40, Y:-3.33, Z:1.19 [[ 9.99904903e-01 1.36244286e-02 2.13542630e-03 -5.63968772e+01] [-1.36246355e-02 9.99907177e-01 8.23917303e-05 -3.32764228e+00] [-2.13410555e-03 -1.11478300e-04 9.99997717e-01 1.18925296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425529293000004 meters 0.03973689579764415 Centerline is valid? [True, True] Translation: X:-56.46, Y:-3.33, Z:1.18 [[ 9.99843688e-01 1.72483894e-02 -3.88482880e-03 -5.64579499e+01] [-1.72491189e-02 9.99851211e-01 -1.54351103e-04 -3.32602820e+00] [ 3.88158847e-03 2.21336850e-04 9.99992442e-01 1.18044948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485529293000006 meters 0.04173727046693932 Centerline is valid? [True, True] Translation: X:-56.52, Y:-3.32, Z:1.20 [[ 9.99700332e-01 2.37262428e-02 6.02588757e-03 -5.65167570e+01] [-2.37281440e-02 9.99718418e-01 2.44188837e-04 -3.32223056e+00] [-6.01839711e-03 -3.87098789e-04 9.99981814e-01 1.19888050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545529293 meters 0.04251208293433029 Centerline is valid? [True, True] Translation: X:-56.58, Y:-3.31, Z:1.19 [[ 9.99555900e-01 2.97986849e-02 -2.03136944e-04 -5.65772790e+01] [-2.97986871e-02 9.99555920e-01 -7.94616913e-06 -3.31322405e+00] [ 2.02809950e-04 1.39958545e-05 9.99999979e-01 1.19152086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605529293000004 meters 0.042874447628928815 Centerline is valid? [True, True] Translation: X:-56.64, Y:-3.32, Z:1.18 [[ 9.99479886e-01 3.21230677e-02 -2.84022639e-03 -5.66378760e+01] [-3.21235144e-02 9.99483900e-01 -1.11790129e-04 -3.32430944e+00] [ 2.83516951e-03 2.02970038e-04 9.99995960e-01 1.18056828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665529293000006 meters 0.04249737498439265 Centerline is valid? [True, True] Translation: X:-56.70, Y:-3.35, Z:1.19 [[ 9.99617256e-01 2.75195373e-02 2.83128682e-03 -5.66968360e+01] [-2.75199636e-02 9.99621248e-01 1.11681074e-04 -3.34933228e+00] [-2.82714106e-03 -1.89555239e-04 9.99995986e-01 1.18722986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725529293 meters 0.03965888872779221 Centerline is valid? [True, True] Translation: X:-56.76, Y:-3.36, Z:1.19 [[ 9.99684656e-01 2.48701843e-02 3.47320094e-03 -5.67566439e+01] [-2.48708034e-02 9.99690665e-01 1.35192236e-04 -3.35700288e+00] [-3.46876430e-03 -2.21530901e-04 9.99993959e-01 1.19236956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785529293 meters 0.04084242927729994 Centerline is valid? [True, True] Translation: X:-56.82, Y:-3.36, Z:1.19 [[ 9.99776374e-01 2.01266822e-02 6.48986465e-03 -5.68182054e+01] [-2.01287617e-02 9.99797363e-01 2.55256805e-04 -3.35739591e+00] [-6.48341209e-03 -3.85832662e-04 9.99978908e-01 1.18803499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845529293000006 meters 0.03885948925050172 Centerline is valid? [True, True] Translation: X:-56.88, Y:-3.36, Z:1.18 [[ 9.99817589e-01 1.89285879e-02 2.54886523e-03 -5.68801432e+01] [-1.89289009e-02 9.99820827e-01 9.86982347e-05 -3.35808742e+00] [-2.54654032e-03 -1.46927448e-04 9.99996747e-01 1.17916898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905529293 meters 0.03874266944063312 Centerline is valid? [True, True] Translation: X:-56.94, Y:-3.39, Z:1.16 [[ 9.99824260e-01 1.87020634e-02 -1.29721723e-03 -5.69412710e+01] [-1.87021478e-02 9.99825098e-01 -5.29286639e-05 -3.38602758e+00] [ 1.29600046e-03 7.71801105e-05 9.99999157e-01 1.16403159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965529293 meters 0.039396594626024524 Centerline is valid? [True, True] Translation: X:-57.00, Y:-3.37, Z:1.18 [[ 9.99737560e-01 2.16346698e-02 7.53341743e-03 -5.70010821e+01] [-2.16375349e-02 9.99765836e-01 2.99022251e-04 -3.37189256e+00] [-7.52518413e-03 -4.61948358e-04 9.99971579e-01 1.18053265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025529293000005 meters 0.037885909630057564 Centerline is valid? [True, True] Translation: X:-57.06, Y:-3.38, Z:1.18 [[ 9.99701080e-01 2.30706573e-02 8.09291334e-03 -5.70615571e+01] [-2.30739949e-02 9.99733709e-01 3.19269077e-04 -3.38029874e+00] [-8.08339253e-03 -5.05909482e-04 9.99967201e-01 1.17984637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085529293 meters 0.0392849286842454 Centerline is valid? [True, True] Translation: X:-57.12, Y:-3.37, Z:1.16 [[ 9.99805177e-01 1.96577844e-02 -1.78294818e-03 -5.71239834e+01] [-1.96579435e-02 9.99806761e-01 -7.17410971e-05 -3.37441937e+00] [ 1.78119338e-03 1.06776215e-04 9.99998408e-01 1.15700332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145529293 meters 0.039922813322463765 Centerline is valid? [True, True] Translation: X:-57.18, Y:-3.38, Z:1.16 [[ 9.99814406e-01 1.92583165e-02 5.19621417e-04 -5.71837242e+01] [-1.92583304e-02 9.99814541e-01 2.16304673e-05 -3.37676100e+00] [-5.19108482e-04 -3.16334937e-05 9.99999865e-01 1.16381054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205529293000005 meters 0.03883264739457121 Centerline is valid? [True, True] Translation: X:-57.24, Y:-3.38, Z:1.17 [[ 9.99816178e-01 1.72785221e-02 8.31042305e-03 -5.72439526e+01] [-1.72818535e-02 9.99850603e-01 3.29219419e-04 -3.38494172e+00] [-8.30349308e-03 -4.72778415e-04 9.99965414e-01 1.17043137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265529293 meters 0.041347563627673944 Centerline is valid? [True, True] Translation: X:-57.31, Y:-3.38, Z:1.15 [[ 9.99828160e-01 1.84994890e-02 -1.19117046e-03 -5.73052303e+01] [-1.84995582e-02 9.99828867e-01 -4.71011702e-05 -3.37838186e+00] [ 1.19009526e-03 6.91292035e-05 9.99999289e-01 1.15027088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325529293 meters 0.03716034483593707 Centerline is valid? [True, True] Translation: X:-57.36, Y:-3.39, Z:1.17 [[ 9.99855128e-01 1.64563145e-02 4.34893781e-03 -5.73635479e+01] [-1.64572203e-02 9.99864556e-01 1.72567330e-04 -3.39361505e+00] [-4.34550895e-03 -2.44113757e-04 9.99990528e-01 1.16795437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385529293000005 meters 0.03719955762821514 Centerline is valid? [True, True] Translation: X:-57.43, Y:-3.39, Z:1.16 [[ 9.99918376e-01 1.27484856e-02 8.47358167e-04 -5.74257357e+01] [-1.27485172e-02 9.99918734e-01 3.19434164e-05 -3.38602650e+00] [-8.46882075e-04 -4.27433692e-05 9.99999640e-01 1.16153853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445529293 