+ python -m lidar_slam --no-model /working/8e5b840f-676e-45f7-99be-b47f5ddd538d Lidar SLAM 0.0.7 ===================================================== The recording path: /working/8e5b840f-676e-45f7-99be-b47f5ddd538d 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 0.006338938 Adjusted end_distance from 9.223372036854776e+18 to 30.029138938 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006338938 meters 0.04025706880400914 Centerline is valid? [0, True] SLAMing on 0.066338938 meters 0.033595163587462555 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.02, Z:0.01 [[ 9.99994906e-01 2.02578366e-03 -2.46654039e-03 -5.94819312e-02] [-2.02590616e-03 9.99997947e-01 -4.71671045e-05 -1.62691591e-02] [ 2.46643977e-03 5.21638436e-05 9.99996957e-01 1.20141542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12633893799999998 meters 0.03421762841866873 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.02, Z:0.02 [[ 9.99976172e-01 4.66419771e-03 -5.08936878e-03 -1.18213537e-01] [-4.66474736e-03 9.99989115e-01 -9.61351305e-05 -1.79565721e-02] [ 5.08886499e-03 1.19873459e-04 9.99987044e-01 1.84702181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18633893799999998 meters 0.03494530941772487 Centerline is valid? [True, True] Translation: X:-0.18, Y:-0.02, Z:0.02 [[ 9.99964530e-01 6.18111557e-03 -5.72129362e-03 -1.76605211e-01] [-6.18181677e-03 9.99980887e-01 -1.04883178e-04 -2.27244740e-02] [ 5.72053597e-03 1.40247446e-04 9.99983628e-01 1.87015450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24633893799999998 meters 0.032634993535915514 Centerline is valid? [True, True] Translation: X:-0.23, Y:-0.03, Z:0.03 [[ 9.99961123e-01 8.48544333e-03 -2.39780588e-03 -2.34064069e-01] [-8.48557297e-03 9.99963996e-01 -4.38964264e-05 -3.43714865e-02] [ 2.39734707e-03 6.42414766e-05 9.99997124e-01 2.84944907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.306338938 meters 0.03514441186725794 Centerline is valid? [True, True] Translation: X:-0.30, Y:-0.03, Z:0.03 [[ 9.99919241e-01 1.03787311e-02 -7.33436754e-03 -2.95739284e-01] [-1.03800244e-02 9.99946117e-01 -1.38291698e-04 -3.36988313e-02] [ 7.33253705e-03 2.14411444e-04 9.99973094e-01 2.83818278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.366338938 meters 0.03522025513955591 Centerline is valid? [True, True] Translation: X:-0.35, Y:-0.04, Z:0.03 [[ 9.99935866e-01 1.00043592e-02 -5.30819343e-03 -3.53841266e-01] [-1.00050082e-02 9.99949944e-01 -9.57199415e-05 -4.18051625e-02] [ 5.30697011e-03 1.48822321e-04 9.99985907e-01 3.18679572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.426338938 meters 0.03327438046090999 Centerline is valid? [True, True] Translation: X:-0.41, Y:-0.05, Z:0.03 [[ 9.99922673e-01 1.03764695e-02 -6.85394586e-03 -4.11861759e-01] [-1.03775777e-02 9.99946144e-01 -1.26138439e-04 -5.09018713e-02] [ 6.85226786e-03 1.97256041e-04 9.99976503e-01 3.28836602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.486338938 meters 0.034658230583151914 Centerline is valid? [True, True] Translation: X:-0.47, Y:-0.06, Z:0.05 [[ 9.99943464e-01 7.48492022e-03 -7.55278752e-03 -4.69753792e-01] [-7.48617630e-03 9.99971969e-01 -1.38048273e-04 -6.46753656e-02] [ 7.55154253e-03 1.94581967e-04 9.99971468e-01 4.65932084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.546338938 meters 0.03238339784440743 Centerline is valid? [True, True] Translation: X:-0.53, Y:-0.07, Z:0.04 [[ 9.99906522e-01 9.30853688e-03 -1.00148931e-02 -5.28116429e-01] [-9.31083419e-03 9.99956637e-01 -1.82788398e-04 -6.79817453e-02] [ 1.00127573e-02 2.76018320e-04 9.99949833e-01 4.43509794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6063389379999999 meters 0.03293958504461248 Centerline is valid? [True, True] Translation: X:-0.59, Y:-0.07, Z:0.05 [[ 9.99905429e-01 1.14292372e-02 -7.64894459e-03 -5.85697994e-01] [-1.14306028e-02 9.99934659e-01 -1.34847520e-04 -6.74977554e-02] [ 7.64690360e-03 2.22266815e-04 9.99970737e-01 4.98578303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6663389379999999 meters 0.032914605993771336 Centerline is valid? [True, True] Translation: X:-0.64, Y:-0.08, Z:0.05 [[ 9.99840472e-01 1.40798642e-02 -1.09903726e-02 -6.44605498e-01] [-1.40828850e-02 9.99900812e-01 -1.97514396e-04 -8.01393635e-02] [ 1.09865015e-02 3.52259040e-04 9.99939585e-01 5.32239179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7263389379999999 meters 0.03293487336327283 Centerline is valid? [True, True] Translation: X:-0.70, Y:-0.08, Z:0.06 [[ 9.99849454e-01 1.40411090e-02 -1.01939952e-02 -7.03095653e-01] [-1.40436541e-02 9.99901367e-01 -1.78131026e-04 -8.26666399e-02] [ 1.01904886e-02 3.21265152e-04 9.99948024e-01 6.20019040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.786338938 meters 0.03243743162674571 Centerline is valid? [True, True] Translation: X:-0.76, Y:-0.09, Z:0.06 [[ 9.99879307e-01 1.08036838e-02 -1.11647251e-02 -7.61389785e-01] [-1.08065066e-02 9.99941589e-01 -1.92528695e-04 -8.96100395e-02] [ 1.11619929e-02 3.13157133e-04 9.99937654e-01 6.05325675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8463389379999999 meters 0.03190645172085981 Centerline is valid? [True, True] Translation: X:-0.82, Y:-0.09, Z:0.06 [[ 9.99863081e-01 1.03593849e-02 -1.29035979e-02 -8.18799299e-01] [-1.03631325e-02 9.99946276e-01 -2.23597117e-04 -9.41479586e-02] [ 1.29005884e-02 3.57288198e-04 9.99916720e-01 6.48315599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9063389379999999 meters 0.032236530771895734 Centerline is valid? [True, True] Translation: X:-0.88, Y:-0.09, Z:0.07 [[ 9.99907457e-01 8.59529300e-03 -1.05450267e-02 -8.78624119e-01] [-8.59769789e-03 9.99963022e-01 -1.82746501e-04 -9.35977513e-02] [ 1.05430660e-02 2.73392543e-04 9.99944383e-01 7.44704865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9663389379999999 meters 0.03293766717944967 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.10, Z:0.08 [[ 9.99914840e-01 9.25174833e-03 -9.20423343e-03 -9.37523080e-01] [-9.25356380e-03 9.99957173e-01 -1.54675381e-04 -9.92448906e-02] [ 9.20240822e-03 2.39834170e-04 9.99957628e-01 7.69952866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.026338938 meters 0.031349574898229315 Centerline is valid? [True, True] Translation: X:-1.00, Y:-0.10, Z:0.08 [[ 9.99865570e-01 1.09527506e-02 -1.22016331e-02 -9.96426227e-01] [-1.09560928e-02 9.99939959e-01 -2.07102522e-04 -1.04566793e-01] [ 1.21986321e-02 3.40756905e-04 9.99925536e-01 7.90209000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0863389380000001 meters 0.031157535130816653 Centerline is valid? [True, True] Translation: X:-1.06, Y:-0.10, Z:0.08 [[ 9.99883085e-01 1.09190917e-02 -1.07046286e-02 -1.05515912e+00] [-1.09216101e-02 9.99940342e-01 -1.76828198e-04 -1.04613626e-01] [ 1.07020592e-02 2.93719304e-04 9.99942688e-01 8.40245685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.146338938 meters 0.03055146372615388 Centerline is valid? [True, True] Translation: X:-1.11, Y:-0.11, Z:0.09 [[ 9.99852226e-01 1.27668889e-02 -1.15122524e-02 -1.11281285e+00] [-1.27699347e-02 9.99918443e-01 -1.91097946e-04 -1.07216365e-01] [ 1.15088738e-02 3.38080418e-04 9.99933714e-01 8.58011833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.206338938 meters 0.03079012704711982 Centerline is valid? [True, True] Translation: X:-1.17, Y:-0.11, Z:0.09 [[ 9.99871157e-01 1.04544543e-02 -1.21808568e-02 -1.17115224e+00] [-1.04576650e-02 9.99945297e-01 -1.99920773e-04 -1.05054772e-01] [ 1.21781004e-02 3.27278335e-04 9.99925791e-01 8.79369159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.266338938 meters 0.030999916470403927 Centerline is valid? [True, True] Translation: X:-1.23, Y:-0.11, Z:0.09 [[ 9.99919858e-01 7.90920657e-03 -9.88542507e-03 -1.23068032e+00] [-7.91120236e-03 9.99968693e-01 -1.62804746e-04 -1.07618042e-01] [ 9.88382792e-03 2.40997297e-04 9.99951125e-01 9.11256352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.326338938 meters 0.029419202714893046 Centerline is valid? [True, True] Translation: X:-1.29, Y:-0.12, Z:0.09 [[ 9.99889241e-01 8.26437669e-04 -1.48601088e-02 -1.28919008e+00] [-8.30080159e-04 9.99999627e-01 -2.38952428e-04 -1.21786773e-01] [ 1.48599058e-02 2.51261043e-04 9.99889554e-01 9.45069870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.386338938 meters 0.029650224270867154 Centerline is valid? [True, True] Translation: X:-1.35, Y:-0.13, Z:0.10 [[ 9.99935290e-01 -6.51673063e-03 -9.32463255e-03 -1.34868238e+00] [ 6.51560323e-03 9.99978762e-01 -1.51278533e-04 -1.26234844e-01] [ 9.32542035e-03 9.05131374e-05 9.99956513e-01 1.02138518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.446338938 meters 0.02821377553277493 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.14, Z:0.10 [[ 9.99872320e-01 -1.02368582e-02 -1.22699340e-02 -1.40776055e+00] [ 1.02352230e-02 9.99947600e-01 -1.96058029e-04 -1.39292533e-01] [ 1.22712980e-02 7.04474856e-05 9.99924702e-01 9.60560514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.506338938 meters 0.02839074823592526 Centerline is valid? [True, True] Translation: X:-1.47, Y:-0.14, Z:0.10 [[ 9.99855237e-01 -1.08734803e-02 -1.30871253e-02 -1.46557662e+00] [ 1.08716822e-02 9.99940880e-01 -2.08532548e-04 -1.36856721e-01] [ 1.30886191e-02 6.62232931e-05 9.99914338e-01 1.00211615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5663389380000001 meters 0.030506242799183562 Centerline is valid? [True, True] Translation: X:-1.52, Y:-0.14, Z:0.11 [[ 9.99950576e-01 -9.12209732e-03 -3.95386064e-03 -1.52488717e+00] [ 9.12192162e-03 9.99958392e-01 -6.24694858e-05 -1.36087562e-01] [ 3.95426599e-03 2.63995914e-05 9.99992182e-01 1.05860326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.626338938 meters 0.0286454394192353 Centerline is valid? [True, True] Translation: X:-1.58, Y:-0.13, Z:0.10 [[ 9.99887648e-01 -7.78383651e-03 -1.28102702e-02 -1.58473163e+00] [ 7.78186743e-03 9.99969700e-01 -2.03550557e-04 -1.26313060e-01] [ 1.28114664e-02 1.03839863e-04 9.99917924e-01 9.99480205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.686338938 meters 0.0274613005145198 Centerline is valid? [True, True] Translation: X:-1.64, Y:-0.13, Z:0.10 [[ 9.99920275e-01 -9.25083366e-03 -8.59451396e-03 -1.64432128e+00] [ 9.25000544e-03 9.99957209e-01 -1.36111466e-04 -1.27339822e-01] [ 8.59540533e-03 5.66013135e-05 9.99963057e-01 1.03829933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.746338938 meters 0.02953959171119661 Centerline is valid? [True, True] Translation: X:-1.70, Y:-0.13, Z:0.10 [[ 9.99812115e-01 -1.64028681e-02 -1.03286703e-02 -1.70257610e+00] [ 1.64020681e-02 9.99865464e-01 -1.62157311e-04 -1.26951384e-01] [ 1.03299406e-02 -7.28471078e-06 9.99946645e-01 1.00796353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.806338938 meters 0.027489047502145005 Centerline is valid? [True, True] Translation: X:-1.76, Y:-0.13, Z:0.11 [[ 9.99651185e-01 -2.40154420e-02 -1.09893920e-02 -1.76115444e+00] [ 2.40150459e-02 9.99711583e-01 -1.68019938e-04 -1.32385817e-01] [ 1.09902575e-02 -9.59494222e-05 9.99939601e-01 1.05955861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.866338938 meters 0.031943963067076975 Centerline is valid? [True, True] Translation: X:-1.82, Y:-0.12, Z:0.10 [[ 9.99725397e-01 -2.31954935e-02 -3.33154253e-03 -1.82040424e+00] [ 2.31954535e-02 9.99730948e-01 -5.06540465e-05 -1.18376375e-01] [ 3.33182112e-03 -2.66365031e-05 9.99994449e-01 1.02997774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.926338938 meters 0.02750366140228175 Centerline is valid? [True, True] Translation: X:-1.88, Y:-0.11, Z:0.09 [[ 9.99746015e-01 -1.74460264e-02 -1.42668281e-02 -1.88005278e+00] [ 1.74446672e-02 9.99847806e-01 -2.19721789e-04 -1.05340648e-01] [ 1.42684900e-02 -2.92140848e-05 9.99898199e-01 9.46046571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.986338938 meters 0.026488135269126627 Centerline is valid? [True, True] Translation: X:-1.94, Y:-0.10, Z:0.11 [[ 9.99900370e-01 -1.34215305e-02 -4.37184195e-03 -1.94006340e+00] [ 1.34213655e-02 9.99909927e-01 -6.70918208e-05 -9.63759168e-02] [ 4.37234864e-03 8.40904778e-06 9.99990441e-01 1.10868851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046338938 meters 0.02883925196370611 Centerline is valid? [True, True] Translation: X:-2.00, Y:-0.08, Z:0.10 [[ 9.99934630e-01 -1.07713758e-02 -3.83579456e-03 -1.99820419e+00] [ 1.07712448e-02 9.99941987e-01 -5.48105501e-05 -7.57338912e-02] [ 3.83616242e-03 1.34906850e-05 9.99992642e-01 1.00612501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106338938 meters 0.028434844070151802 Centerline is valid? [True, True] Translation: X:-2.06, Y:-0.08, Z:0.08 [[ 9.99745846e-01 -1.55867730e-02 -1.62879334e-02 -2.05804833e+00] [ 1.55848392e-02 9.99878519e-01 -2.45653670e-04 -8.22732264e-02] [ 1.62897837e-02 -8.25358687e-06 9.99867313e-01 8.42649560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166338938 meters 0.025802514346573442 Centerline is valid? [True, True] Translation: X:-2.12, Y:-0.08, Z:0.10 [[ 9.99734035e-01 -2.23209331e-02 -5.79958459e-03 -2.11853332e+00] [ 2.23208007e-02 9.99750856e-01 -8.75550836e-05 -7.57021268e-02] [ 5.80009397e-03 -4.19195747e-05 9.99983178e-01 1.03171520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2263389379999996 meters 0.028404655915274548 Centerline is valid? [True, True] Translation: X:-2.18, Y:-0.07, Z:0.10 [[ 9.99757987e-01 -2.17723153e-02 -3.15164018e-03 -2.17693414e+00] [ 2.17722846e-02 9.99762955e-01 -4.40598036e-05 -7.06108682e-02] [ 3.15185238e-03 -2.45692663e-05 9.99995033e-01 9.69804267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2863389379999997 meters 0.025630392034486815 Centerline is valid? [True, True] Translation: X:-2.24, Y:-0.06, Z:0.10 [[ 9.99822412e-01 -1.73608902e-02 -7.33101607e-03 -2.23514517e+00] [ 1.73605917e-02 9.99849288e-01 -1.04360153e-04 -5.91826625e-02] [ 7.33172299e-03 -2.29291565e-05 9.99973122e-01 9.80928290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3463389379999997 meters 0.025598475337926172 Centerline is valid? [True, True] Translation: X:-2.29, Y:-0.04, Z:0.10 [[ 9.99884280e-01 -1.39820951e-02 -5.99404619e-03 -2.29365082e+00] [ 1.39818306e-02 9.99902246e-01 -8.60242841e-05 -4.24329659e-02] [ 5.99466305e-03 2.20659084e-06 9.99982032e-01 9.56704574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4063389379999998 meters 0.026221238356169758 Centerline is valid? [True, True] Translation: X:-2.35, Y:-0.03, Z:0.09 [[ 9.99920463e-01 -8.94978944e-03 -8.88644972e-03 -2.35215597e+00] [ 8.94904133e-03 9.99959949e-01 -1.23946140e-04 -3.46718511e-02] [ 8.88720310e-03 4.44110757e-05 9.99960507e-01 8.72662299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466338938 meters 0.025602131337629657 Centerline is valid? [True, True] Translation: X:-2.41, Y:-0.03, Z:0.08 [[ 9.99927010e-01 -5.01681089e-03 -1.09912092e-02 -2.41114743e+00] [ 5.01545169e-03 9.99987411e-01 -1.51223027e-04 -2.74044914e-02] [ 1.09918295e-02 9.60861104e-05 9.99939583e-01 8.31623695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526338938 meters 0.025140942558211546 Centerline is valid? [True, True] Translation: X:-2.47, Y:-0.03, Z:0.09 [[ 9.99951217e-01 -6.13074632e-03 -7.74447736e-03 -2.46942980e+00] [ 6.13010272e-03 9.99981205e-01 -1.06839605e-04 -2.95722407e-02] [ 7.74498681e-03 5.93599513e-05 9.99970005e-01 8.63798393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586338938 meters 0.027187996780363842 Centerline is valid? [True, True] Translation: X:-2.53, Y:-0.02, Z:0.08 [[ 9.99956024e-01 -4.85754095e-03 -8.02214505e-03 -2.52845752e+00] [ 4.85683979e-03 9.99988200e-01 -1.06881962e-04 -2.44144013e-02] [ 8.02256957e-03 6.79149880e-05 9.99967816e-01 8.32868589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6463389379999995 meters 0.028268393257334566 Centerline is valid? [True, True] Translation: X:-2.59, Y:-0.03, Z:0.08 [[ 9.99946744e-01 -5.41317918e-03 -8.78675457e-03 -2.58595099e+00] [ 5.41234760e-03 9.99985346e-01 -1.18416303e-04 -3.05296751e-02] [ 8.78726682e-03 7.08530271e-05 9.99961389e-01 7.90899930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7063389379999996 meters 0.028189168126061488 Centerline is valid? [True, True] Translation: X:-2.64, Y:-0.03, Z:0.08 [[ 9.99960774e-01 -3.43643941e-03 -8.16344364e-03 -2.64335361e+00] [ 3.43566798e-03 9.99994092e-01 -1.08520653e-04 -2.80799781e-02] [ 8.16376834e-03 8.04695142e-05 9.99966673e-01 7.72193052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7663389379999996 meters 0.025830207652218565 Centerline is valid? [True, True] Translation: X:-2.70, Y:-0.02, Z:0.07 [[ 9.99914800e-01 2.67284199e-05 -1.30534429e-02 -2.70257330e+00] [-2.90133147e-05 9.99999984e-01 -1.74852204e-04 -2.31598867e-02] [ 1.30534380e-02 1.75216031e-04 9.99914785e-01 6.87385776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8263389379999997 meters 0.027349900575052526 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.03, Z:0.07 [[ 9.99947136e-01 3.92674635e-03 -9.50298185e-03 -2.76092716e+00] [-3.92808605e-03 9.99992278e-01 -1.22315989e-04 -2.83152627e-02] [ 9.50242816e-03 1.59638054e-04 9.99954838e-01 7.26198596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8863389379999997 meters 0.027711030368697515 Centerline is valid? [True, True] Translation: X:-2.82, Y:-0.02, Z:0.07 [[ 9.99923043e-01 6.23040075e-03 -1.07279958e-02 -2.81986937e+00] [-6.23221540e-03 9.99980570e-01 -1.35727906e-04 -2.45159233e-02] [ 1.07269417e-02 2.02576641e-04 9.99942444e-01 6.72588992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.946338938 meters 0.029826630907338003 Centerline is valid? [True, True] Translation: X:-2.88, Y:-0.02, Z:0.06 [[ 9.99848454e-01 8.17747234e-03 -1.53687264e-02 -2.87973172e+00] [-8.18147402e-03 9.99966512e-01 -1.97521789e-04 -2.41702352e-02] [ 1.53665965e-02 3.23230691e-04 9.99881875e-01 5.57890322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006338938 meters 0.028606106560979925 Centerline is valid? [True, True] Translation: X:-2.94, Y:-0.02, Z:0.06 [[ 9.99842211e-01 1.02197493e-02 -1.45296267e-02 -2.93800457e+00] [-1.02234516e-02 9.99947723e-01 -1.80554874e-04 -2.45838132e-02] [ 1.45270220e-02 3.29069320e-04 9.99894423e-01 6.00751263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066338938 meters 0.02870440724174175 Centerline is valid? [True, True] Translation: X:-3.00, Y:-0.02, Z:0.06 [[ 9.99806882e-01 1.31928037e-02 -1.45653222e-02 -2.99682471e+00] [-1.31967855e-02 9.99912903e-01 -1.77290582e-04 -1.99584392e-02] [ 1.45617146e-02 3.69471776e-04 9.99893904e-01 5.59699292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126338938 meters 0.027240608650862592 Centerline is valid? [True, True] Translation: X:-3.06, Y:-0.04, Z:0.06 [[ 9.99880316e-01 7.62083868e-03 -1.34639310e-02 -3.05553153e+00] [-7.62374490e-03 9.99970925e-01 -1.64539635e-04 -3.51590454e-02] [ 1.34622856e-02 2.67165517e-04 9.99909344e-01 5.88326423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1863389379999996 meters 0.025665147312746273 Centerline is valid? [True, True] Translation: X:-3.11, Y:-0.04, Z:0.06 [[ 9.99898659e-01 2.71894303e-03 -1.39742557e-02 -3.11413909e+00] [-2.72151923e-03 9.99996283e-01 -1.65340455e-04 -4.05521876e-02] [ 1.39737542e-02 2.03354905e-04 9.99902342e-01 6.11245419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2463389379999996 meters 0.027929550869117723 Centerline is valid? [True, True] Translation: X:-3.17, Y:-0.06, Z:0.06 [[ 9.99905336e-01 -8.28173869e-03 -1.09877664e-02 -3.17453589e+00] [ 8.28078580e-03 9.99965705e-01 -1.32215517e-04 -6.11486549e-02] [ 1.09884845e-02 4.12156610e-05 9.99939624e-01 6.40182713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3063389379999997 meters 0.02452241242958175 Centerline is valid? [True, True] Translation: X:-3.23, Y:-0.06, Z:0.06 [[ 9.99860591e-01 -1.07730542e-02 -1.27569888e-02 -3.23345765e+00] [ 1.07720505e-02 9.99941969e-01 -1.47391047e-04 -6.47701074e-02] [ 1.27578363e-02 9.95157249e-06 9.99918615e-01 5.86677174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3663389379999997 meters 0.025039988179331785 Centerline is valid? [True, True] Translation: X:-3.29, Y:-0.07, Z:0.05 [[ 9.99781541e-01 -1.28106037e-02 -1.65154211e-02 -3.29101264e+00] [ 1.28091795e-02 9.99917941e-01 -1.92020965e-04 -7.23273621e-02] [ 1.65165257e-02 -1.95699766e-05 9.99863593e-01 5.12022850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426338938 meters 0.02527816843348634 Centerline is valid? [True, True] Translation: X:-3.35, Y:-0.07, Z:0.05 [[ 9.99818840e-01 -1.22220801e-02 -1.45913324e-02 -3.34949461e+00] [ 1.22209881e-02 9.99925307e-01 -1.64004914e-04 -7.13048681e-02] [ 1.45922471e-02 -1.43452967e-05 9.99893527e-01 5.04593099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486338938 meters 0.02498696753283494 Centerline is valid? [True, True] Translation: X:-3.41, Y:-0.06, Z:0.05 [[ 9.99884901e-01 -7.72597509e-03 -1.30573165e-02 -3.40861528e+00] [ 7.72476225e-03 9.99970153e-01 -1.43318858e-04 -6.47363099e-02] [ 1.30580341e-02 4.24376960e-05 9.99914739e-01 4.62871960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546338938 meters 0.025657448643447198 Centerline is valid? [True, True] Translation: X:-3.47, Y:-0.06, Z:0.03 [[ 9.99685408e-01 -1.31192375e-03 -2.50472416e-02 -3.46847457e+00] [ 1.30534238e-03 9.99999109e-01 -2.79106516e-04 -5.87276903e-02] [ 2.50475855e-02 2.46323486e-04 9.99686230e-01 2.75473559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6063389379999995 meters 0.02623304671968228 Centerline is valid? [True, True] Translation: X:-3.53, Y:-0.05, Z:0.03 [[ 9.99801678e-01 3.31223136e-03 -1.96375504e-02 -3.52750787e+00] [-3.31714043e-03 9.99994475e-01 -2.17415783e-04 -5.23153748e-02] [ 1.96367218e-02 2.82513177e-04 9.99807141e-01 3.38586298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6663389379999995 meters 0.02679240305420468 Centerline is valid? [True, True] Translation: X:-3.59, Y:-0.05, Z:0.03 [[ 9.99749632e-01 8.18181863e-03 -2.08262064e-02 -3.58632788e+00] [-8.18836089e-03 9.99966449e-01 -2.28878370e-04 -5.16929145e-02] [ 2.08236350e-02 3.99353560e-04 9.99783085e-01 2.88243256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7263389379999996 meters 0.026351836667770898 Centerline is valid? [True, True] Translation: