+ python -m lidar_slam --no-model /working/f5d9b053-cb01-4ee7-9660-7228cd122273 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/f5d9b053-cb01-4ee7-9660-7228cd122273 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 0.007552018 Adjusted end_distance from 9.223372036854776e+18 to 113.457552018 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.007552018 meters 0.04881673933373315 Centerline is valid? [0, True] SLAMing on 0.06755201799999999 meters 0.05015853385252057 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99996883e-01 -5.56552839e-04 2.43377571e-03 6.00858178e-02] [ 5.57015012e-04 9.99999827e-01 -1.89225930e-04 -2.81927213e-03] [-2.43366997e-03 1.90580990e-04 9.99997020e-01 2.37304617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.127552018 meters 0.051691984827421045 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 9.99995703e-01 -9.06330138e-04 2.78786609e-03 1.21576100e-01] [ 9.06937242e-04 9.99999565e-01 -2.16510060e-04 -7.93843053e-03] [-2.78766865e-03 2.19037549e-04 9.99996090e-01 2.17580506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18755201799999996 meters 0.05014663579411335 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:0.00 [[ 9.99998274e-01 -1.61381962e-03 9.20539856e-04 1.83534553e-01] [ 1.61388479e-03 9.99998695e-01 -7.00645887e-05 -7.44722278e-03] [-9.20425583e-04 7.15501131e-05 9.99999574e-01 1.18092126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24755201799999996 meters 0.0524468140190207 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.01, Z:-0.00 [[ 9.99996470e-01 -2.57580568e-03 -6.52598606e-04 2.43464522e-01] [ 2.57583982e-03 9.99996681e-01 5.14711631e-05 -1.19156184e-02] [ 6.52463860e-04 -5.31519708e-05 9.99999786e-01 -3.66145886e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3075520179999999 meters 0.05417561780837 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.02, Z:-0.00 [[ 9.99995962e-01 -2.72202619e-03 -8.16372609e-04 3.04801444e-01] [ 2.72207940e-03 9.99996293e-01 6.40818174e-05 -1.71086665e-02] [ 8.16195150e-04 -6.63037897e-05 9.99999665e-01 -4.52365093e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3675520179999999 meters 0.05098347729194887 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.01, Z:-0.00 [[ 9.99997538e-01 -2.04785876e-03 -8.54607413e-04 3.66529457e-01] [ 2.04791685e-03 9.99997901e-01 6.71109006e-05 -1.43438364e-02] [ 8.54468185e-04 -6.88609003e-05 9.99999633e-01 -1.48844377e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4275520179999999 meters 0.05032546167583427 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.02, Z:0.00 [[ 9.99999453e-01 -9.75354879e-04 -3.78526348e-04 4.27477321e-01] [ 9.75366148e-04 9.99999524e-01 2.95869038e-05 -1.56508637e-02] [ 3.78497310e-04 -2.99560894e-05 9.99999928e-01 3.03854095e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4875520179999999 meters 0.04874305843898062 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.01, Z:0.00 [[ 9.99999995e-01 -9.55426446e-05 -3.11175693e-05 4.88192931e-01] [ 9.55427204e-05 9.99999995e-01 2.43357384e-06 -1.45383263e-02] [ 3.11173367e-05 -2.43654689e-06 1.00000000e+00 1.76431089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.547552018 meters 0.04949851697664467 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.02, Z:0.00 [[ 9.99999968e-01 5.95191297e-05 2.46623490e-04 5.48403650e-01] [-5.95143748e-05 9.99999998e-01 -1.92873829e-05 -1.89230706e-02] [-2.46624638e-04 1.92727046e-05 9.99999969e-01 1.99522364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6075520179999999 meters 0.0513305661490733 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.02, Z:-0.00 [[ 9.99998158e-01 -1.32089599e-03 -1.39238473e-03 6.08445700e-01] [ 1.32104888e-03 9.99999121e-01 1.08892536e-04 -2.47052646e-02] [ 1.39223967e-03 -1.10731744e-04 9.99999025e-01 -3.97713177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.667552018 meters 0.05051034330104786 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.03, Z:-0.00 [[ 9.99996194e-01 -1.93185664e-03 -1.96996870e-03 6.69104401e-01] [ 1.93216386e-03 9.99998122e-01 1.54062943e-04 -2.85561571e-02] [ 1.96966737e-03 -1.57868659e-04 9.99998048e-01 -1.07707085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7275520179999999 meters 0.054565959854848314 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.04, Z:-0.00 [[ 9.99986576e-01 -4.45340770e-03 -2.64844144e-03 7.28011382e-01] [ 4.45397130e-03 9.99990060e-01 2.06941550e-04 -3.91680369e-02] [ 2.64749351e-03 -2.18734854e-04 9.99996471e-01 -2.34689864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.787552018 meters 0.05162941284453657 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.04, Z:-0.00 [[ 9.99977303e-01 -6.16627600e-03 -2.71493102e-03 7.89093612e-01] [ 6.16687588e-03 9.99980962e-01 2.12639340e-04 -4.07684975e-02] [ 2.71356814e-03 -2.29377156e-04 9.99996292e-01 -8.06956069e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8475520179999999 meters 0.05404072024715211 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.05, Z:-0.00 [[ 9.99978566e-01 -6.04365748e-03 -2.51838374e-03 8.50361700e-01] [ 6.04417579e-03 9.99981714e-01 1.98253123e-04 -4.88849544e-02] [ 2.51713952e-03 -2.13470428e-04 9.99996809e-01 -5.59059902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.907552018 meters 0.0520070977860417 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.05, Z:-0.00 [[ 9.99986774e-01 -4.72006992e-03 -2.04281235e-03 9.11363864e-01] [ 4.72040742e-03 9.99988846e-01 1.60424889e-04 -5.16655890e-02] [ 2.04203235e-03 -1.70065674e-04 9.99997901e-01 -2.31603668e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9675520179999999 meters 0.050646154043515614 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.06, Z:-0.00 [[ 9.99991153e-01 -3.87355925e-03 -1.63989305e-03 9.72358692e-01] [ 3.87377520e-03 9.99992489e-01 1.28531681e-04 -5.53736613e-02] [ 1.63938286e-03 -1.34883121e-04 9.99998647e-01 -4.98374592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0275520179999997 meters 0.05020897699688277 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.06, Z:-0.00 [[ 9.99997499e-01 4.88104767e-04 -2.18270474e-03 1.03187957e+00] [-4.87732442e-04 9.99999866e-01 1.71108692e-04 -6.26846243e-02] [ 2.18278797e-03 -1.70043688e-04 9.99997603e-01 -3.21376005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0875520179999998 meters 0.04928863231917253 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.07, Z:-0.00 [[ 9.99993073e-01 3.65194997e-03 -7.19670852e-04 1.09212642e+00] [-3.65191034e-03 9.99993330e-01 5.63689747e-05 -6.60634144e-02] [ 7.19871909e-04 -5.37404108e-05 9.99999739e-01 -1.08698641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1475520179999998 meters 0.04845015679914318 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.07, Z:0.00 [[ 9.99959725e-01 8.84955953e-03 1.49464511e-03 1.15055030e+00] [-8.84939384e-03 9.99960836e-01 -1.17427739e-04 -7.13805592e-02] [-1.49562576e-03 1.04196306e-04 9.99998876e-01 8.80176385e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2075520179999997 meters 0.0473068017967498 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.08, Z:-0.00 [[ 9.99906039e-01 1.36936760e-02 6.28862480e-04 1.21011900e+00] [-1.36936477e-02 9.99906236e-01 -4.92853642e-05 -7.81040211e-02] [-6.29478414e-04 4.06693121e-05 9.99999801e-01 -2.59086374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2675520179999997 meters 0.0481371781089221 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.08, Z:-0.00 [[ 9.99894445e-01 1.45264820e-02 2.83849258e-04 1.26749227e+00] [-1.45264761e-02 9.99894485e-01 -2.28472767e-05 -8.46126516e-02] [-2.84151198e-04 1.87215356e-05 9.99999959e-01 -3.32691060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3275520179999998 meters 0.04731221361759138 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.09, Z:-0.01 [[ 9.99915051e-01 1.29338132e-02 -1.61472231e-03 1.32695643e+00] [-1.29336265e-02 9.99916349e-01 1.26022355e-04 -9.18011942e-02] [ 1.61621719e-03 -1.05127434e-04 9.99998688e-01 -5.45067108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3875520179999998 meters 0.05309717166354127 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.11, Z:-0.01 [[ 9.99945741e-01 1.02752616e-02 -1.71301620e-03 1.38501555e+00] [-1.02750472e-02 9.99947201e-01 1.33888029e-04 -1.08302520e-01] [ 1.71430149e-03 -1.16279442e-04 9.99998524e-01 -8.30140219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4475520179999997 meters 0.04667072026147578 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.11, Z:-0.01 [[ 9.99982705e-01 5.67721279e-03 -1.53596440e-03 1.44559232e+00] [-5.67703499e-03 9.99983878e-01 1.20097222e-04 -1.07177524e-01] [ 1.53662146e-03 -1.11375421e-04 9.99998813e-01 -5.52920363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5075520179999997 meters 0.046915873465337814 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.11, Z:-0.00 [[ 9.99995597e-01 2.96289439e-03 1.68001791e-04 1.50556293e+00] [-2.96289221e-03 9.99995611e-01 -1.32733576e-05 -1.14019728e-01] [-1.68040381e-04 1.27755280e-05 9.99999986e-01 -3.85047982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5675520179999998 meters 0.04969493600692862 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.13, Z:-0.00 [[ 9.99996600e-01 -6.28321968e-04 2.53074253e-03 1.56491762e+00] [ 6.28824869e-04 9.99999783e-01 -1.97926024e-04 -1.28327601e-01] [-2.53061762e-03 1.99516745e-04 9.99996778e-01 -3.03932384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6275520179999996 meters 0.05077965287447607 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.14, Z:-0.00 [[ 9.99992187e-01 -2.47524723e-03 3.08218401e-03 1.62579355e+00] [ 2.47600094e-03 9.99996906e-01 -2.40743286e-04 -1.36729981e-01] [-3.08157858e-03 2.48372896e-04 9.99995221e-01 -2.70719016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6875520179999997 meters 0.053842040983726955 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.15, Z:-0.00 [[ 9.99986447e-01 -4.16674628e-03 3.12139045e-03 1.68533534e+00] [ 4.16752810e-03 9.99991286e-01 -2.44009104e-04 -1.47389152e-01] [-3.12034653e-03 2.57014280e-04 9.99995099e-01 -2.90036345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7475520179999997 meters 0.05434406897042056 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.16, Z:-0.01 [[ 9.99982658e-01 -5.41637662e-03 2.31206351e-03 1.74655639e+00] [ 5.41680849e-03 9.99985313e-01 -1.80567998e-04 -1.56506049e-01] [-2.31105153e-03 1.93088871e-04 9.99997311e-01 -5.08424210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8075520179999998 meters 0.05872676109494777 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.17, Z:-0.01 [[ 9.99977678e-01 -6.65114992e-03 6.37492325e-04 1.80670381e+00] [ 6.65118254e-03 9.99977879e-01 -4.90554128e-05 -1.68086194e-01] [-6.37151948e-04 5.32943956e-05 9.99999796e-01 -6.48583542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8675520179999996 meters 0.05415116986442646 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.17, Z:-0.01 [[ 9.99972502e-01 -7.37661126e-03 7.62438522e-04 1.86843350e+00] [ 7.37665847e-03 9.99972790e-01 -5.91185177e-05 -1.69246154e-01] [-7.61981682e-04 6.47411406e-05 9.99999708e-01 -7.68147864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9275520179999996 meters 0.05418208224710708 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.18, Z:-0.01 [[ 9.99978717e-01 -6.50130207e-03 5.47373672e-04 1.93071382e+00] [ 6.50132628e-03 9.99978865e-01 -4.24689274e-05 -1.75026823e-01] [-5.47086000e-04 4.60266783e-05 9.99999849e-01 -8.56363359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9875520179999997 meters 0.053469469106569384 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.18, Z:-0.01 [[ 9.99985243e-01 -5.10293931e-03 1.86403462e-03 1.99237350e+00] [ 5.10322062e-03 9.99986968e-01 -1.46187224e-04 -1.78417520e-01] [-1.86326434e-03 1.55697647e-04 9.99998252e-01 -7.50326864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0475520179999998 meters 0.05881873036201022 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.19, Z:-0.01 [[ 9.99979481e-01 -5.59975264e-03 3.11121149e-03 2.05291989e+00] [ 5.60054016e-03 9.99984287e-01 -2.44466689e-04 -1.91900691e-01] [-3.10979365e-03 2.61886138e-04 9.99995130e-01 -7.25499192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.107552018 meters 0.05239361576766021 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.19, Z:-0.01 [[ 9.99967653e-01 -7.55214734e-03 2.76727321e-03 2.11472142e+00] [ 7.55277831e-03 9.99971454e-01 -2.17631406e-04 -1.89612200e-01] [-2.76555063e-03 2.38524967e-04 9.99996147e-01 -7.56690825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.167552018 meters 0.05202336555433321 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.20, Z:-0.01 [[ 9.99948852e-01 -1.00518087e-02 1.12008137e-03 2.17507839e+00] [ 1.00519136e-02 9.99949474e-01 -8.80822366e-05 -1.95341154e-01] [-1.11913939e-03 9.93366925e-05 9.99999369e-01 -9.68993218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.227552018 meters 0.05421073064815162 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.20, Z:-0.01 [[ 9.99940782e-01 -1.08822827e-02 -9.35451924e-05 2.23705741e+00] [ 1.08822835e-02 9.99940786e-01 7.93776586e-06 -2.03347347e-01] [ 9.34532722e-05 -8.95528111e-06 9.99999996e-01 -1.13184018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.287552018 meters 0.05563565913615074 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.21, Z:-0.01 [[ 9.99947002e-01 -1.02899020e-02 -3.33768373e-04 2.29937752e+00] [ 1.02899116e-02 9.99947057e-01 2.71394351e-05 -2.10416779e-01] [ 3.33471440e-04 -3.05724438e-05 9.99999944e-01 -1.18433883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.347552018 meters 0.05393556850013722 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.21, Z:-0.01 [[ 9.99954095e-01 -9.52728768e-03 1.01951239e-03 2.36190971e+00] [ 9.52737418e-03 9.99954610e-01 -8.00181418e-05 -2.12854666e-01] [-1.01870376e-03 8.97277445e-05 9.99999477e-01 -1.06788331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4075520179999996 meters 0.05292814119781805 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.22, Z:-0.01 [[ 9.99963098e-01 -8.21997868e-03 2.49692933e-03 2.42322861e+00] [ 8.22049644e-03 9.99966192e-01 -1.97167717e-04 -2.16784918e-01] [-2.49522419e-03 2.17686440e-04 9.99996863e-01 -9.75972534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4675520179999997 meters 0.053178323189681555 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.22, Z:-0.01 [[ 9.99968260e-01 -7.59590321e-03 2.40431986e-03 2.48556583e+00] [ 7.59638104e-03 9.99971129e-01 -1.89666934e-04 -2.23416237e-01] [-2.40280975e-03 2.07925044e-04 9.99997092e-01 -1.05197348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5275520179999997 meters 0.05314901995284394 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.23, Z:-0.01 [[ 9.99969953e-01 -7.66326484e-03 1.16946627e-03 2.54697998e+00] [ 7.66337792e-03 9.99970632e-01 -9.22430384e-05 -2.29055193e-01] [-1.16872505e-03 1.01202329e-04 9.99999312e-01 -1.25317908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.587552018 meters 0.05315005661938576 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.23, Z:-0.01 [[ 9.99971555e-01 -7.49186805e-03 8.72060346e-04 2.60879292e+00] [ 7.49193071e-03 9.99971933e-01 -6.86075436e-05 -2.34370114e-01] [-8.71521871e-04 7.51390078e-05 9.99999617e-01 -1.32783195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.647552018 meters 0.05496585494089884 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.24, Z:-0.01 [[ 9.99977078e-01 -6.73906519e-03 6.54874833e-04 2.66974109e+00] [ 6.73910007e-03 9.99977291e-01 -5.10727814e-05 -2.41912337e-01] [-6.54515779e-04 5.54848777e-05 9.99999784e-01 -1.46372814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.707552018 meters 0.052757266311497304 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.24, Z:-0.02 [[ 9.99983709e-01 -5.66266393e-03 7.18146923e-04 2.73123274e+00] [ 5.66270617e-03 9.99983965e-01 -5.68065555e-05 -2.44428649e-01] [-7.17813731e-04 6.08722851e-05 9.99999741e-01 -1.54154386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.767552018 meters 0.054684225057956164 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.25, Z:-0.02 [[ 9.99989718e-01 -4.41695904e-03 1.02700784e-03 2.79085769e+00] [ 4.41704508e-03 9.99990241e-01 -8.15218555e-05 -2.52394086e-01] [-1.02663774e-03 8.60573572e-05 9.99999469e-01 -1.60750763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8275520179999996 meters 0.05269109087358599 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.25, Z:-0.02 [[ 9.99992886e-01 -3.40320379e-03 1.62670898e-03 2.85232543e+00] [ 3.40341832e-03 9.99994200e-01 -1.29127853e-04 -2.54138333e-01] [-1.62626010e-03 1.34663305e-04 9.99998669e-01 -1.53825211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8875520179999996 meters 0.04871331451107799 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.25, Z:-0.02 [[ 9.99994738e-01 -2.57854225e-03 1.96875760e-03 2.91491297e+00] [ 2.57885474e-03 9.99996663e-01 -1.56202462e-04 -2.53885365e-01] [-1.96834825e-03 1.61278779e-04 9.99998050e-01 -1.51018059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9475520179999997 meters 0.04945838023421384 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.26, Z:-0.02 [[ 9.99996112e-01 -2.22921333e-03 1.67537492e-03 2.97701816e+00] [ 2.22943923e-03 9.99997506e-01 -1.32981470e-04 -2.60583324e-01] [-1.67507430e-03 1.36716100e-04 9.99998588e-01 -1.60272144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0075520179999997 meters 0.05013564514954973 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.27, Z:-0.02 [[ 9.99998027e-01 -1.24269230e-03 1.55004462e-03 3.03770841e+00] [ 1.24288496e-03 9.99999220e-01 -1.23339747e-04 -2.67198926e-01] [-1.54989014e-03 1.25266030e-04 9.99998791e-01 -1.73892953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0675520179999998 meters 0.05135393299745555 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.27, Z:-0.02 [[ 9.99999203e-01 -6.05732867e-04 1.10794311e-03 3.09882074e+00] [ 6.05830878e-04 9.99999813e-01 -8.81288072e-05 -2.74191708e-01] [-1.10788952e-03 8.87999631e-05 9.99999382e-01 -1.93715625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.127552018 meters 0.05276743186322996 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.28, Z:-0.02 [[ 9.99999720e-01 3.57687163e-04 6.56663817e-04 3.15886898e+00] [-3.57652913e-04 9.99999935e-01 -5.22731155e-05 -2.81930886e-01] [-6.56682472e-04 5.20382432e-05 9.99999783e-01 -2.04760648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.187552018 meters 0.04814700981482979 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.28, Z:-0.02 [[ 9.99998369e-01 1.11292940e-03 1.42269601e-03 3.21976205e+00] [-1.11276897e-03 9.99999374e-01 -1.13544554e-04 -2.80571662e-01] [-1.42282148e-03 1.11961237e-04 9.99998982e-01 -2.03135879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2475520179999995 meters 0.048668850248242815 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.29, Z:-0.02 [[ 9.99990555e-01 3.74309433e-03 2.20880994e-03 3.27918821e+00] [-3.74271403e-03 9.99992980e-01 -1.76283857e-04 -2.85443383e-01] [-2.20945428e-03 1.68015248e-04 9.99997545e-01 -2.01248131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3075520179999995 meters 0.04802635453703455 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.29, Z:-0.02 [[ 9.99981937e-01 5.34486295e-03 2.74908663e-03 3.33907587e+00] [-5.34427916e-03 9.99985695e-01 -2.19659535e-04 -2.88219729e-01] [-2.75022135e-03 2.04963681e-04 9.99996197e-01 -1.99384125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3675520179999996 meters 0.04537327912299251 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.29, Z:-0.02 [[ 9.99976884e-01 6.43172219e-03 2.20557544e-03 3.39902980e+00] [-6.43134937e-03 9.99979303e-01 -1.76087688e-04 -2.88791983e-01] [-2.20666234e-03 1.61898792e-04 9.99997552e-01 -2.11686146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4275520179999996 meters 0.05001340075748376 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.30, Z:-0.02 [[ 9.99984635e-01 5.05943530e-03 2.26552157e-03 3.45698776e+00] [-5.05903845e-03 9.99987187e-01 -1.80865757e-04 -3.00971997e-01] [-2.26640762e-03 1.69401617e-04 9.99997417e-01 -2.29618791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4875520179999997 meters 0.049839245045573265 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.31, Z:-0.02 [[ 9.99990915e-01 3.53254603e-03 2.38577316e-03 3.51702942e+00] [-3.53210262e-03 9.99993744e-01 -1.90042984e-04 -3.05476954e-01] [-2.38642957e-03 1.81614462e-04 9.99997136e-01 -2.34421160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5475520179999998 meters 0.04888956804953591 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.31, Z:-0.02 [[ 9.99997213e-01 1.86602424e-03 1.44627142e-03 3.57718912e+00] [-1.86585942e-03 9.99998253e-01 -1.15301901e-04 -3.08605835e-01] [-1.44648405e-03 1.12603041e-04 9.99998948e-01 -2.44480968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.607552018 meters 0.049776300722695004 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.31, Z:-0.03 [[ 9.99997329e-01 2.49760450e-04 2.29794187e-03 3.63716188e+00] [-2.49340627e-04 9.99999952e-01 -1.82979817e-04 -3.14481627e-01] [-2.29798746e-03 1.82406358e-04 9.99997343e-01 -2.52237428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6675520179999994 meters 0.052926889597412256 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.32, Z:-0.02 [[ 9.99989680e-01 -2.16890611e-03 3.99207876e-03 3.69703833e+00] [ 2.17019205e-03 9.99997595e-01 -3.17820948e-04 -3.24545086e-01] [-3.99137983e-03 3.26481246e-04 9.99991981e-01 -2.41801542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7275520179999995 meters 0.05368813198380478 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.33, Z:-0.02 [[ 9.99983290e-01 -3.98680861e-03 4.18622874e-03 3.75812637e+00] [ 3.98823863e-03 9.99991991e-01 -3.33309918e-04 -3.30541812e-01] [-4.18486637e-03 3.50000027e-04 9.99991182e-01 -2.40852374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7875520179999995 meters 0.05256210003173153 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.33, Z:-0.03 [[ 9.99968289e-01 -7.18134072e-03 3.44232845e-03 3.81870635e+00] [ 7.18232718e-03 9.99974169e-01 -2.74288746e-04 -3.34625657e-01] [-3.44026977e-03 2.99003978e-04 9.99994038e-01 -2.54356312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8475520179999996 meters 0.0623059615836816 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.35, Z:-0.03 [[ 9.99950800e-01 -9.59877374e-03 2.50217653e-03 3.87783167e+00] [ 9.59930229e-03 9.99953906e-01 -1.99310777e-04 -3.53087711e-01] [-2.50014806e-03 2.23320120e-04 9.99996850e-01 -2.80585016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9075520179999996 meters 0.0559395160382423 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.35, Z:-0.03 [[ 9.99948405e-01 -9.99071266e-03 1.83650565e-03 3.94044306e+00] [ 9.99099747e-03 9.99950078e-01 -1.45976917e-04 -3.49151497e-01] [-1.83495555e-03 1.64317909e-04 9.99998303e-01 -2.78476376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9675520179999997 meters 0.05631432166847849 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.35, Z:-0.03 [[ 9.99965679e-01 -8.03254835e-03 2.02945277e-03 4.00167308e+00] [ 8.03289300e-03 9.99967723e-01 -1.61733320e-04 -3.52795074e-01] [-2.02808814e-03 1.78030146e-04 9.99997928e-01 -2.72706801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.027552018 meters 0.053392284710902065 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.35, Z:-0.03 [[ 9.99980602e-01 -5.87909187e-03 2.05696423e-03 4.06270779e+00] [ 5.87944178e-03 9.99982702e-01 -1.64104872e-04 -3.52525444e-01] [-2.05596386e-03 1.76195491e-04 9.99997871e-01 -2.74063528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.087552017999999 meters 0.053272924661353076 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.36, Z:-0.03 [[ 9.99990166e-01 -3.76765133e-03 2.33926842e-03 4.12437106e+00] [ 3.76809787e-03 9.99992883e-01 -1.86511853e-04 -3.56479556e-01] [-2.33854906e-03 1.95324611e-04 9.99997247e-01 -2.84691789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.147552018 meters 0.05216658642316971 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.36, Z:-0.03 [[ 9.99992783e-01 -2.95346691e-03 2.38973795e-03 4.18652151e+00] [ 2.95393075e-03 9.99995619e-01 -1.90587940e-04 -3.59126458e-01] [-2.38916458e-03 1.97645685e-04 9.99997126e-01 -2.85028255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2075520179999994 meters 0.052566870150789057 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.36, Z:-0.03 [[ 9.99992738e-01 -3.16680318e-03 2.12035557e-03 4.24879456e+00] [ 3.16716903e-03 9.99994970e-01 -1.69209374e-04 -3.63896388e-01] [-2.11980905e-03 1.75923669e-04 9.99997738e-01 -2.88522390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.267552018 meters 0.05379451601907546 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.37, Z:-0.03 [[ 9.99992676e-01 -3.46286656e-03 1.62965534e-03 4.31035641e+00] [ 3.46308308e-03 9.99993995e-01 -1.30054579e-04 -3.70656263e-01] [-1.62919519e-03 1.35697259e-04 9.99998664e-01 -3.00182018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.327552018 meters 0.05330660868053578 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.38, Z:-0.03 [[ 9.99992365e-01 -3.90668507e-03 -8.84513620e-05 4.37180863e+00] [ 3.90668575e-03 9.99992369e-01 7.50704722e-06 -3.75180534e-01] [ 8.84213593e-05 -7.85254157e-06 9.99999996e-01 -3.17558425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.387552017999999 meters 0.051624063557013954 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.38, Z:-0.03 [[ 9.99993429e-01 -3.61872608e-03 -2.15425847e-04 4.43287409e+00] [ 3.61872995e-03 9.99993452e-01 1.75637227e-05 -3.77109197e-01] [ 2.15360878e-04 -1.83431753e-05 9.99999977e-01 -3.18927075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.447552018 meters 0.05178442337822589 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.38, Z:-0.03 [[ 9.99997349e-01 -2.26750436e-03 3.99999017e-04 4.49421140e+00] [ 2.26751727e-03 9.99997429e-01 -3.18336112e-05 -3.81548714e-01] [-3.99925806e-04 3.27405315e-05 9.99999919e-01 -3.22683659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.507552017999999 meters 0.04856600077394178 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.38, Z:-0.03 [[ 9.99999248e-01 -1.18268595e-03 3.23893840e-04 4.55550346e+00] [ 1.18269439e-03 9.99999300e-01 -2.58667758e-05 -3.81476723e-01] [-3.23863021e-04 2.62498237e-05 9.99999947e-01 -3.19946743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567552018 meters 0.04568728874999497 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.38, Z:-0.03 [[ 9.99996397e-01 2.43384325e-03 1.13230761e-03 4.61666060e+00] [-2.43374188e-03 9.99997034e-01 -9.08939712e-05 -3.79675345e-01] [-1.13252548e-03 8.81378993e-05 9.99999355e-01 -3.10818596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.627552017999999 meters 0.0470441796735945 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.39, Z:-0.03 [[ 9.99982764e-01 5.73451349e-03 1.25987520e-03 4.67574756e+00] [-5.73439044e-03 9.99983553e-01 -1.01260600e-04 -3.85277960e-01] [-1.26043516e-03 9.40342388e-05 9.99999201e-01 -3.16370381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.687552018 meters 0.046670715283030476 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.39, Z:-0.03 [[ 9.99952963e-01 9.68519145e-03 5.19011981e-04 4.73475283e+00] [-9.68517104e-03 9.99953097e-01 -4.18209820e-05 -3.87004836e-01] [-5.19392682e-04 3.67922951e-05 9.99999864e-01 -3.29063145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7475520179999995 meters 0.042714960819772246 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.38, Z:-0.03 [[ 9.99905510e-01 1.37407688e-02 -4.02198586e-04 4.79586138e+00] [-1.37407570e-02 9.99905591e-01 3.22456344e-05 -3.84022822e-01] [ 4.02603694e-04 -2.67160745e-05 9.99999919e-01 -3.36033596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.807552017999999 meters 0.04163047225667983 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.39, Z:-0.03 [[ 9.99871499e-01 1.60306270e-02 -7.30309907e-05 4.85549348e+00] [-1.60306266e-02 9.99871501e-01 5.58268186e-06 -3.85918033e-01] [ 7.31111002e-05 -4.41123193e-06 9.99999997e-01 -3.37540419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867552018 meters 0.03900220997715857 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.38, Z:-0.03 [[ 9.99791588e-01 2.03931978e-02 9.47429702e-04 4.91614987e+00] [-2.03931348e-02 9.99792036e-01 -7.60305714e-05 -3.84886671e-01] [-9.48783177e-04 5.66936641e-05 9.99999548e-01 -3.29009151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927552017999999 meters 0.03844608666569573 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.39, Z:-0.03 [[ 9.99735843e-01 2.29819296e-02 2.75254898e-04 4.97565989e+00] [-2.29819243e-02 9.99735880e-01 -2.23436516e-05 -3.87665174e-01] [-2.75695699e-04 1.60118621e-05 9.99999962e-01 -3.37767929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.987552018 meters 0.03751047159543703 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.39, Z:-0.03 [[ 9.99685128e-01 2.50914515e-02 -2.52554067e-04 5.03427767e+00] [-2.50914473e-02 9.99685160e-01 1.96801542e-05 -3.89667689e-01] [ 2.52968356e-04 -1.33370104e-05 9.99999968e-01 -3.47570853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.047552017999999 meters 0.036408214188940725 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.39, Z:-0.04 [[ 9.99673264e-01 2.55568691e-02 -4.60523830e-04 5.09291705e+00] [-2.55568551e-02 9.99673370e-01 3.62961981e-05 -3.93254574e-01] [ 4.61301026e-04 -2.45147980e-05 9.99999893e-01 -3.56276090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.107552018 meters 0.03674159808164979 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.40, Z:-0.04 [[ 9.99642523e-01 2.66231962e-02 -2.45603796e-03 5.15149943e+00] [-2.66227953e-02 9.99645531e-01 1.95790208e-04 -3.98212302e-01] [ 2.46037993e-03 -1.30333622e-04 9.99996965e-01 -3.73629875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.167552017999999 meters 0.03738097019842905 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.40, Z:-0.04 [[ 9.99632225e-01 2.68712188e-02 -3.65408971e-03 5.20992230e+00] [-2.68703331e-02 9.99638885e-01 2.91292656e-04 -4.03829203e-01] [ 3.66059755e-03 -1.92998918e-04 9.99993281e-01 -3.91561959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.227552017999999 meters 0.03656615054726188 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.41, Z:-0.04 [[ 9.99627895e-01 2.70060785e-02 -3.83967230e-03 5.26905357e+00] [-2.70051025e-02 9.99635249e-01 3.05809048e-04 -4.06452646e-01] [ 3.84653048e-03 -2.02004511e-04 9.99992582e-01 -3.99361526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2875520179999995 meters 0.037125656203214376 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.41, Z:-0.04 [[ 9.99676918e-01 2.52433720e-02 -2.97199511e-03 5.32801677e+00] [-2.52427806e-02 9.99681322e-01 2.36344697e-04 -4.11199691e-01] [ 2.97701414e-03 -1.61246917e-04 9.99995556e-01 -3.84745562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347552017999999 meters 0.03969871519084524 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.42, Z:-0.04 [[ 9.99757739e-01 2.19681844e-02 -1.36489661e-03 5.38717378e+00] [-2.19680567e-02 9.99758667e-01 1.08470678e-04 -4.19778929e-01] [ 1.36695012e-03 -7.84602733e-05 9.99999063e-01 -3.76464422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407552018 meters 0.04502686630382886 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.43, Z:-0.04 [[ 9.99892046e-01 1.46683283e-02 -8.58550391e-04 5.44504311e+00] [-1.46682749e-02 9.99892413e-01 6.84589270e-05 -4.34051672e-01] [ 8.59462200e-04 -5.58580834e-05 9.99999629e-01 -3.77524825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.467552017999999 meters 0.04937453690437743 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.45, Z:-0.04 [[ 9.99961457e-01 8.71977490e-03 -1.02440445e-03 5.50486791e+00] [-8.71969583e-03 9.99961979e-01 8.16338305e-05 -4.46462268e-01] [ 1.02507734e-03 -7.26981888e-05 9.99999472e-01 -3.87935904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.527552018 meters 0.05576431585845552 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.46, Z:-0.04 [[ 9.99996096e-01 1.92456946e-03 -2.02594002e-03 5.56327228e+00] [-1.92424694e-03 9.99998136e-01 1.61132476e-04 -4.60778816e-01] [ 2.02624635e-03 -1.57233438e-04 9.99997935e-01 -4.02685674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.587552017999999 meters 0.05817391780911678 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.47, Z:-0.04 [[ 9.99996334e-01 -5.74362548e-04 -2.64606354e-03 5.62271800e+00] [ 5.74921742e-04 9.99999813e-01 2.10574592e-04 -4.69105077e-01] [ 2.64594210e-03 -2.12095100e-04 9.99996477e-01 -4.21310990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.647552017999999 meters 0.05947269217086437 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.47, Z:-0.04 [[ 9.99993819e-01 2.61481143e-04 -3.50633617e-03 5.68172628e+00] [-2.60505069e-04 9.99999927e-01 2.78827974e-04 -4.74176113e-01] [ 3.50640882e-03 -2.77912833e-04 9.99993814e-01 -4.36698905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7075520179999994 meters 0.05599079893846157 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.47, Z:-0.04 [[ 9.99992003e-01 2.56798496e-03 -3.06589067e-03 5.74169841e+00] [-2.56724993e-03 9.99996675e-01 2.43655136e-04 -4.72391242e-01] [ 3.06650618e-03 -2.35782280e-04 9.99995270e-01 -4.31677005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.767552017999999 meters 0.059756678629283154 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.48, Z:-0.04 [[ 9.99984976e-01 5.25968457e-03 -1.54361978e-03 5.80050604e+00] [-5.25950170e-03 9.99986161e-01 1.22498419e-04 -4.80627412e-01] [ 1.54424272e-03 -1.14377908e-04 9.99998801e-01 -4.39761040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827552018 meters 0.046379535886413255 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.47, Z:-0.04 [[ 9.99984520e-01 5.35948492e-03 -1.49533539e-03 5.86051510e+00] [-5.35931408e-03 9.99985632e-01 1.18235398e-04 -4.66228835e-01] [ 1.49594759e-03 -1.10219595e-04 9.99998875e-01 -4.25953447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887552017999999 meters 0.04817683517683115 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.47, Z:-0.04 [[ 9.99991349e-01 3.84498569e-03 -1.58700277e-03 5.91916761e+00] [-3.84479123e-03 9.99992601e-01 1.25569946e-04 -4.73140408e-01] [ 1.58747384e-03 -1.19467165e-04 9.99998733e-01 -4.42244147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.947552018 meters 0.053759599064843386 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.49, Z:-0.05 [[ 9.99995713e-01 2.07110474e-03 -2.07010805e-03 5.97679501e+00] [-2.07076976e-03 9.99997843e-01 1.63949434e-04 -4.85160100e-01] [ 2.07044314e-03 -1.59662014e-04 9.99997844e-01 -4.61598402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.007552017999999 meters 0.04978641368525589 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.48, Z:-0.05 [[ 9.99997270e-01 5.12982307e-04 -2.27961558e-03 6.03691930e+00] [-5.12572152e-04 9.99999852e-01 1.80503449e-04 -4.82884281e-01] [ 2.27970784e-03 -1.79334489e-04 9.99997385e-01 -4.67366138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.067552017999999 meters 0.05332727489717289 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.49, Z:-0.05 [[ 9.99996690e-01 4.21319565e-04 -2.53838696e-03 6.09561514e+00] [-4.20811338e-04 9.99999891e-01 2.00747486e-04 -4.89922901e-01] [ 2.53847126e-03 -1.99678640e-04 9.99996758e-01 -4.84521169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.127552017999999 meters 0.049560305416993265 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.49, Z:-0.05 [[ 9.99996956e-01 5.20520437e-04 -2.41198945e-03 6.15597574e+00] [-5.20061817e-04 9.99999847e-01 1.90764962e-04 -4.87919797e-01] [ 2.41208838e-03 -1.89509998e-04 9.99997073e-01 -4.88889345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.187552017999999 meters 0.049844743033443224 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.49, Z:-0.05 [[ 9.99998204e-01 1.25587974e-03 -1.41939496e-03 6.21521057e+00] [-1.25572447e-03 9.99999205e-01 1.10279743e-04 -4.90209172e-01] [ 1.41953233e-03 -1.08497176e-04 9.99998987e-01 -4.90374717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2475520179999995 meters 0.05070074552647717 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.49, Z:-0.05 [[ 9.99996056e-01 2.77481639e-03 -4.34529501e-04 6.27538920e+00] [-2.77480180e-03 9.99996150e-01 3.41637155e-05 -4.93724430e-01] [ 4.34622625e-04 -3.29578475e-05 9.99999905e-01 -4.87091649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.307552017999999 meters 0.048921482294591055 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.49, Z:-0.05 [[ 9.99980524e-01 6.15872738e-03 1.01062535e-03 6.33574176e+00] [-6.15864981e-03 9.99981032e-01 -7.98438130e-05 -4.93640325e-01] [-1.01109791e-03 7.36181704e-05 9.99999486e-01 -4.89949235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.367552018 meters 0.04635204682663891 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.49, Z:-0.05 [[ 9.99970892e-01 7.45754648e-03 1.61236870e-03 6.39449062e+00] [-7.45735026e-03 9.99972185e-01 -1.27673818e-04 -4.92233840e-01] [-1.61327599e-03 1.15646103e-04 9.99998692e-01 -4.98887079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.427552017999999 meters 0.04988217597054124 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.50, Z:-0.05 [[ 9.99963618e-01 8.26887569e-03 2.09504871e-03 6.45230693e+00] [-8.26854708e-03 9.99965801e-01 -1.65463641e-04 -5.01336674e-01] [-2.09634527e-03 1.48134612e-04 9.99997792e-01 -5.23492831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.487552017999999 meters 0.045863010142806866 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.50, Z:-0.05 [[ 9.99965754e-01 8.10756039e-03 1.66088677e-03 6.51101581e+00] [-8.10735348e-03 9.99967126e-01 -1.31272567e-04 -5.00303038e-01] [-1.66189647e-03 1.17802676e-04 9.99998612e-01 -5.33903696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547552017999999 meters 0.04660040770178591 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.51, Z:-0.05 [[ 9.99981778e-01 5.84819359e-03 1.49723586e-03 6.57043377e+00] [-5.84802335e-03 9.99982893e-01 -1.18059522e-04 -5.06506392e-01] [-1.49790069e-03 1.09301500e-04 9.99998872e-01 -5.46783631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.607552017999999 meters 0.04646713985663495 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.51, Z:-0.06 [[ 9.99986486e-01 4.85760010e-03 1.85248192e-03 6.63002977e+00] [-4.85733805e-03 9.99988192e-01 -1.45934980e-04 -5.12104479e-01] [-1.85316894e-03 1.36934877e-04 9.99998274e-01 -5.56679075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.667552017999999 meters 0.051131655075675235 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.52, Z:-0.06 [[ 9.99984480e-01 5.15788645e-03 2.10634198e-03 6.68875537e+00] [-5.15754877e-03 9.99986686e-01 -1.65713902e-04 -5.24817118e-01] [-2.10716867e-03 1.54847769e-04 9.99997768e-01 -5.81145719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.727552017999999 meters 0.04646181245144242 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.52, Z:-0.06 [[ 9.99976252e-01 6.51849774e-03 2.23695308e-03 6.74846838e+00] [-6.51812018e-03 9.99978741e-01 -1.76032467e-04 -5.23717283e-01] [-2.23805299e-03 1.61447558e-04 9.99997483e-01 -5.95095014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7875520179999995 meters 0.04631975226212235 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.53, Z:-0.06 [[ 9.99959118e-01 8.58153683e-03 2.84948879e-03 6.80789645e+00] [-8.58093305e-03 9.99963158e-01 -2.24047038e-04 -5.27315307e-01] [-2.85130648e-03 1.99586606e-04 9.99995915e-01 -6.00895444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.847552017999999 meters 0.04492577693871628 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.53, Z:-0.06 [[ 9.99920966e-01 1.13272559e-02 5.45473289e-03 6.86789762e+00] [-1.13250867e-02 9.99935777e-01 -4.28399248e-04 -5.30219353e-01] [-5.45923516e-03 3.66590068e-04 9.99985031e-01 -5.93869568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.907552017999999 meters 0.04322353117850079 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.53, Z:-0.06 [[ 9.99881467e-01 1.39875843e-02 6.43417383e-03 6.92774115e+00] [-1.39846219e-02 9.99902083e-01 -5.05172836e-04 -5.33066309e-01] [-6.44060996e-03 4.15133468e-04 9.99979173e-01 -5.91265671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.967552017999999 meters 0.040505699330188355 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.53, Z:-0.06 [[ 9.99816563e-01 1.77410415e-02 7.21777245e-03 6.98742995e+00] [-1.77374122e-02 9.99842519e-01 -5.66536111e-04 -5.33972612e-01] [-7.22668673e-03 4.38407582e-04 9.99973791e-01 -6.07904581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.027552017999999 meters 0.04273568708829123 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.54, Z:-0.06 [[ 9.99771742e-01 2.02544992e-02 6.79851952e-03 7.04595797e+00] [-2.02513389e-02 9.99794778e-01 -5.33376963e-04 -5.42192078e-01] [-6.80792759e-03 3.95576093e-04 9.99976748e-01 -6.18859497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.087552017999999 meters 0.03959069157053392 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.54, Z:-0.06 [[ 9.99718524e-01 2.26006337e-02 7.21689828e-03 7.10577588e+00] [-2.25971356e-02 9.99744492e-01 -5.65905882e-04 -5.42063138e-01] [-7.22784414e-03 4.02665365e-04 9.99973798e-01 -6.32259341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.147552017999999 meters 0.0395252992578272 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.55, Z:-0.06 [[ 9.99684466e-01 2.38417224e-02 7.90829822e-03 7.16453969e+00] [-2.38375634e-02 9.99715653e-01 -6.19759451e-04 -5.46867179e-01] [-7.92082565e-03 4.31049335e-04 9.99968537e-01 -6.41250632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2075520179999994 meters 0.04005983130431883 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.55, Z:-0.07 [[ 9.99651504e-01 2.51918369e-02 7.88936329e-03 7.22175659e+00] [-2.51877446e-02 9.99682548e-01 -6.17664480e-04 -5.53421599e-01] [-7.90241890e-03 4.18733958e-04 9.99968688e-01 -6.54658473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.267552017999999 meters 0.04018624256646182 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.56, Z:-0.07 [[ 9.99640411e-01 2.56366091e-02 7.86212052e-03 7.28051652e+00] [-2.56325643e-02 9.99671243e-01 -6.14818202e-04 -5.58629745e-01] [-7.87529765e-03 4.13070810e-04 9.99968904e-01 -6.63165050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.327552017999999 meters 0.03597845905412158 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.56, Z:-0.07 [[ 9.99600232e-01 2.70348491e-02 8.27610881e-03 7.33931601e+00] [-2.70304202e-02 9.99634402e-01 -6.46552006e-04 -5.57679643e-01] [-8.29056252e-03 4.22586836e-04 9.99965543e-01 -6.79135821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.387552017999999 meters 0.03549270385900908 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.56, Z:-0.07 [[ 9.99568652e-01 2.83265837e-02 7.75332401e-03 7.39773168e+00] [-2.83227398e-02 9.99598648e-01 -6.05140726e-04 -5.61816841e-01] [-7.76735377e-03 3.85284322e-04 9.99969759e-01 -6.85438122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.447552017999999 meters 0.03536833966764597 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.57, Z:-0.07 [[ 9.99549737e-01 2.89216002e-02 7.99155991e-03 7.45603775e+00] [-2.89175406e-02 9.99581606e-01 -6.23098569e-04 -5.67973442e-01] [-8.00623730e-03 3.91721752e-04 9.99967873e-01 -7.01693486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.507552017999999 meters 0.034628983608120265 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.57, Z:-0.07 [[ 9.99568436e-01 2.82802430e-02 7.94788286e-03 7.51478164e+00] [-2.82762123e-02 9.99599956e-01 -6.19081890e-04 -5.72882889e-01] [-7.96221114e-03 3.94078694e-04 9.99968223e-01 -7.15387672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.567552017999999 meters 0.03537590308602179 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.58, Z:-0.07 [[ 9.99603263e-01 2.69482447e-02 8.19194790e-03 7.57269970e+00] [-2.69439237e-02 9.99636743e-01 -6.37385908e-04 -5.80317609e-01] [-8.20614855e-03 4.16409814e-04 9.99966242e-01 -7.11897210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.627552017999999 meters 0.034738754938268945 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.59, Z:-0.07 [[ 9.99630605e-01 2.58012411e-02 8.54101324e-03 7.63136274e+00] [-2.57965109e-02 9.99666994e-01 -6.63550375e-04 -5.85448612e-01] [-8.55528945e-03 4.42976922e-04 9.99963305e-01 -7.11548067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.687552017999999 meters 0.037102155849003254 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.59, Z:-0.07 [[ 9.99664756e-01 2.41678745e-02 9.28917532e-03 7.68846560e+00] [-2.41622166e-02 9.99707791e-01 -7.20845092e-04 -5.94292292e-01] [-9.30388224e-03 4.96156367e-04 9.99956595e-01 -7.15575795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.747552017999999 meters 0.03836040859326631 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.60, Z:-0.07 [[ 9.99705819e-01 2.25188712e-02 9.00974955e-03 7.74716216e+00] [-2.25134892e-02 9.99746295e-01 -6.98341698e-04 -6.01719023e-01] [-9.02318961e-03 4.95295359e-04 9.99959168e-01 -7.21570721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.807552017999999 meters 0.041566744807810176 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.61, Z:-0.07 [[ 9.99788538e-01 1.88955890e-02 8.11399158e-03 7.80536164e+00] [-1.88911094e-02 9.99821350e-01 -6.28383759e-04 -6.13402855e-01] [-8.12441569e-03 4.74968577e-04 9.99966884e-01 -7.45582127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.867552017999999 meters 0.04419419967637009 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.62, Z:-0.08 [[ 9.99854175e-01 1.54005372e-02 7.37916588e-03 7.86532341e+00] [-1.53967391e-02 9.99881300e-01 -5.71233252e-04 -6.22810180e-01] [-7.38708727e-03 4.57534860e-04 9.99972610e-01 -7.57478219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.927552017999999 meters 0.0479769642400288 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.63, Z:-0.08 [[ 9.99919991e-01 1.07543276e-02 6.65999554e-03 7.92548853e+00] [-1.07511311e-02 9.99942072e-01 -5.15561778e-04 -6.33597067e-01] [-6.66515426e-03 4.43918043e-04 9.99977689e-01 -7.65203746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.987552017999999 meters 0.04442788344605587 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.63, Z:-0.08 [[ 9.99956358e-01 6.71612088e-03 6.49431004e-03 7.98594958e+00] [-6.71299680e-03 9.99977341e-01 -5.02728571e-04 -6.34438265e-01] [-6.49753927e-03 4.59110348e-04 9.99978785e-01 -7.78931513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.047552018 meters 0.04664122096701453 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.64, Z:-0.08 [[ 9.99969998e-01 4.44957796e-03 6.34075093e-03 8.04656200e+00] [-4.44655504e-03 9.99989994e-01 -4.90762857e-04 -6.42934233e-01] [-6.34287117e-03 4.62553635e-04 9.99979777e-01 -7.85912684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.107552018 meters 0.04956499640169792 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.65, Z:-0.08 [[ 9.99979873e-01 2.31317247e-03 5.90789968e-03 8.10701550e+00] [-2.31051027e-03 9.99997226e-01 -4.57403530e-04 -6.50758885e-01] [-5.90894134e-03 4.43744061e-04 9.99982444e-01 -7.93426830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.167552017999999 meters 0.051500406938111996 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.66, Z:-0.08 [[ 9.99982922e-01 1.24610471e-03 5.70986909e-03 8.16893700e+00] [-1.24360052e-03 9.99999129e-01 -4.42101228e-04 -6.58638845e-01] [-5.71041502e-03 4.34992882e-04 9.99983601e-01 -7.97396058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.227552017999999 meters 0.05193688355506222 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.66, Z:-0.08 [[ 9.99985432e-01 -5.50452272e-04 5.36959045e-03 8.22984150e+00] [ 5.52695144e-04 9.99999761e-01 -4.16223960e-04 -6.63100337e-01] [-5.36936006e-03 4.19185643e-04 9.99985497e-01 -8.10263241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.287552018 meters 0.05203377550793381 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.67, Z:-0.08 [[ 9.99984877e-01 -8.25014126e-04 5.43746743e-03 8.29177391e+00] [ 8.27318165e-04 9.99999569e-01 -4.21498337e-04 -6.67398092e-01] [-5.43711734e-03 4.25990479e-04 9.99985128e-01 -8.16348988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.347552017999998 meters 0.05069210637223519 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.67, Z:-0.08 [[ 9.99989805e-01 3.41511828e-04 4.50269157e-03 8.35377373e+00] [-3.39942303e-04 9.99999881e-01 -3.49335431e-04 -6.67851445e-01] [-4.50281034e-03 3.47801214e-04 9.99989802e-01 -8.31023882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407552017999999 meters 0.050455945502797375 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.67, Z:-0.08 [[ 9.99988690e-01 1.32971004e-03 4.56646047e-03 8.41545804e+00] [-1.32810465e-03 9.99999055e-01 -3.54574542e-04 -6.71050745e-01] [-4.56692764e-03 3.48505794e-04 9.99989511e-01 -8.36040381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.467552018 meters 0.04962995451729557 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.67, Z:-0.08 [[ 9.99967977e-01 6.00871529e-03 5.28593956e-03 8.47573063e+00] [-6.00662702e-03 9.99981876e-01 -4.10849207e-04 -6.70271396e-01] [-5.28831243e-03 3.79085382e-04 9.99985945e-01 -8.34461737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.527552018 meters 0.04572825760591427 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.67, Z:-0.08 [[ 9.99946386e-01 9.09065666e-03 4.95826563e-03 8.53738664e+00] [-9.08885717e-03 9.99958621e-01 -3.85338264e-04 -6.66199588e-01] [-4.96156344e-03 3.40252637e-04 9.99987633e-01 -8.47431711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.587552017999998 meters 0.048273297796874656 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.67, Z:-0.09 [[ 9.99898654e-01 1.34933058e-02 4.54008586e-03 8.59646079e+00] [-1.34918415e-02 9.99908919e-01 -3.53019731e-04 -6.70199629e-01] [-4.54443574e-03 2.91729836e-04 9.99989631e-01 -8.64699141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.647552017999999 meters 0.04709238162922087 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.67, Z:-0.09 [[ 9.99882140e-01 1.48672831e-02 3.83017292e-03 8.65571722e+00] [-1.48662505e-02 9.99889447e-01 -2.97918421e-04 -6.69749281e-01] [-3.83417872e-03 2.40942998e-04 9.99992620e-01 -8.76127168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.707552018 meters 0.04881952078701632 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.67, Z:-0.09 [[ 9.99886385e-01 1.48221609e-02 2.74221455e-03 8.71348844e+00] [-1.48216314e-02 9.99890131e-01 -2.13312714e-04 -6.73511160e-01] [-2.74507502e-03 1.72644385e-04 9.99996217e-01 -8.96700267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.767552017999998 meters 0.040372181278687434 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.66, Z:-0.09 [[ 9.99908160e-01 1.34839220e-02 1.36234539e-03 8.77341609e+00] [-1.34837899e-02 9.99909084e-01 -1.06116691e-04 -6.63567598e-01] [-1.36365240e-03 8.77373664e-05 9.99999066e-01 -9.02246391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827552017999999 meters 0.041373761747577904 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.67, Z:-0.09 [[ 9.99907325e-01 1.35993425e-02 6.31120363e-04 8.83231469e+00] [-1.35993140e-02 9.99907524e-01 -4.94023794e-05 -6.66961405e-01] [-6.31733840e-04 4.08149970e-05 9.99999800e-01 -9.12813394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.887552018 meters 0.04163478418709324 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.67, Z:-0.09 [[ 9.99887896e-01 1.49568803e-02 -6.97948550e-04 8.89118212e+00] [-1.49568467e-02 9.99888139e-01 5.34215041e-05 -6.66734001e-01] [ 6.98669495e-04 -4.29764059e-05 9.99999755e-01 -9.23594199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.947552018 meters 0.042391539878848625 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.67, Z:-0.09 [[ 9.99870333e-01 1.60867427e-02 -7.30224608e-04 8.94884433e+00] [-1.60867063e-02 9.99870599e-01 5.57226240e-05 -6.69092523e-01] [ 7.31026512e-04 -4.39684899e-05 9.99999732e-01 -9.31969901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.007552017999998 meters 0.03943160135398533 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.67, Z:-0.09 [[ 9.99838870e-01 1.79480673e-02 3.18027465e-04 9.00798927e+00] [-1.79480603e-02 9.99838920e-01 -2.50834181e-05 -6.65434245e-01] [-3.18426436e-04 1.93714003e-05 9.99999949e-01 -9.25358764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.067552017999999 meters 0.03957798146506314 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.67, Z:-0.09 [[ 9.99813335e-01 1.93105033e-02 6.32766658e-04 9.06708648e+00] [-1.93104759e-02 9.99813534e-01 -4.93124036e-05 -6.67054219e-01] [-6.33600916e-04 3.70841734e-05 9.99999799e-01 -9.26362608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.127552018 meters 0.037602479751653976 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.67, Z:-0.09 [[ 9.99758242e-01 2.19852904e-02 3.24374187e-04 9.12710086e+00] [-2.19852833e-02 9.99758294e-01 -2.52621197e-05 -6.66278612e-01] [-3.24851179e-04 1.81245539e-05 9.99999947e-01 -9.37444389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.187552017999998 meters 0.035880262055034653 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.67, Z:-0.10 [[ 9.99643928e-01 2.66357853e-02 -1.59743511e-03 9.18676100e+00] [-2.66356231e-02 9.99645201e-01 1.22723003e-04 -6.66630719e-01] [ 1.60013717e-03 -8.01306255e-05 9.99998717e-01 -9.63133047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247552017999999 meters 0.03254587933825406 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.67, Z:-0.10 [[ 9.99497136e-01 3.16814117e-02 -1.32824182e-03 9.24658155e+00] [-3.16813039e-02 9.99498016e-01 1.02106417e-04 -6.67174457e-01] [ 1.33080994e-03 -5.99746391e-05 9.99999113e-01 -9.68366278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.307552017999999 meters 0.03276269852514491 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.67, Z:-0.10 [[ 9.99459703e-01 3.28375395e-02 -1.41330272e-03 9.30560330e+00] [-3.28374191e-02 9.99460701e-01 1.08298214e-04 -6.72030469e-01] [ 1.41609678e-03 -6.18304871e-05 9.99998995e-01 -9.73190575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.367552018 meters 0.035020810932171485 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.68, Z:-0.10 [[ 9.99427400e-01 3.37373141e-02 -2.58169690e-03 9.36308608e+00] [-3.37369159e-02 9.99430729e-01 1.97660876e-04 -6.80887715e-01] [ 2.58689576e-03 -1.10449204e-04 9.99996648e-01 -9.92015593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.427552017999998 meters 0.03194783780469222 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.68, Z:-0.10 [[ 9.99399422e-01 3.42675029e-02 -5.15112354e-03 9.42114845e+00] [-3.42659249e-02 9.99412673e-01 3.94305133e-04 -6.81979500e-01] [ 5.16161000e-03 -2.17560310e-04 9.99986655e-01 -9.95273712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.487552017999999 meters 0.03384606814910636 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.69, Z:-0.10 [[ 9.99481990e-01 3.17042979e-02 -5.53083602e-03 9.48051679e+00] [-3.17024373e-02 9.99497262e-01 4.23770290e-04 -6.91706552e-01] [ 5.54149079e-03 -2.48209790e-04 9.99984615e-01 -1.00034710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.547552018 meters 0.03445416855522499 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.70, Z:-0.10 [[ 9.99562980e-01 2.88744331e-02 -6.33367442e-03 9.53931453e+00] [-2.88719395e-02 9.99583001e-01 4.84813557e-04 -6.99186581e-01] [ 6.34503200e-03 -3.01736220e-04 9.99979825e-01 -1.00329301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.607552017999998 meters 0.041782470703239205 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.72, Z:-0.10 [[ 9.99702282e-01 2.38416893e-02 -5.18859705e-03 9.59684402e+00] [-2.38399488e-02 9.99715709e-01 3.97031714e-04 -7.16870096e-01] [ 5.19658788e-03 -2.73217622e-04 9.99986460e-01 -1.00426495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.667552017999999 meters 0.03925800940534104 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.72, Z:-0.10 [[ 9.99772420e-01 2.09336307e-02 -4.10991739e-03 9.65610664e+00] [-2.09325170e-02 9.99780842e-01 3.13796692e-04 -7.19736014e-01] [ 4.11558557e-03 -2.27694362e-04 9.99991505e-01 -9.74131941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.727552017999999 meters 0.040107232721427154 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.73, Z:-0.10 [[ 9.99872145e-01 1.55524775e-02 -3.71673732e-03 9.71625281e+00] [-1.55515279e-02 9.99879027e-01 2.84267884e-04 -7.28519392e-01] [ 3.72070876e-03 -2.26430595e-04 9.99993053e-01 -9.59393127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.787552018 meters 0.043993388934296024 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.74, Z:-0.10 [[ 9.99949164e-01 9.66111565e-03 -2.88645689e-03 9.77538417e+00] [-9.66051895e-03 9.99953312e-01 2.20594671e-04 -7.43048379e-01] [ 2.88845332e-03 -1.92698785e-04 9.99995810e-01 -9.55586278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.847552017999998 meters 0.0449337593047594 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.75, Z:-0.10 [[ 9.99975244e-01 6.06600073e-03 -3.56581283e-03 9.83547615e+00] [-6.06506677e-03 9.99981570e-01 2.72675503e-04 -7.52348446e-01] [ 3.56740117e-03 -2.51041860e-04 9.99993605e-01 -9.61730014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907552017999999 meters 0.04742930482074503 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.76, Z:-0.10 [[ 9.99977313e-01 3.78767348e-03 -5.57010636e-03 9.89454335e+00] [-3.78536068e-03 9.99992745e-01 4.25699108e-04 -7.64128793e-01] [ 5.57167836e-03 -4.04604588e-04 9.99984396e-01 -9.80998107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.967552018 meters 0.04881629282671142 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.77, Z:-0.10 [[ 9.99975439e-01 3.15799705e-03 -6.25691949e-03 9.95299230e+00] [-3.15507185e-03 9.99994909e-01 4.77329016e-04 -7.72189344e-01] [ 6.25839503e-03 -4.57576261e-04 9.99980311e-01 -9.84315385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.027552017999998 meters 0.04583905859686843 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.77, Z:-0.10 [[ 9.99981317e-01 2.83988751e-03 -5.41305837e-03 1.00114458e+01] [-2.83769631e-03 9.99995889e-01 4.12435007e-04 -7.74840376e-01] [ 5.41420739e-03 -3.97066685e-04 9.99985264e-01 -9.71751469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.087552017999998 meters 0.04655027537510899 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.78, Z:-0.10 [[ 9.99977282e-01 5.73415831e-03 -3.54339661e-03 1.00697282e+01] [-5.73323835e-03 9.99983528e-01 2.69729062e-04 -7.82307872e-01] [ 3.54488491e-03 -2.49407797e-04 9.99993686e-01 -9.56281537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.147552017999999 meters 0.04589443873341541 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.79, Z:-0.10 [[ 9.99963223e-01 7.92751735e-03 -3.27204331e-03 1.01298748e+01] [-7.92674399e-03 9.99968552e-01 2.49254285e-04 -7.86726162e-01] [ 3.27391638e-03 -2.23308469e-04 9.99994616e-01 -9.53441945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.207552018 meters 0.04363865169701887 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.79, Z:-0.10 [[ 9.99955056e-01 8.97958376e-03 -3.04203202e-03 1.01886503e+01] [-8.97892216e-03 9.99959662e-01 2.31074279e-04 -7.88519941e-01] [ 3.04398427e-03 -2.03749724e-04 9.99995346e-01 -9.51757905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.267552017999998 meters 0.04061335379294464 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.79, Z:-0.10 [[ 9.99922461e-01 1.19005430e-02 -3.66730272e-03 1.02489857e+01] [-1.18995994e-02 9.99929158e-01 2.79016808e-04 -7.91118855e-01] [ 3.67036338e-03 -2.35355740e-04 9.99993236e-01 -9.61220823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327552017999999 meters 0.04021357962155143 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.80, Z:-0.10 [[ 9.99896771e-01 1.33837832e-02 -5.22709147e-03 1.03076464e+01] [-1.33818904e-02 9.99910380e-01 3.96919448e-04 -7.97244215e-01] [ 5.23193530e-03 -3.26930109e-04 9.99986260e-01 -9.81610136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.387552018 meters 0.03929766471218964 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.80, Z:-0.10 [[ 9.99839259e-01 1.64554887e-02 -7.11851421e-03 1.03674626e+01] [-1.64520555e-02 9.99864510e-01 5.40584138e-04 -8.02570437e-01] [ 7.12644530e-03 -4.23383053e-04 9.99974517e-01 -1.00270311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.447552017999998 meters 0.03722385775644063 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.81, Z:-0.10 [[ 9.99752060e-01 2.09250922e-02 -7.61313575e-03 1.04275832e+01] [-2.09212937e-02 9.99780959e-01 5.78251368e-04 -8.05894999e-01] [ 7.62356812e-03 -4.18831347e-04 9.99970852e-01 -1.00119650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.507552017999998 meters 0.036585029369476364 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.81, Z:-0.10 [[ 9.99680008e-01 2.43379800e-02 -6.89530886e-03 1.04870604e+01] [-2.43349479e-02 9.99703724e-01 5.23311090e-04 -8.10700391e-01] [ 6.90600229e-03 -3.55346652e-04 9.99976090e-01 -9.93137715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.567552017999999 meters 0.03430574125865085 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.81, Z:-0.10 [[ 9.99550621e-01 2.95109421e-02 -5.25927761e-03 1.05471924e+01] [-2.95092491e-02 9.99564428e-01 3.99243497e-04 -8.13330702e-01] [ 5.26876886e-03 -2.43866753e-04 9.99986090e-01 -9.83277485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.627552018 meters 0.03359378380252493 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.82, Z:-0.10 [[ 9.99479166e-01 3.18970732e-02 -4.89635264e-03 1.06062611e+01] [-3.18956374e-02 9.99491136e-01 3.71066125e-04 -8.18430145e-01] [ 4.90569698e-03 -2.14700573e-04 9.99987944e-01 -9.87446199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.687552017999998 meters 0.03385237946212927 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.83, Z:-0.10 [[ 9.99468865e-01 3.21576586e-02 -5.27952649e-03 1.06642947e+01] [-3.21559956e-02 9.99482782e-01 3.99607403e-04 -8.26318932e-01] [ 5.28964627e-03 -2.29626727e-04 9.99985983e-01 -9.97372061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.747552017999999 meters 0.035512753738049276 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.84, Z:-0.10 [[ 9.99535505e-01 3.00434657e-02 -5.11513186e-03 1.07236143e+01] [-3.00418766e-02 9.99548566e-01 3.87228131e-04 -8.37169748e-01] [ 5.12445639e-03 -2.33380105e-04 9.99986843e-01 -1.00308732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.807552017999999 meters 0.03688613533091618 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.85, Z:-0.10 [[ 9.99702491e-01 2.39887962e-02 -4.41216515e-03 1.07828981e+01] [-2.39875543e-02 9.99712201e-01 3.34182959e-04 -8.50182882e-01] [ 4.41891199e-03 -2.28246486e-04 9.99990211e-01 -9.86702835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.867552017999998 meters 0.03961758272129817 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.87, Z:-0.10 [[ 9.99852844e-01 1.68539319e-02 -3.19937085e-03 1.08421901e+01] [-1.68532423e-02 9.99857945e-01 2.42357663e-04 -8.66348078e-01] [ 3.20300104e-03 -1.88402227e-04 9.99994853e-01 -9.80595182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.927552017999998 meters 0.04080790694707854 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.88, Z:-0.10 [[ 9.99909508e-01 1.31811935e-02 -2.68907306e-03 1.09013816e+01] [-1.31806937e-02 9.99913110e-01 2.03505945e-04 -8.78145798e-01] [ 2.69152186e-03 -1.68043681e-04 9.99996364e-01 -9.84051672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987552017999999 meters 0.04624432910143433 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.90, Z:-0.10 [[ 9.99948951e-01 9.69769043e-03 -2.83716275e-03 1.09588741e+01] [-9.69712076e-03 9.99952959e-01 2.14478425e-04 -8.98362362e-01] [ 2.83910923e-03 -1.86955166e-04 9.99995952e-01 -9.94987988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.047552018 meters 0.04058965173064335 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.90, Z:-0.10 [[ 9.99956925e-01 8.92239829e-03 -2.55694389e-03 1.10179701e+01] [-8.92193443e-03 9.99960180e-01 1.92763395e-04 -9.00273766e-01] [ 2.55856198e-03 -1.69942206e-04 9.99996712e-01 -9.91457932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.107552017999998 meters 0.04471011880330618 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.92, Z:-0.10 [[ 9.99949965e-01 9.19235892e-03 -3.94551824e-03 1.10744798e+01] [-9.19125735e-03 9.99957715e-01 2.97235866e-04 -9.16975626e-01] [ 3.94808371e-03 -2.60956721e-04 9.99992172e-01 -1.01559942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.167552017999999 meters 0.04149361131777255 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.92, Z:-0.10 [[ 9.99929625e-01 1.06182902e-02 -5.29127232e-03 1.11331960e+01] [-1.06163290e-02 9.99943566e-01 3.98583944e-04 -9.20373351e-01] [ 5.29520599e-03 -3.42382006e-04 9.99985922e-01 -1.02259722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.227552017999999 meters 0.040590010877909505 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.93, Z:-0.10 [[ 9.99890538e-01 1.38007239e-02 -5.33400406e-03 1.11927554e+01] [-1.37987761e-02 9.99904712e-01 4.01799465e-04 -9.28653473e-01] [ 5.33904091e-03 -3.28152755e-04 9.99985693e-01 -1.03321631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.287552017999998 meters 0.03871512467090806 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.93, Z:-0.10 [[ 9.99861130e-01 1.61534754e-02 -4.09709798e-03 1.12527888e+01] [-1.61523457e-02 9.99869495e-01 3.08652584e-04 -9.32511705e-01] [ 4.10154909e-03 -2.42431978e-04 9.99991559e-01 -1.01595861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.347552017999998 meters 0.03983467235450117 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.94, Z:-0.10 [[ 9.99842843e-01 1.76740965e-02 -1.38374629e-03 1.13098939e+01] [-1.76739701e-02 9.99843798e-01 1.03476982e-04 -9.41592928e-01] [ 1.38535900e-03 -7.90044294e-05 9.99999037e-01 -1.00117795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407552017999999 meters 0.03964962451880519 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.95, Z:-0.10 [[ 9.99862615e-01 1.65648932e-02 -5.96474332e-04 1.13687119e+01] [-1.65648697e-02 9.99862792e-01 4.43081347e-05 -9.47587579e-01] [ 5.97126450e-04 -3.44215278e-05 9.99999821e-01 -9.93021728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.467552018 meters 0.03931469410489472 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.96, Z:-0.10 [[ 9.99939119e-01 1.10066233e-02 -7.82407163e-04 1.14282282e+01] [-1.10065807e-02 9.99939424e-01 5.86686749e-05 -9.56167633e-01] [ 7.83005512e-04 -5.00534756e-05 9.99999692e-01 -9.95142145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.527552017999998 meters 0.047068744802186674 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.98, Z:-0.10 [[ 9.99992218e-01 3.29792052e-03 -2.16512580e-03 1.14863549e+01] [-3.29757617e-03 9.99994550e-01 1.62596436e-04 -9.76481575e-01] [ 2.16565023e-03 -1.55455503e-04 9.99997643e-01 -1.01832840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.587552017999998 meters 0.04716396834878541 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.98, Z:-0.10 [[ 9.99993433e-01 -1.69974838e-03 -3.20078898e-03 1.15463431e+01] [ 1.70052678e-03 9.99998525e-01 2.40482030e-04 -9.84684110e-01] [ 3.20037550e-03 -2.45923478e-04 9.99994849e-01 -1.02899309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.647552017999999 meters 0.0548065705174785 Centerline is valid? [True, True] Translation: X:11.60, Y:-1.00, Z:-0.10 [[ 9.99967293e-01 -7.17546570e-03 -3.73173719e-03 1.16041932e+01] [ 7.17656041e-03 9.99974209e-01 2.80044264e-04 -1.00262237e+00] [ 3.72963150e-03 -3.06816142e-04 9.99992998e-01 -1.04255625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.707552017999998 meters 0.05083219725805216 Centerline is valid? [True, True] Translation: X:11.66, Y:-1.00, Z:-0.10 [[ 9.99957975e-01 -8.76017648e-03 -2.70308055e-03 1.16647665e+01] [ 8.76075710e-03 9.99961603e-01 2.03034354e-04 -1.00316219e+00] [ 2.70119815e-03 -2.26706853e-04 9.99996326e-01 -1.02559519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.767552017999998 meters 0.051389452825884564 Centerline is valid? [True, True] Translation: X:11.73, Y:-1.01, Z:-0.10 [[ 9.99955057e-01 -9.41398738e-03 -1.12327221e-03 1.17257152e+01] [ 9.41408842e-03 9.99955683e-01 8.46941293e-05 -1.01014213e+00] [ 1.12242512e-03 -9.52649068e-05 9.99999366e-01 -1.01174066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.827552017999999 meters 0.05328848892285168 Centerline is valid? [True, True] Translation: X:11.79, Y:-1.02, Z:-0.10 [[ 9.99946015e-01 -1.03530489e-02 -8.84092690e-04 1.17874532e+01] [ 1.03531122e-02 9.99946403e-01 6.70623648e-05 -1.01875804e+00] [ 8.83351005e-04 -7.62118552e-05 9.99999607e-01 -1.01636714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.887552018 meters 0.05105239863945125 Centerline is valid? [True, True] Translation: X:11.85, Y:-1.02, Z:-0.10 [[ 9.99936145e-01 -1.12675015e-02 -8.65786148e-04 1.18500359e+01] [ 1.12675626e-02 9.99936517e-01 6.57707532e-05 -1.02096076e+00] [ 8.64990113e-04 -7.55218531e-05 9.99999623e-01 -1.01449364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.947552017999998 meters 0.05376794126088095 Centerline is valid? [True, True] Translation: X:11.91, Y:-1.03, Z:-0.10 [[ 9.99922088e-01 -1.23673375e-02 -1.69348140e-03 1.19108550e+01] [ 1.23675720e-02 9.99923510e-01 1.28057264e-04 -1.02984452e+00] [ 1.69176814e-03 -1.48991540e-04 9.99998558e-01 -1.03086942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.007552017999998 meters 0.050630566706245286 Centerline is valid? [True, True] Translation: X:11.97, Y:-1.03, Z:-0.10 [[ 9.99920529e-01 -1.23296229e-02 -2.62979283e-03 1.19733613e+01] [ 1.23301885e-02 9.99923961e-01 1.98995428e-04 -1.03081516e+00] [ 2.62713933e-03 -2.31405456e-04 9.99996522e-01 -1.04007828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.067552017999999 meters 0.054636488761556454 Centerline is valid? [True, True] Translation: X:12.03, Y:-1.04, Z:-0.10 [[ 9.99938338e-01 -1.07327756e-02 -2.85077621e-03 1.20330349e+01] [ 1.07334327e-02 9.99942372e-01 2.15296147e-04 -1.03961382e+00] [ 2.84830120e-03 -2.45881486e-04 9.99995913e-01 -1.04992261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.127552017999998 meters 0.053883024836528716 Centerline is valid? [True, True] Translation: X:12.09, Y:-1.04, Z:-0.11 [[ 9.99946054e-01 -9.95280852e-03 -2.97169503e-03 1.20942470e+01] [ 9.95351983e-03 9.99950437e-01 2.24669823e-04 -1.04281437e+00] [ 2.96931165e-03 -2.54236529e-04 9.99995559e-01 -1.05552683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.187552017999998 meters 0.05054451703975236 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.04, Z:-0.11 [[ 9.99966049e-01 -7.78651287e-03 -2.69665093e-03 1.21555258e+01] [ 7.78709064e-03 9.99969659e-01 2.03820278e-04 -1.04272902e+00] [ 2.69498206e-03 -2.24812424e-04 9.99996343e-01 -1.05600461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247552017999999 meters 0.04889557317315362 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.04, Z:-0.11 [[ 9.99973581e-01 -6.63900161e-03 -2.95999321e-03 1.22165949e+01] [ 6.63969221e-03 9.99977932e-01 2.23547495e-04 -1.04349676e+00] [ 2.95844375e-03 -2.43195033e-04 9.99995594e-01 -1.05695105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.307552017999999 meters 0.052158824043627795 Centerline is valid? [True, True] Translation: X:12.28, Y:-1.05, Z:-0.11 [[ 9.99976984e-01 -6.07132284e-03 -3.02824085e-03 1.22763295e+01] [ 6.07204547e-03 9.99981539e-01 2.29493844e-04 -1.05047542e+00] [ 3.02679161e-03 -2.47876178e-04 9.99995389e-01 -1.06775070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.367552017999998 meters 0.053196499947596086 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.06, Z:-0.11 [[ 9.99977102e-01 -5.35965692e-03 -4.13148450e-03 1.23370563e+01] [ 5.36099258e-03 9.99985581e-01 3.12280814e-04 -1.05563755e+00] [ 4.12975121e-03 -3.34422521e-04 9.99991417e-01 -1.08200450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.427552017999998 meters 0.049259603601254386 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.05, Z:-0.11 [[ 9.99979290e-01 -3.87796015e-03 -5.13618764e-03 1.23980967e+01] [ 3.88000534e-03 9.99992397e-01 3.88286130e-04 -1.05209614e+00] [ 5.13464283e-03 -4.08206524e-04 9.99986734e-01 -1.08284005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487552017999999 meters 0.048883098348344214 Centerline is valid? [True, True] Translation: X:12.46, Y:-1.05, Z:-0.11 [[ 9.99985815e-01 -1.29502057e-03 -5.16658848e-03 1.24585396e+01] [ 1.29705455e-03 9.99999083e-01 3.90346948e-04 -1.05287002e+00] [ 5.16607823e-03 -3.97042758e-04 9.99986577e-01 -1.08335655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.547552017999998 meters 0.04316305162856517 Centerline is valid? [True, True] Translation: X:12.52, Y:-1.04, Z:-0.11 [[ 9.99968340e-01 6.23462566e-03 -4.94461437e-03 1.25202077e+01] [-6.23285370e-03 9.99980506e-01 3.73689441e-04 -1.04281043e+00] [ 4.94684780e-03 -3.42858552e-04 9.99987705e-01 -1.07002152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.607552017999998 meters 0.03689346076488041 Centerline is valid? [True, True] Translation: X:12.58, Y:-1.03, Z:-0.11 [[ 9.99835950e-01 1.77226706e-02 -3.73891554e-03 1.25817917e+01] [-1.77217372e-02 9.99842918e-01 2.82614615e-04 -1.03112343e+00] [ 3.74333691e-03 -2.16308173e-04 9.99992970e-01 -1.06005169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.667552017999999 meters 0.034353551524876576 Centerline is valid? [True, True] Translation: X:12.64, Y:-1.03, Z:-0.11 [[ 9.99665135e-01 2.56627674e-02 -3.32263227e-03 1.26422641e+01] [-2.56620752e-02 9.99670643e-01 2.50793739e-04 -1.02519050e+00] [ 3.32797400e-03 -1.65444118e-04 9.99994449e-01 -1.05368195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.727552017999999 meters 0.031106952849188088 Centerline is valid? [True, True] Translation: X:12.70, Y:-1.02, Z:-0.11 [[ 9.99394609e-01 3.46726143e-02 -2.86812789e-03 1.27030166e+01] [-3.46721360e-02 9.99398717e-01 2.16341403e-04 -1.01770215e+00] [ 2.87390445e-03 -1.16766311e-04 9.99995864e-01 -1.05938521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.787552017999998 meters 0.030077265992738352 Centerline is valid? [True, True] Translation: X:12.76, Y:-1.02, Z:-0.11 [[ 9.99223114e-01 3.92699726e-02 -3.32215658e-03 1.27628984e+01] [-3.92693566e-02 9.99228630e-01 2.50464447e-04 -1.01502171e+00] [ 3.32942970e-03 -1.19810914e-04 9.99994450e-01 -1.05810363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.847552017999998 meters 0.028192689452109062 Centerline is valid? [True, True] Translation: X:12.82, Y:-1.01, Z:-0.11 [[ 9.99102601e-01 4.22631622e-02 -2.79598996e-03 1.28217035e+01] [-4.22627390e-02 9.99106509e-01 2.10267745e-04 -1.01416870e+00] [ 2.80237834e-03 -9.19128575e-05 9.99996069e-01 -1.06582105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.907552017999999 meters 0.027090390597432717 Centerline is valid? [True, True] Translation: X:12.88, Y:-1.01, Z:-0.11 [[ 9.99032918e-01 4.38929014e-02 -2.57734859e-03 1.28803742e+01] [-4.38925480e-02 9.99036239e-01 1.93562768e-04 -1.01385252e+00] [ 2.58336067e-03 -8.02491800e-05 9.99996660e-01 -1.06039784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.967552017999997 meters 0.027230091610886388 Centerline is valid? [True, True] Translation: X:12.94, Y:-1.02, Z:-0.11 [[ 9.98876740e-01 4.73656381e-02 -1.32497920e-03 1.29385629e+01] [-4.73655483e-02 9.98877618e-01 9.91438637e-05 -1.01634693e+00] [ 1.32818808e-03 -3.62741329e-05 9.99999117e-01 -1.05066491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.027552017999998 meters 0.026246000741617023 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.02, Z:-0.10 [[ 9.98788444e-01 4.91889464e-02 1.44631768e-03 1.29971851e+01] [-4.91888397e-02 9.98789490e-01 -1.09249949e-04 -1.01933526e+00] [-1.44994079e-03 3.79748977e-05 9.99998948e-01 -1.03885494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087552017999998 meters 0.024808896838588102 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.02, Z:-0.10 [[ 9.98606136e-01 5.27610328e-02 1.43457527e-03 1.30563696e+01] [-5.27609302e-02 9.98607166e-01 -1.09252466e-04 -1.02196296e+00] [-1.43834142e-03 3.34106573e-05 9.99998965e-01 -1.04407062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.147552017999999 meters 0.02456652472854901 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.03, Z:-0.11 [[ 9.98506843e-01 5.46254961e-02 3.72496274e-04 1.31136663e+01] [-5.46254893e-02 9.98506913e-01 -2.85425539e-05 -1.02803757e+00] [-3.73499256e-04 8.15214413e-06 9.99999930e-01 -1.06584482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.207552017999998 meters 0.02411422209978612 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.03, Z:-0.11 [[ 9.98539180e-01 5.40303696e-02 4.73824396e-04 1.31718628e+01] [-5.40303586e-02 9.98539293e-01 -3.59722266e-05 -1.03469799e+00] [-4.75075870e-04 1.03187756e-05 9.99999887e-01 -1.07615014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.267552017999998 meters 0.024916971014476867 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.05, Z:-0.11 [[ 9.98670281e-01 5.15495500e-02 5.60047635e-04 1.32290144e+01] [-5.15495343e-02 9.98670438e-01 -4.24903836e-05 -1.04675994e+00] [-5.61493377e-04 1.35636885e-05 9.99999842e-01 -1.08451427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327552017999999 meters 0.026521923799258447 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.06, Z:-0.11 [[ 9.98797547e-01 4.90247732e-02 1.77517861e-04 1.32871344e+01] [-4.90247715e-02 9.98797563e-01 -1.37823072e-05 -1.05795106e+00] [-1.77980081e-04 5.06296211e-06 9.99999984e-01 -1.08486758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.387552017999997 meters 0.02642507035092181 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.07, Z:-0.11 [[ 9.98920907e-01 4.64233149e-02 1.37717672e-03 1.33452315e+01] [-4.64232168e-02 9.98921856e-01 -1.03115345e-04 -1.06779453e+00] [-1.38047888e-03 3.90711011e-05 9.99999046e-01 -1.08804725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.447552017999998 meters 0.02833079779080903 Centerline is valid? [True, True] Translation: X:13.40, Y:-1.08, Z:-0.11 [[ 9.99085653e-01 4.26850624e-02 2.41731976e-03 1.34031150e+01] [-4.26847509e-02 9.99088574e-01 -1.80309791e-04 -1.08185077e+00] [-2.42281309e-03 7.69622330e-05 9.99997062e-01 -1.09251154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.507552017999998 meters 0.02776020657467171 Centerline is valid? [True, True] Translation: X:13.46, Y:-1.09, Z:-0.11 [[ 9.99175644e-01 4.04684396e-02 3.21514331e-03 1.34613430e+01] [-4.04678779e-02 9.99180811e-01 -2.39590364e-04 -1.08871168e+00] [-3.22220535e-03 1.09282830e-04 9.99994803e-01 -1.08709317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.567552017999999 meters 0.028429544374347155 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.10, Z:-0.11 [[ 9.99290645e-01 3.75303944e-02 3.11067984e-03 1.35203864e+01] [-3.75298556e-02 9.99295480e-01 -2.31426983e-04 -1.09963401e+00] [-3.11717385e-03 1.14519454e-04 9.99995135e-01 -1.09853434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.627552017999998 meters 0.029563367763194202 Centerline is valid? [True, True] Translation: X:13.58, Y:-1.11, Z:-0.11 [[ 9.99347957e-01 3.60433572e-02 2.13001318e-03 1.35781798e+01] [-3.60431001e-02 9.99350224e-01 -1.58955123e-04 -1.10918457e+00] [-2.13435842e-03 8.20791989e-05 9.99997719e-01 -1.11478727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.687552017999998 meters 0.02985384614512505 Centerline is valid? [True, True] Translation: X:13.64, Y:-1.12, Z:-0.11 [[ 9.99411966e-01 3.42878174e-02 2.61132509e-04 1.36362319e+01] [-3.42878134e-02 9.99412000e-01 -1.98980240e-05 -1.11702492e+00] [-2.61661222e-04 1.09326605e-05 9.99999966e-01 -1.13583067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.747552017999999 meters 0.030291196918505472 Centerline is valid? [True, True] Translation: X:13.69, Y:-1.12, Z:-0.12 [[ 9.99389715e-01 3.49247246e-02 -6.78895250e-04 1.36935101e+01] [-3.49246990e-02 9.99389945e-01 4.95598556e-05 -1.12372292e+00] [ 6.80211951e-04 -2.58193977e-05 9.99999768e-01 -1.15012903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.807552017999997 meters 0.02858698552757885 Centerline is valid? [True, True] Translation: X:13.75, Y:-1.13, Z:-0.11 [[ 9.99259683e-01 3.84681235e-02 -5.37155985e-04 1.37531255e+01] [-3.84681079e-02 9.99259828e-01 3.94531917e-05 -1.12608802e+00] [ 5.38276087e-04 -1.87606095e-05 9.99999855e-01 -1.14534414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.867552017999998 meters 0.026101628086488467 Centerline is valid? [True, True] Translation: X:13.81, Y:-1.13, Z:-0.11 [[ 9.99122771e-01 4.18764675e-02 2.23546068e-04 1.38121331e+01] [-4.18764647e-02 9.99122796e-01 -1.70848428e-05 -1.12631043e+00] [-2.24065425e-04 7.70853647e-06 9.99999975e-01 -1.13534338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.927552017999998 meters 0.02553492900211774 Centerline is valid? [True, True] Translation: X:13.87, Y:-1.13, Z:-0.11 [[ 9.98942215e-01 4.59738149e-02 9.27373559e-04 1.38694252e+01] [-4.59737705e-02 9.98942645e-01 -6.91143435e-05 -1.13122850e+00] [-9.29570446e-04 2.64063762e-05 9.99999568e-01 -1.12750173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987552017999999 meters 0.025966599874185134 Centerline is valid? [True, True] Translation: X:13.93, Y:-1.14, Z:-0.11 [[ 9.98873031e-01 4.74057318e-02 2.31632008e-03 1.39265352e+01] [-4.74054618e-02 9.98875714e-01 -1.71349759e-04 -1.13925685e+00] [-2.32183883e-03 6.13504299e-05 9.99997303e-01 -1.12324083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047552017999998 meters 0.025163244145649844 Centerline is valid? [True, True] Translation: X:13.99, Y:-1.14, Z:-0.11 [[ 9.98880453e-01 4.72593352e-02 2.09674127e-03 1.39850055e+01] [-4.72591142e-02 9.98882652e-01 -1.54876689e-04 -1.14277714e+00] [-2.10171785e-03 5.56131625e-05 9.99997790e-01 -1.12639964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107552017999998 meters 0.02561610141122693 Centerline is valid? [True, True] Translation: X:14.04, Y:-1.15, Z:-0.11 [[ 9.98851177e-01 4.79142495e-02 7.42214062e-04 1.40420705e+01] [-4.79142217e-02 9.98851453e-01 -5.52311575e-05 -1.15274016e+00] [-7.44007953e-04 1.96050975e-05 9.99999723e-01 -1.14101398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167552017999999 meters 0.024272792501690846 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.16, Z:-0.11 [[ 9.98822670e-01 4.85090158e-02 3.87283709e-04 1.41005659e+01] [-4.85090082e-02 9.98822745e-01 -2.89965913e-05 -1.15767585e+00] [-3.88234373e-04 1.01757041e-05 9.99999925e-01 -1.14243080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227552017999997 meters 0.025385728156151553 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.17, Z:-0.11 [[ 9.98907887e-01 4.67190703e-02 6.01258678e-04 1.41580404e+01] [-4.67190518e-02 9.98908068e-01 -4.47770437e-05 -1.16940417e+00] [-6.02694086e-04 1.66379068e-05 9.99999818e-01 -1.14196509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287552017999998 meters 0.025861039806705188 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.18, Z:-0.11 [[ 9.99060385e-01 4.33297568e-02 9.38135655e-04 1.42172172e+01] [-4.33297111e-02 9.99060825e-01 -6.90355746e-05 -1.17827649e+00] [-9.40245876e-04 2.83215608e-05 9.99999558e-01 -1.13806115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347552017999998 meters 0.027917821274705414 