meters 0.03396750239399703 Centerline is valid? [True, True] Translation: X:-57.48, Y:-3.39, Z:1.18 [[ 9.99939627e-01 6.90203446e-03 8.55010427e-03 -5.74845811e+01] [-6.90518460e-03 9.99976101e-01 3.38966363e-04 -3.39475606e+00] [-8.54756037e-03 -3.97985947e-04 9.99963390e-01 1.17851815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505529293 meters 0.033406138112840135 Centerline is valid? [True, True] Translation: X:-57.55, Y:-3.40, Z:1.18 [[ 9.99904154e-01 4.89548731e-03 1.29505229e-02 -5.75451924e+01] [-4.90252928e-03 9.99987851e-01 5.12068445e-04 -3.40269132e+00] [-1.29478587e-02 -5.75509683e-04 9.99916007e-01 1.18230447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565529293000004 meters 0.03363956483362679 Centerline is valid? [True, True] Translation: X:-57.61, Y:-3.39, Z:1.17 [[ 9.99962093e-01 5.97625079e-03 6.33221860e-03 -5.76070261e+01] [-5.97795667e-03 9.99982100e-01 2.50502985e-04 -3.38891048e+00] [-6.33060819e-03 -2.88347218e-04 9.99979920e-01 1.17245568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625529293 meters 0.037347392960495045 Centerline is valid? [True, True] Translation: X:-57.67, Y:-3.39, Z:1.16 [[ 9.99938381e-01 9.78451071e-03 5.24389172e-03 -5.76679271e+01] [-9.78573518e-03 9.99952097e-01 2.07896030e-04 -3.38979272e+00] [-5.24160636e-03 -2.59198555e-04 9.99986229e-01 1.15974175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685529293 meters 0.039769809155389954 Centerline is valid? [True, True] Translation: X:-57.73, Y:-3.36, Z:1.15 [[ 9.99883794e-01 1.51065888e-02 -2.04688658e-03 -5.77303071e+01] [-1.51067865e-02 9.99885883e-01 -8.11776930e-05 -3.36272971e+00] [ 2.04542667e-03 1.12090138e-04 9.99997902e-01 1.15019342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745529293000004 meters 0.04353406524473021 Centerline is valid? [True, True] Translation: X:-57.79, Y:-3.36, Z:1.16 [[ 9.99683060e-01 2.41487290e-02 7.11467100e-03 -5.77905608e+01] [-2.41513460e-02 9.99708274e-01 2.82139497e-04 -3.35719081e+00] [-7.10578215e-03 -4.53878957e-04 9.99974651e-01 1.15785508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805529293 meters 0.04300996735780293 Centerline is valid? [True, True] Translation: X:-57.85, Y:-3.36, Z:1.16 [[ 9.99622711e-01 2.71087681e-02 4.42152831e-03 -5.78499041e+01] [-2.71098093e-02 9.99632446e-01 1.75701617e-04 -3.36077172e+00] [-4.41514010e-03 -2.95502116e-04 9.99990210e-01 1.15963713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865529293 meters 0.04271226141177807 Centerline is valid? [True, True] Translation: X:-57.91, Y:-3.36, Z:1.16 [[ 9.99630354e-01 2.64330169e-02 6.36012116e-03 -5.79114485e+01] [-2.64351380e-02 9.99650500e-01 2.49652694e-04 -3.36426407e+00] [-6.35129922e-03 -4.17691092e-04 9.99979743e-01 1.16227129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925529293000004 meters 0.03929402582270563 Centerline is valid? [True, True] Translation: X:-57.97, Y:-3.37, Z:1.17 [[ 9.99772469e-01 1.94050084e-02 8.85753216e-03 -5.79711040e+01] [-1.94088817e-02 9.99811568e-01 3.51520812e-04 -3.37233747e+00] [-8.84904185e-03 -5.23355624e-04 9.99960710e-01 1.16800892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985529293000006 meters 0.047894912287628724 Centerline is valid? [True, True] Translation: X:-58.03, Y:-3.35, Z:1.15 [[ 9.99832281e-01 1.71726137e-02 6.36488676e-03 -5.80347441e+01] [-1.71745597e-02 9.99852475e-01 2.51216923e-04 -3.34508610e+00] [-6.35963373e-03 -3.60488917e-04 9.99979712e-01 1.15320653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045529293 meters 0.04755861586497546 Centerline is valid? [True, True] Translation: X:-58.10, Y:-3.35, Z:1.15 [[ 9.99834654e-01 1.72687983e-02 5.69676199e-03 -5.80968306e+01] [-1.72703613e-02 9.99850831e-01 2.25282512e-04 -3.34683493e+00] [-5.69202185e-03 -3.23630400e-04 9.99983748e-01 1.15157280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105529293000004 meters 0.051238254884600175 Centerline is valid? [True, True] Translation: X:-58.16, Y:-3.34, Z:1.15 [[ 9.99644308e-01 2.60057493e-02 5.91256607e-03 -5.81565925e+01] [-2.60075982e-02 9.99661717e-01 2.36027648e-04 -3.33873905e+00] [-5.90442788e-03 -3.89715338e-04 9.99982493e-01 1.15361783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165529293000006 meters 0.05409407169720543 Centerline is valid? [True, True] Translation: X:-58.22, Y:-3.34, Z:1.15 [[ 9.99485640e-01 3.16355805e-02 5.25793507e-03 -5.82173408e+01] [-3.16371173e-02 9.99499399e-01 2.09348200e-04 -3.33843981e+00] [-5.24868009e-03 -3.75586429e-04 9.99986155e-01 1.15140856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225529293 meters 0.055920993040770486 Centerline is valid? [True, True] Translation: X:-58.28, Y:-3.33, Z:1.15 [[ 9.99269413e-01 3.81153479e-02 2.80371870e-03 -5.82777180e+01] [-3.81158097e-02 9.99273322e-01 1.11439429e-04 -3.32542459e+00] [-2.79743375e-03 -2.18224021e-04 9.99996063e-01 1.14987194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285529293 meters 0.05428718214709416 Centerline is valid? [True, True] Translation: X:-58.34, Y:-3.35, Z:1.16 [[ 9.99301532e-01 3.65220456e-02 7.91122194e-03 -5.83366598e+01] [-3.65256784e-02 9.99332665e-01 3.15158307e-04 -3.34968887e+00] [-7.89443228e-03 -6.03900927e-04 9.99968656e-01 1.16028537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345529293000006 meters 0.052584676463021354 Centerline is valid? [True, True] Translation: X:-58.40, Y:-3.34, Z:1.16 [[ 9.99411217e-01 3.37354309e-02 6.25618093e-03 -5.83978239e+01] [-3.37376466e-02 9.99430693e-01 2.48934087e-04 -3.34387520e+00] [-6.24422134e-03 -4.59856340e-04 9.99980399e-01 1.16477304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405529293 meters 0.04954864306841466 Centerline is valid? [True, True] Translation: X:-58.46, Y:-3.38, Z:1.16 [[ 9.99550664e-01 2.94739943e-02 5.45466908e-03 -5.84571215e+01] [-2.94756128e-02 9.99565476e-01 2.16563884e-04 -3.37995037e+00] [-5.44591590e-03 -3.77246288e-04 9.99985100e-01 1.15673207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465529293 meters 0.049907098711842464 Centerline is valid? [True, True] Translation: X:-58.52, Y:-3.37, Z:1.16 [[ 9.99506946e-01 3.13728012e-02 1.26967946e-03 -5.85177212e+01] [-3.13728905e-02 9.99507748e-01 5.05125296e-05 -3.37334265e+00] [-1.26746974e-03 -9.03211390e-05 9.99999193e-01 1.16103072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525529293000005 meters 0.049389795371838956 Centerline is valid? [True, True] Translation: X:-58.58, Y:-3.40, Z:1.17 [[ 9.99429624e-01 3.26984693e-02 8.44016003e-03 -5.85763021e+01] [-3.27024731e-02 9.99465074e-01 3.36760863e-04 -3.39543953e+00] [-8.42463361e-03 -6.12582889e-04 9.99964325e-01 1.17318296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585529293 meters 0.04969105503724936 Centerline is valid? [True, True] Translation: X:-58.64, Y:-3.39, Z:1.17 [[ 9.99381717e-01 3.51499611e-02 8.15311467e-04 -5.86364694e+01] [-3.51499993e-02 9.99382047e-01 3.25819749e-05 -3.38918829e+00] [-8.13662388e-04 -6.12200275e-05 9.99999667e-01 1.17245304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645529293 meters 0.048110543628393634 Centerline is valid? [True, True] Translation: X:-58.69, Y:-3.41, Z:1.18 [[ 9.99402533e-01 3.41905213e-02 5.05809275e-03 -5.86949499e+01] [-3.41919796e-02 9.99415263e-01 2.02078556e-04 -3.41382757e+00] [-5.04822592e-03 -3.74904025e-04 9.99987187e-01 1.18129155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705529293000005 meters 0.04935135092350822 Centerline is valid? [True, True] Translation: X:-58.76, Y:-3.41, Z:1.18 [[ 9.99298576e-01 3.73273817e-02 -3.00385288e-03 -5.87551445e+01] [-3.73279079e-02 9.99303064e-01 -1.19302196e-04 -3.40855492e+00] [ 2.99730614e-03 2.31346058e-04 9.99995481e-01 1.18054771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765529293 meters 0.05168047494863043 Centerline is valid? [True, True] Translation: X:-58.81, Y:-3.43, Z:1.17 [[ 9.99198280e-01 3.92407070e-02 -7.93504752e-03 -5.88145685e+01] [-3.92444403e-02 9.99229590e-01 -3.15265100e-04 -3.42777444e+00] [ 7.91656306e-03 6.26418844e-04 9.99968467e-01 1.17472832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825529293 meters 0.05172757683575121 Centerline is valid? [True, True] Translation: X:-58.87, Y:-3.43, Z:1.18 [[ 9.99093943e-01 4.24784286e-02 -2.62208493e-03 -5.88728665e+01] [-4.24788283e-02 9.99097363e-01 -9.68851234e-05 -3.43428567e+00] [ 2.61560261e-03 2.08180435e-04 9.99996558e-01 1.18439577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885529293000005 meters 0.054991834060320904 Centerline is valid? [True, True] Translation: X:-58.93, Y:-3.46, Z:1.18 [[ 9.98788212e-01 4.90359106e-02 -4.19371089e-03 -5.89328807e+01] [-4.90370372e-02 9.98796947e-01 -1.66177109e-04 -3.45922568e+00] [ 4.18051699e-03 3.71622895e-04 9.99991193e-01 1.18118428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945529293 meters 0.051362543722620495 Centerline is valid? [True, True] Translation: X:-58.99, Y:-3.49, Z:1.20 [[ 9.99016523e-01 4.39184806e-02 6.09531442e-03 -5.89916513e+01] [-4.39207669e-02 9.99034988e-01 2.41686616e-04 -3.49278255e+00] [-6.07881787e-03 -5.09159807e-04 9.99981394e-01 1.20430612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005529293 meters 0.05214178171307805 Centerline is valid? [True, True] Translation: X:-59.05, Y:-3.52, Z:1.19 [[ 9.99030807e-01 4.38788389e-02 -3.47776234e-03 -5.90510568e+01] [-4.38795826e-02 9.99036818e-01 -1.37781516e-04 -3.52287279e+00] [ 3.46836692e-03 2.90250739e-04 9.99993943e-01 1.19251009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065529293000004 meters 0.052301251767927916 Centerline is valid? [True, True] Translation: X:-59.11, Y:-3.55, Z:1.20 [[ 9.99127641e-01 4.17565668e-02 5.88022807e-04 -5.91097015e+01] [-4.17565878e-02 9.99127813e-01 2.34815443e-05 -3.54972393e+00] [-5.86529432e-04 -4.80148859e-05 9.99999827e-01 1.20399505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125529293 meters 0.04805817121051791 Centerline is valid? [True, True] Translation: X:-59.17, Y:-3.59, Z:1.21 [[ 9.99348162e-01 3.60716868e-02 -1.44387385e-03 -5.91675862e+01] [-3.60718062e-02 9.99349199e-01 -5.67108553e-05 -3.59365601e+00] [ 1.44088852e-03 1.08757027e-04 9.99998956e-01 1.20874604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185529293 meters 0.05149151423616171 Centerline is valid? [True, True] Translation: X:-59.23, Y:-3.61, Z:1.21 [[ 9.99442100e-01 3.31743261e-02 -3.86688339e-03 -5.92259443e+01] [-3.31751587e-02 9.99449541e-01 -1.51356539e-04 -3.61381081e+00] [ 3.85973367e-03 2.79556567e-04 9.99992512e-01 1.20513201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245529293000004 meters 0.05189719853058674 Centerline is valid? [True, True] Translation: X:-59.29, Y:-3.63, Z:1.22 [[ 9.99542355e-01 2.98409991e-02 -4.95945396e-03 -5.92857285e+01] [-2.98423380e-02 9.99554599e-01 -1.96168879e-04 -3.62946182e+00] [ 4.95139114e-03 3.44080805e-04 9.99987683e-01 1.21501557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305529293 meters 0.05277137898030024 Centerline is valid? [True, True] Translation: X:-59.34, Y:-3.66, Z:1.22 [[ 9.99582403e-01 2.88175737e-02 -2.13718755e-03 -5.93448797e+01] [-2.88178188e-02 9.99584677e-01 -8.39938090e-05 -3.66089500e+00] [ 2.13387942e-03 1.45547817e-04 9.99997713e-01 1.21845424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365529293 meters 0.05393484161675254 Centerline is valid? [True, True] Translation: X:-59.40, Y:-3.67, Z:1.23 [[ 9.99391403e-01 3.47188503e-02 -3.38016005e-03 -5.94032950e+01] [-3.47194975e-02 9.99397088e-01 -1.32984922e-04 -3.67351769e+00] [ 3.37350503e-03 2.50261447e-04 9.99994278e-01 1.22697250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425529293000004 meters 0.05522367326033652 Centerline is valid? [True, True] Translation: X:-59.46, Y:-3.69, Z:1.23 [[ 9.99488101e-01 3.18935854e-02 -2.51700692e-03 -5.94628566e+01] [-3.18939362e-02 9.99491254e-01 -9.93393737e-05 -3.69450259e+00] [ 2.51255811e-03 1.79565780e-04 9.99996827e-01 1.23492629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485529293000006 meters 0.061597401030460325 Centerline is valid? [True, True] Translation: X:-59.52, Y:-3.69, Z:1.23 [[ 9.99569330e-01 2.92833605e-02 -1.90755923e-03 -5.95232905e+01] [-2.92835564e-02 9.99571142e-01 -7.48296332e-05 -3.69498729e+00] [ 1.90454990e-03 1.30657525e-04 9.99998178e-01 1.22808614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545529293 meters 0.06165654086853641 Centerline is valid? [True, True] Translation: X:-59.58, Y:-3.71, Z:1.23 [[ 9.99711942e-01 2.35127910e-02 -4.81465371e-03 -5.95814030e+01] [-2.35139834e-02 9.99723490e-01 -1.91208128e-04 -3.71422179e+00] [ 4.80882657e-03 3.04364736e-04 9.99988391e-01 1.23493277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605529293000004 meters 0.06378690696564311 Centerline is valid? [True, True] Translation: X:-59.64, Y:-3.72, Z:1.24 [[ 9.99711056e-01 2.39195502e-02 -2.37902835e-03 -5.96385370e+01] [-2.39198354e-02 9.99713876e-01 -9.14960671e-05 -3.72464923e+00] [ 2.37615910e-03 1.48375596e-04 9.99997166e-01 1.24470363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665529293000006 meters 0.06740858831547372 Centerline is valid? [True, True] Translation: X:-59.70, Y:-3.74, Z:1.24 [[ 9.99608088e-01 2.73065538e-02 -6.16620364e-03 -5.96990233e+01] [-2.73085684e-02 9.99627022e-01 -2.42740363e-04 -3.73501576e+00] [ 6.15727537e-03 4.11035423e-04 9.99980959e-01 1.24284406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725529293 meters 0.07008044057978127 Centerline is valid? [True, True] Translation: X:-59.76, Y:-3.74, Z:1.25 [[ 9.99550134e-01 2.98630042e-02 -2.78055338e-03 -5.97577861e+01] [-2.98634038e-02 9.99553984e-01 -1.02304267e-04 -3.74127565e+00] [ 2.77625809e-03 1.85295032e-04 9.99996129e-01 1.25185463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785529293 meters 0.07197756293205534 Centerline is valid? [True, True] Translation: X:-59.81, Y:-3.76, Z:1.26 [[ 9.99511679e-01 3.11930903e-02 -1.84255580e-03 -5.98149014e+01] [-3.11932716e-02 9.99513369e-01 -6.97083396e-05 -3.75637528e+00] [ 1.83948474e-03 1.27149643e-04 9.99998300e-01 1.26055121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845529293000006 meters 0.07496883774155673 Centerline is valid? [True, True] Translation: X:-59.87, Y:-3.76, Z:1.26 [[ 9.99445208e-01 3.30586560e-02 -4.04981784e-03 -5.98748972e+01] [-3.30595680e-02 9.99453371e-01 -1.58442078e-04 -3.76431132e+00] [ 4.04236620e-03 2.92239403e-04 9.99991787e-01 1.25524972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905529293 meters 0.0884261752783673 Centerline is valid? [True, True] Translation: X:-59.94, Y:-3.75, Z:1.25 [[ 9.99250105e-01 3.85521047e-02 -3.60041598e-03 -5.99358876e+01] [-3.85528597e-02 9.99256552e-01 -1.40519804e-04 -3.74524406e+00] [ 3.59232193e-03 2.79220761e-04 9.99993509e-01 1.24622570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965529293 meters 0.08273401146195568 Centerline is valid? [True, True] Translation: X:-59.99, Y:-3.79, Z:1.27 [[ 9.99140319e-01 4.14393628e-02 -1.18400485e-03 -5.99923796e+01] [-4.14394454e-02 9.99141016e-01 -4.53105027e-05 -3.79283231e+00] [ 1.18111017e-03 9.43360544e-05 9.99999298e-01 1.27255427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025529293000005 meters 0.0970294611072809 Centerline is valid? [True, True] Translation: X:-60.05, Y:-3.78, Z:1.27 [[ 9.99263233e-01 3.83737224e-02 6.70298211e-04 -6.00539937e+01] [-3.83737486e-02 9.99263456e-01 2.62010774e-05 -3.77676810e+00] [-6.68799074e-04 -5.19036283e-05 9.99999775e-01 1.26845544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085529293 meters 0.09848345036145588 Centerline is valid? [True, True] Translation: X:-60.11, Y:-3.79, Z:1.27 [[ 9.99388089e-01 3.48657991e-02 -2.79697224e-03 -6.01137804e+01] [-3.48662398e-02 9.99391982e-01 -1.08934039e-04 -3.78897107e+00] [ 2.79147356e-03 2.06387286e-04 9.99996083e-01 1.26824880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145529293 meters 0.10566274810905353 Centerline is valid? [True, False] Translation: X:-60.11, Y:-3.78, Z:1.27 [[ 9.99933352e-01 -3.66335701e-03 -1.09485680e-02 -6.01097144e+01] [ 3.61590173e-03 9.99983997e-01 -4.35103926e-03 -3.78356874e+00] [ 1.09643322e-02 4.31116033e-03 9.99930596e-01 1.26743333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205529293000005 meters 0.1105337667942854 Centerline is valid? [False, False] Translation: X:-60.16, Y:-3.80, Z:1.28 [[ 9.99951568e-01 3.98406288e-03 -8.99941650e-03 -6.01642060e+01] [-4.04353124e-03 9.99970048e-01 -6.59952263e-03 -3.80434970e+00] [ 8.97285403e-03 6.63559242e-03 9.99937726e-01 1.27611680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265529293 meters 0.11694364316773535 Centerline is valid? [False, False] Translation: X:-60.22, Y:-3.81, Z:1.28 [[ 9.99902213e-01 4.35199417e-03 -1.32900080e-02 -6.02237883e+01] [-4.47981949e-03 9.99943850e-01 -9.60357737e-03 -3.80988217e+00] [ 1.32474671e-02 9.66217511e-03 9.99865564e-01 1.27844770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325529293 meters 0.12867486122785565 Centerline is valid? [False, False] Translation: X:-60.29, Y:-3.83, Z:1.28 [[ 9.99893786e-01 7.88405920e-03 -1.22579895e-02 -6.02856874e+01] [-7.99903658e-03 9.99924207e-01 -9.35922840e-03 -3.82521785e+00] [ 1.21832717e-02 9.45628642e-03 9.99881066e-01 1.27987825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385529293000005 meters 0.1371354909164861 Centerline is valid? [False, False] Translation: X:-60.34, Y:-3.83, Z:1.28 [[ 9.99792761e-01 1.04746459e-02 -1.74561188e-02 -6.03437781e+01] [-1.06615933e-02 9.99886435e-01 -1.06511348e-02 -3.83483229e+00] [ 1.73425695e-02 1.08350375e-02 9.99790897e-01 1.28241227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445529293 meters 0.1479364052894048 Centerline is valid? [False, False] Translation: X:-60.41, Y:-3.84, Z:1.29 [[ 9.99821032e-01 1.21970354e-02 -1.44615473e-02 -6.04088315e+01] [-1.23917357e-02 9.99832743e-01 -1.34510220e-02 -3.84277718e+00] [ 1.42950659e-02 1.36278184e-02 9.99804948e-01 1.28548563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505529293 meters 0.16071912736290753 Centerline is valid? [False, False] Translation: X:-60.38, Y:-3.83, Z:1.28 [[ 9.99704716e-01 -1.35604426e-02 -2.01642168e-02 -6.03815118e+01] [ 1.32507588e-02 9.99793404e-01 -1.54131981e-02 -3.83298350e+00] [ 2.03690607e-02 1.51414557e-02 9.99677867e-01 1.28225103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565529293000004 meters 0.17258476123807778 Centerline is valid? [False, False] Translation: X:-60.33, Y:-3.81, Z:1.28 [[ 9.99460690e-01 -1.96858794e-02 -2.62829957e-02 -6.03315334e+01] [ 1.95083365e-02 9.99785228e-01 -6.99448157e-03 -3.80871093e+00] [ 2.64150433e-02 6.47797185e-03 9.99630072e-01 1.28456126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625529293 