X:-3.65, Y:-0.05, Z:0.02 [[ 9.99652583e-01 5.65146934e-03 -2.57443983e-02 -3.64571517e+00] [-5.66062146e-03 9.99983939e-01 -2.82636080e-04 -5.23838676e-02] [ 2.57423875e-02 4.28267181e-04 9.99668518e-01 1.71111592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7863389379999997 meters 0.025887148465697573 Centerline is valid? [True, True] Translation: X:-3.71, Y:-0.06, Z:0.03 [[ 9.99836122e-01 5.45341029e-04 -1.80950890e-02 -3.70594216e+00] [-5.49024764e-04 9.99999830e-01 -1.98609371e-04 -6.23361627e-02] [ 1.80949776e-02 2.08511475e-04 9.99836251e-01 3.45865943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8463389379999997 meters 0.027156514172415696 Centerline is valid? [True, True] Translation: X:-3.76, Y:-0.06, Z:0.03 [[ 9.99814296e-01 -3.87909079e-03 -1.88766290e-02 -3.76450798e+00] [ 3.87600775e-03 9.99992468e-01 -1.99909425e-04 -6.23715137e-02] [ 1.88772623e-02 1.26706340e-04 9.99821801e-01 2.72221313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9063389379999998 meters 0.027926599296951852 Centerline is valid? [True, True] Translation: X:-3.82, Y:-0.08, Z:0.03 [[ 9.99693210e-01 -8.72283810e-03 -2.31818422e-02 -3.82207214e+00] [ 8.71948408e-03 9.99961954e-01 -2.45761435e-04 -7.78345033e-02] [ 2.31831039e-02 4.35523342e-05 9.99731235e-01 2.92467452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.966338938 meters 0.025252971083741676 Centerline is valid? [True, True] Translation: X:-3.88, Y:-0.08, Z:0.03 [[ 9.99781413e-01 -1.16047081e-02 -1.73913160e-02 -3.88233526e+00] [ 1.16032525e-02 9.99932663e-01 -1.84605431e-04 -7.86752093e-02] [ 1.73922873e-02 -1.72307525e-05 9.99848743e-01 3.26559887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.026338937999999 meters 0.027842304568251545 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.08, Z:0.02 [[ 9.99585194e-01 -1.52735217e-02 -2.44163583e-02 -3.94175434e+00] [ 1.52717639e-02 9.99883346e-01 -2.58469978e-04 -8.02063583e-02] [ 2.44174578e-02 -1.14518096e-04 9.99701843e-01 1.90601387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086338938 meters 0.025373283851519622 Centerline is valid? [True, True] Translation: X:-4.00, Y:-0.08, Z:0.02 [[ 9.99651328e-01 -1.50041807e-02 -2.17277827e-02 -4.00102913e+00] [ 1.50027570e-02 9.99887426e-01 -2.28538997e-04 -8.39650905e-02] [ 2.17287657e-02 -9.75173311e-05 9.99763898e-01 1.78530936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1463389379999995 meters 0.02536538429474876 Centerline is valid? [True, True] Translation: X:-4.06, Y:-0.08, Z:0.02 [[ 9.99669792e-01 -1.34360978e-02 -2.19038467e-02 -4.05752591e+00] [ 1.34344024e-02 9.99909729e-01 -2.24560267e-04 -7.60913824e-02] [ 2.19048866e-02 -6.97789745e-05 9.99760057e-01 1.63992712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206338938 meters 0.025786103545638827 Centerline is valid? [True, True] Translation: X:-4.12, Y:-0.08, Z:0.01 [[ 9.99660827e-01 -1.15664871e-02 -2.33333828e-02 -4.11623110e+00] [ 1.15642023e-02 9.99933105e-01 -2.32858517e-04 -7.66993065e-02] [ 2.33345153e-02 -3.70524209e-05 9.99727712e-01 9.31849678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266338938 meters 0.026077790656701984 Centerline is valid? [True, True] Translation: X:-4.17, Y:-0.08, Z:0.01 [[ 9.99709358e-01 -9.81740929e-03 -2.20185739e-02 -4.17357622e+00] [ 9.81495795e-03 9.99951808e-01 -2.19399233e-04 -7.65575292e-02] [ 2.20196667e-02 3.22408958e-06 9.99757538e-01 1.40395211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326338938 meters 0.02836449742239498 Centerline is valid? [True, True] Translation: X:-4.23, Y:-0.07, Z:0.00 [[ 9.99633498e-01 -5.48014110e-03 -2.65110812e-02 -4.23323630e+00] [ 5.47506687e-03 9.99984977e-01 -2.63984653e-04 -6.64540450e-02] [ 2.65121296e-02 1.18737959e-04 9.99648485e-01 4.20534838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386338938 meters 0.026213737700969464 Centerline is valid? [True, True] Translation: X:-4.29, Y:-0.07, Z:0.01 [[ 9.99735143e-01 -3.42407216e-03 -2.27578534e-02 -4.29266556e+00] [ 3.41981999e-03 9.99994127e-01 -2.25760166e-04 -6.59791270e-02] [ 2.27584928e-02 1.47872609e-04 9.99740981e-01 9.01142869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446338937999999 meters 0.027008807469525276 Centerline is valid? [True, True] Translation: X:-4.35, Y:-0.07, Z:0.01 [[ 9.99666028e-01 1.74177513e-03 -2.57836981e-02 -4.35211584e+00] [-1.74892889e-03 9.99998438e-01 -2.54904719e-04 -6.68148929e-02] [ 2.57832138e-02 2.99913442e-04 9.99667513e-01 8.30187682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506338938 meters 0.030628178862349312 Centerline is valid? [True, True] Translation: X:-4.41, Y:-0.06, Z:0.01 [[ 9.99748307e-01 3.23952069e-03 -2.21997305e-02 -4.41039536e+00] [-3.24514739e-03 9.99994711e-01 -2.17437421e-04 -6.09195065e-02] [ 2.21989087e-02 2.89424091e-04 9.99753532e-01 1.40393560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5663389379999995 meters 0.02723586979744649 Centerline is valid? [True, True] Translation: X:-4.47, Y:-0.07, Z:0.01 [[ 9.99716859e-01 7.29291481e-03 -2.26498609e-02 -4.46877114e+00] [-7.29963597e-03 9.99973334e-01 -2.14076402e-04 -6.86025002e-02] [ 2.26476957e-02 3.79351527e-04 9.99743436e-01 9.73690306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626338938 meters 0.02761330110480258 Centerline is valid? [True, True] Translation: X:-4.53, Y:-0.07, Z:0.00 [[ 9.99630497e-01 7.25600356e-03 -2.61957841e-02 -4.52831852e+00] [-7.26503273e-03 9.99973578e-01 -2.49522582e-04 -7.14837762e-02] [ 2.61932814e-02 4.39743611e-04 9.99656800e-01 2.51646318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686338938 meters 0.027969646489102974 Centerline is valid? [True, True] Translation: X:-4.59, Y:-0.08, Z:0.01 [[ 9.99750817e-01 6.48669123e-03 -2.13594495e-02 -4.58703206e+00] [-6.49249989e-03 9.99978903e-01 -2.02612575e-04 -7.87336745e-02] [ 2.13576846e-02 3.41238312e-04 9.99771840e-01 1.49488831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746338938 meters 0.028360438883347182 Centerline is valid? [True, True] Translation: X:-4.65, Y:-0.08, Z:0.01 [[ 9.99781878e-01 3.74336727e-03 -2.05470952e-02 -4.64531639e+00] [-3.74811179e-03 9.99992957e-01 -1.92404215e-04 -8.47128674e-02] [ 2.05462302e-02 2.69375058e-04 9.99788868e-01 1.24791518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806338938 meters 0.027217914143618935 Centerline is valid? [True, True] Translation: X:-4.70, Y:-0.09, Z:0.01 [[ 9.99698201e-01 2.97368309e-03 -2.43857454e-02 -4.70369450e+00] [-2.98012316e-03 9.99995533e-01 -2.27754156e-04 -8.88809897e-02] [ 2.43849592e-02 3.00357945e-04 9.99702598e-01 8.24467599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866338937999999 meters 0.02709171731863016 Centerline is valid? [True, True] Translation: X:-4.76, Y:-0.09, Z:0.01 [[ 9.99676100e-01 8.75735314e-04 -2.54347862e-02 -4.76156305e+00] [-8.81822580e-04 9.99999585e-01 -2.28113080e-04 -9.46778828e-02] [ 2.54345759e-02 2.50468163e-04 9.99676457e-01 6.59794491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926338938 meters 0.02789249775791884 Centerline is valid? [True, True] Translation: X:-4.82, Y:-0.10, Z:0.02 [[ 9.99806485e-01 -1.34365884e-03 -1.96261766e-02 -4.82173842e+00] [ 1.34042668e-03 9.99999086e-01 -1.77840387e-04 -1.01889074e-01] [ 1.96263976e-02 1.51498521e-04 9.99807372e-01 1.94372363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.986338937999999 meters 0.028678110387910093 Centerline is valid? [True, True] Translation: X:-4.88, Y:-0.11, Z:0.01 [[ 9.99657637e-01 3.24196009e-03 -2.59633989e-02 -4.88259822e+00] [-3.24916293e-03 9.99994694e-01 -2.35240764e-04 -1.05957234e-01] [ 2.59624985e-02 3.19519539e-04 9.99662866e-01 9.52561042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046338938 meters 0.028140374401485577 Centerline is valid? [True, True] Translation: X:-4.94, Y:-0.10, Z:0.02 [[ 9.99638917e-01 1.26098279e-02 -2.37282025e-02 -4.94070025e+00] [-1.26182830e-02 9.99920365e-01 -2.06630594e-04 -1.01640145e-01] [ 2.37237073e-02 5.05965157e-04 9.99718425e-01 1.50153892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1063389379999995 meters 0.029429282282673594 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.11, Z:0.03 [[ 9.99668520e-01 1.83778989e-02 -1.80305840e-02 -4.99803978e+00] [-1.83837074e-02 9.99830993e-01 -1.56433158e-04 -1.06523436e-01] [ 1.80246618e-02 4.87850283e-04 9.99837424e-01 2.63418222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166338938 meters 0.03227582285095296 Centerline is valid? [True, True] Translation: X:-5.06, Y:-0.10, Z:0.01 [[ 9.99499771e-01 2.33283342e-02 -2.13540654e-02 -5.05875636e+00] [-2.33376309e-02 9.99727623e-01 -1.86225688e-04 -9.74634684e-02] [ 2.13439047e-02 6.84485829e-04 9.99771959e-01 1.08817943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226338938 meters 0.02946811146702824 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.11, Z:0.02 [[ 9.99463473e-01 2.28441164e-02 -2.34715119e-02 -5.11656227e+00] [-2.28551439e-02 9.99738767e-01 -2.01638472e-04 -1.13205872e-01] [ 2.34607741e-02 7.37975070e-04 9.99724486e-01 1.88091157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286338937999999 meters 0.029532067727965922 Centerline is valid? [True, True] Translation: X:-5.17, Y:-0.11, Z:0.02 [[ 9.99505268e-01 2.29761386e-02 -2.14782973e-02 -5.17476389e+00] [-2.29853579e-02 9.99735785e-01 -1.82429898e-04 -1.10106657e-01] [ 2.14684309e-02 6.76025993e-04 9.99769298e-01 2.25462623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346338938 meters 0.032390026530544014 Centerline is valid? [True, True] Translation: X:-5.23, Y:-0.11, Z:0.03 [[ 9.99380844e-01 2.89376219e-02 -2.00135631e-02 -5.23414979e+00] [-2.89468162e-02 9.99580939e-01 -1.69802533e-04 -1.10705952e-01] [ 2.00002625e-02 7.49026331e-04 9.99799694e-01 2.70156695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406338937999999 meters 0.03517924129070121 Centerline is valid? [True, True] Translation: X:-5.29, Y:-0.12, Z:0.04 [[ 9.99415322e-01 2.85465580e-02 -1.88177780e-02 -5.29158022e+00] [-2.85545738e-02 9.99592223e-01 -1.57359050e-04 -1.18865128e-01] [ 1.88056125e-02 6.94600677e-04 9.99822918e-01 4.04149481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466338938 meters 0.03268509418239976 Centerline is valid? [True, True] Translation: X:-5.35, Y:-0.12, Z:0.05 [[ 9.99387280e-01 3.07045820e-02 -1.68016035e-02 -5.34945301e+00] [-3.07111548e-02 9.99528292e-01 -1.33266243e-04 -1.16561213e-01] [ 1.67895861e-02 6.49181234e-04 9.99858834e-01 4.67803582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.526338937999999 meters 0.030557216311029613 Centerline is valid? [True, True] Translation: X:-5.41, Y:-0.12, Z:0.05 [[ 9.99262764e-01 3.12884878e-02 -2.22476847e-02 -5.40819874e+00] [-3.13002256e-02 9.99510012e-01 -1.79488013e-04 -1.24125749e-01] [ 2.22311677e-02 8.75713240e-04 9.99752474e-01 4.65886633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586338938 meters 0.03098501624511809 Centerline is valid? [True, True] Translation: X:-5.47, Y:-0.11, Z:0.05 [[ 9.99294140e-01 3.40708382e-02 -1.58240455e-02 -5.46694780e+00] [-3.40770150e-02 9.99419203e-01 -1.20792661e-04 -1.10198974e-01] [ 1.58107395e-02 6.59943635e-04 9.99874785e-01 5.28714497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6463389379999995 meters 0.03617210136467037 Centerline is valid? [True, True] Translation: X:-5.53, Y:-0.11, Z:0.05 [[ 9.98967517e-01 4.16568240e-02 -1.81275544e-02 -5.52688177e+00] [-4.16662216e-02 9.99131576e-01 -1.40875806e-04 -1.12629112e-01] [ 1.81059435e-02 8.96037052e-04 9.99835672e-01 5.33587784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706338938 meters 0.036808181179960486 Centerline is valid? [True, True] Translation: X:-5.59, Y:-0.10, Z:0.05 [[ 9.98719770e-01 4.71610662e-02 -1.82935634e-02 -5.58795595e+00] [-4.71715643e-02 9.98886792e-01 -1.42547875e-04 -9.66901871e-02] [ 1.82664761e-02 1.00530138e-03 9.99832649e-01 5.04305021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766338938 meters 0.04048612159135912 Centerline is valid? [True, True] Translation: X:-5.65, Y:-0.08, Z:0.05 [[ 9.98238060e-01 5.71440546e-02 -1.59791393e-02 -5.64744602e+00] [-5.71533308e-02 9.98365405e-01 -1.24087760e-04 -8.10520237e-02] [ 1.59459290e-02 1.03713016e-03 9.99872318e-01 5.16474466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826338937999999 meters 0.038895984677618296 Centerline is valid? [True, True] Translation: X:-5.71, Y:-0.08, Z:0.05 [[ 9.97786136e-01 6.48800279e-02 -1.46085140e-02 -5.70706316e+00] [-6.48886067e-02 9.97892507e-01 -1.13527033e-04 -7.81491849e-02] [ 1.45703610e-02 1.06120182e-03 9.99893284e-01 5.28807579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886338938 meters 0.04268082144233518 Centerline is valid? [True, True] Translation: X:-5.77, Y:-0.06, Z:0.05 [[ 9.97115776e-01 7.38757553e-02 -1.73926112e-02 -5.76810456e+00] [-7.38892837e-02 9.97266442e-01 -1.35622828e-04 -6.33991483e-02] [ 1.73350483e-02 1.42035925e-03 9.99848728e-01 4.80321381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946338937999999 meters 0.04613395975886992 Centerline is valid? [True, True] Translation: X:-5.83, Y:-0.05, Z:0.05 [[ 9.96534172e-01 8.04088594e-02 -2.13086628e-02 -5.82906551e+00] [-8.04306512e-02 9.96760193e-01 -1.66231527e-04 -5.20259697e-02] [ 2.12262603e-02 1.87952502e-03 9.99772931e-01 4.51345410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006338938 meters 0.04519719613534131 Centerline is valid? [True, True] Translation: X:-5.89, Y:-0.04, Z:0.05 [[ 9.96086613e-01 8.70517333e-02 -1.52792397e-02 -5.88876086e+00] [-8.70637086e-02 9.96202739e-01 -1.19080055e-04 -4.07217700e-02] [ 1.52108543e-02 1.44888132e-03 9.99883259e-01 5.35269475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0663389379999995 meters 0.04827350811385023 Centerline is valid? [True, True] Translation: X:-5.95, Y:-0.03, Z:0.04 [[ 9.94994350e-01 9.66391087e-02 -2.54386627e-02 -5.94983235e+00] [-9.66754275e-02 9.95315941e-01 -1.98860168e-04 -3.27920589e-02] [ 2.53002888e-02 2.65715833e-03 9.99676365e-01 4.48183042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126338938 meters 0.049659176066902275 Centerline is valid? [True, True] Translation: X:-6.01, Y:-0.03, Z:0.06 [[ 9.95117941e-01 9.77464376e-02 -1.36351354e-02 -6.01101618e+00] [-9.77569807e-02 9.95210310e-01 -1.07285001e-04 -2.55314751e-02] [ 1.35593406e-02 1.43969090e-03 9.99907031e-01 6.35013835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186338938 meters 0.0511379460518795 Centerline is valid? [True, True] Translation: X:-6.07, Y:-0.02, Z:0.05 [[ 9.94729443e-01 1.01304781e-01 -1.58327906e-02 -6.07167976e+00] [-1.01319443e-01 9.94853937e-01 -1.24557505e-04 -1.51287115e-02] [ 1.57386957e-02 1.72807053e-03 9.99874646e-01 5.08276757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246338938 meters 0.052082549991136026 Centerline is valid? [True, True] Translation: X:-6.13, Y:-0.00, Z:0.05 [[ 9.94381503e-01 1.04235076e-01 -1.84519877e-02 -6.13113143e+00] [-1.04255477e-01 9.94550539e-01 -1.44501047e-04 -1.68134638e-03] [ 1.83363722e-02 2.06740994e-03 9.99829737e-01 4.76786579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306338938 meters 0.0537559730159524 Centerline is valid? [True, True] Translation: X:-6.19, Y:-0.00, Z:0.04 [[ 9.94409394e-01 1.03545717e-01 -2.06939781e-02 -6.19401722e+00] [-1.03571402e-01 9.94622006e-01 -1.70410144e-04 -4.48131144e-03] [ 2.05650408e-02 2.31276177e-03 9.99785842e-01 4.26789279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366338937999999 meters 0.05166746069033812 Centerline is valid? [True, True] Translation: X:-6.26, Y:-0.00, Z:0.05 [[ 9.95138188e-01 9.62112795e-02 -2.10565241e-02 -6.25518372e+00] [-9.62362016e-02 9.95358510e-01 -1.71129987e-04 -4.39236503e-03] [ 2.09423259e-02 2.19669789e-03 9.99778272e-01 4.55538028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426338938 meters 0.047796628583195735 Centerline is valid? [True, True] Translation: X:-6.31, Y:-0.01, Z:0.05 [[ 9.96041029e-01 8.62460423e-02 -2.15380848e-02 -6.31492060e+00] [-8.62698463e-02 9.96271791e-01 -1.76774862e-04 -1.46952097e-02] [ 2.14425402e-02 2.03416228e-03 9.99768013e-01 5.19363964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.486338937999999 meters 0.04495380257992009 Centerline is valid? [True, True] Translation: X:-6.38, Y:-0.02, Z:0.05 [[ 9.96908251e-01 7.67443460e-02 -1.68595213e-02 -6.37613197e+00] [-7.67575821e-02 9.97049775e-01 -1.38439066e-04 -1.69460577e-02] [ 1.67991575e-02 1.43210714e-03 9.99857859e-01 5.45723120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546338938 meters 0.04004665015290477 Centerline is valid? [True, True] Translation: X:-6.44, Y:-0.03, Z:0.05 [[ 9.97500522e-01 6.80606769e-02 -1.89856097e-02 -6.43550038e+00] [-6.80759338e-02 9.97680130e-01 -1.57725241e-04 -2.78337648e-02] [ 1.89308307e-02 1.44979412e-03 9.99819745e-01 4.66409637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6063389379999995 meters 0.03967612801199657 Centerline is valid? [True, True] Translation: X:-6.50, Y:-0.04, Z:0.05 [[ 9.98046226e-01 5.86026920e-02 -2.16669356e-02 -6.49582358e+00] [-5.86203308e-02 9.98280334e-01 -1.79305625e-04 -4.33977561e-02] [ 2.16191679e-02 1.44907823e-03 9.99765228e-01 4.83436637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666338938 meters 0.03630644885676198 Centerline is valid? [True, True] Translation: X:-6.56, Y:-0.04, Z:0.05 [[ 9.98458209e-01 5.18296410e-02 -1.98719221e-02 -6.55689686e+00] [-5.18431519e-02 9.98655226e-01 -1.64992428e-04 -4.11190535e-02] [ 1.98366473e-02 1.19496112e-03 9.99802520e-01 5.04358699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726338938 meters 0.03456847920641821 Centerline is valid? [True, True] Translation: X:-6.62, Y:-0.06, Z:0.05 [[ 9.98747384e-01 4.64021668e-02 -1.87217114e-02 -6.61743141e+00] [-4.64132059e-02 9.98922314e-01 -1.55332520e-04 -5.66825913e-02] [ 1.86943275e-02 1.02407259e-03 9.99824721e-01 5.24910030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786338937999999 meters 0.030443900815303074 Centerline is valid? [True, True] Translation: X:-6.68, Y:-0.10, Z:0.06 [[ 9.99729365e-01 1.46036089e-02 -1.81088836e-02 -6.67750490e+00] [-1.46087240e-02 9.99893276e-01 -1.50204999e-04 -1.04470107e-01] [ 1.81047574e-02 4.14712032e-04 9.99836009e-01 5.58441251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846338938 meters 0.02613530900243352 Centerline is valid? [True, True] Translation: X:-6.74, Y:-0.12, Z:0.05 [[ 9.99722047e-01 -8.81099622e-03 -2.18676531e-02 -6.73689472e+00] [ 8.80919242e-03 9.99961182e-01 -1.78817576e-04 -1.16281014e-01] [ 2.18683798e-02 -1.38684908e-05 9.99760858e-01 4.54124174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906338937999999 meters 0.029413225174405925 Centerline is valid? [True, True] Translation: X:-6.80, Y:-0.17, Z:0.05 [[ 9.99182252e-01 -3.43684217e-02 -2.12987772e-02 -6.79655235e+00] [ 3.43725065e-02 9.99409076e-01 -1.74379428e-04 -1.65309574e-01] [ 2.12921844e-02 -5.57855529e-04 9.99773140e-01 5.41345450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966338938 meters 0.030794361252128023 Centerline is valid? [True, True] Translation: X:-6.86, Y:-0.16, Z:0.06 [[ 9.98511293e-01 -5.24314927e-02 -1.50378537e-02 -6.85542505e+00] [ 5.24355750e-02 9.98624301e-01 -1.22954804e-04 -1.60017905e-01] [ 1.50236128e-02 -6.65746744e-04 9.99886918e-01 6.37305471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.026338937999999 meters 0.03156476886388614 Centerline is valid? [True, True] Translation: X:-6.92, Y:-0.18, Z:0.05 [[ 9.98202733e-01 -5.44276497e-02 -2.50785591e-02 -6.91550845e+00] [ 5.44396415e-02 9.98517042e-01 -2.04830816e-04 -1.83605639e-01] [ 2.50525171e-02 -1.16080509e-03 9.99685462e-01 4.58540366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086338938 meters 0.034623086400731265 Centerline is valid? [True, True] Translation: X:-6.97, Y:-0.19, Z:0.07 [[ 9.98192285e-01 -5.80269653e-02 -1.56535627e-02 -6.97468838e+00] [ 5.80320899e-02 9.98314710e-01 -1.27039575e-04 -1.89066734e-01] [ 1.56345536e-02 -7.81599032e-04 9.99877467e-01 6.93777337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1463389379999995 meters 0.03254540966510133 Centerline is valid? [True, True] Translation: X:-7.03, Y:-0.18, Z:0.06 [[ 9.98594622e-01 -4.92031035e-02 -1.96935467e-02 -7.03477007e+00] [ 4.92095008e-02 9.98788466e-01 -1.59921806e-04 -1.77256294e-01] [ 1.96775559e-02 -8.09412544e-04 9.99806051e-01 5.98398458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206338937999999 meters 0.03176269309277999 Centerline is valid? [True, True] Translation: X:-7.09, Y:-0.15, Z:0.06 [[ 9.99246205e-01 -3.26127878e-02 -2.10577357e-02 -7.09403230e+00] [ 3.26164401e-02 9.99467928e-01 -1.70079088e-04 -1.51623958e-01] [ 2.10520782e-02 -5.16877492e-04 9.99778247e-01 5.74914082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266338938 meters 0.027578620099077782 Centerline is valid? [True, True] Translation: X:-7.15, Y:-0.15, Z:0.05 [[ 9.99622824e-01 -1.54753087e-02 -2.26875467e-02 -7.15453774e+00] [ 1.54751397e-02 9.99880236e-01 -1.83031527e-04 -1.50618218e-01] [ 2.26876620e-02 -1.68130462e-04 9.99742588e-01 4.63533728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326338937999999 meters 0.02751528556630862 Centerline is valid? [True, True] Translation: X:-7.21, Y:-0.13, Z:0.05 [[ 9.99783573e-01 8.87832375e-04 -2.07850570e-02 -7.21222932e+00] [-8.91425321e-04 9.99999589e-01 -1.63597435e-04 -1.28676764e-01] [ 2.07849032e-02 1.82090354e-04 9.99783954e-01 5.11823921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386338938 meters 0.029666435932823646 Centerline is valid? [True, True] Translation: X:-7.27, Y:-0.12, Z:0.05 [[ 9.99673376e-01 1.59684016e-02 -1.99537121e-02 -7.27277131e+00] [-1.59747326e-02 9.99872383e-01 -1.57918711e-04 -1.17458113e-01] [ 1.99486440e-02 4.76622346e-04 9.99800892e-01 4.53310719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446338937999999 meters 0.033174075384116666 Centerline is valid? [True, True] Translation: X:-7.33, Y:-0.11, Z:0.04 [[ 9.99267032e-01 2.83745676e-02 -2.56959664e-02 -7.33349469e+00] [-2.83891652e-02 9.99596926e-01 -2.03389103e-04 -1.07840544e-01] [ 2.56798379e-02 9.32727060e-04 9.99669783e-01 