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.19, Z:-0.11 [[ 9.99292052e-01 3.76010631e-02 1.24662788e-03 1.42761364e+01] [-3.76009781e-02 9.99292829e-01 -9.16004346e-05 -1.19107715e+00] [-1.24919058e-03 4.46611587e-05 9.99999219e-01 -1.13974178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407552017999999 meters 0.03139408411036345 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.21, Z:-0.11 [[ 9.99550648e-01 2.99627701e-02 8.57191621e-04 1.43356892e+01] [-2.99627272e-02 9.99551015e-01 -6.28194928e-05 -1.20532449e+00] [-8.58689001e-04 3.71074660e-05 9.99999631e-01 -1.14280828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467552017999997 meters 0.0314801744021071 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.21, Z:-0.11 [[ 9.99664210e-01 2.59010907e-02 7.75036976e-04 1.43946763e+01] [-2.59010540e-02 9.99664510e-01 -5.73015297e-05 -1.21416747e+00] [-7.76261130e-04 3.72080138e-05 9.99999698e-01 -1.14993790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527552017999998 meters 0.033169966027220034 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.22, Z:-0.12 [[ 9.99628854e-01 2.72424460e-02 -5.46298396e-05 1.44521777e+01] [-2.72424459e-02 9.99628856e-01 3.29782986e-06 -1.22246630e+00] [ 5.46994050e-05 -1.80835543e-06 9.99999999e-01 -1.15931744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587552017999998 meters 0.03062477021185431 Centerline is valid? [True, True] Translation: X:14.51, Y:-1.22, Z:-0.12 [[ 9.99459121e-01 3.28841712e-02 -3.10561346e-04 1.45122044e+01] [-3.28841658e-02 9.99459169e-01 2.24233384e-05 -1.22175946e+00] [ 3.11130758e-04 -1.21986593e-05 9.99999952e-01 -1.16401346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647552017999997 meters 0.02739966661552973 Centerline is valid? [True, True] Translation: X:14.57, Y:-1.22, Z:-0.12 [[ 9.99220809e-01 3.94661218e-02 -4.47727235e-04 1.45720508e+01] [-3.94661112e-02 9.99220909e-01 3.24089285e-05 -1.21987310e+00] [ 4.48657470e-04 -1.47136228e-05 9.99999899e-01 -1.16895325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707552017999998 meters 0.024508467556947484 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.22, Z:-0.12 [[ 9.98861376e-01 4.77014742e-02 -7.22275746e-04 1.46323271e+01] [-4.77014488e-02 9.98861637e-01 5.24288391e-05 -1.21767744e+00] [ 7.23954467e-04 -1.79155428e-05 9.99999738e-01 -1.17135005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767552017999998 meters 0.022001422545552277 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.21, Z:-0.11 [[ 9.98257646e-01 5.89724883e-02 1.97933624e-03 1.46933674e+01] [-5.89723177e-02 9.98259608e-01 -1.44501260e-04 -1.21121690e+00] [-1.98441302e-03 2.75234419e-05 9.99998031e-01 -1.14654649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827552017999999 meters 0.021160530181629642 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.21, Z:-0.11 [[ 9.97910146e-01 6.44547486e-02 4.57453999e-03 1.47518659e+01] [-6.44538954e-02 9.97920630e-01 -3.33836701e-04 -1.21245797e+00] [-4.58654519e-03 3.82921090e-05 9.99989481e-01 -1.13437776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887552017999997 meters 0.020851382074443054 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.22, Z:-0.11 [[ 9.97817031e-01 6.58961797e-02 4.34342679e-03 1.48108216e+01] [-6.58954255e-02 9.97826484e-01 -3.16658434e-04 -1.21778442e+00] [-4.35485286e-03 2.97552219e-05 9.99990517e-01 -1.14590591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947552017999998 meters 0.020854652764665953 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.23, Z:-0.12 [[ 9.97856361e-01 6.53667732e-02 3.14142108e-03 1.48689611e+01] [-6.53663764e-02 9.97861305e-01 -2.28935058e-04 -1.22685581e+00] [-3.14966729e-03 2.31009913e-05 9.99995040e-01 -1.17189563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007552017999998 meters 0.02121443708526887 Centerline is valid? [True, True] Translation: X:14.93, Y:-1.23, Z:-0.12 [[ 9.97907299e-01 6.46192635e-02 2.31791268e-03 1.49273842e+01] [-6.46190455e-02 9.97909991e-01 -1.68883194e-04 -1.23480874e+00] [-2.32398133e-03 1.87484670e-05 9.99997299e-01 -1.19061786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067552017999997 meters 0.021230620925642475 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.24, Z:-0.12 [[ 9.98001655e-01 6.31876829e-02 1.18595227e-04 1.49852931e+01] [-6.31876823e-02 9.98001662e-01 -9.16231582e-06 -1.24483910e+00] [-1.18937179e-04 1.65024886e-06 9.99999993e-01 -1.21637615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.127552017999998 meters 0.02219121352351384 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.26, Z:-0.12 [[ 9.98092048e-01 6.17397057e-02 6.88005101e-04 1.50426993e+01] [-6.17396856e-02 9.98092285e-01 -5.05328442e-05 -1.25737601e+00] [-6.89812466e-04 7.95921135e-06 9.99999762e-01 -1.23181812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187552017999998 meters 0.02417519210306389 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.27, Z:-0.12 [[ 9.98107539e-01 6.14628646e-02 1.91218523e-03 1.51009088e+01] [-6.14627112e-02 9.98109371e-01 -1.38910726e-04 -1.26671682e+00] [-1.91710785e-03 2.11197542e-05 9.99998162e-01 -1.21656765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247552017999999 meters 0.022746502808637315 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.28, Z:-0.12 [[ 9.98299386e-01 5.81590264e-02 3.98299422e-03 1.51587959e+01] [-5.81583381e-02 9.98307330e-01 -2.88527133e-04 -1.27707755e+00] [-3.99303278e-03 5.63921352e-05 9.99992026e-01 -1.20172280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307552017999997 meters 0.023001455324114205 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.29, Z:-0.12 [[ 9.98376552e-01 5.67381365e-02 5.00451650e-03 1.52166322e+01] [-5.67370346e-02 9.98389091e-01 -3.61997314e-04 -1.28651412e+00] [-5.01699374e-03 7.74682044e-05 9.99987412e-01 -1.19961305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367552017999998 meters 0.023645911870960608 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.30, Z:-0.12 [[ 9.98481382e-01 5.46734640e-02 6.76335284e-03 1.52742930e+01] [-5.46714090e-02 9.98504281e-01 -4.88492717e-04 -1.29793364e+00] [-6.77994435e-03 1.17988854e-04 9.99977009e-01 -1.18113842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427552017999998 meters 0.024043385626674612 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.31, Z:-0.12 [[ 9.98535115e-01 5.37161348e-02 6.49628246e-03 1.53328602e+01] [-5.37142228e-02 9.98556239e-01 -4.68572579e-04 -1.30730290e+00] [-6.51207329e-03 1.18943411e-04 9.99978789e-01 -1.18151699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487552017999997 meters 0.024815496668250243 Centerline is valid? [True, True] Translation: X:15.39, Y:-1.32, Z:-0.12 [[ 9.98565124e-01 5.31943125e-02 6.16918051e-03 1.53912953e+01] [-5.31925810e-02 9.98584174e-01 -4.44519917e-04 -1.31972960e+00] [-6.18409195e-03 1.15727452e-04 9.99980872e-01 -1.19293936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547552017999998 meters 0.024508570367820996 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.33, Z:-0.12 [[ 9.98552668e-01 5.33728067e-02 6.62662044e-03 1.54499423e+01] [-5.33708166e-02 9.98574648e-01 -4.76928712e-04 -1.32722521e+00] [-6.64263020e-03 1.22570294e-04 9.99977930e-01 -1.19572688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607552017999998 meters 0.0246719579225911 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.34, Z:-0.12 [[ 9.98543399e-01 5.35969079e-02 6.20101362e-03 1.55081708e+01] [-5.35951724e-02 9.98562646e-01 -4.45839954e-04 -1.33682217e+00] [-6.21599621e-03 1.12846150e-04 9.99980674e-01 -1.20513941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667552017999999 meters 0.024962821444598184 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.35, Z:-0.12 [[ 9.98657758e-01 5.14862386e-02 5.64361271e-03 1.55663727e+01] [-5.14847696e-02 9.98673698e-01 -4.05365082e-04 -1.34793425e+00] [-5.65699829e-03 1.14260884e-04 9.99983993e-01 -1.22341481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727552017999997 meters 0.026388094533350292 Centerline is valid? [True, True] Translation: X:15.62, Y:-1.36, Z:-0.12 [[ 9.98789316e-01 4.88530082e-02 5.76942999e-03 1.56236657e+01] [-4.88514317e-02 9.98805970e-01 -4.13945460e-04 -1.36096124e+00] [-5.78276360e-03 1.31599387e-04 9.99983271e-01 -1.22761170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787552017999998 meters 0.0276865700766888 Centerline is valid? [True, True] Translation: X:15.68, Y:-1.37, Z:-0.12 [[ 9.99088675e-01 4.22076661e-02 6.35079687e-03 1.56824434e+01] [-4.22056264e-02 9.99108842e-01 -4.54913562e-04 -1.37467031e+00] [-6.36433814e-03 1.86459628e-04 9.99979730e-01 -1.23124669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.847552017999998 meters 0.02983724266816145 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.39, Z:-0.12 [[ 9.99300448e-01 3.67665040e-02 6.84382620e-03 1.57413394e+01] [-3.67640098e-02 9.99323855e-01 -4.89936525e-04 -1.38667260e+00] [-6.85721203e-03 2.37987295e-04 9.99976461e-01 -1.23136875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907552017999997 meters 0.034025543316028466 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.40, Z:-0.12 [[ 9.99491104e-01 3.10443206e-02 7.33368840e-03 1.57994590e+01] [-3.10413050e-02 9.99517965e-01 -5.24697071e-04 -1.40164919e+00] [-7.34644217e-03 2.96782797e-04 9.99972970e-01 -1.24073788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967552017999997 meters 0.033402997940947386 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.41, Z:-0.12 [[ 9.99658216e-01 2.52651452e-02 6.71741850e-03 1.58589000e+01] [-2.52624865e-02 9.99680737e-01 -4.80361927e-04 -1.40759216e+00] [-6.72741029e-03 3.10499053e-04 9.99977323e-01 -1.24846821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.027552017999994 meters 0.03636884911469717 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.42, Z:-0.13 [[ 9.99833509e-01 1.69447494e-02 6.76971512e-03 1.59186160e+01] [-1.69418599e-02 9.99856359e-01 -4.83957668e-04 -1.41926776e+00] [-6.77694325e-03 3.69185529e-04 9.99976968e-01 -1.25482351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087552017999997 meters 0.039449131616566775 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.43, Z:-0.13 [[ 9.99904219e-01 1.17523461e-02 7.30998683e-03 1.59785934e+01] [-1.17488385e-02 9.99930843e-01 -5.22589750e-04 -1.42804924e+00] [-7.31562295e-03 4.36655840e-04 9.99973145e-01 -1.25241785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.147552017999995 meters 0.042440337874515364 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.43, Z:-0.13 [[ 9.99942108e-01 8.29915071e-03 6.84863357e-03 1.60387659e+01] [-8.29599110e-03 9.99965468e-01 -4.89628732e-04 -1.43476136e+00] [-6.85246058e-03 4.32784183e-04 9.99976428e-01 -1.25340656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207552017999998 meters 0.038080318914391266 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.43, Z:-0.13 [[ 9.99909309e-01 1.23417850e-02 5.39018314e-03 1.60997051e+01] [-1.23398858e-02 9.99923786e-01 -3.85470051e-04 -1.42915617e+00] [-5.39452972e-03 3.18920849e-04 9.99985399e-01 -1.26755005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267552017999996 meters 0.03615409721259672 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.43, Z:-0.13 [[ 9.99801837e-01 1.95140499e-02 3.93564938e-03 1.61603718e+01] [-1.95130927e-02 9.99809562e-01 -2.81451729e-04 -1.42543960e+00] [-3.94039214e-03 2.04599265e-04 9.99992216e-01 -1.27331447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.327552017999995 meters 0.03143208043829619 Centerline is valid? [True, True] Translation: X:16.22, Y:-1.41, Z:-0.13 [[ 9.99388305e-01 3.46470598e-02 4.75368098e-03 1.62206967e+01] [-3.46458340e-02 9.99399595e-01 -3.40008569e-04 -1.41404826e+00] [-4.76260715e-03 1.75105345e-04 9.99988643e-01 -1.26669463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387552017999997 meters 0.02520432927668154 Centerline is valid? [True, True] Translation: X:16.28, Y:-1.40, Z:-0.12 [[ 9.98555613e-01 5.32555443e-02 7.10874717e-03 1.62825104e+01] [-5.32532755e-02 9.98580908e-01 -5.08192179e-04 -1.39613658e+00] [-7.12572325e-03 1.28894082e-04 9.99974603e-01 -1.24000138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447552017999996 meters 0.02398174957744673 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.39, Z:-0.12 [[ 9.97941797e-01 6.33939510e-02 9.66315385e-03 1.63413332e+01] [-6.33902354e-02 9.97988578e-01 -6.90625816e-04 -1.39111687e+00] [-9.68749866e-03 7.66547716e-05 9.99953072e-01 -1.22857473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.507552017999995 meters 0.02291322070871116 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.39, Z:-0.12 [[ 9.97266360e-01 7.30394517e-02 1.11823875e-02 1.64006816e+01] [-7.30350926e-02 9.97329052e-01 -7.98239876e-04 -1.38548020e+00] [-1.12108230e-02 -2.06489337e-05 9.99937157e-01 -1.23673488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567552017999997 meters 0.022555123418131023 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.39, Z:-0.13 [[ 9.97072134e-01 7.57116564e-02 1.07193222e-02 1.64594733e+01] [-7.57078139e-02 9.97129752e-01 -7.64372315e-04 -1.38892499e+00] [-1.07464270e-02 -4.94021120e-05 9.99942254e-01 -1.25044599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.627552017999996 meters 0.022599816157241215 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.40, Z:-0.13 [[ 9.97213923e-01 7.40357189e-02 9.11615542e-03 1.65176991e+01] [-7.40328756e-02 9.97255590e-01 -6.49420012e-04 -1.39904613e+00] [-9.13921723e-03 -2.72845227e-05 9.99958236e-01 -1.27610546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.687552017999995 meters 0.022919426718689188 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.41, Z:-0.13 [[ 9.97647550e-01 6.81600313e-02 7.31952991e-03 1.65747499e+01] [-6.81580436e-02 9.97674401e-01 -5.20950829e-04 -1.41437860e+00] [-7.33801564e-03 2.08404793e-05 9.99973076e-01 -1.30708875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747552017999997 meters 0.02339292625345673 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.43, Z:-0.13 [[ 9.97880251e-01 6.48357941e-02 5.59686203e-03 1.66316267e+01] [-6.48345825e-02 9.97895946e-01 -3.97845599e-04 -1.42616338e+00] [-5.61088056e-03 3.41320531e-05 9.99984258e-01 -1.33256819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.807552017999996 meters 0.023381774609514887 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.44, Z:-0.14 [[ 9.98038626e-01 6.25101349e-02 3.37408896e-03 1.66897981e+01] [-6.25096818e-02 9.98044329e-01 -2.39707852e-04 -1.44033607e+00] [-3.38247452e-03 2.83244678e-05 9.99994279e-01 -1.35851683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.867552017999994 meters 0.023792259869267387 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.45, Z:-0.14 [[ 9.98026706e-01 6.27495321e-02 2.27810484e-03 1.67472454e+01] [-6.27493246e-02 9.98029306e-01 -1.62526044e-04 -1.44953564e+00] [-2.28381383e-03 1.92557916e-05 9.99997392e-01 -1.37654618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.927552017999997 meters 0.02339672354152262 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.46, Z:-0.14 [[ 9.97926076e-01 6.42799453e-02 3.41120075e-03 1.68054015e+01] [-6.42794958e-02 9.97931906e-01 -2.41375603e-04 -1.45928151e+00] [-3.41966168e-03 2.16047440e-05 9.99994153e-01 -1.36414735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.987552017999995 meters 0.023745159917384642 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.47, Z:-0.13 [[ 9.97969253e-01 6.34809177e-02 5.24819655e-03 1.68630334e+01] [-6.34798462e-02 9.97983052e-01 -3.70654638e-04 -1.46947271e+00] [-5.26114070e-03 3.67472225e-05 9.99986159e-01 -1.34409934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047552017999998 meters 0.02533130372502854 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.49, Z:-0.13 [[ 9.98318207e-01 5.74956265e-02 7.41693056e-03 1.69199570e+01] [-5.74933317e-02 9.98345754e-01 -5.22433752e-04 -1.48792564e+00] [-7.43469879e-03 9.51310783e-05 9.99972358e-01 -1.31945383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107552017999996 meters 0.02771036286550785 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.50, Z:-0.13 [[ 9.98632911e-01 5.16532693e-02 8.01549957e-03 1.69776609e+01] [-5.16504081e-02 9.98665068e-01 -5.63693825e-04 -1.50365839e+00] [-8.03391605e-03 1.48919381e-04 9.99967716e-01 -1.31326061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.167552017999995 meters 0.029773445649148363 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.52, Z:-0.13 [[ 9.98945914e-01 4.51355660e-02 8.35710044e-03 1.70366567e+01] [-4.51322321e-02 9.98980849e-01 -5.87186489e-04 -1.51969227e+00] [-8.37508629e-03 2.09392947e-04 9.99964906e-01 -1.31777057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227552017999997 meters 0.03009387229796632 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.53, Z:-0.13 [[ 9.98997310e-01 4.38876839e-02 8.84566921e-03 1.70954345e+01] [-4.38839034e-02 9.99036444e-01 -6.21117000e-04 -1.52997825e+00] [-8.86440530e-03 2.32311719e-04 9.99960683e-01 -1.31644660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287552017999996 meters 0.029684069318428857 Centerline is valid? [True, True] Translation: X:17.15, Y:-1.54, Z:-0.13 [[ 9.98900788e-01 4.57113775e-02 1.03771688e-02 1.71541842e+01] [-4.57062781e-02 9.98954657e-01 -7.28164401e-04 -1.53765868e+00] [-1.03996065e-02 2.53062229e-04 9.99945891e-01 -1.30401720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.347552017999995 meters 0.027415254989755188 Centerline is valid? [True, True] Translation: X:17.21, Y:-1.54, Z:-0.13 [[ 9.98644563e-01 5.08305626e-02 1.11933027e-02 1.72126707e+01] [-5.08249571e-02 9.98707268e-01 -7.84860014e-04 -1.54171699e+00] [-1.12187277e-02 2.14897055e-04 9.99937045e-01 -1.29647929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407552017999997 meters 0.025548071789099163 Centerline is valid? [True, True] Translation: X:17.27, Y:-1.54, Z:-0.13 [[ 9.98412436e-01 5.53312635e-02 1.05384253e-02 1.72721364e+01] [-5.53265512e-02 9.98468040e-01 -7.38391630e-04 -1.54367483e+00] [-1.05631370e-02 1.54164657e-04 9.99944197e-01 -1.31300935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.467552017999996 meters 0.02266414309852525 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.54, Z:-0.14 [[ 9.97969807e-01 6.31367303e-02 8.36767676e-03 1.73308934e+01] [-6.31340365e-02 9.98004885e-01 -5.85953704e-04 -1.54226312e+00] [-8.38797748e-03 5.64788952e-05 9.99964819e-01 -1.35098939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527552017999994 meters 0.021904464462574408 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.54, Z:-0.14 [[ 9.97356500e-01 7.22338906e-02 7.89160962e-03 1.73896113e+01] [-7.22317843e-02 9.97387720e-01 -5.51966677e-04 -1.54087680e+00] [-7.91086523e-03 -1.95174914e-05 9.99968708e-01 -1.35740369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587552017999997 meters 0.022331769745271207 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.54, Z:-0.13 [[ 9.96821920e-01 7.91233158e-02 9.24992804e-03 1.74483516e+01] [-7.91207271e-02 9.96864832e-01 -6.46039910e-04 -1.54184966e+00] [-9.27204478e-03 -8.78742882e-05 9.99957010e-01 -1.34670710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.647552017999995 meters 0.026641762944040883 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.54, Z:-0.13 [[ 9.96075392e-01 8.78288031e-02 1.09505801e-02 1.75075397e+01] [-8.78257117e-02 9.96135564e-01 -7.63805415e-04 -1.53845013e+00] [-1.09753464e-02 -2.00934709e-04 9.99939749e-01 -1.32215456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707552017999994 meters 0.02614109639881707 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.55, Z:-0.13 [[ 9.95718796e-01 9.17858689e-02 1.09285889e-02 1.75655378e+01] [-9.17830368e-02 9.95778738e-01 -7.61470129e-04 -1.54735614e+00] [-1.09523487e-02 -2.44848959e-04 9.99939991e-01 -1.34003166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767552017999996 meters 0.025083501029143734 Centerline is valid? [True, True] Translation: X:17.62, Y:-1.56, Z:-0.14 [[ 9.95594397e-01 9.31796491e-02 1.04570705e-02 1.76231236e+01] [-9.31771423e-02 9.95649281e-01 -7.27721982e-04 -1.56250345e+00] [-1.04793836e-02 -2.49844017e-04 9.99945059e-01 -1.35351286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.827552017999995 meters 0.024887054992917688 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.57, Z:-0.14 [[ 9.95667850e-01 9.23716233e-02 1.06309231e-02 1.76817415e+01] [-9.23689970e-02 9.95724572e-01 -7.38826106e-04 -1.57111923e+00] [-1.06537179e-02 -2.46342306e-04 9.99943217e-01 -1.35483815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887552017999997 meters 0.021429849311180842 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.59, Z:-0.14 [[ 9.96211342e-01 8.63904561e-02 9.98257336e-03 1.77390820e+01] [-8.63878489e-02 9.96261341e-01 -6.92889256e-04 -1.59370626e+00] [-1.00051109e-02 -1.72108903e-04 9.99949933e-01 -1.35609932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947552017999996 meters 0.01945452612148744 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.61, Z:-0.14 [[ 9.96629741e-01 8.14322495e-02 9.89685575e-03 1.77969617e+01] [-8.14294513e-02 9.96678872e-01 -6.86032995e-04 -1.61123702e+00] [-9.91985223e-03 -1.22174647e-04 9.99950790e-01 -1.35842772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.007552017999995 meters 0.01712146818250422 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.63, Z:-0.14 [[ 9.97142488e-01 7.49843999e-02 9.17594156e-03 1.78545751e+01] [-7.49817288e-02 9.97184705e-01 -6.35262912e-04 -1.63271424e+00] [-9.19774339e-03 -5.45803207e-05 9.99957698e-01 -1.35574323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067552017999997 meters 0.01589513983913277 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.65, Z:-0.14 [[ 9.97522112e-01 6.99547089e-02 7.48164428e-03 1.79133048e+01] [-6.99527957e-02 9.97550168e-01 -5.17419037e-04 -1.65256812e+00] [-7.49951141e-03 -7.22500292e-06 9.99971878e-01 -1.36971295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.127552017999996 meters 0.015541265338924928 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.67, Z:-0.14 [[ 9.97792135e-01 6.60510877e-02 6.93613671e-03 1.79713980e+01] [-6.60493510e-02 9.97816242e-01 -4.79399375e-04 -1.66663320e+00] [-6.95265471e-03 2.02135980e-05 9.99975830e-01 -1.36858975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.187552017999995 meters 0.01669087240736411 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.69, Z:-0.14 [[ 9.98338952e-01 5.71468161e-02 7.31976279e-03 1.80307059e+01] [-5.71446463e-02 9.98365782e-01 -5.05410069e-04 -1.68713700e+00] [-7.33668328e-03 8.62853025e-05 9.99973082e-01 -1.35600798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247552017999997 meters 0.019447453512716643 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.70, Z:-0.13 [[ 9.98721799e-01 4.96251869e-02 9.59734358e-03 1.80912712e+01] [-4.96211081e-02 9.98767894e-01 -6.62788615e-04 -1.70359969e+00] [-9.61840964e-03 1.85710615e-04 9.99953725e-01 -1.33250100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.307552017999996 meters 0.02501113390691082 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.72, Z:-0.13 [[ 9.99194882e-01 3.83015007e-02 1.19407828e-02 1.81510149e+01] [-3.82943722e-02 9.99266161e-01 -8.25138346e-04 -1.72435727e+00] [-1.19636242e-02 3.67209232e-04 9.99928366e-01 -1.30663905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367552017999994 meters 0.028215645472728382 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.74, Z:-0.13 [[ 9.99395894e-01 3.19427659e-02 1.36933418e-02 1.82115470e+01] [-3.19327876e-02 9.99489570e-01 -9.46777834e-04 -1.73638629e+00] [-1.37165950e-02 5.08939304e-04 9.99905794e-01 -1.30005202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427552017999997 meters 0.03143040936020926 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.75, Z:-0.13 [[ 9.99516411e-01 2.80773513e-02 1.33643643e-02 1.82707928e+01] [-2.80674968e-02 9.99605603e-01 -9.24398724e-04 -1.74650621e+00] [-1.33850481e-02 5.48847441e-04 9.99910266e-01 -1.30860263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.487552017999995 meters 0.029064579568295924 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.75, Z:-0.13 [[ 9.99489795e-01 2.91721632e-02 1.30051718e-02 1.83336003e+01] [-2.91629148e-02 9.99574266e-01 -9.00246504e-04 -1.74684839e+00] [-1.30258972e-02 5.20518476e-04 9.99915024e-01 -1.32464801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547552017999994 meters 0.027404274336939784 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.74, Z:-0.14 [[ 9.99340826e-01 3.44187067e-02 1.15440600e-02 1.83931461e+01] [-3.44117621e-02 9.99407420e-01 -7.99730207e-04 -1.74428236e+00] [-1.15647449e-02 4.01951601e-04 9.99933045e-01 -1.35702077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607552017999996 meters 0.024520330815905517 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.74, Z:-0.14 [[ 9.99155138e-01 3.96917787e-02 1.06570927e-02 1.84555148e+01] [-3.96861575e-02 9.99211921e-01 -7.38500263e-04 -1.73997599e+00] [-1.06780065e-02 3.14937273e-04 9.99942939e-01 -1.38184098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.667552017999995 meters 0.021325064969212652 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.73, Z:-0.14 [[ 9.98843212e-01 4.70096383e-02 1.01159002e-02 1.85180695e+01] [-4.70049395e-02 9.98894410e-01 -7.01880916e-04 -1.73131863e+00] [-1.01377114e-02 2.25571709e-04 9.99948587e-01 -1.40072663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727552017999997 meters 0.019266155760579926 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.73, Z:-0.14 [[ 9.98621015e-01 5.15976535e-02 9.68251903e-03 1.85794765e+01] [-5.15935586e-02 9.98667939e-01 -6.72391408e-04 -1.72812067e+00] [-9.70431514e-03 1.71908577e-04 9.99952897e-01 -1.41110660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787552017999996 meters 0.017757170839553416 Centerline is valid? [True, True] Translation: X:18.64, Y:-1.72, Z:-0.14 [[ 9.98250741e-01 5.84997207e-02 8.55802778e-03 1.86401965e+01] [-5.84967728e-02 9.98287421e-01 -5.94585545e-04 -1.72150631e+00] [-8.57815456e-03 9.29284550e-05 9.99963203e-01 -1.42517048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.847552017999995 meters 0.016378907001041346 Centerline is valid? [True, True] Translation: X:18.70, Y:-1.72, Z:-0.14 [[ 9.97793995e-01 6.57072082e-02 9.47130530e-03 1.87000409e+01] [-6.57039213e-02 9.97838946e-01 -6.58119196e-04 -1.71550419e+00] [-9.49408047e-03 3.43654842e-05 9.99954930e-01 -1.40883165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907552017999997 meters 0.01832315250245763 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.71, Z:-0.14 [[ 9.97490157e-01 7.02115889e-02 9.14987974e-03 1.87603578e+01] [-7.02087095e-02 9.97532121e-01 -6.35917948e-04 -1.71473286e+00] [-9.17194776e-03 -8.07935488e-06 9.99957937e-01 -1.40773438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.967552017999996 meters 0.016332922926613907 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.71, Z:-0.14 [[ 9.97203852e-01 7.39561689e-02 1.07221025e-02 1.88199418e+01] [-7.39524372e-02 9.97261492e-01 -7.44638663e-04 -1.71459199e+00] [-1.07478105e-02 -5.03690673e-05 9.99942239e-01 -1.40154764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027552017999994 meters 0.016399495673171515 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.72, Z:-0.14 [[ 9.97011471e-01 7.65555718e-02 1.03619718e-02 1.88798478e+01] [-7.65522317e-02 9.97065313e-01 -7.19162021e-04 -1.71840938e+00] [-1.03866185e-02 -7.62192834e-05 9.99946055e-01 -1.40712667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087552017999997 meters 0.01611410471238405 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.72, Z:-0.14 [[ 9.96949717e-01 7.73720421e-02 1.02385544e-02 1.89389116e+01] [-7.73688290e-02 9.97002287e-01 -7.10126397e-04 -1.72402479e+00] [-1.02628061e-02 -8.41846537e-05 9.99947332e-01 -1.40922419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.147552017999995 meters 0.015645467572042084 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.73, Z:-0.14 [[ 9.97044217e-01 7.64385631e-02 7.74433212e-03 1.89985225e+01] [-7.64366989e-02 9.97074292e-01 -5.36852897e-04 -1.73315067e+00] [-7.76271072e-03 -5.66851052e-05 9.99969868e-01 -1.43678296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207552017999994 meters 0.015236288193695673 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.75, Z:-0.15 [[ 9.97216154e-01 7.43425907e-02 5.75506611e-03 1.90569802e+01] [-7.43415273e-02 9.97232760e-01 -3.98769652e-04 -1.74567117e+00] [-5.76878603e-03 -3.01808657e-05 9.99983360e-01 -1.45319845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267552017999996 meters 0.014631191964560298 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.76, Z:-0.15 [[ 9.97348218e-01 7.26137903e-02 4.87537894e-03 1.91155859e+01] [-7.26130073e-02 9.97360134e-01 -3.37641681e-04 -1.75638910e+00] [-4.88702603e-03 -1.72695975e-05 9.99988058e-01 -1.45982308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.327552017999995 meters 0.014289741773714554 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.77, Z:-0.15 [[ 9.97610894e-01 6.90124713e-02 3.12775786e-03 1.91746724e+01] [-6.90121314e-02 9.97615797e-01 -2.16583193e-04 -1.77180418e+00] [-3.13524759e-03 2.12516528e-07 9.99995085e-01 -1.47476383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387552017999994 meters 0.013833052820563822 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.78, Z:-0.15 [[ 9.97736555e-01 6.71646716e-02 3.26709728e-03 1.92339104e+01] [-6.71642914e-02 9.97741904e-01 -2.26073524e-04 -1.78341976e+00] [-3.27490401e-03 6.12954573e-06 9.99994637e-01 -1.46219478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447552017999996 meters 0.014087212870456575 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.80, Z:-0.14 [[ 9.97884331e-01 6.48928921e-02 3.97175744e-03 1.92938495e+01] [-6.48923138e-02 9.97892235e-01 -2.74436617e-04 -1.79786387e+00] [-3.98119490e-03 1.61194691e-05 9.99992075e-01 -1.44816101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.507552017999995 meters 0.018205413402157318 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.81, Z:-0.15 [[ 9.97958291e-01 6.38318987e-02 2.17663203e-03 1.93534642e+01] [-6.38317225e-02 9.97960665e-01 -1.50398794e-04 -1.80870413e+00] [-2.18179339e-03 1.11535519e-05 9.99997620e-01 -1.45638414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567552017999997 meters 0.015047570474401663 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.83, Z:-0.14 [[ 9.98277626e-01 5.85025685e-02 4.38537988e-03 1.94140402e+01] [-5.85018023e-02 9.98287257e-01 -3.02893007e-04 -1.82569692e+00] [-4.39558887e-03 4.58186850e-05 9.99990338e-01 -1.44097012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.627552017999996 meters 0.016791128903817183 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.84, Z:-0.14 [[ 9.98533920e-01 5.39060409e-02 4.91428956e-03 1.94744347e+01] [-5.39050232e-02 9.98546010e-01 -3.39403176e-04 -1.83895439e+00] [-4.92544011e-03 7.40006915e-05 9.99987867e-01 -1.44179904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687552017999995 meters 0.019651060165073054 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.86, Z:-0.14 [[ 9.98895790e-01 4.67372842e-02 4.77776709e-03 1.95350453e+01] [-4.67362376e-02 9.98907210e-01 -3.30530542e-04 -1.85530420e+00] [-4.78799409e-03 1.06870709e-04 9.99988532e-01 -1.44416606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747552017999997 meters 0.02052256085951056 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.86, Z:-0.14 [[ 9.98958249e-01 4.54179372e-02 4.43024354e-03 1.95965544e+01] [-4.54170193e-02 9.98968067e-01 -3.07622823e-04 -1.86323248e+00] [-4.43964342e-03 1.06093900e-04 9.99990139e-01 -1.44810383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.807552017999996 meters 0.021307604077459203 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.87, Z:-0.15 [[ 9.98991232e-01 4.47800083e-02 3.35690686e-03 1.96581296e+01] [-4.47794759e-02 9.98996869e-01 -2.33643549e-04 -1.87415732e+00] [-3.36400200e-03 8.30873273e-05 9.99994338e-01 -1.46814030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867552017999994 meters 0.018856083238005212 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.88, Z:-0.15 [[ 9.98748616e-01 4.99443307e-02 2.60115441e-03 1.97196097e+01] [-4.99440245e-02 9.98752002e-01 -1.82599705e-04 -1.87757029e+00] [-2.60702800e-03 5.24590828e-05 9.99996600e-01 -1.47949545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927552017999997 meters 0.016130256872121405 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.88, Z:-0.15 [[ 9.98472729e-01 5.52045869e-02 2.15921045e-03 1.97815895e+01] [-5.52043886e-02 9.98475064e-01 -1.51369806e-04 -1.87860299e+00] [-2.16427410e-03 3.19407304e-05 9.99997657e-01 -1.48821761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.987552017999995 meters 0.013325173326322066 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.88, Z:-0.15 [[ 9.97941345e-01 6.41079922e-02 1.79926790e-03 1.98420067e+01] [-6.41078681e-02 9.97942967e-01 -1.26586482e-04 -1.87813332e+00] [-1.80368195e-03 1.09786546e-05 9.99998373e-01 -1.49399042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047552017999994 meters 0.012450904233651767 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.88, Z:-0.15 [[ 9.97572145e-01 6.96107210e-02 2.04019680e-03 1.99030676e+01] [-6.96105731e-02 9.97574232e-01 -1.43491413e-04 -1.87951116e+00] [-2.04523629e-03 1.12376813e-06 9.99997909e-01 -1.48403897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107552017999996 meters 0.012931989664405338 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.88, Z:-0.15 [[ 9.97074042e-01 7.63513873e-02 3.71766611e-03 1.99648369e+01] [-7.63509415e-02 9.97080972e-01 -2.61902164e-04 -1.88142791e+00] [-3.72681073e-03 -2.27114587e-05 9.99993055e-01 -1.46473822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.167552017999995 meters 0.017324723455252863 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.89, Z:-0.15 [[ 9.96791149e-01 8.00008516e-02 2.69619899e-03 2.00261883e+01] [-8.00006304e-02 9.96794795e-01 -1.89977930e-04 -1.88504874e+00] [-2.70275551e-03 -2.63292993e-05 9.99996347e-01 -1.48982634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227552017999994 meters 0.015636903209642113 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.89, Z:-0.15 [[ 9.96433415e-01 8.43309092e-02 2.95746237e-03 2.00873353e+01] [-8.43306616e-02 9.96437803e-01 -2.08559095e-04 -1.88969926e+00] [-2.96451529e-03 -4.15895073e-05 9.99995605e-01 -1.47902192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287552017999996 meters 0.018282147780918585 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.89, Z:-0.15 [[ 9.96164528e-01 8.74678264e-02 2.36893199e-03 2.01471323e+01] [-8.74676770e-02 9.96167344e-01 -1.66790288e-04 -1.89284216e+00] [-2.37444147e-03 -4.10544097e-05 9.99997180e-01 -1.49943960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.347552017999995 meters 0.02164664773516534 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.90, Z:-0.15 [[ 9.95729514e-01 9.22867013e-02 2.42876395e-03 2.02066751e+01] [-9.22865564e-02 9.95732475e-01 -1.71908650e-04 -1.89754548e+00] [-2.43426402e-03 -5.29677448e-05 9.99997036e-01 -1.50125003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407552017999997 meters 0.02056796735814884 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.91, Z:-0.15 [[ 9.95418084e-01 9.55479722e-02 3.66376345e-03 2.02669912e+01] [-9.55476654e-02 9.95424822e-01 -2.59102792e-04 -1.90790836e+00] [-3.67175783e-03 -9.21484398e-05 9.99993255e-01 -1.48318112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.467552017999996 meters 0.02216609399045674 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.92, Z:-0.15 [[ 9.95099746e-01 9.88263304e-02 3.13865764e-03 2.03279611e+01] [-9.88261252e-02 9.95104692e-01 -2.20789974e-04 -1.91891461e+00] [-3.14511281e-03 -9.04733261e-05 9.99995050e-01 -1.49564984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527552017999994 meters 0.022674776053141697 Centerline is valid? [True, True] Translation: X:20.39, Y:-1.93, Z:-0.15 [[ 9.95076463e-01 9.90570070e-02 3.24685577e-03 2.03892905e+01] [-9.90567856e-02 9.95081756e-01 -2.29302102e-04 -1.93400425e+00] [-3.25360092e-03 -9.34499712e-05 9.99994703e-01 -1.50077202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587552017999997 meters 0.022333124099631733 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.95, Z:-0.15 [[ 9.95104933e-01 9.87549641e-02 3.69169413e-03 2.04507162e+01] [-9.87546697e-02 9.95111776e-01 -2.62390393e-04 -1.94799524e+00] [-3.69956065e-03 -1.03466060e-04 9.99993151e-01 -1.48990104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.647552017999995 meters 0.024079390828626368 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.96, Z:-0.15 [[ 9.94935952e-01 1.00411130e-01 4.47848032e-03 2.05110363e+01] [-1.00410704e-01 9.94946023e-01 -3.20577884e-04 -1.96128020e+00] [-4.48803577e-03 -1.30732898e-04 9.99989920e-01 -1.48645095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707552017999994 meters 0.024690120236517954 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.97, Z:-0.15 [[ 9.94661228e-01 1.03104664e-01 4.29769358e-03 2.05726024e+01] [-1.03104295e-01 9.94670503e-01 -3.07919806e-04 -1.97320123e+00] [-4.30653700e-03 -1.36834774e-04 9.99990717e-01 -1.48976825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767552017999996 meters 0.02604596743154806 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.99, Z:-0.15 [[ 9.94334084e-01 1.06193047e-01 4.77132044e-03 2.06336100e+01] [-1.06192617e-01 9.94345518e-01 -3.44070880e-04 -1.98922741e+00] [-4.78087903e-03 -1.64557601e-04 9.99988558e-01 -1.48899203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.827552017999995 meters 0.025490485799752684 Centerline is valid? [True, True] Translation: X:20.69, Y:-2.00, Z:-0.15 [[ 9.94203156e-01 1.07435969e-01 4.19501634e-03 2.06944978e+01] [-1.07435649e-01 9.94211995e-01 -3.02156115e-04 -2.00407979e+00] [-4.20319800e-03 -1.50289740e-04 9.99991155e-01 -1.49888332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887552017999994 meters 0.020209003767145437 Centerline is valid? [True, True] Translation: X:20.76, Y:-2.03, Z:-0.15 [[ 9.94462724e-01 1.05047938e-01 2.96999643e-03 2.07552795e+01] [-1.05047764e-01 9.94467154e-01 -2.15046922e-04 -2.03180597e+00] [-2.97615413e-03 -9.81353349e-05 9.99995566e-01 -1.51073973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947552017999996 meters 0.021275668370470364 Centerline is valid? [True, True] Translation: X:20.82, Y:-2.05, Z:-0.15 [[ 9.94956193e-01 1.00300680e-01 1.39579026e-03 2.08154657e+01] [-1.00300636e-01 9.94957171e-01 -1.01212053e-04 -2.05037603e+00] [-1.39890317e-03 -3.92970922e-05 9.99999021e-01 -1.53990391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.007552017999995 meters 0.015502872253243162 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.08, Z:-0.15 [[ 9.95667108e-01 9.29259587e-02 3.43156073e-03 2.08744955e+01] [-9.29256506e-02 9.95673019e-01 -2.49455362e-04 -2.07637578e+00] [-3.43989331e-03 -7.05055144e-05 9.99994081e-01 -1.49457383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067552017999994 meters 0.014967103305771305 Centerline is valid? [True, True] Translation: X:20.94, Y:-2.09, Z:-0.15 [[ 9.96047559e-01 8.87458461e-02 3.66540267e-03 2.09352328e+01] [-8.87454691e-02 9.96054301e-01 -2.65677199e-04 -2.09225473e+00] [-3.67451784e-03 -6.06607541e-05 9.99993247e-01 -1.49317469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127552017999996 meters 0.013058069334514292 Centerline is valid? [True, True] Translation: X:21.00, Y:-2.12, Z:-0.15 [[ 9.96480484e-01 8.37234792e-02 4.12604915e-03 2.09964539e+01] [-8.37229507e-02 9.96489025e-01 -3.00953268e-04 -2.11544645e+00] [-4.13675954e-03 -4.55509515e-05 9.99991443e-01 -1.47535292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187552017999995 meters 0.012371902132567909 Centerline is valid? [True, True] Translation: X:21.06, Y:-2.13, Z:-0.15 [[ 9.96708607e-01 8.09888390e-02 3.57220269e-03 2.10576827e+01] [-8.09884266e-02 9.96715008e-01 -2.60197051e-04 -2.12977815e+00] [-3.58154109e-03 -2.99664349e-05 9.99993586e-01 -1.47322863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247552017999997 meters 0.011876269267372588 Centerline is valid? [True, True] Translation: X:21.12, Y:-2.15, Z:-0.15 [[ 9.97027097e-01 7.69868116e-02 3.16205217e-03 2.11183175e+01] [-7.69864663e-02 9.97032111e-01 -2.30960690e-04 -2.14687864e+00] [-3.17044848e-03 -1.31611571e-05 9.99994974e-01 -1.47123997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.307552017999996 meters 0.012000088111003464 Centerline is valid? [True, True] Translation: X:21.18, Y:-2.16, Z:-0.15 [[ 9.97554680e-01 6.98184403e-02 3.16965654e-03 2.11796738e+01] [-6.98180548e-02 9.97559715e-01 -2.32240948e-04 -2.16426138e+00] [-3.17813638e-03 1.03737900e-05 9.99994950e-01 -1.46903324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367552017999994 meters 0.012902942851983422 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.18, Z:-0.15 [[ 9.97973098e-01 6.35376684e-02 3.55826073e-03 2.12411761e+01] [-6.35371370e-02 9.97979440e-01 -2.62313454e-04 -2.17840206e+00] [-3.56773783e-03 3.57000711e-05 9.99993635e-01 -1.46260425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427552017999997 meters 0.015460966386188513 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.19, Z:-0.15 [[ 9.98530543e-01 5.40916282e-02 3.29404480e-03 2.13006340e+01] [-5.40911156e-02 9.98535974e-01 -2.44588860e-04 -2.19392387e+00] [-3.30245245e-03 6.60508894e-05 9.99994545e-01 -1.46315120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.487552017999995 meters 0.01775228709337096 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.20, Z:-0.15 [[ 9.98772785e-01 4.94450836e-02 2.84737917e-03 2.13612138e+01] [-4.94446829e-02 9.98776841e-01 -2.11004303e-04 -2.20440914e+00] [-2.85432950e-03 6.99575957e-05 9.99995924e-01 -1.46811124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547552017999994 meters 0.018557977895987766 Centerline is valid? [True, True] Translation: X:21.42, Y:-2.21, Z:-0.15 [[ 9.98958105e-01 4.55133591e-02 3.35234265e-03 2.14227113e+01] [-4.55127796e-02 9.98963726e-01 -2.49004157e-04 -2.21045383e+00] [-3.36020171e-03 9.61702893e-05 9.99994350e-01 -1.45591890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607552017999996 meters 0.017620574642326067 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.21, Z:-0.14 [[ 9.98936300e-01 4.59106400e-02 4.29913648e-03 2.14857551e+01] [-4.59096893e-02 9.98945543e-01 -3.19633849e-04 -2.21225916e+00] [-4.30927783e-03 1.21921835e-04 9.99990708e-01 -1.44401046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.667552017999995 meters 0.01846135781390358 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.21, Z:-0.15 [[ 9.98849488e-01 4.77276373e-02 4.66610596e-03 2.15471282e+01] [-4.77265285e-02 9.98860379e-01 -3.48761211e-04 -2.21494618e+00] [-4.67743392e-03 1.25662919e-04 9.99989053e-01 -1.45732861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727552017999994 meters 0.01663553567859649 Centerline is valid? [True, True] Translation: X:21.61, Y:-2.21, Z:-0.15 [[ 9.98768161e-01 4.94771722e-02 3.76428771e-03 2.16093755e+01] [-4.94764609e-02 9.98775250e-01 -2.81886377e-04 -2.21356381e+00] [-3.77362434e-03 9.52955048e-05 9.99992875e-01 -1.46831580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787552017999996 meters 0.016474190304061772 Centerline is valid? [True, True] Translation: X:21.67, Y:-2.21, Z:-0.15 [[ 9.98626099e-01 5.22718410e-02 3.68375004e-03 2.16708199e+01] [-5.22711749e-02 9.98632889e-01 -2.76929701e-04 -2.21159132e+00] [-3.69318957e-03 8.39952843e-05 9.99993177e-01 -1.47978040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847552017999995 meters 0.015994333280146968 Centerline is valid? [True, True] Translation: X:21.73, Y:-2.21, Z:-0.15 [[ 9.98490152e-01 5.47679602e-02 4.22919456e-03 2.17330515e+01] [-5.47670990e-02 9.98499105e-01 -3.19244236e-04 -2.21090450e+00] [-4.24033133e-03 8.71415091e-05 9.99991006e-01 -1.47838275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907552017999993 meters 0.014833045617724066 Centerline is valid? [True, True] Translation: X:21.80, Y:-2.21, Z:-0.15 [[ 9.98225448e-01 5.93812782e-02 4.45189765e-03 2.17962300e+01] [-5.93803620e-02 9.98235372e-01 -3.37809210e-04 -2.20615182e+00] [-4.46410125e-03 7.28544557e-05 9.99990033e-01 -1.48332222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.967552017999996 meters 0.013777904609869501 Centerline is valid? [True, True] Translation: X:21.86, Y:-2.21, Z:-0.15 [[ 9.97968041e-01 6.35407544e-02 4.72887484e-03 2.18586572e+01] [-6.35397669e-02 9.97979243e-01 -3.58925650e-04 -2.20513515e+00] [-4.74212534e-03 5.77247229e-05 9.99988754e-01 -1.48298240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027552017999994 meters 0.012029843134285359 Centerline is valid? [True, True] Translation: X:21.92, Y:-2.20, Z:-0.15 [[ 9.97432617e-01 7.14968881e-02 4.04602610e-03 2.19221278e+01] [-7.14962254e-02 9.97440823e-01 -3.08385268e-04 -2.19656466e+00] [-4.05772019e-03 1.83179305e-05 9.99991767e-01 -1.50007695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087552017999997 meters 0.011851609759856625 Centerline is valid? [True, True] Translation: X:21.98, Y:-2.19, Z:-0.15 [[ 9.96868982e-01 7.89704174e-02 3.98812999e-03 2.19839140e+01] [-7.89698324e-02 9.96876960e-01 -3.04198921e-04 -2.19206423e+00] [-3.99969762e-03 -1.16954885e-05 9.99992001e-01 -1.50728689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.147552017999995 meters 0.01210072962487737 Centerline is valid? [True, True] Translation: X:22.05, Y:-2.19, Z:-0.15 [[ 9.96588531e-01 8.24034820e-02 4.57894478e-03 2.20468066e+01] [-8.24027449e-02 9.96599049e-01 -3.49730648e-04 -2.19395008e+00] [-4.59219104e-03 -2.87800664e-05 9.99989455e-01 -1.50381876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207552017999994 meters 0.012453270256585864 Centerline is valid? [True, True] Translation: X:22.11, Y:-2.20, Z:-0.15 [[ 9.96384713e-01 8.47823316e-02 5.42770061e-03 2.21092602e+01] [-8.47813190e-02 9.96399495e-01 -4.16789384e-04 -2.19555681e+00] [-5.44349453e-03 -4.48850461e-05 9.99985183e-01 -1.49991520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267552017999996 meters 0.012287775313389314 Centerline is valid? [True, True] Translation: X:22.17, Y:-2.20, Z:-0.15 [[ 9.96374307e-01 8.48364938e-02 6.40382624e-03 2.21717104e+01] [-8.48350705e-02 9.96394885e-01 -4.94061856e-04 -2.20013787e+00] [-6.42265419e-03 -5.09985110e-05 9.99979373e-01 -1.50202977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.327552017999995 meters 0.011894604790051643 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.21, Z:-0.15 [[ 9.96614324e-01 8.19044690e-02 7.17966055e-03 2.22335292e+01] [-8.19025853e-02 9.96640184e-01 -5.56485736e-04 -2.20756592e+00] [-7.20111688e-03 -3.34311045e-05 9.99974071e-01 -1.50769856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387552017999994 meters 0.01184575422064011 Centerline is valid? [True, True] Translation: X:22.30, Y:-2.22, Z:-0.15 [[ 9.96867096e-01 7.87971624e-02 6.85562794e-03 2.22956557e+01] [-7.87953588e-02 9.96890670e-01 -5.33202343e-04 -2.21571805e+00] [-6.87632636e-03 -8.65979139e-06 9.99976358e-01 -1.51750977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447552017999996 meters 0.012263737668930503 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.23, Z:-0.15 [[ 9.97376806e-01 7.21503572e-02 5.81666188e-03 2.23573192e+01] [-7.21489368e-02 9.97393766e-01 -4.53940722e-04 -2.22670340e+00] [-5.83425428e-03 3.30839767e-05 9.99982980e-01 -1.53539324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.507552017999995 meters 0.013438189044380202 Centerline is valid? [True, True] Translation: X:22.42, Y:-2.24, Z:-0.15 [[ 9.97750318e-01 6.68401984e-02 5.16635371e-03 2.24177683e+01] [-6.68389990e-02 9.97763692e-01 -4.04668748e-04 -2.23631767e+00] [-5.18184829e-03 5.84444609e-05 9.99986572e-01 -1.54420125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567552017999994 meters 0.01750988400844954 Centerline is valid? [True, True] Translation: X:22.48, Y:-2.25, Z:-0.15 [[ 9.98247345e-01 5.89514599e-02 5.19273247e-03 2.24786015e+01] [-5.89501368e-02 9.98260845e-01 -4.07604968e-04 -2.25118204e+00] [-5.20773041e-03 1.00778288e-04 9.99986435e-01 -1.54744533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627552017999996 meters 0.021050927117264542 Centerline is valid? [True, True] Translation: X:22.54, Y:-2.26, Z:-0.15 [[ 9.98508850e-01 5.43141091e-02 5.48207602e-03 2.25392623e+01] [-5.43125635e-02 9.98523891e-01 -4.30533631e-04 -2.26173684e+00] [-5.49736792e-03 1.32146039e-04 9.99984881e-01 -1.54900789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687552017999995 meters 0.02490153395290654 Centerline is valid? [True, True] Translation: X:22.60, Y:-2.27, Z:-0.16 [[ 9.98753930e-01 4.95727784e-02 5.75560610e-03 2.25997389e+01] [-4.95709855e-02 9.98770500e-01 -4.53830552e-04 -2.27025775e+00] [-5.77102723e-03 1.67953980e-04 9.99983333e-01 -1.55308725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747552017999993 meters 0.024582490869015566 Centerline is valid? [True, True] Translation: X:22.66, Y:-2.27, Z:-0.15 [[ 9.98877439e-01 4.67359245e-02 7.72112354e-03 2.26616726e+01] [-4.67325910e-02 9.98907248e-01 -6.11691326e-04 -2.27114010e+00] [-7.74127423e-03 2.50176557e-04 9.99970005e-01 -1.53379401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.807552017999996 meters 0.025562011681502007 Centerline is valid? [True, True] Translation: X:22.72, Y:-2.27, Z:-0.15 [[ 9.98909967e-01 4.58327395e-02 8.84519550e-03 2.27237103e+01] [-4.58283014e-02 9.98949083e-01 -7.03896291e-04 -2.27416386e+00] [-8.86816143e-03 2.97768736e-04 9.99960633e-01 -1.52036569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867552017999994 meters 0.026880985426057116 Centerline is valid? [True, True] Translation: X:22.79, Y:-2.27, Z:-0.15 [[ 9.98898578e-01 4.58937106e-02 9.76723824e-03 2.27861699e+01] [-4.58882681e-02 9.98946273e-01 -7.80717952e-04 -2.27260687e+00] [-9.79277628e-03 3.31656405e-04 9.99951995e-01 -1.51487142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927552017999997 meters 0.02552628679659368 Centerline is valid? [True, True] Translation: X:22.85, Y:-2.27, Z:-0.15 [[ 9.98839567e-01 4.70683898e-02 1.02022600e-02 2.28487205e+01] [-4.70624767e-02 9.98891612e-01 -8.19023170e-04 -2.27028813e+00] [-1.02295021e-02 3.37929123e-04 9.99947620e-01 -1.51679911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.987552017999995 meters 0.02441365411132423 Centerline is valid? [True, True] Translation: X:22.91, Y:-2.26, Z:-0.15 [[ 9.98706587e-01 4.99835251e-02 9.31667904e-03 2.29112417e+01] [-4.99786945e-02 9.98750002e-01 -7.50741343e-04 -2.26333197e+00] [-9.34255791e-03 2.84134869e-04 9.99956317e-01 -1.53120816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047552017999994 meters 0.022649010773306135 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.26, Z:-0.15 [[ 9.98551136e-01 5.30418016e-02 9.06617611e-03 2.29740072e+01] [-5.30373273e-02 9.98592261e-01 -7.33402958e-04 -2.25821310e+00] [-9.09231432e-03 2.51494607e-04 9.99958632e-01 -1.53775081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107552017999996 meters 0.020861429233239397 Centerline is valid? [True, True] Translation: X:23.04, Y:-2.25, Z:-0.16 [[ 9.98345305e-01 5.70902341e-02 6.88162681e-03 2.30367530e+01] [-5.70877408e-02 9.98369009e-01 -5.58352753e-04 -2.24877411e+00] [-6.90227943e-03 1.64572322e-04 9.99976165e-01 -1.56721164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.167552017999995 meters 0.019194272600010914 Centerline is valid? [True, True] Translation: X:23.10, Y:-2.24, Z:-0.16 [[ 9.98232675e-01 5.91018879e-02 6.20431556e-03 2.30998660e+01] [-5.90998882e-02 9.98251946e-01 -5.05312804e-04 -2.24487378e+00] [-6.22333502e-03 1.37745396e-04 9.99980625e-01 -1.58142825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227552017999994 meters 0.018364364815912873 Centerline is valid? [True, True] Translation: X:23.16, Y:-2.24, Z:-0.16 [[ 9.98088066e-01 6.15193411e-02 5.96515074e-03 2.31629553e+01] [-6.15175331e-02 9.98105884e-01 -4.86275636e-04 -2.23825604e+00] [-5.98376741e-03 1.18384551e-04 9.99982090e-01 -1.58953501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287552017999996 meters 0.017278817825535517 Centerline is valid? [True, True] Translation: X:23.23, Y:-2.23, Z:-0.16 [[ 9.97937315e-01 6.39093787e-02 6.05857335e-03 2.32255272e+01] [-6.39075455e-02 9.97955700e-01 -4.95895487e-04 -2.23443932e+00] [-6.07788018e-03 1.07684060e-04 9.99981524e-01 -1.58766896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347552017999995 meters 0.014854520640194989 Centerline is valid? [True, True] Translation: X:23.29, Y:-2.23, Z:-0.16 [[ 9.97478453e-01 7.06524585e-02 6.70566494e-03 2.32875233e+01] [-7.06503485e-02 9.97500990e-01 -5.51326376e-04 -2.22525789e+00] [-6.72785998e-03 7.61786161e-05 9.99977365e-01 -1.58486257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407552017999993 meters 0.012460640779410176 Centerline is valid? [True, True] Translation: X:23.35, Y:-2.21, Z:-0.16 [[ 9.96829824e-01 7.91647925e-02 7.95221213e-03 2.33507988e+01] [-7.91620733e-02 9.96861543e-01 -6.56614003e-04 -2.21490759e+00] [-7.97923516e-03 2.50188219e-05 9.99968165e-01 -1.56932898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.467552017999996 meters 0.012339413836394142 Centerline is valid? [True, True] Translation: X:23.41, Y:-2.21, Z:-0.16 [[ 9.96412481e-01 8.41795389e-02 8.71619245e-03 2.34147204e+01] [-8.41764367e-02 9.96450603e-01 -7.22817914e-04 -2.21103607e+00] [-8.74610171e-03 -1.34732305e-05 9.99961752e-01 -1.56240252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527552017999994 meters 0.016369116369954365 Centerline is valid? [True, True] Translation: X:23.48, Y:-2.21, Z:-0.16 [[ 9.96247531e-01 8.62491065e-02 7.20755364e-03 2.34776048e+01] [-8.62470234e-02 9.96273603e-01 -5.99924396e-04 -2.21292593e+00] [-7.23243838e-03 -2.39568489e-05 9.99973845e-01 -1.60571474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587552017999993 meters 0.012846684457498701 Centerline is valid? [True, True] Translation: X:23.54, Y:-2.21, Z:-0.16 [[ 9.95962684e-01 8.94835028e-02 7.14380340e-03 2.35394571e+01] [-8.94815205e-02 9.95988304e-01 -5.97280500e-04 -2.21346272e+00] [-7.16859138e-03 -4.43692998e-05 9.99974304e-01 -1.59370500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.647552017999995 meters 0.012408534549597174 Centerline is valid? [True, True] Translation: X:23.60, Y:-2.22, Z:-0.16 [[ 9.96195053e-01 8.69525127e-02 5.88874453e-03 2.36016223e+01] [-8.69511118e-02 9.96212457e-01 -4.93987454e-04 -2.22058688e+00] [-5.90939410e-03 -1.99250262e-05 9.99982539e-01 -1.62123744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707552017999994 meters 0.012126415842837553 Centerline is valid? [True, True] Translation: X:23.66, Y:-2.23, Z:-0.16 [[ 9.96500945e-01 8.33942483e-02 5.59167095e-03 2.36641398e+01] [-8.33929201e-02 9.96516633e-01 -4.70671818e-04 -2.23028456e+00] [-5.61144443e-03 2.71914278e-06 9.99984256e-01 -1.62963382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767552017999996 meters 0.012846455641015064 Centerline is valid? [True, True] Translation: X:23.72, Y:-2.24, Z:-0.16 [[ 9.96852994e-01 7.90510064e-02 5.91999157e-03 2.37249686e+01] [-7.90494274e-02 9.96870572e-01 -5.00614738e-04 -2.24201460e+00] [-5.94103949e-03 3.10673566e-05 9.99982351e-01 -1.62850459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.827552017999995 meters 0.01605949237496663 Centerline is valid? [True, True] Translation: X:23.78, Y:-2.26, Z:-0.16 [[ 9.97418131e-01 7.16189042e-02 5.27300154e-03 2.37849782e+01] [-7.16175392e-02 9.97432067e-01 -4.47475628e-04 -2.25836551e+00] [-5.29150854e-03 6.86809098e-05 9.99985998e-01 -1.64460472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887552017999994 meters 0.021290937453668037 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.27, Z:-0.17 [[ 9.97817873e-01 6.59688101e-02 2.75851157e-03 2.38465276e+01] [-6.59684132e-02 9.97821684e-01 -2.34731553e-04 -2.26961658e+00] [-2.76798762e-03 5.22447075e-05 9.99996168e-01 -1.69658043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947552017999996 meters 0.023940781619195942 Centerline is valid? [True, True] Translation: X:23.91, Y:-2.29, Z:-0.17 [[ 9.98238728e-01 5.92274332e-02 3.39892799e-03 2.39064199e+01] [-5.92267923e-02 9.98244511e-01 -2.88969295e-04 -2.28691226e+00] [-3.41007611e-03 8.71527398e-05 9.99994182e-01 -1.67225713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007552017999995 meters 0.02426388603565579 Centerline is valid? [True, True] Translation: X:23.97, Y:-2.29, Z:-0.17 [[ 9.98572850e-01 5.32707288e-02 3.80696245e-03 2.39669066e+01] [-5.32698738e-02 9.98580099e-01 -3.25706143e-04 -2.29323988e+00] [-3.81890754e-03 1.22444902e-04 9.99992700e-01 -1.65739104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067552017999994 meters 0.026218907975239483 Centerline is valid? [True, True] Translation: X:24.03, Y:-2.30, Z:-0.17 [[ 9.98752099e-01 4.97413705e-02 4.47673587e-03 2.40288852e+01] [-4.97401513e-02 9.98762119e-01 -3.83340870e-04 -2.30109268e+00] [-4.49026210e-03 1.60188979e-04 9.99989906e-01 -1.65513876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127552017999996 meters 0.02884889911225438 Centerline is valid? [True, True] Translation: X:24.09, Y:-2.31, Z:-0.16 [[ 9.98951917e-01 4.54184840e-02 5.67701731e-03 2.40896590e+01] [-4.54164492e-02 9.98968022e-01 -4.86912349e-04 -2.30792512e+00] [-5.69327357e-03 2.28572057e-04 9.99983767e-01 -1.64930720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187552017999995 meters 0.030085471265025428 Centerline is valid? [True, True] Translation: X:24.15, Y:-2.31, Z:-0.17 [[ 9.99081155e-01 4.25724289e-02 4.94315241e-03 2.41518955e+01] [-4.25708509e-02 9.99093360e-01 -4.24059488e-04 -2.31174325e+00] [-4.95672400e-03 2.13235639e-04 9.99987693e-01 -1.66134202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247552017999993 meters 0.03607371459705282 Centerline is valid? [True, True] Translation: X:24.21, Y:-2.32, Z:-0.17 [[ 9.99265226e-01 3.80144270e-02 4.88991679e-03 2.42114078e+01] [-3.80128250e-02 9.99277163e-01 -4.20159965e-04 -2.31924886e+00] [-4.90235431e-03 2.33971691e-04 9.99987956e-01 -1.67280601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.307552017999996 meters 0.03869585195872408 Centerline is valid? [True, True] Translation: X:24.27, Y:-2.32, Z:-0.17 [[ 9.99384700e-01 3.47272067e-02 4.92366520e-03 2.42727556e+01] [-3.47255432e-02 9.99396797e-01 -4.22966256e-04 -2.32268061e+00] [-4.93538367e-03 2.51729056e-04 9.99987789e-01 -1.67803815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367552017999994 meters 0.03888634608403971 Centerline is valid? [True, True] Translation: X:24.33, Y:-2.32, Z:-0.17 [[ 9.99487394e-01 3.16128447e-02 5.05741706e-03 2.43345448e+01] [-3.16110487e-02 9.99500151e-01 -4.34686132e-04 -2.31768392e+00] [-5.06863078e-03 2.74593052e-04 9.99987117e-01 -1.67822346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427552017999993 meters 0.03953863725804061 Centerline is valid? [True, True] Translation: X:24.40, Y:-2.31, Z:-0.17 [[ 9.99598416e-01 2.80570623e-02 3.97600955e-03 2.43965828e+01] [-2.80559237e-02 9.99606297e-01 -3.41847789e-04 -2.31172993e+00] [-3.98403543e-03 2.30159888e-04 9.99992037e-01 -1.69888359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.487552017999995 meters 0.041056937913048056 Centerline is valid? [True, True] Translation: X:24.46, Y:-2.31, Z:-0.17 [[ 9.99640253e-01 2.67314655e-02 2.18926402e-03 2.44587566e+01] [-2.67311200e-02 9.99642642e-01 -1.86957244e-04 -2.30998053e+00] [-2.19347931e-03 1.28368507e-04 9.99997586e-01 -1.72049999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547552017999994 meters 0.04347075610645622 Centerline is valid? [True, True] Translation: X:24.52, Y:-2.30, Z:-0.17 [[ 9.99630235e-01 2.71652864e-02 1.20003074e-03 2.45219519e+01] [-2.71651831e-02 9.99630953e-01 -1.02314199e-04 -2.30371867e+00] [-1.20236727e-03 6.96773124e-05 9.99999275e-01 -1.73500663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607552017999996 meters 0.040468620920642226 Centerline is valid? [True, True] Translation: X:24.58, Y:-2.30, Z:-0.17 [[ 9.99573371e-01 2.90701477e-02 2.82882862e-03 2.45839626e+01] [-2.90695711e-02 9.99577361e-01 -2.44740260e-04 -2.29508198e+00] [-2.83474768e-03 1.62403012e-04 9.99995969e-01 -1.72471777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667552017999995 meters 0.03777654225956111 Centerline is valid? [True, True] Translation: X:24.65, Y:-2.28, Z:-0.17 [[ 9.99405098e-01 3.41970021e-02 4.47381585e-03 2.46464579e+01] [-3.41956091e-02 9.99415084e-01 -3.87510584e-04 -2.28149135e+00] [-4.48445074e-03 2.34295195e-04 9.99989917e-01 -1.71795887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727552017999994 meters 0.03409014916315123 Centerline is valid? [True, True] Translation: X:24.71, Y:-2.27, Z:-0.17 [[ 9.99228700e-01 3.89568066e-02 4.93679773e-03 2.47081603e+01] [-3.89551677e-02 9.99240868e-01 -4.27739669e-04 -2.27166394e+00] [-4.94971342e-03 2.35095970e-04 9.99987722e-01 -1.72546754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787552017999996 meters 0.029549450115362162 Centerline is valid? [True, True] Translation: X:24.77, Y:-2.26, Z:-0.17 [[ 9.98854106e-01 4.75252408e-02 5.64152797e-03 2.47700230e+01] [-4.75232359e-02 9.98870013e-01 -4.88980889e-04 -2.25644429e+00] [-5.65839205e-03 2.20316904e-04 9.99983967e-01 -1.73464458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847552017999995 meters 0.025073773264299385 Centerline is valid? [True, True] Translation: X:24.83, Y:-2.24, Z:-0.17 [[ 9.98386149e-01 5.64064264e-02 6.58878619e-03 2.48323396e+01] [-5.64038847e-02 9.98407870e-01 -5.71089031e-04 -2.24221643e+00] [-6.61050908e-03 1.98534241e-04 9.99978131e-01 -1.73412248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907552017999993 meters 0.02231343179379445 Centerline is valid? [True, True] Translation: X:24.89, Y:-2.23, Z:-0.17 [[ 9.98006113e-01 6.27527594e-02 6.77416956e-03 2.48942387e+01] [-6.27502181e-02 9.98029090e-01 -5.87247914e-04 -2.23475668e+00] [-6.79766971e-03 1.60996391e-04 9.99976883e-01 -1.74462204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.967552017999996 meters 0.01787254127278738 Centerline is valid? [True, True] Translation: X:24.96, Y:-2.22, Z:-0.18 [[ 9.97422707e-01 7.15378181e-02 5.50305644e-03 2.49555138e+01] [-7.15362735e-02 9.97437885e-01 -4.77255369e-04 -2.22294649e+00] [-5.52309878e-03 8.23571914e-05 9.99984744e-01 -1.77858392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027552017999994 meters 0.01620345443206408 Centerline is valid? [True, True] Translation: X:25.01, Y:-2.22, Z:-0.18 [[ 9.97075510e-01 7.62668898e-02 4.87740406e-03 2.50149101e+01] [-7.62657336e-02 9.97087438e-01 -4.22891659e-04 -2.21927146e+00] [-4.89545095e-03 4.96761176e-05 9.99988016e-01 -1.79860135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087552017999993 meters 0.015642412593569945 Centerline is valid? [True, True] Translation: X:25.07, Y:-2.22, Z:-0.18 [[ 9.96635877e-01 8.18279487e-02 4.59506341e-03 2.50747167e+01] [-8.18269835e-02 9.96646470e-01 -3.97966722e-04 -2.21609270e+00] [-4.61221853e-03 2.06277347e-05 9.99989363e-01 -1.81144744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.147552017999995 meters 0.015057397860919988 Centerline is valid? [True, True] Translation: X:25.13, Y:-2.22, Z:-0.18 [[ 9.96287179e-01 8.58856809e-02 5.95877153e-03 2.51336387e+01] [-8.58841335e-02 9.96304998e-01 -5.15549202e-04 -2.21689335e+00] [-5.98103216e-03 1.87113039e-06 9.99982113e-01 -1.79514602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207552017999994 meters 0.0149228507882936 Centerline is valid? [True, True] Translation: X:25.19, Y:-2.22, Z:-0.18 [[ 9.96082316e-01 8.81232352e-02 7.36990198e-03 2.51922136e+01] [-8.81209354e-02 9.96109580e-01 -6.36835142e-04 -2.22097244e+00] [-7.39734994e-03 -1.51024334e-05 9.99972639e-01 -1.78223138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267552017999993 meters 0.015078815119164377 Centerline is valid? [True, True] Translation: X:25.25, Y:-2.23, Z:-0.18 [[ 9.96016140e-01 8.87356031e-02 8.82277600e-03 2.52503372e+01] [-8.87323391e-02 9.96055215e-01 -7.61482854e-04 -2.22756487e+00] [-8.85554269e-03 -2.44163383e-05 9.99960789e-01 -1.76779862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.327552017999995 meters 0.014589214659997483 Centerline is valid? [True, True] Translation: X:25.31, Y:-2.24, Z:-0.18 [[ 9.96134994e-01 8.72039012e-02 1.05143908e-02 2.53082453e+01] [-8.71991910e-02 9.96190484e-01 -9.06456773e-04 -2.23831723e+00] [-1.05533826e-02 -1.38930604e-05 9.99944311e-01 -1.75050862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387552017999994 meters 0.01430658174492675 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.25, Z:-0.18 [[ 9.96451935e-01 8.34593106e-02 1.08666822e-02 2.53654461e+01] [-8.34540662e-02 9.96511185e-01 -9.35965010e-04 -2.25295936e+00] [-1.09068854e-02 2.57753291e-05 9.99940518e-01 -1.75548518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447552017999996 meters 0.014409267065684834 Centerline is valid? [True, True] Translation: X:25.42, Y:-2.26, Z:-0.18 [[ 9.96544030e-01 8.24835973e-02 9.82101556e-03 2.54249505e+01] [-8.24792702e-02 9.96592422e-01 -8.45500661e-04 -2.26187997e+00] [-9.85728961e-03 3.25484397e-05 9.99951415e-01 -1.77296758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507552017999995 meters 0.015078408780394544 Centerline is valid? [True, True] Translation: X:25.48, Y:-2.28, Z:-0.18 [[ 9.96846737e-01 7.89052589e-02 8.39893669e-03 2.54832586e+01] [-7.89019674e-02 9.96882118e-01 -7.23044960e-04 -2.27950901e+00] [-8.42980185e-03 5.80723803e-05 9.99964467e-01 -1.79817205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567552017999994 meters 0.01904194014218337 Centerline is valid? [True, True] Translation: X:25.54, Y:-2.29, Z:-0.18 [[ 9.96979216e-01 7.74516892e-02 5.80328793e-03 2.55425187e+01] [-7.74500937e-02 9.96996105e-01 -4.99493099e-04 -2.29149328e+00] [-5.82454204e-03 4.85190447e-05 9.99983036e-01 -1.83602791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627552017999996 meters 0.016320887435470482 Centerline is valid? [True, True] Translation: X:25.60, Y:-2.30, Z:-0.18 [[ 9.97141139e-01 7.52735699e-02 6.59081460e-03 2.56026062e+01] [-7.52714644e-02 9.97162918e-01 -5.67276077e-04 -2.30436153e+00] [-6.61481681e-03 6.95540468e-05 9.99978119e-01 -1.83049761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687552017999995 meters 0.018152561869556508 Centerline is valid? [True, True] Translation: X:25.66, Y:-2.32, Z:-0.18 [[ 9.97379064e-01 7.20672775e-02 6.42734397e-03 2.56619658e+01] [-7.20652091e-02 9.97399769e-01 -5.53122439e-04 -2.32209895e+00] [-6.45049342e-03 8.84848524e-05 9.99979191e-01 -1.83462700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747552017999993 meters 0.021053523684460004 Centerline is valid? [True, True] Translation: X:25.72, Y:-2.34, Z:-0.18 [[ 9.97717894e-01 6.72896703e-02 5.57717848e-03 2.57234476e+01] [-6.72880363e-02 9.97733476e-01 -4.80322335e-04 -2.33530735e+00] [-5.59685840e-03 1.03948801e-04 9.99984332e-01 -1.84765662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.807552017999996 meters 0.02376735902660375 Centerline is valid? [True, True] Translation: X:25.78, Y:-2.35, Z:-0.18 [[ 9.98004149e-01 6.28843965e-02 5.76805720e-03 2.57837465e+01] [-6.28825637e-02 9.98020809e-01 -4.98745577e-04 -2.35028313e+00] [-5.78800443e-03 1.35039931e-04 9.99983240e-01 -1.84903560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867552017999994 meters 0.025805518410171025 Centerline is valid? [True, True] Translation: X:25.84, Y:-2.37, Z:-0.18 [[ 9.98489519e-01 5.43140472e-02 8.28646595e-03 2.58434908e+01] [-5.43099441e-02 9.98523867e-01 -7.19543584e-04 -2.36752862e+00] [-8.31331534e-03 2.68419225e-04 9.99965408e-01 -1.81172538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927552017999993 meters 0.02812569503967546 Centerline is valid? [True, True] Translation: X:25.90, Y:-2.38, Z:-0.18 [[ 9.98710996e-01 5.00240932e-02 8.59860819e-03 2.59038899e+01] [-5.00195125e-02 9.98747961e-01 -7.47096327e-04 -2.37846421e+00] [-8.62521522e-03 3.16035127e-04 9.99962752e-01 -1.81511873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.987552017999995 meters 0.03195344002812394 Centerline is valid? [True, True] Translation: X:25.96, Y:-2.39, Z:-0.18 [[ 9.98841308e-01 4.73286263e-02 8.72019267e-03 2.59645015e+01] [-4.73238055e-02 9.98879313e-01 -7.58466307e-04 -2.39074635e+00] [-8.74631723e-03 3.44914777e-04 9.99961691e-01 -1.81814889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047552017999994 meters 0.029887926554654845 Centerline is valid? [True, True] Translation: X:26.03, Y:-2.39, Z:-0.18 [[ 9.98809342e-01 4.78247610e-02 9.62758111e-03 2.60271666e+01] [-4.78188771e-02 9.98855669e-01 -8.40554169e-04 -2.39309809e+00] [-9.65676328e-03 3.79173239e-04 9.99953300e-01 -1.81955159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107552017999993 meters 0.02923715278180866 Centerline is valid? [True, True] Translation: X:26.09, Y:-2.40, Z:-0.18 [[ 9.98742274e-01 4.92777487e-02 9.25061706e-03 2.60890286e+01] [-4.92723497e-02 9.98785051e-01 -8.10772939e-04 -2.39671873e+00] [-9.27933109e-03 3.53953570e-04 9.99956883e-01 -1.83285954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167552017999995 meters 0.02646961256643273 Centerline is valid? [True, True] Translation: X:26.15, Y:-2.40, Z:-0.19 [[ 9.98509216e-01 5.40505861e-02 7.60786525e-03 2.61505437e+01] [-5.40470587e-02 9.98538166e-01 -6.68640024e-04 -2.39624585e+00] [-7.63288419e-03 2.56460487e-04 9.99970836e-01 -1.86509935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227552017999994 meters 0.023685082238101538 Centerline is valid? [True, True] Translation: X:26.21, Y:-2.39, Z:-0.19 [[ 9.98229886e-01 5.91237646e-02 6.44017651e-03 2.62119917e+01] [-5.91213408e-02 9.98250643e-01 -5.66255767e-04 -2.39416571e+00] [-6.46238951e-03 1.84501560e-04 9.99979102e-01 -1.88825655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287552017999996 meters 0.01919124799119863 Centerline is valid? [True, True] Translation: X:26.27, Y:-2.39, Z:-0.19 [[ 9.97786585e-01 6.60649978e-02 7.57281535e-03 2.62741477e+01] [-6.60618431e-02 9.97815308e-01 -6.66242983e-04 -2.38854104e+00] [-7.60028642e-03 1.64494171e-04 9.99971104e-01 -1.87988175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347552017999995 meters 0.018369126852038484 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.39, Z:-0.19 [[ 9.97618071e-01 6.82863521e-02 9.75493992e-03 2.63363467e+01] [-6.82812106e-02 9.97665744e-01 -8.59539396e-04 -2.39099693e+00] [-9.79086421e-03 1.91412927e-04 9.99952050e-01 -1.86308240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407552017999993 meters 0.01871178392289653 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.39, Z:-0.19 [[ 9.97578983e-01 6.86670902e-02 1.10001393e-02 2.63985782e+01] [-6.86605325e-02 9.97639606e-01 -9.73138511e-04 -2.39370629e+00] [-1.10409972e-02 2.15507105e-04 9.99939023e-01 -1.85893111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467552017999996 meters 0.019600061689510444 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.40, Z:-0.19 [[ 9.97650083e-01 6.76645236e-02 1.07621449e-02 2.64603753e+01] [-6.76581514e-02 9.97708104e-01 -9.55500329e-04 -2.39955396e+00] [-1.08021327e-02 2.25108154e-04 9.99941630e-01 -1.87407225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527552017999994 meters 0.021592590022221293 Centerline is valid? [True, True] Translation: X:26.52, Y:-2.41, Z:-0.19 [[ 9.97882722e-01 6.43436266e-02 9.48532543e-03 2.65220277e+01] [-6.43385007e-02 9.97927775e-01 -8.44875890e-04 -2.40701150e+00] [-9.52003208e-03 2.32815437e-04 9.99954656e-01 -1.89988005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587552017999993 meters 0.023612940659779286 Centerline is valid? [True, True] Translation: X:26.58, Y:-2.41, Z:-0.19 [[ 9.98122437e-01 6.04520173e-02 9.85669754e-03 2.65837621e+01] [-6.04462673e-02 9.98171064e-01 -8.80507239e-04 -2.41398067e+00] [-9.89189871e-03 2.83053457e-04 9.99951034e-01 -1.90064080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.647552017999995 meters 0.02376769832867713 Centerline is valid? [True, True] Translation: X:26.65, Y:-2.42, Z:-0.19 [[ 9.98259060e-01 5.80801239e-02 1.02736826e-02 2.66452898e+01] [-5.80737389e-02 9.98311873e-01 -9.18979188e-04 -2.41846006e+00] [-1.03097138e-02 3.20748137e-04 9.99946802e-01 -1.89560471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707552017999994 meters 0.028411524584807446 Centerline is valid? [True, True] Translation: X:26.71, Y:-2.43, Z:-0.19 [[ 9.98509307e-01 5.36790134e-02 9.88571349e-03 2.67053552e+01] [-5.36728699e-02 9.98558180e-01 -8.85898830e-04 -2.42736379e+00] [-9.91901424e-03 3.53983612e-04 9.99950743e-01 -1.90801366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767552017999993 meters 0.029831238263871327 Centerline is valid? [True, True] Translation: X:26.77, Y:-2.43, Z:-0.19 [[ 9.98715605e-01 4.98156323e-02 9.24891505e-03 2.67674659e+01] [-4.98100778e-02 9.98758363e-01 -8.30086807e-04 -2.43204260e+00] [-9.27878256e-03 3.68331470e-04 9.99956883e-01 -1.92768166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827552017999995 meters 0.033148774531290746 Centerline is valid? [True, True] Translation: X:26.83, Y:-2.44, Z:-0.19 [[ 9.99046771e-01 4.26538007e-02 9.28454522e-03 2.68281906e+01] [-4.26478885e-02 9.99089817e-01 -8.33933940e-04 -2.43816919e+00] [-9.31166503e-03 4.37172761e-04 9.99956550e-01 -1.94122502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887552017999994 meters 0.03996217322397933 Centerline is valid? [True, True] Translation: X:26.89, Y:-2.45, Z:-0.20 [[ 9.99379194e-01 3.42246961e-02 8.36042885e-03 2.68874245e+01] [-3.42196065e-02 9.99414056e-01 -7.51101213e-04 -2.44669231e+00] [-8.38123631e-03 4.64544339e-04 9.99964769e-01 -1.95157439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947552017999993 meters 0.04371100269551175 Centerline is valid? [True, True] Translation: X:26.95, Y:-2.45, Z:-0.20 [[ 9.99550269e-01 2.85400237e-02 9.20474213e-03 2.69479766e+01] [-2.85336067e-02 9.99592491e-01 -8.27736116e-04 -2.45146182e+00] [-9.22461473e-03 5.64719366e-04 9.99957293e-01 -1.95081398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007552017999995 meters 0.04533282521975698 Centerline is valid? [True, True] Translation: X:27.01, Y:-2.45, Z:-0.20 [[ 9.99665604e-01 2.37298948e-02 1.02748264e-02 2.70086898e+01] [-2.37216453e-02 9.99718175e-01 -9.24034816e-04 -2.45304684e+00] [-1.02938579e-02 6.79990036e-04 9.99946786e-01 -1.95030727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067552017999994 meters 0.050570161522758575 Centerline is valid? [True, True] Translation: X:27.07, Y:-2.45, Z:-0.20 [[ 9.99789735e-01 1.78820265e-02 1.00358391e-02 2.70686556e+01] [-1.78738627e-02 9.99839842e-01 -9.02572878e-04 -2.45324394e+00] [-1.00503716e-02 7.23003888e-04 9.99949232e-01 -1.97619080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127552017999996 meters 0.05531538596730785 Centerline is valid? [True, True] Translation: X:27.13, Y:-2.45, Z:-0.20 [[ 9.99869627e-01 1.28492927e-02 9.77883804e-03 2.71299832e+01] [-1.28413035e-02 9.99917160e-01 -8.79342520e-04 -2.45064944e+00] [-9.78932690e-03 7.53654850e-04 9.99951799e-01 -2.00361481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187552017999995 meters 0.05585485456023259 Centerline is valid? [True, True] Translation: X:27.19, Y:-2.45, Z:-0.20 [[ 9.99891545e-01 1.07241008e-02 1.00941809e-02 2.71918960e+01] [-1.07154787e-02 9.99942175e-01 -9.07855246e-04 -2.44524519e+00] [-1.01033331e-02 7.99592804e-04 9.99948640e-01 -2.01813409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247552017999993 meters 0.055959326383291284 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.43, Z:-0.20 [[ 9.99876205e-01 1.03813028e-02 1.18238154e-02 2.72553172e+01] [-1.03694275e-02 9.99945669e-01 -1.06522031e-03 -2.43152105e+00] [-1.18342314e-02 9.42482249e-04 9.99929529e-01 -2.02269072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.307552017999996 meters 0.04621142727945996 Centerline is valid? [True, True] Translation: X:27.32, Y:-2.41, Z:-0.20 [[ 9.99866077e-01 1.07337277e-02 1.23537860e-02 2.73204204e+01] [-1.07207396e-02 9.99941907e-01 -1.11709489e-03 -2.40915605e+00] [-1.23650589e-02 9.84503562e-04 9.99923065e-01 -2.03899356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367552017999994 meters 0.047415136352912335 Centerline is valid? [True, True] Translation: X:27.38, Y:-2.40, Z:-0.21 [[ 9.99853354e-01 1.11875302e-02 1.29657420e-02 2.73848737e+01] [-1.11732018e-02 9.99936885e-01 -1.17700773e-03 -2.40153067e+00] [-1.29780915e-02 1.03196627e-03 9.99915249e-01 -2.05515005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427552017999993 meters 0.05395971254443119 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.40, Z:-0.21 [[ 9.99872737e-01 1.01671789e-02 1.22938445e-02 2.74464400e+01] [-1.01541769e-02 9.99947818e-01 -1.11956330e-03 -2.40135998e+00] [-1.23045858e-02 9.94586948e-04 9.99923801e-01 -2.07247505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.487552017999995 meters 0.05399358582036537 Centerline is valid? [True, True] Translation: X:27.51, Y:-2.39, Z:-0.21 [[ 9.99929389e-01 7.22983549e-03 9.43110285e-03 2.75092277e+01] [-7.22204050e-03 9.99973551e-01 -8.60314987e-04 -2.38656809e+00] [-9.43707334e-03 7.92142433e-04 9.99955156e-01 -2.11474869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547552017999994 meters 0.0524482077008775 Centerline is valid? [True, True] Translation: X:27.57, Y:-2.38, Z:-0.21 [[ 9.99946899e-01 5.47630593e-03 8.72983225e-03 2.75715311e+01] [-5.46955904e-03 9.99984725e-01 -7.96541337e-04 -2.37694420e+00] [-8.73406101e-03 7.48750707e-04 9.99961577e-01 -2.12440939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607552017999993 meters 0.05407195681479846 Centerline is valid? [True, True] Translation: X:27.63, Y:-2.36, Z:-0.21 [[ 9.99955871e-01 4.15765740e-03 8.42439900e-03 2.76346456e+01] [-4.15132257e-03 9.99991087e-01 -7.69309894e-04 -2.36498215e+00] [-8.42752244e-03 7.34303547e-04 9.99964218e-01 -2.11918743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667552017999995 meters 0.05138529649781393 Centerline is valid? [True, True] Translation: X:27.70, Y:-2.35, Z:-0.21 [[ 9.99942307e-01 5.47915442e-03 9.23918497e-03 2.76977831e+01] [-5.47157143e-03 9.99984673e-01 -8.45820304e-04 -2.34702900e+00] [-9.24367774e-03 7.95218645e-04 9.99956960e-01 -2.10530074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727552017999994 meters 0.05152657900542856 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.34, Z:-0.21 [[ 9.99928475e-01 6.90501286e-03 9.76558182e-03 2.77607398e+01] [-6.89659810e-03 9.99975818e-01 -8.95088851e-04 -2.34065086e+00] [-9.77152626e-03 8.27675536e-04 9.99951915e-01 -2.10232147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787552017999992 meters 0.050372404336367214 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.33, Z:-0.21 [[ 9.99909458e-01 9.09788711e-03 9.91487996e-03 2.78226853e+01] [-9.08930007e-03 9.99958277e-01 -9.10794064e-04 -2.32747803e+00] [-9.92275258e-03 8.20592280e-04 9.99950432e-01 -2.09890374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847552017999995 meters 0.05041013983836622 Centerline is valid? [True, True] Translation: X:27.89, Y:-2.32, Z:-0.21 [[ 9.99918294e-01 9.32912678e-03 8.73916308e-03 2.78852541e+01] [-9.32246017e-03 9.99956222e-01 -8.03268573e-04 -2.32162504e+00] [-8.74627429e-03 7.21732441e-04 9.99961490e-01 -2.10642094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907552017999993 meters 0.047856846314514895 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.31, Z:-0.21 [[ 9.99942748e-01 9.13448931e-03 5.57331708e-03 2.79492202e+01] [-9.13177030e-03 9.99958173e-01 -5.13114424e-04 -2.30706115e+00] [-5.57777100e-03 4.62190796e-04 9.99984337e-01 -2.11797847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967552017999996 meters 0.05234306914855231 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.31, Z:-0.21 [[ 9.99949721e-01 9.12163386e-03 4.16544619e-03 2.80100501e+01] [-9.12010890e-03 9.99958337e-01 -3.84945808e-04 -2.30791594e+00] [-4.16878398e-03 3.46937131e-04 9.99991250e-01 -2.13071450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027552017999994 meters 0.05192783905589163 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.30, Z:-0.21 [[ 9.99952742e-01 9.46881811e-03 2.20355625e-03 2.80719167e+01] [-9.46839202e-03 9.99955153e-01 -2.03714442e-04 -2.29746094e+00] [-2.20538637e-03 1.82840680e-04 9.99997551e-01 -2.14165175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087552017999993 meters 0.05431410103477049 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.29, Z:-0.21 [[ 9.99947182e-01 1.01323888e-02 1.72255544e-03 2.81310930e+01] [-1.01321289e-02 9.99948656e-01 -1.59553304e-04 -2.29484164e+00] [-1.72408365e-03 1.42091723e-04 9.99998504e-01 -2.14402069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.147552017999995 meters 0.05115893406842476 Centerline is valid? [True, True] Translation: X:28.19, Y:-2.28, Z:-0.21 [[ 9.99935026e-01 1.13737276e-02 7.62322703e-04 2.81920220e+01] [-1.13736770e-02 9.99935315e-01 -7.06762719e-05 -2.28490829e+00] [-7.63077245e-04 6.20012676e-05 9.99999707e-01 -2.13992466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207552017999994 meters 0.04971646621696768 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.27, Z:-0.21 [[ 9.99933656e-01 1.14718835e-02 1.03865509e-03 2.82517524e+01] [-1.14717895e-02 9.99934192e-01 -9.63961791e-05 -2.27363363e+00] [-1.03969259e-03 8.44745513e-05 9.99999456e-01 -2.13491562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267552017999993 meters 0.048988004697326885 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.27, Z:-0.21 [[ 9.99951486e-01 9.77838836e-03 1.18673070e-03 2.83122680e+01] [-9.77826497e-03 9.99952186e-01 -1.09736845e-04 -2.26925744e+00] [-1.18774701e-03 9.81273544e-05 9.99999290e-01 -2.12745497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327552017999995 meters 0.053299821454950276 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.27, Z:-0.21 [[ 9.99959111e-01 9.04192966e-03 1.41468799e-04 2.83709008e+01] [-9.04192789e-03 9.99959121e-01 -1.31209045e-05 -2.26636274e+00] [-1.41581655e-04 1.18412173e-05 9.99999990e-01 -2.13274627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387552017999994 meters 0.05011355101448064 Centerline is valid? [True, True] Translation: X:28.43, Y:-2.26, Z:-0.21 [[ 9.99937223e-01 1.11945400e-02 -4.82308860e-04 2.84318089e+01] [-1.11945199e-02 9.99937338e-01 4.43306741e-05 -2.25868883e+00] [ 4.82774899e-04 -3.89286750e-05 9.99999883e-01 -2.13326309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447552017999993 meters 0.044007882290020006 Centerline is valid? [True, True] Translation: X:28.49, Y:-2.24, Z:-0.21 [[ 9.99826209e-01 1.85139935e-02 -2.18720705e-03 2.84938007e+01] [-1.85135968e-02 9.99828588e-01 2.01469562e-04 -2.24067543e+00] [ 2.19056214e-03 -1.60941479e-04 9.99997588e-01 -2.14367487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507552017999995 meters 0.04128820502354483 Centerline is valid? [True, True] Translation: X:28.55, Y:-2.23, Z:-0.21 [[ 9.99575529e-01 2.90199915e-02 -2.56936836e-03 2.85544654e+01] [-2.90194788e-02 9.99578818e-01 2.36606843e-04 -2.22684603e+00] [ 2.57515252e-03 -1.61944680e-04 9.99996671e-01 -2.14814258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567552017999994 meters 0.03835520198094409 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.22, Z:-0.21 [[ 9.99367089e-01 3.55541242e-02 -1.15130881e-03 2.86152435e+01] [-3.55540257e-02 9.99367750e-01 1.05851337e-04 -2.21934283e+00] [ 1.15434434e-03 -6.48506798e-05 9.99999332e-01 -2.13690546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627552017999992 meters 0.037125321538050024 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.21, Z:-0.21 [[ 9.99210472e-01 3.97286752e-02 -2.55747774e-04 2.86759805e+01] [-3.97286705e-02 9.99210504e-01 2.34224208e-05 -2.21476327e+00] [ 2.56476404e-04 -1.32434091e-05 9.99999967e-01 -2.12878151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687552017999995 meters 0.035098174725067884 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.21, Z:-0.21 [[ 9.99131368e-01 4.16657998e-02 -6.86136970e-04 2.87362094e+01] [-4.16657669e-02 9.99131603e-01 6.21945921e-05 -2.20651622e+00] [ 6.88132518e-04 -3.35521448e-05 9.99999763e-01 -2.12868581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747552017999993 meters 0.03494255220779594 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.21, Z:-0.22 [[ 9.99114380e-01 4.19639228e-02 -3.07978333e-03 2.87947062e+01] [-4.19632522e-02 9.99119115e-01 2.82084862e-04 -2.20763718e+00] [ 3.08890779e-03 -1.52597318e-04 9.99995218e-01 -2.16615611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807552017999996 meters 0.03379630743621776 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.21, Z:-0.22 [[ 9.98974752e-01 4.49247134e-02 -5.58711244e-03 2.88539211e+01] [-4.49225496e-02 9.98990341e-01 5.12249700e-04 -2.20623788e+00] [ 5.60448403e-03 -2.60737182e-04 9.99984261e-01 -2.19315433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867552017999994 meters 0.032319019726151296 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.20, Z:-0.22 [[ 9.98863397e-01 4.72653814e-02 -6.15616585e-03 2.89132124e+01] [-4.72628013e-02 9.98882330e-01 5.63989160e-04 -2.20483666e+00] [ 6.17594245e-03 -2.72390484e-04 9.99980892e-01 -2.18582568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927552017999993 meters 0.031130506888354365 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.20, Z:-0.22 [[ 9.98648851e-01 5.16062331e-02 -6.10489172e-03 2.89731029e+01] [-5.16037765e-02 9.98667481e-01 5.59331633e-04 -2.20389805e+00] [ 6.12562183e-03 -2.43540424e-04 9.99981209e-01 -2.17834777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987552017999995 meters 0.030220769200151636 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.20, Z:-0.22 [[ 9.98475425e-01 5.50117391e-02 -4.53136500e-03 2.90328627e+01] [-5.50104218e-02 9.98485694e-01 4.14925714e-04 -2.20484364e+00] [ 4.54732891e-03 -1.65020829e-04 9.99989647e-01 -2.16397791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047552017999994 meters 0.028163019112397377 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.21, Z:-0.21 [[ 9.98434721e-01 5.58320589e-02 -3.29971906e-03 2.90918412e+01] [-5.58313738e-02 9.98440167e-01 2.99446205e-04 -2.20540253e+00] [ 3.31129075e-03 -1.14749640e-04 9.99994511e-01 -2.14065799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107552017999993 meters 0.030759872371325776 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.21, Z:-0.21 [[ 9.98513795e-01 5.44737178e-02 -1.67779236e-03 2.91487479e+01] [-5.44735385e-02 9.98515203e-01 1.52404823e-04 -2.21477754e+00] [ 1.68360324e-03 -6.07830314e-05 9.99998581e-01 -2.12076418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167552017999995 meters 0.029631158384793854 Centerline is valid? [True, True] Translation: X:29.21, Y:-2.22, Z:-0.21 [[ 9.98639724e-01 5.21143727e-02 -1.67141401e-03 2.92073798e+01] [-5.21141944e-02 9.98641121e-01 1.50089874e-04 -2.21893456e+00] [ 1.67696460e-03 -6.27813157e-05 9.99998592e-01 -2.11128519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227552017999994 meters 0.03114682490884309 Centerline is valid? [True, True] Translation: X:29.27, Y:-2.23, Z:-0.21 [[ 9.98833024e-01 4.81828649e-02 -3.31684741e-03 2.92660084e+01] [-4.81821301e-02 9.98838521e-01 3.01121359e-04 -2.23073772e+00] [ 3.32750385e-03 -1.40957185e-04 9.99994454e-01 -2.14028573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287552017999992 meters 0.03172292824724363 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.24, Z:-0.22 [[ 9.98918749e-01 4.62941387e-02 -4.26444654e-03 2.93241075e+01] [-4.62929180e-02 9.98927834e-01 3.84557402e-04 -2.23793434e+00] [ 4.27767710e-03 -1.86727924e-04 9.99990833e-01 -2.15432414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347552017999995 meters 0.033614617334333574 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.25, Z:-0.22 [[ 9.99034307e-01 4.36020398e-02 -5.41432742e-03 2.93833587e+01] [-4.36000219e-02 9.99048947e-01 4.90239085e-04 -2.24774560e+00] [ 5.43055353e-03 -2.53700871e-04 9.99985222e-01 -2.16467051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407552017999993 meters 0.03428538727429718 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.25, Z:-0.21 [[ 9.99163115e-01 4.05697201e-02 -5.21215212e-03 2.94426481e+01] [-4.05678100e-02 9.99176676e-01 4.71713655e-04 -2.25332682e+00] [ 5.22699812e-03 -2.59873288e-04 9.99986305e-01 -2.14517956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467552017999992 meters 0.03597958667212997 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.26, Z:-0.21 [[ 9.99215032e-01 3.93849607e-02 -4.25954808e-03 2.95000616e+01] [-3.93836780e-02 9.99224088e-01 3.84634276e-04 -2.26068177e+00] [ 4.27139185e-03 -2.16575681e-04 9.99990854e-01 -2.14463141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527552017999994 meters 0.0354027673883879 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.26, Z:-0.21 [[ 9.99245102e-01 3.87516900e-02 -2.74460564e-03 2.95584536e+01] [-3.87511564e-02 9.99248861e-01 2.47319094e-04 -2.26251208e+00] [ 2.75212810e-03 -1.40775751e-04 9.99996203e-01 -2.12997336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587552017999993 meters 0.03470246750774136 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.26, Z:-0.21 [[ 9.99253842e-01 3.85353152e-02 -2.60544518e-03 2.96176129e+01] [-3.85348340e-02 9.99257230e-01 2.34669927e-04 -2.26410933e+00] [ 2.61255301e-03 -1.34094429e-04 9.99996578e-01 -2.12200291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.647552017999995 meters 0.035082687833246785 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.27, Z:-0.21 [[ 9.99215728e-01 3.94615925e-02 -3.27288719e-03 2.96768754e+01] [-3.94608444e-02 9.99221075e-01 2.92876391e-04 -2.26664410e+00] [ 3.28189523e-03 -1.63495804e-04 9.99994601e-01 -2.13997390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707552017999994 meters 0.03430165917630193 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.27, Z:-0.22 [[ 9.99129708e-01 4.15848571e-02 -3.24438264e-03 2.97361854e+01] [-4.15841358e-02 9.99134964e-01 2.89489466e-04 -2.26786527e+00] [ 3.25361451e-03 -1.54322677e-04 9.99994695e-01 -2.15312522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767552017999993 meters 0.03262769147087362 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.27, Z:-0.22 [[ 9.98944727e-01 4.58510256e-02 -2.66770627e-03 2.97967970e+01] [-4.58505497e-02 9.98948282e-01 2.39310233e-04 -2.26694147e+00] [ 2.67587322e-03 -1.16741896e-04 9.99996413e-01 -2.15454566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827552017999995 meters 0.031412744278438855 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.27, Z:-0.21 [[ 9.98882414e-01 4.72268970e-02 -1.88251555e-03 2.98554514e+01] [-4.72266668e-02 9.98884185e-01 1.66534925e-04 -2.26875858e+00] [ 1.88827994e-03 -7.74438728e-05 9.99998214e-01 -2.14206118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887552017999994 meters 0.029726728316119607 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.27, Z:-0.21 [[ 9.98705918e-01 5.08182176e-02 -1.99976955e-03 2.99154788e+01] [-5.08179617e-02 9.98707917e-01 1.78593048e-04 -2.26689533e+00] [ 2.00626146e-03 -7.67377216e-05 9.99997985e-01 -2.14209370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947552017999993 meters 0.02883604938896923 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.27, Z:-0.21 [[ 9.98507289e-01 5.46086608e-02 -1.04267003e-03 2.99759516e+01] [-5.46085933e-02 9.98507833e-01 9.31056319e-05 -2.26769235e+00] [ 1.04619856e-03 -3.60279087e-05 9.99999452e-01 -2.13883844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007552017999995 meters 0.025781322606942356 Centerline is valid? [True, True] Translation: X:30.04, Y:-2.26, Z:-0.21 [[ 9.98051549e-01 6.23887399e-02 8.66748980e-04 3.00364955e+01] [-6.23886961e-02 9.98051925e-01 -7.76104857e-05 -2.26405545e+00] [-8.69902508e-04 2.33839267e-05 9.99999621e-01 -2.11990203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067552017999994 meters 0.02418797005577194 Centerline is valid? [True, True] Translation: X:30.10, Y:-2.26, Z:-0.21 [[ 9.97658250e-01 6.83511074e-02 2.47834181e-03 3.00963118e+01] [-6.83507673e-02 9.97661327e-01 -2.21765575e-04 -2.26317746e+00] [-2.48770370e-03 5.18496911e-05 9.99996904e-01 -2.09990955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127552017999992 meters 0.02258652148971179 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.26, Z:-0.21 [[ 9.97050868e-01 7.65735106e-02 5.10530205e-03 3.01566137e+01] [-7.65721775e-02 9.97063936e-01 -4.56365085e-04 -2.26196613e+00] [-5.12525803e-03 6.40951098e-05 9.99986864e-01 -2.08717623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187552017999995 meters 0.021934278327483646 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.26, Z:-0.21 [[ 9.96715977e-01 8.07299175e-02 6.31987892e-03 3.02157612e+01] [-8.07279599e-02 9.96736012e-01 -5.64647966e-04 -2.26462313e+00] [-6.34483490e-03 5.26027165e-05 9.99979870e-01 -2.09185360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247552017999993 meters 0.02176567529292762 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.27, Z:-0.21 [[ 9.96429214e-01 8.39397412e-02 9.10715951e-03 3.02742615e+01] [-8.39358388e-02 9.96470831e-01 -8.10544919e-04 -2.26881566e+00] [-9.14305574e-03 4.32335636e-05 9.99958200e-01 -2.07769691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307552017999992 meters 0.02201278241380178 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.28, Z:-0.21 [[ 9.96441756e-01 8.34956756e-02 1.15021674e-02 3.03319172e+01] [-8.34894545e-02 9.96508138e-01 -1.02082361e-03 -2.27611987e+00] [-1.15472378e-02 5.68815913e-05 9.99933327e-01 -2.06079565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367552017999994 meters 0.02283273480759107 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.29, Z:-0.20 [[ 9.96902420e-01 7.72626896e-02 1.46983670e-02 3.03896398e+01] [-7.72518961e-02 9.97010757e-01 -1.30153949e-03 -2.28919033e+00] [-1.47549905e-02 1.62031148e-04 9.99891126e-01 -2.04101509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427552017999993 meters 0.02411002145200877 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.30, Z:-0.20 [[ 9.97347668e-01 7.09071509e-02 1.64257250e-02 3.04481623e+01] [-7.08928503e-02 9.97482880e-01 -1.45199992e-03 -2.30401155e+00] [-1.64873366e-02 2.83682270e-04 9.99864034e-01 -2.04121943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487552017999995 meters 0.02472583770262997 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.31, Z:-0.21 [[ 9.97501121e-01 6.86294560e-02 1.67782714e-02 3.05065899e+01] [-6.86142614e-02 9.97642166e-01 -1.48027492e-03 -2.31318632e+00] [-1.68403015e-02 3.25347190e-04 9.99858139e-01 -2.05074165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547552017999994 meters 0.024727469831224935 Centerline is valid? [True, True] Translation: X:30.56, Y:-2.32, Z:-0.21 [[ 9.97603220e-01 6.66546538e-02 1.85734284e-02 3.05645745e+01] [-6.66357897e-02 9.97776029e-01 -1.63337230e-03 -2.32115769e+00] [-1.86409935e-02 3.91802399e-04 9.99826165e-01 -2.05586935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607552017999993 meters 0.024875066181116463 Centerline is valid? [True, True] Translation: X:30.62, Y:-2.33, Z:-0.21 [[ 9.97693653e-01 6.47553904e-02 2.03498118e-02 3.06229426e+01] [-6.47324698e-02 9.97901060e-01 -1.78372527e-03 -2.32864729e+00] [-2.04226046e-02 4.62317801e-04 9.99791330e-01 -2.05504036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667552017999995 meters 0.026084391729468002 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.34, Z:-0.21 [[ 9.97832395e-01 6.20291735e-02 2.19748270e-02 3.06812297e+01] [-6.20019224e-02 9.98074183e-01 -1.91992074e-03 -2.33918665e+00] [-2.20515986e-02 5.53277591e-04 9.99756681e-01 -2.05810486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727552017999994 meters 0.026347673344512695 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.35, Z:-0.21 [[ 9.97902951e-01 6.09843851e-02 2.16934524e-02 3.07397223e+01] [-6.09576476e-02 9.98138560e-01 -1.89227110e-03 -2.34654571e+00] [-2.17684704e-02 5.65921081e-04 9.99762879e-01 -2.07312117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787552017999992 meters 0.027331767965837795 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.36, Z:-0.21 [[ 9.98037436e-01 5.89846178e-02 2.10259871e-02 3.07965733e+01] [-5.89591111e-02 9.98258718e-01 -1.83148954e-03 -2.35535941e+00] [-2.10974047e-02 5.88221617e-04 9.99777252e-01 -2.09515133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847552017999995 meters 0.027810119570806965 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.36, Z:-0.21 [[ 9.98142583e-01 5.74281947e-02 2.03319100e-02 3.08548064e+01] [-5.74040628e-02 9.98349460e-01 -1.76902640e-03 -2.36372968e+00] [-2.03999433e-02 5.98606338e-04 9.99791720e-01 -2.11513920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907552017999993 meters 0.028207365746893923 Centerline is valid? [True, True] Translation: X:30.91, Y:-2.37, Z:-0.22 [[ 9.98342926e-01 5.42671461e-02 1.91436200e-02 3.09131244e+01] [-5.42452002e-02 9.98526258e-01 -1.66418166e-03 -2.37329920e+00] [-1.92057176e-02 6.22974496e-04 9.99815359e-01 -2.15582347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967552017999992 meters 0.02856131743711984 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.38, Z:-0.22 [[ 9.98482889e-01 5.17350345e-02 1.88522261e-02 3.09710313e+01] [-5.17133287e-02 9.98660628e-01 -1.63737967e-03 -2.38208685e+00] [-1.89116859e-02 6.59984216e-04 9.99820940e-01 -2.17940097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027552017999994 meters 0.029452805701614265 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.39, Z:-0.22 [[ 9.98640639e-01 4.89460768e-02 1.79208288e-02 3.10291425e+01] [-4.89260394e-02 9.98801194e-01 -1.55510273e-03 -2.39207159e+00] [-1.79754614e-02 6.76193606e-04 9.99838200e-01 -2.20377586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087552017999993 meters 0.029913718657023507 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.40, Z:-0.22 [[ 9.98765973e-01 4.66095138e-02 1.71488842e-02 3.10869549e+01] [-4.65908446e-02 9.98912950e-01 -1.48678348e-03 -2.40341360e+00] [-1.71995408e-02 6.85967750e-04 9.99851842e-01 -2.22257434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147552017999995 meters 0.03222033936871511 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.41, Z:-0.22 [[ 9.98802765e-01 4.58220215e-02 1.71282978e-02 3.11443182e+01] [-4.58033080e-02 9.98949376e-01 -1.48345467e-03 -2.41451042e+00] [-1.71782773e-02 6.97145929e-04 9.99852199e-01 -2.22843040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207552017999994 meters 0.03159906609143143 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.43, Z:-0.23 [[ 9.98859089e-01 4.47995432e-02 1.65384589e-02 3.12026450e+01] [-4.47819799e-02 9.98995759e-01 -1.43096941e-03 -2.42623255e+00] [-1.65859570e-02 6.88711872e-04 9.99862206e-01 -2.25520327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267552017999993 meters 0.03131196125481131 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.44, Z:-0.23 [[ 9.98827982e-01 4.58458033e-02 1.55185005e-02 3.12610190e+01] [-4.58304839e-02 9.98948330e-01 -1.34155260e-03 -2.43596173e+00] [-1.55636847e-02 6.28759887e-04 9.99878681e-01 -2.27247093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327552017999995 meters 0.02947094729782533 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.45, Z:-0.23 [[ 9.98689287e-01 4.90319142e-02 1.46825927e-02 3.13198354e+01] [-4.90185566e-02 9.98797063e-01 -1.26847808e-03 -2.44809844e+00] [-1.47271264e-02 5.47095971e-04 9.99891400e-01 -2.30896511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387552017999994 meters 0.028098478261222404 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.46, Z:-0.23 [[ 9.98535984e-01 5.22381195e-02 1.40380494e-02 3.13778576e+01] [-5.22262367e-02 9.98634543e-01 -1.21198392e-03 -2.45707609e+00] [-1.40821928e-02 4.77055066e-04 9.99900727e-01 -2.32713243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447552017999993 meters 0.025020463479562792 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.47, Z:-0.24 [[ 9.98147487e-01 5.95532078e-02 1.24503124e-02 3.14369799e+01] [-5.95444383e-02 9.98225078e-01 -1.07419394e-03 -2.46830999e+00] [-1.24921857e-02 3.30857126e-04 9.99921915e-01 -2.36440402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507552017999995 meters 0.0237296982322533 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.48, Z:-0.24 [[ 9.97845683e-01 6.46610875e-02 1.10877224e-02 3.14951769e+01] [-6.46544620e-02 9.97907254e-01 -9.55336344e-04 -2.47976084e+00] [-1.11262917e-02 2.36407517e-04 9.99938073e-01 -2.39609890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567552017999994 meters 0.022318011774161362 Centerline is valid? [True, True] Translation: X:31.55, Y:-2.49, Z:-0.24 [[ 9.97494086e-01 7.00885913e-02 9.65081654e-03 3.15532324e+01] [-7.00838428e-02 9.97540759e-01 -8.29755181e-04 -2.49065726e+00] [-9.68523923e-03 1.51309576e-04 9.99953086e-01 -2.42536710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627552017999992 meters 0.020932083983069866 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.51, Z:-0.24 [[ 9.97152145e-01 7.49571164e-02 8.30851094e-03 3.16105162e+01] [-7.49537728e-02 9.97186754e-01 -7.13516138e-04 -2.50748150e+00] [-8.33862017e-03 8.87299055e-05 9.99965229e-01 -2.44698722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687552017999995 meters 0.02089252442240514 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.53, Z:-0.25 [[ 9.97240626e-01 7.39824830e-02 6.14219483e-03 3.16669110e+01] [-7.39806457e-02 9.97259539e-01 -5.26109214e-04 -2.53398719e+00] [-6.16428524e-03 7.02539424e-05 9.99980998e-01 -2.49457733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747552017999993 meters 0.02168930371512329 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.56, Z:-0.25 [[ 9.97563855e-01 6.95578409e-02 5.29738205e-03 3.17234341e+01] [-6.95564135e-02 9.97577917e-01 -4.53440355e-04 -2.55637218e+00] [-5.31609169e-03 8.38688117e-05 9.99985866e-01 -2.52065965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807552017999992 meters 0.02419406221349212 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.59, Z:-0.26 [[ 9.98102323e-01 6.14399433e-02 4.10922138e-03 3.17788332e+01] [-6.14390169e-02 9.98110777e-01 -3.51430803e-04 -2.58965235e+00] [-4.12305004e-03 9.82973787e-05 9.99991495e-01 -2.55012549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867552017999994 meters 0.025432125480030158 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.61, Z:-0.26 [[ 9.98426587e-01 5.59150110e-02 4.22644958e-03 3.18362022e+01] [-5.59139831e-02 9.98435524e-01 -3.61069709e-04 -2.61214745e+00] [-4.24002662e-03 1.24183966e-04 9.99991003e-01 -2.56406078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927552017999993 meters 0.027912659190351328 Centerline is valid? [True, True] Translation: X:31.89, Y:-2.64, Z:-0.26 [[ 9.98813589e-01 4.84629505e-02 4.77035723e-03 3.18940210e+01] [-4.84615581e-02 9.98824965e-01 -4.07109848e-04 -2.64301890e+00] [-4.78448164e-03 1.75447905e-04 9.99988539e-01 -2.57719166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.987552017999995 meters 0.030046919899757513 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.67, Z:-0.26 [[ 9.98980450e-01 4.48841724e-02 4.84473932e-03 3.19522811e+01] [-4.48826945e-02 9.98992179e-01 -4.13401083e-04 -2.66536100e+00] [-4.85841185e-03 1.95534645e-04 9.99988179e-01 -2.58905292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04755201799999 meters 0.03197505413910976 Centerline is valid? [True, True] Translation: X:32.01, Y:-2.69, Z:-0.26 [[ 9.99204439e-01 3.98277343e-02 2.05925445e-03 3.20097980e+01] [-3.98274567e-02 9.99206557e-01 -1.75697302e-04 -2.69332787e+00] [-2.06461818e-03 9.35426564e-05 9.99997864e-01 -2.63159779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10755201799999 meters 0.03388385179088936 Centerline is valid? [True, True] Translation: X:32.07, Y:-2.71, Z:-0.27 [[ 9.99350846e-01 3.60244896e-02 -3.49919213e-04 3.20688006e+01] [-3.60244814e-02 9.99350907e-01 2.98313758e-05 -2.71480106e+00] [ 3.50766743e-04 -1.72063525e-05 9.99999938e-01 -2.66259018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167552017999995 meters 0.037922249564230716 Centerline is valid? [True, True] Translation: X:32.13, Y:-2.74, Z:-0.27 [[ 9.99519296e-01 3.09697546e-02 -1.43241318e-03 3.21259933e+01] [-3.09696115e-02 9.99520319e-01 1.21982927e-04 -2.74393955e+00] [ 1.43550386e-03 -7.75630098e-05 9.99998967e-01 -2.68454277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22755201799999 meters 0.03738189309761818 Centerline is valid? [True, True] Translation: X:32.18, Y:-2.76, Z:-0.27 [[ 9.99609622e-01 2.77917057e-02 -2.86802749e-03 3.21843827e+01] [-2.77911189e-02 9.99613722e-01 2.44259187e-04 -2.76310609e+00] [ 2.87370801e-03 -1.64458141e-04 9.99995857e-01 -2.68809426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28755201799999 meters 0.039035557831150175 Centerline is valid? [True, True] Translation: X:32.24, Y:-2.78, Z:-0.27 [[ 9.99660870e-01 2.56742453e-02 -4.35649964e-03 3.22426964e+01] [-2.56728724e-02 9.99670329e-01 3.70786933e-04 -2.78273617e+00] [ 4.36458310e-03 -2.58817328e-04 9.99990442e-01 -2.70690330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.347552017999995 meters 0.04098636243744134 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.80, Z:-0.27 [[ 9.99653499e-01 2.55009359e-02 -6.52571336e-03 3.22996648e+01] [-2.54978576e-02 9.99674723e-01 5.54495065e-04 -2.79501063e+00] [ 6.53773084e-03 -3.87911222e-04 9.99978554e-01 -2.72293670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.407552018 meters 0.03933712489728877 Centerline is valid? [True, True] Translation: X:32.36, Y:-2.80, Z:-0.27 [[ 9.99638796e-01 2.57080175e-02 -7.83423597e-03 3.23578700e+01] [-2.57035899e-02 9.99669387e-01 6.65336158e-04 -2.80364545e+00] [ 7.84875034e-03 -4.63727847e-04 9.99969091e-01 -2.73016030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46755201799999 meters 0.041346848897106526 Centerline is valid? [True, True] Translation: X:32.41, Y:-2.81, Z:-0.27 [[ 9.99633828e-01 2.60355261e-02 -7.37295047e-03 3.24147077e+01] [-2.60316199e-02 9.99660924e-01 6.25278712e-04 -2.81349307e+00] [ 7.38672995e-03 -4.33119908e-04 9.99972624e-01 -2.72810433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.527552017999994 meters 0.03811045288350286 Centerline is valid? [True, True] Translation: X:32.47, Y:-2.81, Z:-0.27 [[ 9.99675580e-01 2.47644033e-02 -5.95467375e-03 3.24734965e+01] [-2.47618359e-02 9.99693251e-01 5.04500885e-04 -2.81390175e+00] [ 5.96534082e-03 -3.56888561e-04 9.99982144e-01 -2.69175004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.587552018 meters 0.04324931991712143 Centerline is valid? [True, True] Translation: X:32.53, Y:-2.83, Z:-0.27 [[ 9.99807860e-01 1.93220733e-02 -3.30154877e-03 3.25325767e+01] [-1.93212542e-02 9.99813288e-01 2.79797371e-04 -2.82641605e+00] [ 3.30633859e-03 -2.15953548e-04 9.99994511e-01 -2.65979221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64755201799999 meters 0.046222079148504944 Centerline is valid? [True, True] Translation: X:32.59, Y:-2.84, Z:-0.27 [[ 9.99882444e-01 1.49316104e-02 -3.48493928e-03 3.25921513e+01] [-1.49306708e-02 9.99888488e-01 2.95474457e-04 -2.83511252e+00] [ 3.48896257e-03 -2.43407241e-04 9.99993884e-01 -2.66086363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.707552017999994 meters 0.0499511144364642 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.84, Z:-0.27 [[ 9.99931892e-01 1.08614753e-02 -4.27079247e-03 3.26522443e+01] [-1.08600274e-02 9.99940963e-01 3.62068029e-04 -2.84258608e+00] [ 4.27447292e-03 -3.15662446e-04 9.99990815e-01 -2.66478715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767552017999996 meters 0.04999397179396344 Centerline is valid? [True, True] Translation: X:32.71, Y:-2.84, Z:-0.27 [[ 9.99944413e-01 9.66324692e-03 -4.21821238e-03 3.27124134e+01] [-9.66182553e-03 9.99953260e-01 3.57213947e-04 -2.84290056e+00] [ 4.22146707e-03 -3.16438459e-04 9.99991040e-01 -2.65331579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82755201799999 meters 0.04810200305539168 Centerline is valid? [True, True] Translation: X:32.77, Y:-2.84, Z:-0.27 [[ 9.99934448e-01 8.71100010e-03 -7.43093634e-03 3.27721246e+01] [-8.70656557e-03 9.99961899e-01 6.28906963e-04 -2.83772859e+00] [ 7.43613163e-03 -5.64167802e-04 9.99972192e-01 -2.66641444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.887552017999994 meters 0.04599815539944172 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.84, Z:-0.27 [[ 9.99934741e-01 8.54469753e-03 -7.58303576e-03 3.28314014e+01] [-8.54008066e-03 9.99963327e-01 6.41014002e-04 -2.83627891e+00] [ 7.58823494e-03 -5.76212433e-04 9.99971043e-01 -2.66044239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947552017999996 meters 0.044548982177812994 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.83, Z:-0.26 [[ 9.99933558e-01 1.04842062e-02 -4.79176444e-03 3.28918484e+01] [-1.04823855e-02 9.99944976e-01 4.04938151e-04 -2.83087621e+00] [ 4.79574624e-03 -3.54682124e-04 9.99988437e-01 -2.61746610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00755201799999 meters 0.04418514052907032 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.83, Z:-0.26 [[ 9.99894101e-01 1.35895935e-02 -5.20672630e-03 3.29516461e+01] [-1.35874865e-02 9.99907589e-01 4.39823190e-04 -2.83018486e+00] [ 5.21222216e-03 -3.69030290e-04 9.99986348e-01 -2.60913415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06755201799999 meters 0.04523337248825068 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.83, Z:-0.26 [[ 9.99868292e-01 1.50485190e-02 -6.07782312e-03 3.30098739e+01] [-1.50456792e-02 9.99886676e-01 5.12697857e-04 -2.83431776e+00] [ 6.08484970e-03 -4.21185353e-04 9.99981398e-01 -2.61534087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127552017999996 meters 0.04082190074680616 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.83, Z:-0.26 [[ 9.99799302e-01 1.90380790e-02 -6.23755585e-03 3.30705285e+01] [-1.90351641e-02 9.99818676e-01 5.26354812e-04 -2.82666392e+00] [ 6.24644562e-03 -4.07516275e-04 9.99980408e-01 -2.60084512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18755201799999 meters 0.04259274110656545 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.83, Z:-0.26 [[ 9.99817866e-01 1.78195235e-02 -6.83366603e-03 3.31294642e+01] [-1.78160025e-02 9.99841117e-01 5.75773935e-04 -2.82995857e+00] [ 6.84284029e-03 -4.53920456e-04 9.99976484e-01 -2.59721402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24755201799999 meters 0.0443815657530065 Centerline is valid? [True, True] Translation: X:33.19, Y:-2.84, Z:-0.26 [[ 9.99863515e-01 1.52419886e-02 -6.37433709e-03 3.31889164e+01] [-1.52388730e-02 9.99883737e-01 5.37065717e-04 -2.83536184e+00] [ 6.38178195e-03 -4.39854702e-04 9.99979539e-01 -2.58818819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307552017999996 meters 0.04407223437890471 Centerline is valid? [True, True] Translation: X:33.25, Y:-2.84, Z:-0.26 [[ 9.99927435e-01 1.13255725e-02 -4.10571607e-03 3.32488576e+01] [-1.13242473e-02 9.99935819e-01 3.45876449e-04 -2.83830679e+00] [ 4.10936981e-03 -2.99357206e-04 9.99991512e-01 -2.55369181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36755201799999 meters 0.04465384224192653 Centerline is valid? [True, True] Translation: X:33.31, Y:-2.84, Z:-0.25 [[ 9.99934731e-01 1.06865338e-02 -4.04120881e-03 3.33073042e+01] [-1.06852478e-02 9.99942853e-01 3.39679805e-04 -2.84178788e+00] [ 4.04460787e-03 -2.96476317e-04 9.99991777e-01 -2.53766212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42755201799999 meters 0.04527418316276559 Centerline is valid? [True, True] Translation: X:33.37, Y:-2.84, Z:-0.25 [[ 9.99923879e-01 1.14190156e-02 -4.67351332e-03 3.33664314e+01] [-1.14173049e-02 9.99934743e-01 3.92546715e-04 -2.84188257e+00] [ 4.67769084e-03 -3.39157908e-04 9.99989002e-01 -2.52920930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487552017999995 meters 0.04540418148594869 Centerline is valid? [True, True] Translation: X:33.43, Y:-2.84, Z:-0.25 [[ 9.99905191e-01 1.32828394e-02 -3.62970659e-03 3.34260165e+01] [-1.32818197e-02 9.99911746e-01 3.04889399e-04 -2.84487378e+00] [ 3.63343605e-03 -2.56651385e-04 9.99993366e-01 -2.52528999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54755201799999 meters 0.04324430794348737 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.84, Z:-0.25 [[ 9.99885084e-01 1.49865551e-02 -2.28515897e-03 3.34848809e+01] [-1.49861567e-02 9.99887683e-01 1.91371022e-04 -2.84445292e+00] [ 2.28777030e-03 -1.57103280e-04 9.99997371e-01 -2.50791493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60755201799999 meters 0.04267280758926486 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.85, Z:-0.25 [[ 9.99872077e-01 1.56711077e-02 -3.20081327e-03 3.35440140e+01] [-1.56703290e-02 9.99877177e-01 2.68230866e-04 -2.84858645e+00] [ 3.20462361e-03 -2.18038756e-04 9.99994841e-01 -2.50623080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667552017999995 meters 0.04304760879268336 Centerline is valid? [True, True] Translation: X:33.60, Y:-2.85, Z:-0.25 [[ 9.99899698e-01 1.37090586e-02 -3.55752257e-03 3.36034545e+01] [-1.37080841e-02 9.99905995e-01 2.98166449e-04 -2.85272599e+00] [ 3.56127573e-03 -2.49369723e-04 9.99993628e-01 -2.49666207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72755201799999 meters 0.04408429075259239 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.86, Z:-0.25 [[ 9.99907135e-01 1.32633535e-02 -3.13122182e-03 3.36615954e+01] [-1.32625982e-02 9.99912014e-01 2.61868207e-04 -2.86019910e+00] [ 3.13441957e-03 -2.20315752e-04 9.99995063e-01 -2.49849522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78755201799999 meters 0.04365997745504576 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.86, Z:-0.25 [[ 9.99884779e-01 1.47884114e-02 -3.42506760e-03 3.37199906e+01] [-1.47875173e-02 9.99890618e-01 2.86224600e-04 -2.86372934e+00] [ 3.42892576e-03 -2.35543375e-04 9.99994093e-01 -2.49558896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.847552017999995 meters 0.042557440192495175 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.87, Z:-0.25 [[ 9.99857519e-01 1.64852846e-02 -3.63008415e-03 3.37784877e+01] [-1.64842923e-02 9.99864079e-01 3.03099391e-04 -2.86683104e+00] [ 3.63458742e-03 -2.43216837e-04 9.99993365e-01 -2.49859516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90755201799999 meters 0.04217502514677138 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.87, Z:-0.25 [[ 9.99798580e-01 1.98875495e-02 -2.69890679e-03 3.38385584e+01] [-1.98870128e-02 9.99802208e-01 2.25577011e-04 -2.87159201e+00] [ 2.70285915e-03 -1.71858382e-04 9.99996333e-01 -2.49064947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96755201799999 meters 0.042762615562414084 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.88, Z:-0.25 [[ 9.99754448e-01 2.20948271e-02 -1.69174473e-03 3.38966702e+01] [-2.20946201e-02 9.99755874e-01 1.40976567e-04 -2.87760889e+00] [ 1.69444658e-03 -1.03563493e-04 9.99998559e-01 -2.48987778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.027552017999994 meters 0.037206841500409545 Centerline is valid? [True, True] Translation: X:33.96, Y:-2.87, Z:-0.25 [[ 9.99659979e-01 2.60722172e-02 4.08112250e-04 3.39576397e+01] [-2.60722053e-02 9.99660062e-01 -3.43663515e-05 -2.87249002e+00] [-4.08869524e-04 2.37142798e-05 9.99999916e-01 -2.45889765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087552018 meters 0.036147671151777507 Centerline is valid? [True, True] Translation: X:34.02, Y:-2.88, Z:-0.25 [[ 9.99578566e-01 2.90155296e-02 8.88258490e-04 3.40177560e+01] [-2.90154750e-02 9.99578960e-01 -7.43254760e-05 -2.87586407e+00] [-8.90041091e-04 4.85209107e-05 9.99999603e-01 -2.46132892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14755201799999 meters 0.03678127081956556 Centerline is valid? [True, True] Translation: X:34.08, Y:-2.88, Z:-0.25 [[ 9.99499220e-01 3.16369797e-02 -6.40280247e-04 3.40764840e+01] [-3.16369523e-02 9.99499425e-01 5.28641620e-05 -2.88048078e+00] [ 6.41632201e-04 -3.25811730e-05 9.99999794e-01 -2.46895131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.207552017999994 meters 0.03692535083545961 Centerline is valid? [True, True] Translation: X:34.14, Y:-2.89, Z:-0.25 [[ 9.99516967e-01 3.10725040e-02 5.76184159e-04 3.41353630e+01] [-3.10724812e-02 9.99517133e-01 -4.85848387e-05 -2.88590823e+00] [-5.77415591e-04 3.06578991e-05 9.99999833e-01 -2.47292420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267552017999996 meters 0.03794359017262181 Centerline is valid? [True, True] Translation: X:34.19, Y:-2.89, Z:-0.25 [[ 9.99566834e-01 2.93789504e-02 1.73809794e-03 3.41933829e+01] [-2.93787419e-02 9.99568341e-01 -1.45402196e-04 -2.89334425e+00] [-1.74161944e-03 9.42760819e-05 9.99998479e-01 -2.46691202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32755201799999 meters 0.03976806070147834 Centerline is valid? [True, True] Translation: X:34.25, Y:-2.90, Z:-0.25 [[ 9.99633677e-01 2.70566315e-02 6.71011086e-04 3.42521932e+01] [-2.70565999e-02 9.99633902e-01 -5.62387647e-05 -2.90256919e+00] [-6.72287062e-04 3.80628847e-05 9.99999773e-01 -2.48649396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.387552017999994 meters 0.04227598894635321 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.91, Z:-0.25 [[ 9.99788319e-01 2.05173133e-02 -1.53553552e-03 3.43114642e+01] [-2.05171415e-02 9.99789493e-01 1.27596308e-04 -2.91267941e+00] [ 1.53783021e-03 -9.60644990e-05 9.99998813e-01 -2.51305008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447552017999996 meters 0.044909984547317594 Centerline is valid? [True, True] Translation: X:34.37, Y:-2.92, Z:-0.25 [[ 9.99920490e-01 1.25903612e-02 -7.04184390e-04 3.43714331e+01] [-1.25903230e-02 9.99920737e-01 5.85908669e-05 -2.92367311e+00] [ 7.04866255e-04 -4.97202995e-05 9.99999750e-01 -2.50320815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50755201799999 meters 0.04555094976362046 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.93, Z:-0.25 [[ 9.99938514e-01 1.09145200e-02 1.95990714e-03 3.44308042e+01] [-1.09142209e-02 9.99940425e-01 -1.63236034e-04 -2.92986397e+00] [-1.96157202e-03 1.41835138e-04 9.99998066e-01 -2.47666742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56755201799999 meters 0.04310726777168898 Centerline is valid? [True, True] Translation: X:34.49, Y:-2.93, Z:-0.25 [[ 9.99900637e-01 1.38186670e-02 2.78582564e-03 3.44907494e+01] [-1.38180746e-02 9.99904499e-01 -2.31796002e-04 -2.92933318e+00] [-2.78876271e-03 1.93278223e-04 9.99996093e-01 -2.46833113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627552017999996 meters 0.04189062848479498 Centerline is valid? [True, True] Translation: X:34.55, Y:-2.93, Z:-0.25 [[ 9.99814854e-01 1.91435716e-02 1.94470571e-03 3.45509902e+01] [-1.91432933e-02 9.99816737e-01 -1.61627436e-04 -2.93088687e+00] [-1.94744345e-03 1.24369439e-04 9.99998096e-01 -2.48041392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68755201799999 meters 0.03719336041436451 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.93, Z:-0.25 [[ 9.99652099e-01 2.62594527e-02 2.47418390e-03 3.46118746e+01] [-2.62590234e-02 9.99655151e-01 -2.05811783e-04 -2.92564100e+00] [-2.47873518e-03 1.40770528e-04 9.99996918e-01 -2.47929922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74755201799999 meters 0.036892237405576296 Centerline is valid? [True, True] Translation: X:34.67, Y:-2.93, Z:-0.25 [[ 9.99565404e-01 2.94447823e-02 1.41734889e-03 3.46718037e+01] [-2.94446446e-02 9.99566405e-01 -1.17946812e-04 -2.92665670e+00] [-1.42020725e-03 7.61622189e-05 9.99998989e-01 -2.47831876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807552017999996 meters 0.03682863485750944 Centerline is valid? [True, True] Translation: X:34.73, Y:-2.93, Z:-0.25 [[ 9.99612592e-01 2.77553885e-02 2.07489153e-03 3.47307385e+01] [-2.77550898e-02 9.99614738e-01 -1.72642928e-04 -2.93159991e+00] [-2.07888393e-03 1.14987244e-04 9.99997833e-01 -2.48682974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86755201799999 meters 0.03882400166650434 Centerline is valid? [True, True] Translation: X:34.79, Y:-2.94, Z:-0.25 [[ 9.99731196e-01 2.31325903e-02 1.55500828e-03 3.47901433e+01] [-2.31324174e-02 9.99732401e-01 -1.29069884e-04 -2.93963937e+00] [-1.55757788e-03 9.30640888e-05 9.99998783e-01 -2.50043503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92755201799999 meters 0.042754434274185696 Centerline is valid? [True, True] Translation: X:34.85, Y:-2.95, Z:-0.25 [[ 9.99868703e-01 1.61162563e-02 1.68599707e-03 3.48493884e+01] [-1.61160432e-02 9.99870118e-01 -1.39888384e-04 -2.94927041e+00] [-1.68803257e-03 1.12698415e-04 9.99998569e-01 -2.50446176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.987552017999995 meters 0.04327008811185462 Centerline is valid? [True, True] Translation: X:34.91, Y:-2.95, Z:-0.25 [[ 9.99899755e-01 1.40127656e-02 2.03027459e-03 3.49088615e+01] [-1.40124522e-02 9.99901807e-01 -1.68498940e-04 -2.95419042e+00] [-2.03243637e-03 1.40032923e-04 9.99997925e-01 -2.50012246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04755201799999 meters 0.04551102074984836 Centerline is valid? [True, True] Translation: X:34.97, Y:-2.96, Z:-0.25 [[ 9.99929478e-01 1.12117333e-02 3.91609688e-03 3.49687364e+01] [-1.12105478e-02 9.99937107e-01 -3.24522234e-04 -2.96020848e+00] [-3.91948905e-03 2.80597756e-04 9.99992279e-01 -2.48650392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10755201799999 meters 0.047447909700862795 Centerline is valid? [True, True] Translation: X:35.03, Y:-2.96, Z:-0.25 [[ 9.99919845e-01 1.14276039e-02 5.45093305e-03 3.50285792e+01] [-1.14253117e-02 9.99934627e-01 -4.51478616e-04 -2.96393323e+00] [-5.45573602e-03 3.89163819e-04 9.99985042e-01 -2.47228537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.167552017999995 meters 0.044696262033683314 Centerline is valid? [True, True] Translation: X:35.09, Y:-2.96, Z:-0.25 [[ 9.99892581e-01 1.34874566e-02 5.73719038e-03 3.50898210e+01] [-1.34849502e-02 9.99908961e-01 -4.75333711e-04 -2.96094905e+00] [-5.74307911e-03 3.97916925e-04 9.99983429e-01 -2.46633982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22755201799999 meters 0.045486428942846394 Centerline is valid? [True, True] Translation: X:35.15, Y:-2.96, Z:-0.25 [[ 9.99828075e-01 1.69712004e-02 7.46983789e-03 3.51496700e+01] [-1.69670467e-02 9.99855858e-01 -6.19089124e-04 -2.96209263e+00] [-7.47926786e-03 4.92241600e-04 9.99971909e-01 -2.46436878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28755201799999 meters 0.04314339154920206 Centerline is valid? [True, True] Translation: X:35.21, Y:-2.96, Z:-0.25 [[ 9.99794848e-01 1.90785033e-02 6.80234934e-03 3.52100228e+01] [-1.90751073e-02 9.99817895e-01 -5.63773297e-04 -2.96143978e+00] [-6.81186655e-03 4.33902095e-04 9.99976705e-01 -2.48765620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.347552017999995 meters 0.044383745522533984 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.97, Z:-0.25 [[ 9.99814267e-01 1.86660316e-02 4.79686458e-03 3.52697329e+01] [-1.86643384e-02 9.99825727e-01 -3.97506576e-04 -2.96669920e+00] [-4.80344849e-03 3.07902442e-04 9.99988416e-01 -2.52200124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40755201799999 meters 0.047228421858392385 Centerline is valid? [True, True] Translation: X:35.33, Y:-2.97, Z:-0.26 [[ 9.99863044e-01 1.65121356e-02 1.11470338e-03 3.53283356e+01] [-1.65120431e-02 9.99863663e-01 -9.21919713e-05 -2.97313614e+00] [-1.11607369e-03 7.37733148e-05 9.99999374e-01 -2.55480010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46755201799999 meters 0.04271090014593784 Centerline is valid? [True, True] Translation: X:35.39, Y:-2.97, Z:-0.26 [[ 9.99883161e-01 1.52860585e-02 -3.67593427e-05 3.53878720e+01] [-1.52860584e-02 9.99883161e-01 2.64249112e-06 -2.96966831e+00] [ 3.67954411e-05 -2.08027692e-06 9.99999999e-01 -2.56052082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.527552017999994 meters 0.041350963678260216 Centerline is valid? [True, True] Translation: X:35.45, Y:-2.97, Z:-0.25 [[ 9.99865914e-01 1.63138592e-02 1.41869269e-03 3.54465897e+01] [-1.63137082e-02 9.99866916e-01 -1.17934869e-04 -2.96966278e+00] [-1.42042785e-03 9.47749168e-05 9.99998987e-01 -2.53888090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58755201799999 meters 0.04052168009637996 Centerline is valid? [True, True] Translation: X:35.51, Y:-2.97, Z:-0.25 [[ 9.99807977e-01 1.93114846e-02 3.32787509e-03 3.55062377e+01] [-1.93106743e-02 9.99813494e-01 -2.75453912e-04 -2.97054371e+00] [-3.33257384e-03 2.11137506e-04 9.99994425e-01 -2.52937630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64755201799999 meters 0.04085645987090885 Centerline is valid? [True, True] Translation: X:35.57, Y:-2.97, Z:-0.25 [[ 9.99734358e-01 2.26400210e-02 4.31764983e-03 3.55654929e+01] [-2.26386890e-02 9.99743648e-01 -3.57119154e-04 -2.97014441e+00] [-4.32462817e-03 2.59278357e-04 9.99990615e-01 -2.52324421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.707552017999994 meters 0.03893686376500344 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.97, Z:-0.25 [[ 9.99725266e-01 2.27521487e-02 5.63313795e-03 3.56242551e+01] [-2.27498846e-02 9.99741079e-01 -4.65676186e-04 -2.96971707e+00] [-5.64227455e-03 3.37395010e-04 9.99984025e-01 -2.51733286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.767552017999996 meters 0.04164886906466122 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.98, Z:-0.25 [[ 9.99741732e-01 2.20842057e-02 5.36250518e-03 3.56822761e+01] [-2.20821468e-02 9.99756062e-01 -4.42844910e-04 -2.97661982e+00] [-5.37097694e-03 3.24314910e-04 9.99985524e-01 -2.51585718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82755201799999 meters 0.0407607058539505 Centerline is valid? [True, True] Translation: X:35.74, Y:-2.98, Z:-0.25 [[ 9.99810420e-01 1.88117762e-02 5.02412001e-03 3.57428239e+01] [-1.88099294e-02 9.99822992e-01 -4.14593595e-04 -2.97761531e+00] [-5.03102994e-03 3.20011653e-04 9.99987293e-01 -2.52024032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.887552017999994 meters 0.04047386827640599 Centerline is valid? [True, True] Translation: X:35.80, Y:-2.98, Z:-0.25 [[ 9.99819974e-01 1.85517449e-02 3.98144645e-03 3.58012590e+01] [-1.85505821e-02 9.99827869e-01 -3.28796477e-04 -2.98073436e+00] [-3.98686087e-03 2.54879136e-04 9.99992020e-01 -2.54094428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.947552017999996 meters 0.040428947931202316 Centerline is valid? [True, True] Translation: X:35.86, Y:-2.98, Z:-0.26 [[ 9.99720443e-01 2.36138225e-02 1.19303024e-03 3.58606547e+01] [-2.36137217e-02 9.99721152e-01 -9.84925426e-05 -2.98347069e+00] [-1.19502335e-03 7.02931243e-05 9.99999283e-01 -2.58713225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00755201799999 meters 0.03620946200096342 Centerline is valid? [True, True] Translation: X:35.92, Y:-2.98, Z:-0.26 [[ 9.99618799e-01 2.75805060e-02 1.25412545e-03 3.59207826e+01] [-2.75803977e-02 9.99619583e-01 -1.03591293e-04 -2.98086463e+00] [-1.25650546e-03 6.89625248e-05 9.99999208e-01 -2.59343090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06755201799999 meters 0.03191353370500611 Centerline is valid? [True, True] Translation: X:35.98, Y:-2.97, Z:-0.26 [[ 9.99310357e-01 3.71173072e-02 1.05598562e-03 3.59812415e+01] [-3.71172357e-02 9.99310914e-01 -8.71952669e-05 -2.97430786e+00] [-1.05849441e-03 4.79398663e-05 9.99999439e-01 -2.58604130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127552017999996 meters 0.029240600462289816 Centerline is valid? [True, True] Translation: X:36.04, Y:-2.97, Z:-0.26 [[ 9.99069130e-01 4.31165887e-02 1.35401339e-03 3.60417115e+01] [-4.31164769e-02 9.99070046e-01 -1.11602240e-04 -2.97405861e+00] [-1.35756612e-03 5.31180662e-05 9.99999077e-01 -2.58609661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18755201799999 meters 0.027130449282168723 Centerline is valid? [True, True] Translation: X:36.10, Y:-2.98, Z:-0.26 [[ 9.98592273e-01 5.28343287e-02 4.69114193e-03 3.61010660e+01] [-5.28330967e-02 9.98603282e-01 -3.86245368e-04 -2.97525635e+00] [-4.70499674e-03 1.37854085e-04 9.99988922e-01 -2.56209421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24755201799999 meters 0.025830651168471965 Centerline is valid? [True, True] Translation: X:36.16, Y:-2.98, Z:-0.26 [[ 9.98105973e-01 6.12808364e-02 5.39685953e-03 3.61610664e+01] [-6.12793300e-02 9.98120557e-01 -4.44195128e-04 -2.97587393e+00] [-5.41393709e-03 1.12637874e-04 9.99985338e-01 -2.55805664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.307552017999996 meters 0.023676262995072198 Centerline is valid? [True, True] Translation: X:36.22, Y:-2.98, Z:-0.26 [[ 9.97204596e-01 7.45017169e-02 5.69980092e-03 3.62204872e+01] [-7.45002530e-02 9.97220884e-01 -4.69032384e-04 -2.97688553e+00] [-5.71890424e-03 4.30846381e-05 9.99983646e-01 -2.56909302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36755201799999 meters 0.021654518945442718 Centerline is valid? [True, True] Translation: X:36.28, Y:-2.98, Z:-0.26 [[ 9.96630354e-01 8.17281484e-02 6.96038720e-03 3.62788983e+01] [-8.17261437e-02 9.96654659e-01 -5.72431553e-04 -2.98029323e+00] [-6.98388610e-03 1.65705679e-06 9.99975612e-01 -2.57979312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42755201799999 meters 0.022154495077133702 Centerline is valid? [True, True] Translation: X:36.34, Y:-2.99, Z:-0.26 [[ 9.95901688e-01 9.00555345e-02 8.35640451e-03 3.63370218e+01] [-9.00529466e-02 9.95936743e-01 -6.86206687e-04 -2.98979310e+00] [-8.38424700e-03 -6.91244513e-05 9.99964849e-01 -2.58265436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.487552017999995 meters 0.022474867299841557 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.00, Z:-0.26 [[ 9.95590567e-01 9.34122572e-02 8.57749751e-03 3.63941592e+01] [-9.34096739e-02 9.95627511e-01 -7.02184007e-04 -3.00110080e+00] [-8.60558509e-03 -1.02133472e-04 9.99962966e-01 -2.58966504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54755201799999 meters 0.023242924104666513 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.02, Z:-0.26 [[ 9.95454867e-01 9.47834765e-02 9.25749634e-03 3.64515188e+01] [-9.47805351e-02 9.95497904e-01 -7.56932938e-04 -3.02186994e+00] [-9.28756294e-03 -1.23937881e-04 9.99956862e-01 -2.59954341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60755201799999 meters 0.023565146697933935 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.04, Z:-0.26 [[ 9.95602732e-01 9.30925160e-02 1.04395568e-02 3.65092985e+01] [-9.30886995e-02 9.95657455e-01 -8.51962418e-04 -3.03851577e+00] [-1.04735338e-02 -1.23588651e-04 9.99945143e-01 -2.60447418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667552017999995 meters 0.02325689017634042 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.07, Z:-0.26 [[ 9.95979418e-01 8.91474316e-02 8.81675647e-03 3.65649547e+01] [-8.91445721e-02 9.96018439e-01 -7.17573449e-04 -3.06638923e+00] [-8.84562185e-03 -7.12775969e-05 9.99960874e-01 -2.63918026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72755201799999 meters 0.022995527998488963 Centerline is valid? [True, True] Translation: X:36.62, Y:-3.09, Z:-0.27 [[ 9.96363936e-01 8.48626763e-02 7.56521504e-03 3.66216349e+01] [-8.48604530e-02 9.96392656e-01 -6.14985314e-04 -3.08894932e+00] [-7.59011401e-03 -2.92383864e-05 9.99971194e-01 -2.66660777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78755201799999 meters 0.022773963618039742 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.12, Z:-0.27 [[ 9.96817527e-01 7.93252672e-02 7.89427156e-03 3.66777760e+01] [-7.93226781e-02 9.96848786e-01 -6.41039356e-04 -3.12120559e+00] [-7.92024564e-03 1.28045043e-05 9.99968634e-01 -2.66218708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.847552017999995 meters 0.021994776362138035 Centerline is valid? [True, True] Translation: X:36.73, Y:-3.15, Z:-0.26 [[ 9.97064880e-01 7.58207017e-02 1.06229040e-02 3.67341328e+01] [-7.58158261e-02 9.97121466e-01 -8.61500205e-04 -3.15058194e+00] [-1.06576451e-02 5.35873565e-05 9.99943204e-01 -2.61606592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90755201799999 meters 0.021861135110661994 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.16, Z:-0.26 [[ 9.97134928e-01 7.47625295e-02 1.15108263e-02 3.67918062e+01] [-7.47567465e-02 9.97201364e-01 -9.32450489e-04 -3.16212945e+00] [-1.15483240e-02 6.92670282e-05 9.99933313e-01 -2.60761707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96755201799999 meters 0.021230936643406244 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.18, Z:-0.26 [[ 9.97333051e-01 7.19848884e-02 1.20400188e-02 3.68488008e+01] [-7.19783732e-02 9.97405717e-01 -9.74140833e-04 -3.18110273e+00] [-1.20789070e-02 1.04921882e-04 9.99927042e-01 -2.59805935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.027552017999994 meters 0.021926427723002375 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.21, Z:-0.26 [[ 9.97834359e-01 6.49647880e-02 1.03037729e-02 3.69060893e+01] [-6.49596502e-02 9.97887544e-01 -8.32877846e-04 -3.21153212e+00] [-1.03361143e-02 1.61744651e-04 9.99946568e-01 -2.61063858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08755201799999 meters 0.02430437364841953 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.24, Z:-0.26 [[ 9.98495751e-01 5.42270640e-02 8.10308111e-03 3.69652979e+01] [-5.42235346e-02 9.98528607e-01 -6.54780609e-04 -3.23830897e+00] [-8.12666512e-03 2.14417957e-04 9.99966955e-01 -2.62669913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14755201799999 meters 0.027904931517792008 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.26, Z:-0.26 [[ 9.98874351e-01 4.66319690e-02 8.68851199e-03 3.70247937e+01] [-4.66276218e-02 9.98912094e-01 -7.02352829e-04 -3.25838001e+00] [-8.71181180e-03 2.96437576e-04 9.99962008e-01 -2.61797778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.207552017999994 meters 0.03221646206244302 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.28, Z:-0.26 [[ 9.99294888e-01 3.57327634e-02 1.15280909e-02 3.70833279e+01] [-3.57243806e-02 9.99361246e-01 -9.32331350e-04 -3.28033757e+00] [-1.15540421e-02 5.19840044e-04 9.99933115e-01 -2.57725287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26755201799999 meters 0.03567357428453161 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.29, Z:-0.26 [[ 9.99487078e-01 3.00377611e-02 1.11047195e-02 3.71435489e+01] [-3.00296325e-02 9.99548605e-01 -8.98053376e-04 -3.29364471e+00] [-1.11266824e-02 5.64122099e-04 9.99937937e-01 -2.58175299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32755201799999 meters 0.040500735722000684 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.31, Z:-0.26 [[ 9.99665590e-01 2.43159319e-02 8.80025861e-03 3.72019414e+01] [-2.43106050e-02 9.99704200e-01 -7.11786274e-04 -3.30563797e+00] [-8.81496324e-03 4.97608634e-04 9.99961024e-01 -2.61177596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.387552017999994 meters 0.04112647659039217 Centerline is valid? [True, True] Translation: X:37.26, Y:-3.31, Z:-0.26 [[ 9.99708981e-01 2.21655370e-02 9.52058301e-03 3.72636288e+01] [-2.21591995e-02 9.99754158e-01 -7.70640326e-04 -3.31017170e+00] [-9.53532410e-03 5.59447557e-04 9.99954381e-01 -2.61034900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.447552017999996 meters 0.04219803376964933 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.31, Z:-0.26 [[ 9.99724347e-01 2.17873529e-02 8.74879459e-03 3.73256787e+01] [-2.17819657e-02 9.99762492e-01 -7.10585651e-04 -3.31085009e+00] [-8.76219847e-03 5.19823832e-04 9.99961476e-01 -2.61301392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50755201799999 meters 0.04089704234952641 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.31, Z:-0.26 [[ 9.99681291e-01 2.18382458e-02 1.26652428e-02 3.73878465e+01] [-2.18268960e-02 9.99761231e-01 -1.03368964e-03 -3.31234233e+00] [-1.26847927e-02 7.56917251e-04 9.99919258e-01 -2.59001869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56755201799999 meters 0.04076235441006702 Centerline is valid? [True, True] Translation: X:37.45, Y:-3.31, Z:-0.26 [[ 9.99694711e-01 2.18411040e-02 1.15521063e-02 3.74513710e+01] [-2.18316194e-02 9.99761214e-01 -9.46508708e-04 -3.30819484e+00] [-1.15700207e-02 6.94018560e-04 9.99932824e-01 -2.61650966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.627552017999996 meters 0.040997936439105855 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.30, Z:-0.27 [[ 9.99751380e-01 2.01317440e-02 9.58600620e-03 3.75141041e+01] [-2.01251123e-02 9.99797159e-01 -7.87780232e-04 -3.30397076e+00] [-9.59992116e-03 5.94664923e-04 9.99953743e-01 -2.66085778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68755201799999 meters 0.04596737803577082 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.31, Z:-0.27 [[ 9.99765726e-01 1.97397127e-02 8.87901652e-03 3.75756282e+01] [-1.97339977e-02 9.99804999e-01 -7.30820496e-04 -3.30700703e+00] [-8.89171129e-03 5.55430793e-04 9.99960314e-01 -2.67737811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74755201799999 meters 0.04752041092049189 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.30, Z:-0.27 [[ 9.99758008e-01 1.92948861e-02 1.05656851e-02 3.76387583e+01] [-1.92867315e-02 9.99813612e-01 -8.73159218e-04 -3.29950398e+00] [-1.05805633e-02 6.69170388e-04 9.99943800e-01 -2.66604503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.807552017999996 meters 0.047301966497089815 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.30, Z:-0.27 [[ 9.99743188e-01 1.88011369e-02 1.26520557e-02 3.77016375e+01] [-1.87893504e-02 9.99822913e-01 -1.04982241e-03 -3.29619780e+00] [-1.26695530e-02 8.11828898e-04 9.99919408e-01 -2.66153101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86755201799999 meters 0.050602797708343625 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.30, Z:-0.27 [[ 9.99769392e-01 1.73185478e-02 1.26976437e-02 3.77626532e+01] [-1.73065266e-02 9.99849673e-01 -1.05599842e-03 -3.29511241e+00] [-1.27140233e-02 8.36002787e-04 9.99918824e-01 -2.68364834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92755201799999 meters 0.041548499123099054 Centerline is valid? [True, True] Translation: X:37.83, Y:-3.28, Z:-0.27 [[ 9.99778912e-01 1.68687207e-02 1.25528049e-02 3.78262905e+01] [-1.68569117e-02 9.99857365e-01 -1.04596213e-03 -3.27812923e+00] [-1.25686585e-02 8.34129358e-04 9.99920663e-01 -2.70760147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.987552017999995 meters 0.04002640825608505 Centerline is valid? [True, True] Translation: X:37.89, Y:-3.27, Z:-0.27 [[ 9.99719923e-01 1.80482345e-02 1.53080640e-02 3.78892176e+01] [-1.80307319e-02 9.99836613e-01 -1.28061506e-03 -3.27002835e+00] [-1.53286757e-02 1.00424079e-03 9.99882005e-01 -2.70095924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04755201799999 meters 0.03977356675268412 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.27, Z:-0.27 [[ 9.99696343e-01 1.96324387e-02 1.48926054e-02 3.79521852e+01] [-1.96159847e-02 9.99806806e-01 -1.25012941e-03 -3.26753353e+00] [-1.49142714e-02 9.57616675e-04 9.99888318e-01 -2.71853268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10755201799999 meters 0.04083495774450589 Centerline is valid? [True, True] Translation: X:38.01, Y:-3.26, Z:-0.27 [[ 9.99661061e-01 2.17112315e-02 1.43661278e-02 3.80137099e+01] [-2.16961015e-02 9.99763882e-01 -1.20820396e-03 -3.26139583e+00] [-1.43889673e-02 8.96105489e-04 9.99896072e-01 -2.73492266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167552017999995 meters 0.0383175894453645 Centerline is valid? [True, True] Translation: X:38.08, Y:-3.26, Z:-0.27 [[ 9.99570009e-01 2.52511154e-02 1.49056344e-02 3.80756417e+01] [-2.52352127e-02 9.99680755e-01 -1.25403852e-03 -3.25542110e+00] [-1.49325418e-02 8.77352436e-04 9.99888118e-01 -2.73841069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22755201799999 meters 0.035132663508276325 Centerline is valid? [True, True] Translation: X:38.14, Y:-3.24, Z:-0.28 [[ 9.99334412e-01 3.39509080e-02 1.33442531e-02 3.81379587e+01] [-3.39389325e-02 9.99423278e-01 -1.12292510e-03 -3.24381845e+00] [-1.33746815e-02 6.69287986e-04 9.99910331e-01 -2.75562926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28755201799999 meters 0.033282788804607034 Centerline is valid? [True, True] Translation: X:38.20, Y:-3.23, Z:-0.28 [[ 9.99143561e-01 4.00413284e-02 1.04324345e-02 3.81996434e+01] [-4.00343394e-02 9.99197919e-01 -8.77985087e-04 -3.23419229e+00] [-1.04592226e-02 4.59577521e-04 9.99945195e-01 -2.77848193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.347552017999995 meters 0.03181410785560212 Centerline is valid? [True, True] Translation: X:38.26, Y:-3.23, Z:-0.28 [[ 9.99039171e-01 4.29384148e-02 8.77653014e-03 3.82603217e+01] [-4.29335806e-02 9.99077656e-01 -7.38568717e-04 -3.23165142e+00] [-8.80014813e-03 3.61051215e-04 9.99961213e-01 -2.79303407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40755201799999 meters 0.03232929651578668 Centerline is valid? [True, True] Translation: X:38.32, Y:-3.23, Z:-0.28 [[ 9.98790256e-01 4.85153122e-02 8.01805392e-03 3.83191106e+01] [-4.85114580e-02 9.98822398e-01 -6.74600864e-04 -3.23203294e+00] [-8.04134031e-03 2.84817284e-04 9.99967627e-01 -2.79991827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46755201799999 meters 0.028823160879381186 Centerline is valid? [True, True] Translation: X:38.38, Y:-3.23, Z:-0.28 [[ 9.98714939e-01 4.98010626e-02 9.39812762e-03 3.83784695e+01] [-4.97958268e-02 9.98759106e-01 -7.90432484e-04 -3.23024773e+00] [-9.42582991e-03 3.21429195e-04 9.99955524e-01 -2.79683070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.527552017999994 meters 0.027893141703755158 Centerline is valid? [True, True] Translation: X:38.44, Y:-3.23, Z:-0.28 [[ 9.98498284e-01 5.36712519e-02 1.09806228e-02 3.84378021e+01] [-5.36643480e-02 9.98558604e-01 -9.22627067e-04 -3.23154667e+00] [-1.10143139e-02 3.31973579e-04 9.99939285e-01 -2.78175542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58755201799999 meters 0.02723759470566311 Centerline is valid? [True, True] Translation: X:38.50, Y:-3.24, Z:-0.28 [[ 9.98309411e-01 5.70683274e-02 1.10238530e-02 3.84967940e+01] [-5.70615841e-02 9.98370231e-01 -9.25520565e-04 -3.23530107e+00] [-1.10587046e-02 2.94917377e-04 9.99938807e-01 -2.78996882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64755201799999 meters 0.02610271929429571 Centerline is valid? [True, True] Translation: X:38.56, Y:-3.24, Z:-0.28 [[ 9.98123718e-01 6.04968720e-02 9.44313948e-03 3.85558096e+01] [-6.04920835e-02 9.98168363e-01 -7.92143171e-04 -3.23629763e+00] [-9.47376526e-03 2.19421705e-04 9.99955099e-01 -2.80093258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.707552017999994 meters 0.0255237708131976 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.24, Z:-0.28 [[ 9.98072777e-01 6.12717234e-02 9.82387768e-03 3.86139310e+01] [-6.12665865e-02 9.98121099e-01 -8.23270666e-04 -3.24140533e+00] [-9.85586279e-03 2.19808588e-04 9.99951406e-01 -2.80309656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76755201799999 meters 0.025721598064713996 Centerline is valid? [True, True] Translation: X:38.67, Y:-3.25, Z:-0.28 [[ 9.98010780e-01 6.22267908e-02 1.01148039e-02 3.86709333e+01] [-6.22214034e-02 9.98062012e-01 -8.46751240e-04 -3.25149650e+00] [-1.01478921e-02 2.15709572e-04 9.99948486e-01 -2.81286501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82755201799999 meters 0.025204376023421265 Centerline is valid? [True, True] Translation: X:38.73, Y:-3.26, Z:-0.28 [[ 9.97988877e-01 6.26299140e-02 9.78234744e-03 3.87289691e+01] [-6.26249031e-02 9.98036799e-01 -8.18016450e-04 -3.25876016e+00] [-9.81437502e-03 2.03752758e-04 9.99951817e-01 -2.82548247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.887552017999994 meters 0.02544564047493239 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.27, Z:-0.28 [[ 9.98103714e-01 6.09112567e-02 8.87668135e-03 3.87873502e+01] [-6.09070687e-02 9.98143166e-01 -7.41617528e-04 -3.27077561e+00] [-8.90537168e-03 1.99558568e-04 9.99960326e-01 -2.84313141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94755201799999 meters 0.026638817344509187 Centerline is valid? [True, True] Translation: X:38.84, Y:-3.29, Z:-0.29 [[ 9.98282253e-01 5.79938106e-02 8.32232236e-03 3.88447089e+01] [-5.79900336e-02 9.98316920e-01 -6.94641252e-04 -3.28536065e+00] [-8.34860013e-03 2.10836281e-04 9.99965128e-01 -2.85355909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00755201799999 meters 0.027721000983505772 Centerline is valid? [True, True] Translation: X:38.90, Y:-3.30, Z:-0.28 [[ 9.98458951e-01 5.47784032e-02 8.89102110e-03 3.89024963e+01] [-5.47739729e-02 9.98498504e-01 -7.41212729e-04 -3.30473628e+00] [-8.91827372e-03 2.53073934e-04 9.99960199e-01 -2.84769784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06755201799999 meters 0.030324964049277984 Centerline is valid? [True, True] Translation: X:38.96, Y:-3.32, Z:-0.28 [[ 9.98347751e-01 5.61704988e-02 1.21096418e-02 3.89606288e+01] [-5.61623969e-02 9.98421138e-01 -1.00834308e-03 -3.31954188e+00] [-1.21471615e-02 3.26570543e-04 9.99926167e-01 -2.79987703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.127552017999996 meters 0.026954715420982954 Centerline is valid? [True, True] Translation: X:39.02, Y:-3.33, Z:-0.28 [[ 9.97975424e-01 6.18929876e-02 1.46393782e-02 3.90187290e+01] [-6.18817825e-02 9.98082743e-01 -1.21759288e-03 -3.32803245e+00] [-1.46866712e-02 3.09216954e-04 9.99892097e-01 -2.76872816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18755201799999 meters 0.024809391506060863 Centerline is valid? [True, True] Translation: X:39.08, Y:-3.34, Z:-0.28 [[ 9.97646304e-01 6.73360971e-02 1.29499703e-02 3.90775528e+01] [-6.73277994e-02 9.97730329e-01 -1.07614447e-03 -3.33715594e+00] [-1.29930415e-02 2.01718555e-04 9.99915567e-01 -2.80203360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24755201799999 meters 0.021416924096882336 Centerline is valid? [True, True] Translation: X:39.14, Y:-3.34, Z:-0.28 [[ 9.96965235e-01 7.73600832e-02 8.70279840e-03 3.91358248e+01] [-7.73567215e-02 9.97003217e-01 -7.22743267e-04 -3.34278212e+00] [-8.73262948e-03 4.73299588e-05 9.99961869e-01 -2.84999574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307552017999996 meters 0.020528468819175093 Centerline is valid? [True, True] Translation: X:39.19, Y:-3.35, Z:-0.29 [[ 9.95946631e-01 8.96851695e-02 6.84673770e-03 3.91937438e+01] [-8.96833830e-02 9.95970164e-01 -5.68121984e-04 -3.34840230e+00] [-6.87009859e-03 -4.82194234e-05 9.99976399e-01 -2.87404241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36755201799999 meters 0.02173602934505941 Centerline is valid? [True, True] Translation: X:39.25, Y:-3.36, Z:-0.29 [[ 9.95219519e-01 9.74245515e-02 6.82397682e-03 3.92515579e+01] [-9.74229639e-02 9.95242908e-01 -5.65471043e-04 -3.35657140e+00] [-6.84660530e-03 -1.02044228e-04 9.99976557e-01 -2.86607285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42755201799999 meters 0.023442410611316824 Centerline is valid? [True, True] Translation: X:39.31, Y:-3.37, Z:-0.28 [[ 9.94544735e-01 1.03911316e-01 9.12181757e-03 3.93104811e+01] [-1.03908762e-01 9.94586547e-01 -7.54742004e-04 -3.36590964e+00] [-9.15086327e-03 -1.97212086e-04 9.99958111e-01 -2.83737589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.487552017999995 meters 0.024315738503859038 Centerline is valid? [True, True] Translation: X:39.37, Y:-3.39, Z:-0.28 [[ 9.93982646e-01 1.09118383e-01 9.57491268e-03 3.93686197e+01] [-1.09115814e-01 9.94028728e-01 -7.91779970e-04 -3.38517496e+00] [-9.60413602e-03 -2.57758844e-04 9.99953846e-01 -2.82039300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54755201799999 meters 0.02413385153364918 Centerline is valid? [True, True] Translation: X:39.42, Y:-3.41, Z:-0.28 [[ 9.94272478e-01 1.06604260e-01 7.60068390e-03 3.94248743e+01] [-1.06602571e-01 9.94301512e-01 -6.28194647e-04 -3.40873168e+00] [-7.62433972e-03 -1.85655794e-04 9.99970917e-01 -2.82973109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60755201799999 meters 0.02085722331992267 Centerline is valid? [True, True] Translation: X:39.48, Y:-3.43, Z:-0.28 [[ 9.94587775e-01 1.03524945e-01 8.81720675e-03 3.94822480e+01] [-1.03522561e-01 9.94626840e-01 -7.27594895e-04 -3.43223449e+00] [-8.84515471e-03 -1.89122834e-04 9.99960863e-01 -2.80105068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667552017999995 meters 0.017858350505333215 Centerline is valid? [True, True] Translation: X:39.54, Y:-3.46, Z:-0.28 [[ 9.95049481e-01 9.89290840e-02 9.46393672e-03 3.95386957e+01] [-9.89261382e-02 9.95094473e-01 -7.80041396e-04 -3.46420050e+00] [-9.49467991e-03 -1.60050926e-04 9.99954912e-01 -2.76453827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72755201799999 meters 0.0167502309060133 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.48, Z:-0.28 [[ 9.95301796e-01 9.63002162e-02 1.00301616e-02 3.95973029e+01] [-9.62967822e-02 9.95352323e-01 -8.25875014e-04 -3.48375948e+00] [-1.00630766e-02 -1.43877407e-04 9.99949356e-01 -2.75744508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78755201799999 meters 0.016124238772108 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.51, Z:-0.28 [[ 9.95441604e-01 9.49215409e-02 9.26898561e-03 3.96556353e+01] [-9.49185514e-02 9.95484750e-01 -7.62898264e-04 -3.50937208e+00] [-9.29954930e-03 -1.20378015e-04 9.99956751e-01 -2.77818539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.847552017999995 meters 0.015585395608547046 Centerline is valid? [True, True] Translation: X:39.72, Y:-3.53, Z:-0.28 [[ 9.95423637e-01 9.53632642e-02 6.13431729e-03 3.97156665e+01] [-9.53619635e-02 9.95442535e-01 -5.04852463e-04 -3.53280652e+00] [-6.15450473e-03 -8.24384657e-05 9.99981057e-01 -2.81219462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90755201799999 meters 0.015334158920057734 Centerline is valid? [True, True] Translation: X:39.78, Y:-3.55, Z:-0.28 [[ 9.95470364e-01 9.49356053e-02 5.09750972e-03 3.97755947e+01] [-9.49347006e-02 9.95483413e-01 -4.19706506e-04 -3.54973829e+00] [-5.11433147e-03 -6.61251710e-05 9.99986920e-01 -2.82885301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96755201799999 meters 0.014252633087964347 Centerline is valid? [True, True] Translation: X:39.84, Y:-3.58, Z:-0.28 [[ 9.95676505e-01 9.27228608e-02 5.54687034e-03 3.98363872e+01] [-9.27217542e-02 9.95691954e-01 -4.56884278e-04 -3.57514983e+00] [-5.56533778e-03 -5.94066067e-05 9.99984512e-01 -2.82182710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.027552017999994 meters 0.017940695135558123 Centerline is valid? [True, True] Translation: X:39.90, Y:-3.59, Z:-0.28 [[ 9.95723718e-01 9.21838287e-02 6.03475157e-03 3.98979807e+01] [-9.21825058e-02 9.95742004e-01 -4.97581053e-04 -3.59156664e+00] [-6.05492454e-03 -6.08452650e-05 9.99981667e-01 -2.83571544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08755201799999 meters 0.014843727521333113 Centerline is valid? [True, True] Translation: X:39.96, Y:-3.61, Z:-0.28 [[ 9.95496821e-01 9.43910402e-02 8.74132950e-03 3.99593856e+01] [-9.43883129e-02 9.95535193e-01 -7.24938885e-04 -3.60838408e+00] [-8.77072889e-03 -1.03404989e-04 9.99961531e-01 -2.79523327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14755201799999 meters 0.016036439918170033 Centerline is valid? [True, True] Translation: X:40.02, Y:-3.62, Z:-0.28 [[ 9.95246644e-01 9.70954468e-02 7.52279110e-03 4.00202907e+01] [-9.70934890e-02 9.95275069e-01 -6.25894963e-04 -3.62057699e+00] [-7.54801798e-03 -1.07494174e-04 9.99971508e-01 -2.81104149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.207552017999994 meters 0.018386278505076088 Centerline is valid? [True, True] Translation: X:40.08, Y:-3.63, Z:-0.28 [[ 9.94804109e-01 1.01518132e-01 7.67164801e-03 4.00817002e+01] [-1.01516210e-01 9.94833679e-01 -6.40643405e-04 -3.63310290e+00] [-7.69705074e-03 -1.41481936e-04 9.99970367e-01 -2.82230754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26755201799999 meters 0.020087850945311753 Centerline is valid? [True, True] Translation: X:40.14, Y:-3.64, Z:-0.28 [[ 9.94532443e-01 1.04074172e-01 8.58995891e-03 4.01419372e+01] [-1.04071833e-01 9.94569522e-01 -7.20096032e-04 -3.64282807e+00] [-8.61825473e-03 -1.77813903e-04 9.99962846e-01 -2.81018236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32755201799999 meters 0.02276116464194536 Centerline is valid? [True, True] Translation: X:40.20, Y:-3.65, Z:-0.28 [[ 9.94172678e-01 1.07430832e-01 8.90521467e-03 4.02017164e+01] [-1.07428432e-01 9.94212538e-01 -7.48767120e-04 -3.65476972e+00] [-8.93411676e-03 -2.12269435e-04 9.99960067e-01 -2.81033968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.387552017999994 meters 0.02308526662303608 Centerline is valid? [True, True] Translation: X:40.26, Y:-3.67, Z:-0.28 [[ 9.94133076e-01 1.07758004e-01 9.36161727e-03 4.02641126e+01] [-1.07755350e-01 9.94177128e-01 -7.88932216e-04 -3.66665713e+00] [-9.39211953e-03 -2.24460736e-04 9.99955868e-01 -2.82320657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44755201799999 meters 0.019379334000383983 Centerline is valid? [True, True] Translation: X:40.32, Y:-3.69, Z:-0.29 [[ 9.94590978e-01 1.03423914e-01 9.60629565e-03 4.03242918e+01] [-1.03420887e-01 9.94637351e-01 -8.12688315e-04 -3.69220496e+00] [-9.63883186e-03 -1.85199150e-04 9.99953528e-01 -2.85957335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50755201799999 meters 0.013882266259021028 Centerline is valid? [True, True] Translation: X:40.38, Y:-3.72, Z:-0.28 [[ 9.95133674e-01 9.80287985e-02 9.96623973e-03 4.03835323e+01] [-9.80252367e-02 9.95183569e-01 -8.46427962e-04 -3.71736333e+00] [-1.00012123e-02 -1.34634041e-04 9.99949978e-01 -2.84101099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56755201799999 meters 0.01308912701274895 Centerline is valid? [True, True] Translation: X:40.44, Y:-3.73, Z:-0.29 [[ 9.95498083e-01 9.43912655e-02 8.59399407e-03 4.04441980e+01] [-9.43884620e-02 9.95535174e-01 -7.32136965e-04 -3.73220013e+00] [-8.62473072e-03 -8.23329381e-05 9.99962803e-01 -2.85343601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62755201799999 meters 0.012398754964534029 Centerline is valid? [True, True] Translation: X:40.50, Y:-3.75, Z:-0.28 [[ 9.96139112e-01 8.72051831e-02 1.01056858e-02 4.05043730e+01] [-8.72009044e-02 9.96190371e-01 -8.64089329e-04 -3.75282245e+00] [-1.01425399e-02 -2.04717641e-05 9.99948563e-01 -2.83859037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68755201799999 meters 0.012459875169618299 Centerline is valid? [True, True] Translation: X:40.57, Y:-3.76, Z:-0.28 [[ 9.96329706e-01 8.48149749e-02 1.15558428e-02 4.05661602e+01] [-8.48091772e-02 9.96396718e-01 -9.91711223e-04 -3.76360001e+00] [-1.15983158e-02 8.02983193e-06 9.99932737e-01 -2.82598264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74755201799999 meters 0.012835443115416586 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.78, Z:-0.28 [[ 9.96758926e-01 7.93949254e-02 1.29649123e-02 4.06275472e+01] [-7.93871159e-02 9.96843237e-01 -1.11670860e-03 -3.77941595e+00] [-1.30126462e-02 8.38422667e-05 9.99915328e-01 -2.82299929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.807552017999996 meters 0.013042912576703125 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.79, Z:-0.29 [[ 9.96869287e-01 7.83455759e-02 1.06580670e-02 4.06890597e+01] [-7.83402089e-02 9.96926258e-01 -9.20766053e-04 -3.78899157e+00] [-1.06974448e-02 8.29282014e-05 9.99942777e-01 -2.85572895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86755201799999 meters 0.013710920420702889 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.80, Z:-0.29 [[ 9.97053552e-01 7.62058724e-02 8.76806910e-03 4.07491232e+01] [-7.62021382e-02 9.97092101e-01 -7.59676176e-04 -3.80101102e+00] [-8.80046422e-03 8.92922169e-05 9.99961271e-01 -2.87277184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92755201799999 meters 0.014193603755324405 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.81, Z:-0.29 [[ 9.97279954e-01 7.30952232e-02 9.47528911e-03 4.08104451e+01] [-7.30906970e-02 9.97324958e-01 -8.23551449e-04 -3.80922497e+00] [-9.51014000e-03 1.28755866e-04 9.99954769e-01 -2.86487897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987552017999995 meters 0.015960265603178255 Centerline is valid? [True, True] Translation: X:40.87, Y:-3.82, Z:-0.29 [[ 9.97770873e-01 6.61802737e-02 8.57070315e-03 4.08721667e+01] [-6.61762992e-02 9.97807667e-01 -7.46808542e-04 -3.81841922e+00] [-8.60133731e-03 1.77966395e-04 9.99962992e-01 -2.87398649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04755201799999 meters 0.024246505826051392 Centerline is valid? [True, True] Translation: X:40.93, Y:-3.84, Z:-0.28 [[ 9.98275377e-01 5.79050632e-02 9.65795804e-03 4.09311792e+01] [-5.78996218e-02 9.98322054e-01 -8.42293382e-04 -3.83631840e+00] [-9.69052557e-03 2.81648625e-04 9.99953006e-01 -2.84823386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10755201799999 meters 0.02834387954434516 Centerline is valid? [True, True] Translation: X:40.99, Y:-3.85, Z:-0.28 [[ 9.98575417e-01 5.21947347e-02 1.10835578e-02 4.09913485e+01] [-5.21872119e-02 9.98636851e-01 -9.67070058e-04 -3.84574858e+00] [-1.11189253e-02 3.87272404e-04 9.99938108e-01 -2.83262503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167552017999995 meters 0.034741384452692474 Centerline is valid? [True, True] Translation: X:41.05, Y:-3.86, Z:-0.28 [[ 9.98900793e-01 4.54112258e-02 1.16200877e-02 4.10508611e+01] [-4.54024967e-02 9.98968260e-01 -1.01404585e-03 -3.85618837e+00] [-1.16541478e-02 4.85350215e-04 9.99931970e-01 -2.83222200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22755201799999 meters 0.03369928859663078 Centerline is valid? [True, True] Translation: X:41.11, Y:-3.86, Z:-0.28 [[ 9.98987978e-01 4.32483512e-02 1.23530968e-02 4.11130908e+01] [-4.32383150e-02 9.99064205e-01 -1.07849316e-03 -3.85500096e+00] [-1.23881799e-02 5.43274613e-04 9.99923116e-01 -2.83613461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28755201799999 meters 0.03376807385944823 Centerline is valid? [True, True] Translation: X:41.18, Y:-3.85, Z:-0.28 [[ 9.98986721e-01 4.31500500e-02 1.27907906e-02 4.11757626e+01] [-4.31392501e-02 9.99068442e-01 -1.11918685e-03 -3.85059697e+00] [-1.28271682e-02 5.66267686e-04 9.99917568e-01 -2.84270924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.347552017999995 meters 0.03187976429734211 Centerline is valid? [True, True] Translation: X:41.24, Y:-3.85, Z:-0.29 [[ 9.98944532e-01 4.44084797e-02 1.17349095e-02 4.12384892e+01] [-4.43994339e-02 9.99013328e-01 -1.03037364e-03 -3.84823908e+00] [-1.17690883e-02 5.08262772e-04 9.99930613e-01 -2.86402222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40755201799999 meters 0.029509916230748265 Centerline is valid? [True, True] Translation: X:41.30, Y:-3.84, Z:-0.29 [[ 9.98891531e-01 4.56308735e-02 1.15556336e-02 4.13023817e+01] [-4.56221511e-02 9.98958249e-01 -1.01743915e-03 -3.83711402e+00] [-1.15900222e-02 4.89118483e-04 9.99932714e-01 -2.87711681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46755201799999 meters 0.03168246430726054 Centerline is valid? [True, True] Translation: X:41.37, Y:-3.83, Z:-0.29 [[ 9.98874258e-01 4.59192760e-02 1.19011659e-02 4.13651066e+01] [-4.59100134e-02 9.98945027e-01 -1.05047650e-03 -3.83341998e+00] [-1.19368476e-02 5.02911253e-04 9.99928627e-01 -2.87945708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.527552017999994 meters 0.03221688210301842 Centerline is valid? [True, True] Translation: X:41.43, Y:-3.83, Z:-0.29 [[ 9.98967462e-01 4.43007343e-02 1.00724605e-02 4.14273014e+01] [-4.42939860e-02 9.99018141e-01 -8.92181449e-04 -3.83226002e+00] [-1.01020951e-02 4.45110812e-04 9.99948873e-01 -2.90189602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58755201799999 meters 0.03373860025765802 Centerline is valid? [True, True] Translation: X:41.49, Y:-3.83, Z:-0.29 [[ 9.99121266e-01 4.11234072e-02 8.09702648e-03 4.14894324e+01] [-4.11189245e-02 9.99154000e-01 -7.19387618e-04 -3.82917158e+00] [-8.11976006e-03 3.85814447e-04 9.99966960e-01 -2.93452261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64755201799999 meters 0.03703890114513117 Centerline is valid? [True, True] Translation: X:41.55, Y:-3.83, Z:-0.29 [[ 9.99252364e-01 3.75391941e-02 9.24778373e-03 4.15500793e+01] [-3.75331701e-02 9.99295042e-01 -8.24156526e-04 -3.82768024e+00] [-9.27220261e-03 4.76441717e-04 9.99956899e-01 -2.92525947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.707552017999994 meters 0.03696050941202875 Centerline is valid? [True, True] Translation: X:41.61, Y:-3.83, Z:-0.29 [[ 9.99290578e-01 3.63172468e-02 9.96982287e-03 4.16129463e+01] [-3.63101734e-02 9.99340172e-01 -8.89637166e-04 -3.82677127e+00] [-9.99555368e-03 5.27000041e-04 9.99949904e-01 -2.91672264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76755201799999 meters 0.036985515183286535 Centerline is valid? [True, True] Translation: X:41.68, Y:-3.82, Z:-0.29 [[ 9.99174843e-01 3.85820576e-02 1.26908698e-02 4.16754264e+01] [-3.85707179e-02 9.99255226e-01 -1.13716983e-03 -3.82196916e+00] [-1.27252923e-02 6.46735527e-04 9.99918821e-01 -2.88997615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82755201799999 meters 0.03541309746370366 Centerline is valid? [True, True] Translation: X:41.74, Y:-3.82, Z:-0.29 [[ 9.99036907e-01 4.21080296e-02 1.23358181e-02 4.17373020e+01] [-4.20975537e-02 9.99112891e-01 -1.10777552e-03 -3.81726920e+00] [-1.23715211e-02 5.87400864e-04 9.99923297e-01 -2.90654396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.887552017999994 meters 0.03334711414560837 Centerline is valid? [True, True] Translation: X:41.80, Y:-3.81, Z:-0.29 [[ 9.98951066e-01 4.45671525e-02 1.05136519e-02 4.17995043e+01] [-4.45596743e-02 9.99006278e-01 -9.44573995e-04 -3.81201095e+00] [-1.05453012e-02 4.75098297e-04 9.99944284e-01 -2.94383518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94755201799999 meters 0.03536164668130335 Centerline is valid? [True, True] Translation: X:41.86, Y:-3.81, Z:-0.30 [[ 9.98874139e-01 4.65499032e-02 9.14113066e-03 4.18608119e+01] [-4.65443249e-02 9.98915887e-01 -8.22153122e-04 -3.81179752e+00] [-9.16949179e-03 3.95759737e-04 9.99957881e-01 -2.96234164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00755201799999 meters 0.03125794336296359 Centerline is valid? [True, True] Translation: X:41.92, Y:-3.81, Z:-0.30 [[ 9.98804021e-01 4.79212519e-02 9.69955391e-03 4.19234205e+01] [-4.79150064e-02 9.98851033e-01 -8.75393664e-04 -3.80715652e+00] [-9.73035940e-03 4.09592523e-04 9.99952575e-01 -2.95657784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06755201799999 meters 0.02833926218303198 Centerline is valid? [True, True] Translation: X:41.99, Y:-3.80, Z:-0.29 [[ 9.98654934e-01 5.04071959e-02 1.21423943e-02 4.19866498e+01] [-5.03975364e-02 9.98728631e-01 -1.10039378e-03 -3.80216800e+00] [-1.21824246e-02 4.86966921e-04 9.99925673e-01 -2.93914384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12755201799999 meters 0.02858087623448503 Centerline is valid? [True, True] Translation: X:42.05, Y:-3.80, Z:-0.29 [[ 9.98522976e-01 5.27149455e-02 1.31530062e-02 4.20476016e+01] [-5.27037529e-02 9.98609475e-01 -1.19637110e-03 -3.80336160e+00] [-1.31977833e-02 5.01391235e-04 9.99912780e-01 -2.92899808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18755201799999 meters 0.027885188988628417 Centerline is valid? [True, True] Translation: X:42.11, Y:-3.80, Z:-0.30 [[ 9.98430636e-01 5.48606149e-02 1.12507252e-02 4.21098509e+01] [-5.48525262e-02 9.98493939e-01 -1.02650066e-03 -3.80297954e+00] [-1.12900954e-02 4.07759008e-04 9.99936182e-01 -2.96346541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24755201799999 meters 0.02568332200783179 Centerline is valid? [True, True] Translation: X:42.17, Y:-3.80, Z:-0.30 [[ 9.98186595e-01 5.92516167e-02 1.06192401e-02 4.21721914e+01] [-5.92446336e-02 9.98243022e-01 -9.71235577e-04 -3.80096068e+00] [-1.06581296e-02 3.40341348e-04 9.99943143e-01 -2.97887551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30755201799999 meters 0.023397295048014573 Centerline is valid? [True, True] Translation: X:42.23, Y:-3.80, Z:-0.30 [[ 9.97900384e-01 6.38132324e-02 1.10767916e-02 4.22342752e+01] [-6.38059078e-02 9.97961812e-01 -1.01376156e-03 -3.79826690e+00] [-1.11189064e-02 3.04868307e-04 9.99938137e-01 -2.98193879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36755201799999 meters 0.01977086293421119 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.79, Z:-0.30 [[ 9.97584064e-01 6.84416834e-02 1.19067455e-02 4.22968203e+01] [-6.84335259e-02 9.97655081e-01 -1.09167177e-03 -3.79422135e+00] [-1.19535410e-02 2.74213792e-04 9.99928516e-01 -2.98043628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42755201799999 meters 0.018626171062263 Centerline is valid? [True, True] Translation: X:42.36, Y:-3.80, Z:-0.30 [[ 9.97327253e-01 7.19774023e-02 1.25540654e-02 4.23575462e+01] [-7.19685618e-02 9.97406232e-01 -1.15512953e-03 -3.79799314e+00] [-1.26046463e-02 2.48544129e-04 9.99920527e-01 -2.98697674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487552017999995 meters 0.01828395163596355 Centerline is valid? [True, True] Translation: X:42.42, Y:-3.80, Z:-0.30 [[ 9.97237315e-01 7.32751321e-02 1.21857454e-02 4.24193015e+01] [-7.32668544e-02 9.97311738e-01 -1.12492832e-03 -3.80091044e+00] [-1.22354162e-02 2.29009266e-04 9.99925118e-01 -3.00453153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54755201799999 meters 0.016945026327485433 Centerline is valid? [True, True] Translation: X:42.48, Y:-3.80, Z:-0.30 [[ 9.97039620e-01 7.60842095e-02 1.10990908e-02 4.24815650e+01] [-7.60774791e-02 9.97101379e-01 -1.02795561e-03 -3.80288904e+00] [-1.11451299e-02 1.80521624e-04 9.99937875e-01 -3.02431135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60755201799999 meters 0.015410133226548679 Centerline is valid? [True, True] Translation: X:42.54, Y:-3.81, Z:-0.30 [[ 9.96728503e-01 8.00436758e-02 1.11937647e-02 4.25437238e+01] [-8.00370391e-02 9.96791347e-01 -1.04032896e-03 -3.80623937e+00] [-1.12411196e-02 1.41009745e-04 9.99936807e-01 -3.02733094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.667552017999995 meters 0.014152108601771747 Centerline is valid? [True, True] Translation: X:42.61, Y:-3.81, Z:-0.30 [[ 9.96445681e-01 8.35667897e-02 1.06111240e-02 4.26053687e+01] [-8.35609905e-02 9.96502174e-01 -9.89477458e-04 -3.81077787e+00] [-1.06566956e-02 9.92845067e-05 9.99943211e-01 -3.03524685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72755201799999 meters 0.013397036415764051 Centerline is valid? [True, True] Translation: X:42.67, Y:-3.81, Z:-0.30 [[ 9.96172918e-01 8.67954727e-02 1.02987539e-02 4.26664633e+01] [-8.67901495e-02 9.96226150e-01 -9.63523708e-04 -3.81477010e+00] [-1.03435174e-02 6.60058369e-05 9.99946502e-01 -3.03882620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78755201799999 meters 0.012624081923400409 Centerline is valid? [True, True] Translation: X:42.73, Y:-3.82, Z:-0.30 [[ 9.95776909e-01 9.09169584e-02 1.27457722e-02 4.27287806e+01] [-9.09090860e-02 