meters 0.1883846922847861 Centerline is valid? [False, False] Translation: X:-60.37, Y:-3.83, Z:1.28 [[ 9.99760528e-01 1.27895090e-02 -1.77571392e-02 -6.03666506e+01] [-1.28232176e-02 9.99916185e-01 -1.78574506e-03 -3.83274219e+00] [ 1.77328120e-02 2.01302108e-03 9.99840735e-01 1.28293803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685529293 meters 0.19940437840609757 Centerline is valid? [False, False] Translation: X:-60.32, Y:-3.82, Z:1.28 [[ 9.99838371e-01 -3.55248288e-03 -1.76241701e-02 -6.03227712e+01] [ 3.44789859e-03 9.99976289e-01 -5.96098111e-03 -3.81823039e+00] [ 1.76449285e-02 5.89925129e-03 9.99826913e-01 1.28066203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745529293000004 meters 0.20857160887672574 Centerline is valid? [False, False] Translation: X:-60.37, Y:-3.83, Z:1.28 [[ 9.99836782e-01 -7.58030710e-04 -1.80508726e-02 -6.03749360e+01] [ 6.71390069e-04 9.99988229e-01 -4.80537992e-03 -3.83355794e+00] [ 1.80543027e-02 4.79247642e-03 9.99825522e-01 1.27786644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805529293000006 meters 0.21668074966908485 Centerline is valid? [False, False] Translation: X:-60.43, Y:-3.84, Z:1.28 [[ 9.99692737e-01 1.37025429e-03 -2.47498426e-02 -6.04264380e+01] [-1.68720531e-03 9.99916783e-01 -1.27898443e-02 -3.83690786e+00] [ 2.47302576e-02 1.28276725e-02 9.99611857e-01 1.28256120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865529293 meters 0.22399078071315728 Centerline is valid? [False, False] Translation: X:-60.49, Y:-3.84, Z:1.29 [[ 9.99847170e-01 5.02913772e-03 -1.67435137e-02 -6.04892404e+01] [-5.22318019e-03 9.99919474e-01 -1.15656239e-02 -3.83952081e+00] [ 1.66840003e-02 1.16513107e-02 9.99792924e-01 1.28577369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925529293000004 meters 0.2333728400577311 Centerline is valid? [False, False] Translation: X:-60.56, Y:-3.83, Z:1.29 [[ 9.99766187e-01 8.13460351e-03 -2.00349624e-02 -6.05595874e+01] [-8.48330329e-03 9.99812941e-01 -1.73815115e-02 -3.83348829e+00] [ 1.98898230e-02 1.75474102e-02 9.99648180e-01 1.28612538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985529293000006 meters 0.23417195200826457 Centerline is valid? [False, False] Translation: X:-60.53, Y:-3.83, Z:1.28 [[ 9.99548554e-01 -1.41534544e-02 -2.65022144e-02 -6.05314478e+01] [ 1.36851264e-02 9.99748440e-01 -1.77700511e-02 -3.82629518e+00] [ 2.67470551e-02 1.73993427e-02 9.99490799e-01 1.27869487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045529293 meters 0.22943887003790145 Centerline is valid? [False, False] Translation: X:-60.60, Y:-3.82, Z:1.28 [[ 9.99582731e-01 -9.95331938e-04 -2.88681900e-02 -6.06030043e+01] [ 4.21788057e-04 9.99802543e-01 -1.98669659e-02 -3.82336354e+00] [ 2.88822640e-02 1.98464997e-02 9.99385777e-01 1.28493527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105529293000004 meters 0.2193857281284112 Centerline is valid? [False, False] Translation: X:-60.68, Y:-3.82, Z:1.29 [[ 9.99610093e-01 6.30029246e-03 -2.72023514e-02 -6.06825123e+01] [-6.91133772e-03 9.99724578e-01 -2.24276834e-02 -3.81697380e+00] [ 2.70535583e-02 2.26069433e-02 9.99378322e-01 1.28873785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165529293000006 meters 0.20121577310172747 Centerline is valid? [False, False] Translation: X:-60.64, Y:-3.80, Z:1.28 [[ 9.99584200e-01 1.98942748e-04 -2.88337880e-02 -6.06373092e+01] [-6.91413427e-04 9.99854046e-01 -1.70706751e-02 -3.80403240e+00] [ 2.88261835e-02 1.70835132e-02 9.99438445e-01 1.28216128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225529293 meters 0.1891239591953596 Centerline is valid? [False, False] Translation: X:-60.70, Y:-3.80, Z:1.29 [[ 9.99553564e-01 5.33120396e-03 -2.93981446e-02 -6.07043951e+01] [-5.84286701e-03 9.99832470e-01 -1.73462550e-02 -3.80070957e+00] [ 2.93007431e-02 1.75102805e-02 9.99417258e-01 1.28737580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285529293 meters 0.17853588766067255 Centerline is valid? [False, False] Translation: X:-60.77, Y:-3.80, Z:1.29 [[ 9.99454739e-01 1.01078753e-02 -3.14333393e-02 -6.07700664e+01] [-1.06884578e-02 9.99774355e-01 -1.83574280e-02 -3.80217376e+00] [ 3.12406920e-02 1.86833924e-02 9.99337255e-01 1.28822501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345529293000006 meters 0.1607112543528869 Centerline is valid? [False, False] Translation: X:-60.72, Y:-3.79, Z:1.28 [[ 9.99474140e-01 4.14161804e-03 -3.21603821e-02 -6.07213954e+01] [-4.55806913e-03 9.99906574e-01 -1.28866975e-02 -3.78614993e+00] [ 3.21040057e-02 1.30265101e-02 9.99399641e-01 1.28190267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405529293 meters 0.14738053639219642 Centerline is valid? [False, False] Translation: X:-60.78, Y:-3.78, Z:1.28 [[ 9.99531068e-01 7.18271964e-03 -2.97666216e-02 -6.07828834e+01] [-7.70913256e-03 9.99815250e-01 -1.76078051e-02 -3.77818888e+00] [ 2.96346503e-02 1.78290231e-02 9.99401778e-01 1.28386554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465529293 meters 0.12413733690554277 Centerline is valid? [False, False] Translation: X:-60.84, Y:-3.78, Z:1.28 [[ 9.99380793e-01 1.37810502e-02 -3.23745915e-02 -6.08378569e+01] [-1.43019870e-02 9.99771060e-01 -1.59148251e-02 -3.78394459e+00] [ 3.21478566e-02 1.63679915e-02 9.99349090e-01 1.28017392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525529293000005 meters 0.10749077257335356 Centerline is valid? [False, False] Translation: X:-60.88, Y:-3.78, Z:1.28 [[ 9.99288373e-01 1.00756268e-02 -3.63487221e-02 -6.08762232e+01] [-1.07325150e-02 9.99781780e-01 -1.79222060e-02 -3.77934024e+00] [ 3.61602127e-02 1.82995653e-02 9.99178445e-01 1.28156921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585529293 meters 0.09663203031682846 Centerline is valid? [False, True] Translation: X:-60.90, Y:-3.78, Z:1.29 [[ 9.99435720e-01 4.58389886e-03 -3.32750545e-02 -6.09012671e+01] [-5.04639677e-03 9.99891646e-01 -1.38285878e-02 -3.77849589e+00] [ 3.32080602e-02 1.39887037e-02 9.99350560e-01 1.28545870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645529293 meters 0.08636132760629293 Centerline is valid? [True, True] Translation: X:-60.96, Y:-3.77, Z:1.28 [[ 9.99171199e-01 -5.64958950e-03 -4.03112660e-02 -6.09610416e+01] [ 