3.97702754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506338938 meters 0.03300298798473296 Centerline is valid? [True, True] Translation: X:-7.39, Y:-0.10, Z:0.04 [[ 9.99305808e-01 3.40975274e-02 -1.50086799e-02 -7.39315764e+00] [-3.41031370e-02 9.99418312e-01 -1.17903719e-04 -9.60744725e-02] [ 1.49959293e-02 6.29664937e-04 9.99887356e-01 4.35982736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5663389379999995 meters 0.03596426097300235 Centerline is valid? [True, True] Translation: X:-7.45, Y:-0.10, Z:0.02 [[ 9.98856622e-01 3.88308265e-02 -2.78857663e-02 -7.45449366e+00] [-3.88520779e-02 9.99244949e-01 -2.20473803e-04 -9.71072264e-02] [ 2.78561499e-02 1.30364168e-03 9.99611092e-01 1.81822450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626338938 meters 0.0343701389129747 Centerline is valid? [True, True] Translation: X:-7.51, Y:-0.11, Z:0.04 [[ 9.99217040e-01 3.41589182e-02 -1.99618584e-02 -7.51438443e+00] [-3.41688630e-02 9.99416062e-01 -1.57235463e-04 -1.11985535e-01] [ 1.99448309e-02 8.39186358e-04 9.99800730e-01 3.50403248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686338938 meters 0.034118879031068666 Centerline is valid? [True, True] Translation: X:-7.57, Y:-0.11, Z:0.03 [[ 9.99307105e-01 2.97872267e-02 -2.23166135e-02 -7.57394665e+00] [-2.97985462e-02 9.99555909e-01 -1.74781388e-04 -1.13163620e-01] [ 2.23014967e-02 8.39662923e-04 9.99750938e-01 2.82694650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746338937999999 meters 0.031160989209940856 Centerline is valid? [True, True] Translation: X:-7.63, Y:-0.16, Z:0.04 [[ 9.99653070e-01 2.06566715e-02 -1.63414077e-02 -7.63238801e+00] [-2.06615107e-02 9.99786520e-01 -1.27339932e-04 -1.55629543e-01] [ 1.63352888e-02 4.64933924e-04 9.99866462e-01 3.82768920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806338938 meters 0.032039390614882736 Centerline is valid? [True, True] Translation: X:-7.69, Y:-0.17, Z:0.03 [[ 9.99720466e-01 1.09168076e-02 -2.09717381e-02 -7.69218359e+00] [-1.09226223e-02 9.99940333e-01 -1.62736788e-04 -1.65651074e-01] [ 2.09687103e-02 3.91757673e-04 9.99780056e-01 3.25632162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866338937999999 meters 0.032241306233087824 Centerline is valid? [True, True] Translation: X:-7.75, Y:-0.18, Z:0.03 [[ 9.99793586e-01 4.21399587e-03 -1.98753075e-02 -7.75159364e+00] [-4.21787986e-03 9.99991093e-01 -1.53501391e-04 -1.79794713e-01] [ 1.98744836e-02 2.37301365e-04 9.99802455e-01 3.10765735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926338938 meters 0.029997514877208666 Centerline is valid? [True, True] Translation: X:-7.81, Y:-0.20, Z:0.02 [[ 9.99779836e-01 2.64763213e-03 -2.08151377e-02 -7.80924598e+00] [-2.65138205e-03 9.99996473e-01 -1.52558470e-04 -1.98546797e-01] [ 2.08146604e-02 2.07713764e-04 9.99783330e-01 2.27977392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.986338937999999 meters 0.030527881671449503 Centerline is valid? [True, True] Translation: X:-7.87, Y:-0.21, Z:0.03 [[ 9.99803001e-01 4.57131930e-03 -1.93148130e-02 -7.86738999e+00] [-4.57482111e-03 9.99989526e-01 -1.37120650e-04 -2.12467733e-01] [ 1.93139839e-02 2.25455452e-04 9.99813442e-01 2.72646288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046338938 meters 0.03091777024626154 Centerline is valid? [True, True] Translation: X:-7.93, Y:-0.21, Z:0.02 [[ 9.99734053e-01 5.67128306e-03 -2.23530524e-02 -7.92645203e+00] [-5.67626533e-03 9.99983877e-01 -1.59446770e-04 -2.11359824e-01] [ 2.23517878e-02 2.86286222e-04 9.99750127e-01 2.48335735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106338938 meters 0.032987842104253456 Centerline is valid? [True, True] Translation: X:-7.99, Y:-0.24, Z:0.03 [[ 9.99825068e-01 4.57693508e-03 -1.81352036e-02 -7.98545639e+00] [-4.58001797e-03 9.99989503e-01 -1.28465213e-04 -2.36359489e-01] [ 1.81344253e-02 2.11502299e-04 9.99835535e-01 3.21324640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166338938 meters 0.03082854474007727 Centerline is valid? [True, True] Translation: X:-8.04, Y:-0.24, Z:0.02 [[ 9.99805327e-01 4.18731175e-03 -1.92814600e-02 -8.04435131e+00] [-4.19059771e-03 9.99991211e-01 -1.30019571e-04 -2.40928578e-01] [ 1.92807461e-02 2.10795102e-04 9.99814087e-01 2.33414711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226338938 meters 0.030704939775560366 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.25, Z:0.02 [[ 9.99822107e-01 3.46860745e-03 -1.85397783e-02 -8.10235405e+00] [-3.47152168e-03 9.99993966e-01 -1.25007067e-04 -2.46208995e-01] [ 1.85392328e-02 1.89346071e-04 9.99828116e-01 2.39377952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286338938 meters 0.03080098021465864 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.26, Z:0.02 [[ 9.99831115e-01 3.06319357e-03 -1.81206751e-02 -8.16060256e+00] [-3.06579950e-03 9.99995294e-01 -1.16032267e-04 -2.62901838e-01] [ 1.81202344e-02 1.71567028e-04 9.99835800e-01 2.09782791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346338938 meters 0.03311578501577508 Centerline is valid? [True, True] Translation: X:-8.22, Y:-0.27, Z:0.02 [[ 9.99790180e-01 1.27117659e-03 -2.04445851e-02 -8.21915729e+00] [-1.27402488e-03 9.99999180e-01 -1.26293599e-04 -2.74112262e-01] [ 2.04444078e-02 1.52314010e-04 9.99790980e-01 2.29264069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406338938000001 meters 0.030865591247656903 Centerline is valid? [True, True] Translation: X:-8.28, Y:-0.29, Z:0.03 [[ 9.99891545e-01 2.92301873e-03 -1.44344830e-02 -8.27851652e+00] [-2.92462518e-03 9.99995719e-01 -9.01848065e-05 -2.94739156e-01] [ 1.44341576e-02 1.32390478e-04 9.99895813e-01 2.74001148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466338938 meters 0.0312344105354715 Centerline is valid? [True, True] Translation: X:-8.34, Y:-0.30, Z:0.01 [[ 9.99779290e-01 -1.41929426e-03 -2.09608392e-02 -8.33901238e+00] [ 1.41687939e-03 9.99998988e-01 -1.30059115e-04 -2.98404428e-01] [ 2.09610026e-02 1.00331428e-04 9.99780289e-01 1.07114049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526338938 meters 0.03400300016301889 Centerline is valid? [True, True] Translation: X:-8.40, Y:-0.33, Z:0.02 [[ 9.99903318e-01 -1.82322564e-03 -1.37851807e-02 -8.39896178e+00] [ 1.82222106e-03 9.99998336e-01 -8.54342375e-05 -3.29564970e-01] [ 1.37853135e-02 6.03063310e-05 9.99904976e-01 1.83081394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586338938 meters 0.030645341417248825 Centerline is valid? [True, True] Translation: X:-8.46, Y:-0.33, Z:0.01 [[ 9.99810758e-01 -1.37831701e-03 -1.94048728e-02 -8.45818748e+00] [ 1.37625796e-03 9.99999046e-01 -1.19463825e-04 -3.25928719e-01] [ 1.94050190e-02 9.27351068e-05 9.99811701e-01 8.61150548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646338938000001 meters 0.03402641117464314 Centerline is valid? [True, True] Translation: X:-8.52, Y:-0.31, Z:0.01 [[ 9.99887142e-01 1.03690434e-03 -1.49875777e-02 -8.51787605e+00] [-1.03839432e-03 9.99999457e-01 -9.16324011e-05 -3.13457086e-01] [ 1.49874746e-02 1.07185075e-04 9.99887676e-01 1.36235197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706338938 meters 0.03383293994809991 Centerline is valid? [True, True] Translation: X:-8.58, Y:-0.34, Z:0.01 [[ 9.99854861e-01 6.50191146e-03 -1.57474438e-02 -8.57540688e+00] [-6.50420491e-03 9.99978843e-01 -9.44278122e-05 -3.40450675e-01] [ 1.57464967e-02 1.96838708e-04 9.99875997e-01 6.62837510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766338938 meters 0.03751632504106219 Centerline is valid? [True, True] Translation: X:-8.63, Y:-0.34, Z:0.02 [[ 9.99903457e-01 2.66927005e-03 -1.36364125e-02 -8.63357960e+00] [-2.67062014e-03 9.99996431e-01 -8.07978461e-05 -3.43279388e-01] [ 1.36361481e-02 1.17207724e-04 9.99907017e-01 2.46497365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826338938000001 meters 0.03226582700217402 Centerline is valid? [True, True] Translation: X:-8.69, Y:-0.35, Z:0.01 [[ 9.99884926e-01 1.74749555e-03 -1.50691834e-02 -8.69243688e+00] [-1.74895326e-03 9.99998467e-01 -8.35561203e-05 -3.49460033e-01] [ 1.50690143e-02 1.09901803e-04 9.99886450e-01 1.19079297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886338938 meters 0.030707055002137502 Centerline is valid? [True, True] Translation: X:-8.75, Y:-0.36, Z:0.01 [[ 9.99883410e-01 -4.94965257e-03 -1.44452998e-02 -8.75080920e+00] [ 4.94906144e-03 9.99987750e-01 -7.66690274e-05 -3.61871264e-01] [ 1.44455024e-02 5.16941216e-06 9.99895658e-01 7.35003090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946338938 meters 0.03218853065110421 Centerline is valid? [True, True] Translation: X:-8.81, Y:-0.38, Z:0.01 [[ 9.99880800e-01 -6.21148219e-03 -1.41351968e-02 -8.80862189e+00] [ 6.21110093e-03 9.99980708e-01 -7.08720057e-05 -3.84092535e-01] [ 1.41353644e-02 -1.69315766e-05 9.99900091e-01 7.59691685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006338938 meters 0.029956070383030275 Centerline is valid? [True, True] Translation: X:-8.87, Y:-0.38, Z:0.01 [[ 9.99931820e-01 -5.35608640e-03 -1.03763411e-02 -8.86726791e+00] [ 5.35582773e-03 9.99985656e-01 -5.27170660e-05 -3.78255587e-01] [ 1.03764746e-02 -2.86042346e-06 9.99946163e-01 8.96278239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066338938000001 meters 0.031401974246005035 Centerline is valid? [True, True] Translation: X:-8.93, Y:-0.39, Z:0.01 [[ 9.99888598e-01 1.02125785e-03 -1.48911970e-02 -8.92574117e+00] [-1.02249343e-03 9.99999474e-01 -7.53608412e-05 -3.85607720e-01] [ 1.48911122e-02 9.05785970e-05 9.99889117e-01 7.24118715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126338938 meters 0.031236461419907425 Centerline is valid? [True, True] Translation: X:-8.98, Y:-0.39, Z:0.01 [[ 9.99949007e-01 4.57471756e-03 -9.00304108e-03 -8.98490571e+00] [-4.57530651e-03 9.99989532e-01 -4.48221809e-05 -3.94080298e-01] [ 9.00274179e-03 8.60115678e-05 9.99959471e-01 1.31831903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186338938 meters 0.03378158067811268 Centerline is valid? [True, True] Translation: X:-9.05, Y:-0.38, Z:0.00 [[ 9.99854413e-01 4.16504745e-03 -1.65470735e-02 -9.04539755e+00] [-4.16699190e-03 9.99991315e-01 -8.30336284e-05 -3.84035057e-01] [ 1.65465840e-02 1.51973061e-04 9.99863084e-01 3.90282370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246338938000001 meters 0.035121390448183853 Centerline is valid? [True, True] Translation: X:-9.10, Y:-0.40, Z:0.02 [[ 9.99948796e-01 1.88991987e-03 -9.94152863e-03 -9.10390760e+00] [-1.89050339e-03 9.99998212e-01 -4.92979193e-05 -3.97985920e-01] [ 9.94141769e-03 6.80898886e-05 9.99950581e-01 1.54609122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306338938 meters 0.03379546976379344 Centerline is valid? [True, True] Translation: X:-9.16, Y:-0.40, Z:0.01 [[ 9.99912705e-01 4.31022275e-03 -1.24901642e-02 -9.16261792e+00] [-4.31131841e-03 9.99990704e-01 -6.07968086e-05 -3.99127262e-01] [ 1.24897861e-02 1.14640576e-04 9.99921993e-01 1.12588530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366338938 meters 0.03318881643588553 Centerline is valid? [True, True] Translation: X:-9.22, Y:-0.40, Z:0.01 [[ 9.99883553e-01 3.45785004e-03 -1.48634760e-02 -9.22027516e+00] [-3.45928781e-03 9.99994014e-01 -7.10229566e-05 -4.02830049e-01] [ 1.48631414e-02 1.22431727e-04 9.99889530e-01 5.16489548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426338938 meters 0.034339463213720896 Centerline is valid? [True, True] Translation: X:-9.28, Y:-0.41, Z:0.01 [[ 9.99940960e-01 4.68139213e-03 -9.80620648e-03 -9.27915605e+00] [-4.68207216e-03 9.99989038e-01 -4.63907668e-05 -4.07907388e-01] [ 9.80588181e-03 9.23013943e-05 9.99951917e-01 1.34219259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486338938000001 meters 0.032123656792824334 Centerline is valid? [True, True] Translation: X:-9.34, Y:-0.42, Z:0.01 [[ 9.99912327e-01 5.54646079e-03 -1.20238967e-02 -9.33807845e+00] [-5.54748563e-03 9.99984611e-01 -5.18828556e-05 -4.19432500e-01] [ 1.20234239e-02 1.18580701e-04 9.99927709e-01 8.26084225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546338938 meters 0.032307285220345476 Centerline is valid? [True, True] Translation: X:-9.40, Y:-0.41, Z:0.01 [[ 9.99953803e-01 3.99967840e-03 -8.74042815e-03 -9.39681214e+00] [-4.00016931e-03 9.99991999e-01 -3.86834618e-05 -4.13449732e-01] [ 8.74020349e-03 7.36448672e-05 9.99961801e-01 1.27578500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606338938 meters 0.0358103155276573 Centerline is valid? [True, True] Translation: X:-9.45, Y:-0.42, Z:0.02 [[ 9.99940701e-01 2.70630535e-03 -1.05485192e-02 -9.45423091e+00] [-2.70693504e-03 9.99996335e-01 -4.54181196e-05 -4.19542199e-01] [ 1.05483576e-02 7.39695826e-05 9.99944362e-01 1.88540831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666338938 meters 0.03210316129910196 Centerline is valid? [True, True] Translation: X:-9.51, Y:-0.43, Z:0.01 [[ 9.99958272e-01 5.15444231e-03 -7.54228892e-03 -9.51308871e+00] [-5.15480315e-03 9.99986714e-01 -2.84031284e-05 -4.29241329e-01] [ 7.54204230e-03 6.72809579e-05 9.99971556e-01 8.65115126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726338938 meters 0.034043172127672286 Centerline is valid? [True, True] Translation: X:-9.57, Y:-0.43, Z:0.01 [[ 9.99912481e-01 5.21963280e-03 -1.21567292e-02 -9.57144449e+00] [-5.22061103e-03 9.99986371e-01 -4.87355362e-05 -4.26750964e-01] [ 1.21563091e-02 1.12196825e-04 9.99926103e-01 8.62443919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786338938 meters 0.03561133776005769 Centerline is valid? [True, True] Translation: X:-9.63, Y:-0.43, Z:0.02 [[ 9.99959868e-01 2.52814397e-03 -8.59481108e-03 -9.63126848e+00] [-2.52853219e-03 9.99996803e-01 -3.43024914e-05 -4.32981770e-01] [ 8.59469687e-03 5.60333713e-05 9.99963063e-01 1.98812725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846338938 meters 0.033167027805931386 Centerline is valid? [True, True] Translation: X:-9.69, Y:-0.44, Z:0.00 [[ 9.99907017e-01 3.92182634e-03 -1.30605163e-02 -9.68896764e+00] [-3.92281208e-03 9.99992305e-01 -4.98574275e-05 -4.36183511e-01] [ 1.30602203e-02 1.01086743e-04 9.99914707e-01 6.16003546e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906338938000001 meters 0.034617360543699925 Centerline is valid? [True, True] Translation: X:-9.75, Y:-0.45, Z:0.01 [[ 9.99948419e-01 2.90801598e-03 -9.73156605e-03 -9.74745196e+00] [-2.90851434e-03 9.99995770e-01 -3.70584003e-05 -4.51243824e-01] [ 9.73141712e-03 6.53608882e-05 9.99952647e-01 1.34685935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966338938 meters 0.0340819038944737 Centerline is valid? [True, True] Translation: X:-9.81, Y:-0.43, Z:0.02 [[ 9.99940415e-01 3.59082136e-03 -1.03088615e-02 -9.80553174e+00] [-3.59140370e-03 9.99993550e-01 -3.79777305e-05 -4.27786252e-01] [ 1.03086587e-02 7.49987511e-05 9.99946862e-01 1.93630811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026338938 meters 0.03620136823933306 Centerline is valid? [True, True] Translation: X:-9.86, Y:-0.45, Z:0.02 [[ 9.99914754e-01 4.61772742e-03 -1.22131768e-02 -9.86397230e+00] [-4.61856448e-03 9.99989334e-01 -4.03339748e-05 -4.45984981e-01] [ 1.22128603e-02 9.67378812e-05 9.99925416e-01 1.63032641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086338938 meters 0.03241194571553599 Centerline is valid? [True, True] Translation: X:-9.92, Y:-0.44, Z:0.02 [[ 9.99936960e-01 6.45838716e-03 -9.18510977e-03 -9.92303979e+00] [-6.45891112e-03 9.99979141e-01 -2.73819798e-05 -4.37842649e-01] [ 9.18474133e-03 8.67060612e-05 9.99957816e-01 1.82941465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146338938 meters 0.032614968017744723 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.44, Z:0.02 [[ 9.99920044e-01 6.11903569e-03 -1.10662910e-02 -9.98158736e+00] [-6.11975082e-03 9.99981274e-01 -3.07612071e-05 -4.37688228e-01] [ 1.10658955e-02 9.84816910e-05 9.99938766e-01 1.50514494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206338938 meters 0.03242969701972875 Centerline is valid? [True, True] Translation: X:-10.04, Y:-0.45, Z:0.02 [[ 9.99954952e-01 5.17195627e-03 -7.95895655e-03 -1.00401259e+01] [-5.17227438e-03 9.99986624e-01 -1.93865519e-05 -4.46476411e-01] [ 7.95874982e-03 6.05515856e-05 9.99968327e-01 2.05676724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266338938 meters 0.032846692781566066 Centerline is valid? [True, True] Translation: X:-10.10, Y:-0.44, Z:0.02 [[ 9.99912178e-01 5.64387619e-03 -1.19909274e-02 -1.00978930e+01] [-5.64465810e-03 9.99984068e-01 -3.13658406e-05 -4.41996011e-01] [ 1.19905594e-02 9.90477717e-05 9.99928106e-01 2.00476382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326338938000001 meters 0.032222377861738205 Centerline is valid? [True, True] Translation: X:-10.16, Y:-0.45, Z:0.02 [[ 9.99970657e-01 1.68633927e-03 -7.47277621e-03 -1.01571229e+01] [-1.68652958e-03 9.99998578e-01 -1.91656392e-05 -4.50006489e-01] [ 7.47273326e-03 3.17681350e-05 9.99972078e-01 2.12890892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386338938 meters 0.03194956114364645 Centerline is valid? [True, True] Translation: X:-10.22, Y:-0.43, Z:0.02 [[ 9.99959148e-01 4.38730959e-03 -7.90273992e-03 -1.02155486e+01] [-4.38760096e-03 9.99990374e-01 -1.95333603e-05 -4.34829120e-01] [ 7.90257815e-03 5.42066316e-05 9.99968773e-01 1.97183585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446338938 meters 0.03215242108457045 Centerline is valid? [True, True] Translation: X:-10.27, Y:-0.46, Z:0.01 [[ 9.99950119e-01 -4.97718464e-04 -9.97553162e-03 -1.02732458e+01] [ 4.97505531e-04 9.99999876e-01 -2.38270387e-05 -4.61579487e-01] [ 9.97554224e-03 1.88629681e-05 9.99950243e-01 1.34184798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506338938 meters 0.03476240925537425 Centerline is valid? [True, True] Translation: X:-10.33, Y:-0.46, Z:0.02 [[ 9.99938055e-01 -9.89032946e-04 -1.10863773e-02 -1.03319451e+01] [ 9.88848877e-04 9.99999511e-01 -2.20847493e-05 -4.60977127e-01] [ 1.10863937e-02 1.11206295e-05 9.99938544e-01 2.11193759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566338938 meters 0.031913077885470334 Centerline is valid? [True, True] Translation: X:-10.39, Y:-0.43, Z:0.03 [[ 9.99980444e-01 3.33446213e-03 -5.29084483e-03 -1.03903131e+01] [-3.33456691e-03 9.99994440e-01 -1.09842371e-05 -4.34889969e-01] [ 5.29077879e-03 2.86266984e-05 9.99986003e-01 3.38007106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626338938 meters 0.03237855389585326 Centerline is valid? [True, True] Translation: X:-10.45, Y:-0.45, Z:0.01 [[ 9.99906170e-01 7.89876980e-03 -1.11919993e-02 -1.04505846e+01] [-7.89952676e-03 9.99968798e-01 -2.34281685e-05 -4.49913565e-01] [ 1.11914651e-02 1.11837468e-04 9.99937367e-01 1.29300904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686338938 meters 0.03303750461835855 Centerline is valid? [True, True] Translation: X:-10.51, Y:-0.43, Z:0.03 [[ 9.99874810e-01 1.37666887e-02 -7.80012823e-03 -1.05076873e+01] [-1.37672198e-02 9.99905227e-01 -1.43950551e-05 -4.32420014e-01] [ 7.79919082e-03 1.21779333e-04 9.99969578e-01 2.70532034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746338938000001 meters 0.03431384469725503 Centerline is valid? [True, True] Translation: X:-10.57, Y:-0.43, Z:0.03 [[ 9.99760861e-01 1.86318870e-02 -1.14487512e-02 -1.05667087e+01] [-1.86333634e-02 9.99826384e-01 -2.22966012e-05 -4.30806786e-01] [ 1.14463481e-02 2.35620010e-04 9.99934461e-01 2.72590233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806338938 meters 0.03406974649786144 Centerline is valid? [True, True] Translation: X:-10.63, Y:-0.42, Z:0.03 [[ 9.99731883e-01 2.03846980e-02 -1.09829862e-02 -1.06256822e+01] [-2.03861048e-02 9.99792182e-01 -1.61334894e-05 -4.19331393e-01] [ 1.09803749e-02 2.40029471e-04 9.99939685e-01 3.20582564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866338938 meters 0.03371668512278384 Centerline is valid? [True, True] Translation: X:-10.68, Y:-0.43, Z:0.03 [[ 9.99769184e-01 1.88790707e-02 -1.02547013e-02 -1.06844555e+01] [-1.88801914e-02 9.99821753e-01 -1.24752632e-05 -4.29188354e-01] [ 1.02526379e-02 2.06083107e-04 9.99947419e-01 2.94644782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926338938 meters 0.03658718424525963 Centerline is valid? [True, True] Translation: X:-10.74, Y:-0.43, Z:0.04 [[ 9.99795265e-01 1.50533011e-02 -1.35212931e-02 -1.07413662e+01] [-1.50549064e-02 9.99886668e-01 -1.69405641e-05 -4.30456453e-01] [ 1.35195057e-02 2.20498897e-04 9.99908583e-01 4.17324222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986338938000001 meters 0.033176660824222264 Centerline is valid? [True, True] Translation: X:-10.80, Y:-0.43, Z:0.05 [[ 9.99888893e-01 1.40824195e-02 -4.88754010e-03 -1.08015944e+01] [-1.40826185e-02 9.99900835e-01 -6.29614731e-06 -4.25009789e-01] [ 4.88696677e-03 7.51248102e-05 9.99988056e-01 4.80564601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046338938 meters 0.03641671353562724 Centerline is valid? [True, True] Translation: X:-10.86, Y:-0.43, Z:0.04 [[ 9.99799854e-01 1.36227086e-02 -1.46517541e-02 -1.08610395e+01] [-1.36244444e-02 9.99907183e-01 -1.86541427e-05 -4.32156275e-01] [ 1.46501401e-02 2.18272418e-04 9.99892657e-01 3.82132405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106338938 meters 0.03690279280851238 Centerline is valid? [True, True] Translation: X:-10.92, Y:-0.43, Z:0.07 [[ 9.99921683e-01 1.07222443e-02 -6.45457616e-03 -1.09207886e+01] [-1.07225198e-02 9.99942512e-01 -8.07742273e-06 -4.29364099e-01] [ 6.45411849e-03 7.72861107e-05 9.99979169e-01 6.64912326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166338938 meters 0.033838501007846494 Centerline is valid? [True, True] Translation: X:-10.98, Y:-0.43, Z:0.04 [[ 9.99801891e-01 1.36547558e-02 -1.44819039e-02 -1.09798599e+01] [-1.36564438e-02 9.99906746e-01 -1.76669833e-05 -4.30469129e-01] [ 1.44803121e-02 2.15434789e-04 9.99895132e-01 3.87061380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226338938 meters 0.03384375470419049 Centerline is valid? [True, True] Translation: X:-11.04, Y:-0.44, Z:0.05 [[ 9.99831074e-01 1.44652194e-02 -1.13393197e-02 -1.10382300e+01] [-1.44662462e-02 9.99895358e-01 -8.52787571e-06 -4.37054374e-01] [ 1.13380098e-02 1.72563825e-04 9.99935708e-01 