9.95858477e-01 -1.19687245e-03 -3.82013033e+00] [-1.28018013e-02 3.31114503e-05 9.99918053e-01 -3.02046026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.847552017999995 meters 0.01275168642211766 Centerline is valid? [True, True] Translation: X:42.79, Y:-3.83, Z:-0.30 [[ 9.95882551e-01 8.99111109e-02 1.15730990e-02 4.27898955e+01] [-8.99045107e-02 9.95949793e-01 -1.09035794e-03 -3.83061189e+00] [-1.16242609e-02 4.53946440e-05 9.99932435e-01 -3.03962980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90755201799999 meters 0.01372959719602266 Centerline is valid? [True, True] Translation: X:42.85, Y:-3.85, Z:-0.31 [[ 9.96214239e-01 8.63113132e-02 1.03704565e-02 4.28505803e+01] [-8.63057855e-02 9.96268212e-01 -9.80215892e-04 -3.84568127e+00] [-1.04163599e-02 8.14746353e-05 9.99945745e-01 -3.05257904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96755201799999 meters 0.017072189591577386 Centerline is valid? [True, True] Translation: X:42.91, Y:-3.87, Z:-0.30 [[ 9.96773377e-01 7.95231622e-02 1.09042151e-02 4.29098796e+01] [-7.95166078e-02 9.96833005e-01 -1.03400442e-03 -3.86516100e+00] [-1.09519088e-02 1.63601880e-04 9.99940013e-01 -3.03513363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.027552017999994 meters 0.018115915789844457 Centerline is valid? [True, True] Translation: X:42.97, Y:-3.88, Z:-0.30 [[ 9.96957865e-01 7.71882208e-02 1.08164098e-02 4.29709362e+01] [-7.71816015e-02 9.97016521e-01 -1.02868860e-03 -3.87500460e+00] [-1.08635419e-02 1.90731355e-04 9.99940972e-01 -3.04130397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08755201799999 meters 0.019056984822374272 Centerline is valid? [True, True] Translation: X:43.03, Y:-3.89, Z:-0.31 [[ 9.97255469e-01 7.33643386e-02 9.96010070e-03 4.30323606e+01] [-7.33585073e-02 9.97305182e-01 -9.50037543e-04 -3.88726045e+00] [-1.00029589e-02 2.16772016e-04 9.99949946e-01 -3.05500445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14755201799999 meters 0.02123786881870722 Centerline is valid? [True, True] Translation: X:43.09, Y:-3.90, Z:-0.31 [[ 9.97482349e-01 7.03473762e-02 8.95599363e-03 4.30918004e+01] [-7.03425185e-02 9.97522529e-01 -8.56635858e-04 -3.90228918e+00] [-8.99406750e-03 2.24492000e-04 9.99959527e-01 -3.06364975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.207552017999994 meters 0.02058965108732381 Centerline is valid? [True, True] Translation: X:43.15, Y:-3.91, Z:-0.31 [[ 9.97355523e-01 7.19749309e-02 1.00782334e-02 4.31532703e+01] [-7.19688399e-02 9.97406413e-01 -9.66210858e-04 -3.90895686e+00] [-1.01216376e-02 2.38336969e-04 9.99948747e-01 -3.05411751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26755201799999 meters 0.016305029491482284 Centerline is valid? [True, True] Translation: X:43.21, Y:-3.91, Z:-0.31 [[ 9.96778775e-01 7.95726655e-02 1.00132384e-02 4.32146121e+01] [-7.95670121e-02 9.96829055e-01 -9.62332645e-04 -3.91107559e+00] [-1.00580623e-02 1.62509296e-04 9.99949403e-01 -3.05592905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32755201799999 meters 0.013950224064050073 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.91, Z:-0.31 [[ 9.96293587e-01 8.54925835e-02 9.49243255e-03 4.32772374e+01] [-8.54877658e-02 9.96338802e-01 -9.12874678e-04 -3.91351155e+00] [-9.53572289e-03 9.80043365e-05 9.99954529e-01 -3.06259847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.387552017999994 meters 0.012181324918108248 Centerline is valid? [True, True] Translation: X:43.34, Y:-3.92, Z:-0.31 [[ 9.95670292e-01 9.24574444e-02 9.60683515e-03 4.33389321e+01] [-9.24528178e-02 9.95716636e-01 -9.25537040e-04 -3.91761019e+00] [-9.65125837e-03 3.33507545e-05 9.99953425e-01 -3.06416608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44755201799999 meters 0.011956922700983069 Centerline is valid? [True, True] Translation: X:43.40, Y:-3.93, Z:-0.31 [[ 9.95353520e-01 9.58577084e-02 9.09228735e-03 4.34011714e+01] [-9.58536792e-02 9.95395047e-01 -8.78891531e-04 -3.92559189e+00] [-9.13466632e-03 3.27858451e-06 9.99958278e-01 -3.06849551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50755201799999 meters 0.012620480732222049 Centerline is valid? [True, True] Translation: X:43.46, Y:-3.93, Z:-0.31 [[ 9.94629536e-01 1.03266653e-01 6.93426866e-03 4.34635275e+01] [-1.03264476e-01 9.94653707e-01 -6.72225574e-04 -3.93064267e+00] [-6.96661451e-03 -4.74482059e-05 9.99975732e-01 -3.09213128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56755201799999 meters 0.01635432187778605 Centerline is valid? [True, True] Translation: X:43.52, Y:-3.94, Z:-0.31 [[ 9.93589790e-01 1.12919035e-01 5.34979035e-03 4.35241142e+01] [-1.12917870e-01 9.93604189e-01 -5.20364963e-04 -3.93507251e+00] [-5.37433321e-03 -8.70576171e-05 9.99985554e-01 -3.11756814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62755201799999 meters 0.018805426884330626 Centerline is valid? [True, True] Translation: X:43.59, Y:-3.94, Z:-0.31 [[ 9.92833667e-01 1.19314200e-01 6.74021404e-03 4.35856690e+01] [-1.19312495e-01 9.92856535e-01 -6.56001457e-04 -3.94313352e+00] [-6.77033584e-03 -1.52891421e-04 9.99977069e-01 -3.10457039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68755201799999 meters 0.022476420818254822 Centerline is valid? [True, True] Translation: X:43.65, Y:-3.95, Z:-0.31 [[ 9.92047766e-01 1.25645076e-01 7.38548220e-03 4.36457491e+01] [-1.25643199e-01 9.92075233e-01 -7.19545144e-04 -3.95409694e+00] [-7.41736128e-03 -2.14112454e-04 9.99972468e-01 -3.10143781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74755201799999 meters 0.02387852209947721 Centerline is valid? [True, True] Translation: X:43.71, Y:-3.97, Z:-0.31 [[ 9.91888629e-01 1.26888199e-01 7.50551343e-03 4.37056617e+01] [-1.26886291e-01 9.91916999e-01 -7.31828683e-04 -3.96614384e+00] [-7.53770679e-03 -2.26454211e-04 9.99971565e-01 -3.11526788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80755201799999 meters 0.022748636523345734 Centerline is valid? [True, True] Translation: X:43.77, Y:-3.99, Z:-0.31 [[ 9.92024907e-01 1.25866377e-01 6.65124391e-03 4.37653758e+01] [-1.25864844e-01 9.92047185e-01 -6.50210032e-04 -3.98955355e+00] [-6.68018739e-03 -1.92133234e-04 9.99977669e-01 -3.13272720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86755201799999 meters 0.02175488399337302 Centerline is valid? [True, True] Translation: X:43.83, Y:-4.01, Z:-0.31 [[ 9.92158998e-01 1.24801718e-01 6.71227105e-03 4.38256301e+01] [-1.24800118e-01 9.92181686e-01 -6.58280001e-04 -4.00766142e+00] [-6.74194688e-03 -1.84573796e-04 9.99977256e-01 -3.13335993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92755201799999 meters 0.017391513132360592 Centerline is valid? [True, True] Translation: X:43.89, Y:-4.04, Z:-0.31 [[ 9.92211995e-01 1.24271576e-01 8.48130013e-03 4.38857304e+01] [-1.24268975e-01 9.92248217e-01 -8.35008873e-04 -4.03585027e+00] [-8.51932281e-03 -2.25456655e-04 9.99963684e-01 -3.12026152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98755201799999 meters 0.016959715963019886 Centerline is valid? [True, True] Translation: X:43.95, Y:-4.06, Z:-0.31 [[ 9.92303966e-01 1.23604517e-01 7.40014749e-03 4.39464015e+01] [-1.23602503e-01 9.92331541e-01 -7.30653447e-04 -4.05640471e+00] [-7.43371183e-03 -1.89646442e-04 9.99972352e-01 -3.13116551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04755201799999 meters 0.016979762377394795 Centerline is valid? [True, True] Translation: X:44.01, Y:-4.07, Z:-0.32 [[ 9.92291162e-01 1.23808965e-01 5.43971129e-03 4.40078295e+01] [-1.23807875e-01 9.92306062e-01 -5.38054586e-04 -4.07108941e+00] [-5.46447447e-03 -1.39572285e-04 9.99985060e-01 -3.15485516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10755201799999 meters 0.015860654658330243 Centerline is valid? [True, True] Translation: X:44.07, Y:-4.09, Z:-0.32 [[ 9.92739288e-01 1.20280195e-01 1.17506425e-03 4.40687926e+01] [-1.20280142e-01 9.92739983e-01 -1.16132254e-04 -4.09009999e+00] [-1.18050167e-03 -2.60478430e-05 9.99999303e-01 -3.19069987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167552017999995 meters 0.014359945757639627 Centerline is valid? [True, True] Translation: X:44.13, Y:-4.11, Z:-0.32 [[ 9.93350403e-01 1.15118751e-01 1.62816168e-03 4.41286617e+01] [-1.15118641e-01 9.93351737e-01 -1.61679869e-04 -4.10696464e+00] [-1.63594962e-03 -2.68269961e-05 9.99998661e-01 -3.18314071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22755201799999 meters 0.012150444832792297 Centerline is valid? [True, True] Translation: X:44.19, Y:-4.13, Z:-0.31 [[ 9.94450352e-01 1.05088517e-01 4.99012434e-03 4.41882882e+01] [-1.05087350e-01 9.94462871e-01 -4.96267305e-04 -4.13024055e+00] [-5.01464538e-03 -3.08857450e-05 9.99987426e-01 -3.13447396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28755201799999 meters 0.011857977985640486 Centerline is valid? [True, True] Translation: X:44.25, Y:-4.15, Z:-0.31 [[ 9.95056246e-01 9.90842006e-02 6.73713253e-03 4.42493434e+01] [-9.90819319e-02 9.95079053e-01 -6.70497497e-04 -4.14740262e+00] [-6.77041516e-03 -3.45384231e-07 9.99977080e-01 -3.11866421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.347552017999995 meters 0.012695790335594313 Centerline is valid? [True, True] Translation: X:44.31, Y:-4.16, Z:-0.31 [[ 9.95885136e-01 9.04302628e-02 5.92979507e-03 4.43100044e+01] [-9.04283435e-02 9.95902789e-01 -5.91541930e-04 -4.16413894e+00] [-5.95899274e-03 5.28862697e-05 9.99982244e-01 -3.14100997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40755201799999 meters 0.013920056276914502 Centerline is valid? [True, True] Translation: X:44.37, Y:-4.18, Z:-0.32 [[ 9.96325360e-01 8.55056521e-02 4.95577511e-03 4.43712632e+01] [-8.55042453e-02 9.96337683e-01 -4.95448960e-04 -4.17722698e+00] [-4.97998918e-03 6.98885535e-05 9.99987597e-01 -3.15384941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46755201799999 meters 0.015372875870447625 Centerline is valid? [True, True] Translation: X:44.43, Y:-4.19, Z:-0.31 [[ 9.96650424e-01 8.13849148e-02 8.02669387e-03 4.44323125e+01] [-8.13810630e-02 9.96682734e-01 -8.05861697e-04 -4.19097874e+00] [-8.06565218e-03 1.49941523e-04 9.99967461e-01 -3.10868757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.527552017999994 meters 0.015592624639913419 Centerline is valid? [True, True] Translation: X:44.49, Y:-4.20, Z:-0.31 [[ 9.96624685e-01 8.15280841e-02 9.61293560e-03 4.44946002e+01] [-8.15225365e-02 9.96671028e-01 -9.68188127e-04 -4.19768238e+00] [-9.65986893e-03 1.81249294e-04 9.99953326e-01 -3.09890477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58755201799999 meters 0.014354013070658441 Centerline is valid? [True, True] Translation: X:44.56, Y:-4.20, Z:-0.31 [[ 9.96344066e-01 8.50195729e-02 8.37704709e-03 4.45575655e+01] [-8.50154665e-02 9.96379273e-01 -8.45725903e-04 -4.19841518e+00] [-8.41861935e-03 1.30455418e-04 9.99964554e-01 -3.11974750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64755201799999 meters 0.013317384090841312 Centerline is valid? [True, True] Translation: X:44.62, Y:-4.20, Z:-0.31 [[ 9.95891504e-01 9.02423446e-02 7.51204485e-03 4.46192105e+01] [-9.02391853e-02 9.95919833e-01 -7.59143687e-04 -4.20054989e+00] [-7.54990135e-03 7.81439418e-05 9.99971496e-01 -3.13623215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.707552017999994 meters 0.012520849570000825 Centerline is valid? [True, True] Translation: X:44.68, Y:-4.20, Z:-0.32 [[ 9.95498259e-01 9.46120834e-02 5.63645364e-03 4.46816653e+01] [-9.46103689e-02 9.95514215e-01 -5.70643456e-04 -4.20063696e+00] [-5.66515949e-03 3.48076087e-05 9.99983952e-01 -3.16582586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76755201799999 meters 0.0130450977037202 Centerline is valid? [True, True] Translation: X:44.74, Y:-4.21, Z:-0.32 [[ 9.95760637e-01 9.19428230e-02 2.69645794e-03 4.47436166e+01] [-9.19424216e-02 9.95764288e-01 -2.72700247e-04 -4.20723000e+00] [-2.71010935e-03 2.36252990e-05 9.99996327e-01 -3.18942914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82755201799999 meters 0.014114343506586231 Centerline is valid? [True, True] Translation: X:44.80, Y:-4.22, Z:-0.32 [[ 9.96170646e-01 8.73697725e-02 3.25064543e-03 4.48048763e+01] [-8.73691606e-02 9.96175949e-01 -3.30047583e-04 -4.21714378e+00] [-3.26705097e-03 4.47775519e-05 9.99994662e-01 -3.18125994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.887552017999994 meters 0.016310677504115287 Centerline is valid? [True, True] Translation: X:44.87, Y:-4.23, Z:-0.32 [[ 9.96790831e-01 7.98815342e-02 5.19413143e-03 4.48656447e+01] [-7.98798544e-02 9.96804358e-01 -5.30395247e-04 -4.22675668e+00] [-5.21990163e-03 1.13786657e-04 9.99986370e-01 -3.15588513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94755201799999 meters 0.017718742397963574 Centerline is valid? [True, True] Translation: X:44.93, Y:-4.23, Z:-0.32 [[ 9.97014540e-01 7.70328422e-02 5.28658857e-03 4.49273674e+01] [-7.70310631e-02 9.97028547e-01 -5.39644137e-04 -4.23464024e+00] [-5.31245004e-03 1.30801514e-04 9.99985880e-01 -3.15998913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00755201799999 meters 0.021626935406758346 Centerline is valid? [True, True] Translation: X:44.99, Y:-4.25, Z:-0.32 [[ 9.97040874e-01 7.67074756e-02 5.04559808e-03 4.49882754e+01] [-7.67058447e-02 9.97053633e-01 -5.16252288e-04 -4.24503485e+00] [-5.07033231e-03 1.27697769e-04 9.99987138e-01 -3.17283734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06755201799999 meters 0.017340317420685463 Centerline is valid? [True, True] Translation: X:45.05, Y:-4.24, Z:-0.32 [[ 9.96891487e-01 7.86803181e-02 4.09514554e-03 4.50509979e+01] [-7.86792568e-02 9.96899894e-01 -4.19856536e-04 -4.24236448e+00] [-4.11548460e-03 9.63483994e-05 9.99991527e-01 -3.18681614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12755201799999 meters 0.015549527468046331 Centerline is valid? [True, True] Translation: X:45.11, Y:-4.24, Z:-0.32 [[ 9.96369108e-01 8.50506741e-02 3.87080159e-03 4.51121115e+01] [-8.50497663e-02 9.96376625e-01 -3.98825997e-04 -4.24226114e+00] [-3.89069665e-03 6.81671317e-05 9.99992429e-01 -3.18126956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18755201799999 meters 0.013273904108656167 Centerline is valid? [True, True] Translation: X:45.17, Y:-4.24, Z:-0.32 [[ 9.95740834e-01 9.20615300e-02 4.98650242e-03 4.51749358e+01] [-9.20601125e-02 9.95753319e-01 -5.13550694e-04 -4.23819730e+00] [-5.01260459e-03 5.23054229e-05 9.99987435e-01 -3.17787828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24755201799999 meters 0.01231247584081505 Centerline is valid? [True, True] Translation: X:45.24, Y:-4.23, Z:-0.32 [[ 9.94514584e-01 1.04533602e-01 3.66985437e-03 4.52380957e+01] [-1.04532917e-01 9.94521355e-01 -3.78463948e-04 -4.23300319e+00] [-3.68931075e-03 -7.23266655e-06 9.99993194e-01 -3.20839369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30755201799999 meters 0.014459665977720837 Centerline is valid? [True, True] Translation: X:45.30, Y:-4.23, Z:-0.32 [[ 9.93170711e-01 1.16606271e-01 3.86203511e-03 4.52999588e+01] [-1.16605598e-01 9.93178219e-01 -3.99953061e-04 -4.22755347e+00] [-3.88232619e-03 -5.31132464e-05 9.99992462e-01 -3.22165812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36755201799999 meters 0.015648328910575632 Centerline is valid? [True, True] Translation: X:45.36, Y:-4.23, Z:-0.32 [[ 9.92437937e-01 1.22630315e-01 5.36155600e-03 4.53621289e+01] [-1.22629098e-01 9.92452414e-01 -5.56436956e-04 -4.22918570e+00] [-5.38932523e-03 -1.05253629e-04 9.99985472e-01 -3.21886461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42755201799999 meters 0.018221062607757067 Centerline is valid? [True, True] Translation: X:45.42, Y:-4.23, Z:-0.33 [[ 9.91515154e-01 1.29973239e-01 2.15766133e-03 4.54232963e+01] [-1.29973059e-01 9.91517500e-01 -2.24056948e-04 -4.23119147e+00] [-2.16848038e-03 -5.82819855e-05 9.99997647e-01 -3.25069396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48755201799999 meters 0.0191524928909804 Centerline is valid? [True, True] Translation: X:45.48, Y:-4.24, Z:-0.33 [[ 9.91121138e-01 1.32948849e-01 1.86897285e-03 4.54847686e+01] [-1.32948721e-01 9.91122899e-01 -1.92851266e-04 -4.23660337e+00] [-1.87802114e-03 -5.73385841e-05 9.99998235e-01 -3.25772038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54755201799999 meters 0.019055688683004984 Centerline is valid? [True, True] Translation: X:45.55, Y:-4.25, Z:-0.32 [[ 9.91101735e-01 1.33046409e-01 4.00043854e-03 4.55464350e+01] [-1.33045814e-01 9.91109801e-01 -4.15869867e-04 -4.24852860e+00] [-4.02020384e-03 -1.20072254e-04 9.99991912e-01 -3.23140821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60755201799999 meters 0.018406292084463743 Centerline is valid? [True, True] Translation: X:45.61, Y:-4.26, Z:-0.32 [[ 9.91341651e-01 1.31167613e-01 6.06538358e-03 4.56075910e+01] [-1.31166192e-01 9.91360191e-01 -6.33264867e-04 -4.26066841e+00] [-6.09604367e-03 -1.67791427e-04 9.99981405e-01 -3.21273295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66755201799999 meters 0.017388416168762882 Centerline is valid? [True, True] Translation: X:45.67, Y:-4.27, Z:-0.32 [[ 9.91615781e-01 1.29112647e-01 5.29790526e-03 4.56688910e+01] [-1.29111526e-01 9.91629924e-01 -5.54365418e-04 -4.27454409e+00] [-5.32513698e-03 -1.34303138e-04 9.99985812e-01 -3.23856400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72755201799999 meters 0.01775025680016042 Centerline is valid? [True, True] Translation: X:45.73, Y:-4.29, Z:-0.33 [[ 9.91821363e-01 1.27608742e-01 2.52849612e-03 4.57284743e+01] [-1.27608483e-01 9.91824584e-01 -2.64367795e-04 -4.28935673e+00] [-2.54156025e-03 -6.04519262e-05 9.99996768e-01 -3.26416592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78755201799999 meters 0.015801744600342452 Centerline is valid? [True, True] Translation: X:45.79, Y:-4.31, Z:-0.33 [[ 9.92070253e-01 1.25653480e-01 2.79559831e-03 4.57890537e+01] [-1.25653152e-01 9.92074190e-01 -2.93088645e-04 -4.30501810e+00] [-2.81026854e-03 -6.05112139e-05 9.99996049e-01 -3.26212705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.847552017999995 meters 0.015059105951933334 Centerline is valid? [True, True] Translation: X:45.85, Y:-4.32, Z:-0.32 [[ 9.92306714e-01 1.23734433e-01 4.14428059e-03 4.58499528e+01] [-1.23733689e-01 9.92315365e-01 -4.36618125e-04 -4.32374461e+00] [-4.16645800e-03 -7.95280278e-05 9.99991317e-01 -3.23823438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90755201799999 meters 0.015287665620752603 Centerline is valid? [True, True] Translation: X:45.91, Y:-4.34, Z:-0.32 [[ 9.92184865e-01 1.24673443e-01 5.07218127e-03 4.59116667e+01] [-1.24672330e-01 9.92197824e-01 -5.36182536e-04 -4.33741921e+00] [-5.09945494e-03 -1.00368461e-04 9.99986993e-01 -3.24049693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96755201799999 meters 0.01609185047348524 Centerline is valid? [True, True] Translation: X:45.97, Y:-4.35, Z:-0.33 [[ 9.91993523e-01 1.26182044e-01 5.19065137e-03 4.59719276e+01] [-1.26180888e-01 9.92007097e-01 -5.50762873e-04 -4.34846695e+00] [-5.21865938e-03 -1.08607798e-04 9.99986377e-01 -3.25178686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.027552017999994 meters 0.016460580341968557 Centerline is valid? [True, True] Translation: X:46.03, Y:-4.36, Z:-0.33 [[ 9.91604447e-01 1.29235742e-01 4.32938987e-03 4.60322017e+01] [-1.29234966e-01 9.91613893e-01 -4.59557685e-04 -4.36380704e+00] [-4.35247442e-03 -1.03809110e-04 9.99990523e-01 -3.26299823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08755201799999 meters 0.01747155133603384 Centerline is valid? [True, True] Translation: X:46.09, Y:-4.38, Z:-0.33 [[ 9.91516588e-01 1.29892254e-01 4.78091431e-03 4.60932205e+01] [-1.29891309e-01 9.91528108e-01 -5.08864324e-04 -4.37666642e+00] [-4.80650845e-03 -1.16451801e-04 9.99988442e-01 -3.26302041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14755201799999 meters 0.016442082623121194 Centerline is valid? [True, True] Translation: X:46.15, Y:-4.40, Z:-0.33 [[ 9.91564941e-01 1.29472791e-01 5.98039120e-03 4.61538997e+01] [-1.29471291e-01 9.91582965e-01 -6.38875216e-04 -4.39582125e+00] [-6.01277100e-03 -1.40802703e-04 9.99981913e-01 -3.25631388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.207552017999994 meters 0.018597425210360466 Centerline is valid? [True, True] Translation: X:46.21, Y:-4.41, Z:-0.33 [[ 9.91328620e-01 1.31264095e-01 6.10766395e-03 4.62138518e+01] [-1.31262553e-01 9.91347423e-01 -6.54371744e-04 -4.40512274e+00] [-6.14071243e-03 -1.53010125e-04 9.99981134e-01 -3.26150537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26755201799999 meters 0.020704942341421565 Centerline is valid? [True, True] Translation: X:46.27, Y:-4.42, Z:-0.33 [[ 9.90884036e-01 1.34651640e-01 4.21451413e-03 4.62749174e+01] [-1.34650935e-01 9.90892992e-01 -4.51998659e-04 -4.41956396e+00] [-4.23699488e-03 -1.19610013e-04 9.99991017e-01 -3.30743630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32755201799999 meters 0.019172503718867643 Centerline is valid? [True, True] Translation: X:46.34, Y:-4.44, Z:-0.33 [[ 9.90416863e-01 1.38046402e-01 4.19863516e-03 4.63350295e+01] [-1.38045733e-01 9.90425753e-01 -4.50086305e-04 -4.43796723e+00] [-4.22056919e-03 -1.33830602e-04 9.99991084e-01 -3.30095998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.387552017999994 meters 0.020103091402810847 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.45, Z:-0.33 [[ 9.90254309e-01 1.39222958e-01 3.65677096e-03 4.63965201e+01] [-1.39222456e-01 9.90261053e-01 -3.92673731e-04 -4.44594741e+00] [-3.67582706e-03 -1.20257779e-04 9.99993237e-01 -3.31449532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44755201799999 meters 0.020655486447467564 Centerline is valid? [True, True] Translation: X:46.46, Y:-4.46, Z:-0.33 [[ 9.89940624e-01 1.41481190e-01 7.96395633e-04 4.64571592e+01] [-1.41481168e-01 9.89940944e-01 -8.41903982e-05 -4.46401529e+00] [-8.00296002e-04 -2.93314894e-05 9.99999679e-01 -3.33623723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50755201799999 meters 0.020642831454954044 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.48, Z:-0.33 [[ 9.89929456e-01 1.41560625e-01 5.10897456e-04 4.65193900e+01] [-1.41560616e-01 9.89929588e-01 -5.31847570e-05 -4.47797219e+00] [-5.13281376e-04 -1.96738012e-05 9.99999868e-01 -3.34360254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56755201799999 meters 0.020307082827537 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.50, Z:-0.34 [[ 9.90199340e-01 1.39660607e-01 4.26586556e-04 4.65799714e+01] [-1.39660600e-01 9.90199432e-01 -4.44761975e-05 -4.49743752e+00] [-4.28617338e-04 -1.55370331e-05 9.99999908e-01 -3.35020420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62755201799999 meters 0.02038482943822314 Centerline is valid? [True, True] Translation: X:46.64, Y:-4.51, Z:-0.34 [[ 9.90409763e-01 1.38161101e-01 -1.08825825e-04 4.66398757e+01] [-1.38161101e-01 9.90409769e-01 1.36342600e-05 -4.51154038e+00] [ 1.09665885e-04 1.53199161e-06 9.99999994e-01 -3.35770139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68755201799999 meters 0.01838113317685278 Centerline is valid? [True, True] Translation: X:46.70, Y:-4.53, Z:-0.33 [[ 9.90825130e-01 1.35134948e-01 2.02681024e-03 4.66991688e+01] [-1.35134779e-01 9.90827201e-01 -2.20829554e-04 -4.53181443e+00] [-2.03806050e-03 -5.50890814e-05 9.99997922e-01 -3.33848196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74755201799999 meters 0.017052138355573423 Centerline is valid? [True, True] Translation: X:46.76, Y:-4.55, Z:-0.33 [[ 9.91218907e-01 1.32192615e-01 3.19242561e-03 4.67597713e+01] [-1.32192182e-01 9.91224045e-01 -3.47215853e-04 -4.54751304e+00] [-3.21030840e-03 -7.78467877e-05 9.99994844e-01 -3.32530871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80755201799999 meters 0.014868599118505618 Centerline is valid? [True, True] Translation: X:46.82, Y:-4.57, Z:-0.33 [[ 9.91596851e-01 1.29351355e-01 1.97776107e-03 4.68201644e+01] [-1.29351184e-01 9.91598823e-01 -2.14837392e-04 -4.56720474e+00] [-1.98893506e-03 -4.27936546e-05 9.99998021e-01 -3.33480311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86755201799999 meters 0.013902201095124373 Centerline is valid? [True, True] Translation: X:46.88, Y:-4.58, Z:-0.33 [[ 9.92072561e-01 1.25660638e-01 1.19904589e-03 4.68803726e+01] [-1.25660572e-01 9.92073285e-01 -1.29815951e-04 -4.58484354e+00] [-1.20585415e-03 -2.18859506e-05 9.99999273e-01 -3.34372956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92755201799999 meters 0.013462845127671833 Centerline is valid? [True, True] Translation: X:46.94, Y:-4.60, Z:-0.34 [[ 9.92512085e-01 1.22145878e-01 3.82763089e-04 4.69402284e+01] [-1.22145871e-01 9.92512158e-01 -4.03543832e-05 -4.59740063e+00] [-3.84826141e-04 -6.70071803e-06 9.99999926e-01 -3.37032873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98755201799999 meters 0.012275686641528748 Centerline is valid? [True, True] Translation: X:47.00, Y:-4.62, Z:-0.34 [[ 9.93453446e-01 1.14237267e-01 3.12847323e-04 4.69999199e+01] [-1.14237262e-01 9.93453495e-01 -3.28053203e-05 -4.61570760e+00] [-3.14546856e-04 -3.14826306e-06 9.99999951e-01 -3.39942948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04755201799999 meters 0.012019315072565546 Centerline is valid? [True, True] Translation: X:47.06, Y:-4.63, Z:-0.34 [[ 9.94200373e-01 1.07528182e-01 1.81874292e-03 4.70601668e+01] [-1.07527997e-01 9.94202037e-01 -1.99452607e-04 -4.63445194e+00] [-1.82964469e-03 2.73007166e-06 9.99998326e-01 -3.36063416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10755201799999 meters 0.013288762080469266 Centerline is valid? [True, True] Translation: X:47.12, Y:-4.65, Z:-0.34 [[ 9.94993646e-01 9.98737531e-02 3.58860872e-03 4.71203153e+01] [-9.98729727e-02 9.95000117e-01 -3.96470009e-04 -4.65085933e+00] [-3.61026304e-03 3.60801189e-05 9.99993482e-01 -3.35448318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16755201799999 meters 0.013752853774278229 Centerline is valid? [True, True] Translation: X:47.18, Y:-4.66, Z:-0.34 [[ 9.95193428e-01 9.79004719e-02 2.35346149e-03 4.71818191e+01] [-9.79001310e-02 9.95196210e-01 -2.59890886e-04 -4.66023624e+00] [-2.36759940e-03 2.82375133e-05 9.99997197e-01 -3.37457294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22755201799999 meters 0.013763455728208114 Centerline is valid? [True, True] Translation: X:47.24, Y:-4.67, Z:-0.34 [[ 9.95136473e-01 9.84841597e-02 2.06644243e-03 4.72436229e+01] [-9.84838979e-02 9.95138618e-01 -2.28325736e-04 -4.66967011e+00] [-2.07888313e-03 2.37039622e-05 9.99997839e-01 -3.37279246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28755201799999 meters 0.013205339242365634 Centerline is valid? [True, True] Translation: X:47.31, Y:-4.67, Z:-0.34 [[ 9.94799983e-01 1.01834531e-01 1.64970845e-03 4.73054409e+01] [-1.01834368e-01 9.94801351e-01 -1.82566268e-04 -4.67458472e+00] [-1.65972375e-03 1.36199020e-05 9.99998623e-01 -3.39057375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.347552017999995 meters 0.013071950741940138 Centerline is valid? [True, True] Translation: X:47.37, Y:-4.68, Z:-0.34 [[ 9.94628757e-01 1.03469719e-01 2.76629478e-03 4.73664815e+01] [-1.03469260e-01 9.94632604e-01 -3.08738588e-04 -4.68059566e+00] [-2.78339208e-03 2.08538030e-05 9.99996126e-01 -3.39272286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40755201799999 meters 0.013140833054017911 Centerline is valid? [True, True] Translation: X:47.43, Y:-4.69, Z:-0.34 [[ 9.94665196e-01 1.03017918e-01 5.33444860e-03 4.74287330e+01] [-1.03016198e-01 9.94679499e-01 -5.96940735e-04 -4.68554061e+00] [-5.36756225e-03 4.42215619e-05 9.99985594e-01 -3.38794104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46755201799999 meters 0.013734888499862473 Centerline is valid? [True, True] Translation: X:47.49, Y:-4.69, Z:-0.34 [[ 9.94938151e-01 1.00354819e-01 5.19474485e-03 4.74899320e+01] [-1.00353143e-01 9.94951711e-01 -5.82949514e-04 -4.69466767e+00] [-5.22702207e-03 5.86897374e-05 9.99986337e-01 -3.38488602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.527552017999994 meters 0.015153537965041597 Centerline is valid? [True, True] Translation: X:47.55, Y:-4.70, Z:-0.34 [[ 9.95435705e-01 9.51499316e-02 7.36531409e-03 4.75511069e+01] [-9.51463991e-02 9.95462945e-01 -8.29324754e-04 -4.70313098e+00] [-7.41080745e-03 1.24756357e-04 9.99972532e-01 -3.35961349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58755201799999 meters 0.015734503502897224 Centerline is valid? [True, True] Translation: X:47.61, Y:-4.71, Z:-0.34 [[ 9.95709407e-01 9.21914185e-02 7.96987011e-03 4.76129588e+01] [-9.21871701e-02 9.95741290e-01 -8.99570221e-04 -4.70708657e+00] [-8.01886139e-03 1.60990760e-04 9.99967835e-01 -3.36816294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64755201799999 meters 0.01681780517930857 Centerline is valid? [True, True] Translation: X:47.67, Y:-4.71, Z:-0.34 [[ 9.95975011e-01 8.94631390e-02 5.48859495e-03 4.76747157e+01] [-8.94610775e-02 9.95990126e-01 -6.20455925e-04 -4.70896249e+00] [-5.52209431e-03 1.26942978e-04 9.99984745e-01 -3.40902735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.707552017999994 meters 0.017785120642494063 Centerline is valid? [True, True] Translation: X:47.74, Y:-4.71, Z:-0.34 [[ 9.96179310e-01 8.71581720e-02 5.49873240e-03 4.77364656e+01] [-8.71560602e-02 9.96194476e-01 -6.22977564e-04 -4.71271106e+00] [-5.53210442e-03 1.41349507e-04 9.99984688e-01 -3.42084814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76755201799999 meters 0.0203389602804749 Centerline is valid? [True, True] Translation: X:47.80, Y:-4.71, Z:-0.34 [[ 9.96602878e-01 8.21553255e-02 5.76255421e-03 4.77969621e+01] [-8.21529111e-02 9.96619521e-01 -6.54845749e-04 -4.71446003e+00] [-5.79687308e-03 1.79210554e-04 9.99983182e-01 -3.42965844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82755201799999 meters 0.021456005828918785 Centerline is valid? [True, True] Translation: X:47.86, Y:-4.72, Z:-0.34 [[ 9.96899504e-01 7.85155380e-02 5.16616234e-03 4.78589366e+01] [-7.85135492e-02 9.96912874e-01 -5.86963178e-04 -4.71668211e+00] [-5.19629948e-03 1.79529560e-04 9.99986483e-01 -3.44884239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.887552017999994 meters 0.023123515246635997 Centerline is valid? [True, True] Translation: X:47.92, Y:-4.72, Z:-0.34 [[ 9.97272634e-01 7.35039290e-02 6.66822231e-03 4.79200711e+01] [-7.35004963e-02 9.97294892e-01 -7.58730482e-04 -4.71650264e+00] [-6.70595372e-03 2.66543498e-04 9.99977479e-01 -3.43835629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94755201799999 meters 0.025853652781312735 Centerline is valid? [True, True] Translation: X:47.98, Y:-4.72, Z:-0.34 [[ 9.97619477e-01 6.85182374e-02 7.78654442e-03 4.79815718e+01] [-6.85134019e-02 9.97649802e-01 -8.86380979e-04 -4.71538752e+00] [-7.82897776e-03 3.50788282e-04 9.99969292e-01 -3.44083955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00755201799999 meters 0.02366989041030954 Centerline is valid? [True, True] Translation: X:48.04, Y:-4.71, Z:-0.34 [[ 9.97743274e-01 6.65860277e-02 8.64060198e-03 4.80440543e+01] [-6.65799960e-02 9.97780605e-01 -9.84175392e-04 -4.71224807e+00] [-8.68695740e-03 4.06663133e-04 9.99962185e-01 -3.43423898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06755201799999 meters 0.029239693999492482 Centerline is valid? [True, True] Translation: X:48.11, Y:-4.71, Z:-0.34 [[ 9.97790747e-01 6.58273240e-02 8.96601738e-03 4.81055527e+01] [-6.58207771e-02 9.97830936e-01 -1.02364701e-03 -4.71430034e+00] [-9.01395346e-03 4.31235287e-04 9.99959281e-01 -3.43258820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12755201799999 meters 0.02556539474400503 Centerline is valid? [True, True] Translation: X:48.17, Y:-4.70, Z:-0.35 [[ 9.97918184e-01 6.40119200e-02 7.85946886e-03 4.81699984e+01] [-6.40068202e-02 9.97949056e-01 -8.98960852e-04 -4.69955595e+00] [-7.90089375e-03 3.94029772e-04 9.99968710e-01 -3.46212157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18755201799999 meters 0.027729389490466553 Centerline is valid? [True, True] Translation: X:48.23, Y:-4.70, Z:-0.35 [[ 9.98066743e-01 6.16888316e-02 7.56731875e-03 4.82312122e+01] [-6.16840331e-02 9.98095351e-01 -8.66103545e-04 -4.69961396e+00] [-7.60633458e-03 3.97646404e-04 9.99970992e-01 -3.46432187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24755201799999 meters 0.027579472719654587 Centerline is valid? [True, True] Translation: X:48.29, Y:-4.69, Z:-0.35 [[ 9.98384509e-01 5.61559023e-02 8.65375770e-03 4.82935807e+01] [-5.61494168e-02 9.98421885e-01 -9.90771343e-04 -4.68898393e+00] [-8.69573873e-03 5.03267313e-04 9.99962065e-01 -3.46340066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30755201799999 meters 0.030298331610446746 Centerline is valid? [True, True] Translation: X:48.35, Y:-4.69, Z:-0.35 [[ 9.98465326e-01 5.46038206e-02 9.24206150e-03 4.83549488e+01] [-5.45963515e-02 9.98507946e-01 -1.05873443e-03 -4.69292673e+00] [-9.28608278e-03 5.52526783e-04 9.99956731e-01 -3.46736722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36755201799999 meters 0.03076394607976375 Centerline is valid? [True, True] Translation: X:48.42, Y:-4.68, Z:-0.35 [[ 9.98695653e-01 5.00780853e-02 9.95886236e-03 4.84177670e+01] [-5.00691689e-02 9.98745099e-01 -1.14280183e-03 -4.68034284e+00] [-1.00035943e-02 6.42679260e-04 9.99949756e-01 -3.48148023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42755201799999 meters 0.047572278175116875 Centerline is valid? [True, True] Translation: X:48.48, Y:-4.69, Z:-0.35 [[ 9.98769399e-01 4.87423394e-02 9.15817359e-03 4.84778654e+01] [-4.87347370e-02 9.98811203e-01 -1.05159491e-03 -4.69041576e+00] [-9.19854358e-03 6.03979631e-04 9.99957510e-01 -3.48171161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48755201799999 meters 0.047761471481426274 Centerline is valid? [True, True] Translation: X:48.54, Y:-4.68, Z:-0.35 [[ 9.98692114e-01 5.02896262e-02 9.22035011e-03 4.85414427e+01] [-5.02819599e-02 9.98734498e-01 -1.06153755e-03 -4.68156111e+00] [-9.26206607e-03 5.96531902e-04 9.99956928e-01 -3.48910376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54755201799999 meters 0.046905135548336675 Centerline is valid? [True, True] Translation: X:48.60, Y:-4.66, Z:-0.35 [[ 9.98446568e-01 5.47154884e-02 1.05198353e-02 4.86041644e+01] [-5.47057264e-02 9.98501783e-01 -1.21369813e-03 -4.66100566e+00] [-1.05704824e-02 6.36317503e-04 9.99943928e-01 -3.48987701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60755201799999 meters 0.041075048907206056 Centerline is valid? [True, True] Translation: X:48.67, Y:-4.64, Z:-0.35 [[ 9.98313766e-01 5.71240351e-02 1.03183844e-02 4.86676162e+01] [-5.71147701e-02 9.98366909e-01 -1.19061184e-03 -4.64457563e+00] [-1.03695461e-02 5.99272040e-04 9.99946055e-01 -3.50341833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66755201799999 meters 0.04087670044157992 Centerline is valid? [True, True] Translation: X:48.73, Y:-4.63, Z:-0.35 [[ 9.98185866e-01 5.97411029e-02 7.48176822e-03 4.87303996e+01] [-5.97363031e-02 9.98213819e-01 -8.63563094e-04 -4.62933947e+00] [-7.51999463e-03 4.15063302e-04 9.99971638e-01 -3.54440047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72755201799999 meters 0.040463340024950896 Centerline is valid? [True, True] Translation: X:48.79, Y:-4.62, Z:-0.36 [[ 9.98103368e-01 6.11001346e-02 7.51263758e-03 4.87945878e+01] [-6.10953306e-02 9.98131558e-01 -8.67505458e-04 -4.61963225e+00] [-7.55160536e-03 4.06873043e-04 9.99971403e-01 -3.55101116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78755201799999 meters 0.038607296411710124 Centerline is valid? [True, True] Translation: X:48.86, Y:-4.60, Z:-0.35 [[ 9.97985815e-01 6.28395105e-02 8.68959106e-03 4.88591308e+01] [-6.28331365e-02 9.98023540e-01 -1.00486484e-03 -4.60076113e+00] [-8.73556165e-03 4.56846591e-04 9.99961740e-01 -3.54332131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84755201799999 meters 0.03664371698994097 Centerline is valid? [True, True] Translation: X:48.92, Y:-4.59, Z:-0.36 [[ 9.97883100e-01 6.45664872e-02 7.77738485e-03 4.89233177e+01] [-6.45614158e-02 9.97913328e-01 -9.01630711e-04 -4.58857467e+00] [-7.81937113e-03 3.97603071e-04 9.99969349e-01 -3.56021461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90755201799999 meters 0.03574695556122338 Centerline is valid? [True, True] Translation: X:48.99, Y:-4.58, Z:-0.36 [[ 9.97711765e-01 6.72787371e-02 6.69368113e-03 4.89862953e+01] [-6.72750285e-02 9.97734166e-01 -7.77919054e-04 -4.58119101e+00] [-6.73085177e-03 3.25821403e-04 9.99977294e-01 -3.57276929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96755201799999 meters 0.029452068107499795 Centerline is valid? [True, True] Translation: X:49.05, Y:-4.56, Z:-0.36 [[ 9.97051622e-01 7.66303585e-02 3.98131929e-03 4.90491678e+01] [-7.66291193e-02 9.97059559e-01 -4.63084994e-04 -4.56045539e+00] [-4.00509882e-03 1.56634653e-04 9.99991967e-01 -3.60039311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.027552017999994 meters 0.02462711330397304 Centerline is valid? [True, True] Translation: X:49.11, Y:-4.55, Z:-0.36 [[ 9.96380031e-01 8.49355107e-02 3.57674254e-03 4.91113393e+01] [-8.49345640e-02 9.96386444e-01 -4.16025867e-04 -4.54922302e+00] [-3.59915315e-03 1.10730798e-04 9.99993517e-01 -3.61549473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08755201799999 meters 0.017812051024271996 Centerline is valid? [True, True] Translation: X:49.17, Y:-4.53, Z:-0.36 [[ 9.95263695e-01 9.70949567e-02 4.76944274e-03 4.91746040e+01] [-9.70934129e-02 9.95275118e-01 -5.54704417e-04 -4.52996422e+00] [-4.80076669e-03 8.89956942e-05 9.99988472e-01 -3.59511637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14755201799999 meters 0.015710767901584183 Centerline is valid? [True, True] Translation: X:49.24, Y:-4.52, Z:-0.36 [[ 9.94864514e-01 1.01055726e-01 5.68673002e-03 4.92367311e+01] [-1.01053595e-01 9.94880763e-01 -6.61509548e-04 -4.52433749e+00] [-5.72446763e-03 8.34478629e-05 9.99983612e-01 -3.58782487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.207552017999994 meters 0.016695774441389827 Centerline is valid? [True, True] Translation: X:49.30, Y:-4.52, Z:-0.36 [[ 9.95118347e-01 9.85543356e-02 5.14950577e-03 4.92982577e+01] [-9.85525539e-02 9.95131667e-01 -5.99226812e-04 -4.52479349e+00] [-5.18349266e-03 8.88046498e-05 9.99986562e-01 -3.59804262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26755201799999 meters 0.020016525834096428 Centerline is valid? [True, True] Translation: X:49.36, Y:-4.53, Z:-0.36 [[ 9.95712712e-01 9.23769147e-02 4.76456665e-03 4.93599154e+01] [-9.23753182e-02 9.95724105e-01 -5.54532617e-04 -4.53406133e+00] [-4.79541988e-03 1.12026816e-04 9.99988496e-01 -3.60593646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32755201799999 meters 0.02494100530266279 Centerline is valid? [True, True] Translation: X:49.42, Y:-4.54, Z:-0.36 [[ 9.96450592e-01 8.40905353e-02 3.87289750e-03 4.94205756e+01] [-8.40894160e-02 9.96458111e-01 -4.51221672e-04 -4.53971096e+00] [-3.89712360e-03 1.23950414e-04 9.99992399e-01 -3.63246933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.387552017999994 meters 0.02588297370873713 Centerline is valid? [True, True] Translation: X:49.48, Y:-4.55, Z:-0.36 [[ 9.96574649e-01 8.26233383e-02 3.51464922e-03 4.94820216e+01] [-8.26224075e-02 9.96580840e-01 -4.09470488e-04 -4.54546745e+00] [-3.53646389e-03 1.17679128e-04 9.99993740e-01 -3.63735939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44755201799999 meters 0.024652068138667944 Centerline is valid? [True, True] Translation: X:49.54, Y:-4.55, Z:-0.36 [[ 9.96512469e-01 8.33981599e-02 2.76525025e-03 4.95439942e+01] [-8.33975866e-02 9.96516301e-01 -3.22215512e-04 -4.54703721e+00] [-2.78248913e-03 9.04765784e-05 9.99996125e-01 -3.64708044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50755201799999 meters 0.0245139137867556 Centerline is valid? [True, True] Translation: X:49.60, Y:-4.55, Z:-0.37 [[ 9.96300065e-01 8.58766984e-02 3.37253285e-03 4.96044238e+01] [-8.58758588e-02 9.96305767e-01 -3.93221880e-04 -4.54565193e+00] [-3.39384253e-03 1.02147830e-04 9.99994236e-01 -3.65062586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56755201799999 meters 0.02298429997787434 Centerline is valid? [True, True] Translation: X:49.66, Y:-4.55, Z:-0.36 [[ 9.96236285e-01 8.65579200e-02 4.58154563e-03 4.96649634e+01] [-8.65563754e-02 9.96246811e-01 -5.34714990e-04 -4.54546749e+00] [-4.61063404e-03 1.36140492e-04 9.99989362e-01 -3.63477400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62755201799999 meters 0.025724657823138018 Centerline is valid? [True, True] Translation: X:49.72, Y:-4.55, Z:-0.36 [[ 9.96487305e-01 8.36271301e-02 4.42192887e-03 4.97235391e+01] [-8.36256636e-02 9.96497106e-01 -5.15827900e-04 -4.55421023e+00] [-4.44957653e-03 1.44229218e-04 9.99990090e-01 -3.64237258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68755201799999 meters 0.026758265050157524 Centerline is valid? [True, True] Translation: X:49.78, Y:-4.56, Z:-0.36 [[ 9.96661683e-01 8.15241961e-02 4.39254663e-03 4.97837651e+01] [-8.15227293e-02 9.96671351e-01 -5.12241541e-04 -4.56036380e+00] [-4.41968547e-03 1.52439127e-04 9.99990222e-01 -3.64584985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74755201799999 meters 0.026847217748807592 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.57, Z:-0.36 [[ 9.96694758e-01 8.10681830e-02 5.24483925e-03 4.98444394e+01] [-8.10660855e-02 9.96708541e-01 -6.11632559e-04 -4.56556269e+00] [-5.27716002e-03 1.84432379e-04 9.99986059e-01 -3.63909356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80755201799999 meters 0.028130646359562996 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.57, Z:-0.37 [[ 9.96644846e-01 8.16898225e-02 5.08174873e-03 4.99035323e+01] [-8.16878612e-02 9.96657786e-01 -5.92657306e-04 -4.57275317e+00] [-5.11317851e-03 1.75551664e-04 9.99986912e-01 -3.65170000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86755201799999 meters 0.024714876543922334 Centerline is valid? [True, True] Translation: X:49.97, Y:-4.57, Z:-0.36 [[ 9.96271116e-01 8.58874073e-02 8.19857087e-03 4.99651080e+01] [-8.58824464e-02 9.96304819e-01 -9.55899846e-04 -4.56947930e+00] [-8.25037542e-03 2.48222083e-04 9.99965934e-01 -3.62389283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92755201799999 meters 0.022367763712589556 Centerline is valid? [True, True] Translation: X:50.03, Y:-4.57, Z:-0.36 [[ 9.95915012e-01 8.99022164e-02 8.41906325e-03 5.00260154e+01] [-8.98971284e-02 9.95950572e-01 -9.81607818e-04 -4.57046690e+00] [-8.47321958e-03 2.20748352e-04 9.99964077e-01 -3.63018480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98755201799999 meters 0.020329413948648217 Centerline is valid? [True, True] Translation: X:50.09, Y:-4.57, Z:-0.37 [[ 9.95538867e-01 9.41186886e-02 6.63595393e-03 5.00856784e+01] [-9.41156211e-02 9.95560973e-01 -7.73726015e-04 -4.57139662e+00] [-6.67931883e-03 1.45727394e-04 9.99977682e-01 -3.65497775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04755201799999 meters 0.019081459263228174 Centerline is valid? [True, True] Translation: X:50.15, Y:-4.58, Z:-0.37 [[ 9.95405299e-01 9.56231156e-02 4.95089603e-03 5.01455026e+01] [-9.56214275e-02 9.95417606e-01 -5.77114779e-04 -4.57584758e+00] [-4.98339459e-03 1.01051363e-04 9.99987578e-01 -3.68154133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10755201799999 meters 0.018877581340556754 Centerline is valid? [True, True] Translation: X:50.20, Y:-4.58, Z:-0.37 [[ 9.95295205e-01 9.67773811e-02 4.64694006e-03 5.02040348e+01] [-9.67759071e-02 9.95306049e-01 -5.41540634e-04 -4.58228231e+00] [-4.67753644e-03 8.92809559e-05 9.99989056e-01 -3.68598662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16755201799999 meters 0.01892443001554828 Centerline is valid? [True, True] Translation: X:50.26, Y:-4.59, Z:-0.37 [[ 9.95323999e-01 9.64558458e-02 5.13873438e-03 5.02626300e+01] [-9.64540409e-02 9.95337259e-01 -5.98496546e-04 -4.59122379e+00] [-5.17250228e-03 1.00046280e-04 9.99986618e-01 -3.68078891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22755201799999 meters 0.019186293440896708 Centerline is valid? [True, True] Translation: X:50.32, Y:-4.60, Z:-0.37 [[ 9.95354259e-01 9.61651007e-02 4.70883344e-03 5.03207421e+01] [-9.61635837e-02 9.95365393e-01 -5.48047937e-04 -4.60011039e+00] [-4.73971293e-03 9.26835501e-05 9.99988763e-01 -3.68732217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28755201799999 meters 0.01917957133622187 Centerline is valid? [True, True] Translation: X:50.38, Y:-4.61, Z:-0.37 [[ 9.95385160e-01 9.58682366e-02 4.20297003e-03 5.03791224e+01] [-9.58670266e-02 9.95394030e-01 -4.88865211e-04 -4.60869946e+00] [-4.23047792e-03 8.36829357e-05 9.99991048e-01 -3.69807666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34755201799999 meters 0.018758282341528775 Centerline is valid? [True, True] Translation: X:50.44, Y:-4.62, Z:-0.37 [[ 9.95440162e-01 9.53066024e-02 3.94159238e-03 5.04375765e+01] [-9.53055351e-02 9.95447962e-01 -4.58158434e-04 -4.61770659e+00] [-3.96731563e-03 8.04137348e-05 9.99992127e-01 -3.69701094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40755201799999 meters 0.019467204240201506 Centerline is valid? [True, True] Translation: X:50.49, Y:-4.63, Z:-0.37 [[ 9.95463891e-01 9.50021026e-02 5.12266606e-03 5.04946936e+01] [-9.50002991e-02 9.95477066e-01 -5.94810486e-04 -4.62527748e+00] [-5.15600483e-03 1.05457553e-04 9.99986702e-01 -3.67942209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46755201799999 meters 0.019562913463103446 Centerline is valid? [True, True] Translation: X:50.55, Y:-4.63, Z:-0.37 [[ 9.95502808e-01 9.45651624e-02 5.62035003e-03 5.05539646e+01] [-9.45629891e-02 9.95518667e-01 -6.51780986e-04 -4.63486319e+00] [-5.65679914e-03 1.17372704e-04 9.99983993e-01 -3.67983503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52755201799999 meters 0.02117489403312029 Centerline is valid? [True, True] Translation: X:50.61, Y:-4.65, Z:-0.37 [[ 9.95838944e-01 9.09358324e-02 5.95576638e-03 5.06134017e+01] [-9.09333290e-02 9.95856743e-01 -6.90343338e-04 -4.64739067e+00] [-5.99386706e-03 1.45893117e-04 9.99982026e-01 -3.67024634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58755201799999 meters 0.022353188839505097 Centerline is valid? [True, True] Translation: X:50.67, Y:-4.66, Z:-0.37 [[ 9.96115814e-01 8.78590673e-02 5.83695264e-03 5.06735791e+01] [-8.78566100e-02 9.96132902e-01 -6.76571429e-04 -4.65605327e+00] [-5.87382350e-03 1.61128628e-04 9.99982736e-01 -3.67236662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64755201799999 meters 0.025781480783171544 Centerline is valid? [True, True] Translation: X:50.73, Y:-4.67, Z:-0.37 [[ 9.96551700e-01 8.29142034e-02 3.15340755e-03 5.07321516e+01] [-8.29134629e-02 9.96556684e-01 -3.65080800e-04 -4.67090465e+00] [-3.17281976e-03 1.02361952e-04 9.99994961e-01 -3.70823582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.707552017999994 meters 0.029475300975128325 Centerline is valid? [True, True] Translation: X:50.79, Y:-4.68, Z:-0.37 [[ 9.96984140e-01 7.75871964e-02 1.68847900e-03 5.07916761e+01] [-7.75869763e-02 9.96985568e-01 -1.95571556e-04 -4.68415827e+00] [-1.69856305e-03 6.39777594e-05 9.99998555e-01 -3.72247272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76755201799999 meters 0.030945131375425875 Centerline is valid? [True, True] Translation: X:50.85, Y:-4.69, Z:-0.37 [[ 9.97126803e-01 7.56936999e-02 2.93295551e-03 5.08515347e+01] [-7.56930253e-02 9.97131110e-01 -3.40478838e-04 -4.69334523e+00] [-2.95031329e-03 1.17496300e-04 9.99995641e-01 -3.71045501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82755201799999 meters 0.033682891194776514 Centerline is valid? [True, True] Translation: X:50.91, Y:-4.70, Z:-0.37 [[ 9.97298631e-01 7.33586693e-02 3.73449810e-03 5.09107826e+01] [-7.33575593e-02 9.97305610e-01 -4.33527740e-04 -4.70118806e+00] [-3.75623893e-03 1.58402956e-04 9.99992933e-01 -3.70001797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.887552017999994 meters 0.033738464093545556 Centerline is valid? [True, True] Translation: X:50.97, Y:-4.70, Z:-0.37 [[ 9.97613943e-01 6.88978256e-02 4.41699359e-03 5.09723382e+01] [-6.88962297e-02 9.97623700e-01 -5.12638424e-04 -4.70362663e+00] [-4.44181716e-03 2.07101034e-04 9.99990114e-01 -3.68989740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94755201799999 meters 0.04015321651092263 Centerline is valid? [True, True] Translation: X:51.03, Y:-4.72, Z:-0.37 [[ 9.97827213e-01 6.56841602e-02 5.14239783e-03 5.10311356e+01] [-6.56819536e-02 9.97840430e-01 -5.96992343e-04 -4.71504445e+00] [-5.17050541e-03 2.57932470e-04 9.99986600e-01 -3.69251980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00755201799999 meters 0.03857653327124433 Centerline is valid? [True, True] Translation: X:51.09, Y:-4.71, Z:-0.37 [[ 9.97915510e-01 6.40883928e-02 7.57055874e-03 5.10932686e+01] [-6.40835556e-02 9.97944148e-01 -8.80059029e-04 -4.70975403e+00] [-7.61139636e-03 3.93076233e-04 9.99970956e-01 -3.67322749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06755201799999 meters 0.03694461445324988 Centerline is valid? [True, True] Translation: X:51.15, Y:-4.71, Z:-0.37 [[ 9.97870952e-01 6.44529177e-02 9.96917934e-03 5.11540403e+01] [-6.44445400e-02 9.97920616e-01 -1.15966191e-03 -4.70680591e+00] [-1.00231932e-02 5.14733761e-04 9.99949634e-01 -3.66691996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12755201799999 meters 0.04486915165286368 Centerline is valid? [True, True] Translation: X:51.21, Y:-4.72, Z:-0.37 [[ 9.97798312e-01 6.57489275e-02 8.69523813e-03 5.12139304e+01] [-6.57425928e-02 9.97836102e-01 -1.01266480e-03 -4.71814902e+00] [-8.74300414e-03 4.38787733e-04 9.99961683e-01 -3.69846871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18755201799999 meters 0.03701303118257535 Centerline is valid? [True, True] Translation: X:51.28, Y:-4.71, Z:-0.37 [[ 9.97853217e-01 6.50164411e-02 7.86261165e-03 5.12772374e+01] [-6.50112243e-02 9.97884111e-01 -9.17540552e-04 -4.70560708e+00] [-7.90563046e-03 4.04412781e-04 9.99968668e-01 -3.72948758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24755201799999 meters 0.03818237780162524 Centerline is valid? [True, True] Translation: X:51.34, Y:-4.71, Z:-0.37 [[ 9.97967733e-01 6.33037020e-02 7.28322677e-03 5.13382608e+01] [-6.32991781e-02 9.97994234e-01 -8.50220247e-04 -4.70681195e+00] [-7.32244041e-03 3.87470104e-04 9.99973116e-01 -3.74886182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30755201799999 meters 0.04087889205351012 Centerline is valid? [True, True] Translation: X:51.40, Y:-4.71, Z:-0.38 [[ 9.98233395e-01 5.91556047e-02 5.54103934e-03 5.13983380e+01] [-5.91529223e-02 9.98248723e-01 -6.46876036e-04 -4.70795978e+00] [-5.56960179e-03 3.17964592e-04 9.99984439e-01 -3.78988033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36755201799999 meters 0.0453014082181658 Centerline is valid? [True, True] Translation: X:51.46, Y:-4.71, Z:-0.38 [[ 9.98310566e-01 5.78531939e-02 5.38712908e-03 5.14569052e+01] [-5.78506400e-02 9.98325051e-01 -6.28826468e-04 -4.71418675e+00] [-5.41448553e-03 3.16115243e-04 9.99985292e-01 -3.80333264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42755201799999 meters 0.04278124075319049 Centerline is valid? [True, True] Translation: X:51.52, Y:-4.71, Z:-0.38 [[ 9.98119354e-01 6.09958002e-02 6.10475621e-03 5.15179250e+01] [-6.09925810e-02 9.98137965e-01 -7.12284731e-04 -4.70675554e+00] [-6.13683532e-03 3.38600338e-04 9.99981112e-01 -3.80527294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48755201799999 meters 0.04037078992719313 Centerline is valid? [True, True] Translation: X:51.58, Y:-4.70, Z:-0.38 [[ 9.97860651e-01 6.50271174e-02 6.75245190e-03 5.15787268e+01] [-6.50232732e-02 9.97883437e-01 -7.87527290e-04 -4.70183751e+00] [-6.78937054e-03 3.46775970e-04 9.99976892e-01 -3.81522706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54755201799999 meters 0.037409534792614635 Centerline is valid? [True, True] Translation: X:51.64, Y:-4.70, Z:-0.38 [[ 9.97551716e-01 6.94966806e-02 7.79653272e-03 5.16391370e+01] [-6.94916942e-02 9.97582116e-01 -9.08972917e-04 -4.69792425e+00] [-7.84085221e-03 3.64953224e-04 9.99969193e-01 -3.82081475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60755201799999 meters 0.03914118412734792 Centerline is valid? [True, True] Translation: X:51.70, Y:-4.70, Z:-0.38 [[ 9.97462961e-01 7.05944023e-02 9.16903953e-03 5.16977126e+01] [-7.05875576e-02 9.97505015e-01 -1.06838620e-03 -4.69835911e+00] [-9.22158500e-03 4.18455552e-04 9.99957393e-01 -3.80501312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66755201799999 meters 0.038004805127574766 Centerline is valid? [True, True] Translation: X:51.76, Y:-4.69, Z:-0.38 [[ 9.97420720e-01 7.09080395e-02 1.11336425e-02 5.17570289e+01] [-7.08979812e-02 9.97482730e-01 -1.29601240e-03 -4.69481153e+00] [-1.11975138e-02 5.03316843e-04 9.99937179e-01 -3.81357777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72755201799999 meters 0.03752257504462251 Centerline is valid? [True, True] Translation: X:51.82, Y:-4.69, Z:-0.38 [[ 9.97424714e-01 7.11443811e-02 9.07839973e-03 5.18160766e+01] [-7.11377096e-02 9.97465945e-01 -1.05609071e-03 -4.69356001e+00] [-9.13052948e-03 4.07554407e-04 9.99958233e-01 -3.84542651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78755201799999 meters 0.03157926692745041 Centerline is valid? [True, True] Translation: X:51.88, Y:-4.68, Z:-0.39 [[ 9.97301739e-01 7.28354240e-02 9.17840698e-03 5.18765765e+01] [-7.28286838e-02 9.97343895e-01 -1.06691042e-03 -4.68439126e+00] [-9.23173704e-03 3.95580321e-04 9.99957308e-01 -3.85320781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84755201799999 meters 0.034288205360495226 Centerline is valid? [True, True] Translation: X:51.94, Y:-4.69, Z:-0.39 [[ 9.97055858e-01 7.61824142e-02 8.70957545e-03 5.19359527e+01] [-7.61764783e-02 9.97093837e-01 -1.01173947e-03 -4.68937356e+00] [-8.76134076e-03 3.45295980e-04 9.99961559e-01 -3.85741982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90755201799999 meters 0.029393607051329356 Centerline is valid? [True, True] Translation: X:52.00, Y:-4.68, Z:-0.39 [[ 9.96808297e-01 7.92879240e-02 9.30828628e-03 5.19959804e+01] [-7.92812841e-02 9.96851699e-01 -1.08075326e-03 -4.68163593e+00] [-9.36467168e-03 3.39330932e-04 9.99956093e-01 -3.86310282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96755201799999 meters 0.02817501689577396 Centerline is valid? [True, True] Translation: X:52.06, Y:-4.68, Z:-0.38 [[ 9.96333583e-01 8.47050949e-02 1.20182533e-02 5.20567863e+01] [-8.46944303e-02 9.96405996e-01 -1.39448928e-03 -4.68023378e+00] [-1.20931800e-02 3.71497382e-04 9.99926806e-01 -3.84862842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02755201799999 meters 0.02953976736304251 Centerline is valid? [True, True] Translation: X:52.12, Y:-4.69, Z:-0.39 [[ 9.96163845e-01 8.67808414e-02 1.12551986e-02 5.21157694e+01] [-8.67716292e-02 9.96227374e-01 -1.30516950e-03 -4.68690216e+00] [-1.13260006e-02 3.23530750e-04 9.99935806e-01 -3.85193835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08755201799999 meters 0.027879984568609958 Centerline is valid? [True, True] Translation: X:52.17, Y:-4.69, Z:-0.39 [[ 9.96244663e-01 8.59332986e-02 1.05848626e-02 5.21747861e+01] [-8.59251175e-02 9.96300844e-01 -1.22610592e-03 -4.68832089e+00] [-1.06510709e-02 3.11995921e-04 9.99943227e-01 -3.86763352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14755201799999 meters 0.02778506552631034 Centerline is valid? [True, True] Translation: X:52.23, Y:-4.70, Z:-0.39 [[ 9.96317652e-01 8.49659678e-02 1.14856443e-02 5.22335480e+01] [-8.49562827e-02 9.96383793e-01 -1.32941199e-03 -4.69601203e+00] [-1.15570646e-02 3.48738993e-04 9.99933154e-01 -3.86571271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20755201799999 meters 0.029154075637728077 Centerline is valid? [True, True] Translation: X:52.29, Y:-4.71, Z:-0.39 [[ 9.96476773e-01 8.31091386e-02 1.12654795e-02 5.22905232e+01] [-8.30997147e-02 9.96540386e-01 -1.30286948e-03 -4.70744181e+00] [-1.13347857e-02 3.62121042e-04 9.99935694e-01 -3.86419156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26755201799999 meters 0.029037373769104795 Centerline is valid? [True, True] Translation: X:52.35, Y:-4.71, Z:-0.39 [[ 9.96616961e-01 8.12924385e-02 1.20902054e-02 5.23485701e+01] [-8.12814677e-02 9.96690209e-01 -1.39684240e-03 -4.71380052e+00] [-1.21637421e-02 4.09407182e-04 9.99925935e-01 -3.85731266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32755201799999 meters 0.02960174684602501 Centerline is valid? [True, True] Translation: X:52.41, Y:-4.72, Z:-0.39 [[ 9.96719347e-01 8.03318783e-02 9.86568404e-03 5.24064759e+01] [-8.03245343e-02 9.96768113e-01 -1.13903563e-03 -4.72258802e+00] [-9.92530014e-03 3.42842376e-04 9.99950684e-01 -3.87796778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.387552017999994 meters 0.03151518870270322 Centerline is valid? [True, True] Translation: X:52.46, Y:-4.74, Z:-0.39 [[ 9.97055962e-01 7.64241044e-02 6.22614909e-03 5.24639501e+01] [-7.64211053e-02 9.97075372e-01 -7.18532265e-04 -4.73700951e+00] [-6.26285310e-03 2.40607684e-04 9.99980359e-01 -3.92569842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44755201799999 meters 0.03492842892129693 Centerline is valid? [True, True] Translation: X:52.52, Y:-4.75, Z:-0.39 [[ 9.97310211e-01 7.31438789e-02 4.72401162e-03 5.25221550e+01] [-7.31421164e-02 9.97321379e-01 -5.44999802e-04 -4.74836633e+00] [-4.75122119e-03 1.98009659e-04 9.99988693e-01 -3.91668839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50755201799999 meters 0.03538319663981061 Centerline is valid? [True, True] Translation: X:52.58, Y:-4.76, Z:-0.39 [[ 9.97538864e-01 6.98787336e-02 5.76003557e-03 5.25814462e+01] [-6.98760616e-02 9.97555460e-01 -6.64078692e-04 -4.75762577e+00] [-5.79235991e-03 2.59955703e-04 9.99983190e-01 -3.90470023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56755201799999 meters 0.03514997416222609 Centerline is valid? [True, True] Translation: X:52.64, Y:-4.77, Z:-0.39 [[ 9.97940099e-01 6.39023956e-02 5.66062436e-03 5.26408785e+01] [-6.38997205e-02 9.97956111e-01 -6.52366129e-04 -4.76602155e+00] [-5.69074244e-03 2.89310004e-04 9.99983766e-01 -3.90748788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62755201799999 meters 0.04032206829199521 Centerline is valid? [True, True] Translation: X:52.70, Y:-4.78, Z:-0.39 [[ 9.98420868e-01 5.59196692e-02 5.36283973e-03 5.26993312e+01] [-5.59171535e-02 9.98435221e-01 -6.18025482e-04 -4.78062272e+00] [-5.38900785e-03 3.17174806e-04 9.99985429e-01 -3.91445410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68755201799999 meters 0.041957880640470464 Centerline is valid? [True, True] Translation: X:52.76, Y:-4.79, Z:-0.39 [[ 9.98726552e-01 5.02693486e-02 4.27387355e-03 5.27589850e+01] [-5.02676996e-02 9.98735659e-01 -4.92429131e-04 -4.78919596e+00] [-4.29322400e-03 2.76964257e-04 9.99990746e-01 -3.91598741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74755201799999 meters 0.0448968400642701 Centerline is valid? [True, True] Translation: X:52.82, Y:-4.80, Z:-0.39 [[ 9.99024780e-01 4.38543706e-02 5.12673148e-03 5.28194516e+01] [-4.38519139e-02 9.99037868e-01 -5.90688762e-04 -4.79592368e+00] [-5.14770317e-03 3.65295723e-04 9.99986684e-01 -3.89870691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80755201799999 meters 0.04611912875232178 Centerline is valid? [True, True] Translation: X:52.88, Y:-4.80, Z:-0.39 [[ 9.99147363e-01 4.10208189e-02 4.67326079e-03 5.28795601e+01] [-4.10187467e-02 9.99158232e-01 -5.38451027e-04 -4.80205963e+00] [-4.69141469e-03 3.46300623e-04 9.99988935e-01 -3.91421808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86755201799999 meters 0.04812903028948468 Centerline is valid? [True, True] Translation: X:52.94, Y:-4.81, Z:-0.39 [[ 9.99222008e-01 3.93455836e-02 2.70238081e-03 5.29392539e+01] [-3.93448841e-02 9.99225642e-01 -3.11540152e-04 -4.80630513e+00] [-2.71254593e-03 2.04972916e-04 9.99996300e-01 -3.93979747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92755201799999 meters 0.046310006978938695 Centerline is valid? [True, True] Translation: X:53.00, Y:-4.80, Z:-0.39 [[ 9.99182625e-01 4.03248154e-02 2.82688216e-03 5.29988731e+01] [-4.03240538e-02 9.99186601e-01 -3.25940368e-04 -4.80211425e+00] [-2.83772627e-03 2.11682604e-04 9.99995951e-01 -3.93980552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98755201799999 meters 0.045421384769852434 Centerline is valid? [True, True] Translation: X:53.06, Y:-4.80, Z:-0.39 [[ 9.99122128e-01 4.18305613e-02 2.27562380e-03 5.30583396e+01] [-4.18300717e-02 9.99124705e-01 -2.62306928e-04 -4.80174403e+00] [-2.28460440e-03 1.66887150e-04 9.99997376e-01 -3.93948409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04755201799999 meters 0.04604597862826909 Centerline is valid? [True, True] Translation: X:53.12, Y:-4.80, Z:-0.39 [[ 9.99159913e-01 4.09666923e-02 1.09426071e-03 5.31176340e+01] [-4.09665784e-02 9.99160509e-01 -1.26337949e-04 -4.80075926e+00] [-1.09851773e-03 8.14036976e-05 9.99999393e-01 -3.94971351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10755201799999 meters 0.04888120555073183 Centerline is valid? [True, True] Translation: X:53.18, Y:-4.81, Z:-0.40 [[ 9.99251860e-01 3.86742427e-02 1.53186195e-04 5.31752483e+01] [-3.86742404e-02 9.99251872e-01 -1.81529306e-05 -4.80664146e+00] [-1.53773643e-04 1.22149899e-05 9.99999988e-01 -3.96365837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16755201799999 meters 0.04950687288181238 Centerline is valid? [True, True] Translation: X:53.24, Y:-4.81, Z:-0.39 [[ 9.99347584e-01 3.60986418e-02 1.13774056e-03 5.32360101e+01] [-3.60985161e-02 9.99348228e-01 -1.30793499e-04 -4.80533412e+00] [-1.14172048e-03 8.96374209e-05 9.99999344e-01 -3.94807808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22755201799999 meters 0.04676910771996914 Centerline is valid? [True, True] Translation: X:53.30, Y:-4.80, Z:-0.39 [[ 9.99247543e-01 3.87857185e-02 1.26664101e-04 5.32969571e+01] [-3.87857170e-02 9.99247551e-01 -1.48239596e-05 -4.79819280e+00] [-1.27143750e-04 9.90004727e-06 9.99999992e-01 -3.94850649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28755201799999 meters 0.046961573650602856 Centerline is valid? [True, True] Translation: X:53.36, Y:-4.80, Z:-0.40 [[ 9.99031760e-01 4.39894957e-02 -6.82713408e-04 5.33566081e+01] [-4.39894525e-02 9.99031992e-01 7.81916545e-05 -4.79641499e+00] [ 6.85492148e-04 -4.80837572e-05 9.99999764e-01 -3.96039495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34755201799999 meters 0.03904909062603306 Centerline is valid? [True, True] Translation: X:53.42, Y:-4.78, Z:-0.39 [[ 9.98492837e-01 5.48820576e-02 1.19175401e-04 5.34199149e+01] [-5.48820564e-02 9.98492844e-01 -1.36898558e-05 -4.78011917e+00] [-1.19747112e-04 7.12863190e-06 9.99999993e-01 -3.93295885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40755201799999 meters 0.032605663792777184 Centerline is valid? [True, True] Translation: X:53.48, Y:-4.76, Z:-0.39 [[ 9.97748290e-01 6.70517744e-02 1.55212817e-03 5.34828306e+01] [-6.70515782e-02 9.97749495e-01 -1.78161954e-04 -4.76320009e+00] [-1.56058117e-03 7.36881414e-05 9.99998780e-01 -3.90738624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46755201799999 meters 0.030445892305883196 Centerline is valid? [True, True] Translation: X:53.54, Y:-4.76, Z:-0.39 [[ 9.97244945e-01 7.41669883e-02 1.33331948e-03 5.35425645e+01] [-7.41668497e-02 9.97245835e-01 -1.53155405e-04 -4.76107568e+00] [-1.34100637e-03 5.38453479e-05 9.99999099e-01 -3.91896001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52755201799999 meters 0.028041453454951955 Centerline is valid? [True, True] Translation: X:53.60, Y:-4.76, Z:-0.39 [[ 9.96668159e-01 8.15631824e-02 -1.66452723e-04 5.36033053e+01] [-8.15631803e-02 9.96668173e-01 1.90358114e-05 -4.75818178e+00] [ 1.67450753e-04 -5.39597357e-06 9.99999986e-01 -3.94997194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58755201799999 meters 0.025978994905685452 Centerline is valid? [True, True] Translation: X:53.66, Y:-4.76, Z:-0.39 [[ 9.96254776e-01 8.64654798e-02 3.77342977e-04 5.36642598e+01] [-8.64654696e-02 9.96254847e-01 -4.34256969e-05 -4.75613507e+00] [-3.79684594e-04 1.06359202e-05 9.99999928e-01 -3.93457750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64755201799999 meters 0.02361368806684812 Centerline is valid? [True, True] Translation: X:53.72, Y:-4.75, Z:-0.39 [[ 9.95481339e-01 9.49569780e-02 2.75289727e-04 5.37247055e+01] [-9.49569728e-02 9.95481377e-01 -3.17109072e-05 -4.75414969e+00] [-2.77056969e-04 5.42693720e-06 9.99999962e-01 -3.93716565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70755201799999 meters 0.02267575234723195 Centerline is valid? [True, True] Translation: X:53.78, Y:-4.76, Z:-0.39 [[ 9.95077902e-01 9.90953559e-02 -2.80221481e-04 5.37838968e+01] [-9.90953513e-02 9.95077942e-01 3.02829314e-05 -4.75731687e+00] [ 2.81843113e-04 -2.36522973e-06 9.99999960e-01 -3.94456715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76755201799999 meters 0.021929222141307658 Centerline is valid? [True, True] Translation: X:53.84, Y:-4.76, Z:-0.39 [[ 9.94320201e-01 1.06422497e-01 1.26104052e-03 5.38429709e+01] [-1.06422399e-01 9.94321000e-01 -1.44777820e-04 -4.75857100e+00] [-1.26928669e-03 9.75255261e-06 9.99999194e-01 -3.92453222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82755201799999 meters 0.021725292289553215 Centerline is valid? [True, True] Translation: X:53.90, Y:-4.77, Z:-0.39 [[ 9.93558628e-01 1.13237180e-01 4.31201693e-03 5.39005403e+01] [-1.13236105e-01 9.93567985e-01 -4.93382048e-04 -4.76560314e+00] [-4.34015117e-03 1.92798821e-06 9.99990581e-01 -3.91622301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88755201799999 meters 0.021861119034346288 Centerline is valid? [True, True] Translation: X:53.96, Y:-4.78, Z:-0.39 [[ 9.93341328e-01 1.15168223e-01 3.04732174e-03 5.39572384e+01] [-1.15167693e-01 9.93346002e-01 -3.49442829e-04 -4.77575659e+00] [-3.06728957e-03 -3.83701012e-06 9.99995296e-01 -3.94124672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94755201799999 meters 0.021976261110071983 Centerline is valid? [True, True] Translation: X:54.01, Y:-4.79, Z:-0.40 [[ 9.93584528e-01 1.13050891e-01 3.04663826e-03 5.40134853e+01] [-1.13050354e-01 9.93589199e-01 -3.48395547e-04 -4.79136853e+00] [-3.06649329e-03 1.73689053e-06 9.99995298e-01 -3.95103176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00755201799999 meters 0.022012078372639167 Centerline is valid? [True, True] Translation: X:54.07, Y:-4.80, Z:-0.40 [[ 9.93782007e-01 1.11310811e-01 2.68817550e-03 5.40700723e+01] [-1.11310388e-01 9.93785643e-01 -3.06789315e-04 -4.80291503e+00] [-2.70561918e-03 5.65984318e-06 9.99996340e-01 -3.96052492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06755201799999 meters 0.02272866009898589 Centerline is valid? [True, True] Translation: X:54.13, Y:-4.83, Z:-0.40 [[ 9.94545408e-01 1.04290664e-01 1.69971987e-03 5.41259064e+01] [-1.04290487e-01 9.94546860e-01 -1.93132331e-04 -4.82778994e+00] [-1.71059296e-03 1.48142598e-05 9.99998537e-01 -3.98190656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12755201799999 meters 0.023661086263788156 Centerline is valid? [True, True] Translation: X:54.18, Y:-4.85, Z:-0.40 [[ 9.95130189e-01 9.85060414e-02 3.53082774e-03 5.41829589e+01] [-9.85052394e-02 9.95136452e-01 -4.00737414e-04 -4.84554213e+00] [-3.55313045e-03 5.09808669e-05 9.99993686e-01 -3.97235922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18755201799999 meters 0.025401195989604504 Centerline is valid? [True, True] Translation: X:54.24, Y:-4.87, Z:-0.40 [[ 9.95712570e-01 9.23239088e-02 5.72484975e-03 5.42391736e+01] [-9.23217164e-02 9.95729021e-01 -6.46627131e-04 -4.87041515e+00] [-5.76009818e-03 1.15326808e-04 9.99983404e-01 -3.95855667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24755201799999 meters 0.02609763309045454 Centerline is valid? [True, True] Translation: X:54.30, Y:-4.89, Z:-0.40 [[ 9.96209464e-01 8.68370444e-02 5.10212990e-03 5.42969921e+01] [-8.68352333e-02 9.96222521e-01 -5.75853652e-04 -4.89007393e+00] [-5.13286214e-03 1.30626218e-04 9.99986818e-01 -3.98301708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30755201799999 meters 0.027193412523849034 Centerline is valid? [True, True] Translation: X:54.36, Y:-4.91, Z:-0.40 [[ 9.96597181e-01 8.23269267e-02 4.04177425e-03 5.43553738e+01] [-8.23257535e-02 9.96605369e-01 -4.56071993e-04 -4.90743797e+00] [-4.06560093e-03 1.21777952e-04 9.99991728e-01 -4.00279508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36755201799999 meters 0.029947765189484547 Centerline is valid? [True, True] Translation: X:54.41, Y:-4.93, Z:-0.40 [[ 9.97256134e-01 7.38294432e-02 5.42363818e-03 5.44139861e+01] [-7.38272072e-02 9.97270861e-01 -6.11599298e-04 -4.93044111e+00] [-5.45399035e-03 2.09509091e-04 9.99985105e-01 -3.99419894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42755201799999 meters 0.032344007015075234 Centerline is valid? [True, True] Translation: X:54.47, Y:-4.95, Z:-0.40 [[ 9.97555714e-01 6.95646421e-02 6.58472050e-03 5.44719121e+01] [-6.95612526e-02 9.97577406e-01 -7.42656218e-04 -4.94503004e+00] [-6.62043101e-03 2.82799548e-04 9.99978045e-01 -3.97754438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48755201799999 meters 0.03367478652974646 Centerline is valid? [True, True] Translation: X:54.53, Y:-4.96, Z:-0.40 [[ 9.97735442e-01 6.69064249e-02 6.89333876e-03 5.45295956e+01] [-6.69026499e-02 9.97759205e-01 -7.77026208e-04 -4.96143489e+00] [-6.92988025e-03 3.14083957e-04 9.99975939e-01 -3.99269857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54755201799999 meters 0.033790434860339835 Centerline is valid? [True, True] Translation: X:54.59, Y:-4.97, Z:-0.40 [[ 9.97736974e-01 6.69939451e-02 5.72202315e-03 5.45873893e+01] [-6.69913469e-02 9.97753348e-01 -6.44748728e-04 -4.97239057e+00] [-5.75236202e-03 2.59963607e-04 9.99983421e-01 -4.01766129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60755201799999 meters 0.03198596934184737 Centerline is valid? [True, True] Translation: X:54.65, Y:-4.98, Z:-0.40 [[ 9.97415443e-01 7.17199063e-02 4.32318821e-03 5.46472550e+01] [-7.17184691e-02 9.97424796e-01 -4.86764089e-04 -4.97843576e+00] [-4.34696579e-03 1.75453579e-04 9.99990537e-01 -4.03282167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66755201799999 meters 0.028620609171386136 Centerline is valid? [True, True] Translation: X:54.71, Y:-4.98, Z:-0.40 [[ 9.96591074e-01 8.22909970e-02 5.86703691e-03 5.47062083e+01] [-8.22885335e-02 9.96608329e-01 -6.60457819e-04 -4.97857834e+00] [-5.90148758e-03 1.75416504e-04 9.99982571e-01 -4.01516562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72755201799999 meters 0.02876908085314626 Centerline is valid? [True, True] Translation: X:54.77, Y:-4.99, Z:-0.40 [[ 9.96079252e-01 8.82899427e-02 5.56861399e-03 5.47652466e+01] [-8.82878185e-02 9.96094809e-01 -6.26605965e-04 -4.98503429e+00] [-5.60219049e-03 1.32508420e-04 9.99984299e-01 -4.01914961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78755201799999 meters 0.02562258115498458 Centerline is valid? [True, True] Translation: X:54.82, Y:-4.99, Z:-0.40 [[ 9.95522240e-01 9.42593283e-02 7.11677402e-03 5.48240232e+01] [-9.42560140e-02 9.95547670e-01 -8.00428871e-04 -4.98623392e+00] [-7.16053568e-03 1.26045991e-04 9.99974355e-01 -4.01217258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84755201799999 meters 0.024983539838535983 Centerline is valid? [True, True] Translation: X:54.88, Y:-4.99, Z:-0.40 [[ 9.95191458e-01 9.75629187e-02 8.68552364e-03 5.48820996e+01] [-9.75581160e-02 9.95229351e-01 -9.75936534e-04 -4.99155756e+00] [-8.73930327e-03 1.23900380e-04 9.99961804e-01 -4.00621467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90755201799999 meters 0.024382471994118745 Centerline is valid? [True, True] Translation: X:54.94, Y:-5.00, Z:-0.40 [[ 9.95011256e-01 9.94397115e-02 8.02145187e-03 5.49406980e+01] [-9.94356816e-02 9.95043584e-01 -9.00648952e-04 -4.99763558e+00] [-8.07125449e-03 9.85373119e-05 9.99967422e-01 -4.01518711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96755201799999 meters 0.023381117681589694 Centerline is valid? [True, True] Translation: X:55.00, Y:-5.00, Z:-0.40 [[ 9.94664092e-01 1.02892652e-01 7.51305476e-03 5.49995467e+01] [-1.02889220e-01 9.94692464e-01 -8.42945170e-04 -5.00104158e+00] [-7.55991182e-03 6.54349504e-05 9.99971421e-01 -4.01134083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02755201799999 meters 0.02321852035077013 Centerline is valid? [True, True] Translation: X:55.06, Y:-5.01, Z:-0.40 [[ 9.94470565e-01 1.04740165e-01 7.60222131e-03 5.50569075e+01] [-1.04736710e-01 9.94499621e-01 -8.52258701e-04 -5.00765847e+00] [-7.64967193e-03 5.13145432e-05 9.99970740e-01 -4.01621055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08755201799999 meters 0.022592830474651857 Centerline is valid? [True, True] Translation: X:55.12, Y:-5.02, Z:-0.40 [[ 9.94410889e-01 1.05046549e-01 1.05927400e-02 5.51150119e+01] [-1.05039873e-01 9.94467304e-01 -1.18614044e-03 -5.02081274e+00] [-1.06587336e-02 6.68508993e-05 9.99943192e-01 -3.99133500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14755201799999 meters 0.02268195110537222 Centerline is valid? [True, True] Translation: X:55.17, Y:-5.03, Z:-0.40 [[ 9.94712078e-01 1.02355408e-01 8.44116529e-03 5.51723487e+01] [-1.02351077e-01 9.94747890e-01 -9.44597225e-04 -5.03352755e+00] [-8.49351600e-03 7.56399065e-05 9.99963927e-01 -4.02533475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20755201799999 meters 0.022540627850560005 Centerline is valid? [True, True] Translation: X:55.23, Y:-5.05, Z:-0.41 [[ 9.94961458e-01 1.00042180e-01 6.57723396e-03 5.52297283e+01] [-1.00039503e-01 9.94983194e-01 -7.35567806e-04 -5.04945619e+00] [-6.61782507e-03 7.38783971e-05 9.99978099e-01 -4.05315998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26755201799999 meters 0.021603704141771287 Centerline is valid? [True, True] Translation: X:55.29, Y:-5.07, Z:-0.41 [[ 9.95013172e-01 9.95966429e-02 5.41251478e-03 5.52871095e+01] [-9.95948255e-02 9.95027891e-01 -6.04942615e-04 -5.06564427e+00] [-5.44585342e-03 6.28674059e-05 9.99985169e-01 -4.05038627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32755201799999 meters 0.021021018009930368 Centerline is valid? [True, True] Translation: X:55.35, Y:-5.07, Z:-0.40 [[ 9.94600779e-01 1.03597561e-01 6.06930418e-03 5.53461225e+01] [-1.03595354e-01 9.94619296e-01 -6.77698882e-04 -5.07179186e+00] [-6.10685500e-03 4.52881208e-05 9.99981352e-01 -4.04032229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38755201799999 meters 0.01945153155806788 Centerline is valid? [True, True] Translation: X:55.40, Y:-5.08, Z:-0.40 [[ 9.93716446e-01 1.11710074e-01 6.96302836e-03 5.54035955e+01] [-1.11707372e-01 9.93740841e-01 -7.76957429e-04 -5.08080662e+00] [-7.00623963e-03 -5.74622250e-06 9.99975456e-01 -4.02031647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44755201799999 meters 0.019067461583611098 Centerline is valid? [True, True] Translation: X:55.46, Y:-5.09, Z:-0.40 [[ 9.93035116e-01 1.17446740e-01 9.35528813e-03 5.54615176e+01] [-1.17442129e-01 9.93079181e-01 -1.04264311e-03 -5.09346239e+00] [-9.41299691e-03 -6.33237307e-05 9.99955695e-01 -3.99457073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50755201799999 meters 0.018564934820003643 Centerline is valid? [True, True] Translation: X:55.52, Y:-5.11, Z:-0.40 [[ 9.93189176e-01 1.16240848e-01 7.95776127e-03 5.55185787e+01] [-1.16237478e-01 9.93221055e-01 -8.86251939e-04 -5.10814629e+00] [-8.00683472e-03 -4.47742705e-05 9.99967944e-01 -4.00901145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.567552017999986 meters 0.017481614928959447 Centerline is valid? [True, True] Translation: X:55.58, Y:-5.13, Z:-0.40 [[ 9.93881826e-01 1.10223012e-01 7.05709779e-03 5.55756501e+01] [-1.10220214e-01 9.93906881e-01 -7.85373153e-04 -5.12954372e+00] [-7.10066425e-03 2.73327377e-06 9.99974790e-01 -4.01396194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62755201799999 meters 0.019076169422419274 Centerline is valid? [True, True] Translation: X:55.63, Y:-5.16, Z:-0.40 [[ 9.95253127e-01 9.70676016e-02 7.00673698e-03 5.56315488e+01] [-9.70645215e-02 9.95277786e-01 -7.79120601e-04 -5.16031985e+00] [-7.04927704e-03 9.53166419e-05 9.99975149e-01 -3.99966021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68755201799999 meters 0.023413687294848703 Centerline is valid? [True, True] Translation: X:55.69, Y:-5.18, Z:-0.40 [[ 9.96275080e-01 8.58634202e-02 7.96484301e-03 5.56882453e+01] [-8.58590877e-02 9.96306897e-01 -8.84935270e-04 -5.18439309e+00] [-8.01141160e-03 1.97784802e-04 9.99967889e-01 -3.97597046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74755201799999 meters 0.025971319252191295 Centerline is valid? [True, True] Translation: X:55.75, Y:-5.20, Z:-0.40 [[ 9.96800314e-01 7.94098590e-02 9.12189800e-03 5.57465140e+01] [-7.94039049e-02 9.96842010e-01 -1.01362028e-03 -5.20236699e+00] [-9.17358258e-03 2.86062687e-04 9.99957881e-01 -3.96223135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80755201799999 meters 0.030420840324282515 Centerline is valid? [True, True] Translation: X:55.81, Y:-5.22, Z:-0.40 [[ 9.97436826e-01 7.09958174e-02 8.90905981e-03 5.58055451e+01] [-7.09898034e-02 9.97476550e-01 -9.89871144e-04 -5.22464111e+00] [-8.95685496e-03 3.54881528e-04 9.99959824e-01 -3.97072147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86755201799999 meters 0.031847550643722036 Centerline is valid? [True, True] Translation: X:55.87, Y:-5.23, Z:-0.40 [[ 9.97680851e-01 6.77833637e-02 6.19160361e-03 5.58663886e+01] [-6.77803965e-02 9.97700027e-01 -6.88051448e-04 -5.23462532e+00] [-6.22400153e-03 2.66786406e-04 9.99980595e-01 -4.00703125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92755201799999 meters 0.03357895847590656 Centerline is valid? [True, True] Translation: X:55.93, Y:-5.24, Z:-0.40 [[ 9.97734485e-01 6.70891777e-02 4.99388614e-03 5.59260415e+01] [-6.70872385e-02 9.97746959e-01 -5.55015617e-04 -5.24459956e+00] [-5.01987025e-03 2.18732190e-04 9.99987376e-01 -4.02478922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98755201799999 meters 0.034716898477098836 Centerline is valid? [True, True] Translation: X:55.99, Y:-5.26, Z:-0.40 [[ 9.97745978e-01 6.68421576e-02 5.92354811e-03 5.59854319e+01] [-6.68394200e-02 9.97763528e-01 -6.59135658e-04 -5.25514254e+00] [-5.95435831e-03 2.61723431e-04 9.99982238e-01 -4.00933972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04755201799999 meters 0.03377729865901369 Centerline is valid? [True, True] Translation: X:56.05, Y:-5.26, Z:-0.40 [[ 9.97704431e-01 6.72606185e-02 7.86616637e-03 5.60461595e+01] [-6.72558039e-02 9.97735381e-01 -8.75298157e-04 -5.25901249e+00] [-7.90722560e-03 3.44243507e-04 9.99968678e-01 -3.99545237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10755201799999 meters 0.034642172750474966 Centerline is valid? [True, True] Translation: X:56.11, Y:-5.26, Z:-0.40 [[ 9.97795517e-01 6.60471321e-02 6.47175365e-03 5.61068051e+01] [-6.60438477e-02 9.97816462e-01 -7.20124544e-04 -5.26435141e+00] [-6.50518449e-03 2.91117529e-04 9.99978799e-01 -4.02392392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16755201799999 meters 0.03978352095470085 Centerline is valid? [True, True] Translation: X:56.16, Y:-5.28, Z:-0.40 [[ 9.98173060e-01 6.00666399e-02 6.52237694e-03 5.61648744e+01] [-6.00631755e-02 9.98194314e-01 -7.25920526e-04 -5.27900291e+00] [-6.55420318e-03 3.32839642e-04 9.99978466e-01 -4.03989477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22755201799999 meters 0.044507322902475874 Centerline is valid? [True, True] Translation: X:56.22, Y:-5.29, Z:-0.40 [[ 9.98479278e-01 5.46554971e-02 7.20476497e-03 5.62246469e+01] [-5.46511303e-02 9.98505188e-01 -8.01744255e-04 -5.28929772e+00] [-7.23781493e-03 4.06776476e-04 9.99973724e-01 -4.03429253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28755201799999 meters 0.0450036825646341 Centerline is valid? [True, True] Translation: X:56.29, Y:-5.29, Z:-0.40 [[ 9.98895273e-01 4.64766267e-02 6.93949629e-03 5.62862956e+01] [-4.64723786e-02 9.98919277e-01 -7.72252888e-04 -5.28934078e+00] [-6.96788833e-03 4.48904860e-04 9.99975623e-01 -4.03241660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34755201799999 meters 0.04706177067293816 Centerline is valid? [True, True] Translation: X:56.35, Y:-5.30, Z:-0.40 [[ 9.99083468e-01 4.22064705e-02 7.13010038e-03 5.63465938e+01] [-4.22018756e-02 9.99108789e-01 -7.93732599e-04 -5.29660898e+00] [-7.15724661e-03 4.92101509e-04 9.99974265e-01 -4.04261670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40755201799999 meters 0.049508816723823186 Centerline is valid? [True, True] Translation: X:56.41, Y:-5.30, Z:-0.40 [[ 9.99208884e-01 3.90035194e-02 7.76732496e-03 5.64080127e+01] [-3.89979680e-02 9.99238916e-01 -8.64953611e-04 -5.29996218e+00] [-7.79514960e-03 5.61359442e-04 9.99969460e-01 -4.04110963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46755201799999 meters 0.04936157775610079 Centerline is valid? [True, True] Translation: X:56.47, Y:-5.30, Z:-0.40 [[ 9.99119537e-01 4.09380645e-02 9.17743089e-03 5.64705698e+01] [-4.09303908e-02 9.99161477e-01 -1.02249067e-03 -5.29692338e+00] [-9.21159419e-03 6.45954571e-04 9.99957364e-01 -4.04346487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52755201799999 meters 0.04984543756896469 Centerline is valid? [True, True] Translation: X:56.53, Y:-5.30, Z:-0.40 [[ 9.98968828e-01 4.43026091e-02 9.92769234e-03 5.65306026e+01] [-4.42937898e-02 9.99017936e-01 -1.10658312e-03 -5.29750109e+00] [-9.96696723e-03 6.65706921e-04 9.99950107e-01 -4.04903641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58755201799999 meters 0.0472317224181851 Centerline is valid? [True, True] Translation: X:56.59, Y:-5.29, Z:-0.41 [[ 9.98748436e-01 4.89339872e-02 1.03453812e-02 5.65921873e+01] [-4.89246579e-02 9.98801806e-01 -1.15310004e-03 -5.28810255e+00] [-1.03894112e-02 6.45512630e-04 9.99945820e-01 -4.07384210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64755201799999 meters 0.04281905611183815 Centerline is valid? [True, True] Translation: X:56.66, Y:-5.27, Z:-0.41 [[ 9.98531698e-01 5.34861839e-02 8.58345281e-03 5.66551060e+01] [-5.34799297e-02 9.98568466e-01 -9.56678323e-04 -5.27448521e+00] [-8.62233438e-03 4.96231178e-04 9.99962704e-01 -4.10813777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70755201799999 meters 0.04147148129598949 Centerline is valid? [True, True] Translation: X:56.72, Y:-5.27, Z:-0.41 [[ 9.98461456e-01 5.46584058e-02 9.33699148e-03 5.67151907e+01] [-5.46510557e-02 9.98504972e-01 -1.04072944e-03 -5.27151315e+00] [-9.37991702e-03 5.28851789e-04 9.99955868e-01 -4.11310247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76755201799999 meters 0.04172431006597592 Centerline is valid? [True, True] Translation: X:56.78, Y:-5.26, Z:-0.41 [[ 9.98357480e-01 5.64225712e-02 9.94157249e-03 5.67762399e+01] [-5.64143303e-02 9.98406829e-01 -1.10765377e-03 -5.26478382e+00] [-9.98823054e-03 5.44987271e-04 9.99949968e-01 -4.11872794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82755201799999 meters 0.039725266518804835 Centerline is valid? [True, True] Translation: X:56.84, Y:-5.25, Z:-0.41 [[ 9.98374272e-01 5.64287827e-02 8.03781445e-03 5.68365552e+01] [-5.64233986e-02 9.98406530e-01 -8.95221897e-04 -5.25315709e+00] [-8.07552271e-03 4.40245701e-04 9.99967296e-01 -4.14654987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88755201799999 meters 0.03621771253952913 Centerline is valid? [True, True] Translation: X:56.90, Y:-5.25, Z:-0.42 [[ 9.98468861e-01 5.46902323e-02 8.30138639e-03 5.68967606e+01] [-5.46844339e-02 9.98503259e-01 -9.24045913e-04 -5.24992287e+00] [-8.33949765e-03 4.68674455e-04 9.99965116e-01 -4.16780075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94755201799999 meters 0.03787822341566751 Centerline is valid? [True, True] Translation: X:56.96, Y:-5.24, Z:-0.42 [[ 9.98420276e-01 5.57355104e-02 7.10673819e-03 5.69563886e+01] [-5.57312890e-02 9.98445491e-01 -7.90811916e-04 -5.24447356e+00] [-7.13976701e-03 3.93494971e-04 9.99974434e-01 -4.16285535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00755201799999 meters 0.039628193653770086 Centerline is valid? [True, True] Translation: X:57.01, Y:-5.25, Z:-0.42 [[ 9.98381107e-01 5.63632026e-02 7.63898911e-03 5.70143887e+01] [-5.63583487e-02 9.98410244e-01 -8.49357844e-04 -5.24637213e+00] [-7.67471751e-03 4.17462013e-04 9.99970462e-01 -4.16150968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.067552017999986 meters 0.03847463045040702 Centerline is valid? [True, True] Translation: X:57.07, Y:-5.24, Z:-0.42 [[ 9.98399778e-01 5.58791800e-02 8.68340301e-03 5.70735941e+01] [-5.58728980e-02 9.98437424e-01 -9.64548913e-04 -5.24421662e+00] [-8.72373273e-03 4.77838529e-04 9.99961833e-01 -4.17046394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12755201799999 meters 0.03624060705364545 Centerline is valid? [True, True] Translation: X:57.13, Y:-5.24, Z:-0.42 [[ 9.98326518e-01 5.73452985e-02 7.46187108e-03 5.71334594e+01] [-5.73407044e-02 9.98354325e-01 -8.28346405e-04 -5.24096431e+00] [-7.49709303e-03 3.99091239e-04 9.99971817e-01 -4.18238084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18755201799999 meters 0.0397780915738392 Centerline is valid? [True, True] Translation: X:57.19, Y:-5.24, Z:-0.42 [[ 9.98057668e-01 6.18596163e-02 7.36746015e-03 5.71926829e+01] [-6.18552646e-02 9.98084795e-01 -8.17284103e-04 -5.24467901e+00] [-7.40390684e-03 3.59980469e-04 9.99972526e-01 -4.17454002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.247552017999986 meters 0.03400801229309824 Centerline is valid? [True, True] Translation: X:57.25, Y:-5.24, Z:-0.42 [[ 9.97952056e-01 6.35244767e-02 7.50564798e-03 5.72531228e+01] [-6.35200096e-02 9.97980218e-01 -8.32296372e-04 -5.23806881e+00] [-7.54335940e-03 3.53833044e-04 9.99971486e-01 -4.17627156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30755201799999 meters 0.03237185094370753 Centerline is valid? [True, True] Translation: X:57.31, Y:-5.24, Z:-0.42 [[ 9.97723122e-01 6.70033397e-02 7.68928189e-03 5.73135725e+01] [-6.69987579e-02 9.97752695e-01 -8.52209648e-04 -5.23853926e+00] [-7.72910262e-03 3.35096934e-04 9.99970074e-01 -4.18400701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36755201799999 meters 0.03184703191494085 Centerline is valid? [True, True] Translation: X:57.37, Y:-5.24, Z:-0.42 [[ 9.97497570e-01 7.02079096e-02 8.33353992e-03 5.73730183e+01] [-7.02026412e-02 9.97532324e-01 -9.23406460e-04 -5.23854793e+00] [-8.37780588e-03 3.36059187e-04 9.99964849e-01 -4.17902561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42755201799999 meters 0.03080740484674919 Centerline is valid? [True, True] Translation: X:57.43, Y:-5.24, Z:-0.42 [[ 9.97403603e-01 7.16550279e-02 7.18402971e-03 5.74318827e+01] [-7.16511520e-02 9.97429436e-01 -7.95779215e-04 -5.24123091e+00] [-7.22258428e-03 2.78969051e-04 9.99973878e-01 -4.20093034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48755201799999 meters 0.03108570037451125 Centerline is valid? [True, True] Translation: X:57.49, Y:-5.25, Z:-0.42 [[ 9.97523388e-01 7.00773339e-02 6.02135273e-03 5.74898459e+01] [-7.00745846e-02 9.97541532e-01 -6.66616747e-04 -5.24814753e+00] [-6.05326415e-03 2.43022005e-04 9.99981649e-01 -4.21556739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54755201799999 meters 0.033814417354559305 Centerline is valid? [True, True] Translation: X:57.55, Y:-5.26, Z:-0.42 [[ 9.97842124e-01 6.54574062e-02 5.14033836e-03 5.75491571e+01] [-6.54553443e-02 9.97855338e-01 -5.68517121e-04 -5.25885659e+00] [-5.16652773e-03 2.30827715e-04 9.99986627e-01 -4.22752828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60755201799999 meters 0.036323426808878755 Centerline is valid? [True, True] Translation: X:57.61, Y:-5.27, Z:-0.42 [[ 9.98391578e-01 5.63635687e-02 6.11604190e-03 5.76084809e+01] [-5.63604804e-02 9.98410256e-01 -6.76262676e-04 -5.27198597e+00] [-6.14443554e-03 3.30471900e-04 9.99981068e-01 -4.21760842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66755201799999 meters 0.04328509287874098 Centerline is valid? [True, True] Translation: X:57.67, Y:-5.29, Z:-0.42 [[ 9.98989065e-01 4.47778165e-02 3.97429642e-03 5.76659782e+01] [-4.47764215e-02 9.98996936e-01 -4.39343601e-04 -5.28897006e+00] [-3.98998280e-03 2.60944682e-04 9.99992006e-01 -4.23851122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72755201799999 meters 0.04446661565328509 Centerline is valid? [True, True] Translation: X:57.73, Y:-5.30, Z:-0.43 [[ 9.99289881e-01 3.75594237e-02 3.00386730e-03 5.77257492e+01] [-3.75585935e-02 9.99294372e-01 -3.32331937e-04 -5.29773283e+00] [-3.01422989e-03 2.19274910e-04 9.99995433e-01 -4.25012268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78755201799999 meters 0.047431169937066996 Centerline is valid? [True, True] Translation: X:57.79, Y:-5.31, Z:-0.42 [[ 9.99575994e-01 2.88298491e-02 4.08322174e-03 5.77858822e+01] [-2.88282434e-02 9.99584278e-01 -4.51585938e-04 -5.30719999e+00] [-4.09454341e-03 3.33682352e-04 9.99991562e-01 -4.22804153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84755201799999 meters 0.05226564551090222 Centerline is valid? [True, True] Translation: X:57.84, Y:-5.32, Z:-0.42 [[ 9.99634238e-01 2.66085773e-02 4.83463070e-03 5.78439426e+01] [-2.66063001e-02 9.99645847e-01 -5.34729606e-04 -5.32026418e+00] [-4.84714689e-03 4.05902387e-04 9.99988170e-01 -4.22529474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90755201799999 meters 0.051674048237056576 Centerline is valid? [True, True] Translation: X:57.90, Y:-5.32, Z:-0.42 [[ 9.99716301e-01 2.33865905e-02 4.51501284e-03 5.79038527e+01] [-2.33845728e-02 9.99726419e-01 -4.99160467e-04 -5.32363360e+00] [-4.52545128e-03 3.93437209e-04 9.99989683e-01 -4.21788124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96755201799999 meters 0.05218260572171459 Centerline is valid? [True, True] Translation: X:57.96, Y:-5.33, Z:-0.42 [[ 9.99742171e-01 2.23845484e-02 3.81098317e-03 5.79633796e+01] [-2.23831036e-02 9.99749378e-01 -4.21339975e-04 -5.32645530e+00] [-3.81945956e-03 3.35929710e-04 9.99992649e-01 -4.22707826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02755201799999 meters 0.05302663917045982 Centerline is valid? [True, True] Translation: X:58.02, Y:-5.33, Z:-0.42 [[ 9.99721166e-01 2.32903036e-02 3.89254954e-03 5.80228680e+01] [-2.32888035e-02 9.99728686e-01 -4.30253379e-04 -5.32845382e+00] [-3.90151417e-03 3.39480588e-04 9.99992331e-01 -4.22222940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08755201799999 meters 0.05035696957864355 Centerline is valid? [True, True] Translation: X:58.08, Y:-5.33, Z:-0.42 [[ 9.99708025e-01 2.39430167e-02 3.25517349e-03 5.80821160e+01] [-2.39419713e-02 9.99713285e-01 -3.59757890e-04 -5.32868107e+00] [-3.26285387e-03 2.81717580e-04 9.99994637e-01 -4.23390754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14755201799999 meters 0.05204984699809779 Centerline is valid? [True, True] Translation: X:58.14, Y:-5.33, Z:-0.42 [[ 9.99706958e-01 2.40425004e-02 2.82067997e-03 5.81409140e+01] [-2.40417163e-02 9.99710908e-01 -3.11576375e-04 -5.33001214e+00] [-2.82735561e-03 2.43671083e-04 9.99995973e-01 -4.23402446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20755201799999 meters 0.05055588369636725 Centerline is valid? [True, True] Translation: X:58.20, Y:-5.33, Z:-0.42 [[ 9.99718050e-01 2.35376497e-02 3.13042305e-03 5.82002063e+01] [-2.35366824e-02 9.99722914e-01 -3.45480857e-04 -5.33002045e+00] [-3.13768746e-03 2.71703676e-04 9.99995041e-01 -4.22077344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26755201799999 meters 0.054332334334506016 Centerline is valid? [True, True] Translation: X:58.26, Y:-5.34, Z:-0.43 [[ 9.99733669e-01 2.30606188e-02 8.93324085e-04 5.82578749e+01] [-2.30605394e-02 9.99734065e-01 -9.90449521e-05 -5.33710127e+00] [-8.95370557e-04 7.84180382e-05 9.99999596e-01 -4.25137995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32755201799999 meters 0.05062439593055347 Centerline is valid? [True, True] Translation: X:58.32, Y:-5.33, Z:-0.43 [[ 9.99735130e-01 2.30144827e-02 5.98406863e-05 5.83170017e+01] [-2.30144823e-02 9.99735132e-01 -7.15951313e-06 -5.33390939e+00] [-5.99896089e-05 5.78041438e-06 9.99999998e-01 -4.25618754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38755201799999 meters 0.05310304249048096 Centerline is valid? [True, True] Translation: X:58.37, Y:-5.34, Z:-0.43 [[ 9.99709802e-01 2.40894567e-02 -9.85192312e-05 5.83747579e+01] [-2.40894558e-02 9.99709807e-01 1.01696515e-05 -5.33744931e+00] [ 9.87356230e-05 -7.79342563e-06 9.99999995e-01 -4.26471531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44755201799999 meters 0.051959941273506734 Centerline is valid? [True, True] Translation: X:58.43, Y:-5.34, Z:-0.43 [[ 9.99710805e-01 2.38786849e-02 -2.84864812e-03 5.84343582e+01] [-2.38778913e-02 9.99714834e-01 3.12274504e-04 -5.33699103e+00] [ 2.85529249e-03 -2.44164486e-04 9.99995894e-01 -4.29016427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50755201799999 meters 0.05438262264379583 Centerline is valid? [True, True] Translation: X:58.49, Y:-5.34, Z:-0.43 [[ 9.99724219e-01 2.32045233e-02 -3.61067406e-03 5.84933351e+01] [-2.32032445e-02 9.99730690e-01 3.95678474e-04 -5.33985932e+00] [ 3.61888320e-03 -3.11790000e-04 9.99993403e-01 -4.27813760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.567552017999986 meters 0.056462468269994584 Centerline is valid? [True, True] Translation: X:58.55, Y:-5.35, Z:-0.43 [[ 9.99775306e-01 2.11703644e-02 -1.07360043e-03 5.85511020e+01] [-2.11702506e-02 9.99775878e-01 1.17293436e-04 -5.34633734e+00] [ 1.07584296e-03 -9.45386904e-05 9.99999417e-01 -4.26256012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62755201799999 meters 0.05817860349451984 Centerline is valid? [True, True] Translation: X:58.61, Y:-5.35, Z:-0.43 [[ 9.99776970e-01 2.11082175e-02 -6.73516402e-04 5.86092274e+01] [-2.11081729e-02 9.99777195e-01 7.32768483e-05 -5.35161446e+00] [ 6.74913083e-04 -5.90438046e-05 9.99999771e-01 -4.26181676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68755201799999 meters 0.05620751063285756 Centerline is valid? [True, True] Translation: X:58.67, Y:-5.35, Z:-0.43 [[ 9.99770478e-01 2.13879443e-02 -1.24393114e-03 5.86682209e+01] [-2.13877919e-02 9.99771246e-01 1.35688626e-04 -5.35006836e+00] [ 1.24654869e-03 -1.09052542e-04 9.99999217e-01 -4.25255863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.747552017999986 meters 0.048620511090480246 Centerline is valid? [True, True] Translation: X:58.73, Y:-5.34, Z:-0.43 [[ 9.99742754e-01 2.24015853e-02 -3.54902390e-03 5.87283014e+01] [-2.24003487e-02 9.99749005e-01 3.87812665e-04 -5.34184004e+00] [ 3.55682073e-03 -3.08213529e-04 9.99993627e-01 -4.27246058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80755201799999 meters 0.05065054678610135 Centerline is valid? [True, True] Translation: X:58.79, Y:-5.35, Z:-0.43 [[ 9.99747955e-01 2.21010738e-02 -3.94572637e-03 5.87853420e+01] [-2.20995448e-02 9.99755682e-01 4.30693394e-04 -5.34883485e+00] [ 3.95428115e-03 -3.43386083e-04 9.99992123e-01 -4.28990532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86755201799999 meters 0.06521062299901856 Centerline is valid? [True, True] Translation: X:58.84, Y:-5.36, Z:-0.43 [[ 9.99730606e-01 2.29014677e-02 -3.77342631e-03 5.88423614e+01] [-2.29000757e-02 9.99737674e-01 4.11707601e-04 -5.36385826e+00] [ 3.78186515e-03 -3.25184942e-04 9.99992796e-01 -4.28700748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.927552017999986 meters 0.053024851003489484 Centerline is valid? [True, True] Translation: X:58.90, Y:-5.35, Z:-0.43 [[ 9.99680835e-01 2.51577729e-02 -2.30552115e-03 5.89041983e+01] [-2.51572588e-02 9.99683474e-01 2.51708771e-04 -5.34934787e+00] [ 2.31112383e-03 -1.93627842e-04 9.99997311e-01 -4.27093119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98755201799999 meters 0.050254383577184335 Centerline is valid? [True, True] Translation: X:58.96, Y:-5.34, Z:-0.43 [[ 9.99635101e-01 2.68862257e-02 -2.60682393e-03 5.89646318e+01] [-2.68855749e-02 9.99638477e-01 2.84376016e-04 -5.34467582e+00] [ 2.61352730e-03 -2.14186287e-04 9.99996562e-01 -4.27135989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04755201799999 meters 0.051101368356354857 Centerline is valid? [True, True] Translation: X:59.02, Y:-5.35, Z:-0.43 [[ 9.99638209e-01 2.67486434e-02 -2.82167294e-03 5.90236509e+01] [-2.67478817e-02 9.99642164e-01 3.07338194e-04 -5.34642244e+00] [ 2.82888412e-03 -2.31753228e-04 9.99995972e-01 -4.26511280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10755201799999 meters 0.06190138517445057 Centerline is valid? [True, True] Translation: X:59.08, Y:-5.36, Z:-0.43 [[ 9.99731092e-01 2.29124335e-02 -3.57277685e-03 5.90813580e+01] [-2.29111863e-02 9.99737428e-01 3.89639443e-04 -5.36197704e+00] [ 3.58076633e-03 -3.07678110e-04 9.99993542e-01 -4.29730625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16755201799999 meters 0.05787570184807701 Centerline is valid? [True, True] Translation: X:59.14, Y:-5.36, Z:-0.43 [[ 9.99823350e-01 1.80657388e-02 -5.18638258e-03 5.91426651e+01] [-1.80630447e-02 9.99836690e-01 5.65840185e-04 -5.35989914e+00] [ 5.19575791e-03 -4.72058369e-04 9.99986391e-01 -4.30041706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22755201799999 meters 0.054375374143466236 Centerline is valid? [True, True] Translation: X:59.20, Y:-5.35, Z:-0.43 [[ 9.99899303e-01 1.36132996e-02 -4.00778807e-03 5.92035317e+01] [-1.36116563e-02 9.99907262e-01 4.37024490e-04 -5.35486475e+00] [ 4.01336574e-03 -3.82427849e-04 9.99991873e-01 -4.27568736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28755201799999 meters 0.05467135293348909 Centerline is valid? [True, True] Translation: X:59.26, Y:-5.36, Z:-0.43 [[ 9.99891703e-01 1.43401976e-02 -3.30786245e-03 5.92628731e+01] [-1.43390859e-02 9.99897125e-01 3.59547364e-04 -5.35741110e+00] [ 3.31267813e-03 -3.12076702e-04 9.99994464e-01 -4.27579212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34755201799999 meters 0.05676992392143654 Centerline is valid? [True, True] Translation: X:59.32, Y:-5.36, Z:-0.43 [[ 9.99838634e-01 1.74969482e-02 -4.06978451e-03 5.93217431e+01] [-1.74952881e-02 9.99846848e-01 4.43151031e-04 -5.36137553e+00] [ 4.07691500e-03 -3.71877469e-04 9.99991620e-01 -4.28482725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40755201799999 meters 0.0518520546213444 Centerline is valid? [True, True] Translation: X:59.38, Y:-5.35, Z:-0.43 [[ 9.99681835e-01 2.48063625e-02 -4.56872140e-03 5.93829642e+01] [-2.48043455e-02 9.99692201e-01 4.97625497e-04 -5.35316992e+00] [ 4.57965943e-03 -3.84143026e-04 9.99989440e-01 -4.28598277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46755201799999 meters 0.051184686543001276 Centerline is valid? [True, True] Translation: X:59.44, Y:-5.36, Z:-0.43 [[ 9.99571396e-01 2.90077177e-02 -3.94665906e-03 5.94434540e+01] [-2.90062452e-02 9.99579138e-01 4.29860096e-04 -5.35560357e+00] [ 3.95746732e-03 -3.15198097e-04 9.99992120e-01 -4.29406077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52755201799999 meters 0.04745716718156219 Centerline is valid? [True, True] Translation: X:59.50, Y:-5.35, Z:-0.43 [[ 9.99396284e-01 3.44010930e-02 -4.86139947e-03 5.95040084e+01] [-3.43989238e-02 9.99408042e-01 5.29154932e-04 -5.34944217e+00] [ 4.87672523e-03 -3.61608562e-04 9.99988043e-01 -4.28900290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58755201799999 meters 0.045478570133708394 Centerline is valid? [True, True] Translation: X:59.56, Y:-5.35, Z:-0.43 [[ 9.99203534e-01 3.95724379e-02 -5.13034583e-03 5.95648887e+01] [-3.95700887e-02 9.99216641e-01 5.58637925e-04 -5.34514322e+00] [ 5.14843359e-03 -3.55184749e-04 9.99986684e-01 -4.29971445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64755201799999 meters 0.04371975651579896 Centerline is valid? [True, True] Translation: X:59.63, Y:-5.35, Z:-0.43 [[ 9.99066036e-01 4.29990505e-02 -4.25868480e-03 5.96255319e+01] [-4.29974636e-02 9.99075074e-01 4.63519313e-04 -5.34529608e+00] [ 4.27467672e-03 -2.79973758e-04 9.99990824e-01 -4.30403114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70755201799999 meters 0.042432732844162505 Centerline is valid? [True, True] Translation: X:59.69, Y:-5.34, Z:-0.43 [[ 9.98924520e-01 4.59138870e-02 -6.45900728e-03 5.96865046e+01] [-4.59102978e-02 9.98945319e-01 7.02942177e-04 -5.34077771e+00] [ 6.48446989e-03 -4.05651229e-04 9.99978893e-01 -4.31850961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76755201799999 meters 0.04186912662982587 Centerline is valid? [True, True] Translation: X:59.75, Y:-5.34, Z:-0.43 [[ 9.98998209e-01 4.42368568e-02 -6.75857021e-03 5.97453728e+01] [-4.42329134e-02 9.99020978e-01 7.31900648e-04 -5.34155265e+00] [ 6.78433040e-03 -4.32216186e-04 9.99976893e-01 -4.31381397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82755201799999 meters 0.04050354301998662 Centerline is valid? [True, True] Translation: X:59.80, Y:-5.34, Z:-0.43 [[ 9.99081145e-01 4.26575588e-02 -4.14711508e-03 5.98041220e+01] [-4.26560593e-02 9.99089715e-01 4.49381724e-04 -5.34433024e+00] [ 4.16250955e-03 -2.72069221e-04 9.99991300e-01 -4.30053707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88755201799999 meters 0.04701362108073843 Centerline is valid? [True, True] Translation: X:59.86, Y:-5.36, Z:-0.43 [[ 9.99226613e-01 3.90941733e-02 -4.22155454e-03 5.98619444e+01] [-3.90925873e-02 9.99235488e-01 4.57579298e-04 -5.35572842e+00] [ 4.23621579e-03 -2.92193922e-04 9.99990985e-01 -4.30801324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94755201799999 meters 0.04949580605917932 Centerline is valid? [True, True] Translation: X:59.92, Y:-5.36, Z:-0.43 [[ 9.99290600e-01 3.73634469e-02 -4.71907987e-03 5.99215008e+01] [-3.73614465e-02 9.99301687e-01 5.11377075e-04 -5.36250751e+00] [ 4.73489129e-03 -3.34702654e-04 9.99988734e-01 -4.32482983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00755201799999 meters 0.05143421404432479 Centerline is valid? [True, True] Translation: X:59.98, Y:-5.37, Z:-0.43 [[ 9.99308728e-01 3.67607053e-02 -5.54234791e-03 5.99802477e+01] [-3.67579403e-02 9.99324018e-01 5.99966001e-04 -5.36858074e+00] [ 5.56065656e-03 -3.95825968e-04 9.99984461e-01 -4.34440232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.067552017999986 meters 0.043953143595663685 Centerline is valid? [True, True] Translation: X:60.04, Y:-5.36, Z:-0.43 [[ 9.99279767e-01 3.75817418e-02 -5.24984939e-03 6.00403900e+01] [-3.75792748e-02 9.99293488e-01 5.67812401e-04 -5.36145956e+00] [ 5.26747969e-03 -3.70117911e-04 9.99986058e-01 -4.31850778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12755201799999 meters 0.04463505248779716 Centerline is valid? [True, True] Translation: X:60.10, Y:-5.36, Z:-0.43 [[ 9.99213790e-01 3.93817364e-02 -4.56963544e-03 6.00996554e+01] [-3.93798858e-02 9.99224189e-01 4.94276097e-04 -5.36353952e+00] [ 4.58555572e-03 -3.13935770e-04 9.99989437e-01 -4.31111376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18755201799999 meters 0.044309853613635444 Centerline is valid? [True, True] Translation: X:60.16, Y:-5.37, Z:-0.43 [[ 9.99242973e-01 3.87283965e-02 -3.68663282e-03 6.01581939e+01] [-3.87271899e-02 9.99249742e-01 3.98145172e-04 -5.36725781e+00] [ 3.69928642e-03 -2.55070836e-04 9.99993125e-01 -4.32183195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.247552017999986 meters 0.04315502049561517 Centerline is valid? [True, True] Translation: X:60.22, Y:-5.37, Z:-0.43 [[ 9.99313527e-01 3.68269202e-02 -4.03139104e-03 6.02172635e+01] [-3.68254634e-02 9.99321618e-01 4.35030625e-04 -5.36972222e+00] [ 4.04467706e-03 -2.86274145e-04 9.99991779e-01 -4.33118939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30755201799999 meters 0.04508919228788337 Centerline is valid? [True, True] Translation: X:60.28, Y:-5.38, Z:-0.43 [[ 9.99373153e-01 3.50583006e-02 -4.92109589e-03 6.02767449e+01] [-3.50561072e-02 9.99385205e-01 5.31302294e-04 -5.37659819e+00] [ 4.93669698e-03 -3.58454783e-04 9.99987750e-01 -4.33323403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36755201799999 meters 0.05067442098589662 Centerline is valid? [True, True] Translation: X:60.33, Y:-5.39, Z:-0.43 [[ 9.99452317e-01 3.26659783e-02 -5.29152722e-03 6.03338184e+01] [-3.26634134e-02 9.99466246e-01 5.70445009e-04 -5.38833062e+00] [ 5.30733699e-03 -3.97293244e-04 9.99985837e-01 -4.34818548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.427552017999986 meters 0.04919967990168164 Centerline is valid? [True, True] Translation: X:60.39, Y:-5.39, Z:-0.44 [[ 9.99546944e-01 2.96326211e-02 -5.27388457e-03 6.03940523e+01] [-2.96300291e-02 9.99560772e-01 5.68956232e-04 -5.39154078e+00] [ 5.28842780e-03 -4.12433110e-04 9.99985931e-01 -4.35545831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48755201799999 meters 0.0476943368539389 Centerline is valid? [True, True] Translation: X:60.45, Y:-5.39, Z:-0.43 [[ 9.99577812e-01 2.84753256e-02 -5.77525745e-03 6.04525804e+01] [-2.84722047e-02 9.99594391e-01 6.21912651e-04 -5.39268173e+00] [ 5.79062412e-03 -4.57215775e-04 9.99983130e-01 -4.34985514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54755201799999 meters 0.048714798230437915 Centerline is valid? [True, True] Translation: X:60.51, Y:-5.40, Z:-0.43 [[ 9.99603935e-01 2.78453638e-02 -4.07538391e-03 6.05111574e+01] [-2.78438061e-02 9.99612190e-01 4.38471536e-04 -5.39889383e+00] [ 4.08601284e-03 -3.24823673e-04 9.99991599e-01 -4.34864024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.607552017999986 meters 0.048001616422162004 Centerline is valid? [True, True] Translation: X:60.57, Y:-5.41, Z:-0.43 [[ 9.99619281e-01 2.73958601e-02 -3.28029898e-03 6.05690888e+01] [-2.73948505e-02 9.99624629e-01 3.52343855e-04 -5.40516328e+00] [ 3.28872041e-03 -2.62346411e-04 9.99994558e-01 -4.34948168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66755201799999 meters 0.04789996594048596 Centerline is valid? [True, True] Translation: X:60.63, Y:-5.41, Z:-0.43 [[ 9.99592287e-01 2.83944067e-02 -3.00274014e-03 6.06280911e+01] [-2.83935656e-02 9.99596769e-01 3.22374778e-04 -5.40679315e+00] [ 3.01068298e-03 -2.36984842e-04 9.99995440e-01 -4.33460721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72755201799999 meters 0.04770979954455113 Centerline is valid? [True, True] Translation: X:60.69, Y:-5.41, Z:-0.44 [[ 9.99522322e-01 3.07386433e-02 -3.20372471e-03 6.06883133e+01] [-3.07376965e-02 9.99527426e-01 3.44349537e-04 -5.41159685e+00] [ 3.21279555e-03 -2.45709931e-04 9.99994809e-01 -4.35230721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78755201799999 meters 0.047300102522514986 Centerline is valid? [True, True] Translation: X:60.75, Y:-5.42, Z:-0.44 [[ 9.99502544e-01 3.12997323e-02 -3.87176081e-03 6.07471978e+01] [-3.12983565e-02 9.99510000e-01 4.15460059e-04 -5.41644613e+00] [ 3.88286744e-03 -2.94073636e-04 9.99992418e-01 -4.36495755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84755201799999 meters 0.0471304735579385 Centerline is valid? [True, True] Translation: X:60.81, Y:-5.42, Z:-0.44 [[ 9.99500186e-01 3.13440978e-02 -4.11418676e-03 6.08052475e+01] [-3.13425458e-02 9.99508604e-01 4.41179377e-04 -5.42194326e+00] [ 4.12599344e-03 -3.12009783e-04 9.99991439e-01 -4.38444063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90755201799999 meters 0.04940798926896383 Centerline is valid? [True, True] Translation: X:60.86, Y:-5.43, Z:-0.44 [[ 9.99490130e-01 3.15587442e-02 -4.85029353e-03 6.08629381e+01] [-3.15565921e-02 9.99501832e-01 5.19614257e-04 -5.42877248e+00] [ 4.86427565e-03 -3.66290587e-04 9.99988102e-01 -4.38256717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96755201799999 meters 0.046401384133711615 Centerline is valid? [True, True] Translation: X:60.92, Y:-5.43, Z:-0.44 [[ 9.99440687e-01 3.30059210e-02 -5.37798367e-03 6.09216807e+01] [-3.30032972e-02 9.99455077e-01 5.75907732e-04 -5.43098912e+00] [ 5.39406144e-03 -3.98094425e-04 9.99985373e-01 -4.40481948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02755201799999 meters 0.04595041652245985 Centerline is valid? [True, True] Translation: X:60.98, Y:-5.43, Z:-0.44 [[ 9.99438178e-01 3.30674842e-02 -5.46529368e-03 6.09805624e+01] [-3.30647778e-02 9.99453040e-01 5.84833556e-04 -5.43456682e+00] [ 5.48164336e-03 -4.03796263e-04 9.99984894e-01 -4.40039645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08755201799999 meters 0.047950192376039584 Centerline is valid? [True, True] Translation: X:61.04, Y:-5.44, Z:-0.44 [[ 9.99423495e-01 3.36402568e-02 -4.58384946e-03 6.10380497e+01] [-3.36383645e-02 9.99433950e-01 4.89312463e-04 -5.44173093e+00] [ 4.59771537e-03 -3.34837173e-04 9.99989374e-01 -4.40113119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14755201799999 meters 0.04712051111527091 Centerline is valid? [True, True] Translation: X:61.10, Y:-5.45, Z:-0.44 [[ 9.99442403e-01 3.29686941e-02 -5.28654734e-03 6.10960187e+01] [-3.29661680e-02 9.99456309e-01 5.64279013e-04 -5.44737000e+00] [ 5.30227663e-03 -3.89687165e-04 9.99985867e-01 -4.42532882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20755201799999 meters 0.04732972504977359 Centerline is valid? [True, True] Translation: X:61.15, Y:-5.45, Z:-0.44 [[ 9.99490048e-01 3.15868503e-02 -4.68122461e-03 6.11543924e+01] [-3.15848560e-02 9.99500949e-01 4.99361982e-04 -5.45287754e+00] [ 4.69466171e-03 -3.51251527e-04 9.99988918e-01 -4.41759515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26755201799999 meters 0.04697307547081809 Centerline is valid? [True, True] Translation: X:61.21, Y:-5.46, Z:-0.44 [[ 9.99468383e-01 3.23137158e-02 -4.33311355e-03 6.12134998e+01] [-3.23120146e-02 9.99477724e-01 4.62063346e-04 -5.45714592e+00] [ 4.34578145e-03 -3.21806076e-04 9.99990505e-01 -4.41578370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32755201799999 meters 0.04883848758003079 Centerline is valid? [True, True] Translation: X:61.27, Y:-5.47, Z:-0.44 [[ 9.99376725e-01 3.51095187e-02 -3.67201235e-03 6.12714602e+01] [-3.51083167e-02 9.99383436e-01 3.91295872e-04 -5.46652395e+00] [ 3.68348654e-03 -2.62133814e-04 9.99993182e-01 -4.43078180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38755201799999 meters 0.04373278733041112 Centerline is valid? [True, True] Translation: X:61.33, Y:-5.46, Z:-0.44 [[ 9.99292116e-01 3.74867294e-02 -3.16407030e-03 6.13314096e+01] [-3.74858490e-02 9.99297102e-01 3.37116683e-04 -5.46457720e+00] [ 3.17448368e-03 -2.18270182e-04 9.99994937e-01 -4.41691653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44755201799999 meters 0.04352022772512973 Centerline is valid? [True, True] Translation: X:61.39, Y:-5.47, Z:-0.44 [[ 9.99078039e-01 4.28386476e-02 -2.81476987e-03 6.13901123e+01] [-4.28379720e-02 9.99081988e-01 2.99909967e-04 -5.47125552e+00] [ 2.82503362e-03 -1.79054429e-04 9.99995994e-01 -4.43170651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50755201799999 meters 0.04033579665285136 Centerline is valid? [True, True] Translation: X:61.45, Y:-5.47, Z:-0.44 [[ 9.98995732e-01 4.46893455e-02 -3.22337929e-03 6.14491079e+01] [-4.46884711e-02 9.99000912e-01 3.42828533e-04 -5.47138610e+00] [ 3.23547964e-03 -1.98436349e-04 9.99994746e-01 -4.42827214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.567552017999986 meters 0.040426790694914144 Centerline is valid? [True, True] Translation: X:61.51, Y:-5.48, Z:-0.45 [[ 9.98924340e-01 4.61379132e-02 -4.63202668e-03 6.15073333e+01] [-4.61361236e-02 9.98935041e-01 4.92537916e-04 -5.47949820e+00] [ 4.64981843e-03 -2.78304357e-04 9.99989151e-01 -4.45987465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62755201799999 meters 0.04642815173146 Centerline is valid? [True, True] Translation: X:61.56, Y:-5.50, Z:-0.45 [[ 9.98908109e-01 4.64473720e-02 -5.02302009e-03 6.15639665e+01] [-4.64452741e-02 9.98920693e-01 5.33550586e-04 -5.49634437e+00] [ 5.04238074e-03 -2.99672461e-04 9.99987242e-01 -4.49204468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68755201799999 meters 0.040304580485647834 Centerline is valid? [True, True] Translation: X:61.62, Y:-5.49, Z:-0.44 [[ 9.98938454e-01 4.59366214e-02 -3.43386156e-03 6.16220838e+01] [-4.59356478e-02 9.98944335e-01 3.61924598e-04 -5.49278689e+00] [ 3.44686215e-03 -2.03803743e-04 9.99994039e-01 -4.44541545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.747552017999986 meters 0.03982744777976579 Centerline is valid? [True, True] Translation: X:61.68, Y:-5.50, Z:-0.44 [[ 9.98869221e-01 4.75001553e-02 -2.00380711e-03 6.16806182e+01] [-4.74998257e-02 9.98871224e-01 2.11781454e-04 -5.49785495e+00] [ 2.01160491e-03 -1.16361487e-04 9.99997970e-01 -4.42883977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80755201799999 meters 0.04039592475321782 Centerline is valid? [True, True] Translation: X:61.74, Y:-5.51, Z:-0.44 [[ 9.98791632e-01 4.91149256e-02 -1.73211277e-03 6.17376302e+01] [-4.91146829e-02 9.98793129e-01 1.82357013e-04 -5.50769379e+00] [ 1.73897879e-03 -9.70644893e-05 9.99998483e-01 -4.44524813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86755201799999 meters 0.03897645780097357 Centerline is valid? [True, True] Translation: X:61.80, Y:-5.51, Z:-0.44 [[ 9.98636951e-01 5.21696252e-02 -1.60306329e-03 6.17972858e+01] [-5.21694202e-02 9.98638234e-01 1.69485648e-04 -5.51274002e+00] [ 1.60972230e-03 -8.56237479e-05 9.99998701e-01 -4.43637288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.927552017999986 meters 0.03474241663958364 Centerline is valid? [True, True] Translation: X:61.86, Y:-5.51, Z:-0.44 [[ 9.98463019e-01 5.54194027e-02 -5.38241523e-04 6.18571759e+01] [-5.54193802e-02 9.98463164e-01 5.66515411e-05 -5.51330535e+00] [ 5.40553929e-04 -2.67354572e-05 9.99999854e-01 -4.42090029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98755201799999 meters 0.03390806505872397 Centerline is valid? [True, True] Translation: X:61.92, Y:-5.52, Z:-0.44 [[ 9.98349624e-01 5.74263818e-02 -4.89019552e-04 6.19153917e+01] [-5.74263637e-02 9.98349743e-01 5.11291900e-05 -5.52143744e+00] [ 4.91148709e-04 -2.29621930e-05 9.99999879e-01 -4.43296286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04755201799999 meters 0.033736766177819955 Centerline is valid? [True, True] Translation: X:61.97, Y:-5.53, Z:-0.44 [[ 9.98274169e-01 5.87223052e-02 6.12619794e-04 6.19735505e+01] [-5.87222755e-02 9.98274356e-01 -6.64665852e-05 -5.52791720e+00] [-6.15465701e-04 3.03774468e-05 9.99999810e-01 -4.41105063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.107552017999986 meters 0.035145882510357766 Centerline is valid? [True, True] Translation: X:62.03, Y:-5.54, Z:-0.44 [[ 9.98268220e-01 5.88214985e-02 7.69237851e-04 6.20306356e+01] [-5.88214527e-02 9.98268516e-01 -8.19957449e-05 -5.53940643e+00] [-7.72729041e-04 3.66060584e-05 9.99999701e-01 -4.42173449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16755201799999 meters 0.03332386043290632 Centerline is valid? [True, True] Translation: X:62.09, Y:-5.54, Z:-0.44 [[ 9.98337466e-01 5.76383091e-02 -3.59926953e-04 6.20892837e+01] [-5.76382999e-02 9.98337531e-01 3.58566317e-05 -5.54487702e+00] [ 3.61395302e-04 -1.50514412e-05 9.99999935e-01 -4.42935431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22755201799999 meters 0.03330344725751754 Centerline is valid? [True, True] Translation: X:62.15, Y:-5.55, Z:-0.44 [[ 9.98455112e-01 5.55536838e-02 -1.08560160e-03 6.21480053e+01] [-5.55535931e-02 9.98455700e-01 1.13505326e-04 -5.55312068e+00] [ 1.09023074e-03 -5.30209031e-05 9.99999404e-01 -4.42793705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28755201799999 meters 0.03582851286347539 Centerline is valid? [True, True] Translation: X:62.21, Y:-5.57, Z:-0.45 [[ 9.98632402e-01 5.21746782e-02 -3.33590385e-03 6.22066313e+01] [-5.21737997e-02 9.98637959e-01 3.49876263e-04 -5.56537282e+00] [ 3.34961489e-03 -1.75350994e-04 9.99994375e-01 -4.45686035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34755201799999 meters 0.03552222899191011 Centerline is valid? [True, True] Translation: X:62.27, Y:-5.57, Z:-0.45 [[ 9.98733472e-01 5.01281677e-02 -4.31501021e-03 6.22660935e+01] [-5.01266801e-02 9.98742765e-01 4.52291305e-04 -5.57175046e+00] [ 4.33225777e-03 -2.35421329e-04 9.99990588e-01 -4.46035860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40755201799999 meters 0.036571405086084266 Centerline is valid? [True, True] Translation: X:62.32, Y:-5.58, Z:-0.45 [[ 9.98769865e-01 4.94309073e-02 -3.91686115e-03 6.23242077e+01] [-4.94296871e-02 9.98777523e-01 4.07776558e-04 -5.57889629e+00] [ 3.93222964e-03 -2.13665716e-04 9.99992246e-01 -4.45292681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46755201799999 meters 0.03754378171102925 Centerline is valid? [True, True] Translation: X:62.38, Y:-5.59, Z:-0.45 [[ 9.98732697e-01 5.00780759e-02 -5.01858222e-03 6.23813711e+01] [-5.00760742e-02 9.98745269e-01 5.23800702e-04 -5.58601116e+00] [ 5.03851618e-03 -2.71825992e-04 9.99987270e-01 -4.47036261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52755201799999 meters 0.03500147566880777 Centerline is valid? [True, True] Translation: X:62.44, Y:-5.59, Z:-0.45 [[ 9.98668348e-01 5.13314941e-02 -5.15841045e-03 6.24408177e+01] [-5.13294087e-02 9.98681633e-01 5.35925902e-04 -5.58765623e+00] [ 5.17911965e-03 -2.70434076e-04 9.99986552e-01 -4.46382628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58755201799999 meters 0.034551757010226634 Centerline is valid? [True, True] Translation: X:62.50, Y:-5.59, Z:-0.45 [[ 9.98549848e-01 5.36322060e-02 -4.66775394e-03 6.24998213e+01] [-5.36305298e-02 9.98560730e-01 4.83613541e-04 -5.59119701e+00] [ 4.68697305e-03 -2.32578111e-04 9.99988989e-01 -4.45648222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64755201799999 meters 0.03429869900520283 Centerline is valid? [True, True] Translation: X:62.56, Y:-5.59, Z:-0.45 [[ 9.98437890e-01 5.56635024e-02 -4.83259079e-03 6.25590885e+01] [-5.56617350e-02 9.98449559e-01 4.99560927e-04 -5.59496173e+00] [ 4.85290546e-03 -2.29790170e-04 9.99988198e-01 -4.45709635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70755201799999 meters 0.03466441852330206 Centerline is valid? [True, True] Translation: X:62.62, Y:-5.60, Z:-0.44 [[ 9.98339645e-01 5.74714365e-02 -3.87144440e-03 6.26171460e+01] [-5.74703135e-02 9.98347135e-01 4.00794624e-04 -5.59971148e+00] [ 3.88807967e-03 -1.77636040e-04 9.99992426e-01 -4.44715378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76755201799999 meters 0.03424320630507406 Centerline is valid? [True, True] Translation: X:62.68, Y:-5.61, Z:-0.44 [[ 9.98462078e-01 5.53041158e-02 -3.86446244e-03 6.26764253e+01] [-5.53029802e-02 9.98469539e-01 4.00180767e-04 -5.60527472e+00] [ 3.88067968e-03 -1.85849030e-04 9.99992453e-01 -4.44772366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82755201799999 meters 0.03573598866531965 Centerline is valid? [True, True] Translation: X:62.74, Y:-5.62, Z:-0.45 [[ 9.98606635e-01 5.26035783e-02 -4.20148457e-03 6.27351452e+01] [-5.26022128e-02 9.98615451e-01 4.34943386e-04 -5.61590795e+00] [ 4.21854699e-03 -2.13329965e-04 9.99991079e-01 -4.47323982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88755201799999 meters 0.042057668070181325 Centerline is valid? [True, True] Translation: X:62.79, Y:-5.63, Z:-0.45 [[ 9.98853216e-01 4.74427664e-02 -6.43707900e-03 6.27931993e+01] [-4.74394511e-02 9.98873893e-01 6.66818293e-04 -5.63025293e+00] [ 6.46146586e-03 -3.60682102e-04 9.99979059e-01 -4.49627503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94755201799999 meters 0.045010181651116254 Centerline is valid? [True, True] Translation: X:62.85, Y:-5.64, Z:-0.45 [[ 9.98953892e-01 4.50226845e-02 -8.00501668e-03 6.28518760e+01] [-4.50174868e-02 9.98985856e-01 8.28408133e-04 -5.63939468e+00] [ 8.03419559e-03 -4.67175796e-04 9.99967616e-01 -4.50295467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00755201799999 meters 0.048979270393470185 Centerline is valid? [True, True] Translation: X:62.91, Y:-5.66, Z:-0.45 [[ 9.99191296e-01 3.95302792e-02 -7.35601889e-03 6.29111717e+01] [-3.95257391e-02 9.99218262e-01 7.61599347e-04 -5.65570764e+00] [ 7.38037465e-03 -4.70231355e-04 9.99972654e-01 -4.53139450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.067552017999986 meters 0.05370863055756874 Centerline is valid? [True, True] Translation: X:62.97, Y:-5.67, Z:-0.45 [[ 9.99306852e-01 3.63518900e-02 -8.02217810e-03 6.29696486e+01] [-3.63463928e-02 9.99338907e-01 8.30039405e-04 -5.66659923e+00] [ 8.04704820e-03 -5.37886829e-04 9.99967477e-01 -4.53385852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12755201799999 meters 0.04341402078875012 Centerline is valid? [True, True] Translation: X:63.03, Y:-5.66, Z:-0.45 [[ 9.99328048e-01 3.57863401e-02 -7.92398484e-03 6.30298650e+01] [-3.57809662e-02 9.99359321e-01 8.18951984e-04 -5.65751730e+00] [ 7.94821540e-03 -5.34873854e-04 9.99968269e-01 -4.50197638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18755201799999 meters 0.04130389651808463 Centerline is valid? [True, True] Translation: X:63.09, Y:-5.66, Z:-0.45 [[ 9.99264178e-01 3.76890281e-02 -7.11622257e-03 6.30899069e+01] [-3.76847406e-02 9.99289407e-01 7.35682365e-04 -5.65979087e+00] [ 7.13889299e-03 -4.66968032e-04 9.99974409e-01 -4.49102356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.247552017999986 meters 0.04214177569077295 Centerline is valid? [True, True] Translation: X:63.15, Y:-5.66, Z:-0.45 [[ 9.99198369e-01 3.97196242e-02 -4.99712249e-03 6.31483458e+01] [-3.97175383e-02 9.99210814e-01 5.16001235e-04 -5.66418808e+00] [ 5.01367420e-03 -3.17114188e-04 9.99987381e-01 -4.46848290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30755201799999 meters 0.04168932103007154 Centerline is valid? [True, True] Translation: X:63.21, Y:-5.67, Z:-0.45 [[ 9.99119597e-01 4.17125889e-02 -4.48238591e-03 6.32079419e+01] [-4.17109309e-02 9.99129613e-01 4.62774077e-04 -5.66912415e+00] [ 4.49778800e-03 -2.75402160e-04 9.99989847e-01 -4.47956659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36755201799999 meters 0.03875378945430166 Centerline is valid? [True, True] Translation: X:63.27, Y:-5.67, Z:-0.45 [[ 9.99011552e-01 4.40208138e-02 -6.17139584e-03 6.32668883e+01] [-4.40177189e-02 9.99030548e-01 6.36482347e-04 -5.67064973e+00] [ 6.19343144e-03 -3.64202450e-04 9.99980754e-01 -4.50941273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.427552017999986 meters 0.04027126341831027 Centerline is valid? [True, True] Translation: X:63.32, Y:-5.68, Z:-0.45 [[ 9.99012502e-01 4.39176559e-02 -6.72754233e-03 6.33246182e+01] [-4.39139807e-02 9.99035075e-01 6.93110027e-04 -5.67780426e+00] [ 6.75149052e-03 -3.96992419e-04 9.99977130e-01 -4.51893482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48755201799999 meters 0.03887169470334045 Centerline is valid? [True, True] Translation: X:63.38, Y:-5.68, Z:-0.45 [[ 9.99065725e-01 4.28769390e-02 -5.40794518e-03 6.33832800e+01] [-4.28745648e-02 9.99080309e-01 5.54240124e-04 -5.68061515e+00] [ 5.42673566e-03 -3.21859015e-04 9.99985223e-01 -4.49280985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54755201799999 meters 0.0421884515161556 Centerline is valid? [True, True] Translation: X:63.44, Y:-5.69, Z:-0.45 [[ 9.99090694e-01 4.23570037e-02 -4.86504891e-03 6.34402831e+01] [-4.23550732e-02 9.99102497e-01 4.99199310e-04 -5.69175596e+00] [ 4.88182710e-03 -2.92685882e-04 9.99988041e-01 -4.50307319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.607552017999986 meters 0.04082913398228181 Centerline is valid? [True, True] Translation: X:63.50, Y:-5.70, Z:-0.45 [[ 9.99207429e-01 3.95886888e-02 -4.15313893e-03 6.34995317e+01] [-3.95872576e-02 9.99216026e-01 4.26296583e-04 -5.69729981e+00] [ 4.16675950e-03 -2.61547333e-04 9.99991285e-01 -4.51528346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66755201799999 meters 0.04294366526761232 Centerline is valid? [True, True] Translation: X:63.56, Y:-5.71, Z:-0.45 [[ 9.99318040e-01 3.63568420e-02 -6.45250577e-03 6.35590664e+01] [-3.63533190e-02 9.99338780e-01 6.62480592e-04 -5.70528558e+00] [ 6.47232494e-03 -4.27458806e-04 9.99978963e-01 -4.52622806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72755201799999 meters 0.04371859893153391 Centerline is valid? [True, True] Translation: X:63.62, Y:-5.71, Z:-0.45 [[ 9.99360543e-01 3.50592288e-02 -7.02528838e-03 6.36173584e+01] [-3.50550272e-02 9.99385124e-01 7.20350847e-04 -5.71270470e+00] [ 7.04622364e-03 -4.73618539e-04 9.99975063e-01 -4.53563563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.787552017999985 meters 0.0430629731238075 Centerline is valid? [True, True] Translation: X:63.68, Y:-5.72, Z:-0.45 [[ 9.99366904e-01 3.50228002e-02 -6.26060313e-03 6.36762915e+01] [-3.50194663e-02 9.99386425e-01 6.41377259e-04 -5.71888351e+00] [ 6.27922460e-03 -4.21728225e-04 9.99980197e-01 -4.54107071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84755201799999 meters 0.04509705204801982 Centerline is valid? [True, True] Translation: X:63.73, Y:-5.73, Z:-0.45 [[ 9.99316667e-01 3.65112666e-02 -5.75561910e-03 6.37334595e+01] [-3.65084777e-02 9.99333170e-01 5.88912498e-04 -5.72579041e+00] [ 5.77328303e-03 -3.78381183e-04 9.99983263e-01 -4.53721570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90755201799999 meters 0.043131666262512885 Centerline is valid? [True, True] Translation: X:63.79, Y:-5.73, Z:-0.45 [[ 9.99124282e-01 4.16827010e-02 -3.63614348e-03 6.37939993e+01] [-4.16816207e-02 9.99130874e-01 3.72419922e-04 -5.72871884e+00] [ 3.64850668e-03 -2.20533434e-04 9.99993320e-01 -4.52855651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96755201799999 meters 0.03576056933844981 Centerline is valid? [True, True] Translation: X:63.86, Y:-5.72, Z:-0.45 [[ 9.98801866e-01 4.89238729e-02 -1.13462188e-03 6.38551806e+01] [-4.89237725e-02 9.98802509e-01 1.16121278e-04 -5.72314331e+00] [ 1.13894428e-03 -6.04721663e-05 9.99999350e-01 -4.49931666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.027552018 meters 0.03310391935505811 Centerline is valid? [True, True] Translation: X:63.92, Y:-5.72, Z:-0.45 [[ 9.98535484e-01 5.40907548e-02 -1.03765054e-03 6.39153549e+01] [-5.40906736e-02 9.98536022e-01 1.06192924e-04 -5.72398337e+00] [ 1.04187550e-03 -4.99101857e-05 9.99999456e-01 -4.49690716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08755201799998 meters 0.031373829805910934 Centerline is valid? [True, True] Translation: X:63.97, Y:-5.73, Z:-0.45 [[ 9.98215625e-01 5.96651782e-02 -2.37334966e-03 6.39749820e+01] [-5.96647691e-02 9.98218441e-01 2.42867117e-04 -5.72900391e+00] [ 2.38361211e-03 -1.00828391e-04 9.99997154e-01 -4.53139537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14755201799998 meters 0.031070725852003336 Centerline is valid? [True, True] Translation: X:64.03, Y:-5.74, Z:-0.46 [[ 9.97974275e-01 6.34048049e-02 -5.21316057e-03 6.40324393e+01] [-6.34028866e-02 9.97987871e-01 5.32582484e-04 -5.73605770e+00] [ 5.23643931e-03 -2.00974189e-04 9.99986270e-01 -4.56771666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20755201799999 meters 0.029425147028853706 Centerline is valid? [True, True] Translation: X:64.09, Y:-5.74, Z:-0.46 [[ 9.97818625e-01 6.58529945e-02 -4.62326162e-03 6.40916570e+01] [-6.58515230e-02 9.97829322e-01 4.69948988e-04 -5.73925680e+00] [ 4.64417355e-03 -1.64475034e-04 9.99989202e-01 -4.56218268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26755201799999 meters 0.029580432547341436 Centerline is valid? [True, True] Translation: X:64.15, Y:-5.75, Z:-0.46 [[ 9.97726950e-01 6.72438656e-02 -4.38127334e-03 6.41485489e+01] [-6.72425549e-02 9.97736558e-01 4.45953027e-04 -5.74730588e+00] [ 4.40134418e-03 -1.50331340e-04 9.99990303e-01 -4.56248643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32755201799999 meters 0.03316278461354094 Centerline is valid? [True, True] Translation: X:64.21, Y:-5.76, Z:-0.46 [[ 9.97865182e-01 6.52060925e-02 -3.63913882e-03 6.42051383e+01] [-6.52051763e-02 9.97871809e-01 3.69967384e-04 -5.76316011e+00] [ 3.65551817e-03 -1.31886883e-04 9.99993310e-01 -4.58451255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.387552018 meters 0.034640769189078796 Centerline is valid? [True, True] Translation: X:64.26, Y:-5.78, Z:-0.46 [[ 9.98278968e-01 5.86111326e-02 -1.95880635e-03 6.42637263e+01] [-5.86108542e-02 9.98280886e-01 1.99262348e-04 -5.77740470e+00] [ 1.96711793e-03 -8.41120976e-05 9.99998062e-01 -4.56986639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44755201799998 meters 0.035618323130625004 Centerline is valid? [True, True] Translation: X:64.32, Y:-5.79, Z:-0.46 [[ 9.98687799e-01 5.11965263e-02 -1.26331419e-03 6.43233507e+01] [-5.11964045e-02 9.98688596e-01 1.28629473e-04 -5.79209287e+00] [ 1.26824285e-03 -6.37835414e-05 9.99999194e-01 -4.55586781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50755201799998 meters 0.03798860945529773 Centerline is valid? [True, True] Translation: X:64.38, Y:-5.80, Z:-0.46 [[ 9.98894267e-01 4.69826257e-02 -1.69596589e-03 6.43823284e+01] [-4.69824004e-02 9.98895702e-01 1.72461573e-04 -5.80367244e+00] [ 1.70219574e-03 -9.25903274e-05 9.99998547e-01 -4.55260509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56755201799999 meters 0.04207013118700628 Centerline is valid? [True, True] Translation: X:64.44, Y:-5.82, Z:-0.46 [[ 9.99095195e-01 4.25098209e-02 -1.30649415e-03 6.44403783e+01] [-4.25096837e-02 9.99096046e-01 1.32675400e-04 -5.82009185e+00] [ 1.31095315e-03 -7.70167013e-05 9.99999138e-01 -4.56527611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62755201799999 meters 0.042440347936816454 Centerline is valid? [True, True] Translation: X:64.50, Y:-5.83, Z:-0.46 [[ 9.99255594e-01 3.84768075e-02 -2.79161458e-03 6.44997932e+01] [-3.84761640e-02 9.99259478e-01 2.83882150e-04 -5.83075336e+00] [ 2.80047020e-03 -1.76260207e-04 9.99996063e-01 -4.59535140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68755201799999 meters 0.043683374731237935 Centerline is valid? [True, True] Translation: X:64.56, Y:-5.84, Z:-0.46 [[ 9.99301206e-01 3.72763782e-02 -2.75173134e-03 6.45581076e+01] [-3.72757501e-02 9.99304979e-01 2.79208868e-04 -5.84012794e+00] [ 2.76022673e-03 -1.76440909e-04 9.99996175e-01 -4.59759667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.747552018 meters 0.04052647739531189 Centerline is valid? [True, True] Translation: X:64.62, Y:-5.84, Z:-0.46 [[ 9.99243936e-01 3.88594234e-02 -1.22517452e-03 6.46169693e+01] [-3.88593005e-02 9.99244684e-01 1.23901187e-04 -5.84000992e+00] [ 1.22906385e-03 -7.61980847e-05 9.99999242e-01 -4.56706055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.807552018 meters 0.03936195860450196 Centerline is valid? [True, True] Translation: X:64.68, Y:-5.84, Z:-0.46 [[ 9.99194302e-01 4.01308419e-02 -5.11989006e-04 6.46753659e+01] [-4.01308208e-02 9.99194433e-01 5.14103880e-05 -5.84491307e+00] [ 5.13639706e-04 -3.08224277e-05 9.99999868e-01 -4.57025769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86755201799998 meters 0.04097137661679629 Centerline is valid? [True, True] Translation: X:64.73, Y:-5.85, Z:-0.46 [[ 9.99253793e-01 3.85626433e-02 -2.18622207e-03 6.47342423e+01] [-3.85622509e-02 9.99256175e-01 2.21365065e-04 -5.85251616e+00] [ 2.19313232e-03 -1.36894237e-04 9.99997586e-01 -4.58312917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92755201799999 meters 0.0437698866187807 Centerline is valid? [True, True] Translation: X:64.79, Y:-5.86, Z:-0.46 [[ 9.99411778e-01 3.41279684e-02 -3.37341413e-03 6.47936731e+01] [-3.41270070e-02 9.99417445e-01 3.42177749e-04 -5.86211274e+00] [ 3.38312677e-03 -2.26851945e-04 9.99994251e-01 -4.60085745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98755201799999 meters 0.04636134413632709 Centerline is valid? [True, True] Translation: X:64.85, Y:-5.87, Z:-0.46 [[ 9.99517099e-01 3.07980424e-02 -4.12913932e-03 6.48531243e+01] [-3.07965744e-02 9.99525585e-01 4.18645883e-04 -5.87355885e+00] [ 4.14007387e-03 -2.91280372e-04 9.99991387e-01 -4.62903229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04755201799999 meters 0.04487229993160822 Centerline is valid? [True, True] Translation: X:64.91, Y:-5.87, Z:-0.46 [[ 9.99643740e-01 2.61145914e-02 -5.51555302e-03 6.49134914e+01] [-2.61119006e-02 9.99658870e-01 5.59315759e-04 -5.87396715e+00] [ 5.52827780e-03 -4.15094925e-04 9.99984633e-01 -4.61413677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10755201799999 meters 0.04752330544674494 Centerline is valid? [True, True] Translation: X:64.97, Y:-5.88, Z:-0.46 [[ 9.99696977e-01 2.45308802e-02 -2.04706245e-03 6.49708902e+01] [-2.45305080e-02 9.99699060e-01 2.06700570e-04 -5.88005059e+00] [ 2.05151696e-03 -1.56422453e-04 9.99997883e-01 -4.58282478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.167552018 meters 0.047671467871032464 Centerline is valid? [True, True] Translation: X:65.03, Y:-5.89, Z:-0.46 [[ 9.99713363e-01 2.39409471e-02 -1.48323437e-04 6.50292067e+01] [-2.39409452e-02 9.99713374e-01 1.44538846e-05 -5.88536274e+00] [ 1.48626963e-04 -1.08987383e-05 9.99999989e-01 -4.57575647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22755201799998 meters 0.05091207323628019 Centerline is valid? [True, True] Translation: X:65.09, Y:-5.89, Z:-0.46 [[ 9.99788052e-01 2.05813722e-02 -5.08881798e-04 6.50882905e+01] [-2.05813487e-02 9.99788180e-01 5.13952857e-05 -5.89391362e+00] [ 5.09831792e-04 -4.09109188e-05 9.99999869e-01 -4.58564030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28755201799999 meters 0.05395915226408519 Centerline is valid? [True, True] Translation: X:65.15, Y:-5.90, Z:-0.46 [[ 9.99842974e-01 1.76697852e-02 -1.34410318e-03 6.51474320e+01] [-1.76696184e-02 9.99843871e-01 1.35887851e-04 -5.90290330e+00] [ 1.34629444e-03 -1.12116723e-04 9.99999087e-01 -4.60001986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34755201799999 meters 0.052977584449311776 Centerline is valid? [True, True] Translation: X:65.21, Y:-5.91, Z:-0.46 [[ 9.99855658e-01 1.69014062e-02 -1.73385327e-03 6.52054842e+01] [-1.69011287e-02 9.99857150e-01 1.74602571e-04 -5.90832210e+00] [ 1.73655661e-03 -1.45273292e-04 9.99998482e-01 -4.62261366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40755201799999 meters 0.050196784967027924 Centerline is valid? [True, True] Translation: X:65.27, Y:-5.91, Z:-0.46 [[ 9.99874846e-01 1.55479592e-02 -2.92453428e-03 6.52652253e+01] [-1.55471616e-02 9.99879092e-01 2.95271927e-04 -5.91010856e+00] [ 2.92877155e-03 -2.49766765e-04 9.99995680e-01 -4.63827808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46755201799999 meters 0.051632287128834005 Centerline is valid? [True, True] Translation: X:65.32, Y:-5.92, Z:-0.46 [[ 9.99879251e-01 1.52970152e-02 -2.73565634e-03 6.53235088e+01] [-1.52963177e-02 9.99882966e-01 2.75688796e-04 -5.91657828e+00] [ 2.73955340e-03 -2.33810038e-04 9.99996220e-01 -4.63768213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.527552018 meters 0.04816209880993375 Centerline is valid? [True, True] Translation: X:65.38, Y:-5.92, Z:-0.46 [[ 9.99834852e-01 1.80841012e-02 -1.79856809e-03 6.53842072e+01] [-1.80838042e-02 9.99836458e-01 1.81264121e-04 -5.91746324e+00] [ 1.80155194e-03 -1.48709233e-04 9.99998366e-01 -4.63581136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58755201799998 meters 0.05025919114310367 Centerline is valid? [True, True] Translation: X:65.44, Y:-5.93, Z:-0.47 [[ 9.99794893e-01 2.01912422e-02 -1.57635766e-03 6.54429303e+01] [-2.01910168e-02 9.99796128e-01 1.58774351e-04 -5.92620417e+00] [ 1.57924214e-03 -1.26913521e-04 9.99998745e-01 -4.65064386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64755201799998 meters 0.04749779996812125 Centerline is valid? [True, True] Translation: X:65.50, Y:-5.93, Z:-0.46 [[ 9.99784974e-01 2.06615252e-02 -1.76268392e-03 6.55017883e+01] [-2.06612448e-02 9.99786518e-01 1.77146307e-04 -5.92522692e+00] [ 1.76596773e-03 -1.40688972e-04 9.99998431e-01 -4.64651830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70755201799999 meters 0.048017906995477685 Centerline is valid? [True, True] Translation: X:65.56, Y:-5.93, Z:-0.46 [[ 9.99788618e-01 2.05225893e-02 -1.24208994e-03 6.55593146e+01] [-2.05224507e-02 9.99789385e-01 1.24230411e-04 -5.93022412e+00] [ 1.24437786e-03 -9.87134213e-05 9.99999221e-01 -4.64215576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76755201799999 meters 0.04950816734500892 Centerline is valid? [True, True] Translation: X:65.62, Y:-5.94, Z:-0.47 [[ 9.99758340e-01 2.19752732e-02 -5.90269816e-04 6.56180108e+01] [-2.19752422e-02 9.99758513e-01 5.89890885e-05 -5.93717078e+00] [ 5.91423575e-04 -4.60035110e-05 9.99999824e-01 -4.65306434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82755201799999 meters 0.04931482090395649 Centerline is valid? [True, True] Translation: X:65.68, Y:-5.94, Z:-0.46 [[ 9.99772243e-01 2.13403283e-02 -2.27189455e-04 6.56773689e+01] [-2.13403238e-02 9.99772269e-01 2.22911495e-05 -5.93891834e+00] [ 2.27613418e-04 -1.74377760e-05 9.99999974e-01 -4.64448295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.887552018 meters 0.0492707738647575 Centerline is valid? [True, True] Translation: X:65.74, Y:-5.94, Z:-0.47 [[ 9.99775565e-01 2.11842580e-02 -2.15039130e-04 6.57359026e+01] [-2.11842540e-02 9.99775588e-01 2.10511906e-05 -5.94400905e+00] [ 2.15436826e-04 -1.64910225e-05 9.99999977e-01 -4.65527341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94755201799998 meters 0.04920921250837945 Centerline is valid? [True, True] Translation: X:65.79, Y:-5.95, Z:-0.47 [[ 9.99769984e-01 2.13956994e-02 1.48428496e-03 6.57948586e+01] [-2.13955007e-02 9.99771079e-01 -1.49584025e-04 -5.94776933e+00] [-1.48714563e-03 1.17792599e-04 9.99998887e-01 -4.65001275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00755201799998 meters 0.04816095799003428 Centerline is valid? [True, True] Translation: X:65.85, Y:-5.95, Z:-0.46 [[ 9.99767845e-01 2.13960067e-02 2.54288489e-03 6.58537059e+01] [-2.13954252e-02 9.99771059e-01 -2.55672289e-04 -5.94975971e+00] [-2.54777309e-03 2.01206830e-04 9.99996734e-01 -4.64180871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06755201799999 meters 0.05326261491049043 Centerline is valid? [True, True] Translation: X:65.91, Y:-5.96, Z:-0.46 [[ 9.99767277e-01 2.14603779e-02 2.20100210e-03 6.59105982e+01] [-2.14599424e-02 9.99769684e-01 -2.21286058e-04 -5.95848423e+00] [-2.20524406e-03 1.74001181e-04 9.99997553e-01 -4.64426485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12755201799999 meters 0.048293006055840276 Centerline is valid? [True, True] Translation: X:65.97, Y:-5.96, Z:-0.47 [[ 9.99774173e-01 2.12119923e-02 1.28659158e-03 6.59697860e+01] [-2.12118433e-02 9.99774995e-01 -1.29405647e-04 -5.95541334e+00] [-1.28904704e-03 1.02085445e-04 9.99999164e-01 -4.65849124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18755201799999 meters 0.049091231706868674 Centerline is valid? [True, True] Translation: X:66.03, Y:-5.96, Z:-0.47 [[ 9.99825746e-01 1.86286390e-02 1.20455087e-03 6.60294801e+01] [-1.86285070e-02 9.99826467e-01 -1.20745263e-04 -5.96065790e+00] [-1.20659116e-03 9.82852381e-05 9.99999267e-01 -4.66345871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.247552018 meters 0.050785291900772064 Centerline is valid? [True, True] Translation: X:66.09, Y:-5.97, Z:-0.47 [[ 9.99858391e-01 1.67625333e-02 1.48867822e-03 6.60889559e+01] [-1.67623295e-02 9.99859491e-01 -1.49273128e-04 -5.96758462e+00] [-1.49097125e-03 1.24298274e-04 9.99998881e-01 -4.67459618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30755201799998 meters 0.0489401913839998 Centerline is valid? [True, True] Translation: X:66.15, Y:-5.97, Z:-0.47 [[ 9.99837050e-01 1.80292380e-02 9.05268257e-04 6.61480349e+01] [-1.80291629e-02 9.99837457e-01 -9.10965528e-05 -5.97055665e+00] [-9.06763514e-04 7.47604799e-05 9.99999586e-01 -4.68951420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36755201799998 meters 0.048441447661266186 Centerline is valid? [True, True] Translation: X:66.21, Y:-5.97, Z:-0.47 [[ 9.99766532e-01 2.15988808e-02 6.08045510e-04 6.62088232e+01] [-2.15988478e-02 9.99766716e-01 -6.08358506e-05 -5.97183220e+00] [-6.09217649e-04 4.76885650e-05 9.99999813e-01 -4.69596553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42755201799999 meters 0.04529360049455817 Centerline is valid? [True, True] Translation: X:66.27, Y:-5.97, Z:-0.47 [[ 9.99666721e-01 2.57667896e-02 1.58719160e-03 6.62689656e+01] [-2.57665699e-02 9.99667974e-01 -1.58738773e-04 -5.97315558e+00] [-1.59075480e-03 1.17789386e-04 9.99998728e-01 -4.69609262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48755201799999 meters 0.044581939241334106 Centerline is valid? [True, True] Translation: X:66.33, Y:-5.98, Z:-0.47 [[ 9.99583306e-01 2.88367797e-02 1.28592729e-03 6.63286801e+01] [-2.88366378e-02 9.99584129e-01 -1.28700236e-04 -5.97757236e+00] [-1.28910381e-03 9.15647877e-05 9.99999165e-01 -4.70294048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54755201799999 meters 0.04101165811870341 Centerline is valid? [True, True] Translation: X:66.39, Y:-5.98, Z:-0.47 [[ 9.99455037e-01 3.29794499e-02 1.40910151e-03 6.63890041e+01] [-3.29792838e-02 9.99456026e-01 -1.40930536e-04 -5.97856343e+00] [-1.41298280e-03 9.43825756e-05 9.99998997e-01 -4.70579663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60755201799999 meters 0.04214786385796403 Centerline is valid? [True, True] Translation: X:66.45, Y:-5.99, Z:-0.47 [[ 9.99429704e-01 3.37141667e-02 1.90328726e-03 6.64464231e+01] [-3.37138638e-02 9.99431508e-01 -1.90994352e-04 -5.98667756e+00] [-1.90864448e-03 1.26718261e-04 9.99998171e-01 -4.71733178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.667552018 meters 0.043039571184046964 Centerline is valid? [True, True] Translation: X:66.50, Y:-6.00, Z:-0.47 [[ 9.99433854e-01 3.36160531e-02 1.39018944e-03 6.65042020e+01] [-3.36158918e-02 9.99434817e-01 -1.39213104e-04 -5.99786265e+00] [-1.39408352e-03 9.24018309e-05 9.99999024e-01 -4.74198831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72755201799998 meters 0.042058513200875045 Centerline is valid? [True, True] Translation: X:66.56, Y:-6.00, Z:-0.47 [[ 9.99511280e-01 3.12601428e-02 6.53471751e-05 6.65629020e+01] [-3.12601424e-02 9.99511282e-01 -6.93601365e-06 -6.00472612e+00] [-6.55320595e-05 4.88986189e-06 9.99999998e-01 -4.74967803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78755201799999 meters 0.04366792817587131 Centerline is valid? [True, True] Translation: X:66.62, Y:-6.02, Z:-0.48 [[ 9.99576998e-01 2.90742249e-02 -7.16635609e-04 6.66217534e+01] [-2.90741813e-02 9.99577254e-01 7.11302445e-05 -6.01512525e+00] [ 7.18400711e-04 -5.02645627e-05 9.99999741e-01 -4.76756470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84755201799999 meters 0.04849262817894409 Centerline is valid? [True, True] Translation: X:66.68, Y:-6.03, Z:-0.48 [[ 9.99659636e-01 2.60839125e-02 -4.91376134e-04 6.66791614e+01] [-2.60838917e-02 9.99659756e-01 4.86697241e-05 -6.03210920e+00] [ 4.92478443e-04 -3.58361569e-05 9.99999878e-01 -4.78478432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90755201799999 meters 0.046244403607705264 Centerline is valid? [True, True] Translation: X:66.74, Y:-6.04, Z:-0.48 [[ 9.99710166e-01 2.40741738e-02 1.36523835e-04 6.67380475e+01] [-2.40741722e-02 9.99710175e-01 -1.40101904e-05 -6.03747911e+00] [-1.36821551e-04 1.07194315e-05 9.99999991e-01 -4.77472794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96755201799999 meters 0.04724498579140352 Centerline is valid? [True, True] Translation: X:66.80, Y:-6.05, Z:-0.48 [[ 9.99723818e-01 2.34838900e-02 8.91457070e-04 6.67962545e+01] [-2.34838197e-02 9.99724213e-01 -8.92268110e-05 -6.04566781e+00] [-8.93306610e-04 6.82673510e-05 9.99999599e-01 -4.77148129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.027552018 meters 0.04940434859909536 Centerline is valid? [True, True] Translation: X:66.85, Y:-6.06, Z:-0.48 [[ 9.99745025e-01 2.25806194e-02 -2.01943700e-05 6.68525898e+01] [-2.25806194e-02 9.99745025e-01 1.18728462e-06 -6.05900190e+00] [ 2.02160305e-05 -7.30980514e-07 1.00000000e+00 -4.80403376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08755201799998 meters 0.04785676380013816 Centerline is valid? [True, True] Translation: X:66.91, Y:-6.06, Z:-0.48 [[ 9.99766785e-01 2.15941273e-02 2.64178250e-04 6.69111760e+01] [-2.15941210e-02 9.99766819e-01 -2.67819649e-05 -6.06472318e+00] [-2.64694982e-04 2.10710218e-05 9.99999965e-01 -4.81155265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14755201799998 meters 0.0488972841844029 Centerline is valid? [True, True] Translation: X:66.97, Y:-6.07, Z:-0.48 [[ 9.99792004e-01 2.03937517e-02 -2.09316933e-04 6.69705762e+01] [-2.03937479e-02 9.99792026e-01 2.04936441e-05 -6.07342682e+00] [ 2.09691343e-04 -1.62206248e-05 9.99999978e-01 -4.80956512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20755201799999 meters 0.05105416087144445 Centerline is valid? [True, True] Translation: X:67.03, Y:-6.09, Z:-0.48 [[ 9.99827079e-01 1.85923900e-02 3.67713319e-04 6.70292081e+01] [-1.85923777e-02 9.99827146e-01 -3.67489110e-05 -6.08799831e+00] [-3.68333009e-04 2.99058914e-05 9.99999932e-01 -4.82376240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26755201799999 meters 0.0524352751712178 Centerline is valid? [True, True] Translation: X:67.09, Y:-6.10, Z:-0.48 [[ 9.99873710e-01 1.58913720e-02 1.69739527e-04 6.70885967e+01] [-1.58913693e-02 9.99873724e-01 -1.69711693e-05 -6.09989081e+00] [-1.69987788e-04 1.42716325e-05 9.99999985e-01 -4.83055527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32755201799999 meters 0.05592549747979059 Centerline is valid? [True, True] Translation: X:67.15, Y:-6.12, Z:-0.49 [[ 9.99940392e-01 1.08328450e-02 -1.36434512e-03 6.71471982e+01] [-1.08326706e-02 9.99941316e-01 1.35158463e-04 -6.11587276e+00] [ 1.36572920e-03 -1.20370905e-04 9.99999060e-01 -4.85399415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.387552018 meters 0.05773585217775856 Centerline is valid? [True, True] Translation: X:67.21, Y:-6.13, Z:-0.49 [[ 9.99957227e-01 9.08902845e-03 -1.71271915e-03 6.72060243e+01] [-9.08875137e-03 9.99958682e-01 1.69488616e-04 -6.12708578e+00] [ 1.71418887e-03 -1.53914888e-04 9.99998519e-01 -4.87108477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44755201799998 meters 0.058276863698657276 Centerline is valid? [True, True] Translation: X:67.27, Y:-6.14, Z:-0.49 [[ 9.99989289e-01 4.03453675e-03 -2.26791234e-03 6.72654383e+01] [-4.03403718e-03 9.99991838e-01 2.24807710e-04 -6.14140940e+00] [ 2.26880082e-03 -2.15656459e-04 9.99997403e-01 -4.88707075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50755201799998 meters 0.061892678521777995 Centerline is valid? [True, True] Translation: X:67.32, Y:-6.16, Z:-0.49 [[ 9.99996396e-01 1.39027078e-03 -2.29656641e-03 6.73241814e+01] [-1.38975219e-03 9.99999008e-01 2.27391068e-04 -6.15587878e+00] [ 2.29688027e-03 -2.24198591e-04 9.99997337e-01 -4.88894566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56755201799999 meters 0.0582431323100342 Centerline is valid? [True, True] Translation: X:67.38, Y:-6.16, Z:-0.49 [[ 9.99998459e-01 2.21752225e-05 -1.75564150e-03 6.73836104e+01] [-2.18704456e-05 9.99999985e-01 1.73617643e-04 -6.16149404e+00] [ 1.75564532e-03 -1.73578978e-04 9.99998444e-01 -4.86769122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62755201799999 meters 0.05745552392887833 Centerline is valid? [True, True] Translation: X:67.44, Y:-6.17, Z:-0.49 [[ 9.99997436e-01 2.10190639e-03 -8.42995559e-04 6.74426827e+01] [-2.10183701e-03 9.99997788e-01 8.31853515e-05 -6.16963470e+00] [ 8.43168542e-04 -8.14132989e-05 9.99999641e-01 -4.86447492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68755201799999 meters 0.056136867351975775 Centerline is valid? [True, True] Translation: X:67.50, Y:-6.17, Z:-0.49 [[ 9.99945678e-01 1.02653408e-02 -1.80675797e-03 6.75023193e+01] [-1.02650343e-02 9.99947297e-01 1.78842695e-04 -6.17453339e+00] [ 1.80849863e-03 -1.60286548e-04 9.99998352e-01 -4.86744361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.747552018 meters 0.05150236240457348 Centerline is valid? [True, True] Translation: X:67.56, Y:-6.17, Z:-0.49 [[ 9.99814251e-01 1.90516937e-02 -2.91484440e-03 6.75630853e+01] [-1.90509327e-02 9.99818473e-01 2.88625278e-04 -6.17259099e+00] [ 2.91981408e-03 -2.33041161e-04 9.99995710e-01 -4.87039524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80755201799998 meters 0.04581816967233718 Centerline is valid? [True, True] Translation: X:67.62, Y:-6.17, Z:-0.49 [[ 9.99680312e-01 2.52249366e-02 -1.72538313e-03 6.76238098e+01] [-2.52246793e-02 9.99681793e-01 1.70679357e-04 -6.16955757e+00] [ 1.72913948e-03 -1.27102557e-04 9.99998497e-01 -4.85407354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86755201799998 meters 0.04335032941829673 Centerline is valid? [True, True] Translation: X:67.68, Y:-6.17, Z:-0.49 [[ 9.99415332e-01 3.41681113e-02 -1.23828221e-03 6.76838543e+01] [-3.41679858e-02 9.99416096e-01 1.22382585e-04 -6.16973885e+00] [ 1.24174076e-03 -8.00014228e-05 9.99999226e-01 -4.85366312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92755201799999 meters 0.040265445491030366 Centerline is valid? [True, True] Translation: X:67.74, Y:-6.17, Z:-0.49 [[ 9.99231937e-01 3.90926392e-02 -2.70211881e-03 6.77448968e+01] [-3.90920586e-02 9.99235578e-01 2.67393276e-04 -6.17016576e+00] [ 2.71050636e-03 -1.61556514e-04 9.99996314e-01 -4.87139957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98755201799999 meters 0.03682586656220341 Centerline is valid? [True, True] Translation: X:67.80, Y:-6.17, Z:-0.49 [[ 9.99187322e-01 4.02061994e-02 -2.85618004e-03 6.78037319e+01] [-4.02055574e-02 9.99191390e-01 2.81873886e-04 -6.16927092e+00] [ 2.86520358e-03 -1.66810502e-04 9.99995881e-01 -4.86208803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04755201799999 meters 0.038084348330462536 Centerline is valid? [True, True] Translation: X:67.86, Y:-6.18, Z:-0.49 [[ 9.99173194e-01 4.06167440e-02 -1.79149747e-03 6.78613547e+01] [-4.06164930e-02 9.99174794e-01 1.76286792e-04 -6.17669660e+00] [ 1.79717932e-03 -1.03376692e-04 9.99998380e-01 -4.87059220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10755201799999 meters 0.03640493766958439 Centerline is valid? [True, True] Translation: X:67.92, Y:-6.18, Z:-0.49 [[ 9.99233786e-01 3.91063842e-02 -1.59123134e-03 6.79199951e+01] [-3.91061844e-02 9.99235048e-01 1.56492026e-04 -6.17817120e+00] [ 1.59613396e-03 -9.41451334e-05 9.99998722e-01 -4.85002453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.167552018 meters 0.043065794174310994 Centerline is valid? [True, True] Translation: X:67.98, Y:-6.19, Z:-0.48 [[ 9.99295751e-01 3.74916742e-02 -1.54172334e-03 6.79763628e+01] [-3.74914855e-02 9.99296936e-01 1.51149768e-04 -6.19111202e+00] [ 1.54630627e-03 -9.32418227e-05 9.99998800e-01 -4.84772844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22755201799998 meters 0.04061250454978848 Centerline is valid? [True, True] Translation: X:68.04, Y:-6.20, Z:-0.49 [[ 9.99478963e-01 3.22449580e-02 -1.43712527e-03 6.80368937e+01] [-3.22447875e-02 9.99479992e-01 1.41671095e-04 -6.19630994e+00] [ 1.44094613e-03 -9.52574802e-05 9.99998957e-01 -4.85877689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28755201799999 meters 0.04622568071304555 Centerline is valid? [True, True] Translation: X:68.09, Y:-6.21, Z:-0.49 [[ 9.99662348e-01 2.58635762e-02 -2.50308061e-03 6.80948061e+01] [-2.58630387e-02 9.99665465e-01 2.46857122e-04 -6.21190310e+00] [ 2.50862785e-03 -1.82036499e-04 9.99996837e-01 -4.87324295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34755201799999 meters 0.04650036148568086 Centerline is valid? [True, True] Translation: X:68.15, Y:-6.22, Z:-0.49 [[ 9.99719967e-01 2.34916434e-02 -2.85128889e-03 6.81542826e+01] [-2.34909377e-02 9.99724010e-01 2.80736711e-04 -6.21843939e+00] [ 2.85709693e-03 -2.13678646e-04 9.99995896e-01 -4.87148687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40755201799999 meters 0.04700443448826504 Centerline is valid? [True, True] Translation: X:68.21, Y:-6.23, Z:-0.49 [[ 9.99692574e-01 2.44713285e-02 -3.98898230e-03 6.82129312e+01] [-2.44699571e-02 9.99700489e-01 3.92267795e-04 -6.22541889e+00] [ 3.99738687e-03 -2.94536976e-04 9.99991967e-01 -4.89049985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46755201799999 meters 0.04717455904982229 Centerline is valid? [True, True] Translation: X:68.27, Y:-6.23, Z:-0.49 [[ 9.99682661e-01 2.49470185e-02 -3.49610979e-03 6.82716640e+01] [-2.49459690e-02 9.99688742e-01 3.43465100e-04 -6.23060369e+00] [ 3.50359003e-03 -2.56142259e-04 9.99993830e-01 -4.88235400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.527552018 meters 0.04822351749620699 Centerline is valid? [True, True] Translation: X:68.33, Y:-6.24, Z:-0.49 [[ 9.99655798e-01 2.61231289e-02 -2.42234423e-03 6.83302213e+01] [-2.61226306e-02 9.99658718e-01 2.37162121e-04 -6.23924971e+00] [ 2.42771295e-03 -1.73802485e-04 9.99997038e-01 -4.88304707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58755201799998 meters 0.0485865539581718 Centerline is valid? [True, True] Translation: X:68.39, Y:-6.24, Z:-0.49 [[ 9.99602706e-01 2.81422474e-02 -1.56317614e-03 6.83894136e+01] [-2.81420419e-02 9.99603923e-01 1.53293780e-04 -6.24382086e+00] [ 1.56687103e-03 -1.09241909e-04 9.99998766e-01 -4.87580932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64755201799998 meters 0.04332083398979974 Centerline is valid? [True, True] Translation: X:68.45, Y:-6.24, Z:-0.49 [[ 9.99551811e-01 2.97763831e-02 -3.08941514e-03 6.84491138e+01] [-2.97755885e-02 9.99556563e-01 3.02884559e-04 -6.24078843e+00] [ 3.09706398e-03 -2.10759656e-04 9.99995182e-01 -4.88768478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70755201799999 meters 0.04515017205714623 Centerline is valid? [True, True] Translation: X:68.51, Y:-6.25, Z:-0.49 [[ 9.99598557e-01 2.79469749e-02 -4.65748119e-03 6.85063896e+01] [-2.79451505e-02 9.99609354e-01 4.56334482e-04 -6.25015461e+00] [ 4.66841493e-03 -3.25997277e-04 9.99989050e-01 -4.92034521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76755201799999 meters 0.04535251334603551 Centerline is valid? [True, True] Translation: X:68.57, Y:-6.25, Z:-0.49 [[ 9.99636232e-01 2.64185468e-02 -5.42801770e-03 6.85661525e+01] [-2.64160456e-02 9.99650894e-01 5.31983008e-04 -6.25464980e+00] [ 5.44017696e-03 -3.88402727e-04 9.99985127e-01 -4.91532361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82755201799999 meters 0.04773267213491273 Centerline is valid? [True, True] Translation: X:68.62, Y:-6.26, Z:-0.49 [[ 9.99676514e-01 2.50075599e-02 -4.63556664e-03 6.86239264e+01] [-2.50057248e-02 9.99687205e-01 4.53412899e-04 -6.26378071e+00] [ 4.64545540e-03 -3.37350523e-04 9.99989153e-01 -4.92166783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.887552018 meters 0.04616755565594875 Centerline is valid? [True, True] Translation: X:68.68, Y:-6.27, Z:-0.49 [[ 9.99758959e-01 2.18025451e-02 -2.58322356e-03 6.86840613e+01] [-2.18019642e-02 9.99762277e-01 2.52820822e-04 -6.26909862e+00] [ 2.58812161e-03 -1.96440534e-04 9.99996632e-01 -4.90722383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94755201799998 meters 0.04861168906647694 Centerline is valid? [True, True] Translation: X:68.74, Y:-6.28, Z:-0.49 [[ 9.99791448e-01 1.99924125e-02 -4.16693888e-03 6.87432359e+01] [-1.99908861e-02 9.99800079e-01 4.07652653e-04 -6.27595183e+00] [ 4.17425578e-03 -3.24266836e-04 9.99991235e-01 -4.91856470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00755201799998 meters 0.04890905905967159 Centerline is valid? [True, True] Translation: X:68.80, Y:-6.28, Z:-0.49 [[ 9.99777876e-01 2.08595648e-02 -3.01268220e-03 6.88015272e+01] [-2.08587725e-02 9.99782389e-01 2.94146375e-04 -6.28093983e+00] [ 3.01816237e-03 -2.31240185e-04 9.99995419e-01 -4.91659430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06755201799999 meters 0.047112818836772714 Centerline is valid? [True, True] Translation: X:68.86, Y:-6.28, Z:-0.49 [[ 9.99759739e-01 2.17742779e-02 -2.51900808e-03 6.88602511e+01] [-2.17737277e-02 9.99762894e-01 2.45649036e-04 -6.28099430e+00] [ 2.52375964e-03 -1.90741820e-04 9.99996797e-01 -4.90495281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12755201799999 meters 0.04794847187508343 Centerline is valid? [True, True] Translation: X:68.92, Y:-6.29, Z:-0.49 [[ 9.99768514e-01 2.12152882e-02 -3.58180781e-03 6.89192865e+01] [-2.12141723e-02 9.99774893e-01 3.49246315e-04 -6.28509132e+00] [ 3.58841088e-03 -2.73180381e-04 9.99993524e-01 -4.92249477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18755201799999 meters 0.05091027859877292 Centerline is valid? [True, True] Translation: X:68.98, Y:-6.30, Z:-0.50 [[ 9.99788815e-01 2.00063232e-02 -4.69821217e-03 6.89773750e+01] [-2.00043899e-02 9.99799787e-01 4.58147365e-04 -6.29604790e+00] [ 4.70643737e-03 -3.64065743e-04 9.99988858e-01 -4.95871824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.247552018 meters 0.04915566998627665 Centerline is valid? [True, True] Translation: X:69.04, Y:-6.30, Z:-0.50 [[ 9.99805285e-01 1.90554255e-02 -5.12667343e-03 6.90364554e+01] [-1.90531136e-02 9.99818348e-01 4.99416246e-04 -6.29879065e+00] [ 5.13525875e-03 -4.01639911e-04 9.99986734e-01 -4.96113649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30755201799998 meters 0.051576574871582244 Centerline is valid? [True, True] Translation: X:69.10, Y:-6.31, Z:-0.50 [[ 9.99845007e-01 1.68794312e-02 -5.00465355e-03 6.90958429e+01] [-1.68772006e-02 9.99857451e-01 4.87602656e-04 -6.30542413e+00] [ 5.01217059e-03 -4.03062539e-04 9.99987358e-01 -4.95064825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36755201799998 meters 0.04991003494868066 Centerline is valid? [True, True] Translation: X:69.16, Y:-6.31, Z:-0.49 [[ 9.99874442e-01 1.54111099e-02 -3.68748902e-03 6.91553162e+01] [-1.54098899e-02 9.99881196e-01 3.59045872e-04 -6.30955584e+00] [ 3.69258422e-03 -3.02176991e-04 9.99993137e-01 -4.94174423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42755201799999 meters 0.054984148052264835 Centerline is valid? [True, True] Translation: X:69.21, Y:-6.32, Z:-0.50 [[ 9.99904632e-01 1.31663686e-02 -4.16805627e-03 6.92130331e+01] [-1.31647910e-02 9.99913258e-01 4.05716119e-04 -6.32363170e+00] [ 4.17303653e-03 -3.50805837e-04 9.99991231e-01 -4.95980277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48755201799999 meters 0.05291871463841099 Centerline is valid? [True, True] Translation: X:69.27, Y:-6.33, Z:-0.50 [[ 9.99920015e-01 1.13290300e-02 -5.62283378e-03 6.92728219e+01] [-1.13261308e-02 9.99935708e-01 5.47194258e-04 -6.32557813e+00] [ 5.62867145e-03 -4.83465540e-04 9.99984042e-01 -4.95716484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54755201799999 meters 0.05635765773597994 Centerline is valid? [True, True] Translation: X:69.33, Y:-6.34, Z:-0.50 [[ 9.99911313e-01 1.18779692e-02 -6.02335556e-03 6.93299213e+01] [-1.18746579e-02 9.99929323e-01 5.85200131e-04 -6.33791200e+00] [ 6.02988083e-03 -5.13622944e-04 9.99981688e-01 -4.98344497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60755201799999 meters 0.05354962176932151 Centerline is valid? [True, True] Translation: X:69.39, Y:-6.34, Z:-0.50 [[ 9.99887013e-01 1.40814780e-02 -5.26048681e-03 6.93898313e+01] [-1.40789821e-02 9.99900756e-01 5.11203876e-04 -6.33915040e+00] [ 5.26716324e-03 -4.37083817e-04 9.99986033e-01 -4.96952725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66755201799998 meters 0.049376097948359704 Centerline is valid? [True, True] Translation: X:69.45, Y:-6.34, Z:-0.49 [[ 9.99794761e-01 1.98273781e-02 -4.16071576e-03 6.94511825e+01] [-1.98258658e-02 9.99803366e-01 4.04421539e-04 -6.33521749e+00] [ 4.16791624e-03 -3.21848744e-04 9.99991262e-01 -4.94152112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72755201799998 meters 0.04836440893501223 Centerline is valid? [True, True] Translation: X:69.51, Y:-6.34, Z:-0.50 [[ 9.99693111e-01 2.45094889e-02 -3.60110244e-03 6.95115203e+01] [-2.45083861e-02 9.99699563e-01 3.50058260e-04 -6.33984103e+00] [ 3.60860029e-03 -2.61693622e-04 9.99993455e-01 -4.95738893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78755201799999 meters 0.04502402916531294 Centerline is valid? [True, True] Translation: X:69.57, Y:-6.34, Z:-0.50 [[ 9.99640567e-01 2.63085941e-02 -5.15691740e-03 6.95712667e+01] [-2.63063642e-02 9.99653803e-01 4.99769301e-04 -6.33948094e+00] [ 5.16828031e-03 -3.63929921e-04 9.99986578e-01 -4.96687630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84755201799999 meters 0.04522210195502627 Centerline is valid? [True, True] Translation: X:69.63, Y:-6.34, Z:-0.50 [[ 9.99606452e-01 2.75250177e-02 -5.41433326e-03 6.96301220e+01] [-2.75225776e-02 9.99621044e-01 5.24695524e-04 -6.34270316e+00] [ 5.42672372e-03 -3.75472624e-04 9.99985205e-01 -4.96830878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90755201799999 meters 0.04691639917954213 Centerline is valid? [True, True] Translation: X:69.69, Y:-6.35, Z:-0.50 [[ 9.99611549e-01 2.75089226e-02 -4.47318106e-03 6.96883257e+01] [-2.75072588e-02 9.99621510e-01 4.33061194e-04 -6.35188308e+00] [ 4.48340106e-03 -3.09848022e-04 9.99989902e-01 -4.97674016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96755201799999 meters 0.045205596344104065 Centerline is valid? [True, True] Translation: X:69.75, Y:-6.36, Z:-0.50 [[ 9.99650716e-01 2.61504304e-02 -3.82125394e-03 6.97473269e+01] [-2.61492078e-02 9.99657983e-01 3.69559413e-04 -6.35601574e+00] [ 3.82961114e-03 -2.69507568e-04 9.99992631e-01 -4.96803506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.027552018 meters 0.04552228980141606 Centerline is valid? [True, True] Translation: X:69.81, Y:-6.36, Z:-0.49 [[ 9.99667144e-01 2.55892666e-02 -3.28481900e-03 6.98063649e+01] [-2.55883613e-02 9.99672514e-01 3.17347590e-04 -6.36013664e+00] [ 3.29186396e-03 -2.33188824e-04 9.99994555e-01 -4.94966809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08755201799998 meters 0.04354892098930095 Centerline is valid? [True, True] Translation: X:69.86, Y:-6.36, Z:-0.49 [[ 9.99672916e-01 2.55292699e-02 -1.52207651e-03 6.98648207e+01] [-2.55290761e-02 9.99674069e-01 1.46616354e-04 -6.36290426e+00] [ 1.52532343e-03 -1.07711191e-04 9.99998831e-01 -4.93906867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14755201799998 meters 0.04339980262874084 Centerline is valid? [True, True] Translation: X:69.92, Y:-6.37, Z:-0.49 [[ 9.99658806e-01 2.60945220e-02 -1.16072110e-03 6.99236232e+01] [-2.60944099e-02 9.99659477e-01 1.11586574e-04 -6.36834851e+00] [ 1.16323765e-03 -8.12601692e-05 9.99999320e-01 -4.93805372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20755201799999 meters 0.041851891137614304 Centerline is valid? [True, True] Translation: X:69.98, Y:-6.37, Z:-0.49 [[ 9.99585301e-01 2.87193429e-02 -2.10367611e-03 6.99838463e+01] [-2.87189789e-02 9.99587504e-01 2.03069654e-04 -6.36855056e+00] [ 2.10864038e-03 -1.42570011e-04 9.99997767e-01 -4.94646521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26755201799999 meters 0.04083657946714185 Centerline is valid? [True, True] Translation: X:70.04, Y:-6.37, Z:-0.50 [[ 9.99544337e-01 2.99540709e-02 -3.72457017e-03 7.00423264e+01] [-2.99529405e-02 9.99551246e-01 3.58920393e-04 -6.37231707e+00] [ 3.73364988e-03 -2.47195017e-04 9.99992999e-01 -4.97962932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32755201799999 meters 0.042717042165388054 Centerline is valid? [True, True] Translation: X:70.10, Y:-6.38, Z:-0.50 [[ 9.99546724e-01 2.95364592e-02 -5.82617696e-03 7.00993863e+01] [-2.95336884e-02 9.99563628e-01 5.61057907e-04 -6.37940715e+00] [ 5.84020625e-03 -3.88735098e-04 9.99982870e-01 -5.00164791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.387552018 meters 0.04555953722096689 Centerline is valid? [True, True] Translation: X:70.16, Y:-6.39, Z:-0.50 [[ 9.99573491e-01 2.86284944e-02 -5.76587344e-03 7.01563985e+01] [-2.86257688e-02 9.99590045e-01 5.54703029e-04 -6.38684027e+00] [ 5.77939001e-03 -3.89413884e-04 9.99983223e-01 -5.00154359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44755201799998 meters 0.046048726087603804 Centerline is valid? [True, True] Translation: X:70.22, Y:-6.39, Z:-0.50 [[ 9.99631296e-01 2.70104871e-02 -2.77579296e-03 7.02151053e+01] [-2.70098503e-02 9.99635132e-01 2.66619209e-04 -6.39237690e+00] [ 2.78198167e-03 -1.91547153e-04 9.99996112e-01 -4.97529733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50755201799998 meters 0.04474496934952681 Centerline is valid? [True, True] Translation: X:70.27, Y:-6.39, Z:-0.50 [[ 9.99682313e-01 2.51516322e-02 -1.63366666e-03 7.02748700e+01] [-2.51514092e-02 9.99683641e-01 1.56891638e-04 -6.39497065e+00] [ 1.63709592e-03 -1.15752777e-04 9.99998653e-01 -4.96217509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56755201799999 meters 0.0441173219984494 Centerline is valid? [True, True] Translation: X:70.33, Y:-6.40, Z:-0.50 [[ 9.99687150e-01 2.49815157e-02 -1.23539148e-03 7.03329607e+01] [-2.49813891e-02 9.99687909e-01 1.17865920e-04 -6.39844990e+00] [ 1.23795040e-03 -8.69672505e-05 9.99999230e-01 -4.96208506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62755201799999 meters 0.04462200750398725 Centerline is valid? [True, True] Translation: X:70.39, Y:-6.40, Z:-0.50 [[ 9.99652373e-01 2.63170700e-02 -1.59519572e-03 7.03915957e+01] [-2.63168599e-02 9.99653640e-01 1.52601702e-04 -6.39939912e+00] [ 1.59865924e-03 -1.10568111e-04 9.99998716e-01 -4.95670663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68755201799999 meters 0.04624618878278843 Centerline is valid? [True, True] Translation: X:70.45, Y:-6.41, Z:-0.50 [[ 9.99654871e-01 2.60227787e-02 -3.59915135e-03 7.04500882e+01] [-2.60217054e-02 9.99661319e-01 3.44729225e-04 -6.40561577e+00] [ 3.60690320e-03 -2.50954193e-04 9.99993464e-01 -4.99819472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.747552018 meters 0.047473767781236256 Centerline is valid? [True, True] Translation: X:70.51, Y:-6.41, Z:-0.50 [[ 9.99665349e-01 2.55321142e-02 -4.15939611e-03 7.05090178e+01] [-2.55306774e-02 9.99673960e-01 3.98161274e-04 -6.41127005e+00] [ 4.16820588e-03 -2.91835829e-04 9.99991270e-01 -5.00400667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80755201799998 meters 0.042730673662001284 Centerline is valid? [True, True] Translation: X:70.57, Y:-6.41, Z:-0.50 [[ 9.99620599e-01 2.73527965e-02 -3.23756322e-03 7.05697100e+01] [-2.73519355e-02 9.99625818e-01 3.09926273e-04 -6.40504814e+00] [ 3.24482913e-03 -2.21255066e-04 9.99994711e-01 -4.98920330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86755201799998 meters 0.047723222459183624 Centerline is valid? [True, True] Translation: X:70.63, Y:-6.41, Z:-0.50 [[ 9.99539406e-01 3.02763610e-02 -2.07793046e-03 7.06284290e+01] [-3.02760130e-02 9.99541557e-01 1.98739719e-04 -6.41412217e+00] [ 2.08299496e-03 -1.35736731e-04 9.99997821e-01 -4.99965030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92755201799999 meters 0.04128761030246277 Centerline is valid? [True, True] Translation: X:70.69, Y:-6.41, Z:-0.50 [[ 9.99505027e-01 3.14590543e-02 -1.68318630e-04 7.06882356e+01] [-3.14590522e-02 9.99505041e-01 1.55485741e-05 -6.40708360e+00] [ 1.68724463e-04 -1.02457335e-05 9.99999986e-01 -4.96706586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98755201799999 meters 0.04471994537238422 Centerline is valid? [True, True] Translation: X:70.75, Y:-6.42, Z:-0.50 [[ 9.99635509e-01 2.69904238e-02 -6.05710826e-04 7.07469867e+01] [-2.69903937e-02 9.99635691e-01 5.77868384e-05 -6.41754391e+00] [ 6.07049851e-04 -4.14174019e-05 9.99999815e-01 -4.98049942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04755201799999 meters 0.050995016256352096 Centerline is valid? [True, True] Translation: X:70.81, Y:-6.43, Z:-0.50 [[ 9.99784694e-01 2.06680909e-02 -1.84299413e-03 7.08055700e+01] [-2.06678010e-02 9.99786383e-01 1.76187567e-04 -6.43271612e+00] [ 1.84624189e-03 -1.38058997e-04 9.99998286e-01 -5.00612378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10755201799999 meters 0.0494409469986297 Centerline is valid? [True, True] Translation: X:70.87, Y:-6.44, Z:-0.50 [[ 9.99836109e-01 1.77220288e-02 -3.69919743e-03 7.08653593e+01] [-1.77208409e-02 9.99842911e-01 3.53645923e-04 -6.43691114e+00] [ 3.70488365e-03 -2.88035074e-04 9.99993095e-01 -5.03493713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16755201799998 meters 0.0499742090931383 Centerline is valid? [True, True] Translation: X:70.92, Y:-6.44, Z:-0.50 [[ 9.99834766e-01 1.76561179e-02 -4.32453460e-03 7.09239173e+01] [-1.76544970e-02 9.99844062e-01 4.12704987e-04 -6.44432729e+00] [ 4.33114701e-03 -3.36289311e-04 9.99990564e-01 -5.04864977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22755201799998 meters 0.04903215858893946 Centerline is valid? [True, True] Translation: X:70.98, Y:-6.45, Z:-0.50 [[ 9.99782617e-01 2.05181337e-02 -3.70472363e-03 7.09844288e+01] [-2.05169627e-02 9.99789442e-01 3.53815912e-04 -6.44654415e+00] [ 3.71120321e-03 -2.77729322e-04 9.99993075e-01 -5.03294256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28755201799999 meters 0.04435319373234895 Centerline is valid? [True, True] Translation: X:71.05, Y:-6.44, Z:-0.50 [[ 9.99606607e-01 2.79464528e-02 -2.37211880e-03 7.10450284e+01] [-2.79459936e-02 9.99609409e-01 2.26532515e-04 -6.44239471e+00] [ 2.37752306e-03 -1.60152182e-04 9.99997161e-01 -5.01496459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34755201799999 meters 0.04055358762448632 Centerline is valid? [True, True] Translation: X:71.11, Y:-6.44, Z:-0.50 [[ 9.99422680e-01 3.39605459e-02 -9.94155041e-04 7.11059014e+01] [-3.39604685e-02 9.99423172e-01 9.46119067e-05 -6.43965407e+00] [ 9.96794657e-04 -6.07953143e-05 9.99999501e-01 -5.00455231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40755201799999 meters 0.03899395399797257 Centerline is valid? [True, True] Translation: X:71.17, Y:-6.44, Z:-0.50 [[ 9.99321792e-01 3.68127652e-02 8.80687889e-04 7.11655272e+01] [-3.68127051e-02 9.99322179e-01 -8.43359244e-05 -6.44203965e+00] [-8.83195579e-04 5.18582236e-05 9.99999609e-01 -5.00699750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46755201799999 meters 0.03906575033068947 Centerline is valid? [True, True] Translation: X:71.22, Y:-6.45, Z:-0.50 [[ 9.99312876e-01 3.70302181e-02 1.59323351e-03 7.12236487e+01] [-3.70300218e-02 9.99314142e-01 -1.52497378e-04 -6.44718285e+00] [-1.59778779e-03 9.33951222e-05 9.99998719e-01 -5.01467602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.527552018 meters 0.04012978256198253 Centerline is valid? [True, True] Translation: X:71.28, Y:-6.45, Z:-0.50 [[ 9.99415845e-01 3.41755466e-02 -3.05883950e-05 7.12827772e+01] [-3.41755465e-02 9.99415845e-01 2.50443934e-06 -6.45303128e+00] [ 3.06561172e-05 -1.45760124e-06 1.00000000e+00 -5.04989638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58755201799998 meters 0.04202239659878774 Centerline is valid? [True, True] Translation: X:71.34, Y:-6.46, Z:-0.51 [[ 9.99513428e-01 3.11755399e-02 -9.96480088e-04 7.13425957e+01] [-3.11754606e-02 9.99513923e-01 9.49725301e-05 -6.46253688e+00] [ 9.98956541e-04 -6.38605934e-05 9.99999499e-01 -5.07447631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64755201799998 meters 0.04507496796645932 Centerline is valid? [True, True] Translation: X:71.40, Y:-6.47, Z:-0.51 [[ 9.99650013e-01 2.63904524e-02 -1.84292724e-03 7.14020328e+01] [-2.63901734e-02 9.99651703e-01 1.75601427e-04 -6.47373272e+00] [ 1.84691956e-03 -1.26904800e-04 9.99998286e-01 -5.09517241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70755201799999 meters 0.04616915873266407 Centerline is valid? [True, True] Translation: X:71.46, Y:-6.48, Z:-0.51 [[ 9.99738661e-01 2.28365677e-02 -1.04898269e-03 7.14614782e+01] [-2.28364755e-02 9.99739209e-01 9.98130241e-05 -6.48101920e+00] [ 1.05098851e-03 -7.58318716e-05 9.99999445e-01 -5.09229007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76755201799999 meters 0.04371959527810077 Centerline is valid? [True, True] Translation: X:71.52, Y:-6.48, Z:-0.51 [[ 9.99744064e-01 2.26188687e-02 -4.40678894e-04 7.15200367e+01] [-2.26188528e-02 9.99744160e-01 4.10867200e-05 -6.48247872e+00] [ 4.41495486e-04 -3.11085533e-05 9.99999902e-01 -5.08112568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82755201799999 meters 0.044762793788293745 Centerline is valid? [True, True] Translation: X:71.58, Y:-6.49, Z:-0.51 [[ 9.99670463e-01 2.56668617e-02 4.21044948e-04 7.15788176e+01] [-2.56668470e-02 9.99670551e-01 -4.03291080e-05 -6.48973375e+00] [-4.21941357e-04 2.95089218e-05 9.99999911e-01 -5.09451341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.887552018 meters 0.04885171732053721 Centerline is valid? [True, True] Translation: X:71.64, Y:-6.50, Z:-0.51 [[ 9.99625552e-01 2.73526529e-02 7.66605260e-04 7.16356431e+01] [-2.73526045e-02 9.99625845e-01 -7.35188384e-05 -6.50010618e+00] [-7.68329366e-04 5.25226590e-05 9.99999703e-01 -5.09934883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94755201799998 meters 0.043505714134124455 Centerline is valid? [True, True] Translation: X:71.69, Y:-6.50, Z:-0.51 [[ 9.99653745e-01 2.63128491e-02 1.57081064e-04 7.16947082e+01] [-2.63128470e-02 9.99653757e-01 -1.54706787e-05 -6.49828528e+00] [-1.57433753e-04 1.13320719e-05 9.99999988e-01 -5.10299509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00755201799998 meters 0.045464080028820096 Centerline is valid? [True, True] Translation: X:71.75, Y:-6.51, Z:-0.51 [[ 9.99717584e-01 2.37597089e-02 -4.77201834e-04 7.17531830e+01] [-2.37596902e-02 9.99717698e-01 4.48731593e-05 -6.51018450e+00] [ 4.78133292e-04 -3.35223187e-05 9.99999885e-01 -5.12730560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06755201799999 meters 0.04622034667322411 Centerline is valid? [True, True] Translation: X:71.81, Y:-6.52, Z:-0.51 [[ 9.99738124e-01 2.28826794e-02 -2.59608570e-04 7.18113006e+01] [-2.28826739e-02 9.99738157e-01 2.40612382e-05 -6.51729448e+00] [ 2.60091179e-04 -1.81143989e-05 9.99999966e-01 -5.12455158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12755201799999 meters 0.04636879248335885 Centerline is valid? [True, True] Translation: X:71.87, Y:-6.52, Z:-0.51 [[ 9.99675995e-01 2.54389780e-02 -8.73771214e-04 7.18708109e+01] [-2.54389154e-02 9.99676375e-01 8.26916377e-05 -6.52381037e+00] [ 8.75592030e-04 -6.04370532e-05 9.99999615e-01 -5.12883147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18755201799999 meters 0.042115597216412885 Centerline is valid? [True, True] Translation: X:71.93, Y:-6.52, Z:-0.51 [[ 9.99606515e-01 2.79748772e-02 -2.05449270e-03 7.19305113e+01] [-2.79745364e-02 9.99608617e-01 1.94388306e-04 -6.52381638e+00] [ 2.05912660e-03 -1.36838336e-04 9.99997871e-01 -5.13800640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.247552018 meters 0.042976621635165656 Centerline is valid? [True, True] Translation: X:71.99, Y:-6.53, Z:-0.52 [[ 9.99592119e-01 2.84456827e-02 -2.53727984e-03 7.19891153e+01] [-2.84451656e-02 9.99595326e-01 2.39662569e-04 -6.53264975e+00] [ 2.54307043e-03 -1.67391470e-04 9.99996752e-01 -5.15108382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30755201799998 meters 0.04228001488571867 Centerline is valid? [True, True] Translation: X:72.05, Y:-6.54, Z:-0.51 [[ 9.99550086e-01 2.99497835e-02 -1.62360631e-03 7.20480872e+01] [-2.99495749e-02 9.99551399e-01 1.52598537e-04 -6.53831876e+00] [ 1.62744825e-03 -1.03903562e-04 9.99998670e-01 -5.14092236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36755201799998 meters 0.04098553288338216 Centerline is valid? [True, True] Translation: X:72.11, Y:-6.54, Z:-0.51 [[ 9.99525803e-01 3.07336835e-02 -1.90000713e-03 7.21062239e+01] [-3.07333987e-02 9.99527602e-01 1.78931722e-04 -6.54383508e+00] [ 1.90460880e-03 -1.20453197e-04 9.99998179e-01 -5.14675488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42755201799999 meters 0.04175798073721316 Centerline is valid? [True, True] Translation: X:72.16, Y:-6.55, Z:-0.52 [[ 9.99511719e-01 3.11060137e-02 -2.95635941e-03 7.21647600e+01] [-3.11053255e-02 9.99516073e-01 2.78496342e-04 -6.55037196e+00] [ 2.96359166e-03 -1.86401836e-04 9.99995591e-01 -5.15260061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48755201799999 meters 0.041491629797401945 Centerline is valid? [True, True] Translation: X:72.22, Y:-6.56, Z:-0.52 [[ 9.99500709e-01 3.13316713e-02 -4.08148813e-03 7.22229639e+01] [-3.13303619e-02 9.99509010e-01 3.84376855e-04 -6.55687550e+00] [ 4.09152733e-03 -2.56310439e-04 9.99991597e-01 -5.16336632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54755201799999 meters 0.04158171733772558 Centerline is valid? [True, True] Translation: X:72.28, Y:-6.57, Z:-0.52 [[ 9.99549841e-01 2.98062453e-02 -3.42105426e-03 7.22809909e+01] [-2.98053177e-02 9.99555671e-01 3.21814711e-04 -6.56819564e+00] [ 3.42912627e-03 -2.19704235e-04 9.99994096e-01 -5.19014067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60755201799999 meters 0.04113964732260719 Centerline is valid? [True, True] Translation: X:72.34, Y:-6.57, Z:-0.52 [[ 9.99575579e-01 2.89480046e-02 -3.26739446e-03 7.23391984e+01] [-2.89471549e-02 9.99580896e-01 3.07069243e-04 -6.57346317e+00] [ 3.27491413e-03 -2.12357142e-04 9.99994615e-01 -5.16039684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66755201799998 meters 0.04102797907401249 Centerline is valid? [True, True] Translation: X:72.40, Y:-6.58, Z:-0.52 [[ 9.99567445e-01 2.92988320e-02 -2.54973492e-03 7.23978003e+01] [-2.92983165e-02 9.99570684e-01 2.39298078e-04 -6.57924456e+00] [ 2.55565144e-03 -1.64491628e-04 9.99996721e-01 -5.15851025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72755201799998 meters 0.0407760501684063 Centerline is valid? [True, True] Translation: X:72.46, Y:-6.59, Z:-0.52 [[ 9.99516767e-01 3.10098136e-02 -2.15018895e-03 7.24561179e+01] [-3.10094511e-02 9.99519071e-01 2.01728079e-04 -6.59074432e+00] [ 2.15541041e-03 -1.34954419e-04 9.99997668e-01 -5.18744046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78755201799999 meters 0.0405621150475266 Centerline is valid? [True, True] Translation: X:72.51, Y:-6.60, Z:-0.52 [[ 9.99487774e-01 3.17560452e-02 -3.96767467e-03 7.25143507e+01] [-3.17548171e-02 9.99495619e-01 3.72147172e-04 -6.59612162e+00] [ 3.97749137e-03 -2.45963765e-04 9.99992060e-01 -5.19682724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84755201799999 meters 0.04065042693064681 Centerline is valid? [True, True] Translation: X:72.57, Y:-6.61, Z:-0.52 [[ 9.99441078e-01 3.32350743e-02 -3.60027494e-03 7.25721666e+01] [-3.32340739e-02 9.99447539e-01 3.37364881e-04 -6.60561680e+00] [ 3.60949827e-03 -2.17524517e-04 9.99993462e-01 -5.20970405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90755201799999 meters 0.04063710113096657 Centerline is valid? [True, True] Translation: X:72.63, Y:-6.61, Z:-0.52 [[ 9.99439786e-01 3.32264193e-02 -4.01496964e-03 7.26297752e+01] [-3.32251778e-02 9.99447821e-01 3.75546820e-04 -6.61476424e+00] [ 4.02523074e-03 -2.41938353e-04 9.99991869e-01 -5.23169595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96755201799999 meters 0.04004663008091115 Centerline is valid? [True, True] Translation: X:72.69, Y:-6.62, Z:-0.52 [[ 9.99459146e-01 3.25425180e-02 -4.73282851e-03 7.26884476e+01] [-3.25407850e-02 9.99470310e-01 4.42732680e-04 -6.61866473e+00] [ 4.74472922e-03 -2.88483272e-04 9.99988702e-01 -5.21670172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02755201799998 meters 0.039816499856615374 Centerline is valid? [True, True] Translation: X:72.75, Y:-6.62, Z:-0.52 [[ 9.99465272e-01 3.23184292e-02 -4.96884175e-03 7.27467105e+01] [-3.23165182e-02 9.99477577e-01 4.64442080e-04 -6.62491660e+00] [ 4.98125595e-03 -3.03618065e-04 9.99987547e-01 -5.21870768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08755201799998 meters 0.040262397268313196 Centerline is valid? [True, True] Translation: X:72.80, Y:-6.64, Z:-0.52 [[ 9.99478009e-01 3.20433148e-02 -4.11534165e-03 7.28040448e+01] [-3.20420051e-02 9.99486449e-01 3.83812080e-04 -6.63570450e+00] [ 4.12552683e-03 -2.51747936e-04 9.99991458e-01 -5.23496686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14755201799998 meters 0.042151676706951496 Centerline is valid? [True, True] Translation: X:72.86, Y:-6.65, Z:-0.52 [[ 9.99492096e-01 3.15499002e-02 -4.48926305e-03 7.28609616e+01] [-3.15483376e-02 9.99502140e-01 4.18477892e-04 -6.64603604e+00] [ 4.50023096e-03 -2.76636559e-04 9.99989836e-01 -5.24870660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20755201799999 meters 0.042650867992842074 Centerline is valid? [True, True] Translation: X:72.92, Y:-6.65, Z:-0.52 [[ 9.99515849e-01 3.08647902e-02 -3.92843627e-03 7.29196448e+01] [-3.08635893e-02 9.99523539e-01 3.65951510e-04 -6.65303930e+00] [ 3.93785953e-03 -2.44528690e-04 9.99992217e-01 -5.24099053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26755201799999 meters 0.04289922861972382 Centerline is valid? [True, True] Translation: X:72.98, Y:-6.66, Z:-0.53 [[ 9.99504223e-01 3.13402057e-02 -3.01669621e-03 7.29781608e+01] [-3.13395002e-02 9.99508758e-01 2.80860756e-04 -6.66474690e+00] [ 3.02401652e-03 -1.86179760e-04 9.99995410e-01 -5.25492169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32755201799999 meters 0.03999592921831751 Centerline is valid? [True, True] Translation: X:73.04, Y:-6.67, Z:-0.52 [[ 9.99502158e-01 3.14978796e-02 -1.82226399e-03 7.30368092e+01] [-3.14976232e-02 9.99503812e-01 1.69201972e-04 -6.66835273e+00] [ 1.82668930e-03 -1.11720752e-04 9.99998325e-01 -5.24120755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.387552018 meters 0.03995685980752376 Centerline is valid? [True, True] Translation: X:73.10, Y:-6.67, Z:-0.52 [[ 9.99504412e-01 3.14759199e-02 -4.44640534e-04 7.30954715e+01] [-3.14759048e-02 9.99504510e-01 4.08348834e-05 -6.67368683e+00] [ 4.45705535e-04 -2.68191830e-05 9.99999900e-01 -5.21759012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44755201799998 meters 0.041266482512488385 Centerline is valid? [True, True] Translation: X:73.15, Y:-6.69, Z:-0.52 [[ 9.99518091e-01 3.10402910e-02 -2.94078186e-04 7.31522267e+01] [-3.10402846e-02 9.99518134e-01 2.63729408e-05 -6.68592316e+00] [ 2.94755103e-04 -1.72319609e-05 9.99999956e-01 -5.24567221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50755201799998 meters 0.046957223317224385 Centerline is valid? [True, True] Translation: X:73.21, Y:-6.70, Z:-0.53 [[ 9.99570480e-01 2.92689751e-02 -1.47714714e-03 7.32091874e+01] [-2.92688050e-02 9.99571567e-01 1.36644683e-04 -6.69953590e+00] [ 1.48051374e-03 -9.33516596e-05 9.99998900e-01 -5.26402458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56755201799999 meters 0.041329866088989364 Centerline is valid? [True, True] Translation: X:73.27, Y:-6.70, Z:-0.53 [[ 9.99660562e-01 2.59107053e-02 -2.71975211e-03 7.32700378e+01] [-2.59101143e-02 9.99664245e-01 2.52321443e-04 -6.69736068e+00] [ 2.72537677e-03 -1.81766707e-04 9.99996270e-01 -5.26198050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62755201799999 meters 0.04551289368181096 Centerline is valid? [True, True] Translation: X:73.33, Y:-6.71, Z:-0.53 [[ 9.99733216e-01 2.30161730e-02 -1.93724483e-03 7.33287250e+01] [-2.30158678e-02 9.99735084e-01 1.79678748e-04 -6.70923367e+00] [ 1.94086714e-03 -1.35043442e-04 9.99998107e-01 -5.25873361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68755201799999 meters 0.0444677345686682 Centerline is valid? [True, True] Translation: X:73.39, Y:-6.71, Z:-0.53 [[ 9.99781599e-01 2.08893971e-02 -6.22119191e-04 7.33882249e+01] [-2.08893654e-02 9.99781792e-01 5.74421808e-05 -6.71395228e+00] [ 6.23183372e-04 -4.44339603e-05 9.99999805e-01 -5.25146473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.747552018 meters 0.050343778145524105 Centerline is valid? [True, True] Translation: X:73.45, Y:-6.73, Z:-0.53 [[ 9.99814301e-01 1.92697245e-02 2.04339213e-04 7.34455178e+01] [-1.92697209e-02 9.99814322e-01 -1.93582964e-05 -6.72856020e+00] [-2.04674300e-04 1.54171420e-05 9.99999979e-01 -5.25784676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80755201799998 meters 0.047011856806241 Centerline is valid? [True, True] Translation: X:73.51, Y:-6.73, Z:-0.52 [[ 9.99840498e-01 1.78073315e-02 1.37034702e-03 7.35055906e+01] [-1.78071736e-02 9.99841432e-01 -1.27283778e-04 -6.72786623e+00] [-1.37239631e-03 1.02861469e-04 9.99999053e-01 -5.23260405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86755201799998 meters 0.05041971743026685 Centerline is valid? [True, True] Translation: X:73.56, Y:-6.74, Z:-0.52 [[ 9.99845663e-01 1.74142661e-02 2.32224921e-03 7.35624367e+01] [-1.74138119e-02 9.99848345e-01 -2.15687096e-04 -6.73863863e+00] [-2.32565306e-03 1.75214597e-04 9.99997280e-01 -5.23624660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92755201799999 meters 0.047263295215503535 Centerline is valid? [True, True] Translation: X:73.62, Y:-6.74, Z:-0.53 [[ 9.99879667e-01 1.54743412e-02 1.09403013e-03 7.36218100e+01] [-1.54742392e-02 9.99880262e-01 -1.01645734e-04 -6.74153185e+00] [-1.09547204e-03 8.47042186e-05 9.99999396e-01 -5.25872427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98755201799999 meters 0.05123435061978197 Centerline is valid? [True, True] Translation: X:73.68, Y:-6.75, Z:-0.53 [[ 9.99909969e-01 1.33938987e-02 -8.11018252e-04 7.36799907e+01] [-1.33938425e-02 9.99910296e-01 7.45848884e-05 -6.75072797e+00] [ 8.11944483e-04 -6.37155227e-05 9.99999668e-01 -5.27943489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04755201799999 meters 0.0502636292751978 Centerline is valid? [True, True] Translation: X:73.74, Y:-6.76, Z:-0.53 [[ 9.99883921e-01 1.52271900e-02 -5.26393965e-04 7.37399093e+01] [-1.52271665e-02 9.99884059e-01 4.85304456e-05 -6.75571599e+00] [ 5.27071916e-04 -4.05093237e-05 9.99999860e-01 -5.29581098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10755201799999 meters 0.044693566180350704 Centerline is valid? [True, True] Translation: X:73.80, Y:-6.75, Z:-0.53 [[ 9.99827156e-01 1.85785837e-02 -7.02757375e-04 7.38005760e+01] [-1.85785427e-02 9.99827402e-01 6.48208381e-05 -6.75203759e+00] [ 7.03840360e-04 -5.17534263e-05 9.99999751e-01 -5.29299634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16755201799998 meters 0.04206171851278523 Centerline is valid? [True, True] Translation: X:73.86, Y:-6.75, Z:-0.53 [[ 9.99612458e-01 2.78360587e-02 2.96419715e-04 7.38607180e+01] [-2.78360517e-02 9.99612502e-01 -2.75620573e-05 -6.74875917e+00] [-2.97072072e-04 1.93002213e-05 9.99999956e-01 -5.27679869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22755201799998 meters 0.03836891450830494 Centerline is valid? [True, True] Translation: X:73.92, Y:-6.75, Z:-0.53 [[ 9.99300768e-01 3.73341804e-02 2.03303946e-03 7.39207506e+01] [-3.73338751e-02 9.99302830e-01 -1.87921875e-04 -6.74675673e+00] [-2.03863800e-03 1.11889233e-04 9.99997916e-01 -5.27373325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28755201799999 meters 0.037555290126181085 Centerline is valid? [True, True] Translation: X:73.98, Y:-6.75, Z:-0.53 [[ 9.99144435e-01 4.13052034e-02 2.06846026e-03 7.39809691e+01] [-4.13048959e-02 9.99146570e-01 -1.91209760e-04 -6.74839148e+00] [-2.07459293e-03 1.05608632e-04 9.99997842e-01 -5.28012124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34755201799999 meters 0.03611595099526622 Centerline is valid? [True, True] Translation: X:74.04, Y:-6.75, Z:-0.53 [[ 9.98964984e-01 4.54350805e-02 2.14804798e-03 7.40406305e+01] [-4.54347582e-02 9.98967288e-01 -1.98610351e-04 -6.74947614e+00] [-2.15485354e-03 1.00808746e-04 9.99997673e-01 -5.28301683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40755201799999 meters 0.03604013649928211 Centerline is valid? [True, True] Translation: X:74.10, Y:-6.76, Z:-0.53 [[ 9.98893306e-01 4.69678929e-02 2.48598071e-03 7.40992930e+01] [-4.69674659e-02 9.98896393e-01 -2.29886538e-04 -6.75679198e+00] [-2.49403445e-03 1.12871910e-04 9.99996884e-01 -5.30245782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46755201799999 meters 0.035573591866186735 Centerline is valid? [True, True] Translation: X:74.16, Y:-6.76, Z:-0.53 [[ 9.98901480e-01 4.68354192e-02 1.50872011e-03 7.41578749e+01] [-4.68352617e-02 9.98902617e-01 -1.39611157e-04 -6.76101220e+00] [-1.51360322e-03 6.87964898e-05 9.99998852e-01 -5.30876407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52755201799998 meters 0.03167419072531104 Centerline is valid? [True, True] Translation: X:74.22, Y:-6.76, Z:-0.53 [[ 9.98914505e-01 4.65267954e-02 2.25126231e-03 7.42167064e+01] [-4.65264447e-02 9.98917037e-01 -2.07934616e-04 -6.76227578e+00] [-2.25849881e-03 1.02965673e-04 9.99997444e-01 -5.31554499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58755201799998 meters 0.034026075789156264 Centerline is valid? [True, True] Translation: X:74.27, Y:-6.78, Z:-0.53 [[ 9.99013379e-01 4.43381087e-02 2.52991033e-03 7.42741880e+01] [-4.43376597e-02 9.99016575e-01 -2.33304889e-04 -6.77561442e+00] [-2.53776665e-03 1.20904403e-04 9.99996773e-01 -5.33323158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64755201799998 meters 0.03442112148976373 Centerline is valid? [True, True] Translation: X:74.33, Y:-6.78, Z:-0.53 [[ 9.99156125e-01 4.10356558e-02 1.76444470e-03 7.43328742e+01] [-4.10354323e-02 9.99157679e-01 -1.62739788e-04 -6.78122006e+00] [-1.76963660e-03 9.01977052e-05 9.99998430e-01 -5.33178563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70755201799999 meters 0.03513760976517793 Centerline is valid? [True, True] Translation: X:74.39, Y:-6.79, Z:-0.53 [[ 9.99266054e-01 3.82952445e-02 9.09782552e-04 7.43916252e+01] [-3.82951838e-02 9.99266467e-01 -8.40640745e-05 -6.78907767e+00] [-9.12334450e-04 4.91620860e-05 9.99999583e-01 -5.34444441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76755201799999 meters 0.03794739091827668 Centerline is valid? [True, True] Translation: X:74.45, Y:-6.80, Z:-0.54 [[ 9.99412786e-01 3.42415383e-02 1.26503160e-03 7.44505719e+01] [-3.42414183e-02 9.99413584e-01 -1.16415215e-04 -6.80309244e+00] [-1.26827600e-03 7.30303781e-05 9.99999193e-01 -5.35838611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82755201799999 meters 0.03754524549042002 Centerline is valid? [True, True] Translation: X:74.51, Y:-6.81, Z:-0.53 [[ 9.99470306e-01 3.23529959e-02 3.52017351e-03 7.45097394e+01] [-3.23520557e-02 9.99476483e-01 -3.23700729e-04 -6.80882532e+00] [-3.52880333e-03 2.09644417e-04 9.99993752e-01 -5.33684741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.887552018 meters 0.03969895060104311 Centerline is valid? [True, True] Translation: X:74.57, Y:-6.82, Z:-0.54 [[ 9.99476048e-01 3.22293706e-02 2.98288807e-03 7.45671743e+01] [-3.22286945e-02 9.99480483e-01 -2.74455083e-04 -6.81813847e+00] [-2.99018393e-03 1.78176694e-04 9.99995514e-01 -5.35746126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94755201799998 meters 0.038656043978045916 Centerline is valid? [True, True] Translation: X:74.63, Y:-6.82, Z:-0.54 [[ 9.99514851e-01 3.10865756e-02 1.92003224e-03 7.46257447e+01] [-3.10862934e-02 9.99516689e-01 -1.76623084e-04 -6.82299916e+00] [-1.92459487e-03 1.16850710e-04 9.99998141e-01 -5.37897225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00755201799998 meters 0.039779599842386264 Centerline is valid? [True, True] Translation: X:74.68, Y:-6.83, Z:-0.54 [[ 9.99523117e-01 3.08004714e-02 2.20682029e-03 7.46838177e+01] [-3.08000986e-02 9.99525544e-01 -2.02738096e-04 -6.83053964e+00] [-2.21201768e-03 1.34671131e-04 9.99997544e-01 -5.38233837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06755201799999 meters 0.04230090867137018 Centerline is valid? [True, True] Translation: X:74.74, Y:-6.84, Z:-0.54 [[ 9.99639536e-01 2.67069031e-02 2.74573193e-03 7.47433855e+01] [-2.67063123e-02 9.99643291e-01 -2.51639793e-04 -6.83912926e+00] [-2.75147303e-03 1.78220711e-04 9.99996199e-01 -5.37418832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12755201799999 meters 0.045544782809204834 Centerline is valid? [True, True] Translation: X:74.80, Y:-6.85, Z:-0.54 [[ 9.99780396e-01 2.08870038e-02 1.70060294e-03 7.48032397e+01] [-2.08867688e-02 9.99781836e-01 -1.55812532e-04 -6.85084961e+00] [-1.70348639e-03 1.20258214e-04 9.99998542e-01 -5.39830215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18755201799999 meters 0.04835265082410465 Centerline is valid? [True, True] Translation: X:74.86, Y:-6.86, Z:-0.54 [[ 9.99855652e-01 1.69886658e-02 2.45924333e-04 7.48635316e+01] [-1.69886608e-02 9.99855682e-01 -2.25731785e-05 -6.85895542e+00] [-2.46272330e-04 1.83919951e-05 9.99999970e-01 -5.41639938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.247552018 meters 0.04972917365877564 Centerline is valid? [True, True] Translation: X:74.92, Y:-6.86, Z:-0.54 [[ 9.99864959e-01 1.63899533e-02 1.19753614e-03 7.49225970e+01] [-1.63898331e-02 9.99865672e-01 -1.10120959e-04 -6.86312161e+00] [-1.19918016e-03 9.04786703e-05 9.99999277e-01 -5.40747934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30755201799998 meters 0.04710857350930973 Centerline is valid? [True, True] Translation: X:74.98, Y:-6.86, Z:-0.54 [[ 9.99863503e-01 1.61798214e-02 3.34486679e-03 7.49813454e+01] [-1.61788866e-02 9.99869066e-01 -3.06366047e-04 -6.86188243e+00] [-3.34938578e-03 2.52208009e-04 9.99994359e-01 -5.38793651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36755201799998 meters 0.043403005057528816 Centerline is valid? [True, True] Translation: X:75.04, Y:-6.86, Z:-0.54 [[ 9.99886146e-01 1.46221211e-02 3.72684581e-03 7.50415607e+01] [-1.46209516e-02 9.99893050e-01 -3.40869695e-04 -6.86174317e+00] [-3.73143146e-03 2.86340853e-04 9.99992997e-01 -5.39426292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42755201799999 meters 0.04935899552331249 Centerline is valid? [True, True] Translation: X:75.10, Y:-6.87, Z:-0.54 [[ 9.99920751e-01 1.23022589e-02 2.67330368e-03 7.50999086e+01] [-1.23016490e-02 9.99924302e-01 -2.44477782e-04 -6.87236434e+00] [-2.67610895e-03 2.11572364e-04 9.99996397e-01 -5.40644092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48755201799999 meters 0.0502043677231267 Centerline is valid? [True, True] Translation: X:75.16, Y:-6.88, Z:-0.54 [[ 9.99920269e-01 1.25092835e-02 1.72465087e-03 7.51584353e+01] [-1.25090296e-02 9.99921747e-01 -1.57951005e-04 -6.87543918e+00] [-1.72649176e-03 1.36364703e-04 9.99998500e-01 -5.42172435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54755201799999 meters 0.04759478699809807 Centerline is valid? [True, True] Translation: X:75.22, Y:-6.87, Z:-0.54 [[ 9.99863400e-01 1.65277075e-02 -1.26264927e-04 7.52194673e+01] [-1.65277062e-02 9.99863408e-01 1.14975803e-05 -6.87236856e+00] [ 1.26437709e-04 -9.40914010e-06 9.99999992e-01 -5.44360903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60755201799999 meters 0.0455065421517342 Centerline is valid? [True, True] Translation: X:75.28, Y:-6.87, Z:-0.54 [[ 9.99749056e-01 2.24010189e-02 -1.39704885e-04 7.52800329e+01] [-2.24010173e-02 9.99749066e-01 1.26639217e-05 -6.86997086e+00] [ 1.39953513e-04 -9.53121225e-06 9.99999990e-01 -5.44478311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66755201799998 meters 0.03668556312603348 Centerline is valid? [True, True] Translation: X:75.34, Y:-6.85, Z:-0.54 [[ 9.99397253e-01 3.47119868e-02 4.57533852e-04 7.53422511e+01] [-3.47119713e-02 9.99397357e-01 -4.18115886e-05 -6.85307134e+00] [-4.58709485e-04 2.59044849e-05 9.99999894e-01 -5.43244775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72755201799998 meters 0.03650667554193965 Centerline is valid? [True, True] Translation: X:75.40, Y:-6.85, Z:-0.54 [[ 9.98995369e-01 4.47676293e-02 2.02795817e-03 7.54017177e+01] [-4.47673455e-02 9.98997423e-01 -1.85142239e-04 -6.85260208e+00] [-2.03421336e-03 9.41699356e-05 9.99997927e-01 -5.44207192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78755201799999 meters 0.03148781574925104 Centerline is valid? [True, True] Translation: X:75.46, Y:-6.85, Z:-0.54 [[ 9.98720996e-01 5.03852485e-02 4.20698966e-03 7.54629626e+01] [-5.03840780e-02 9.98729842e-01 -3.83820203e-04 -6.84586774e+00] [-4.22098500e-03 1.71364001e-04 9.99991077e-01 -5.41515431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84755201799999 meters 0.028791249668018624 Centerline is valid? [True, True] Translation: X:75.52, Y:-6.84, Z:-0.54 [[ 9.98297642e-01 5.80209673e-02 5.94851418e-03 7.55235885e+01] [-5.80187637e-02 9.98315345e-01 -5.42493697e-04 -6.84136599e+00] [-5.96996900e-03 1.96444740e-04 9.99982160e-01 -5.41242465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90755201799999 meters 0.02813926994346258 Centerline is valid? [True, True] Translation: X:75.58, Y:-6.85, Z:-0.55 [[ 9.98201046e-01 5.98400389e-02 3.72030327e-03 7.55826308e+01] [-5.98391866e-02 9.98207972e-01 -3.40107143e-04 -6.84614392e+00] [-3.73398841e-03 1.16875384e-04 9.99993022e-01 -5.46111541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96755201799999 meters 0.03103924340998162 Centerline is valid? [True, True] Translation: X:75.64, Y:-6.86, Z:-0.55 [[ 9.98403242e-01 5.64200779e-02 2.78218761e-03 7.56398530e+01] [-5.64195907e-02 9.98407114e-01 -2.53336151e-04 -6.85972670e+00] [-2.79204915e-03 9.59617477e-05 9.99996098e-01 -5.49385115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02755201799998 meters 0.029001011016017375 Centerline is valid? [True, True] Translation: X:75.70, Y:-6.86, Z:-0.55 [[ 9.98468572e-01 5.52059575e-02 3.57947741e-03 7.56988722e+01] [-5.52051424e-02 9.98474980e-01 -3.26190983e-04 -6.86354543e+00] [-3.59202632e-03 1.28085885e-04 9.99993540e-01 -5.49413894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08755201799998 meters 0.03038966256788433 Centerline is valid? [True, True] Translation: X:75.76, Y:-6.87, Z:-0.55 [[ 9.98613439e-01 5.24483639e-02 4.51312924e-03 7.57569389e+01] [-5.24470480e-02 9.98623623e-01 -4.09510418e-04 -6.87343375e+00] [-4.52839563e-03 1.72242300e-04 9.99989732e-01 -5.49523064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14755201799998 meters 0.03271337178074309 Centerline is valid? [True, True] Translation: X:75.82, Y:-6.88, Z:-0.55 [[ 9.98808128e-01 4.83235182e-02 6.86738442e-03 7.58157258e+01] [-4.83203940e-02 9.98831695e-01 -6.20215135e-04 -6.88396703e+00] [-6.88933220e-03 2.87641197e-04 9.99976227e-01 -5.47630068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20755201799999 meters 0.034063614140096635 Centerline is valid? [True, True] Translation: X:75.88, Y:-6.90, Z:-0.55 [[ 9.99103172e-01 4.19870783e-02 5.47138907e-03 7.58751241e+01] [-4.19850015e-02 9.99118119e-01 -4.93937866e-04 -6.89564234e+00] [-5.48730297e-03 2.63778611e-04 9.99984910e-01 -5.50516723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26755201799999 meters 0.03696121938508617 Centerline is valid? [True, True] Translation: X:75.94, Y:-6.91, Z:-0.55 [[ 9.99363889e-01 3.55166154e-02 3.22293529e-03 7.59350687e+01] [-3.55158613e-02 9.99369070e-01 -2.90918358e-04 -6.90660290e+00] [-3.23123428e-03 1.76267979e-04 9.99994764e-01 -5.53413492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32755201799999 meters 0.04190809703638417 Centerline is valid? [True, True] Translation: X:75.99, Y:-6.92, Z:-0.56 [[ 9.99639808e-01 2.68284882e-02 6.97988937e-04 7.59937535e+01] [-2.68284507e-02 9.99640050e-01 -6.31127169e-05 -6.92258749e+00] [-6.99430915e-04 4.43640224e-05 9.99999754e-01 -5.56815333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38755201799998 meters 0.04322032037922999 Centerline is valid? [True, True] Translation: X:76.05, Y:-6.93, Z:-0.56 [[ 9.99758369e-01 2.19030799e-02 -1.85979763e-03 7.60537813e+01] [-2.19028054e-02 9.99760091e-01 1.67841121e-04 -6.92910706e+00] [ 1.86302768e-03 -1.27065780e-04 9.99998256e-01 -5.58159365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44755201799998 meters 0.04293237022296853 Centerline is valid? [True, True] Translation: X:76.11, Y:-6.93, Z:-0.56 [[ 9.99799572e-01 1.99614498e-02 -1.53508685e-03 7.61133055e+01] [-1.99612610e-02 9.99800745e-01 1.38193500e-04 -6.93313229e+00] [ 1.53753952e-03 -1.07523533e-04 9.99998812e-01 -5.58299274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50755201799998 meters 0.04280570904709466 Centerline is valid? [True, True] Translation: X:76.17, Y:-6.94, Z:-0.56 [[ 9.99800816e-01 1.99500517e-02 -5.69639253e-04 7.61718735e+01] [-1.99500260e-02 9.99800977e-01 5.07749157e-05 -6.93556899e+00] [ 5.70538844e-04 -3.94004842e-05 9.99999836e-01 -5.57354300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56755201799999 meters 0.04442100589107194 Centerline is valid? [True, True] Translation: X:76.23, Y:-6.94, Z:-0.56 [[ 9.99799778e-01 2.00099936e-02 -6.42185621e-05 7.62296670e+01] [-2.00099933e-02 9.99799780e-01 4.90414554e-06 -6.93752697e+00] [ 6.43038362e-05 -3.61815062e-06 9.99999998e-01 -5.58198804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62755201799999 meters 0.04409229967393128 Centerline is valid? [True, True] Translation: X:76.29, Y:-6.94, Z:-0.56 [[ 9.99829928e-01 1.84359048e-02 4.81665083e-04 7.62895537e+01] [-1.84358860e-02 9.99830044e-01 -4.36123002e-05 -6.93793938e+00] [-4.82387253e-04 3.47249604e-05 9.99999883e-01 -5.58505151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68755201799999 meters 0.045580637316905225 Centerline is valid? [True, True] Translation: X:76.35, Y:-6.94, Z:-0.56 [[ 9.99794045e-01 2.02475803e-02 -1.37982665e-03 7.63477152e+01] [-2.02474293e-02 9.99794992e-01 1.23308415e-04 -6.93805050e+00] [ 1.38204047e-03 -9.53450768e-05 9.99999040e-01 -5.60113501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.747552018 meters 0.042202761666027176 Centerline is valid? [True, True] Translation: X:76.41, Y:-6.93, Z:-0.56 [[ 9.99746368e-01 2.24761616e-02 -1.42164438e-03 7.64079726e+01] [-2.24760030e-02 9.99747375e-01 1.27418896e-04 -6.93440679e+00] [ 1.42414913e-03 -9.54336946e-05 9.99998981e-01 -5.60979456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80755201799998 meters 0.04011861150030007 Centerline is valid? [True, True] Translation: X:76.47, Y:-6.93, Z:-0.56 [[ 9.99652494e-01 2.63398258e-02 -1.05110364e-03 7.64686744e+01] [-2.63397411e-02 9.99653044e-01 9.42811107e-05 -6.93236930e+00] [ 1.05322230e-03 -6.65625497e-05 9.99999443e-01 -5.61498547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86755201799998 meters 0.04075568920189774 Centerline is valid? [True, True] Translation: X:76.53, Y:-6.94, Z:-0.56 [[ 9.99596329e-01 2.83539358e-02 -1.79803735e-03 7.65271153e+01] [-2.83536922e-02 9.99597940e-01 1.60787922e-04 -6.93509149e+00] [ 1.80187340e-03 -1.09742019e-04 9.99998371e-01 -5.64049397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92755201799999 meters 0.039609883269683566 Centerline is valid? [True, True] Translation: X:76.59, Y:-6.94, Z:-0.57 [[ 9.99517913e-01 3.10020782e-02 -1.67703433e-03 7.65869226e+01] [-3.10018698e-02 9.99519315e-01 1.50140348e-04 -6.93624181e+00] [ 1.68088287e-03 -9.80767670e-05 9.99998583e-01 -5.65598373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98755201799999 meters 0.03667859222810215 Centerline is valid? [True, True] Translation: X:76.65, Y:-6.93, Z:-0.56 [[ 9.99373227e-01 3.53884862e-02 8.99424945e-04 7.66479829e+01] [-3.53884279e-02 9.99373630e-01 -8.07065883e-05 -6.93099290e+00] [-9.01717657e-04 4.88267687e-05 9.99999592e-01 -5.63210802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04755201799999 meters 0.037192464085764036 Centerline is valid? [True, True] Translation: X:76.71, Y:-6.93, Z:-0.57 [[ 9.99362508e-01 3.56983516e-02 4.51999333e-04 7.67063902e+01] [-3.56983366e-02 9.99362610e-01 -4.10529968e-05 -6.93463641e+00] [-4.53176758e-04 2.48912015e-05 9.99999897e-01 -5.65223610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10755201799999 meters 0.03848591880069689 Centerline is valid? [True, True] Translation: X:76.76, Y:-6.94, Z:-0.57 [[ 9.99409386e-01 3.43616188e-02 -3.96843846e-04 7.67649538e+01] [-3.43616076e-02 9.99409465e-01 3.49861944e-05 -6.94164953e+00] [ 3.97811679e-04 -2.13293386e-05 9.99999921e-01 -5.67210405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16755201799998 meters 0.037680290722108996 Centerline is valid? [True, True] Translation: X:76.82, Y:-6.95, Z:-0.57 [[ 9.99444292e-01 3.33240626e-02 -7.83348422e-04 7.68235974e+01] [-3.33240183e-02 9.99444598e-01 6.95182520e-05 -6.94536328e+00] [ 7.85229979e-04 -4.33753030e-05 9.99999691e-01 -5.68853738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22755201799998 meters 0.038554060702381966 Centerline is valid? [True, True] Translation: X:76.88, Y:-6.95, Z:-0.57 [[ 9.99470486e-01 3.25383176e-02 -7.05998238e-05 7.68820603e+01] [-3.25383173e-02 9.99470489e-01 5.76268100e-06 -6.95202226e+00] [ 7.07499483e-05 -3.46243011e-06 9.99999997e-01 -5.70217468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28755201799999 meters 0.040227283765492644 Centerline is valid? [True, True] Translation: X:76.94, Y:-6.96, Z:-0.57 [[ 9.99478401e-01 3.22919513e-02 -3.94220201e-04 7.69391249e+01] [-3.22919402e-02 9.99478479e-01 3.45220549e-05 -6.95910426e+00] [ 3.95129392e-04 -2.17739131e-05 9.99999922e-01 -5.70336943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34755201799999 meters 0.04019544178968796 Centerline is valid? [True, True] Translation: X:77.00, Y:-6.96, Z:-0.57 [[ 9.99465798e-01 3.26738539e-02 7.33468959e-04 7.69979949e+01] [-3.26738142e-02 9.99466066e-01 -6.59596620e-05 -6.96497057e+00] [-7.35232492e-04 4.19591977e-05 9.99999729e-01 -5.70456752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40755201799999 meters 0.04067183348831257 Centerline is valid? [True, True] Translation: X:77.06, Y:-6.97, Z:-0.57 [[ 9.99460570e-01 3.28356312e-02 6.25261512e-04 7.70569278e+01] [-3.28356024e-02 9.99460765e-01 -5.62562777e-05 -6.97049120e+00] [-6.26771560e-04 3.56950929e-05 9.99999803e-01 -5.70766360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46755201799999 meters 0.04189058772597445 Centerline is valid? [True, True] Translation: X:77.12, Y:-6.98, Z:-0.57 [[ 9.99486456e-01 3.20440480e-02 -5.41368079e-05 7.71154180e+01] [-3.20440478e-02 9.99486458e-01 4.29888937e-06 -6.97693351e+00] [ 5.42467602e-05 -2.56191924e-06 9.99999999e-01 -5.72432142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52755201799998 meters 0.03994306513288922 Centerline is valid? [True, True] Translation: X:77.17, Y:-6.98, Z:-0.57 [[ 9.99495194e-01 3.17554810e-02 -9.73236492e-04 7.71745626e+01] [-3.17554123e-02 9.99495666e-01 8.60541796e-05 -6.97849905e+00] [ 9.75478348e-04 -5.51052129e-05 9.99999523e-01 -5.72987851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58755201799998 meters 0.04042523768568855 Centerline is valid? [True, True] Translation: X:77.23, Y:-6.99, Z:-0.57 [[ 9.99534550e-01 3.04941616e-02 -8.89056630e-04 7.72333085e+01] [-3.04941038e-02 9.99534944e-01 7.84948738e-05 -6.98553666e+00] [ 8.91036804e-04 -5.13473531e-05 9.99999602e-01 -5.74658816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64755201799998 meters 0.04240348333470465 Centerline is valid? [True, True] Translation: X:77.29, Y:-6.99, Z:-0.58 [[ 9.99575710e-01 2.88655044e-02 -3.89652635e-03 7.72921041e+01] [-2.88643761e-02 9.99583277e-01 3.45518190e-04 -6.99387558e+00] [ 3.90487613e-03 -2.32900789e-04 9.99992349e-01 -5.77792324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70755201799999 meters 0.039253955181975914 Centerline is valid? [True, True] Translation: X:77.35, Y:-6.99, Z:-0.58 [[ 9.99511108e-01 3.11392115e-02 -2.80959418e-03 7.73519230e+01] [-3.11386338e-02 9.99515044e-01 2.49161911e-04 -6.99323225e+00] [ 2.81599036e-03 -1.61553173e-04 9.99996022e-01 -5.76286396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76755201799999 meters 0.035919219345385896 Centerline is valid? [True, True] Translation: X:77.41, Y:-6.99, Z:-0.58 [[ 9.99388593e-01 3.49558689e-02 -7.26242104e-04 7.74121050e+01] [-3.49558314e-02 9.99388856e-01 6.43208178e-05 -6.99174094e+00] [ 7.28046656e-04 -3.88950950e-05 9.99999734e-01 -5.75424974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82755201799999 meters 0.039837415004100825 Centerline is valid? [True, True] Translation: X:77.47, Y:-7.00, Z:-0.58 [[ 9.99325104e-01 3.67313524e-02 -3.80242581e-04 7.74692947e+01] [-3.67313425e-02 9.99325176e-01 3.30244224e-05 -7.00124830e+00] [ 3.81199016e-04 -1.90353139e-05 9.99999927e-01 -5.76771993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88755201799998 meters 0.035313798205689285 Centerline is valid? [True, True] Translation: X:77.53, Y:-7.00, Z:-0.58 [[ 9.99226509e-01 3.93232979e-02 -2.47521208e-04 7.75299185e+01] [-3.93232937e-02 9.99226540e-01 2.18038803e-05 -6.99639580e+00] [ 2.48187161e-04 -1.20536661e-05 9.99999969e-01 -5.76088728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94755201799998 meters 0.03583575567746708 Centerline is valid? [True, True] Translation: X:77.59, Y:-7.00, Z:-0.58 [[ 9.99223890e-01 3.93894199e-02 -3.02583718e-04 7.75883800e+01] [-3.93894137e-02 9.99223936e-01 2.62581035e-05 -7.00245475e+00] [ 3.03383185e-04 -1.43191291e-05 9.99999954e-01 -5.78132430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00755201799998 meters 0.035863598860368405 Centerline is valid? [True, True] Translation: X:77.65, Y:-7.01, Z:-0.58 [[ 9.99245775e-01 3.88172617e-02 -1.04925659e-03 7.76472511e+01] [-3.88171861e-02 9.99246325e-01 9.23064735e-05 -7.00779281e+00] [ 1.05204888e-03 -5.15076652e-05 9.99999445e-01 -5.79381468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06755201799999 meters 0.03861506411534785 Centerline is valid? [True, True] Translation: X:77.71, Y:-7.02, Z:-0.58 [[ 9.99317222e-01 3.68840365e-02 -2.15794538e-03 7.77054813e+01] [-3.68837111e-02 9.99319546e-01 1.90433255e-04 -7.01814602e+00] [ 2.16350095e-03 -1.10710197e-04 9.99997654e-01 -5.81505713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12755201799999 meters 0.036107190639915396 Centerline is valid? [True, True] Translation: X:77.76, Y:-7.02, Z:-0.58 [[ 9.99348132e-01 3.60403997e-02 -2.09784868e-03 7.77637735e+01] [-3.60400913e-02 9.99350328e-01 1.84627233e-04 -7.02053236e+00] [ 2.10313980e-03 -1.08900222e-04 9.99997782e-01 -5.81173393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18755201799999 meters 0.03586799563533446 Centerline is valid? [True, True] Translation: X:77.82, Y:-7.02, Z:-0.58 [[ 9.99324753e-01 3.66921466e-02 -1.93011740e-03 7.78221559e+01] [-3.66918869e-02 9.99326612e-01 1.69800243e-04 -7.02431966e+00] [ 1.93504802e-03 -9.88659360e-05 9.99998123e-01 -5.80305666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.247552018 meters 0.03677232236956884 Centerline is valid? [True, True] Translation: X:77.88, Y:-7.03, Z:-0.58 [[ 9.99308928e-01 3.71587798e-02 9.44572492e-04 7.78793899e+01] [-3.71587167e-02 9.99309373e-01 -8.42210525e-05 -7.03077490e+00] [-9.47049696e-04 4.90637480e-05 9.99999550e-01 -5.78566577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30755201799998 meters 0.035673899480891905 Centerline is valid? [True, True] Translation: X:77.94, Y:-7.04, Z:-0.58 [[ 9.99286449e-01 3.76927433e-02 2.41853201e-03 7.79376974e+01] [-3.76923368e-02 9.99289369e-01 -2.13469205e-04 -7.03633371e+00] [-2.42485957e-03 1.22156760e-04 9.99997053e-01 -5.78626890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36755201799998 meters 0.03741037701776317 Centerline is valid? [True, True] Translation: X:78.00, Y:-7.04, Z:-0.58 [[ 9.99249709e-01 3.86342921e-02 2.72230618e-03 7.79951159e+01] [-3.86337811e-02 9.99253408e-01 -2.40079750e-04 -7.04338530e+00] [-2.72954904e-03 1.34726639e-04 9.99996266e-01 -5.78158454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42755201799999 meters 0.03748283689744949 Centerline is valid? [True, True] Translation: X:78.05, Y:-7.05, Z:-0.58 [[ 9.99151439e-01 4.11444057e-02 1.88157351e-03 7.80523388e+01] [-4.11441660e-02 9.99153207e-01 -1.65939081e-04 -7.04943963e+00] [-1.88680767e-03 8.83824987e-05 9.99998216e-01 -5.80658324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48755201799999 meters 0.03447608428241737 Centerline is valid? [True, True] Translation: X:78.11, Y:-7.05, Z:-0.58 [[ 9.99108516e-01 4.22143081e-02 3.54157160e-04 7.81114338e+01] [-4.22142995e-02 9.99108579e-01 -3.16197237e-05 -7.05046746e+00] [-3.55176262e-04 1.66410388e-05 9.99999937e-01 -5.82595269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54755201799999 meters 0.03243550508896276 Centerline is valid? [True, True] Translation: X:78.17, Y:-7.05, Z:-0.58 [[ 9.99075430e-01 4.29789554e-02 -1.04606655e-03 7.81702026e+01] [-4.29788834e-02 9.99075977e-01 9.11878800e-05 -7.05323776e+00] [ 1.04901912e-03 -4.61447982e-05 9.99999449e-01 -5.84511515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60755201799999 meters 0.03268697205035115 Centerline is valid? [True, True] Translation: X:78.23, Y:-7.06, Z:-0.58 [[ 9.99094075e-01 4.25556231e-02 -2.18466570e-04 7.82282302e+01] [-4.25556200e-02 9.99094099e-01 1.84513842e-05 -7.05876513e+00] [ 2.19053871e-04 -9.13768824e-06 9.99999976e-01 -5.82921126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66755201799998 meters 0.03227376784144036 Centerline is valid? [True, True] Translation: X:78.29, Y:-7.06, Z:-0.58 [[ 9.99150552e-01 4.11946803e-02 1.08325734e-03 7.82869306e+01] [-4.11946011e-02 9.99151138e-01 -9.53691009e-05 -7.06461918e+00] [-1.08626651e-03 5.06637356e-05 9.99999409e-01 -5.82860875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72755201799998 meters 0.03393716966453969 Centerline is valid? [True, True] Translation: X:78.35, Y:-7.07, Z:-0.58 [[ 9.99238112e-01 3.90036984e-02 1.38076221e-03 7.83456299e+01] [-3.90035681e-02 9.99239064e-01 -1.21180935e-04 -7.07436343e+00] [-1.38443805e-03 6.72339555e-05 9.99999039e-01 -5.82912093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78755201799999 meters 0.035276464399951225 Centerline is valid? [True, True] Translation: X:78.40, Y:-7.08, Z:-0.58 [[ 9.99269970e-01 3.81599637e-02 1.82874324e-03 7.84029632e+01] [-3.81597338e-02 9.99271639e-01 -1.60451396e-04 -7.08208707e+00] [-1.83353407e-03 9.05499063e-05 9.99998315e-01 -5.83182736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84755201799999 meters 0.03586101931986303 Centerline is valid? [True, True] Translation: X:78.46, Y:-7.09, Z:-0.58 [[ 9.99328080e-01 3.66344729e-02 1.14164166e-03 7.84612625e+01] [-3.66343822e-02 9.99328731e-01 -1.00197383e-04 -7.09030856e+00] [-1.14454599e-03 5.83067215e-05 9.99999343e-01 -5.83931631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90755201799999 meters 0.03412062018970534 Centerline is valid? [True, True] Translation: X:78.52, Y:-7.09, Z:-0.58 [[ 9.99273408e-01 3.80965742e-02 1.14369129e-03 7.85202660e+01] [-3.80964843e-02 9.99274060e-01 -1.00296435e-04 -7.09343678e+00] [-1.14668199e-03 5.66529432e-05 9.99999341e-01 -5.84428837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96755201799999 meters 0.034089090821386094 Centerline is valid? [True, True] Translation: X:78.58, Y:-7.10, Z:-0.59 [[ 9.99190448e-01 4.02128141e-02 1.17369694e-03 7.85780270e+01] [-4.02127209e-02 9.99191136e-01 -1.02926424e-04 -7.09908679e+00] [-1.17688654e-03 5.56455524e-05 9.99999306e-01 -5.86029717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02755201799998 meters 0.033569491911640124 Centerline is valid? [True, True] Translation: X:78.64, Y:-7.10, Z:-0.59 [[ 9.99007272e-01 4.45313250e-02 1.19682280e-03 7.86365509e+01] [-4.45312316e-02 9.99007987e-01 -1.04593605e-04 -7.10239897e+00] [-1.20029323e-03 5.11937791e-05 9.99999278e-01 -5.85855391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08755201799998 meters 0.02944245964949018 Centerline is valid? [True, True] Translation: X:78.70, Y:-7.10, Z:-0.59 [[ 9.98775975e-01 4.94492825e-02 1.14882277e-03 7.86966323e+01] [-4.94491999e-02 9.98776635e-01 -1.00245047e-04 -7.09938496e+00] [-1.15237439e-03 4.33139780e-05 9.99999335e-01 -5.86829547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14755201799998 meters 0.02724019962967873 Centerline is valid? [True, True] Translation: X:78.76, Y:-7.10, Z:-0.59 [[ 9.98545733e-01 5.38837049e-02 1.72230844e-03 7.87562628e+01] [-5.38835261e-02 9.98547216e-01 -1.50087332e-04 -7.09965373e+00] [-1.72789356e-03 5.70650130e-05 9.99998506e-01 -5.86351369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20755201799999 meters 0.027516053501687267 Centerline is valid? [True, True] Translation: X:78.81, Y:-7.11, Z:-0.59 [[ 9.98525245e-01 5.42613313e-02 1.74460162e-03 7.88138796e+01] [-5.42611480e-02 9.98526767e-01 -1.52264784e-04 -7.10510491e+00] [-1.75029351e-03 5.73761441e-05 9.99998467e-01 -5.87290292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26755201799999 meters 0.027429490588233702 Centerline is valid? [True, True] Translation: X:78.87, Y:-7.11, Z:-0.59 [[ 9.98563617e-01 5.35322063e-02 2.23741845e-03 7.88723219e+01] [-5.35319020e-02 9.98566121e-01 -1.95716833e-04 -7.11093228e+00] [-2.24468742e-03 7.56624428e-05 9.99997478e-01 -5.87744833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32755201799999 meters 0.028755176271007512 Centerline is valid? [True, True] Translation: X:78.93, Y:-7.12, Z:-0.59 [[ 9.98656904e-01 5.17532921e-02 2.44654392e-03 7.89295198e+01] [-5.17529270e-02 9.98659897e-01 -2.12325635e-04 -7.12037090e+00] [-2.45425384e-03 8.54246524e-05 9.99996985e-01 -5.88995287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38755201799998 meters 0.029515157844202847 Centerline is valid? [True, True] Translation: X:78.99, Y:-7.13, Z:-0.59 [[ 9.98815573e-01 4.85831626e-02 2.66977985e-03 7.89886267e+01] [-4.85827182e-02 9.98819136e-01 -2.31126432e-04 -7.12847636e+00] [-2.67785605e-03 1.01147518e-04 9.99996409e-01 -5.89207934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44755201799998 meters 0.03006899231033897 Centerline is valid? [True, True] Translation: X:79.05, Y:-7.14, Z:-0.59 [[ 9.98952391e-01 4.57267533e-02 1.78464330e-03 7.90478418e+01] [-4.57265501e-02 9.98953982e-01 -1.54523074e-04 -7.13733048e+00] [-1.78984237e-03 7.27556129e-05 9.99998396e-01 -5.91460869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50755201799998 meters 0.0307296891424797 Centerline is valid? [True, True] Translation: X:79.11, Y:-7.14, Z:-0.59 [[ 9.98989792e-01 4.49133203e-02 1.47981208e-03 7.91062516e+01] [-4.49131794e-02 9.98990886e-01 -1.28334143e-04 -7.14425977e+00] [-1.48408270e-03 6.17414335e-05 9.99998897e-01 -5.92091944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56755201799999 meters 0.03161157025778638 Centerline is valid? [True, True] Translation: X:79.16, Y:-7.15, Z:-0.59 [[ 9.98993276e-01 4.48406884e-02 1.32211498e-03 7.91632204e+01] [-4.48405754e-02 9.98994149e-01 -1.14935711e-04 -7.15125496e+00] [-1.32593893e-03 5.55356062e-05 9.99999119e-01 -5.93502423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62755201799999 meters 0.031481621113065086 Centerline is valid? [True, True] Translation: X:79.22, Y:-7.16, Z:-0.59 [[ 9.99025308e-01 4.41202413e-02 1.35588238e-03 7.92213122e+01] [-4.41201227e-02 9.99026226e-01 -1.17334759e-04 -7.15985166e+00] [-1.35973890e-03 5.73986965e-05 9.99999074e-01 -5.94455266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68755201799999 meters 0.03210561728138733 Centerline is valid? [True, True] Translation: X:79.28, Y:-7.17, Z:-0.59 [[ 9.98978566e-01 4.51576922e-02 1.61456051e-03 7.92792484e+01] [-4.51575256e-02 9.98979869e-01 -1.39485920e-04 -7.16597995e+00] [-1.61921231e-03 6.64338872e-05 9.99998687e-01 -5.94329898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.747552018 meters 0.029144682545870392 Centerline is valid? [True, True] Translation: X:79.34, Y:-7.17, Z:-0.59 [[ 9.98847896e-01 4.79401227e-02 2.15046345e-03 7.93385296e+01] [-4.79398339e-02 9.98850208e-01 -1.85708080e-04 -7.16880386e+00] [-2.15689373e-03 8.24012645e-05 9.99997671e-01 -5.94634259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80755201799998 meters 0.028408471197558106 Centerline is valid? [True, True] Translation: X:79.40, Y:-7.17, Z:-0.59 [[ 9.98654018e-01 5.18251610e-02 2.07486641e-03 7.93977689e+01] [-5.18249019e-02 9.98656171e-01 -1.78493010e-04 -7.17271472e+00] [-2.08132857e-03 7.07230136e-05 9.99997832e-01 -5.94626129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86755201799998 meters 0.02706862608488027 Centerline is valid? [True, True] Translation: X:79.46, Y:-7.18, Z:-0.59 [[ 9.98474897e-01 5.51667916e-02 2.12276928e-03 7.94570594e+01] [-5.51665258e-02 9.98477151e-01 -1.83589347e-04 -7.17599291e+00] [-2.12966466e-03 6.62035482e-05 9.99997730e-01 -5.94659782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92755201799999 meters 0.025823382098197987 Centerline is valid? [True, True] Translation: X:79.52, Y:-7.18, Z:-0.60 [[ 9.98157063e-01 6.06579843e-02 1.75699084e-03 7.95155983e+01] [-6.06578130e-02 9.98158608e-01 -1.50671922e-04 -7.18195769e+00] [-1.76289498e-03 4.38190216e-05 9.99998445e-01 -5.97010935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98755201799999 meters 0.024571767189887843 Centerline is valid? [True, True] Translation: X:79.57, Y:-7.19, Z:-0.60 [[ 9.97753032e-01 6.69758837e-02 1.76558895e-03 7.95746402e+01] [-6.69757207e-02 9.97754594e-01 -1.51334703e-04 -7.18756937e+00] [-1.77176026e-03 3.27430671e-05 9.99998430e-01 -5.97632632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04755201799999 meters 0.022466153855956076 Centerline is valid? [True, True] Translation: X:79.63, Y:-7.19, Z:-0.60 [[ 9.97142565e-01 7.54555917e-02 3.62751575e-03 7.96333022e+01] [-7.54549608e-02 9.97149163e-01 -3.10661459e-04 -7.19040485e+00] [-3.64061544e-03 3.60597056e-05 9.99993372e-01 -5.95650760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10755201799999 meters 0.02210920506952362 Centerline is valid? [True, True] Translation: X:79.69, Y:-7.20, Z:-0.60 [[ 9.96605084e-01 8.22234628e-02 4.19628424e-03 7.96906972e+01] [-8.22226801e-02 9.96613918e-01 -3.58994524e-04 -7.19940697e+00] [-4.21159306e-03 1.27460306e-05 9.99991131e-01 -5.97123231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16755201799998 meters 0.021641182440981503 Centerline is valid? [True, True] Translation: X:79.75, Y:-7.21, Z:-0.60 [[ 9.96432516e-01 8.42730881e-02 4.50427134e-03 7.97479358e+01] [-8.42722070e-02 9.96442696e-01 -3.85394844e-04 -7.20908498e+00] [-4.52072669e-03 4.43506704e-06 9.99989781e-01 -5.98394330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22755201799998 meters 0.021613654870312818 Centerline is valid? [True, True] Translation: X:79.80, Y:-7.23, Z:-0.60 [[ 9.96529366e-01 8.31354258e-02 4.20987579e-03 7.98033337e+01] [-8.31346532e-02 9.96538259e-01 -3.58500664e-04 -7.22624839e+00] [-4.22510640e-03 7.26987619e-06 9.99991074e-01 -5.99966278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28755201799999 meters 0.021413113948293514 Centerline is valid? [True, True] Translation: X:79.86, Y:-7.25, Z:-0.60 [[ 9.96897992e-01 7.85710063e-02 4.58159332e-03 7.98605479e+01] [-7.85700447e-02 9.96908519e-01 -3.89773202e-04 -7.24668596e+00] [-4.59805429e-03 2.85881297e-05 9.99989428e-01 -6.00826730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34755201799999 meters 0.02209180336639652 Centerline is valid? [True, True] Translation: X:79.92, Y:-7.27, Z:-0.60 [[ 9.97441725e-01 7.13371880e-02 4.58368212e-03 7.99181029e+01] [-7.13361546e-02 9.97452255e-01 -3.88746206e-04 -7.26780478e+00] [-4.59973613e-03 6.07694303e-05 9.99989419e-01 -6.01283896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40755201799999 meters 0.022969712806610657 Centerline is valid? [True, True] Translation: X:79.98, Y:-7.29, Z:-0.60 [[ 9.97818840e-01 6.58526667e-02 4.58141233e-03 7.99751936e+01] [-6.58515826e-02 9.97829354e-01 -3.87250116e-04 -7.28583453e+00] [-4.59696916e-03 8.47122084e-05 9.99989430e-01 -6.02672104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46755201799999 meters 0.02451285746343802 Centerline is valid? [True, True] Translation: X:80.03, Y:-7.31, Z:-0.60 [[ 9.98199222e-01 5.97255395e-02 5.58326011e-03 8.00318531e+01] [-5.97238461e-02 9.98214827e-01 -4.69677988e-04 -7.30633272e+00] [-5.60134480e-03 1.35378435e-04 9.99984303e-01 -6.02184924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52755201799998 meters 0.024557177833527698 Centerline is valid? [True, True] Translation: X:80.09, Y:-7.32, Z:-0.60 [[ 9.98364746e-01 5.67590110e-02 6.80057290e-03 8.00898790e+01] [-5.67564351e-02 9.98387891e-01 -5.71324558e-04 -7.32242171e+00] [-6.82203745e-03 1.84414022e-04 9.99976713e-01 -6.02587752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58755201799998 meters 0.025667758135069572 Centerline is valid? [True, True] Translation: X:80.15, Y:-7.34, Z:-0.60 [[ 9.98539337e-01 5.35750040e-02 6.99372576e-03 8.01469182e+01] [-5.35722057e-02 9.98563806e-01 -5.86978406e-04 -7.33980576e+00] [-7.01512878e-03 2.11451713e-04 9.99975371e-01 -6.04640728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64755201799998 meters 0.026828278648648833 Centerline is valid? [True, True] Translation: X:80.21, Y:-7.35, Z:-0.61 [[ 9.98708328e-01 5.03884025e-02 6.53329371e-03 8.02057367e+01] [-5.03858965e-02 9.98729674e-01 -5.47702456e-04 -7.35316667e+00] [-6.55259215e-03 2.17809144e-04 9.99978508e-01 -6.05426747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70755201799999 meters 0.02839371868188693 Centerline is valid? [True, True] Translation: X:80.26, Y:-7.37, Z:-0.61 [[ 9.98924587e-01 4.59802365e-02 5.95710266e-03 8.02646937e+01] [-4.59780760e-02 9.98942324e-01 -4.99190628e-04 -7.36687343e+00] [-5.97375489e-03 2.24757673e-04 9.99982132e-01 -6.07219649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76755201799999 meters 0.03259551677281387 Centerline is valid? [True, True] Translation: X:80.32, Y:-7.39, Z:-0.61 [[ 9.99191223e-01 3.99232665e-02 4.79923174e-03 8.03223314e+01] [-3.99217951e-02 9.99202727e-01 -4.02026627e-04 -7.38877864e+00] [-4.81145566e-03 2.10107530e-04 9.99988403e-01 -6.09017406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82755201799999 meters 0.0314277466101028 Centerline is valid? [True, True] Translation: X:80.38, Y:-7.40, Z:-0.61 [[ 9.99276653e-01 3.75615842e-02 5.94120452e-03 8.03810349e+01] [-3.75592892e-02 9.99294277e-01 -4.97435350e-04 -7.39775754e+00] [-5.95569614e-03 2.73928113e-04 9.99982227e-01 -6.08557976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88755201799998 meters 0.031307449475351586 Centerline is valid? [True, True] Translation: X:80.44, Y:-7.41, Z:-0.61 [[ 9.99207808e-01 3.91829242e-02 6.96089158e-03 8.04394618e+01] [-3.91798175e-02 9.99232007e-01 -5.82169377e-04 -7.40920298e+00] [-6.97835676e-03 3.08981726e-04 9.99975603e-01 -6.08665868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94755201799998 meters 0.02901658618478806 Centerline is valid? [True, True] Translation: X:80.50, Y:-7.42, Z:-0.61 [[ 9.99031511e-01 4.33771508e-02 7.37988809e-03 8.04985288e+01] [-4.33737794e-02 9.99058725e-01 -6.16346766e-04 -7.41703004e+00] [-7.39967695e-03 2.95656203e-04 9.99972578e-01 -6.09325299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00755201799998 meters 0.028587660276693017 Centerline is valid? [True, True] Translation: X:80.56, Y:-7.42, Z:-0.61 [[ 9.98872679e-01 4.65980128e-02 9.05521201e-03 8.05564625e+01] [-4.65930736e-02 9.98913667e-01 -7.55763362e-04 -7.42423156e+00] [-9.08059211e-03 3.33001214e-04 9.99958715e-01 -6.08551085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06755201799999 meters 0.027038578439112056 Centerline is valid? [True, True] Translation: X:80.62, Y:-7.43, Z:-0.61 [[ 9.98725021e-01 4.96350229e-02 9.20307273e-03 8.06150575e+01] [-4.96300562e-02 9.98767375e-01 -7.67415230e-04 -7.43443373e+00] [-9.22981946e-03 3.09687775e-04 9.99957356e-01 -6.10480377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12755201799999 meters 0.02660212443177797 Centerline is valid? [True, True] Translation: X:80.67, Y:-7.44, Z:-0.61 [[ 9.98776570e-01 4.86180864e-02 9.03579529e-03 8.06729236e+01] [-4.86132623e-02 9.98817393e-01 -7.52885048e-04 -7.44423021e+00] [-9.06171332e-03 3.12704458e-04 9.99958893e-01 -6.11175060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18755201799999 meters 0.02688480996952304 Centerline is valid? [True, True] Translation: X:80.73, Y:-7.46, Z:-0.61 [[ 9.98794287e-01 4.80963003e-02 9.83456895e-03 8.07311071e+01] [-4.80905686e-02 9.98842644e-01 -8.18596561e-04 -7.45937846e+00] [-9.86255832e-03 3.44659555e-04 9.99951304e-01 -6.11599201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24755201799998 meters 0.026161157688921154 Centerline is valid? [True, True] Translation: X:80.79, Y:-7.47, Z:-0.61 [[ 9.98613136e-01 5.15219075e-02 1.08304210e-02 8.07888965e+01] [-5.15151676e-02 9.98671806e-01 -9.00556639e-04 -7.47152003e+00] [-1.08624345e-02 3.41376735e-04 9.99940944e-01 -6.10611778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30755201799998 meters 0.02550441791578316 Centerline is valid? [True, True] Translation: X:80.85, Y:-7.48, Z:-0.61 [[ 9.98299384e-01 5.71309794e-02 1.15927262e-02 8.08469462e+01] [-5.71236451e-02 9.98366647e-01 -9.63074501e-04 -7.48269590e+00] [-1.16288125e-02 2.99217906e-04 9.99932338e-01 -6.09410390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36755201799998 meters 0.02449854599620644 Centerline is valid? [True, True] Translation: X:80.91, Y:-7.49, Z:-0.61 [[ 9.98175032e-01 5.91854559e-02 1.19869564e-02 8.09055377e+01] [-5.91777720e-02 9.98246964e-01 -9.95010556e-04 -7.49046916e+00] [-1.20248329e-02 2.83833323e-04 9.99927659e-01 -6.09873983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42755201799999 meters 0.024512412839366865 Centerline is valid? [True, True] Translation: X:80.96, Y:-7.51, Z:-0.61 [[ 9.98311514e-01 5.69677658e-02 1.13487319e-02 8.09631742e+01] [-5.69607451e-02 9.98375975e-01 -9.41164432e-04 -7.50555705e+00] [-1.13839174e-02 2.93143061e-04 9.99935158e-01 -6.10931687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48755201799999 meters 0.027674274522488166 Centerline is valid? [True, True] Translation: X:81.02, Y:-7.53, Z:-0.61 [[ 9.98748509e-01 4.87125765e-02 1.13357890e-02 8.10215366e+01] [-4.87050478e-02 9.98812763e-01 -9.39438889e-04 -7.52631229e+00] [-1.13680932e-02 3.86153044e-04 9.99935307e-01 -6.09705913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54755201799999 meters 0.031488652205639144 Centerline is valid? [True, True] Translation: X:81.08, Y:-7.55, Z:-0.61 [[ 9.99151638e-01 4.04643230e-02 7.65780555e-03 8.10807873e+01] [-4.04606461e-02 9.99180931e-01 -6.34532997e-04 -7.54720114e+00] [-7.67720923e-03 3.24154923e-04 9.99970477e-01 -6.11993053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60755201799999 meters 0.03237881542942988 Centerline is valid? [True, True] Translation: X:81.14, Y:-7.56, Z:-0.61 [[ 9.99298831e-01 3.70420541e-02 5.45273333e-03 8.11397922e+01] [-3.70401387e-02 9.99313676e-01 -4.51864623e-04 -7.55958812e+00] [-5.46572898e-03 2.49577791e-04 9.99985032e-01 -6.13113373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66755201799998 meters 0.03266513528838005 Centerline is valid? [True, True] Translation: X:81.20, Y:-7.57, Z:-0.61 [[ 9.99400446e-01 3.44890257e-02 3.04242829e-03 8.11980411e+01] [-3.44884173e-02 9.99405066e-01 -2.52209036e-04 -7.57293590e+00] [-3.04931669e-03 1.47129286e-04 9.99995340e-01 -6.12951255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72755201799998 meters 0.034339616587014975 Centerline is valid? [True, True] Translation: X:81.26, Y:-7.59, Z:-0.61 [[ 9.99432336e-01 3.35606205e-02 2.94785204e-03 8.12556503e+01] [-3.35600459e-02 9.99436673e-01 -2.44198955e-04 -7.58800595e+00] [-2.95438690e-03 1.45130283e-04 9.99995625e-01 -6.11170994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78755201799999 meters 0.03339537423661485 Centerline is valid? [True, True] Translation: X:81.31, Y:-7.60, Z:-0.61 [[ 9.99365418e-01 3.53405179e-02 4.45073752e-03 8.13142578e+01] [-3.53392274e-02 9.99375307e-01 -3.68269085e-04 -7.59525481e+00] [-4.46097200e-03 2.10749762e-04 9.99990028e-01 -6.07208838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84755201799999 meters 0.03216213551277405 Centerline is valid? [True, True] Translation: X:81.37, Y:-7.60, Z:-0.61 [[ 9.99330880e-01 3.64068602e-02 3.51183726e-03 8.13732331e+01] [-3.64060641e-02 9.99337037e-01 -2.90355632e-04 -7.60209158e+00] [-3.52007998e-03 1.62309177e-04 9.99993791e-01 -6.07099108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90755201799999 meters 0.031160974298694962 Centerline is valid? [True, True] Translation: X:81.43, Y:-7.61, Z:-0.61 [[ 9.99378005e-01 3.52598603e-02 5.87628495e-04 8.14322763e+01] [-3.52598377e-02 9.99378177e-01 -4.87790100e-05 -7.61350881e+00] [-5.88983036e-04 2.80289843e-05 9.99999826e-01 -6.08237263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96755201799999 meters 0.035106711463436954 Centerline is valid? [True, True] Translation: X:81.49, Y:-7.63, Z:-0.61 [[ 9.99569059e-01 2.92677077e-02 -2.25787306e-03 8.14908655e+01] [-2.92673612e-02 9.99571602e-01 1.86336092e-04 -7.62970591e+00] [ 2.26235942e-03 -1.20173805e-04 9.99997434e-01 -6.09192980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02755201799998 meters 0.03695964871498615 Centerline is valid? [True, True] Translation: X:81.55, Y:-7.64, Z:-0.61 [[ 9.99744500e-01 2.24603643e-02 -2.54308174e-03 8.15508141e+01] [-2.24599029e-02 9.99747723e-01 2.09861680e-04 -7.64293149e+00] [ 2.54715375e-03 -1.52690691e-04 9.99996744e-01 -6.06631832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08755201799998 meters 0.03914929968666544 Centerline is valid? [True, True] Translation: X:81.61, Y:-7.66, Z:-0.60 [[ 9.99805124e-01 1.96984674e-02 -1.29755520e-03 8.16090060e+01] [-1.96983456e-02 9.99805963e-01 1.06571427e-04 -7.65640215e+00] [ 1.29940273e-03 -8.09909676e-05 9.99999152e-01 -6.03799823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14755201799998 meters 0.03747112573612067 Centerline is valid? [True, True] Translation: X:81.67, Y:-7.66, Z:-0.60 [[ 9.99773164e-01 2.12215080e-02 -1.80772477e-03 8.16683125e+01] [-2.12212747e-02 9.99774792e-01 1.48126896e-04 -7.65953008e+00] [ 1.81046113e-03 -1.09731071e-04 9.99998355e-01 -6.03332656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20755201799999 meters 0.035979786495122894 Centerline is valid? [True, True] Translation: X:81.73, Y:-7.66, Z:-0.60 [[ 9.99690191e-01 2.48557607e-02 -1.30876230e-03 8.17277828e+01] [-2.48556413e-02 9.99691045e-01 1.07441827e-04 -7.66488514e+00] [ 1.31102850e-03 -7.48784143e-05 9.99999138e-01 -6.02236995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26755201799999 meters 0.036277294306930795 Centerline is valid? [True, True] Translation: X:81.79, Y:-7.67, Z:-0.60 [[ 9.99707443e-01 2.41352230e-02 -1.58749230e-03 8.17855879e+01] [-2.41350473e-02 9.99708699e-01 1.29795662e-04 -7.67407251e+00] [ 1.59016251e-03 -9.14434874e-05 9.99998732e-01 -6.01430673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32755201799999 meters 0.038157841378528616 Centerline is valid? [True, True] Translation: X:81.84, Y:-7.68, Z:-0.60 [[ 9.99751378e-01 2.20938090e-02 -3.00775416e-03 8.18432294e+01] [-2.20931659e-02 9.99755886e-01 2.46875419e-04 -7.68441895e+00] [ 3.01247434e-03 -1.80363229e-04 9.99995446e-01 -6.02413114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38755201799998 meters 0.03872664605566098 Centerline is valid? [True, True] Translation: X:81.90, Y:-7.69, Z:-0.60 [[ 9.99809948e-01 1.91972604e-02 -3.39593801e-03 8.19025501e+01] [-1.91964243e-02 9.99815693e-01 2.78635963e-04 -7.69295728e+00] [ 3.40066116e-03 -2.13393141e-04 9.99994195e-01 -6.01467405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44755201799998 meters 0.046820501064773624 Centerline is valid? [True, True] Translation: X:81.96, Y:-7.71, Z:-0.60 [[ 9.99814860e-01 1.88610171e-02 -3.80889851e-03 8.19600925e+01] [-1.88599643e-02 9.99822086e-01 3.12137975e-04 -7.71078976e+00] [ 3.81410810e-03 -2.40244496e-04 9.99992697e-01 -6.04022358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50755201799998 meters 0.04668315960939706 Centerline is valid? [True, True] Translation: X:82.02, Y:-7.72, Z:-0.61 [[ 9.99782739e-01 2.03139840e-02 -4.67085672e-03 8.20192085e+01] [-2.03124176e-02 9.99793608e-01 3.82572988e-04 -7.71580969e+00] [ 4.67766427e-03 -2.87613478e-04 9.99989018e-01 -6.05712926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56755201799999 meters 0.04910913299909736 Centerline is valid? [True, True] Translation: X:82.08, Y:-7.73, Z:-0.61 [[ 9.99816820e-01 1.87015719e-02 -4.07145096e-03 8.20775903e+01] [-1.87003696e-02 9.99825077e-01 3.33172640e-04 -7.72532596e+00] [ 4.07696963e-03 -2.56973972e-04 9.99991656e-01 -6.05447849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62755201799999 meters 0.05092389476793114 Centerline is valid? [True, True] Translation: X:82.14, Y:-7.73, Z:-0.60 [[ 9.99855712e-01 1.67233729e-02 -2.98046885e-03 8.21365460e+01] [-1.67227201e-02 9.99860136e-01 2.43803452e-04 -7.73331478e+00] [ 2.98412921e-03 -1.93926728e-04 9.99995529e-01 -6.04545159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68755201799999 meters 0.0579191364579057 Centerline is valid? [True, True] Translation: X:82.19, Y:-7.75, Z:-0.60 [[ 9.99957972e-01 9.09226900e-03 -1.17650898e-03 8.21949405e+01] [-9.09216202e-03 9.99958661e-01 9.62540593e-05 -7.75053074e+00] [ 1.17733551e-03 -8.55530037e-05 9.99999303e-01 -6.02115857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74755201799998 meters 0.04615226951806431 Centerline is valid? [True, True] Translation: X:82.26, Y:-7.74, Z:-0.60 [[ 9.99999546e-01 9.09185689e-04 -2.86373243e-04 8.22565089e+01] [-9.09178999e-04 9.99999586e-01 2.34890264e-05 -7.74269936e+00] [ 2.86394481e-04 -2.32286511e-05 9.99999959e-01 -5.98608730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80755201799998 meters 0.06217070422425143 Centerline is valid? [True, True] Translation: X:82.31, Y:-7.77, Z:-0.60 [[ 9.99991162e-01 -4.18286080e-03 4.22861188e-04 8.23139967e+01] [ 4.18287586e-03 9.99991251e-01 -3.47399752e-05 -7.77046065e+00] [-4.22712176e-04 3.65084441e-05 9.99999910e-01 -5.99904888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86755201799998 meters 0.04965321824874784 Centerline is valid? [True, True] Translation: X:82.38, Y:-7.76, Z:-0.60 [[ 9.99966571e-01 -8.17547310e-03 -1.37030388e-04 8.23760195e+01] [ 8.17547472e-03 9.99966580e-01 1.12455506e-05 -7.76045241e+00] [ 1.36933871e-04 -1.23654631e-05 9.99999991e-01 -5.99261800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92755201799999 meters 0.054014113335510046 Centerline is valid? [True, True] Translation: X:82.43, Y:-7.77, Z:-0.60 [[ 9.99936057e-01 -1.13077115e-02 1.33758263e-04 8.24346004e+01] [ 1.13077131e-02 9.99936066e-01 -1.10659865e-05 -7.77234428e+00] [-1.33624581e-04 1.25777790e-05 9.99999991e-01 -5.99966018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98755201799999 meters 0.05549668856677449 Centerline is valid? [True, True] Translation: X:82.49, Y:-7.78, Z:-0.60 [[ 9.99929732e-01 -1.18257336e-02 8.26761307e-04 8.24944020e+01] [ 1.18257936e-02 9.99930071e-01 -6.76805485e-05 -7.77928054e+00] [-8.25903120e-04 7.74529012e-05 9.99999656e-01 -5.99562690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04755201799999 meters 0.0587019627955074 Centerline is valid? [True, True] Translation: X:82.55, Y:-7.79, Z:-0.60 [[ 9.99929528e-01 -1.18032396e-02 1.27390189e-03 8.25547257e+01] [ 1.18033819e-02 9.99930332e-01 -1.04171106e-04 -7.78545418e+00] [-1.27258358e-03 1.19200115e-04 9.99999183e-01 -6.00266130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10755201799999 meters 0.0571926509347767 Centerline is valid? [True, True] Translation: X:82.62, Y:-7.79, Z:-0.60 [[ 9.99920730e-01 -1.25576920e-02 9.15668445e-04 8.26158599e+01] [ 1.25577656e-02 9.99921145e-01 -7.47341034e-05 -7.78839974e+00] [-9.14657752e-04 8.62269289e-05 9.99999578e-01 -6.00872728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16755201799998 meters 0.05646909090210476 Centerline is valid? [True, True] Translation: X:82.68, Y:-7.79, Z:-0.60 [[ 9.99893977e-01 -1.43353164e-02 2.55601117e-03 8.26765802e+01] [ 1.43358978e-02 9.99897214e-01 -2.09302255e-04 -7.79113361e+00] [-2.55274803e-03 2.45922779e-04 9.99996711e-01 -5.99928402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22755201799998 meters 0.05754221500499104 Centerline is valid? [True, True] Translation: X:82.74, Y:-7.80, Z:-0.60 [[ 9.99863260e-01 -1.60955784e-02 3.79391647e-03 8.27370052e+01] [ 1.60968725e-02 9.99870389e-01 -3.10814522e-04 -7.79595706e+00] [-3.78842200e-03 3.71842211e-04 9.99992755e-01 -5.99680757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28755201799999 meters 0.05775519621685691 Centerline is valid? [True, True] Translation: X:82.80, Y:-7.80, Z:-0.60 [[ 9.99826283e-01 -1.78804565e-02 5.26237403e-03 8.27977749e+01] [ 1.78829714e-02 9.99839994e-01 -4.31233025e-04 -7.80049335e+00] [-5.25382137e-03 5.25264997e-04 9.99986061e-01 -5.99210020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34755201799999 meters 0.05832495633475279 Centerline is valid? [True, True] Translation: X:82.86, Y:-7.80, Z:-0.60 [[ 9.99825232e-01 -1.79794351e-02 5.12305911e-03 8.28602207e+01] [ 1.79818207e-02 9.99838226e-01 -4.19969949e-04 -7.80433777e+00] [-5.11467951e-03 5.12018482e-04 9.99986789e-01 -5.99518347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40755201799999 meters 0.0721193441466449 Centerline is valid? [True, True] Translation: X:82.92, Y:-7.82, Z:-0.60 [[ 9.99857498e-01 -1.60228274e-02 5.31541151e-03 8.29189773e+01] [ 1.60253712e-02 9.99871490e-01 -4.36330392e-04 -7.82430672e+00] [-5.30773718e-03 5.21449656e-04 9.99985778e-01 -5.99955105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46755201799999 meters 0.05443645029507663 Centerline is valid? [True, True] Translation: X:82.98, Y:-7.80, Z:-0.60 [[ 9.99901666e-01 -1.22271894e-02 6.86686607e-03 8.29812782e+01] [ 1.22313463e-02 9.99925035e-01 -5.63685887e-04 -7.80152185e+00] [-6.85945900e-03 6.47621474e-04 9.99976264e-01 -5.99529518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52755201799998 meters 0.05393733124443023 Centerline is valid? [True, True] Translation: X:83.04, Y:-7.80, Z:-0.60 [[ 9.99931067e-01 -9.35792568e-03 7.09151404e-03 8.30424590e+01] [ 9.36228750e-03 9.99956003e-01 -5.82127563e-04 -7.80247784e+00] [-7.08575453e-03 6.48480228e-04 9.99974685e-01 -6.00632011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58755201799998 meters 0.05612961147856153 Centerline is valid? [True, True] Translation: X:83.10, Y:-7.80, Z:-0.60 [[ 9.99956445e-01 -6.34435217e-03 6.84529048e-03 8.31026744e+01] [ 6.34834767e-03 9.99979691e-01 -5.62116382e-04 -7.80365336e+00] [-6.84158519e-03 6.05548182e-04 9.99976413e-01 -6.01805103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64755201799998 meters 0.05438910195841663 Centerline is valid? [True, True] Translation: X:83.16, Y:-7.80, Z:-0.60 [[ 9.99955645e-01 -4.20444429e-03 8.42802752e-03 8.31633741e+01] [ 4.21042526e-03 9.99990897e-01 -6.92035373e-04 -7.80319413e+00] [-8.42504117e-03 7.27490258e-04 9.99964244e-01 -6.00606369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70755201799999 meters 0.05440238487403344 Centerline is valid? [True, True] Translation: X:83.22, Y:-7.80, Z:-0.60 [[ 9.99955330e-01 -1.69434304e-03 9.29877668e-03 8.32247128e+01] [ 1.70151654e-03 9.99998261e-01 -7.63588475e-04 -7.80494116e+00] [-9.29746673e-03 7.79376388e-04 9.99956474e-01 -6.00272124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76755201799999 meters 0.054023879260931676 Centerline is valid? [True, True] Translation: X:83.29, Y:-7.81, Z:-0.60 [[ 9.99958385e-01 -3.60477190e-04 9.11586718e-03 8.32862204e+01] [ 3.67318467e-04 9.99999652e-01 -7.48817027e-04 -7.80776195e+00] [-9.11559408e-03 7.52134291e-04 9.99958169e-01 -6.01197985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82755201799999 meters 0.054817665022386754 Centerline is valid? [True, True] Translation: X:83.35, Y:-7.81, Z:-0.60 [[ 9.99954878e-01 1.48252599e-03 9.38321725e-03 8.33475317e+01] [-1.47535463e-03 9.99998614e-01 -7.71150765e-04 -7.81142606e+00] [-9.38434750e-03 7.57272395e-04 9.99955679e-01 -6.01476940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88755201799998 meters 0.055418936600689396 Centerline is valid? [True, True] Translation: X:83.41, Y:-7.82, Z:-0.60 [[ 9.99951171e-01 3.28221313e-03 9.32106972e-03 8.34089426e+01] [-3.27521004e-03 9.99994343e-01 -7.66483629e-04 -7.81810811e+00] [-9.32353275e-03 7.35917742e-04 9.99956264e-01 -6.02676146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94755201799998 meters 0.05612639955641981 Centerline is valid? [True, True] Translation: X:83.47, Y:-7.82, Z:-0.60 [[ 9.99943938e-01 5.42873874e-03 9.09117263e-03 8.34694705e+01] [-5.42215963e-03 9.99985020e-01 -7.48172218e-04 -7.82277420e+00] [-9.09509807e-03 6.98836485e-04 9.99958395e-01 -6.03492769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00755201799998 meters 0.05661782828106049 Centerline is valid? [True, True] Translation: X:83.53, Y:-7.83, Z:-0.60 [[ 9.99929721e-01 6.80532124e-03 9.70773182e-03 8.35303082e+01] [-6.79788032e-03 9.99976575e-01 -7.99285159e-04 -7.82812922e+00] [-9.71294380e-03 7.33236987e-04 9.99952559e-01 -6.03498100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06755201799999 meters 0.058026828932699274 Centerline is valid? [True, True] Translation: X:83.59, Y:-7.84, Z:-0.60 [[ 9.99927284e-01 7.71721763e-03 9.26662389e-03 8.35906853e+01] [-7.71047130e-03 9.99969982e-01 -7.63530756e-04 -7.83628633e+00] [-9.27223807e-03 6.92025197e-04 9.99956772e-01 -6.04022891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12755201799999 meters 0.043935226381653626 Centerline is valid? [True, True] Translation: X:83.65, Y:-7.82, Z:-0.61 [[ 9.99916550e-01 8.75242644e-03 9.50201815e-03 8.36543260e+01] [-8.74536292e-03 9.99961451e-01 -7.84666910e-04 -7.82418388e+00] [-9.50851959e-03 7.01502832e-04 9.99954547e-01 -6.05038842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18755201799999 meters 0.046268744707403706 Centerline is valid? [True, True] Translation: X:83.72, Y:-7.83, Z:-0.60 [[ 9.99899298e-01 9.18412613e-03 1.08188068e-02 8.37154977e+01] [-9.17495699e-03 9.99957507e-01 -8.96847633e-04 -7.83493194e+00] [-1.08265838e-02 7.97495232e-04 9.99941073e-01 -6.03995516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24755201799998 meters 0.04725407471077379 Centerline is valid? [True, True] Translation: X:83.78, Y:-7.85, Z:-0.60 [[ 9.99889472e-01 9.55934054e-03 1.13869916e-02 8.37775986e+01] [-9.54916601e-03 9.99953957e-01 -9.47558099e-04 -7.84593453e+00] [-1.13955253e-02 8.38717094e-04 9.99934717e-01 -6.04044511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30755201799998 meters 0.04594589228204788 Centerline is valid? [True, True] Translation: X:83.84, Y:-7.85, Z:-0.61 [[ 9.99881535e-01 1.17735372e-02 9.91457600e-03 8.38391750e+01] [-1.17659114e-02 9.99930437e-01 -8.27134940e-04 -7.85271624e+00] [-9.92362462e-03 7.10382931e-04 9.99950507e-01 -6.05893903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36755201799998 meters 0.043541889655947796 Centerline is valid? [True, True] Translation: X:83.90, Y:-7.86, Z:-0.61 [[ 9.99830377e-01 1.52811082e-02 1.02813344e-02 8.38995975e+01] [-1.52730871e-02 9.99882991e-01 -8.58229250e-04 -7.85721294e+00] [-1.02932461e-02 7.01055958e-04 9.99946777e-01 -6.06350280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42755201799999 meters 0.03881896966377792 Centerline is valid? [True, True] Translation: X:83.96, Y:-7.86, Z:-0.61 [[ 9.99724859e-01 2.12363667e-02 9.96105732e-03 8.39598666e+01] [-2.12291306e-02 9.99774291e-01 -8.31626592e-04 -7.85836188e+00] [-9.97646975e-03 6.19933191e-04 9.99950042e-01 -6.06406568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48755201799999 meters 0.05001089497621339 Centerline is valid? [True, True] Translation: X:84.02, Y:-7.88, Z:-0.61 [[ 9.99689706e-01 2.31491409e-02 9.19833117e-03 8.40185536e+01] [-2.31430508e-02 9.99731869e-01 -7.67988000e-04 -7.88003802e+00] [-9.21364308e-03 5.54872252e-04 9.99957400e-01 -6.06717573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54755201799999 meters 0.042698264744732435 Centerline is valid? [True, True] Translation: X:84.08, Y:-7.88, Z:-0.61 [[ 9.99621094e-01 2.57684737e-02 9.67747918e-03 8.40799233e+01] [-2.57618523e-02 9.99667782e-01 -8.08266589e-04 -7.87959880e+00] [-9.69509194e-03 5.58650543e-04 9.99952845e-01 -6.07177339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60755201799998 meters 0.041564684976446054 Centerline is valid? [True, True] Translation: X:84.14, Y:-7.89, Z:-0.61 [[ 9.99561143e-01 2.73688978e-02 1.13342461e-02 8.41421534e+01] [-2.73598983e-02 9.99625198e-01 -9.48334818e-04 -7.88601679e+00] [-1.13559529e-02 6.37814815e-04 9.99935316e-01 -6.05026253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66755201799998 meters 0.04465621162890983 Centerline is valid? [True, True] Translation: X:84.20, Y:-7.90, Z:-0.60 [[ 9.99634741e-01 2.48203910e-02 1.06926441e-02 8.42008627e+01] [-2.48122143e-02 9.99691727e-01 -8.96708405e-04 -7.90333210e+00] [-1.07116045e-02 6.31072698e-04 9.99942430e-01 -6.04712265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72755201799998 meters 0.044270256686045346 Centerline is valid? [True, True] Translation: X:84.26, Y:-7.91, Z:-0.60 [[ 9.99705819e-01 2.17403649e-02 1.07532343e-02 8.42617589e+01] [-2.17319159e-02 9.99763427e-01 -9.01952544e-04 -7.91233907e+00] [-1.07702992e-02 6.67998823e-04 9.99941776e-01 -6.04867384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78755201799999 meters 0.046304271071533724 Centerline is valid? [True, True] Translation: X:84.32, Y:-7.92, Z:-0.61 [[ 9.99809778e-01 1.68727195e-02 9.78365970e-03 8.43215286e+01] [-1.68654905e-02 9.99857430e-01 -8.20921818e-04 -7.92448976e+00] [-9.79611603e-03 6.55759440e-04 9.99951802e-01 -6.05584419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84755201799999 meters 0.04856102958502314 Centerline is valid? [True, True] Translation: X:84.38, Y:-7.94, Z:-0.61 [[ 9.99847421e-01 1.43748337e-02 9.92464387e-03 8.43819709e+01] [-1.43672708e-02 9.99896439e-01 -8.32913057e-04 -7.93929088e+00] [-9.93558905e-03 6.90195925e-04 9.99950403e-01 -6.05639559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90755201799999 meters 0.05024535981195865 Centerline is valid? [True, True] Translation: X:84.44, Y:-7.95, Z:-0.60 [[ 9.99875297e-01 1.15360270e-02 1.07847298e-02 8.44422060e+01] [-1.15269276e-02 9.99933153e-01 -9.05510273e-04 -7.95146914e+00] [-1.07944549e-02 7.81082553e-04 9.99941433e-01 -6.04157852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96755201799999 meters 0.055119869311299745 Centerline is valid? [True, True] Translation: X:84.50, Y:-7.97, Z:-0.61 [[ 9.99899311e-01 1.03303978e-02 9.72890002e-03 8.45020271e+01] [-1.03229276e-02 9.99946383e-01 -8.17749182e-04 -7.97027074e+00] [-9.73682606e-03 7.17236113e-04 9.99952339e-01 -6.05221628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02755201799998 meters 0.05167187870911412 Centerline is valid? [True, True] Translation: X:84.56, Y:-7.98, Z:-0.61 [[ 9.99920046e-01 9.68936639e-03 8.12518906e-03 8.45638413e+01] [-9.68411893e-03 9.99952873e-01 -6.84922900e-04 -7.97503228e+00] [-8.13144262e-03 6.06182840e-04 9.99966756e-01 -6.07056342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08755201799998 meters 0.047960218553502326 Centerline is valid? [True, True] Translation: X:84.63, Y:-7.98, Z:-0.61 [[ 9.99929756e-01 9.52080404e-03 7.05962211e-03 8.46262387e+01] [-9.51682530e-03 9.99954536e-01 -5.96971581e-04 -7.97792315e+00] [-7.06498480e-03 5.29744456e-04 9.99974902e-01 -6.08028505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14755201799998 meters 0.05164348752869399 Centerline is valid? [True, True] Translation: X:84.69, Y:-7.99, Z:-0.61 [[ 9.99915819e-01 1.11703682e-02 6.60137113e-03 8.46858967e+01] [-1.11669112e-02 9.99937491e-01 -5.60297448e-04 -7.99309732e+00] [-6.60721722e-03 4.86533356e-04 9.99978054e-01 -6.08051546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20755201799999 meters 0.047707919655210505 Centerline is valid? [True, True] Translation: X:84.75, Y:-8.00, Z:-0.61 [[ 9.99822603e-01 1.73472551e-02 7.33726946e-03 8.47466910e+01] [-1.73431473e-02 9.99849402e-01 -6.23108855e-04 -7.99545717e+00] [-7.34697371e-03 