5.49363454e-03 9.99976996e-01 -3.97849385e-03 -3.77289545e+00] [ 4.03328155e-02 3.75374111e-03 9.99179250e-01 1.28436465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705529293000005 meters 0.08418230264712946 Centerline is valid? [True, True] Translation: X:-61.02, Y:-3.78, Z:1.28 [[ 9.99277827e-01 -7.48613184e-03 -3.72529591e-02 -6.10207399e+01] [ 7.35423581e-03 9.99966199e-01 -3.67632608e-03 -3.78461455e+00] [ 3.72792214e-02 3.39970409e-03 9.99299105e-01 1.28320624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765529293 meters 0.0875916684582203 Centerline is valid? [True, True] Translation: X:-61.08, Y:-3.78, Z:1.28 [[ 9.99065188e-01 -1.12956420e-02 -4.17271912e-02 -6.10808384e+01] [ 1.11334537e-02 9.99929545e-01 -4.11722206e-03 -3.78496052e+00] [ 4.17707580e-02 3.64880548e-03 9.99120558e-01 1.28162844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825529293 meters 0.0920514211894729 Centerline is valid? [True, True] Translation: X:-61.14, Y:-3.79, Z:1.29 [[ 9.99386132e-01 -7.90948782e-03 -3.41291560e-02 -6.11390471e+01] [ 7.79932886e-03 9.99963941e-01 -3.35963524e-03 -3.78810530e+00] [ 3.41544983e-02 3.09138836e-03 9.99411784e-01 1.29309384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885529293000005 meters 0.10324082089298435 Centerline is valid? [True, False] Translation: X:-61.09, Y:-3.77, Z:1.28 [[ 9.99130964e-01 -1.16730272e-02 -4.00132080e-02 -6.10904942e+01] [ 1.17348684e-02 9.99930285e-01 1.31099034e-03 -3.77046509e+00] [ 3.99951152e-02 -1.77940077e-03 9.99198291e-01 1.28339228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945529293 meters 0.11183559820403201 Centerline is valid? [False, False] Translation: X:-61.14, Y:-3.78, Z:1.29 [[ 9.99260413e-01 4.87216060e-03 -3.81430049e-02 -6.11434826e+01] [-5.16630346e-03 9.99957646e-01 -7.61681685e-03 -3.78087813e+00] [ 3.81042790e-02 7.80824189e-03 9.99243261e-01 1.28885441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005529293 meters 0.12313549973674057 Centerline is valid? [False, False] Translation: X:-61.10, Y:-3.77, Z:1.28 [[ 9.99456310e-01 5.91109813e-03 -3.24367491e-02 -6.11014793e+01] [-6.16770910e-03 9.99950427e-01 -7.81677219e-03 -3.77125480e+00] [ 3.23889354e-02 8.01258272e-03 9.99443223e-01 1.28472861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065529293000004 meters 0.1390568285032854 Centerline is valid? [False, False] Translation: X:-61.06, Y:-3.75, Z:1.27 [[ 9.99295571e-01 1.53332890e-03 -3.74968029e-02 -6.10640919e+01] [-1.80655533e-03 9.99972059e-01 -7.25386327e-03 -3.75290511e+00] [ 3.74846326e-02 7.31649349e-03 9.99270419e-01 1.27488015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125529293 meters 0.149991860667635 Centerline is valid? [False, False] Translation: X:-61.03, Y:-3.74, Z:1.27 [[ 9.99508261e-01 2.60852537e-03 -3.12479230e-02 -6.10256906e+01] [-2.86291184e-03 9.99963105e-01 -8.09893530e-03 -3.74447853e+00] [ 3.12256438e-02 8.18441279e-03 9.99478851e-01 1.27406950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185529293 meters 0.1518699445199102 Centerline is valid? [False, False] Translation: X:-60.97, Y:-3.72, Z:1.27 [[ 9.99312750e-01 -7.14257250e-03 -3.63732193e-02 -6.09720714e+01] [ 6.79784569e-03 9.99930886e-01 -9.59235891e-03 -3.72138441e+00] [ 3.64392195e-02 9.33850703e-03 9.99292237e-01 1.26902506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245529293000004 meters 0.14953949523603263 Centerline is valid? [False, False] Translation: X:-61.03, Y:-3.73, Z:1.27 [[ 9.99263954e-01 -3.95944540e-03 -3.81558932e-02 -6.10323071e+01] [ 3.59451468e-03 9.99947189e-01 -9.62806292e-03 -3.72903947e+00] [ 3.81919999e-02 9.48382431e-03 9.99225414e-01 1.26976201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305529293000006 meters 0.1557122671017941 Centerline is valid? [False, False] Translation: X:-61.08, Y:-3.73, Z:1.28 [[ 9.99325963e-01 1.24482549e-03 -3.66888352e-02 -6.10824060e+01] [-1.87489757e-03 9.99851273e-01 -1.71440023e-02 -3.73336324e+00] [ 3.66620373e-02 1.72012344e-02 9.99179670e-01 1.27541728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365529293 meters 0.1577666297655819 Centerline is valid? [False, False] Translation: X:-61.14, Y:-3.74, Z:1.27 [[ 9.98817284e-01 -1.27239946e-03 -4.86046684e-02 -6.11376599e+01] [ 6.10437106e-04 9.99906897e-01 -1.36317331e-02 -3.73537498e+00] [ 4.86174882e-02 1.35859406e-02 9.98725068e-01 1.27301278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425529293000004 meters 0.16916863504993251 Centerline is valid? [False, False] Translation: X:-61.20, Y:-3.74, Z:1.28 [[ 9.99133286e-01 1.44021196e-03 -4.16005221e-02 -6.12002931e+01] [-2.17734419e-03 9.99841336e-01 -1.76794319e-02 -3.73539394e+00] [ 4.15684595e-02 1.77546875e-02 9.98977895e-01 1.27638170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485529293000006 meters 0.1650745102970817 Centerline is valid? [False, False] Translation: X:-61.24, Y:-3.74, Z:1.28 [[ 9.98905798e-01 1.80815624e-03 -4.67326205e-02 -6.12430018e+01] [-2.53533500e-03 9.99876563e-01 -1.55058238e-02 -3.73737865e+00] [ 4.66988150e-02 1.56073401e-02 9.98787080e-01 1.27710598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545529293 meters 0.16035319747378923 Centerline is valid? [False, False] Translation: X:-61.29, Y:-3.73, Z:1.28 [[ 9.98691157e-01 -5.35297130e-04 -5.11437787e-02 -6.12866477e+01] [-2.83436436e-04 9.99871954e-01 -1.59998747e-02 -3.73333330e+00] [ 5.11457946e-02 1.59934294e-02 9.98563127e-01 1.27903246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605529293000004 meters 0.16016006665968383 Centerline is valid? [False, False] Translation: X:-61.33, Y:-3.73, Z:1.28 [[ 9.98489772e-01 -2.26519669e-03 -5.48912011e-02 -6.13299696e+01] [ 1.36845856e-03 9.99865087e-01 -1.63687292e-02 -3.72781370e+00] [ 5.49208739e-02 1.62688923e-02 9.98358163e-01 1.28160302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665529293000006 meters 0.16403580980121787 Centerline is valid? [False, False] Translation: X:-61.38, Y:-3.72, Z:1.29 [[ 9.98147237e-01 -4.19149520e-03 -6.07002826e-02 -6.13828191e+01] [ 3.20788957e-03 9.99862119e-01 -1.62926946e-02 -3.72415616e+00] [ 6.07602040e-02 1.60677883e-02 9.98023058e-01 1.28575098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725529293 meters 