5.20241666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286338938 meters 0.03494178071788768 Centerline is valid? [True, True] Translation: X:-11.10, Y:-0.44, Z:0.06 [[ 9.99846413e-01 1.29684261e-02 -1.17885329e-02 -1.10960816e+01] [-1.29694416e-02 9.99915893e-01 -9.69816205e-06 -4.37295299e-01] [ 1.17874156e-02 1.62587362e-04 9.99930513e-01 6.09223849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346338938 meters 0.03532827538384113 Centerline is valid? [True, True] Translation: X:-11.16, Y:-0.43, Z:0.06 [[ 9.99840720e-01 1.46052836e-02 -1.02577418e-02 -1.11550248e+01] [-1.46060916e-02 9.99893325e-01 -3.85693265e-06 -4.28992805e-01] [ 1.02565912e-02 1.53681834e-04 9.99947388e-01 5.94441587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406338938000001 meters 0.033816738783566246 Centerline is valid? [True, True] Translation: X:-11.21, Y:-0.42, Z:0.06 [[ 9.99809909e-01 1.67802443e-02 -9.92825294e-03 -1.12129709e+01] [-1.67811078e-02 9.99859187e-01 -3.67209762e-06 -4.22799484e-01] [ 9.92679329e-03 1.70278482e-04 9.99950714e-01 5.99356827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466338938 meters 0.03434540285897941 Centerline is valid? [True, True] Translation: X:-11.27, Y:-0.42, Z:0.06 [[ 9.99769041e-01 1.83839887e-02 -1.11307094e-02 -1.12719456e+01] [-1.83851295e-02 9.99830979e-01 -1.65294967e-07 -4.24546046e-01] [ 1.11288250e-02 2.04804790e-04 9.99938052e-01 5.69837344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526338938 meters 0.033887777765554 Centerline is valid? [True, True] Translation: X:-11.33, Y:-0.42, Z:0.07 [[ 9.99706364e-01 2.06926571e-02 -1.26095227e-02 -1.13300957e+01] [-2.06943231e-02 9.99785850e-01 -1.64533296e-06 -4.18369972e-01] [ 1.26067883e-02 2.62590386e-04 9.99920497e-01 6.93876566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586338938 meters 0.034246158400507466 Centerline is valid? [True, True] Translation: X:-11.39, Y:-0.43, Z:0.07 [[ 9.99640795e-01 2.39534985e-02 -1.20212355e-02 -1.13888582e+01] [-2.39551862e-02 9.99713033e-01 3.59506066e-06 -4.27114653e-01] [ 1.20178719e-02 2.84377165e-04 9.99927742e-01 7.25027592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646338938 meters 0.034591864071645634 Centerline is valid? [True, True] Translation: X:-11.45, Y:-0.40, Z:0.08 [[ 9.99549297e-01 2.75978587e-02 -1.18135552e-02 -1.14474426e+01] [-2.75997561e-02 9.99619054e-01 2.42282731e-06 -4.04332797e-01] [ 1.18091218e-02 3.23629507e-04 9.99930218e-01 7.81524474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706338938 meters 0.035371310756148876 Centerline is valid? [True, True] Translation: X:-11.51, Y:-0.42, Z:0.08 [[ 9.99394792e-01 3.22390845e-02 -1.30648766e-02 -1.15065060e+01] [-3.22418016e-02 9.99480098e-01 2.65498270e-06 -4.15177535e-01] [ 1.30581697e-02 4.18581783e-04 9.99914651e-01 7.53884026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766338938 meters 0.03455030968262504 Centerline is valid? [True, True] Translation: X:-11.56, Y:-0.40, Z:0.09 [[ 9.99443661e-01 3.04587021e-02 -1.35881168e-02 -1.15646755e+01] [-3.04614516e-02 9.99535942e-01 4.62342044e-06 -3.99505546e-01] [ 1.35819520e-02 4.09292915e-04 9.99907677e-01 8.74052328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826338938000001 meters 0.03615315814561901 Centerline is valid? [True, True] Translation: X:-11.62, Y:-0.41, Z:0.09 [[ 9.99503773e-01 2.98046836e-02 -1.01926124e-02 -1.16245960e+01] [-2.98061963e-02 9.99555697e-01 3.49947439e-06 -4.14332269e-01] [ 1.01881880e-02 3.00305267e-04 9.99948054e-01 8.91971884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886338938 meters 0.03484094257704914 Centerline is valid? [True, True] Translation: X:-11.68, Y:-0.41, Z:0.09 [[ 9.99584883e-01 2.48199190e-02 -1.46298434e-02 -1.16834815e+01] [-2.48224210e-02 9.99691876e-01 1.05650404e-05 -4.12010145e-01] [ 1.46255979e-02 3.52587479e-04 9.99892978e-01 9.40872404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946338938 meters 0.03703802694990153 Centerline is valid? [True, True] Translation: X:-11.74, Y:-0.42, Z:0.10 [[ 9.99614519e-01 2.34194631e-02 -1.49111337e-02 -1.17409138e+01] [-2.34219113e-02 9.99725669e-01 1.04489636e-05 -4.21711592e-01] [ 1.49072878e-02 3.38802316e-04 9.99888823e-01 1.02665168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006338938 meters 0.033893586216862004 Centerline is valid? [True, True] Translation: X:-11.80, Y:-0.43, Z:0.10 [[ 9.99747896e-01 1.97649565e-02 -1.06532084e-02 -1.18014185e+01] [-1.97660063e-02 9.99804633e-01 6.74060267e-06 -4.26013976e-01] [ 1.06512604e-02 2.03832482e-04 9.99943253e-01 1.00488243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066338938 meters 0.03331741324034713 Centerline is valid? [True, True] Translation: X:-11.86, Y:-0.42, Z:0.10 [[ 9.99762134e-01 1.74305469e-02 -1.31091983e-02 -1.18590316e+01] [-1.74318455e-02 9.99848054e-01 1.52092912e-05 -4.21717414e-01] [ 1.31074715e-02 2.13311847e-04 9.99914071e-01 9.64939783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126338938 meters 0.033317634075494915 Centerline is valid? [True, True] Translation: X:-11.92, Y:-0.43, Z:0.10 [[ 9.99796677e-01 1.69228437e-02 -1.09645426e-02 -1.19162508e+01] [-1.69237125e-02 9.99856784e-01 1.35449375e-05 -4.25451934e-01] [ 1.09632016e-02 1.72018584e-04 9.99939888e-01 1.04223884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186338938 meters 0.03416697743619384 Centerline is valid? [True, True] Translation: X:-11.98, Y:-0.42, Z:0.09 [[ 9.99608058e-01 2.17725092e-02 -1.75979763e-02 -1.19766980e+01] [-2.17755434e-02 9.99762885e-01 1.92081492e-05 -4.23731726e-01] [ 1.75942218e-02 3.64004875e-04 9.99845143e-01 9.18909626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246338938000001 meters 0.03353946518794045 Centerline is valid? [True, True] Translation: X:-12.04, Y:-0.43, Z:0.11 [[ 9.99706350e-01 2.05025922e-02 -1.29173485e-02 -1.20357763e+01] [-2.05041056e-02 9.99789769e-01 1.52804929e-05 -4.29489336e-01] [ 1.29149462e-02 2.49582672e-04 9.99916567e-01 1.05250820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306338938 meters 0.033657546287236204 Centerline is valid? [True, True] Translation: X:-12.09, Y:-0.42, Z:0.11 [[ 9.99701167e-01 2.15621724e-02 -1.15173807e-02 -1.20935176e+01] [-2.15634283e-02 9.99767482e-01 1.51347407e-05 -4.20223025e-01] [ 1.15150290e-02 2.33223995e-04 9.99933673e-01 1.10307659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366338938 meters 0.03376454619353903 Centerline is valid? [True, True] Translation: X:-12.15, Y:-0.44, Z:0.10 [[ 9.99725911e-01 1.90874305e-02 -1.35562864e-02 -1.21518559e+01] [-1.90888617e-02 9.99817791e-01 2.38226684e-05 -4.40991344e-01] [ 1.35542711e-02 2.34957937e-04 9.99908109e-01 1.02138230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426338938 meters 0.0354382400637175 Centerline is valid? [True, True] Translation: X:-12.21, Y:-0.43, Z:0.12 [[ 9.99743248e-01 1.76921625e-02 -1.41571918e-02 -1.22108133e+01] [-1.76935428e-02 9.99843457e-01 2.77601087e-05 -4.33377413e-01] [ 1.41554667e-02 2.22737897e-04 9.99899782e-01 1.18936390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486338938000001 meters 0.0337436710052277 Centerline is valid? [True, True] Translation: X:-12.27, Y:-0.42, Z:0.11 [[ 9.99688349e-01 1.94965077e-02 -1.55913651e-02 -1.22701224e+01] [-1.94983511e-02 9.99809889e-01 3.37894208e-05 -4.19093879e-01] [ 1.55890598e-02 2.70227021e-04 9.99878447e-01 1.07765241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546338938 meters 0.03591252115395139 Centerline is valid? [True, True] Translation: X:-12.33, Y:-0.43, Z:0.11 [[ 9.99686802e-01 1.89705054e-02 -1.63223068e-02 -1.23275789e+01] [-1.89723797e-02 9.99820007e-01 4.00206602e-05 -4.34335625e-01] [ 1.63201281e-02 2.69664876e-04 9.99866781e-01 1.14705699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606338938 meters 0.03305365669297387 Centerline is valid? [True, True] Translation: X:-12.39, Y:-0.42, Z:0.13 [[ 9.99752313e-01 1.89831877e-02 -1.16168290e-02 -1.23860100e+01] [-1.89841436e-02 9.99819785e-01 2.79854768e-05 -4.24145856e-01] [ 1.16152667e-02 1.92557004e-04 9.99932522e-01 1.29839421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666338938 meters 0.033689111473089305 Centerline is valid? [True, True] Translation: X:-12.44, Y:-0.43, Z:0.13 [[ 9.99718790e-01 1.87973519e-02 -1.44568166e-02 -1.24449952e+01] [-1.87987407e-02 9.99823287e-01 3.98355600e-05 -4.25698822e-01] [ 1.44550107e-02 2.31945589e-04 9.99895494e-01 1.28110013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726338938 meters 0.0324079830601695 Centerline is valid? [True, True] Translation: X:-12.50, Y:-0.42, Z:0.13 [[ 9.99763280e-01 1.67140924e-02 -1.39292486e-02 -1.25035218e+01] [-1.67151340e-02 9.99860292e-01 4.16506131e-05 -4.22663092e-01] [ 1.39279987e-02 1.91188503e-04 9.99902982e-01 1.27202079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786338938 meters 0.0326570345517441 Centerline is valid? [True, True] Translation: X:-12.56, Y:-0.42, Z:0.13 [[ 9.99841621e-01 1.07462516e-02 -1.41862740e-02 -1.25623540e+01] [-1.07466851e-02 9.99942252e-01 4.56742109e-05 -4.18819066e-01] [ 1.41859456e-02 1.06788442e-04 9.99899369e-01 1.33418101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846338938 meters 0.03197729354080021 Centerline is valid? [True, True] Translation: X:-12.62, Y:-0.42, Z:0.15 [[ 9.99866881e-01 1.07891206e-02 -1.22399225e-02 -1.26197994e+01] [-1.07894500e-02 9.99941791e-01 3.91221005e-05 -4.19540558e-01] [ 1.22396321e-02 9.29451393e-05 9.99925089e-01 1.45596400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906338938000001 meters 0.03308283718124829 Centerline is valid? [True, True] Translation: X:-12.68, Y:-0.42, Z:0.14 [[ 9.99828287e-01 1.21463785e-02 -1.39950759e-02 -1.26787030e+01] [-1.21468743e-02 9.99926223e-01 4.95772873e-05 -4.15383749e-01] [ 1.39946455e-02 1.20427653e-04 9.99902063e-01 1.43741997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966338938 meters 0.03264315989511095 Centerline is valid? [True, True] Translation: X:-12.74, Y:-0.40, Z:0.16 [[ 9.99821823e-01 1.67800719e-02 -8.64588792e-03 -1.27359604e+01] [-1.67804265e-02 9.99859198e-01 3.15300882e-05 -4.01746592e-01] [ 8.64519964e-03 1.13557216e-04 9.99962623e-01 1.58435672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026338938 meters 0.033623691583555965 Centerline is valid? [True, True] Translation: X:-12.80, Y:-0.39, Z:0.15 [[ 9.99832865e-01 1.37883660e-02 -1.20051306e-02 -1.27950978e+01] [-1.37887966e-02 9.99904929e-01 4.69016512e-05 -3.90858158e-01] [ 1.20046359e-02 1.18642492e-04 9.99927935e-01 1.54707889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086338938 meters 0.03485748030891863 Centerline is valid? [True, True] Translation: X:-12.85, Y:-0.39, Z:0.16 [[ 9.99856061e-01 1.15578569e-02 -1.24206435e-02 -1.28537270e+01] [-1.15581090e-02 9.99933202e-01 5.14835572e-05 -3.91415304e-01] [ 1.24204088e-02 9.20830050e-05 9.99922860e-01 1.64065126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146338938 meters 0.03323282065656287 Centerline is valid? [True, True] Translation: X:-12.91, Y:-0.39, Z:0.17 [[ 9.99949299e-01 4.54353532e-03 -8.98638964e-03 -1.29132497e+01] [-4.54339491e-03 9.99989678e-01 3.60400129e-05 -3.89675757e-01] [ 8.98646064e-03 4.79053129e-06 9.99959621e-01 1.65406547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206338938 meters 0.034295118319041286 Centerline is valid? [True, True] Translation: X:-12.97, Y:-0.40, Z:0.17 [[ 9.99963105e-01 -1.63676484e-03 -8.43261811e-03 -1.29715514e+01] [ 1.63714899e-03 9.99998659e-01 3.86519908e-05 -3.96511102e-01] [ 8.43254354e-03 -5.24560169e-05 9.99964444e-01 1.67360846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266338938 meters 0.03340363258485466 Centerline is valid? [True, True] Translation: X:-13.03, Y:-0.38, Z:0.18 [[ 9.99964771e-01 4.91871707e-03 -6.80174419e-03 -1.30285302e+01] [-4.91861672e-03 9.99987903e-01 3.14809707e-05 -3.76938411e-01] [ 6.80181676e-03 1.97531100e-06 9.99976867e-01 1.80577597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326338938000001 meters 0.03441594162991352 Centerline is valid? [True, True] Translation: X:-13.09, Y:-0.37, Z:0.17 [[ 9.99945314e-01 7.47646328e-03 -7.31247650e-03 -1.30875005e+01] [-7.47639630e-03 9.99972051e-01 3.64951506e-05 -3.73296739e-01] [ 7.31254498e-03 1.81778175e-05 9.99973263e-01 1.71246227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386338938 meters 0.03514508199528212 Centerline is valid? [True, True] Translation: X:-13.14, Y:-0.36, Z:0.18 [[ 9.99960818e-01 6.81436923e-03 -5.65037703e-03 -1.31449483e+01] [-6.81432232e-03 9.99976782e-01 2.75549194e-05 -3.61725145e-01] [ 5.65043361e-03 1.09496506e-05 9.99984036e-01 1.79222061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446338938 meters 0.03618020529664988 Centerline is valid? [True, True] Translation: X:-13.20, Y:-0.36, Z:0.18 [[ 9.99986132e-01 1.86156997e-03 -4.92659580e-03 -1.32040636e+01] [-1.86145928e-03 9.99998267e-01 2.70530893e-05 -3.64046291e-01] [ 4.92663762e-03 -1.78820566e-05 9.99987864e-01 1.76011615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506338938 meters 0.036825291967561395 Centerline is valid? [True, True] Translation: X:-13.26, Y:-0.37, Z:0.18 [[ 9.99987092e-01 -4.25273438e-03 -2.78026908e-03 -1.32617705e+01] [ 4.25279967e-03 9.99990957e-01 1.75714078e-05 -3.74306949e-01] [ 2.78016921e-03 -2.93951085e-05 9.99996135e-01 1.81848306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566338938 meters 0.040777700024203035 Centerline is valid? [True, True] Translation: X:-13.32, Y:-0.37, Z:0.19 [[ 9.99917479e-01 -1.28408072e-02 -3.84854151e-04 -1.33208304e+01] [ 1.28408094e-02 9.99917553e-01 3.32531006e-06 -3.72876152e-01] [ 3.84779722e-04 -8.26687445e-06 9.99999926e-01 1.86138608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626338938 meters 0.04177092490061486 Centerline is valid? [True, True] Translation: X:-13.38, Y:-0.38, Z:0.18 [[ 9.99900006e-01 -1.40935008e-02 1.16212602e-03 -1.33801470e+01] [ 1.40935168e-02 9.99900681e-01 -5.52831898e-06 -3.77084940e-01] [-1.16193268e-03 2.19062087e-05 9.99999325e-01 1.81452509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686338938 meters 0.040803064304871836 Centerline is valid? [True, True] Translation: X:-13.44, Y:-0.37, Z:0.18 [[ 9.99926389e-01 -1.06627818e-02 5.78973961e-03 -1.34397500e+01] [ 1.06631408e-02 9.99943147e-01 -3.11321262e-05 -3.73224676e-01] [-5.78907849e-03 9.28666429e-05 9.99983239e-01 1.82111553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746338938000001 meters 0.04277514284388709 Centerline is valid? [True, True] Translation: X:-13.50, Y:-0.37, Z:0.18 [[ 9.99890062e-01 -1.42863547e-02 3.97034104e-03 -1.35010984e+01] [ 1.42865594e-02 9.99897942e-01 -2.31882161e-05 -3.68919573e-01] [-3.96960456e-03 7.99081799e-05 9.99992118e-01 1.76212188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806338938 meters 0.043152060371867154 Centerline is valid? [True, True] Translation: X:-13.56, Y:-0.37, Z:0.19 [[ 9.99811485e-01 -1.56196801e-02 1.15334464e-02 -1.35610813e+01] [ 1.56214132e-02 9.99877976e-01 -6.01940738e-05 -3.69771611e-01] [-1.15310989e-02 2.40351459e-04 9.99933486e-01 1.91087915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866338938 meters 0.04597140578235949 Centerline is valid? [True, True] Translation: X:-13.62, Y:-0.39, Z:0.17 [[ 9.99618459e-01 -2.49123458e-02 1.19294734e-02 -1.36226640e+01] [ 2.49148610e-02 9.99689575e-01 -6.22475014e-05 -3.90321430e-01] [-1.19242195e-02 3.59444924e-04 9.99928839e-01 1.71806488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926338938 meters 0.04713969137581489 Centerline is valid? [True, True] Translation: X:-13.68, Y:-0.39, Z:0.17 [[ 9.99430137e-01 -3.14932852e-02 1.21480022e-02 -1.36839533e+01] [ 3.14963764e-02 9.99503864e-01 -6.31887542e-05 -3.86178267e-01] [-1.21399851e-02 4.45770796e-04 9.99926208e-01 1.68636823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986338938 meters 0.04833869569648393 Centerline is valid? [True, True] Translation: X:-13.74, Y:-0.40, Z:0.16 [[ 9.99227108e-01 -3.44307050e-02 1.89661250e-02 -1.37443633e+01] [ 3.44387611e-02 9.99406805e-01 -9.82178773e-05 -4.00334290e-01] [-1.89514927e-02 7.51311814e-04 9.99820122e-01 1.62959114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046338938 meters 0.05095958799995862 Centerline is valid? [True, True] Translation: X:-13.81, Y:-0.40, Z:0.15 [[ 9.98952837e-01 -4.09575693e-02 2.03888743e-02 -1.38051875e+01] [ 4.09682317e-02 9.99160444e-01 -1.05361690e-04 -4.04539227e-01] [-2.03674413e-02 9.40547484e-04 9.99792120e-01 1.49936736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106338938 meters 0.052472294998461885 Centerline is valid? [True, True] Translation: X:-13.87, Y:-0.41, Z:0.15 [[ 9.98691999e-01 -4.52773440e-02 2.37540238e-02 -1.38661294e+01] [ 4.52930332e-02 9.98973736e-01 -1.22603330e-04 -4.12766644e-01] [-2.37240948e-02 1.19833475e-03 9.99717826e-01 1.51797133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166338938 meters 0.05128277750177504 Centerline is valid? [True, True] Translation: X:-13.93, Y:-0.42, Z:0.15 [[ 9.98667848e-01 -4.36868580e-02 2.74588384e-02 -1.39271460e+01] [ 4.37071236e-02 9.99044378e-01 -1.37996105e-04 -4.24338675e-01] [-2.74265695e-02 1.33795912e-03 9.99622925e-01 1.49376349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226338938 meters 0.051856852202605816 Centerline is valid? [True, True] Translation: X:-13.99, Y:-0.42, Z:0.13 [[ 9.98590622e-01 -4.62532953e-02 2.60269520e-02 -1.39875012e+01] [ 4.62723037e-02 9.98928855e-01 -1.28222265e-04 -4.20201900e-01] [-2.59931427e-02 1.33236858e-03 9.99661233e-01 1.33215730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286338938 meters 0.05486487022830734 Centerline is valid? [True, True] Translation: X:-14.05, Y:-0.45, Z:0.12 [[ 9.98244351e-01 -5.25454800e-02 2.73347371e-02 -1.40482647e+01] [ 5.25687932e-02 9.98617296e-01 -1.34469648e-04 -4.47973416e-01] [-2.72898755e-02 1.57118771e-03 9.99626327e-01 1.23560458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346338938 meters 0.05496180454636861 Centerline is valid? [True, True] Translation: X:-14.11, Y:-0.45, Z:0.12 [[ 9.97892747e-01 -5.74851134e-02 3.00919907e-02 -1.41075229e+01] [ 5.75156175e-02 9.98344596e-01 -1.48385364e-04 -4.47146361e-01] [-3.00336464e-02 1.87883211e-03 9.99547122e-01 1.20844914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406338938 meters 0.05767679716803914 Centerline is valid? [True, True] Translation: X:-14.17, Y:-0.46, Z:0.11 [[ 9.97575944e-01 -6.06993172e-02 3.40268844e-02 -1.41687360e+01] [ 6.07401812e-02 9.98153597e-01 -1.67567494e-04 -4.57140294e-01] [-3.39538858e-02 2.23396042e-03 9.99420904e-01 1.10911521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466338938 meters 0.058439203415689006 Centerline is valid? [True, True] Translation: X:-14.23, Y:-0.48, Z:0.09 [[ 9.97032217e-01 -6.96828126e-02 3.27271088e-02 -1.42282528e+01] [ 6.97254165e-02 9.97566209e-01 -1.60947915e-04 -4.76373677e-01] [-3.26362425e-02 2.44238155e-03 9.99464312e-01 9.49518682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526338938 meters 0.05884760441249502 Centerline is valid? [True, True] Translation: X:-14.29, Y:-0.48, Z:0.09 [[ 9.96636798e-01 -7.32276715e-02 3.67804473e-02 -1.42889519e+01] [ 7.32838921e-02 9.97311104e-01 -1.80902006e-04 -4.83496193e-01] [-3.66683014e-02 2.87570792e-03 9.99323354e-01 9.34226274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586338938 meters 0.06188572740988602 Centerline is valid? [True, True] Translation: X:-14.35, Y:-0.50, Z:0.08 [[ 9.96010223e-01 -7.91860846e-02 4.11485098e-02 -1.43500619e+01] [ 7.92615067e-02 9.96853837e-01 -2.02163634e-04 -5.01808508e-01] [-4.10030414e-02 3.46284993e-03 9.99153021e-01 7.68205977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646338938 meters 0.06136987306242485 Centerline is valid? [True, True] Translation: X:-14.41, Y:-0.50, Z:0.06 [[ 9.95660089e-01 -8.15585812e-02 4.48239319e-02 -1.44102479e+01] [ 8.16504779e-02 9.96661001e-01 -2.20080265e-04 -5.04945709e-01] [-4.46563154e-02 3.87902060e-03 9.98994878e-01 6.23828478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706338938 meters 0.06330349367263158 Centerline is valid? [True, True] Translation: X:-14.47, Y:-0.52, Z:0.04 [[ 9.95830196e-01 -8.01527270e-02 4.35632892e-02 -1.44716172e+01] [ 8.02381611e-02 9.96775698e-01 -2.13330048e-04 -5.23552396e-01] [-4.34057290e-02 3.70787872e-03 9.99050647e-01 3.76330670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766338938 meters 0.06402929993983657 Centerline is valid? [True, True] Translation: X:-14.53, Y:-0.53, Z:0.02 [[ 9.95398784e-01 -8.64342051e-02 4.13568571e-02 -1.45325492e+01] [ 8.65165483e-02 9.96250393e-01 -2.02049151e-04 -5.26053105e-01] [-4.11843212e-02 3.77917200e-03 9.99144419e-01 1.91019662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826338938000001 meters 0.06426668490968589 Centerline is valid? [True, True] Translation: X:-14.59, Y:-0.55, Z:0.03 [[ 9.94512328e-01 -9.23053503e-02 4.92437917e-02 -1.45935191e+01] [ 9.24292398e-02 9.95719227e-01 -2.39756808e-04 -5.47255145e-01] [-4.90108594e-02 4.79000734e-03 9.98786760e-01 2.92018339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886338938 meters 0.0661902675300329 Centerline is valid? [True, True] Translation: X:-14.65, Y:-0.57, Z:0.02 [[ 9.93800020e-01 -1.01299394e-01 4.58252481e-02 -1.46540289e+01] [ 1.01416084e-01 9.94844072e-01 -2.22705789e-04 -5.65691855e-01] [-4.55664165e-02 4.86874225e-03 9.98949447e-01 1.56913263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946338938 meters 0.07002528662218016 Centerline is valid? [True, True] Translation: X:-14.71, Y:-0.59, Z:0.02 [[ 9.93055074e-01 -1.07487244e-01 4.78342246e-02 -1.47148253e+01] [ 1.07621462e-01 9.94191917e-01 -2.31853625e-04 -5.88326814e-01] [-4.75314782e-02 5.37823263e-03 9.98855261e-01 1.83068769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006338938 meters 0.06512646935560085 Centerline is valid? [True, True] Translation: X:-14.77, Y:-0.58, Z:-0.01 [[ 9.92586319e-01 -1.09209013e-01 5.33459497e-02 -1.47748573e+01] [ 1.09378430e-01 9.94000147e-01 -2.57906748e-04 -5.76550699e-01] [-5.29977161e-02 6.09089094e-03 9.98576058e-01 -7.25434736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066338938 