4.95746972e-04 9.99972888e-01 -6.06352255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26755201799999 meters 0.043083448688217514 Centerline is valid? [True, True] Translation: X:84.81, Y:-8.00, Z:-0.61 [[ 9.99692934e-01 2.36535177e-02 7.38569098e-03 8.48074679e+01] [-2.36495269e-02 9.99720114e-01 -6.27213823e-04 -7.99590730e+00] [-7.39845964e-03 4.52353130e-04 9.99972529e-01 -6.06757517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32755201799999 meters 0.038834268620021255 Centerline is valid? [True, True] Translation: X:84.87, Y:-8.00, Z:-0.61 [[ 9.99437924e-01 3.28915901e-02 6.47921083e-03 8.48668794e+01] [-3.28887124e-02 9.99458869e-01 -5.50221825e-04 -8.00159641e+00] [-6.49380240e-03 3.36819657e-04 9.99978858e-01 -6.07318684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38755201799998 meters 0.03604421000296995 Centerline is valid? [True, True] Translation: X:84.93, Y:-8.01, Z:-0.61 [[ 9.99265608e-01 3.76905088e-02 6.90430165e-03 8.49270085e+01] [-3.76873546e-02 9.99289407e-01 -5.86426079e-04 -8.00687006e+00] [-6.92149820e-03 3.25790548e-04 9.99975993e-01 -6.06254927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44755201799998 meters 0.03034849233055427 Centerline is valid? [True, True] Translation: X:84.99, Y:-8.01, Z:-0.60 [[ 9.99018146e-01 4.36722637e-02 7.44829376e-03 8.49878416e+01] [-4.36687586e-02 9.99045864e-01 -6.32640036e-04 -8.01210051e+00] [-7.46881590e-03 3.06761134e-04 9.99972061e-01 -6.04792476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50755201799998 meters 0.028784927581955794 Centerline is valid? [True, True] Translation: X:85.05, Y:-8.02, Z:-0.60 [[ 9.98857756e-01 4.71470381e-02 7.76792919e-03 8.50488326e+01] [-4.71433292e-02 9.98887917e-01 -6.59988014e-04 -8.02150509e+00] [-7.79040709e-03 2.93028103e-04 9.99969611e-01 -6.04289588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56755201799999 meters 0.025994351028663935 Centerline is valid? [True, True] Translation: X:85.11, Y:-8.03, Z:-0.60 [[ 9.98571754e-01 5.28923790e-02 7.53981900e-03 8.51090812e+01] [-5.28890457e-02 9.98600189e-01 -6.40938004e-04 -8.03261535e+00] [-7.56316542e-03 2.41248755e-04 9.99971370e-01 -6.04022070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62755201799999 meters 0.02399219250419191 Centerline is valid? [True, True] Translation: X:85.17, Y:-8.05, Z:-0.61 [[ 9.98467889e-01 5.50644643e-02 5.45705085e-03 8.51702450e+01] [-5.50627522e-02 9.98482788e-01 -4.63601403e-04 -8.04935060e+00] [-5.47429932e-03 1.62410875e-04 9.99985003e-01 -6.05762812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68755201799999 meters 0.02389749389624416 Centerline is valid? [True, True] Translation: X:85.23, Y:-8.07, Z:-0.60 [[ 9.98439882e-01 5.54538885e-02 6.53208100e-03 8.52314517e+01] [-5.54514271e-02 9.98461230e-01 -5.57461021e-04 -8.06561133e+00] [-6.55294301e-03 1.94378103e-04 9.99978510e-01 -6.03846285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74755201799998 meters 0.026142725380629353 Centerline is valid? [True, True] Translation: X:85.29, Y:-8.09, Z:-0.60 [[ 9.98532994e-01 5.35614833e-02 7.93900404e-03 8.52901511e+01] [-5.35577647e-02 9.98564521e-01 -6.80413447e-04 -8.09138452e+00] [-7.96405172e-03 2.54219966e-04 9.99968254e-01 -6.02163112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80755201799998 meters 0.02672735249406504 Centerline is valid? [True, True] Translation: X:85.35, Y:-8.12, Z:-0.61 [[ 9.98660287e-01 5.14183133e-02 5.81284958e-03 8.53497611e+01] [-5.14162809e-02 9.98677184e-01 -4.98642203e-04 -8.11906397e+00] [-5.83079959e-03 1.99099058e-04 9.99982981e-01 -6.05055725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86755201799998 meters 0.0272120014829468 Centerline is valid? [True, True] Translation: X:85.41, Y:-8.14, Z:-0.60 [[ 9.98689910e-01 5.07108993e-02 6.84599986e-03 8.54096844e+01] [-5.07080472e-02 9.98713345e-01 -5.89650905e-04 -8.14239591e+00] [-6.86709315e-03 2.41731125e-04 9.99976392e-01 -6.04449768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92755201799999 meters 0.02567284638487767 Centerline is valid? [True, True] Translation: X:85.47, Y:-8.17, Z:-0.60 [[ 9.98629891e-01 5.15939635e-02 8.74087135e-03 8.54694703e+01] [-5.15893196e-02 9.98668098e-01 -7.56079870e-04 -8.16811546e+00] [-8.76823852e-03 3.04108353e-04 9.99961512e-01 -6.02386516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98755201799999 meters 0.02404689647324966 Centerline is valid? [True, True] Translation: X:85.53, Y:-8.20, Z:-0.60 [[ 9.98442862e-01 5.49890937e-02 9.38358560e-03 8.55296016e+01] [-5.49838608e-02 9.98486911e-01 -8.14932228e-04 -8.19740764e+00] [-9.41419979e-03 2.97717501e-04 9.99955641e-01 -6.01266319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04755201799999 meters 0.023706149649407197 Centerline is valid? [True, True] Translation: X:85.59, Y:-8.22, Z:-0.60 [[ 9.98287383e-01 5.77369932e-02 9.42019950e-03 8.55894062e+01] [-5.77318121e-02 9.98331790e-01 -8.21222118e-04 -8.22082763e+00] [-9.45189953e-03 2.75970492e-04 9.99955292e-01 -6.01433282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10755201799998 meters 0.02223794408214453 Centerline is valid? [True, True] Translation: X:85.65, Y:-8.25, Z:-0.60 [[ 9.98160467e-01 6.00840674e-02 8.09855634e-03 8.56489885e+01] [-6.00802965e-02 9.98193296e-01 -7.08323541e-04 -8.24991734e+00] [-8.12648360e-03 2.20456891e-04 9.99966955e-01 -6.03663398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16755201799998 meters 0.022704641534852552 Centerline is valid? [True, True] Translation: X:85.71, Y:-8.28, Z:-0.61 [[ 9.98151326e-01 6.03353516e-02 7.31951678e-03 8.57098991e+01] [-6.03322621e-02 9.98178143e-01 -6.42368823e-04 -8.27546341e+00] [-7.34493921e-03 1.99578288e-04 9.99973006e-01 -6.05178810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22755201799998 meters 0.023156021852205107 Centerline is valid? [True, True] Translation: X:85.77, Y:-8.31, Z:-0.60 [[ 9.98206442e-01 5.93619000e-02 7.75010342e-03 8.57687204e+01] [-5.93583840e-02 9.98236503e-01 -6.83114693e-04 -8.31388345e+00] [-7.77698712e-03 2.21855873e-04 9.99969734e-01 -6.04094363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28755201799999 meters 0.0243844965177104 Centerline is valid? [True, True] Translation: X:85.83, Y:-8.34, Z:-0.61 [[ 9.98293107e-01 5.79976520e-02 6.86625928e-03 8.58284076e+01] [-5.79948465e-02 9.98316698e-01 -6.07159415e-04 -8.34120646e+00] [-6.88991511e-03 2.07915406e-04 9.99976243e-01 -6.05350280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34755201799999 meters 0.027973650087979605 Centerline is valid? [True, True] Translation: X:85.89, Y:-8.38, Z:-0.61 [[ 9.98526636e-01 5.41252203e-02 3.87539021e-03 8.58857670e+01] [-5.41242961e-02 9.98534147e-01 -3.43034015e-04 -8.38348908e+00] [-3.88827625e-03 1.32775833e-04 9.99992432e-01 -6.08475828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40755201799999 meters 0.029644549460680892 Centerline is valid? [True, True] Translation: X:85.95, Y:-8.40, Z:-0.61 [[ 9.98596135e-01 5.29077497e-02 2.55529601e-03 8.59461029e+01] [-5.29073440e-02 9.98599400e-01 -2.26161163e-04 -8.40232883e+00] [-2.56368274e-03 9.06497386e-05 9.99996710e-01 -6.09607676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46755201799999 meters 0.030706631672133774 Centerline is valid? [True, True] Translation: X:86.00, Y:-8.44, Z:-0.61 [[ 9.98806670e-01 4.87881264e-02 2.22613369e-03 8.60038760e+01] [-4.87878043e-02 9.98809146e-01 -1.98785700e-04 -8.44104173e+00] [-2.23318107e-03 8.99403079e-05 9.99997502e-01 -6.08105661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52755201799998 meters 0.024439672611043007 Centerline is valid? [True, True] Translation: X:86.06, Y:-8.47, Z:-0.61 [[ 9.98881555e-01 4.72825324e-02 -4.68576099e-05 8.60640339e+01] [-4.72825321e-02 9.98881556e-01 6.43181171e-06 -8.46827261e+00] [ 4.71093146e-05 -4.20907163e-06 9.99999999e-01 -6.06952933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58755201799998 meters 0.026278280958553873 Centerline is valid? [True, True] Translation: X:86.12, Y:-8.50, Z:-0.61 [[ 9.98921801e-01 4.64087638e-02 -1.20948957e-03 8.61227631e+01] [-4.64086650e-02 9.98922531e-01 1.09635214e-04 -8.49562073e+00] [ 1.21327441e-03 -5.33862097e-05 9.99999263e-01 -6.08341506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64755201799998 meters 0.02754201768884999 Centerline is valid? [True, True] Translation: X:86.18, Y:-8.53, Z:-0.61 [[ 9.98959713e-01 4.55983339e-02 -5.32362998e-04 8.61813914e+01] [-4.55983139e-02 9.98959855e-01 4.96566394e-05 -8.53082523e+00] [ 5.34073523e-04 -2.53301272e-05 9.99999857e-01 -6.07975073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70755201799999 meters 0.027139119677915016 Centerline is valid? [True, True] Translation: X:86.24, Y:-8.55, Z:-0.61 [[ 9.99046192e-01 4.36472299e-02 -1.27520941e-03 8.62416147e+01] [-4.36471179e-02 9.99047004e-01 1.15493446e-04 -8.55493617e+00] [ 1.27903511e-03 -5.97240719e-05 9.99999180e-01 -6.07716628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76755201799999 meters 0.02853032142671282 Centerline is valid? [True, True] Translation: X:86.30, Y:-8.59, Z:-0.61 [[ 9.99139754e-01 4.14415229e-02 -1.53387359e-03 8.63011930e+01] [-4.14413584e-02 9.99140928e-01 1.38926423e-04 -8.58909333e+00] [ 1.53831320e-03 -7.52411072e-05 9.99998814e-01 -6.08596227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82755201799999 meters 0.03013483682624625 Centerline is valid? [True, True] Translation: X:86.36, Y:-8.62, Z:-0.61 [[ 9.99164841e-01 4.08070714e-02 -2.09852915e-03 8.63592949e+01] [-4.08067609e-02 9.99167039e-01 1.90614976e-04 -8.62258885e+00] [ 2.10455959e-03 -1.04821605e-04 9.99997780e-01 -6.10356275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88755201799998 meters 0.029880129496592134 Centerline is valid? [True, True] Translation: X:86.42, Y:-8.64, Z:-0.61 [[ 9.99134037e-01 4.15938464e-02 -1.06234990e-03 8.64201753e+01] [-4.15937669e-02 9.99134600e-01 9.67559915e-05 -8.64483564e+00] [ 1.06545500e-03 -5.24850702e-05 9.99999431e-01 -6.10220862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94755201799998 meters 0.027586315518430275 Centerline is valid? [True, True] Translation: X:86.48, Y:-8.66, Z:-0.61 [[ 9.99015589e-01 4.43592456e-02 -3.31104530e-04 8.64806911e+01] [-4.43592379e-02 9.99015644e-01 3.05626284e-05 -8.66013651e+00] [ 3.32134340e-04 -1.58449976e-05 9.99999945e-01 -6.09380965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00755201799998 meters 0.020248499052983274 Centerline is valid? [True, True] Translation: X:86.54, Y:-8.66, Z:-0.61 [[ 9.97640472e-01 6.85328179e-02 4.09169091e-03 8.65424497e+01] [-6.85318747e-02 9.97648859e-01 -3.70431892e-04 -8.65553417e+00] [-4.10745751e-03 8.91465989e-05 9.99991560e-01 -6.07012927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06755201799999 meters 0.01715540403076477 Centerline is valid? [True, True] Translation: X:86.60, Y:-8.65, Z:-0.61 [[ 9.96232909e-01 8.67173117e-02 3.15541233e-04 8.66038789e+01] [-8.67173070e-02 9.96232959e-01 -2.84077664e-05 -8.65072339e+00] [-3.16816021e-04 9.37865794e-07 9.99999950e-01 -6.11202911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12755201799999 meters 0.017121429018382584 Centerline is valid? [True, True] Translation: X:86.67, Y:-8.65, Z:-0.62 [[ 9.95798083e-01 9.15664387e-02 -1.32878518e-03 8.66670661e+01] [-9.15663562e-02 9.95798969e-01 1.22893390e-04 -8.65245063e+00] [ 1.33445582e-03 -7.04985482e-07 9.99999110e-01 -6.15562724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18755201799999 meters 0.01722693877191183 Centerline is valid? [True, True] Translation: X:86.73, Y:-8.66, Z:-0.62 [[ 9.96277786e-01 8.61326931e-02 -3.42521319e-03 8.67277583e+01] [-8.61321233e-02 9.96283674e-01 3.13808317e-04 -8.66126658e+00] [ 3.43951313e-03 -1.76193706e-05 9.99994085e-01 -6.18907601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24755201799998 meters 0.019737757127329995 Centerline is valid? [True, True] Translation: X:86.79, Y:-8.68, Z:-0.61 [[ 9.97504532e-01 7.05604483e-02 2.43551084e-03 8.67875976e+01] [-7.05601169e-02 9.97507504e-01 -2.21833703e-04 -8.67724836e+00] [-2.44509302e-03 4.94301943e-05 9.99997010e-01 -6.14015798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30755201799998 meters 0.022192526645151946 Centerline is valid? [True, True] Translation: X:86.85, Y:-8.69, Z:-0.61 [[ 9.98162073e-01 6.04062765e-02 4.85366478e-03 8.68477633e+01] [-6.04048392e-02 9.98173862e-01 -4.42295797e-04 -8.68850199e+00] [-4.87151876e-03 1.48298049e-04 9.99988123e-01 -6.11041809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36755201799998 meters 0.027287077055349215 Centerline is valid? [True, True] Translation: X:86.91, Y:-8.70, Z:-0.61 [[ 9.98926237e-01 4.61608330e-02 3.94333730e-03 8.69075539e+01] [-4.61597730e-02 9.98934005e-01 -3.59458964e-04 -8.70171410e+00] [-3.95572665e-03 1.77049436e-04 9.99992160e-01 -6.13436984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42755201799999 meters 0.034094165543678445 Centerline is valid? [True, True] Translation: X:86.97, Y:-8.71, Z:-0.62 [[ 9.99537532e-01 3.02787037e-02 2.81449139e-03 8.69672664e+01] [-3.02781009e-02 9.99541480e-01 -2.56552816e-04 -8.71366719e+00] [-2.82096898e-03 1.71216714e-04 9.99996006e-01 -6.17379365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48755201799999 meters 0.03806541294844671 Centerline is valid? [True, True] Translation: X:87.03, Y:-8.72, Z:-0.62 [[ 9.99804401e-01 1.94384864e-02 3.64769088e-03 8.70272393e+01] [-1.94374018e-02 9.99811021e-01 -3.32554113e-04 -8.72358877e+00] [-3.65346589e-03 2.61587432e-04 9.99993292e-01 -6.17342621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54755201799999 meters 0.04610564423135983 Centerline is valid? [True, True] Translation: X:87.09, Y:-8.74, Z:-0.62 [[ 9.99987859e-01 4.42748194e-03 2.16310379e-03 8.70850688e+01] [-4.42706612e-03 9.99990181e-01 -1.96981455e-04 -8.73956426e+00] [-2.16395468e-03 1.87402860e-04 9.99997641e-01 -6.17434782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60755201799998 meters 0.04798253875224242 Centerline is valid? [True, True] Translation: X:87.15, Y:-8.75, Z:-0.62 [[ 9.99996690e-01 -2.31038288e-03 1.13247971e-03 8.71452865e+01] [ 2.31050136e-03 9.99997325e-01 -1.03324081e-04 -8.74573601e+00] [-1.13223796e-03 1.05940335e-04 9.99999353e-01 -6.19502993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66755201799998 meters 0.050288742905291145 Centerline is valid? [True, True] Translation: X:87.21, Y:-8.75, Z:-0.62 [[ 9.99921144e-01 -1.24600857e-02 1.56587753e-03 8.72054804e+01] [ 1.24603247e-02 9.99922357e-01 -1.42922865e-04 -8.75196877e+00] [-1.56397512e-03 1.62422937e-04 9.99998764e-01 -6.21604398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72755201799998 meters 0.05287158646047779 Centerline is valid? [True, True] Translation: X:87.27, Y:-8.76, Z:-0.62 [[ 9.99856948e-01 -1.68451510e-02 1.52474705e-03 8.72651505e+01] [ 1.68453827e-02 9.99858097e-01 -1.39228451e-04 -8.76115368e+00] [-1.52218536e-03 1.64893482e-04 9.99998828e-01 -6.21607438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78755201799999 meters 0.05526841546419976 Centerline is valid? [True, True] Translation: X:87.32, Y:-8.77, Z:-0.62 [[ 9.99833836e-01 -1.82135644e-02 7.52281167e-04 8.73244892e+01] [ 1.82136213e-02 9.99834116e-01 -6.88659035e-05 -8.76808958e+00] [-7.50902082e-04 8.25562248e-05 9.99999715e-01 -6.22255855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84755201799999 meters 0.05038139167344069 Centerline is valid? [True, True] Translation: X:87.38, Y:-8.76, Z:-0.62 [[ 9.99898105e-01 -1.41474282e-02 1.90506404e-03 8.73848202e+01] [ 1.41477849e-02 9.99899900e-01 -1.73902464e-04 -8.76456480e+00] [-1.90241307e-03 2.00837181e-04 9.99998170e-01 -6.21402133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90755201799999 meters 0.051558242790253485 Centerline is valid? [True, True] Translation: X:87.44, Y:-8.77, Z:-0.62 [[ 9.99919642e-01 -1.26248198e-02 1.15074734e-03 8.74440084e+01] [ 1.26249490e-02 9.99920297e-01 -1.05128721e-04 -8.77218890e+00] [-1.14932839e-03 1.19648399e-04 9.99999332e-01 -6.22816048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96755201799998 meters 0.05082712474738601 Centerline is valid? [True, True] Translation: X:87.50, Y:-8.78, Z:-0.62 [[ 9.99956075e-01 -9.10198820e-03 2.23632725e-03 8.75032586e+01] [ 9.10246680e-03 9.99958551e-01 -2.03927553e-04 -8.77979420e+00] [-2.23437841e-03 2.24274690e-04 9.99997479e-01 -6.21711451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02755201799998 meters 0.04877240878799767 Centerline is valid? [True, True] Translation: X:87.56, Y:-8.79, Z:-0.62 [[ 9.99981396e-01 -4.68023675e-03 3.91202387e-03 8.75636209e+01] [ 4.68166638e-03 9.99988977e-01 -3.56367053e-04 -8.78761101e+00] [-3.91031287e-03 3.74675214e-04 9.99992285e-01 -6.20297839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08755201799998 meters 0.045515430579507056 Centerline is valid? [True, True] Translation: X:87.62, Y:-8.79, Z:-0.62 [[ 9.99980101e-01 1.03636529e-03 6.22280311e-03 8.76236051e+01] [-1.03285692e-03 9.99999306e-01 -5.66980096e-04 -8.78959490e+00] [-6.22338639e-03 5.60541548e-04 9.99980477e-01 -6.19333069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14755201799998 meters 0.040823217479101115 Centerline is valid? [True, True] Translation: X:87.68, Y:-8.79, Z:-0.62 [[ 9.99934102e-01 9.84854664e-03 5.89894206e-03 8.76849111e+01] [-9.84554711e-03 9.99951387e-01 -5.37311627e-04 -8.78998396e+00] [-5.90394704e-03 4.79197908e-04 9.99982457e-01 -6.18863762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20755201799999 meters 0.04142406668873187 Centerline is valid? [True, True] Translation: X:87.74, Y:-8.79, Z:-0.62 [[ 9.99893684e-01 1.41596342e-02 3.48205428e-03 8.77440116e+01] [-1.41586146e-02 9.99899711e-01 -3.17298638e-04 -8.79432109e+00] [-3.48619790e-03 2.67963839e-04 9.99993887e-01 -6.21549439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26755201799999 meters 0.0423475703905861 Centerline is valid? [True, True] Translation: X:87.81, Y:-8.80, Z:-0.62 [[ 9.99898778e-01 1.38866310e-02 3.09753244e-03 8.78056334e+01] [-1.38858263e-02 9.99903548e-01 -2.81131668e-04 -8.80001638e+00] [-3.10113765e-03 2.38091414e-04 9.99995163e-01 -6.23131711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32755201799999 meters 0.04392197530246634 Centerline is valid? [True, True] Translation: X:87.87, Y:-8.81, Z:-0.62 [[ 9.99913033e-01 1.27427560e-02 3.39825911e-03 8.78670144e+01] [-1.27417751e-02 9.99918772e-01 -3.10141083e-04 -8.80788721e+00] [-3.40193512e-03 2.66814257e-04 9.99994178e-01 -6.23095434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38755201799998 meters 0.047975378556095016 Centerline is valid? [True, True] Translation: X:87.93, Y:-8.82, Z:-0.62 [[ 9.99956891e-01 8.33542911e-03 4.09111694e-03 8.79263939e+01] [-8.33396838e-03 9.99965202e-01 -3.73966208e-04 -8.81898489e+00] [-4.09409174e-03 3.39854847e-04 9.99991561e-01 -6.20967908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44755201799998 meters 0.04822007359649798 Centerline is valid? [True, True] Translation: X:87.99, Y:-8.82, Z:-0.62 [[ 9.99985787e-01 4.27076911e-03 3.19148576e-03 8.79876144e+01] [-4.26985980e-03 9.99990842e-01 -2.91677829e-04 -8.82393529e+00] [-3.19270222e-03 2.78046487e-04 9.99994865e-01 -6.22298643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50755201799998 meters 0.04980915362188444 Centerline is valid? [True, True] Translation: X:88.05, Y:-8.83, Z:-0.62 [[ 9.99998789e-01 -1.13422957e-03 1.06542455e-03 8.80474836e+01] [ 1.13433401e-03 9.99999352e-01 -9.74342449e-05 -8.83005004e+00] [-1.06531335e-03 9.86426742e-05 9.99999428e-01 -6.23890962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56755201799999 meters 0.05769907031106953 Centerline is valid? [True, True] Translation: X:88.11, Y:-8.85, Z:-0.62 [[ 9.99991032e-01 -4.21718902e-03 3.88067226e-04 8.81059042e+01] [ 4.21720307e-03 9.99991107e-01 -3.53965097e-05 -8.84683115e+00] [-3.87914501e-04 3.70327505e-05 9.99999924e-01 -6.24178346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62755201799999 meters 0.05528072212770445 Centerline is valid? [True, True] Translation: X:88.17, Y:-8.85, Z:-0.62 [[ 9.99963176e-01 -8.42950938e-03 1.60942626e-03 8.81658827e+01] [ 8.42975721e-03 9.99964458e-01 -1.47266566e-04 -8.84960221e+00] [-1.60812767e-03 1.60828216e-04 9.99998694e-01 -6.23370767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68755201799999 meters 0.05238004999147422 Centerline is valid? [True, True] Translation: X:88.23, Y:-8.85, Z:-0.62 [[ 9.99926544e-01 -1.14637356e-02 3.93553537e-03 8.82264388e+01] [ 1.14652401e-02 9.99934207e-01 -3.59928694e-04 -8.85335004e+00] [-3.93115031e-03 4.05024113e-04 9.99992191e-01 -6.20887229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74755201799998 meters 0.05682089056258133 Centerline is valid? [True, True] Translation: X:88.28, Y:-8.86, Z:-0.62 [[ 9.99923155e-01 -1.13952662e-02 4.88184009e-03 8.82832521e+01] [ 1.13975816e-02 9.99934946e-01 -4.46723667e-04 -8.86492431e+00] [-4.87643197e-03 5.02330509e-04 9.99987984e-01 -6.19496577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80755201799998 meters 0.048111845980832214 Centerline is valid? [True, True] Translation: X:88.34, Y:-8.86, Z:-0.62 [[ 9.99924685e-01 -1.06872176e-02 6.03379744e-03 8.83434660e+01] [ 1.06907362e-02 9.99942701e-01 -5.51203430e-04 -8.85994239e+00] [-6.02756088e-03 6.15667653e-04 9.99981645e-01 -6.17667775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86755201799998 meters 0.04638613516102076 Centerline is valid? [True, True] Translation: X:88.40, Y:-8.86, Z:-0.62 [[ 9.99912907e-01 -1.17423771e-02 6.02456490e-03 8.84028945e+01] [ 1.17458951e-02 9.99930864e-01 -5.48902937e-04 -8.86147249e+00] [-6.01770296e-03 6.19619039e-04 9.99981701e-01 -6.18536350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92755201799999 meters 0.050477910796475026 Centerline is valid? [True, True] Translation: X:88.46, Y:-8.87, Z:-0.62 [[ 9.99794441e-01 -1.95119182e-02 5.51004644e-03 8.84628316e+01] [ 1.95149681e-02 9.99809440e-01 -5.00306051e-04 -8.87040987e+00] [-5.49923452e-03 6.07731590e-04 9.99984694e-01 -6.21159999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98755201799999 meters 0.05557475233236635 Centerline is valid? [True, True] Translation: X:88.52, Y:-8.88, Z:-0.62 [[ 9.99640034e-01 -2.62565423e-02 5.51322934e-03 8.85212804e+01] [ 2.62596967e-02 9.99655029e-01 -5.00536018e-04 -8.88158111e+00] [-5.49818510e-03 6.45131572e-04 9.99984677e-01 -6.21094825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04755201799999 meters 0.06326843437339436 Centerline is valid? [True, True] Translation: X:88.58, Y:-8.90, Z:-0.62 [[ 9.99267115e-01 -3.79460352e-02 5.03297113e-03 8.85796538e+01] [ 3.79488098e-02 9.99279580e-01 -4.56911925e-04 -8.89678012e+00] [-5.01200729e-03 6.47572326e-04 9.99987230e-01 -6.22052946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10755201799998 meters 0.06818382739675945 Centerline is valid? [True, True] Translation: X:88.64, Y:-8.91, Z:-0.62 [[ 9.99049697e-01 -4.33640183e-02 4.38910352e-03 8.86389720e+01] [ 4.33661799e-02 9.99059165e-01 -3.98484090e-04 -8.90788908e+00] [-4.36769423e-03 5.88444063e-04 9.99990288e-01 -6.22471554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16755201799998 meters 0.07444152540876818 Centerline is valid? [True, True] Translation: X:88.70, Y:-8.92, Z:-0.62 [[ 9.98754384e-01 -4.95940897e-02 5.48686777e-03 8.86980145e+01] [ 4.95975594e-02 9.98769160e-01 -4.98034738e-04 -8.91864238e+00] [-5.45541473e-03 7.69549628e-04 9.99984823e-01 -6.22982854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22755201799998 meters 0.07772091283289506 Centerline is valid? [True, True] Translation: X:88.76, Y:-8.93, Z:-0.62 [[ 9.98570394e-01 -5.29622177e-02 7.22293417e-03 8.87580463e+01] [ 5.29683167e-02 9.98595978e-01 -6.55592030e-04 -8.92688985e+00] [-7.17807141e-03 1.03724146e-03 9.99973699e-01 -6.21081997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28755201799999 meters 0.05871409468257979 Centerline is valid? [True, True] Translation: X:88.82, Y:-8.90, Z:-0.62 [[ 9.98558340e-01 -5.32541053e-02 6.72616107e-03 8.88187014e+01] [ 5.32594005e-02 9.98580524e-01 -6.10470478e-04 -8.90450788e+00] [-6.68410339e-03 9.67821693e-04 9.99977193e-01 -6.21263991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34755201799999 meters 0.05509456897370634 Centerline is valid? [True, True] Translation: X:88.88, Y:-8.91, Z:-0.62 [[ 9.98726757e-01 -4.99400573e-02 7.13126139e-03 8.88791416e+01] [ 4.99459104e-02 9.98751716e-01 -6.44936954e-04 -8.90536998e+00] [-7.09015136e-03 1.00029314e-03 9.99974364e-01 -6.20285191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40755201799999 meters 0.05883297759726931 Centerline is valid? [True, True] Translation: X:88.94, Y:-8.91, Z:-0.62 [[ 9.99044268e-01 -4.30490384e-02 7.57166872e-03 8.89375922e+01] [ 4.30554420e-02 9.99072450e-01 -6.84699194e-04 -8.91395001e+00] [-7.53516998e-03 1.01004635e-03 9.99971100e-01 -6.21049388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46755201799998 meters 0.05931269821255615 Centerline is valid? [True, True] Translation: X:89.00, Y:-8.92, Z:-0.62 [[ 9.99260944e-01 -3.79879947e-02 5.87187639e-03 8.89973412e+01] [ 3.79917596e-02 9.99277911e-01 -5.30923789e-04 -8.91932863e+00] [-5.84746764e-03 7.53614323e-04 9.99982619e-01 -6.24045683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52755201799998 meters 0.04900600838856148 Centerline is valid? [True, True] Translation: X:89.06, Y:-8.92, Z:-0.62 [[ 9.99469763e-01 -3.21987365e-02 4.84091801e-03 8.90580982e+01] [ 3.22012285e-02 9.99481310e-01 -4.37701286e-04 -8.91540267e+00] [-4.82431365e-03 5.93352707e-04 9.99988187e-01 -6.24430968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58755201799998 meters 0.0529447147921892 Centerline is valid? [True, True] Translation: X:89.12, Y:-8.93, Z:-0.62 [[ 9.99594262e-01 -2.80115175e-02 5.16396329e-03 8.91165405e+01] [ 2.80142979e-02 9.99607414e-01 -4.66853792e-04 -8.93059526e+00] [-5.14885870e-03 6.11329177e-04 9.99986558e-01 -6.24337177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64755201799998 meters 0.04890580198766094 Centerline is valid? [True, True] Translation: X:89.18, Y:-8.93, Z:-0.63 [[ 9.99747699e-01 -2.18834387e-02 5.06487260e-03 8.91768903e+01] [ 2.18860350e-02 9.99760367e-01 -4.57742571e-04 -8.93007325e+00] [-5.05364190e-03 5.68477061e-04 9.99987069e-01 -6.25202062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70755201799999 meters 0.04525274962834308 Centerline is valid? [True, True] Translation: X:89.24, Y:-8.93, Z:-0.63 [[ 9.99879521e-01 -1.48348407e-02 4.56858162e-03 8.92375980e+01] [ 1.48368802e-02 9.99889842e-01 -4.12863649e-04 -8.93228579e+00] [-4.56195359e-03 4.80597406e-04 9.99989479e-01 -6.26334977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76755201799999 meters 0.0446204345421556 Centerline is valid? [True, True] Translation: X:89.30, Y:-8.94, Z:-0.63 [[ 9.99976436e-01 -4.08978613e-03 5.51364577e-03 8.92963197e+01] [ 4.09259568e-03 9.99991501e-01 -4.98377546e-04 -8.93881254e+00] [-5.51156065e-03 5.20930925e-04 9.99984676e-01 -6.25028683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82755201799999 meters 0.04051994739124761 Centerline is valid? [True, True] Translation: X:89.36, Y:-8.94, Z:-0.62 [[ 9.99967700e-01 3.50044432e-03 7.23506289e-03 8.93573120e+01] [-3.49580599e-03 9.99993676e-01 -6.53637463e-04 -8.93920424e+00] [-7.23730516e-03 6.28323974e-04 9.99973613e-01 -6.24742692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88755201799998 meters 0.042582874459383926 Centerline is valid? [True, True] Translation: X:89.42, Y:-8.95, Z:-0.62 [[ 9.99930586e-01 8.02040225e-03 8.63109604e-03 8.94168433e+01] [-8.01396853e-03 9.99967584e-01 -7.79740075e-04 -8.94742564e+00] [-8.63707008e-03 7.10516618e-04 9.99962447e-01 -6.23693514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94755201799998 meters 0.03409871776990057 Centerline is valid? [True, True] Translation: X:89.48, Y:-8.94, Z:-0.62 [[ 9.99824016e-01 1.71475767e-02 7.60903431e-03 8.94787295e+01] [-1.71428392e-02 9.99852814e-01 -6.87403527e-04 -8.93937930e+00] [-7.61970168e-03 5.56842104e-04 9.99970815e-01 -6.24693927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00755201799998 meters 0.03422990889825233 Centerline is valid? [True, True] Translation: X:89.54, Y:-8.95, Z:-0.63 [[ 9.99800872e-01 1.93982113e-02 4.68246338e-03 8.95399904e+01] [-1.93964423e-02 9.99811782e-01 -4.22910802e-04 -8.94564529e+00] [-4.68978577e-03 3.32003458e-04 9.99988948e-01 -6.28229605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06755201799999 meters 0.03472151214872036 Centerline is valid? [True, True] Translation: X:89.60, Y:-8.95, Z:-0.63 [[ 9.99809257e-01 1.91782585e-02 3.69387084e-03 8.96013363e+01] [-1.91771567e-02 9.99816046e-01 -3.33454703e-04 -8.95149761e+00] [-3.69958641e-03 2.62553159e-04 9.99993122e-01 -6.29223268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12755201799999 meters 0.03692105479856255 Centerline is valid? [True, True] Translation: X:89.66, Y:-8.96, Z:-0.63 [[ 9.99821257e-01 1.85310454e-02 3.74901999e-03 8.96616386e+01] [-1.85299051e-02 9.99828249e-01 -3.38673544e-04 -8.95990427e+00] [-3.75465207e-03 2.69144023e-04 9.99992915e-01 -6.29683585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18755201799999 meters 0.03539816423140726 Centerline is valid? [True, True] Translation: X:89.72, Y:-8.96, Z:-0.63 [[ 9.99813339e-01 1.88391013e-02 4.28665995e-03 8.97241328e+01] [-1.88376059e-02 9.99822481e-01 -3.88964671e-04 -8.96424075e+00] [-4.29322673e-03 3.08141656e-04 9.99990737e-01 -6.28955817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24755201799998 meters 0.033331999396818114 Centerline is valid? [True, True] Translation: X:89.79, Y:-8.97, Z:-0.63 [[ 9.99797972e-01 1.97049034e-02 3.96644535e-03 8.97859818e+01] [-1.97036307e-02 9.99805800e-01 -3.59692528e-04 -8.96706789e+00] [-3.97276277e-03 2.81466486e-04 9.99992069e-01 -6.28946583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30755201799998 meters 0.03561113389756442 Centerline is valid? [True, True] Translation: X:89.85, Y:-8.98, Z:-0.63 [[ 9.99771994e-01 2.11107647e-02 3.20863154e-03 8.98455625e+01] [-2.11099343e-02 9.99777118e-01 -2.92461700e-04 -8.97656429e+00] [-3.21409049e-03 2.24661016e-04 9.99994810e-01 -6.29180373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36755201799998 meters 0.03477024930406514 Centerline is valid? [True, True] Translation: X:89.91, Y:-8.98, Z:-0.63 [[ 9.99734868e-01 2.26499848e-02 4.14396777e-03 8.99070822e+01] [-2.26486128e-02 9.99743416e-01 -3.77725367e-04 -8.98133681e+00] [-4.15145996e-03 2.83770098e-04 9.99991342e-01 -6.28470145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42755201799999 meters 0.03405811748092725 Centerline is valid? [True, True] Translation: X:89.97, Y:-8.99, Z:-0.63 [[ 9.99703392e-01 2.39166900e-02 4.59559990e-03 8.99687976e+01] [-2.39150169e-02 9.99713907e-01 -4.18686776e-04 -8.98565631e+00] [-4.60429873e-03 3.08658741e-04 9.99989353e-01 -6.28709622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48755201799999 meters 0.03224964054727791 Centerline is valid? [True, True] Translation: X:90.03, Y:-8.99, Z:-0.63 [[ 9.99627315e-01 2.66504378e-02 5.91486782e-03 9.00291493e+01] [-2.66476995e-02 9.99644740e-01 -5.41304877e-04 -8.99026488e+00] [-5.92719252e-03 3.83485520e-04 9.99982361e-01 -6.26511194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54755201799999 meters 0.03218456991085681 Centerline is valid? [True, True] Translation: X:90.09, Y:-9.00, Z:-0.63 [[ 9.99583024e-01 2.82194914e-02 6.11869889e-03 9.00907273e+01] [-2.82165907e-02 9.99601676e-01 -5.59905779e-04 -8.99590126e+00] [-6.13206192e-03 3.87023490e-04 9.99981124e-01 -6.26830299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60755201799998 meters 0.0316473697043863 Centerline is valid? [True, True] Translation: X:90.15, Y:-9.00, Z:-0.63 [[ 9.99518965e-01 3.05583345e-02 5.29396214e-03 9.01516741e+01] [-3.05561942e-02 9.99532933e-01 -4.84721011e-04 -8.99981547e+00] [-5.30630177e-03 3.22724508e-04 9.99985869e-01 -6.28798101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66755201799998 meters 0.031091797571607255 Centerline is valid? [True, True] Translation: X:90.21, Y:-9.01, Z:-0.63 [[ 9.99529175e-01 3.02470280e-02 5.15226268e-03 9.02137338e+01] [-3.02449979e-02 9.99542404e-01 -4.71502186e-04 -9.00610900e+00] [-5.16416657e-03 3.15450017e-04 9.99986616e-01 -6.28489705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72755201799998 meters 0.03100871852559589 Centerline is valid? [True, True] Translation: X:90.28, Y:-9.01, Z:-0.63 [[ 9.99544724e-01 2.94314502e-02 6.64331901e-03 9.02752765e+01] [-2.94280414e-02 9.99566715e-01 -6.10295154e-04 -9.01143738e+00] [-6.65840243e-03 4.14517435e-04 9.99977747e-01 -6.27457542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78755201799999 meters 0.03148350957025529 Centerline is valid? [True, True] Translation: X:90.34, Y:-9.02, Z:-0.63 [[ 9.99562378e-01 2.88869837e-02 6.37146756e-03 9.03366423e+01] [-2.88838267e-02 9.99582603e-01 -5.86972296e-04 -9.01763177e+00] [-6.38576399e-03 4.02683059e-04 9.99979530e-01 -6.28894869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84755201799999 meters 0.03302888412400919 Centerline is valid? [True, True] Translation: X:90.40, Y:-9.03, Z:-0.63 [[ 9.99549149e-01 2.95775805e-02 5.16387081e-03 9.03973213e+01] [-2.95755095e-02 9.99562435e-01 -4.76980255e-04 -9.02536916e+00] [-5.17571920e-03 3.24041097e-04 9.99986553e-01 -6.29755869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90755201799999 meters 0.03170247224985602 Centerline is valid? [True, True] Translation: X:90.46, Y:-9.03, Z:-0.63 [[ 9.99525189e-01 3.04308713e-02 4.83317384e-03 9.04594767e+01] [-3.04290650e-02 9.99536829e-01 -4.46848419e-04 -9.02888938e+00] [-4.84453324e-03 2.99567289e-04 9.99988220e-01 -6.31321974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96755201799998 meters 0.03011567891334565 Centerline is valid? [True, True] Translation: X:90.52, Y:-9.03, Z:-0.63 [[ 9.99486140e-01 3.15426991e-02 5.70208257e-03 9.05220996e+01] [-3.15401913e-02 9.99502344e-01 -5.29218304e-04 -9.03240359e+00] [-5.71593787e-03 3.49101585e-04 9.99983603e-01 -6.31334927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02755201799998 meters 0.030498930544161335 Centerline is valid? [True, True] Translation: X:90.58, Y:-9.04, Z:-0.63 [[ 9.99328782e-01 3.62178118e-02 5.50055005e-03 9.05812867e+01] [-3.62155430e-02 9.99343871e-01 -5.11540654e-04 -9.03864531e+00] [-5.51546787e-03 3.11991891e-04 9.99984741e-01 -6.31856465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08755201799998 meters 0.027042923766198785 Centerline is valid? [True, True] Translation: X:90.64, Y:-9.04, Z:-0.63 [[ 9.99120651e-01 4.16140837e-02 5.11790177e-03 9.06424383e+01] [-4.16121907e-02 9.99133724e-01 -4.75864965e-04 -9.03908143e+00] [-5.13327094e-03 2.62479409e-04 9.99986790e-01 -6.32547224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14755201799998 meters 0.024644369799757544 Centerline is valid? [True, True] Translation: X:90.70, Y:-9.04, Z:-0.63 [[ 9.98587436e-01 5.30206089e-02 3.45662038e-03 9.07019071e+01] [-5.30198132e-02 9.98593409e-01 -3.21498370e-04 -9.04115164e+00] [-3.46880436e-03 1.37774866e-04 9.99993974e-01 -6.33528874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20755201799999 meters 0.01970798876234512 Centerline is valid? [True, True] Translation: X:90.76, Y:-9.04, Z:-0.64 [[ 9.98180383e-01 6.02291289e-02 2.89390555e-03 9.07636201e+01] [-6.02286020e-02 9.98184574e-01 -2.68955434e-04 -9.03775195e+00] [-2.90485083e-03 9.41701521e-05 9.99995776e-01 -6.35283614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26755201799999 meters 0.017172790101562172 Centerline is valid? [True, True] Translation: X:90.82, Y:-9.04, Z:-0.63 [[ 9.97568948e-01 6.96003205e-02 3.46250759e-03 9.08244571e+01] [-6.95996222e-02 9.97574954e-01 -3.21898738e-04 -9.03727305e+00] [-3.47651511e-03 8.01269649e-05 9.99993954e-01 -6.34758491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32755201799998 meters 0.016061958549116018 Centerline is valid? [True, True] Translation: X:90.89, Y:-9.04, Z:-0.64 [[ 9.97206054e-01 7.46625150e-02 2.36515641e-03 9.08855527e+01] [-7.46622036e-02 9.97208858e-01 -2.19790510e-04 -9.04006305e+00] [-2.37496503e-03 4.25886378e-05 9.99997179e-01 -6.35517810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38755201799998 meters 0.016344828267179926 Centerline is valid? [True, True] Translation: X:90.95, Y:-9.05, Z:-0.64 [[ 9.97122219e-01 7.58062916e-02 8.28688436e-04 9.09473597e+01] [-7.58062552e-02 9.97122563e-01 -7.53295592e-05 -9.04620504e+00] [-8.32014392e-04 1.22930102e-05 9.99999654e-01 -6.36821579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44755201799998 meters 0.017297577071418935 Centerline is valid? [True, True] Translation: X:91.01, Y:-9.05, Z:-0.64 [[ 9.97326533e-01 7.30640388e-02 -1.19727600e-03 9.10095937e+01] [-7.30639547e-02 9.97327251e-01 1.13934871e-04 -9.05047356e+00] [ 1.20240053e-03 -2.61525502e-05 9.99999277e-01 -6.38767193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50755201799998 meters 0.01861045915705659 Centerline is valid? [True, True] Translation: X:91.07, Y:-9.06, Z:-0.64 [[ 9.97549462e-01 6.99647049e-02 -1.03968360e-04 9.10717360e+01] [-6.99647040e-02 9.97549467e-01 1.16137950e-05 -9.05565662e+00] [ 1.04526138e-04 -4.31121946e-06 9.99999995e-01 -6.38708188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56755201799999 meters 0.019858707842832994 Centerline is valid? [True, True] Translation: X:91.13, Y:-9.06, Z:-0.64 [[ 9.97942977e-01 6.41019165e-02 -8.70988149e-04 9.11322386e+01] [-6.41018692e-02 9.97943357e-01 8.21536243e-05 -9.05973040e+00] [ 8.74463042e-04 -2.61526641e-05 9.99999617e-01 -6.38518506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62755201799999 meters 0.022670048970697784 Centerline is valid? [True, True] Translation: X:91.19, Y:-9.07, Z:-0.64 [[ 9.98305589e-01 5.81201565e-02 -2.82820703e-03 9.11928547e+01] [-5.81196360e-02 9.98309590e-01 2.65979289e-04 -9.06916208e+00] [ 2.83888496e-03 -1.01154248e-04 9.99995965e-01 -6.41407753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68755201799999 meters 0.026111177136973307 Centerline is valid? [True, True] Translation: X:91.25, Y:-9.08, Z:-0.64 [[ 9.98893320e-01 4.69390898e-02 -2.97604709e-03 9.12530768e+01] [-4.69384635e-02 9.98897744e-01 2.79975622e-04 -9.07954013e+00] [ 2.98590853e-03 -1.39974700e-04 9.99995532e-01 -6.42342986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74755201799998 meters 0.02905110671799507 Centerline is valid? [True, True] Translation: X:91.31, Y:-9.09, Z:-0.64 [[ 9.99154097e-01 4.11211846e-02 -3.72691646e-04 9.13132129e+01] [-4.11211744e-02 9.99154166e-01 3.51333353e-05 -9.08879061e+00] [ 3.73821135e-04 -1.97780977e-05 9.99999930e-01 -6.41410653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80755201799998 meters 0.032561615970198236 Centerline is valid? [True, True] Translation: X:91.37, Y:-9.10, Z:-0.64 [[ 9.99295929e-01 3.75127580e-02 -6.63023409e-04 9.13727737e+01] [-3.75127248e-02 9.99296148e-01 6.24704714e-05 -9.10105152e+00] [ 6.64900179e-04 -3.75546731e-05 9.99999778e-01 -6.42563441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86755201799998 meters 0.034266403166516676 Centerline is valid? [True, True] Translation: X:91.43, Y:-9.11, Z:-0.64 [[ 9.99515789e-01 3.11120583e-02 -4.76729025e-04 9.14332445e+01] [-3.11120404e-02 9.99515902e-01 4.50376180e-05 -9.10978291e+00] [ 4.77899455e-04 -3.01837976e-05 9.99999885e-01 -6.44912033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92755201799999 meters 0.038562529058315635 Centerline is valid? [True, True] Translation: X:91.49, Y:-9.12, Z:-0.65 [[ 9.99675556e-01 2.54375191e-02 -1.31006157e-03 9.14920314e+01] [-2.54373784e-02 9.99676410e-01 1.23919313e-04 -9.12328150e+00] [ 1.31278985e-03 -9.05545765e-05 9.99999134e-01 -6.47653716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98755201799999 meters 0.04331367272041563 Centerline is valid? [True, True] Translation: X:91.55, Y:-9.14, Z:-0.64 [[ 9.99793433e-01 2.02366666e-02 1.88929275e-03 9.15506127e+01] [-2.02363672e-02 9.99795208e-01 -1.77428253e-04 -9.13840368e+00] [-1.89249639e-03 1.39159180e-04 9.99998200e-01 -6.44018693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04755201799999 meters 0.04133716855110179 Centerline is valid? [True, True] Translation: X:91.61, Y:-9.14, Z:-0.64 [[ 9.99839379e-01 1.71853979e-02 5.08701353e-03 9.16110424e+01] [-1.71831808e-02 9.99852243e-01 -4.79240047e-04 -9.14245476e+00] [-5.09449782e-03 3.91751998e-04 9.99986946e-01 -6.41864511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10755201799998 meters 0.04744724343329546 Centerline is valid? [True, True] Translation: X:91.67, Y:-9.16, Z:-0.64 [[ 9.99837333e-01 1.69629528e-02 6.12912046e-03 9.16705559e+01] [-1.69597301e-02 9.99856007e-01 -5.77390454e-04 -9.15663598e+00] [-6.13803216e-03 4.73348303e-04 9.99981050e-01 -6.41910843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16755201799998 meters 0.03703868902928193 Centerline is valid? [True, True] Translation: X:91.73, Y:-9.15, Z:-0.64 [[ 9.99793682e-01 1.87560919e-02 7.79764488e-03 9.17330346e+01] [-1.87509156e-02 9.99823915e-01 -7.36414369e-04 -9.14782156e+00] [-7.81008409e-03 5.90049452e-04 9.99969327e-01 -6.42898480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22755201799998 meters 0.03889097570790895 Centerline is valid? [True, True] Translation: X:91.79, Y:-9.16, Z:-0.65 [[ 9.99745871e-01 2.17251159e-02 6.01776207e-03 9.17920228e+01] [-2.17220851e-02 9.99763886e-01 -5.68552339e-04 -9.15622543e+00] [-6.02869306e-03 4.37689513e-04 9.99981731e-01 -6.45416903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28755201799999 meters 0.03798500083934761 Centerline is valid? [True, True] Translation: X:91.85, Y:-9.16, Z:-0.65 [[ 9.99684417e-01 2.48065760e-02 3.96239288e-03 9.18523489e+01] [-2.48052867e-02 9.99692231e-01 -3.74217492e-04 -9.16169241e+00] [-3.97045643e-03 2.75811104e-04 9.99992080e-01 -6.46703061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34755201799999 meters 0.03834941714470858 Centerline is valid? [True, True] Translation: X:91.91, Y:-9.17, Z:-0.65 [[ 9.99603624e-01 2.81029403e-02 1.67930252e-03 9.19116002e+01] [-2.81027132e-02 9.99605028e-01 -1.58652878e-04 -9.16814441e+00] [-1.68309785e-03 1.11397035e-04 9.99998577e-01 -6.49386658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40755201799999 meters 0.03859208432117661 Centerline is valid? [True, True] Translation: X:91.97, Y:-9.17, Z:-0.65 [[ 9.99622302e-01 2.74724282e-02 7.20780748e-04 9.19731203e+01] [-2.74723873e-02 9.99622561e-01 -6.64710478e-05 -9.17388482e+00] [-7.22334818e-04 4.66443739e-05 9.99999738e-01 -6.51200049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46755201799998 meters 0.037322046377507835 Centerline is valid? [True, True] Translation: X:92.03, Y:-9.18, Z:-0.65 [[ 9.99698079e-01 2.45023565e-02 1.83994375e-03 9.20340469e+01] [-2.45020772e-02 9.99699764e-01 -1.74205183e-04 -9.17819451e+00] [-1.84365977e-03 1.29070143e-04 9.99998292e-01 -6.50481985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52755201799998 meters 0.0421253622594005 Centerline is valid? [True, True] Translation: X:92.09, Y:-9.19, Z:-0.65 [[ 9.99840371e-01 1.73290465e-02 4.35162545e-03 9.20929946e+01] [-1.73274148e-02 9.99849784e-01 -4.12367625e-04 -9.19121829e+00] [-4.35811771e-03 3.36899379e-04 9.99990447e-01 -6.48273794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58755201799998 meters 0.045440568245547486 Centerline is valid? [True, True] Translation: X:92.15, Y:-9.20, Z:-0.65 [[ 9.99957383e-01 6.97362455e-03 6.04981195e-03 9.21531311e+01] [-6.97028374e-03 9.99975543e-01 -5.73127680e-04 -9.20064280e+00] [-6.05366077e-03 5.30934349e-04 9.99981535e-01 -6.47352499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64755201799998 meters 0.050609124754924385 Centerline is valid? [True, True] Translation: X:92.21, Y:-9.21, Z:-0.65 [[ 9.99971617e-01 -5.37938520e-05 7.53409896e-03 9.22117039e+01] [ 5.91732360e-05 9.99999744e-01 -7.13783875e-04 -9.21396051e+00] [-7.53405863e-03 7.14209432e-04 9.99971364e-01 -6.46241738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70755201799999 meters 0.04983391258770133 Centerline is valid? [True, True] Translation: X:92.27, Y:-9.22, Z:-0.65 [[ 9.99957535e-01 -6.42253405e-03 6.60908217e-03 9.22718781e+01] [ 6.42681075e-03 9.99979152e-01 -6.26060386e-04 -9.21854462e+00] [-6.60492349e-03 6.68509121e-04 9.99977964e-01 -6.47001956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76755201799999 meters 0.05801622280664541 Centerline is valid? [True, True] Translation: X:92.33, Y:-9.23, Z:-0.65 [[ 9.99953509e-01 -8.61815835e-03 4.32511998e-03 9.23298402e+01] [ 8.62001074e-03 9.99962763e-01 -4.09828153e-04 -9.23377953e+00] [-4.32142697e-03 4.47091680e-04 9.99990563e-01 -6.50341092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82755201799998 meters 0.050130281951561495 Centerline is valid? [True, True] Translation: X:92.39, Y:-9.23, Z:-0.65 [[ 9.99941424e-01 -1.01637823e-02 3.72093037e-03 9.23903400e+01] [ 1.01651636e-02 9.99948271e-01 -3.52480206e-04 -9.22894265e+00] [-3.71715536e-03 3.90283425e-04 9.99993015e-01 -6.51674431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88755201799998 meters 0.05154119291076854 Centerline is valid? [True, True] Translation: X:92.45, Y:-9.24, Z:-0.65 [[ 9.99931604e-01 -1.08540901e-02 4.35610993e-03 9.24487081e+01] [ 1.08559913e-02 9.99940987e-01 -4.13040430e-04 -9.23726335e+00] [-4.35136968e-03 4.60302071e-04 9.99990427e-01 -6.51545693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94755201799998 meters 0.052629237554708636 Centerline is valid? [True, True] Translation: X:92.51, Y:-9.25, Z:-0.65 [[ 9.99942697e-01 -9.13056431e-03 5.58879960e-03 9.25078394e+01] [ 9.13365430e-03 9.99958148e-01 -5.27615755e-04 -9.24621428e+00] [-5.58374827e-03 5.78631685e-04 9.99984243e-01 -6.50211101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00755201799998 meters 0.05120529938838508 Centerline is valid? [True, True] Translation: X:92.57, Y:-9.25, Z:-0.65 [[ 9.99964133e-01 -5.41031875e-03 6.51617759e-03 9.25674126e+01] [ 5.41443928e-03 9.99985153e-01 -6.14878054e-04 -9.25137107e+00] [-6.51275415e-03 6.50137448e-04 9.99978580e-01 -6.48795945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06755201799999 meters 0.053510218759804634 Centerline is valid? [True, True] Translation: X:92.63, Y:-9.26, Z:-0.65 [[ 9.99980106e-01 -8.88368498e-04 6.24479928e-03 9.26267584e+01] [ 8.92064427e-04 9.99999429e-01 -5.89080643e-04 -9.25992128e+00] [-6.24427240e-03 5.94639688e-04 9.99980328e-01 -6.50290266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12755201799999 meters 0.04628307310561529 Centerline is valid? [True, True] Translation: X:92.69, Y:-9.26, Z:-0.65 [[ 9.99975003e-01 1.16696151e-03 6.97367398e-03 9.26880228e+01] [-1.16240217e-03 9.99999108e-01 -6.57810289e-04 -9.25593104e+00] [-6.97443540e-03 6.49687631e-04 9.99975467e-01 -6.51089291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18755201799999 meters 0.04358190880959429 Centerline is valid? [True, True] Translation: X:92.75, Y:-9.26, Z:-0.65 [[ 9.99959860e-01 1.92021286e-03 8.75163646e-03 9.27504353e+01] [-1.91305822e-03 9.99997829e-01 -8.25818248e-04 -9.25869260e+00] [-8.75320321e-03 8.09042710e-04 9.99961363e-01 -6.49920868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24755201799998 meters 0.04643901703880377 Centerline is valid? [True, True] Translation: X:92.81, Y:-9.27, Z:-0.65 [[ 9.99955859e-01 2.33004334e-03 9.10224068e-03 9.28110462e+01] [-2.32231106e-03 9.99996934e-01 -8.59969114e-04 -9.26934846e+00] [-9.10421653e-03 8.38792920e-04 9.99958204e-01 -6.49681157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30755201799998 meters 0.04317837347527145 Centerline is valid? [True, True] Translation: X:92.87, Y:-9.27, Z:-0.65 [[ 9.99956721e-01 5.38738047e-03 7.58495910e-03 9.28714443e+01] [-5.38208756e-03 9.99985259e-01 -7.18054949e-04 -9.27082225e+00] [-7.58871572e-03 6.77200958e-04 9.99970976e-01 -6.51040436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36755201799998 meters 0.04266168785866692 Centerline is valid? [True, True] Translation: X:92.93, Y:-9.28, Z:-0.65 [[ 9.99960699e-01 7.32750747e-03 4.99073696e-03 9.29327231e+01] [-7.32524027e-03 9.99973058e-01 -4.72409796e-04 -9.27556323e+00] [-4.99406409e-03 4.35832883e-04 9.99987435e-01 -6.54271011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42755201799999 meters 0.041931755443914795 Centerline is valid? [True, True] Translation: X:92.99, Y:-9.28, Z:-0.66 [[ 9.99957952e-01 8.76940526e-03 2.68169306e-03 9.29936913e+01] [-8.76875587e-03 9.99961522e-01 -2.53818823e-04 -9.27972441e+00] [-2.68381571e-03 2.30293038e-04 9.99996372e-01 -6.57270882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48755201799999 meters 0.04405827443204313 Centerline is valid? [True, True] Translation: X:93.05, Y:-9.29, Z:-0.66 [[ 9.99971409e-01 7.01151521e-03 2.83205798e-03 9.30538681e+01] [-7.01078337e-03 9.99975388e-01 -2.68255823e-04 -9.29048544e+00] [-2.83386916e-03 2.48393208e-04 9.99995954e-01 -6.56210634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54755201799999 meters 0.04418929869550933 Centerline is valid? [True, True] Translation: X:93.11, Y:-9.30, Z:-0.65 [[ 9.99960152e-01 8.10421478e-03 3.74371446e-03 9.31147934e+01] [-8.10294335e-03 9.99967108e-01 -3.54659862e-04 -9.29750463e+00] [-3.74646556e-03 3.24310623e-04 9.99992929e-01 -6.54659782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60755201799998 meters 0.04268159690026899 Centerline is valid? [True, True] Translation: X:93.18, Y:-9.30, Z:-0.65 [[ 9.99940171e-01 1.00116715e-02 4.40701909e-03 9.31760567e+01] [-1.00099270e-02 9.99949812e-01 -4.17709550e-04 -9.30167068e+00] [-4.41097988e-03 3.73570619e-04 9.99990202e-01 -6.54266910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66755201799998 meters 0.04372966169097927 Centerline is valid? [True, True] Translation: X:93.24, Y:-9.31, Z:-0.65 [[ 9.99904555e-01 1.21497289e-02 6.57766339e-03 9.32354188e+01] [-1.21458862e-02 9.99926041e-01 -6.23845609e-04 -9.30844464e+00] [-6.58475647e-03 5.43894515e-04 9.99978172e-01 -6.53062805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72755201799998 meters 0.0425890542107688 Centerline is valid? [True, True] Translation: X:93.30, Y:-9.31, Z:-0.65 [[ 9.99859325e-01 1.46345538e-02 8.19512891e-03 9.32957675e+01] [-1.46286714e-02 9.99892693e-01 -7.77272390e-04 -9.31389213e+00] [-8.20562456e-03 6.57279199e-04 9.99966117e-01 -6.51607822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78755201799999 meters 0.03784119459438249 Centerline is valid? [True, True] Translation: X:93.36, Y:-9.31, Z:-0.65 [[ 9.99772890e-01 2.02558987e-02 6.62317539e-03 9.33568712e+01] [-2.02521786e-02 9.99794706e-01 -6.28279081e-04 -9.31291337e+00] [-6.63454205e-03 4.94002662e-04 9.99977869e-01 -6.53225533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84755201799999 meters 0.03474026996751835 Centerline is valid? [True, True] Translation: X:93.42, Y:-9.31, Z:-0.66 [[ 9.99671855e-01 2.51394781e-02 4.91816422e-03 9.34178328e+01] [-2.51374853e-02 9.99683895e-01 -4.66605966e-04 -9.31437245e+00] [-4.92833980e-03 3.42822571e-04 9.99987797e-01 -6.55258358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90755201799999 meters 0.03334250587864489 Centerline is valid? [True, True] Translation: X:93.48, Y:-9.32, Z:-0.66 [[ 9.99523736e-01 3.06661278e-02 3.44805305e-03 9.34786578e+01] [-3.06651811e-02 9.99529659e-01 -3.27111229e-04 -9.31810371e+00] [-3.45646253e-03 2.21220267e-04 9.99994002e-01 -6.58022593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96755201799998 meters 0.03129302825817778 Centerline is valid? [True, True] Translation: X:93.54, Y:-9.32, Z:-0.66 [[ 9.99436113e-01 3.33712566e-02 3.71682520e-03 9.35397271e+01] [-3.33701755e-02 9.99442998e-01 -3.52518978e-04 -9.32208593e+00] [-3.72651892e-03 2.28289088e-04 9.99993030e-01 -6.58187039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02755201799998 meters 0.031190051034797103 Centerline is valid? [True, True] Translation: X:93.60, Y:-9.33, Z:-0.66 [[ 9.99373961e-01 3.51290846e-02 4.19920698e-03 9.36012139e+01] [-3.51277196e-02 9.99382752e-01 -3.98413459e-04 -9.32787085e+00] [-4.21061093e-03 2.50655472e-04 9.99991104e-01 -6.58354520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08755201799998 meters 0.03004432509826365 Centerline is valid? [True, True] Translation: X:93.66, Y:-9.33, Z:-0.66 [[ 9.99262208e-01 3.80402498e-02 5.28949359e-03 9.36615076e+01] [-3.80381218e-02 9.99276162e-01 -5.02366544e-04 -9.33344381e+00] [-5.30477500e-03 3.00793500e-04 9.99985884e-01 -6.57185222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14755201799998 meters 0.03054918104184674 Centerline is valid? [True, True] Translation: X:93.72, Y:-9.34, Z:-0.66 [[ 9.99247616e-01 3.81256577e-02 7.11588762e-03 9.37242686e+01] [-3.81218084e-02 9.99272871e-01 -6.75852636e-04 -9.34150799e+00] [-7.13648078e-03 4.04073631e-04 9.99974453e-01 -6.56175619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20755201799999 meters 0.033784257329926445 Centerline is valid? [True, True] Translation: X:93.79, Y:-9.35, Z:-0.66 [[ 9.99231289e-01 3.83569359e-02 8.09789620e-03 9.37850948e+01] [-3.83519363e-02 9.99263996e-01 -7.71846955e-04 -9.35197685e+00] [-8.12154180e-03 4.60683629e-04 9.99966914e-01 -6.55466082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26755201799999 meters 0.03172436711406693 Centerline is valid? [True, True] Translation: X:93.85, Y:-9.35, Z:-0.66 [[ 9.99186559e-01 3.96922586e-02 7.12351169e-03 9.38476289e+01] [-3.96884111e-02 9.99211873e-01 -6.80712721e-04 -9.35433073e+00] [-7.14491648e-03 3.97438141e-04 9.99974396e-01 -6.57725549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32755201799998 meters 0.033290770567990534 Centerline is valid? [True, True] Translation: X:93.91, Y:-9.36, Z:-0.66 [[ 9.99204952e-01 3.95648418e-02 4.90778790e-03 9.39082103e+01] [-3.95630143e-02 9.99216967e-01 -4.68927666e-04 -9.36171598e+00] [-4.92249799e-03 2.74387963e-04 9.99987847e-01 -6.60332546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38755201799998 meters 0.0364094554339931 Centerline is valid? [True, True] Translation: X:93.97, Y:-9.37, Z:-0.66 [[ 9.99379794e-01 3.50132670e-02 3.75466528e-03 9.39685524e+01] [-3.50121607e-02 9.99386822e-01 -3.60004261e-04 -9.37059081e+00] [-3.76496792e-03 2.28322040e-04 9.99992886e-01 -6.61090076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44755201799998 meters 0.041413219692571834 Centerline is valid? [True, True] Translation: X:94.03, Y:-9.38, Z:-0.66 [[ 9.99558503e-01 2.95196889e-02 3.37439336e-03 9.40278754e+01] [-2.95187645e-02 9.99564174e-01 -3.23426223e-04 -9.38217511e+00] [-3.38247016e-03 2.23675508e-04 9.99994254e-01 -6.62424286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50755201799998 meters 0.04703637758908536 Centerline is valid? [True, True] Translation: X:94.09, Y:-9.40, Z:-0.66 [[ 9.99777421e-01 2.05738456e-02 4.67165398e-03 9.40875367e+01] [-2.05719749e-02 9.99788274e-01 -4.48142434e-04 -9.39533722e+00] [-4.67988488e-03 3.51937539e-04 9.99988987e-01 -6.60444627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56755201799999 meters 0.036758198504977274 Centerline is valid? [True, True] Translation: X:94.15, Y:-9.39, Z:-0.66 [[ 9.99865446e-01 1.57421182e-02 4.61262744e-03 9.41494989e+01] [-1.57402435e-02 9.99876017e-01 -4.42469313e-04 -9.38831655e+00] [-4.61902095e-03 3.69805898e-04 9.99989264e-01 -6.58963685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62755201799999 meters 0.04050588184800727 Centerline is valid? [True, True] Translation: X:94.21, Y:-9.40, Z:-0.66 [[ 9.99894255e-01 1.41306359e-02 3.43563871e-03 9.42092638e+01] [-1.41295861e-02 9.99900118e-01 -3.29644277e-04 -9.39856772e+00] [-3.43995364e-03 2.81065266e-04 9.99994044e-01 -6.59633106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68755201799999 meters 0.03766615510563401 Centerline is valid? [True, True] Translation: X:94.27, Y:-9.40, Z:-0.66 [[ 9.99854027e-01 1.68417893e-02 2.87743332e-03 9.42701472e+01] [-1.68410640e-02 9.99858141e-01 -2.76118238e-04 -9.40000360e+00] [-2.88167546e-03 2.27618893e-04 9.99995822e-01 -6.60822893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74755201799998 meters 0.036607936677626095 Centerline is valid? [True, True] Translation: X:94.33, Y:-9.40, Z:-0.66 [[ 9.99717827e-01 2.36704295e-02 1.99427690e-03 9.43306432e+01] [-2.36700947e-02 9.99719806e-01 -1.91359293e-04 -9.40441422e+00] [-1.99824767e-03 1.44100573e-04 9.99997993e-01 -6.61791967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80755201799998 meters 0.029169846692350176 Centerline is valid? [True, True] Translation: X:94.39, Y:-9.40, Z:-0.66 [[ 9.99350610e-01 3.60243757e-02 -7.76433902e-04 9.43919152e+01] [-3.60243285e-02 9.99350910e-01 7.46860529e-05 -9.40265750e+00] [ 7.78620445e-04 -4.66670425e-05 9.99999696e-01 -6.63411172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86755201799998 meters 0.027180921522721373 Centerline is valid? [True, True] Translation: X:94.45, Y:-9.41, Z:-0.66 [[ 9.98955032e-01 4.57021392e-02 -3.97495567e-04 9.44515912e+01] [-4.57021276e-02 9.98955111e-01 3.81384664e-05 -9.40742544e+00] [ 3.98823237e-04 -1.99322198e-05 9.99999920e-01 -6.63859190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92755201799999 meters 0.020338234511487318 Centerline is valid? [True, True] Translation: X:94.51, Y:-9.41, Z:-0.66 [[ 9.98060953e-01 6.21959770e-02 2.44817284e-03 9.45127924e+01] [-6.21955874e-02 9.98063953e-01 -2.35039061e-04 -9.40651013e+00] [-2.45805154e-03 8.23177616e-05 9.99996976e-01 -6.62067063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98755201799999 meters 0.016548369213852034 Centerline is valid? [True, True] Translation: X:94.57, Y:-9.41, Z:-0.66 [[ 9.97246941e-01 7.40415490e-02 4.04818791e-03 9.45727397e+01] [-7.40405800e-02 9.97255154e-01 -3.88905598e-04 -9.40844018e+00] [-4.06587143e-03 8.81047367e-05 9.99991730e-01 -6.60686421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04755201799999 meters 0.012760626117069103 Centerline is valid? [True, True] Translation: X:94.63, Y:-9.41, Z:-0.66 [[ 9.95972128e-01 8.94947207e-02 5.49687120e-03 9.46340310e+01] [-8.94931702e-02 9.95987296e-01 -5.27885516e-04 -9.40671414e+00] [-5.52205685e-03 3.38268306e-05 9.99984753e-01 -6.59626014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10755201799998 meters 0.012378396249467101 Centerline is valid? [True, True] Translation: X:94.70, Y:-9.41, Z:-0.66 [[ 9.95327160e-01 9.64089447e-02 5.40003317e-03 9.46966672e+01] [-9.64075502e-02 9.95341808e-01 -5.18561880e-04 -9.40949642e+00] [-5.42487279e-03 -4.46524640e-06 9.99985285e-01 -6.60249345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16755201799998 meters 0.012554782105502945 Centerline is valid? [True, True] Translation: X:94.76, Y:-9.41, Z:-0.67 [[ 9.95184981e-01 9.79834704e-02 2.46831653e-03 9.47582858e+01] [-9.79831864e-02 9.95188042e-01 -2.36038092e-04 -9.41270966e+00] [-2.47956693e-03 -6.95195484e-06 9.99996926e-01 -6.65046660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22755201799998 meters 0.012770222170152922 Centerline is valid? [True, True] Translation: X:94.82, Y:-9.42, Z:-0.67 [[ 9.95711548e-01 9.25111316e-02 4.51967463e-04 9.48195070e+01] [-9.25111221e-02 9.95711650e-01 -4.18004317e-05 -9.42174267e+00] [-4.53896274e-04 -1.90844643e-07 9.99999897e-01 -6.67461965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28755201799999 meters 0.013343603405939961 Centerline is valid? [True, True] Translation: X:94.88, Y:-9.43, Z:-0.67 [[ 9.96144986e-01 8.77218371e-02 2.12655250e-04 9.48804886e+01] [-8.77218351e-02 9.96145009e-01 -1.87981924e-05 -9.43033948e+00] [-2.13484478e-04 7.12163535e-08 9.99999977e-01 -6.66915309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34755201799999 meters 0.01674885658014614 Centerline is valid? [True, True] Translation: X:94.94, Y:-9.44, Z:-0.67 [[ 9.96934200e-01 7.82319301e-02 1.40183689e-03 9.49408669e+01] [-7.82318183e-02 9.96935186e-01 -1.34505889e-04 -9.44260680e+00] [-1.40806317e-03 2.44252728e-05 9.99999008e-01 -6.67504221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40755201799999 meters 0.01807001212126385 Centerline is valid? [True, True] Translation: X:95.00, Y:-9.45, Z:-0.66 [[ 9.97570625e-01 6.96152555e-02 2.56226458e-03 9.50012968e+01] [-6.96148453e-02 9.97573913e-01 -2.49033731e-04 -9.44995418e+00] [-2.57338485e-03 7.00570826e-05 9.99996686e-01 -6.64986305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46755201799998 meters 0.023516658908876217 Centerline is valid? [True, True] Translation: X:95.06, Y:-9.46, Z:-0.66 [[ 9.98474588e-01 5.50699006e-02 3.97542121e-03 9.50615197e+01] [-5.50687974e-02 9.98482488e-01 -3.86507797e-04 -9.46310337e+00] [-3.99067340e-03 1.66996547e-04 9.99992023e-01 -6.63824286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52755201799998 meters 0.02882676973148253 Centerline is valid? [True, True] Translation: X:95.12, Y:-9.48, Z:-0.66 [[ 9.99146484e-01 4.10346048e-02 4.73973826e-03 9.51210476e+01] [-4.10328782e-02 9.99157690e-01 -4.61010666e-04 -9.47502952e+00] [-4.75466332e-03 2.66132083e-04 9.99988661e-01 -6.63747526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58755201799998 meters 0.030982239838226358 Centerline is valid? [True, True] Translation: X:95.18, Y:-9.48, Z:-0.67 [[ 9.99406671e-01 3.42128811e-02 3.97288948e-03 9.51814998e+01] [-3.42116141e-02 9.99414537e-01 -3.86463273e-04 -9.48220114e+00] [-3.98378552e-03 2.50315012e-04 9.99992033e-01 -6.65371482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64755201799998 meters 0.03472234654239589 Centerline is valid? [True, True] Translation: X:95.24, Y:-9.49, Z:-0.67 [[ 9.99625044e-01 2.71148567e-02 3.81517370e-03 9.52414396e+01] [-2.71136360e-02 9.99632289e-01 -3.71311567e-04 -9.49255788e+00] [-3.82383888e-03 2.67729110e-04 9.99992653e-01 -6.66072989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70755201799999 meters 0.036763388817436383 Centerline is valid? [True, True] Translation: X:95.30, Y:-9.50, Z:-0.66 [[ 9.99656193e-01 2.58213492e-02 4.55573268e-03 9.53029762e+01] [-2.58195960e-02 9.99666520e-01 -4.43245464e-04 -9.50220939e+00] [-4.56565864e-03 3.25465896e-04 9.99989524e-01 -6.64661568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76755201799999 meters 0.03365958810447266 Centerline is valid? [True, True] Translation: X:95.36, Y:-9.50, Z:-0.67 [[ 9.99534829e-01 2.96571047e-02 7.11206906e-03 9.53635311e+01] [-2.96529225e-02 9.99560015e-01 -6.92794896e-04 -9.50336046e+00] [-7.12948614e-03 4.81578995e-04 9.99974469e-01 -6.65214874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82755201799998 meters 0.029826996049628046 Centerline is valid? [True, True] Translation: X:95.42, Y:-9.51, Z:-0.66 [[ 9.99302776e-01 3.62225228e-02 9.04933067e-03 9.54238129e+01] [-3.62160190e-02 9.99343596e-01 -8.81592504e-04 -9.50564895e+00] [-9.07532416e-03 5.53247105e-04 9.99958665e-01 -6.63833448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88755201799998 meters 0.02951223311135405 Centerline is valid? [True, True] Translation: X:95.48, Y:-9.51, Z:-0.66 [[ 9.98810094e-01 4.73845104e-02 1.15371185e-02 9.54833558e+01] [-4.73746819e-02 9.98876557e-01 -1.12386142e-03 -9.51297605e+00] [-1.15774108e-02 5.75956814e-04 9.99932814e-01 -6.61709711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94755201799998 meters 0.024348697501265396 Centerline is valid? [True, True] Translation: X:95.54, Y:-9.51, Z:-0.66 [[ 9.98596583e-01 5.14735355e-02 1.24634938e-02 9.55445803e+01] [-5.14623832e-02 9.98674196e-01 -1.21407579e-03 -9.51147913e+00] [-1.25094624e-02 5.70970843e-04 9.99921591e-01 -6.62357577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00755201799998 meters 0.019786189647950366 Centerline is valid? [True, True] Translation: X:95.61, Y:-9.51, Z:-0.66 [[ 9.97903282e-01 6.35210020e-02 1.24146251e-02 9.56056425e+01] [-6.35108655e-02 9.97980414e-01 -1.20944313e-03 -9.50968605e+00] [-1.24663778e-02 4.18443677e-04 9.99922204e-01 -6.64704499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06755201799999 meters 0.019192865804536677 Centerline is valid? [True, True] Translation: X:95.67, Y:-9.52, Z:-0.67 [[ 9.97461586e-01 7.02341935e-02 1.17278193e-02 9.56653630e+01] [-7.02256110e-02 9.97530480e-01 -1.14252248e-03 -9.51541994e+00] [-1.17791013e-02 3.16029010e-04 9.99930574e-01 -6.65597086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12755201799999 meters 0.016989185826026952 Centerline is valid? [True, True] Translation: X:95.73, Y:-9.52, Z:-0.67 [[ 9.96871517e-01 7.83491411e-02 1.04206899e-02 9.57257423e+01] [-7.83428081e-02 9.96925962e-01 -1.01518212e-03 -9.51614804e+00] [-1.04681950e-02 1.95620034e-04 9.99945188e-01 -6.68011813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18755201799998 meters 0.015638680702135456 Centerline is valid? [True, True] Translation: X:95.79, Y:-9.51, Z:-0.67 [[ 9.96496612e-01 8.29594410e-02 1.05939808e-02 9.57880405e+01] [-8.29531461e-02 9.96552913e-01 -1.03299661e-03 -9.51497320e+00] [-1.06431592e-02 1.50573587e-04 9.99943349e-01 -6.71074000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24755201799998 meters 0.015159466400889826 Centerline is valid? [True, True] Translation: X:95.85, Y:-9.52, Z:-0.67 [[ 9.96432726e-01 8.37395854e-02 1.04644697e-02 9.58512983e+01] [-8.37334561e-02 9.96487662e-01 -1.02325606e-03 -9.51842242e+00] [-1.05134020e-02 1.43379611e-04 9.99944722e-01 -6.72482073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30755201799998 meters 0.017378301716261275 Centerline is valid? [True, True] Translation: X:95.91, Y:-9.53, Z:-0.67 [[ 9.97024668e-01 7.65789879e-02 8.80171040e-03 9.59121375e+01] [-7.65743524e-02 9.97063500e-01 -8.62950607e-04 -9.53069532e+00] [-8.84194806e-03 1.86397768e-04 9.99960892e-01 -6.72656136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36755201799998 meters 0.018776368320502498 Centerline is valid? [True, True] Translation: X:95.97, Y:-9.54, Z:-0.67 [[ 9.97514142e-01 6.99837712e-02 8.23463711e-03 9.59726483e+01] [-6.99794753e-02 9.97548103e-01 -8.09018363e-04 -9.53803213e+00] [-8.27106478e-03 2.30751674e-04 9.99965768e-01 -6.73734837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42755201799999 meters 0.022712840523315056 Centerline is valid? [True, True] Translation: X:96.03, Y:-9.55, Z:-0.68 [[ 9.98202508e-01 5.95227188e-02 6.98562185e-03 9.60323750e+01] [-5.95193705e-02 9.98226915e-01 -6.86425899e-04 -9.54691015e+00] [-7.01409369e-03 2.69412240e-04 9.99975365e-01 -6.76129084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48755201799999 meters 0.025038112477829617 Centerline is valid? [True, True] Translation: X:96.09, Y:-9.55, Z:-0.68 [[ 9.98469747e-01 5.49342429e-02 6.35563192e-03 9.60927903e+01] [-5.49313787e-02 9.98489937e-01 -6.24482393e-04 -9.55487411e+00] [-6.38033998e-03 2.74403153e-04 9.99979608e-01 -6.76540404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54755201799999 meters 0.026566442782970483 Centerline is valid? [True, True] Translation: X:96.16, Y:-9.56, Z:-0.68 [[ 9.98580295e-01 5.30439346e-02 4.87185285e-03 9.61552327e+01] [-5.30422295e-02 9.98592155e-01 -4.78630806e-04 -9.55807756e+00] [-4.89038250e-03 2.19537355e-04 9.99988018e-01 -6.77059457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60755201799998 meters 0.02508863429589076 Centerline is valid? [True, True] Translation: X:96.22, Y:-9.56, Z:-0.68 [[ 9.98506623e-01 5.45314724e-02 3.29263427e-03 9.62177127e+01] [-5.45307038e-02 9.98512042e-01 -3.22829089e-04 -9.55857934e+00] [-3.30533931e-03 1.42797320e-04 9.99994527e-01 -6.77175178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66755201799998 meters 0.025689896242385046 Centerline is valid? [True, True] Translation: X:96.28, Y:-9.57, Z:-0.68 [[ 9.98620412e-01 5.24962771e-02 1.18927646e-03 9.62793682e+01] [-5.24961751e-02 9.98621118e-01 -1.16833853e-04 -9.56525674e+00] [-1.19376993e-03 5.42402054e-05 9.99999286e-01 -6.79359528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72755201799998 meters 0.028317058784145633 Centerline is valid? [True, True] Translation: X:96.34, Y:-9.57, Z:-0.68 [[ 9.98651752e-01 5.18465376e-02 2.57173803e-03 9.63394760e+01] [-5.18460583e-02 9.98655057e-01 -2.52724991e-04 -9.57424993e+00] [-2.58138210e-03 1.19049775e-04 9.99996661e-01 -6.80481726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78755201799999 meters 0.030643637795560237 Centerline is valid? [True, True] Translation: X:96.40, Y:-9.59, Z:-0.68 [[ 9.98834717e-01 4.81821754e-02 2.77237513e-03 9.63998817e+01] [-4.81815995e-02 9.98838555e-01 -2.74179325e-04 -9.58775640e+00] [-2.78236573e-03 1.40282361e-04 9.99996119e-01 -6.81937445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84755201799999 meters 0.030479002670933356 Centerline is valid? [True, True] Translation: X:96.46, Y:-9.60, Z:-0.68 [[ 9.99098434e-01 4.22016341e-02 4.61968500e-03 9.64594748e+01] [-4.21999693e-02 9.99109080e-01 -4.57294832e-04 -9.59685792e+00] [-4.63486782e-03 2.61931985e-04 9.99989225e-01 -6.81792653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90755201799999 meters 0.03488542942110957 Centerline is valid? [True, True] Translation: X:96.52, Y:-9.61, Z:-0.68 [[ 9.99296880e-01 3.70118623e-02 5.98899251e-03 9.65177918e+01] [-3.70089712e-02 9.99314757e-01 -5.92872917e-04 -9.61158793e+00] [-6.00683193e-03 3.70809605e-04 9.99981890e-01 -6.81874388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96755201799998 meters 0.038654425112049244 Centerline is valid? [True, True] Translation: X:96.58, Y:-9.63, Z:-0.68 [[ 9.99540141e-01 2.89668229e-02 8.96822207e-03 9.65772399e+01] [-2.89600156e-02 9.99580176e-01 -8.88011893e-04 -9.62508160e+00] [-8.99017989e-03 6.27883682e-04 9.99959390e-01 -6.81083064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02755201799998 meters 0.041302526891336074 Centerline is valid? [True, True] Translation: X:96.64, Y:-9.64, Z:-0.68 [[ 9.99609916e-01 2.63504775e-02 9.25568785e-03 9.66372334e+01] [-2.63431139e-02 9.99652540e-01 -9.16601722e-04 -9.63537461e+00] [-9.27662476e-03 6.72420531e-04 9.99956745e-01 -6.81489295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08755201799998 meters 0.04012155264138731 Centerline is valid? [True, True] Translation: X:96.70, Y:-9.64, Z:-0.68 [[ 9.99705426e-01 2.29539362e-02 7.88527549e-03 9.66978264e+01] [-2.29484859e-02 9.99736344e-01 -7.81005778e-04 -9.64099053e+00] [-7.90112365e-03 5.99820581e-04 9.99968606e-01 -6.82973500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14755201799998 meters 0.04148593773673587 Centerline is valid? [True, True] Translation: X:96.76, Y:-9.65, Z:-0.68 [[ 9.99766084e-01 2.02456904e-02 7.60854522e-03 9.67581610e+01] [-2.02405374e-02 9.99794855e-01 -7.53666663e-04 -9.64874250e+00] [-7.62224287e-03 5.99489324e-04 9.99970771e-01 -6.83977922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20755201799999 meters 0.04225187808860826 Centerline is valid? [True, True] Translation: X:96.82, Y:-9.66, Z:-0.68 [[ 9.99815089e-01 1.71822236e-02 8.63477117e-03 9.68187663e+01] [-1.71754718e-02 9.99852125e-01 -8.55482756e-04 -9.65636661e+00] [-8.64819340e-03 7.07018299e-04 9.99962354e-01 -6.83700843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26755201799999 meters 0.0427066889822829 Centerline is valid? [True, True] Translation: X:96.88, Y:-9.66, Z:-0.68 [[ 9.99814186e-01 1.63107626e-02 1.02738364e-02 9.68803863e+01] [-1.63011552e-02 9.99866609e-01 -1.01818435e-03 -9.66478447e+00] [-1.02890733e-02 8.50519752e-04 9.99946704e-01 -6.82026894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32755201799998 meters 0.04576593191610284 Centerline is valid? [True, True] Translation: X:96.94, Y:-9.67, Z:-0.68 [[ 9.99785232e-01 1.75103933e-02 1.10849167e-02 9.69405083e+01] [-1.74992742e-02 9.99846272e-01 -1.09929121e-03 -9.67493592e+00] [-1.11024616e-02 9.05077126e-04 9.99937956e-01 -6.80638238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38755201799998 meters 0.04566453443538822 Centerline is valid? [True, True] Translation: X:97.00, Y:-9.68, Z:-0.68 [[ 9.99771846e-01 1.88213883e-02 1.01000890e-02 9.70025685e+01] [-1.88122134e-02 9.99822532e-01 -1.00264553e-03 -9.68032646e+00] [-1.01171677e-02 8.12411742e-04 9.99948490e-01 -6.82660595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44755201799998 meters 0.044844148215074174 Centerline is valid? [True, True] Translation: X:97.06, Y:-9.69, Z:-0.68 [[ 9.99822775e-01 1.65017434e-02 9.06156783e-03 9.70628809e+01] [-1.64942484e-02 9.99863554e-01 -9.01237234e-04 -9.68698558e+00] [-9.07520340e-03 7.51613761e-04 9.99958537e-01 -6.84388007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50755201799998 meters 0.04848630680604125 Centerline is valid? [True, True] Translation: X:97.12, Y:-9.70, Z:-0.69 [[ 9.99849011e-01 1.49148668e-02 8.91641175e-03 9.71219660e+01] [-1.49075448e-02 9.99888483e-01 -8.87084962e-04 -9.69641331e+00] [-8.92864818e-03 7.54029215e-04 9.99959855e-01 -6.86025002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56755201799999 meters 0.04143767687721541 Centerline is valid? [True, True] Translation: X:97.18, Y:-9.69, Z:-0.69 [[ 9.99879884e-01 1.21899151e-02 9.57204707e-03 9.71831684e+01] [-1.21813522e-02 9.99925351e-01 -9.52362110e-04 -9.69303084e+00] [-9.58294174e-03 8.35647239e-04 9.99953733e-01 -6.86362613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62755201799999 meters 0.042826969367350275 Centerline is valid? [True, True] Translation: X:97.24, Y:-9.70, Z:-0.68 [[ 9.99860979e-01 1.25355669e-02 1.09946202e-02 9.72449946e+01] [-1.25242753e-02 9.99920968e-01 -1.09526481e-03 -9.70188065e+00] [-1.10074810e-02 9.57412900e-04 9.99938957e-01 -6.84968103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68755201799998 meters 0.04607739020908239 Centerline is valid? [True, True] Translation: X:97.31, Y:-9.71, Z:-0.69 [[ 9.99877945e-01 1.18327828e-02 1.02019862e-02 9.73051326e+01] [-1.18230028e-02 9.99929587e-01 -1.01841504e-03 -9.71078335e+00] [-1.02133185e-02 8.97672628e-04 9.99947440e-01 -6.86934319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74755201799998 meters 0.04761461417942398 Centerline is valid? [True, True] Translation: X:97.36, Y:-9.72, Z:-0.69 [[ 9.99925579e-01 7.97488653e-03 9.23237241e-03 9.73648916e+01] [-7.96671190e-03 9.99967840e-01 -9.21870389e-04 -9.71903382e+00] [-9.23942731e-03 8.48250132e-04 9.99956956e-01 -6.87842628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80755201799998 meters 0.04974385730841833 Centerline is valid? [True, True] Translation: X:97.43, Y:-9.73, Z:-0.69 [[ 9.99938007e-01 3.54425455e-03 1.05555718e-02 9.74256650e+01] [-3.53332257e-03 9.99993202e-01 -1.05412874e-03 -9.72775192e+00] [-1.05592362e-02 1.01676715e-03 9.99943733e-01 -6.87494044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86755201799998 meters 0.05181371004646965 Centerline is valid? [True, True] Translation: X:97.49, Y:-9.74, Z:-0.69 [[ 9.99937838e-01 1.90198112e-03 1.09864717e-02 9.74866656e+01] [-1.89003607e-03 9.99997612e-01 -1.09753104e-03 -9.73578444e+00] [-1.09885330e-02 1.07669798e-03 9.99939045e-01 -6.87655495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92755201799999 meters 0.051219647703998276 Centerline is valid? [True, True] Translation: X:97.55, Y:-9.74, Z:-0.69 [[ 9.99944767e-01 -3.20877746e-03 1.00083760e-02 9.75468512e+01] [ 3.21894595e-03 9.99994319e-01 -1.00005519e-03 -9.73946278e+00] [-1.00051102e-02 1.03221638e-03 9.99949415e-01 -6.91218009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98755201799999 meters 0.048524382968695615 Centerline is valid? [True, True] Translation: X:97.61, Y:-9.74, Z:-0.69 [[ 9.99947682e-01 -4.74007479e-03 9.06452682e-03 9.76077370e+01] [ 4.74847833e-03 9.99988316e-01 -9.05783667e-04 -9.74430080e+00] [-9.06012742e-03 9.48778987e-04 9.99958506e-01 -6.89750011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04755201799999 meters 0.05453031894230725 Centerline is valid? [True, True] Translation: X:97.67, Y:-9.76, Z:-0.69 [[ 9.99940153e-01 -7.61407676e-03 7.85594301e-03 9.76661434e+01] [ 7.62047742e-03 9.99970656e-01 -7.85142446e-04 -9.75832476e+00] [-7.84973435e-03 8.44961495e-04 9.99968833e-01 -6.90503636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10755201799998 meters 0.05384809847285199 Centerline is valid? [True, True] Translation: X:97.73, Y:-9.76, Z:-0.69 [[ 9.99937169e-01 -6.26429993e-03 9.29606349e-03 9.77257920e+01] [ 6.27320512e-03 9.99979892e-01 -9.29103102e-04 -9.76184378e+00] [-9.29005638e-03 9.87360839e-04 9.99956359e-01 -6.90866048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16755201799998 meters 0.04865536117557619 Centerline is valid? [True, True] Translation: X:97.79, Y:-9.76, Z:-0.69 [[ 9.99949891e-01 -6.39985215e-04 9.99033953e-03 9.77861854e+01] [ 6.49989676e-04 9.99999291e-01 -9.98198779e-04 -9.76240773e+00] [-9.98969361e-03 1.00464238e-03 9.99949597e-01 -6.90376358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22755201799998 meters 0.047520596215528496 Centerline is valid? [True, True] Translation: X:97.85, Y:-9.77, Z:-0.69 [[ 9.99933401e-01 6.37786200e-03 9.61849859e-03 9.78464428e+01] [-6.36891044e-03 9.99979257e-01 -9.61004400e-04 -9.76687198e+00] [-9.62442822e-03 8.99681043e-04 9.99953279e-01 -6.90644674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28755201799999 meters 0.04607933819961911 Centerline is valid? [True, True] Translation: X:97.91, Y:-9.77, Z:-0.69 [[ 9.99862650e-01 1.40352065e-02 8.81440023e-03 9.79070571e+01] [-1.40279841e-02 9.99901215e-01 -8.80681249e-04 -9.77159973e+00] [-8.82589005e-03 7.56912022e-04 9.99960765e-01 -6.91956339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34755201799999 meters 0.04262550446065007 Centerline is valid? [True, True] Translation: X:97.97, Y:-9.77, Z:-0.69 [[ 9.99806876e-01 1.61955090e-02 1.11317985e-02 9.79688034e+01] [-1.61841170e-02 9.99868409e-01 -1.11270341e-03 -9.77445043e+00] [-1.11483544e-02 9.32330196e-04 9.99937421e-01 -6.90550247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40755201799999 meters 0.0430143634135723 Centerline is valid? [True, True] Translation: X:98.03, Y:-9.78, Z:-0.69 [[ 9.99759905e-01 1.63356856e-02 1.46040062e-02 9.80300481e+01] [-1.63160545e-02 9.99865815e-01 -1.46237796e-03 -9.78066917e+00] [-1.46259355e-02 1.22374709e-03 9.99892286e-01 -6.88330476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46755201799998 meters 0.044264593069683146 Centerline is valid? [True, True] Translation: X:98.09, Y:-9.79, Z:-0.69 [[ 9.99816704e-01 1.38842487e-02 1.31828133e-02 9.80907196e+01] [-1.38680175e-02 9.99902961e-01 -1.32185807e-03 -9.78719006e+00] [-1.31998871e-02 1.13879630e-03 9.99912229e-01 -6.89570823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52755201799998 meters 0.04933830168084719 Centerline is valid? [True, True] Translation: X:98.15, Y:-9.80, Z:-0.69 [[ 9.99918763e-01 7.34519620e-03 1.04170321e-02 9.81495972e+01] [-7.33470775e-03 9.99972555e-01 -1.04470335e-03 -9.79787326e+00] [-1.04244197e-02 9.68212598e-04 9.99945196e-01 -6.92092631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58755201799998 meters 0.049206316807425654 Centerline is valid? [True, True] Translation: X:98.21, Y:-9.80, Z:-0.69 [[ 9.99956191e-01 3.40158279e-04 9.35417467e-03 9.82098838e+01] [-3.31398279e-04 9.99999505e-01 -9.38014336e-04 -9.80240292e+00] [-9.35448912e-03 9.34873285e-04 9.99955809e-01 -6.93319489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64755201799998 meters 0.05227307990960644 Centerline is valid? [True, True] Translation: X:98.27, Y:-9.81, Z:-0.70 [[ 9.99926690e-01 -1.00384742e-02 6.77073035e-03 9.82701486e+01] [ 1.00432988e-02 9.99949334e-01 -6.78942742e-04 -9.81090844e+00] [-6.76357176e-03 7.46893438e-04 9.99976848e-01 -6.96892125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70755201799999 meters 0.050442282508040955 Centerline is valid? [True, True] Translation: X:98.33, Y:-9.81, Z:-0.70 [[ 9.99886053e-01 -1.36639528e-02 6.41692516e-03 9.83308540e+01] [ 1.36683604e-02 9.99906377e-01 -6.43515160e-04 -9.81480936e+00] [-6.40753142e-03 7.31150679e-04 9.99979204e-01 -6.96768494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76755201799999 meters 0.05085313256315716 Centerline is valid? [True, True] Translation: X:98.39, Y:-9.82, Z:-0.70 [[ 9.99916400e-01 -1.11545519e-02 6.53984223e-03 9.83907601e+01] [ 1.11590766e-02 9.99937521e-01 -6.55780852e-04 -9.82210745e+00] [-6.53211868e-03 7.28704629e-04 9.99978400e-01 -6.96171082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82755201799998 meters 0.050730742352908136 Centerline is valid? [True, True] Translation: X:98.45, Y:-9.83, Z:-0.69 [[ 9.99960863e-01 -3.56275046e-03 8.09816182e-03 9.84502534e+01] [ 3.56944196e-03 9.99993300e-01 -8.11995047e-04 -9.82864731e+00] [-8.09521463e-03 8.40869186e-04 9.99966880e-01 -6.94742429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88755201799998 meters 0.04307324242813561 Centerline is valid? [True, True] Translation: X:98.51, Y:-9.83, Z:-0.69 [[ 9.99884937e-01 1.23135459e-02 8.85942552e-03 9.85112929e+01] [-1.23061552e-02 9.99923882e-01 -8.88251651e-04 -9.82618133e+00] [-8.86968869e-03 7.79123981e-04 9.99960360e-01 -6.94732090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94755201799998 meters 0.03850376498190578 Centerline is valid? [True, True] Translation: X:98.57, Y:-9.83, Z:-0.69 [[ 9.99646143e-01 2.47912131e-02 9.64282437e-03 9.85716021e+01] [-2.47830334e-02 9.99692386e-01 -9.66856200e-04 -9.82779583e+00] [-9.66382764e-03 7.27535633e-04 9.99953039e-01 -6.94894446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00755201799998 meters 0.029318006434405665 Centerline is valid? [True, True] Translation: X:98.63, Y:-9.82, Z:-0.69 [[ 9.98974697e-01 4.38416786e-02 1.12898906e-02 9.86329237e+01] [-4.38316749e-02 9.99038289e-01 -1.13210821e-03 -9.82337056e+00] [-1.13286665e-02 6.36092641e-04 9.99935626e-01 -6.94931594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06755201799999 meters 0.02476135882275541 Centerline is valid? [True, True] Translation: X:98.69, Y:-9.82, Z:-0.70 [[ 9.98400133e-01 5.54946039e-02 1.08408489e-02 9.86934159e+01] [-5.54860642e-02 9.98458870e-01 -1.08714441e-03 -9.82331400e+00] [-1.08844724e-02 4.83889083e-04 9.99940645e-01 -6.96222107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12755201799999 meters 0.02079988060829102 Centerline is valid? [True, True] Translation: X:98.75, Y:-9.82, Z:-0.70 [[ 9.97586327e-01 6.86354482e-02 1.05211573e-02 9.87536968e+01] [-6.86281330e-02 9.97641752e-01 -1.05517490e-03 -9.82377305e+00] [-1.05687682e-02 3.30580668e-04 9.99944094e-01 -6.97508751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18755201799998 meters 0.018467572514975026 Centerline is valid? [True, True] Translation: X:98.82, Y:-9.83, Z:-0.70 [[ 9.97310565e-01 7.25044400e-02 1.07118005e-02 9.88155263e+01] [-7.24970760e-02 9.97368046e-01 -1.07468872e-03 -9.82716690e+00] [-1.07615272e-02 2.95224203e-04 9.99942050e-01 -6.98031395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24755201799998 meters 0.018885588910205076 Centerline is valid? [True, True] Translation: X:98.88, Y:-9.83, Z:-0.70 [[ 9.97405276e-01 7.10006181e-02 1.19007553e-02 9.88773264e+01] [-7.09913982e-02 9.97476211e-01 -1.19592593e-03 -9.83428715e+00] [-1.19556318e-02 3.47971576e-04 9.99928468e-01 -6.98336110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30755201799998 meters 0.024036594938859523 Centerline is valid? [True, True] Translation: X:98.94, Y:-9.85, Z:-0.70 [[ 9.97837031e-01 6.45204512e-02 1.25845415e-02 9.89358569e+01] [-6.45095953e-02 9.97916282e-01 -1.26709325e-03 -9.84784636e+00] [-1.26400723e-02 4.52528890e-04 9.99920009e-01 -6.97029497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36755201799998 meters 0.02580434783937561 Centerline is valid? [True, True] Translation: X:99.00, Y:-9.85, Z:-0.70 [[ 9.98299148e-01 5.69419340e-02 1.25071013e-02 9.89961971e+01] [-5.69306099e-02 