0.16880981556212968 Centerline is valid? [False, False] Translation: X:-61.42, Y:-3.72, Z:1.29 [[ 9.98444699e-01 -5.08360661e-03 -5.55188285e-02 -6.14241472e+01] [ 4.24473082e-03 9.99875201e-01 -1.52172374e-02 -3.72287697e+00] [ 5.55892583e-02 1.49579075e-02 9.98341673e-01 1.28528200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785529293 meters 0.18589828755206797 Centerline is valid? [False, False] Translation: X:-61.42, Y:-3.72, Z:1.28 [[ 9.98504836e-01 2.26399149e-04 -5.46629748e-02 -6.14211951e+01] [-8.90359442e-04 9.99926125e-01 -1.21223879e-02 -3.72064466e+00] [ 5.46561921e-02 1.21529326e-02 9.98431273e-01 1.28103190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845529293000006 meters 0.14651822073130413 Centerline is valid? [False, False] Translation: X:-61.48, Y:-3.72, Z:1.28 [[ 9.98233698e-01 2.85212527e-03 -5.93409597e-02 -6.14808984e+01] [-3.70123163e-03 9.99892269e-01 -1.42039518e-02 -3.71824330e+00] [ 5.92940554e-02 1.43984980e-02 9.98136713e-01 1.27883602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905529293 meters 0.1595000904976742 Centerline is valid? [False, False] Translation: X:-61.54, Y:-3.71, Z:1.28 [[ 9.98225858e-01 3.33058506e-03 -5.94478173e-02 -6.15447051e+01] [-4.44978763e-03 9.99815159e-01 -1.87041963e-02 -3.71338189e+00] [ 5.93745330e-02 1.89355425e-02 9.98056166e-01 1.27969457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965529293 meters 0.1426189753568315 Centerline is valid? [False, False] Translation: X:-61.61, Y:-3.71, Z:1.28 [[ 9.98216801e-01 4.04294150e-04 -5.96913362e-02 -6.16083936e+01] [-1.14917914e-03 9.99921896e-01 -1.24451453e-02 -3.70930191e+00] [ 5.96816425e-02 1.24915492e-02 9.98139300e-01 1.28017349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025529293000005 meters 0.1267623154240054 Centerline is valid? [False, False] Translation: X:-61.68, Y:-3.71, Z:1.28 [[ 9.98146386e-01 -7.01789863e-04 -6.08547342e-02 -6.16772963e+01] [-3.87241756e-04 9.99840030e-01 -1.78819540e-02 -3.70535815e+00] [ 6.08575486e-02 1.78723733e-02 9.97986441e-01 1.28115312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085529293 meters 0.11374872231695313 Centerline is valid? [False, False] Translation: X:-61.72, Y:-3.71, Z:1.28 [[ 9.97743170e-01 9.71505620e-05 -6.71457944e-02 -6.17233426e+01] [-1.08651314e-03 9.99891386e-01 -1.46981812e-02 -3.70661340e+00] [ 6.71370735e-02 1.47379647e-02 9.97634906e-01 1.28116303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145529293 meters 0.10540571715266184 Centerline is valid? [False, False] Translation: X:-61.77, Y:-3.70, Z:1.28 [[ 9.97643949e-01 -1.47033691e-03 -6.85885428e-02 -6.17684442e+01] [ 4.09790009e-04 9.99880187e-01 -1.54739578e-02 -3.70079444e+00] [ 6.86030770e-02 1.54093935e-02 9.97525021e-01 1.28302697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205529293000005 meters 0.09214499183885648 Centerline is valid? [False, True] Translation: X:-61.82, Y:-3.70, Z:1.29 [[ 9.97285706e-01 -1.51723344e-03 -7.36133092e-02 -6.18160957e+01] [ 4.87890783e-04 9.99901889e-01 -1.39990728e-02 -3.69560924e+00] [ 7.36273268e-02 1.39251600e-02 9.97188601e-01 1.28537413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265529293 meters 0.08977061170335356 Centerline is valid? [True, True] Translation: X:-61.88, Y:-3.68, Z:1.28 [[ 9.97333155e-01 -3.89972378e-03 -7.28791512e-02 -6.18772970e+01] [ 3.62103418e-03 9.99985620e-01 -3.95573024e-03 -3.67820806e+00] [ 7.28935295e-02 3.68128302e-03 9.97332934e-01 1.28285808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325529293 meters 0.0767407665047101 Centerline is valid? [True, True] Translation: X:-61.94, Y:-3.66, Z:1.28 [[ 9.96917940e-01 -6.73824188e-04 -7.84484985e-02 -6.19370097e+01] [ 3.40985215e-04 9.99990885e-01 -4.25608870e-03 -3.66177552e+00] [ 7.84506513e-02 4.21622140e-03 9.96909083e-01 1.28262743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385529293000005 meters 0.07178266850951662 Centerline is valid? [True, True] Translation: X:-61.99, Y:-3.68, Z:1.28 [[ 9.96821632e-01 -1.45324791e-03 -7.96525047e-02 -6.19945096e+01] [ 1.11326174e-03 9.99990081e-01 -4.31260909e-03 -3.67561639e+00] [ 7.96579819e-02 4.21022795e-03 9.96813363e-01 1.27628612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445529293 meters 0.0688342997765162 Centerline is valid? [True, True] Translation: X:-62.05, Y:-3.66, Z:1.27 [[ 9.96829771e-01 -6.48000810e-03 -7.92995420e-02 -6.20547584e+01] [ 6.15981500e-03 9.99971861e-01 -4.28172436e-03 -3.65797072e+00] [ 7.93250562e-02 3.77967980e-03 9.96841637e-01 1.26832360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505529293 meters 0.08290405754870733 Centerline is valid? [True, True] Translation: X:-62.11, Y:-3.67, Z:1.27 [[ 9.96935788e-01 -7.49640693e-03 -7.78642324e-02 -6.21131348e+01] [ 7.19102551e-03 9.99965317e-01 -4.20162434e-03 -3.66715920e+00] [ 7.78930289e-02 3.62882599e-03 9.96955118e-01 1.26928612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565529293000004 meters 0.08236908687920773 Centerline is valid? [True, True] Translation: X:-62.17, Y:-3.66, Z:1.27 [[ 9.97044369e-01 -3.32210658e-03 -7.67560475e-02 -6.21722868e+01] [ 3.01333542e-03 9.99986897e-01 -4.13822690e-03 -3.66008561e+00] [ 7.67687895e-02 3.89470411e-03 9.97041315e-01 1.27218599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62552929300001 meters 0.09391836677423249 Centerline is valid? [True, True] Translation: X:-62.23, Y:-3.64, Z:1.26 [[ 9.97069245e-01 2.52121223e-03 -7.64628227e-02 -6.22332109e+01] [-2.84443810e-03 9.99987473e-01 -4.11861724e-03 -3.63955011e+00] [ 7.64514809e-02 4.32404035e-03 9.97063927e-01 1.26044563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685529293 meters 0.09520698470922127 Centerline is valid? [True, True] Translation: X:-62.29, Y:-3.63, Z:1.26 [[ 9.96711350e-01 6.22597774e-03 -8.07943177e-02 -6.22921188e+01] [-6.59875357e-03 9.99968777e-01 -4.34769729e-03 -3.63254759e+00] [ 8.07647263e-02 4.86654103e-03 9.96721313e-01 1.25545563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745529293000004 meters 0.08833238357623352 Centerline is valid? [True, True] Translation: X:-62.35, Y:-3.62, Z:1.26 [[ 9.96921037e-01 1.61583936e-03 -7.83953758e-02 -6.23527822e+01] [-1.95229112e-03 9.99989210e-01 -4.21527620e-03 -3.61795629e+00] [ 7.83877187e-02 4.35534811e-03 9.96913435e-01 1.25999763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805529293000006 meters 0.07222717318681945 Centerline is valid? [True, True] Translation: X:-62.41, Y:-3.61, Z:1.25 [[ 9.96438592e-01 -2.36063777e-03 -8.42885510e-02 -6.24110104e+01] [ 1.98651631e-03 9.99987802e-01 -4.52217363e-03 -3.61158439e+00] [ 8.42981980e-02 4.33862774e-03 9.96431127e-01 1.24516227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865529293 meters 0.062227571650701384 Centerline is valid? [True, True] Translation: X:-62.47, Y:-3.61, Z:1.24 [[ 9.96241068e-01 -6.04654127e-03 -8.64128141e-02 -6.24694885e+01] [ 5.66821302e-03 9.99973250e-01 -4.62284380e-03 -3.60936488e+00] [ 8.64384548e-02 4.11566060e-03 9.96248691e-01 1.23876828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925529293000004 meters 0.06609085625452052 Centerline is valid? [True, True] Translation: X:-62.53, Y:-3.59, Z:1.25 [[ 9.96667776e-01 -5.71652913e-03 -8.13674736e-02 -6.25307391e+01] [ 5.38041332e-03 9.99976066e-01 -4.34949876e-03 -3.58852809e+00] [ 8.13903902e-02 3.89721462e-03 9.96674679e-01 1.24785601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985529293000006 meters 0.05289426449478935 Centerline is valid? [True, True] Translation: X:-62.59, Y:-3.54, Z:1.24 [[ 9.96153472e-01 1.34794302e-03 -8.76153141e-02 -6.25923512e+01] [-1.76477225e-03 9.99987491e-01 -4.68020745e-03 -3.54369608e+00] [ 8.76079094e-02 4.81682598e-03 9.96143389e-01 1.23682413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04552929300002 meters 0.05547515543918726 Centerline is valid? [True, True] Translation: X:-62.65, Y:-3.51, Z:1.23 [[ 9.96188165e-01 2.96896540e-03 -8.71798423e-02 -6.26530582e+01] [-3.38700897e-03 9.99983464e-01 -4.64765645e-03 -3.51336600e+00] [ 8.71646019e-02 4.92521926e-03 9.96181748e-01 1.23057551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105529293 meters 0.05004474217030142 Centerline is valid? [True, True] Translation: X:-62.71, Y:-3.48, Z:1.23 [[ 9.96101292e-01 1.82447156e-03 -8.81980059e-02 -6.27127322e+01] [-2.24673364e-03 9.99986484e-01 -4.68862497e-03 -3.48020475e+00] [ 8.81882595e-02 4.86850281e-03 9.96091928e-01 1.22563256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165529293 meters 0.046521861043719706 Centerline is valid? [True, True] Translation: X:-62.78, Y:-3.43, Z:1.24 [[ 9.96322280e-01 9.35134300e-03 -8.51731599e-02 -6.27758470e+01] [-9.77198162e-03 9.99942024e-01 -4.52304651e-03 -3.43382576e+00] [ 8.51259253e-02 5.33872256e-03 9.96355898e-01 1.23931778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22552929300001 meters 0.044759137911526865 Centerline is valid? [True, True] Translation: X:-62.83, Y:-3.42, Z:1.22 [[ 9.96006881e-01 1.22659540e-02 -8.84298590e-02 -6.28343110e+01] [-1.27306277e-02 9.99907951e-01 -4.69262171e-03 -3.41947665e+00] [ 8.83641596e-02 5.79965113e-03 9.96071353e-01 1.21790034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28552929300001 meters 0.043633602891474686 Centerline is valid? [True, True] Translation: X:-62.90, Y:-3.39, Z:1.22 [[ 9.96275832e-01 1.13221130e-02 -8.54767590e-02 -6.28953579e+01] [-1.17524103e-02 9.99920665e-01 -4.53254919e-03 -3.38657845e+00] [ 8.54186597e-02 5.52022716e-03 9.96329855e-01 1.21570935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34552929300001 meters 0.04402606313992536 Centerline is valid? [True, True] Translation: X:-62.95, Y:-3.37, Z:1.21 [[ 9.96243747e-01 1.18547119e-02 -8.57779799e-02 -6.29544411e+01] [-1.22891858e-02 9.99914184e-01 -4.53881088e-03 -3.36755636e+00] [ 8.57168124e-02 5.57590349e-03 9.96303938e-01 1.20763629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40552929300001 meters 0.04342295543976744 Centerline is valid? [True, True] Translation: X:-63.01, Y:-3.35, Z:1.20 [[ 9.96336085e-01 1.01652591e-02 -8.49180396e-02 -6.30141771e+01] [-1.05838610e-02 9.99933950e-01 -4.48073191e-03 -3.35471160e+00] [ 8.48668830e-02 5.36307562e-03 9.96377865e-01 1.20362070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46552929300002 meters 0.042794305498942316 Centerline is valid? [True, True] Translation: X:-63.07, Y:-3.33, Z:1.20 [[ 9.96538546e-01 9.23997629e-03 -8.26168848e-02 -6.30741496e+01] [-9.63263947e-03 9.99944119e-01 -4.35548470e-03 -3.33460383e+00] [ 8.25720235e-02 5.13622706e-03 9.96571864e-01 1.20006163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525529293 meters 0.04357465129536891 Centerline is valid? [True, True] Translation: X:-63.13, Y:-3.32, Z:1.19 [[ 9.96388730e-01 1.50540818e-02 -8.35635850e-02 -6.31331841e+01] [-1.54758128e-02 9.99870555e-01 -4.40134729e-03 -3.32047538e+00] [ 8.34865098e-02 5.67866723e-03 9.96492727e-01 1.19387610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58552929300001 meters 0.0468858645072889 Centerline is valid? [True, True] Translation: X:-63.19, Y:-3.30, Z:1.19 [[ 9.96382206e-01 2.16590372e-02 -8.21789831e-02 -6.31942559e+01] [-2.20889145e-02 9.99746654e-01 -4.32533174e-03 -3.30299079e+00] [ 8.20644808e-02 6.12492811e-03 9.96608201e-01 1.18936395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64552929300001 meters 0.04928342357373009 Centerline is valid? [True, True] Translation: X:-63.25, Y:-3.28, Z:1.18 [[ 9.96235297e-01 2.57170420e-02 -8.27880858e-02 -6.32545172e+01] [-2.61670768e-02 9.99648095e-01 -4.35537965e-03 -3.28128808e+00] [ 8.26469448e-02 6.50530514e-03 9.96557657e-01 1.17978897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70552929300001 meters 0.052818584766157486 Centerline is valid? [True, True] Translation: X:-63.31, Y:-3.27, Z:1.17 [[ 9.96083580e-01 2.58515720e-02 -8.45529331e-02 -6.33135931e+01] [-2.63212451e-02 9.99643656e-01 -4.44455390e-03 -3.27201546e+00] [ 8.44079044e-02 6.65268563e-03 9.96409076e-01 1.16922551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76552929300001 meters 0.04734377953848372 Centerline is valid? [True, True] Translation: X:-63.37, Y:-3.28, Z:1.17 [[ 9.96314076e-01 2.17505994e-02 -8.29769438e-02 -6.33721392e+01] [-2.21883675e-02 9.99744313e-01 -4.35717163e-03 -3.27859724e+00] [ 8.28609565e-02 6.18223434e-03 9.96541942e-01 1.16619730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 755.54 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%| | 0/2160 [00:00