meters 0.06802704500488238 Centerline is valid? [True, True] Translation: X:-14.84, Y:-0.60, Z:-0.04 [[ 9.93103212e-01 -1.03634867e-01 5.48254001e-02 -1.48358609e+01] [ 1.03805402e-01 9.94597591e-01 -2.64268292e-04 -6.02684354e-01] [-5.45018235e-02 5.95361838e-03 9.98495922e-01 -3.73746531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126338938 meters 0.06687202082569504 Centerline is valid? [True, True] Translation: X:-14.90, Y:-0.61, Z:-0.07 [[ 9.92899945e-01 -1.05512456e-01 5.49256015e-02 -1.48956663e+01] [ 1.05686283e-01 9.94399488e-01 -2.61668919e-04 -6.08700875e-01] [-5.45903807e-02 6.06469375e-03 9.98490415e-01 -7.27971055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186338938 meters 0.0654718241744959 Centerline is valid? [True, True] Translation: X:-14.96, Y:-0.62, Z:-0.10 [[ 9.92539625e-01 -1.06059582e-01 6.01369943e-02 -1.49563209e+01] [ 1.06268973e-01 9.94337379e-01 -2.85351578e-04 -6.16953319e-01] [-5.97661970e-02 6.67391938e-03 9.98190092e-01 -9.62658739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246338938000001 meters 0.06909286013725184 Centerline is valid? [True, True] Translation: X:-15.02, Y:-0.64, Z:-0.12 [[ 9.92417111e-01 -1.08451266e-01 5.78498152e-02 -1.50174333e+01] [ 1.08648973e-01 9.94080140e-01 -2.73985929e-04 -6.42331368e-01] [-5.74776383e-02 6.55723135e-03 9.98325260e-01 -1.24263609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306338938 meters 0.07223829091132024 Centerline is valid? [True, True] Translation: X:-15.08, Y:-0.67, Z:-0.14 [[ 9.91668191e-01 -1.16847874e-01 5.42288980e-02 -1.50784410e+01] [ 1.17033871e-01 9.93127891e-01 -2.56026029e-04 -6.73629017e-01] [-5.38263150e-02 6.60051071e-03 9.98528498e-01 -1.44578711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366338938 meters 0.07281980686678635 Centerline is valid? [True, True] Translation: X:-15.14, Y:-0.68, Z:-0.14 [[ 9.90673221e-01 -1.22134730e-01 6.04125544e-02 -1.51387488e+01] [ 1.22375297e-01 9.92483857e-01 -2.84416252e-04 -6.82687248e-01] [-5.99237479e-02 7.67476786e-03 9.98173453e-01 -1.41340320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426338938 meters 0.07159614833359584 Centerline is valid? [True, True] Translation: X:-15.20, Y:-0.69, Z:-0.14 [[ 9.89774926e-01 -1.28804237e-01 6.12785801e-02 -1.51984098e+01] [ 1.29064258e-01 9.91636191e-01 -2.87607732e-04 -6.91973123e-01] [-6.07290126e-02 8.19354141e-03 9.98120660e-01 -1.43186329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486338938 meters 0.07601847646582852 Centerline is valid? [True, True] Translation: X:-15.26, Y:-0.72, Z:-0.15 [[ 9.89283225e-01 -1.34689422e-01 5.63689667e-02 -1.52597808e+01] [ 1.34918647e-01 9.90856644e-01 -2.63359039e-04 -7.15239564e-01] [-5.58180935e-02 7.86576139e-03 9.98409971e-01 -1.46785702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546338938 meters 0.07338780768362932 Centerline is valid? [True, True] Translation: X:-15.32, Y:-0.71, Z:-0.17 [[ 9.88221766e-01 -1.39820817e-01 6.21922777e-02 -1.53194796e+01] [ 1.40109880e-01 9.90135919e-01 -2.89740541e-04 -7.12896882e-01] [-6.15382962e-02 9.00008045e-03 9.98064145e-01 -1.66517193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606338938 meters 0.07482964992563619 Centerline is valid? [True, True] Translation: X:-15.38, Y:-0.74, Z:-0.19 [[ 9.88873487e-01 -1.37424409e-01 5.69539990e-02 -1.53808214e+01] [ 1.37662757e-01 9.90479124e-01 -2.64117126e-04 -7.41931477e-01] [-5.63754509e-02 8.10162293e-03 9.98376769e-01 -1.92106027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666338938 meters 0.07832772457903997 Centerline is valid? [True, True] Translation: X:-15.44, Y:-0.76, Z:-0.22 [[ 9.89765181e-01 -1.30882565e-01 5.68739060e-02 -1.54416498e+01] [ 1.31109575e-01 9.91367848e-01 -2.62433994e-04 -7.57967623e-01] [-5.63486137e-02 7.71646168e-03 9.98381335e-01 -2.17820326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726338938 meters 0.07166487858505252 Centerline is valid? [True, True] Translation: X:-15.50, Y:-0.76, Z:-0.25 [[ 9.90424669e-01 -1.27011082e-01 5.41032352e-02 -1.55023865e+01] [ 1.27210722e-01 9.91875683e-01 -2.48303361e-04 -7.56251287e-01] [-5.36321461e-02 7.12843740e-03 9.98535316e-01 -2.51380620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786338938 meters 0.07290443013081238 Centerline is valid? [True, True] Translation: X:-15.56, Y:-0.77, Z:-0.26 [[ 9.91201227e-01 -1.21036702e-01 5.35746567e-02 -1.55629968e+01] [ 1.21223785e-01 9.92625173e-01 -2.44267445e-04 -7.68378364e-01] [-5.31499876e-02 6.73664085e-03 9.98563817e-01 -2.63519238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846338938 meters 0.07111118622078139 Centerline is valid? [True, True] Translation: X:-15.62, Y:-0.78, Z:-0.29 [[ 9.92092360e-01 -1.14382467e-01 5.16662415e-02 -1.56244163e+01] [ 1.14547478e-01 9.93417747e-01 -2.34299538e-04 -7.82068956e-01] [-5.12993615e-02 6.15068447e-03 9.98664380e-01 -2.89992640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906338938 meters 0.07166635250292305 Centerline is valid? [True, True] Translation: X:-15.69, Y:-0.79, Z:-0.32 [[ 9.92500439e-01 -1.14122793e-01 4.38048631e-02 -1.56851466e+01] [ 1.14241074e-01 9.93453037e-01 -1.98165837e-04 -7.85485412e-01] [-4.34954591e-02 5.20099430e-03 9.99040087e-01 -3.18918712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966338938 meters 0.07032557005061717 Centerline is valid? [True, True] Translation: X:-15.75, Y:-0.80, Z:-0.33 [[ 9.92071718e-01 -1.18485931e-01 4.18902269e-02 -1.57457481e+01] [ 1.18597894e-01 9.92942347e-01 -1.89019492e-04 -7.98395049e-01] [-4.15721840e-02 5.15561360e-03 9.99122201e-01 -3.26739405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026338938 meters 0.07117814431878845 Centerline is valid? [True, True] Translation: X:-15.81, Y:-0.82, Z:-0.34 [[ 9.92633646e-01 -1.13519280e-01 4.23298737e-02 -1.58071688e+01] [ 1.13629127e-01 9.93523218e-01 -1.90263531e-04 -8.16378721e-01] [-4.20341138e-02 4.99876857e-03 9.99103671e-01 -3.35552377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086338937999997 meters 0.06725468771248673 Centerline is valid? [True, True] Translation: X:-15.87, Y:-0.81, Z:-0.35 [[ 9.94103107e-01 -1.02877168e-01 3.42826635e-02 -1.58674049e+01] [ 1.02942913e-01 9.94687254e-01 -1.53493704e-04 -8.07496650e-01] [-3.40847374e-02 3.68174583e-03 9.99412165e-01 -3.47144038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146338938 meters 0.06623840713510729 Centerline is valid? [True, True] Translation: X:-15.93, Y:-0.80, Z:-0.37 [[ 9.95472345e-01 -9.00374275e-02 3.04642842e-02 -1.59282210e+01] [ 9.00833601e-02 9.95934220e-01 -1.35852775e-04 -8.04190088e-01] [-3.03281913e-02 2.87956276e-03 9.99535847e-01 -3.65346636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206338938 meters 0.0635072159933254 Centerline is valid? [True, True] Translation: X:-15.99, Y:-0.80, Z:-0.37 [[ 9.96261147e-01 -8.12063059e-02 2.94832668e-02 -1.59890765e+01] [ 8.12454773e-02 9.96694113e-01 -1.31101954e-04 -8.03034399e-01] [-2.93751522e-02 2.52599387e-03 9.99565265e-01 -3.70599825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266338937999997 meters 0.060457975454051585 Centerline is valid? [True, True] Translation: X:-16.05, Y:-0.82, Z:-0.38 [[ 9.97354987e-01 -6.79171994e-02 2.58898605e-02 -1.60495490e+01] [ 6.79429378e-02 9.97689202e-01 -1.14767441e-04 -8.16929079e-01] [-2.58222396e-02 1.87349706e-03 9.99664795e-01 -3.78174923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326338938 meters 0.05861436224606169 Centerline is valid? [True, True] Translation: X:-16.11, Y:-0.81, Z:-0.39 [[ 9.97666203e-01 -6.56134271e-02 1.88951467e-02 -1.61090041e+01] [ 6.56267212e-02 9.97844240e-01 -8.36972496e-05 -8.11303259e-01] [-1.88489217e-02 1.32352844e-03 9.99821467e-01 -3.88334553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386338937999998 meters 0.05688514147949244 Centerline is valid? [True, True] Translation: X:-16.17, Y:-0.84, Z:-0.40 [[ 9.98053815e-01 -6.03830672e-02 1.55713911e-02 -1.61699364e+01] [ 6.03914618e-02 9.98174768e-01 -6.90211854e-05 -8.36519231e-01] [-1.55388020e-02 1.00926593e-03 9.99878756e-01 -4.01101586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446338937999997 meters 0.05602074522164017 Centerline is valid? [True, True] Translation: X:-16.23, Y:-0.85, Z:-0.41 [[ 9.98165250e-01 -6.03852002e-02 4.44527817e-03 -1.62330949e+01] [ 6.03858921e-02 9.98175107e-01 -2.14801059e-05 -8.48502072e-01] [-4.43586893e-03 2.89872783e-04 9.99990119e-01 -4.12755651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506338938 meters 0.05491750722549192 Centerline is valid? [True, True] Translation: X:-16.29, Y:-0.86, Z:-0.42 [[ 9.98440883e-01 -5.57960164e-02 -1.61494799e-03 -1.62935587e+01] [ 5.57960999e-02 9.98442184e-01 6.63419107e-06 -8.59615290e-01] [ 1.61206203e-03 -9.67316467e-05 9.99998696e-01 -4.22966965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566338937999998 meters 0.05039075368139662 Centerline is valid? [True, True] Translation: X:-16.35, Y:-0.86, Z:-0.43 [[ 9.99082867e-01 -4.24020457e-02 -5.95754764e-03 -1.63526318e+01] [ 4.24029416e-02 9.99100591e-01 2.41022644e-05 -8.63615559e-01] [ 5.95116738e-03 -2.76697704e-04 9.99982253e-01 -4.27610964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626338938 meters 0.04794768201699099 Centerline is valid? [True, True] Translation: X:-16.41, Y:-0.85, Z:-0.44 [[ 9.99593746e-01 -2.41320581e-02 -1.51652906e-02 -1.64133030e+01] [ 2.41357783e-02 9.99708688e-01 6.23049166e-05 -8.51275217e-01] [ 1.51593692e-02 -4.28305696e-04 9.99884998e-01 -4.36699480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686338938 meters 0.04498690699787578 Centerline is valid? [True, True] Translation: X:-16.47, Y:-0.85, Z:-0.46 [[ 9.99682332e-01 -2.65486520e-03 -2.50636471e-02 -1.64723973e+01] [ 2.65834681e-03 9.99996461e-01 1.05592240e-04 -8.52842403e-01] [ 2.50632781e-02 -1.72186563e-04 9.99685852e-01 -4.56973349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746338937999997 meters 0.04420290509802202 Centerline is valid? [True, True] Translation: X:-16.53, Y:-0.84, Z:-0.45 [[ 9.99397534e-01 1.29186365e-02 -3.22130095e-02 -1.65326291e+01] [-1.29209941e-02 9.99916511e-01 1.34983972e-04 -8.42156795e-01] [ 3.22120639e-02 2.81321458e-04 9.99481017e-01 -4.53915945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806338938 meters 0.04448703611652434 Centerline is valid? [True, True] Translation: X:-16.59, Y:-0.85, Z:-0.46 [[ 9.99033410e-01 1.97683198e-02 -3.92614264e-02 -1.65931178e+01] [-1.97770900e-02 9.99804401e-01 1.65033838e-04 -8.45025871e-01] [ 3.92570093e-02 6.11602446e-04 9.99228959e-01 -4.61690115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866338938 meters 0.04445677758176378 Centerline is valid? [True, True] Translation: X:-16.65, Y:-0.86, Z:-0.46 [[ 9.98847711e-01 1.53567037e-02 -4.54689120e-02 -1.66520431e+01] [-1.53638415e-02 9.99881951e-01 1.92502769e-04 -8.55687502e-01] [ 4.54665006e-02 5.06296208e-04 9.98965736e-01 -4.59279336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926338937999997 meters 0.04780083122846902 Centerline is valid? [True, True] Translation: X:-16.71, Y:-0.85, Z:-0.46 [[ 9.98406890e-01 2.58972611e-02 -5.01299633e-02 -1.67122541e+01] [-2.59191950e-02 9.99664019e-01 2.12593112e-04 -8.46766924e-01] [ 5.01186261e-02 1.08707386e-03 9.98742680e-01 -4.63286078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986338938 meters 0.055272185075771495 Centerline is valid? [True, True] Translation: X:-16.77, Y:-0.82, Z:-0.45 [[ 9.96732805e-01 5.57190184e-02 -5.84731342e-02 -1.67724991e+01] [-5.57999525e-02 9.98441938e-01 2.49028550e-04 -8.22431508e-01] [ 5.83959050e-02 3.01458319e-03 9.98288951e-01 -4.49617896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046338937999998 meters 0.05822755689259461 Centerline is valid? [True, True] Translation: X:-16.83, Y:-0.81, Z:-0.47 [[ 9.95112957e-01 6.99848995e-02 -6.96585729e-02 -1.68333590e+01] [-7.01344806e-02 9.97537501e-01 2.99049394e-04 -8.11563124e-01] [ 6.95079677e-02 4.58787991e-03 9.97570847e-01 -4.67846173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106338937999997 meters 0.06527822536315869 Centerline is valid? [True, True] Translation: X:-16.89, Y:-0.79, Z:-0.45 [[ 9.92853727e-01 9.38546051e-02 -7.37074598e-02 -1.68925572e+01] [-9.40871810e-02 9.95563911e-01 3.18141276e-04 -7.85611119e-01] [ 7.34103460e-02 6.61905936e-03 9.97279855e-01 -4.50952044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166338938 meters 0.07821995772564136 Centerline is valid? [True, True] Translation: X:-16.95, Y:-0.76, Z:-0.45 [[ 9.89381814e-01 1.18583881e-01 -8.40326740e-02 -1.69531157e+01] [-1.18974268e-01 9.92897271e-01 3.64551097e-04 -7.61191687e-01] [ 8.34790425e-02 9.63704569e-03 9.96462933e-01 -4.51034986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226338937999998 meters 0.08447304983136418 Centerline is valid? [True, True] Translation: X:-17.01, Y:-0.74, Z:-0.43 [[ 9.86588008e-01 1.34110928e-01 -9.30503161e-02 -1.70124995e+01] [-1.34657717e-01 9.90892090e-01 4.05897773e-04 -7.39335104e-01] [ 9.22572576e-02 1.21294893e-02 9.95661325e-01 -4.34761743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286338938 meters 0.08079356411380474 Centerline is valid? [True, True] Translation: X:-17.07, Y:-0.75, Z:-0.42 [[ 9.85550604e-01 1.39007073e-01 -9.67834717e-02 -1.70714072e+01] [-1.39621746e-01 9.90204821e-01 4.25452922e-04 -7.45221192e-01] [ 9.58946012e-02 1.30937720e-02 9.95305370e-01 -4.19567187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346338938 meters 0.09278004436110401 Centerline is valid? [True, True] Translation: X:-17.13, Y:-0.71, Z:-0.41 [[ 9.84497713e-01 1.43416127e-01 -1.00975581e-01 -1.71315352e+01] [-1.44108016e-01 9.89561863e-01 4.46811131e-04 -7.14409286e-01] [ 9.99856635e-02 1.41115061e-02 9.94888804e-01 -4.13835309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406338937999998 meters 0.08952636808900036 Centerline is valid? [True, True] Translation: X:-17.19, Y:-0.72, Z:-0.41 [[ 9.85236808e-01 1.37718228e-01 -1.01696222e-01 -1.71919681e+01] [-1.38390366e-01 9.90377657e-01 4.50096892e-04 -7.17300139e-01] [ 1.00779652e-01 1.36303253e-02 9.94815398e-01 -4.08970025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466338938 meters 0.09100504428233022 Centerline is valid? [True, True] Translation: X:-17.25, Y:-0.71, Z:-0.39 [[ 9.85058735e-01 1.40015702e-01 -1.00274081e-01 -1.72516849e+01] [-1.40680185e-01 9.90054990e-01 4.48758487e-04 -7.07747045e-01] [ 9.93396878e-02 1.36645229e-02 9.94959752e-01 -3.91947041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526338938 meters 0.09338035913824529 Centerline is valid? [True, True] Translation: X:-17.31, Y:-0.70, Z:-0.39 [[ 9.83631686e-01 1.44637940e-01 -1.07464284e-01 -1.73115463e+01] [-1.45428659e-01 9.89368622e-01 4.83902859e-04 -6.96198717e-01] [ 1.06391781e-01 1.51524045e-02 9.94208828e-01 -3.92283399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586338937999997 meters 0.09484913675472659 Centerline is valid? [True, True] Translation: X:-17.37, Y:-0.68, Z:-0.37 [[ 9.82856875e-01 1.51340272e-01 -1.05301877e-01 -1.73709506e+01] [-1.52136389e-01 9.88359394e-01 4.77526902e-04 -6.80602728e-01] [ 1.04148368e-01 1.55509066e-02 9.94440188e-01 -3.72583537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646338938 meters 0.10232733346171026 Centerline is valid? [True, False] Translation: X:-17.43, Y:-0.63, Z:-0.40 [[ 0.99459954 0.07237977 -0.07438361 -17.42620324] [ -0.07404422 0.9970571 -0.01986431 -0.63273027] [ 0.07272693 0.02526471 0.99703184 -0.39646063] [ 0. 0. 0. 1. ]] SLAMing on 17.706338938 meters 0.11426571970856923 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.60, Z:-0.42 [[ 0.99791807 0.02796934 -0.05811406 -17.42812945] [ -0.02968899 0.99914012 -0.02894118 -0.6024132 ] [ 0.05725462 0.03060628 0.99789036 -0.42104625] [ 0. 0. 0. 1. ]] SLAMing on 17.766338937999997 meters 0.10684190094195427 Centerline is valid? [False, False] Translation: X:-17.49, Y:-0.58, Z:-0.42 [[ 9.98427884e-01 1.70453719e-02 -5.33967766e-02 -1.74885660e+01] [-1.85307364e-02 9.99451486e-01 -2.74470076e-02 -5.75947364e-01] [ 5.28996433e-02 2.83933393e-02 9.98196096e-01 -4.23568302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826338938 meters 0.11749569337488303 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.55, Z:-0.44 [[ 9.99052973e-01 -1.70057052e-03 -4.34771717e-02 -1.74474065e+01] [ 4.24751718e-04 9.99569488e-01 -2.93369804e-02 -5.52761581e-01] [ 4.35083438e-02 2.92907305e-02 9.98623591e-01 -4.36890685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886338937999998 meters 0.10867195267025771 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.53, Z:-0.45 [[ 9.99086303e-01 -4.04166526e-03 -4.25467255e-02 -1.73862920e+01] [ 2.89167861e-03 9.99629745e-01 -2.70557207e-02 -5.34529599e-01] [ 4.26403225e-02 2.69079685e-02 9.98728073e-01 -4.51070460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946338937999997 meters 0.11419020657522289 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.53, Z:-0.46 [[ 0.99865747 0.02230961 -0.04674977 -17.38620109] [ -0.0231553 0.99957647 -0.01762701 -0.53340976] [ 0.04633672 0.01868585 0.99875109 -0.45617355] [ 0. 0. 0. 1. ]] SLAMing on 18.006338938 meters 0.09821500262024764 Centerline is valid? [False, True] Translation: X:-17.34, Y:-0.51, Z:-0.47 [[ 9.99218549e-01 1.13623817e-02 -3.78574754e-02 -1.73382498e+01] [-1.22622114e-02 9.99645755e-01 -2.36220834e-02 -5.13438220e-01] [ 3.75756614e-02 2.40678403e-02 9.99003908e-01 -4.67044902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066338937999998 meters 0.09893035107844406 Centerline is valid? [True, True] Translation: X:-17.40, Y:-0.49, Z:-0.47 [[ 9.99128806e-01 5.45174237e-03 -4.13752161e-02 -1.74021410e+01] [-5.71151608e-03 9.99964698e-01 -6.16287598e-03 -4.91612875e-01] [ 4.13401571e-02 6.39382213e-03 9.99124672e-01 -4.65372683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126338938 meters 0.09700999546154379 Centerline is valid? [True, True] Translation: X:-17.46, Y:-0.49, Z:-0.45 [[ 9.99043570e-01 2.81544668e-03 -4.36350577e-02 -1.74618637e+01] [-3.10184070e-03 9.99974083e-01 -6.49707628e-03 -4.85534703e-01] [ 4.36156347e-02 6.62621128e-03 9.99026411e-01 -4.45332872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186338938 meters 0.09855633366964134 Centerline is valid? [True, True] Translation: X:-17.52, Y:-0.46, Z:-0.42 [[ 9.99289803e-01 3.38419259e-03 -3.75291455e-02 -1.75242949e+01] [-3.59639462e-03 9.99977918e-01 -5.58825974e-03 -4.64414615e-01] [ 3.75094051e-02 5.71926059e-03 9.99279908e-01 -4.22760769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246338937999997 meters 0.0993425846427994 Centerline is valid? [True, True] Translation: X:-17.59, Y:-0.45, Z:-0.41 [[ 9.99349970e-01 3.97864051e-03 -3.58302736e-02 -1.75852815e+01] [-4.17232859e-03 9.99977077e-01 -5.33256143e-03 -4.53260334e-01] [ 3.58082359e-02 5.47859078e-03 9.99343662e-01 -4.06892461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306338938 meters 0.09417421250872435 Centerline is valid? [True, True] Translation: X:-17.64, Y:-0.45, Z:-0.38 [[ 9.99428951e-01 5.14751128e-03 -3.33957441e-02 -1.76420608e+01] [-5.31621335e-03 9.99973544e-01 -4.96477721e-03 -4.52963847e-01] [ 3.33693043e-02 5.13948098e-03 9.99429875e-01 -3.76829139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366338938 meters 0.09774156956912322 Centerline is valid? [True, True] Translation: X:-17.71, Y:-0.43, Z:-0.35 [[ 9.99576408e-01 6.68786945e-03 -2.83245037e-02 -1.77053043e+01] [-6.80993658e-03 9.99967927e-01 -4.21532513e-03 -4.25696150e-01] [ 2.82954037e-02 4.40642763e-03 9.99589893e-01 -3.54712880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426338937999997 meters 0.09430725385421929 Centerline is valid? [True, True] Translation: X:-17.77, Y:-0.41, Z:-0.33 [[ 9.99679790e-01 -1.30420195e-03 -2.52708780e-02 -1.77669017e+01] [ 1.20955563e-03 9.99992199e-01 -3.76019612e-03 -4.14040776e-01] [ 2.52755849e-02 3.72842554e-03 9.99673569e-01 -3.33449468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486338938 meters 0.08797675376702462 Centerline is valid? [True, True] Translation: X:-17.82, Y:-0.42, Z:-0.30 [[ 9.99736677e-01 -9.60146876e-03 -2.08419897e-02 -1.78245538e+01] [ 9.53887294e-03 9.99949697e-01 -3.10069397e-03 -4.17131116e-01] [ 2.08707125e-02 2.90106840e-03 9.99777974e-01 -3.02534596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546338937999998 meters 0.08696682721616514 Centerline is valid? [True, True] Translation: X:-17.89, Y:-0.41, Z:-0.30 [[ 9.99530812e-01 -2.32601936e-02 -1.99278621e-02 -1.78870721e+01] [ 2.32056420e-02 9.99726318e-01 -2.96436788e-03 -4.06638807e-01] [ 1.99913600e-02 2.50053820e-03 9.99797026e-01 -2.99361154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606338937999997 meters 0.07875589550759442 Centerline is valid? [True, True] Translation: X:-17.94, Y:-0.43, Z:-0.27 [[ 9.99465579e-01 -2.82581183e-02 -1.64327292e-02 -1.79418275e+01] [ 2.82217034e-02 9.99598701e-01 -2.44373051e-03 -4.30011873e-01] [ 1.64951900e-02 1.97866492e-03 9.99861987e-01 -2.72568851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666338938 meters 0.07949423702474602 Centerline is valid? [True, True] Translation: X:-18.00, Y:-0.43, Z:-0.26 [[ 9.99201248e-01 -3.78675799e-02 -1.27637186e-02 -1.80027413e+01] [ 3.78463853e-02 9.99281766e-01 -1.89809211e-03 -4.28288967e-01] [ 1.28264275e-02 1.41351539e-03 9.99916739e-01 -2.63164523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726338937999998 meters 0.07575335317668279 Centerline is valid? [True, True] Translation: X:-18.06, Y:-0.43, Z:-0.25 [[ 9.99180511e-01 -3.89233503e-02 -1.11031323e-02 -1.80627752e+01] [ 3.89073752e-02 9.99241457e-01 -1.65126407e-03 -4.26170579e-01] [ 1.11589828e-02 1.21791715e-03 9.99936995e-01 -2.47825846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786338937999997 meters 0.07130795237134917 Centerline is valid? [True, True] Translation: X:-18.12, Y:-0.43, Z:-0.23 [[ 9.98850227e-01 -4.76651583e-02 -5.12406085e-03 -1.81211332e+01] [ 4.76618727e-02 9.98863237e-01 -7.61506863e-04 -4.32381326e-01] [ 5.15453335e-03 5.16408967e-04 9.99986582e-01 -2.28092566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846338938 