9.98377343e-01 -1.25988320e-03 -9.85308791e+00] [-1.25585467e-02 5.45703419e-04 9.99920989e-01 -7.00915943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42755201799999 meters 0.02870014178081248 Centerline is valid? [True, True] Translation: X:99.06, Y:-9.86, Z:-0.70 [[ 9.98795048e-01 4.76181564e-02 1.18728285e-02 9.90561778e+01] [-4.76072924e-02 9.98865414e-01 -1.19614592e-03 -9.86323634e+00] [-1.19163160e-02 6.29471405e-04 9.99928800e-01 -6.99317803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48755201799999 meters 0.03339641628329521 Centerline is valid? [True, True] Translation: X:99.12, Y:-9.87, Z:-0.70 [[ 9.99317211e-01 3.61332440e-02 7.71359228e-03 9.91162108e+01] [-3.61283169e-02 9.99346857e-01 -7.77184974e-04 -9.87375950e+00] [-7.73663641e-03 4.97975215e-04 9.99969948e-01 -7.02748224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54755201799998 meters 0.0373641172853669 Centerline is valid? [True, True] Translation: X:99.18, Y:-9.88, Z:-0.70 [[ 9.99582691e-01 2.83760094e-02 5.40795643e-03 9.91763434e+01] [-2.83734744e-02 9.99597243e-01 -5.44919293e-04 -9.88393302e+00] [-5.42124097e-03 3.91249380e-04 9.99985228e-01 -7.04957981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60755201799998 meters 0.03852382756806289 Centerline is valid? [True, True] Translation: X:99.24, Y:-9.89, Z:-0.70 [[ 9.99841541e-01 1.60864793e-02 7.62347283e-03 9.92363762e+01] [-1.60810856e-02 9.99870396e-01 -7.68291521e-04 -9.89154548e+00] [-7.63484390e-03 6.45576060e-04 9.99970646e-01 -7.03085922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66755201799998 meters 0.04395808782825188 Centerline is valid? [True, True] Translation: X:99.29, Y:-9.90, Z:-0.70 [[ 9.99898223e-01 9.92705662e-03 1.02468537e-02 9.92946481e+01] [-9.91698934e-03 9.99950292e-01 -1.03281972e-03 -9.90347216e+00] [-1.02565972e-02 9.31096663e-04 9.99946966e-01 -7.02046467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72755201799998 meters 0.04549762133089628 Centerline is valid? [True, True] Translation: X:99.35, Y:-9.91, Z:-0.70 [[ 9.99907995e-01 6.20806265e-03 1.20607525e-02 9.93548394e+01] [-6.19384444e-03 9.99980079e-01 -1.21587781e-03 -9.91164327e+00] [-1.20680605e-02 1.14106351e-03 9.99926527e-01 -7.01285837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78755201799999 meters 0.04569845422862972 Centerline is valid? [True, True] Translation: X:99.42, Y:-9.92, Z:-0.70 [[ 9.99898150e-01 6.75313841e-03 1.25731518e-02 9.94168498e+01] [-6.73771028e-03 9.99976496e-01 -1.26902502e-03 -9.91838222e+00] [-1.25814262e-02 1.18418152e-03 9.99920150e-01 -7.01309716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84755201799999 meters 0.0432200613626594 Centerline is valid? [True, True] Translation: X:99.48, Y:-9.92, Z:-0.70 [[ 9.99889063e-01 9.62531197e-03 1.13672786e-02 9.94773054e+01] [-9.61286595e-03 9.99953135e-01 -1.14903129e-03 -9.92074378e+00] [-1.13778057e-02 1.03963170e-03 9.99934730e-01 -7.04073243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90755201799999 meters 0.03944606400170934 Centerline is valid? [True, True] Translation: X:99.54, Y:-9.92, Z:-0.70 [[ 9.99839331e-01 1.38850876e-02 1.13365429e-02 9.95384482e+01] [-1.38729789e-02 9.99903109e-01 -1.14605796e-03 -9.92146607e+00] [-1.13513576e-02 9.88602207e-04 9.99935083e-01 -7.04812071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96755201799998 meters 0.0362525380654314 Centerline is valid? [True, True] Translation: X:99.60, Y:-9.92, Z:-0.71 [[ 9.99674844e-01 2.30379941e-02 1.09296225e-02 9.95996135e+01] [-2.30272804e-02 9.99734226e-01 -1.10509821e-03 -9.92194833e+00] [-1.09521769e-02 8.53059403e-04 9.99939659e-01 -7.05915141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02755201799998 meters 0.035095913873596535 Centerline is valid? [True, True] Translation: X:99.66, Y:-9.93, Z:-0.71 [[ 9.99485692e-01 3.01149039e-02 1.10201933e-02 9.96606621e+01] [-3.01044375e-02 9.99546137e-01 -1.11443775e-03 -9.92646959e+00] [-1.10487529e-02 7.82107859e-04 9.99938655e-01 -7.06621078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08755201799998 meters 0.0325335883733458 Centerline is valid? [True, True] Translation: X:99.72, Y:-9.93, Z:-0.71 [[ 9.99372577e-01 3.33851195e-02 1.18273285e-02 9.97219378e+01] [-3.33732886e-02 9.99442241e-01 -1.19631872e-03 -9.92884409e+00] [-1.18606709e-02 8.00851273e-04 9.99929339e-01 -7.06310238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14755201799998 meters 0.032014093864500465 Centerline is valid? [True, True] Translation: X:99.78, Y:-9.93, Z:-0.71 [[ 9.99340993e-01 3.40001329e-02 1.27110077e-02 9.97836249e+01] [-3.39864956e-02 9.99421463e-01 -1.28741239e-03 -9.93452732e+00] [-1.27474261e-02 8.54561367e-04 9.99918383e-01 -7.06334445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20755201799999 meters 0.031048547749234004 Centerline is valid? [True, True] Translation: X:99.85, Y:-9.94, Z:-0.71 [[ 9.99233277e-01 3.64071733e-02 1.44005496e-02 9.98452240e+01] [-3.63898803e-02 9.99336601e-01 -1.46116194e-03 -9.93885716e+00] [-1.44441931e-02 9.36007361e-04 9.99895239e-01 -7.06545822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26755201799999 meters 0.03081936413939921 Centerline is valid? [True, True] Translation: X:99.90, Y:-9.94, Z:-0.71 [[ 9.99060789e-01 4.11030781e-02 1.37141148e-02 9.99049097e+01] [-4.10878310e-02 9.99154569e-01 -1.39180772e-03 -9.94307433e+00] [-1.37597280e-02 8.27017289e-04 9.99904988e-01 -7.08640862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32755201799998 meters 0.028299475217092817 Centerline is valid? [True, True] Translation: X:99.97, Y:-9.94, Z:-0.71 [[ 9.98917046e-01 4.53820289e-02 1.02569828e-02 9.99655527e+01] [-4.53737254e-02 9.98969540e-01 -1.04092553e-03 -9.94446505e+00] [-1.02936527e-02 5.74400738e-04 9.99946854e-01 -7.12521944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38755201799998 meters 0.026961110436259077 Centerline is valid? [True, True] Translation: X:100.03, Y:-9.95, Z:-0.71 [[ 9.98825293e-01 4.79445283e-02 7.02541681e-03 1.00026961e+02] [-4.79406955e-02 9.98849929e-01 -7.13049543e-04 -9.95066037e+00] [-7.05152391e-03 3.75408550e-04 9.99975067e-01 -7.14481020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44755201799998 meters 0.027830316553904038 Centerline is valid? [True, True] Translation: X:100.09, Y:-9.96, Z:-0.71 [[ 9.98919446e-01 4.55665169e-02 9.14511137e-03 1.00088180e+02] [-4.55599171e-02 9.98961176e-01 -9.28815786e-04 -9.95780225e+00] [-9.17793411e-03 5.11161634e-04 9.99957751e-01 -7.13301052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50755201799998 meters 0.030657115558190364 Centerline is valid? [True, True] Translation: X:100.15, Y:-9.97, Z:-0.71 [[ 9.99153323e-01 3.91831327e-02 1.25427122e-02 1.00148075e+02] [-3.91702109e-02 9.99231740e-01 -1.27432559e-03 -9.96839719e+00] [-1.25830082e-02 7.81945965e-04 9.99920525e-01 -7.11376350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56755201799999 meters 0.03179612782545414 Centerline is valid? [True, True] Translation: X:100.21, Y:-9.98, Z:-0.71 [[ 9.99177540e-01 3.80048028e-02 1.41378361e-02 1.00209469e+02] [-3.79882586e-02 9.99277152e-01 -1.43701942e-03 -9.97672482e+00] [-1.41822302e-02 8.98765756e-04 9.99899023e-01 -7.09164599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62755201799999 meters 0.03122508246023356 Centerline is valid? [True, True] Translation: X:100.27, Y:-9.98, Z:-0.71 [[ 9.99133104e-01 3.87949283e-02 1.50994510e-02 1.00271321e+02] [-3.87761045e-02 9.99246741e-01 -1.53753837e-03 -9.98239822e+00] [-1.51477259e-02 9.50707593e-04 9.99884815e-01 -7.09039808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68755201799998 meters 0.02956427641901064 Centerline is valid? [True, True] Translation: X:100.33, Y:-9.98, Z:-0.71 [[ 9.98974957e-01 4.29549298e-02 1.42796996e-02 1.00332677e+02] [-4.29384901e-02 9.99076657e-01 -1.45600893e-03 -9.98381943e+00] [-1.43290573e-02 8.41367721e-04 9.99896980e-01 -7.11090269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74755201799998 meters 0.028821324207020497 Centerline is valid? [True, True] Translation: X:100.39, Y:-9.99, Z:-0.72 [[ 9.98649542e-01 5.09154198e-02 1.03301808e-02 1.00392059e+02] [-5.09072402e-02 9.98702830e-01 -1.05339133e-03 -9.99066508e+00] [-1.03704146e-02 5.26087778e-04 9.99946087e-01 -7.15425318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80755201799998 meters 0.021943158725529235 Centerline is valid? [True, True] Translation: X:100.45, Y:-9.99, Z:-0.72 [[ 9.97779173e-01 6.59406995e-02 9.40989183e-03 1.00452896e+02] [-6.59345789e-02 9.97823487e-01 -9.59534472e-04 -9.98822109e+00] [-9.45268345e-03 3.36966257e-04 9.99955266e-01 -7.15902270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86755201799998 meters 0.0184625286015149 Centerline is valid? [True, True] Translation: X:100.51, Y:-9.99, Z:-0.72 [[ 9.96910978e-01 7.81107898e-02 8.19794079e-03 1.00513799e+02] [-7.81065551e-02 9.96944666e-01 -8.35950807e-04 -9.98653027e+00] [-8.23819012e-03 1.93055622e-04 9.99966047e-01 -7.20344295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92755201799999 meters 0.012960445940544308 Centerline is valid? [True, True] Translation: X:100.57, Y:-9.98, Z:-0.72 [[ 9.95351289e-01 9.58414351e-02 9.49903438e-03 1.00574644e+02] [-9.58365553e-02 9.95396613e-01 -9.68626772e-04 -9.98473840e+00] [-9.54814122e-03 5.37691721e-05 9.99954414e-01 -7.18254575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98755201799999 meters 0.012692821483595596 Centerline is valid? [True, True] Translation: X:100.64, Y:-9.99, Z:-0.72 [[ 9.94855041e-01 1.00887761e-01 9.22537752e-03 1.00635600e+02] [-1.00883370e-01 9.94897814e-01 -9.41242749e-04 -9.98698759e+00] [-9.27326780e-03 5.71292003e-06 9.99957002e-01 -7.19908748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04755201799998 meters 0.013115458381424795 Centerline is valid? [True, True] Translation: X:100.70, Y:-10.00, Z:-0.72 [[ 9.95248632e-01 9.64558450e-02 1.32826863e-02 1.00696728e+02] [-9.64462928e-02 9.95337262e-01 -1.35933891e-03 -9.99812809e+00] [-1.33518688e-02 7.18143331e-05 9.99910857e-01 -7.16695607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10755201799998 meters 0.01393809725587182 Centerline is valid? [True, True] Translation: X:100.76, Y:-10.01, Z:-0.71 [[ 9.95567225e-01 9.25749273e-02 1.66067258e-02 1.00757679e+02] [-9.25593758e-02 9.95705708e-01 -1.70428640e-03 -1.00078957e+01] [-1.66931859e-02 1.59623507e-04 9.99860646e-01 -7.13560651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16755201799998 meters 0.014157305551346571 Centerline is valid? [True, True] Translation: X:100.82, Y:-10.01, Z:-0.72 [[ 9.95708071e-01 9.11398446e-02 1.60924149e-02 1.00819926e+02] [-9.11249796e-02 9.95838087e-01 -1.65610972e-03 -1.00135328e+01] [-1.61763773e-02 1.82580827e-04 9.99869137e-01 -7.15746836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22755201799998 meters 0.01355918018158022 Centerline is valid? [True, True] Translation: X:100.88, Y:-10.01, Z:-0.72 [[ 9.95356442e-01 9.55657673e-02 1.15211566e-02 1.00881577e+02] [-9.55584120e-02 9.95423115e-01 -1.18849385e-03 -1.00140326e+01] [-1.15820049e-02 8.20315738e-05 9.99932923e-01 -7.22471660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28755201799999 meters 0.013424351713914288 Centerline is valid? [True, True] Translation: X:100.94, Y:-10.02, Z:-0.73 [[ 9.95161830e-01 9.79369980e-02 7.82799528e-03 1.00943273e+02] [-9.79336638e-02 9.95192616e-01 -8.09033687e-04 -1.00177156e+01] [-7.86959743e-03 3.84951852e-05 9.99969033e-01 -7.26650102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34755201799999 meters 0.013674815619758852 Centerline is valid? [True, True] Translation: X:101.01, Y:-10.03, Z:-0.73 [[ 9.95268810e-01 9.69246862e-02 6.75278291e-03 1.01005468e+02] [-9.69221714e-02 9.95291718e-01 -6.99451044e-04 -1.00251365e+01] [-6.78878297e-03 4.16474262e-05 9.99976955e-01 -7.27125735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40755201799999 meters 0.013877083978890113 Centerline is valid? [True, True] Translation: X:101.07, Y:-10.03, Z:-0.73 [[ 9.95326201e-01 9.62523069e-02 7.82609866e-03 1.01067641e+02] [-9.62488870e-02 9.95356966e-01 -8.13336358e-04 -1.00317667e+01] [-7.86804732e-03 5.62817011e-05 9.99969045e-01 -7.25343067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46755201799998 meters 0.015177145570232229 Centerline is valid? [True, True] Translation: X:101.13, Y:-10.04, Z:-0.73 [[ 9.95829732e-01 9.08514610e-02 8.31603812e-03 1.01128684e+02] [-9.08473891e-02 9.95864449e-01 -8.66869098e-04 -1.00399350e+01] [-8.36040304e-03 1.07763671e-04 9.99965045e-01 -7.26300488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52755201799998 meters 0.016306485177330243 Centerline is valid? [True, True] Translation: X:101.19, Y:-10.05, Z:-0.73 [[ 9.96251899e-01 8.60244583e-02 9.05238701e-03 1.01189825e+02] [-8.60194141e-02 9.96293012e-01 -9.45827619e-04 -1.00481754e+01] [-9.10019423e-03 1.63601534e-04 9.99958579e-01 -7.26548611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58755201799998 meters 0.018663245170066397 Centerline is valid? [True, True] Translation: X:101.25, Y:-10.06, Z:-0.73 [[ 9.96815949e-01 7.91806976e-02 9.40113532e-03 1.01249766e+02] [-7.91749428e-02 9.96860252e-01 -9.83334481e-04 -1.00561679e+01] [-9.44947923e-03 2.35869143e-04 9.99955325e-01 -7.26619315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64755201799998 meters 0.019009843991532677 Centerline is valid? [True, True] Translation: X:101.31, Y:-10.06, Z:-0.73 [[ 9.96856304e-01 7.86670204e-02 9.43441282e-03 1.01311599e+02] [-7.86611943e-02 9.96900918e-01 -9.87602329e-04 -1.00603334e+01] [-9.48286654e-03 2.42375429e-04 9.99955007e-01 -7.26458384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70755201799999 meters 0.020655075909042548 Centerline is valid? [True, True] Translation: X:101.37, Y:-10.07, Z:-0.73 [[ 9.97229794e-01 7.40694806e-02 6.81548531e-03 1.01372957e+02] [-7.40663239e-02 9.97253062e-01 -7.14769487e-04 -1.00650811e+01] [-6.84970619e-03 2.07991486e-04 9.99976519e-01 -7.29164869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76755201799999 meters 0.025557837381756238 Centerline is valid? [True, True] Translation: X:101.43, Y:-10.08, Z:-0.73 [[ 9.97989538e-01 6.32656509e-02 3.78674346e-03 1.01432336e+02] [-6.32645951e-02 9.97996710e-01 -3.98077449e-04 -1.00778250e+01] [-3.80434214e-03 1.57710338e-04 9.99992751e-01 -7.31818927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82755201799998 meters 0.02837326516080123 Centerline is valid? [True, True] Translation: X:101.49, Y:-10.09, Z:-0.73 [[ 9.98371419e-01 5.68807574e-02 4.36917103e-03 1.01492024e+02] [-5.68792905e-02 9.98380957e-01 -4.59372551e-04 -1.00869127e+01] [-4.38822662e-03 2.10109077e-04 9.99990350e-01 -7.32371071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88755201799998 meters 0.03202521730543185 Centerline is valid? [True, True] Translation: X:101.55, Y:-10.10, Z:-0.73 [[ 9.98726145e-01 5.02380916e-02 4.71397099e-03 1.01551426e+02] [-5.02363101e-02 9.98737236e-01 -4.95654071e-04 -1.01005783e+01] [-4.73291907e-03 2.58210172e-04 9.99988766e-01 -7.32732331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94755201799998 meters 0.031227982210844364 Centerline is valid? [True, True] Translation: X:101.61, Y:-10.11, Z:-0.73 [[ 9.98880215e-01 4.67496312e-02 7.26556327e-03 1.01612058e+02] [-4.67453059e-02 9.98906548e-01 -7.64080331e-04 -1.01078598e+01] [-7.29333920e-03 4.23593748e-04 9.99973314e-01 -7.31508262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00755201799998 meters 0.03251138719885449 Centerline is valid? [True, True] Translation: X:101.67, Y:-10.12, Z:-0.73 [[ 9.98885385e-01 4.67163874e-02 6.75025695e-03 1.01673761e+02] [-4.67126528e-02 9.98908116e-01 -7.09941153e-04 -1.01169517e+01] [-6.77605233e-03 3.93827433e-04 9.99976965e-01 -7.33438940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06755201799999 meters 0.03248214933650934 Centerline is valid? [True, True] Translation: X:101.73, Y:-10.13, Z:-0.73 [[ 9.98734009e-01 4.99076452e-02 6.29328112e-03 1.01733947e+02] [-4.99044514e-02 9.98753776e-01 -6.63610301e-04 -1.01255596e+01] [-6.31855751e-03 3.48707435e-04 9.99979977e-01 -7.34429770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12755201799999 meters 0.03194931550098371 Centerline is valid? [True, True] Translation: X:101.80, Y:-10.13, Z:-0.74 [[ 9.98653726e-01 5.14589573e-02 6.53533095e-03 1.01795500e+02] [-5.14555462e-02 9.98675048e-01 -6.89141679e-04 -1.01324007e+01] [-6.56213446e-03 3.51934882e-04 9.99978407e-01 -7.35026660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18755201799998 meters 0.029312376771896645 Centerline is valid? [True, True] Translation: X:101.86, Y:-10.14, Z:-0.74 [[ 9.98470542e-01 5.50107129e-02 5.51340000e-03 1.01856118e+02] [-5.50083305e-02 9.98485725e-01 -5.82938583e-04 -1.01351115e+01] [-5.53711907e-03 2.78764074e-04 9.99984631e-01 -7.36678454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24755201799998 meters 0.030384833264460707 Centerline is valid? [True, True] Translation: X:101.92, Y:-10.14, Z:-0.74 [[ 9.98445034e-01 5.56696965e-02 2.89798089e-03 1.01917830e+02] [-5.56690443e-02 9.98449230e-01 -3.05304366e-04 -1.01402884e+01] [-2.91048299e-03 1.43501801e-04 9.99995754e-01 -7.40821556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30755201799998 meters 0.030277249302115474 Centerline is valid? [True, True] Translation: X:101.98, Y:-10.15, Z:-0.74 [[ 9.98386579e-01 5.67301506e-02 2.43492378e-03 1.01978446e+02] [-5.67296912e-02 9.98389541e-01 -2.57405700e-04 -1.01474527e+01] [-2.44560510e-03 1.18857922e-04 9.99997002e-01 -7.41970303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36755201799998 meters 0.030603481465656397 Centerline is valid? [True, True] Translation: X:102.04, Y:-10.16, Z:-0.74 [[ 9.98754381e-01 4.98285743e-02 2.60746105e-03 1.02038689e+02] [-4.98280212e-02 9.98757774e-01 -2.76707988e-04 -1.01560116e+01] [-2.61800996e-03 1.46438691e-04 9.99996562e-01 -7.40384496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42755201799999 meters 0.03425678027546196 Centerline is valid? [True, True] Translation: X:102.10, Y:-10.17, Z:-0.74 [[ 9.99097098e-01 4.23284904e-02 3.64525575e-03 1.02099107e+02] [-4.23273595e-02 9.99103721e-01 -3.86885491e-04 -1.01691560e+01] [-3.65836486e-03 2.32242121e-04 9.99993281e-01 -7.39632460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48755201799999 meters 0.039025372188627526 Centerline is valid? [True, True] Translation: X:102.16, Y:-10.18, Z:-0.74 [[ 9.99536116e-01 3.01905861e-02 4.01021108e-03 1.02158283e+02] [-3.01891192e-02 9.99544114e-01 -4.25853154e-04 -1.01828859e+01] [-4.02123964e-03 3.04590867e-04 9.99991868e-01 -7.38117309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54755201799998 meters 0.046085777932091086 Centerline is valid? [True, True] Translation: X:102.22, Y:-10.20, Z:-0.74 [[ 9.99802792e-01 1.97176079e-02 2.36477982e-03 1.02216326e+02] [-1.97170685e-02 9.99805568e-01 -2.51232567e-04 -1.01966875e+01] [-2.36927374e-03 2.04556497e-04 9.99997172e-01 -7.39446063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60755201799998 meters 0.04590079975889992 Centerline is valid? [True, True] Translation: X:102.28, Y:-10.20, Z:-0.74 [[ 9.99918687e-01 1.25746460e-02 2.12058692e-03 1.02276645e+02] [-1.25741965e-02 9.99920916e-01 -2.25173818e-04 -1.02023018e+01] [-2.12325070e-03 1.98490832e-04 9.99997726e-01 -7.39685963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66755201799998 meters 0.04860260788773676 Centerline is valid? [True, True] Translation: X:102.34, Y:-10.21, Z:-0.74 [[ 9.99987036e-01 4.72394773e-03 1.90079638e-03 1.02336400e+02] [-4.72357242e-03 9.99988823e-01 -2.01888994e-04 -1.02116310e+01] [-1.90172884e-03 1.92907828e-04 9.99998173e-01 -7.38928880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72755201799998 meters 0.05087568970073452 Centerline is valid? [True, True] Translation: X:102.40, Y:-10.22, Z:-0.74 [[ 9.99994758e-01 2.72013747e-03 1.75618895e-03 1.02396675e+02] [-2.71981446e-03 9.99996284e-01 -1.86286984e-04 -1.02223137e+01] [-1.75668915e-03 1.81509499e-04 9.99998441e-01 -7.38891553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78755201799999 meters 0.04935573543068484 Centerline is valid? [True, True] Translation: X:102.46, Y:-10.23, Z:-0.74 [[ 9.99969079e-01 7.19415912e-03 3.17558712e-03 1.02456854e+02] [-7.19312367e-03 9.99974072e-01 -3.37367816e-04 -1.02277939e+01] [-3.17793186e-03 3.14514993e-04 9.99994901e-01 -7.37402336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84755201799999 meters 0.04625772076959867 Centerline is valid? [True, True] Translation: X:102.52, Y:-10.23, Z:-0.74 [[ 9.99838961e-01 1.74664107e-02 4.12033070e-03 1.02517310e+02] [-1.74647541e-02 9.99847384e-01 -4.37696608e-04 -1.02318796e+01] [-4.12734686e-03 3.65665560e-04 9.99991416e-01 -7.37973036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90755201799998 meters 0.04013086955761129 Centerline is valid? [True, True] Translation: X:102.58, Y:-10.23, Z:-0.74 [[ 9.99562086e-01 2.93191812e-02 4.00264008e-03 1.02578366e+02] [-2.93177122e-02 9.99570053e-01 -4.25220966e-04 -1.02315711e+01] [-4.01338629e-03 3.07686506e-04 9.99991899e-01 -7.38865678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96755201799998 meters 0.037039190392312606 Centerline is valid? [True, True] Translation: X:102.64, Y:-10.24, Z:-0.74 [[ 9.98946098e-01 4.56997985e-02 4.26880441e-03 1.02638088e+02] [-4.56982761e-02 9.98955185e-01 -4.53557781e-04 -1.02354252e+01] [-4.28507180e-03 2.58002773e-04 9.99990786e-01 -7.40766766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02755201799998 meters 0.030546914317096885 Centerline is valid? [True, True] Translation: X:102.70, Y:-10.23, Z:-0.74 [[ 9.98446194e-01 5.54225575e-02 5.79113111e-03 1.02699396e+02] [-5.54199185e-02 9.98462946e-01 -6.15297543e-04 -1.02345007e+01] [-5.81633119e-03 2.93397476e-04 9.99983042e-01 -7.40105878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08755201799998 meters 0.026649227160947704 Centerline is valid? [True, True] Translation: X:102.76, Y:-10.24, Z:-0.74 [[ 9.97816730e-01 6.56407049e-02 7.28504838e-03 1.02759030e+02] [-6.56367997e-02 9.97843280e-01 -7.74115279e-04 -1.02372841e+01] [-7.32015004e-03 2.94257914e-04 9.99973164e-01 -7.40351712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14755201799998 meters 0.024645238014417818 Centerline is valid? [True, True] Translation: X:102.82, Y:-10.24, Z:-0.74 [[ 9.97452432e-01 7.09055705e-02 7.81317576e-03 1.02819439e+02] [-7.09012390e-02 9.97482995e-01 -8.30334448e-04 -1.02413374e+01] [-7.85238530e-03 2.74255273e-04 9.99969132e-01 -7.39995121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20755201799999 meters 0.020559282736316995 Centerline is valid? [True, True] Translation: X:102.88, Y:-10.24, Z:-0.74 [[ 9.97130445e-01 7.51724028e-02 8.94350008e-03 1.02880882e+02] [-7.51668981e-02 9.97170514e-01 -9.50530330e-04 -1.02425510e+01] [-8.98964822e-03 2.75547572e-04 9.99959554e-01 -7.39731534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26755201799999 meters 0.01994605610831432 Centerline is valid? [True, True] Translation: X:102.94, Y:-10.25, Z:-0.74 [[ 9.97138405e-01 7.49100782e-02 1.01725522e-02 1.02942522e+02] [-7.49029311e-02 9.97190242e-01 -1.08230101e-03 -1.02481073e+01] [-1.02250450e-02 3.17249927e-04 9.99947673e-01 -7.39796833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32755201799998 meters 0.022290939996860798 Centerline is valid? [True, True] Translation: X:103.00, Y:-10.26, Z:-0.74 [[ 9.97412018e-01 7.13014318e-02 9.23968826e-03 1.03003326e+02] [-7.12953623e-02 9.97454761e-01 -9.85032313e-04 -1.02562971e+01] [-9.28640527e-03 3.23736145e-04 9.99956828e-01 -7.42350612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38755201799998 meters 0.02500386370726095 Centerline is valid? [True, True] Translation: X:103.06, Y:-10.27, Z:-0.75 [[ 9.97694240e-01 6.75407731e-02 6.66692928e-03 1.03063032e+02] [-6.75375252e-02 9.97716481e-01 -7.11356561e-04 -1.02651977e+01] [-6.69975079e-03 2.59448439e-04 9.99977523e-01 -7.45545979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44755201799998 meters 0.027497290649049967 Centerline is valid? [True, True] Translation: X:103.12, Y:-10.27, Z:-0.75 [[ 9.98430742e-01 5.58377655e-02 4.26593955e-03 1.03123063e+02] [-5.58363281e-02 9.98439831e-01 -4.55382383e-04 -1.02749794e+01] [-4.28471150e-03 2.16473369e-04 9.99990797e-01 -7.46681215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50755201799998 meters 0.04165751341678534 Centerline is valid? [True, True] Translation: X:103.18, Y:-10.30, Z:-0.75 [[ 9.99278409e-01 3.78339752e-02 3.35428015e-03 1.03180739e+02] [-3.78329857e-02 9.99284012e-01 -3.57973759e-04 -1.02984441e+01] [-3.36542209e-03 2.30813015e-04 9.99994310e-01 -7.47740417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56755201799999 meters 0.039866159233131235 Centerline is valid? [True, True] Translation: X:103.24, Y:-10.30, Z:-0.75 [[ 9.99524629e-01 3.06780827e-02 3.06116419e-03 1.03241870e+02] [-3.06772247e-02 9.99529290e-01 -3.26842943e-04 -1.03015161e+01] [-3.06975018e-03 2.32779549e-04 9.99995261e-01 -7.48311661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62755201799999 meters 0.050137713999632426 Centerline is valid? [True, True] Translation: X:103.30, Y:-10.32, Z:-0.75 [[ 9.99958049e-01 8.12034080e-03 4.23791685e-03 1.03300509e+02] [-8.11849446e-03 9.99966942e-01 -4.52694437e-04 -1.03214423e+01] [-4.24145279e-03 4.18269942e-04 9.99990918e-01 -7.47007612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68755201799998 meters 0.052404644989273864 Centerline is valid? [True, True] Translation: X:103.36, Y:-10.33, Z:-0.74 [[ 9.99957289e-01 -5.43785116e-03 7.47324678e-03 1.03360402e+02] [ 5.44396788e-03 9.99984863e-01 -7.98382772e-04 -1.03308410e+01] [-7.46879217e-03 8.39032787e-04 9.99971756e-01 -7.42933929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74755201799998 meters 0.0627200053187405 Centerline is valid? [True, True] Translation: X:103.42, Y:-10.35, Z:-0.74 [[ 9.99740708e-01 -2.05500473e-02 9.80883538e-03 1.03418056e+02] [ 2.05613032e-02 9.99788045e-01 -1.04805164e-03 -1.03492252e+01] [-9.78521884e-03 1.24946233e-03 9.99951343e-01 -7.41762483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80755201799998 meters 0.057025047694309064 Centerline is valid? [True, True] Translation: X:103.48, Y:-10.35, Z:-0.74 [[ 9.99609198e-01 -2.61003040e-02 1.00112252e-02 1.03479067e+02] [ 2.61123053e-02 9.99658443e-01 -1.06993135e-03 -1.03480800e+01] [-9.97988029e-03 1.33092939e-03 9.99949314e-01 -7.41660654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86755201799998 meters 0.05985593567624999 Centerline is valid? [True, True] Translation: X:103.54, Y:-10.36, Z:-0.74 [[ 9.99616352e-01 -2.59408595e-02 9.70672498e-03 1.03536955e+02] [ 2.59521278e-02 9.99662649e-01 -1.03669670e-03 -1.03569980e+01] [-9.67655760e-03 1.28820914e-03 9.99952351e-01 -7.41653053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92755201799999 meters 0.059379846670590056 Centerline is valid? [True, True] Translation: X:103.60, Y:-10.36, Z:-0.75 [[ 9.99719740e-01 -2.28232161e-02 6.28831526e-03 1.03596587e+02] [ 2.28278771e-02 9.99739185e-01 -6.70426642e-04 -1.03620400e+01] [-6.27137388e-03 8.13787636e-04 9.99980004e-01 -7.45074328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98755201799999 meters 0.053759797796983984 Centerline is valid? [True, True] Translation: X:103.66, Y:-10.36, Z:-0.75 [[ 9.99883746e-01 -1.44719555e-02 4.80186687e-03 1.03657598e+02] [ 1.44745778e-02 9.99895107e-01 -5.11794763e-04 -1.03610130e+01] [-4.79395652e-03 5.81240260e-04 9.99988340e-01 -7.47827216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04755201799998 meters 0.05533099431794048 Centerline is valid? [True, True] Translation: X:103.72, Y:-10.37, Z:-0.75 [[ 9.99934235e-01 -9.91086222e-03 5.77066679e-03 1.03716737e+02] [ 9.91457443e-03 9.99950660e-01 -6.15037500e-04 -1.03701584e+01] [-5.76428652e-03 6.72210758e-04 9.99983160e-01 -7.47270182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10755201799998 meters 0.04868647672874337 Centerline is valid? [True, True] Translation: X:103.78, Y:-10.37, Z:-0.74 [[ 9.99968591e-01 -1.07860725e-03 7.85192711e-03 1.03777091e+02] [ 1.08520963e-03 9.99999061e-01 -8.36648808e-04 -1.03708020e+01] [-7.85101732e-03 8.45143517e-04 9.99968823e-01 -7.44743076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16755201799998 meters 0.045295374338883115 Centerline is valid? [True, True] Translation: X:103.84, Y:-10.38, Z:-0.74 [[ 9.99901190e-01 9.72779460e-03 1.01479101e-02 1.03838063e+02] [-9.71731646e-03 9.99952201e-01 -1.08133901e-03 -1.03752451e+01] [-1.01579440e-02 9.82621709e-04 9.99947924e-01 -7.43638067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22755201799998 meters 0.04357505700725937 Centerline is valid? [True, True] Translation: X:103.90, Y:-10.38, Z:-0.75 [[ 9.99813875e-01 1.64590179e-02 1.00656226e-02 1.03898596e+02] [-1.64490463e-02 9.99864130e-01 -1.07264549e-03 -1.03804387e+01] [-1.00819097e-02 9.06875953e-04 9.99948765e-01 -7.45358917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28755201799999 meters 0.03901591713020113 Centerline is valid? [True, True] Translation: X:103.96, Y:-10.38, Z:-0.75 [[ 9.99569415e-01 2.73832193e-02 1.05425228e-02 1.03959860e+02] [-2.73728833e-02 9.99624661e-01 -1.12348517e-03 -1.03796097e+01] [-1.05693305e-02 8.34422171e-04 9.99943795e-01 -7.46499396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34755201799999 meters 0.037649168455541594 Centerline is valid? [True, True] Translation: X:104.02, Y:-10.39, Z:-0.75 [[ 9.99369164e-01 3.42801238e-02 9.28155080e-03 1.04020669e+02] [-3.42724076e-02 9.99412039e-01 -9.89178645e-04 -1.03853896e+01] [-9.31000278e-03 6.70453543e-04 9.99956436e-01 -7.47518704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40755201799998 meters 0.03544509063202714 Centerline is valid? [True, True] Translation: X:104.08, Y:-10.39, Z:-0.75 [[ 9.99157117e-01 4.06865489e-02 5.44611881e-03 1.04081184e+02] [-4.06839866e-02 9.99171895e-01 -5.80488010e-04 -1.03873371e+01] [-5.46522691e-03 3.58428901e-04 9.99985001e-01 -7.52199447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46755201799998 meters 0.035347647067345014 Centerline is valid? [True, True] Translation: X:104.14, Y:-10.39, Z:-0.75 [[ 9.99110837e-01 4.19389156e-02 4.32014263e-03 1.04143391e+02] [-4.19373161e-02 9.99120138e-01 -4.60210417e-04 -1.03930845e+01] [-4.33564222e-03 2.78626028e-04 9.99990562e-01 -7.54575268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52755201799998 meters 0.03888861403258475 Centerline is valid? [True, True] Translation: X:104.20, Y:-10.40, Z:-0.75 [[ 9.99205612e-01 3.96064935e-02 4.41258013e-03 1.04202995e+02] [-3.96047995e-02 9.99215311e-01 -4.70678256e-04 -1.04044372e+01] [-4.42775955e-03 2.95545003e-04 9.99990154e-01 -7.54546470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58755201799998 meters 0.04267949381296456 Centerline is valid? [True, True] Translation: X:104.26, Y:-10.42, Z:-0.75 [[ 9.99360556e-01 3.53882541e-02 5.11371431e-03 1.04261647e+02] [-3.53859232e-02 9.99373573e-01 -5.45584794e-04 -1.04158793e+01] [-5.12981824e-03 3.64282421e-04 9.99986776e-01 -7.53285771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64755201799998 meters 0.04651848292799681 Centerline is valid? [True, True] Translation: X:104.32, Y:-10.43, Z:-0.75 [[ 9.99509419e-01 3.06498195e-02 6.44277899e-03 1.04321846e+02] [-3.06460209e-02 9.99530064e-01 -6.87509719e-04 -1.04278228e+01] [-6.46082335e-03 4.89726900e-04 9.99979009e-01 -7.52530815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70755201799999 meters 0.038162801549773355 Centerline is valid? [True, True] Translation: X:104.38, Y:-10.42, Z:-0.75 [[ 9.99697649e-01 2.32687383e-02 7.94840067e-03 1.04383278e+02] [-2.32627231e-02 9.99729026e-01 -8.48406483e-04 -1.04241990e+01] [-7.96598821e-03 6.63248522e-04 9.99968051e-01 -7.50400087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76755201799999 meters 0.039701501214352536 Centerline is valid? [True, True] Translation: X:104.44, Y:-10.43, Z:-0.75 [[ 9.99740096e-01 2.12108576e-02 8.35701039e-03 1.04443845e+02] [-2.12041360e-02 9.99774769e-01 -8.92100779e-04 -1.04324114e+01] [-8.37405036e-03 7.14665734e-04 9.99964682e-01 -7.50175940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82755201799998 meters 0.04168899494819631 Centerline is valid? [True, True] Translation: X:104.51, Y:-10.44, Z:-0.75 [[ 9.99782289e-01 2.00479596e-02 5.78386237e-03 1.04505578e+02] [-2.00447208e-02 9.99798894e-01 -6.17419259e-04 -1.04412706e+01] [-5.79507719e-03 5.01348935e-04 9.99983083e-01 -7.52206611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88755201799998 meters 0.03829098500623459 Centerline is valid? [True, True] Translation: X:104.57, Y:-10.44, Z:-0.75 [[ 9.99767027e-01 2.11060102e-02 4.51964613e-03 1.04567435e+02] [-2.11040444e-02 9.99777169e-01 -4.82197376e-04 -1.04435627e+01] [-4.52881627e-03 3.86702224e-04 9.99989670e-01 -7.54223811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94755201799998 meters 0.04056684386110553 Centerline is valid? [True, True] Translation: X:104.63, Y:-10.45, Z:-0.76 [[ 9.99730906e-01 2.28645876e-02 3.91485211e-03 1.04627678e+02] [-2.28631200e-02 9.99738517e-01 -4.19228325e-04 -1.04535445e+01] [-3.92341392e-03 3.29609780e-04 9.99992249e-01 -7.55101852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00755201799998 meters 0.03743408400912513 Centerline is valid? [True, True] Translation: X:104.69, Y:-10.46, Z:-0.75 [[ 9.99632605e-01 2.66636163e-02 4.86895692e-03 1.04688175e+02] [-2.66613893e-02 9.99644386e-01 -5.21729432e-04 -1.04569124e+01] [-4.88113664e-03 3.91724596e-04 9.99988010e-01 -7.54173381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06755201799999 meters 0.03608892816984716 Centerline is valid? [True, True] Translation: X:104.75, Y:-10.46, Z:-0.75 [[ 9.99546423e-01 2.97279147e-02 4.81652596e-03 1.04748827e+02] [-2.97257708e-02 9.99557958e-01 -5.16103001e-04 -1.04627793e+01] [-4.82973952e-03 3.72693962e-04 9.99988267e-01 -7.53874123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12755201799999 meters 0.03414495136330109 Centerline is valid? [True, True] Translation: X:104.81, Y:-10.47, Z:-0.75 [[ 9.99422272e-01 3.35302616e-02 5.55367931e-03 1.04809149e+02] [-3.35274688e-02 9.99437619e-01 -5.95240471e-04 -1.04677835e+01] [-5.57051460e-03 4.08695774e-04 9.99984401e-01 -7.53338572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18755201799998 meters 0.03520577957783617 Centerline is valid? [True, True] Translation: X:104.87, Y:-10.48, Z:-0.75 [[ 9.99295107e-01 3.69135883e-02 6.83192241e-03 1.04868511e+02] [-3.69094403e-02 9.99318346e-01 -7.32289689e-04 -1.04759095e+01] [-6.85429684e-03 4.79611071e-04 9.99976394e-01 -7.53687895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24755201799998 meters 0.035536845768730056 Centerline is valid? [True, True] Translation: X:104.93, Y:-10.48, Z:-0.75 [[ 9.99249823e-01 3.81889583e-02 6.43392297e-03 1.04930606e+02] [-3.81853062e-02 9.99270437e-01 -6.89573528e-04 -1.04835796e+01] [-6.45556312e-03 4.43374907e-04 9.99979064e-01 -7.53953184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30755201799998 meters 0.03439529466644534 Centerline is valid? [True, True] Translation: X:104.99, Y:-10.49, Z:-0.76 [[ 9.99232367e-01 3.86682414e-02 6.28038137e-03 1.04992729e+02] [-3.86647681e-02 9.99252011e-01 -6.73568805e-04 -1.04881267e+01] [-6.30172943e-03 4.30222263e-04 9.99980051e-01 -7.55021434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36755201799998 meters 0.03368025428735507 Centerline is valid? [True, True] Translation: X:105.05, Y:-10.49, Z:-0.76 [[ 9.99231794e-01 3.86649778e-02 6.39069371e-03 1.05054702e+02] [-3.86613701e-02 9.99252133e-01 -6.87148365e-04 -1.04925412e+01] [-6.41248290e-03 4.39547519e-04 9.99979343e-01 -7.55663720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42755201799999 meters 0.03312811545156775 Centerline is valid? [True, True] Translation: X:105.12, Y:-10.50, Z:-0.76 [[ 9.99238493e-01 3.84760856e-02 6.48262522e-03 1.05117023e+02] [-3.84723578e-02 9.99259420e-01 -6.98817275e-04 -1.04971124e+01] [-6.50471207e-03 4.48883244e-04 9.99978743e-01 -7.56997946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48755201799999 meters 0.03291169186409148 Centerline is valid? [True, True] Translation: X:105.18, Y:-10.50, Z:-0.76 [[ 9.99225677e-01 3.89040900e-02 5.87517028e-03 1.05179404e+02] [-3.89010274e-02 9.99242867e-01 -6.34715259e-04 -1.05015926e+01] [-5.89541502e-03 4.05673624e-04 9.99982540e-01 -7.58163526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54755201799998 meters 0.034489826868771695 Centerline is valid? [True, True] Translation: X:105.24, Y:-10.51, Z:-0.76 [[ 9.99298912e-01 3.71596708e-02 4.56547201e-03 1.05240260e+02] [-3.71577959e-02 9.99309288e-01 -4.94839773e-04 -1.05107407e+01] [-4.58070667e-03 3.24849970e-04 9.99989456e-01 -7.59286795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60755201799998 meters 0.03538440632957465 Centerline is valid? [True, True] Translation: X:105.30, Y:-10.52, Z:-0.76 [[ 9.99353074e-01 3.55329658e-02 5.55356078e-03 1.05302149e+02] [-3.55301653e-02 9.99368423e-01 -6.02153401e-04 -1.05187140e+01] [-5.57144957e-03 4.04444919e-04 9.99984398e-01 -7.58641652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66755201799998 meters 0.03725839409432598 Centerline is valid? [True, True] Translation: X:105.36, Y:-10.53, Z:-0.76 [[ 9.99322367e-01 3.62065275e-02 6.62531034e-03 1.05362742e+02] [-3.62025528e-02 9.99344214e-01 -7.18909824e-04 -1.05279727e+01] [-6.64699478e-03 4.78569519e-04 9.99977794e-01 -7.58601192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72755201799998 meters 0.03357681713096079 Centerline is valid? [True, True] Translation: X:105.42, Y:-10.53, Z:-0.76 [[ 9.99197564e-01 3.93882271e-02 7.26608450e-03 1.05423564e+02] [-3.93835162e-02 9.99223856e-01 -7.90346084e-04 -1.05296001e+01] [-7.29157530e-03 5.03547925e-04 9.99973289e-01 -7.58170061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78755201799999 meters 0.034505647255954945 Centerline is valid? [True, True] Translation: X:105.48, Y:-10.54, Z:-0.76 [[ 9.98897397e-01 4.64828213e-02 6.58319718e-03 1.05482374e+02] [-4.64791068e-02 9.98919006e-01 -7.16199597e-04 -1.05380948e+01] [-6.60937176e-03 4.09428788e-04 9.99978074e-01 -7.58913848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84755201799999 meters 0.029109108727041255 Centerline is valid? [True, True] Translation: X:105.54, Y:-10.54, Z:-0.76 [[ 9.98401799e-01 5.63092310e-02 4.80807167e-03 1.05543302e+02] [-5.63073637e-02 9.98413345e-01 -5.22950975e-04 -1.05385182e+01] [-4.82988988e-03 2.51385354e-04 9.99988304e-01 -7.59826078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90755201799998 meters 0.02596294226890537 Centerline is valid? [True, True] Translation: X:105.60, Y:-10.54, Z:-0.76 [[ 9.98004992e-01 6.30001829e-02 4.12468623e-03 1.05604490e+02] [-6.29988655e-02 9.98013498e-01 -4.48675042e-04 -1.05405737e+01] [-4.14475914e-03 1.87929379e-04 9.99991393e-01 -7.61109899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96755201799998 meters 0.024603234294661807 Centerline is valid? [True, True] Translation: X:105.66, Y:-10.55, Z:-0.76 [[ 9.97486945e-01 7.06797434e-02 4.91622152e-03 1.05663480e+02] [-7.06779646e-02 9.97499042e-01 -5.34834725e-04 -1.05456361e+01] [-4.94172824e-03 1.86022125e-04 9.99987772e-01 -7.61533056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02755201799998 meters 0.020874936538328216 Centerline is valid? [True, True] Translation: X:105.72, Y:-10.55, Z:-0.76 [[ 9.97110734e-01 7.57155946e-02 6.11005746e-03 1.05724047e+02] [-7.57129423e-02 9.97129434e-01 -6.64570603e-04 -1.05469387e+01] [-6.14283649e-03 2.00040054e-04 9.99981113e-01 -7.60484287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08755201799998 meters 0.019394865373859087 Centerline is valid? [True, True] Translation: X:105.78, Y:-10.55, Z:-0.76 [[ 9.96669883e-01 8.13137905e-02 6.10020383e-03 1.05783252e+02] [-8.13112513e-02 9.96688537e-01 -6.63515960e-04 -1.05510530e+01] [-6.13395623e-03 1.65291167e-04 9.99981173e-01 -7.60969373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14755201799998 meters 0.01682814962680497 Centerline is valid? [True, True] Translation: X:105.85, Y:-10.55, Z:-0.76 [[ 9.96540304e-01 8.29051073e-02 5.84514639e-03 1.05845028e+02] [-8.29028061e-02 9.96557435e-01 -6.35320499e-04 -1.05532831e+01] [-5.87769541e-03 1.48543445e-04 9.99982715e-01 -7.62216990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20755201799999 meters 0.01746587690650352 Centerline is valid? [True, True] Translation: X:105.91, Y:-10.56, Z:-0.76 [[ 9.96613560e-01 8.20398603e-02 5.55641496e-03 1.05906680e+02] [-8.20377593e-02 9.96629038e-01 -6.05391025e-04 -1.05604791e+01] [-5.58735069e-03 1.47505072e-04 9.99984380e-01 -7.63162986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26755201799998 meters 0.01959623044950742 Centerline is valid? [True, True] Translation: X:105.97, Y:-10.57, Z:-0.76 [[ 9.96894089e-01 7.86078260e-02 4.79431011e-03 1.05966773e+02] [-7.86062144e-02 9.96905607e-01 -5.23954887e-04 -1.05682136e+01] [-4.82066158e-03 1.45464962e-04 9.99988370e-01 -7.64648142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32755201799998 meters 0.020288807879095386 Centerline is valid? [True, True] Translation: X:106.03, Y:-10.57, Z:-0.77 [[ 9.97097176e-01 7.59940537e-02 4.70379548e-03 1.06028548e+02] [-7.59924728e-02 9.97108259e-01 -5.14152584e-04 -1.05738868e+01] [-4.72926586e-03 1.55207039e-04 9.99988805e-01 -7.65151931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38755201799998 meters 0.02115787044975903 Centerline is valid? [True, True] Translation: X:106.09, Y:-10.58, Z:-0.77 [[ 9.97226094e-01 7.42974097e-02 4.47341405e-03 1.06090017e+02] [-7.42959636e-02 9.97236116e-01 -4.88798093e-04 -1.05801724e+01] [-4.49736649e-03 1.55085606e-04 9.99989875e-01 -7.65318703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44755201799998 meters 0.023427617528129163 Centerline is valid? [True, True] Translation: X:106.15, Y:-10.59, Z:-0.77 [[ 9.97643350e-01 6.85851102e-02 1.95681632e-03 1.06149897e+02] [-6.85848211e-02 9.97645266e-01 -2.14554673e-04 -1.05905901e+01] [-1.96692379e-03 7.98411454e-05 9.99998062e-01 -7.66636226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50755201799998 meters 0.02488486459324186 Centerline is valid? [True, True] Translation: X:106.21, Y:-10.60, Z:-0.77 [[ 9.97719605e-01 6.74813538e-02 1.36244495e-03 1.06211157e+02] [-6.74812144e-02 9.97720534e-01 -1.48076760e-04 -1.05975228e+01] [-1.36933172e-03 5.57996463e-05 9.99999061e-01 -7.69315809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56755201799999 meters 0.024566921670379837 Centerline is valid? [True, True] Translation: X:106.27, Y:-10.60, Z:-0.77 [[ 9.97530733e-01 7.02297893e-02 4.61430114e-04 1.06272479e+02] [-7.02297734e-02 9.97530840e-01 -5.04911779e-05 -1.06023635e+01] [-4.63836754e-04 1.79603694e-05 9.99999892e-01 -7.69881358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62755201799999 meters 0.02259402585565355 Centerline is valid? [True, True] Translation: X:106.33, Y:-10.61, Z:-0.77 [[ 9.97101415e-01 7.60839449e-02 4.00716948e-05 1.06332999e+02] [-7.60839447e-02 9.97101416e-01 -4.27760241e-06 -1.06063859e+01] [-4.02810005e-05 1.21639080e-06 9.99999999e-01 -7.68813873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68755201799998 meters 0.01826149295538145 Centerline is valid? [True, True] Translation: X:106.39, Y:-10.60, Z:-0.77 [[ 9.95930905e-01 9.01065348e-02 -1.56335391e-03 1.06393217e+02] [-9.01063761e-02 9.95932132e-01 1.71840400e-04 -1.06012586e+01] [ 1.57247833e-03 -3.02730106e-05 9.99998763e-01 -7.70410631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74755201799998 meters 0.014828093019311036 Centerline is valid? [True, True] Translation: X:106.46, Y:-10.60, Z:-0.77 [[ 9.94973333e-01 1.00100766e-01 -2.81136149e-03 1.06455852e+02] [-1.00100290e-01 9.94977304e-01 3.10069198e-04 -1.05982018e+01] [ 2.82827904e-03 -2.70924841e-05 9.99996000e-01 -7.70215682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80755201799998 meters 0.01447620927990351 Centerline is valid? [True, True] Translation: X:106.52, Y:-10.60, Z:-0.77 [[ 9.94240439e-01 1.07115529e-01 -3.49466350e-03 1.06518094e+02] [-1.07114828e-01 9.94246581e-01 3.87583376e-04 -1.06029395e+01] [ 3.51607344e-03 -1.10207848e-05 9.99993819e-01 -7.70137436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86755201799998 meters 0.014771734521046338 Centerline is valid? [True, True] Translation: X:106.58, Y:-10.61, Z:-0.77 [[ 9.93618870e-01 1.12773917e-01 -1.89334123e-03 1.06578759e+02] [-1.12773721e-01 9.93620674e-01 2.10306828e-04 -1.06063704e+01] [ 1.90498011e-03 4.55430349e-06 9.99998186e-01 -7.69472165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92755201799999 meters 0.015531060463350706 Centerline is valid? [True, True] Translation: X:106.64, Y:-10.61, Z:-0.77 [[ 9.93230137e-01 1.16148157e-01 -1.87093945e-03 1.06640300e+02] [-1.16147969e-01 9.93231899e-01 2.09167236e-04 -1.06149857e+01] [ 1.88257114e-03 9.55461555e-06 9.99998228e-01 -7.69724292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98755201799999 meters 0.016079483375001282 Centerline is valid? [True, True] Translation: X:106.70, Y:-10.62, Z:-0.77 [[ 9.93138270e-01 1.16931843e-01 -1.82216803e-03 1.06702559e+02] [-1.16931664e-01 9.93139942e-01 2.04564758e-04 -1.06245690e+01] [ 1.83358798e-03 9.90805007e-06 9.99998319e-01 -7.70854919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04755201799998 meters 0.016150952710436012 Centerline is valid? [True, True] Translation: X:106.77, Y:-10.63, Z:-0.77 [[ 9.93195617e-01 1.16423129e-01 -2.84993844e-03 1.06765193e+02] [-1.16422692e-01 9.93199705e-01 3.19581868e-04 -1.06332805e+01] [ 2.86776474e-03 1.43901943e-05 9.99995888e-01 -7.73097989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10755201799998 meters 0.01638196152567353 Centerline is valid? [True, True] Translation: X:106.83, Y:-10.64, Z:-0.77 [[ 9.93292795e-01 1.15577377e-01 -3.36052863e-03 1.06827222e+02] [-1.15576761e-01 9.93298480e-01 3.77457919e-04 -1.06428078e+01] [ 3.38163357e-03 1.34727825e-05 9.99994282e-01 -7.73893464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16755201799998 meters 0.016480169742599506 Centerline is valid? [True, True] Translation: X:106.89, Y:-10.65, Z:-0.77 [[ 9.93588863e-01 1.12981529e-01 -4.04282630e-03 1.06888496e+02] [-1.12980615e-01 9.93597088e-01 4.54623049e-04 -1.06542293e+01] [ 4.06830445e-03 5.05260179e-06 9.99991724e-01 -7.74285262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22755201799998 meters 0.01676881423944055 Centerline is valid? [True, True] Translation: X:106.95, Y:-10.66, Z:-0.78 [[ 9.94117379e-01 1.08225360e-01 -4.23189336e-03 1.06950882e+02] [-1.08224310e-01 9.94126386e-01 4.77117348e-04 -1.06648881e+01] [ 4.25867305e-03 -1.63169081e-05 9.99990932e-01 -7.76889808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28755201799999 meters 0.01796126499639536 Centerline is valid? [True, True] Translation: X:107.01, Y:-10.68, Z:-0.77 [[ 9.95110196e-01 9.87280300e-02 -2.91092016e-03 1.07011360e+02] [-9.87274892e-02 9.95114453e-01 3.29251664e-04 -1.06790483e+01] [ 2.92920509e-03 -4.02538496e-05 9.99995709e-01 -7.74787234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34755201799999 meters 0.01875721493508832 Centerline is valid? [True, True] Translation: X:107.07, Y:-10.69, Z:-0.77 [[ 9.95484674e-01 9.49036837e-02 -1.88550996e-03 1.07072212e+02] [-9.49034478e-02 9.95486459e-01 2.14371694e-04 -1.06892615e+01] [ 1.89734429e-03 -3.44623406e-05 9.99998199e-01 -7.72890429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40755201799998 meters 0.023026467143667 Centerline is valid? [True, True] Translation: X:107.13, Y:-10.70, Z:-0.77 [[ 9.96763568e-01 8.03889495e-02 8.46985168e-05 1.07131414e+02] [-8.03889490e-02 9.96763571e-01 -9.54586404e-06 -1.07041005e+01] [-8.51917780e-05 2.70614475e-06 9.99999996e-01 -7.71471007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46755201799998 meters 0.030867915463567264 Centerline is valid? [True, True] Translation: X:107.19, Y:-10.72, Z:-0.77 [[ 9.97743300e-01 6.71353716e-02 1.07207851e-03 1.07189089e+02] [-6.71352803e-02 9.97743875e-01 -1.20941745e-04 -1.07220426e+01] [-1.07777923e-03 4.86945248e-05 9.99999418e-01 -7.72666821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52755201799998 meters 0.03484727228066069 Centerline is valid? [True, True] Translation: X:107.25, Y:-10.73, Z:-0.77 [[ 9.98877444e-01 4.73034940e-02 2.49631837e-03 1.07249262e+02] [-4.73029378e-02 9.98880550e-01 -2.81382896e-04 -1.07339789e+01] [-2.50683426e-03 1.62983836e-04 9.99996845e-01 -7.69963137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58755201799998 meters 0.04168269255911896 Centerline is valid? [True, True] Translation: X:107.31, Y:-10.75, Z:-0.77 [[ 9.99376030e-01 3.52145502e-02 2.73590880e-03 1.07307742e+02] [-3.52138366e-02 9.99379753e-01 -3.08583643e-04 -1.07481780e+01] [-2.74507850e-03 2.12049251e-04 9.99996210e-01 -7.71479623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64755201799998 meters 0.04894302219058777 Centerline is valid? [True, True] Translation: X:107.37, Y:-10.76, Z:-0.77 [[ 9.99896199e-01 1.39282576e-02 3.68700576e-03 1.07367311e+02] [-1.39268185e-02 9.99902931e-01 -4.15703844e-04 -1.07633001e+01] [-3.69243790e-03 3.64312434e-04 9.99993117e-01 -7.71677409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70755201799999 meters 0.05407281770726847 Centerline is valid? [True, True] Translation: X:107.43, Y:-10.78, Z:-0.77 [[ 9.99978339e-01 9.96006593e-04 6.50605786e-03 1.07426925e+02] [-9.91254069e-04 9.99999240e-01 -7.33660586e-04 -1.07778704e+01] [-6.50678365e-03 7.27195538e-04 9.99978566e-01 -7.67735891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76755201799998 meters 0.051741757482587906 Centerline is valid? [True, True] Translation: X:107.49, Y:-10.78, Z:-0.77 [[ 9.99981096e-01 -2.55630601e-03 5.59215738e-03 1.07487789e+02] [ 2.55987210e-03 9.99996525e-01 -6.30628924e-04 -1.07808682e+01] [-5.59052587e-03 6.44932211e-04 9.99984165e-01 -7.68743666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82755201799998 meters 0.05845796138483204 Centerline is valid? [True, True] Translation: X:107.55, Y:-10.79, Z:-0.77 [[ 9.99983153e-01 -3.89810892e-03 4.30098704e-03 1.07546753e+02] [ 3.90023064e-03 9.99992276e-01 -4.85032205e-04 -1.07947536e+01] [-4.29906312e-03 5.01798875e-04 9.99990633e-01 -7.71822941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88755201799998 meters 0.057610423166885846 Centerline is valid? [True, True] Translation: X:107.61, Y:-10.80, Z:-0.77 [[ 9.99974795e-01 -5.75044075e-03 4.16428570e-03 1.07606219e+02] [ 5.75244634e-03 9.99983344e-01 -4.69797765e-04 -1.08004001e+01] [-4.16151479e-03 4.93740754e-04 9.99991219e-01 -7.73141931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94755201799998 meters 0.05332629357130472 Centerline is valid? [True, True] Translation: X:107.67, Y:-10.80, Z:-0.77 [[ 9.99977423e-01 -4.56154928e-03 4.93420659e-03 1.07666476e+02] [ 4.56435020e-03 9.99989428e-01 -5.56541845e-04 -1.08014885e+01] [-4.93161574e-03 5.79050727e-04 9.99987672e-01 -7.72859235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00755201799998 meters 0.054853814478280104 Centerline is valid? [True, True] Translation: X:107.73, Y:-10.81, Z:-0.77 [[ 9.99991622e-01 -1.44590812e-03 3.82954113e-03 1.07725444e+02] [ 1.44757261e-03 9.99998859e-01 -4.31907051e-04 -1.08112352e+01] [-3.82891227e-03 4.37446971e-04 9.99992574e-01 -7.72926813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06755201799999 meters 0.05425658874625065 Centerline is valid? [True, True] Translation: X:107.79, Y:-10.82, Z:-0.77 [[ 9.99988441e-01 3.12023267e-03 3.65826281e-03 1.07785251e+02] [-3.11874455e-03 9.99995052e-01 -4.12417467e-04 -1.08199621e+01] [-3.65953155e-03 4.01003513e-04 9.99993223e-01 -7.74247597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12755201799999 meters 0.053759182774042645 Centerline is valid? [True, True] Translation: X:107.85, Y:-10.83, Z:-0.77 [[ 9.99966249e-01 5.72246558e-03 5.89524734e-03 1.07845740e+02] [-5.71864515e-03 9.99983427e-01 -6.64705344e-04 -1.08256548e+01] [-5.89895340e-03 6.30970082e-04 9.99982402e-01 -7.73437276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18755201799998 meters 0.05593686629743536 Centerline is valid? [True, True] Translation: X:107.91, Y:-10.84, Z:-0.77 [[ 9.99948700e-01 5.79450212e-03 8.30786007e-03 1.07906383e+02] [-5.78691397e-03 9.99982817e-01 -9.37118522e-04 -1.08383182e+01] [-8.31314745e-03 8.88993576e-04 9.99965050e-01 -7.71227032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24755201799998 meters 0.0500126107591395 Centerline is valid? [True, True] Translation: X:107.97, Y:-10.84, Z:-0.77 [[ 9.99915020e-01 8.17190411e-03 1.01574037e-02 1.07967574e+02] [-8.16065942e-03 9.99966042e-01 -1.14799856e-03 -1.08379015e+01] [-1.01664402e-02 1.06500989e-03 9.99947753e-01 -7.69301533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30755201799998 meters 0.04826267367156975 Centerline is valid? [True, True] Translation: X:108.03, Y:-10.84, Z:-0.77 [[ 9.99901355e-01 1.07369478e-02 9.05533134e-03 1.08028390e+02] [-1.07281137e-02 9.99941928e-01 -1.02357547e-03 -1.08426866e+01] [-9.06579556e-03 9.26327878e-04 9.99958476e-01 -7.70707860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36755201799998 meters 0.04949490066860528 Centerline is valid? [True, True] Translation: X:108.09, Y:-10.85, Z:-0.77 [[ 9.99893384e-01 1.32294732e-02 6.18080194e-03 1.08088939e+02] [-1.32254046e-02 9.99912296e-01 -6.98676940e-04 -1.08489842e+01] [-6.18950299e-03 6.16858844e-04 9.99980655e-01 -7.74393860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42755201799999 meters 0.0550292811649978 Centerline is valid? [True, True] Translation: X:108.15, Y:-10.86, Z:-0.78 [[ 9.99932695e-01 1.04495581e-02 5.04098008e-03 1.08146917e+02] [-1.04468162e-02 9.99945268e-01 -5.69954695e-04 -1.08627233e+01] [-5.04665995e-03 5.17254142e-04 9.99987132e-01 -7.75014397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48755201799999 meters 0.05082676612033228 Centerline is valid? [True, True] Translation: X:108.21, Y:-10.86, Z:-0.77 [[ 9.99961708e-01 7.42158845e-03 4.63702435e-03 1.08207409e+02] [-7.41923664e-03 9.99972340e-01 -5.24177581e-04 -1.08640398e+01] [-4.64078631e-03 4.89754329e-04 9.99989112e-01 -7.73987147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54755201799998 meters 0.048193627885510196 Centerline is valid? [True, True] Translation: X:108.27, Y:-10.87, Z:-0.77 [[ 9.99986411e-01 2.10547795e-03 4.76919773e-03 1.08267565e+02] [-2.10293033e-03 9.99997644e-01 -5.39134846e-04 -1.08671057e+01] [-4.77032162e-03 5.29098229e-04 9.99988482e-01 -7.73814318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60755201799998 meters 0.05083681592544911 Centerline is valid? [True, True] Translation: X:108.33, Y:-10.88, Z:-0.77 [[ 9.99988845e-01 -9.93872344e-05 4.72227413e-03 1.08327366e+02] [ 1.01909262e-04 9.99999852e-01 -5.33832981e-04 -1.08771057e+01] [-4.72222038e-03 5.34308270e-04 9.99988708e-01 -7.73419399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66755201799998 meters 0.053047118539091796 Centerline is valid? [True, True] Translation: X:108.39, Y:-10.89, Z:-0.77 [[ 9.99991301e-01 -1.33531181e-03 3.95153741e-03 1.08387649e+02] [ 1.33708702e-03 9.99999006e-01 -4.46638807e-04 -1.08884497e+01] [-3.95093708e-03 4.51918471e-04 9.99992093e-01 -7.72499585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72755201799998 meters 0.05713268573641256 Centerline is valid? [True, True] Translation: X:108.45, Y:-10.90, Z:-0.77 [[ 9.99995802e-01 -1.23205375e-03 2.62269673e-03 1.08446749e+02] [ 1.23283512e-03 9.99999196e-01 -2.96332048e-04 -1.09004315e+01] [-2.62232953e-03 2.99564157e-04 9.99996517e-01 -7.74091318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78755201799999 meters 0.054800928716861624 Centerline is valid? [True, True] Translation: X:108.51, Y:-10.91, Z:-0.77 [[ 9.99995174e-01 6.90970204e-06 3.10672743e-03 1.08507048e+02] [-5.81752413e-06 9.99999938e-01 -3.51561441e-04 -1.09050071e+01] [-3.10672966e-03 3.51541671e-04 9.99995112e-01 -7.74506159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84755201799999 meters 0.05638765056030575 Centerline is valid? [True, True] Translation: X:108.57, Y:-10.92, Z:-0.77 [[ 9.99972524e-01 5.42690886e-03 5.04970273e-03 1.08565376e+02] [-5.42409143e-03 9.99985126e-01 -5.71467300e-04 -1.09162519e+01] [-5.05272892e-03 5.44061550e-04 9.99987087e-01 -7.72438956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90755201799998 meters 0.050634327191696575 Centerline is valid? [True, True] Translation: X:108.63, Y:-10.92, Z:-0.77 [[ 9.99917008e-01 1.14209422e-02 5.96152823e-03 1.08626061e+02] [-1.14171217e-02 9.99934595e-01 -6.74498701e-04 -1.09160888e+01] [-5.96884172e-03 6.06379230e-04 9.99982002e-01 -7.72167096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96755201799998 meters 0.05178400533221673 Centerline is valid? [True, True] Translation: X:108.69, Y:-10.92, Z:-0.77 [[ 9.99763670e-01 2.03993773e-02 7.51466098e-03 1.08685608e+02] [-2.03935576e-02 9.99791668e-01 -8.50276279e-04 -1.09241461e+01] [-7.53044054e-03 6.96824662e-04 9.99971403e-01 -7.71094737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02755201799998 meters 0.045551438822943886 Centerline is valid? [True, True] Translation: X:108.75, Y:-10.92, Z:-0.77 [[ 9.99701513e-01 2.29155808e-02 8.47123286e-03 1.08746951e+02] [-2.29082744e-02 9.99737112e-01 -9.58542192e-04 -1.09229967e+01] [-8.49097142e-03 7.64194753e-04 9.99963659e-01 -7.70517156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08755201799998 meters 0.04983043035516115 Centerline is valid? [True, True] Translation: X:108.81, Y:-10.94, Z:-0.77 [[ 9.99743684e-01 2.07607628e-02 9.03091810e-03 1.08805753e+02] [-2.07523705e-02 9.99784124e-01 -1.02201221e-03 -1.09359249e+01] [-9.05018629e-03 8.34337292e-04 9.99958698e-01 -7.71184041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14755201799998 meters 0.05215155864139235 Centerline is valid? [True, True] Translation: X:108.87, Y:-10.95, Z:-0.77 [[ 9.99773414e-01 1.97720675e-02 7.88587295e-03 1.08866623e+02] [-1.97656364e-02 9.99804242e-01 -8.92632423e-04 -1.09452612e+01] [-7.90197842e-03 7.36560867e-04 9.99968508e-01 -7.72748259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20755201799999 meters 0.05549568114504536 Centerline is valid? [True, True] Translation: X:108.93, Y:-10.96, Z:-0.78 [[ 9.99837944e-01 1.68634893e-02 6.30142399e-03 1.08926264e+02] [-1.68593174e-02 9.99857616e-01 -7.14592559e-04 -1.09556804e+01] [-6.31257729e-03 6.08239048e-04 9.99979891e-01 -7.75220262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26755201799998 meters 0.05733535624391872 Centerline is valid? [True, True] Translation: X:108.99, Y:-10.97, Z:-0.78 [[ 9.99863436e-01 1.55353150e-02 5.63583175e-03 1.08986758e+02] [-1.55319571e-02 9.99879168e-01 -6.39085137e-04 -1.09650254e+01] [-5.64507914e-03 5.51462365e-04 9.99983914e-01 -7.76137243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32755201799998 meters 0.04821492973381165 Centerline is valid? [True, True] Translation: X:109.05, Y:-10.96, Z:-0.78 [[ 9.99922962e-01 1.16874656e-02 4.18000613e-03 1.09048780e+02] [-1.16855848e-02 9.99931609e-01 -4.74099485e-04 -1.09606281e+01] [-4.18526128e-03 4.25217146e-04 9.99991151e-01 -7.77143602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38755201799998 meters 0.047887152633432004 Centerline is valid? [True, True] Translation: X:109.11, Y:-10.97, Z:-0.78 [[ 9.99911867e-01 1.25337253e-02 4.37773260e-03 1.09110688e+02] [-1.25316725e-02 9.99921352e-01 -4.96038124e-04 -1.09663401e+01] [-4.38360551e-03 4.41134095e-04 9.99990295e-01 -7.77847307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44755201799998 meters 0.04745060910352869 Centerline is valid? [True, True] Translation: X:109.17, Y:-10.97, Z:-0.78 [[ 9.99862319e-01 1.59303785e-02 4.64402066e-03 1.09171160e+02] [-1.59280955e-02 9.99873000e-01 -5.28190469e-04 -1.09732836e+01] [-4.65184514e-03 4.54147342e-04 9.99989077e-01 -7.77788749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50755201799998 meters 0.04507265251491147 Centerline is valid? [True, True] Translation: X:109.23, Y:-10.98, Z:-0.78 [[ 9.99772766e-01 2.07204697e-02 5.00786249e-03 1.09231418e+02] [-2.07178743e-02 9.99785200e-01 -5.69576548e-04 -1.09777038e+01] [-5.01858869e-03 4.65694855e-04 9.99987298e-01 -7.77160727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56755201799999 meters 0.050109595699403056 Centerline is valid? [True, True] Translation: X:109.29, Y:-10.99, Z:-0.78 [[ 9.99586505e-01 2.81452518e-02 5.88753869e-03 1.09289746e+02] [-2.81417923e-02 9.99603717e-01 -6.69636926e-04 -1.09923196e+01] [-5.90405266e-03 5.03674144e-04 9.99982444e-01 -7.76497803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62755201799999 meters 0.03821044919891592 Centerline is valid? [True, True] Translation: X:109.35, Y:-10.98, Z:-0.78 [[ 9.99414647e-01 3.35921784e-02 6.47520393e-03 1.09351995e+02] [-3.35881084e-02 9.99435489e-01 -7.36311486e-04 -1.09843531e+01] [-6.49628292e-03 5.18390633e-04 9.99978765e-01 -7.76147432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68755201799998 meters 0.03716410788102378 Centerline is valid? [True, True] Translation: X:109.41, Y:-10.99, Z:-0.77 [[ 9.99257849e-01 3.75070309e-02 8.77348365e-03 1.09411961e+02] [-3.74997076e-02 9.99296140e-01 -9.97793493e-04 -1.09914860e+01] [-8.80473262e-03 6.68049908e-04 9.99961014e-01 -7.74692008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74755201799998 meters 0.036433781260850916 Centerline is valid? [True, True] Translation: X:109.47, Y:-11.00, Z:-0.77 [[ 9.99214519e-01 3.82126597e-02 1.04946253e-02 1.09473856e+02] [-3.82022093e-02 9.99269315e-01 -1.19452438e-03 -1.09978051e+01] [-1.05326029e-02 7.92668237e-04 9.99944216e-01 -7.73669198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80755201799998 meters 0.03403515123912425 Centerline is valid? [True, True] Translation: X:109.54, Y:-11.00, Z:-0.77 [[ 9.99237916e-01 3.75974220e-02 1.04891186e-02 1.09536230e+02] [-3.75869187e-02 9.99292645e-01 -1.19676369e-03 -1.10015645e+01] [-1.05266943e-02 8.01598009e-04 9.99944272e-01 -7.73550311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86755201799998 meters 0.04056534442025316 Centerline is valid? [True, True] Translation: X:109.59, Y:-11.02, Z:-0.78 [[ 9.99431538e-01 3.26106273e-02 8.55265364e-03 1.09594980e+02] [-3.26034490e-02 9.99467888e-01 -9.77430636e-04 -1.10163920e+01] [-8.57997730e-03 6.98028997e-04 9.99962948e-01 -7.75955568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92755201799999 meters 0.04002392780950955 Centerline is valid? [True, True] Translation: X:109.65, Y:-11.02, Z:-0.78 [[ 9.99635037e-01 2.57013482e-02 8.32072458e-03 1.09654946e+02] [-2.56943157e-02 9.99669394e-01 -9.50995630e-04 -1.10213603e+01] [-8.34241557e-03 7.36853227e-04 9.99964930e-01 -7.77571186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98755201799999 meters 0.04329878980788599 Centerline is valid? [True, True] Translation: X:109.71, Y:-11.03, Z:-0.78 [[ 9.99712117e-01 2.25901924e-02 8.08492352e-03 1.09713805e+02] [-2.25834515e-02 9.99744534e-01 -9.24102014e-04 -1.10323232e+01] [-8.10373374e-03 7.41250503e-04 9.99966889e-01 -7.78474883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04755201799998 meters 0.04316658974959013 Centerline is valid? [True, True] Translation: X:109.77, Y:-11.04, Z:-0.78 [[ 9.99688338e-01 2.39200662e-02 7.14542492e-03 1.09774660e+02] [-2.39148336e-02 9.99713666e-01 -8.16861372e-04 -1.10394287e+01] [-7.16291831e-03 6.45725140e-04 9.99974137e-01 -7.78443681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10755201799998 meters 0.03730805802545375 Centerline is valid? [True, True] Translation: X:109.84, Y:-11.04, Z:-0.78 [[ 9.99564968e-01 2.86041430e-02 7.18873200e-03 1.09835508e+02] [-2.85989650e-02 9.99590628e-01 -8.22085237e-04 -1.10378795e+01] [-7.20930418e-03 6.16137309e-04 9.99973823e-01 -7.78666678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16755201799998 meters 0.0366585477158411 Centerline is valid? [True, True] Translation: X:109.90, Y:-11.04, Z:-0.78 [[ 9.99446266e-01 3.26072399e-02 6.62796056e-03 1.09896057e+02] [-3.26029252e-02 9.99468096e-01 -7.58009411e-04 -1.10432326e+01] [-6.64915172e-03 5.41498772e-04 9.99977748e-01 -7.80647878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22755201799998 meters 0.034643837296241015 Centerline is valid? [True, True] Translation: X:109.96, Y:-11.05, Z:-0.78 [[ 9.99124468e-01 4.09935517e-02 8.35618472e-03 1.09956901e+02] [-4.09869844e-02 9.99159223e-01 -9.55729211e-04 -1.10479054e+01] [-8.38833777e-03 6.12397627e-04 9.99964630e-01 -7.80600472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28755201799999 meters 0.03306966249811855 Centerline is valid? [True, True] Translation: X:110.02, Y:-11.05, Z:-0.78 [[ 9.98796228e-01 4.81397712e-02 9.41580434e-03 1.10017451e+02] [-4.81317467e-02 9.98840415e-01 -1.07712054e-03 -1.10539747e+01] [-9.45673825e-03 6.22624818e-04 9.99955090e-01 -7.79667572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34755201799999 meters 0.03136219379662552 Centerline is valid? [True, True] Translation: X:110.08, Y:-11.06, Z:-0.78 [[ 9.98379966e-01 5.60193684e-02 9.96367393e-03 1.10077738e+02] [-5.60107723e-02 9.98429514e-01 -1.13992418e-03 -1.10586899e+01] [-1.00118840e-02 5.80004393e-04 9.99949712e-01 -7.81166427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40755201799998 meters 0.02851783192136149 Centerline is valid? [True, True] Translation: X:110.14, Y:-11.06, Z:-0.78 [[ 9.98068545e-01 6.11391430e-02 1.10083689e-02 1.10138385e+02] [-6.11289596e-02 9.98129082e-01 -1.25948515e-03 -1.10642062e+01] [-1.10647770e-02 5.84122370e-04 9.99938613e-01 -7.78553542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46755201799998 meters 0.02870224548535393 Centerline is valid? [True, True] Translation: X:110.20, Y:-11.07, Z:-0.78 [[ 9.97854262e-01 6.41665366e-02 1.30202858e-02 1.10198076e+02] [-6.41525445e-02 9.97938992e-01 -1.48989884e-03 -1.10717490e+01] [-1.30890526e-02 6.51417443e-04 9.99914122e-01 -7.77753887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52755201799998 meters 0.029156008045405336 Centerline is valid? [True, True] Translation: X:110.26, Y:-11.08, Z:-0.78 [[ 9.97813029e-01 6.47389746e-02 1.33425736e-02 1.10259791e+02] [-6.47243083e-02 9.97902013e-01 -1.52856031e-03 -1.10791822e+01] [-1.34135385e-02 6.61628549e-04 9.99909816e-01 -7.78600602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58755201799998 meters 0.030556198985559713 Centerline is valid? [True, True] Translation: X:110.32, Y:-11.09, Z:-0.78 [[ 9.97779542e-01 6.53488179e-02 1.28653370e-02 1.10320382e+02] [-6.53351919e-02 9.97862281e-01 -1.47703867e-03 -1.10879336e+01] [-1.29343573e-02 6.33199703e-04 9.99916147e-01 -7.79754746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64755201799998 meters 0.02557774600574989 Centerline is valid? [True, True] Translation: X:110.38, Y:-11.09, Z:-0.78 [[ 9.97688189e-01 6.67710511e-02 1.26453002e-02 1.10382767e+02] [-6.67579609e-02 9.97768138e-01 -1.45494961e-03 -1.10881827e+01] [-1.27142262e-02 6.07411581e-04 9.99918986e-01 -7.80276847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70755201799999 meters 0.024547851033603053 Centerline is valid? [True, True] Translation: X:110.44, Y:-11.09, Z:-0.78 [[ 9.97632356e-01 6.78735880e-02 1.10841213e-02 1.10444930e+02] [-6.78635674e-02 9.97693792e-01 -1.27811704e-03 -1.10929957e+01] [-1.11453094e-02 5.22882901e-04 9.99937752e-01 -7.81937843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76755201799998 meters 0.02451100133351612 Centerline is valid? [True, True] Translation: X:110.51, Y:-11.10, Z:-0.78 [[ 9.97665573e-01 6.75233238e-02 1.01983150e-02 1.10506175e+02] [-6.75147953e-02 9.97717577e-01 -1.17863512e-03 -1.11001072e+01] [-1.02546235e-02 4.87346536e-04 9.99947301e-01 -7.83051197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82755201799998 meters 0.025113543188093525 Centerline is valid? [True, True] Translation: X:110.57, Y:-11.11, Z:-0.78 [[ 9.97683121e-01 6.71154558e-02 1.11313221e-02 1.10567150e+02] [-6.71052336e-02 9.97745070e-01 -1.28971966e-03 -1.11100043e+01] [-1.11927819e-02 5.39761562e-04 9.99937213e-01 -7.81563942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88755201799998 meters 0.026037243896536857 Centerline is valid? [True, True] Translation: X:110.63, Y:-11.12, Z:-0.78 [[ 9.97647184e-01 6.75692927e-02 1.15968831e-02 1.10628364e+02] [-6.75581890e-02 9.97714426e-01 -1.34700497e-03 -1.11177164e+01] [-1.16613937e-02 5.60371293e-04 9.99931847e-01 -7.82035232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94755201799998 meters 0.025347609872277754 Centerline is valid? [True, True] Translation: X:110.69, Y:-11.12, Z:-0.78 [[ 9.97518993e-01 6.93718003e-02 1.19754458e-02 1.10690686e+02] [-6.93600584e-02 9.97590718e-01 -1.39356084e-03 -1.11229322e+01] [-1.20432674e-02 5.59485784e-04 9.99927321e-01 -7.83523906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00755201799998 meters 0.02581081891606536 Centerline is valid? [True, True] Translation: X:110.75, Y:-11.13, Z:-0.78 [[ 9.97433352e-01 7.05042861e-02 1.24841532e-02 1.10751915e+02] [-7.04915866e-02 9.97511313e-01 -1.45492447e-03 -1.11315573e+01] [-1.25556625e-02 5.71162427e-04 9.99921011e-01 -7.83493208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06755201799999 meters 0.0249207698147691 Centerline is valid? [True, True] Translation: X:110.81, Y:-11.14, Z:-0.78 [[ 9.97442929e-01 7.00911417e-02 1.39583536e-02 1.10813462e+02] [-7.00751692e-02 9.97540381e-01 -1.63071675e-03 -1.11380145e+01] [-1.40383201e-02 6.48412905e-04 9.99901248e-01 -7.82049950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12755201799997 meters 0.025764630155146476 Centerline is valid? [True, True] Translation: X:110.88, Y:-11.15, Z:-0.78 [[ 9.97555600e-01 6.83972699e-02 1.43052157e-02 1.10875322e+02] [-6.83802836e-02 9.97657925e-01 -1.67377010e-03 -1.11453416e+01] [-1.43861931e-02 6.91484027e-04 9.99896274e-01 -7.83283929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18755201799998 meters 0.024949746522799517 Centerline is valid? [True, True] Translation: X:110.94, Y:-11.15, Z:-0.78 [[ 9.97621526e-01 6.71941548e-02 1.53699970e-02 1.10937463e+02] [-6.71743581e-02 9.97739626e-01 -1.80125232e-03 -1.11503818e+01] [-1.54562887e-02 7.64498406e-04 9.99880252e-01 -7.84293146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24755201799998 meters 0.026592504711480367 Centerline is valid? [True, True] Translation: X:111.00, Y:-11.16, Z:-0.78 [[ 9.97688368e-01 6.59617860e-02 1.63390038e-02 1.10998570e+02] [-6.59391764e-02 9.97821798e-01 -1.91924991e-03 -1.11592332e+01] [-1.64300113e-02 8.37432862e-04 9.99864668e-01 -7.84640898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30755201799998 meters 0.027121612893362936 Centerline is valid? [True, True] Translation: X:111.06, Y:-11.17, Z:-0.79 [[ 9.97663438e-01 6.65171732e-02 1.55926084e-02 1.11060679e+02] [-6.64965867e-02 9.97784964e-01 -1.83561008e-03 -1.11658363e+01] [-1.56801698e-02 7.94465824e-04 9.99876743e-01 -7.85912599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36755201799998 meters 0.025068881743550576 Centerline is valid? [True, True] Translation: X:111.12, Y:-11.17, Z:-0.79 [[ 9.97484217e-01 6.98645806e-02 1.20073502e-02 1.11121725e+02] [-6.98525962e-02 9.97556320e-01 -1.41510811e-03 -1.11673319e+01] [-1.20768740e-02 5.72803426e-04 9.99926908e-01 -7.88572289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42755201799999 meters 0.02422578686274811 Centerline is valid? [True, True] Translation: X:111.18, Y:-11.17, Z:-0.79 [[ 9.97272863e-01 7.33221136e-02 8.40861533e-03 1.11183548e+02] [-7.33163577e-02 9.97308242e-01 -9.91163784e-04 -1.11703354e+01] [-8.45865560e-03 3.71971695e-04 9.99964156e-01 -7.92473530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48755201799999 meters 0.023296744930942578 Centerline is valid? [True, True] Translation: X:111.24, Y:-11.17, Z:-0.79 [[ 9.96896889e-01 7.83862532e-02 7.22408822e-03 1.11243377e+02] [-7.83821349e-02 9.96923024e-01 -8.51894558e-04 -1.11727677e+01] [-7.26863669e-03 2.83011578e-04 9.99973543e-01 -7.93767571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54755201799998 meters 0.02174715215050105 Centerline is valid? [True, True] Translation: X:111.30, Y:-11.18, Z:-0.80 [[ 9.96519229e-01 8.31669061e-02 5.71776119e-03 1.11304941e+02] [-8.31644051e-02 9.96535613e-01 -6.74187735e-04 -1.11756206e+01] [-5.75402276e-03 1.96326833e-04 9.99983426e-01 -7.95686474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60755201799998 meters 0.021519317798936673 Centerline is valid? [True, True] Translation: X:111.37, Y:-11.18, Z:-0.80 [[ 9.96474877e-01 8.36520936e-02 6.33607238e-03 1.11367524e+02] [-8.36490308e-02 9.96494998e-01 -7.47328838e-04 -1.11818992e+01] [-6.37638006e-03 2.14688099e-04 9.99979648e-01 -7.96879850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66755201799998 meters 0.021958065060296395 Centerline is valid? [True, True] Translation: X:111.43, Y:-11.19, Z:-0.80 [[ 9.96407201e-01 8.43485545e-02 7.61645336e-03 1.11428710e+02] [-8.43441278e-02 9.96436278e-01 -9.01127135e-04 -1.11889180e+01] [-7.66531921e-03 2.55486451e-04 9.99970588e-01 -7.96727016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72755201799998 meters 0.02325024330267738 Centerline is valid? [True, True] Translation: X:111.49, Y:-11.20, Z:-0.80 [[ 9.96282375e-01 8.57595968e-02 8.16822979e-03 1.11489090e+02] [-8.57545340e-02 9.96315824e-01 -9.68702863e-04 -1.11958296e+01] [-8.22121216e-03 2.64638851e-04 9.99966170e-01 -7.96526760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78755201799999 meters 0.02339526262699129 Centerline is valid? [True, True] Translation: X:111.55, Y:-11.20, Z:-0.80 [[ 9.96298265e-01 8.56512114e-02 7.32377844e-03 1.11551428e+02] [-8.56471264e-02 9.96325154e-01 -8.70182222e-04 -1.12013994e+01] [-7.37139685e-03 2.39700460e-04 9.99972802e-01 -7.98085874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84755201799999 meters 0.027476165277882422 Centerline is valid? [True, True] Translation: X:111.61, Y:-11.21, Z:-0.80 [[ 9.96824298e-01 7.94927520e-02 4.71388102e-03 1.11610658e+02] [-7.94909846e-02 9.96835427e-01 -5.61406486e-04 -1.12132804e+01] [-4.74359135e-03 1.84912582e-04 9.99988732e-01 -8.02613390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90755201799998 meters 0.025070946289674774 Centerline is valid? [True, True] Translation: X:111.67, Y:-11.21, Z:-0.80 [[ 9.97164381e-01 7.51538574e-02 3.88525029e-03 1.11671946e+02] [-7.51526242e-02 9.97171936e-01 -4.62655500e-04 -1.12140633e+01] [-3.90903290e-03 1.69356830e-04 9.99992345e-01 -8.04367534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96755201799998 meters 0.027584521571516755 Centerline is valid? [True, True] Translation: X:111.73, Y:-11.22, Z:-0.81 [[ 9.97478544e-01 7.09657470e-02 6.45179303e-04 1.11732477e+02] [-7.09657122e-02 9.97478753e-01 -7.67284595e-05 -1.12212756e+01] [-6.48997739e-04 3.07493833e-05 9.99999789e-01 -8.07052771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02755201799998 meters 0.030372444122544303 Centerline is valid? [True, True] Translation: X:111.79, Y:-11.23, Z:-0.81 [[ 9.97697041e-01 6.78250557e-02 6.13264436e-04 1.11791886e+02] [-6.78250239e-02 9.97697229e-01 -7.24901382e-05 -1.12302782e+01] [-6.16768876e-04 3.07285213e-05 9.99999809e-01 -8.06726277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08755201799998 meters 0.03642798246130091 Centerline is valid? [True, True] Translation: X:111.85, Y:-11.25, Z:-0.81 [[ 9.98842601e-01 4.80835317e-02 -1.19659100e-03 1.11850842e+02] [-4.80833950e-02 9.98843314e-01 1.42751013e-04 -1.12463044e+01] [ 1.20207089e-03 -8.50496353e-05 9.99999274e-01 -8.10454157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14755201799998 meters 0.04276334023801268 Centerline is valid? [True, True] Translation: X:111.91, Y:-11.26, Z:-0.81 [[ 9.99459098e-01 3.28553912e-02 1.42673051e-03 1.11909695e+02] [-3.28551817e-02 9.99460108e-01 -1.70008068e-04 -1.12609958e+01] [-1.43154592e-03 1.23040619e-04 9.99998968e-01 -8.10345288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20755201799999 meters 0.04812590547639901 Centerline is valid? [True, True] Translation: X:111.97, Y:-11.28, Z:-0.81 [[ 9.99861894e-01 1.59238877e-02 4.75637521e-03 1.11968445e+02] [-1.59213678e-02 9.99873086e-01 -5.67191886e-04 -1.12775766e+01] [-4.76480346e-03 4.91385554e-04 9.99988528e-01 -8.05762636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26755201799998 meters 0.05138079734634577 Centerline is valid? [True, True] Translation: X:112.03, Y:-11.29, Z:-0.81 [[ 9.99908286e-01 1.21837292e-02 5.91414165e-03 1.12028856e+02] [-1.21797682e-02 9.99925575e-01 -7.05308613e-04 -1.12856812e+01] [-5.92229478e-03 6.33211052e-04 9.99982263e-01 -8.07322576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32755201799998 meters 0.051860630597551464 Centerline is valid? [True, True] Translation: X:112.09, Y:-11.29, Z:-0.81 [[ 9.99926261e-01 1.15879510e-02 3.63211101e-03 1.12089918e+02] [-1.15864557e-02 9.99932781e-01 -4.32456105e-04 -1.12938200e+01] [-3.63687814e-03 3.90340923e-04 9.99993310e-01 -8.08563420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38755201799998 meters 0.04941666734767033 Centerline is valid? [True, True] Translation: X:112.15, Y:-11.29, Z:-0.81 [[ 9.99902544e-01 1.33393459e-02 4.11873931e-03 1.12151098e+02] [-1.33374297e-02 9.99910931e-01 -4.92350260e-04 -1.12911454e+01] [-4.12494009e-03 4.37368881e-04 9.99991397e-01 -8.11007349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44755201799998 meters 0.04905470608713099 Centerline is valid? [True, True] Translation: X:112.21, Y:-11.30, Z:-0.81 [[ 9.99874225e-01 1.56470117e-02 2.58950421e-03 1.12211607e+02] [-1.56462622e-02 9.99877542e-01 -3.09432721e-04 -1.12968691e+01] [-2.59402880e-03 2.68877740e-04 9.99996599e-01 -8.13829000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50755201799998 meters 0.047613506966938696 Centerline is valid? [True, True] Translation: X:112.27, Y:-11.31, Z:-0.81 [[ 9.99864681e-01 1.58457692e-02 4.41941645e-03 1.12273956e+02] [-1.58435903e-02 9.99874343e-01 -5.27604558e-04 -1.13060193e+01] [-4.42722142e-03 4.57513739e-04 9.99990095e-01 -8.10396618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56755201799999 meters 0.04982714339719497 Centerline is valid? [True, True] Translation: X:112.33, Y:-11.32, Z:-0.81 [[ 9.99875738e-01 1.39220047e-02 7.39502582e-03 1.12333889e+02] [-1.39158247e-02 9.99902777e-01 -8.86488513e-04 -1.13164601e+01] [-7.40664856e-03 7.83470472e-04 9.99972263e-01 -8.08433957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62755201799997 meters 0.0505148234199185 Centerline is valid? [True, True] Translation: X:112.39, Y:-11.32, Z:-0.81 [[ 9.99903609e-01 1.17354744e-02 7.41971311e-03 1.12394717e+02] [-1.17291914e-02 9.99930815e-01 -8.89748140e-04 -1.13221911e+01] [-7.42964139e-03 8.02635141e-04 9.99972078e-01 -8.10863660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68755201799998 meters 0.048367363855097344 Centerline is valid? [True, True] Translation: X:112.46, Y:-11.33, Z:-0.81 [[ 9.99878878e-01 1.28890433e-02 8.72366212e-03 1.12456154e+02] [-1.28803993e-02 9.99916497e-01 -1.04633484e-03 -1.13253126e+01] [-8.73641992e-03 9.33843852e-04 9.99961401e-01 -8.10072204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74755201799998 meters 0.048654517476186716 Centerline is valid? [True, True] Translation: X:112.52, Y:-11.33, Z:-0.81 [[ 9.99912066e-01 9.87254055e-03 8.85398788e-03 1.12515789e+02] [-9.86351723e-03 9.99950790e-01 -1.06221361e-03 -1.13322738e+01] [-8.86403892e-03 9.74788744e-04 9.99960239e-01 -8.10239680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80755201799998 meters 0.05721836965488049 Centerline is valid? [True, True] Translation: X:112.57, Y:-11.35, Z:-0.81 [[ 9.99969300e-01 -2.12058021e-03 7.54329823e-03 1.12573311e+02] [ 2.12746563e-03 9.99997328e-01 -9.04879223e-04 -1.13542684e+01] [-7.54135920e-03 9.20899552e-04 9.99971140e-01 -8.12354103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86755201799998 meters 0.062017461669809044 Centerline is valid? [True, True] Translation: X:112.63, Y:-11.37, Z:-0.81 [[ 9.99931442e-01 -7.99661306e-03 8.55372831e-03 1.12632761e+02] [ 8.00567930e-03 9.99967427e-01 -1.02620239e-03 -1.13687928e+01] [-8.54524355e-03 1.09461044e-03 9.99962890e-01 -8.12692825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92755201799999 meters 0.06158265492084637 Centerline is valid? [True, True] Translation: X:112.69, Y:-11.38, Z:-0.81 [[ 9.99896721e-01 -7.13035715e-03 1.24781749e-02 1.12692506e+02] [ 7.14958626e-03 9.99973321e-01 -1.49708922e-03 -1.13766314e+01] [-1.24671672e-02 1.58614839e-03 9.99921024e-01 -8.13627070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98755201799999 meters 0.06344508146182393 Centerline is valid? [True, True] Translation: X:112.75, Y:-11.39, Z:-0.81 [[ 9.99916646e-01 -2.70657221e-03 1.26244119e-02 1.12752459e+02] [ 2.72590810e-03 9.99995138e-01 -1.51467131e-03 -1.13855972e+01] [-1.26202509e-02 1.54895805e-03 9.99919162e-01 -8.14157465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04755201799998 meters 0.060374699677490554 Centerline is valid? [True, True] Translation: X:112.81, Y:-11.38, Z:-0.82 [[ 9.99898106e-01 -2.12289824e-04 1.42734825e-02 1.12813960e+02] [ 2.36758341e-04 9.99998505e-01 -1.71259605e-03 -1.13841025e+01] [-1.42730976e-02 1.71580092e-03 9.99896662e-01 -8.16880555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10755201799998 meters 0.05823460945983231 Centerline is valid? [True, True] Translation: X:112.88, Y:-11.39, Z:-0.82 [[ 9.99888834e-01 -1.38657720e-03 1.48457522e-02 1.12875197e+02] [ 1.41317735e-03 9.99997415e-01 -1.78142768e-03 -1.13863593e+01] [-1.48432437e-02 1.80220933e-03 9.99888209e-01 -8.19300410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16755201799998 meters 0.06338060978924705 Centerline is valid? [True, True] Translation: X:112.93, Y:-11.40, Z:-0.82 [[ 9.99861193e-01 -4.01707444e-03 1.61696620e-02 1.12933826e+02] [ 4.04896983e-03 9.99989921e-01 -1.94029137e-03 -1.13973698e+01] [-1.61617047e-02 2.00549252e-03 9.99867380e-01 -8.19575646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22755201799998 meters 0.0635670276890646 Centerline is valid? [True, True] Translation: X:113.00, Y:-11.40, Z:-0.82 [[ 9.99804940e-01 -5.16836607e-03 1.90622660e-02 1.12995093e+02] [ 5.21290392e-03 9.99983796e-01 -2.28749118e-03 -1.14000598e+01] [-1.90501345e-02 2.38641475e-03 9.99815682e-01 -8.20202156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28755201799999 meters 0.0751827880750495 Centerline is valid? [True, True] Translation: X:113.05, Y:-11.42, Z:-0.82 [[ 9.99797948e-01 -5.50624096e-03 1.93324525e-02 1.13054753e+02] [ 5.55214693e-03 9.99981892e-01 -2.32168470e-03 -1.14181320e+01] [-1.93193186e-02 2.42855221e-03 9.99810415e-01 -8.21360888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34755201799999 meters 0.07993316259798229 Centerline is valid? [True, True] Translation: X:113.12, Y:-11.42, Z:-0.83 [[ 9.99775919e-01 -6.66004842e-03 2.00936895e-02 1.13116054e+02] [ 6.70989521e-03 9.99974574e-01 -2.41431848e-03 -1.14165419e+01] [-2.00770991e-02 2.54860403e-03 9.99795186e-01 -8.28065461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40755201799998 meters 0.08992835611756703 Centerline is valid? [True, True] Translation: X:113.18, Y:-11.42, Z:-0.83 [[ 9.99681257e-01 -7.71494284e-03 2.40388021e-02 1.13176267e+02] [ 7.78661131e-03 9.99965510e-01 -2.88918835e-03 -1.14248582e+01] [-2.40156831e-02 3.07544825e-03 9.99706851e-01 -8.28896265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 836.66 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%| | 0/3782 [00:00