meters 0.07117454630182844 Centerline is valid? [True, True] Translation: X:-18.19, Y:-0.41, Z:-0.22 [[ 9.98388636e-01 -5.66193915e-02 -3.79169298e-03 -1.81850009e+01] [ 5.66176582e-02 9.98395775e-01 -5.62998537e-04 -4.11467681e-01] [ 3.81748688e-03 3.47414564e-04 9.99992653e-01 -2.22270020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906338937999998 meters 0.06327579437978206 Centerline is valid? [True, True] Translation: X:-18.24, Y:-0.43, Z:-0.19 [[ 9.98000061e-01 -6.30737937e-02 4.19214601e-03 -1.82400990e+01] [ 6.30717291e-02 9.98008802e-01 6.23029707e-04 -4.26446399e-01] [-4.22309547e-03 -3.57377788e-04 9.99991019e-01 -1.92435220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966338938 meters 0.060957893765716684 Centerline is valid? [True, True] Translation: X:-18.30, Y:-0.43, Z:-0.18 [[ 9.97475253e-01 -7.07465469e-02 6.16811425e-03 -1.83007515e+01] [ 7.07422140e-02 9.97494209e-01 9.18124355e-04 -4.25264112e-01] [-6.21761237e-03 -4.79460266e-04 9.99980556e-01 -1.83750033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026338938 meters 0.05709673665057867 Centerline is valid? [True, True] Translation: X:-18.36, Y:-0.43, Z:-0.17 [[ 9.97114862e-01 -7.53398288e-02 9.26618203e-03 -1.83598098e+01] [ 7.53302556e-02 9.97157687e-01 1.37834580e-03 -4.34174298e-01] [-9.34368898e-03 -6.76345218e-04 9.99956118e-01 -1.74969663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086338937999997 meters 0.0541690241001736 Centerline is valid? [True, True] Translation: X:-18.42, Y:-0.45, Z:-0.16 [[ 9.96825512e-01 -7.87303272e-02 1.18505302e-02 -1.84166288e+01] [ 7.87149114e-02 9.96895610e-01 1.76243531e-03 -4.45975894e-01] [-1.19524986e-02 -8.24027048e-04 9.99928227e-01 -1.56338839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146338938 meters 0.05155650687137048 Centerline is valid? [True, True] Translation: X:-18.48, Y:-0.45, Z:-0.15 [[ 9.96285735e-01 -8.49453252e-02 1.41076502e-02 -1.84750989e+01] [ 8.49240933e-02 9.96385214e-01 2.09838440e-03 -4.54875842e-01] [-1.42349020e-02 -8.92511048e-04 9.99898280e-01 -1.45770052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206338938 meters 0.05111121903123993 Centerline is valid? [True, True] Translation: X:-18.53, Y:-0.46, Z:-0.14 [[ 9.95622730e-01 -9.18129464e-02 1.74860423e-02 -1.85349982e+01] [ 9.17813767e-02 9.95775784e-01 2.60115464e-03 -4.61241031e-01] [-1.76509971e-02 -9.84875652e-04 9.99843724e-01 -1.44025855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266338937999997 meters 0.049566709605329114 Centerline is valid? [True, True] Translation: X:-18.60, Y:-0.46, Z:-0.13 [[ 9.94982300e-01 -9.76889333e-02 2.16123811e-02 -1.85955548e+01] [ 9.76420857e-02 9.95216402e-01 3.21490578e-03 -4.62876152e-01] [-2.18230568e-02 -1.08849639e-03 9.99761256e-01 -1.32688918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326338938 meters 0.044350782182313975 Centerline is valid? [True, True] Translation: X:-18.65, Y:-0.47, Z:-0.12 [[ 9.94737433e-01 -9.96940675e-02 2.36332773e-02 -1.86547101e+01] [ 9.96385919e-02 9.95017480e-01 3.51634308e-03 -4.68670203e-01] [-2.38660826e-02 -1.14305161e-03 9.99714511e-01 -1.23214783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386338937999998 meters 0.041619488442068815 Centerline is valid? [True, True] Translation: X:-18.71, Y:-0.48, Z:-0.11 [[ 9.93964844e-01 -1.05881458e-01 2.86880767e-02 -1.87131812e+01] [ 1.05802323e-01 9.94378028e-01 4.26678472e-03 -4.76829330e-01] [-2.89785665e-02 -1.20576884e-03 9.99579306e-01 -1.06786848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446338937999997 meters 0.03846885394327481 Centerline is valid? [True, True] Translation: X:-18.77, Y:-0.48, Z:-0.11 [[ 9.93430406e-01 -1.09754257e-01 3.24041767e-02 -1.87747736e+01] [ 1.09655345e-01 9.93957987e-01 4.81933570e-03 -4.76535375e-01] [-3.27373329e-02 -1.23438344e-03 9.99463228e-01 -1.09626839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506338938 meters 0.03471982256793721 Centerline is valid? [True, True] Translation: X:-18.83, Y:-0.49, Z:-0.09 [[ 9.92804982e-01 -1.13571900e-01 3.79432639e-02 -1.88316621e+01] [ 1.13439168e-01 9.93528936e-01 5.63995092e-03 -4.92259769e-01] [-3.83382705e-02 -1.29511910e-03 9.99263979e-01 -9.39866385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566338937999998 meters 0.03330180244616627 Centerline is valid? [True, True] Translation: X:-18.89, Y:-0.49, Z:-0.10 [[ 9.92790333e-01 -1.13974077e-01 3.71115187e-02 -1.88941202e+01] [ 1.13847523e-01 9.93482940e-01 5.51261577e-03 -4.90508775e-01] [-3.74979560e-02 -1.24781718e-03 9.99295925e-01 -9.55827954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626338938 meters 0.033216342735058926 Centerline is valid? [True, True] Translation: X:-18.95, Y:-0.50, Z:-0.08 [[ 9.92776572e-01 -1.12484057e-01 4.17374607e-02 -1.89537942e+01] [ 1.12321833e-01 9.93652418e-01 6.21913351e-03 -5.01177578e-01] [-4.21720821e-02 -1.48618195e-03 9.99109257e-01 -8.39022983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686338938 meters 0.0326264680918589 Centerline is valid? [True, True] Translation: X:-19.01, Y:-0.51, Z:-0.08 [[ 9.92749720e-01 -1.12007313e-01 4.36160071e-02 -1.90149434e+01] [ 1.11829951e-01 9.93706145e-01 6.49310347e-03 -5.11511428e-01] [-4.40687693e-02 -1.56845071e-03 9.99027269e-01 -7.94118045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746338937999997 meters 0.03196440900447744 Centerline is valid? [True, True] Translation: X:-19.08, Y:-0.52, Z:-0.08 [[ 9.92715110e-01 -1.13336651e-01 4.08841473e-02 -1.90770803e+01] [ 1.13181578e-01 9.93555623e-01 6.09535540e-03 -5.19267877e-01] [-4.13115017e-02 -1.42361907e-03 9.99145301e-01 -8.22486795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806338938 meters 0.03145587648441169 Centerline is valid? [True, True] Translation: X:-19.14, Y:-0.54, Z:-0.07 [[ 9.92286125e-01 -1.15826574e-01 4.41865539e-02 -1.91356471e+01] [ 1.15646939e-01 9.93268397e-01 6.60886472e-03 -5.35946296e-01] [-4.46545897e-02 -1.44784507e-03 9.99001437e-01 -7.28672915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866338938 meters 0.02998421271021679 Centerline is valid? [True, True] Translation: X:-19.19, Y:-0.55, Z:-0.07 [[ 9.91650284e-01 -1.20733031e-01 4.53127986e-02 -1.91941082e+01] [ 1.20549271e-01 9.92684217e-01 6.77634525e-03 -5.47682496e-01] [-4.57994287e-02 -1.25733984e-03 9.98949864e-01 -6.78062177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926338937999997 meters 0.03084579616275489 Centerline is valid? [True, True] Translation: X:-19.26, Y:-0.56, Z:-0.06 [[ 9.91466035e-01 -1.23166688e-01 4.27208136e-02 -1.92550837e+01] [ 1.23005792e-01 9.92385414e-01 6.38469795e-03 -5.62990967e-01] [-4.31818944e-02 -1.07530365e-03 9.99066648e-01 -6.46217580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986338938 meters 0.03164943055744615 Centerline is valid? [True, True] Translation: X:-19.31, Y:-0.57, Z:-0.06 [[ 9.91029901e-01 -1.25652552e-01 4.55101226e-02 -1.93147830e+01] [ 1.25471587e-01 9.92073753e-01 6.82274356e-03 -5.69812165e-01] [-4.60066933e-02 -1.05131556e-03 9.98940578e-01 -5.54119072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046338937999998 meters 0.028925813189718326 Centerline is valid? [True, True] Translation: X:-19.37, Y:-0.58, Z:-0.05 [[ 9.90835038e-01 -1.26991524e-01 4.60334732e-02 -1.93741009e+01] [ 1.26808104e-01 9.91903304e-01 6.89498061e-03 -5.82933331e-01] [-4.65363582e-02 -9.94370921e-04 9.98916102e-01 -4.64013722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106338937999997 meters 0.029479451501949323 Centerline is valid? [True, True] Translation: X:-19.43, Y:-0.59, Z:-0.04 [[ 9.91200936e-01 -1.24487489e-01 4.49841109e-02 -1.94347447e+01] [ 1.24309007e-01 9.92220564e-01 6.75443440e-03 -5.91071377e-01] [-4.54750025e-02 -1.10307153e-03 9.98964868e-01 -4.18389362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166338938 meters 0.03000650765756536 Centerline is valid? [True, True] Translation: X:-19.50, Y:-0.59, Z:-0.04 [[ 9.91472729e-01 -1.22828359e-01 4.35318591e-02 -1.94971479e+01] [ 1.22659588e-01 9.92427272e-01 6.53720596e-03 -5.90220883e-01] [-4.40051584e-02 -1.14186155e-03 9.99030651e-01 -3.50816802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226338937999998 meters 0.030778752014245805 Centerline is valid? [True, True] Translation: X:-19.56, Y:-0.60, Z:-0.02 [[ 9.91685096e-01 -1.20205677e-01 4.59485069e-02 -1.95591924e+01] [ 1.20015062e-01 9.92748127e-01 6.89496340e-03 -5.96254442e-01] [-4.64441080e-02 -1.32311955e-03 9.98920014e-01 -2.39124604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286338937999997 meters 0.03380750825829151 Centerline is valid? [True, True] Translation: X:-19.62, Y:-0.60, Z:-0.03 [[ 9.91955551e-01 -1.19962641e-01 4.04122384e-02 -1.96208987e+01] [ 1.19814212e-01 9.92777690e-01 6.08383426e-03 -6.01614720e-01] [-4.08502016e-02 -1.19293267e-03 9.99164570e-01 -2.78574508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346338938 meters 0.030609393697962693 Centerline is valid? [True, True] Translation: X:-19.68, Y:-0.61, Z:-0.01 [[ 9.91716165e-01 -1.21107856e-01 4.28011135e-02 -1.96808250e+01] [ 1.20942724e-01 9.92638621e-01 6.43631355e-03 -6.12122262e-01] [-4.32655264e-02 -1.20651295e-03 9.99062880e-01 -1.37457333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406338937999998 meters 0.031126360485043726 Centerline is valid? [True, True] Translation: X:-19.74, Y:-0.62, Z:-0.01 [[ 9.91705911e-01 -1.20779603e-01 4.39508041e-02 -1.97423572e+01] [ 1.20604696e-01 9.92678543e-01 6.61945491e-03 -6.21315007e-01] [-4.44285153e-02 -1.26387919e-03 9.99011767e-01 -6.72895536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466338938 meters 0.03053211640609751 Centerline is valid? [True, True] Translation: X:-19.80, Y:-0.63, Z:-0.01 [[ 9.91561860e-01 -1.21896494e-01 4.41171437e-02 -1.98043988e+01] [ 1.21720811e-01 9.92542055e-01 6.65687654e-03 -6.26845595e-01] [-4.45995704e-02 -1.23073038e-03 9.99004186e-01 -8.25916427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526338938 meters 0.03202053150185985 Centerline is valid? [True, True] Translation: X:-19.87, Y:-0.63, Z:-0.01 [[ 9.91565141e-01 -1.20779663e-01 4.70196062e-02 -1.98661306e+01] [ 1.20578270e-01 9.92678385e-01 7.10664603e-03 -6.34369563e-01] [-4.75336850e-02 -1.37715972e-03 9.98868686e-01 -5.94360821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586338937999997 meters 0.030911857673458925 Centerline is valid? [True, True] Translation: X:-19.93, Y:-0.64, Z:0.01 [[ 9.91692688e-01 -1.20892377e-01 4.39391131e-02 -1.99256787e+01] [ 1.20715867e-01 9.92664770e-01 6.65833892e-03 -6.42247282e-01] [-4.44217520e-02 -1.29887789e-03 9.99012022e-01 5.80386840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646338938 meters 0.03375470976166509 Centerline is valid? [True, True] Translation: X:-19.99, Y:-0.65, Z:0.01 [[ 9.91549360e-01 -1.21461055e-01 4.55749836e-02 -1.99861811e+01] [ 1.21271979e-01 9.92595326e-01 6.90120563e-03 -6.53715027e-01] [-4.60757434e-02 -1.31591757e-03 9.98937082e-01 1.13399792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706338938 meters 0.031094958171142047 Centerline is valid? [True, True] Translation: X:-20.05, Y:-0.66, Z:0.02 [[ 9.91241181e-01 -1.24335820e-01 4.45143326e-02 -2.00473237e+01] [ 1.24157917e-01 9.92239512e-01 6.75003372e-03 -6.62942834e-01] [-4.50081506e-02 -1.16410458e-03 9.98985941e-01 1.82105200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766338937999997 meters 0.035246809470648476 Centerline is valid? [True, True] Translation: X:-20.11, Y:-0.67, Z:0.02 [[ 9.91024168e-01 -1.25955329e-01 4.47923369e-02 -2.01096663e+01] [ 1.25776300e-01 9.92035294e-01 6.80427421e-03 -6.68462598e-01] [-4.52926137e-02 -1.10938581e-03 9.98973147e-01 1.98634220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826338938 meters 0.031673114466881445 Centerline is valid? [True, True] Translation: X:-20.17, Y:-0.68, Z:0.03 [[ 9.90745518e-01 -1.27402940e-01 4.68167587e-02 -2.01702444e+01] [ 1.27208106e-01 9.91850423e-01 7.12990717e-03 -6.82115658e-01] [-4.73435931e-02 -1.10845237e-03 9.98878048e-01 2.98981949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886338937999998 meters 0.034876576927711934 Centerline is valid? [True, True] Translation: X:-20.23, Y:-0.69, Z:0.03 [[ 9.91046581e-01 -1.25739194e-01 4.49035563e-02 -2.02319666e+01] [ 1.25558073e-01 9.92062673e-01 6.84269850e-03 -6.85503928e-01] [-4.54075375e-02 -1.14342894e-03 9.98967891e-01 2.91715227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946338937999997 meters 0.03121879068198405 Centerline is valid? [True, True] Translation: X:-20.29, Y:-0.69, Z:0.04 [[ 9.91450755e-01 -1.22573918e-01 4.47329241e-02 -2.02921291e+01] [ 1.22390881e-01 9.92458555e-01 6.81830211e-03 -6.92866114e-01] [-4.52313192e-02 -1.28510878e-03 9.98975714e-01 3.94117659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006338938 meters 0.03619378965674689 Centerline is valid? [True, True] Translation: X:-20.36, Y:-0.69, Z:0.05 [[ 9.91548573e-01 -1.20889163e-01 4.70875543e-02 -2.03550911e+01] [ 1.20684680e-01 9.92664983e-01 7.17208707e-03 -6.92128452e-01] [-4.76091939e-02 -1.42872627e-03 9.98865018e-01 4.60975440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066338937999998 meters 0.0326957070139355 Centerline is valid? [True, True] Translation: X:-20.41, Y:-0.71, Z:0.05 [[ 9.91938908e-01 -1.18292862e-01 4.54312770e-02 -2.04142947e+01] [ 1.18098972e-01 9.92977592e-01 6.93787177e-03 -7.10029264e-01] [-4.59329408e-02 -1.51655785e-03 9.98943374e-01 4.86819886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126338937999996 meters 0.03558430976078159 Centerline is valid? [True, True] Translation: X:-20.48, Y:-0.71, Z:0.05 [[ 9.92026102e-01 -1.17971663e-01 4.43497455e-02 -2.04773121e+01] [ 1.17786847e-01 9.93015846e-01 6.76677371e-03 -7.11602033e-01] [-4.48382875e-02 -1.48899949e-03 9.98993149e-01 5.29857262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186338938 meters 0.03418322016120269 Centerline is valid? [True, True] Translation: X:-20.54, Y:-0.73, Z:0.06 [[ 9.91814678e-01 -1.19666760e-01 4.45366237e-02 -2.05381077e+01] [ 1.19481581e-01 9.92813086e-01 6.80652774e-03 -7.27527472e-01] [-4.50310579e-02 -1.42950792e-03 9.98984565e-01 5.51437551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246338937999997 meters 0.03126663117513171 Centerline is valid? [True, True] Translation: X:-20.60, Y:-0.74, Z:0.07 [[ 9.91292700e-01 -1.22440909e-01 4.84459111e-02 -2.05968016e+01] [ 1.22224027e-01 9.92474761e-01 7.42530976e-03 -7.39425668e-01] [-4.89905057e-02 -1.43940103e-03 9.98798207e-01 6.75972906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306338938 meters 0.030974174967978756 Centerline is valid? [True, True] Translation: X:-20.66, Y:-0.76, Z:0.06 [[ 9.91012480e-01 -1.26587805e-01 4.32410889e-02 -2.06580402e+01] [ 1.26419328e-01 9.91954803e-01 6.61985969e-03 -7.57478343e-01] [-4.37311993e-02 -1.09385419e-03 9.99042735e-01 6.10474576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366338938 meters 0.03263745077683363 Centerline is valid? [True, True] Translation: X:-20.72, Y:-0.77, Z:0.07 [[ 9.90280267e-01 -1.31306081e-01 4.58661783e-02 -2.07174846e+01] [ 1.31120643e-01 9.91341411e-01 7.04158078e-03 -7.70488490e-01] [-4.63936443e-02 -9.59135704e-04 9.98922775e-01 6.91093400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426338937999997 meters 0.03188226933566716 Centerline is valid? [True, True] Translation: X:-20.78, Y:-0.79, Z:0.08 [[ 9.89732940e-01 -1.34717431e-01 4.77485200e-02 -2.07766950e+01] [ 1.34520320e-01 9.90883706e-01 7.33248921e-03 -7.85910790e-01] [-4.83010446e-02 -8.34059908e-04 9.98832475e-01 8.06048246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486338938 meters 0.03156204025934798 Centerline is valid? [True, True] Translation: X:-20.84, Y:-0.80, Z:0.09 [[ 9.89635821e-01 -1.35421662e-01 4.77694035e-02 -2.08373563e+01] [ 1.35225492e-01 9.90787739e-01 7.32961330e-03 -8.03112177e-01] [-4.83219277e-02 -7.94006763e-04 9.98831498e-01 8.76268808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546338937999998 meters 0.0293514336634185 Centerline is valid? [True, True] Translation: X:-20.90, Y:-0.81, Z:0.09 [[ 9.89536958e-01 -1.36970341e-01 4.53402154e-02 -2.08994000e+01] [ 1.36794662e-01 9.90574905e-01 6.96972304e-03 -8.14434173e-01] [-4.58675249e-02 -6.94499093e-04 9.98947290e-01 8.54394046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606338937999997 meters 0.02895263402722581 Centerline is valid? [True, True] Translation: X:-20.96, Y:-0.83, Z:0.09 [[ 9.89470590e-01 -1.37311935e-01 4.57535201e-02 -2.09608108e+01] [ 1.37132867e-01 9.90527611e-01 7.04478472e-03 -8.28005916e-01] [-4.62874579e-02 -6.96295907e-04 9.98927919e-01 8.79809389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666338938 meters 0.028747869885374543 Centerline is valid? [True, True] Translation: X:-21.02, Y:-0.84, Z:0.09 [[ 9.89076267e-01 -1.40753736e-01 4.37781233e-02 -2.10213884e+01] [ 1.40592728e-01 9.90044501e-01 6.75066378e-03 -8.42939434e-01] [-4.42924714e-02 -5.22035532e-04 9.99018471e-01 9.03339856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726338937999998 meters 0.02869686675542324 Centerline is valid? [True, True] Translation: X:-21.08, Y:-0.85, Z:0.10 [[ 9.88955840e-01 -1.40389202e-01 4.75101878e-02 -2.10794108e+01] [ 1.40198076e-01 9.90096210e-01 7.34812104e-03 -8.53552161e-01] [-4.80712537e-02 -6.06130290e-04 9.98843725e-01 1.01395837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786338937999997 meters 0.028701752247173824 Centerline is valid? [True, True] Translation: X:-21.14, Y:-0.87, Z:0.10 [[ 9.89152519e-01 -1.38795802e-01 4.80938678e-02 -2.11415115e+01] [ 1.38598501e-01 9.90320786e-01 7.42946162e-03 -8.67152093e-01] [-4.86595350e-02 -6.83132693e-04 9.98815190e-01 1.04933174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846338938 meters 0.03233966165502335 Centerline is valid? [True, True] Translation: X:-21.20, Y:-0.86, Z:0.10 [[ 9.90425873e-01 -1.31684703e-01 4.14213553e-02 -2.12041392e+01] [ 1.31531331e-01 9.91291235e-01 6.41837431e-03 -8.63713399e-01] [-4.19058282e-02 -9.08717968e-04 9.99121152e-01 9.64789419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906338937999998 meters 0.030937711776957685 Centerline is valid? [True, True] Translation: X:-21.26, Y:-0.88, Z:0.11 [[ 9.90732695e-01 -1.27898475e-01 4.57242424e-02 -2.12638150e+01] [ 1.27707925e-01 9.91786573e-01 7.07663553e-03 -8.76882502e-01] [-4.62537806e-02 -1.17170607e-03 9.98929034e-01 1.14446961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966338938 meters 0.030553973523469478 Centerline is valid? [True, True] Translation: X:-21.32, Y:-0.89, Z:0.12 [[ 9.90404953e-01 -1.29409818e-01 4.84884352e-02 -2.13238580e+01] [ 1.29196315e-01 9.91590484e-01 7.52496844e-03 -8.85079452e-01] [-4.90544757e-02 -1.18823889e-03 9.98795398e-01 1.19999573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026338938 meters 0.02944747262614882 Centerline is valid? [True, True] Translation: X:-21.39, Y:-0.90, Z:0.11 [[ 9.89943183e-01 -1.34242605e-01 4.46253012e-02 -2.13851657e+01] [ 1.34067024e-01 9.90948119e-01 6.91805432e-03 -9.01621318e-01] [-4.51500558e-02 -8.65699403e-04 9.98979841e-01 1.11147370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086338937999997 meters 0.028678486988998896 Centerline is valid? [True, True] Translation: X:-21.44, Y:-0.93, Z:0.12 [[ 9.89248986e-01 -1.38439896e-01 4.71257770e-02 -2.14415784e+01] [ 1.38247851e-01 9.90370566e-01 7.32617713e-03 -9.28372965e-01] [-4.76862177e-02 -7.32375872e-04 9.98862097e-01 1.24597147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146338938 meters 0.031692830033962165 Centerline is valid? [True, True] Translation: X:-21.50, Y:-0.93, Z:0.13 [[ 9.89358351e-01 -1.37012071e-01 4.89667851e-02 -2.15030556e+01] [ 1.36803277e-01 9.90569033e-01 7.60617030e-03 -9.33736606e-01] [-4.95471181e-02 -8.26411428e-04 9.98771445e-01 1.34137883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206338938 meters 0.030831584260218963 Centerline is valid? [True, True] Translation: X:-21.56, Y:-0.95, Z:0.13 [[ 9.90333204e-01 -1.30585878e-01 4.67704285e-02 -2.15635240e+01] [ 1.30387365e-01 9.91436375e-01 7.28351073e-03 -9.46558731e-01] [-4.73210277e-02 -1.11482959e-03 9.98879111e-01 1.28898612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266338937999997 meters 0.033599158724212326 Centerline is valid? [True, True] Translation: X:-21.63, Y:-0.95, Z:0.13 [[ 9.90812248e-01 -1.26338987e-01 4.82654159e-02 -2.16257695e+01] [ 1.26122647e-01 9.91986198e-01 7.51403841e-03 -9.54774500e-01] [-4.88279424e-02 -1.35763930e-03 9.98806282e-01 1.29590889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326338938 meters 0.032086980650603836 Centerline is valid? [True, True] Translation: X:-21.69, Y:-0.97, Z:0.13 [[ 9.90805351e-01 -1.27027635e-01 4.65696836e-02 -2.16875931e+01] [ 1.26826644e-01 9.91898346e-01 7.25759043e-03 -9.68741630e-01] [-4.71143067e-02 -1.28458276e-03 9.98888678e-01 1.25712905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386338937999998 meters 0.033507610722662076 Centerline is valid? [True, True] Translation: X:-21.74, Y:-1.00, Z:0.14 [[ 9.89784369e-01 -1.33412676e-01 5.02788324e-02 -2.17435553e+01] [ 1.33186214e-01 9.91059999e-01 7.84293728e-03 -9.97677320e-01] [-5.08756868e-02 -1.06636942e-03 9.98704424e-01 1.38249979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446338937999997 meters 0.028920373630918057 Centerline is valid? [True, True] Translation: X:-21.80, Y:-1.02, Z:0.14 [[ 9.89580836e-01 -1.35804211e-01 4.78224277e-02 -2.18024358e+01] [ 1.35602477e-01 9.90735294e-01 7.45284043e-03 -1.01792218e+00] [-4.83914941e-02 -8.90348423e-04 9.98828049e-01 1.41368220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506338938 meters 0.03077039051489414 Centerline is valid? [True, True] Translation: X:-21.86, Y:-1.03, Z:0.14 [[ 9.89514161e-01 -1.35176361e-01 5.08829703e-02 -2.18635015e+01] [ 1.34946479e-01 9.90821057e-01 7.94240767e-03 -1.03090112e+00] [-5.14895441e-02 -9.92647191e-04 9.98673040e-01 1.42446680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566338937999998 meters 0.02958543590247335 Centerline is valid? [True, True] Translation: X:-21.92, Y:-1.05, Z:0.15 [[ 9.90008151e-01 -1.31308426e-01 5.13999805e-02 -2.19219275e+01] [ 1.31067901e-01 9.91340814e-01 8.03719044e-03 -1.04847824e+00] [-5.20102494e-02 -1.21999650e-03 9.98645806e-01 1.52168656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626338937999996 meters 0.03249233344806132 Centerline is valid? [True, True] Translation: X:-21.98, Y:-1.06, Z:0.15 [[ 9.90153185e-01 -1.30652133e-01 5.02661912e-02 -2.19838650e+01] [ 1.30420715e-01 9.91427500e-01 7.87074143e-03 -1.05718282e+00] [-5.08636134e-02 -1.23748713e-03 9.98704842e-01 1.53881497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686338938 meters 0.029892146730798694 Centerline is valid? [True, True] Translation: X:-22.04, Y:-1.08, Z:0.15 [[ 9.90004344e-01 -1.31337032e-01 5.14002177e-02 -2.20436413e+01] [ 1.31095235e-01 9.91336995e-01 8.06234946e-03 -1.07813084e+00] [-5.20138224e-02 -1.24343738e-03 9.98645591e-01 1.54429118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746338937999997 meters 0.02907506948667923 Centerline is valid? [True, True] Translation: X:-22.10, Y:-1.10, Z:0.16 [[ 9.89306119e-01 -1.36837179e-01 5.04875109e-02 -2.21032666e+01] [ 1.36610157e-01 9.90593093e-01 7.93661106e-03 -1.09875331e+00] [-5.10986030e-02 -9.54631104e-04 9.98693157e-01 1.56586374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806338938 meters 0.02904541995067688 Centerline is valid? [True, True] Translation: X:-22.16, Y:-1.12, Z:0.16 [[ 9.88960846e-01 -1.38601993e-01 5.24016502e-02 -2.21626904e+01] [ 1.38359683e-01 9.90347756e-01 8.24140856e-03 -1.12137940e+00] [-5.30381324e-02 -9.00154669e-04 9.98592082e-01 1.63183898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866338938 meters 0.028670587391285713 Centerline is valid? [True, True] Translation: X:-22.22, Y:-1.13, Z:0.17 [[ 9.88813563e-01 -1.38859550e-01 5.44588129e-02 -2.22227240e+01] [ 1.38598062e-01 9.90311654e-01 8.56771899e-03 -1.13358001e+00] [-5.51209067e-02 -9.23990844e-04 9.98479260e-01 1.66644960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926338937999997 meters 0.031198537464372338 Centerline is valid? [True, True] Translation: X:-22.28, Y:-1.15, Z:0.16 [[ 9.89475020e-01 -1.35206149e-01 5.15604705e-02 -2.22832689e+01] [ 1.34966402e-01 9.90816906e-01 8.11969113e-03 -1.15119594e+00] [-5.21848180e-02 -1.07530034e-03 9.98636865e-01 1.63302102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986338938 meters 0.030752728313122816 Centerline is valid? [True, True] Translation: X:-22.34, Y:-1.16, Z:0.17 [[ 9.89492571e-01 -1.33493592e-01 5.55329823e-02 -2.23443590e+01] [ 1.33212823e-01 9.91048883e-01 8.74391821e-03 -1.16123947e+00] [-5.62031571e-02 -1.25433676e-03 9.98418565e-01 1.71076988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046338937999998 meters 0.0324102193553944 Centerline is valid? [True, True] Translation: X:-22.40, Y:-1.18, Z:0.17 [[ 9.89812689e-01 -1.31457079e-01 5.46797689e-02 -2.24030738e+01] [ 1.31180876e-01 9.91320923e-01 8.62581340e-03 -1.18014546e+00] [-5.53391232e-02 -1.36499957e-03 9.98466684e-01 1.73083063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106338937999997 meters 0.0297211135769607 Centerline is valid? [True, True] Translation: X:-22.46, Y:-1.19, Z:0.18 [[ 9.89496258e-01 -1.33162873e-01 5.62566020e-02 -2.24635634e+01] [ 1.32872710e-01 9.91093294e-01 8.88395401e-03 -1.19472777e+00] [-5.69385539e-02 -1.31567210e-03 9.98376818e-01 1.77840648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166338938 meters 0.029296707875248462 Centerline is valid? [True, True] Translation: X:-22.52, Y:-1.22, Z:0.18 [[ 9.89103673e-01 -1.36108273e-01 5.61111509e-02 -2.25224976e+01] [ 1.35824326e-01 9.90693308e-01 8.86126057e-03 -1.21674126e+00] [-5.67950326e-02 -1.14344613e-03 9.98385205e-01 1.83304031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226338937999998 meters 0.02811677823870329 Centerline is valid? [True, True] Translation: X:-22.58, Y:-1.23, Z:0.19 [[ 9.88406361e-01 -1.40042264e-01 5.86602968e-02 -2.25810911e+01] [ 1.39737735e-01 9.90145044e-01 9.28203882e-03 -1.23089390e+00] [-5.93820799e-02 -9.77369174e-04 9.98234849e-01 1.86413723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286338937999997 meters 0.028631445345637593 Centerline is valid? [True, True] Translation: X:-22.64, Y:-1.25, Z:0.19 [[ 9.88481224e-01 -1.39737499e-01 5.81231612e-02 -2.26422803e+01] [ 1.39438230e-01 9.90188096e-01 9.19317559e-03 -1.24519501e+00] [-5.88374937e-02 -9.82690746e-04 9.98267090e-01 1.88611102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346338938 meters 0.02812191466733018 Centerline is valid? [True, True] Translation: X:-22.70, Y:-1.26, Z:0.19 [[ 9.88797803e-01 -1.37891522e-01 5.71387218e-02 -2.27029237e+01] [ 1.37598420e-01 9.90446740e-01 9.05153875e-03 -1.25792882e+00] [-5.78409912e-02 -1.08794379e-03 9.98325216e-01 1.88629931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406338937999998 meters 0.029635223600355767 Centerline is valid? [True, True] Translation: X:-22.76, Y:-1.27, Z:0.20 [[ 9.89172659e-01 -1.34306225e-01 5.91547856e-02 -2.27629089e+01] [ 1.33984716e-01 9.90938944e-01 9.38641285e-03 -1.26791691e+00] [-5.98794344e-02 -1.35894583e-03 9.98204692e-01 2.00178217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466338938 meters 0.028783797790573083 Centerline is valid? [True, True] Translation: X:-22.82, Y:-1.28, Z:0.20 [[ 9.89449794e-01 -1.32590270e-01 5.83860014e-02 -2.28245494e+01] [ 1.32273330e-01 9.91169864e-01 9.27722622e-03 -1.27730252e+00] [-5.91005149e-02 -1.45643873e-03 9.98250974e-01 1.97321978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526338938 meters 0.029871385652910604 Centerline is valid? [True, True] Translation: X:-22.89, Y:-1.29, Z:0.21 [[ 9.89332856e-01 -1.32656153e-01 6.01900759e-02 -2.28853732e+01] [ 1.32318443e-01 9.91160963e-01 9.57993761e-03 -1.28797018e+00] [-6.09288912e-02 -1.51348991e-03 9.98140962e-01 2.08148504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586338937999997 meters 0.03134081406438238 Centerline is valid? [True, True] Translation: X:-22.95, Y:-1.30, Z:0.21 [[ 9.88931575e-01 -1.34853037e-01 6.18789014e-02 -2.29450370e+01] [ 1.34499358e-01 9.90864574e-01 9.86499341e-03 -1.30258541e+00] [-6.26439356e-02 -1.43313094e-03 9.98034911e-01 2.13304581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646338938 meters 0.028515240847956144 Centerline is valid? [True, True] Translation: X:-23.01, Y:-1.32, Z:0.22 [[ 9.88613979e-01 -1.37984491e-01 6.00223265e-02 -2.30053952e+01] [ 1.37656708e-01 9.90433650e-01 9.58206425e-03 -1.32107366e+00] [-6.07703082e-02 -1.21048680e-03 9.98151043e-01 2.16821107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706338938 meters 0.028886324264647975 Centerline is valid? [True, True] Translation: X:-23.07, Y:-1.33, Z:0.22 [[ 9.88622790e-01 -1.37282160e-01 6.14702085e-02 -2.30679715e+01] [ 1.36936027e-01 9.90531130e-01 9.82877175e-03 -1.32795167e+00] [-6.22374701e-02 -1.29946164e-03 9.98060524e-01 2.24831211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766338937999997 meters 0.028912839834338216 Centerline is valid? [True, True] Translation: X:-23.13, Y:-1.34, Z:0.23 [[ 9.88724734e-01 -1.35983070e-01 6.27057015e-02 -2.31264764e+01] [ 1.35619017e-01 9.90710131e-01 1.00457935e-02 -1.34434865e+00] [-6.34892316e-02 -1.42843891e-03 9.97981501e-01 2.32848125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826338938 meters 0.028890148902305006 Centerline is valid? [True, True] Translation: X:-23.19, Y:-1.35, Z:0.24 [[ 9.88796107e-01 -1.36029445e-01 6.14674560e-02 -2.31886326e+01] [ 1.35678912e-01 9.90703791e-01 9.86061438e-03 -1.35087941e+00] [-6.22373756e-02 -1.41029959e-03 9.98060379e-01 2.37133487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886338937999998 meters 0.03258497194352594 Centerline is valid? [True, True] Translation: X:-23.25, Y:-1.36, Z:0.24 [[ 9.88946024e-01 -1.34976545e-01 6.13766517e-02 -2.32497882e+01] [ 1.34624086e-01 9.90847675e-01 9.86109266e-03 -1.36345367e+00] [-6.21459289e-02 -1.48931272e-03 9.98065962e-01 2.43331848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946338937999997 meters 0.03127808232791096 Centerline is valid? [True, True] Translation: X:-23.31, Y:-1.36, Z:0.25 [[ 9.89298700e-01 -1.32462642e-01 6.11696873e-02 -2.33123989e+01] [ 1.32106831e-01 9.91186614e-01 9.84281363e-03 -1.36456640e+00] [-6.19343803e-02 -1.65654919e-03 9.98078849e-01 2.47945535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006338938 meters 0.033459005204312914 Centerline is valid? [True, True] Translation: X:-23.37, Y:-1.38, Z:0.26 [[ 9.89222284e-01 -1.30886572e-01 6.56351888e-02 -2.33717188e+01] [ 1.30472195e-01 9.91395526e-01 1.05790757e-02 -1.37823984e+00] [-6.64550915e-02 -1.90149032e-03 9.97787605e-01 2.59500958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066338937999998 meters 0.03108461593268551 Centerline is valid? [True, True] Translation: X:-23.43, Y:-1.39, Z:0.26 [[ 9.89904584e-01 -1.29687257e-01 5.71850519e-02 -2.34322550e+01] [ 1.29369935e-01 9.91553420e-01 9.23234162e-03 -1.38677511e+00] [-5.78993508e-02 -1.74111086e-03 9.98320907e-01 2.56609315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126338937999996 meters 0.030612895876852047 Centerline is valid? [True, True] Translation: X:-23.49, Y:-1.40, Z:0.27 [[ 9.89501826e-01 -1.30242710e-01 6.26336367e-02 -2.34922583e+01] [ 1.29863206e-01 9.91480378e-01 1.01097702e-02 -1.39695249e+00] [-6.34167457e-02 -1.86983125e-03 9.97985381e-01 2.73376757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186338938 meters 0.034063361328779594 Centerline is valid? [True, True] Translation: X:-23.56, Y:-1.40, Z:0.27 [[ 9.89802342e-01 -1.29042166e-01 6.03278025e-02 -2.35561045e+01] [ 1.28686929e-01 9.91637305e-01 9.75341273e-03 -1.39774651e+00] [-6.10819010e-02 -1.89055114e-03 9.98130967e-01 2.70364168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246338937999997 meters 0.03224802897317715 Centerline is valid? [True, True] Translation: X:-23.62, Y:-1.41, Z:0.28 [[ 9.89935102e-01 -1.28456117e-01 5.93929285e-02 -2.36154134e+01] [ 1.28110506e-01 9.91713372e-01 9.60656702e-03 -1.41376443e+00] [-6.01347837e-02 -1.90101979e-03 9.98188456e-01 2.77641400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306338938 meters 0.03077838718727477 Centerline is valid? [True, True] Translation: X:-23.67, Y:-1.43, Z:0.29 [[ 9.89726554e-01 -1.29551606e-01 6.04791729e-02 -2.36749058e+01] [ 1.29194753e-01 9.91570905e-01 9.79057930e-03 -1.42662646e+00] [-6.12377735e-02 -1.87640453e-03 9.98121443e-01 2.86594174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366338938 meters 0.030961431842227983 Centerline is valid? [True, True] Translation: X:-23.74, Y:-1.43, Z:0.29 [[ 9.89614723e-01 -1.30584674e-01 6.00861340e-02 -2.37372332e+01] [ 1.30234027e-01 9.91435516e-01 9.73224228e-03 -1.43038867e+00] [-6.08424090e-02 -1.80591103e-03 9.98145751e-01 2.86206280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426338937999997 meters 0.03020773025217276 Centerline is valid? [True, True] Translation: X:-23.80, Y:-1.45, Z:0.30 [[ 9.89130043e-01 -1.33368449e-01 6.19242644e-02 -2.37954100e+01] [ 1.33000393e-01 9.91065064e-01 1.00465729e-02 -1.45034752e+00] [-6.27108709e-02 -1.70141561e-03 9.98030286e-01 3.00704076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486338938 meters 0.03254701165996323 Centerline is valid? [True, True] Translation: X:-23.86, Y:-1.46, Z:0.30 [[ 9.88978465e-01 -1.35383581e-01 5.99406510e-02 -2.38584232e+01] [ 1.35041702e-01 9.90792072e-01 9.73702133e-03 -1.46191814e+00] [-6.07069546e-02 -1.53521685e-03 9.98154451e-01 2.95121787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546338937999998 meters 0.02974120877567281 Centerline is valid? [True, True] Translation: X:-23.92, Y:-1.47, Z:0.30 [[ 9.88917801e-01 -1.36092166e-01 5.93338509e-02 -2.39197863e+01] [ 1.35757273e-01 9.90695051e-01 9.65808777e-03 -1.46683480e+00] [-6.00961426e-02 -1.49605311e-03 9.98191472e-01 3.04041878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606338937999997 meters 0.030100519101556797 Centerline is valid? [True, True] Translation: X:-23.98, Y:-1.49, Z:0.32 [[ 9.88806341e-01 -1.35338519e-01 6.28132596e-02 -2.39790864e+01] [ 1.34960954e-01 9.90798055e-01 1.02350089e-02 -1.48510346e+00] [-6.36204464e-02 -1.64310420e-03 9.97972815e-01 3.17096147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666338938 meters 0.03267399472110476 Centerline is valid? [True, True] Translation: X:-24.04, Y:-1.49, Z:0.31 [[ 9.88800085e-01 -1.37080673e-01 5.90193260e-02 -2.40410792e+01] [ 1.36749692e-01 9.90558823e-01 9.63012709e-03 -1.49289916e+00] [-5.97822184e-02 -1.45139585e-03 9.98210389e-01 3.12482835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726338937999998 meters 0.02981194268087176 Centerline is valid? [True, True] Translation: X:-24.10, Y:-1.50, Z:0.32 [[ 9.88496608e-01 -1.38275162e-01 6.12734483e-02 -2.41017242e+01] [ 1.37919645e-01 9.90392791e-01 1.00144864e-02 -1.50168976e+00] [-6.20695362e-02 -1.44847354e-03 9.98070776e-01 3.19540558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786338937999997 meters 0.029248455564097185 Centerline is valid? [True, True] Translation: X:-24.16, Y:-1.52, Z:0.33 [[ 9.88373575e-01 -1.39187775e-01 6.11918244e-02 -2.41607074e+01] [ 1.38834122e-01 9.90265013e-01 1.00145153e-02 -1.51810640e+00] [-6.19900209e-02 -1.40256909e-03 9.98075784e-01 3.27394403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846338938 meters 0.029644414993427834 Centerline is valid? [True, True] Translation: X:-24.22, Y:-1.53, Z:0.34 [[ 9.88311080e-01 -1.39261223e-01 6.20283865e-02 -2.42211945e+01] [ 1.38897071e-01 9.90254646e-01 1.01656523e-02 -1.52935321e+00] [-6.28395791e-02 -1.43126562e-03 9.98022614e-01 3.36390226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906338937999998 meters 0.02977520685946642 Centerline is valid? [True, True] Translation: X:-24.28, Y:-1.53, Z:0.34 [[ 9.88339240e-01 -1.39505057e-01 6.10236513e-02 -2.42839052e+01] [ 1.39152150e-01 9.90220358e-01 1.00160687e-02 -1.53433112e+00] [-6.18241541e-02 -1.40770145e-03 9.98086065e-01 3.38928946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966338938 meters 0.03108407289059804 Centerline is valid? [True, True] Translation: X:-24.35, Y:-1.54, Z:0.34 [[ 9.88480094e-01 -1.38985188e-01 5.99184560e-02 -2.43450624e+01] [ 1.38643098e-01 9.90293429e-01 9.84964795e-03 -1.54464354e+00] [-6.07058084e-02 -1.42890059e-03 9.98154679e-01 3.41972200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026338938 meters 0.030858194648960943 Centerline is valid? [True, True] Translation: X:-24.41, Y:-1.55, Z:0.34 [[ 9.88780941e-01 -1.36932122e-01 5.96811978e-02 -2.44065289e+01] [ 1.36588120e-01 9.90579199e-01 9.82524062e-03 -1.55297824e+00] [-6.04643441e-02 -1.56326804e-03 9.98169134e-01 3.44457537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086338937999997 meters 0.03000153191090584 Centerline is valid? [True, True] Translation: X:-24.46, Y:-1.57, Z:0.35 [[ 9.88635703e-01 -1.37668942e-01 6.03879814e-02 -2.44648784e+01] [ 1.37317148e-01 9.90477084e-01 9.95723163e-03 -1.57101757e+00] [-6.11837133e-02 -1.55176930e-03 9.98125315e-01 3.51947549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146338938 meters 0.02924045353528705 Centerline is valid? [True, True] Translation: X:-24.53, Y:-1.58, Z:0.36 [[ 9.88168925e-01 -1.40795033e-01 6.08188713e-02 -2.45263407e+01] [ 1.40443039e-01 9.90037797e-01 1.00455214e-02 -1.58026086e+00] [-6.16273409e-02 -1.38508490e-03 9.98098268e-01 3.57705542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206338938 meters 0.028355517352857344 Centerline is valid? [True, True] Translation: X:-24.58, Y:-1.61, Z:0.36 [[ 9.87353749e-01 -1.45867724e-01 6.20901049e-02 -2.45837204e+01] [ 1.45510505e-01 9.89303495e-01 1.02610113e-02 -1.60560221e+00] [-6.29227082e-02 -1.09648552e-03 9.98017801e-01 3.63774804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266338937999997 meters 0.03044732838312422 Centerline is valid? [True, True] Translation: X:-24.64, Y:-1.62, Z:0.37 [[ 9.86828038e-01 -1.49719377e-01 6.12742308e-02 -2.46440306e+01] [ 1.49379102e-01 9.88728177e-01 1.01230276e-02 -1.62385204e+00] [-6.20991719e-02 -8.36597844e-04 9.98069633e-01 3.66190832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326338938 meters 0.028261886477122605 Centerline is valid? [True, True] Translation: X:-24.70, Y:-1.64, Z:0.38 [[ 9.86351757e-01 -1.53306544e-01 6.00609204e-02 -2.47035854e+01] [ 1.52985314e-01 9.88178489e-01 9.93816001e-03 -1.63734397e+00] [-6.08744945e-02 -6.14082808e-04 9.98145239e-01 3.75818037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386338937999998 meters 0.03139933325938235 Centerline is valid? [True, True] Translation: X:-24.77, Y:-1.65, Z:0.38 [[ 9.86188572e-01 -1.52811965e-01 6.38796000e-02 -2.47650416e+01] [ 1.52446485e-01 9.88255034e-01 1.05857326e-02 -1.64550129e+00] [-6.47469628e-02 -7.01307998e-04 9.97901468e-01 3.81086213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446338937999997 meters 0.031469173081989696 Centerline is valid? [True, True] Translation: X:-24.83, Y:-1.66, Z:0.38 [[ 9.86879775e-01 -1.49482194e-01 6.10195384e-02 -2.48252082e+01] [ 1.49141225e-01 9.88764011e-01 1.01304601e-02 -1.65622633e+00] [-6.18482469e-02 -8.97017543e-04 9.98085162e-01 3.81300298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506338938 meters 0.029009676793254294 Centerline is valid? [True, True] Translation: X:-24.89, Y:-1.66, Z:0.39 [[ 9.87248660e-01 -1.45297627e-01 6.50283262e-02 -2.48855098e+01] [ 1.44901275e-01 9.89387221e-01 1.07957006e-02 -1.66314313e+00] [-6.59067846e-02 -1.23535356e-03 9.97825020e-01 3.91625526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566338937999998 meters 0.029866881088909458 Centerline is valid? [True, True] Translation: X:-24.95, Y:-1.66, Z:0.39 [[ 9.88310791e-01 -1.39774230e-01 6.08682655e-02 -2.49475957e+01] [ 1.39415519e-01 9.90182237e-01 1.01218295e-02 -1.66391916e+00] [-6.16854462e-02 -1.51753249e-03 9.98094486e-01 3.89654716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626338937999996 meters 0.03021497285448775 Centerline is valid? [True, True] Translation: X:-25.01, Y:-1.68, Z:0.39 [[ 9.88530328e-01 -1.38520228e-01 6.01659051e-02 -2.50081058e+01] [ 1.38167633e-01 9.90358354e-01 1.00018442e-02 -1.67960379e+00] [-6.09712645e-02 -1.57414562e-03 9.98138280e-01 3.92580708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686338938 meters 0.03029654929267759 Centerline is valid? [True, True] Translation: X:-25.07, Y:-1.69, Z:0.40 [[ 9.88084080e-01 -1.40113175e-01 6.37036042e-02 -2.50689218e+01] [ 1.39719890e-01 9.90134231e-01 1.06093142e-02 -1.68894294e+00] [-6.45616239e-02 -1.58223382e-03 9.97912468e-01 4.03706850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746338937999997 meters 0.029223032823220783 Centerline is valid? [True, True] Translation: X:-25.13, Y:-1.70, Z:0.41 [[ 9.87869338e-01 -1.40927322e-01 6.52200907e-02 -2.51277926e+01] [ 1.40516491e-01 9.90018698e-01 1.08670663e-02 -1.70406527e+00] [-6.61005758e-02 -1.57074327e-03 9.97811729e-01 4.08346153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806338938 meters 0.028964962150988833 Centerline is valid? [True, True] Translation: X:-25.19, Y:-1.73, Z:0.41 [[ 9.87259551e-01 -1.46273473e-01 6.26310644e-02 -2.51865020e+01] [ 1.45905460e-01 9.89243508e-01 1.04345241e-02 -1.72860950e+00] [-6.34836679e-02 -1.16336937e-03 9.97982199e-01 4.08327433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866338938 meters 0.02820132885877574 Centerline is valid? [True, True] Translation: X:-25.24, Y:-1.75, Z:0.42 [[ 9.86158548e-01 -1.53274715e-01 6.32311623e-02 -2.52440283e+01] [ 1.52912809e-01 9.88183342e-01 1.05524795e-02 -1.75341343e+00] [-6.41014096e-02 -7.37563162e-04 9.97943117e-01 4.16622080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926338937999997 meters 0.02759351331907583 Centerline is valid? [True, True] Translation: X:-25.30, Y:-1.77, Z:0.43 [[ 9.85210441e-01 -1.57785131e-01 6.68149558e-02 -2.53039358e+01] [ 1.57391232e-01 9.87473357e-01 1.11521094e-02 -1.76535963e+00] [-6.77376258e-02 -4.71086411e-04 9.97703058e-01 4.26692526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986338938 meters 0.02773417731158349 Centerline is valid? [True, True] Translation: X:-25.37, Y:-1.77, Z:0.43 [[ 9.85797010e-01 -1.55145832e-01 6.42963859e-02 -2.53662588e+01] [ 1.54774994e-01 9.87891374e-01 1.07393719e-02 -1.77310114e+00] [-6.51840138e-02 -6.35367936e-04 9.97873058e-01 4.27996144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046338937999998 meters 0.028206586608162772 Centerline is valid? [True, True] Translation: X:-25.43, Y:-1.79, Z:0.43 [[ 9.86802863e-01 -1.49346505e-01 6.25757955e-02 -2.54255388e+01] [ 1.48983242e-01 9.88784419e-01 1.04578367e-02 -1.78820458e+00] [-6.34358129e-02 -9.97078295e-04 9.97985422e-01 4.30105992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106338937999997 meters 0.03052432714894079 Centerline is valid? [True, True] Translation: X:-25.49, Y:-1.79, Z:0.44 [[ 9.87346134e-01 -1.43276848e-01 6.79658510e-02 -2.54882053e+01] [ 1.42833827e-01 9.89681501e-01 1.13589229e-02 -1.78517714e+00] [-6.88920161e-02 -1.50736598e-03 9.97622984e-01 4.41412685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166338938 meters 0.0304886156783097 Centerline is valid? [True, True] Translation: X:-25.55, Y:-1.79, Z:0.44 [[ 9.88346497e-01 -1.37900890e-01 6.44557750e-02 -2.55480140e+01] [ 1.37489839e-01 9.90444391e-01 1.07913193e-02 -1.78971384e+00] [-6.53279933e-02 -1.80354856e-03 9.97862215e-01 4.40108541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226338937999998 meters 0.032015124245141066 Centerline is valid? [True, True] Translation: X:-25.61, Y:-1.81, Z:0.45 [[ 9.88172523e-01 -1.38355454e-01 6.61273974e-02 -2.56072851e+01] [ 1.37924072e-01 9.90380973e-01 1.10669836e-02 -1.80610147e+00] [-6.70224937e-02 -1.81552922e-03 9.97749813e-01 4.49587228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286338937999997 meters 0.03334030789827322 Centerline is valid? [True, True] Translation: X:-25.67, Y:-1.82, Z:0.45 [[ 9.87421280e-01 -1.44067981e-01 6.51431737e-02 -2.56657289e+01] [ 1.43660668e-01 9.89566770e-01 1.09188187e-02 -1.82314970e+00] [-6.60365721e-02 -1.42296212e-03 9.97816189e-01 4.52689642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346338938 meters 0.02795265782166174 Centerline is valid? [True, True] Translation: X:-25.72, Y:-1.85, Z:0.46 [[ 9.85924764e-01 -1.52462939e-01 6.86105886e-02 -2.57211724e+01] [ 1.52031084e-01 9.88308769e-01 1.15033134e-02 -1.85205191e+00] [-6.95622753e-02 -9.10459420e-04 9.97577195e-01 4.61115143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406338937999998 meters 0.028069884172129047 Centerline is valid? [True, True] Translation: X:-25.78, Y:-1.86, Z:0.46 [[ 9.85308780e-01 -1.56972660e-01 6.72769755e-02 -2.57822065e+01] [ 1.56567776e-01 9.87602777e-01 1.12821695e-02 -1.86173053e+00] [-6.82139199e-02 -5.83014273e-04 9.97670547e-01 4.62882400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466338937999996 meters 0.02839718471836206 Centerline is valid? [True, True] Translation: X:-25.84, Y:-1.88, Z:0.46 [[ 9.85505537e-01 -1.56335866e-01 6.58629871e-02 -2.58430129e+01] [ 1.55945398e-01 9.87703752e-01 1.10603631e-02 -1.87754280e+00] [-6.67822509e-02 -6.29019348e-04 9.97767375e-01 4.63010833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526338938 meters 0.02825442333340932 Centerline is valid? [True, True] Translation: X:-25.90, Y:-1.89, Z:0.48 [[ 9.85569311e-01 -1.53761185e-01 7.07858117e-02 -2.59025669e+01] [ 1.53302296e-01 9.88107648e-01 1.19030106e-02 -1.88885008e+00] [-7.17742229e-02 -8.79614474e-04 9.97420517e-01 4.76280693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586338937999997 meters 0.029034286964738917 Centerline is valid? [True, True] Translation: X:-25.96, Y:-1.90, Z:0.47 [[ 9.86511656e-01 -1.49796901e-01 6.59972755e-02 -2.59644962e+01] [ 1.49388303e-01 9.88716174e-01 1.11113245e-02 -1.89807804e+00] [-6.69170158e-02 -1.10223017e-03 9.97757936e-01 4.71561736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646338938 meters 0.030812826149214954 Centerline is valid? [True, True] Translation: X:-26.02, Y:-1.91, Z:0.48 [[ 9.86228681e-01 -1.50278906e-01 6.90596739e-02 -2.60245488e+01] [ 1.49832511e-01 9.88643006e-01 1.16286364e-02 -1.90604507e+00] [-7.00229024e-02 -1.12111043e-03 9.97544754e-01 4.81767255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706338938 meters 0.02880787281053901 Centerline is valid? [True, True] Translation: X:-26.08, Y:-1.92, Z:0.49 [[ 9.86092400e-01 -1.50295590e-01 7.09437454e-02 -2.60828118e+01] [ 1.49823427e-01 9.88640419e-01 1.19609183e-02 -1.92384390e+00] [-7.19355275e-02 -1.16553555e-03 9.97408603e-01 4.88873972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766338937999997 meters 0.028787955680694644 Centerline is valid? [True, True] Translation: X:-26.14, Y:-1.94, Z:0.49 [[ 9.86080314e-01 -1.52685974e-01 6.58225550e-02 -2.61431054e+01] [ 1.52284528e-01 9.88274323e-01 1.11033676e-02 -1.93799202e+00] [-6.67460695e-02 -9.25055455e-04 9.97769566e-01 4.85823475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826338938 meters 0.0295087215298374 Centerline is valid? [True, True] Translation: X:-26.20, Y:-1.95, Z:0.50 [[ 9.86046187e-01 -1.52257243e-01 6.73100921e-02 -2.62025973e+01] [ 1.51835468e-01 9.88340403e-01 1.13682869e-02 -1.94953674e+00] [-6.82561876e-02 -9.89596589e-04 9.97667336e-01 4.95090315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886338937999998 meters 0.030212289650800413 Centerline is valid? [True, True] Translation: X:-26.26, Y:-1.96, Z:0.50 [[ 9.86070369e-01 -1.51278591e-01 6.91376584e-02 -2.62647025e+01] [ 1.50830170e-01 9.88490555e-01 1.16911233e-02 -1.96000808e+00] [-7.01105390e-02 -1.10022554e-03 9.97538622e-01 5.04699367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946338937999997 meters 0.0313557335326965 Centerline is valid? [True, True] Translation: X:-26.32, Y:-1.97, Z:0.50 [[ 9.87060087e-01 -1.46664877e-01 6.48212796e-02 -2.63248023e+01] [ 1.46259595e-01 9.89185307e-01 1.09799391e-02 -1.97068347e+00] [-6.57306288e-02 -1.35712559e-03 9.97836481e-01 5.03372319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006338938 meters 0.03499913096008757 Centerline is valid? [True, True] Translation: X:-26.39, Y:-1.98, Z:0.51 [[ 9.87248588e-01 -1.44887732e-01 6.59376247e-02 -2.63851972e+01] [ 1.44464333e-01 9.89446961e-01 1.11699186e-02 -1.97760867e+00] [-6.68601666e-02 -1.50185137e-03 9.97761225e-01 5.14758708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066338937999998 meters 0.03360808536181833 Centerline is valid? [True, True] Translation: X:-26.45, Y:-1.99, Z:0.52 [[ 9.87488944e-01 -1.43107194e-01 6.62262575e-02 -2.64456949e+01] [ 1.42675561e-01 9.89705840e-01 1.12264650e-02 -1.99104739e+00] [-6.71511018e-02 -1.63714154e-03 9.97741474e-01 5.19557036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126338937999996 meters 0.034728118105753804 Centerline is valid? [True, True] Translation: X:-26.51, Y:-2.00, Z:0.53 [[ 9.87754685e-01 -1.41372878e-01 6.59878102e-02 -2.65069290e+01] [ 1.40939299e-01 9.89954842e-01 1.12037733e-02 -2.00233658e+00] [-6.69088620e-02 -1.76630384e-03 9.97757528e-01 5.28187208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186338938 meters 0.036559500497161806 Centerline is valid? [True, True] Translation: X:-26.57, Y:-2.02, Z:0.53 [[ 9.87622488e-01 -1.44045802e-01 6.20695367e-02 -2.65688923e+01] [ 1.43667406e-01 9.89569896e-01 1.05402376e-02 -2.01537516e+00] [-6.29404219e-02 -1.49240631e-03 9.98016170e-01 5.27540411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246338937999997 meters 0.03681412421048384 Centerline is valid? [True, True] Translation: X:-26.63, Y:-2.03, Z:0.54 [[ 9.87277009e-01 -1.45171267e-01 6.48799773e-02 -2.66278662e+01] [ 1.44758808e-01 9.89405394e-01 1.10387075e-02 -2.02883605e+00] [-6.57951027e-02 -1.50631391e-03 9.97832018e-01 5.41412405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306338938 meters 0.03824843574394261 Centerline is valid? [True, True] Translation: X:-26.69, Y:-2.05, Z:0.55 [[ 9.87089678e-01 -1.46082117e-01 6.56809200e-02 -2.66860191e+01] [ 1.45660983e-01 9.89271376e-01 1.11813903e-02 -2.04789630e+00] [-6.66096552e-02 -1.46988754e-03 9.97778028e-01 5.51286585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366338938 meters 0.03841251292628871 Centerline is valid? [True, True] Translation: X:-26.75, Y:-2.06, Z:0.55 [[ 9.86888808e-01 -1.49032577e-01 6.19658981e-02 -2.67489453e+01] [ 1.48662812e-01 9.88831545e-01 1.05614229e-02 -2.05859929e+00] [-6.28478308e-02 -1.21092538e-03 9.98022386e-01 5.50120033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426338937999997 meters 0.04123344381299167 Centerline is valid? [True, True] Translation: X:-26.81, Y:-2.08, Z:0.56 [[ 9.86223586e-01 -1.53445692e-01 6.17855765e-02 -2.68065492e+01] [ 1.53085306e-01 9.88156626e-01 1.05532388e-02 -2.07679044e+00] [-6.26731759e-02 -9.49389176e-04 9.98033653e-01 5.64409120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486338938 meters 0.04193170789907621 Centerline is valid? [True, True] Translation: X:-26.87, Y:-2.09, Z:0.57 [[ 9.85564209e-01 -1.56603093e-01 6.43324341e-02 -2.68674146e+01] [ 1.56218934e-01 9.87661309e-01 1.09901879e-02 -2.09056698e+00] [-6.52597534e-02 -7.81591615e-04 9.97868004e-01 5.69120935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546338937999998 meters 0.04211179096182472 Centerline is valid? [True, True] Translation: X:-26.93, Y:-2.11, Z:0.58 [[ 9.85429880e-01 -1.58035670e-01 6.28703364e-02 -2.69267982e+01] [ 1.57671577e-01 9.87433175e-01 1.07424282e-02 -2.10677151e+00] [-6.37779426e-02 -6.73044627e-04 9.97963888e-01 5.75661323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606338937999997 meters 0.04360242236726727 Centerline is valid? [True, True] Translation: X:-26.99, Y:-2.12, Z:0.58 [[ 9.85321859e-01 -1.59279608e-01 6.14071753e-02 -2.69880178e+01] [ 1.58933857e-01 9.87233334e-01 1.05058527e-02 -2.11959540e+00] [-6.22965785e-02 -5.91967054e-04 9.98057506e-01 5.79060021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666338938 meters 0.043439426182757125 Centerline is valid? [True, True] Translation: X:-27.05, Y:-2.13, Z:0.59 [[ 9.85134103e-01 -1.59925757e-01 6.27260092e-02 -2.70481294e+01] [ 1.59565209e-01 9.87128875e-01 1.07483810e-02 -2.12775391e+00] [-6.36375979e-02 -5.79707905e-04 9.97972905e-01 5.88950463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726338937999998 meters 0.04566919371050807 Centerline is valid? [True, True] Translation: X:-27.11, Y:-2.14, Z:0.59 [[ 9.85348094e-01 -1.58351520e-01 6.33555791e-02 -2.71098011e+01] [ 1.57979532e-01 9.87382552e-01 1.08703449e-02 -2.13779409e+00] [-6.42775290e-02 -7.02188891e-04 9.97931814e-01 5.93435083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786338937999997 meters 0.048637290463045095 Centerline is valid? [True, True] Translation: X:-27.17, Y:-2.15, Z:0.60 [[ 9.85499590e-01 -1.58059322e-01 6.17074518e-02 -2.71701592e+01] [ 1.57704962e-01 9.87429358e-01 1.06022717e-02 -2.15321321e+00] [-6.26075374e-02 -7.16963045e-04 9.98037966e-01 6.02778462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846338938 meters 0.048373674455586775 Centerline is valid? [True, True] Translation: X:-27.23, Y:-2.15, Z:0.61 [[ 9.85502753e-01 -1.57696308e-01 6.25795283e-02 -2.72322417e+01] [ 1.57330173e-01 9.87487361e-01 1.07669931e-02 -2.15499240e+00] [-6.34944083e-02 -7.65253322e-04 9.97981901e-01 6.09828038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906338937999998 meters 0.052180475166473284 Centerline is valid? [True, True] Translation: X:-27.29, Y:-2.17, Z:0.62 [[ 9.85658854e-01 -1.56932239e-01 6.20394661e-02 -2.72911988e+01] [ 1.56569871e-01 9.87609029e-01 1.06902438e-02 -2.17435700e+00] [-6.29483808e-02 -8.23422249e-04 9.98016444e-01 6.18242836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966338937999996 meters 0.054751502683189804 Centerline is valid? [True, True] Translation: X:-27.35, Y:-2.18, Z:0.62 [[ 9.85647740e-01 -1.57188377e-01 6.15657851e-02 -2.73527157e+01] [ 1.56831092e-01 9.87568301e-01 1.06235417e-02 -2.17973829e+00] [-6.24703151e-02 -8.15640561e-04 9.98046489e-01 6.23812601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026338938 meters 0.057981826551959145 Centerline is valid? [True, True] Translation: X:-27.42, Y:-2.19, Z:0.63 [[ 9.85537725e-01 -1.58221445e-01 6.06742661e-02 -2.74156088e+01] [ 1.57875529e-01 9.87403366e-01 1.04838079e-02 -2.18643410e+00] [-6.15687378e-02 -7.53206299e-04 9.98102561e-01 6.25031525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086338937999997 meters 0.06529956056202894 Centerline is valid? [True, True] Translation: X:-27.47, Y:-2.20, Z:0.64 [[ 9.85278239e-01 -1.58031778e-01 6.52131035e-02 -2.74741266e+01] [ 1.57630323e-01 9.87433667e-01 1.12887029e-02 -2.20139490e+00] [-6.61775877e-02 -8.42950779e-04 9.97807505e-01 6.43096606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146338938 meters 0.06811839461551307 Centerline is valid? [True, True] Translation: X:-27.54, Y:-2.21, Z:0.64 [[ 9.85392125e-01 -1.59136189e-01 6.06467936e-02 -2.75369037e+01] [ 1.58790392e-01 9.87256373e-01 1.05102787e-02 -2.20648415e+00] [-6.15464991e-02 -7.26617783e-04 9.98103953e-01 6.41433598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206338938 meters 0.0745110963584441 Centerline is valid? [True, True] Translation: X:-27.59, Y:-2.22, Z:0.66 [[ 9.84585910e-01 -1.62915272e-01 6.36333210e-02 -2.75948509e+01] [ 1.62541207e-01 9.86639919e-01 1.10465489e-02 -2.22251604e+00] [-6.45828262e-02 -5.33239569e-04 9.97912208e-01 6.56132587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266338937999997 meters 0.07904105464558893 Centerline is valid? [True, True] Translation: X:-27.66, Y:-2.23, Z:0.66 [[ 9.84965263e-01 -1.60390335e-01 6.41745399e-02 -2.76569179e+01] [ 1.60004131e-01 9.87053411e-01 1.11464153e-02 -2.22527882e+00] [-6.51314758e-02 -7.10640406e-04 9.97876438e-01 6.63656475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326338938 meters 0.08521087642683235 Centerline is valid? [True, True] Translation: X:-27.72, Y:-2.24, Z:0.67 [[ 9.85349724e-01 -1.58666694e-01 6.25364018e-02 -2.77163487e+01] [ 1.58295555e-01 9.87331865e-01 1.08768815e-02 -2.23696505e+00] [-6.34699810e-02 -8.18297783e-04 9.97983413e-01 6.69831810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386338937999998 meters 0.09333691727104666 Centerline is valid? [True, True] Translation: X:-27.78, Y:-2.24, Z:0.68 [[ 9.85638641e-01 -1.54809363e-01 6.74576201e-02 -2.77795102e+01] [ 1.54367298e-01 9.87943672e-01 1.17489600e-02 -2.23927727e+00] [-6.84631779e-02 -1.16697840e-03 9.97652961e-01 6.81339005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446338937999997 meters 0.09805700876104827 Centerline is valid? [True, True] Translation: X:-27.84, Y:-2.24, Z:0.68 [[ 9.85955185e-01 -1.55450607e-01 6.10531010e-02 -2.78406687e+01] [ 1.55088587e-01 9.87843124e-01 1.06533016e-02 -2.24370920e+00] [-6.19669482e-02 -1.03503883e-03 9.98077665e-01 6.81818313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506338938 meters 0.1060406031298118 Centerline is valid? [True, False] Translation: X:-27.85, Y:-2.27, Z:0.70 [[ 9.96393222e-01 -7.22710913e-02 4.44683667e-02 -2.78535393e+01] [ 7.15672873e-02 9.97287071e-01 1.72226908e-02 -2.27107088e+00] [-4.55924299e-02 -1.39780920e-02 9.98862324e-01 6.96345019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566338937999998 meters 0.12028754503341232 Centerline is valid? [False, False] Translation: X:-27.85, Y:-2.28, Z:0.69 [[ 9.99142064e-01 -2.60191832e-02 3.22201462e-02 -2.78452473e+01] [ 2.55988227e-02 9.99582603e-01 1.33910703e-02 -2.27985989e+00] [-3.25551223e-02 -1.25547838e-02 9.99391085e-01 6.94192193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626338937999996 meters 0.12418289389443167 Centerline is valid? [False, False] Translation: X:-27.88, Y:-2.29, Z:0.70 [[ 9.99292359e-01 -1.65920127e-02 3.37562906e-02 -2.78827096e+01] [ 1.63473112e-02 9.99838153e-01 7.51220667e-03 -2.28902350e+00] [-3.38754699e-02 -6.95506613e-03 9.99401861e-01 6.98336190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686338938 meters 0.13545529310793336 Centerline is valid? [False, False] Translation: X:-27.95, Y:-2.29, Z:0.71 [[ 9.99386395e-01 -1.05823376e-02 3.33893471e-02 -2.79453556e+01] [ 1.04000419e-02 9.99930076e-01 5.62866001e-03 -2.29244916e+00] [-3.34465767e-02 -5.27795562e-03 9.99426570e-01 7.05562135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746338937999997 meters 0.1496556981644848 Centerline is valid? [False, False] Translation: X:-28.00, Y:-2.29, Z:0.71 [[ 9.99552098e-01 -9.45443273e-03 2.83939651e-02 -2.79951843e+01] [ 9.27130579e-03 9.99935409e-01 6.57424607e-03 -2.28993240e+00] [-2.84542868e-02 -6.30805231e-03 9.99575191e-01 7.10462218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806338937999996 meters 0.16196285236139785 Centerline is valid? [False, False] Translation: X:-28.05, Y:-2.29, Z:0.72 [[ 9.99663289e-01 -7.91988839e-03 2.47100030e-02 -2.80512693e+01] [ 7.75457235e-03 9.99946955e-01 6.77891353e-03 -2.28884486e+00] [-2.47623805e-02 -6.58501549e-03 9.99671677e-01 7.18960117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866338938 meters 0.17350739518450983 Centerline is valid? [False, False] Translation: X:-28.11, Y:-2.29, Z:0.72 [[ 9.99702526e-01 -1.05513576e-02 2.19892643e-02 -2.81123931e+01] [ 1.03430217e-02 9.99900745e-01 9.56673196e-03 -2.29135040e+00] [-2.20880238e-02 -9.33645067e-03 9.99712434e-01 7.23834935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926338937999997 meters 0.18501183778707278 Centerline is valid? [False, False] Translation: X:-28.17, Y:-2.29, Z:0.73 [[ 9.99690091e-01 -1.43447332e-02 2.03457626e-02 -2.81724248e+01] [ 1.41431398e-02 9.99849795e-01 1.00179036e-02 -2.28591050e+00] [-2.04864107e-02 -9.72704602e-03 9.99742813e-01 7.27716469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986338938 meters 0.19580849724953253 Centerline is valid? [False, False] Translation: X:-28.22, Y:-2.29, Z:0.73 [[ 9.99787809e-01 -1.29362461e-02 1.60309066e-02 -2.82205676e+01] [ 1.27465740e-02 9.99848209e-01 1.18778837e-02 -2.28714733e+00] [-1.61821285e-02 -1.16710242e-02 9.99800943e-01 7.33273213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046338937999998 meters 0.20459830552132718 Centerline is valid? [False, False] Translation: X:-28.26, Y:-2.29, Z:0.74 [[ 9.99861430e-01 -1.27267542e-02 1.07308532e-02 -2.82621684e+01] [ 1.26072080e-02 9.99858520e-01 1.11354247e-02 -2.28764303e+00] [-1.08710528e-02 -1.09985956e-02 9.99880418e-01 7.37932311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106338937999997 meters 0.21144583658119093 Centerline is valid? [False, False] Translation: X:-28.29, Y:-2.29, Z:0.75 [[ 9.99924213e-01 -7.36098285e-03 9.86833720e-03 -2.82908140e+01] [ 7.28109612e-03 9.99940630e-01 8.10689028e-03 -2.28998117e+00] [-9.92742600e-03 -8.03442358e-03 9.99918444e-01 7.45532584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166338938 meters 0.21700370952004813 Centerline is valid? [False, False] Translation: X:-28.33, Y:-2.29, Z:0.75 [[ 9.99943564e-01 -7.36922145e-03 7.65262653e-03 -2.83282591e+01] [ 7.31562025e-03 9.99948678e-01 7.00881661e-03 -2.29204523e+00] [-7.70388330e-03 -6.95243735e-03 9.99946155e-01 7.46312539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226338937999998 meters 0.22314710675857152 Centerline is valid? [False, False] Translation: X:-28.37, Y:-2.30, Z:0.75 [[ 9.99964235e-01 -8.02209776e-03 2.67858390e-03 -2.83677942e+01] [ 8.00598131e-03 9.99950105e-01 5.97424653e-03 -2.29544585e+00] [-2.72637624e-03 -5.95258817e-03 9.99978567e-01 7.50345675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286338937999997 meters 0.22705512719380375 Centerline is valid? [False, False] Translation: X:-28.43, Y:-2.30, Z:0.75 [[ 9.99926276e-01 -1.17116891e-02 3.20615583e-03 -2.84282873e+01] [ 1.16844182e-02 9.99896482e-01 8.39635290e-03 -2.29660093e+00] [-3.30415941e-03 -8.35827182e-03 9.99959610e-01 7.54133217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346338938 meters 0.22132734119660705 Centerline is valid? [False, False] Translation: X:-28.49, Y:-2.30, Z:0.76 [[ 9.99967378e-01 -7.69846225e-03 2.44463640e-03 -2.84946521e+01] [ 7.68571896e-03 9.99957047e-01 5.18005493e-03 -2.29744474e+00] [-2.48440985e-03 -5.16109715e-03 9.99983595e-01 7.55862838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406338937999998 meters 0.21070199804317216 Centerline is valid? [False, False] Translation: X:-28.54, Y:-2.31, Z:0.76 [[ 9.99932174e-01 1.14159745e-02 -2.30731835e-03 -2.85422351e+01] [-1.14027321e-02 9.99918893e-01 5.67320864e-03 -2.31103658e+00] [ 2.37189641e-03 -5.64651411e-03 9.99981245e-01 7.57421137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466338937999996 meters 0.19679283957612062 Centerline is valid? [False, False] Translation: X:-28.62, Y:-2.31, Z:0.76 [[ 9.99919802e-01 1.24616384e-02 2.25787929e-03 -2.86195985e+01] [-1.24702803e-02 9.99914813e-01 3.85465375e-03 -2.31153792e+00] [-2.20965165e-03 -3.88250100e-03 9.99990022e-01 7.60885052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526338938 meters 0.1830674946566691 Centerline is valid? [False, False] Translation: X:-28.57, Y:-2.31, Z:0.76 [[ 9.99980378e-01 6.06847634e-03 -1.55499363e-03 -2.85748826e+01] [-6.06916991e-03 9.99981485e-01 -4.41697947e-04 -2.31281999e+00] [ 1.55228441e-03 4.51126801e-04 9.99998693e-01 7.57410262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586338937999997 meters 0.17470138043516747 Centerline is valid? [False, False] Translation: X:-28.60, Y:-2.32, Z:0.76 [[ 9.99932522e-01 9.35738875e-03 -6.88410330e-03 -2.86014297e+01] [-9.39403345e-03 9.99941776e-01 -5.31015338e-03 -2.31908333e+00] [ 6.83401330e-03 5.37446456e-03 9.99962205e-01 7.63626766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646338938 meters 0.15618718652979496 Centerline is valid? [False, False] Translation: X:-28.67, Y:-2.32, Z:0.77 [[ 9.99962758e-01 5.34327146e-03 -6.77732559e-03 -2.86664228e+01] [-5.36600707e-03 9.99980022e-01 -3.34092154e-03 -2.31962679e+00] [ 6.75933874e-03 3.37716429e-03 9.99971453e-01 7.68662873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706338938 meters 0.13959548051468532 Centerline is valid? [False, False] Translation: X:-28.73, Y:-2.31, Z:0.77 [[ 9.99966847e-01 3.97049273e-04 -8.13309757e-03 -2.87289160e+01] [-4.27349427e-04 9.99992974e-01 -3.72413776e-03 -2.31223805e+00] [ 8.13156176e-03 3.72748997e-03 9.99959991e-01 7.70952174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766338937999997 meters 0.11194809379497533 Centerline is valid? [False, False] Translation: X:-28.68, Y:-2.32, Z:0.77 [[ 9.99908952e-01 1.07858582e-02 -8.10877709e-03 -2.86818901e+01] [-1.08297149e-02 9.99926861e-01 -5.38423772e-03 -2.32078915e+00] [ 8.05011039e-03 5.47156324e-03 9.99952628e-01 7.66632476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826338938 meters 0.08619374703637636 Centerline is valid? [False, True] Translation: X:-28.74, Y:-2.31, Z:0.77 [[ 9.99948718e-01 4.76500789e-03 -8.93626354e-03 -2.87374452e+01] [-4.81581804e-03 9.99972312e-01 -5.67296609e-03 -2.31361721e+00] [ 8.90898439e-03 5.71571059e-03 9.99943979e-01 7.65941184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886338937999998 meters 0.07498151857880274 Centerline is valid? [True, True] Translation: X:-28.80, Y:-2.31, Z:0.77 [[ 9.99955343e-01 6.46603732e-03 -6.89217708e-03 -2.87967168e+01] [-6.46697546e-03 9.99979082e-01 -1.13838579e-04 -2.30691327e+00] [ 6.89129683e-03 1.58405036e-04 9.99976242e-01 7.72447796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946338937999997 meters 0.05550597173316877 Centerline is valid? [True, True] Translation: X:-28.85, Y:-2.31, Z:0.77 [[ 9.99913488e-01 8.47879030e-03 -1.00561530e-02 -2.88543069e+01] [-8.48088356e-03 9.99964023e-01 -1.65530487e-04 -2.30754566e+00] [ 1.00543877e-02 2.50801229e-04 9.99949422e-01 7.71578848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006338938 meters 0.033085672652552266 Centerline is valid? [True, True] Translation: X:-28.91, Y:-2.30, Z:0.77 [[ 9.99800963e-01 1.36073836e-02 -1.45901671e-02 -2.89142222e+01] [-1.36123340e-02 9.99907319e-01 -2.40040492e-04 -2.30391618e+00] [ 1.45855486e-02 4.38598944e-04 9.99893529e-01 7.73865546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 382.56 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%| | 0/1002 [00:00